adhoc

completed
2026-09-24T00:37:05.129518+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
233.9 s
total steps
320
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 black cap is left of the longer diagonal pen. I’m moving the left gripper above the cap while keeping the right arm parked.
move_to
left_x0.4000left_y-0.1900left_z0.1200left_gripper1.0000right_x0.2950right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0216, -0.0246, 0.9996, -0.0193, 0.791, 0.6086, -0.3779, -0.0231, -0.0151, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.002 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4991, -1.4838, 10.4957, 1.7411, -0.0317, 0.0659, -0.0562, -0.7179, -1.2376, 9.8667, 1.8242, -0.0366, -0.0513, -0.105] 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":-0.19,"left_z":0.12,"left_gripper":1,"right_x":0.295,"right_y":0.002,"right_z":0.185},"note":"The short black cap is left of the longer diagonal pen. I’m moving the left gripper above the cap while keeping the right arm parked."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’m aligning the jaws across its narrow body and lowering for a tabletop grasp.
move_to
left_x0.3990left_y-0.1700left_z0.0250left_yaw-0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6529, 1.6234, 0.8719, -0.0067, -0.5259, -0.4053, 0.9996, -0.02, 0.7971, 0.6132, -0.3916, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3863 left_y=-0.1793 left_z=0.0991 left_yaw=-0.0104 left_pitch=-0.0669 left_roll=0.0393 left_gripper=0.9996 right_x=0.2946 right_y=0.0018 right_z=0.181 right_yaw=-0.001 right_pitch=-0.0153 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.3624, -7.9111, 8.9231, 1.8486, -0.4225, -0.0317, -0.0611, 0.0068, -1.7573, 7.1316, 1.7607, -0.0611, -0.0562, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.399,"left_y":-0.17,"left_z":0.025,"left_yaw":-0.75},"note":"The cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’m aligning the jaws across its narrow body and lowering for a tabletop grasp."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe cap is still to the right of the fingertips, and the previous rotation did not reach its target. I’m making a small outward and rightward correction before closing.
move_to
left_x0.4110left_y-0.1900left_z0.0180left_yaw-0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2993, 1.7935, 0.6781, 0.3363, 0.1169, 0.1215, 0.9995, -0.02, 0.799, 0.6132, -0.3946, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3913 left_y=-0.1385 left_z=0.0035 left_yaw=-0.4779 left_pitch=-0.2018 left_roll=0.0118 left_gripper=0.9995 right_x=0.2943 right_y=0.0018 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [0.6496, -7.747, 7.7197, 1.8828, 0.3639, 0.2222, -0.0171, -0.335, -1.2786, 7.0359, 1.7998, -0.0464, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.411,"left_y":-0.19,"left_z":0.018,"left_yaw":-0.75},"note":"The cap is still to the right of the fingertips, and the previous rotation did not reach its target. I’m making a small outward and rightward correction before closing."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe cap has moved below the wrist camera’s near edge, where the fingertips meet. I’m lowering the last centimetre and closing gently around it.
move_to
left_z-0.0050left_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]: [-0.3279, 1.8675, 0.8478, 0.2028, 0.2508, 0.2554, 0.9995, -0.02, 0.7998, 0.6132, -0.3958, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.4053 left_y=-0.1804 left_z=0.0115 left_yaw=-0.6957 left_pitch=-0.2135 left_roll=0.0045 left_gripper=0.9995 right_x=0.2942 right_y=0.0017 right_z=0.1794 right_yaw=-0.0013 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.58, 0.2808, 0.2125, -0.0122, -0.2803, -1.306, 7.0359, 1.7314, -0.0366, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_z":-0.005,"left_gripper":0},"note":"The cap has moved below the wrist camera’s near edge, where the fingertips meet. I’m lowering the last centimetre and closing gently around it."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe nearly zero jaw opening shows that the first close was empty. I’m reopening and shifting about two centimetres forward for one corrected attempt.
move_to
left_x0.4240left_y-0.1910left_z0.0050left_pitch0.2000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3279, 1.8748, 0.8707, 0.1593, 0.2695, 0.2901, 0.0085, -0.02, 0.8009, 0.6132, -0.3965, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.4033 left_y=-0.1831 left_z=0.0098 left_yaw=-0.7328 left_pitch=-0.2343 left_roll=0.0055 left_gripper=0.0085 right_x=0.2941 right_y=0.0018 right_z=0.1789 right_yaw=-0.001 right_pitch=-0.024 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [-0.2667, -8.3214, 7.4735, 1.5653, 0.2906, 0.0708, 0.6178, -0.1983, -1.3607, 7.0222, 1.7558, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.424,"left_y":-0.191,"left_z":0.005,"left_pitch":0.2,"left_gripper":0.55},"note":"The nearly zero jaw opening shows that the first close was empty. I’m reopening and shifting about two centimetres forward for one corrected attempt."})
tool
executing move_to over 15 steps (1.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe corrected grasp point is at tabletop height with the jaws open around the cap’s location. I’m closing and will check the jaw spacing before lifting.
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]: [-0.2829, 2.1204, 0.6819, 0.9905, 0.3935, 0.1806, 0.548, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.4239 left_y=-0.19 left_z=0.0013 left_yaw=-0.7248 left_pitch=0.159 left_roll=0.0093 left_gripper=0.548 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.4308, -8.4171, 3.0838, 1.6972, 0.0952, -0.1832, -0.0806, -0.3214, -1.2376, 7.0222, 1.7216, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The corrected grasp point is at tabletop height with the jaws open around the cap’s location. I’m closing and will check the jaw spacing before lifting."})
tool
executing move_to over 6 steps (0.6s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe second close is also too narrow to confirm a cap grasp. I’m withdrawing the left arm to reveal the cap and reassess its position instead of repeating the same approach.
move_to
left_x0.2950left_y0.0000left_z0.1850left_yaw0.0000left_pitch0.0000left_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]: [-0.2821, 2.133, 0.6758, 1.0286, 0.3958, 0.1772, 0.0288, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.4241 left_y=-0.1901 left_z=0.0021 left_yaw=-0.7255 left_pitch=0.1771 left_roll=0.0137 left_gripper=0.0288 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [-0.1846, -10.1265, 4.041, 1.4432, 0.105, -0.0073, 1.0916, -0.3487, -1.2786, 7.0222, 1.7607, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.185,"left_yaw":0,"left_pitch":0,"left_gripper":1},"note":"The second close is also too narrow to confirm a cap grasp. I’m withdrawing the left arm to reveal the cap and reassess its position instead of repeating the same approach."})
tool
executing move_to over 17 steps (1.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe cap is visible again, slightly nearer the bases than before. I’m approaching from a shorter reach so the fingertips land behind the previous missed positions.
move_to
left_x0.3520left_y-0.1830left_z0.0750left_yaw-0.7500left_pitch0.0000left_gripper0.6500right_x0.2950right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0513, 0.8173, 0.5758, -0.2939, -0.025, -0.0166, 0.997, -0.02, 0.8051, 0.6132, -0.4118, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3039 left_y=-0.0076 left_z=0.1785 left_yaw=-0.0323 left_pitch=0.0355 left_roll=0.0079 left_gripper=0.997 right_x=0.2923 right_y=0.0018 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0435 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [0.294, -1.9214, 9.9761, 1.6777, -0.1294, 0.0952, 0.0317, -0.3487, -1.6068, 6.9949, 1.9072, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.352,"left_y":-0.183,"left_z":0.075,"left_yaw":-0.75,"left_pitch":0,"left_gripper":0.65,"right_x":0.295,"right_y":0.002,"right_z":0.185},"note":"The cap is visible again, slightly nearer the bases than before. I’m approaching from a shorter reach so the fingertips land behind the previous missed positions."})
tool
executing move_to over 16 steps (1.6s)
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 cap is clearly visible beside the left inner jaw. I’m shifting the grasp centre toward it and lowering straight to its body.
move_to
left_x0.3530left_y-0.1480left_z0.0080left_yaw-0.6500left_pitch0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3367, 1.5089, 0.527, 0.2752, 0.2825, 0.1822, 0.6518, -0.02, 0.8242, 0.6197, -0.4465, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3361 left_y=-0.166 left_z=0.0496 left_yaw=-0.6844 left_pitch=-0.1028 left_roll=-0.0325 left_gripper=0.6518 right_x=0.2892 right_y=0.0019 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0021 right_gripper=0.999 state[joint_eff]: [-0.4444, -6.147, 8.5128, 1.9365, 0.3443, 0.1197, 0.0757, 0.0889, -1.5385, 10.3726, 1.8339, -0.0562, -0.0659, -0.0122] 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":{"left_x":0.353,"left_y":-0.148,"left_z":0.008,"left_yaw":-0.65,"left_pitch":0.12},"note":"The cap is clearly visible beside the left inner jaw. I’m shifting the grasp centre toward it and lowering straight to its body."})
tool
executing move_to over 8 steps (0.8s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe cap’s body is now centred between the jaws at table height. I’m closing on this aligned position.
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]: [-0.2386, 1.8729, 0.3676, 0.9493, 0.3649, 0.1619, 0.651, -0.02, 0.8265, 0.6224, -0.4583, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3496 left_y=-0.1462 left_z=-0.0004 left_yaw=-0.6418 left_pitch=0.0549 left_roll=-0.0394 left_gripper=0.651 right_x=0.2879 right_y=0.0018 right_z=0.1637 right_yaw=-0.0012 right_pitch=-0.1022 right_roll=0.002 right_gripper=0.999 state[joint_eff]: [0.294, -6.0786, 2.3043, 1.3065, 0.0659, -0.0806, -0.0952, -0.253, -1.5795, 6.7897, 1.7363, -0.0269, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap’s body is now centred between the jaws at table height. I’m closing on this aligned position."})
tool
executing move_to over 7 steps (0.7s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe closed jaws retain a small nonzero gap, consistent with this narrow cap. I’m lifting five centimetres to verify that it comes off the table.
move_to
left_x0.3530left_y-0.1480left_z0.0750right_z0.2050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2359, 1.8858, 0.3588, 0.9802, 0.3672, 0.1589, 0.0457, -0.02, 0.8268, 0.6197, -0.4641, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.349 left_y=-0.1454 left_z=-0.0011 left_yaw=-0.6396 left_pitch=0.0637 left_roll=-0.0395 left_gripper=0.0457 right_x=0.2867 right_y=0.0019 right_z=0.1613 right_yaw=-0.0008 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.999 state[joint_eff]: [-0.4034, -7.706, 4.3556, 1.4139, 0.1245, 0.0562, 1.2918, -0.212, -1.4564, 7.1726, 1.746, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.353,"left_y":-0.148,"left_z":0.075,"right_z":0.205},"note":"The closed jaws retain a small nonzero gap, consistent with this narrow cap. I’m lifting five centimetres to verify that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe cap moved with the left gripper and is no longer on the table. I’m raising it clear and moving it aside before reaching for the pen.
move_to
left_x0.3100left_y-0.1100left_z0.1900left_yaw0.2000left_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]: [-0.2363, 1.5261, 0.424, 0.59, 0.3634, 0.157, 0.0514, -0.02, 0.8497, 0.7601, -0.598, -0.0231, -0.0151, 0.999] state[eef_state]: left_x=0.3532 left_y=-0.146 left_z=0.0692 left_yaw=-0.6369 left_pitch=0.0949 left_roll=-0.0258 left_gripper=0.0514 right_x=0.2859 right_y=0.0019 right_z=0.1917 right_yaw=-0.0006 right_pitch=-0.1274 right_roll=0.0025 right_gripper=0.999 state[joint_eff]: [-0.7043, -5.9419, 8.0342, 1.7167, 0.0317, -0.0513, 1.033, -0.1299, -1.0735, 9.4017, 1.5409, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.11,"left_z":0.19,"left_yaw":0.2,"left_pitch":0},"note":"The cap moved with the left gripper and is no longer on the table. I’m raising it clear and moving it aside before reaching for the pen."})
tool
executing move_to over 8 steps (0.8s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe pen remains diagonal on the table, with its writing end toward the upper left. I’m bringing the right gripper over the rear half, leaving the tip exposed for capping.
move_to
right_x0.3520right_y0.2920right_z0.1050right_yaw0.5500right_pitch0.1200right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6975, 1.1496, 0.7773, -0.3096, -0.5709, -0.4927, 0.0572, -0.02, 0.8547, 0.7631, -0.6182, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.3181 left_y=-0.1374 left_z=0.182 left_yaw=0.0254 left_pitch=0.011 left_roll=-0.058 left_gripper=0.0572 right_x=0.2835 right_y=0.002 right_z=0.1879 right_yaw=-0.0008 right_pitch=-0.1495 right_roll=0.0032 right_gripper=0.999 state[joint_eff]: [-0.2667, -3.5487, 8.5949, 1.3846, -0.3541, -0.0073, 1.0281, -0.0205, -1.8393, 6.6667, 1.8193, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.352,"right_y":0.292,"right_z":0.105,"right_yaw":0.55,"right_pitch":0.12,"right_gripper":0.8},"note":"The pen remains diagonal on the table, with its writing end toward the upper left. I’m bringing the right gripper over the rear half, leaving the tip exposed for capping."})
tool
executing move_to over 25 steps (2.5s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe pen lies to the right of the jaw centre in the wrist view. I’m correcting sideways and lowering onto its rear barrel.
move_to
right_x0.3600right_y0.2500right_z0.0120right_yaw0.5500right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6964, 1.153, 0.7654, -0.3244, -0.5686, -0.5064, 0.0572, 0.7414, 1.6485, 0.6853, 0.4294, 0.1791, 0.0925, 0.8014] state[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1734 left_yaw=0.0322 left_pitch=-0.0129 left_roll=-0.0507 left_gripper=0.0572 right_x=0.3432 right_y=0.2764 right_z=0.0844 right_yaw=0.5324 right_pitch=0.0356 right_roll=-0.01 right_gripper=0.8014 state[joint_eff]: [-0.294, -4.0547, 7.7744, 1.6728, -0.2711, 0.1001, 1.0281, 0.5265, -7.0359, 7.9658, 2.0244, -0.0366, -0.1245, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.25,"right_z":0.012,"right_yaw":0.55,"right_pitch":0.18},"note":"The pen lies to the right of the jaw centre in the wrist view. I’m correcting sideways and lowering onto its rear barrel."})
tool
executing move_to over 5 steps (0.5s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe barrel is still slightly right of centre at the fingertips. I’m making a one-centimetre alignment correction so the jaws close across it rather than beside it.
move_to
right_x0.3610right_y0.2320right_z0.0050right_yaw0.6400right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6964, 1.1545, 0.7654, -0.3252, -0.5682, -0.5072, 0.0572, 0.6395, 1.998, 0.5213, 0.9974, 0.0998, 0.0261, 0.8015] state[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1727 left_yaw=0.0323 left_pitch=-0.0148 left_roll=-0.05 left_gripper=0.0572 right_x=0.3537 right_y=0.2457 right_z=0.0008 right_yaw=0.5325 right_pitch=0.0833 right_roll=-0.0216 right_gripper=0.8015 state[joint_eff]: [-0.0752, -3.6581, 6.9675, 1.5165, -0.2808, -0.0171, 1.0281, -1.0325, -7.2137, 3.3573, 1.2967, -0.0611, 0.4322, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.361,"right_y":0.232,"right_z":0.005,"right_yaw":0.64,"right_pitch":0.2},"note":"The barrel is still slightly right of centre at the fingertips. I’m making a one-centimetre alignment correction so the jaws close across it rather than beside it."})
tool
executing move_to over 4 steps (0.4s)
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 pen now runs between the open jaws. I’m making a final millimetre-scale centring adjustment and closing on the barrel.
move_to
right_x0.3570right_y0.2400right_z0.0040right_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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5285, 2.0766, 0.4763, 1.2049, -0.049, -0.0399, 0.8015] state[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3637 right_y=0.2266 right_z=0.0015 right_yaw=0.5837 right_pitch=0.1652 right_roll=-0.0163 right_gripper=0.8015 state[joint_eff]: [-0.1983, -3.8359, 6.8171, 1.5263, -0.232, -0.0611, 1.0281, -0.3077, -6.5709, 2.5368, 1.956, -0.0757, -0.1587, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.357,"right_y":0.24,"right_z":0.004,"right_gripper":0},"note":"The pen now runs between the open jaws. I’m making a final millimetre-scale centring adjustment and closing on the barrel."})
tool
executing move_to over 9 steps (0.9s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe jaws closed almost fully, and the readback shows they stopped above the thin barrel. I’m reopening and lowering to table contact without changing the sideways alignment.
move_to
right_x0.3530right_y0.2400right_z-0.0160right_pitch0.1200right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.696, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5167, 2.0872, 0.4732, 1.2728, -0.1097, -0.0647, 0.0073] state[eef_state]: left_x=0.3152 left_y=-0.1348 left_z=0.1726 left_yaw=0.0329 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3638 right_y=0.2331 right_z=0.0122 right_yaw=0.6386 right_pitch=0.221 right_roll=-0.0226 right_gripper=0.0073 state[joint_eff]: [-0.0752, -3.8085, 6.8171, 1.5458, -0.2808, -0.0708, 1.0281, -0.0068, -7.1179, 2.9197, 1.6972, -0.0464, -0.0464, 0.4664] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.353,"right_y":0.24,"right_z":-0.016,"right_pitch":0.12,"right_gripper":0.4},"note":"The jaws closed almost fully, and the readback shows they stopped above the thin barrel. I’m reopening and lowering to table contact without changing the sideways alignment."})
tool
executing move_to over 4 steps (0.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe barrel is centred between the jaws, and the fingertips are now at table height. I’m closing for the corrected pen grasp.
move_to
right_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]: [-0.6964, 1.1549, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.5533, 2.1017, 0.4843, 1.2346, -0.0803, -0.062, 0.395] state[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1725 left_yaw=0.0325 left_pitch=-0.0154 left_roll=-0.0498 left_gripper=0.0572 right_x=0.3571 right_y=0.2415 right_z=0.0004 right_yaw=0.6475 right_pitch=0.1785 right_roll=-0.026 right_gripper=0.395 state[joint_eff]: [-0.1846, -3.6991, 6.8444, 1.5165, -0.2515, -0.0513, 1.0281, 0.5949, -6.1197, 3.3983, 1.4579, -0.0073, 0.0415, -0.188] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The barrel is centred between the jaws, and the fingertips are now at table height. I’m closing for the corrected pen grasp."})
tool
executing move_to over 4 steps (0.4s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe right jaw opening now matches a thin pen barrel. I’m lifting it a few centimetres to confirm the grasp before bringing the two pieces together.
move_to
right_x0.3570right_y0.2400right_z0.0760right_pitch0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.556, 2.1014, 0.4881, 1.2324, -0.0807, -0.0605, 0.0505] state[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3574 right_y=0.2431 right_z=0.0011 right_yaw=0.6497 right_pitch=0.1804 right_roll=-0.0246 right_gripper=0.0505 state[joint_eff]: [-0.1846, -3.8085, 6.8171, 1.5946, -0.2759, -0.0464, 1.0281, -0.2803, -8.1299, 2.5231, 1.917, 0.0024, -0.0317, 1.1697] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.357,"right_y":0.24,"right_z":0.076,"right_pitch":0.02},"note":"The right jaw opening now matches a thin pen barrel. I’m lifting it a few centimetres to confirm the grasp before bringing the two pieces together."})
tool
executing move_to over 6 steps (0.6s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe pen lifted successfully with its writing tip exposed. I’m raising it to assembly height and turning the tip toward the cap on the left.
move_to
right_x0.3700right_y0.2000right_z0.1850right_yaw1.5000right_pitch0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6964, 1.158, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.556, 1.6714, 0.5991, 0.6033, -0.083, -0.0723, 0.0572] state[eef_state]: left_x=0.3152 left_y=-0.135 left_z=0.1716 left_yaw=0.0326 left_pitch=-0.0176 left_roll=-0.0477 left_gripper=0.0572 right_x=0.3608 right_y=0.2456 right_z=0.0771 right_yaw=0.6568 right_pitch=0.0927 right_roll=-0.0259 right_gripper=0.0572 state[joint_eff]: [-0.1162, -3.9179, 7.2137, 1.5165, -0.2466, -0.0464, 1.0281, -0.4581, -8.6359, 7.2137, 1.8193, 0.0171, 0.0024, 1.033] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.2,"right_z":0.185,"right_yaw":1.5,"right_pitch":0.12},"note":"The pen lifted successfully with its writing tip exposed. I’m raising it to assembly height and turning the tip toward the cap on the left."})
tool
executing move_to over 7 steps (0.7s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe pen is elevated, but its large turn shifted the actual grasp point forward. I’m first turning the cap partway, then I’ll use the measured positions to align their axes.
move_to
left_x0.3600left_y-0.1500left_z0.1850left_yaw0.8000left_pitch0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6964, 1.1622, 0.7654, -0.3286, -0.5682, -0.5076, 0.0572, 0.1265, 1.7767, 1.3193, -0.3035, -0.9573, -0.8761, 0.0628] state[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1698 left_yaw=0.0327 left_pitch=-0.023 left_roll=-0.0429 left_gripper=0.0572 right_x=0.4226 right_y=0.2029 right_z=0.1978 right_yaw=1.332 right_pitch=0.1421 right_roll=-0.197 right_gripper=0.0628 state[joint_eff]: [-0.2667, -4.0821, 7.0085, 1.5311, -0.188, -0.0269, 1.0281, -0.841, -8.7179, 5.4906, 0.6862, -0.862, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.15,"left_z":0.185,"left_yaw":0.8,"left_pitch":0.04},"note":"The pen is elevated, but its large turn shifted the actual grasp point forward. I’m first turning the cap partway, then I’ll use the measured positions to align their axes."})
tool
executing move_to over 5 steps (0.5s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteBoth pieces remain held. I’m completing the cap’s turn so its open end faces the pen tip, while keeping the grippers separated.
move_to
left_x0.3650left_y-0.1500left_z0.1900left_yaw1.5000left_pitch0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8112, 1.8626, 1.4792, -0.9058, -0.9466, -1.2484, 0.0607, 0.1371, 1.7081, 1.2057, -0.3653, -0.9607, -0.926, 0.0628] state[eef_state]: left_x=0.3776 left_y=-0.1843 left_z=0.1625 left_yaw=0.5619 left_pitch=-0.0253 left_roll=-0.0078 left_gripper=0.0607 right_x=0.3864 right_y=0.2031 right_z=0.1776 right_yaw=1.359 right_pitch=0.103 right_roll=-0.1409 right_gripper=0.0628 state[joint_eff]: [0.6085, -11.1795, 5.8051, -0.0708, -0.6716, -0.0806, 1.033, -0.5538, -10.1949, 6.9675, 1.4774, -0.4029, 0.188, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.15,"left_z":0.19,"left_yaw":1.5,"left_pitch":0.07},"note":"Both pieces remain held. I’m completing the cap’s turn so its open end faces the pen tip, while keeping the grippers separated."})
tool
executing move_to over 6 steps (0.6s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe left wrist cannot comfortably complete the full sideways turn. I’m using its reachable diagonal orientation instead and positioning the cap for a diagonal insertion.
move_to
left_x0.4050left_y-0.2300left_z0.1850left_yaw0.8500left_pitch0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8085, 2.146, 1.8168, -1.3476, -0.9871, -1.6905, 0.0621, 0.1371, 1.7061, 1.2053, -0.3508, -0.9585, -0.9192, 0.0628] state[eef_state]: left_x=0.3833 left_y=-0.1828 left_z=0.1448 left_yaw=0.8172 left_pitch=-0.0094 left_roll=0.0149 left_gripper=0.0621 right_x=0.3883 right_y=0.2031 right_z=0.1796 right_yaw=1.3555 right_pitch=0.1073 right_roll=-0.1504 right_gripper=0.0628 state[joint_eff]: [-0.2667, -12.0684, 7.2137, -0.105, -0.6227, -0.1148, 1.033, -0.3214, -10.1128, 7.0222, 1.3993, -0.3785, 0.1734, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.23,"left_z":0.185,"left_yaw":0.85,"left_pitch":0.07},"note":"The left wrist cannot comfortably complete the full sideways turn. I’m using its reachable diagonal orientation instead and positioning the cap for a diagonal insertion."})
tool
executing move_to over 5 steps (0.5s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe cap arm has stopped tracking at a joint limit. I’m backing out to a less twisted, higher pose before aligning the pieces along the table’s forward direction.
move_to
left_x0.3400left_y-0.2200left_z0.2200left_yaw0.0000left_pitch0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8085, 2.146, 1.8168, -1.351, -0.9874, -1.7012, 0.0621, 0.1371, 1.7061, 1.2049, -0.3511, -0.9535, -0.9207, 0.0628] state[eef_state]: left_x=0.3829 left_y=-0.1824 left_z=0.1449 left_yaw=0.8229 left_pitch=-0.0088 left_roll=0.0094 left_gripper=0.0621 right_x=0.3887 right_y=0.2027 right_z=0.1789 right_yaw=1.3531 right_pitch=0.1034 right_roll=-0.1524 right_gripper=0.0628 state[joint_eff]: [-0.2667, -12.547, 7.241, -0.0855, -0.6032, -0.0659, 1.033, -0.2667, -8.3077, 6.5573, 1.2576, -0.442, -0.0317, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.22,"left_z":0.22,"left_yaw":0,"left_pitch":0.08},"note":"The cap arm has stopped tracking at a joint limit. I’m backing out to a less twisted, higher pose before aligning the pieces along the table’s forward direction."})
tool
executing move_to over 6 steps (0.6s)
step 206
assistant
agent noteThe cap arm has unfolded and can move again. I’m placing the cap ahead of the pen’s future position, with its opening facing back toward the bases.
move_to
left_x0.4150left_y-0.2550left_z0.1800left_yaw-0.0500left_pitch0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8993, 1.4338, 1.1564, -0.7971, -0.8417, -1.1416, 0.0635, 0.1371, 1.7073, 1.2018, -0.3546, -0.9455, -0.9245, 0.0628] state[eef_state]: left_x=0.3084 left_y=-0.1706 left_z=0.1992 left_yaw=0.3655 left_pitch=-0.0621 left_roll=-0.1528 left_gripper=0.0635 right_x=0.3886 right_y=0.2018 right_z=0.1761 right_yaw=1.3494 right_pitch=0.0948 right_roll=-0.1508 right_gripper=0.0628 state[joint_eff]: [0.2667, -0.759, 6.1744, 1.5458, -0.1245, 0.1832, 0.9499, -0.0615, -8.2667, 6.8171, 1.3553, -0.4274, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.255,"left_z":0.18,"left_yaw":-0.05,"left_pitch":0.12},"note":"The cap arm has unfolded and can move again. I’m placing the cap ahead of the pen’s future position, with its opening facing back toward the bases."})
tool
executing move_to over 9 steps (0.9s)
step 215
assistant
agent noteThe cap is secure, though the arm is tracking the turn slowly. I’m rotating the pen back in a smaller increment while moving it toward the centre workspace.
move_to
right_x0.3350right_y0.2800right_z0.1800right_yaw0.7000right_pitch0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8669, 1.4693, 1.0954, -0.5873, -0.7849, -0.9596, 0.0657, 0.1371, 1.7073, 1.2018, -0.358, -0.9424, -0.9249, 0.0628] state[eef_state]: left_x=0.3276 left_y=-0.1875 left_z=0.1812 left_yaw=0.2632 left_pitch=-0.0528 left_roll=-0.1286 left_gripper=0.0657 right_x=0.3885 right_y=0.2015 right_z=0.1754 right_yaw=1.3474 right_pitch=0.0914 right_roll=-0.1487 right_gripper=0.0628 state[joint_eff]: [-0.294, -6.3658, 8.8137, 1.2137, -0.6129, -0.0464, 1.0281, -0.3761, -8.4444, 6.4752, 1.2918, -0.4615, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.28,"right_z":0.18,"right_yaw":0.7,"right_pitch":0.16},"note":"The cap is secure, though the arm is tracking the turn slowly. I’m rotating the pen back in a smaller increment while moving it toward the centre workspace."})
tool
executing move_to over 7 steps (0.7s)
step 222
assistant
agent noteThe two held pieces are visible in the left wrist view. I’m lowering and advancing the cap into a more reachable pose to establish a steady insertion target.
move_to
left_x0.3950left_y-0.2450left_z0.1350left_yaw0.0200left_pitch0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8669, 1.4715, 1.0946, -0.5884, -0.7773, -0.96, 0.0657, 0.6895, 1.4246, 0.7757, 0.1711, -0.1112, -0.2356, 0.0665] state[eef_state]: left_x=0.3271 left_y=-0.1883 left_z=0.1793 left_yaw=0.2591 left_pitch=-0.0603 left_roll=-0.1278 left_gripper=0.0657 right_x=0.318 right_y=0.2923 right_z=0.1602 right_yaw=0.901 right_pitch=0.0792 right_roll=-0.1576 right_gripper=0.0665 state[joint_eff]: [-0.1026, -6.5026, 6.6393, 1.2527, -0.4957, -0.0513, 1.033, -0.1573, -7.4735, 6.2017, 2.2051, 0.1538, 0.1148, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.245,"left_z":0.135,"left_yaw":0.02,"left_pitch":0.18},"note":"The two held pieces are visible in the left wrist view. I’m lowering and advancing the cap into a more reachable pose to establish a steady insertion target."})
tool
executing move_to over 9 steps (0.9s)
step 231
assistant
agent noteThe pen tip is near the cap, but their axes are still angled. I’m pulling the pen slightly back while turning it parallel to the cap for a straight approach.
move_to
right_x0.2800right_y0.3780right_z0.1350right_yaw0.0800right_pitch0.2400right_roll0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8238, 1.6871, 0.9089, 0.1806, -0.7189, -0.5724, 0.0657, 0.6735, 1.4338, 0.7708, 0.1333, -0.065, -0.2207, 0.0665] state[eef_state]: left_x=0.3837 left_y=-0.2378 left_z=0.1309 left_yaw=0.0611 left_pitch=0.1293 left_roll=-0.1274 left_gripper=0.0657 right_x=0.3241 right_y=0.2779 right_z=0.1457 right_yaw=0.8373 right_pitch=0.0253 right_roll=-0.1568 right_gripper=0.0665 state[joint_eff]: [1.388, -6.6803, 5.8735, 1.5409, -0.0904, 0.2564, 1.033, 1.0462, -6.6803, 7.1863, 2.293, -0.7448, -0.1734, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.378,"right_z":0.135,"right_yaw":0.08,"right_pitch":0.24,"right_roll":0.04},"note":"The pen tip is near the cap, but their axes are still angled. I’m pulling the pen slightly back while turning it parallel to the cap for a straight approach."})
tool
executing move_to over 9 steps (0.9s)
step 240
assistant
agent noteThe arms made contact during the turn, shown by a sudden position shift and high joint loads. I’m backing the right arm away immediately before attempting any further alignment.
move_to
right_x0.2550right_y0.2400right_z0.1800right_yaw0.0500right_pitch0.2400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7082, 1.6459, 0.8494, 0.2214, -0.7254, -0.5755, 0.0657, 1.0561, 1.792, 1.0222, 0.2207, 0.9199, 0.5365, 0.0703] state[eef_state]: left_x=0.4005 left_y=-0.184 left_z=0.1322 left_yaw=0.1858 left_pitch=0.1461 left_roll=-0.1456 left_gripper=0.0657 right_x=0.3392 right_y=0.3215 right_z=0.1499 right_yaw=0.0073 right_pitch=0.2358 right_roll=0.084 right_gripper=0.0703 state[joint_eff]: [-11.0427, -3.5761, 11.0017, 0.9255, -0.2027, 0.0171, 1.033, 16.0889, -1.7299, 12.2051, 0.2466, 0.6276, 0.7302, 0.9158] 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":{"right_x":0.255,"right_y":0.24,"right_z":0.18,"right_yaw":0.05,"right_pitch":0.24},"note":"The arms made contact during the turn, shown by a sudden position shift and high joint loads. I’m backing the right arm away immediately before attempting any further alignment."})
tool
executing move_to over 7 steps (0.7s)
step 247
assistant
agent noteThe joint loads have returned to normal. I’m moving the cap farther toward the centre and slightly forward, leaving the pen arm backed away for clearance.
move_to
left_x0.4050left_y-0.2800left_z0.1400left_yaw0.0000left_pitch0.2000left_roll0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7113, 1.6432, 0.8478, 0.2199, -0.725, -0.5827, 0.0657, 1.1606, 1.3266, 0.6933, 0.0544, 0.9695, 0.5953, 0.0715] state[eef_state]: left_x=0.3995 left_y=-0.1849 left_z=0.1324 left_yaw=0.1863 left_pitch=0.1451 left_roll=-0.1521 left_gripper=0.0657 right_x=0.2625 right_y=0.2475 right_z=0.1787 right_yaw=0.0474 right_pitch=0.2419 right_roll=0.1015 right_gripper=0.0715 state[joint_eff]: [0.1709, -6.8581, 6.2974, 1.6825, -0.2564, 0.0659, 1.0085, 0.7179, -4.9846, 6.8308, 1.4969, 0.3932, 0.0904, 0.8816] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.28,"left_z":0.14,"left_yaw":0,"left_pitch":0.2,"left_roll":0.1},"note":"The joint loads have returned to normal. I’m moving the cap farther toward the centre and slightly forward, leaving the pen arm backed away for clearance."})
tool
executing move_to over 9 steps (0.9s)
step 256
assistant
agent noteThe cap is now ahead of the backed-off pen, with roughly fourteen centimetres between grasp points. I’m translating the pen sideways into line while keeping that front-to-back clearance.
move_to
right_x0.2550right_y0.3700right_z0.1200right_yaw0.0200right_pitch0.2800right_roll0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8799, 1.8618, 1.0771, 0.157, -0.8417, -0.4278, 0.0657, 1.1648, 1.3254, 0.6804, 0.0372, 0.9649, 0.5945, 0.0712] state[eef_state]: left_x=0.3997 left_y=-0.271 left_z=0.1241 left_yaw=0.0164 left_pitch=0.1668 left_roll=0.0746 left_gripper=0.0657 right_x=0.2596 right_y=0.2454 right_z=0.1714 right_yaw=0.0617 right_pitch=0.2267 right_roll=0.0752 right_gripper=0.0712 state[joint_eff]: [-0.5675, -9.1829, 9.5248, 1.5702, -0.5055, 0.2027, 1.0037, -0.4308, -4.7795, 7.4735, 1.6337, 0.2955, -0.0171, 0.4664] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.255,"right_y":0.37,"right_z":0.12,"right_yaw":0.02,"right_pitch":0.28,"right_roll":0.1},"note":"The cap is now ahead of the backed-off pen, with roughly fourteen centimetres between grasp points. I’m translating the pen sideways into line while keeping that front-to-back clearance."})
tool
executing move_to over 11 steps (1.1s)
step 267
assistant
agent noteThe arm bodies contact again before the pen reaches alignment, despite the fingertip clearance. I’m withdrawing the pen and will set both pieces down rather than force the insertion.
move_to
right_x0.2550right_y0.1700right_z0.1800right_yaw0.0500right_pitch0.2400right_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]: [-0.7593, 1.8675, 1.0126, 0.1341, -0.8524, -0.4278, 0.0662, 1.2175, 1.8141, 0.9348, 0.1062, 1.3705, 0.936, 0.071] state[eef_state]: left_x=0.4156 left_y=-0.2062 left_z=0.0962 left_yaw=0.1345 left_pitch=0.1137 left_roll=0.1521 left_gripper=0.0662 right_x=0.2841 right_y=0.2805 right_z=0.1444 right_yaw=-0.3178 right_pitch=0.4105 right_roll=0.1912 right_gripper=0.071 state[joint_eff]: [-10.2222, -9.5248, 11.453, 1.7607, -0.2222, -0.0269, 0.9744, 8.7453, -1.853, 14.1744, 1.4628, -2.3419, -1.873, 0.6764] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.255,"right_y":0.17,"right_z":0.18,"right_yaw":0.05,"right_pitch":0.24,"right_roll":0},"note":"The arm bodies contact again before the pen reaches alignment, despite the fingertip clearance. I’m withdrawing the pen and will set both pieces down rather than force the insertion."})
tool
executing move_to over 10 steps (1.0s)
step 277
assistant
agent noteThe arms are separated again and the loads are normal. I’m lowering the pen onto a clear area on the right side of the table.
move_to
right_x0.3200right_y0.1300right_z0.0120right_yaw0.0500right_pitch0.1800right_roll-0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.762, 1.887, 1.0069, 0.1188, -0.857, -0.4431, 0.0696, 1.0664, 1.0424, 0.5194, -0.0082, 0.9775, 0.5144, 0.0728] state[eef_state]: left_x=0.4122 left_y=-0.2039 left_z=0.0843 left_yaw=0.1399 left_pitch=0.0924 left_roll=0.1722 left_gripper=0.0696 right_x=0.2579 right_y=0.1716 right_z=0.1842 right_yaw=-0.02 right_pitch=0.2714 right_roll=0.0637 right_gripper=0.0728 state[joint_eff]: [0.0205, -10.8923, 6.188, 1.5897, -0.3297, 0.1441, 0.6569, -0.294, -2.5368, 6.6256, 1.536, 0.105, -0.188, 0.779] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.13,"right_z":0.012,"right_yaw":0.05,"right_pitch":0.18,"right_roll":-0.02},"note":"The arms are separated again and the loads are normal. I’m lowering the pen onto a clear area on the right side of the table."})
tool
executing move_to over 12 steps (1.2s)
step 289
assistant
agent noteThe pen has reached the tabletop. I’m opening the right gripper to leave it resting there.
move_to
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.762, 1.887, 1.0031, 0.1154, -0.857, -0.4461, 0.0706, 0.6601, 1.8942, 0.2058, 1.1305, 0.5919, 0.2592, 0.0759] state[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0826 left_yaw=0.141 left_pitch=0.0882 left_roll=0.1752 left_gripper=0.0706 right_x=0.31 right_y=0.1204 right_z=-0.0026 right_yaw=0.0222 right_pitch=0.1043 right_roll=-0.0671 right_gripper=0.0759 state[joint_eff]: [-0.1846, -9.3197, 6.0239, 1.3358, -0.2711, -0.0073, 0.8034, -0.6222, -6.6393, 2.9197, 0.9744, -0.1197, -0.105, 0.6032] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65},"note":"The pen has reached the tabletop. I’m opening the right gripper to leave it resting there."})
tool
executing move_to over 6 steps (0.6s)
step 295
assistant
agent noteThe pen is released on the right. I’m lowering the cap onto a separate clear spot on the left, away from the pen and the idle gripper.
move_to
left_x0.3550left_y-0.1500left_z0.0120left_yaw0.1000left_pitch0.0700left_roll-0.0400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.762, 1.887, 1.0027, 0.1154, -0.8566, -0.4465, 0.0736, 0.6567, 1.9038, 0.2073, 1.153, 0.5797, 0.2546, 0.646] state[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0824 left_yaw=0.1409 left_pitch=0.0878 left_roll=0.175 left_gripper=0.0736 right_x=0.3117 right_y=0.1226 right_z=-0.0016 right_yaw=0.0301 right_pitch=0.1121 right_roll=-0.0574 right_gripper=0.646 state[joint_eff]: [-0.0752, -9.3333, 5.7231, 1.3846, -0.3443, -0.0513, 0.6569, 0.0752, -6.5709, 1.9897, 1.4383, 0.232, 0.0073, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.15,"left_z":0.012,"left_yaw":0.1,"left_pitch":0.07,"left_roll":-0.04},"note":"The pen is released on the right. I’m lowering the cap onto a separate clear spot on the left, away from the pen and the idle gripper."})
tool
executing move_to over 5 steps (0.5s)
step 300
assistant
agent noteThe cap is at table height. I’m releasing it before withdrawing both arms.
move_to
left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7017, 1.8442, 0.5194, 0.5522, -0.7219, -0.4805, 0.0761, 0.6567, 1.903, 0.2077, 1.1522, 0.5743, 0.2539, 0.6466] state[eef_state]: left_x=0.3483 left_y=-0.1368 left_z=0.0018 left_yaw=0.1258 left_pitch=0.0164 left_roll=0.0875 left_gripper=0.0761 right_x=0.3117 right_y=0.1236 right_z=-0.0017 right_yaw=0.0348 right_pitch=0.1108 right_roll=-0.0556 right_gripper=0.6466 state[joint_eff]: [0.253, -6.8171, 4.0957, 1.2625, 0.1978, -0.0757, 0.6276, -0.0068, -5.8051, 2.3726, 1.6532, 0.1734, -0.022, 0.0513] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.65},"note":"The cap is at table height. I’m releasing it before withdrawing both arms."})
tool
executing move_to over 6 steps (0.6s)
step 306
assistant
agent noteBoth pieces have been released in separate areas. I’m lifting the arms away and returning them to their parked positions so the final placement is visible.
move_to
left_x0.2950left_y0.0000left_z0.1850left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.1850right_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]: [-0.6971, 1.845, 0.5053, 0.5797, -0.725, -0.4896, 0.6451, 0.6567, 1.903, 0.2073, 1.153, 0.5713, 0.2535, 0.6467] state[eef_state]: left_x=0.3479 left_y=-0.1339 left_z=0.0022 left_yaw=0.1376 left_pitch=0.0269 left_roll=0.0718 left_gripper=0.6451 right_x=0.3116 right_y=0.1241 right_z=-0.0018 right_yaw=0.0375 right_pitch=0.1102 right_roll=-0.0545 right_gripper=0.6467 state[joint_eff]: [-0.4444, -7.1179, 5.2171, 1.16, -0.1636, 0.0464, 0.0757, -0.0205, -5.5043, 2.1265, 1.6288, 0.1636, -0.0415, -0.0073] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.185,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.185,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both pieces have been released in separate areas. I’m lifting the arms away and returning them to their parked positions so the final placement is visible."})
tool
executing move_to over 13 steps (1.3s)
step 319
assistant
agent noteI picked up both the pen and the cap, but could not safely align them for insertion: the arm bodies contacted before the pieces lined up. I stopped, placed both pieces separately on the table, and parked the arms. The pen remains uncapped.
give_up
hindsightFor these thin pieces, successful grasps required actual fingertip z near 0; a close at z about 0.012 m missed the pen. Confirmed holding gaps were about 0.05–0.07. Large yaw changes tracked poorly and the left arm stalled near yaw 0.82 at a stretched pose. Crucially, 13–15 cm separation between grasp points did not prevent forearm/wrist contact during centre-table alignment; abrupt lateral displacement and base torques around 10–16 N·m revealed contact. A different assembly posture or fixture is needed rather than repeating parallel downward-gripper approaches.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0582, 0.8143, 0.5735, -0.3191, -0.1268, -0.0967, 0.6455, -0.009, 0.8028, 0.5671, -0.3058, 0.028, 0.0113, 0.6467] state[eef_state]: left_x=0.3 left_y=0.0085 left_z=0.1738 left_yaw=0.0897 left_pitch=0.016 left_roll=-0.0057 left_gripper=0.6455 right_x=0.3003 right_y=-0.0041 right_z=0.1761 right_yaw=-0.047 right_pitch=0.0188 right_roll=-0.0041 right_gripper=0.6467 state[joint_eff]: [0.1436, -1.9214, 9.7983, 1.7411, 0.0855, 0.2076, 0.0269, -0.3761, -2.3043, 8.9641, 1.6923, -0.0855, -0.0464, -0.0122] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both the pen and the cap, but could not safely align them for insertion: the arm bodies contacted before the pieces lined up. I stopped, placed both pieces separately on the table, and parked the arms. The pen remains uncapped.","hindsight":"For these thin pieces, successful grasps required actual fingertip z near 0; a close at z about 0.012 m missed the pen. Confirmed holding gaps were about 0.05–0.07. Large yaw changes tracked poorly and the left arm stalled near yaw 0.82 at a stretched pose. Crucially, 13–15 cm separation between grasp points did not prevent forearm/wrist contact during centre-table alignment; abrupt lateral displacement and base torques around 10–16 N·m revealed contact. A different assembly posture or fixture is needed rather than repeating parallel downward-gripper approaches."})
tool
give_up: I picked up both the pen and the cap, but could not safely align them for insertion: the arm bodies contacted before the pieces lined up. I stopped, placed both pieces separately on the table, and parked the arms. The pen remains uncapped.
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 · 8.174 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]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0216, -0.0246, 0.9996, -0.0193, 0.791, 0.6086, -0.3779, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.002 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.4838, 10.4957, 1.7411, -0.0317, 0.0659, -0.0562, -0.7179, -1.2376, 9.8667, 1.8242, -0.0366, -0.0513, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb8a9c1162f31e603b19661426470b050b5d733b793cc9fbaf6b7c430f7767c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ffbe7f4ee1cab870c586680174cde501923c01944ce8093e682985bb62658b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ee900b2787046035ef14050089cd8ab7b2d02477b77ffbd582d5b3d58ffd83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 9.295 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDGah9b2oTZLAMgO8Hr15aQFvz4kdVe-DxtCLGm2DuuUawedPXimALfloQwPJWl4YTY1LdzVKezLopdf-j6De7BMFnkVsoLky5O-c5XbPDNpltludPnx1mHg0LfGQUgAOf0_NbLllWn3vCFGeubg86Lo39FZSzSGWSjny3Qd5sAkStdBnAczcyw8hgED0tx2-5i1whowHi6uFEjIuFmdDNY9kL1f3CKoVrFn1NRnBa2oyiEqUN9ksTR7MUgZdSB5LRI1iEGXbGI5YrecwIvrsmZAJgTseliphQHlWbdzZ4F27RnZ4NGEM4AJHLaxq_AqH2UoeLVtPW8nagvzVG5QMIfimBReUvzvsL0JpZGqPiQDqzWwEGmW0lhEkhhPhY4gGjiSE8vQUcXk1_JBQfXHgqVQu-oXFt-wo5qBhVni888tghXP-LWvvM8s69KQHlhhcqF9D2L7iJ4b_oDcHQzkp5_VQsiSpGGUL2SrlB8IX_x_HQOYxDvhOKJkYe190tFjUaMq7ODu-zTE6RsvaYh_YMCFeS8N2R_7kn_aZHc4E9olcyTx6x99LVYCHHV4wsbhlV0GtMMwp2XkvnX9VWPJ9TfqlnrY1mAqJufBIM3rk28VztSVmxLCm9bmZkFr2hcOaWRqfvJXp9t03rb6XCEVgrePk5CD9VieaqVGH9792LKMKeadJf6HP0004kY6GNv5ZyWPUPynbVX0Dw8a2VGTbOmuUlH0pUBWOoRlUiy20BMQ1Cbqr2Hv1ej4hHOCq_pU9C7gULX8ngizNp3H4JNFswMUkPXiyNJ2T5alYplLHOeitC2oVhzdv9BNNkt3F-sktYSUZFXgKBuEc1myjCyP7XsO-0vOU2r4IZ-HWVWRo_C75qMYW6bOCAuVNAbpf2HNRKQ8e6PGMhaJS_xp3OA50n2RMZRO19iHfBQx-Ceoq7G4QoovE3v8bsS0ryZlqvHuRixgOCu7vLy4FG6rJPVVaRj0GcnOlsAaPgRBsy-tjZ6ZCkBhf-8HQg2Yq8OrQi3gkR65TGM4YW9YMuZQcEJQEmWgLE-azj8Dqa93itkda5WeFcxBLF3qpNaNKR3vaJA3CkRXmMo3MCZApiyAfd89Hm8gocCwIugZw5vpuqFT43m649msCR9bSl1FuhO9hDA8UFD7xYAxo8IuZokLLKc1v5upEANZ6mG1Yi6YBJvxBr6Qgz7WcCKgeR9MHOW1uG9llh9wlZSMkm-tH2Li5AZtgF6cYsMyDLzg4zQzT2Ah2nU_Zz49HJLMQGmndUliSmjl_o4QcH6Rc-XkZbT7FJM9OLi0IZG9_W0JMqdU8a2L-ekklgIOSLtINzb03Vcd6s99B6a6gbgO64vORNfjeWEsP0gE2_rkRXDS_YO_m3yJpXeRbUD89lnmlwJBi-Tg32uacPtx57d-qgvS0w0i0JbcljbJW831M1n8SYfyVE4p00DkvptmwgrLnUfVsetOln6K44IeqDAhRJfe6orBdpQKF3pF7xNlIMbkPfC7fZM6MQPArNeVUEGx3Iq6z5PlvnDC-q9NhWa37eKrOwFMK3eAvHRyYNAHhPCm4EH9Bye0Z1QpZHv9I_fiAoMzM3od7c7tCL35TQhWcSoz1zb9ctsO-kqhD4w-U1nmEgiYZONFuGU4iuSLtVn8jFeMQWGL6ETyStnyrcJl9JAY5eVK0nqipgJONxDO7G9FXcS4rUytlURIOyVqTPZQJh1oWD5ttczJUjUMtFZakfozzQmgXuuTHf4m-cICicqmFh3PeHNdJk-FoXkfSt4zZSF9AywkgVNWoZdOWOmjT95jgnUWeia-lXp5ysTVUeLquyxPAwDz6VZTflaKcVHnD85IosQKlMYQnTRRI6osicCTXDGEm1T6ys4uaSvxzc1YKJ_6KQVgCLJYb5_o8m35CzRVin71CWKkiH3C3F4_OGtgelO_M5mMClo9PUT2JZMiYrIaC-Luiugql8qoOFtUIWXl4guk7xHCd5PgAbjfU1O5vAFfh2cipsw_uyUDtpepNgRlMhII5vnede9BZZzvjcmqYKyE9qO-YEiP_qEYv7nqXXPh6HSxkH0jnfnpepeSDSsbna4QnbmWAie1XG_TsYphw23CyY8kmQAsxb_LCp92yqHqLtrvjn61laqyVmSEgHaBGdOZGfjpTT6C4STtH8PIBnzZnWiCgib6-logQowe0zfFy6eW0VBEdYtV9dBV0m7idRVx_7QmDzUpMTI-dhUblB1ZV7qTQgmii4LpXdxhp9jZNqaUUgWkzHEBItrNxPFA6a6q32r3risC4ofxFnOxJkuX6gIILmRn3QCdFDnFYpPa7GDSpyy6_TAQcTyIyX-9-k8xy0PmjhmBjdO2pObg79mx2j85g3OrwtAQ0dtcEZATRUgnHwunJ2a1dbtE9ZoiqKxzVMwY9GVBOJXQdvcpmK4d0MtDVn_lnbCUCW5hEuHTT2RkkpXjg-VCCwKqy6CQrSPNSvX37IV7ghQtS3yVPCc4Aom3_GQ0KBwFCSK40xGeai8jPZL1Ehcg2DxqlXPviWTNa7vBqE=",
  "id": "rs_0d4feeb2e0be1b47016ab470bf45d887d0ab740605690f7ecc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.12,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The short black cap is left of the longer diagonal pen. I’m moving the left gripper above the cap while keeping the right arm parked.\"}",
  "call_id": "call_ktSyabHwsOtjEFZpZS1JQs3B",
  "id": "fc_0d4feeb2e0be1b47016ab470c517c887d0af48d0595d9f21f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ktSyabHwsOtjEFZpZS1JQs3B",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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]: [-0.6529, 1.6234, 0.8719, -0.0067, -0.5259, -0.4053, 0.9996, -0.02, 0.7971, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3863 left_y=-0.1793 left_z=0.0991 left_yaw=-0.0104 left_pitch=-0.0669 left_roll=0.0393 left_gripper=0.9996 right_x=0.2946 right_y=0.0018 right_z=0.181 right_yaw=-0.001 right_pitch=-0.0153 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9111, 8.9231, 1.8486, -0.4225, -0.0317, -0.0611, 0.0068, -1.7573, 7.1316, 1.7607, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:193636a2c4b31d0aceb3c6da8172a7108ee3dfe620d4d72c0595cf60a437b229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b527f488745eb69a015473bd55efb82dd6e8d6a3669ff6fb89bf9f614b159b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe2eee641fe67d49c99a8c3a5798c3fcb8f2862c05a4ae8b2207cae8500b5be",
      "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 · 4.028 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]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0216, -0.0246, 0.9996, -0.0193, 0.791, 0.6086, -0.3779, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.002 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.4838, 10.4957, 1.7411, -0.0317, 0.0659, -0.0562, -0.7179, -1.2376, 9.8667, 1.8242, -0.0366, -0.0513, -0.105]",
      "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]: [-0.6529, 1.6234, 0.8719, -0.0067, -0.5259, -0.4053, 0.9996, -0.02, 0.7971, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3863 left_y=-0.1793 left_z=0.0991 left_yaw=-0.0104 left_pitch=-0.0669 left_roll=0.0393 left_gripper=0.9996 right_x=0.2946 right_y=0.0018 right_z=0.181 right_yaw=-0.001 right_pitch=-0.0153 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9111, 8.9231, 1.8486, -0.4225, -0.0317, -0.0611, 0.0068, -1.7573, 7.1316, 1.7607, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:193636a2c4b31d0aceb3c6da8172a7108ee3dfe620d4d72c0595cf60a437b229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b527f488745eb69a015473bd55efb82dd6e8d6a3669ff6fb89bf9f614b159b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe2eee641fe67d49c99a8c3a5798c3fcb8f2862c05a4ae8b2207cae8500b5be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDR2GEdZiQTpuwlPuZdL2PbtThzs0Mr7WWFWbHts-B1oUo4sVlasTSTEoBJ9i-YeeDXDZcCnsftRrYLPC_c0r-Qv4R8fN-CZtPWrSMTbn3woWprkpnox0tsObDR7V_CW2JeWSIKP5hYX0Tp_sDdwB4RzLv7xnguN0j06SCs4muOSrJ1ElMPYvD53T47PYIFiUhFaI2HM5gUvNmpkRjWeSWccxJfPQs1PEaIyUZlKeKIGH9AWNx7pccvncZ2bAvii_zMic-WHtHcOQ9VhxlA4AWO7fU-3_avkQKE7On9OVWSjiuhCyfXN2SP4N5hbyKJMyGImxfFrRpFHxCOncZF_IyVgfe2LusK3yQKsmmw6PJ7HYq1Ysipn1AuFM2EPcyGe8rg25daPT-fPAWe2EYnnBU7L26C6RqBKa-RQzWsSa_w9aOHxkQMA2fixvBMkOGxbAxTqkl9X9yd1N9H4yrxKcM33XHotQ5Qep6YqKvvCY_YZzY_GGBUJa8atoRRcDpTnwTcIT_zZkFPqDMeHFF5h8CvicF0hv83ACTCWAFMHErjxWXvio7Ub9dM2aMeMeQc-qlmHU3aOSOaX94ha4zfRFVUdq7OiiOGWpyhGnQAbg7U48L_STDyl7Cm7V5esHJ66h7Sz812SMR5Z6HVwSTCn7CbkIQI6qd7ccZ06A_E25K82S8XCme98sjOxx1ID8WEqGiw0mCAa2oHVcO5uB4kC8sKyfO9w0l7lKTrzQwUJNW8i7Niv-e9XTKupTxutz_uixgvZ_Op8UNEos66fzqc6ibDPg8J6VY8C7Kg27KOYqLGPDqoms4ASpVzgifezboxjVJoD5f5iRknzAHDXIrGB8ZPYHP8FNrwWbAnmVuY8QmTRDHZnMfKOXxDE4wpDVY4h09mu9YWUdmOjFwjo7GSUSz-ulGtLC45fEhTickLwkNBxuhu69gpxN9HsyT2HktyyrLNX4kjJZDiM7rGTkmluzgAiE7O-juSjeM_7bhtVlbfyJM2ONR4K3-D13Slf9ktRPr2l4mcvmF3ySqvZMsovFatpvAzLWJ0iYFMJRx15KuMKWcI8ONDrf5ajTtWaL8ZZwTqFBFBFk-uzoNsWrqFZ87qrQkG-2IbzeULTTQjHW5qRmC3xEIk-FW01qyc-_2XJc5GoSbenvfL3BxxPbfH-NVgngofJSkgnln_xs-d4uCvqgf30VFucRUS4A1d5xYZBVdhzzAIHhT7alLtHvj4wTFcx5Nz4dZIkGJrPnhf5RNT6uscFp4II7E2D6_pHAYRUJZh6PSBA3bdmSiHOeDr1Y3IaEDMok0tuYQjtpOQpB7LTPo0xTtWbdvglXHeshf86y2N5CUiOTLJwodo-O8qdGAL5fm4nT1Ah9_HQiBBaRwbHwtcyXOo9XH2htCit6U9wze5cmbOwJlulyi7PKVbfawSOqOn_vyxT3fc15WrapPMC0KYAtQ6A2MZnhmJYp_LYnBJSxuaCsVeUjwfvovemNX1s3YeA8mMw4rVExydsbtF8YqmhV1rXuo1cX8iv64bqvJzs4AzWy-lZSjof-HADYICPL7IRVgs42FDXW2_lz8jSomAgWMEdZAxVTBuJkDkFsJdULA2LCFmYrk-CS6TdT7nmS-AnvsjwBZ23MMUkIC27rVNE0lri9ANPe086sl9eWJfWsl6NxBgMAkhLXB9MHQbuXhCmI91dZAOEr4XXhbCogFg8n1LK3SPa5ETPvB-0QgYCb_zQx5w9o4EEqWPmQdSPHPfDq8peCmyiLcxdLUWqlwOyvHmFg9P8N3-MROIShl_NHXQ4g9SzegKCmYWF3UyScrV7lbiRJL4BoKF8TwdFU8CReXG2DZn0y7q-2utIwIZqOGr4v1XkqctdJ_pc0D6JRGYKn2UeYCDLSOtiJW9R1NT5zbMtagN-nXdjvMsED6BX-kE7U8i1RSu9Hh4q-b0tRpfqEW-cApuGwpmdGQMR-IDKp2xS4LfhOBjBEIuCjmnkrm6n9Hyn8Ol-RAGq1dEyMbykH9Hkn29x_K7ik7dUMAVHmkHlfbUKQEfKoOHMnjNHtWTMId_n7z6NBq_YBUjumZnd69mEuMI2Z1kN4UpHoO5-4-Y9QalnEHo-aSSBlnoyoP3morCLeY1yNoiJLO0fTEy-rorWTEL7-j3g2M77DXsozDqtpmBBy8LV8WG9uCYytpryu-WSVZrlmXumjp9FnYm4n1qffccMbX2azWfQht7WTkAk5vRN87oStG2GzJmrbALYWoNI-cmK7tkoQa6fOHsP-R3dAaFtw49FPYNQzVZg4bcG5rdaunkd25hs9cOsZz_w1IgKH6DbNYyoK6TGwTIAhM-jHPbW1enMd_mQUhD__ojo-_YzLBQsLc7xmUihGw_cF55-Et05D-Onuej3kRdp2KMywcCKEBQi4RkCtC8ij3nJmAvRr11vLTdGeDTXYDG9i9ynT2q5YCDl6TyMqJ8AagyxpdGoFsYmiAlkckkwF12fLvxw0xqfEsA56YYyOIVjWBpT19k4W1zZLg5H83mt4_kh5mCC6ET1DWoltBgQlSrkx4fRUtzXCHRBf3di57_swhA52UGuHox1GacFvvqr-FujYUKfHVzqR2sjjJGwOUEWLRQE-zmRV3mI3DXIrlhz_NMDNrFR_sJLaMdnTHnpDhOJQfs0Q40pKga6vF4G7Mf5k-a8dOq8eclRUOVzkvkR6iVpHHrZiz8uy0JkHXXDYgCFGCIyzSS0a1cSo58d03Rtxsm-yCgC5OCFqQ2C3Y4xgijtYVZ1g7yr6Qp8NOWObA7KDa6c_PW0i1FEswbwanAEA6b6iR1Mcu_JOJKdbAsNsSGXMqyyK1qsqPMfeso1zzvKVCTAwbMD2_E2qlb353KGOWSXHaa4PYqjY4iUpkMgKNZ4HDYsxqEuy1GeJ7cdt0cCvOVbga_vdIO9QD1kmHYQOqoRMhlUSpxdqWCx4pxa2FKZttfjDPifcygudCCydOGhxO5TiWhRedT1gwVUCqCSVFhoewxSmSfhk1DOHOR6aSFGkTuHdKNVOlNzeUaYxlG2WuErr1P-BYnS5qBqC-dMP-a5lr5MaK-wjYAClmCeYvKOvw16V0GHzgpIBz1iOw89JHht0B8PpovIaNQkhMoJhfGfXYZeGOM4dlbJOaypuvjJ1XVefhDaTof8BFn7LEDvYYzafJV219u9BMWRo7wtVEgWdAioTEE-e-aZeR_7M2z8l-Hhexx8dKJjEJbIqyVRxMezsQ-eJskxMrRXIJr4OaNH4bhJMuNA-jvJAyeeRWgxEDaTC4xCRMrhAG76OL7EyhKBemUPn9BZeqU0DWlJG4dQpDOiBdNSQVLnSQzUHRPiMilqaqUyKR6_6aCtKb8SBiXGPbrxRpv1maaFYedl0wpXbeEsZ_18CA5TsFzVyQQCzhjAD1m-bkDqGL9zCmO1TzVCbBSKq1SS9w=",
  "id": "rs_0d4feeb2e0be1b47016ab470c9569887d0b8c9c12404c59521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.399,\"left_y\":-0.17,\"left_z\":0.025,\"left_yaw\":-0.75},\"note\":\"The cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’m aligning the jaws across its narrow body and lowering for a tabletop grasp.\"}",
  "call_id": "call_3j1YNxUDVwYyQ1stOXYI5X0a",
  "id": "fc_0d4feeb2e0be1b47016ab470d04c0487d09c5a6d4342e60a81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3j1YNxUDVwYyQ1stOXYI5X0a",
  "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]: [-0.2993, 1.7935, 0.6781, 0.3363, 0.1169, 0.1215, 0.9995, -0.02, 0.799, 0.6132, -0.3946, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3913 left_y=-0.1385 left_z=0.0035 left_yaw=-0.4779 left_pitch=-0.2018 left_roll=0.0118 left_gripper=0.9995 right_x=0.2943 right_y=0.0018 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6496, -7.747, 7.7197, 1.8828, 0.3639, 0.2222, -0.0171, -0.335, -1.2786, 7.0359, 1.7998, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6320b138a6a941fdba26d95dec503fff1e69ed184bcb72700275c865dc5014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94fbed46170ba3a5af73b5f0796519ec58182851a729a912be0ac2509a6eb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93e7c0c469b53be24e190cc4fe9edcadaa1ea307c174cd4b8161daed0a2ebd6",
      "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 · 3.031 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]: [-0.6529, 1.6234, 0.8719, -0.0067, -0.5259, -0.4053, 0.9996, -0.02, 0.7971, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3863 left_y=-0.1793 left_z=0.0991 left_yaw=-0.0104 left_pitch=-0.0669 left_roll=0.0393 left_gripper=0.9996 right_x=0.2946 right_y=0.0018 right_z=0.181 right_yaw=-0.001 right_pitch=-0.0153 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9111, 8.9231, 1.8486, -0.4225, -0.0317, -0.0611, 0.0068, -1.7573, 7.1316, 1.7607, -0.0611, -0.0562, -0.0171]",
      "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]: [-0.2993, 1.7935, 0.6781, 0.3363, 0.1169, 0.1215, 0.9995, -0.02, 0.799, 0.6132, -0.3946, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3913 left_y=-0.1385 left_z=0.0035 left_yaw=-0.4779 left_pitch=-0.2018 left_roll=0.0118 left_gripper=0.9995 right_x=0.2943 right_y=0.0018 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6496, -7.747, 7.7197, 1.8828, 0.3639, 0.2222, -0.0171, -0.335, -1.2786, 7.0359, 1.7998, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6320b138a6a941fdba26d95dec503fff1e69ed184bcb72700275c865dc5014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94fbed46170ba3a5af73b5f0796519ec58182851a729a912be0ac2509a6eb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93e7c0c469b53be24e190cc4fe9edcadaa1ea307c174cd4b8161daed0a2ebd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDVkqDKqifQe6_OALBvgiWUKdHTEGeC5FEOZD730l53p-QTTZYpJrQtFt-DqvNNA1R8tgtCOn1GF0yqjBZf0560KJuyUQ5tOoxN_iWT78PZTyzJjsrqfKXF23hjFb-D3etNzQZDehKORS_jbDJJJyrRSNn9KjBJPbY_R0rH-MhT7uOuvUfT6w6HLIlDsunESdVUACmX-6gVxYn8Y0FAkxJju4OsOU_2dhSMqtmi8A-iIkjjNm1RtD3TtfYNq9SY_RPV1zXb-ybWez9NWZe38HbKX0hwjlzhEiy93uZl-rqduXrGgUBZOzZBRw7aK9oOYXZk2W3EoRZwGA3G0K-jFXioOAFkYJWnVE9R92tjPduRkR78MCC4cGpBjrXLkiWFF6su8w26LJU0xqiUx006MLH5G4MhZmyEWsHuV_Z3hi1LGbQLyNkjstAGT77dFbfQDBgivw4yLdYA9zr40yA-5Wqv2IjbvhfGGkXJY1VAE31BPLN_KLSiWbq8lfwIAZWcnU5exOd2tX_uQh79b67fam4qdytdTg6DcHFaGCZayaM4UkpT4dsJsTM7Ej8WNgG3S2fnXhFn9UiM5Wof5ToJr7YPLQO0WkcyAJdu4rGsya4uemKn9n1HDwhQg8fa67bBQeTPYA5j62ek7WmPOrN8RG_NhVhc2EoDrK4ZcrlD-d7SEouQA8oNqWmgJr9F5jXbdBqqwIFfCSxD1xNy98576XdnqxpHn7mEScjKxHOpjKYAz3nXXVaM2qScXjGtzZJ2vRmQSyAb405YJZKMcMMxMDssNAHRAxbm6bYl_ipFX4K8KgAfFxW-kzVqvjqtQzamVALtsAzKdZ4IIRulDAlKGVSqguLJYukTBvbqwN3AWyMATm0iSRDFM6_YsUhaTdeL--RU05Qc5VmwHpI1g2h5tCu8a8TjK50jk4iVkqnbjx8jlnaRMadP6CY3m6coq7bTAgfqXhki0G8yz2GKhpA3wGTsZqw9rSmhM0snVmQfP0yft2Nu_aWVjay-xqwttiHMGFbHu7Iwz765cJvhA0H-H1M2t4Jh2IIukZUA5FNSycPM8LHU8ZD_GpnE4ONqSvmL9n5HKE-vuBXZgvRw7xHucvzBdY8EsrLHDQb_6VAjd9-j1LuD_u9bF6Hd0cFUr6b6CW6kv63WbPNCea6nKJ0gyAcmHro3c6EFHfWXC4KLTgJYzcZDpYv-39cRHrGKNYhSaSxTu5-5HzsNIimFIxcXnUqRCMjW-0cUml-v0espupDIPCfUVZKQK0OdL-G5Z3xlq0bscBromMqOiWuaNzd1fHCtPOuqlZ-hjQxsE9IdZ9vLPS7eqNiurWCca0U1zpJCXYnBkcArXPs3OPKjycK_P4V9BpObKRc9c8phhCbIFTUENHQE1xiHZcQr6dV924qlIKSd4YkcupauImBcjfy4zSIJkCSTDlzQc4h6wIRbpPjXChb1wLZTrp6oRmNg7AWxBmzh4v3IaYdlCTAiJq5sbIUsINeqMpJYkt-0s6wb-FLFJI9t9TouitXmiSCd5suneb6mePYiZ4u2IEtHDkCHioHaQ9f-P3K-g6wpN6ULLsYa8Bm1Nne0gw1sZOS9H7N1rX0W2rELjv6GArrJACLiLMFnbw==",
  "id": "rs_0d4feeb2e0be1b47016ab470d2fd9c87d099f4deea6a7e5ef5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.411,\"left_y\":-0.19,\"left_z\":0.018,\"left_yaw\":-0.75},\"note\":\"The cap is still to the right of the fingertips, and the previous rotation did not reach its target. I’m making a small outward and rightward correction before closing.\"}",
  "call_id": "call_hEV42TKNpNhOK1YtKnI3vG3O",
  "id": "fc_0d4feeb2e0be1b47016ab470d4b66c87d0a40c3bee394f1991",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hEV42TKNpNhOK1YtKnI3vG3O",
  "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]: [-0.3279, 1.8675, 0.8478, 0.2028, 0.2508, 0.2554, 0.9995, -0.02, 0.7998, 0.6132, -0.3958, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4053 left_y=-0.1804 left_z=0.0115 left_yaw=-0.6957 left_pitch=-0.2135 left_roll=0.0045 left_gripper=0.9995 right_x=0.2942 right_y=0.0017 right_z=0.1794 right_yaw=-0.0013 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.58, 0.2808, 0.2125, -0.0122, -0.2803, -1.306, 7.0359, 1.7314, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5007b2c7a3482a4fbfed39eb131b08f48847cff432ef6b17d683402dff2525a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb902a93755dae054c2afafaa4a0cf1b8e076eb880d9815cb0af73ed3e834b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f83da2338d8c8338395a5cdccc0479fb981bac679ca6992ded8025a590d75f8",
      "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 4 attempt 0 · /responses · status 200 · 3.741 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]: [-0.0204, 0.7925, 0.6022, -0.3805, -0.0216, -0.0246, 0.9996, -0.0193, 0.791, 0.6086, -0.3779, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=0.002 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.4838, 10.4957, 1.7411, -0.0317, 0.0659, -0.0562, -0.7179, -1.2376, 9.8667, 1.8242, -0.0366, -0.0513, -0.105]",
      "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]: [-0.2993, 1.7935, 0.6781, 0.3363, 0.1169, 0.1215, 0.9995, -0.02, 0.799, 0.6132, -0.3946, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3913 left_y=-0.1385 left_z=0.0035 left_yaw=-0.4779 left_pitch=-0.2018 left_roll=0.0118 left_gripper=0.9995 right_x=0.2943 right_y=0.0018 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6496, -7.747, 7.7197, 1.8828, 0.3639, 0.2222, -0.0171, -0.335, -1.2786, 7.0359, 1.7998, -0.0464, -0.0659, -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]: [-0.3279, 1.8675, 0.8478, 0.2028, 0.2508, 0.2554, 0.9995, -0.02, 0.7998, 0.6132, -0.3958, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4053 left_y=-0.1804 left_z=0.0115 left_yaw=-0.6957 left_pitch=-0.2135 left_roll=0.0045 left_gripper=0.9995 right_x=0.2942 right_y=0.0017 right_z=0.1794 right_yaw=-0.0013 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.58, 0.2808, 0.2125, -0.0122, -0.2803, -1.306, 7.0359, 1.7314, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5007b2c7a3482a4fbfed39eb131b08f48847cff432ef6b17d683402dff2525a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb902a93755dae054c2afafaa4a0cf1b8e076eb880d9815cb0af73ed3e834b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f83da2338d8c8338395a5cdccc0479fb981bac679ca6992ded8025a590d75f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDZnaw2Zsrq2lSO7GfwadNhfnwsnN5N9jL0jHMBHh3h31Hj9WEHCU-9zstBPGYd-k6WTsu3jDvP6SzcuPk0zCMKXOkpdVCCnDwxMhPbRPBeMTz_7MHXV_6etZpou0ue4WsGj4wCdDRTBYo2wFau6iL3PLDX74egRBJri_Fv20DnSLO2yQQp1BADepSDLB54f3jEGP0-BE4BWI-_xFpiOjZu03OehRfeD7tO_4augp6nqX5cXCT2ZllJKJnazaODGSAz0eXMdyuBjnyXC7pqdf0F-qFnX6av89Qovzs1z14S1qCuV4IUVrRqCMpuEwnmbsld7toLdnpwIM1tsY9jzKCRD9fcbX3TKaEut5MDkiyJS3naFg5aryEhgilqjVxF-d71lxfUB2YcgmsC0BnHE1zp9VxXEVvEyp0P271VsKGmak7KZ7-LjUBI2HRImljUa-ZnjQd1FBM5_k2mUWFjoGI7YgXmlviucd8BwIWa1BGiqK6wxlVi9howYjkKyBy3T83teGsDKIAyJ5I3tLEKmvieyQtqQHCkmI3eUkFFZC5HF0Sj4xvKIbTuit38oqukqnHonSrJmMflDlnBBt2ohst_XjrLrX6Vm5z3cvjQXp2ndnYgcQXAanA4ObtvLycmnl9tGiylrbhih-HZrZzUnkAfysenabyE932tjV9kSXrXB9SnqoSONS-Hh9EU9tlxNoN9gotsFSy83liRo7EMbMQI_sJpYbvEZQFpnXNvAS_KqFiXcnttuAivscdxNKkmDo8UOs8ngC7NEIqy3grF0Y3-rfUvf38ArUHgrg68HyKZx9Y-SPZw3NOpWawDTjxH5jFF3Fg8uVjE5pcKcZpdUHysGMmLg5UknvkiYhRzAnuWyUeFTTAo_FIWNH6EIs-ikX8rxmsdnCpFDd9_3-wBC8u2yqYW43j99iBxBOSpXAerB--3WDmJvlQmQmoNrqfR-hx2sVmWrRYmQ0a7RpSy9a4AcUG6BJgJ2-eqIzjSusbA2WtYvb-jFxW8l26OL57FqhUzDETQxy2g9G-8_1keO44UoJnNHncM9td6VUeP9Vu2YN9QX-JcvYho927zk56X1ugjcaAm1NWUwA8NWV1-hPsSsfPDXbJaMh8eAg7ok41-Aw7-RQiJB-pK_kjkpg5uo6tT7SNIlqNwU4Q4rqSmZMD5cGXTWfRuzzBn0JscF7JK4ocjFiieMaJV0d901_RYbbFUbXBd8QxVEiAmcfR282zNoFjid6s1btx-2hKjj8SkP3AAgO20W-HbkqjMcVIwZm-fH2aMlguEk2zDQFI7t2Q-oHTM1fBejZDlu0bBdyRezqqlo13VMYLHzXpz2m2odAvK",
  "id": "rs_0d4feeb2e0be1b47016ab470d7b0ec87d0bf9584daeda82497",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.005,\"left_gripper\":0},\"note\":\"The cap has moved below the wrist camera’s near edge, where the fingertips meet. I’m lowering the last centimetre and closing gently around it.\"}",
  "call_id": "call_V9Cdaa1I7oOtaTNfgxFxfD9o",
  "id": "fc_0d4feeb2e0be1b47016ab470d82eb487d0849908d9eab1f248",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V9Cdaa1I7oOtaTNfgxFxfD9o",
  "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]: [-0.3279, 1.8748, 0.8707, 0.1593, 0.2695, 0.2901, 0.0085, -0.02, 0.8009, 0.6132, -0.3965, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.1831 left_z=0.0098 left_yaw=-0.7328 left_pitch=-0.2343 left_roll=0.0055 left_gripper=0.0085 right_x=0.2941 right_y=0.0018 right_z=0.1789 right_yaw=-0.001 right_pitch=-0.024 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.3214, 7.4735, 1.5653, 0.2906, 0.0708, 0.6178, -0.1983, -1.3607, 7.0222, 1.7558, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713ab204460712f11a0309685a1ec34700ef3d822e41abdf9346ae66b41e6044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab78be8d896a47023ff1452d852897f0ef62f89535d7e3a15022bb71f6fe073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a74884b94caf2ce23fbb93a3dc751607d7be1381644a7b8296f279c5d8f7fb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.44 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]: [-0.6529, 1.6234, 0.8719, -0.0067, -0.5259, -0.4053, 0.9996, -0.02, 0.7971, 0.6132, -0.3916, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3863 left_y=-0.1793 left_z=0.0991 left_yaw=-0.0104 left_pitch=-0.0669 left_roll=0.0393 left_gripper=0.9996 right_x=0.2946 right_y=0.0018 right_z=0.181 right_yaw=-0.001 right_pitch=-0.0153 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9111, 8.9231, 1.8486, -0.4225, -0.0317, -0.0611, 0.0068, -1.7573, 7.1316, 1.7607, -0.0611, -0.0562, -0.0171]",
      "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]: [-0.3279, 1.8675, 0.8478, 0.2028, 0.2508, 0.2554, 0.9995, -0.02, 0.7998, 0.6132, -0.3958, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4053 left_y=-0.1804 left_z=0.0115 left_yaw=-0.6957 left_pitch=-0.2135 left_roll=0.0045 left_gripper=0.9995 right_x=0.2942 right_y=0.0017 right_z=0.1794 right_yaw=-0.0013 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.58, 0.2808, 0.2125, -0.0122, -0.2803, -1.306, 7.0359, 1.7314, -0.0366, -0.0366, -0.0122]\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 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]: [-0.3279, 1.8748, 0.8707, 0.1593, 0.2695, 0.2901, 0.0085, -0.02, 0.8009, 0.6132, -0.3965, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.1831 left_z=0.0098 left_yaw=-0.7328 left_pitch=-0.2343 left_roll=0.0055 left_gripper=0.0085 right_x=0.2941 right_y=0.0018 right_z=0.1789 right_yaw=-0.001 right_pitch=-0.024 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.3214, 7.4735, 1.5653, 0.2906, 0.0708, 0.6178, -0.1983, -1.3607, 7.0222, 1.7558, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713ab204460712f11a0309685a1ec34700ef3d822e41abdf9346ae66b41e6044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab78be8d896a47023ff1452d852897f0ef62f89535d7e3a15022bb71f6fe073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a74884b94caf2ce23fbb93a3dc751607d7be1381644a7b8296f279c5d8f7fb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDd7OBi3ftBDwE8M9kdKG0vTw4pgiGZKXUYyTER0-npEnQQAzg1abfl_wQNkPpMo8U2fZDJwjKFKPXmhjk6MRq3owKzXq6gVDhz-FY0U5nGTBfJLjqSgqZDn9EaRuEI3ruXeCzKOJQ-G3lq_7X-s2Nh6fAdSlzWq00OonHsMfDwQYLoi0omC8ZKX0DD0LONFC2aceodJf3w3M8EaTdlVXsv1SoXzLPO_6_FQUf2UEIlq6QRJjjN8BonGcD0-dClIFKF0Xb4P6tx20gqEjlbguQD_UVB0eA_sZ5oUHqSqQDnOw2JQMFq1Xf4UiLU7_iu--O1svdDXuRep9WOVK2pLGBCJ4rMfnqD5JPqshawTIFXhFfDO5pZCMFzy94YSyHU6SJ-CNe30csM7DcXkZ1fdyMVC6SYIMMO2dnuO2baFmJO_-iuoYX2HxNQ5bLjaMOlSO7CcP6e0RtBoMWQbA3cvpq_7DhlbpqfTdOHpQ1h5bzg14NhUriKI5uGs0ol_FHSHvnDtiXSWyamkJghX0r4H1b5pv7PwbZUe2ZicGZMk15Evpd9sFgAw3EXKPlfbqwt5C9o7zQjc9KZauVGpL_9voVluocScV_HbfuUKZJaiC91_-viLGIWkOHPWQVUgBSwbpAFFHe0Y23GxtOG2GwJZgPQ3PCMNW_-5zpFHRVgt7YL5QTHYdOiK1yfNck1r8mc9GALo2gbbyw-4I1glh8QHJOAYLXjBwjny85GVX3H0IjVhavOE4onRrynZ48rQcom3Qy-OIetTvCF8KBk-D2Vj7tbmvrxDiZKH51TS68q7apPrblrsyBxh7Yl2y9sT0oPOHzWp_gn7z6BgONB75Y1nq01pSsVqIlXr5uzqbxWokfa1JcpQrgws3bB84ZpJ21ewQhvFpB36wckEBggR-oBifmGdNdzIKvOTtXsxw8v4ed71EToR4ior1wnqOpfdDD60Jw_rVW7gv3juAKVTy5o-qqGBF58atBIAdJuKL7ceSHagnszCqko28v0hITT29EV9BgKbdt4aGoV-9M8-_CpUIL4ShR7yjbMsrM_fTOhrk0cskyEjuTye5sL2f2x9XAM2COELYpqso_XElitMy9rmGkdaw1zoz-WB5SHo7SYpSm3eMdlCI8CHwTaFJt3qHt0iaVyUB7KNeUMJIHB-ZW8qPGnjZajUqqS_lP-TWl4x9trvU73UppA4P3mxOjFdbJ7FIG57VeB6QagvRUAznHqnyXpQBabeawnMLjltAFbBmGIweq_NSHpSyVG9noSTBCpsSe9udhcZBrDPH1R3gIIaIQknIGPT9MRROVdLZY68z6gbcdvcn6ZDddWOdAdpk1dNkyl0j-cPQgrJsMx0Qm9WzH-bFOuicq3I9xZwskUCU5iTvI_-Mb7vJQ7xNjBDqvPYVKXDlmLM7U-UKObFlQXAUdJVE2z-im93RwW3jnoNXn1nguZ-hQBB_UmILOvPZsPU7SlaTLpupZt4hZ2_qaUHkoPCvWM_q6QhfJBeK5-LId2KaI-UpUtDtUAyheqd65-rm6_",
  "id": "rs_0d4feeb2e0be1b47016ab470db504887d0af1b7f00cb114bfe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.424,\"left_y\":-0.191,\"left_z\":0.005,\"left_pitch\":0.2,\"left_gripper\":0.55},\"note\":\"The nearly zero jaw opening shows that the first close was empty. I’m reopening and shifting about two centimetres forward for one corrected attempt.\"}",
  "call_id": "call_UWpiIcFvfVM1ifCgnEpUIRwk",
  "id": "fc_0d4feeb2e0be1b47016ab470dc862087d09c11717ad765aa83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UWpiIcFvfVM1ifCgnEpUIRwk",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.2829, 2.1204, 0.6819, 0.9905, 0.3935, 0.1806, 0.548, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.19 left_z=0.0013 left_yaw=-0.7248 left_pitch=0.159 left_roll=0.0093 left_gripper=0.548 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4308, -8.4171, 3.0838, 1.6972, 0.0952, -0.1832, -0.0806, -0.3214, -1.2376, 7.0222, 1.7216, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6da2eab3e49a200d9e5aba2e8326a55409a0688b05f228bb70f7695d4ec24e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9270801418f1f7e96d4be24710513a55be3e5898c5a1d597428ca65b47718f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6d6fee19006fecc2d930d57b761d463deecd86affe89daac658d54979217d6",
      "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 6 attempt 0 · /responses · status 200 · 3.843 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]: [-0.2993, 1.7935, 0.6781, 0.3363, 0.1169, 0.1215, 0.9995, -0.02, 0.799, 0.6132, -0.3946, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3913 left_y=-0.1385 left_z=0.0035 left_yaw=-0.4779 left_pitch=-0.2018 left_roll=0.0118 left_gripper=0.9995 right_x=0.2943 right_y=0.0018 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6496, -7.747, 7.7197, 1.8828, 0.3639, 0.2222, -0.0171, -0.335, -1.2786, 7.0359, 1.7998, -0.0464, -0.0659, -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]: [-0.3279, 1.8748, 0.8707, 0.1593, 0.2695, 0.2901, 0.0085, -0.02, 0.8009, 0.6132, -0.3965, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.1831 left_z=0.0098 left_yaw=-0.7328 left_pitch=-0.2343 left_roll=0.0055 left_gripper=0.0085 right_x=0.2941 right_y=0.0018 right_z=0.1789 right_yaw=-0.001 right_pitch=-0.024 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.3214, 7.4735, 1.5653, 0.2906, 0.0708, 0.6178, -0.1983, -1.3607, 7.0222, 1.7558, -0.0317, -0.0562, -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]: [-0.2829, 2.1204, 0.6819, 0.9905, 0.3935, 0.1806, 0.548, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.19 left_z=0.0013 left_yaw=-0.7248 left_pitch=0.159 left_roll=0.0093 left_gripper=0.548 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4308, -8.4171, 3.0838, 1.6972, 0.0952, -0.1832, -0.0806, -0.3214, -1.2376, 7.0222, 1.7216, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6da2eab3e49a200d9e5aba2e8326a55409a0688b05f228bb70f7695d4ec24e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9270801418f1f7e96d4be24710513a55be3e5898c5a1d597428ca65b47718f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6d6fee19006fecc2d930d57b761d463deecd86affe89daac658d54979217d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDhcb_iopczdi7Zz_MZlW0ZmM6OB84dXQiyy3C6XW8f0dUjk7uLDhAHsozGw2wUo_GtMO8GDAv1Itlk8sMXRVbui2Jk1Iy-KGS7-enoUg4XYPS7YUmklF8zTTETKESDZHOdI3cNZT8OgdEULeZ5LQs3ZHlG84wz8K8sSJWLTQHneNLh5M82ZhvB34FdPZQ4-_X-SnvoxMYuG7HBSrG7G9PXw84bnxx9CtFsKH0wLXZf56ebpgWmHagAjqv6xBE_Z26C6LYeNCMzkFZHE_30rQ4Vf580W9e3x7kUwus8KFv7xCpuUTYqWe_pvV244ka2kEWXbyGadyetOJe_dHVvc1YsxfdG860YhNutdmwlZ3mlKhRmXTMmN87L0zdA3tlus4HAxgawDEC-IBH3XOk_8Ri7DejH9Ut7-4JqhPNnCb2uree_NZTJs0V8Kg7Fnoc2Wkq04TUxIWii-ssT789argoCOSrqfm9dQiQuEaJGM5bmk9ABJGx13_wlilTmwyV_Gm7webtBSAz8GA8iyj97TNGPJlQyFyglwoJvMQXPrfniZ-0EF0HnsnuH-BgvZiq6QwJOS5Gnj0aROpYfMytB24dpmVdNkQCl9TZ7lrX55WLLIYWMiefwBMlBZYL1lPZDzIG0kdvOuAac1BLXX37Ye0MA4MikP9lfpgfSUnnLoHEZcbVVCANfQryPdrVyIC6_8zI_UP2nEuNwaQ2yzL-ae7LPuCwcMnAGbL2fFPjriWxTu-rEJZaLFCvjSKzhWlMrF9fmgh-L1rHzaSvwCQg2pms4C0vmFpqR-WlGTMd3hyr8BNdr9STNA6FC7qCgtF3NjIe4EgecjlMD800ulicdK-oArTovUiw5cMB0RlVnTw5jUTJqM1fIyJqFm2XB6fzaewGLAvxtDoPtbjGfOZUCDxeBYR7CjalaAa87xKOcdBQmJoidJn36lFXTN3DAbd397uAm5g79Msp1K4iXaclvN2GegdGjpiK7Xm4yFQZjERfxEeG_D8v9wqj8PcWy7al_DYKBfz_F662WTeDaTy_PZkCrLCBY0m5C59IQoIE6zEThnkr55vFtQOa5P6dfOKsC3gvAF3fPJVbo5NquJuGO9yPnq6JLbPXC36mh-YyicYoVn18tpL_UVkNHmlSEMyv0P58YauHooxv_Bec-069Wmg86sh0FfotSrWfKbLhiVYD44BRbnS7fRpx7ezOj2es0k23IkxNH-hsXOVFbf2rWZeOZYTmsrKDYrUDGg18cnAOxkzudST7YftReeE7UOWTuUwYS",
  "id": "rs_0d4feeb2e0be1b47016ab470e0760087d0a16c3efa1df76f3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The corrected grasp point is at tabletop height with the jaws open around the cap’s location. I’m closing and will check the jaw spacing before lifting.\"}",
  "call_id": "call_cQc5Ho09jA7hnNRlUAU4VEoe",
  "id": "fc_0d4feeb2e0be1b47016ab470e0c19887d08538f814e4d48419",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cQc5Ho09jA7hnNRlUAU4VEoe",
  "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]: [-0.2821, 2.133, 0.6758, 1.0286, 0.3958, 0.1772, 0.0288, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4241 left_y=-0.1901 left_z=0.0021 left_yaw=-0.7255 left_pitch=0.1771 left_roll=0.0137 left_gripper=0.0288 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -10.1265, 4.041, 1.4432, 0.105, -0.0073, 1.0916, -0.3487, -1.2786, 7.0222, 1.7607, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954b865bbb64d3fbc32ead1176ab894c527067f01c31d6ea4a79b161dd6a4caf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3c31d3742c00b167c8623431185eb129a61bd4eb41259cbd04153d2cb3b506",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf009292b638bda1af5971acbd471b08e95201a4d0748fa818fa07fafbe1176c",
      "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 · 9.372 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]: [-0.3279, 1.8675, 0.8478, 0.2028, 0.2508, 0.2554, 0.9995, -0.02, 0.7998, 0.6132, -0.3958, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4053 left_y=-0.1804 left_z=0.0115 left_yaw=-0.6957 left_pitch=-0.2135 left_roll=0.0045 left_gripper=0.9995 right_x=0.2942 right_y=0.0017 right_z=0.1794 right_yaw=-0.0013 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.58, 0.2808, 0.2125, -0.0122, -0.2803, -1.306, 7.0359, 1.7314, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2829, 2.1204, 0.6819, 0.9905, 0.3935, 0.1806, 0.548, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.19 left_z=0.0013 left_yaw=-0.7248 left_pitch=0.159 left_roll=0.0093 left_gripper=0.548 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4308, -8.4171, 3.0838, 1.6972, 0.0952, -0.1832, -0.0806, -0.3214, -1.2376, 7.0222, 1.7216, -0.022, -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]: [-0.2821, 2.133, 0.6758, 1.0286, 0.3958, 0.1772, 0.0288, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4241 left_y=-0.1901 left_z=0.0021 left_yaw=-0.7255 left_pitch=0.1771 left_roll=0.0137 left_gripper=0.0288 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -10.1265, 4.041, 1.4432, 0.105, -0.0073, 1.0916, -0.3487, -1.2786, 7.0222, 1.7607, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954b865bbb64d3fbc32ead1176ab894c527067f01c31d6ea4a79b161dd6a4caf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3c31d3742c00b167c8623431185eb129a61bd4eb41259cbd04153d2cb3b506",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf009292b638bda1af5971acbd471b08e95201a4d0748fa818fa07fafbe1176c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDmEHBvmbqJZ4BP9mjpMtJFcsQkydJVypbZM45wY4VBbrGDIRQHA3t-VZjOw_1czMFpEqUBOFg2FpzuboPEbDJ8tMwEulnI7GZ001qvIL7G-WaE7juifMqfDXy8JLaGaW-3gnDNpKE_1ESg2T6XoMrwwQDmhQ5ZZzFW8h8xeov3yj4eeFxtATiS_VyCd6vKMzly586y7eSFhYYXz_x5E9Ig4iuATdVvbRYBPVihtar06bqM8yD2doeIHM27NIYcMbV1dOuCmntv0nrkpnoL2oMO0LrdUDI2OH4diCVq68bd1qDpdiufTyGr9h3ecBC1mraZLhfDXcvRIxfi0MzE61IHL5Qcz-p7w-dui2oTcJNelzZMwSXyiMfLO3uD-TZMUp-k1AWe2y2qcBbzWG-3AfIVUuCCG2dJ-tP1F2PfiXMwZS_HotilqKObc5bGA7GCgrrt7PQg4W9X9FQhkXBngEpYu9Hr8ISZtGXw0MtWpFCpbycYjdVE296g7lsbUkgXLM3CwFTZe2cN0JdrDe-EvrF-shS7j0qAU1jzdhHUlpVmRoIP4OJMsQ5mU1Xloo-Z1yMwgVL-UMD0x0731bO799zRXUPupl95ijj2hdfZnbT_n6vbK54JrUld6XAcLFN_3fd0WKGlUw_0bxnNZ6N1KUbVjODlywIC2SEpGV-xa8CcdVAr0cAcFsrrpssamcRRM0msm0RA7bz_3WBB0fQPaPqWYIeRqP0xW_yXQQtDrAvBVxZxlGXhznWGVE3XBfn9mdqUImHa9dH1uiKLBQzv2PZ8yn7YzSATSHHt1ij66zM2HrGt2Z8Q6NvFOypzpD14CBl1FKv5OI9Vv4RW_mIlW2b4axE95s8mBK38Qf6dYP1o3p0pupet36bMcxSRPIT6TqA7AZAWU7EUOgYg7f_WItJ_DlPMzCuIHxF1Fdc16tTbHI9N15UhQrxAjQrWCZtGS6CxNveuNaSbNaUE4C6gVbp9c3pJC9oXlYbDq4CUE4clWeOBjRNfx4EAxY8Ujs9ck-EWHOEyfUuCrEIVyahOYXMDeNtgn6FDZEnq_8r_7P_V9-NALSsnJqHxS5FnVaev6DVJbAayDMlvXVnf159vRFD4puRqqPETKnEpAZCvrFELt8UU5jHUruhONZP7B94u0AlfGPQ4PazwAhy88QFgfyRBWq63pDgN5YrOCOXAw2xbiC_qu0s8JXK0GwlGOpSwqsu5UwbUhTNmX7jS8FZuIAp9WkZkV4XH8haqYBDZZnQ4ITVJkM_2EYNuHF2dqFqwPT2VasJz1BkUN7FalgvOMcqxpQ==",
  "id": "rs_0d4feeb2e0be1b47016ab470e3ec8087d09593f6c270634f8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.185,\"left_yaw\":0,\"left_pitch\":0,\"left_gripper\":1},\"note\":\"The second close is also too narrow to confirm a cap grasp. I’m withdrawing the left arm to reveal the cap and reassess its position instead of repeating the same approach.\"}",
  "call_id": "call_AK946qJvKTlv0kSRUJdKqEZf",
  "id": "fc_0d4feeb2e0be1b47016ab470e468d087d09696dafb44943dc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AK946qJvKTlv0kSRUJdKqEZf",
  "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]: [-0.0513, 0.8173, 0.5758, -0.2939, -0.025, -0.0166, 0.997, -0.02, 0.8051, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=-0.0076 left_z=0.1785 left_yaw=-0.0323 left_pitch=0.0355 left_roll=0.0079 left_gripper=0.997 right_x=0.2923 right_y=0.0018 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0435 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.294, -1.9214, 9.9761, 1.6777, -0.1294, 0.0952, 0.0317, -0.3487, -1.6068, 6.9949, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e666991023111e25089b232c1bb2cef69802be7f184da79c973f4c11f112f22a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6509518fe51d5de914e377641065e12a8387259304fefe12b7d65bc081de4929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948a21de4c68b6d77abf2094bebc1397e43d3e173b038c25909e0ef83ab7007d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 7.306 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 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]: [-0.3279, 1.8748, 0.8707, 0.1593, 0.2695, 0.2901, 0.0085, -0.02, 0.8009, 0.6132, -0.3965, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4033 left_y=-0.1831 left_z=0.0098 left_yaw=-0.7328 left_pitch=-0.2343 left_roll=0.0055 left_gripper=0.0085 right_x=0.2941 right_y=0.0018 right_z=0.1789 right_yaw=-0.001 right_pitch=-0.024 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -8.3214, 7.4735, 1.5653, 0.2906, 0.0708, 0.6178, -0.1983, -1.3607, 7.0222, 1.7558, -0.0317, -0.0562, -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]: [-0.2821, 2.133, 0.6758, 1.0286, 0.3958, 0.1772, 0.0288, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4241 left_y=-0.1901 left_z=0.0021 left_yaw=-0.7255 left_pitch=0.1771 left_roll=0.0137 left_gripper=0.0288 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -10.1265, 4.041, 1.4432, 0.105, -0.0073, 1.0916, -0.3487, -1.2786, 7.0222, 1.7607, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 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]: [-0.0513, 0.8173, 0.5758, -0.2939, -0.025, -0.0166, 0.997, -0.02, 0.8051, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=-0.0076 left_z=0.1785 left_yaw=-0.0323 left_pitch=0.0355 left_roll=0.0079 left_gripper=0.997 right_x=0.2923 right_y=0.0018 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0435 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.294, -1.9214, 9.9761, 1.6777, -0.1294, 0.0952, 0.0317, -0.3487, -1.6068, 6.9949, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e666991023111e25089b232c1bb2cef69802be7f184da79c973f4c11f112f22a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6509518fe51d5de914e377641065e12a8387259304fefe12b7d65bc081de4929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948a21de4c68b6d77abf2094bebc1397e43d3e173b038c25909e0ef83ab7007d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDxW0Xo1TOTVCGxWZv3sBgBRVjlYBEcUuXid-8a2fzrK8E7_lLqN7HM9v7AetG9CrHhKw9898tW0S333lFmnWESs7HIzjhluEyhkNB7-Pb_69rHgC32GlpoHGSDOsziI51fUGTRwKfdjMoZsURa13XuG-Fp_I-AXwwUZlV0WQOfZ5NJZdoI7lNV658VLprSAoPHUNqlTi9p_Iz7V54MnHy3_d-0AlEhPkRENXfA-WBACIQG3Xg9U5RBZOjMaEwhd63s0zJm7ZBIs3JUcHHp-TAlN5PC1kWe22_fwykibmxyui_wbfNAXdhSWMm1Ur306iiR5ePVRUg_vy5J6j3ifG5XxmcThR0BmVkioIaTrUZe2LrXFBH1tmKq54iNYbfG5bEjiwU51X2scWI6rufaaBHi2q4odQyTxnY2hBAoCaUvKSkL2G78jiHcFdg6RRoXEVdYAMYY-3n7Fd2eoR-7bzNk21pG7hxOwzS1oizzLvEEaa4oG0us4YfjmTUzsv5nftzz9e2MhtxEu1PITKV2jHkTdSM1ibPbcdT54NElxx6_RqxwpwouoluTPDnSN_wezGq0VjUX3ZXd1jbeV6fACndTlMDHfIGXXQr7UKFoGGZ1dXQc5RxZWExq2aIY1vLG8yiGQd0o0oQpUEurgHp2imIm3PwJ0xRHe1J7-XDgEPMIqxvFwJqkZKR3zlQzKD4tBK5orALa22y-NcFNAiOkOfwL2NvBSY_3IX0NGNvfDoscHCi0Ey6ZSDEH_ffxLrgm9LYjILGO6Bu3diceH-Z2al1aA_6-0_ITkteGqVLVMzKq91mKCmw2ASCYqpTs-DZf5QRq-KHWGVVG1HOGkXrEC3Bsh3vThKoAZTpX02z0_83yQcD5fGgJlX4s9V5QbSO2SUyHPxhExZPIvmqs_aYe03t8338asSsCGY0WDgNosNWKFyRe8tK46OqnHjWRhw8tT06MzVw1QDTX92KXXcEbs2SU6DfjDsla8BecLuREgOFrJlSrGGpYn-A8fJuroOX4lf7GJFofclbJF-oNN9gIoTEJv7Qla_KYfszqlCF7m_I1sbcI3_-1L6NGLrMF7WDKD8wFgrsJwchdwdSNqfHgigw5Vc5woOKDQl0WNLtnHfNR4Fz-7w4jVfXWn0nBv5y8tKXMuJuDtpc8OYBdIKALIHogAJMUAN16qPHq5lv9IZ83GGhbQGDKDHOK6z8eMcu-viz7xFsD73lR30oE05joxqSdiVqcMS3Un2jBwYorVBfQxz7-vveOqz_spftB6B0WtmmhVAgNrMBu8h41JjVIe9lhs2YlhSXxqTfyyt40UjCXPHFg7xHFVpNBqM-hgxWf5S66XtbA7qsQfiSecA-fOkWkIng8pMlVPo6BWqEI1YiLcxtVFYypl8wBd3trUQFrAUloZQ1COeb6VPF6N75ASN5mw4RO7LOddLuhShSdKJpyFJaAyMXz7PW6ZQ8G7DBU9Xx2vVfqQ0VD7JTQyIlfGgjiEVRoMP15gVPFVAsXWv4Whv1DDL7au8K0jTBt28D0mFzl7jkXv4PtCpbW44IptwpshWHfD9ifnJpE6Bofs_-TVyzO8L_woVZ8Ubdhs_WBoPvRuLEu3HafrjZz8DyofrdOFvEx_Hn6xhEXDpjT6KmnisU4GSwm1MnT2APEOBpZbKbAWJTac6hpiM5CxFiuWIg2ULOmfhNhYdp5PWoUTMKFIyJiJcIo8lNNlvRRy6quZ3Hqh-9Q243tl4_zgnsZO7sVYVTuhlmCKpt6tpZFOKSmPL8DIjC1FYpdJd-rEdHz84JJADaaY9TqUSRsV67bD35LIbUjMq4WSiPpfJRqt797jixxnSQ0EDkb7g-SnxN4TutjsjwgiW9TSWRrX_jVQPwp37q0oBMVRb4GX6UtVzYyTEA5rV2aN9OwY2e7C0VMqln2QBwGqJC2_Y2ybf1x4sGChg2LtcKjNjocXUph2Zqpnt5dRXK471dw16Uii8IvS9_gjEmDZEJQgiCulGDI0T2NLuoC-yJl6B6mjYQ7P9kiUCweyf2sYq0bKX-gVKQC0EvCdPpDGuO2iWFYY7ORtd3puieWPW8MXenMm4jSx2m65Ll9IMGaAvPKk-bGf4A7nDLOBAPeN76asErzSF2rkOzmwISNVGrnVDVXnOfvRqM3LC0clHJifTdwbqBhf9iF7XPxWK8YPisWS_IMDc3RuVANQiNE3jYQyH4JfkPdTTxurUJM5b86FhDvlOpFeltqVQIDtvSP_5jQwYQ_d2OxRbvkVGm8MgCWZbCv7rRt4AljEhF58G7T-BFB-bdQBGwcTbQZRHNUbuws1xh2jYOVq3aHDdzDs0fPwoClZIEA38Q3eTg4tYjYU_-pzcEpAoRcYH2tvH_DjXDQA-ds4_uvYFsWwedKngciwFZpvZ_eCqcnwM2RnMUcE7VRPwSeuqkebZB9xYTWiphfqZlB4b_w7LGMuklKEdljNuzQJo1GvkfKFjN5r5UhyQ-wHk_ptvwlv93XXZdp1-v1XUTVU2Ir-2hpQRm3KYzufdVdy9r7nf-5CW-FVBbCvCuXk2nbUoj6oA--m3DdpNzNEGBulufq257zBsmS_G1uYA7NizXiQDyjBcXmWa5gyqo1I6NKb1Eum-r2EiA2jGs0WSZzn5Erp9rp1vKsyMZf12awX4BSGWsNs_Zv1FKO_DJSKZWr7O3-Oks2OdbHCO8RxoL0-w9IoFqnDiOaTDxH0dvuPgfiIplK1tVM1E3vbeFaDugpWcye5RywgNPMoDq2jZ-zHJQ17zMJ6rlE9nphhQw65a5jHMwQwhI489FG7RrkBya_0zGDv6XRzFa1qNRAAEx28KlXTAMVdNI169rvI2x970m_2BXa6q4P7j9RWZZcXdfBhCFiyEDQ6TmbvVkFj_HmtaxOnT5g2wJYyAYE3JfU34icwCbCb4_7bzbzIPqIldhqxGOAtmjsX51D9FLUx5E6xE5c9aGdrQ==",
  "id": "rs_0d4feeb2e0be1b47016ab470e908c487d0a11a5af0a6e8c574",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":-0.183,\"left_z\":0.075,\"left_yaw\":-0.75,\"left_pitch\":0,\"left_gripper\":0.65,\"right_x\":0.295,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The cap is visible again, slightly nearer the bases than before. I’m approaching from a shorter reach so the fingertips land behind the previous missed positions.\"}",
  "call_id": "call_ittlMpOwNxLlYdrn6NIuOloV",
  "id": "fc_0d4feeb2e0be1b47016ab470eece4087d09668e13f93d8e6f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ittlMpOwNxLlYdrn6NIuOloV",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.3367, 1.5089, 0.527, 0.2752, 0.2825, 0.1822, 0.6518, -0.02, 0.8242, 0.6197, -0.4465, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3361 left_y=-0.166 left_z=0.0496 left_yaw=-0.6844 left_pitch=-0.1028 left_roll=-0.0325 left_gripper=0.6518 right_x=0.2892 right_y=0.0019 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.147, 8.5128, 1.9365, 0.3443, 0.1197, 0.0757, 0.0889, -1.5385, 10.3726, 1.8339, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138c43633c87b0e126060ed927c53a445847f841aa70f513905b78c227bc5e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c081e525d7828944d261fed359f817c4f7666f903e7ee562895388e214b59c44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7401b170b4ef843b41427c5cb33ae772f3a39ef99c8b8092bf07c62e5ba534d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.357 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 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]: [-0.2829, 2.1204, 0.6819, 0.9905, 0.3935, 0.1806, 0.548, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4239 left_y=-0.19 left_z=0.0013 left_yaw=-0.7248 left_pitch=0.159 left_roll=0.0093 left_gripper=0.548 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.4308, -8.4171, 3.0838, 1.6972, 0.0952, -0.1832, -0.0806, -0.3214, -1.2376, 7.0222, 1.7216, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 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]: [-0.0513, 0.8173, 0.5758, -0.2939, -0.025, -0.0166, 0.997, -0.02, 0.8051, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=-0.0076 left_z=0.1785 left_yaw=-0.0323 left_pitch=0.0355 left_roll=0.0079 left_gripper=0.997 right_x=0.2923 right_y=0.0018 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0435 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.294, -1.9214, 9.9761, 1.6777, -0.1294, 0.0952, 0.0317, -0.3487, -1.6068, 6.9949, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 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]: [-0.3367, 1.5089, 0.527, 0.2752, 0.2825, 0.1822, 0.6518, -0.02, 0.8242, 0.6197, -0.4465, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3361 left_y=-0.166 left_z=0.0496 left_yaw=-0.6844 left_pitch=-0.1028 left_roll=-0.0325 left_gripper=0.6518 right_x=0.2892 right_y=0.0019 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.147, 8.5128, 1.9365, 0.3443, 0.1197, 0.0757, 0.0889, -1.5385, 10.3726, 1.8339, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138c43633c87b0e126060ed927c53a445847f841aa70f513905b78c227bc5e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c081e525d7828944d261fed359f817c4f7666f903e7ee562895388e214b59c44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7401b170b4ef843b41427c5cb33ae772f3a39ef99c8b8092bf07c62e5ba534d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHD5PHGpuruU-_OcnO5PBbagTPAPXpT54BWZhBmYY--doJQ4aSGFmgtBiqcnbYILMQIFW2W1HaHI_nPGuV0sLx0z2h5t-jkeBgg4YiOTshr2_m_N8ZeHsbpLumPGKv7yf1jJsJePoqJ6n-4A1F4HR--xfWW5_FXC1QJl-4x6Tm0l7Wzl02pBnEOxvfWCsumcDMbbBJPGjTBRFEnbQzyheKkzsWXbuUXz2CJAQHu9PUhaRozf8uD30N0hnGQbk5Y6aUoecx0JTR5P7d1KoPuTCnojufvnrceklIqZrJrDgTZFkID3t6NA04MDi3akCjGxbC10zUxYM7bDfY9sFR6CY--MqZ7HsW0BYTxQA7wYJsO_N55k8HNBTKcfaW2N78J26nXsP-LUpLCuMVKOoMtdfMGXcRRR5LF97rCkPQUoMvQFPDVzxvf7tGztMZG1U7XafFqQpQyJFiKVi6EKqOdQ7dE2ETcYLfJj4e4GkN6SCtc0np17dHM_oIr3aqOL93jMIkOhCMdIObZAkysQm1vdNrm2rh65p1Wbnpv2P6JjaD1IvakRofZoYIkMofC05-3PF0sEK12H49loyjj-vYvGabjCOFY0wFffGopcF5wBbjZv8vAnUitYzX4I02e8y1ybObmSQypUx7ravfgDDRw_jI4OVLiUT6iUMpPDiSF_yUi0--5YIyUf6sgn8ML6XTl1siQKDqpd5e6W3-ffbXT5Y8tBf16U3JrLeBzhIvXN-5iBVqBh48FXec66Ty3-Fn6Ua1tgLNgqtYGGCbODjbtEuaSTuZ6nnkq_oTd5PGk1h_88zjm4d0w7tJLuDpb2hgGyapJYLyGDEA18NzU9gG2rsTbFU_m51CbGlpGryJtw7gPCUCEBPhuFtchfjUaQ1AYIUf3tackLfPTRVqZg9mQgK5GuGToJ2SFcdg_2iOYsDvlxX-ugzw9hL4xime2NqkW5vosWkdpXDqj9p0SkFW6oP1mKTHFEgDEyLELpG29KTR2Nx39dragOM5Ttt9XGVk1hytsBa7z3wxINaGYijjJY8IpYm4R4aMMG9AmTgcOD81Wv3BbrZ-yKuqs0lMUSr3-VLO_WEOhB8Gv-YO-X07FxWWBHjCetb0CabIZmEsNkTxMh_GRWvDPyD2KVPSSGnF5tUDm8X2BPPrpKrUvi9Xhkz3xWHiOAWamlX-M9QbSkgT4fIVe1daDUPL0viFRga4wsb5tsaLK_Jzu8uNwP7_qFY6DR-Y5D0sHKDdPC2_qmM8l7haHfY9VE9wWblfrlUXM45R4lTLn-5kY3PEIRIdGP22CwUpqK3jkpjGbkoYttbsDceJniT6siOz3bxHPHN7444jM9dkDeyMO0hhsh9zvjBfG2r_uMMI-JxM_wKupBxCtEMMzePX_b7FkZixbH8BaLsynyEzsajarstvtSgLUkTTCk5z26Tv96zTc_3VHZ9-jgveRW1b8oNczyjJvVIGzYCx4BMpv7Uz6jHI17kbfQPegTDbjGlZF_jR2il01M43Q5aRYrBa-dLeC7BdPHrmi2-pfFy6cWThdk2ZdDWkC-XeyUcAwqg2bbs0euQs2_YXKS3GtbRmatQf6NoMTY-Pg5IF-Or8VGc30DuHZ5-XacGupNkUXc-mNYr1I0xfQKWB_hI1k-tLM43YuEUVctXcPR1w0I7oF8JiqcYKfy1i0v_0T7VQqKB3SdDWp6BaXNjH0HEuhjpkpGItCA8nZiGrvPeMuawuwqIebpIBdxsBIicmAyWkDIYcFOomimI9yxKDHspVns3fmyogIzAee9apPqc7hM0rYcFDcOrSMokgXXJKiPvSyFBEgsSALOzDD55fiU064Lmtud8Z8Rb_wEGQkIOskVe963WtbK6f_CTWEJKE8XBBezTZ66C5Fnc7xp65zN73MzzJ8iRwu_y9p4Bg7VX9S5B1mDNNXp6Txv9J-ksY-FHiKbswyJ11Vhds9lMjJXOERDjTvb7vwHcNfU3CWIUH32QFBRpg3qAuDuqafmysAPJjFpw6GHlLzb5ICeIelmn51Rysewkbcd4rB2tBDpYKtUGmmpWKHiHgCkS3SINfcMWfNVB7u2ratVrlqyVXl6CDjA_93WsjNuD8twEKxslU9BrpkiD0Qr5QwKy1jYSmHhIUiOIJ26hlJe-TtYJo0v3bcOLuUVlqJ6h0A99i_ourHzS8i1edv-iIS3UuFhSEKGVyF73r53LnR2vvGuzNBHQgjZ40vRH-qp6l4e0xIR3FbJDNNq3T8TsuNts1sSHfw4kf8epwUwl5w0vZbuIP1Y0qgXZv18CXky995gYQSRpO-VQ6JOftaeuh6wkgGmzZS-Kw==",
  "id": "rs_0d4feeb2e0be1b47016ab470f3f1b887d09f0eb5c38006e7b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.353,\"left_y\":-0.148,\"left_z\":0.008,\"left_yaw\":-0.65,\"left_pitch\":0.12},\"note\":\"The cap is clearly visible beside the left inner jaw. I’m shifting the grasp centre toward it and lowering straight to its body.\"}",
  "call_id": "call_ic8MqIPGkNwzgP3qdezGclpf",
  "id": "fc_0d4feeb2e0be1b47016ab470f8e4bc87d0a40521ebc4f23ee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ic8MqIPGkNwzgP3qdezGclpf",
  "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]: [-0.2386, 1.8729, 0.3676, 0.9493, 0.3649, 0.1619, 0.651, -0.02, 0.8265, 0.6224, -0.4583, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3496 left_y=-0.1462 left_z=-0.0004 left_yaw=-0.6418 left_pitch=0.0549 left_roll=-0.0394 left_gripper=0.651 right_x=0.2879 right_y=0.0018 right_z=0.1637 right_yaw=-0.0012 right_pitch=-0.1022 right_roll=0.002 right_gripper=0.999\nstate[joint_eff]: [0.294, -6.0786, 2.3043, 1.3065, 0.0659, -0.0806, -0.0952, -0.253, -1.5795, 6.7897, 1.7363, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5f1de5c66899609f195d78eb206fd49622e0744af7bc01ed11cee0af4d92fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14e7ad990afbfbc3a8917054ed39dac9e27322a327b1bb25aea0ba32ebd3cec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4dbe5a6320b7d59d6edbb5092ccb34e3bd0df888d87c97f1fc76e91d79f1bf6",
      "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 · 3.659 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 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]: [-0.2821, 2.133, 0.6758, 1.0286, 0.3958, 0.1772, 0.0288, -0.02, 0.8009, 0.6132, -0.3969, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4241 left_y=-0.1901 left_z=0.0021 left_yaw=-0.7255 left_pitch=0.1771 left_roll=0.0137 left_gripper=0.0288 right_x=0.2941 right_y=0.0018 right_z=0.1788 right_yaw=-0.001 right_pitch=-0.0244 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -10.1265, 4.041, 1.4432, 0.105, -0.0073, 1.0916, -0.3487, -1.2786, 7.0222, 1.7607, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 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]: [-0.3367, 1.5089, 0.527, 0.2752, 0.2825, 0.1822, 0.6518, -0.02, 0.8242, 0.6197, -0.4465, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3361 left_y=-0.166 left_z=0.0496 left_yaw=-0.6844 left_pitch=-0.1028 left_roll=-0.0325 left_gripper=0.6518 right_x=0.2892 right_y=0.0019 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.147, 8.5128, 1.9365, 0.3443, 0.1197, 0.0757, 0.0889, -1.5385, 10.3726, 1.8339, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 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]: [-0.2386, 1.8729, 0.3676, 0.9493, 0.3649, 0.1619, 0.651, -0.02, 0.8265, 0.6224, -0.4583, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3496 left_y=-0.1462 left_z=-0.0004 left_yaw=-0.6418 left_pitch=0.0549 left_roll=-0.0394 left_gripper=0.651 right_x=0.2879 right_y=0.0018 right_z=0.1637 right_yaw=-0.0012 right_pitch=-0.1022 right_roll=0.002 right_gripper=0.999\nstate[joint_eff]: [0.294, -6.0786, 2.3043, 1.3065, 0.0659, -0.0806, -0.0952, -0.253, -1.5795, 6.7897, 1.7363, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5f1de5c66899609f195d78eb206fd49622e0744af7bc01ed11cee0af4d92fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14e7ad990afbfbc3a8917054ed39dac9e27322a327b1bb25aea0ba32ebd3cec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4dbe5a6320b7d59d6edbb5092ccb34e3bd0df888d87c97f1fc76e91d79f1bf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHD9FbOGMmeY5-6Ld7YnegsA43zceUdZQJGVeCJm6foCQ00J8GJx2_qb0OjA4xXnP2T2eqTc3EY8nAZvMSZho1kJ9r832xg4iydsmmosanW_izsKxhMKHMIBYLr1U4hJpOqTSS56btbVNgXDm3FsbXypQFyXPjYbqaJ59BQ_GzZkCmT8Qp_zDaB8LvvjTrC8efss6NNbcQsmz7aoPrFBYPTXlidWPd-_wwUekgRPwA37AnMLVNZfwpbAZNssVnJOFi6v14fr6g1YSDEeqsVonDHUmQFywLHQ4yTeBDaCwzbRxKW6BCtT7DFonZogjjwvtZANmlMdw2EerSyBrJ3r-ggTidAwT9KY7heMyYVIaQrgRsv1OjuwGLyEpTBK8yUacegCnNH1RAucsucQYO40-g9LJZpCQGXBVq1XKhT-6TvGTwqEoe4APhyeh71LAIJWepKHVIDZQijIWQJQtAIS0JKDlrAeNX11gfdhq4CYNFFFXPKUfb2V0Usf4jmTfYY3dV77emPUnmBWPOBp_kHjYPQdQAE67w8flVpHJElwlyKL_VJEOTU6SXA40t6dxrDJkJT7yx5k2KWCYPgPjljnIBxLWV9Rq5abPdA_ruwC-QaOjCc7A8MkwwvG0Y4Xr-6_LF44ghxLyEOyMQq-8KtS3GTmIxR6m4frdhEuNdbh8GAldqOmJ4Pv6h1nQouu0n2dE5zG9AtcFWAiHDQgc4LX_ehhbXD4xwbre9UdaTkb1GXIoQbHa4RkBAEWTp5F8VaQoLXLlkua8eb7Uv7nYVoYTxbtSwxte0d44qXL1DaKQxaE1_ha02hdv9XAmK52mkbRt8oQxvBOUws6gC4l26r3XSmmcVQAZsua0h-69FHGv8tG9OwODat-v60-ws0HGImF4skWJHpo-AlBPKbqv2QLfe--7pmuXqWi7M4LZBjBbixsHDse3Zzv_Ijf4kxL1NwZlAuCP0UL3rQ_NEeOscQF48dBJbPKXCGfBU36p1-2zGXy652znG2OUWxF95u9tyCzzGO5Ed171pZjUYTWjBOFuzdflxJzKzxYf2lND8i2-otvjPNhEfxvo68CB7wal8FlEG0nR9qnM75gOY9P4pePVNfxDPeRiJeoIQgTflFYhyCa2BfOQf3DzEJPgQTO2SAIz-OE1qsDI9PZp2Ou14c6KsYFeEYk6Vxi0phUR3S4MJcoF15TLz7_MfTTUfSzfc78yqPi0WENpVWSTPZKs3u-A6T2ny3tzqSgvEd5LCo79hER3EodKvhKoqYZV6elLvr44-m28cCvV2jzp1EWJlkzhPP7zLZbLlUHl_56TsLA8TEF_Hg=",
  "id": "rs_0d4feeb2e0be1b47016ab470fc026087d0bdb65475c2494b9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s body is now centred between the jaws at table height. I’m closing on this aligned position.\"}",
  "call_id": "call_rNQKvE4fv2zhrF9fw32erDPF",
  "id": "fc_0d4feeb2e0be1b47016ab470fc4e1487d09e5d70c35f42f425",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rNQKvE4fv2zhrF9fw32erDPF",
  "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]: [-0.2359, 1.8858, 0.3588, 0.9802, 0.3672, 0.1589, 0.0457, -0.02, 0.8268, 0.6197, -0.4641, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.349 left_y=-0.1454 left_z=-0.0011 left_yaw=-0.6396 left_pitch=0.0637 left_roll=-0.0395 left_gripper=0.0457 right_x=0.2867 right_y=0.0019 right_z=0.1613 right_yaw=-0.0008 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.706, 4.3556, 1.4139, 0.1245, 0.0562, 1.2918, -0.212, -1.4564, 7.1726, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b2009f51dd4e3074a49c91763ee83c899a204544b5decce587999b1ecb3056",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267c37ca2373bf374d6ccddd0c614ece7a34cbe525277cd7a0a792ee8292dc16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d04124f1ae5b554ff85d6da97118819b013f3406f35ca6c5465e119f8196ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 11.88 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 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]: [-0.0513, 0.8173, 0.5758, -0.2939, -0.025, -0.0166, 0.997, -0.02, 0.8051, 0.6132, -0.4118, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3039 left_y=-0.0076 left_z=0.1785 left_yaw=-0.0323 left_pitch=0.0355 left_roll=0.0079 left_gripper=0.997 right_x=0.2923 right_y=0.0018 right_z=0.1746 right_yaw=-0.0009 right_pitch=-0.0435 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [0.294, -1.9214, 9.9761, 1.6777, -0.1294, 0.0952, 0.0317, -0.3487, -1.6068, 6.9949, 1.9072, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 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]: [-0.2386, 1.8729, 0.3676, 0.9493, 0.3649, 0.1619, 0.651, -0.02, 0.8265, 0.6224, -0.4583, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3496 left_y=-0.1462 left_z=-0.0004 left_yaw=-0.6418 left_pitch=0.0549 left_roll=-0.0394 left_gripper=0.651 right_x=0.2879 right_y=0.0018 right_z=0.1637 right_yaw=-0.0012 right_pitch=-0.1022 right_roll=0.002 right_gripper=0.999\nstate[joint_eff]: [0.294, -6.0786, 2.3043, 1.3065, 0.0659, -0.0806, -0.0952, -0.253, -1.5795, 6.7897, 1.7363, -0.0269, -0.0659, -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 42 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]: [-0.2359, 1.8858, 0.3588, 0.9802, 0.3672, 0.1589, 0.0457, -0.02, 0.8268, 0.6197, -0.4641, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.349 left_y=-0.1454 left_z=-0.0011 left_yaw=-0.6396 left_pitch=0.0637 left_roll=-0.0395 left_gripper=0.0457 right_x=0.2867 right_y=0.0019 right_z=0.1613 right_yaw=-0.0008 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.706, 4.3556, 1.4139, 0.1245, 0.0562, 1.2918, -0.212, -1.4564, 7.1726, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b2009f51dd4e3074a49c91763ee83c899a204544b5decce587999b1ecb3056",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267c37ca2373bf374d6ccddd0c614ece7a34cbe525277cd7a0a792ee8292dc16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d04124f1ae5b554ff85d6da97118819b013f3406f35ca6c5465e119f8196ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEBA8dE1tvRtuamne4tyqurHLt_v-DqC0_4dGqcwxVCLO3GpvlsMlyOFCGFvs6K-dZ7AXajkB-yrfpmICOhMr01IyLExWLu62Lk-2jIASbV28kSGX8nKx6ZGU3t9GI44d58BU600mcNNkn62BkeIGfiEaz8fqk6tvTz41JARblyHf7qj5Z8Eaa1ur6tV9F-KjVtMYKcXl2UtD2xPeISMDMBRJ9rGhOci_oDaz1TojyxAJtcQMoyGtgpRILwTEeeDPMQODhGKCQ6HHLvL1ZivQ0uZVdOiYu_OHz7VvWBOy2sngXvxhxbArz_DDnahOLQWWIK4nCaZXfTiLRqsJBMVUjZTsmj4XlYh0S08tuDFRBVI4XZNxwRdue1z8CGEO21DmwjKU0nV0r2gVoaeAb7Epj5-GzWYZqb_7Q1ggUcCaDSbBWArw6dOeDiYpzDo6GFaj9VQT4d9XiCo59SCrAiSFYDHy3u6JgOvYhcj27mKAnKtHFBmJZFfadAcNfyOV2j3DwmxfxG4oQCiZKfWgU9QDfKDUAm84b9EMdPBJ974NR3vCpjCMaYuLBLbR_j05JgKADVMB3zRLBlnmcKA6iWyfu0qFaRSMrXjhA3pwwXzpgT_Cnc195isUxqUlDq6aJ7exstLGNjCzsvKUvfeb0Gxcs6GGKoFdwFQOaJtUnKRgRIBlpe0F2nhGB3zTJVQSCdjmBd9MNv0L8K0UU7c_-8tvHjtavG9oPtFK9eg_SW1SXC2A4CFc22_aLpk_JlN9pNoZJriIa6JwqF86tPdUw7lhao8hjAWFeYkoCAnPubV99I5wYP394xnmEXjT5-GwWy6pnCD5fHIne8FDvw808XuQs88Ym84TgBJOKW1WfTdLTpdXKtmAQcOLYdL8SomJuiu6x4Z501_Cuo-EUvy_JMTNDKZ2g6Y3KzUHVN1N53so3SGcMYRW_bH105dSmCnsm9uqFUbx6TSDwqcrCdw8hKms3JBEun6PtygY4e_I5Ucr7yW1-BTms9NOqvOSlCml1D9VNO1Bt1xgBNRUuT-soBDFy3VcpwRBZlCfdjfBlWVlTcE85sMM2WPc-ptsSYXR58xRTQT_pRtnejt3mvc-k0ZF_NlNeOWxrsjublo26S5S9vG6THZmht7A0lN3pzZovTO9ysIOKPQOPYFAYrkVpIDxRWWP35nUOAHNKNCFdDq5coEnx_MG0Y84h2QsLLDOP5P1ymCWcCDWTG3YGJHucWuRtfevAbb5kD6jTLcrYJnCjRFhEccVN5WEHgHaVEykdsN7MkvUs5P093FjSTQ_l8zi9ETMTzRLC6Z1VopKYbvGx1R5xxd86kIk6VUgjoCwu2dMZ4pmGEASOEuJkm71HS4cE_wPniCm3agaxE3ZpIz8OEru_h6EgmawuD2OIRlfx9YtCE20Tdi_iBV6VrABST-hpaxVr0t2puRwMHb9u8arL0Y3an5vyplauwW83I-lUOpBddnCf1ct65UR2nUJ9Y823hCCCEnba8H9iBOKLFVWre7TMa6KECqv9rk5sl2eQwsRnYDFoFfS2PYlE0RFBUuFmrqnsFdvE_96uAjF8lczC8xzY=",
  "id": "rs_0d4feeb2e0be1b47016ab470fee21c87d0a9451e7e414617f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.353,\"left_y\":-0.148,\"left_z\":0.075,\"right_z\":0.205},\"note\":\"The closed jaws retain a small nonzero gap, consistent with this narrow cap. I’m lifting five centimetres to verify that it comes off the table.\"}",
  "call_id": "call_BRex3LaLoJwMMo9lG5CIQS5Z",
  "id": "fc_0d4feeb2e0be1b47016ab471002e0887d0a3174545e977c044",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BRex3LaLoJwMMo9lG5CIQS5Z",
  "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]: [-0.2363, 1.5261, 0.424, 0.59, 0.3634, 0.157, 0.0514, -0.02, 0.8497, 0.7601, -0.598, -0.0231, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3532 left_y=-0.146 left_z=0.0692 left_yaw=-0.6369 left_pitch=0.0949 left_roll=-0.0258 left_gripper=0.0514 right_x=0.2859 right_y=0.0019 right_z=0.1917 right_yaw=-0.0006 right_pitch=-0.1274 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -5.9419, 8.0342, 1.7167, 0.0317, -0.0513, 1.033, -0.1299, -1.0735, 9.4017, 1.5409, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a4876945d2514b8e199438d163653d8fb2a5096ccbcb781ddcdc948c497268",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ed1786a824e9f56a8a2e6b402b371c76057896790ba21ae768a0347d4d3040",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634f8054f3153a980eb2dc886aa9a617c88e703249abc8adbba86d0a2afa07dc",
      "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 · 2.598 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 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]: [-0.3367, 1.5089, 0.527, 0.2752, 0.2825, 0.1822, 0.6518, -0.02, 0.8242, 0.6197, -0.4465, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3361 left_y=-0.166 left_z=0.0496 left_yaw=-0.6844 left_pitch=-0.1028 left_roll=-0.0325 left_gripper=0.6518 right_x=0.2892 right_y=0.0019 right_z=0.1655 right_yaw=-0.0009 right_pitch=-0.0908 right_roll=0.0021 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.147, 8.5128, 1.9365, 0.3443, 0.1197, 0.0757, 0.0889, -1.5385, 10.3726, 1.8339, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 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]: [-0.2359, 1.8858, 0.3588, 0.9802, 0.3672, 0.1589, 0.0457, -0.02, 0.8268, 0.6197, -0.4641, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.349 left_y=-0.1454 left_z=-0.0011 left_yaw=-0.6396 left_pitch=0.0637 left_roll=-0.0395 left_gripper=0.0457 right_x=0.2867 right_y=0.0019 right_z=0.1613 right_yaw=-0.0008 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.706, 4.3556, 1.4139, 0.1245, 0.0562, 1.2918, -0.212, -1.4564, 7.1726, 1.746, -0.0415, -0.0513, -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 46 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]: [-0.2363, 1.5261, 0.424, 0.59, 0.3634, 0.157, 0.0514, -0.02, 0.8497, 0.7601, -0.598, -0.0231, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3532 left_y=-0.146 left_z=0.0692 left_yaw=-0.6369 left_pitch=0.0949 left_roll=-0.0258 left_gripper=0.0514 right_x=0.2859 right_y=0.0019 right_z=0.1917 right_yaw=-0.0006 right_pitch=-0.1274 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -5.9419, 8.0342, 1.7167, 0.0317, -0.0513, 1.033, -0.1299, -1.0735, 9.4017, 1.5409, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a4876945d2514b8e199438d163653d8fb2a5096ccbcb781ddcdc948c497268",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ed1786a824e9f56a8a2e6b402b371c76057896790ba21ae768a0347d4d3040",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634f8054f3153a980eb2dc886aa9a617c88e703249abc8adbba86d0a2afa07dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEN9f6tv9HY2JstoR3280acpg1gYZ1gWNjdCyYXGcHTRe9fUxkP2w6J7AfAlv_LNC38zb2p_tx-qqIEgLlXSVoRH2LGugsImGLRKqCHWLZ6ou4g4AWSHpzB4nNayEXGGkzfeSK3dlB7aeYTuYu7y-xquoN78WVs7fY9ThPBLKTGzzivgoOUwm2eRDCzZ_AFzRJA99hijUZ0s2j6dJL9cqcCJw-6tgNnGlb6er6kT4i0oX3iZ9NFoRVMhWvv-P49SgKJ0wAjoEHxhqytTGH1Fc3iu9priD0FZENw-uWO-yHIvBVRVupg7j0ChkUlKpkdvBgKCtde0IrrGFP0iUJvPAYYW02v8fJ0hvHs9v22DKVDLmLzEvRFwc_S3dhybRtG-i8qLeTETTss7CxfkrMBe-0KIKyf0E05LffeNd8tQiMR2OmLAs57v4K8Bh5qmXZk4fJEmJLCGbjWh6fOpUFWN8h-k1TKwZcDhrgHyTPipfhwaUiCFHbe60YD6ZEP0PNs72rNjJMNJ5r1b7JRAtFCK94wYNMQ7FfcgOHijH_zHkbYUwbHIAWoy-yqloHEaakSe2F_8DfZcnRxJmaMhgH8JwNVzv0iCIfiS_wZad54nt0aoTmUc9oQYiUBJ6X3eXln4pW49h3Gq1nZ291wxPcSz5nA44fRTn4NmQCs75shqF4eGD3Lmdr053zv8dp_Gm2gXS1x_M7wX_P6hox8fztwNVpqmV5HqCZdTf_OmGAM0cMzdtTAkhXiDb0Yj2DFMqy3RdZRj8pJh90_bnUBbgJE9vyv62Pj8JZxzzWVZrDtqrp5D6nXjOtVpKLd-1gBAFeLVRU8TebNZScTbATF_QLU4gWwPC_ReYDOokmzmQ0sywp_anRw9AgKT4TdWDLjaFFbrNCjdaSjd8E68FQ52Pb_atzozWW_q8UMoRPeypHAqYLqnNemSx6al2KOQ5hOEeSomjbaZMS0zSeucIpiLrZpuCNM9f3sTUCdNJPtYL7gn4-X7gzOHWL8TAqDibs0D4bQAo-UhwK90ROqO7wP9WFU1vsCEW3QX-QlAS8ZcUTCCyvgFz26v7q4AdlxFLRKsEO77Zl4Nol9mRAM-bJHcad_XciRypgRojZ_NRgfX1JWGgq7ofWXdwNwSU5-0Qth9_4JhF22JiBB6qjxMYxZ0rJ8SwYld5bd6wYMGl1d1n1SCfQpZyRejXM0q2bpFjoZJfP_5n78oEANdaH6NHjDL1Mw7mj4PymP-hkFx0kAxMoW9Rb3YBmSmaCDMFLo2YH9ZabQxBU0-bPVO0x7WUad2voDNXsavBCJxW3RxRYuJCq7Pcsk3Xs0gQFQZSFiPhGLXb7hzz3xn4iHE3PGhgMyA9_essWqh5_DIiWunIPZq4u32PC1XTvCW1z3CNPXD-H3NT6Gk6i74OOqiC__UHX04adRtflA5uy9iSstqfmmQhViYebDgvt5yTJ5Sjl5C5Cmln1cS1gh8Jo2_wjeNNliorGmwUTMh8wlyXF-SFNWRZoTLLFTI9rDsvIkOrGXNPJT7gTNFt-odrButf5_SeJO7e7kF8DHmdFPj_oAV223jrwg4fLlp1pFYLxooszBzbnuD5sqVRqKQJwdc7F_buZn--hjqkvVsiFgUmkFPBAL_vdhRvBhlnRrlG9QCxUbUThKyvru1tMYRK-d8gXxLGLnguCgla6g5JB_jk5x9qrcUoEAn_U4g8xFqCmb5y_OVMnFxljKBFz1u_NYufJ9ShFH9dp3p7AB1raIbmQzeAGMLLm7skyIvv_ADiO79hoodWRG-HE5WzX09-1SGtdWC_GBIJtCanKLykpVo2lepVpY0BQstUvlHASJZ7SChw4AAViHFM_SwlNnsfbobsuxNJL7cx2-a86IewWr8wP9j4WD960U0nKEKoQhPPndd_tg080MjnCalpatsVPBQeiix5uoXHm_UE3roa1J_wMbJFgzDh5Y-CVRBDQ9kHkTGH9fUv-XTzT_Wm2Ft0j5vH1mKU20dFA6_5m6K75CMIBFWVtWOC_i6EgSrPXx8Rpjgr9usxvhE3DzBzww0GmuoH9I8R3vPmt9CZmcswgwe0LouMr2979PIXHMo-1SSl-jm4tPaeokNd_0E0wIsXogz4JbtkPBo7DbF4dGNTbbpqyP8Hicamr9IMRwgzy0Dl5lrxZu-w8zTX4y5yBRWIXF2DFtLdZam_k2_Lw3pylAFhKb9QU6z_EHH9LkFVnjaKpE0Zse-SG6qDOcVLeuqBVzQuYtgNThUomAKSB-gujQ8WpNYyawrzPHmSatzT2g6vlcczSVz8uTM1TuBdNdOeoQwBLSpn-NmVR42OeFZ32vLWXgBGeS0_uqvu5RLrU3j0U9-u14Is4xKqqclFCivE4Y-3tdQeGNGcBVGvH0k2VnyraFXj04MPo5u06-NnWprGsT7in9TfkOS61xptr_4dt1n_H5ZHzJ8jXKVNXB9F18UrnGB4gE7zir8wE6GVSgehSyQsiw_87hWkMWaYsGXggyy3tDy4CTcKB0cNe24AD-yce0TDGNIXO5ivCu1T8AB-5EtpZ1A7HxbxWXOXAw3TxjIRRx-WNRpB5EVmA2VBXN_tX-GRVk89W3jZK-Ij-61ZUaA17nrrh7Bf5q_hjSIHdmAuDfoz4SzKaisSGwWGYfPYC6bG0J7owibSsjlrW2YTfYxX14FNW7HP4qMRSeILQz9Hl-H1Lp9Ujx-D4T7wkmG77IWkcIMLD4V43M0KP2DT_yIia94CN8ewzUQqmV7B9QWgLNhgJ1uVi1FoPZhOLPUGI7SD-cr5reK_ttNK4IwjPjQy2on0IODcjAP9h0Eoy0u2ExlYGEiTtcEt96cUtIb5fwOtSaI-jT4VF0Fdmo-hCbEnSB4R4_oXm9IytuR8qD623Chc4bL8AmQ5EJhr4wjbnw8bMjUj8aTXoKOYCXzB5PYMAEWZP2WMpVAJH0ngpz0V8_Uj7V7WO15zh-Ub0opO6vX4d_v1byWD3X4NtVKTxeRcI-G2wF0jRDISRtXSM1G7Ob4cWGylYDtP2PabX-Jc2_Lg-8znwmHmuXVwWIVXwfgYRDSRhLrVQfwchmoeWahmyiBpoCDMzqo2cCKdPCZoh7catJrreGgPLWAgxrhWFWbzG7tQC5NM1yZVeZSTgAFeHIhFATeLqNKALzTBmUxJH1Gpw-zYV-4B8Wg12HQ8mESAbbR72e_S0ZE_kmrdX2uzjbDWQwZZjz5XJhZENq-yc6Ct0ICpCypme-Af-k6SpOeeTH85kQO-0WIR5Wiz91t1_uGGgSqt_ybZHi2JVdTh37Iyku2m4MgwuMOO1bBDjmAUhWQqEySJ1gB-ousHCCGfTqiJOcK-tqG2qb5PJECT97grLhNLQckWmPhSlExy-EWnd8QXxxfgm2dDdU35E9vopmf2fXG2OBLei_uAmFZRv1HYxXqKTcKNHMuuSKUzQ46N-XoID5cjOBN5O0fpgmL7S3F48ElMEHhW3S1KVP4mWAPYdPzpdyJQM2pimvM1OA3PaZMUuQ0ddV9lyxXIhEK_Effvreubq7Vd2i5p0emNYWgBFge0Zp5mtGg792FcYKaKQJsDaJV_pb58YWklPDP22jKb9ZV4LFTcdB140xViwms5dbfPIgNeOfI9cryyYGBwoxGUF_U6WGSmzmbR8-ZWdC6c5I2jNmjnk1-j1H6Jnumg6CJldnybHOTsRzdgz_ICYuG_VLkt6nj-cD",
  "id": "rs_0d4feeb2e0be1b47016ab471037cc887d081d5407d70d13e3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.11,\"left_z\":0.19,\"left_yaw\":0.2,\"left_pitch\":0},\"note\":\"The cap moved with the left gripper and is no longer on the table. I’m raising it clear and moving it aside before reaching for the pen.\"}",
  "call_id": "call_aoOsaFDHiI1B3TgvAj0kmHI8",
  "id": "fc_0d4feeb2e0be1b47016ab4710c47fc87d0810f1c9695cefceb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aoOsaFDHiI1B3TgvAj0kmHI8",
  "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]: [-0.6975, 1.1496, 0.7773, -0.3096, -0.5709, -0.4927, 0.0572, -0.02, 0.8547, 0.7631, -0.6182, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3181 left_y=-0.1374 left_z=0.182 left_yaw=0.0254 left_pitch=0.011 left_roll=-0.058 left_gripper=0.0572 right_x=0.2835 right_y=0.002 right_z=0.1879 right_yaw=-0.0008 right_pitch=-0.1495 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -3.5487, 8.5949, 1.3846, -0.3541, -0.0073, 1.0281, -0.0205, -1.8393, 6.6667, 1.8193, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fcf70367c90026251457c46dd891274356185350a2afb1f8cb04dc82c620bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64672a56cead269a3587701ea67035d241bf7ca5f528d2740ff77e9c195256b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf21b2f1ab88c4d04027ad86d92bca1f268c9fa07a0ecb84f086414e7374d7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.317 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 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]: [-0.2386, 1.8729, 0.3676, 0.9493, 0.3649, 0.1619, 0.651, -0.02, 0.8265, 0.6224, -0.4583, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3496 left_y=-0.1462 left_z=-0.0004 left_yaw=-0.6418 left_pitch=0.0549 left_roll=-0.0394 left_gripper=0.651 right_x=0.2879 right_y=0.0018 right_z=0.1637 right_yaw=-0.0012 right_pitch=-0.1022 right_roll=0.002 right_gripper=0.999\nstate[joint_eff]: [0.294, -6.0786, 2.3043, 1.3065, 0.0659, -0.0806, -0.0952, -0.253, -1.5795, 6.7897, 1.7363, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 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]: [-0.2363, 1.5261, 0.424, 0.59, 0.3634, 0.157, 0.0514, -0.02, 0.8497, 0.7601, -0.598, -0.0231, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3532 left_y=-0.146 left_z=0.0692 left_yaw=-0.6369 left_pitch=0.0949 left_roll=-0.0258 left_gripper=0.0514 right_x=0.2859 right_y=0.0019 right_z=0.1917 right_yaw=-0.0006 right_pitch=-0.1274 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -5.9419, 8.0342, 1.7167, 0.0317, -0.0513, 1.033, -0.1299, -1.0735, 9.4017, 1.5409, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 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]: [-0.6975, 1.1496, 0.7773, -0.3096, -0.5709, -0.4927, 0.0572, -0.02, 0.8547, 0.7631, -0.6182, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3181 left_y=-0.1374 left_z=0.182 left_yaw=0.0254 left_pitch=0.011 left_roll=-0.058 left_gripper=0.0572 right_x=0.2835 right_y=0.002 right_z=0.1879 right_yaw=-0.0008 right_pitch=-0.1495 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -3.5487, 8.5949, 1.3846, -0.3541, -0.0073, 1.0281, -0.0205, -1.8393, 6.6667, 1.8193, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fcf70367c90026251457c46dd891274356185350a2afb1f8cb04dc82c620bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64672a56cead269a3587701ea67035d241bf7ca5f528d2740ff77e9c195256b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf21b2f1ab88c4d04027ad86d92bca1f268c9fa07a0ecb84f086414e7374d7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.352,\"right_y\":0.292,\"right_z\":0.105,\"right_yaw\":0.55,\"right_pitch\":0.12,\"right_gripper\":0.8},\"note\":\"The pen remains diagonal on the table, with its writing end toward the upper left. I’m bringing the right gripper over the rear half, leaving the tip exposed for capping.\"}",
  "call_id": "call_TUw7VXnvqN79wTiWehNEQZTX",
  "id": "fc_0d4feeb2e0be1b47016ab4710fb02c87d09f431d1b1903ae83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TUw7VXnvqN79wTiWehNEQZTX",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.153, 0.7654, -0.3244, -0.5686, -0.5064, 0.0572, 0.7414, 1.6485, 0.6853, 0.4294, 0.1791, 0.0925, 0.8014]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1734 left_yaw=0.0322 left_pitch=-0.0129 left_roll=-0.0507 left_gripper=0.0572 right_x=0.3432 right_y=0.2764 right_z=0.0844 right_yaw=0.5324 right_pitch=0.0356 right_roll=-0.01 right_gripper=0.8014\nstate[joint_eff]: [-0.294, -4.0547, 7.7744, 1.6728, -0.2711, 0.1001, 1.0281, 0.5265, -7.0359, 7.9658, 2.0244, -0.0366, -0.1245, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cdf089b739e069aa47ac916741c91ff80d711bce5210d55b690a785250b078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90bf6237e3e6485d7ad8fc1ef974ce682e79c7e20df7a0f95df3f42b99afa11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f18c831ec44adfce21f97eeb4c32d61c51673d575a2282187075bb09320acd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.617 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 53 changed as sent

message 42 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]: [-0.2359, 1.8858, 0.3588, 0.9802, 0.3672, 0.1589, 0.0457, -0.02, 0.8268, 0.6197, -0.4641, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.349 left_y=-0.1454 left_z=-0.0011 left_yaw=-0.6396 left_pitch=0.0637 left_roll=-0.0395 left_gripper=0.0457 right_x=0.2867 right_y=0.0019 right_z=0.1613 right_yaw=-0.0008 right_pitch=-0.111 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.706, 4.3556, 1.4139, 0.1245, 0.0562, 1.2918, -0.212, -1.4564, 7.1726, 1.746, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 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]: [-0.6975, 1.1496, 0.7773, -0.3096, -0.5709, -0.4927, 0.0572, -0.02, 0.8547, 0.7631, -0.6182, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3181 left_y=-0.1374 left_z=0.182 left_yaw=0.0254 left_pitch=0.011 left_roll=-0.058 left_gripper=0.0572 right_x=0.2835 right_y=0.002 right_z=0.1879 right_yaw=-0.0008 right_pitch=-0.1495 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -3.5487, 8.5949, 1.3846, -0.3541, -0.0073, 1.0281, -0.0205, -1.8393, 6.6667, 1.8193, -0.0269, -0.0464, -0.0122]",
      "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]: [-0.6964, 1.153, 0.7654, -0.3244, -0.5686, -0.5064, 0.0572, 0.7414, 1.6485, 0.6853, 0.4294, 0.1791, 0.0925, 0.8014]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1734 left_yaw=0.0322 left_pitch=-0.0129 left_roll=-0.0507 left_gripper=0.0572 right_x=0.3432 right_y=0.2764 right_z=0.0844 right_yaw=0.5324 right_pitch=0.0356 right_roll=-0.01 right_gripper=0.8014\nstate[joint_eff]: [-0.294, -4.0547, 7.7744, 1.6728, -0.2711, 0.1001, 1.0281, 0.5265, -7.0359, 7.9658, 2.0244, -0.0366, -0.1245, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cdf089b739e069aa47ac916741c91ff80d711bce5210d55b690a785250b078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90bf6237e3e6485d7ad8fc1ef974ce682e79c7e20df7a0f95df3f42b99afa11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f18c831ec44adfce21f97eeb4c32d61c51673d575a2282187075bb09320acd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEXSnleleL9lD2nPKCSxw-G2z49BgnQ8D1uZpdzu6XZIpg86qJppoSjM2_GnqTDTLIn0xM9Csj6Hn1tunw1UnM1ENTBEjWW2x_QqTsHowJYFt7VSn70oeX8tlzWTGeM91fVbs2JnNxFrOFaW326VaZ0stMaXc0hIxhELkXM2iLG55q2aL4BArFaDJxeTTA0u0fYw8cGyIjpDuzmpB8RUNPQDU5B3TorjkpcxxdN0vEQgnZP9y4P9akrzuCpW987Rc0AfbH9LMSZcFEHcvuB7Ft9skIf09Tj9Um9bifNcMWw6mowRhAWCN-MjUIQjl3La5GOUVM8ngoaG49NobkYzIoQkkMWoYpJPrj1ehaC4xxPrnt9dVpERCk7Xp9fiAshN0AmgPDFf5KcEFPe9Av6cOvp1HZh3GK-j3_NifcNTlNqvCSHmkBz_mUtHcP1j1WTvWrm54sZ1l_zQt4fEQYNfKdN5nk7Eo3WoEIy-khuCBvy4cxuevA3-XFBP9yyMwdlI_XtknLjJHMNJCNeV4uYpNbK6t3aPkwVW_UaGgsqEoDgy6detTem_6_x2zmJzx3TXVoIQ_hHIwyJ-CjpQkvC0pzyqPqM3m3Dn18dc9U0Ow_7pniM2Hnb4Nc366gjMktG1HBS7lqVv4IlnKgVu90sGQexrKytAqTsB4o6fUkoFjSYF2JH5VIazJJN2Ql5ao_ob0PQ_nkcbAxUX8p14yCfLcPon0psJDKEvloMhN3ADNdbXi0CkFihZPu6cozyKN0UAfitu5jedSWP2WQnqIwY_oBFTaF7I9Z4XVNmW8WE9SEaeIRFlm05zvvWC86JzdmlGA-M9cTK7bQIm3MWnwhEOIlaYX9nEdZoAj9B_nwwfFn2tepDN6HDDqNSm0uKinzVAQXoT7q_4Iir7nTQk9ghPg_NGUrSukQB_lDAqKpCRnAV0SEPdMj_eteRZl6haNgFnJ-FNAtSMueC12Som1uliXei5PQSM1BGRk7LsfVlO7Y8i_T3mSwc8pA4toPzZ_S5xz85SGU3B-35ly6VKGC_FzTY-yc7T24F3KMdVyB9FQoVXi1KkEmudOAvjF321b05fJym7X_Tkv00-C9OVDxFjvtLoSCOB67WEpu3YOqenXS0nuAMbYwOXofXqXnmlmYXMi1Bs582xGlqDJY64Z9Y-j6X3AelfJ8w_qJXAToMbyQDwuzYyqQ2RKbitwVAFo19g-GVwMXqSGOwZFKOWzFi1zYzlSZSpwkMHKjG7LpGjoRUMkIMoRafUb0525VEMfQ3BlZCHK3eAAa_wLSrgj7soQ92EQQ0jW11IrUSwgNcAqTVXyzdE2PCkJER-V9VFHc5ko98R5aLt5CyYWlSV7qXiFi1k1a0xgR351gdedq3Sz5EFvTXLqhtQWrez2T6QY3yX-p9P6BzxE1lH8rvav1rJzoACo9lqn1b0k6caLHiAiGAXjykefxEzo2ALdI_oRdcLlV72mddEWQNZ_-cN9HQUNL0RXPHxrFjtHewUzK7BnnZQjGLBD4dWH1gRriIqhCJQRLhwKcY1HcuBhEDCIm_WxKOfcf0dn5QCSPEmJ-_D9Uwn9OvnBbnkMkPg3VgbWkhoSNgy5_oRIzqT_-uhPNPFEDEb_KA3Kb0MORu9TzpAym_pWg=",
  "id": "rs_0d4feeb2e0be1b47016ab47114a58c87d0b732c3f0e667c092",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.25,\"right_z\":0.012,\"right_yaw\":0.55,\"right_pitch\":0.18},\"note\":\"The pen lies to the right of the jaw centre in the wrist view. I’m correcting sideways and lowering onto its rear barrel.\"}",
  "call_id": "call_PyV9yVoUm58ox2sl3tkSVdy3",
  "id": "fc_0d4feeb2e0be1b47016ab47116875c87d0a68dab26b9524ab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PyV9yVoUm58ox2sl3tkSVdy3",
  "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]: [-0.6964, 1.1545, 0.7654, -0.3252, -0.5682, -0.5072, 0.0572, 0.6395, 1.998, 0.5213, 0.9974, 0.0998, 0.0261, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1727 left_yaw=0.0323 left_pitch=-0.0148 left_roll=-0.05 left_gripper=0.0572 right_x=0.3537 right_y=0.2457 right_z=0.0008 right_yaw=0.5325 right_pitch=0.0833 right_roll=-0.0216 right_gripper=0.8015\nstate[joint_eff]: [-0.0752, -3.6581, 6.9675, 1.5165, -0.2808, -0.0171, 1.0281, -1.0325, -7.2137, 3.3573, 1.2967, -0.0611, 0.4322, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd090f15dbd25ec2ec392724a7e0010dc97e6634fb37169090bfb62e7fcffea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c30670d5668ec6c8a13aa168704c80ff1a6334bc4a00bc9dea766e5b7a200f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f4f7c16538c781a87767eb848de3ec95cc91681d274d5197f6fdf1caf50630",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.691 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 53 changed as sent

message 57 changed as sent

message 46 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]: [-0.2363, 1.5261, 0.424, 0.59, 0.3634, 0.157, 0.0514, -0.02, 0.8497, 0.7601, -0.598, -0.0231, -0.0151, 0.999]\nstate[eef_state]: left_x=0.3532 left_y=-0.146 left_z=0.0692 left_yaw=-0.6369 left_pitch=0.0949 left_roll=-0.0258 left_gripper=0.0514 right_x=0.2859 right_y=0.0019 right_z=0.1917 right_yaw=-0.0006 right_pitch=-0.1274 right_roll=0.0025 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -5.9419, 8.0342, 1.7167, 0.0317, -0.0513, 1.033, -0.1299, -1.0735, 9.4017, 1.5409, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.6964, 1.153, 0.7654, -0.3244, -0.5686, -0.5064, 0.0572, 0.7414, 1.6485, 0.6853, 0.4294, 0.1791, 0.0925, 0.8014]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1734 left_yaw=0.0322 left_pitch=-0.0129 left_roll=-0.0507 left_gripper=0.0572 right_x=0.3432 right_y=0.2764 right_z=0.0844 right_yaw=0.5324 right_pitch=0.0356 right_roll=-0.01 right_gripper=0.8014\nstate[joint_eff]: [-0.294, -4.0547, 7.7744, 1.6728, -0.2711, 0.1001, 1.0281, 0.5265, -7.0359, 7.9658, 2.0244, -0.0366, -0.1245, 0.0952]\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]: [-0.6964, 1.1545, 0.7654, -0.3252, -0.5682, -0.5072, 0.0572, 0.6395, 1.998, 0.5213, 0.9974, 0.0998, 0.0261, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1727 left_yaw=0.0323 left_pitch=-0.0148 left_roll=-0.05 left_gripper=0.0572 right_x=0.3537 right_y=0.2457 right_z=0.0008 right_yaw=0.5325 right_pitch=0.0833 right_roll=-0.0216 right_gripper=0.8015\nstate[joint_eff]: [-0.0752, -3.6581, 6.9675, 1.5165, -0.2808, -0.0171, 1.0281, -1.0325, -7.2137, 3.3573, 1.2967, -0.0611, 0.4322, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd090f15dbd25ec2ec392724a7e0010dc97e6634fb37169090bfb62e7fcffea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c30670d5668ec6c8a13aa168704c80ff1a6334bc4a00bc9dea766e5b7a200f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f4f7c16538c781a87767eb848de3ec95cc91681d274d5197f6fdf1caf50630",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEclkaTcqhPi2Qb3nzZkL3a5qGrxPcJB2500OLjOfRAtOkos-BZIT7Vxw5pu5YTz4n5nKqzrL99-pMsCsko3ISdMuMm_ZAP8zTbksW_YPDskajUAyEShLCsqRou0rHVPROc6DmpytKX8uFl_G9cLMkabglf8CBlRpdutusOfbR0Sz0Lsclnglm2BJ0LyKegMGaWgFsxNd11no9bJ7_L6RJIK3TTG1i_GDmzq3rxFdJGSL1satOgKUt83bAEtQjl7bE9i789rNB9wwSiVADyUfyECuUte7fFxLXpUpmMY1r2xdBSo5nQGI7x5QtY5Ey-s7iun8_kJihz1LEe9A2B2S3nzpSN9TJN4lyqzbL4r301Sq6jlKDkKfP-UK9GyDA50O4JD6lKISogOY0BdYq4h24QEplFCJWuFHgmoCUFn4Zwk_HvD3tufyfYAJJKq4vFs-xiessLULnEiIfVbntocDhg248mO28JVoQfSSGGH11WQO0RdYWK1lRO5azsvCnt64H5MNG2bhhROTDhYcN567J_7as0Q45G2oM0_vzy08SSxHbz8xAYiaTtm0WgG25OxXI62eOIyepTBLN3-2ym1KNbjX2tXpwhD8AHNX15XU2Lb-aETyjfliau1q7cqDO9mKvXn8CWcc9u5NOxhY4OW1sAQ8A9HHdVnEoP0aIAO_YcpAjI_XbdmnqpsNUSvA14JQh4XBq9cREIQVmVKaoAjOb8uwygXw_VX_EYY9IwbvTUJogE03I_T55d7HX51aqVFjvPoMnPcb-V8paaLv6YkkUmWUi_4lIh1iloDo0AB-U43Bjl-3IsC3cqTvmWCILIR8TLCNDxFMZ1RITrWy0_lmNILKVrH03EL5wr6R82xJ7C6YiW29QWi87vYgPLhqEFW6hlKvs8DXC-O7A4TK88zzarp3JMpp84S6tyK0ZXsXlWH6v9HRO7YCeZLLhkTfZkd6XkYZjAXDw6onUj2IOq2kxH-eUkUFLH9gdN8yDHp6QuCnGk3za1PV0GMMpVNzK8GucGJPUrSEDl-PbnMSabLADObTSYpN-MtF_8ayRGY_PWq5HuqBgRCR-vthVW3FgOFY145qI63aJOi3e0uQJDuMie4HQM2GiQSFzmR1zp0mwHKYJTl_aNrCDOH1mKqz6zu6pLdNrLlQ1VzSAFuk0LVnZcYReKGLyYmWWvaVUbStve5LbU_J9A2I-rF0a_38NkrkiNpXI0q3DElaMK4IgqxQD6-d93wgaQyjiyv1UiiDXrWJiAOpO2lsj-__X2GQKqa4Wd4KJruty5Jut8-Ot_b2aBxanhU2kGDpE_ED-8PdJXgLKViXTIQ1W7MUoFTbz2m2TddbECARWI42Meg_cDO8gDJWAU94p65Ykh-8iTh6dq4FXo_lbGiLblJDrmb7bxxyRsynmD6Q1g6dLLaBHXbngL4hMWpUl192o-Z8xjtuQRGaDG_HmFXySe15w2WAE4lScOqL6YvOei4isZoYmfGw0KTciXvYT4V1S8dczJ3E61s73S2JEIpEE1kzPoS3-cvCoBkMS_jjJzPyG_Ss02F-L69Q==",
  "id": "rs_0d4feeb2e0be1b47016ab47119a29487d0b8d7b54c421426d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.361,\"right_y\":0.232,\"right_z\":0.005,\"right_yaw\":0.64,\"right_pitch\":0.2},\"note\":\"The barrel is still slightly right of centre at the fingertips. I’m making a one-centimetre alignment correction so the jaws close across it rather than beside it.\"}",
  "call_id": "call_j3gugVu32iFaYwNrdSnyMkKE",
  "id": "fc_0d4feeb2e0be1b47016ab4711b76d487d0b5003dce31d77ca5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j3gugVu32iFaYwNrdSnyMkKE",
  "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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5285, 2.0766, 0.4763, 1.2049, -0.049, -0.0399, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3637 right_y=0.2266 right_z=0.0015 right_yaw=0.5837 right_pitch=0.1652 right_roll=-0.0163 right_gripper=0.8015\nstate[joint_eff]: [-0.1983, -3.8359, 6.8171, 1.5263, -0.232, -0.0611, 1.0281, -0.3077, -6.5709, 2.5368, 1.956, -0.0757, -0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30b4ab56a90c1a974d180613c9f7aeaed1ab24cb2beace66dc3a4750d0f68e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51669f2a78893d98b9bdccd6eeb74a33869ce4fdaa92926ed6b2081cde221dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2e95547d14fa9579b6fd1b67c87da2c1e7d512e704c803144c398ea8b22b68",
      "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 16 attempt 0 · /responses · status 200 · 3.311 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 57 changed as sent

message 61 changed as sent

message 50 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]: [-0.6975, 1.1496, 0.7773, -0.3096, -0.5709, -0.4927, 0.0572, -0.02, 0.8547, 0.7631, -0.6182, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3181 left_y=-0.1374 left_z=0.182 left_yaw=0.0254 left_pitch=0.011 left_roll=-0.058 left_gripper=0.0572 right_x=0.2835 right_y=0.002 right_z=0.1879 right_yaw=-0.0008 right_pitch=-0.1495 right_roll=0.0032 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -3.5487, 8.5949, 1.3846, -0.3541, -0.0073, 1.0281, -0.0205, -1.8393, 6.6667, 1.8193, -0.0269, -0.0464, -0.0122]",
      "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]: [-0.6964, 1.1545, 0.7654, -0.3252, -0.5682, -0.5072, 0.0572, 0.6395, 1.998, 0.5213, 0.9974, 0.0998, 0.0261, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1727 left_yaw=0.0323 left_pitch=-0.0148 left_roll=-0.05 left_gripper=0.0572 right_x=0.3537 right_y=0.2457 right_z=0.0008 right_yaw=0.5325 right_pitch=0.0833 right_roll=-0.0216 right_gripper=0.8015\nstate[joint_eff]: [-0.0752, -3.6581, 6.9675, 1.5165, -0.2808, -0.0171, 1.0281, -1.0325, -7.2137, 3.3573, 1.2967, -0.0611, 0.4322, 0.0024]\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 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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5285, 2.0766, 0.4763, 1.2049, -0.049, -0.0399, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3637 right_y=0.2266 right_z=0.0015 right_yaw=0.5837 right_pitch=0.1652 right_roll=-0.0163 right_gripper=0.8015\nstate[joint_eff]: [-0.1983, -3.8359, 6.8171, 1.5263, -0.232, -0.0611, 1.0281, -0.3077, -6.5709, 2.5368, 1.956, -0.0757, -0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30b4ab56a90c1a974d180613c9f7aeaed1ab24cb2beace66dc3a4750d0f68e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51669f2a78893d98b9bdccd6eeb74a33869ce4fdaa92926ed6b2081cde221dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2e95547d14fa9579b6fd1b67c87da2c1e7d512e704c803144c398ea8b22b68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEgHN6cB_1Iz62U4RqDHaSKxAhn-Y24tqYzxGWW4w2Fza2W6H1o4iCNt0Nz5WgttpM5diUO8mxbSiPRDhYk3QalReEh_JudkbXJymQHYQNuuEyqi0EwQrzmMP1Vzn95pB1W-29PTgwbzEZygd1gHt95Im7xMhhv5oq3Ub_EZbxMimVXnhBVwfWFJTieuWapfVN5ZA-iHXpOHmepZBEfJtDai1zK1-ZHQJMebiGNv6sMMEdhyad6fAm1oqapsE8vzE1DVOCCxkKltFf01hYDYPLItVF4WR_lOJ76ONFpnlUxb09NyQWm8tSZsEmCrK0ESTNJDON4v5qpkINLF12XD-5WSAYkF4YA1XOHhlFcdppN6jOfTF_VxGUhKZLtR2QulmtHbqhhoNziRMNjguv2pNj8vsu2gfEGH6Nh5KCxF7WIJglIcppBLyiLXBUkNIy7sTMWOMIjEdRzVZM8A8v5oZh-004F4HTVi5R57BoF2MlGYgPiZXbmm_hEaHYbNCmWnIpcTdxWhOM6P2O8DE0wv9hL4PNTZVUWJL9EQiW7cb616ai5zvr6HNtJ1o-Gzd__2187Nsl9B8ex-64N3vqrhNE276Gs5izrPr3TdVU0ps_4yyzftrEhniAOAz8NMIYEPt1oW25IWpImSoLMkJCdiNt2pVfbc28OPPkHObCUgqPOv0N2obJ4WqhiQO5ocUw9HAKCc8B__jnNs52lgnMfhVTwaCAHgvQ_n6Do7YZSwI82v1uPEYdEBdLOpQDXsR9_Gh9wGk-O1Rkm7XKVPt3iL2vMD5-llk6CVLMpqRm-ioVB9Z_o63_4UbYNAZoTrsxHdA6f7u3qB5G6I10YUM9zg38czskzHEgPe-l3jeGwKqA5WCXzorWdduUCKka7QR41orh4JwYEd5ibKjEVNqFsgvtiuYTyf6v0leSs2yJVEocjRSohy2sDy-p_b0nUwTghYJ8qSrRTPCyyGtrLEgVXTiM3LqBnjPkdeqL9QTQ8CQTS2xboX3iQB9IA1vb6jH-yDOlhN1WOtdGF_aOEAgB75OdGDQuqrHWni1hT-4B4Y12u-ickFQEKWxYGtb1GF-6oCoQZtHPlxFOkiLhCwIdy69m8EoNqKST3OrqN9me-cQ0hEZBLnHmaodgnpzS6SGSUKFJ9OFSKvAVv69pEEP0kr2peMR6Kieu1yiF2XWJHKz5-1kKLqew80HanMF7gk-ea6p-9opHwvM82FKf0kmhSd5OyhG2-K6yojM1VeUJe4iMO6W0_9cUu284YzOSD6pDXChycJhqWmr74W_GsGg5lX1nBBwDGHO_gNLC83ONIBUDlB7Roqq6onWzVEp2uNYPay5jPvD-xjBND1xX3F_QoOFe3AIvdBW5yQG-Ca9t8bOPD92akvZ369FUBls2tEichPRfyBefNoNGzmMlGTVdY8R7PydP7tEklUcW_f4n0delpIiVKp7Q2gT-fCv7FWbhXkNFg-fDUyKRoVxcwrFAaRhsPKmPnGTntTUL5dFTmnJaZPrk=",
  "id": "rs_0d4feeb2e0be1b47016ab4711e45e087d0afbbbc990b98d8a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.357,\"right_y\":0.24,\"right_z\":0.004,\"right_gripper\":0},\"note\":\"The pen now runs between the open jaws. I’m making a final millimetre-scale centring adjustment and closing on the barrel.\"}",
  "call_id": "call_VrQLmMk3rYzTRKES4AX3QTDU",
  "id": "fc_0d4feeb2e0be1b47016ab4711fcb4c87d08ced5fee79d39e17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VrQLmMk3rYzTRKES4AX3QTDU",
  "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]: [-0.696, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5167, 2.0872, 0.4732, 1.2728, -0.1097, -0.0647, 0.0073]\nstate[eef_state]: left_x=0.3152 left_y=-0.1348 left_z=0.1726 left_yaw=0.0329 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3638 right_y=0.2331 right_z=0.0122 right_yaw=0.6386 right_pitch=0.221 right_roll=-0.0226 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, -3.8085, 6.8171, 1.5458, -0.2808, -0.0708, 1.0281, -0.0068, -7.1179, 2.9197, 1.6972, -0.0464, -0.0464, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff6d044ed96e2a7df4cc9f816bb0173806efc012fab5b3fe45532ef61aaae59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1344678b9db9e58eed5a4a079cdf1bf1ac2f0b38edc4a06854bfcd0b1963a037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f4810c4119c5c84a998859ac01578ccd9bc2fcd4a5d1f3084722ef0486db76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.813 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]: [-0.6964, 1.153, 0.7654, -0.3244, -0.5686, -0.5064, 0.0572, 0.7414, 1.6485, 0.6853, 0.4294, 0.1791, 0.0925, 0.8014]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1734 left_yaw=0.0322 left_pitch=-0.0129 left_roll=-0.0507 left_gripper=0.0572 right_x=0.3432 right_y=0.2764 right_z=0.0844 right_yaw=0.5324 right_pitch=0.0356 right_roll=-0.01 right_gripper=0.8014\nstate[joint_eff]: [-0.294, -4.0547, 7.7744, 1.6728, -0.2711, 0.1001, 1.0281, 0.5265, -7.0359, 7.9658, 2.0244, -0.0366, -0.1245, 0.0952]\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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5285, 2.0766, 0.4763, 1.2049, -0.049, -0.0399, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3637 right_y=0.2266 right_z=0.0015 right_yaw=0.5837 right_pitch=0.1652 right_roll=-0.0163 right_gripper=0.8015\nstate[joint_eff]: [-0.1983, -3.8359, 6.8171, 1.5263, -0.232, -0.0611, 1.0281, -0.3077, -6.5709, 2.5368, 1.956, -0.0757, -0.1587, -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 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]: [-0.696, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5167, 2.0872, 0.4732, 1.2728, -0.1097, -0.0647, 0.0073]\nstate[eef_state]: left_x=0.3152 left_y=-0.1348 left_z=0.1726 left_yaw=0.0329 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3638 right_y=0.2331 right_z=0.0122 right_yaw=0.6386 right_pitch=0.221 right_roll=-0.0226 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, -3.8085, 6.8171, 1.5458, -0.2808, -0.0708, 1.0281, -0.0068, -7.1179, 2.9197, 1.6972, -0.0464, -0.0464, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff6d044ed96e2a7df4cc9f816bb0173806efc012fab5b3fe45532ef61aaae59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1344678b9db9e58eed5a4a079cdf1bf1ac2f0b38edc4a06854bfcd0b1963a037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f4810c4119c5c84a998859ac01578ccd9bc2fcd4a5d1f3084722ef0486db76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEk7daQaXy0kXttOiSxoB9TO0esnwaRUPiQWs6KF9gnJGRDo-iptqnqdfzja4CXKVn2NmSbOyxjprl9KYIPqifH_zMbO0azSj46vxjkCPUZqIasCdHj44w-KmVpIzU9uc9vg4ZabPB6Qq3kOtMNxg1Nwf_HlkRP0RrVz01fahoS0mspGunnDLgc37zgiSJxTgjc816w0jn9L0DKdXbbRdBjXg1nAalmSzG48pwVCl4GR9OZSuBlcECY8Pb0dIxmtoia0K418O6OzliDCq3jKHf6OxAlX7H3kN8PNgzYRv27WzGxqvV1bpuI98K0Z_2LtWBa8L1H9wuwI10J8neCk8vg9tBEWWfsCaTXj0AFS2nq9e5viHVXGiRbDVe-bB3nG5XA_WPs5mztmetqtAJi6gBLmZTauFIE5C80OcVaGuikZFlXuStuaaNN6wnn--WV2ZG4jmbA11FrMVUQcZqjgxzedMM8-dfgK6XDJjQTDBDGlHJ6Qm6C13yZ1LqgM6V6-5M3jRrmT-2ENM7UBysTkUr-twoJu6PgyyPH7paENAC2xPzxxYfhVkHnKtlWOUuYmvmukc0vyZLIKTgYOj8yfECvG_NAFpi6QX0PYO-bxmXXXZBr7FM4FNBNpao7sHEqXIakDMdZagh0oAHTF2II3Eu6Fkj9i_6U5a9puHCUCZPQ9vPy00nZvKnnTeGzEMubZvueCmh57d041wyRui76Svcy-yTKdFRpANn8EE_fi_GUFiv4mLxQePt4ssumz6U-K4mgQwICoX5HLDgQj0Q6MyeI7r_YrnJomPf5xz26MdDpQw8Mcp1rySnoXUktLK6TK3JNWpAxdjalSKUDERG4yjWSJL2c6A0gI2NhzYEWIYWqk0vMjDg71QCCy5t81PS5axUmPtnTdokjos3MWzxNZcpi728VJxg0Cxx5kobTdYcmAxSFaAnFpcnsRjswgc-Zsmh8fKmWydWjR9CrW3reotn-NfYOR5vZyShKGcdDsaJvzN8LpeOzQEuJW85ZiXA7KNrAJFQ8VWcQdrD9Gnnksd1VC4uGdA8EprRAKdX8GR2bUSRfXXFEtrUUHCmvxrepbXijNifvNpAnrPsTNebGkWEAwypvDmzN8CBwccXr3kGnSG8R9XZSt5gnhWqQG76bfoiKphoZflo0hhPoQTlqsryjFpHQss_ZUO-gKkP7zFMTh3EwXbviNnuEsd2py52or3AE22NMJko_gA445tILwERE0RGf_9Cto62LZO5Cd83O7rCnpoVKgymtsIwDXXv3BVJij3C-4yjCSEloqFHIugRTVjRHDlzJ3q9ZjaiCVNLzH4k=",
  "id": "rs_0d4feeb2e0be1b47016ab47122fb0487d0ac10a9029abea96b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.353,\"right_y\":0.24,\"right_z\":-0.016,\"right_pitch\":0.12,\"right_gripper\":0.4},\"note\":\"The jaws closed almost fully, and the readback shows they stopped above the thin barrel. I’m reopening and lowering to table contact without changing the sideways alignment.\"}",
  "call_id": "call_u57kxcI8fEhdXyrChHEU90BV",
  "id": "fc_0d4feeb2e0be1b47016ab471239f1887d08602d55ebffe04ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u57kxcI8fEhdXyrChHEU90BV",
  "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]: [-0.6964, 1.1549, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.5533, 2.1017, 0.4843, 1.2346, -0.0803, -0.062, 0.395]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1725 left_yaw=0.0325 left_pitch=-0.0154 left_roll=-0.0498 left_gripper=0.0572 right_x=0.3571 right_y=0.2415 right_z=0.0004 right_yaw=0.6475 right_pitch=0.1785 right_roll=-0.026 right_gripper=0.395\nstate[joint_eff]: [-0.1846, -3.6991, 6.8444, 1.5165, -0.2515, -0.0513, 1.0281, 0.5949, -6.1197, 3.3983, 1.4579, -0.0073, 0.0415, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43792395da9e1925455e5d86a5d4e846172ea729e2b03dc788104def3614fdd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095aa5fd95015ff350cd0d47fd17312b942a767ced375a69e3f62b4a597ccc2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c42caa8030b78b701fcd9dcbe30ef61e39902d0b346d4faa5b8e77958aa648",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.334 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]: [-0.6964, 1.1545, 0.7654, -0.3252, -0.5682, -0.5072, 0.0572, 0.6395, 1.998, 0.5213, 0.9974, 0.0998, 0.0261, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1727 left_yaw=0.0323 left_pitch=-0.0148 left_roll=-0.05 left_gripper=0.0572 right_x=0.3537 right_y=0.2457 right_z=0.0008 right_yaw=0.5325 right_pitch=0.0833 right_roll=-0.0216 right_gripper=0.8015\nstate[joint_eff]: [-0.0752, -3.6581, 6.9675, 1.5165, -0.2808, -0.0171, 1.0281, -1.0325, -7.2137, 3.3573, 1.2967, -0.0611, 0.4322, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.696, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5167, 2.0872, 0.4732, 1.2728, -0.1097, -0.0647, 0.0073]\nstate[eef_state]: left_x=0.3152 left_y=-0.1348 left_z=0.1726 left_yaw=0.0329 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3638 right_y=0.2331 right_z=0.0122 right_yaw=0.6386 right_pitch=0.221 right_roll=-0.0226 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, -3.8085, 6.8171, 1.5458, -0.2808, -0.0708, 1.0281, -0.0068, -7.1179, 2.9197, 1.6972, -0.0464, -0.0464, 0.4664]",
      "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]: [-0.6964, 1.1549, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.5533, 2.1017, 0.4843, 1.2346, -0.0803, -0.062, 0.395]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1725 left_yaw=0.0325 left_pitch=-0.0154 left_roll=-0.0498 left_gripper=0.0572 right_x=0.3571 right_y=0.2415 right_z=0.0004 right_yaw=0.6475 right_pitch=0.1785 right_roll=-0.026 right_gripper=0.395\nstate[joint_eff]: [-0.1846, -3.6991, 6.8444, 1.5165, -0.2515, -0.0513, 1.0281, 0.5949, -6.1197, 3.3983, 1.4579, -0.0073, 0.0415, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43792395da9e1925455e5d86a5d4e846172ea729e2b03dc788104def3614fdd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095aa5fd95015ff350cd0d47fd17312b942a767ced375a69e3f62b4a597ccc2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c42caa8030b78b701fcd9dcbe30ef61e39902d0b346d4faa5b8e77958aa648",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel is centred between the jaws, and the fingertips are now at table height. I’m closing for the corrected pen grasp.\"}",
  "call_id": "call_E8DgiuKfFNFgsKUo6Suo05ie",
  "id": "fc_0d4feeb2e0be1b47016ab471274bbc87d0aa9c8ffd03596e1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E8DgiuKfFNFgsKUo6Suo05ie",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.556, 2.1014, 0.4881, 1.2324, -0.0807, -0.0605, 0.0505]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3574 right_y=0.2431 right_z=0.0011 right_yaw=0.6497 right_pitch=0.1804 right_roll=-0.0246 right_gripper=0.0505\nstate[joint_eff]: [-0.1846, -3.8085, 6.8171, 1.5946, -0.2759, -0.0464, 1.0281, -0.2803, -8.1299, 2.5231, 1.917, 0.0024, -0.0317, 1.1697]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d1d76d8d53e3ffc8be1f82829816282bf6ee1d5b0a8d34a484b4450ecb1f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4c8947c80023f091c10559e82f59d7e2ab7baa6e9eb5ed040a0eef51cc3099",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce67d2bdad87ee938d65105f2574ceadf7bf49422c3ae3bbb8463d7f7cf6d98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 10.73 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 72 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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5285, 2.0766, 0.4763, 1.2049, -0.049, -0.0399, 0.8015]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3637 right_y=0.2266 right_z=0.0015 right_yaw=0.5837 right_pitch=0.1652 right_roll=-0.0163 right_gripper=0.8015\nstate[joint_eff]: [-0.1983, -3.8359, 6.8171, 1.5263, -0.232, -0.0611, 1.0281, -0.3077, -6.5709, 2.5368, 1.956, -0.0757, -0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6964, 1.1549, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.5533, 2.1017, 0.4843, 1.2346, -0.0803, -0.062, 0.395]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1725 left_yaw=0.0325 left_pitch=-0.0154 left_roll=-0.0498 left_gripper=0.0572 right_x=0.3571 right_y=0.2415 right_z=0.0004 right_yaw=0.6475 right_pitch=0.1785 right_roll=-0.026 right_gripper=0.395\nstate[joint_eff]: [-0.1846, -3.6991, 6.8444, 1.5165, -0.2515, -0.0513, 1.0281, 0.5949, -6.1197, 3.3983, 1.4579, -0.0073, 0.0415, -0.188]\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 72 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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.556, 2.1014, 0.4881, 1.2324, -0.0807, -0.0605, 0.0505]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3574 right_y=0.2431 right_z=0.0011 right_yaw=0.6497 right_pitch=0.1804 right_roll=-0.0246 right_gripper=0.0505\nstate[joint_eff]: [-0.1846, -3.8085, 6.8171, 1.5946, -0.2759, -0.0464, 1.0281, -0.2803, -8.1299, 2.5231, 1.917, 0.0024, -0.0317, 1.1697]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d1d76d8d53e3ffc8be1f82829816282bf6ee1d5b0a8d34a484b4450ecb1f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4c8947c80023f091c10559e82f59d7e2ab7baa6e9eb5ed040a0eef51cc3099",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce67d2bdad87ee938d65105f2574ceadf7bf49422c3ae3bbb8463d7f7cf6d98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHErJkWbYJ0by1YnDF48T0-DqfwdABkTapkeSerJX2tx0Ug6dhqeBO_Fp-rZnsdi26_MfpXgSenP3P7VSJI8UIdoy9zMrnM095voSPMlYqKqIBoI8_hKj6vTNLiHX_FOWb3eUXaCFEpceZNypMQq_Aegf1M6OVe_QTh2N9qfH-9TihYHU5cZHgBklzTet-OOAqGnk5skDVgYoyxMzwFU-A5FzqYFAqh5Nt4JOvAIetZgA0myPEGIT2kcRYB0I3aGsoo7U0Qco5UPk_CjKLoYVywXcjdsJ2edYBkhrYE4ffIkBH2tNQ3kG7EvE--i2zx534SdSb-hMaWnj77sDi6AnwEzUostBmxSVdmdF-DxPDNExv5YMstG_tKRyxdY9erR8WpS6ZbOtoYh8SVIE6WOeggw0mTjInpHDVjCy5e-d-y0-AoATksa4GiioeNkZWBO-Xk77EdSj3w8s9XbgpBxkKvpSPeNUriuQMd1wXjIvNxnikz-d_O7zEDKqXO72o9JkoSmMG8xlUs7J8cz1nZkGbpaE900i7Ua89Ij0Q24P_-ANFwC9-RRvIuzcl-IcoBKaL8Rg7T1HpYeSTuEbZZoEoNazvUiMaGFH7QCTNfoOLQHe7AiE5EtZNCSZxFaKT9tA5uJpvXRrwFrENeK6WQEuY6Bhqnjr-lPXT3KgU9IJ1rG5IfCGXi4DekkktjyUr0839YX9IvF6GgWJH_nTGZ_ZFpMyXv_ZDZoacjkExuYbLwWq22kfyyPgT2VIH5gSA15dlgcIv7AJXmZbQPdqIDy4fohH64Wy0hMgHG9G5rXDGXqR0HRFOBF4_NR5srmtui2XuOXPiH4rcTnk7lgEXfjXvug-7U64T-jsmb_WQBXpBve6x4QPXREI0xyiKF26xaeX4ChMlRkadprfNWHA2GL9LjCY4ZqZvATXkFxaMDvv467I6kwJ-ZTCY4B9poHntk52LAh1_wARLf_ppde0xvswIncEXA09GyqcI1easDa_MtQ9zF3AL4_8Dfs_gGvwARrwl6tGl5Nc36w9PzNhVPlcmFGBXY3P7p_ENksiXHLzDQeoHl1Kh4Xx6zh2reLPOeiseaZJfP_LnUKzqvOPW-xhHBNHN37VqMeiZGqIsNMUOZc5ECFl89xRdJq3JZq62TvCJq0jO3JK-7OU2CWoDURP78CABKxSDPhRAk7T5yXDixa6niV_esmWj_FbJN75Dc9xxpODe2ctOvVsfZO7wyzFE9DHDulznk3KjDeOBK5ZJkeHz6d1uZ_UMy-kbbJFDrlUc6vvZSOZD1liXlG5DhA-qoEIoU-iq5byA2ZdGyTHCudYt1iOcIEMJkF08TMxjJaXIQS",
  "id": "rs_0d4feeb2e0be1b47016ab4712a3e1c87d0808fe5174cd72007",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.357,\"right_y\":0.24,\"right_z\":0.076,\"right_pitch\":0.02},\"note\":\"The right jaw opening now matches a thin pen barrel. I’m lifting it a few centimetres to confirm the grasp before bringing the two pieces together.\"}",
  "call_id": "call_0o4ojYgs1SXOTwiDpjfJRv8a",
  "id": "fc_0d4feeb2e0be1b47016ab4712a8a2887d0bc3373151114dae7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0o4ojYgs1SXOTwiDpjfJRv8a",
  "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]: [-0.6964, 1.158, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.556, 1.6714, 0.5991, 0.6033, -0.083, -0.0723, 0.0572]\nstate[eef_state]: left_x=0.3152 left_y=-0.135 left_z=0.1716 left_yaw=0.0326 left_pitch=-0.0176 left_roll=-0.0477 left_gripper=0.0572 right_x=0.3608 right_y=0.2456 right_z=0.0771 right_yaw=0.6568 right_pitch=0.0927 right_roll=-0.0259 right_gripper=0.0572\nstate[joint_eff]: [-0.1162, -3.9179, 7.2137, 1.5165, -0.2466, -0.0464, 1.0281, -0.4581, -8.6359, 7.2137, 1.8193, 0.0171, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e108b8e4dba9b9c2804445802591f030364baf91a9acbc4744e29894f19e982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc2cc81e296091be09d5c357bd519620b3748827c7e5d064c1d89fe7bccdfc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a833deeca4c648d98e026d2d366bc286534656ce2d646a623aaf1ef63771d814",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.636 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 72 changed as sent

message 76 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]: [-0.696, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.5167, 2.0872, 0.4732, 1.2728, -0.1097, -0.0647, 0.0073]\nstate[eef_state]: left_x=0.3152 left_y=-0.1348 left_z=0.1726 left_yaw=0.0329 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3638 right_y=0.2331 right_z=0.0122 right_yaw=0.6386 right_pitch=0.221 right_roll=-0.0226 right_gripper=0.0073\nstate[joint_eff]: [-0.0752, -3.8085, 6.8171, 1.5458, -0.2808, -0.0708, 1.0281, -0.0068, -7.1179, 2.9197, 1.6972, -0.0464, -0.0464, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.556, 2.1014, 0.4881, 1.2324, -0.0807, -0.0605, 0.0505]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3574 right_y=0.2431 right_z=0.0011 right_yaw=0.6497 right_pitch=0.1804 right_roll=-0.0246 right_gripper=0.0505\nstate[joint_eff]: [-0.1846, -3.8085, 6.8171, 1.5946, -0.2759, -0.0464, 1.0281, -0.2803, -8.1299, 2.5231, 1.917, 0.0024, -0.0317, 1.1697]\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 76 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]: [-0.6964, 1.158, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.556, 1.6714, 0.5991, 0.6033, -0.083, -0.0723, 0.0572]\nstate[eef_state]: left_x=0.3152 left_y=-0.135 left_z=0.1716 left_yaw=0.0326 left_pitch=-0.0176 left_roll=-0.0477 left_gripper=0.0572 right_x=0.3608 right_y=0.2456 right_z=0.0771 right_yaw=0.6568 right_pitch=0.0927 right_roll=-0.0259 right_gripper=0.0572\nstate[joint_eff]: [-0.1162, -3.9179, 7.2137, 1.5165, -0.2466, -0.0464, 1.0281, -0.4581, -8.6359, 7.2137, 1.8193, 0.0171, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e108b8e4dba9b9c2804445802591f030364baf91a9acbc4744e29894f19e982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc2cc81e296091be09d5c357bd519620b3748827c7e5d064c1d89fe7bccdfc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a833deeca4c648d98e026d2d366bc286534656ce2d646a623aaf1ef63771d814",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHE2zD8RXlgZ4FyDJiovaULbjA8qQVrTWIAxpBFObCJXrlQ21TXl9nuWqATB_2vyYh4INvhXcddD1izw4JSf1sLKmFa_MzA4K6C8JB1udAUsQvfCjc9cMTsUI8_QeecvbV6nNLM2_ucMIIJsAq8Ao5h4LmnASq91QvRiVcEpsJLwWAQcwJTgvBjj2TM2eTHZe272LBxHPoNc5lVD-5QVXGV3WdVTvAS3CauwsEbYukRoAn17WrZIJbBC0wov4NY6xmcy1j3oEU6-DBeks-NgHDlA2QhAqYSaU0BTg8VUM8CvAFXtxw91FE_xmaCFNdOMoMs5pgp-qCPg4iRM4sQW9GBcIG8lDTMJB9d8mQaumTwDs0cuR_hCfoLTu5RQx7-9yQx8qtgDHxsfLLtxsztZHWMXoOIJjZTptL9ZKNvYV-n5GKUqH00XQR0GEk0PUjL4GSGr8cviqyv-eKZGoU1TzoZeUTPo3JwSQgi7_9HzY3L-WWSHt6-vnwFD7mKFXtTPC00b5oQsjzgZAWu6rCl4sPhRbKuwQ42128CneoDGkCzl9jmFm8sX3bVimcPf_qPoIBJ7hTrWg8OPmeiEiv7BFiwxca3d7oC-sTEvS1J-A4rhlxcs49V7VMQPNmxCxNLeRIlnPXoxi8JgboCLB0qFdYBxGzHLWUSJCBKSURfW7wQIdRtSiTyiBuyFGi8VSrntWRYNv6-sz4OO7e9J9vvL6uWpZ8ZUaoYzgYE0Um0KsReqfKCctCkStjhUuTcIzo1MyvpG0kPiX7MVMLh1Ek9Xiu-gVYqe6ikZsUeDdyuMTpJh4RFWcM9djca9GZkgLtQCSMeQcaL0jlcOEqDZx1btVuypJt-QLBuDLcR3c2Mbg5crt-NkhydXliagmIYqXLZyIZ26KO63MjknFhnKfzA3ZD8QGiz3lpvb0GgB55BaQP-4wCIxtBfG-fdop_s1ssRX4lrwDHXc-lB71iFd2uUQf9JjKQHvUPVS0FKLayAvLvM1FLbS06VKUId4Tl8EgzzHaQphcNVaHK-6dscP7jgSq3P6kKD_9FHUpB8fZhfM-SJuR5IsmTEXNsdYsoIIvt4UTTuyaRAQIxZ4puPyxoU7q5rGbwm4nDvWidWE0p5v-uqfOXQWSTBFMJJPLGyZ-GIkq-XKIOR4v9VsmMxsVPXl_sCVnBeopfNZn2h1YvO2--j5pb7S6xW65LV2pdH_62NsD39VZuvd7Nk_OTUTmILe2fBI5XKdB8-PFV9lCBkooH3bRO6UrPK-8Gy5S1qkRIox8FtnwN8grLlXakDBFPMdWif5Q4B7D-EIMqJWRue34H2ohvkNUgkkL4vDf3Iw0iKVBirMGNhmyfKf0o95iIvFtDXFiDrbPYE0n4Fj1L6v9Oenx-IwptR-w6IQJi9Jc_vxJ9vCeb-qmOd4k5Vbs7Qe1WBoLjDd-CSiL8bcHfvqhqiLvGx_guHmz3OvyKPfVTZ8K5n-EtYcQVRnzDxGCbdNKw4eMaAOl233whTfPZvY-xaZR5SeIGYS6-5i2u41l0U7GDFn9nCbfhNgCfUapATZ4EY1B261bG6il5ZcbDWHo11G-K2VRMc5ECme2GXi9SBcZydB6_C-Qwa9rhhGHvO3HCHJMaN68BUOf21InMfSFajV61TghBZBRVKT8PdXb6dCeDyvPoZaEcgW90oqigLalMAdqiU89NYCSi-hLYErqRn_-Ztm8CXZFFU-DdbnysQu7VxiP5szck3PjjGfjDjjCdh9QgQJKg-wCXgTbfLhDxOqdOqnfGHwaE581dLMa0F3sdQDhp_t7gTQM_pMPafoE7sALeLxFMrqfTIY1kaVd_O8kaFFzQvviJQib84k8W2is6il6fNyfT9N3uKn7gXbfyQfpwoZtVpiJ9eveH-6LWxtedTxJT_MbBlzd21HtIbO0rxYSSQHc-XrrTQT9RL4OBxG6r1REKBuJeZ-RC9toB_SF_SK4DjwIvLg5zU9-IE_TjSGrjZJReLgmQKETmhId061yXtj6D9XY4KX5Hq3elqLNAJgaBWOOtqfq4hWeHP22g7VLfLb-jeB39A-F3IkKzt6LP2XbtCQY-MxAeFWKjZ4Q9AQiY0uUPeTxU6vurn4XiLKziWyNSi9UoraXexHW9HptFfo2KFDHdsYyxN5TWRMeXJzY5rHP-Atl0lhTFdEeYNCzGtFmWBNXj_HbgW0SObaJHepsy2wuHbIGrCjEYEgmEsHyFwzqQ_YpQzJhC9rN7or9d-FtO4oAM-z-N1WmjZ3M-B6n_mEWWnIQ2LYf7uMmsV7Vqh-335wFZpyDbn6FT0X_60xODFcDcSrQOSA6kG2dMhISW6vE7KBTs2NAUcp-BklSIuku-681zJyChaGuFs9GBVINqYzxTNR5hxneX4TI_fn1qGLNuTOUW2QdAQHjZbLt16LxrYDR8CQTeneTXR49xvNGFw7ezCRXOfhTpduHWvUhYCzjuTTWdGIqEPPud6eZag1cETq0_IX9LylthyRGxtyfvcoFRwDn7C1zTc__TAkxdgup-1HtpX_QVzcI7KzNt-050d4nvXXHpdIZk8GQIhqxB8pzrNxCRas5D-gbpt5ETogvFZ9UBHELbunAtEi1NTIyJGfmPFHhLOn2Lt8mtVh-xuo6TlFq8UuexdpjLKih9uoNjAYbI-AzyYlnclnOoaCpNbZoATBORIbgxMACGCnZRF4JNWjz1vtPErgD5igD4VZlCS0IYES95q_-yQ3kral0qWEbiSbnP1PFvp6t1XNRC2QYxVGEc3YvAzQMdlZ8bVLSOl7P_AWLTe6ripvPRTcoHOiHUzl7eH2pTL8gD79OchKaaiLfelNRz8YTOXhGbkuJYFCWPPWJyqxfD3Ay5xsEakyuSWbIWb3xYM7ZtyWmzt42-38OwFqD9dNj6ht54iSi2kSgtdhEHJlPGl4M2iFxb_hFS-YBC69olloWHeGtLvq3CxjfoWUjIOoq0TYk3Fq2GUXBAXmBWWMKQ3cKlXlW6OqWpCBUPd4WGGCO-nV6fnoykrKtTvZZqFXBiZQ8wEoIU9FcZi5jX7bJFijYXn7o9pQRac4hrNrn0GTMeMcMhdjx5FNkW-YirDDuNm45nUFXB94Vfqm1wPx2f063sXSc1HcKetQYkizfck_5-qtbPeNDfCxujFHcn0b9PnghTHlg7a6qFiTg_HZkTGNbb11s7WxbFja8uMwpFKMcW9A5GGC8ihD_JrremjHLd036Xic-vvwS1VrxSLnKIanVrEvwKVmf3Q7SOqot6p6EiI3-dovs3useQsoR4kxMu6vxwErFBDR-YxDh9wa23oo5H68mv2Cce5wHpvmcCASZ3flz-SU80iI01JYNk_cKWqHjy2Yg0QZNaDY7bG6MAmAWOHZQYGpwJiocnH8km08xK0l61QKysvZBUDv3chOdMJf9Q_FRfXN9ZGWvbqdWCFFrmEIgzuPrpptlqcINnH6vIX8CPVmlb37oMjMM3Wu65eKnqjgNbxojRo7Bp8Wic3WM0wRRI-qXSg1TEGrhRKGrxfmZL1ZexTKGmumLMsWg8EHegM-3rzQ1aWgyHzB44HJBJaamT1f2Gs4GLeBTkxQrbl-WR1V9oXvjk9UZOM2MRANK9G0FD_Xgfa38n7BVqL7SCkMVjiNU0N4ckP-c6AA",
  "id": "rs_0d4feeb2e0be1b47016ab4712d9e5087d0a590cce1b3f21ef9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.2,\"right_z\":0.185,\"right_yaw\":1.5,\"right_pitch\":0.12},\"note\":\"The pen lifted successfully with its writing tip exposed. I’m raising it to assembly height and turning the tip toward the cap on the left.\"}",
  "call_id": "call_aEGhCBYwLATt4a3PuNmWjLaO",
  "id": "fc_0d4feeb2e0be1b47016ab47135e4b087d0ac8754f05c6131c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aEGhCBYwLATt4a3PuNmWjLaO",
  "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]: [-0.6964, 1.1622, 0.7654, -0.3286, -0.5682, -0.5076, 0.0572, 0.1265, 1.7767, 1.3193, -0.3035, -0.9573, -0.8761, 0.0628]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1698 left_yaw=0.0327 left_pitch=-0.023 left_roll=-0.0429 left_gripper=0.0572 right_x=0.4226 right_y=0.2029 right_z=0.1978 right_yaw=1.332 right_pitch=0.1421 right_roll=-0.197 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -4.0821, 7.0085, 1.5311, -0.188, -0.0269, 1.0281, -0.841, -8.7179, 5.4906, 0.6862, -0.862, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792fd5c887eac4d8ae2630f9cddd49128408c3b58ff2fb8a739825341a17211e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af1054a225d52bb554882d74313c418ee7ec72850ba972c60e8f8e5348938a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6d656c8135fad8d1eda9674c828f41116f8deaf956f06ecd52c296b54f6819",
      "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 · 3.159 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 76 changed as sent

message 80 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]: [-0.6964, 1.1549, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.5533, 2.1017, 0.4843, 1.2346, -0.0803, -0.062, 0.395]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1725 left_yaw=0.0325 left_pitch=-0.0154 left_roll=-0.0498 left_gripper=0.0572 right_x=0.3571 right_y=0.2415 right_z=0.0004 right_yaw=0.6475 right_pitch=0.1785 right_roll=-0.026 right_gripper=0.395\nstate[joint_eff]: [-0.1846, -3.6991, 6.8444, 1.5165, -0.2515, -0.0513, 1.0281, 0.5949, -6.1197, 3.3983, 1.4579, -0.0073, 0.0415, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 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]: [-0.6964, 1.158, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.556, 1.6714, 0.5991, 0.6033, -0.083, -0.0723, 0.0572]\nstate[eef_state]: left_x=0.3152 left_y=-0.135 left_z=0.1716 left_yaw=0.0326 left_pitch=-0.0176 left_roll=-0.0477 left_gripper=0.0572 right_x=0.3608 right_y=0.2456 right_z=0.0771 right_yaw=0.6568 right_pitch=0.0927 right_roll=-0.0259 right_gripper=0.0572\nstate[joint_eff]: [-0.1162, -3.9179, 7.2137, 1.5165, -0.2466, -0.0464, 1.0281, -0.4581, -8.6359, 7.2137, 1.8193, 0.0171, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 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]: [-0.6964, 1.1622, 0.7654, -0.3286, -0.5682, -0.5076, 0.0572, 0.1265, 1.7767, 1.3193, -0.3035, -0.9573, -0.8761, 0.0628]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1698 left_yaw=0.0327 left_pitch=-0.023 left_roll=-0.0429 left_gripper=0.0572 right_x=0.4226 right_y=0.2029 right_z=0.1978 right_yaw=1.332 right_pitch=0.1421 right_roll=-0.197 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -4.0821, 7.0085, 1.5311, -0.188, -0.0269, 1.0281, -0.841, -8.7179, 5.4906, 0.6862, -0.862, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792fd5c887eac4d8ae2630f9cddd49128408c3b58ff2fb8a739825341a17211e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af1054a225d52bb554882d74313c418ee7ec72850ba972c60e8f8e5348938a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6d656c8135fad8d1eda9674c828f41116f8deaf956f06ecd52c296b54f6819",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHE7Nnm1fyAOsH31DKdLWqVxHStkhVqbdnBCHTO2eZ6dPs29Zfu7VcpEWgqBiS84VaRY4UmKqgUem_CWnzr5ek9cdHMgUNsRwyqelN1gHAAKF1t_3RmMUV4NG3NwcEVRDm08rKgLxUmidJugHn4zuV7sJzkEe1GR2ASOzvLCrctRY2MqFHOWMJsMhVciJjEe1JVbbS3259zqcFZZBVhJ9QkGtWI42xRuidTkMigrnp4gtncpCfi7bV8MhGU3v1vXSf5e9fojRuKL7lprslj3WQOXQhEa94JajAK1uaRrO5JJVWRczoMm7CvDQCMp0hC_11xDv7_-8T_WjuVgGbY6kU8yr1eMzJCapyys2HDtSHVVNOt8wbL4bMdr5JQ9a31_3J-5ZmrBEsXXS3m0g5VHRGaovlFBJEtnj_l9pQ3P2TuHewlw4-u39jyUpKi7DRckxy2AOy3Of39QvLx_lO2R5VF30gTAzq-vc6O_f8frStzK5Gb6Is25gqsb_KW44wGu9nZJdFdFjACuG56If1k6p6dom5CW0j5pFWB4bRH3M2oX1h3DG1ZMCEgUIyUfPNI_cUo-1ehJEmJ8Pq90tJp_ZVdLBMACav54Jm9hUj8O-KmTfpJ_FuvFEiAMzidKneGyAoUC9kb3PsvO2AVklKXkuiP5MkaBG-2hfmTRvW3sRnYn1mDufY69-_NwuAle1Tw-sF3-h0NtHTQtxPUN4RyxFCkL-Bb8RKJ5OoHj_Abn3bgqVw8AYUWbvucQNJ6Yk3kt5YkXoC17lU2Bgvnie1FSvdilXz5tsvkyvG0XlhA4Cmxp_6hG2edL3Wl2XZ6u6lGh8WQzpnWh0Ozgavi_1Yvbi-BI9fejsmxctvveQu-lTaaEjlEV7VSsc7ZiyVVgRr0cj6JGe2nEph0lvN-950qfX2z45MvilWxhXqGdfd-E17d1R-JYeT7Srs8wxUl-nKAMcZthqrmi0j3FNupqxqNvIG52PL53XBu9DlhDoImE4BADQE3giE9LR5voai3oQFHWqSyQVBWnXUl5CLd5D3v2C-UA23WYlqNIU8vUwOI25ih5laRfdnsQauTuMrhEGpySQ3aZe9Ef26NDfrD70dZXuZpADJoemGjq-gYdfy_ylI8ZUTV8Q44xy4nrVOkQPWaW1OcyPHkhqXii3YylgWP656Wf3dhmjaZ0hkvNS7fDkxb53vTG7ucf0EPaOYL8j34hq4kGf-3yUHYp_giM5vRYyvyp3ItMucBzxlva9rdQXH3t1lQfX_9sH0vUJmLMvU0Qvf1DhwZsgQcydcz07LLrioQFPOmWu2tJJ8ypMHtoiIPA1zFxc7BGKxBxCYmzTnstJ4i5K7QMhacI7_Nr0_4mhGtcXAP4G0zMbv9BY_d4ylA9im4=",
  "id": "rs_0d4feeb2e0be1b47016ab47138f24887d08d808b6c10e98c72",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.185,\"left_yaw\":0.8,\"left_pitch\":0.04},\"note\":\"The pen is elevated, but its large turn shifted the actual grasp point forward. I’m first turning the cap partway, then I’ll use the measured positions to align their axes.\"}",
  "call_id": "call_lt3xTFU61OsjQ3YBmhxz4cNF",
  "id": "fc_0d4feeb2e0be1b47016ab47139da3487d0ad5e2ab831e52d4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lt3xTFU61OsjQ3YBmhxz4cNF",
  "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]: [-0.8112, 1.8626, 1.4792, -0.9058, -0.9466, -1.2484, 0.0607, 0.1371, 1.7081, 1.2057, -0.3653, -0.9607, -0.926, 0.0628]\nstate[eef_state]: left_x=0.3776 left_y=-0.1843 left_z=0.1625 left_yaw=0.5619 left_pitch=-0.0253 left_roll=-0.0078 left_gripper=0.0607 right_x=0.3864 right_y=0.2031 right_z=0.1776 right_yaw=1.359 right_pitch=0.103 right_roll=-0.1409 right_gripper=0.0628\nstate[joint_eff]: [0.6085, -11.1795, 5.8051, -0.0708, -0.6716, -0.0806, 1.033, -0.5538, -10.1949, 6.9675, 1.4774, -0.4029, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b2bb71c18d47aae7422f5f2a0f801b358d3eb8130540fc58a41f72ce90326e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6478abb1c1b99bf9d8d2004c40541fa0dabe16908d1f406b63cc137b93431131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10e21992f6ef1d500ecfd68e2a69a0fc9051f6bd38e002eef299808790a0474",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 9.172 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 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]: [-0.6964, 1.1549, 0.7654, -0.3252, -0.5682, -0.5076, 0.0572, 0.556, 2.1014, 0.4881, 1.2324, -0.0807, -0.0605, 0.0505]\nstate[eef_state]: left_x=0.3151 left_y=-0.1349 left_z=0.1726 left_yaw=0.0325 left_pitch=-0.0151 left_roll=-0.05 left_gripper=0.0572 right_x=0.3574 right_y=0.2431 right_z=0.0011 right_yaw=0.6497 right_pitch=0.1804 right_roll=-0.0246 right_gripper=0.0505\nstate[joint_eff]: [-0.1846, -3.8085, 6.8171, 1.5946, -0.2759, -0.0464, 1.0281, -0.2803, -8.1299, 2.5231, 1.917, 0.0024, -0.0317, 1.1697]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 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]: [-0.6964, 1.1622, 0.7654, -0.3286, -0.5682, -0.5076, 0.0572, 0.1265, 1.7767, 1.3193, -0.3035, -0.9573, -0.8761, 0.0628]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1698 left_yaw=0.0327 left_pitch=-0.023 left_roll=-0.0429 left_gripper=0.0572 right_x=0.4226 right_y=0.2029 right_z=0.1978 right_yaw=1.332 right_pitch=0.1421 right_roll=-0.197 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -4.0821, 7.0085, 1.5311, -0.188, -0.0269, 1.0281, -0.841, -8.7179, 5.4906, 0.6862, -0.862, -0.0513, 1.033]\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 84 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]: [-0.8112, 1.8626, 1.4792, -0.9058, -0.9466, -1.2484, 0.0607, 0.1371, 1.7081, 1.2057, -0.3653, -0.9607, -0.926, 0.0628]\nstate[eef_state]: left_x=0.3776 left_y=-0.1843 left_z=0.1625 left_yaw=0.5619 left_pitch=-0.0253 left_roll=-0.0078 left_gripper=0.0607 right_x=0.3864 right_y=0.2031 right_z=0.1776 right_yaw=1.359 right_pitch=0.103 right_roll=-0.1409 right_gripper=0.0628\nstate[joint_eff]: [0.6085, -11.1795, 5.8051, -0.0708, -0.6716, -0.0806, 1.033, -0.5538, -10.1949, 6.9675, 1.4774, -0.4029, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b2bb71c18d47aae7422f5f2a0f801b358d3eb8130540fc58a41f72ce90326e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6478abb1c1b99bf9d8d2004c40541fa0dabe16908d1f406b63cc137b93431131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10e21992f6ef1d500ecfd68e2a69a0fc9051f6bd38e002eef299808790a0474",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHE-5atYDson12neYzuqUkjzad2G3y2fcLvUwCSix6z4aMw60fWRsJjttRvN28B4e5WefZYsyIJBoqxTFMLpwFbBwqVXsoactQpHkxgSFEfdP9x0a7fsj0XptZFv_ltKy8-4X_nUPOvR0PmnPQbgTtZA-D2nxmH-314ZG_WSpknhNCxmV0by4bmBWTXCsdd7cz9wsBG4F2it5RxSr3gahzB27dA3UqXbFWSDWAq1oYNKMVENIJbsAm_JEAQdlbNG9p4zDxbVorqf74a-jwrshYsJVtA7DRxWqxvlOKtKicbbkUa6ychmMhQF4X5VVC4NshZYMk-__aO5KlTIGy_M2vMSrYCZDF9LzilMF7TPNyTzPug1ZWKTELP7bsZo_fRfPSQxlrVENkBGJauy_LZ1D6oJjrvKfRRU-eK8LUQoCAwPZJ0ndDQyWU0gacoVQBDAZTfnUZocADzlgTGFvAPRqViwcIn0LDBPN8LOEKsGLwdhHBxaqEwhnFrMee5xLsC4U-WakBBjJPxoJS1MvF50SMxGaVNQKijcDwfVYGNzyvKsAcc-HqMEZjJ5MFKMYSahGmANuxP-ps0tNTvuGW8xTyLOtuhiKvMiRuNz8Bm2GYspTwIwAARzC8Ll2ZUIp-yaTbX07cuqIZ9CeWKOjhGvHBUGtuk3bLV-gQFSRioxRtKyRALaLfhv5Cvvm6GeBLs8ItqhhaWpRUkjBLL7rp6xQDgqfa6t-6OykgbFFYVjYu9dr8OwX9zxZgklXNyFIKQN10hIPNFTvGyM9qyK3Q9rXltb02RnkD-K499yCx0WMP45lCMa3zLoDEd3M_GvFUozzn8C0-Gt4nwlqB1kiTXxUHoo4LPAldkIv3ZoiW1eQqKp7AUGCk0eClygnxpK94I5qjYhPyq2I2SH8aMckXv0pWcs9YCktpPOC2Iew6f3GL0oKKN3-e1twmhs--p3t6WgZhXvOeOrJiB6at1E4dbtZcROZ8y3wn62AkXrnPofh6mhefJ0_u14LvPrZI1x94tDCabBUimEj6aEPpYIzej8Ish6WAqaTtEm0Jvw535J4s1yR2iNkCakpj0O8H2PkYjkVbQjq1ELwqKxIhsD4FvBVi3InzF1NNgJXociaLMuDhruSopvHHMwUv-06lIDYno-vVo1RB71_fNZMDixVT4QjT0qG-6Kud9iGEko4IGJoy5lNzB0vNoB4hrtYKnMtz9CphOOCsCzMXPctXvsggs0Csm-lbdqFKoNuxitBybnbD4HX-Q3ECOFta3VkmCJY9v1F7OW9w44B7uHSqg4QvATx5GUq4bPC3_1c8pV5MYHZ_ajp8p7bTPF2iQP_lmDj7jOhAjNp-TFhobAWD8w1EKLV_JSbpV7YkTyn8ejW9DsC0o895VW4vddil8M9DY4jbiQIfrF",
  "id": "rs_0d4feeb2e0be1b47016ab4713d033887d0bb0caf21339abf8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.15,\"left_z\":0.19,\"left_yaw\":1.5,\"left_pitch\":0.07},\"note\":\"Both pieces remain held. I’m completing the cap’s turn so its open end faces the pen tip, while keeping the grippers separated.\"}",
  "call_id": "call_TMeQ69pUoPuuIxSb0waQ8a0r",
  "id": "fc_0d4feeb2e0be1b47016ab4713dce0087d0a8111ebf2df50237",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TMeQ69pUoPuuIxSb0waQ8a0r",
  "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]: [-0.8085, 2.146, 1.8168, -1.3476, -0.9871, -1.6905, 0.0621, 0.1371, 1.7061, 1.2053, -0.3508, -0.9585, -0.9192, 0.0628]\nstate[eef_state]: left_x=0.3833 left_y=-0.1828 left_z=0.1448 left_yaw=0.8172 left_pitch=-0.0094 left_roll=0.0149 left_gripper=0.0621 right_x=0.3883 right_y=0.2031 right_z=0.1796 right_yaw=1.3555 right_pitch=0.1073 right_roll=-0.1504 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.0684, 7.2137, -0.105, -0.6227, -0.1148, 1.033, -0.3214, -10.1128, 7.0222, 1.3993, -0.3785, 0.1734, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc1a623bae91946a774eec93730a5674ee781bebd213deb2e7373158fdf278e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ea4247a4b598c3d93338224cb50f8706be4341ff648bc744154d02053acc5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5551a4b679fff5f7e59d6d183e5042305939f1deeca26f53321d6562466c35c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 6.748 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 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]: [-0.6964, 1.158, 0.7654, -0.3256, -0.5682, -0.5076, 0.0572, 0.556, 1.6714, 0.5991, 0.6033, -0.083, -0.0723, 0.0572]\nstate[eef_state]: left_x=0.3152 left_y=-0.135 left_z=0.1716 left_yaw=0.0326 left_pitch=-0.0176 left_roll=-0.0477 left_gripper=0.0572 right_x=0.3608 right_y=0.2456 right_z=0.0771 right_yaw=0.6568 right_pitch=0.0927 right_roll=-0.0259 right_gripper=0.0572\nstate[joint_eff]: [-0.1162, -3.9179, 7.2137, 1.5165, -0.2466, -0.0464, 1.0281, -0.4581, -8.6359, 7.2137, 1.8193, 0.0171, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 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]: [-0.8112, 1.8626, 1.4792, -0.9058, -0.9466, -1.2484, 0.0607, 0.1371, 1.7081, 1.2057, -0.3653, -0.9607, -0.926, 0.0628]\nstate[eef_state]: left_x=0.3776 left_y=-0.1843 left_z=0.1625 left_yaw=0.5619 left_pitch=-0.0253 left_roll=-0.0078 left_gripper=0.0607 right_x=0.3864 right_y=0.2031 right_z=0.1776 right_yaw=1.359 right_pitch=0.103 right_roll=-0.1409 right_gripper=0.0628\nstate[joint_eff]: [0.6085, -11.1795, 5.8051, -0.0708, -0.6716, -0.0806, 1.033, -0.5538, -10.1949, 6.9675, 1.4774, -0.4029, 0.188, 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 88 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]: [-0.8085, 2.146, 1.8168, -1.3476, -0.9871, -1.6905, 0.0621, 0.1371, 1.7061, 1.2053, -0.3508, -0.9585, -0.9192, 0.0628]\nstate[eef_state]: left_x=0.3833 left_y=-0.1828 left_z=0.1448 left_yaw=0.8172 left_pitch=-0.0094 left_roll=0.0149 left_gripper=0.0621 right_x=0.3883 right_y=0.2031 right_z=0.1796 right_yaw=1.3555 right_pitch=0.1073 right_roll=-0.1504 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.0684, 7.2137, -0.105, -0.6227, -0.1148, 1.033, -0.3214, -10.1128, 7.0222, 1.3993, -0.3785, 0.1734, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc1a623bae91946a774eec93730a5674ee781bebd213deb2e7373158fdf278e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ea4247a4b598c3d93338224cb50f8706be4341ff648bc744154d02053acc5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5551a4b679fff5f7e59d6d183e5042305939f1deeca26f53321d6562466c35c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFIDJ-wyFhHeNrYZDHTmftAb9tPhl1CwTUOERqdankHZiEm-_3-O9YvpSN0m05y1F5GLWmG6IXXXIRdgZU1MBdhQUa7o5pg6azXU8H7q180F_KVVNwlotJvZuJNz-wzkoiY0GWVSh-aN8ClNhR1nWSBAnAk2jgIp89VuLwqxgNDeaeY-1iO9UWBQI4wl-QNtGc4kVJPsuwAQheoclYZDEKlCWECnN4QdZbR49iC1QkkTaiRy2jALD_iH8iQvv9bPg_Xv0gjJNpX6C7h6HxiI2l2py1X-4RoEIVCBpWmKMBn7jsXImy302N7-talsU2h7IOuOWXy4Rwd55zqHb-Q7WO0WWemLqFsBkzCHRM5MTDUFAjlS5kED_bmUwRVmoSE2E8yfLtygHqfebzXgto9o7oZ8b_kaBoUPVLrKzWAC26ltI9T9J0HjRh9RQN-NRXZ_NaH9lTXBRxI8eIkKGb6oJD14y7hYhJy2WMhMbTkHDcQjQYTHtB693IpC8Vux9DPO1asbJmEBVFQeUoQtfvFfafNxjNmbr0qWBpXnXLX9KFVikPtoW7kmvgFuShGYbUzzVK6OioD4NI86EbXIOLkQZoC6MW5HLey_AN1-A6F1kiqfuYLsXw4ccF-ReYlm1vaOe0kGOmYDjYW8o8S1teI2mOBmS2Xqc9R4ND8r_2akNzPLz-SFTr1L2Zl5q0pCQyJjdr80z81VAt11NYu7zsMfPy9tNw7xUN3-5ApyS9U6UPEf_IIb-d2NZqqZGMQo9UTeNulA0pvwF9Be8nHZngGWflQ-TS0BoHp3sfgApFAtA3zr8nzIC5xs2_zEEdR97iz1pyd4tgg5Q7A4aR51FfJOvODSZWVDcfCtAMXIcZGhqhrpKdw_3EW4PCnsl8B-sSaGP88IrNOtmxd4X7d0Q5G-EYWZbZ2G_OfXd0-EhqcKW2C2v78dbiRbt7jd2-msml_uWlD6hESxl07MH04-cW7r8Z2vGLmtIQOKpJRs5hk8xFxGZQCZHQCymVNJbLumWB-vAkCJJFDjugh20dZmjFqEigplxDbOe9P2OmVIoVzH16-sy1axx9Dt3wagBNN1NdBg2I45fC-FV_aTtFplMFKyMsFAkTb9r9ZAENQtfdaNoQpUCSt8D8mlw1fkYFtm5U_dU2LmWUTT3CIOvzwcC9HT4kB9aymz_1ypGnBAFJlLpbQn1RTjO-g5wVEth6yaZxC4G94_SU3Dd3kD5gJmwZ_k82H1F7qxPy8TCo1duklwr-NGjkmAxzBKns3T4UaB_IKm2nRbSywip4J-qTMohw-oAt-Vy2VN9YEQdf6lEz8YO-ggbWxWUgJtAX2k9Ie1tcMG_jbZ5EJZah4I1HRyPqecSdkcBNmkPGnFZ3fGpnbzDfLdjjZw94ocbJ7uqkE_zD8k0WT7_P06IJIYUzdUK9ISnRxodG9AsF4Yb5MaIvTHmo9qddMZ8EJ8VAW_2nXEJP35EXHJEWUS_N8L8FUJdQDrkE0cRK_MZKaGQgyElM8bN-we4gOQgejvCZxzqwFaxglYTjNW-4X1w3BGmzlXtpJXC1pScAg1q-_wKQBXxt9sZf3L55jxwZ-v26aWom2gud2HYWwIrFrLU3P9CVtgdMI7UGwMQtzWi31nP3piKhVqU62IW_O7rNDp5r2k1b5SJMD1SYjyXg_BXnutFL2pWjtJZLfC2PxgNyeE0BV-s8Ykzo73USVaUfr1muPIVOR9PrnFS0-UsMvi1-8mxd5YUYo8AuKAdbgi90O_PSmcya8hpciRS7i-Q9oLOlRtkM_Cm0xXI3AJfoJKxoqC-zky_kcW8hECwtq-EtCeuwe6eRx_IZ2rCxXfZhD3qpk2WZ8abDdk6bJIde5ZGJvnwydKtqPclZkJ8ULdHqgRlN5nhMkgE0EN3rN_pqqbbAcw1nrIkNdzDMDBIlrFUDeE1l9umwlRHv5usuFETPZsht6YPqwF5GrLpm1WnQug106SdFXMW40GEROwgC2iX6PwaRZJa6dJU0oMgjdVU1DdokD6Qj6n9XT7aGACVY0RVx86sjoaTwq7HIhM7f4JcQbdoojujKjcUqBq2H72e9TI3zbKJRPA9LRH8bVeAVqOM0Rs3VnwoZLRMXOm9WFF5kARc1IUWv-t_tnMqtlZqZl9Kw57EjuyxIxQbgxVDx0ycNh_E7FZUQ7y5wo5VHKdnKpoJMZvwuBgM082TPMMo9kuBA03eP-KPgtpJ73X85hCdGFip7xKs1zGU3cuSMNLgV8ngR21B6ZPdvg8RBk2dPSEyXCfSL41j0ulfLEOyWli1nsR6KYv2XrlNifygAW7PvtTeJIkzM6-ncLPEMJ4Uqj1lTyWfZN31w83LzzmdkYauJoisP1Q0V5NtDFsaJMbmfw53X-O19tiUzv7K6j6wpRjBzi0kAPEVcGshK6MNXyQgtTrcDEhT9CV4o1gYVIMfGYv1s3AV2XFFQGlYRZbo8QwV6JlVK5a0DkZNwGc40B2naj7OYbYVAZN5tlCOc516Xon842pPGAWXcN6BAZJCNNmtr4d3mELTQsgZ0Ki72ePIbxyaEddOtKG8YgIv963JDppJrz2_vccBXnoAKqYvs5Rx74qfhLzAQ-h_ijCpnTLACr7l5jDi0UpBM3Md_uAbEj_Cm05wydPyUigztahbUBPWWhk7XZz9hWStKILpUb8UCOgFhf4vinBFOhgp-IHr5UINqZ70GroTKQg54giXn1y3rfxNmryoYLg9-zSb6lnvHp86s291TWSBMxcZvrKST3Wx2BT8bdHbYciSw1M3gAmpvnEazqHNyInTRFs_sh1jYut5PhL6HHvSxPc-e5c4kPriSf1uQZxJc6cC6n4rB9lbvPmieYkkpi6u2nq7y5nTNZMDB_nKMrV2pWvRzDtCBlJIZY1ArFfWvoyUzt4aHSfYlwgzPxJCJV-0ZFOqjUJPOStywK0TCZJH0SfmGHKnStZvVjIZyd2r_Ol7pqprjqg2QqzxrMEQ6Dm5BxfQDoz22qvqXCmd1Bx6yI4SLid1XBGZOuENePmYe7BiiMaurOPlExhrujcePI_1_3kLZF8qIACUwtfxaGIHWXN5QTeZKHUCQl63hpAXdpUOOhl1amMybqM0mtmd0hN7TBqb2zzdZhtMYfuEHAO9sGPja25wNjKaACTJfbeQPyeqEdOU9b0Q92mOfZBfjeWc1pPNASIw0-HldZpKi3vbBD9CeeyxhvW47cUe3bUkT6sLeMHtQOJgB_6IOw0ikmNn5K2s2PmLO_MoYpKzwvdlVIjyS6T2ZskZYF5xoRKXs7U0ccevazEe4sebB3KlemonkYfIZLaBmclek5mz3HIeXG",
  "id": "rs_0d4feeb2e0be1b47016ab47140ad0487d0b68093a645fb6cae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.23,\"left_z\":0.185,\"left_yaw\":0.85,\"left_pitch\":0.07},\"note\":\"The left wrist cannot comfortably complete the full sideways turn. I’m using its reachable diagonal orientation instead and positioning the cap for a diagonal insertion.\"}",
  "call_id": "call_qczaYyId0oTD46t0hi7t3Gpk",
  "id": "fc_0d4feeb2e0be1b47016ab47147757087d0b28a108d088c79d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qczaYyId0oTD46t0hi7t3Gpk",
  "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]: [-0.8085, 2.146, 1.8168, -1.351, -0.9874, -1.7012, 0.0621, 0.1371, 1.7061, 1.2049, -0.3511, -0.9535, -0.9207, 0.0628]\nstate[eef_state]: left_x=0.3829 left_y=-0.1824 left_z=0.1449 left_yaw=0.8229 left_pitch=-0.0088 left_roll=0.0094 left_gripper=0.0621 right_x=0.3887 right_y=0.2027 right_z=0.1789 right_yaw=1.3531 right_pitch=0.1034 right_roll=-0.1524 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.547, 7.241, -0.0855, -0.6032, -0.0659, 1.033, -0.2667, -8.3077, 6.5573, 1.2576, -0.442, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b645a6a9aa9f03189448bc667d12a82251859521d23d2a52ab753ab4449fe978",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1a9254753fdcb68b832466359ed07098a4b4c33735bf479f2ef43974741548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f156de2d0b0a81c9daf623ebefe3f7775a9e31c0657fb0b59b65bd74e9cc08",
      "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 · 5.043 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 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]: [-0.6964, 1.1622, 0.7654, -0.3286, -0.5682, -0.5076, 0.0572, 0.1265, 1.7767, 1.3193, -0.3035, -0.9573, -0.8761, 0.0628]\nstate[eef_state]: left_x=0.3151 left_y=-0.1348 left_z=0.1698 left_yaw=0.0327 left_pitch=-0.023 left_roll=-0.0429 left_gripper=0.0572 right_x=0.4226 right_y=0.2029 right_z=0.1978 right_yaw=1.332 right_pitch=0.1421 right_roll=-0.197 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -4.0821, 7.0085, 1.5311, -0.188, -0.0269, 1.0281, -0.841, -8.7179, 5.4906, 0.6862, -0.862, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 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]: [-0.8085, 2.146, 1.8168, -1.3476, -0.9871, -1.6905, 0.0621, 0.1371, 1.7061, 1.2053, -0.3508, -0.9585, -0.9192, 0.0628]\nstate[eef_state]: left_x=0.3833 left_y=-0.1828 left_z=0.1448 left_yaw=0.8172 left_pitch=-0.0094 left_roll=0.0149 left_gripper=0.0621 right_x=0.3883 right_y=0.2031 right_z=0.1796 right_yaw=1.3555 right_pitch=0.1073 right_roll=-0.1504 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.0684, 7.2137, -0.105, -0.6227, -0.1148, 1.033, -0.3214, -10.1128, 7.0222, 1.3993, -0.3785, 0.1734, 1.033]\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 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]: [-0.8085, 2.146, 1.8168, -1.351, -0.9874, -1.7012, 0.0621, 0.1371, 1.7061, 1.2049, -0.3511, -0.9535, -0.9207, 0.0628]\nstate[eef_state]: left_x=0.3829 left_y=-0.1824 left_z=0.1449 left_yaw=0.8229 left_pitch=-0.0088 left_roll=0.0094 left_gripper=0.0621 right_x=0.3887 right_y=0.2027 right_z=0.1789 right_yaw=1.3531 right_pitch=0.1034 right_roll=-0.1524 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.547, 7.241, -0.0855, -0.6032, -0.0659, 1.033, -0.2667, -8.3077, 6.5573, 1.2576, -0.442, -0.0317, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b645a6a9aa9f03189448bc667d12a82251859521d23d2a52ab753ab4449fe978",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1a9254753fdcb68b832466359ed07098a4b4c33735bf479f2ef43974741548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f156de2d0b0a81c9daf623ebefe3f7775a9e31c0657fb0b59b65bd74e9cc08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFPMDs7BNZ-ZcM_8KlypFE9ovzCfNuTluoNH-LLkoybDX0AAJAMg7r4h1KV_X1xWxtp9tzoLN7kGa7WJPUl-KPkuhsPY5majtElOb1d3sbjiveaDVwoMmutBSxKDkene7coMXmrUchxulTJ8Crh3r6LAu3pI2AMG4DrnzuEV66odqqNrlEoV1aNmE-06MkcCz_T_CZsxeXL98QD6n7-pQDTkHipG3BhKUNDo6Goz9wEaj-XH3lEiOLGSNfB6pzsNFxVEr_oiMGIkKfep9WbUGA4P5xuysQtAxXjIqi-yC0huQZHRfUgZyvAnsCpG7flacOmE_aH81TPL_cKPfASp-ayUsaParg1-hpR_NaXeh3Rf7Muo5qdWCATYILksgETmFyCo0f420x9ekYMROGslgycy2q1idV6ArAmBrCQvNuNkrpzKFPoYVkoZ5w_G_16DMEYkzEhXOAFA7NVdqIpLRXWtXwgwz5CujXzp19Z4jeEpkk8P_rTcEMKlgiwryg2-p86avdF56qB1KEBgPjD130aVLfuVyqPCCV65RMBPHJnouZ9m_gdjBsu8oIpUqhhG6P_igOHkD5XnD2xly4P1JUCJ_X1kULkMZNYTyZOqfJK9FpNO46Ua0l_iOjRXuSRUm2vdXpSkPtoBWXwH9kQvqwBeOAS5AbEpPWAcekSTR4pNTFBU6HMRi9MdxOGfqHR7_S8U0kZldVZDYMKXWXlMF8_U8MBRpjefgGzFsHKj6hvGAzESbUfhus85EXNFuDN1BBhZji_9p6w3DZSVZ9vGUgyzRMP4fmb4yD6d0nXcS7YvuJwnWYj4J_ewP4bC3lhBiMADmGNQqsPhLgtdoDmQ8ZzaNwNtkLPzpmuIm2Ex5S1SskhE6sbfaKVWhuVuvcUiZHL1Ni9D-X7MfAtatZlovSGZvvquqlAHDNvjERZ7zvlbZWcQYp_oNVOx3a1qIof2PLGDiWwoa2umaRiofTSYP5WWOXfuR6YG7IvuunKFEH7Q0bDRKphXhmeYRbawotHqv4rM_11W1lGAvTup6r_dl3on_zBte8NyML46CghZpFYNE3sJMMgurobQHT8USVDWZez2ZRTsIEH1gie5brKu9yar8kn6j933hW0egMBS7hdhYW2ZlWvapfIwtfsnuhiMVqpYVvDH3D8M2CNDwYh3antsSlYQBPdxBqDi-Ffcjwld5Yt7rfzQsNF5g_zfy8J8kl4l2Jvd301eKhKaPSeLbwyyhh4VQeJONDrIcL3uV2xI5jGxsO_2uTDO0s74BTMnabrM27AluSJt0e-UIop25QR3LAGRnlhtOvq8o24lJ_OXCIxdOn_5tin-thxM7pzSulFh-y4Izaf3a1OFEcUn25hZ6fF1JMNnNxTJerZ9D5dh5ChfEOdBMqQonpusp9nnLy3ogYMuQTifq_lLrShylrRqyL9Nyg-nADQB2Gtl2diLiEajkPZwTa507wuSofFdfNF0oyB2dhue1PlRke4-MzQJ9QtnbN7vighV7M3-7DvBsOy06v0zd6BeR7jizE7GH-wFjJ-TjXT8VOrog-26X931StHZleKhI8ZjuRj-DYLFyk00QhxbgHtl_eNDg_NqtYtmbqmJarRRVbsKL99qSjZUF9ilovPxa6AT-zRbxj-3--Rho8xoTlNj_Tj6e-5LZBq0SYfGZOCoup-TKfoqwKkfqWbP5HkXWhDbK6LX0BLHnMuoxx10KPRjgZYrO9Akh2T-RLzFxpFlM8Y280LGpFsiTJjm_rmqa5OCAU3wK2fEyWZba0enfTLMkeHlWkLy9a5-cEvyfGzH00dxDh9oP1fmqWLFcq3rfkmsSMEkBBngqcIBa79Hg3xoQPOeq-L6Ti785C1Xe7iUvk_zRSF0XI881tAuEiTjOVIQ0a85P2WL5WEiFN0dddJFIi5XwQv72sf3amSp0R6RHXKSKdGCCoer4f7i9unJraDYTt0jDziqQga7WMWOaQFIyKT2Jw0rb8PZenLmMjCKh18X0C7mgJkav_yL1N5RoRi11K8BQCEefu5R2trpMcs-TpyQcTSXbPN98krYb3i1LxJRwRuZgLswWjzK3inZj1nU3XxgYGovETsgXgfvEC5SsI3N84bIlchMXGPpgWulqFjTBi3TmQr8YnsyVz0U9MdTSsPWd3Z3yd7Ivw8GGvVmcyir9V7FeE6-PKGAFUlX-wl2fs8syTEIEJk80Hi2vkjMenQFoXqB5TvHg_k4h08wttXDDFe3hZvs2ez7e9Dos76pzx9DCdxlKopNZXLG0fAVIbrtFJHkwtBMFL4gi0I2_RZaK6Ty_7sK4ATANXg7ScuCaCPndoqVj6s4q2Q8UNvkKHmkqSpPEV8-VBGq6bqazczUNAGgmQzBUga06BXhO4HVY7xh7Cs9M2ZXJNTNAJMnBExlnMjfwE=",
  "id": "rs_0d4feeb2e0be1b47016ab4714a3d5c87d0b6a9cb8e77838c40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.22,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0.08},\"note\":\"The cap arm has stopped tracking at a joint limit. I’m backing out to a less twisted, higher pose before aligning the pieces along the table’s forward direction.\"}",
  "call_id": "call_oDfuUQNCI40vyBftGJZVhL7d",
  "id": "fc_0d4feeb2e0be1b47016ab4714e7a0887d0bff1cd6db83bb578",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oDfuUQNCI40vyBftGJZVhL7d",
  "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]: [-0.8993, 1.4338, 1.1564, -0.7971, -0.8417, -1.1416, 0.0635, 0.1371, 1.7073, 1.2018, -0.3546, -0.9455, -0.9245, 0.0628]\nstate[eef_state]: left_x=0.3084 left_y=-0.1706 left_z=0.1992 left_yaw=0.3655 left_pitch=-0.0621 left_roll=-0.1528 left_gripper=0.0635 right_x=0.3886 right_y=0.2018 right_z=0.1761 right_yaw=1.3494 right_pitch=0.0948 right_roll=-0.1508 right_gripper=0.0628\nstate[joint_eff]: [0.2667, -0.759, 6.1744, 1.5458, -0.1245, 0.1832, 0.9499, -0.0615, -8.2667, 6.8171, 1.3553, -0.4274, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a460cd07e2c5caae9937b92a72a7fccbdfd1fd3727497b28c590898b1ffcaec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c221fdf27c73ebc9b76056168c08f0381ba7e5af007625162fd84c07adece77f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1071635d666cd2e10ef8bdd288e8160ae1fc3d9be84770cd7bb9e3ceba5615",
      "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 · 3.642 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 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]: [-0.8112, 1.8626, 1.4792, -0.9058, -0.9466, -1.2484, 0.0607, 0.1371, 1.7081, 1.2057, -0.3653, -0.9607, -0.926, 0.0628]\nstate[eef_state]: left_x=0.3776 left_y=-0.1843 left_z=0.1625 left_yaw=0.5619 left_pitch=-0.0253 left_roll=-0.0078 left_gripper=0.0607 right_x=0.3864 right_y=0.2031 right_z=0.1776 right_yaw=1.359 right_pitch=0.103 right_roll=-0.1409 right_gripper=0.0628\nstate[joint_eff]: [0.6085, -11.1795, 5.8051, -0.0708, -0.6716, -0.0806, 1.033, -0.5538, -10.1949, 6.9675, 1.4774, -0.4029, 0.188, 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 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]: [-0.8085, 2.146, 1.8168, -1.351, -0.9874, -1.7012, 0.0621, 0.1371, 1.7061, 1.2049, -0.3511, -0.9535, -0.9207, 0.0628]\nstate[eef_state]: left_x=0.3829 left_y=-0.1824 left_z=0.1449 left_yaw=0.8229 left_pitch=-0.0088 left_roll=0.0094 left_gripper=0.0621 right_x=0.3887 right_y=0.2027 right_z=0.1789 right_yaw=1.3531 right_pitch=0.1034 right_roll=-0.1524 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.547, 7.241, -0.0855, -0.6032, -0.0659, 1.033, -0.2667, -8.3077, 6.5573, 1.2576, -0.442, -0.0317, 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 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]: [-0.8993, 1.4338, 1.1564, -0.7971, -0.8417, -1.1416, 0.0635, 0.1371, 1.7073, 1.2018, -0.3546, -0.9455, -0.9245, 0.0628]\nstate[eef_state]: left_x=0.3084 left_y=-0.1706 left_z=0.1992 left_yaw=0.3655 left_pitch=-0.0621 left_roll=-0.1528 left_gripper=0.0635 right_x=0.3886 right_y=0.2018 right_z=0.1761 right_yaw=1.3494 right_pitch=0.0948 right_roll=-0.1508 right_gripper=0.0628\nstate[joint_eff]: [0.2667, -0.759, 6.1744, 1.5458, -0.1245, 0.1832, 0.9499, -0.0615, -8.2667, 6.8171, 1.3553, -0.4274, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a460cd07e2c5caae9937b92a72a7fccbdfd1fd3727497b28c590898b1ffcaec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c221fdf27c73ebc9b76056168c08f0381ba7e5af007625162fd84c07adece77f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1071635d666cd2e10ef8bdd288e8160ae1fc3d9be84770cd7bb9e3ceba5615",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFVNlcSLAFvH6mXAXyb7co4fBdMrTn32-gOypuuLsK042Trz__lZzrQL9lJryOZ5HLEzEyxop2nqsQPmNc7kBH2TtLnT-MUtLHtF6AI8MC7rJR4wxwNEsZwzIgP7d1Zo1YWqNzC7wxMRvatKb2O3-LfVgrB_YziJ0SkxeLvJ0RqA3yrcLOf-U5dYn-72xh_KeX8nJWI9EVisNbx405qx1fQcjEPwne5oaTm0Pu-Ldt1F3KxUZeyGsO2HTwTd7Y9_ogNF1_5TKUz72C7gKdBVwiF_NvT8THQq4FE5nFRkVCI44AkFb8g4uonfeg9E2Oh7kLKjE_osxLl_is4gXXH_h6EQ4_s19bvH4AS0OdrPb9KerS9r_hYN7jQOWgiFlDMjaOAl12hB2igcV4Jh41Hj5hEGWxdo59-uTDCHlsBa4qOd4XvrB4_ptBovoWtoNf_n_ZNBu_0mcFpNKi5sZZi3scRO3uwwxEmbmTVXvk440JHVhUlGBjOKHOBa5UsCBNukwn0M593o9MLGOd9oHCWZjh7NO8wANjdDzCZA75wjb-_6nNYM13e4NTKPF8JuC8lDf_VoIyOQzf0kFALEkmY55wdhi0PI3FJiGFA7lafbuOkHtcGXrtwXKxi-0N81c5XmNnsrYY1rMbtapM0DxSwcLn42W0tCsNJwNlAV1lhryiCAZfUraLwYHSLrVRJIjf2_Ais1f7hIcpZsRKH1KPu2BnL9MrighnnXXUCHRBBUaDdZwwbbyWi3IsqODN5G3sPjGkncCttoG2ll1uPA6bmht1TUIiJhYGJ-mM5dFp99iABvPyuxcXDaqTWUxQaDl1oWbKLVZDP06dH3pV5cgbeNLe-XFgtg6tsixL2ZSxH3PkLpU70A5wLTlnXkFCRwHxJ-yGiP1ZBwMBM9lDEYEiYo9AvO3HdLjyIspHt9OHS249qSUCMFWhp1qCXdekj7Azr3X3j22dUxwCau7NZDPsNHnHvzEwOxaWc2i7ZZDnLca8FWCtZzGQeZvZrBeGVJN3wFq7uQVPNygZ7dgJCYI-iy-4Mtsj3HdUqvoVOlV_skI7pP2ZyLu77TWwkh3Tkyt_l7E06iUg7f-JaCvwM0CqV5-dU1TkRikBxqe93iLe4wzRhevTDo_S4QPdC5-1cQl1mcw1fPkY1IeaZry1HUMl2ylYnwmde1TNIci3a6RHthM0NRze_bxQTIURgoKIehpLPWPFq96FqkEys7QnzUHUqlgg8Ru8BnRUCcI5pJ6wn1zwGUoW_dOGusCG6JF_zs07dDPeZpjLp8xPfV16Ksc1SZ4diPX_grKL7HgXzs0djwjK-5jdK5Cz6kzo0QlrgxFj4OzptJGYMe5NV68cMJOjAGiTlPu7r72hjtq-yrFo3PKgYfu78ea9bPN2N9wU6LXScB46mwWFoD4CZUQRr4Q2iVplEw_7FPR51VeOqWmJUSgzJNduiCCNOOZNQ5eLFqrOePAdGNqukzbqAnFjT6T77gTxQySw0WNAj6w56bpoHQ-6aWHWgwTSIp8wfok6AJxcJsSCAeZMsMbayqHGLz9k7jvAEOxu8x6fwe87SGdxVWTvZXL3ZgcrKRViYffOMXg3vlr2Fe1mtHLxxvIwzeR01dNTO_nGgf1T6qgxSmuxhuAhUEDb9lCcH669hviCQrpa2SEoz8XigWQfErK9typBt15qa_7Hwq8dp29FUzIx_7-jQGnKRD1mq1s_4Hpj0mbC2-ovZ0j6l6DL8aDM3h6VabVVF4aIQ3sf3p14ttrxCo2GBTNESwL8UqMnQ3tIL2NSD-7FZTLvB7Ii-zwNGUQ5PaCSR_PRc8BiBMPIc1puYMKWD4Kc=",
  "id": "rs_0d4feeb2e0be1b47016ab47151ce9c87d09a2a3256d3f34c88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.255,\"left_z\":0.18,\"left_yaw\":-0.05,\"left_pitch\":0.12},\"note\":\"The cap arm has unfolded and can move again. I’m placing the cap ahead of the pen’s future position, with its opening facing back toward the bases.\"}",
  "call_id": "call_Nm44Xtktamz1xLvEo18fn1bt",
  "id": "fc_0d4feeb2e0be1b47016ab47153f81c87d0b85f3c3f2f81a6fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nm44Xtktamz1xLvEo18fn1bt",
  "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]: [-0.8669, 1.4693, 1.0954, -0.5873, -0.7849, -0.9596, 0.0657, 0.1371, 1.7073, 1.2018, -0.358, -0.9424, -0.9249, 0.0628]\nstate[eef_state]: left_x=0.3276 left_y=-0.1875 left_z=0.1812 left_yaw=0.2632 left_pitch=-0.0528 left_roll=-0.1286 left_gripper=0.0657 right_x=0.3885 right_y=0.2015 right_z=0.1754 right_yaw=1.3474 right_pitch=0.0914 right_roll=-0.1487 right_gripper=0.0628\nstate[joint_eff]: [-0.294, -6.3658, 8.8137, 1.2137, -0.6129, -0.0464, 1.0281, -0.3761, -8.4444, 6.4752, 1.2918, -0.4615, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d7d7ad398b613f0bea3a6faef7d20cf9dafbab72f86fe8e984f66183f7a8fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7970f980db8d0793a0efe09bd64ed0025145eaed961881d7e6bcab332f1ec3f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e239516105849a544d0e78e8a7c22d5e3e5ca5049d566202262eee1ed76faed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 6.697 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 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]: [-0.8085, 2.146, 1.8168, -1.3476, -0.9871, -1.6905, 0.0621, 0.1371, 1.7061, 1.2053, -0.3508, -0.9585, -0.9192, 0.0628]\nstate[eef_state]: left_x=0.3833 left_y=-0.1828 left_z=0.1448 left_yaw=0.8172 left_pitch=-0.0094 left_roll=0.0149 left_gripper=0.0621 right_x=0.3883 right_y=0.2031 right_z=0.1796 right_yaw=1.3555 right_pitch=0.1073 right_roll=-0.1504 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.0684, 7.2137, -0.105, -0.6227, -0.1148, 1.033, -0.3214, -10.1128, 7.0222, 1.3993, -0.3785, 0.1734, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8993, 1.4338, 1.1564, -0.7971, -0.8417, -1.1416, 0.0635, 0.1371, 1.7073, 1.2018, -0.3546, -0.9455, -0.9245, 0.0628]\nstate[eef_state]: left_x=0.3084 left_y=-0.1706 left_z=0.1992 left_yaw=0.3655 left_pitch=-0.0621 left_roll=-0.1528 left_gripper=0.0635 right_x=0.3886 right_y=0.2018 right_z=0.1761 right_yaw=1.3494 right_pitch=0.0948 right_roll=-0.1508 right_gripper=0.0628\nstate[joint_eff]: [0.2667, -0.759, 6.1744, 1.5458, -0.1245, 0.1832, 0.9499, -0.0615, -8.2667, 6.8171, 1.3553, -0.4274, -0.0269, 1.033]\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 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]: [-0.8669, 1.4693, 1.0954, -0.5873, -0.7849, -0.9596, 0.0657, 0.1371, 1.7073, 1.2018, -0.358, -0.9424, -0.9249, 0.0628]\nstate[eef_state]: left_x=0.3276 left_y=-0.1875 left_z=0.1812 left_yaw=0.2632 left_pitch=-0.0528 left_roll=-0.1286 left_gripper=0.0657 right_x=0.3885 right_y=0.2015 right_z=0.1754 right_yaw=1.3474 right_pitch=0.0914 right_roll=-0.1487 right_gripper=0.0628\nstate[joint_eff]: [-0.294, -6.3658, 8.8137, 1.2137, -0.6129, -0.0464, 1.0281, -0.3761, -8.4444, 6.4752, 1.2918, -0.4615, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d7d7ad398b613f0bea3a6faef7d20cf9dafbab72f86fe8e984f66183f7a8fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7970f980db8d0793a0efe09bd64ed0025145eaed961881d7e6bcab332f1ec3f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e239516105849a544d0e78e8a7c22d5e3e5ca5049d566202262eee1ed76faed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFZg_lVGocdeKxSWBe-EK2w7DIQVXpCMytCn5_ZLG5tgseTJxHmX5LCtKXri0UIwanPl6uJhRQ7eOruv1WTcoI3N9jTWivFLR-8ap4hKcm3LE61NCkyXho8FpqWCaK3FDYkej6VqTsXe9QwidxxgmlSBZ8blR8ehOZkYkDOvt5v4s3kkxDoehyUd2nTUIFE3DJzHxQxRxcdU1dhB8yT0hCATx7qzR4jYB9fGqQNSj6B_UHrKEFtrTDYAagos0sdfcQtYwuGnfT6Z9dfEl45JRv4uQLayEHV3xY4LxD7D5Ngas8Ir76T7nHob-Cm0gRbjCZ4PHlI1GgcEoQqcPJD_CAISSjYKTc2VbpFhXxlsZvRMFm6220jvLXclZG7T57_XdJO1EHYzsyBOlFmGFkp5iJhZhudGYMEgqE6-Bu_lEBIJThDCVk-qH4-mbUblCLqnAqbXOX7Z5jYYth6DZ4gDi36ScsdJpwF7ATCY9kJl60OBz3aXv5zU799m1-UXGm1Qwuwd3sQBsgEfliyptWczIRONbu8a9BBlDp4-icjQ-OfNJhWr4qR7BmBJQFqI4ia1umENnOK-ZN6GsvTwn6XFMSLc1OKvE6eLP95J1uzBPyzWIg1ePFHI73OiP77p3Tx27Y7LwcmQDG0TdQoV2bOZJtzJKOfe1BujXi5fbu3z0EpqfGyl2aXB7GGNxBn4oet1QeN81gGDrCtqt8_wvIFnFr-TOPsWydIdrHn7EaEFOGj8GH-7w44Z0GfB-UxTHX8Q54ZX5dPnNpRs0ewFItVBwDdeUvWgpBZGvIaNXZi7g-UjvP_F5Ai9Pehi_6qh-KUp2Ifsa0r7MzUsS8_qsnsW79xkJsASAGBEO8Ium4nAJlNdp7zBmyK1I_iL31i6DNomUfyMms303E-y3pwaattwA53Y8GHl1o8enHmJK2ulG4gfJaR-nlA9IMEyZnBe9MyyrNFQVKl1-TSLOSgMJ_FgSH13GSEbmh4DujGhHReOy1YJ3vC9FiKBOPSkZ1BZdzmqW60LSSOh4nJD0M_Fd1ltKsmnyalHxQyaCAKTlFCoDqDy3axioNj-WXkD9cpoN9xLWLtorx-bZP0DSt8a2T8UHGnczzfdV2fKPBQ52fq2loZkJFBl4R8xxfw_gvDS0ezjgli3t6GteZ5s_r3IIxbd5mMYctqkvCPPsz_uouADXXO0jLmwMuBwWAiAQJ1_a-nZ7-adMBs4VDJiFoLp_Ea0VzazCzc1RlZZVrmK-pFkKeBMcpubSxmLYkqVTCevd_nv72cKqiYQy5xplLTHs9ZY6WINereC3ch16aCCI_XihVahVwh3M4kge8IHnBNdr31EU8_a4Egjm7vSXp6HBfiWYQstTJO5YJ1nYnwG2x_NbOEnYUj0_O7umrOFDWwS13GEh5unoel-3O4o7GLePnQO67Zf5xtdD-rT4Ktpj1WGUw4XKL0tTb3hLFCOxcaSxL5_n712OWrKRQaarn6ulKjAq_L2w==",
  "id": "rs_0d4feeb2e0be1b47016ab471576cdc87d0b0eb35dd88badc69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.28,\"right_z\":0.18,\"right_yaw\":0.7,\"right_pitch\":0.16},\"note\":\"The cap is secure, though the arm is tracking the turn slowly. I’m rotating the pen back in a smaller increment while moving it toward the centre workspace.\"}",
  "call_id": "call_sbj8p9jTHDHNpgnSHo0dpLSs",
  "id": "fc_0d4feeb2e0be1b47016ab471589f5087d0a9e68e9bb55790d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sbj8p9jTHDHNpgnSHo0dpLSs",
  "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]: [-0.8669, 1.4715, 1.0946, -0.5884, -0.7773, -0.96, 0.0657, 0.6895, 1.4246, 0.7757, 0.1711, -0.1112, -0.2356, 0.0665]\nstate[eef_state]: left_x=0.3271 left_y=-0.1883 left_z=0.1793 left_yaw=0.2591 left_pitch=-0.0603 left_roll=-0.1278 left_gripper=0.0657 right_x=0.318 right_y=0.2923 right_z=0.1602 right_yaw=0.901 right_pitch=0.0792 right_roll=-0.1576 right_gripper=0.0665\nstate[joint_eff]: [-0.1026, -6.5026, 6.6393, 1.2527, -0.4957, -0.0513, 1.033, -0.1573, -7.4735, 6.2017, 2.2051, 0.1538, 0.1148, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c287582e98c3de43845c245080d578e2016e1178356b4449edea928c3310e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00da0b98d79cfe0e8f3a137cf20caa1c337b146880451f1e800709c550f060db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b961949b3333455b5b8849a8a7019a6665dfa9d2676883ef72b5ca5d7a7edadf",
      "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 · 6.498 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]: [-0.8085, 2.146, 1.8168, -1.351, -0.9874, -1.7012, 0.0621, 0.1371, 1.7061, 1.2049, -0.3511, -0.9535, -0.9207, 0.0628]\nstate[eef_state]: left_x=0.3829 left_y=-0.1824 left_z=0.1449 left_yaw=0.8229 left_pitch=-0.0088 left_roll=0.0094 left_gripper=0.0621 right_x=0.3887 right_y=0.2027 right_z=0.1789 right_yaw=1.3531 right_pitch=0.1034 right_roll=-0.1524 right_gripper=0.0628\nstate[joint_eff]: [-0.2667, -12.547, 7.241, -0.0855, -0.6032, -0.0659, 1.033, -0.2667, -8.3077, 6.5573, 1.2576, -0.442, -0.0317, 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 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]: [-0.8669, 1.4693, 1.0954, -0.5873, -0.7849, -0.9596, 0.0657, 0.1371, 1.7073, 1.2018, -0.358, -0.9424, -0.9249, 0.0628]\nstate[eef_state]: left_x=0.3276 left_y=-0.1875 left_z=0.1812 left_yaw=0.2632 left_pitch=-0.0528 left_roll=-0.1286 left_gripper=0.0657 right_x=0.3885 right_y=0.2015 right_z=0.1754 right_yaw=1.3474 right_pitch=0.0914 right_roll=-0.1487 right_gripper=0.0628\nstate[joint_eff]: [-0.294, -6.3658, 8.8137, 1.2137, -0.6129, -0.0464, 1.0281, -0.3761, -8.4444, 6.4752, 1.2918, -0.4615, -0.0171, 1.033]\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]: [-0.8669, 1.4715, 1.0946, -0.5884, -0.7773, -0.96, 0.0657, 0.6895, 1.4246, 0.7757, 0.1711, -0.1112, -0.2356, 0.0665]\nstate[eef_state]: left_x=0.3271 left_y=-0.1883 left_z=0.1793 left_yaw=0.2591 left_pitch=-0.0603 left_roll=-0.1278 left_gripper=0.0657 right_x=0.318 right_y=0.2923 right_z=0.1602 right_yaw=0.901 right_pitch=0.0792 right_roll=-0.1576 right_gripper=0.0665\nstate[joint_eff]: [-0.1026, -6.5026, 6.6393, 1.2527, -0.4957, -0.0513, 1.033, -0.1573, -7.4735, 6.2017, 2.2051, 0.1538, 0.1148, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c287582e98c3de43845c245080d578e2016e1178356b4449edea928c3310e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00da0b98d79cfe0e8f3a137cf20caa1c337b146880451f1e800709c550f060db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b961949b3333455b5b8849a8a7019a6665dfa9d2676883ef72b5ca5d7a7edadf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFgOjInURq1vNF18gKNQGWupHlmma9k0zktpBT4m5j7VBe8bxRwBVJsZU00BJ_BKRzmCbJQgFr0OYQx-lnMRlKFrncuH11jSJCdPpWnStoLF1JOeVl0W7S4dSntip5ySma0wbCZ5p0QGJtm0hWRv0MU7YJI7UKwqA5uZMkb0IBAv78nJpRw5Y36LGVzhVGw-lFR6tnTmvXxJlPfEZG2duIzvuk475c8wQAUY3P96NnImTF5IPsk6xUgnK5aP6xWIUDaBswnuHZNbrKw9UIXkssjg5Lkx9tDJlyYzICwT3qUudx7MJlVHkV0o3SPON7qA4qreSMUXHIJKkxKmZqmZvLZ5PCoP-S96nXxnFjkBBX_kKNHEk7c0NWUNkRkXeRzsnR6gqb33PmJ7K9kDslsQlRO1HOZBa9mc2o2biF9-ptiTkVCzdjZMmxq_iTSQoAmLHZ5D6YtHQlls-kNOBuAdnqKz1TVEc-k-pOXAKGpiVTp76gO60-86hBL2uQNNeVM90cdEzcvqnZ7DFfaO6c3tIS3crKJNcg0CO5Bgq98EdHDV6ZDm2w2SuSW-bPT53n_ddvha2J1YJkvjvt1-FH9QlAGWawx0T7I_zZG5Jdf-ZL9GwqyhsBhAKwEp3BHHHBchTEjjxO-2aX-KOwyn32jzAr54I-Qez8lSUMDbdZ88qNBgITr3myEVuIgft7qyOmHdfPcqcwNmNXXSaZAsjSWMKmEN2B1qnMqH7Lw6NzJ3XbQDgHIOchPUmk8CcQwpPD-vt_SWl6xreX-orbOYBdPBGBWRv67m1jaAHryrmGzClENXjdFlv3R1S-G9RjqiEhqxzRGDXxea3tsxuUgNHM1ladSVvT1Vkq-ynaVb4z4PmXYQHU2w9hc0qF-J9VN_9SfBK9fPvjCRKARtix4M6SU6aFJJlK8plu7ZzKbhbs_u7QUlxMxaf1idkwm4qH5vNKcDJyNY2I9R95wZsuiBvjW4hnk8ztM7MmKf2lGUBNzC_W3PUxWExlZH7zpuTwPWeiAhtSvFw1r3Xg__hEDt88hR1LgEeHOcj74aL6CRCuzMpTnDcD9onJCd4JFWfDGDxMqwg_gNZ-b8RCqVfqe5CgEdqcnWjc0EndEUxsdPuPVvcaWYGMFCP7DtHby8pxRgtWFtyu29eHzG68OeCMXzpjOKV6ywoJ9jSmecqtpA_R-frOhb4tqJwpdJUg60Xn-ZwQ925VqupF_l_VOPItUijoD7wrnEqQqPj-0FHjocisNVssu_55xRe8X9cmMn5nzSYZ1Z4MJd-WuQDX3eRBdvrSzpCSV6EfJMJ_R1udREo7SNMbFKi6dGEHa5wsrXM5fH6y6xzcXGitvoDBMo0qVoKtOkCtEzFp8bKhwb0NfVQXL6AgWPxDqG9TulHJH6FnFlHsXc0wCaQZyoa_lJX7daidW6sVPxjCVkHdOkQWF7LMd_Jv-He_20AsUgQ8yStxtKUrEdjOum5eLx6p3Kq5iuLGPH0q1u991Pjrwc4D6_1L-tti0NGl4NSAK8afW4l8o88mdAtWcmpyaX99x_RDA8iaNQZbYqvveFryfSbR1EG0pq_xI1vRqraQ6S9FmriatNKg4y4L3eBPeLcXHTab0D4qDidQCDuhn2lmniSPNqIlll-tsVUF3V6p2VEtwJ1txA3U82DN1A5gWu-343cqjcS1A-jvS0WmudDNJFNY23QgU_rI0-NVmjddCfFLTsosFknUZIKI2hNFkxDrxipzc5_-YEqstlnJUD29wcsEga3qjDHqdi4OkrZLVVKsf7L4596T4KVPa217LE6AmdW3jV-A5x4mYYTjZy694vpxIW74w1vZXIA_u9blJ-MJmF9x2RUvqdEmfQLumlHeDxivvmkT4XKBP0cl3Ui2CJXwX6aOtU3XLg1HmwCstMMdp2UyrIUYiXtofzlaSqKkcmLljJz6YME4inUD8L9_9-jnTrCpbw8UdOKNn30oqFLgORW2jmcty_5tSUE6mVB1qJaKOQIuE2MJjV0Xn_qOiKE033JZlp5HzleFltHXOgZZO_Y1v_iQb5tle2WdFdvSekjObTxQhfaXDk0UhgmLeLo5BYp0wdS2v02W3-ONllgg8xZ_bdWquwkqzONAVftMthXspEGmwh3y19vEVJENtZ_Lal1Vq3fByKGhxHLV-WbQenBz1rTnVqDy_8Jk5jXkJWV85cinQPvqwXOk8asWYxVLatvVPzvhGW5ynsChA1KB7iaTuskAYx5Rl82wlBZfyiLh_Dqo5fzxiDs3lbbfPfyDFYxGU-UFa4sS_tcliJfGsig7C-W6pC-VMAwjkyWF6TYfGkzpgTJCiHZMEarcwtKn9dNLVwuwiYCc-5ev4gWZwMLyiDvjsOs6vElK50cusLOzU_5oQs74TIpRxM4-4EnPsRUW2LaWKwo89y56JgJKQYYtECNrHugdOrbxMyv40IJQqpp6mHFytsWYcc0iuZ3t4PM9Gqc_zB-E7LyTDcHDcA16xOIp0MbI44PsPTMOKN4f-vfZnGS5gn0K8yCLZOO9acKOM6oj2HNifwixkIqFAtf0L-pB_RJ-4pe8i2Fm87LZLLpJCHaL7CQ==",
  "id": "rs_0d4feeb2e0be1b47016ab4715bd55487d08252688732d380b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.245,\"left_z\":0.135,\"left_yaw\":0.02,\"left_pitch\":0.18},\"note\":\"The two held pieces are visible in the left wrist view. I’m lowering and advancing the cap into a more reachable pose to establish a steady insertion target.\"}",
  "call_id": "call_DpJUqFsv4MiyfMoaZoe5WIft",
  "id": "fc_0d4feeb2e0be1b47016ab4715fe73087d086d7c75411e8cd3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DpJUqFsv4MiyfMoaZoe5WIft",
  "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]: [-0.8238, 1.6871, 0.9089, 0.1806, -0.7189, -0.5724, 0.0657, 0.6735, 1.4338, 0.7708, 0.1333, -0.065, -0.2207, 0.0665]\nstate[eef_state]: left_x=0.3837 left_y=-0.2378 left_z=0.1309 left_yaw=0.0611 left_pitch=0.1293 left_roll=-0.1274 left_gripper=0.0657 right_x=0.3241 right_y=0.2779 right_z=0.1457 right_yaw=0.8373 right_pitch=0.0253 right_roll=-0.1568 right_gripper=0.0665\nstate[joint_eff]: [1.388, -6.6803, 5.8735, 1.5409, -0.0904, 0.2564, 1.033, 1.0462, -6.6803, 7.1863, 2.293, -0.7448, -0.1734, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca72cf9b2f8c00847c7443cc689e1ca163911de89f79bf73192a15481e50e14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1247dceae797d28ede6b60c5bb13f6107825ed2c14f374fc908ffc88e5856fc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1034676c4a74de53c74a54d83d47a5cda1cad047c11642bd30f9ca61e6323782",
      "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 · 5.631 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]: [-0.8993, 1.4338, 1.1564, -0.7971, -0.8417, -1.1416, 0.0635, 0.1371, 1.7073, 1.2018, -0.3546, -0.9455, -0.9245, 0.0628]\nstate[eef_state]: left_x=0.3084 left_y=-0.1706 left_z=0.1992 left_yaw=0.3655 left_pitch=-0.0621 left_roll=-0.1528 left_gripper=0.0635 right_x=0.3886 right_y=0.2018 right_z=0.1761 right_yaw=1.3494 right_pitch=0.0948 right_roll=-0.1508 right_gripper=0.0628\nstate[joint_eff]: [0.2667, -0.759, 6.1744, 1.5458, -0.1245, 0.1832, 0.9499, -0.0615, -8.2667, 6.8171, 1.3553, -0.4274, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8669, 1.4715, 1.0946, -0.5884, -0.7773, -0.96, 0.0657, 0.6895, 1.4246, 0.7757, 0.1711, -0.1112, -0.2356, 0.0665]\nstate[eef_state]: left_x=0.3271 left_y=-0.1883 left_z=0.1793 left_yaw=0.2591 left_pitch=-0.0603 left_roll=-0.1278 left_gripper=0.0657 right_x=0.318 right_y=0.2923 right_z=0.1602 right_yaw=0.901 right_pitch=0.0792 right_roll=-0.1576 right_gripper=0.0665\nstate[joint_eff]: [-0.1026, -6.5026, 6.6393, 1.2527, -0.4957, -0.0513, 1.033, -0.1573, -7.4735, 6.2017, 2.2051, 0.1538, 0.1148, 1.0281]\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 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]: [-0.8238, 1.6871, 0.9089, 0.1806, -0.7189, -0.5724, 0.0657, 0.6735, 1.4338, 0.7708, 0.1333, -0.065, -0.2207, 0.0665]\nstate[eef_state]: left_x=0.3837 left_y=-0.2378 left_z=0.1309 left_yaw=0.0611 left_pitch=0.1293 left_roll=-0.1274 left_gripper=0.0657 right_x=0.3241 right_y=0.2779 right_z=0.1457 right_yaw=0.8373 right_pitch=0.0253 right_roll=-0.1568 right_gripper=0.0665\nstate[joint_eff]: [1.388, -6.6803, 5.8735, 1.5409, -0.0904, 0.2564, 1.033, 1.0462, -6.6803, 7.1863, 2.293, -0.7448, -0.1734, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca72cf9b2f8c00847c7443cc689e1ca163911de89f79bf73192a15481e50e14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1247dceae797d28ede6b60c5bb13f6107825ed2c14f374fc908ffc88e5856fc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1034676c4a74de53c74a54d83d47a5cda1cad047c11642bd30f9ca61e6323782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFoyrGjdPHltr0NTRbBS7k0OYfetVgd5tjLJ8iD2yjvw6OpOzHrSbseiV4ssFlnyEY_FgA93MzP716RQkYPNrxud7O9pwaCV65dR0NgXZRf-AG-CRxzp_Vn0NFUexTvPEv5yTOTP8saojrO0MGqqMXhil-E724D06yQVXWmce9brXaQ6ySdgkCnrNKwlYCXnafX9dZpWRixJCjCEHxsmmXFtCM2fTNPZ10hP3ZD6nRggKi0pJOPKGD07-EWEEtKe7er8ZAvetqbiP42ykHdwCuMHel3ZPIPODs-yHhkuE1hCBCd4BpQoo-X9kAMaITLK44-JxD6ic6JDgVTWhaUK4_Bgw-64IAezr-Dey4YWA5NV7g7OuqmYLJFLEqckqaDSmZ17cEzUKPbsxmWMXSPgpkarV68X1ODBqf6FzNJV6tbIBfBNsbaUMePP-Vwg6JgwFObaz_lkTOZayunQ2OulOp1O7tIU4NLEeUDI3kGnZJw6vKJzGohQbBHJ2CSCZs2jt6vUxV8bgZf3Gt-_B-umeRCJiuYPZksPvWzaAEBTo1xC4Qzcq1SFdxdtbF63hrM10SjSHUKBoqD5WjJ8Vi9x4AL2hTB7Mr2n2kM-4w4Z3eQixUZNpYAHcjeS2p_ot_fq9O4fhOJHxwbzPAt-T3DYL9SrNRi0eILTTwc5cyrtydOmRez-YLAit0GlvKdxc8kP4rc21cSTr6EmTpo8xtXJ3fYPINJ9kld-XwgMNpoQaKkI9qF9zqE_G2k6lBgFbWUj2qMiihlCX01YQetp3b6AjiZHKWTcsGlFYkQJuXYuNI_-u6RhcNBoGOSQLwhoJhWcyEVrlRNwtgM92jcqdWkFHQfEYlLYeJuopC7YMjKSIsRLnT3wthap7SCj5qllxt67kruV8qaHNEI60Jwle-sOTUtNIYk-HrZyvevEUNPbRD6CmZRB8zw97O5Dj9Ah-_paZdxw4lznewqWNstE_pgP7pJV-uK3aRQSSjqvwg-hSSnTeEtWzi4mEI17DwLvVnSqfPWlI5Z6yM6C_zyaBfimvbXA-ghV5fc5lO1tWbxhPZD2TuxVb7ri9vX-yw3jMnev4FklYw7TSvlKOTgU0wz6H6tvx46iRPYsA6yw5nW7tT-N6ACYje58nTl6FPPJxu8n_JpU4wGYtQQtZCyj0vDRX8B0aWcrr_hAC41zhpnisYVTYeATW8-cd9-JCRJVMvsU9q4ja6y8Acbca_u1i7MTPM7p0u-C3LgyrRGkue18-dihzvhidniXD7gaNDCcTtvN6pkVHaBtutTItNmF7IoIhb2Z6zyA8u_dYps6KRjjXm_JsF3MoEJrTAGX_fke4okwdmnXotw5bB3Vjz2LV1kDAhxLTw7DJFLGjXlqXee6S7jOD_bZ42vihtjLezzxb-_JIgXGCEm_Kl2gNGjRa-M5SXXRaXpuMCNJP0XERlotYPKq0wG_HwNgLawgB3w7HntgCDZrok4qzxW3ugUU_Xo77GyoeOxPTf45wdWWOZLTbzSQhpWWzfWasH5G0a1DrFknenM_IHXq15yiIJLENpoe8wc4pBtvLBghLB13Lw-mX0mSmg3r06Agb-MbmMyPDBR8OB_rlNWKgBLEnPBvTvgKAqmuPrjGSxCzRH8AXBXg2nj-y__v7P3ASnad8twP8GUme8EllqF7WicldmeFAS1SrgXryMsM5hUfaGSza85a7uYV0SEvkGkypJa58qxrmY-T-6-A0xgjjccxXsQEWjdcjddDTZi017nel-HAeCzeuoAtaVURozs6kCaeOh7NvNx3tVuLS67GkoJLMznCf0N4v3Dt0I-jw32eXtm1RS2h5vIhkRDtuvpyKdP2oKRSxr5lt6A_z2IQiLxFINpc3BSUCa5eWzFJG2R1jH5XZfqd10Xk1GSfrmjU05a0uzHtKRd-JAuJNYm5w0oEF5gbKSkG9gIrSJsx10HySQ5xHgtvIkSraw2UFyL-58YHJdZ-3dnLA1twVsIr-KpWoJVv6VQqeHhnA2uEJzl14LdL8PcwGZu-tBWuui2aysA2xHczhkYCr4fcdZpx6BI6V05NcRMBKGeayKcMzuxJkX3MA9QTBI8mETWzEqLDsiP9oIfuIwh_mJpEt3gBsF9bJ3eYLFmaZRMd_w3n17IExYCcoZ7qo1NzV3PHtSWto6viIU8kT8Np8c4uaWiSM872F5hdXA23ZGYwQ==",
  "id": "rs_0d4feeb2e0be1b47016ab471636d1087d0851ea0703124251a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.378,\"right_z\":0.135,\"right_yaw\":0.08,\"right_pitch\":0.24,\"right_roll\":0.04},\"note\":\"The pen tip is near the cap, but their axes are still angled. I’m pulling the pen slightly back while turning it parallel to the cap for a straight approach.\"}",
  "call_id": "call_E3wJPtIMPEScHpbs3gSkYdg9",
  "id": "fc_0d4feeb2e0be1b47016ab47166a9cc87d08eb00befbff54398",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E3wJPtIMPEScHpbs3gSkYdg9",
  "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]: [-0.7082, 1.6459, 0.8494, 0.2214, -0.7254, -0.5755, 0.0657, 1.0561, 1.792, 1.0222, 0.2207, 0.9199, 0.5365, 0.0703]\nstate[eef_state]: left_x=0.4005 left_y=-0.184 left_z=0.1322 left_yaw=0.1858 left_pitch=0.1461 left_roll=-0.1456 left_gripper=0.0657 right_x=0.3392 right_y=0.3215 right_z=0.1499 right_yaw=0.0073 right_pitch=0.2358 right_roll=0.084 right_gripper=0.0703\nstate[joint_eff]: [-11.0427, -3.5761, 11.0017, 0.9255, -0.2027, 0.0171, 1.033, 16.0889, -1.7299, 12.2051, 0.2466, 0.6276, 0.7302, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62a3a09d7962ce61c0b073efa0d13844b96c8a9c552f622a5c596a4eb17dfd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ad2dcac650b7e44722d5157002ca72fbfa62e2906078d71e151816856d2147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c78ab996ae310af1a0d2530ded63b7d17fa0728be4a7a59ff17f56da576699",
      "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 · 8.947 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]: [-0.8669, 1.4693, 1.0954, -0.5873, -0.7849, -0.9596, 0.0657, 0.1371, 1.7073, 1.2018, -0.358, -0.9424, -0.9249, 0.0628]\nstate[eef_state]: left_x=0.3276 left_y=-0.1875 left_z=0.1812 left_yaw=0.2632 left_pitch=-0.0528 left_roll=-0.1286 left_gripper=0.0657 right_x=0.3885 right_y=0.2015 right_z=0.1754 right_yaw=1.3474 right_pitch=0.0914 right_roll=-0.1487 right_gripper=0.0628\nstate[joint_eff]: [-0.294, -6.3658, 8.8137, 1.2137, -0.6129, -0.0464, 1.0281, -0.3761, -8.4444, 6.4752, 1.2918, -0.4615, -0.0171, 1.033]\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]: [-0.8238, 1.6871, 0.9089, 0.1806, -0.7189, -0.5724, 0.0657, 0.6735, 1.4338, 0.7708, 0.1333, -0.065, -0.2207, 0.0665]\nstate[eef_state]: left_x=0.3837 left_y=-0.2378 left_z=0.1309 left_yaw=0.0611 left_pitch=0.1293 left_roll=-0.1274 left_gripper=0.0657 right_x=0.3241 right_y=0.2779 right_z=0.1457 right_yaw=0.8373 right_pitch=0.0253 right_roll=-0.1568 right_gripper=0.0665\nstate[joint_eff]: [1.388, -6.6803, 5.8735, 1.5409, -0.0904, 0.2564, 1.033, 1.0462, -6.6803, 7.1863, 2.293, -0.7448, -0.1734, 1.033]\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 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]: [-0.7082, 1.6459, 0.8494, 0.2214, -0.7254, -0.5755, 0.0657, 1.0561, 1.792, 1.0222, 0.2207, 0.9199, 0.5365, 0.0703]\nstate[eef_state]: left_x=0.4005 left_y=-0.184 left_z=0.1322 left_yaw=0.1858 left_pitch=0.1461 left_roll=-0.1456 left_gripper=0.0657 right_x=0.3392 right_y=0.3215 right_z=0.1499 right_yaw=0.0073 right_pitch=0.2358 right_roll=0.084 right_gripper=0.0703\nstate[joint_eff]: [-11.0427, -3.5761, 11.0017, 0.9255, -0.2027, 0.0171, 1.033, 16.0889, -1.7299, 12.2051, 0.2466, 0.6276, 0.7302, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62a3a09d7962ce61c0b073efa0d13844b96c8a9c552f622a5c596a4eb17dfd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ad2dcac650b7e44722d5157002ca72fbfa62e2906078d71e151816856d2147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c78ab996ae310af1a0d2530ded63b7d17fa0728be4a7a59ff17f56da576699",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFuf_b2YNAgcxoP4XY5Tys0X8OOioXyYfxYStTRkc_g2FZQbm_Fk8x01VkVGGwVmsy1ct3Jc0soev4m4-R2vOkYTDHXcT2sKFS_aU42ano14vlODQjBkQ6AtK2ZaBxBGjzmyQnbUfO-8uoJvWJ053AaaLBFzK-pHsbOM7U5xPlYJ-R5_w2fmvN1QuP6Zv1uOBXdKqpTjthsRAShvmOZz8wX6NUDftv3vnjoXkPYYf4obtri7bs9CJ9p5rpBT3HgqmK2erE7nZBqZJ83x17uPjvfOyeiPSmi_U30Yl6DAH-BWTazy7kscxjSnw-WMjyE4Idcm2vBASMmDdtIBzENw9DBmlMp6FI4ZeHSqm__vBjFvZG6h28GSD4VauMLpVP5NfXjbw2C_6irvMpk53_grpiNO4xsgqYRraSN6qmDE7xO2ty82lZkUXQ5l6yGIbtRzPOVkYwtfbmozifQu5z7h2tDGXpJ2DEHsnTfC2j5o38skl9jMCg7AGxGe6zB67AbfgGTuWav8RqK7-ra6FxVywnh0tDMUsWxfZitXwml_gAWGHQNxfw7e2bdR_TxtHZCchVn22dM7SAsr5QorW8ekGTohCgmrlaTz77XmhMw1-BFokhdw4pOj0EUM6Jr2RmdMsVRoRFaopab6tISeKgkOauMv-3QQqVKitMMdoS4y-1IShfO9SEvnynHxJttDzfEDEiaQPL9t8BLuIK_vMaJMx_1Cs0oAmfr9gN1UkcyQoVY8FlvjN1mmGmpEuQfoDxTViYdkAmYgPRznJTGP5tHVxMBYVBPjm4CO9h9IEFKT5oodSOixu_EA9OIM9zPoyZlHJ8vR7u-XqNpCwz-kLe5Ry68V758z8CE1-jN1mHDzwF0e1WYk6Nf9hC-In3DsaeUPqkoqwBiTiw6lK-6ykK10P_D1B1_A70aUYeLupO1wo7-r3sHcbiGD4LUPehRkla6h-b9gJRy-jp-fe_Ts5U5id5X3_6xv25htAmKZ5gWuTj6ie-fNgij5TfqyITuh_aHqOIPPHtLo7zlSjeMJLxCc4AnRgQbL6xlRCVswEqZ4xm-V3lJDw_2MwFWXWYE705dFMuyZgtEG_6U5nw1r5BbXQCZjyPXy197Pb0hhnkzYRta9wcN7VXhDgbqvVopF4YWpPwx8QFOPB9z_kPY2DDW4-YH99MYgwerE0750iugZx14smuwAAu_FjqxYmWi0qROSOz72cqki8IhzlcCX37z1RdQCZkxEPPpC1qomf3JhrjMjtFwvrAMRObwTHcsCl63zB-s43MdT9B7PBLvqfoeT2W_Bcg1nrcW3q1t6HYkCCslBBPpk6nh1SczYpG6aVuW6LKvbfsMpEnGBvw6DCrm9BD53ZJBr5Aj9C4jSHywDpUWW1EgEZujcWugy_55RNlhZwNPY3qP4AimAV3rfVUvyWUfzDiokwV9QIRUN73pAdmPn-PKESewLS1M76x9ee3qKme7MMuWPnQRANvXghr8xA-eszENG1uGfRJJiM_-mFFoYSVjWAoW0swrAEEyuRyn_MxGmNjDH6DSjI3CwVUOB7ty9oT1nU9S0Kvom5ul2nHiWSZAGA9vO7eaf2aUGu14OHLqKSdPToECssz4lrBesBZfTOA3UY2MDgU_ktUlv0uwPEQCHJk5ZCjcaODU6qPk84WFAuYTyRCOOngEk--q-4f6UE10Tii_5gncFGOYigsyv36UZhwl-z8DsTo8mWZRTJuHCnh0nZGk3Kk1HDRCtAIVWbAZZCuZ1E_hoc6thiArgzSf7Oe5o33udOfiIzftNPEGNycJ511CLDO1igLSUOxDuEU6xBwjCDTjbWeVRDrrutdLiMoE9eBRQ-4Eaw1SBYBRJbecJmMylg6XAZIJRHQVtVywQG0zA1eWZQ3iXsu1wxm5Z50H999YV2FGZ7pgf6R3_qFaBRNMUzcm9chIeLSZaKFF_ILXupDElx1KP5L8_-Zn0EJQLchRaWmewLrwNAXeNmp5P6PQJhNkC-Xs4cqQZtZ6nfBMv1GnKc_LxpmZhER6TJfnDwKauoyr2Uq9UyFCBy9r-RNC7wnW1k480KSTiQ==",
  "id": "rs_0d4feeb2e0be1b47016ab4716accf087d0b645359cf84bc1e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.24,\"right_z\":0.18,\"right_yaw\":0.05,\"right_pitch\":0.24},\"note\":\"The arms made contact during the turn, shown by a sudden position shift and high joint loads. I’m backing the right arm away immediately before attempting any further alignment.\"}",
  "call_id": "call_VVHrSClzGZtm3uFHHbcbS72b",
  "id": "fc_0d4feeb2e0be1b47016ab4716db53c87d097d4073ed4646993",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VVHrSClzGZtm3uFHHbcbS72b",
  "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]: [-0.7113, 1.6432, 0.8478, 0.2199, -0.725, -0.5827, 0.0657, 1.1606, 1.3266, 0.6933, 0.0544, 0.9695, 0.5953, 0.0715]\nstate[eef_state]: left_x=0.3995 left_y=-0.1849 left_z=0.1324 left_yaw=0.1863 left_pitch=0.1451 left_roll=-0.1521 left_gripper=0.0657 right_x=0.2625 right_y=0.2475 right_z=0.1787 right_yaw=0.0474 right_pitch=0.2419 right_roll=0.1015 right_gripper=0.0715\nstate[joint_eff]: [0.1709, -6.8581, 6.2974, 1.6825, -0.2564, 0.0659, 1.0085, 0.7179, -4.9846, 6.8308, 1.4969, 0.3932, 0.0904, 0.8816]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50f03431e3155f2caf39897b890ab0973478ce3b454dbbe5aec75090157642d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43eb4818431497f04a8d6ea108d30d4576df833014ebed99d939c9a7d0432b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43c415d41e3cd43953c0091f5dd1a83cdc7c20e69a8c80b266c943ddefaf901",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 5.244 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]: [-0.8669, 1.4715, 1.0946, -0.5884, -0.7773, -0.96, 0.0657, 0.6895, 1.4246, 0.7757, 0.1711, -0.1112, -0.2356, 0.0665]\nstate[eef_state]: left_x=0.3271 left_y=-0.1883 left_z=0.1793 left_yaw=0.2591 left_pitch=-0.0603 left_roll=-0.1278 left_gripper=0.0657 right_x=0.318 right_y=0.2923 right_z=0.1602 right_yaw=0.901 right_pitch=0.0792 right_roll=-0.1576 right_gripper=0.0665\nstate[joint_eff]: [-0.1026, -6.5026, 6.6393, 1.2527, -0.4957, -0.0513, 1.033, -0.1573, -7.4735, 6.2017, 2.2051, 0.1538, 0.1148, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7082, 1.6459, 0.8494, 0.2214, -0.7254, -0.5755, 0.0657, 1.0561, 1.792, 1.0222, 0.2207, 0.9199, 0.5365, 0.0703]\nstate[eef_state]: left_x=0.4005 left_y=-0.184 left_z=0.1322 left_yaw=0.1858 left_pitch=0.1461 left_roll=-0.1456 left_gripper=0.0657 right_x=0.3392 right_y=0.3215 right_z=0.1499 right_yaw=0.0073 right_pitch=0.2358 right_roll=0.084 right_gripper=0.0703\nstate[joint_eff]: [-11.0427, -3.5761, 11.0017, 0.9255, -0.2027, 0.0171, 1.033, 16.0889, -1.7299, 12.2051, 0.2466, 0.6276, 0.7302, 0.9158]",
      "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]: [-0.7113, 1.6432, 0.8478, 0.2199, -0.725, -0.5827, 0.0657, 1.1606, 1.3266, 0.6933, 0.0544, 0.9695, 0.5953, 0.0715]\nstate[eef_state]: left_x=0.3995 left_y=-0.1849 left_z=0.1324 left_yaw=0.1863 left_pitch=0.1451 left_roll=-0.1521 left_gripper=0.0657 right_x=0.2625 right_y=0.2475 right_z=0.1787 right_yaw=0.0474 right_pitch=0.2419 right_roll=0.1015 right_gripper=0.0715\nstate[joint_eff]: [0.1709, -6.8581, 6.2974, 1.6825, -0.2564, 0.0659, 1.0085, 0.7179, -4.9846, 6.8308, 1.4969, 0.3932, 0.0904, 0.8816]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50f03431e3155f2caf39897b890ab0973478ce3b454dbbe5aec75090157642d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43eb4818431497f04a8d6ea108d30d4576df833014ebed99d939c9a7d0432b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43c415d41e3cd43953c0091f5dd1a83cdc7c20e69a8c80b266c943ddefaf901",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHF4knu-y5dwhQ2j1hUQzUCE4t1VX653gQugdJpt06wrM9-FfphNRnAj76IiD8K7nr8El97mg4-rq4L1x5RmZizyrlRt9r5s24vFGTlJFuw3qgni6Id30IYqsw1eb0fWQ1ZudHsclKgmwGQEPAjiKQim67ezb_HyeGuYyQAu1g4R83M_9a7MM-lHRo-DjX1Iq9K0t5oR5x7nW7-l-un2HeF0tboC75hGvMMMJ-7g5hdJSYhJVd6H7jpiV_MpFJE7-Q2j0T-MLtW6QNvjTr9OJH9hXjcqUoBKRCmak5MEq59Qk7nQqBemDfAMgrTVxpJkPfdSAUx7fGKVJEkbnfhVclh5uo72LfWTEtYAmtcaMVPbxHnSqc4TF8bq9grc0W5bu0bzAzOeIEMNR87pAW7HUxUTBYHKTM18ibdliTWdFMEg79sTZd127QyTImrW_7SqN0IPw4rsW-5tAaswB4LcAOYDMciQLJwIp3xLXEb26tpHVhTFSLvPkudhW-JxHzzx3eb9ooixozCasUIM0zKAoKl9f1XLyFVqpW1BY3xKzS8zLTV9dLnzPG6kzysTHpNoPNqo0kg648OlJ63lg_R5NZVhiuncA_JYcatz-UiSrOU6u24ISguzbBXWRBwe2Ax-_N2NyIGR7go279GTPiNzucWyJZdSBVNceHm0ihJxB96K2kSHV3njO0mQP284fX6QisXGYRpeohsk9Cv-PR5jQQgEs8P3enUh_zvffg-hCLUSOw_Y8k4NFOmvJDijr9E49IdiWawEHZNetb1LEimBB1PLuBaju5GMm5sx34UT5obapoceq9eqIFyaIJgF53OBim0EGS-91Cd86r4NixWyksY2fQdA0rp5eVev_XI4F2kPKz0LUT4MLO_gGVHvp-ixbik5y8OoaFsPICRbQ1C9C2lLefVdP0FfL0i9ULUWzUIn3C_8sm0KG9kfcnr5SVfkBVFEHVAQW4P2FSkT1j0StJcQ1lgksJ_ytOf78YuSd-tOpfYMvEZPtlmT1nBFxz5A_3r7jXpuKNYhxFsLtY9Ufc1cLdGo5d4W2g1H2uxRGWJntLT07YdhYQxmrTVT59Zs3dnhoz1Kke24T18oUW6upevOBtWtqq0ZdY5K1mz6_vbXaP4jMfBKZcxyOEcCFOspRPDIaYU0O6TLdXGvhnrO13Md72QX2WWiMJ7NmiSsj0M5I4qGeuwxWcpwfoUboJ0HF8tgnxA-_8uUZz_qGVY5zz_W4hvzgRNEIW3bfRAxnRWmZ4T5kJQ84VyFk9m-auCGMaBg5W5Av6BSp4nBhV74xdo7HAotn3wPeNiLkMTnhrEBiyE5HBG2Jp8SWuRFMogpGipy5kCwSaIlX0O7_GRfNlU1j_61XYxCcxO9S3TbLzh1Z3iG1XXUUGCGZu7ITpC_9xTiF4jlXAuOZ8Q_Gtpz21YDyfeNDnP7Y2lWtsXR0_1xlNS7Mjm-mrt9XUsO19WqqDwauHL19EGTIJ1o_61dzVtXeKAx4PWr2mVAAEUPHPQuq9aR0M24aa7C6K5xzuH0wqeBkR3KL0hXNKVQpYIlX3JQvIxBGmzM5MVtdNBZcjQZ2_MHgcavb_xqnCal_-37kZPAySnUeV5s7v1m3KPruJMfD200T2B4cPhzax5fde5GYlhIXF9v5s-gKqvvixuKkVv_iah_c_MuXntomUBgxKiI6_nW-AHMfOiYrdF8uNgsm7p9sPnPVL6-WO5fVfUo_TrC83dcBnGlFetCsw_Vv5JPdb_sdTYHmeCS7VbvOuGHemmntfONmxq2JuOchrOq_lAwXhEvp6CKRHbR-8CZhU_eMkVscOOLosIEdNjWNpLqLJrpyEOJ6ox70J84fP_-y6ZRyi4sDmfsmU0PpPlD0uBWVugAF55-XTySAe5kt8m96O1FOnH_sbxh5qvjWx5rTI9hw8vXXy32IRDQoX6UDj80eGvbOX1htHv_UowaGsHiLBHLmv8xgkxY5zc4jZEnTEg-aWjndKvgfVFfQ_nzL2Z1GOHR_ekBZLiFkSziyMmHa38ETCY7mxB0pdaMkKReDJM1AUkLPVK39RMEl1uFlb4r1Z_oWqneUiUOpkhH7i0BBGDzd3uVlFoNeMEr3N4_KrVH8-7ePNxlrly0SPOVzuHmeveKat94Gt1V-kN5ChKDqOYrA2UhGArlIfr5FK_rMhBdAyJHf3gcjwkFhUXMNEyVNrkrWSQFA6JjUYw9B1HT9xZbqvoaMEWgW-ZdYTpFagBtprXDzMtqF_a3Xm9T_3DMupOx-tURF-cw9jXFy6YDfjQfQ-Z2QaSNaqO8iRxGTIoGjYLeJZ8U9heTMfgYYItP-3Qy9f6atqHXAa368pcXgm2cZBDb4kVmeHgyjlWRqBZoOWqqtQW0N_D4BT9Lt8xm2WFYO4zxJ8oh7hGrpjyqJ4OZ1OV14F3lZ5nFoK1SN7aSGtH0kD-3exwQxe-Dgm1AOvtS57RiZg1S26u6_4GuFgVEWuDHMB4Gh5SzaHdu8zfxn1feMQ9sHBM5cVr6pB_4Tt97hvGOstrGw3RsXbzBDBhw0ayzFS1o0duzre4U2KpKedpYM3yxrzOGzMF-_X2g6WvnSTiqKayEk8G82lA0ezENVvbZN9DD5SRr4jJr4taFjOFXbNdDERlZbZZ51FZ7jKO1GX_bu0amK8Le9640riikpzMWm5jVJMZQB_DWkQHncMSRc1XhDgMGVJyG7FjG5x44dwe6ciGiRm3D9N8v1irgyhankGuXE_9u0c1Kf-IxzjJgfJeP4NlY88XoT6gDdXvab80fzQCsAMo-uEg6Djcdf0K1YDgjAO73AY1IbTGGYpmBy-UK3K7wC6OOiooBVaH1Plmm6ezBvBT8hKQAc_EX5koWkShxyQ7QDGhiwV93vUbd4_cxYp1rBgTI0Qh9RQfyG1Q9-waLa3MQzqnpbYRPKj8Z4EX0PGxPRoxsqh-4RRPEAKN6rZim39SeIQjc9aYQqGSnGQoMLtV0E2rN5VPVaq5QqfbhDOrXNjFs3PxT",
  "id": "rs_0d4feeb2e0be1b47016ab47170ce2c87d0b8974020245eb295",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.28,\"left_z\":0.14,\"left_yaw\":0,\"left_pitch\":0.2,\"left_roll\":0.1},\"note\":\"The joint loads have returned to normal. I’m moving the cap farther toward the centre and slightly forward, leaving the pen arm backed away for clearance.\"}",
  "call_id": "call_XrPpjilbZD0ErCUq58IhwyBe",
  "id": "fc_0d4feeb2e0be1b47016ab471778dd087d080081f778a4bdd4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XrPpjilbZD0ErCUq58IhwyBe",
  "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]: [-0.8799, 1.8618, 1.0771, 0.157, -0.8417, -0.4278, 0.0657, 1.1648, 1.3254, 0.6804, 0.0372, 0.9649, 0.5945, 0.0712]\nstate[eef_state]: left_x=0.3997 left_y=-0.271 left_z=0.1241 left_yaw=0.0164 left_pitch=0.1668 left_roll=0.0746 left_gripper=0.0657 right_x=0.2596 right_y=0.2454 right_z=0.1714 right_yaw=0.0617 right_pitch=0.2267 right_roll=0.0752 right_gripper=0.0712\nstate[joint_eff]: [-0.5675, -9.1829, 9.5248, 1.5702, -0.5055, 0.2027, 1.0037, -0.4308, -4.7795, 7.4735, 1.6337, 0.2955, -0.0171, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ac3c9a7c48f887cae9c1b4ca2445f0c3a34885db960dd5255f099aaf65850f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b0e2d162eec0bb8f54034b3205e964167135c5f8cab836aa90ea27740bf56c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b5dad0eedfe9175afe642ad44dfd6bca9a3ad22e932ea7562a1715e121d727",
      "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 31 attempt 0 · /responses · status 200 · 5.915 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]: [-0.8238, 1.6871, 0.9089, 0.1806, -0.7189, -0.5724, 0.0657, 0.6735, 1.4338, 0.7708, 0.1333, -0.065, -0.2207, 0.0665]\nstate[eef_state]: left_x=0.3837 left_y=-0.2378 left_z=0.1309 left_yaw=0.0611 left_pitch=0.1293 left_roll=-0.1274 left_gripper=0.0657 right_x=0.3241 right_y=0.2779 right_z=0.1457 right_yaw=0.8373 right_pitch=0.0253 right_roll=-0.1568 right_gripper=0.0665\nstate[joint_eff]: [1.388, -6.6803, 5.8735, 1.5409, -0.0904, 0.2564, 1.033, 1.0462, -6.6803, 7.1863, 2.293, -0.7448, -0.1734, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7113, 1.6432, 0.8478, 0.2199, -0.725, -0.5827, 0.0657, 1.1606, 1.3266, 0.6933, 0.0544, 0.9695, 0.5953, 0.0715]\nstate[eef_state]: left_x=0.3995 left_y=-0.1849 left_z=0.1324 left_yaw=0.1863 left_pitch=0.1451 left_roll=-0.1521 left_gripper=0.0657 right_x=0.2625 right_y=0.2475 right_z=0.1787 right_yaw=0.0474 right_pitch=0.2419 right_roll=0.1015 right_gripper=0.0715\nstate[joint_eff]: [0.1709, -6.8581, 6.2974, 1.6825, -0.2564, 0.0659, 1.0085, 0.7179, -4.9846, 6.8308, 1.4969, 0.3932, 0.0904, 0.8816]\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 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]: [-0.8799, 1.8618, 1.0771, 0.157, -0.8417, -0.4278, 0.0657, 1.1648, 1.3254, 0.6804, 0.0372, 0.9649, 0.5945, 0.0712]\nstate[eef_state]: left_x=0.3997 left_y=-0.271 left_z=0.1241 left_yaw=0.0164 left_pitch=0.1668 left_roll=0.0746 left_gripper=0.0657 right_x=0.2596 right_y=0.2454 right_z=0.1714 right_yaw=0.0617 right_pitch=0.2267 right_roll=0.0752 right_gripper=0.0712\nstate[joint_eff]: [-0.5675, -9.1829, 9.5248, 1.5702, -0.5055, 0.2027, 1.0037, -0.4308, -4.7795, 7.4735, 1.6337, 0.2955, -0.0171, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ac3c9a7c48f887cae9c1b4ca2445f0c3a34885db960dd5255f099aaf65850f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b0e2d162eec0bb8f54034b3205e964167135c5f8cab836aa90ea27740bf56c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b5dad0eedfe9175afe642ad44dfd6bca9a3ad22e932ea7562a1715e121d727",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHF-lSUBoEIA0Ochl-hrV6oEkbP9GwMJmJA0Eoz3G2_2bksLF3mnGc0utpZh_TIF_-vaqkIpEB-AnLzKwmv0QHLNAoOJkoO9RzIwxLvslj6nbOKQ482wgJGV43W2LDDbe4DyHyFQdZWOZL_SVo8XhXXcziwGYHyIhxqAJ8uFtVPpoB3AoMmC7kMVQTxXOJ-bzxq9PsB6NrqhOJVSWjmM4yfJRrVUAm2yB9fnLxeAhmsm5fjNTxHmbVd-BUunGj4f9GWtZzKQoflKrDY9xbUwNAooNF0Gpm_WzgM7aPdEHfT7VPpXGmhTy10n9vCBHashXAvZACQ8PJVU39mpT6NHL_H9bChMsZKU2oP28JewxcZQO0WDoMr2sS7y7tuPf9UKp9vzKSVYb7ZfFdh9aAJSPgNj3zrLrPBwmspiGBsnv0uoe_LQl51hIs7vuoi7d5dZbDTUC1eyXZFrha4tvriYT0YlZSgHXT5m5OmglG5MJy2wS1bcIzBtEVwI3Ej93x2HznxrWotDHMw-QFr0tBp8kroSjrueOWE8Oh7CgQULekjEkMk3qQY4z_2DAUN8MCc00bL6kS4yE1FCVtVrpAuCgitKAbDaf1hLYLAjvbUzHo9k1jefP10adO61LTXr6vSgtwH31pX9kWjaW4yLzkj7GOw04syMUNUnJ8kaMFmKurn8K6zEhybB9lHZlQy4jPswwtfqvDNqk1JJxbw6LdwRkF21nclVX4virdiJuU0P69rV008Re98OnGdU7JEj6c1UlrZEJ4Gbcle3HvtHAGkp8XDwb4dby7_dHjGj9xHdo-evLIuNhIybgIflG7p4L8I89R78IWzylUnlxxeQ3PXJz4FABOpMHiLpUP3DHj134qawctS3Bw59iY9bQjGmFuwyo5apjZP_sbpdo9Jugy06ghj22oAJG9oBM7U6oJ7Gpc43HPvLXHjVUv33d9mPrx7zEkl672AvfXUe58_m15wQtn1k3Hq3QIsHACbeOlMO0tWEc959YBbrrhiyRGmwniUAnFAWszzgD3q-XBSlis94SLrAtv9y7nmWGqTrHrAXmCLLfWzcX0WAcWQpLO-OgyhTzerp5BAaK3w7vqbI4V-Xx3aJtzCgURrxA9L1h8i1KV1lbK3aoF9ZDtQynxM-mAuGmvdCknTa6vXEj7deoConIHIkd_jCseGzBcayFWslxUg2vJOZt3ISpLf-zhY1AzH4xXLfDNIpycUe_axEnjwA5p8fY9P83kExw5oLTZ3IMznsB7g-eZLFkEGSLeFiDFUYHlzuyUfi-DIHAzxnq-JVBVuKq-oB95Jw9Zlq4eOpnsipo7W5wOclOIBWdkcQslmKufHF26sko56TpUBRiAhrkAkmSrwJSvLfJE4beGgGKxITAF0rff62EM7YStN4CmRNDQjqYowg_05GAe-J2gRxDuRDew0fdt4b4kExsxUP7gMRMoReM1GUi6xp7uuQBgyD0AvlWp6XnxVSs6EFi9dRzJxjIMLkB5Q-jXVJGv-yvDjV4h633DzT6ObD2rHCMdnwi8SVQvmoHt8QPfSEP2_Dw5YlYABFiBa3eK4KgNpSvE7uJ0tqWdjj8kPFH2K4iNJj8CKKNhrZDrZPIFR-3GzJ-oFghYnYw-UVmPYmUY3cF-mZc4HvJrMKg5_a7deiHQ20_ytBzruN9_3V1Zppzq3JTualoH5zzj3fCdUCXWVa5WRbLRp-W1P1Cst07h3K2coVezbDFADruunzXF4dOUvszjjRBn3JdggE6dwxUUEthaJMkvfC6Pj2fkUz9B3HCZMPRR_4nLKnJGda-R5WZ2o1aUtoSQ==",
  "id": "rs_0d4feeb2e0be1b47016ab4717ac42887d0908ea403f0975e9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.37,\"right_z\":0.12,\"right_yaw\":0.02,\"right_pitch\":0.28,\"right_roll\":0.1},\"note\":\"The cap is now ahead of the backed-off pen, with roughly fourteen centimetres between grasp points. I’m translating the pen sideways into line while keeping that front-to-back clearance.\"}",
  "call_id": "call_hdPSPgTU15JSNu5TrcAfHpKb",
  "id": "fc_0d4feeb2e0be1b47016ab4717ce9b487d0a5a3fcc17d916f81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hdPSPgTU15JSNu5TrcAfHpKb",
  "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]: [-0.7593, 1.8675, 1.0126, 0.1341, -0.8524, -0.4278, 0.0662, 1.2175, 1.8141, 0.9348, 0.1062, 1.3705, 0.936, 0.071]\nstate[eef_state]: left_x=0.4156 left_y=-0.2062 left_z=0.0962 left_yaw=0.1345 left_pitch=0.1137 left_roll=0.1521 left_gripper=0.0662 right_x=0.2841 right_y=0.2805 right_z=0.1444 right_yaw=-0.3178 right_pitch=0.4105 right_roll=0.1912 right_gripper=0.071\nstate[joint_eff]: [-10.2222, -9.5248, 11.453, 1.7607, -0.2222, -0.0269, 0.9744, 8.7453, -1.853, 14.1744, 1.4628, -2.3419, -1.873, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa6021f5372727e3feea799245762b5a0b452b496109a2a7500e007242cab76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343414e27253210dfd4e1505ca2000af3c851602b813c3e046c86c3f2223df4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64556c66a1b3121d329edc7ca8cb1d0a94f9f5f56bb2a0eabfcc0b882da8d6c8",
      "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 32 attempt 0 · /responses · status 200 · 3.044 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]: [-0.7082, 1.6459, 0.8494, 0.2214, -0.7254, -0.5755, 0.0657, 1.0561, 1.792, 1.0222, 0.2207, 0.9199, 0.5365, 0.0703]\nstate[eef_state]: left_x=0.4005 left_y=-0.184 left_z=0.1322 left_yaw=0.1858 left_pitch=0.1461 left_roll=-0.1456 left_gripper=0.0657 right_x=0.3392 right_y=0.3215 right_z=0.1499 right_yaw=0.0073 right_pitch=0.2358 right_roll=0.084 right_gripper=0.0703\nstate[joint_eff]: [-11.0427, -3.5761, 11.0017, 0.9255, -0.2027, 0.0171, 1.033, 16.0889, -1.7299, 12.2051, 0.2466, 0.6276, 0.7302, 0.9158]",
      "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]: [-0.8799, 1.8618, 1.0771, 0.157, -0.8417, -0.4278, 0.0657, 1.1648, 1.3254, 0.6804, 0.0372, 0.9649, 0.5945, 0.0712]\nstate[eef_state]: left_x=0.3997 left_y=-0.271 left_z=0.1241 left_yaw=0.0164 left_pitch=0.1668 left_roll=0.0746 left_gripper=0.0657 right_x=0.2596 right_y=0.2454 right_z=0.1714 right_yaw=0.0617 right_pitch=0.2267 right_roll=0.0752 right_gripper=0.0712\nstate[joint_eff]: [-0.5675, -9.1829, 9.5248, 1.5702, -0.5055, 0.2027, 1.0037, -0.4308, -4.7795, 7.4735, 1.6337, 0.2955, -0.0171, 0.4664]",
      "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]: [-0.7593, 1.8675, 1.0126, 0.1341, -0.8524, -0.4278, 0.0662, 1.2175, 1.8141, 0.9348, 0.1062, 1.3705, 0.936, 0.071]\nstate[eef_state]: left_x=0.4156 left_y=-0.2062 left_z=0.0962 left_yaw=0.1345 left_pitch=0.1137 left_roll=0.1521 left_gripper=0.0662 right_x=0.2841 right_y=0.2805 right_z=0.1444 right_yaw=-0.3178 right_pitch=0.4105 right_roll=0.1912 right_gripper=0.071\nstate[joint_eff]: [-10.2222, -9.5248, 11.453, 1.7607, -0.2222, -0.0269, 0.9744, 8.7453, -1.853, 14.1744, 1.4628, -2.3419, -1.873, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa6021f5372727e3feea799245762b5a0b452b496109a2a7500e007242cab76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343414e27253210dfd4e1505ca2000af3c851602b813c3e046c86c3f2223df4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64556c66a1b3121d329edc7ca8cb1d0a94f9f5f56bb2a0eabfcc0b882da8d6c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGFy4OG_wbdlY4PIdMy2pWjZq1HHITDHXcCM9DaebUQUNABXhxVQoPu1jeZ-GBgv6BDE75J-YUjulg9vspSCy0NYm-uKrN7SLsDB5Q-tGCcnBPDFVM5nLqtXsjwZJW5pSFE_KtDmsJ83XNrysz6QgaLPgJ9qaH-vADDuZDjFSBZjYMbRfTidfZ7vuW4olI-iZeaii0svOaNQ4tkbJFRnNMY7khU8WYLKe6cLT0bvUICNYCtE0tD0AyOH9n761HnEMeiwj48ljy3j3DsqqLQpVk1v_VXBAWFfgjO04w_eiby6F6phByvxvx3AnE8vPf8NkasoLg9BFhZ6B_kh5ZvFnSULlu-hv4kGySZepZE1aiI24k3kDkST_N_hW1_QUcmvRuVyA3LNIX9ZDEY1voDmDOELosIImrKrPfc66ELghgudwR2Gr4wlze9cs9x9KMB7zvCPl00xJBRqbPhlyN2Q2zAuCxqQ0AyCtaFpIrP9Q-YRnsd9oUD5JTvRsrHFl5NYevNohQKa88Yun2RaYT69lOe0VbAmihh7cHzGjK6k4wAplfUl3ee6VUk3FCJ8z6XwTI71h-yYVLqBxAH5Ld9hiBewN_dlsdLlaKcUX4KD995n2zOJfvEp1y8JVQpNSXjgiVxg9VxnZCpMHLvj5I3PQDRq0XicAgoSfUFj9iddQjAtTgncZ9zs3A4hQEOOeZAnZcoT9xV4oaiTF2qa29g1HcmYT1NKOmPTCGt4uwMlPWP0EKvhRTfrpmJ7c5_ixN0MDlPibwB-SbuW_kSl_3K5tfXKYk2k1lBLqvx07r1eN1ZP1XGy7mVLQJ50O1dc7cuqNVoXOKl2udOmOOBLhj2GHhEzylm_OtCNScHeKv3-VIOyM5VgoV1CmKOrRJM4F5dH1lA8c2gOSm-YiQ9xMOMgtDYJhLqP-osbeSQuBmK1mP4dcg1jOahjNK8AKBWfBUL9BUelkH8ZzBIP7RC9c4ikuORCAvOmxRKwlnQjsqQ_gQFnnZuKxQ_tGQq95LY2Y3h93Y7o96j4JxyKa7-ervRxOwYaLKxhZIGl0dJrmcCZFMKiN2lhDjvF3fKBZ--6RiWfoqNqzhmcq66BcvU1VVEEoBFbCQoI3ygOKUDNBsUt52-8ybNGeA5X2Oyr5u7SSxT6VLFYaMZ7Jkrg2hiBQjAin2ENNkKCJ8sq3eHvmyFxRyBheUp3PHSP4sLZT7WRkrnYSKPQ7eezeW63ktuwVOgWPHxbIFRms8XPCqmETl_X8zZESTEeQq3Vf78GbCRGgsgCLNX8pzKeW44ZQco809W7Jz_modsBK7D_d3LjnOKquX2E9YmZXbEay_mP9AMcjH2KckwC_oNkqsAd8WoHnb1P85RSAzH10fySGj3LqUBRO-HYXkHYcFSDh4btWbIRIBkP_pw7JLuMHDf1hWCX6h78fU01KOlbI47Adrn1IRqNAlSzypu9vK8jASyl7JYVe5Deeg3z2nIHG3pJ6yfQrUjUgtCxqoB-D3QeMd_ZTVYRGH_UxUKddjhuZVpWffvGxWXXZQSjw9ymymT-demCdRRChqLgRhPDQs28oQj9Xfr-ELzL8w7Ru8y1Ja1fUh73hnKkAHdQV8uQPFChVRf4gAZI1wM4leIMzY8Z_N0LXklwhGHAhR-ugDFlzpNkzGsY3MtNsHjjdR96_0nxkPoauvJc13vGRK90TPcAjEODvUMKLuD2OS4xRpA2Go2Ku4HC1e_J4O7B1KmUjVwwz2YuHv-Ma5ELSqHiOYOlJkOfyPXm24EVMSbIMu9uqiEOXNmalCV79EknR5-Ii567m6tXQBaL84Qv7Ib5mLjBjGHIPzCTQBV1GOhASoRHyNuI4fY1lNTR8gQbLWPAT9mZWL5mSSldKDDBmaeY2KTF-4N35_DhFqtKVxXXFc1sUh3OQfr0LZrlBUhAt1o9X2iXGbgF3Y9UDnIXNHJMG59uAmGPcoRzJP1TJQ_f-8OIhIn_OYFaZNdV2U9Ll5j2XeIYnS89DB_KiwvDgduTROE5ROujBZyRiKT4qkFoCcOsP08CkCF3vDuyRVkezGDoYD6KuZ-GUrvsvsvfdVOxnpiv_4Vg9xNjLD557ALS69UEXsYRIwdllg7zZ9C2H8AH1dPsLrLpvUh-qQObFhJog1yCsuEb-NiWP3br6Cazjr5aSP6VcyBrcOUs5L4niM05Atu5qni9w_gxhm2awawDYcOMijsBaSxcFPSZWg=",
  "id": "rs_0d4feeb2e0be1b47016ab47180f28087d09876073c72fc4aec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.17,\"right_z\":0.18,\"right_yaw\":0.05,\"right_pitch\":0.24,\"right_roll\":0},\"note\":\"The arm bodies contact again before the pen reaches alignment, despite the fingertip clearance. I’m withdrawing the pen and will set both pieces down rather than force the insertion.\"}",
  "call_id": "call_h9d8e1liAbjoEObFZM4yLfvD",
  "id": "fc_0d4feeb2e0be1b47016ab471841da887d0a2ce41f65802d735",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h9d8e1liAbjoEObFZM4yLfvD",
  "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]: [-0.762, 1.887, 1.0069, 0.1188, -0.857, -0.4431, 0.0696, 1.0664, 1.0424, 0.5194, -0.0082, 0.9775, 0.5144, 0.0728]\nstate[eef_state]: left_x=0.4122 left_y=-0.2039 left_z=0.0843 left_yaw=0.1399 left_pitch=0.0924 left_roll=0.1722 left_gripper=0.0696 right_x=0.2579 right_y=0.1716 right_z=0.1842 right_yaw=-0.02 right_pitch=0.2714 right_roll=0.0637 right_gripper=0.0728\nstate[joint_eff]: [0.0205, -10.8923, 6.188, 1.5897, -0.3297, 0.1441, 0.6569, -0.294, -2.5368, 6.6256, 1.536, 0.105, -0.188, 0.779]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becab00076693e6394d396bb055bb6fd4ccf137ce2079959595eb56f83c04568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46221797c1844baf41d8990a679584c2f453440877aac881f622aff90df5320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b7a3688eb48f71e6bacf30327d80a8d1695a6a8e8e2b29305daf00ab8b4e67",
      "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 · 2.217 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]: [-0.7113, 1.6432, 0.8478, 0.2199, -0.725, -0.5827, 0.0657, 1.1606, 1.3266, 0.6933, 0.0544, 0.9695, 0.5953, 0.0715]\nstate[eef_state]: left_x=0.3995 left_y=-0.1849 left_z=0.1324 left_yaw=0.1863 left_pitch=0.1451 left_roll=-0.1521 left_gripper=0.0657 right_x=0.2625 right_y=0.2475 right_z=0.1787 right_yaw=0.0474 right_pitch=0.2419 right_roll=0.1015 right_gripper=0.0715\nstate[joint_eff]: [0.1709, -6.8581, 6.2974, 1.6825, -0.2564, 0.0659, 1.0085, 0.7179, -4.9846, 6.8308, 1.4969, 0.3932, 0.0904, 0.8816]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.7593, 1.8675, 1.0126, 0.1341, -0.8524, -0.4278, 0.0662, 1.2175, 1.8141, 0.9348, 0.1062, 1.3705, 0.936, 0.071]\nstate[eef_state]: left_x=0.4156 left_y=-0.2062 left_z=0.0962 left_yaw=0.1345 left_pitch=0.1137 left_roll=0.1521 left_gripper=0.0662 right_x=0.2841 right_y=0.2805 right_z=0.1444 right_yaw=-0.3178 right_pitch=0.4105 right_roll=0.1912 right_gripper=0.071\nstate[joint_eff]: [-10.2222, -9.5248, 11.453, 1.7607, -0.2222, -0.0269, 0.9744, 8.7453, -1.853, 14.1744, 1.4628, -2.3419, -1.873, 0.6764]",
      "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]: [-0.762, 1.887, 1.0069, 0.1188, -0.857, -0.4431, 0.0696, 1.0664, 1.0424, 0.5194, -0.0082, 0.9775, 0.5144, 0.0728]\nstate[eef_state]: left_x=0.4122 left_y=-0.2039 left_z=0.0843 left_yaw=0.1399 left_pitch=0.0924 left_roll=0.1722 left_gripper=0.0696 right_x=0.2579 right_y=0.1716 right_z=0.1842 right_yaw=-0.02 right_pitch=0.2714 right_roll=0.0637 right_gripper=0.0728\nstate[joint_eff]: [0.0205, -10.8923, 6.188, 1.5897, -0.3297, 0.1441, 0.6569, -0.294, -2.5368, 6.6256, 1.536, 0.105, -0.188, 0.779]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becab00076693e6394d396bb055bb6fd4ccf137ce2079959595eb56f83c04568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46221797c1844baf41d8990a679584c2f453440877aac881f622aff90df5320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b7a3688eb48f71e6bacf30327d80a8d1695a6a8e8e2b29305daf00ab8b4e67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGJT_7PFiODeNStJw0qgW05OhgmTfdJW2evCZV37-HVTIZQ7EEBsvPolIxAC0PjSi1yBdsfOKCEeTz0_AZSxFRVYPbNxgSRrs0vY30HJllNRlsvobzR4kjRK9JsGCxYls1atez0VHjOmSGeOJL6gX3NzFn-5AW1P5bsKM1KLnA_kxkQAVoGeGnunff-Lw8IT62xnyXVYVm6fygXKQUo850VGWVtJiD_BESI49j_AT1lLHDlS02Z4fHG_VsvgCLcnpfK8cxBSHhRPl93PgdkOVEQRbN25DEvbj4j3-GWzntUcM-Vj4JRyLH6206ZtwjxMt0uVEs9H7D_bgiC6ZT-wGQvJqaGNLU7ZYIgCk00KOvymA26SoFY__5AtkRtb0DqZePPuZDCqdVmhEQkTCiy9gMP4R1skPWRrkHet5GLVgYwJ_BZ-xrh1uPLaXxl3a3ZF96U2OkQJvMgHWG0XGqiMpuJriJbr0FSjxPukeRTiFb9DCQPpr2QB_2OO4f2ogqenEIABJ8D5sJ0Sy15fUYyaIXxdJPk7VkXPMNGx3HHj-nnMM5JY0GrvxSWjACxEeAzAkS4zlTVer7Am80-83IW6mKpgiMEu7W4AlaCN6Qb5k-4jfq2afTvqjmH0IAhplsOcvlf0M31dUPdhY05ZjQQYCiY7yZVsTRHyFjhIFwwZC-420dq-Q0UEs85t1KlO36NQnMJSEBeSh2Ee6yHFOMP_-jKZopmh1m8DliJGW3mP_n712HPMc7f9s8yFwaGbepcc89q6KoDmgHgQiPcoITvDomVjo-QgpDWd_r0m98jN4BDp428jphJ-JZSUzI-FxrhfbfCUyRylvLXOM8TRnZ3nqPlYZnsfmQc-o1TGXJVtxfwpJTh5NgVSlEmNuZB6TYfqval4HDXYG8zjJvTpBEvq21x-eRrM_JZC378yr1ak7HPbFmCrKWdOLFL_ngRhI1W2miM2aFbSPhz7NW5Y7Cdu5EU7KboKQm_dBApAOVtf4SyO0oCWMo_D0BR2y10kjwS96iFiRSvc6W0ddAm3BTc7Coi-VxPDo-2PyROse1J9SKxm0jlFpme3mMRjEkpDD8jaQG-pCGt_hwL4ezEMu8KC7tZJBlalAiPyNWHVhy_azja9JspiNpwB38aoM3Sjd9NLQ9W-_CXIw-XEcKfmm3WN-pgt6vtrIb6TvA1L8cQAmu68ZPhCtvJ0OBAgr22TaCRhJreBaAUvTWdHvxadQCoqTtE8HkA0et2zwwohJ8Jic1CAYsPsF6sTRwzI52JorNbQKaFep9zLcth5b7-0XXMBwjdPvj2id7RMrF1URjR7gFntCXRrySAY2ZvaSb1C_Pcp9yb8cVkoqcHEQcGA9asUUKuEqJJOGbag6XgY-P-5ipzFbAyZURqtuC0hIIxDvbaULlO",
  "id": "rs_0d4feeb2e0be1b47016ab47187c10887d092953953caa19907",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.13,\"right_z\":0.012,\"right_yaw\":0.05,\"right_pitch\":0.18,\"right_roll\":-0.02},\"note\":\"The arms are separated again and the loads are normal. I’m lowering the pen onto a clear area on the right side of the table.\"}",
  "call_id": "call_CkSugVKfedUOHAvUawF0w9df",
  "id": "fc_0d4feeb2e0be1b47016ab47188793087d094e18577046b8881",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CkSugVKfedUOHAvUawF0w9df",
  "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]: [-0.762, 1.887, 1.0031, 0.1154, -0.857, -0.4461, 0.0706, 0.6601, 1.8942, 0.2058, 1.1305, 0.5919, 0.2592, 0.0759]\nstate[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0826 left_yaw=0.141 left_pitch=0.0882 left_roll=0.1752 left_gripper=0.0706 right_x=0.31 right_y=0.1204 right_z=-0.0026 right_yaw=0.0222 right_pitch=0.1043 right_roll=-0.0671 right_gripper=0.0759\nstate[joint_eff]: [-0.1846, -9.3197, 6.0239, 1.3358, -0.2711, -0.0073, 0.8034, -0.6222, -6.6393, 2.9197, 0.9744, -0.1197, -0.105, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc26417f405d8a795f7c4a7448adaf5e5b96561f9cf7241faa09dfac4815bca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3138df9ac42462a962d1721666e8ba2718869f6b27ba02c8952ca48fb61236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9951156febe677f3306eef785d552f04632ae0292b4c457511949914184342a7",
      "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 · 5.694 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]: [-0.8799, 1.8618, 1.0771, 0.157, -0.8417, -0.4278, 0.0657, 1.1648, 1.3254, 0.6804, 0.0372, 0.9649, 0.5945, 0.0712]\nstate[eef_state]: left_x=0.3997 left_y=-0.271 left_z=0.1241 left_yaw=0.0164 left_pitch=0.1668 left_roll=0.0746 left_gripper=0.0657 right_x=0.2596 right_y=0.2454 right_z=0.1714 right_yaw=0.0617 right_pitch=0.2267 right_roll=0.0752 right_gripper=0.0712\nstate[joint_eff]: [-0.5675, -9.1829, 9.5248, 1.5702, -0.5055, 0.2027, 1.0037, -0.4308, -4.7795, 7.4735, 1.6337, 0.2955, -0.0171, 0.4664]",
      "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]: [-0.762, 1.887, 1.0069, 0.1188, -0.857, -0.4431, 0.0696, 1.0664, 1.0424, 0.5194, -0.0082, 0.9775, 0.5144, 0.0728]\nstate[eef_state]: left_x=0.4122 left_y=-0.2039 left_z=0.0843 left_yaw=0.1399 left_pitch=0.0924 left_roll=0.1722 left_gripper=0.0696 right_x=0.2579 right_y=0.1716 right_z=0.1842 right_yaw=-0.02 right_pitch=0.2714 right_roll=0.0637 right_gripper=0.0728\nstate[joint_eff]: [0.0205, -10.8923, 6.188, 1.5897, -0.3297, 0.1441, 0.6569, -0.294, -2.5368, 6.6256, 1.536, 0.105, -0.188, 0.779]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.762, 1.887, 1.0031, 0.1154, -0.857, -0.4461, 0.0706, 0.6601, 1.8942, 0.2058, 1.1305, 0.5919, 0.2592, 0.0759]\nstate[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0826 left_yaw=0.141 left_pitch=0.0882 left_roll=0.1752 left_gripper=0.0706 right_x=0.31 right_y=0.1204 right_z=-0.0026 right_yaw=0.0222 right_pitch=0.1043 right_roll=-0.0671 right_gripper=0.0759\nstate[joint_eff]: [-0.1846, -9.3197, 6.0239, 1.3358, -0.2711, -0.0073, 0.8034, -0.6222, -6.6393, 2.9197, 0.9744, -0.1197, -0.105, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc26417f405d8a795f7c4a7448adaf5e5b96561f9cf7241faa09dfac4815bca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3138df9ac42462a962d1721666e8ba2718869f6b27ba02c8952ca48fb61236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9951156febe677f3306eef785d552f04632ae0292b4c457511949914184342a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The pen has reached the tabletop. I’m opening the right gripper to leave it resting there.\"}",
  "call_id": "call_ksv1SRjviojAhv1pQIyYYuBE",
  "id": "fc_0d4feeb2e0be1b47016ab4718c04a887d09f068ed190299d90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ksv1SRjviojAhv1pQIyYYuBE",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.762, 1.887, 1.0027, 0.1154, -0.8566, -0.4465, 0.0736, 0.6567, 1.9038, 0.2073, 1.153, 0.5797, 0.2546, 0.646]\nstate[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0824 left_yaw=0.1409 left_pitch=0.0878 left_roll=0.175 left_gripper=0.0736 right_x=0.3117 right_y=0.1226 right_z=-0.0016 right_yaw=0.0301 right_pitch=0.1121 right_roll=-0.0574 right_gripper=0.646\nstate[joint_eff]: [-0.0752, -9.3333, 5.7231, 1.3846, -0.3443, -0.0513, 0.6569, 0.0752, -6.5709, 1.9897, 1.4383, 0.232, 0.0073, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb479fb94c46634b0d0ecc443f0bf0d0b5d10aedd653c0d60a509d6d715c38c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac48dca46c9fec365591c6fa3c3c2bde39fb33be1fc44af9a7181642e06b5ce0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b29d237c3af9dabd4e48194d401d6264399342ca8d410b8f30bacd7a8b4b81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.496 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 135 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]: [-0.7593, 1.8675, 1.0126, 0.1341, -0.8524, -0.4278, 0.0662, 1.2175, 1.8141, 0.9348, 0.1062, 1.3705, 0.936, 0.071]\nstate[eef_state]: left_x=0.4156 left_y=-0.2062 left_z=0.0962 left_yaw=0.1345 left_pitch=0.1137 left_roll=0.1521 left_gripper=0.0662 right_x=0.2841 right_y=0.2805 right_z=0.1444 right_yaw=-0.3178 right_pitch=0.4105 right_roll=0.1912 right_gripper=0.071\nstate[joint_eff]: [-10.2222, -9.5248, 11.453, 1.7607, -0.2222, -0.0269, 0.9744, 8.7453, -1.853, 14.1744, 1.4628, -2.3419, -1.873, 0.6764]",
      "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]: [-0.762, 1.887, 1.0031, 0.1154, -0.857, -0.4461, 0.0706, 0.6601, 1.8942, 0.2058, 1.1305, 0.5919, 0.2592, 0.0759]\nstate[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0826 left_yaw=0.141 left_pitch=0.0882 left_roll=0.1752 left_gripper=0.0706 right_x=0.31 right_y=0.1204 right_z=-0.0026 right_yaw=0.0222 right_pitch=0.1043 right_roll=-0.0671 right_gripper=0.0759\nstate[joint_eff]: [-0.1846, -9.3197, 6.0239, 1.3358, -0.2711, -0.0073, 0.8034, -0.6222, -6.6393, 2.9197, 0.9744, -0.1197, -0.105, 0.6032]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 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]: [-0.762, 1.887, 1.0027, 0.1154, -0.8566, -0.4465, 0.0736, 0.6567, 1.9038, 0.2073, 1.153, 0.5797, 0.2546, 0.646]\nstate[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0824 left_yaw=0.1409 left_pitch=0.0878 left_roll=0.175 left_gripper=0.0736 right_x=0.3117 right_y=0.1226 right_z=-0.0016 right_yaw=0.0301 right_pitch=0.1121 right_roll=-0.0574 right_gripper=0.646\nstate[joint_eff]: [-0.0752, -9.3333, 5.7231, 1.3846, -0.3443, -0.0513, 0.6569, 0.0752, -6.5709, 1.9897, 1.4383, 0.232, 0.0073, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb479fb94c46634b0d0ecc443f0bf0d0b5d10aedd653c0d60a509d6d715c38c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac48dca46c9fec365591c6fa3c3c2bde39fb33be1fc44af9a7181642e06b5ce0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b29d237c3af9dabd4e48194d401d6264399342ca8d410b8f30bacd7a8b4b81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGSJvEeNW951k3kdbUdW3RkHjfZy1i3GwA7SlMUh-VzKNlkTObKPXoJmV2hCiL1ZczNGCE4xOBFsyWrzkhnlJQqGKrqE0fCfhpCvMC6jsnUuwuv8fG5ht7MAXMnfc0vv2IP9DAcQyJLgnYL0sCDRajcCwJQKJuFhhiV84mrnzm-ZveI4Kja-eZ4nayQBoNhr_Y0uxW3x0xpGBrGd39a-B7tyH_3fCjr9ADVZQK_OhEoDGItQYJDnQ6nlwNqOx2-stdNfWjmHfwXoaQ2KZWeQec29u49GbwfSd1ZIKCA8-Qxron1F7rUelkU5pa73Ftuk7QVh2ILNYkPUcjH6BDr2z-d8bXLGiiDJV-wreyy0IsdgfjPjrB77_bAxHM7HnaDE-cm9d-ci7w_H5SV_yAScsgOAddNeVEyjw3wF1jxLMYe26D4tKlQ2bLL3G62e6HBLoe1OPPqWjnUEGlLPdv8Pmq4FJPugGjmeqbaRSrLhHMe4TBOdt5aQN_OKlLsclh3YvEgp-IsDYJn7fQbDMg-8UAWocgdbu11egJy8wSMK6pAqbfpzMDidXyG_r5PqPvls1wH4s0UpKiO4KGCJZaimkeXDCl9gN6NQaYJIPJvuPsHC_C-XY6tdJRwnfaW03ObgSS7enYIRvqMkVOsWOwu9c4AhC4CpybLHmXXDeRqKUKrLVamFLtoJ-HseXP93oUW3crxlgMolS6b_ne_y8T08kN83aUWBE9sUNO2nohljYQxagKYhkWLuvvgS8k5g_h_gf1wLnlF6t0Nb3N8US4FEOunvUzoPmc4Z5PiqZoGnWq9WIfg6Z5pCcxIhoQ9X4kIvyLQuPjenKdZP5-_sSD-VLYTKz0BpsajW0v8EYzLeEGmssJcRtFJEEWN_OdI_22fevbPIQhI0sY9uhLpfhhUIuQ5rILr0KV6o8vgBooLOahdOrHNrqe36xboykaT3crfXOozRP6msuQPXZTWKwwnV0-1yz3VXTX1ejoEmuR58I2H_rMYN9hEhko2XUYiwyoV2Ra-VS4QQSEWEyXShjYbjpZ3yfDLMDyNpwxGD57JvO08BT1m19EgGYqQUP4vreQGzrd2lw1TJmNvCHkc4BpfXN8oqYxbFmTe_KjcUmWCf77e842yUJbZ98_nBznoZMi_8PlzcVXxLxcqKfLTtWBT92F_sjfUOo2zcb_VVsrdoFkuBMdcdn8tFObrS_tXzr3dRUOY2WflVAnI59WpZuc8ZHEb15hGhn-DlXcMjJdMxXoXRkCrWQ280LS3hFR3UHwWT8s1EtvWJKvFb_M8thduopRV8kQaYfu0scG6qqK_spiBOHNT5idx6L-KVn7A6jSzUNVAejlxRVoQGgjVHDMcJweC97lu56NRzJtNfapd9joSjlE9yQlIXehX2gIkBgYSEdk11_CdgnYHix1s-CW7_7WHSHWZqPa7xD8tGRqC9_wkDiXdAXjYc2husEA_sg_OZr8X302B4ua3xFq_kBOqjRAtt5JyS3Mg3N9DoSoBf6K6dQakFBSb2ZX3nC8NcN82BgFNw77VGRqctwdBcOSRH9FL_NQVK-mi5ZlROKrWHZwATtSYdQ4nsjhMM-p9y8CalSHny29vCu2sS2Z6gJ_-lsNszZ_G37YdHqOncq-B1OLx-P6c8J7-LcJo9wofBfgMKRERYgWPwqEJYaTrglyQkpnc0k8SbcBCF2UK1CMvbVGGV8NTACzMIAlI4Ao37siiH6Jv0QJL6omKrdfV9rBWB5cJPco97UYSKikQhFll1PsqPc4=",
  "id": "rs_0d4feeb2e0be1b47016ab4718ecc9887d0b5083fe4bf82d8b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.15,\"left_z\":0.012,\"left_yaw\":0.1,\"left_pitch\":0.07,\"left_roll\":-0.04},\"note\":\"The pen is released on the right. I’m lowering the cap onto a separate clear spot on the left, away from the pen and the idle gripper.\"}",
  "call_id": "call_aZGN3jhxnnsZFG4iXNokcO3a",
  "id": "fc_0d4feeb2e0be1b47016ab47190400c87d0928740130b8daab6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aZGN3jhxnnsZFG4iXNokcO3a",
  "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]: [-0.7017, 1.8442, 0.5194, 0.5522, -0.7219, -0.4805, 0.0761, 0.6567, 1.903, 0.2077, 1.1522, 0.5743, 0.2539, 0.6466]\nstate[eef_state]: left_x=0.3483 left_y=-0.1368 left_z=0.0018 left_yaw=0.1258 left_pitch=0.0164 left_roll=0.0875 left_gripper=0.0761 right_x=0.3117 right_y=0.1236 right_z=-0.0017 right_yaw=0.0348 right_pitch=0.1108 right_roll=-0.0556 right_gripper=0.6466\nstate[joint_eff]: [0.253, -6.8171, 4.0957, 1.2625, 0.1978, -0.0757, 0.6276, -0.0068, -5.8051, 2.3726, 1.6532, 0.1734, -0.022, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df203af1a99d34cf678c4b3e5960d433703938b3c54d89e71e81f0aadf848c71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89bcb06ae7e449385dda4888f0ba7ad5f5e5f8186dde0f8efceadd1f734f6a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc85256f199a84713a650269a8a66b8e1a42a767b18cab42b912594774e03115",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 2.811 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 135 changed as sent

message 139 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]: [-0.762, 1.887, 1.0069, 0.1188, -0.857, -0.4431, 0.0696, 1.0664, 1.0424, 0.5194, -0.0082, 0.9775, 0.5144, 0.0728]\nstate[eef_state]: left_x=0.4122 left_y=-0.2039 left_z=0.0843 left_yaw=0.1399 left_pitch=0.0924 left_roll=0.1722 left_gripper=0.0696 right_x=0.2579 right_y=0.1716 right_z=0.1842 right_yaw=-0.02 right_pitch=0.2714 right_roll=0.0637 right_gripper=0.0728\nstate[joint_eff]: [0.0205, -10.8923, 6.188, 1.5897, -0.3297, 0.1441, 0.6569, -0.294, -2.5368, 6.6256, 1.536, 0.105, -0.188, 0.779]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 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]: [-0.762, 1.887, 1.0027, 0.1154, -0.8566, -0.4465, 0.0736, 0.6567, 1.9038, 0.2073, 1.153, 0.5797, 0.2546, 0.646]\nstate[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0824 left_yaw=0.1409 left_pitch=0.0878 left_roll=0.175 left_gripper=0.0736 right_x=0.3117 right_y=0.1226 right_z=-0.0016 right_yaw=0.0301 right_pitch=0.1121 right_roll=-0.0574 right_gripper=0.646\nstate[joint_eff]: [-0.0752, -9.3333, 5.7231, 1.3846, -0.3443, -0.0513, 0.6569, 0.0752, -6.5709, 1.9897, 1.4383, 0.232, 0.0073, -0.1294]\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 139 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]: [-0.7017, 1.8442, 0.5194, 0.5522, -0.7219, -0.4805, 0.0761, 0.6567, 1.903, 0.2077, 1.1522, 0.5743, 0.2539, 0.6466]\nstate[eef_state]: left_x=0.3483 left_y=-0.1368 left_z=0.0018 left_yaw=0.1258 left_pitch=0.0164 left_roll=0.0875 left_gripper=0.0761 right_x=0.3117 right_y=0.1236 right_z=-0.0017 right_yaw=0.0348 right_pitch=0.1108 right_roll=-0.0556 right_gripper=0.6466\nstate[joint_eff]: [0.253, -6.8171, 4.0957, 1.2625, 0.1978, -0.0757, 0.6276, -0.0068, -5.8051, 2.3726, 1.6532, 0.1734, -0.022, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df203af1a99d34cf678c4b3e5960d433703938b3c54d89e71e81f0aadf848c71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89bcb06ae7e449385dda4888f0ba7ad5f5e5f8186dde0f8efceadd1f734f6a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc85256f199a84713a650269a8a66b8e1a42a767b18cab42b912594774e03115",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The cap is at table height. I’m releasing it before withdrawing both arms.\"}",
  "call_id": "call_jDuMDKpNXCGLKLdWQM8V1ORM",
  "id": "fc_0d4feeb2e0be1b47016ab471951c9c87d0a2b34982822a5f03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jDuMDKpNXCGLKLdWQM8V1ORM",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6971, 1.845, 0.5053, 0.5797, -0.725, -0.4896, 0.6451, 0.6567, 1.903, 0.2073, 1.153, 0.5713, 0.2535, 0.6467]\nstate[eef_state]: left_x=0.3479 left_y=-0.1339 left_z=0.0022 left_yaw=0.1376 left_pitch=0.0269 left_roll=0.0718 left_gripper=0.6451 right_x=0.3116 right_y=0.1241 right_z=-0.0018 right_yaw=0.0375 right_pitch=0.1102 right_roll=-0.0545 right_gripper=0.6467\nstate[joint_eff]: [-0.4444, -7.1179, 5.2171, 1.16, -0.1636, 0.0464, 0.0757, -0.0205, -5.5043, 2.1265, 1.6288, 0.1636, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c1e3d7c37c8a15cfcf3744a2da1b450a410a467be167e198db2362a70a486f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12e97aaa9e9174767e2993fe9295b9d9510b8b8bcddd082d4564e139a1f134a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffafdee8a51488933586de315bfe7e28963d9012f0a633d1a119691b3c89e955",
      "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 · 5.498 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 139 changed as sent

message 142 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]: [-0.762, 1.887, 1.0031, 0.1154, -0.857, -0.4461, 0.0706, 0.6601, 1.8942, 0.2058, 1.1305, 0.5919, 0.2592, 0.0759]\nstate[eef_state]: left_x=0.4111 left_y=-0.2028 left_z=0.0826 left_yaw=0.141 left_pitch=0.0882 left_roll=0.1752 left_gripper=0.0706 right_x=0.31 right_y=0.1204 right_z=-0.0026 right_yaw=0.0222 right_pitch=0.1043 right_roll=-0.0671 right_gripper=0.0759\nstate[joint_eff]: [-0.1846, -9.3197, 6.0239, 1.3358, -0.2711, -0.0073, 0.8034, -0.6222, -6.6393, 2.9197, 0.9744, -0.1197, -0.105, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 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]: [-0.7017, 1.8442, 0.5194, 0.5522, -0.7219, -0.4805, 0.0761, 0.6567, 1.903, 0.2077, 1.1522, 0.5743, 0.2539, 0.6466]\nstate[eef_state]: left_x=0.3483 left_y=-0.1368 left_z=0.0018 left_yaw=0.1258 left_pitch=0.0164 left_roll=0.0875 left_gripper=0.0761 right_x=0.3117 right_y=0.1236 right_z=-0.0017 right_yaw=0.0348 right_pitch=0.1108 right_roll=-0.0556 right_gripper=0.6466\nstate[joint_eff]: [0.253, -6.8171, 4.0957, 1.2625, 0.1978, -0.0757, 0.6276, -0.0068, -5.8051, 2.3726, 1.6532, 0.1734, -0.022, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 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]: [-0.6971, 1.845, 0.5053, 0.5797, -0.725, -0.4896, 0.6451, 0.6567, 1.903, 0.2073, 1.153, 0.5713, 0.2535, 0.6467]\nstate[eef_state]: left_x=0.3479 left_y=-0.1339 left_z=0.0022 left_yaw=0.1376 left_pitch=0.0269 left_roll=0.0718 left_gripper=0.6451 right_x=0.3116 right_y=0.1241 right_z=-0.0018 right_yaw=0.0375 right_pitch=0.1102 right_roll=-0.0545 right_gripper=0.6467\nstate[joint_eff]: [-0.4444, -7.1179, 5.2171, 1.16, -0.1636, 0.0464, 0.0757, -0.0205, -5.5043, 2.1265, 1.6288, 0.1636, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c1e3d7c37c8a15cfcf3744a2da1b450a410a467be167e198db2362a70a486f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12e97aaa9e9174767e2993fe9295b9d9510b8b8bcddd082d4564e139a1f134a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffafdee8a51488933586de315bfe7e28963d9012f0a633d1a119691b3c89e955",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.185,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both pieces have been released in separate areas. I’m lifting the arms away and returning them to their parked positions so the final placement is visible.\"}",
  "call_id": "call_AfZyYW86tk9k1Uc39JfDw55u",
  "id": "fc_0d4feeb2e0be1b47016ab47197fc9487d083ea2a96170a5ef6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AfZyYW86tk9k1Uc39JfDw55u",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0582, 0.8143, 0.5735, -0.3191, -0.1268, -0.0967, 0.6455, -0.009, 0.8028, 0.5671, -0.3058, 0.028, 0.0113, 0.6467]\nstate[eef_state]: left_x=0.3 left_y=0.0085 left_z=0.1738 left_yaw=0.0897 left_pitch=0.016 left_roll=-0.0057 left_gripper=0.6455 right_x=0.3003 right_y=-0.0041 right_z=0.1761 right_yaw=-0.047 right_pitch=0.0188 right_roll=-0.0041 right_gripper=0.6467\nstate[joint_eff]: [0.1436, -1.9214, 9.7983, 1.7411, 0.0855, 0.2076, 0.0269, -0.3761, -2.3043, 8.9641, 1.6923, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76709fc8250b8b1cb47291d49bb7d6525d8dc8578af77e6bcc9a234e0945e85d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1f6bd71742bed0477b79f3f8541f0725c22f71a97f5987516bb64653227bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f0ee1f0b303c2c7ab03a94780f93ba77f323f4e3c120e25f524046b2fb0a38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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