adhoc

completed
2026-09-24T01:01:04.067663+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
209.9 s
total steps
272
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked clear.
move_to
left_x0.3500left_y-0.2450left_z0.1300left_gripper1.0000right_x0.2950right_y0.0000right_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]: [-0.02, 0.7929, 0.6022, -0.3794, -0.0219, -0.0242, 0.9998, -0.0185, 0.7921, 0.6098, -0.3782, -0.0227, -0.0147, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1835 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.6632, -1.4701, 10.5094, 1.79, -0.0464, 0.1099, -0.0366, -0.5128, -1.347, 9.812, 1.8242, -0.0611, -0.0366, -0.0952] 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":0.35,"left_y":-0.245,"left_z":0.13,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.185},"note":"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked clear."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe cap is close to the left gripper’s center column and lies diagonally. I’m lowering toward it and turning the jaws to grip across, rather than along, its length.
move_to
left_x0.3750left_y-0.2450left_z0.0250left_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8883, 1.626, 0.9432, -0.1699, -0.6952, -0.6022, 0.9998, -0.0269, 0.7959, 0.6132, -0.3935, -0.0307, -0.0154, 0.9992] state[eef_state]: left_x=0.3416 left_y=-0.2351 left_z=0.1128 left_yaw=-0.0131 left_pitch=-0.0473 left_roll=0.0333 left_gripper=0.9998 right_x=0.2942 right_y=0.0011 right_z=0.1809 right_yaw=-0.0009 right_pitch=-0.0155 right_roll=0.0042 right_gripper=0.9992 state[joint_eff]: [-0.4034, -7.7333, 9.0325, 1.4823, -0.442, 0.0562, -0.0366, -0.8684, -1.7436, 7.241, 1.79, -0.0708, -0.1343, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.245,"left_z":0.025,"left_yaw":-0.65},"note":"The cap is close to the left gripper’s center column and lies diagonally. I’m lowering toward it and turning the jaws to grip across, rather than along, its length."})
tool
executing move_to over 6 steps (0.6s)
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 is visible between the open fingers, but the last pose fell short sideways. I’m making a small alignment correction to put the cap’s middle at the grasp point.
move_to
left_x0.3890left_y-0.2390left_z0.0160left_yaw-0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5941, 1.8233, 0.6895, 0.3962, -0.1246, -0.0776, 0.9997, -0.0265, 0.7982, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992] state[eef_state]: left_x=0.367 left_y=-0.2171 left_z=0.0062 left_yaw=-0.4571 left_pitch=-0.1612 left_roll=0.0333 left_gripper=0.9997 right_x=0.2939 right_y=0.0012 right_z=0.1796 right_yaw=-0.0012 right_pitch=-0.0213 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [0.294, -8.1436, 5.6547, 1.8486, 0.2955, 0.2173, -0.0171, -0.1436, -1.2923, 7.0359, 1.7509, -0.0562, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.389,"left_y":-0.239,"left_z":0.016,"left_yaw":-0.65},"note":"The cap is visible between the open fingers, but the last pose fell short sideways. I’m making a small alignment correction to put the cap’s middle at the grasp point."})
tool
executing move_to over 2 steps (0.2s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe cap now runs into the fingertip region and is positioned across the jaw gap. I’m closing the left gripper to pick it up.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5514, 1.866, 0.7429, 0.4019, 0.0273, 0.0483, 0.9995, -0.0265, 0.7982, 0.6132, -0.3973, -0.0299, -0.0147, 0.9992] state[eef_state]: left_x=0.3761 left_y=-0.2328 left_z=0.007 left_yaw=-0.6125 left_pitch=-0.1513 left_roll=0.0256 left_gripper=0.9995 right_x=0.2939 right_y=0.0011 right_z=0.1795 right_yaw=-0.0015 right_pitch=-0.0216 right_roll=0.0046 right_gripper=0.9992 state[joint_eff]: [0.8821, -7.9521, 8.5402, 1.8926, 0.2173, 0.2515, -0.0317, -0.3624, -1.2376, 7.2137, 1.7705, -0.0317, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap now runs into the fingertip region and is positioned across the jaw gap. I’m closing the left gripper to pick it up."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe gripper closed almost completely, so that attempt was empty. I’m reopening, moving slightly farther along the cap, and lowering to table level for one retry.
move_to
left_gripper0.6500left_x0.4030left_y-0.2430left_z-0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5304, 1.8771, 0.8032, 0.3172, 0.0429, 0.0818, 0.0084, -0.0265, 0.7998, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992] state[eef_state]: left_x=0.3849 left_y=-0.2304 left_z=0.0078 left_yaw=-0.6237 left_pitch=-0.1866 left_roll=0.0374 left_gripper=0.0084 right_x=0.294 right_y=0.0012 right_z=0.1791 right_yaw=-0.0012 right_pitch=-0.0228 right_roll=0.0048 right_gripper=0.9992 state[joint_eff]: [-0.4581, -8.6222, 6.9402, 1.5604, 0.2418, 0.0806, 0.6081, -0.1026, -1.4154, 7.0359, 1.7558, -0.0269, -0.0171, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.65,"left_x":0.403,"left_y":-0.243,"left_z":-0.008},"note":"The gripper closed almost completely, so that attempt was empty. I’m reopening, moving slightly farther along the cap, and lowering to table level for one retry."})
tool
executing move_to over 7 steps (0.7s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe fingertips are now at table height after the small forward correction. I’m closing again to check whether the cap is securely between them.
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]: [-0.5308, 1.961, 0.8646, 0.3649, 0.0338, 0.065, 0.6452, -0.0265, 0.8036, 0.6132, -0.4072, -0.0303, -0.0147, 0.9992] state[eef_state]: left_x=0.4036 left_y=-0.2397 left_z=0.001 left_yaw=-0.6067 left_pitch=-0.1616 left_roll=0.0332 left_gripper=0.6452 right_x=0.2929 right_y=0.0012 right_z=0.176 right_yaw=-0.0012 right_pitch=-0.0369 right_roll=0.0052 right_gripper=0.9992 state[joint_eff]: [-0.7453, -7.0906, 6.6803, 1.3016, 0.0415, 0.1343, 0.0269, -0.1709, -1.5521, 7.0632, 1.8291, -0.0366, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips are now at table height after the small forward correction. I’m closing again to check whether the cap is securely between them."})
tool
executing move_to over 7 steps (0.7s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe second close was also empty. I’m lifting away to expose the cap in the overhead view and re-establish its position before another approach.
move_to
left_x0.3000left_y-0.1200left_z0.1500left_gripper0.7000left_yaw0.0000right_x0.2950right_y0.0000right_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]: [-0.5323, 1.9694, 0.8703, 0.3805, 0.0303, 0.0612, 0.0081, -0.0261, 0.8051, 0.6132, -0.4122, -0.0303, -0.0147, 0.9992] state[eef_state]: left_x=0.4067 left_y=-0.2416 left_z=0.0021 left_yaw=-0.603 left_pitch=-0.1488 left_roll=0.0336 left_gripper=0.0081 right_x=0.2923 right_y=0.0013 right_z=0.1746 right_yaw=-0.0008 right_pitch=-0.0434 right_roll=0.0054 right_gripper=0.9992 state[joint_eff]: [0.0479, -10.1128, 4.6838, 1.4383, 0.0659, 0.0171, 0.6276, -0.1162, -1.4427, 7.0085, 1.7949, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.12,"left_z":0.15,"left_gripper":0.7,"left_yaw":0,"right_x":0.295,"right_y":0,"right_z":0.185},"note":"The second close was also empty. I’m lifting away to expose the cap in the overhead view and re-establish its position before another approach."})
tool
executing move_to over 11 steps (1.1s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe cap is still on the table and has turned sideways during contact. I’m approaching its newly visible position from above, with an intermediate wrist turn so I can align the jaws to its new direction.
move_to
left_x0.3650left_y-0.2260left_z0.0650left_yaw0.7000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6495, 1.179, 0.7277, -0.3473, -0.4332, -0.3939, 0.6966, -0.0269, 0.8242, 0.6186, -0.4431, -0.0311, -0.0154, 0.9992] state[eef_state]: left_x=0.3072 left_y=-0.1356 left_z=0.1382 left_yaw=-0.0827 left_pitch=-0.1381 left_roll=0.0173 left_gripper=0.6966 right_x=0.2896 right_y=0.0013 right_z=0.1656 right_yaw=-0.0005 right_pitch=-0.088 right_roll=0.0063 right_gripper=0.9992 state[joint_eff]: [-0.5402, -4.3145, 9.8803, 1.4725, -0.2369, 0.0073, -0.0415, -0.8, -1.2786, 10.5778, 1.6728, -0.1148, -0.1148, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.226,"left_z":0.065,"left_yaw":0.7,"left_gripper":0.7},"note":"The cap is still on the table and has turned sideways during contact. I’m approaching its newly visible position from above, with an intermediate wrist turn so I can align the jaws to its new direction."})
tool
executing move_to over 9 steps (0.9s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe cap is just left of the jaw center in the wrist view. I’m correcting sideways and completing the turn while descending to grip across its narrow body.
move_to
left_x0.3650left_y-0.2180left_z0.0120left_yaw1.3500left_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]: [-0.878, 2.154, 1.5631, -0.8917, -0.8265, -1.438, 0.6996, -0.0303, 0.8291, 0.6186, -0.4637, -0.0338, -0.0151, 0.9992] state[eef_state]: left_x=0.3702 left_y=-0.237 left_z=0.0569 left_yaw=0.5932 left_pitch=-0.171 left_roll=0.0168 left_gripper=0.6996 right_x=0.2867 right_y=0.0009 right_z=0.1603 right_yaw=-0.0017 right_pitch=-0.1135 right_roll=0.009 right_gripper=0.9992 state[joint_eff]: [-0.5538, -12.4923, 6.2017, -0.0708, -0.6862, -0.0171, -0.0513, 0.0479, -1.6342, 6.9812, 1.8437, 0.0171, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.218,"left_z":0.012,"left_yaw":1.35,"left_gripper":0.65},"note":"The cap is just left of the jaw center in the wrist view. I’m correcting sideways and completing the turn while descending to grip across its narrow body."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe cap remains visible beside the left finger, and the arm moved farther forward than requested during the turn. I’m holding the current angle and translating back toward the cap rather than repeating the missed pose.
move_to
left_x0.3820left_y-0.1890left_z0.0100left_yaw1.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.73, 2.6282, 2.1956, -1.4544, -0.7513, -2.0258, 0.6508, -0.0307, 0.8333, 0.6178, -0.4664, -0.0341, -0.0147, 0.9992] state[eef_state]: left_x=0.4072 left_y=-0.1978 left_z=0.0044 left_yaw=1.1551 left_pitch=-0.1979 left_roll=0.0007 left_gripper=0.6508 right_x=0.2864 right_y=0.0008 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.1211 right_roll=0.0098 right_gripper=0.9992 state[joint_eff]: [2.9744, -13.4906, 6.8718, -0.7155, -0.3541, -0.0904, 0.0073, -0.0479, -1.6479, 6.9949, 1.663, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.382,"left_y":-0.189,"left_z":0.01,"left_yaw":1.15},"note":"The cap remains visible beside the left finger, and the arm moved farther forward than requested during the turn. I’m holding the current angle and translating back toward the cap rather than repeating the missed pose."})
tool
executing move_to over 2 steps (0.2s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe low wrist turn is giving poor position tracking and has disturbed the cap. I’m lifting clear and returning toward a simpler wrist angle before trying to grip it again.
move_to
left_x0.3600left_y-0.2200left_z0.1200left_yaw0.4000left_gripper0.8000right_x0.2950right_y0.0000right_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]: [-0.6697, 2.5584, 2.0377, -1.4483, -0.7456, -2.0731, 0.6505, -0.0311, 0.836, 0.6178, -0.4656, -0.0341, -0.0147, 0.9992] state[eef_state]: left_x=0.3941 left_y=-0.1546 left_z=0.0036 left_yaw=1.2583 left_pitch=-0.1751 left_roll=0.0463 left_gripper=0.6505 right_x=0.2866 right_y=0.0007 right_z=0.1578 right_yaw=-0.0024 right_pitch=-0.123 right_roll=0.0098 right_gripper=0.9992 state[joint_eff]: [-3.8769, -15.9385, 6.3385, 0.3053, -0.1245, 0.149, -0.0415, -0.1573, -1.2103, 7.0632, 1.7118, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.22,"left_z":0.12,"left_yaw":0.4,"left_gripper":0.8,"right_x":0.295,"right_y":0,"right_z":0.185},"note":"The low wrist turn is giving poor position tracking and has disturbed the cap. I’m lifting clear and returning toward a simpler wrist angle before trying to grip it again."})
tool
executing move_to over 8 steps (0.8s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe left arm did not lift as commanded; its readback is still at table level. I’m reducing reach and keeping the wrist angle unchanged to recover a clear, raised pose.
move_to
left_x0.3000left_y-0.1600left_z0.2200left_yaw1.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7036, 2.5122, 1.9602, -1.3834, -0.7597, -2.0026, 0.799, -0.0315, 0.8818, 0.6979, -0.5453, -0.0345, -0.0154, 0.9992] state[eef_state]: left_x=0.388 left_y=-0.1649 left_z=0.0052 left_yaw=1.1741 left_pitch=-0.176 left_roll=0.0624 left_gripper=0.799 right_x=0.2882 right_y=0.0006 right_z=0.1658 right_yaw=-0.0018 right_pitch=-0.1684 right_roll=0.0108 right_gripper=0.9992 state[joint_eff]: [-0.3624, -15.9248, 4.1778, -0.3297, -0.5397, 0.1441, -0.0171, -0.3897, -1.2923, 10.5504, 1.746, -0.0464, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.16,"left_z":0.22,"left_yaw":1.17},"note":"The left arm did not lift as commanded; its readback is still at table level. I’m reducing reach and keeping the wrist angle unchanged to recover a clear, raised pose."})
tool
executing move_to over 14 steps (1.4s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe arm is clear of the table again, though still short of the raised target. I’m restoring a neutral yaw with a small forward tilt to avoid the awkward wrist configuration.
move_to
left_x0.3200left_y-0.1400left_z0.1600left_yaw0.0000left_pitch0.1500left_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]: [-0.7219, 1.9804, 1.6276, -1.5574, -0.7509, -2.0068, 0.8001, -0.0315, 0.8879, 0.6983, -0.5507, -0.0341, -0.0147, 0.9992] state[eef_state]: left_x=0.3141 left_y=-0.1112 left_z=0.1382 left_yaw=1.1571 left_pitch=-0.1914 left_roll=0.0374 left_gripper=0.8001 right_x=0.2877 right_y=0.0006 right_z=0.1634 right_yaw=-0.0025 right_pitch=-0.1795 right_roll=0.0115 right_gripper=0.9992 state[joint_eff]: [0.4308, -10.8513, 4.8752, -0.398, -0.4957, 0.0415, 0.1001, -0.2256, -1.812, 6.8991, 1.6435, -0.0464, -0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.14,"left_z":0.16,"left_yaw":0,"left_pitch":0.15,"left_roll":0},"note":"The arm is clear of the table again, though still short of the raised target. I’m restoring a neutral yaw with a small forward tilt to avoid the awkward wrist configuration."})
tool
executing move_to over 12 steps (1.2s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe cap is visible ahead of the left fingertips after the recovery. I’m advancing along its centerline and lowering partway, keeping the wrist in the configuration that tracks more reliably.
move_to
left_x0.3550left_y-0.1400left_z0.0650left_yaw0.0000left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7574, 1.1934, 0.5961, -0.1375, -0.7589, -0.5571, 0.8001, -0.0315, 0.8902, 0.6971, -0.5671, -0.0345, -0.0151, 0.9992] state[eef_state]: left_x=0.3085 left_y=-0.1195 left_z=0.1364 left_yaw=0.1386 left_pitch=0.0618 left_roll=0.0089 left_gripper=0.8001 right_x=0.2848 right_y=0.0007 right_z=0.1593 right_yaw=-0.0018 right_pitch=-0.1993 right_roll=0.012 right_gripper=0.9992 state[joint_eff]: [0.2393, -3.959, 7.5419, 1.8046, -0.2613, 0.2173, -0.0024, -0.253, -1.7983, 6.9675, 1.7656, -0.0464, -0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.14,"left_z":0.065,"left_yaw":0,"left_pitch":0.15},"note":"The cap is visible ahead of the left fingertips after the recovery. I’m advancing along its centerline and lowering partway, keeping the wrist in the configuration that tracks more reliably."})
tool
executing move_to over 5 steps (0.5s)
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 lower view shows the cap still clearly ahead of the fingertips, not underneath them. I’m advancing farther while keeping it centered between the jaws.
move_to
left_x0.4140left_y-0.1350left_z0.0180left_yaw0.0000left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6548, 1.5829, 0.429, 0.4599, -0.6266, -0.3573, 0.8001, -0.0315, 0.8932, 0.6971, -0.5713, -0.0345, -0.0147, 0.9992] state[eef_state]: left_x=0.3359 left_y=-0.1228 left_z=0.04 left_yaw=0.0372 left_pitch=0.0221 left_roll=0.0919 left_gripper=0.8001 right_x=0.2842 right_y=0.0007 right_z=0.1577 right_yaw=-0.002 right_pitch=-0.2065 right_roll=0.0125 right_gripper=0.9992 state[joint_eff]: [0.1709, -6.8444, 4.8752, 1.8974, -0.315, 0.1001, -0.0073, -0.3487, -1.9077, 6.8991, 1.6044, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.414,"left_y":-0.135,"left_z":0.018,"left_yaw":0,"left_pitch":0.15},"note":"The lower view shows the cap still clearly ahead of the fingertips, not underneath them. I’m advancing farther while keeping it centered between the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe arm only advanced partway, and the cap is now slightly left of center. I’m using a smaller forward step with a sideways correction before the final descent.
move_to
left_x0.3820left_y-0.1190left_z0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3302, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992] state[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0236 left_pitch=0.1217 left_roll=0.0227 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992 state[joint_eff]: [-0.2256, -6.7761, 5.0803, 1.9023, 0.0317, 0.1587, -0.0073, -0.1983, -1.7026, 7.0496, 1.5507, -0.0513, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.382,"left_y":-0.119,"left_z":0.05},"note":"The arm only advanced partway, and the cap is now slightly left of center. I’m using a smaller forward step with a sideways correction before the final descent."})
tool
executing move_to over 3 steps (0.3s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe smaller translation produced no motion, suggesting the tilted pose is not tracking. I’m removing the tilt while requesting the same modest approach to the cap.
move_to
left_x0.3800left_y-0.1200left_z0.0550left_pitch0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3298, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992] state[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0234 left_pitch=0.1217 left_roll=0.023 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992 state[joint_eff]: [-0.1436, -6.6256, 5.2718, 1.8828, -0.0122, 0.2173, -0.0171, -0.3761, -1.6752, 6.8718, 1.5653, -0.0415, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.12,"left_z":0.055,"left_pitch":0,"left_yaw":0},"note":"The smaller translation produced no motion, suggesting the tilted pose is not tracking. I’m removing the tilt while requesting the same modest approach to the cap."})
tool
executing move_to over 5 steps (0.5s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteNeutral tilt restored motion, and the cap is centered ahead of the fingers. I’m advancing while lowering so its thicker body reaches the fingertip closing line.
move_to
left_x0.4350left_y-0.1130left_z0.0080left_pitch0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5129, 1.6245, 0.524, 0.4671, -0.4831, -0.3134, 0.8002, -0.0315, 0.8959, 0.6971, -0.5705, -0.0341, -0.0147, 0.9992] state[eef_state]: left_x=0.3743 left_y=-0.1125 left_z=0.0505 left_yaw=0.0444 left_pitch=0.0179 left_roll=0.0222 left_gripper=0.8002 right_x=0.2845 right_y=0.0007 right_z=0.1572 right_yaw=-0.0023 right_pitch=-0.2084 right_roll=0.0123 right_gripper=0.9992 state[joint_eff]: [0.2803, -6.2291, 7.5145, 1.6484, -0.0171, 0.1148, -0.0171, -0.2667, -1.7573, 6.8718, 1.5311, -0.0366, 0.0024, -0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.113,"left_z":0.008,"left_pitch":0,"left_yaw":0},"note":"Neutral tilt restored motion, and the cap is centered ahead of the fingers. I’m advancing while lowering so its thicker body reaches the fingertip closing line."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe descent tracked, but the forward move fell short. The cap is still in front of the closing line, so I’m making a short, level advance toward it.
move_to
left_x0.4020left_y-0.1110left_z0.0290
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.4862, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0345, -0.0147, 0.9992] state[eef_state]: left_x=0.3777 left_y=-0.1109 left_z=0.0287 left_yaw=0.0341 left_pitch=-0.0316 left_roll=0.034 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.002 right_pitch=-0.2092 right_roll=0.0126 right_gripper=0.9992 state[joint_eff]: [-0.0068, -7.4598, 5.8325, 1.8584, -0.2808, 0.0611, -0.0171, -0.1436, -1.894, 7.0359, 1.5263, -0.0269, -0.0757, -0.0122] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.402,"left_y":-0.111,"left_z":0.029},"note":"The descent tracked, but the forward move fell short. The cap is still in front of the closing line, so I’m making a short, level advance toward it."})
tool
executing move_to over 2 steps (0.2s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteForward tracking remains stalled at this wrist angle. I’m turning to match the cap’s diagonal direction, which also gives the arm a different configuration for the final approach.
move_to
left_x0.4170left_y-0.1200left_z0.0140left_yaw-0.5500left_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]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992] state[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2847 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.2088 right_roll=0.0126 right_gripper=0.9992 state[joint_eff]: [-0.0068, -7.4872, 5.9692, 1.8339, -0.2564, 0.0611, -0.0171, -0.1436, -1.812, 6.8991, 1.5556, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.417,"left_y":-0.12,"left_z":0.014,"left_yaw":-0.55,"left_pitch":0},"note":"Forward tracking remains stalled at this wrist angle. I’m turning to match the cap’s diagonal direction, which also gives the arm a different configuration for the final approach."})
tool
executing move_to over 4 steps (0.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe left arm is no longer responding to the cap approach targets, so I’m withdrawing it. I’ll try picking up the pen with the right arm while leaving space between the arms.
move_to
left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000right_x0.3500right_y0.2800right_z0.1200right_yaw0.0000right_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]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0341, -0.0147, 0.9992] state[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.0023 right_pitch=-0.2092 right_roll=0.0123 right_gripper=0.9992 state[joint_eff]: [0.1436, -7.4735, 5.8462, 1.8291, -0.2613, 0.0952, -0.0171, -0.2256, -1.6479, 6.8855, 1.5556, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.18,"left_yaw":0,"left_pitch":0,"right_x":0.35,"right_y":0.28,"right_z":0.12,"right_yaw":0,"right_gripper":0.8},"note":"The left arm is no longer responding to the cap approach targets, so I’m withdrawing it. I’ll try picking up the pen with the right arm while leaving space between the arms."})
tool
executing move_to over 24 steps (2.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe pen is visible diagonally ahead and to the right of the right gripper. I’m lowering toward its barrel and turning the jaws to close across the pen.
move_to
right_x0.3850right_y0.2400right_z0.0250right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0624, 0.8379, 0.5667, -0.3283, -0.0994, -0.0498, 0.8002, 0.8742, 1.7615, 1.2186, -0.4671, 0.5411, 0.667, 0.8013] state[eef_state]: left_x=0.2994 left_y=0.0025 left_z=0.1618 left_yaw=0.0368 left_pitch=-0.0265 left_roll=0.0234 left_gripper=0.8002 right_x=0.3421 right_y=0.2727 right_z=0.1086 right_yaw=0.0303 right_pitch=-0.2518 right_roll=-0.0156 right_gripper=0.8013 state[joint_eff]: [0.3077, -2.0991, 10.5504, 1.6337, -0.0366, 0.232, -0.0171, 0.6085, -8.5128, 8.6359, 1.2039, 0.5006, 0.1587, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.24,"right_z":0.025,"right_yaw":0.6},"note":"The pen is visible diagonally ahead and to the right of the right gripper. I’m lowering toward its barrel and turning the jaws to close across the pen."})
tool
executing move_to over 6 steps (0.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe pen’s barrel is centered through the fingertip region. I’m lowering straight to the tabletop before closing so the thin pen cannot pass underneath the jaws.
move_to
right_x0.3780right_y0.2250right_z-0.0080right_yaw0.4400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0593, 0.844, 0.569, -0.3538, -0.0952, -0.0505, 0.8002, 0.5621, 1.8149, 0.9154, 0.0196, 0.0814, 0.0765, 0.8008] state[eef_state]: left_x=0.2964 left_y=0.0028 left_z=0.156 left_yaw=0.0369 left_pitch=-0.0559 left_roll=0.0232 left_gripper=0.8002 right_x=0.3781 right_y=0.2254 right_z=0.0241 right_yaw=0.4381 right_pitch=-0.3154 right_roll=-0.0166 right_gripper=0.8008 state[joint_eff]: [-0.4171, -2.0171, 6.8308, 1.9023, -0.0464, -0.0171, -0.0122, -0.841, -7.788, 4.8889, 1.4872, -0.1343, -0.0904, -0.0611] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.378,"right_y":0.225,"right_z":-0.008,"right_yaw":0.44},"note":"The pen’s barrel is centered through the fingertip region. I’m lowering straight to the tabletop before closing so the thin pen cannot pass underneath the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
assistant
agent noteThe right fingertips are at table level with the pen running between them. I’m closing the gripper around the barrel.
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]: [-0.0593, 0.8463, 0.569, -0.3588, -0.0971, -0.0505, 0.8002, 0.5526, 1.8725, 0.8818, 0.1322, 0.0402, 0.0292, 0.8008] state[eef_state]: left_x=0.2957 left_y=0.0032 left_z=0.1544 left_yaw=0.0385 left_pitch=-0.063 left_roll=0.0251 left_gripper=0.8002 right_x=0.3799 right_y=0.2301 right_z=0.0056 right_yaw=0.4921 right_pitch=-0.2971 right_roll=-0.0138 right_gripper=0.8008 state[joint_eff]: [-0.3487, -1.7162, 7.0632, 1.707, -0.0806, -0.0317, -0.0171, 0.4308, -7.3778, 4.8342, 1.4237, 0.1343, 0.1294, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are at table level with the pen running between them. I’m closing the gripper around the barrel."})
tool
executing move_to over 9 steps (0.9s)
step 188
assistant
agent noteThe gripper stopped just above its empty reading, and the pen is aligned between the closed fingers. I’m lifting a few centimeters to verify that the pen moves with the gripper.
move_to
right_x0.3840right_y0.2280right_z0.0700right_yaw0.4450left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0593, 0.8463, 0.569, -0.3645, -0.0971, -0.0505, 0.8002, 0.5579, 1.887, 0.8749, 0.1707, 0.075, 0.0692, 0.042] state[eef_state]: left_x=0.2949 left_y=0.0032 left_z=0.1533 left_yaw=0.0385 left_pitch=-0.0687 left_roll=0.0256 left_gripper=0.8002 right_x=0.3843 right_y=0.2285 right_z=0.0035 right_yaw=0.4451 right_pitch=-0.2777 right_roll=-0.0117 right_gripper=0.042 state[joint_eff]: [-0.335, -1.5658, 6.9949, 1.7558, -0.0806, -0.0757, -0.0171, 0.1709, -7.6513, 4.9299, 1.2674, 0.0513, 0.0415, 1.0672] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.384,"right_y":0.228,"right_z":0.07,"right_yaw":0.445,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The gripper stopped just above its empty reading, and the pen is aligned between the closed fingers. I’m lifting a few centimeters to verify that the pen moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 193
assistant
agent noteThe pen stayed fixed between the right fingers during the lift, confirming a pickup. I’m raising it clear and approaching the cap’s farther-forward position with the left arm.
move_to
left_x0.4600left_y-0.1300left_z0.1000left_yaw-0.5000left_gripper0.6500right_x0.3500right_y0.2000right_z0.1700right_yaw0.4450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0753, 0.8524, 0.63, -0.4534, -0.1009, -0.0624, 0.8002, 0.5579, 1.7615, 0.9573, -0.0422, 0.0708, 0.0658, 0.0437] state[eef_state]: left_x=0.2911 left_y=-0.0005 left_z=0.1616 left_yaw=0.0324 left_pitch=-0.1021 left_roll=0.022 left_gripper=0.8002 right_x=0.3835 right_y=0.2288 right_z=0.0521 right_yaw=0.4505 right_pitch=-0.283 right_roll=-0.0114 right_gripper=0.0437 state[joint_eff]: [-0.6359, -1.5111, 10.2906, 1.746, -0.232, -0.0659, -0.0171, -0.2803, -10.3043, 7.7744, 1.4579, 0.0122, -0.0415, 1.0281] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.13,"left_z":0.1,"left_yaw":-0.5,"left_gripper":0.65,"right_x":0.35,"right_y":0.2,"right_z":0.17,"right_yaw":0.445},"note":"The pen stayed fixed between the right fingers during the lift, confirming a pickup. I’m raising it clear and approaching the cap’s farther-forward position with the left arm."})
tool
executing move_to over 13 steps (1.3s)
step 206
assistant
agent noteThe cap now extends into the left fingertip region, and the pen is held safely aloft. I’m lowering the left gripper straight down onto the cap without another forward shift.
move_to
left_x0.4420left_y-0.1150left_z-0.0060left_yaw-0.4300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1989, 1.7313, 0.9695, -0.0097, 0.1665, 0.1432, 0.6508, 0.5426, 1.4849, 1.092, -0.4927, 0.0666, 0.0528, 0.0481] state[eef_state]: left_x=0.442 left_y=-0.1153 left_z=0.0767 left_yaw=-0.4317 left_pitch=-0.1882 left_roll=-0.0055 left_gripper=0.6508 right_x=0.349 right_y=0.2009 right_z=0.146 right_yaw=0.4449 right_pitch=-0.3224 right_roll=-0.0212 right_gripper=0.0481 state[joint_eff]: [-0.4444, -9.0051, 8.9094, 1.7851, 0.1343, 0.315, 0.0073, -0.841, -8.7453, 9.5932, 1.5116, -0.0464, 0.0171, 1.033] 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":0.442,"left_y":-0.115,"left_z":-0.006,"left_yaw":-0.43},"note":"The cap now extends into the left fingertip region, and the pen is held safely aloft. I’m lowering the left gripper straight down onto the cap without another forward shift."})
tool
executing move_to over 6 steps (0.6s)
step 212
assistant
agent noteAt table height the cap is alongside the right finger rather than centered. I’m shifting slightly back and right to bring its body onto the closing line.
move_to
left_x0.4190left_y-0.1330left_z0.0060left_yaw-0.4300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1989, 1.9209, 0.8566, 0.281, 0.1642, 0.1436, 0.6505, 0.5426, 1.4803, 1.0901, -0.5163, 0.0677, 0.0521, 0.0524] state[eef_state]: left_x=0.4411 left_y=-0.1147 left_z=0.0026 left_yaw=-0.4305 left_pitch=-0.2001 left_roll=-0.0064 left_gripper=0.6505 right_x=0.3447 right_y=0.1981 right_z=0.1434 right_yaw=0.4436 right_pitch=-0.3432 right_roll=-0.0248 right_gripper=0.0524 state[joint_eff]: [-0.0068, -6.9402, 4.1094, 1.0623, 0.0464, -0.0073, -0.0464, -0.3487, -5.6547, 6.8855, 1.5946, -0.0024, -0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.419,"left_y":-0.133,"left_z":0.006,"left_yaw":-0.43},"note":"At table height the cap is alongside the right finger rather than centered. I’m shifting slightly back and right to bring its body onto the closing line."})
tool
executing move_to over 2 steps (0.2s)
step 214
assistant
agent noteThe cap has entered the left jaw gap after the correction. I’m closing to test the grasp before attempting any alignment with the pen.
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]: [-0.2306, 1.9022, 0.8108, 0.3279, 0.1303, 0.1211, 0.6505, 0.543, 1.4822, 1.0897, -0.5171, 0.0673, 0.0521, 0.0562] state[eef_state]: left_x=0.4331 left_y=-0.1216 left_z=0.0025 left_yaw=-0.4201 left_pitch=-0.1855 left_roll=0.0048 left_gripper=0.6505 right_x=0.3444 right_y=0.1982 right_z=0.1424 right_yaw=0.4442 right_pitch=-0.3463 right_roll=-0.0248 right_gripper=0.0562 state[joint_eff]: [-1.3607, -10.2906, 5.135, 1.4432, 0.1294, -0.1538, -0.0122, -0.212, -6.5846, 6.7487, 1.4139, -0.0415, -0.0806, 0.906] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap has entered the left jaw gap after the correction. I’m closing to test the grasp before attempting any alignment with the pen."})
tool
executing move_to over 7 steps (0.7s)
step 221
assistant
agent noteThe left gripper stopped slightly above its empty reading, with a small part of the cap visible beyond the fingers. I’m lifting to verify that the cap has been picked up.
move_to
left_x0.4320left_y-0.1170left_z0.0750left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2256, 1.8877, 0.7948, 0.3412, 0.1207, 0.112, 0.0407, 0.5426, 1.4822, 1.0897, -0.5175, 0.0669, 0.0521, 0.0593] state[eef_state]: left_x=0.4323 left_y=-0.1174 left_z=0.0054 left_yaw=-0.4017 left_pitch=-0.175 left_roll=0.0068 left_gripper=0.0407 right_x=0.3444 right_y=0.1981 right_z=0.1423 right_yaw=0.4442 right_pitch=-0.3467 right_roll=-0.0245 right_gripper=0.0593 state[joint_eff]: [-0.4718, -7.3368, 6.8581, 1.4188, 0.1978, 0.1099, 1.0769, -0.1983, -6.612, 6.694, 1.3504, -0.0269, -0.0464, 0.8864] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.432,"left_y":-0.117,"left_z":0.075,"left_yaw":-0.4},"note":"The left gripper stopped slightly above its empty reading, with a small part of the cap visible beyond the fingers. I’m lifting to verify that the cap has been picked up."})
tool
executing move_to over 5 steps (0.5s)
step 226
assistant
agent noteThe cap did not remain between the left fingers during the lift; it has shifted away to the upper-left of the wrist view. I’m clearing the left arm to locate it while keeping the pen secure.
move_to
left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000right_x0.3500right_y0.2000right_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2256, 1.7309, 0.8635, 0.0975, 0.1135, 0.1062, 0.0408, 0.543, 1.4834, 1.0874, -0.5232, 0.0669, 0.0521, 0.0626] state[eef_state]: left_x=0.4278 left_y=-0.1151 left_z=0.0537 left_yaw=-0.3929 left_pitch=-0.1939 left_roll=0.0043 left_gripper=0.0408 right_x=0.3429 right_y=0.1973 right_z=0.1401 right_yaw=0.4442 right_pitch=-0.3558 right_roll=-0.0255 right_gripper=0.0626 state[joint_eff]: [-0.1846, -9.8393, 8.6769, 1.6093, 0.0806, -0.0122, -0.0024, -0.1846, -6.3658, 6.8718, 1.5165, -0.0122, -0.0464, 0.6764] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.18,"left_yaw":0,"right_x":0.35,"right_y":0.2,"right_z":0.17},"note":"The cap did not remain between the left fingers during the lift; it has shifted away to the upper-left of the wrist view. I’m clearing the left arm to locate it while keeping the pen secure."})
tool
executing move_to over 11 steps (1.1s)
step 237
assistant
agent noteThe cap has slid far toward the back of the table, beyond the arms’ table-level reach. I can’t safely complete the capping operation there, so I’m lowering the held pen back onto the table.
move_to
right_x0.3500right_y0.2000right_z0.0120right_yaw0.4450
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0414, 0.9981, 0.7624, -0.5213, -0.0162, -0.0223, 0.0408, 0.5426, 1.4975, 1.1877, -0.6411, 0.0666, 0.046, 0.0643] state[eef_state]: left_x=0.3086 left_y=-0.0063 left_z=0.1657 left_yaw=-0.0268 left_pitch=-0.187 left_roll=0.0016 left_gripper=0.0408 right_x=0.3428 right_y=0.1972 right_z=0.1574 right_yaw=0.4465 right_pitch=-0.3874 right_roll=-0.0324 right_gripper=0.0643 state[joint_eff]: [0.3077, -3.0291, 10.6462, 1.5653, -0.0317, -0.0855, -0.0122, -0.5538, -5.9966, 9.6342, 1.3162, -0.0464, 0.022, 0.7302] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.2,"right_z":0.012,"right_yaw":0.445},"note":"The cap has slid far toward the back of the table, beyond the arms’ table-level reach. I can’t safely complete the capping operation there, so I’m lowering the held pen back onto the table."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteThe pen is down at table level and still controlled by the right fingers. I’m opening the gripper to leave it safely on the tabletop.
move_to
right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0399, 1.0054, 0.7654, -0.5419, -0.0223, -0.0261, 0.0408, 0.5426, 1.7229, 0.8249, -0.1146, 0.0666, 0.0444, 0.0668] state[eef_state]: left_x=0.306 left_y=-0.0047 left_z=0.1613 left_yaw=-0.0178 left_pitch=-0.2117 left_roll=0.0036 left_gripper=0.0408 right_x=0.3383 right_y=0.1944 right_z=0.0099 right_yaw=0.4447 right_pitch=-0.449 right_roll=-0.0398 right_gripper=0.0668 state[joint_eff]: [-0.4718, -3.2068, 6.6256, 1.6972, -0.0073, -0.0317, -0.0122, -0.5402, -7.3094, 5.4359, 1.619, -0.022, -0.0024, 0.7204] 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":{"right_gripper":0.7},"note":"The pen is down at table level and still controlled by the right fingers. I’m opening the gripper to leave it safely on the tabletop."})
tool
executing move_to over 7 steps (0.7s)
step 254
assistant
agent noteThe pen has been released, and the cap remains far beyond it near the back-left of the table. I’m parking both arms clear so the separated parts can be recovered by the operator.
move_to
right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0399, 1.0054, 0.7654, -0.543, -0.0227, -0.0261, 0.0408, 0.5426, 1.7405, 0.8154, -0.1043, 0.0673, 0.041, 0.6952] state[eef_state]: left_x=0.3058 left_y=-0.0046 left_z=0.1611 left_yaw=-0.0175 left_pitch=-0.2128 left_roll=0.0039 left_gripper=0.0408 right_x=0.3356 right_y=0.1927 right_z=0.0017 right_yaw=0.4452 right_pitch=-0.4657 right_roll=-0.0444 right_gripper=0.6952 state[joint_eff]: [-0.212, -2.4137, 6.8991, 1.5507, -0.0366, -0.0659, -0.0073, -0.3897, -8.9231, 6.3521, 1.1502, -0.0122, -0.0073, -0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_yaw":0,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The pen has been released, and the cap remains far beyond it near the back-left of the table. I’m parking both arms clear so the separated parts can be recovered by the operator."})
tool
executing move_to over 17 steps (1.7s)
step 271
assistant
agent noteI picked up the pen and returned it safely to the table, but could not secure the cap. The cap slipped toward the back-left of the table, beyond table-level reach, so I could not put it on the pen. Both arms are parked clear.
give_up
hindsightFor these slender parts, a gripper reading around 0.04 is ambiguous: verify the object actually follows the lift. The pen grasp at right x≈0.38, y≈0.23, z≈0.004, yaw≈0.45 succeeded. Low wrist rotations disturbed the cap and caused large tracking errors; avoid rotating around small loose parts at table height. Several left-arm forward targets stalled until the arm was raised and reconfigured. Pitch readback drifted substantially negative despite a zero target, changing wrist-camera geometry; use actual pose and short visual corrections rather than assuming neutral tilt.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0196, 0.9771, 0.7792, -0.6338, -0.0189, -0.0246, 0.0408, 0.0158, 1.1954, 1.0294, -0.8902, 0.0246, -0.0353, 0.6958] state[eef_state]: left_x=0.2906 left_y=0.0012 left_z=0.1593 left_yaw=-0.0012 left_pitch=-0.2617 left_roll=0.0031 left_gripper=0.0408 right_x=0.2961 right_y=0.0039 right_z=0.1617 right_yaw=0.0041 right_pitch=-0.4957 right_roll=-0.048 right_gripper=0.6958 state[joint_eff]: [0.1573, -3.453, 10.6188, 1.5263, 0.0904, 0.1441, -0.0171, -0.4308, -5.4769, 9.0051, 1.2918, -0.105, 0.0415, 0.0513] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up the pen and returned it safely to the table, but could not secure the cap. The cap slipped toward the back-left of the table, beyond table-level reach, so I could not put it on the pen. Both arms are parked clear.","hindsight":"For these slender parts, a gripper reading around 0.04 is ambiguous: verify the object actually follows the lift. The pen grasp at right x≈0.38, y≈0.23, z≈0.004, yaw≈0.45 succeeded. Low wrist rotations disturbed the cap and caused large tracking errors; avoid rotating around small loose parts at table height. Several left-arm forward targets stalled until the arm was raised and reconfigured. Pitch readback drifted substantially negative despite a zero target, changing wrist-camera geometry; use actual pose and short visual corrections rather than assuming neutral tilt."})
tool
give_up: I picked up the pen and returned it safely to the table, but could not secure the cap. The cap slipped toward the back-left of the table, beyond table-level reach, so I could not put it on the pen. Both arms are parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.778 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.0219, -0.0242, 0.9998, -0.0185, 0.7921, 0.6098, -0.3782, -0.0227, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1835 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6632, -1.4701, 10.5094, 1.79, -0.0464, 0.1099, -0.0366, -0.5128, -1.347, 9.812, 1.8242, -0.0611, -0.0366, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac4678858f1661b14f1ea83169434c3cea69c84c5d728018b167166075b8eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c339d1fe064cd7d381676b0922ddcf361abb47f5886df1e76e1b5eabb6d9f37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e5a42392e67ab8376fea84014b10cc799b4498a3907963192df2020d429978",
      "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 1 attempt 0 · /responses · status 200 · 8.981 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZiGN71DF4XBawftre7cIF1MAbmnA1Csay-T1rpFP6Al9qG8nLROHqo5o_LQqgZcZNqH3VnCfIObcLPVyGruk2JnvaENCRioDM6tiOHp7dZ7mUXz_uOG-lpjdAp-HGrXY5Xh4gIdq0stlbhIE7g4mLI1fXowlttP6SaTfvi5PBli5JOO-2fz5etSCUdWnsdpVuknzeyUX2EH1Td31fNyFswAMhDQLa5XQYRKRDSQMauB1XCclymeoZhjbJ12dXfAMnxPVhxtipJPsRVxwNPnkp_omaEweBwl-U0gQylw6NUXMOcOg8NuD-9ThaXV2cXHntWYKTsx8b0eC0COsJ32jXG5YYh9zg7e-yAQN4vmm37RAkICYsHEkZWdG-t0h2gCBj-LYWdFuiFuZa-TAXhFBFT0f4hqalo49Xh8R5UmK_dwvDfk-JiOtp-bvKy2e0lu2aFA6-mU_15mmgnDED1vz-DMXKcf24mXffQUMlSBWft75sXUL9R2ztoz8X4Jzsjx0NdVpHuknigDVSDHjmaI1um_NeqfMgAgbSVb8foHO3BUj3nKWfyEEUDKijEscFoOw2ZPXa8rEh5ExPNfq5xpyRx8SThgCoCZoszY4xjZ6sAOxe3GTuWBflaEdpH_d8auRV91WOnY3uM0IPjGGeXFHWUlGIXHKWDHOzLCB0Klsf-pUwRj7B3NXZtLyXjBTCo47uI29NluRXz915DOAMHECGWV3XFdIr0tr8a8lMWn_w9FA0Eacci6zV64oYvwlYac5HshzRfo7NQ0m9uw9VnClnh-xb3JGAA1Iv_XoEGa_CtiUtGJWtDUwGPi-QjgPrwCAsP1uwQHfg_EQPSP9-CTTN2Y-8ur-wQDFJvYg2e4pOqB3VnnUzj5_Vnav7LDx8rgUKtQNfq6KygZzvHWM4FdCz53nWqTBpFViubZ-gxuysbQGOR6f03Gc6C45QVkf9wW0QR7wyLsj3-dsl0LeKVMIUbGJdYYqL3P0k3zb3SuIkyyF5fnng47wp4sQX1SL1n-BnGFvmNkg5B9cxtvgGiOkpfPkTsVYJfilbIEIEaVnFYz7R4whQ92aRbID4dvZ3mrOd6WWcKPNlalYmY5KW2xZPEZqZ6-aVMD7m_eEYTTh7pDLhHHEe2Riw4-ChzU56uXv7IHvzAJX38GlPgAR3oxZVPA4F7glvtBVcJurUTMyMfwo9PhfSwHr3G8XbjfObmPMNfa4GBXSR3tR409-noEtvuz7JVfhtNeDUsQce8y6fQCrjs_aVJbvZbliZgMdiR3YYsINQnV_px-WRe720po3LQzZBEOxPW0OoNOmxqe2uPoA-XlLSKkFpXQrSUZ0vDovnpqQcXc-OZTGkz2PCyL7OwwFxc4S8ab9lJ1xRZNTLkHjrqko3paAp112m6i4PMUDTEb5XNzwIwYIJBmfyFIQEzwHHeVmFmC6_61eyenDQYVKsLNqAPtfbFEVcjijh4k2IHcjKErEeDN5FhcL03qK9DGyJ2qdxUNJSaccK6wYgtNhJv8eNWqxIKYirUYzuOrjZ1Dbv5tehPUYzqmcMFnOrYgsSyYlEeB3OHPmHuaL8YBkPGN7bfGldEVcg7sUvfzrlwreGDuWLHQCG7CKYevpaRasfCfHeajuYrLNqgu-K6ixZv-Vla-U3y7SqMGwUkxScspQTMw0vTMuooKVHiQkXCa0xvcSXJNsnAJRH2cA5z4NmDgM_sC6w_MaEk_PBGJuSd22r5fT13QVtASD3CZJ1yC8OXwT-ZO-KR_17bF1SxxcFatC4an3Czepv7aYJik65Al0z33KeZO03Uvoj2I2bUS_M-pfK1RQe6KMqmYLUE09DW9dByndjtI8NBmjULgOPSCHadLkX8tuYNpTiFrPtvWNG7V9S4OStpJ2qRAgUsdrTVK5ACifKxWxBzbl0Dy052QIACZVNSa1qqXINsNGdaKSMSNitcqCefGKdWs4KVNU7wHwioh7LVrpng-5EMESwDrmX4S4arLSu-CmT_Izt_zzJ7Gk-nb-71iaqdvvuzXTTcEi8fSJsIWHTcSzPc47PnjIPq6jvQZUXoWxfTNp2HIbdPE2vrwISCJa9_TuRVCkDcz9odu_Dm2tF7NLf2sLW_z6JtYmpTufSxpyqa8s3jEQ==",
  "id": "rs_019ab0a2ba501d90016ab4765e910087d0939d9ac634639f67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.245,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185},\"note\":\"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked clear.\"}",
  "call_id": "call_R7EksQ17mnusaofcClNmke20",
  "id": "fc_019ab0a2ba501d90016ab47661980c87d09d0578dad728558b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R7EksQ17mnusaofcClNmke20",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.8883, 1.626, 0.9432, -0.1699, -0.6952, -0.6022, 0.9998, -0.0269, 0.7959, 0.6132, -0.3935, -0.0307, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3416 left_y=-0.2351 left_z=0.1128 left_yaw=-0.0131 left_pitch=-0.0473 left_roll=0.0333 left_gripper=0.9998 right_x=0.2942 right_y=0.0011 right_z=0.1809 right_yaw=-0.0009 right_pitch=-0.0155 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.7333, 9.0325, 1.4823, -0.442, 0.0562, -0.0366, -0.8684, -1.7436, 7.241, 1.79, -0.0708, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abee3fbe83c4c291e68f8ed71c9ab88074222d1bf2a89d7f6b283ea3be50ab57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f995fb927d4c24b87ec3d75065d3f8d61c3e6bb9b01d35af637ec594cbb73f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb2d029bc43b56f3e5a9dc414aa7eab761d02fc2c8d78a62b31c4c8b3959e553",
      "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 2 attempt 0 · /responses · status 200 · 4.878 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.0219, -0.0242, 0.9998, -0.0185, 0.7921, 0.6098, -0.3782, -0.0227, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1835 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6632, -1.4701, 10.5094, 1.79, -0.0464, 0.1099, -0.0366, -0.5128, -1.347, 9.812, 1.8242, -0.0611, -0.0366, -0.0952]",
      "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]: [-0.8883, 1.626, 0.9432, -0.1699, -0.6952, -0.6022, 0.9998, -0.0269, 0.7959, 0.6132, -0.3935, -0.0307, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3416 left_y=-0.2351 left_z=0.1128 left_yaw=-0.0131 left_pitch=-0.0473 left_roll=0.0333 left_gripper=0.9998 right_x=0.2942 right_y=0.0011 right_z=0.1809 right_yaw=-0.0009 right_pitch=-0.0155 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.7333, 9.0325, 1.4823, -0.442, 0.0562, -0.0366, -0.8684, -1.7436, 7.241, 1.79, -0.0708, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abee3fbe83c4c291e68f8ed71c9ab88074222d1bf2a89d7f6b283ea3be50ab57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f995fb927d4c24b87ec3d75065d3f8d61c3e6bb9b01d35af637ec594cbb73f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb2d029bc43b56f3e5a9dc414aa7eab761d02fc2c8d78a62b31c4c8b3959e553",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZt0MGYgh5ihh4tEM2kjlHeAfUrKpdjR6CqJQhz3eeRR47IRISPgg0kxh0Y1sc-egVunwdzDfse4-Brefn3JF1iLBxxXA--I_80bYdanB4Yynk3ez8xQTBOPH6gmp0kAUgLnAibIwFB3OXXZVi0m3eAjbhMRg98TQYcTStttQ5-Ivzln8aNOE7yru4jmre5id69Cc6FG50QvlEI48VysS5aaIDZYsTAzus4Ggi6rtX2or_3CgOg8QuLvwUfs-B_vrEtcyI6S3bCcYF4nGn9EbxjmE0R8NyGOXCAirVaIe1H7OjidBaNf5z309lxnPt8aYJepm558kRZvfrGGYiLWW-w4d55Yvyr12MnJEhiAVv88DeO6jRdfMDGoag4UJfEXK13OZmP198O946N1dRAabGEFhQon41Sa47vre7s7B3Vby6GWp3IUd8QZI8KuygdJ-1Nv_ABuURZn6sj2f6a5qfq94nuB46U28wIJzSAfMhUALBp8IoqXJypdu45HYXH-_fPpeZ3XIqJgFsQ9r6u2WiI00SweOW4P7UIES3UUhxIRXj0TORw8ttYQUnA5A7nJxxFyILJ2-DC-uPEX8EeqE-n5IcG_kDWWpQsMMJggyrZ4ciiqDeAk1V29L0lIKyfJyjhsqJ2-NDoM1RWrcB4AzMJfgh6eBb7ggT4ReSibuU1cru0poCr8q5aD7L6rMvAFreE5bUQ4vHu6YsdjlwCnFu9yPaT_W8zmkhsyqREdgM4tG47gV-j10sfbLtIffgMIU4xZDlXys2wkPbbBltRHlGJKf4VqbfB4fqJemo5ftmNHBUw9JHMPvs8HwU-HmRa-YwYCEpafwqtVRuIFrHWisOjG4yiOzmhRr5ksmOcbLbZtzvRgZeqAGyYvKlJY3ITMG3Ls4W3_Uaf5M6QpRnW4q2QefhA-e-4CtMYkDuM90FeIvWlHgLocozvGvHCbOxEnEM4s6di9_QbV8OPhaw4xIlZ3cq70fpkgUPVpPYqhqzu1D4-8hetg6fuCNBQQZ4XuqV1bpuWm4m_DINXG03yDDR1Ezzs4DHq28LJQON_jphzr-w2hD-yrpWokz8VBsJP9Jirzi5mzJaBuO02IVWC_u-OsuB38ApsOuRqXDmtwjzDSRbFz1GPOsc1DECzQ_oKi1pcFTwHsjSoXpLveJk69fdk0WO9vWiYQDcsJLQcDBvffbormhZDOlJix0e_yiJI8nzrGs6BuA6Gf7kZK9CnFkpKnxOPymn5i_QvXb7DOWCbrpmCiLjboL50MD_9KgGZpWam3PU2AiikpVhRYWwZeUq9TMb6Cw3q08JMvJE8gQaO5GnTRFFFPBpd7eZ5Lk1zSLl5Hy_3Tg-begVK8d84r0Jvfv8rNInB9e1zlSaVBgQ3W_QJkT-GgLrnl4sqebOEy8GpOKbdBoGwz_6Ssrp706WpdOS9Lf2MMzKlPKTy-vwTDGBPdiFdUu3FG9X7xa7NQWz-d_Kguojr9OtYkB_h8RrQqThredaK6RlgBFZKpTnUP_KT_wa8uKxUQEMVCjQI1dq_WrI4B_hYNk32Vw_YtOisHwKjQPwMoMy_lhBP8UJ1_-7fzP-v9x3Z8WPS5X4J_erVH_o7wOKq9T9eKCtXhEmmFz6G-qjYulv4Cl7tbdoHrlVgkBN93_ZgIZcDXigrViGNjJxpEQv_Mc0Pym2LKrFBhtHfn-cahX78IcKctV2ctFH87mXHQZh8E67S0TtOcM4oVmxNPMt7ID-ljIuqfASGD5ftzgS7YXusxRz9xfJhgY39R1r5Gxt2GAJ471HgR7G7urJpJn6gkEnDLV_FcLPC3R9x5hhck1HLzGpx7agIe4-uEBDaJi31X4EG9ahQmTrro9m6zdcRH_KmuaqaZD9yKvKziQYMR57l8OE273cpBY4ONb1QY46Moxgr5g1rW40k57rovvZUWwOLAmnEUUX3-8pLzVmF9J_tssqOMmaJzbLf4vXVez57NKZ8gJHTy1XopZmMx1sbXIqjbq2KuuP01tiTJBxz9MNZlnU9kNUtRaUJ9_aM4n-EfcYtVQ5vqJjk9Q4eve8Ra7ojYoxvLwdwXfn1nvV8qEJkHh8TZZYDFTdWl1nGm7ECaMl6SNQ7NjzLCxQIlIkhqP1zE8eF8K-Y6k-PTXzssDjLMz2kr8eTtIbfLI32tcexz_LtoWb_Ef2wJJF2Ox-c1p197MfgAKGVBwLsu7f4-Gw_RYz_ON2Ipf1WlqmAeDga14QmaYz8PG6KKW20D75_SNRnDmozWbqZYu-hGOUVyPwOEgPA7Hsl_4nxh7euU-OK1K2oRjs8caDQQptDDrT83b8zHIIuURD3rSSsYRDmqPVAevFhWy0VZNuIH2-ptdgzfgtFXeUGcfNrlvBJyWNyofAC4Dn6y96CElavHEKMv84eO4n5yifqr-wui1KcGRTeVDc9Lfx5S6PNKEgZ0T97932JCgbqt5HdpQFeVmiX26l6vxCbWhthMX463bBWUxhe-GK7cGU-rogAdYnJTaLqoI6_a2RrENAZkuhkMde71i2DVcSk_cRWjZ1fifS4A7huligVIyEIcLVcvH7ZUKAePmq7BVOb7HgwwrfTV06PXkFTFNd7XZganJdZCilqbfErlTjSq6ai4bZ6BDYHiuOjGonmv1MJRSZ3qgY_r12RTFAI_q1cj2a0IUEFTS83C3feflFeMtQFUW_uQwpp0zng45YX6ZyU5E3FxwJCVWHA3j7kBrPWWNoWxDGZWI6v6vFjiR6fCJhp2uDH0gI1obD2YnEXc95KByCVaehIOmRbUlGGDTmrpC9VCsTfCuirkdAt5DT0Ka2Uf9J9aYm_ds0tzn2ruecB2_p6RN1sM5v7KTdR5X9T6vsq_iyya653438Tq04_ab1XE0cOwzxMpdbhG3Oo5YQBuhQm5WWc0wWUizCAKDrGPsUoLxz63DdJi0d7Od-lbucLIvcwRPA5V9G0z10rdZC8K2GcQN_G474YoMmbCEpNI1ne9f8t_cQdc1WV841f72BlbXt2",
  "id": "rs_019ab0a2ba501d90016ab476667a4887d08f3eb6ca099f80ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.245,\"left_z\":0.025,\"left_yaw\":-0.65},\"note\":\"The cap is close to the left gripper’s center column and lies diagonally. I’m lowering toward it and turning the jaws to grip across, rather than along, its length.\"}",
  "call_id": "call_ZMTCB817ghIgHuYg6Nz1zYny",
  "id": "fc_019ab0a2ba501d90016ab4766cbf0c87d0888e559fedda03f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZMTCB817ghIgHuYg6Nz1zYny",
  "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]: [-0.5941, 1.8233, 0.6895, 0.3962, -0.1246, -0.0776, 0.9997, -0.0265, 0.7982, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.367 left_y=-0.2171 left_z=0.0062 left_yaw=-0.4571 left_pitch=-0.1612 left_roll=0.0333 left_gripper=0.9997 right_x=0.2939 right_y=0.0012 right_z=0.1796 right_yaw=-0.0012 right_pitch=-0.0213 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.294, -8.1436, 5.6547, 1.8486, 0.2955, 0.2173, -0.0171, -0.1436, -1.2923, 7.0359, 1.7509, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70ec0575643a05b69d038e55e0af80b8e210fa3c6093a5c5879f4593a3cb56b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e36f166cc5e552fd259431789c4d2e81e960c5098f252c809c5d6eb9167eefb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58dd6b2c399eb6bcb4286df48b79a5a6c9f10ad946e3423d1b7a03f0a599db5",
      "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 3 attempt 0 · /responses · status 200 · 2.891 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]: [-0.8883, 1.626, 0.9432, -0.1699, -0.6952, -0.6022, 0.9998, -0.0269, 0.7959, 0.6132, -0.3935, -0.0307, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3416 left_y=-0.2351 left_z=0.1128 left_yaw=-0.0131 left_pitch=-0.0473 left_roll=0.0333 left_gripper=0.9998 right_x=0.2942 right_y=0.0011 right_z=0.1809 right_yaw=-0.0009 right_pitch=-0.0155 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.7333, 9.0325, 1.4823, -0.442, 0.0562, -0.0366, -0.8684, -1.7436, 7.241, 1.79, -0.0708, -0.1343, -0.0122]",
      "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]: [-0.5941, 1.8233, 0.6895, 0.3962, -0.1246, -0.0776, 0.9997, -0.0265, 0.7982, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.367 left_y=-0.2171 left_z=0.0062 left_yaw=-0.4571 left_pitch=-0.1612 left_roll=0.0333 left_gripper=0.9997 right_x=0.2939 right_y=0.0012 right_z=0.1796 right_yaw=-0.0012 right_pitch=-0.0213 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.294, -8.1436, 5.6547, 1.8486, 0.2955, 0.2173, -0.0171, -0.1436, -1.2923, 7.0359, 1.7509, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70ec0575643a05b69d038e55e0af80b8e210fa3c6093a5c5879f4593a3cb56b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e36f166cc5e552fd259431789c4d2e81e960c5098f252c809c5d6eb9167eefb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58dd6b2c399eb6bcb4286df48b79a5a6c9f10ad946e3423d1b7a03f0a599db5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZzbdLTnRrLkDbDvOmOaFgg6PY1DOa1InyEvyANpOQKVba_uNrrXUCriSAUU5mlzDqIxP0PPQztD3WtAwadIT6UwOvN-7hfsnNDT0u_qD0OtR0WRP6KkNmz0M-NnmshvMh-Mkb6BtJJOyivKpBYMxgFf-dvL98tu0yVqoqXc92Ba7YQDhM7YXvQe_g9L3ey4klCIm1B-TMLThWlplEeN5Ede62Z_1hCxeivvY9ylAZxO3pyO2Ew_F3GKU4qq1s4oty2o2B_iqapCkbK1RuKL3VRHk9YP0C_4KOXT0RQo4H7v67e8N5hn1CpIMDtGsubCs7PSzjpUA_pDoRx8rNG-oR69xZXt1772paj2Eii3T1XB56Rdvk7Tiy3vhE0MeLKICDpzwPskZqlSRA5LNrm88o-jV0siN2rTleG4fz9aJ4hwAOiHYNWaWa2FG8PzKXZ69eQvhs8WFQmhFSkAHmfBczdJRhFg792GVPdO5zArdR69F79sGxWv1_jfATHiEpAvP_kq9FbxUt_YrlQ41dzo0n8OtmCRmSZKcJDgu4vkv6mnXjwa_lzt7Emma6SqHK-mqf7ebcgUANAkLLOywwlk3Pq3fm28EVdG1645KlhAf75de1wVR8G8QETMgexdcvTcuq7w5h3DW1PJlI-WpuJWiTqWy4p_QQlC4PIFOlzGaqVgA7DeCIN-zVR2QRl54hdJsQVA5M7A92eN4HGG5FHG-ZYslxz12TsPyCl6hfUaUL3WRK1y9nDItNW6YzbJ3KR9QPt_tmBqmLoaUoDEDr77EGEe62zIeIDl5uOr4E56knHOBtnmsSBPzZftAqtcQYzEBpkt-gYotigvnLtZ-UZ670AzcPA6wrsdW1IOalrY-8Bgu8CfiWuQz78thRwfXB4DzhkF5n6197IEqqXTedpxgL16DKp1THFjYNm6aX9TtzV3JE1fMevGB7_EDLWjrNTpeSrCZelfjrDsPYbi9v9-MH2g9BDHYIGnQWM3uquhR1Otw7y5EHphtLvJNEgCLjA3TEH-aMe0ZQm7e0JEsPb8fZgzNHxy7RwS_IGzgoVDHCeUYxseLlhYRwIZVenKmGTCwjpHXWL4qDt5S7et4jutv35WwYkkeE-bhDapmamihZAhiqh1JemVUgb4LE9WJ8a1agygTj8Sbm2e-BpEnB7YJfy_10Ml2UF9J_6hxu8Iydui0eF2cOcosl4pCVRt6cFbwdE1RVirjmftDucm1OErbQbf-tY-Z4jtGou28fOQZSzbHfZwLZeWUVS5vKrYaXKJw47B-IOsSMDmdNrgcva465MyOh_V8Ye4coruk9SOKtZ4VnHSSWrOPmC1BDhA9mj4odnVoAskdvZT1CYoUDzQWVrDeZVH4IbZAxGuKxr-JtWHGFsFfFHcmNB8VcR8jImdlkIY8_tIwe0n-1XG-uYb_vCFQAaOG7DXZSLFS8OsMj8U3Hzm8vXM-tM-gUrerDfhkDZhQGKNewTbSZ8o9-Vup8xOkLlVdP29SqcmQh_e0leEjnlvQM2UTDlD87-BPiXKrc2KPNl7dp2o02OnOi8T1rriYCzll9Tkbp2pAnrmqfS8pPJd8aLJ5k5F8QE3ZB1Wtu2SVBw-QBg9hShu7-BstCMQ4m3lbKAU6hborJHzMGbdfIdYitA-RJYPZJID4g2_6J1gSPV55jL9Hd2HQzAGQFxVBwXxKyuoHaFA4QfL_Q1_Ac5eMmCNP87BtqmddshcGF7CxpV0E89lqSPOYeydj0Kw85FXLJc3gpSE3ToOeXvGgCkpjBc4W0cEW5TKVTtU-XOosIu4EMU2pkODcx1xQJyiAijTF_zgf9KOtTeMZS2RxHNZid1eczIcVvFyOXHZ7one0T6QjrsoEw5dIdaqiXgUg==",
  "id": "rs_019ab0a2ba501d90016ab4766fdf1c87d0a92f8ba7dfccecc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.389,\"left_y\":-0.239,\"left_z\":0.016,\"left_yaw\":-0.65},\"note\":\"The cap is visible between the open fingers, but the last pose fell short sideways. I’m making a small alignment correction to put the cap’s middle at the grasp point.\"}",
  "call_id": "call_8OZdopeZsmjkVk5JgSG6unVY",
  "id": "fc_019ab0a2ba501d90016ab47672027087d0b932fc170a29ca87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8OZdopeZsmjkVk5JgSG6unVY",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5514, 1.866, 0.7429, 0.4019, 0.0273, 0.0483, 0.9995, -0.0265, 0.7982, 0.6132, -0.3973, -0.0299, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3761 left_y=-0.2328 left_z=0.007 left_yaw=-0.6125 left_pitch=-0.1513 left_roll=0.0256 left_gripper=0.9995 right_x=0.2939 right_y=0.0011 right_z=0.1795 right_yaw=-0.0015 right_pitch=-0.0216 right_roll=0.0046 right_gripper=0.9992\nstate[joint_eff]: [0.8821, -7.9521, 8.5402, 1.8926, 0.2173, 0.2515, -0.0317, -0.3624, -1.2376, 7.2137, 1.7705, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c210874c889bac64d6a30f35a6d25513eb4e37f69e36030818c6717ce06ad114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ab5bb2248a7b314a83bf19601da91d5f6f9fb409a50384620e1ef5602f961a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e62930d3923faa25a00eeb3172e918fdcbadd3fef5f696d2b61cf8b560edcc",
      "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 · 4.314 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3794, -0.0219, -0.0242, 0.9998, -0.0185, 0.7921, 0.6098, -0.3782, -0.0227, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1835 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6632, -1.4701, 10.5094, 1.79, -0.0464, 0.1099, -0.0366, -0.5128, -1.347, 9.812, 1.8242, -0.0611, -0.0366, -0.0952]",
      "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]: [-0.5941, 1.8233, 0.6895, 0.3962, -0.1246, -0.0776, 0.9997, -0.0265, 0.7982, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.367 left_y=-0.2171 left_z=0.0062 left_yaw=-0.4571 left_pitch=-0.1612 left_roll=0.0333 left_gripper=0.9997 right_x=0.2939 right_y=0.0012 right_z=0.1796 right_yaw=-0.0012 right_pitch=-0.0213 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.294, -8.1436, 5.6547, 1.8486, 0.2955, 0.2173, -0.0171, -0.1436, -1.2923, 7.0359, 1.7509, -0.0562, -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]: [-0.5514, 1.866, 0.7429, 0.4019, 0.0273, 0.0483, 0.9995, -0.0265, 0.7982, 0.6132, -0.3973, -0.0299, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3761 left_y=-0.2328 left_z=0.007 left_yaw=-0.6125 left_pitch=-0.1513 left_roll=0.0256 left_gripper=0.9995 right_x=0.2939 right_y=0.0011 right_z=0.1795 right_yaw=-0.0015 right_pitch=-0.0216 right_roll=0.0046 right_gripper=0.9992\nstate[joint_eff]: [0.8821, -7.9521, 8.5402, 1.8926, 0.2173, 0.2515, -0.0317, -0.3624, -1.2376, 7.2137, 1.7705, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c210874c889bac64d6a30f35a6d25513eb4e37f69e36030818c6717ce06ad114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ab5bb2248a7b314a83bf19601da91d5f6f9fb409a50384620e1ef5602f961a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e62930d3923faa25a00eeb3172e918fdcbadd3fef5f696d2b61cf8b560edcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZ292v0UCVBpMulDdqoce1L0DllCA1vBKOVt-CGG2uPQ9ZdQHTDN8HuyPR-MtbiK6IvnqDRgUkTdSfUBhUA-N9Dp-4eyp7Utn36Z6OzvJHJRCByF-6iGIJ_VdAkC8cgEQFJT0nXNl-Hs2aUb7nkp20P6aerWT8b3Wn2p6DmYoto4BLRtXUfuAgwpZ6zouLEFvUEuY9g7twZLmjiTDBpkZPbYuOin31m0UFeO83TP_X2J9L-UG8n6A8Do47dXqdCMV81QzQBNqPV_jBzwAoCH_uiaGZkQl1wYH_K1Aw2OPUP4IcDTW8DIfWB5_3AdvdWOgzilCL86mpsom_qbYvceJsz_8FXHDTe_cOJunl_KLKmRbGlG1Y9_vRCA5i6it5bZeAFfrtRbiaCo5nN4dvag8agP2iGdomAqiq3YhWbkhXXOcrjyqOpb4m_P14msuaU4v_ex3g8U57DyQCem1aToanDaaQj6RQi-tnJ1payzScivrpveXU-qi7F3BNwN4fqWXoNHRu988EYejw4a_vBSS9npPYmRWV5D_jJzBndeEOWzE-NeIBGFFGdoHPC-kBoIS6hC4xyPOnx1FSSRVdt5BqzE-MQ3XTu9zqe6hqDXfPwddTxHfpHseSjVlc5rD4GTIUQ0UoGyWM0CGbAl61KuncsJ-XBX9EDHIMhiMamKnGvH3QmeX-spMUulAi-WbxlAzzdoOfr1QbWDq77mE99vmBYyOv-uQCnjcfYvNg5JH_Fe2a2L8g8QeZEHXZgpwHB43bsx_fKfOntRCxv0UjoJRXwKLQBsrK3wKX5QwBuGx7yjy5Ycd3Kp5K5GP3SCFD8BQLzcNy45coYx8Dg4zQUWEfalgVMWOSG_F3ikpHD208qG0x0d28Vg-6QqFGz2mWRqjX6ZBTZFWqkx7lFjcEWC92WzaslGn_1dMuDM5Yo1QUR5Ynuc_Qw9HbWZfjligtAtfX0bsTLnoAvxPV-vSrKC7xCVjYChF37F6RoxcexINoe7QL_hIEhXDQG-SG-NoOy3eNKI1JiTWWSsTC-QSk79LWcUMlAMTf1wiTQgtqEfa92Fdn7wWC19iysK04v1rDlAAPWWnsbN8Zr0cN2bOCYqjqh8n5qXxbCwVIPAqkQ837I3ojcuObpezZU0-d18RPQEjmBEwPdKEkm7-Se0uUD4ALun_0d5d3tW0GaaKx1Rti-qad9qcJbk8Gyb780PxO1s0T0vMj4oLu0cBCXGPmBk5a73iyVWPaP0AMEiV6hDuIU66xKE8TxOd8QfthSTgxgfbl1cmgqUNT0crBkXXnyo0-4Bm0aK4ZFUSdnyc0ssaV5DoA=",
  "id": "rs_019ab0a2ba501d90016ab47674febc87d0a8b55524103e27cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now runs into the fingertip region and is positioned across the jaw gap. I’m closing the left gripper to pick it up.\"}",
  "call_id": "call_jgKyoO2REngIRZ5qFAfdCdgy",
  "id": "fc_019ab0a2ba501d90016ab476757e1087d0b43f4b2886292d21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jgKyoO2REngIRZ5qFAfdCdgy",
  "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]: [-0.5304, 1.8771, 0.8032, 0.3172, 0.0429, 0.0818, 0.0084, -0.0265, 0.7998, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3849 left_y=-0.2304 left_z=0.0078 left_yaw=-0.6237 left_pitch=-0.1866 left_roll=0.0374 left_gripper=0.0084 right_x=0.294 right_y=0.0012 right_z=0.1791 right_yaw=-0.0012 right_pitch=-0.0228 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.6222, 6.9402, 1.5604, 0.2418, 0.0806, 0.6081, -0.1026, -1.4154, 7.0359, 1.7558, -0.0269, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebcb5ffd36db9c1713abf1867e390a6e48b150136983a7d720f638cc2c6263a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20fcbb77f8c62eaff7c33dceecd3d2a063d69c75f2da1071755e6588c473afc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5faaf32cbe8f2dcb5768ab1ba0a7b276607b9970e7c5801e486d3ac652065e",
      "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 5 attempt 0 · /responses · status 200 · 2.338 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]: [-0.8883, 1.626, 0.9432, -0.1699, -0.6952, -0.6022, 0.9998, -0.0269, 0.7959, 0.6132, -0.3935, -0.0307, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3416 left_y=-0.2351 left_z=0.1128 left_yaw=-0.0131 left_pitch=-0.0473 left_roll=0.0333 left_gripper=0.9998 right_x=0.2942 right_y=0.0011 right_z=0.1809 right_yaw=-0.0009 right_pitch=-0.0155 right_roll=0.0042 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.7333, 9.0325, 1.4823, -0.442, 0.0562, -0.0366, -0.8684, -1.7436, 7.241, 1.79, -0.0708, -0.1343, -0.0122]",
      "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]: [-0.5514, 1.866, 0.7429, 0.4019, 0.0273, 0.0483, 0.9995, -0.0265, 0.7982, 0.6132, -0.3973, -0.0299, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3761 left_y=-0.2328 left_z=0.007 left_yaw=-0.6125 left_pitch=-0.1513 left_roll=0.0256 left_gripper=0.9995 right_x=0.2939 right_y=0.0011 right_z=0.1795 right_yaw=-0.0015 right_pitch=-0.0216 right_roll=0.0046 right_gripper=0.9992\nstate[joint_eff]: [0.8821, -7.9521, 8.5402, 1.8926, 0.2173, 0.2515, -0.0317, -0.3624, -1.2376, 7.2137, 1.7705, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.8771, 0.8032, 0.3172, 0.0429, 0.0818, 0.0084, -0.0265, 0.7998, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3849 left_y=-0.2304 left_z=0.0078 left_yaw=-0.6237 left_pitch=-0.1866 left_roll=0.0374 left_gripper=0.0084 right_x=0.294 right_y=0.0012 right_z=0.1791 right_yaw=-0.0012 right_pitch=-0.0228 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.6222, 6.9402, 1.5604, 0.2418, 0.0806, 0.6081, -0.1026, -1.4154, 7.0359, 1.7558, -0.0269, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebcb5ffd36db9c1713abf1867e390a6e48b150136983a7d720f638cc2c6263a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20fcbb77f8c62eaff7c33dceecd3d2a063d69c75f2da1071755e6588c473afc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5faaf32cbe8f2dcb5768ab1ba0a7b276607b9970e7c5801e486d3ac652065e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZ7r5u2f2Ink1YCvhN69UaYAlVPIeM8VdrAKFcH5fPoNWE2Mer2gKTLQcPseqsHj6zbz_GoZVwCZ5Jq80UAdHrNy7EWe0QPk1lXay4ezFl1OKrLFnr4uUqkf9RO-40c4sCUznwPi0YuMfesu7YiwnPxO2r3eNV320T4zMds9iOmfeTnbYsuaw3XEQdABPk3TtUsmSa_amc476GodGXArSkAYqbSzOf_xN55p5UMISOm3d9OKHFhLPp77XCEXmUBYLDo1dTYoEoQvuHecDdcpK-px-5LTrpeEExDRezlqxLASiuVbX2H68cAr2Dn6J0EsjNRQoNyhwkcR0OLxA7hnh18nbn6y9GDq7e3-YL3BSNK9Q0sS4I3SSZEEYOLu2SA-GU_jMVhnZFtoPMwDHmBFhz3ICUOUnYJWvkQB280dEk407n49GbB2_HYNBd3r7OckFRMvYSl8hXseTqHmzUlsTS1-QVVr-eXJ3jRsKq1ttQ8lDybC1SMWn4QWPjeAtdBVZurSVOakWpkNUHCPOU5xNJaf6CFMfSwCySD8bFmmHLfDDKxfnGm8CS7oY0jOg6L89Rh_2vUxz-WoptqmrZaCeesTf_Huun8zvzrmVt4mlFbbaV2dRgpuZDmBFZbbPLPHR06nSG0yTxBee7-BlHltERvZopNMq0XdAbqNpLgJZs9PRyp3-Gt81omq4H7xo8CAyQ1eU_bO8rhXe5gSPClT5lLHXUbvSjiDkZryHwxDnB1MAH0KcToy49IgEup-MFickKbT19UDndQQ-rGaJqfx1PkYXXnftH7ELr9g1MOlbfXty8SmpAPmjagBmmK8TpLwt_hfp823d0gcQGDKS3h5cGj2OxR89GpxTMsUzsXT42ZsdWin-M6HOTVMkSB6km4LqXnjkGRMkPJtKixATrjGs9R7dgzoHZvPZ2qMNB1FsYH6PK9rHK7m74doE4oQkXgtTS0OKWyNxfOmGnVENveZw9wL8fuTmWBzBwbO8d7WmBV3TwaUFzamI_58tpQPIdNVSkurIFt9VtMJKA9tyvp9qauD5SCBOw0-yJ4OKcAk5xpnVhf3yNf_NsDan_PrVevMoA1vWju2891ytg3yA9sON1VfJKbCFVcOjC2_0jYIf8TOP8otKK4aCF_VXMP5aM5PFSDYSLRztDr0sSnPCiBLccNsbBdq-9mkzvLA9DGMU2XLO1_TI3TTzQgODWsw-p9FECXOn7l70tzyjVPsLs1Wyp2CZtx3pB78dCh5a5p9VDNlsVaEvR7YAHarg3XFJu7mVA8kzAIFf5PPlLkEt97hDZcGxbjgJgRbnXtS93DC4QJvkg1svDxJ2zvj30TAYCtfUwnsGOe0y7CTrH3frv6HD3qGCMhlGVZ2Q-H9_JqwlLTP2KOAp93iiDvFFuEOS5UtrO8MlYjqIqsOG_mu_8nY-AwBFyixYtVfHYdB4VHXrNHPmGzoqOM1FvYOLXnbnm9ljxloS4p9bpk9kgpRF0KJ9D1VZDfwqE_-sSeghwENZQNxpI4tVWcZjccRhU7_wfaPftnF4lmsA-bhkJOGNB8dmyPLvuCh08Xfl8xYH3TPFZqx90=",
  "id": "rs_019ab0a2ba501d90016ab4767977d887d09f694cf6f8753c0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.65,\"left_x\":0.403,\"left_y\":-0.243,\"left_z\":-0.008},\"note\":\"The gripper closed almost completely, so that attempt was empty. I’m reopening, moving slightly farther along the cap, and lowering to table level for one retry.\"}",
  "call_id": "call_5DQScdmea0spqgdn0oknKZZW",
  "id": "fc_019ab0a2ba501d90016ab4767a8b4087d0af4b107fdaaa2a4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5DQScdmea0spqgdn0oknKZZW",
  "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]: [-0.5308, 1.961, 0.8646, 0.3649, 0.0338, 0.065, 0.6452, -0.0265, 0.8036, 0.6132, -0.4072, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4036 left_y=-0.2397 left_z=0.001 left_yaw=-0.6067 left_pitch=-0.1616 left_roll=0.0332 left_gripper=0.6452 right_x=0.2929 right_y=0.0012 right_z=0.176 right_yaw=-0.0012 right_pitch=-0.0369 right_roll=0.0052 right_gripper=0.9992\nstate[joint_eff]: [-0.7453, -7.0906, 6.6803, 1.3016, 0.0415, 0.1343, 0.0269, -0.1709, -1.5521, 7.0632, 1.8291, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acc0b44c7c9a6b434bc5d493d403ea40c2209e32105ccab88a64a4bff6ae2631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81421b28579c33d91bfcd4d396dc2c219f04b605720115204201389e7d7c738f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505cf2321bf4825677e7be08c51c7e79c6d33962d3dd513208e42d4d05355fc0",
      "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 · 3.371 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]: [-0.5941, 1.8233, 0.6895, 0.3962, -0.1246, -0.0776, 0.9997, -0.0265, 0.7982, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.367 left_y=-0.2171 left_z=0.0062 left_yaw=-0.4571 left_pitch=-0.1612 left_roll=0.0333 left_gripper=0.9997 right_x=0.2939 right_y=0.0012 right_z=0.1796 right_yaw=-0.0012 right_pitch=-0.0213 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [0.294, -8.1436, 5.6547, 1.8486, 0.2955, 0.2173, -0.0171, -0.1436, -1.2923, 7.0359, 1.7509, -0.0562, -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]: [-0.5304, 1.8771, 0.8032, 0.3172, 0.0429, 0.0818, 0.0084, -0.0265, 0.7998, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3849 left_y=-0.2304 left_z=0.0078 left_yaw=-0.6237 left_pitch=-0.1866 left_roll=0.0374 left_gripper=0.0084 right_x=0.294 right_y=0.0012 right_z=0.1791 right_yaw=-0.0012 right_pitch=-0.0228 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.6222, 6.9402, 1.5604, 0.2418, 0.0806, 0.6081, -0.1026, -1.4154, 7.0359, 1.7558, -0.0269, -0.0171, -0.0122]\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 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]: [-0.5308, 1.961, 0.8646, 0.3649, 0.0338, 0.065, 0.6452, -0.0265, 0.8036, 0.6132, -0.4072, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4036 left_y=-0.2397 left_z=0.001 left_yaw=-0.6067 left_pitch=-0.1616 left_roll=0.0332 left_gripper=0.6452 right_x=0.2929 right_y=0.0012 right_z=0.176 right_yaw=-0.0012 right_pitch=-0.0369 right_roll=0.0052 right_gripper=0.9992\nstate[joint_eff]: [-0.7453, -7.0906, 6.6803, 1.3016, 0.0415, 0.1343, 0.0269, -0.1709, -1.5521, 7.0632, 1.8291, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acc0b44c7c9a6b434bc5d493d403ea40c2209e32105ccab88a64a4bff6ae2631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81421b28579c33d91bfcd4d396dc2c219f04b605720115204201389e7d7c738f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505cf2321bf4825677e7be08c51c7e79c6d33962d3dd513208e42d4d05355fc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are now at table height after the small forward correction. I’m closing again to check whether the cap is securely between them.\"}",
  "call_id": "call_aOZkjPkkrtOfzA2cFEhglWrY",
  "id": "fc_019ab0a2ba501d90016ab4767db15887d09b179c9e300bdfeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aOZkjPkkrtOfzA2cFEhglWrY",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5323, 1.9694, 0.8703, 0.3805, 0.0303, 0.0612, 0.0081, -0.0261, 0.8051, 0.6132, -0.4122, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4067 left_y=-0.2416 left_z=0.0021 left_yaw=-0.603 left_pitch=-0.1488 left_roll=0.0336 left_gripper=0.0081 right_x=0.2923 right_y=0.0013 right_z=0.1746 right_yaw=-0.0008 right_pitch=-0.0434 right_roll=0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.1128, 4.6838, 1.4383, 0.0659, 0.0171, 0.6276, -0.1162, -1.4427, 7.0085, 1.7949, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcfddf2e4b1e971fa408363f8f7922eed29cc7c379f119b666e497993a40f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3149ddf55de6b606effe8d555ecd3ce045a724d195951a08fb1e1a08f4e861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00836b87238a599b8d890d0da9248997583dace19b1bf6876034c84b8eebc899",
      "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 7 attempt 0 · /responses · status 200 · 12.98 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 25 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]: [-0.5514, 1.866, 0.7429, 0.4019, 0.0273, 0.0483, 0.9995, -0.0265, 0.7982, 0.6132, -0.3973, -0.0299, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3761 left_y=-0.2328 left_z=0.007 left_yaw=-0.6125 left_pitch=-0.1513 left_roll=0.0256 left_gripper=0.9995 right_x=0.2939 right_y=0.0011 right_z=0.1795 right_yaw=-0.0015 right_pitch=-0.0216 right_roll=0.0046 right_gripper=0.9992\nstate[joint_eff]: [0.8821, -7.9521, 8.5402, 1.8926, 0.2173, 0.2515, -0.0317, -0.3624, -1.2376, 7.2137, 1.7705, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.961, 0.8646, 0.3649, 0.0338, 0.065, 0.6452, -0.0265, 0.8036, 0.6132, -0.4072, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4036 left_y=-0.2397 left_z=0.001 left_yaw=-0.6067 left_pitch=-0.1616 left_roll=0.0332 left_gripper=0.6452 right_x=0.2929 right_y=0.0012 right_z=0.176 right_yaw=-0.0012 right_pitch=-0.0369 right_roll=0.0052 right_gripper=0.9992\nstate[joint_eff]: [-0.7453, -7.0906, 6.6803, 1.3016, 0.0415, 0.1343, 0.0269, -0.1709, -1.5521, 7.0632, 1.8291, -0.0366, -0.0513, -0.0171]\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 25 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]: [-0.5323, 1.9694, 0.8703, 0.3805, 0.0303, 0.0612, 0.0081, -0.0261, 0.8051, 0.6132, -0.4122, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4067 left_y=-0.2416 left_z=0.0021 left_yaw=-0.603 left_pitch=-0.1488 left_roll=0.0336 left_gripper=0.0081 right_x=0.2923 right_y=0.0013 right_z=0.1746 right_yaw=-0.0008 right_pitch=-0.0434 right_roll=0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.1128, 4.6838, 1.4383, 0.0659, 0.0171, 0.6276, -0.1162, -1.4427, 7.0085, 1.7949, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcfddf2e4b1e971fa408363f8f7922eed29cc7c379f119b666e497993a40f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3149ddf55de6b606effe8d555ecd3ce045a724d195951a08fb1e1a08f4e861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00836b87238a599b8d890d0da9248997583dace19b1bf6876034c84b8eebc899",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaCsOG_HPTdueOo7WAHLfp64mvsTFktyT1EHyuuDS7hjKyG1ORaH7WfYWyYK6l-SlDJtl2dm2KQXP_7lT4EGo5NQUiqNhApZK94w9lNLF9JYtkh7RGS3K6yShM_3bG6B_uLR5rqPvyvdT8BeHXaC48mzC767S2lhEVqEsDHwaHE4LZtpIfFm7gxNtFGV2Np7ZyaF_3h5dFsEFfZzRuLuhDIHxb9Yp1LpncraSVjrb3CHman2yhcxrIWV_FqBHGUSXzB1rc65_Vwfh1eFr-OqpD2xS_sVcAXprpLrZ91PMto7uw4JFBGCxN5Trcgga1LYA30B64wx_w5btcvyy6vNxSu1cCbmQHPNX8YXVq9Y3a1nfHD6PskplKw2P80lu_V7dxSA9CSeQmeG8eYMLfh-8LtS7dgwd5krahW4-BPNCnPHgQmkG6Y13dKJnnbiJk1wxGztYvUvoPZPLgyMPqPVQnW9eYUQzv3GV9SPnTYkBiuyGDFDSGfU81Dn4BrrVU-TPcEQr2eocQoqgbdjY2JIctR95ezvsGgJx70Cc4w4teq_jkoLmlR428Axq-o16ghlDT6ujQAuN8D3PyM8VHmd3Fjgumr8I8tMowZ7llFJO_rvnHA3AMcVEc_3n2_XO1ocKXbcA15w4bWD14aA7SbXZZ7mpnwOLCSbaXcbCsphv1JQAw7M9ge7lZIlaaUdblm2MtLRwRAhanWzeKGEiZpw8KrKrlSufWRnNsN041dO1ELL9i_hK-Nej1l8uKIqs-OZGkuYQMaaGdM5egh9aAAd8X7UFSvUOjZVyd0_IEvqUAqhg7LyVYZIq7sTipKh7z44k7jACziD4BgxCTo_VgIeH63bFMLDkrMQJS3Ro1AhhlT8LRln2eyoEzr9JlrV2PCV8Za61t4GseWk7TaXjISsbHsxJAdWaw-rCeRwz-iLXi4ABhglpH1d7XFH192rt53MLh5ekhdOkxy-irKB3okmFZeklAhj-D7q9iYXzWIOhs7LaUb2UeMCVVMilhBO8R0APcSN4sI0vDaSkG8guqMxhH4jW8QbJINxQFXxxpp2OGN0GYi-3jki-sPKPYyDtKE9wHyAJMJhNNGfhY4kBUiPt0XAVzLEXfO4fY12YEqI3CUgGhjC2rGxSB2pe3rWzTGhBIFcGhNvB97dcqSs599AxqXvTADmxdix44ENhbzGMNzCIio-zIFzHnmY8FTViDUbrul3R5Ncogln78hyM2j2Glb0zwITFY8z7VR25p5MmwnMVYy2apur6InzVK8USwHiInSyFKUx8OEKMlV_YGgHf5ZqjbFhvgeND7VPdMEHgyNs0hmyWzP5MG3unWkahAyjC9bCSrk3-cm9W_fBylQlViUr2TeHqGec0kswh60gEgf803TPR1jl19TCIUwX3oXvD4-PoIJyTOqSxHc18IsjdcVSKKU8hZZG36YX2to8ReTKwwLJ1onBe_b45zgKV693cuKbyw8-jdykxNzkYmusUV4PA==",
  "id": "rs_019ab0a2ba501d90016ab476808af487d0a8287a4bd60be940",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":0.7,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185},\"note\":\"The second close was also empty. I’m lifting away to expose the cap in the overhead view and re-establish its position before another approach.\"}",
  "call_id": "call_UXSdmiwHJULDQcSTfifdeb9f",
  "id": "fc_019ab0a2ba501d90016ab47681952887d08db752322a58450c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UXSdmiwHJULDQcSTfifdeb9f",
  "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]: [-0.6495, 1.179, 0.7277, -0.3473, -0.4332, -0.3939, 0.6966, -0.0269, 0.8242, 0.6186, -0.4431, -0.0311, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3072 left_y=-0.1356 left_z=0.1382 left_yaw=-0.0827 left_pitch=-0.1381 left_roll=0.0173 left_gripper=0.6966 right_x=0.2896 right_y=0.0013 right_z=0.1656 right_yaw=-0.0005 right_pitch=-0.088 right_roll=0.0063 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -4.3145, 9.8803, 1.4725, -0.2369, 0.0073, -0.0415, -0.8, -1.2786, 10.5778, 1.6728, -0.1148, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca74597980b92d09eeed777e7c62419061b83ec42f2583f0c7adf81c04e4c60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebbdc6b863ee30031f81c1a596903cd866dda57f2c60dd9954356f77dd4ba511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8a05207b841b05496b8919e80d560de8ac213384f9fadfc53223726bdb4cc3",
      "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 8 attempt 0 · /responses · status 200 · 5.886 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 29 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5304, 1.8771, 0.8032, 0.3172, 0.0429, 0.0818, 0.0084, -0.0265, 0.7998, 0.6132, -0.3969, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3849 left_y=-0.2304 left_z=0.0078 left_yaw=-0.6237 left_pitch=-0.1866 left_roll=0.0374 left_gripper=0.0084 right_x=0.294 right_y=0.0012 right_z=0.1791 right_yaw=-0.0012 right_pitch=-0.0228 right_roll=0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -8.6222, 6.9402, 1.5604, 0.2418, 0.0806, 0.6081, -0.1026, -1.4154, 7.0359, 1.7558, -0.0269, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 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]: [-0.5323, 1.9694, 0.8703, 0.3805, 0.0303, 0.0612, 0.0081, -0.0261, 0.8051, 0.6132, -0.4122, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4067 left_y=-0.2416 left_z=0.0021 left_yaw=-0.603 left_pitch=-0.1488 left_roll=0.0336 left_gripper=0.0081 right_x=0.2923 right_y=0.0013 right_z=0.1746 right_yaw=-0.0008 right_pitch=-0.0434 right_roll=0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.1128, 4.6838, 1.4383, 0.0659, 0.0171, 0.6276, -0.1162, -1.4427, 7.0085, 1.7949, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6495, 1.179, 0.7277, -0.3473, -0.4332, -0.3939, 0.6966, -0.0269, 0.8242, 0.6186, -0.4431, -0.0311, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3072 left_y=-0.1356 left_z=0.1382 left_yaw=-0.0827 left_pitch=-0.1381 left_roll=0.0173 left_gripper=0.6966 right_x=0.2896 right_y=0.0013 right_z=0.1656 right_yaw=-0.0005 right_pitch=-0.088 right_roll=0.0063 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -4.3145, 9.8803, 1.4725, -0.2369, 0.0073, -0.0415, -0.8, -1.2786, 10.5778, 1.6728, -0.1148, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca74597980b92d09eeed777e7c62419061b83ec42f2583f0c7adf81c04e4c60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebbdc6b863ee30031f81c1a596903cd866dda57f2c60dd9954356f77dd4ba511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8a05207b841b05496b8919e80d560de8ac213384f9fadfc53223726bdb4cc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaQYRQMPgW2sh8BVe48usn9zxiconW4xAJXN8FjplrFtPcR2b9QOSBzHidc1PjjQLDSQtoPYe_YvkIlHv3l6_ssCs9Symnq6wjzJatXk82VqpDPYoa7puNQn608nUgUaMMNaEmYkTgpCkdhUWd6QuZTdeht9dJq5DhytoWCQjYFD7_AxJrRCoi0hKtbCLAsFE7Eq09HPdZdvb2EmrwR6P4OaMP6gYYSlmcGkm_Ly_wRGiw0ErjUtg_POW7hqbCT36kKYKhS10pJVC6U30d_CgPC9roMHfuBuP0qDVqUHSqN3--yEEYM487aJDlWF0DKM0DWhk7OmFvIDGC4x1HtpfSTPm8oL1BgIDLFodxbR2F2blB3uE5lGLA5Obxry6jbiBqvB5BmYZD9xj50MU_dbC3AARUmTWHNxyQ3LOYT9w_2wIZf1rTDIPfeDTBevOTf1qcnJhHpuDOiSTRMnYvQPUggfZG723Gy6NB0Aje3jAl5qWgsCVqmvyNatWvcyBoJL7vWeuaYDFlMDac1VWOWcr0LGufvLMvuzGRX1WgNDkYbSj2ERXzbs0C6k5krRrVMuOlvnvP1beCxXTDdxNjSdtjDViKzChHnz-i9jV0LCCdr6KxTQP56Azr8UBLDpby-rJKgI1-7MRbJN9MZ9i11BJVb5Re7UfI34MhCpM2-YiDXEPc6MWl2xWr-AftssDNS63xJDG_jloLrYCayO6KPa5xojfiSBiswqJT_Ai-78gVgb93musMbhFW8_5sBHXEeBjh29uBLRxcuL3xuMYpHNK6UM8IBTotVZq9NhRrldXqBMJBWt9Iq0HAWmkSVMuxFS_pnjl5fEyyMHKFgi1_oH8P6tbMoFaX5PLqWLYx38AEQYJ7e22LUMviNST04QBxeyFs0o_xbdWaHgWodVo1nBn21rujky00-Vm_Tlf1tkIzWKXWMmPT8_qjhFF2HwB7fek_zjL6sE-frQglD_KsS9tLgX1DOP90kLt05h6XeBe7XrzTS_9j4SY-YItfvKOY1goCdK74y22ROQBNp6Cwoc8sNFEEIxGaGn66BAXbNAKXzCc0bc-QtonFhoLL-yev3BMmo0VtTSPZYBWhSdErXfeOsm-Tgq6anl5F1IdlcTCP8TRUAP8eln-nw1vnvgpy4ksOttmc056zJY2TnYm-H2U5UTZBOSQWg6Fq4FP1V0ZOXvwOST8DvJO5_s_PuYQhDs7kV9AG-dGJ9_3R2TvQ4m1sjn4lrLaVnwrBcIukrfJm33WL4R4zrtyinm8x_waCrmva6QTxevVfgMDCD6X88KC7S8i9JhgXRfzES3MuTsaHDuQmXuktTQr-0kxlhrfMfuEeCMhz2rB3q8NVMxIMqSo97jf4O0gvywKY1jXGXIVrTi_pPnwImWzhFRJCOYCep8m-l6G7_gVYQrLlq_Q0utdH8Bb4uab8uG-Xnp7b8pWorY93xyjkIfrshJxqU1djL6rKea1n7cJuAdOwqn21FkQaZOt6UTEaFpEPxvO4NnMbbIPRxcKX7jFsLHnn8ck9WP01Dax72j_dHhvTFPfbqQ_HQtSrF17N3Owb3jZpgppAgTYzb5FFUcFNS7auEmTjRuCkMQlVMWnkmaYBW19TNvXzSQlfxrs4ggyigutnHwq6sKF3vgQoL_iKpDP2HRIbjgsAkSrfjR9Fwg5snMNiv7PMdsM30QaLabxXWTYKEPi9-44stllzC0vjos6WMK0YzyecBWKF4AjEddYq7sfAvze_Yi_7d0hIsQ7YdPiI8mDU_0HdtRn4dplJYIy7f2aUzJIviRUGERQeaMpbLLZJ9_0cRk8PJEmEX0dlFbf5nUi4uAe07g7TpnCFPacXkLFu3rjZe6aqhsF3kDW5TJ9lJHtkBMR7oiC1z34O31xLk7qa5GJjv_tery7eUYJFZXm7cAgALRFds0QVIFilbyJz3ycxDchdG_LuXgCq27oyaDFowpkavc3IIrua7JqYzUPAh4eU8p6IUh_VGVBO4-UvPfCuEBMks5dLPyRGPH2HO8pziEM_aDByU_LZh-j0V44Y1FP8rIVbwwcnPZecdlCUWzD0AkXuUyB6q9UvCLc722sf1rTpxDZltzZWGeSZorfmRgD7M5cDCE_elYLarytznKExXqLmBr0-Ckb74Bv3ctz5RUT25kPIcGMQO-eK4aWjtlvvNmkOHjTmWWDwjrM0aXZS37BFs0al0E_4CG4kmNP4CXZI83K7tXMu3Q3QUO6mlcpbNK3euneditoNX3PFwQSHFaztudxEeNxQLW3rfjROQ-F7EpqfrKRnDzDJXP3rrcLc6rnJWUKwYbosTMI28-3H8CwH81VbQbZQkNVizj8RmGVwVGfAbIisiHk61UQE4FcaCeE1bCy3jUH_jxRm40IsKSFRNYG4p7S3xXkBbSPw17LLKqMiea2JFD_0YILlqdJ4EsZ8SzbnqfQDuN_tW1V52i6cFhdMmpbLcLZ_cmX4_4doKmr4xX2FRZSkxdQhFK8h2Si0EAGicUIOJR603OZoC2WeqNUHgPku8lBDFoVDm0aOOUvZ1JzWrpLGPu4k5rr0jIsUlt8e5RfTFT6ev3s8Uiuzk00OkvNeEld5sKNRM926MRcFyQL9RQnAKzrcGLGNCf0UPzgT8gVWqn1FQjA22gjmDEku9ZdAgl7kyNQi3KDN1AoDZWRifCb88YuZcj0-J1XlwTFIVE11yfIy62p53n90naBkfJD7lMqCLTQ9YtXbNqqXy43LTRW9XHosJmLPlQygNbcnkConlZQwmDAz2htf6H09Ezy6Spj5l1EYXs3liUkbExYqa0qOU-BRqChKDn9iiZtwcr8tujLUDoz8BGec-zT7oUnD-TWNOsJGD4nkx-PYY4MJbCldcembD5hJNhe7lNtnuw2PFYRjQ3nzBFc-VHf5GEK5SShFViZKYwuUa8cMvcFdIN-XPN3fp5wEy_j-14auGllAxpoWqK2Obz83H6_rxzYDZPFW9hfjQhKk8DVASy9t7hpB1_a61BITKB4nrF0s3wRYU0YJvgbSmQaYemC893TfxFi00nsrhLRzkDZJRvw2x8VTHXRJ9e_ooSOUthlYHNNH7M37Mi32377t9-8-WCUyeexQKzu8ani_RVeDjT6WboULOVrGm3qU39_MntpKg8R0ipPI8hAE-pTMAONo4ZqnegPDURIhYXVgF2MQ47YF80iBJftz-NBUsesOwgz_TczbvNnKVRztNBDbRQMtLx0s-ErSO2JlalebEtOWgcHDzHEEUozDzWgKnc8fW3ru9UJT4auV67Mw4OjRnUbbz4BcpA757AODygo83l2uKQzMzaHDOE76depFlClkdaMoPJH5qwgQRb3uQnLaPF5mIb-h9WdiHZGTpn9ADEtV9Oi8h9M1eKMBYWMgkVgWauDxrMV8E9335NUlDBKLPx_ERzF_pVS5heF4gpVyvu-JV7MtzAd8ikJHg9ils5Jo8xf4QBmW5rNCShvU8d9-KtmqIYHYwp02xInu5fZbiZ34cWPnhLz7KdQVRtrnPAovFSu5rjuCo93k0AulWMYvdLfGGugkIL4qlbsGNQfoDJ4h20DHqiQWfZrq4MI7gpZnOUshDUSFe1L6W1ETJYGaJeIhJet41lx2472nH7Er6z6p-yoHWDySexY-Xu8-diTwPezgIC9MRwJhohljluM7gH18Eh0YdCKCznviUy4ttuGpmXyWMxpwe7zhkl9YVlfPvYCk8BXX1XrULWgQ_cAn3hkpwE2UxG1R98dBJ-nvOCxBMI98iW7ho0pD_kw1GugElzcEY65Kcm4Pzx3L-fM42b_BeA5vR1slyi4zWyLcDiF_1dI-HsfYilofrIkdCN46CLY4igUSNVa2i3zZk6Q==",
  "id": "rs_019ab0a2ba501d90016ab47684e81887d085534f182626c1a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.226,\"left_z\":0.065,\"left_yaw\":0.7,\"left_gripper\":0.7},\"note\":\"The cap is still on the table and has turned sideways during contact. I’m approaching its newly visible position from above, with an intermediate wrist turn so I can align the jaws to its new direction.\"}",
  "call_id": "call_aUXjAqDD2jV2SFJOhHgU1WqP",
  "id": "fc_019ab0a2ba501d90016ab4768edc6887d0b661db21efdfb79d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aUXjAqDD2jV2SFJOhHgU1WqP",
  "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]: [-0.878, 2.154, 1.5631, -0.8917, -0.8265, -1.438, 0.6996, -0.0303, 0.8291, 0.6186, -0.4637, -0.0338, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.237 left_z=0.0569 left_yaw=0.5932 left_pitch=-0.171 left_roll=0.0168 left_gripper=0.6996 right_x=0.2867 right_y=0.0009 right_z=0.1603 right_yaw=-0.0017 right_pitch=-0.1135 right_roll=0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -12.4923, 6.2017, -0.0708, -0.6862, -0.0171, -0.0513, 0.0479, -1.6342, 6.9812, 1.8437, 0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505171ce61c0f1f98d9b3a20240452973d71a4831f02b33526526990e8337cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa00ca1830199325c83c9ff3d50c264cb833c2f311c00fbba78759c5341ff15c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc7b8139d574010b2ba7af7cdb8cb685d83918d0a1e3dab89876f4c98104ef0",
      "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 9 attempt 0 · /responses · status 200 · 6.712 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 29 changed as sent

message 33 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.961, 0.8646, 0.3649, 0.0338, 0.065, 0.6452, -0.0265, 0.8036, 0.6132, -0.4072, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4036 left_y=-0.2397 left_z=0.001 left_yaw=-0.6067 left_pitch=-0.1616 left_roll=0.0332 left_gripper=0.6452 right_x=0.2929 right_y=0.0012 right_z=0.176 right_yaw=-0.0012 right_pitch=-0.0369 right_roll=0.0052 right_gripper=0.9992\nstate[joint_eff]: [-0.7453, -7.0906, 6.6803, 1.3016, 0.0415, 0.1343, 0.0269, -0.1709, -1.5521, 7.0632, 1.8291, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6495, 1.179, 0.7277, -0.3473, -0.4332, -0.3939, 0.6966, -0.0269, 0.8242, 0.6186, -0.4431, -0.0311, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3072 left_y=-0.1356 left_z=0.1382 left_yaw=-0.0827 left_pitch=-0.1381 left_roll=0.0173 left_gripper=0.6966 right_x=0.2896 right_y=0.0013 right_z=0.1656 right_yaw=-0.0005 right_pitch=-0.088 right_roll=0.0063 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -4.3145, 9.8803, 1.4725, -0.2369, 0.0073, -0.0415, -0.8, -1.2786, 10.5778, 1.6728, -0.1148, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.878, 2.154, 1.5631, -0.8917, -0.8265, -1.438, 0.6996, -0.0303, 0.8291, 0.6186, -0.4637, -0.0338, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.237 left_z=0.0569 left_yaw=0.5932 left_pitch=-0.171 left_roll=0.0168 left_gripper=0.6996 right_x=0.2867 right_y=0.0009 right_z=0.1603 right_yaw=-0.0017 right_pitch=-0.1135 right_roll=0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -12.4923, 6.2017, -0.0708, -0.6862, -0.0171, -0.0513, 0.0479, -1.6342, 6.9812, 1.8437, 0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505171ce61c0f1f98d9b3a20240452973d71a4831f02b33526526990e8337cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa00ca1830199325c83c9ff3d50c264cb833c2f311c00fbba78759c5341ff15c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc7b8139d574010b2ba7af7cdb8cb685d83918d0a1e3dab89876f4c98104ef0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaXLh1uw-g76qypnMHT_mzQFUhwFH_uP2-05ZqMqVBG0Xd8Z9fCT-OO1H6-u8EiiB1yqeCcdDdU2xqydC2DT9KJ70O1KdJvQbVIQFNo8gseKSpb6M2jkiSg-av21sAs2YII0C1EJYixZCyzkjUmblLiZKq8w2NXxYKOaZiDYPiuKbqYyZhTvTYs7TPMJomUXaiwaVMaHLY2at9Ld236wamYYBuO8TFtowPj0C-1kkpen9cqqyFi8hkifEmbNn77MxLzLzfSSjIQYolWshBoJeUi59HTx6_5HCl-BNcKNMZXKT4obSMi-sD0uEhL9WSCNdXvbQq7HOUQ2Z-pzjh3i95naK9IYZeoNYlN-HYjcYH-phF79NrN4JH4O-tqpLScTwm1Yuu7msbf6lMLxmSpAvSrbRnPPy8NdUvmWHVg_dM-x8VUFbCP1wOQKpKJWue5KYxbPXRCKVMj4kdi7HczXgLfNiYaJl17JQRwLWBrP7JtTPG8u7hWYmS-RmYhWAF8Qg0mT3mUDdNjclWtc4qo-d7TrTN1bKs2dvyMLzM6M4qOh6H65gP-xGDP-ZNBOXUfAVBaCZw-YKaQM3_X23tK42JovvD8mtdvMBAHLpc5pq3K2tB0KG9eOjC_G2QNSxa6tSGcp4hxQbw8JI2kUVZp4FO4OH8_e-wRKMBA4rF-U7wZcf_DJtZ5gk0n3hqbsn2jUzaaSM4GW9hUfmQTqSbHHMjmCTGRua2AOoZrbWm7Cslw8poYc1fm8nNE6TlHhtzO6LhsvIjf5EmUcu4ptpdia6xl4aF61UhaeJPxTaVFEfPUW1P8UYonlP_YxdlIMV4OVVU0IIxz_i5PN0pFVElacfaRrOkrzeFsgLFxluLm9GWxish7YIRrjZt0yG-weLzsBgTaapTlr5yN-Y_1v5xKfIknYRM_0x4l5ZbgjnVfAQB-da4mGCGnbZC4ZwUq5EpPTJopYL2QpcMH-gHXWul8vY0k8OH2tUbuIiSXgJXkd8eCHwadxBDxLsmKCz_MsDTT8RVelFOiVI59nWf28IogoWdHY3cc3KR1DSybaofiFfpIz8IXBiMaEXabZhlA7irJrFeiMmG_vt_yOWg2rHm2gLJcNkHRYfHcYjuCCEYHroRauzLZRp5CNO5BmeXq4lHwLMdlBxHXN900kxC4EQgr0c7SWP51OdPY5XzVsAVekcxR20liTSGKUlDJNZumhkFyUf2jDPo87_tvWjIWrMOjreOWwfj23jq0aY06KVS3HnvWu4JcHXmnqgGCZUMWwNxZ1M-b_Cz0Ayo6S2tZ4SRgujxCdvsf7XoAzGGB0-Bnrnw8eWC7gsXqcGZhRtN_FWoRZoAtOOaTagGqenCy96eqli-oGD_ArjIAcmXmnckU08qDr0fL00_KO0Fr06IV5Cw_WbAlp_lbcQ0XfT2rkvwgQ0Ks6OyMOfVtbw8w_CLAHD2LDTiAe8vPP_25WCp15Tszv-x3d2ntSvopxgbe6JIlBU5W1-FFUaUvZScmyM8f-GeuKhqupzeCy7ypkSKN8_b4ShIF3gfPG6XPhBrCrQURcw-NDp3SjwWSc6VCkpUucC9EBjvfXRfV3cSrmtK0EjDQ9X8-hv_AvZRzMF0fjxod3ir20Bt7jgDM1BM59xsv4ICiUrbEfGQ9GbsKJ852oPDPxAcptRHkwiPshAvMQwyQOEmqlD9acEDUL4jcMqp5pnOCVdueB0t96ZvILsYMjdxmmDgziA4_69LOTWOIEDqlSnwtF-YWDg-j-0zBlaL2LomB7n6d51ocHC0ya3j1T1a_9KzQ1QZD9DPNjEYJQ7sUzG7Bw2JQ1hnrKKssuSXyb_GtI3eAEXjECIM7w8Ep0YbBQeyC52a6JjbN1xXCwBTCYouW8YB_EjbUZtoLJabh7CIl06I=",
  "id": "rs_019ab0a2ba501d90016ab4769300d887d09d3115d449db3b3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.218,\"left_z\":0.012,\"left_yaw\":1.35,\"left_gripper\":0.65},\"note\":\"The cap is just left of the jaw center in the wrist view. I’m correcting sideways and completing the turn while descending to grip across its narrow body.\"}",
  "call_id": "call_moGpDTRFfTnbwDlx3qGXkxl2",
  "id": "fc_019ab0a2ba501d90016ab47695f49887d0b7ee5bb5f64d1216",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_moGpDTRFfTnbwDlx3qGXkxl2",
  "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]: [-0.73, 2.6282, 2.1956, -1.4544, -0.7513, -2.0258, 0.6508, -0.0307, 0.8333, 0.6178, -0.4664, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4072 left_y=-0.1978 left_z=0.0044 left_yaw=1.1551 left_pitch=-0.1979 left_roll=0.0007 left_gripper=0.6508 right_x=0.2864 right_y=0.0008 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.1211 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [2.9744, -13.4906, 6.8718, -0.7155, -0.3541, -0.0904, 0.0073, -0.0479, -1.6479, 6.9949, 1.663, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2be76a3e20031c4f9fafbb667d13bd5526f19d6d0e13be1362f640da42f505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f5124fc7ac5b6dc117c403bc154ca82645193406b17f130091381512304c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd80f90aede1ba043827564b387074874669755eb4f977dd43ae20953537ca9",
      "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 10 attempt 0 · /responses · status 200 · 7.891 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 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]: [-0.5323, 1.9694, 0.8703, 0.3805, 0.0303, 0.0612, 0.0081, -0.0261, 0.8051, 0.6132, -0.4122, -0.0303, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4067 left_y=-0.2416 left_z=0.0021 left_yaw=-0.603 left_pitch=-0.1488 left_roll=0.0336 left_gripper=0.0081 right_x=0.2923 right_y=0.0013 right_z=0.1746 right_yaw=-0.0008 right_pitch=-0.0434 right_roll=0.0054 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.1128, 4.6838, 1.4383, 0.0659, 0.0171, 0.6276, -0.1162, -1.4427, 7.0085, 1.7949, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.878, 2.154, 1.5631, -0.8917, -0.8265, -1.438, 0.6996, -0.0303, 0.8291, 0.6186, -0.4637, -0.0338, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.237 left_z=0.0569 left_yaw=0.5932 left_pitch=-0.171 left_roll=0.0168 left_gripper=0.6996 right_x=0.2867 right_y=0.0009 right_z=0.1603 right_yaw=-0.0017 right_pitch=-0.1135 right_roll=0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -12.4923, 6.2017, -0.0708, -0.6862, -0.0171, -0.0513, 0.0479, -1.6342, 6.9812, 1.8437, 0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.73, 2.6282, 2.1956, -1.4544, -0.7513, -2.0258, 0.6508, -0.0307, 0.8333, 0.6178, -0.4664, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4072 left_y=-0.1978 left_z=0.0044 left_yaw=1.1551 left_pitch=-0.1979 left_roll=0.0007 left_gripper=0.6508 right_x=0.2864 right_y=0.0008 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.1211 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [2.9744, -13.4906, 6.8718, -0.7155, -0.3541, -0.0904, 0.0073, -0.0479, -1.6479, 6.9949, 1.663, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2be76a3e20031c4f9fafbb667d13bd5526f19d6d0e13be1362f640da42f505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f5124fc7ac5b6dc117c403bc154ca82645193406b17f130091381512304c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd80f90aede1ba043827564b387074874669755eb4f977dd43ae20953537ca9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaeg3owTJ6FkQ7SCNDnaWW2MdL79kM-DvOpR_ZDCWYh3zrxKn3JILNMyR53lEDTkOLzDsnUJzBm6i_1DVwA79p-Xzs4IdIyR6VxV3hED_Kdg5QnAc0zul4Kdh1DdSDe8ga2gwEpN9OCxIUnnjaRxNQzZCUBnHbGb1e1mC0024k5-OeznOfvEEjnccgklgyHyqtBsJCDR1oeMGD49XGVSt0hq1xTf39n4but4MsudmPGLLIYuoNrPHwr4U0pEuc5ZhH_sng_1RDptbfYnvv8lJ_KEB58Tak4XMO2KygYULzx0VtM6d2djdy3YVMIBLatjno_mClZLUsQmJ8bKIqGlC9YwCCQWzJXWSp7sat6FYIBZSiPN7EaXN0bKTJzShSZn6geAhFgUL4wEKpR2sJ3UHRgafUb6j8jnDCtCicX3bPsnZAh83gw5LzgnYwauwhAs6GoBjK4vpE96jzYlE1Mttz6oZx6oELdmbirzjTHkPqpMrn1CQi1QKVZUGWYS_LAJOK9NxWJbmu6YuwNVDAbepOJjE2qSHh-eHTHj8V-KTsvYAwI8O_Y1qCNo29rr4pqk2KKKgYbey6pOkkMLGg9yJRv5vBegWSLQDmTF5keNbveVLkCQtOo4vnU1dvfTh37YZ7S5CF66WuDCQZSK_17xJNgI-sjWi3MXou-MwedsfjU6mDgw8Lf7dQwVT9l1_8w55Wf212-5aQzvzBkk_2iDGk100p4SvsmrlHaKxHhVSb5AdzwScPXFZNVclEuH4T6SZDzHWXp21_EjMgCQQQUtDLitARYkpKCeVk37X-P7LPFWKhJfC5K1mtSTt2ipZZ8arGNG-qo878oMvupICAMaeADIxgidqJKP-O3OtDlgdPyrZnbbzDJhHucwjWIyLREF-LVIGnIOKbobO71vh64ZWWKf4FJbZdvzag7JnnFu_i56n0MWKq6vLoUz9EbT1yKZu8iWjmi95FTPKV0S8w9bIvDgFetUlibTqnIINkYnmrokctghMLAa_fNcXYyBVHwJJzKAE5I7XXhVIo5szuFii5AwYhCoauIrKtDJsnipBDfWmdDuu2K5mgp6p0GJbw4-5-9jGOscRoFFkevxKRhilohLFcq6kLQxPyJUiYUR3kQ2Nt5Rxw9ESnuvgAdXTdfsz2K83vG-u7zHoELtSwWABqY7NCUaliy8wyrl1tcrqKoa8TtMpRdPrr7vCAbqlCEdcpBkaz8rqOP5Uoe55nBB2306rNV7qYdFXS_jaaIcx04TP4zESD8_2-GxHwKqeQK9Vp3XsJKHOpfkHthVyOCDFRrARGspz2pn4OQmw5hU6-e7GIScNaynZ_aDEWcPy5yZF-PTy3BMKj4muFifcxVI5DbY2AAf7rBtQjsDSSoyY0G_LqSQa3X8G1U1Ga8e1-mmuG40_Tag0gWFAwT7l-RfnLrfqQMJTwET15e9jwSI5SpItco_leyjqauG9CW9Cx3_bd_XOvWmNdgWXeUjvRFQ7ohxWSIuN0bv8P4gOcKgBoStVFlAG8XAFYPT-2YF4rS_qxBntUkqsrIjUMw9ZfQMusfqv1TfIfG757AQ3BfFyCGRMicl-T--4rS2V_2KA6J-l8cH3GOF6bpptrDpLEcg2HQX8hQAGslWbRsj22LwDu6B-lloitAvl39bVMs4Av6kABSNaacm3wydbNZ0WiSOpma5uti1FY4RQqFQepdk6OyG_hO6OLMmmRp1A7f3FeHFbt_oKuPFRWIwWBMRmu3LjticOAR_nifqKb7fbiFFHNCejZapJTiFym7oukA7g7MTc1GKQfT1yxyPE1QwgMaU0ouLkXPaOnj9vwNuutp44fcTJl7c_N3CgJnjLDzOYoVC3VS2x2cdzqYqsqDbGkKMl3gPtK3TMhgVrwmwks4DSe_xMKjcC99hPye7z8rpci-oba5og7gKQsDAOxYQqpy6NahENvLf9iSZmvO_s6prdesvYNCTlmytkqPfJv4powyYxaDrkN6a5G4gI4FFtxDkr7Jjgcn8c5ZPlGT7aqLWZ5jTzRrpVT_6iwA7Kq-zJ-mAML6dZ6Rsc9AQs_v5rS7uDCPWOBiFgjERwSBoCGSZXn4ViXbWWSBrn7rwuE_qV878a2RCfF_vYniXpF3SGzGgE4gWxRxFgunZOZlJCdbiPZ0hSnXrGVCv-ALUI2pp7_WF6kA-VX_bMxuFFycFKNAmbGSNQDBqSfysuAh0zUjkN9SJ2jyRlokYWLLyAkUgpfVYCMc",
  "id": "rs_019ab0a2ba501d90016ab47699286487d0877dfe5d4fcd13fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.189,\"left_z\":0.01,\"left_yaw\":1.15},\"note\":\"The cap remains visible beside the left finger, and the arm moved farther forward than requested during the turn. I’m holding the current angle and translating back toward the cap rather than repeating the missed pose.\"}",
  "call_id": "call_t2yziPWiBB4vTvLweMGVSMZE",
  "id": "fc_019ab0a2ba501d90016ab4769d161887d0a704352f91cc9490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t2yziPWiBB4vTvLweMGVSMZE",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6697, 2.5584, 2.0377, -1.4483, -0.7456, -2.0731, 0.6505, -0.0311, 0.836, 0.6178, -0.4656, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.1546 left_z=0.0036 left_yaw=1.2583 left_pitch=-0.1751 left_roll=0.0463 left_gripper=0.6505 right_x=0.2866 right_y=0.0007 right_z=0.1578 right_yaw=-0.0024 right_pitch=-0.123 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [-3.8769, -15.9385, 6.3385, 0.3053, -0.1245, 0.149, -0.0415, -0.1573, -1.2103, 7.0632, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aebd2cd98a5429a9947549e97ae344aac7c9f5afeef73a7528b780dba72d9de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be37a12a9bdf0b075a6e2c1bef342c87a78fdfeef5322a8cff8b2285b6eeb317",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccf691283d16a16dadf6283c236509447aa975307f94fe801589a83d96d541a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.9 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6495, 1.179, 0.7277, -0.3473, -0.4332, -0.3939, 0.6966, -0.0269, 0.8242, 0.6186, -0.4431, -0.0311, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.3072 left_y=-0.1356 left_z=0.1382 left_yaw=-0.0827 left_pitch=-0.1381 left_roll=0.0173 left_gripper=0.6966 right_x=0.2896 right_y=0.0013 right_z=0.1656 right_yaw=-0.0005 right_pitch=-0.088 right_roll=0.0063 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -4.3145, 9.8803, 1.4725, -0.2369, 0.0073, -0.0415, -0.8, -1.2786, 10.5778, 1.6728, -0.1148, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.73, 2.6282, 2.1956, -1.4544, -0.7513, -2.0258, 0.6508, -0.0307, 0.8333, 0.6178, -0.4664, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4072 left_y=-0.1978 left_z=0.0044 left_yaw=1.1551 left_pitch=-0.1979 left_roll=0.0007 left_gripper=0.6508 right_x=0.2864 right_y=0.0008 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.1211 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [2.9744, -13.4906, 6.8718, -0.7155, -0.3541, -0.0904, 0.0073, -0.0479, -1.6479, 6.9949, 1.663, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6697, 2.5584, 2.0377, -1.4483, -0.7456, -2.0731, 0.6505, -0.0311, 0.836, 0.6178, -0.4656, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.1546 left_z=0.0036 left_yaw=1.2583 left_pitch=-0.1751 left_roll=0.0463 left_gripper=0.6505 right_x=0.2866 right_y=0.0007 right_z=0.1578 right_yaw=-0.0024 right_pitch=-0.123 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [-3.8769, -15.9385, 6.3385, 0.3053, -0.1245, 0.149, -0.0415, -0.1573, -1.2103, 7.0632, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aebd2cd98a5429a9947549e97ae344aac7c9f5afeef73a7528b780dba72d9de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be37a12a9bdf0b075a6e2c1bef342c87a78fdfeef5322a8cff8b2285b6eeb317",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccf691283d16a16dadf6283c236509447aa975307f94fe801589a83d96d541a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHamZTXsE8Ndnpdtqv-f6GbyC33bsAnAoVKERLzPKz63Vg2nrjej7X-qVPfSnFe69N0AhLh_gQNrG3Q3bS9z98eAGjDW0vqZWkWR3Tp3VhqFxrnvxtRm8WTBhn5XehWKft0JU1_2AZTYToEo4kweJns-FDZJxbGnOeg9-YO3rDtf0Gy5WxMQ_dQD0QLo74rR54rHOeFG5lApCNKRM5Dgdd966e54mhfmDVnWOg9Q1IJSXIdvbelPkoOhAuHI5_Mxc7PBXJSfaXB8zK-V6f72LdbmB8KqWdbfnfJj_Pl99j-6HLcOW3UAwR4xc_kgV2Y8VWDFlgWsd-aGsr8b-8_wHwFdWVArEhwHye8i3xs9F8sjWLjP92mfh_nrb6bf0hxQ_uICw1W-SU9-rcoYeEsy31J98_PpxLUXeNcRXknCC9Gvg_L4hM5Lr3hqhCNyNoqTNUea-bh7KcB0uriB1KBDpUNvLwqEc3rfEKR4D78hA1ou9Q0HkH0eu26YnKy4ciqB4lD1TD2lfbhEaJuUpFwoVWRmxofu3AHSxTe_mo2hcJcJAJ8ajcn7abeJIpbUJ40484dM9SHlI7utROdd5wSUvOt-3BSLv3jJ_s9cU5iK1lv6uxQwgQZe1y9A6ORBa4pDuQ-wElPGydalDBlKk5sjEzOYCu04GppsRWSgDU8nkCFb9cv9ZpCrKo8MpuVZEFeemQA-uhn8ssK4otgsrAaB29-ckC4g7vyZWsZmmuRLawbbdDe6CaWQm5V6HTMNuldwj8xZBqrmUs62D3pYzPoqFmV8s4OhUX-8oMU0WcwH5lnMHqUcHdJoRL-Qc43JFVCR74ZbgOmODfcd4OHoTWNXr2zbxHJA-SFrG5cNEKxAx57Q79NZI4ccqVkDUyMhCxUm7dWRtK28NVrceqErq0V7HiUeODshnNmjksZfDeb4oI8mD3E9su0vei2uTk4UETsxsiR9UMvV-bnDJmrcdZdNowq4hvNwaDVaa5A_-LDZHC-9K5Vwqh2H3XhctFdaokHlzfV0mrZTPBRdzwInJ4hZreZXXyiWyTDnF7fB9jpTBOfkRvMH6q2v8SW-WbT6qc62YLS2l3ekJMdEUPGYl5arOcEbJcXqz2A-YpbSknTr0CApopbChckRENk-wW1wtUtGWSqsI0aGlvnTeRtDM3dABG7PcYOTTsg4cwdEVfsQ2rMmYE6hvmTITXUlyukNZ2Zqe8sOIYaQdwuDXN5TRx7m-JywdFocuMsfjXeWs4iqIwiwLlSL6yCh-nkFnPVwJH3An2gad2v2TCGDBBgQ2lkdwzvMsMiTj2cynqXTSOgaCa82CNaYb0QLs-FS9NROq6lEYN3XSJ8kouGZmUR9J8C8l0utIiDFdDzeK4sMpZ4zwhGyvSWCH2ELPdm8BFwZ9TBkSmbGAq3pJMOj8RkMImSQxTnJE370GgF1mHdij456VqDzKvaPtv4hn2N6iCVXSl0-2xpSPvZGYwkmCugoyNH681LIDZsf6vLjx_Bf_eHduM3TSaixxJki5mLmat-Nvnz1hTqsCymP3zTLyG7tdvHtUc8hk8K5MCl7D3lK8A9oV8_-AlguzoJY8WkSFyIxeNTEt8PESuZwk71Q1cg4ubit2OfVoeaRHJYliHx-jybglRnObAO5XbDlkMJXOE6wLszqWoa52bZRZU2DWFE38wQ2CH9_8Yo-tCptw98XzQeiGLxAiZIOMbU5CHmAC1Wl5fSSMPPzUGCIGlYY8bWmNps5Gv7lvy27jfjQAIAFPUfj3wu4G1mlrKX5uPyJI5kw5ZzU_NEn9IL6P0B1wXfMUzWL8M77zKPO4Kdg-Y2woHbNeZanwccyiX8VTFZjt2j2yr39EgfLClUjspRdmrOXvSu29IMEE4E1HZzPVXM17cyyfsa1q310zJ2QXlMTAsGlurJkfIsBAuUJWGnqCpuVCwmrDWpWiAfdqQXt2ZiXSJS61Iwy1BsfDLIOEOe_5_M8pdFrqZ_oHDgwTxVNGju6DFWziOS_VcFWNIu8eTaD1mJq8T2m41H6vNQKtmfgWi7DGlPjxRbJIqkSnC2A76xsKIzzjMy4DeZBsfCXwT66fkSRWKlXYtBpgIRlmBhf7_w39g7Jw6s9PEyhaT7s-a2QBDKv7GSPpvlXwlMF877S3wHuGL8hAZr-Vr9QCH3jr9LhMpdr-IMmtBtw5DvjPd-_0lcUUDw8jK4bX4lQUpjBplzS82rPYCJP-aNBA2SIlIPE0t64GK9_QIbiUHQYekedGpzAVq3jRXH9v6Vcb6i5RBSPV1RAM7vxFg-DZ8OikhNypR2mJR7sehmVtOCalymDTX3V18bjWUSDx0LtAuoGhnZB1IZQDwMuR8NTzcV4BR8al9IsbPQjYLseNnCgPiSvX9AnVjTjQJ8qspYDGfG8R-UMhoCF6AH-RrZiVXXHOuZrnyRkBk5pTVjiZ9uMUqZnZR4pe5F-7INDU7f9Wqt1KCM1odlaJmAURjJHqyCzDNlrcCm2zF9JLx6lVZy4ZHe8g_9WZ2pMFhcMowANpXfWjDAFxhzHg9XQBWdQuQ2c10-9zpqX3DxkC4KvHTdD7IdNJ4s-O-FznkPzmRx4FFSyjGqSI5FZreKSHly00_G6iJX-s2QE6BGw4YSFSgphTXxNslFRxI_3G9GDMFrnRzZ6WE4NePQ5veMYFPeH4N-xC9awhq6rO_8gHL2WuGU9N1KpbuOlGAOXy-E3XWvFGJzOc9E3cbadjcVrT9SXYM5kJXHcDYbUKlYmz4ruS4lK2XrOFOWOT4xI-MssvH6GZNRatu97lI0H7e9pqE5GjpWnV_kwTeJDjx9klHK6poTaghkCqBi_lFX1Og==",
  "id": "rs_019ab0a2ba501d90016ab4769fdc8887d0a173fec5fbcfd547",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.12,\"left_yaw\":0.4,\"left_gripper\":0.8,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185},\"note\":\"The low wrist turn is giving poor position tracking and has disturbed the cap. I’m lifting clear and returning toward a simpler wrist angle before trying to grip it again.\"}",
  "call_id": "call_WBfyLc9mLBoBWoCx3rYNnPPj",
  "id": "fc_019ab0a2ba501d90016ab476a511b087d08e4edff59992a4ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WBfyLc9mLBoBWoCx3rYNnPPj",
  "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]: [-0.7036, 2.5122, 1.9602, -1.3834, -0.7597, -2.0026, 0.799, -0.0315, 0.8818, 0.6979, -0.5453, -0.0345, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.388 left_y=-0.1649 left_z=0.0052 left_yaw=1.1741 left_pitch=-0.176 left_roll=0.0624 left_gripper=0.799 right_x=0.2882 right_y=0.0006 right_z=0.1658 right_yaw=-0.0018 right_pitch=-0.1684 right_roll=0.0108 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -15.9248, 4.1778, -0.3297, -0.5397, 0.1441, -0.0171, -0.3897, -1.2923, 10.5504, 1.746, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12f0aeb668497379c401723782724d3dc9a3cbdaf1c74e2b17f55e7ad2869eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ed14e89985b2c3a4a90b39598584fe803e9bd4b68d5a9ca294e68c761ea53b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbc0c9dffd5c527e282e147b7709e950ced428900b68679262a0ea47dcacf81",
      "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 12 attempt 0 · /responses · status 200 · 5.245 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.878, 2.154, 1.5631, -0.8917, -0.8265, -1.438, 0.6996, -0.0303, 0.8291, 0.6186, -0.4637, -0.0338, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.237 left_z=0.0569 left_yaw=0.5932 left_pitch=-0.171 left_roll=0.0168 left_gripper=0.6996 right_x=0.2867 right_y=0.0009 right_z=0.1603 right_yaw=-0.0017 right_pitch=-0.1135 right_roll=0.009 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -12.4923, 6.2017, -0.0708, -0.6862, -0.0171, -0.0513, 0.0479, -1.6342, 6.9812, 1.8437, 0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6697, 2.5584, 2.0377, -1.4483, -0.7456, -2.0731, 0.6505, -0.0311, 0.836, 0.6178, -0.4656, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.1546 left_z=0.0036 left_yaw=1.2583 left_pitch=-0.1751 left_roll=0.0463 left_gripper=0.6505 right_x=0.2866 right_y=0.0007 right_z=0.1578 right_yaw=-0.0024 right_pitch=-0.123 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [-3.8769, -15.9385, 6.3385, 0.3053, -0.1245, 0.149, -0.0415, -0.1573, -1.2103, 7.0632, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7036, 2.5122, 1.9602, -1.3834, -0.7597, -2.0026, 0.799, -0.0315, 0.8818, 0.6979, -0.5453, -0.0345, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.388 left_y=-0.1649 left_z=0.0052 left_yaw=1.1741 left_pitch=-0.176 left_roll=0.0624 left_gripper=0.799 right_x=0.2882 right_y=0.0006 right_z=0.1658 right_yaw=-0.0018 right_pitch=-0.1684 right_roll=0.0108 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -15.9248, 4.1778, -0.3297, -0.5397, 0.1441, -0.0171, -0.3897, -1.2923, 10.5504, 1.746, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12f0aeb668497379c401723782724d3dc9a3cbdaf1c74e2b17f55e7ad2869eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ed14e89985b2c3a4a90b39598584fe803e9bd4b68d5a9ca294e68c761ea53b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbc0c9dffd5c527e282e147b7709e950ced428900b68679262a0ea47dcacf81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHartcgg9fgJ9_1RoDYAQSMR_GRUeY-bXfGPjBP8vFg1xQvtyOU8K_IbFKHH8R22hCMPOKSfTdd43WQYKhXya3mBrVRLmhSklnWhADN1dq69DrDcCXI_TnACvaJY0Y5B9H7TgUEFp5smV0w3LNdnanUMvQsG9gL3o6sCIuBTzJEz7RhU7qdlR5-FDwa-l8syqjuUkZjOgBXB2uiOd-pHPzIkY_pMl6IJ5jst2jrS52oz7vXHxj2fLOEQQ9aUEFMNMZZJlM83DSdsBqf0q6CmOZgRSE9k6YFXAZ_xWYu0uicZvJva_jsD2UE8ZykJdKSDKo_oCrf06Y3o_7swQNIciUKQCzMp4HO1ysIqKjbe5FE77fJQ1wFE0IgMOsEulJqQxugQRTamu9jsr-SXinOInTbBbH6oCuhx94etCUA4SfHQo7RlrjEdkHP0iJiWWYQTq4JgSY57gMZjP1Xv0u4_k3KusHuzAXGt02hJyj4LSAZMA0SOpQGZ0xbhhMVMI1zI55nH3bvCTwwHKxaRGaD-ENr_t5UYHn3JmcC8kLLnhaBBGCXYvYACaICz7sgeBajrYEIMS4nf9mNeibZRB97hpKAQDxLwhADHw4pEQDdA9g-iUqVysb2cMj0O91AMe5cKzRkb3RT8sKknlS_ybRKtjN2IsfDKUq_1gsli18fZbas9xuoyfyk9eBsN72G8Bxq9Ww7boB9NQu85wwB779eugG8rPfqoAKZN2BUi0SCgPSrJNvUdFpBOVPOxB8eqgoyNDIYDC4Cca4OXQ2mtiyNpZzTjPzoRlhyPcNDrT-10oB_wO__Mod2f7ns1Qpl2fxJ1Kno_xqNhcwXJfiJ_P-3sC6Y_c1Wn2rEcXe50i8kj1Xjw-llXNLZphp9XfsUIi6v39vNkyBmWD4Yq6_p7VfWmc17qNaeHUR_CLYt7WpLoJkT57kP2phTkAXJWuqmrfL-i-P9_dwjv8g7AMn-_ptG4bJ1CteVP4ch0LTBb6t8xsXaCl1dQ5HGHgK4YPO4va_MwSb7q4fOuaCdhrg40jNTd61k1SPUz-ykgQpp0ytXqZ6VYbZI7X0isHBzGqT5IllaI5I63OOqlkqG3xbjAPe9ZvgrRBGQKvDdvseTONWMB-KXDY_1UoBVpXNymzUeJ0PMWQrWeh9oxNKQbFPD1KXUwgf6rufn7M5yAsMnVKREF1Suy5Ibj3uaZBX4I9PfV4FWvGFf0_-ICwx0Di3w-ozPGraKa82pca7HKZ10RfwCYXrY_8oQ9dUTPGfSVvQKTKuy4bKheDA7k_hs3XbHiiZHm2U7Omvv2a9iJZQeJJC98eLrZ2jDXzzQ0o28eNVvT1BIxWtbsvivHShjbUlVXSpzT5Li64RSeM7A9vxcEvAPe6rmYlOE=",
  "id": "rs_019ab0a2ba501d90016ab476a8c61c87d0b6e161d535fab917",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.16,\"left_z\":0.22,\"left_yaw\":1.17},\"note\":\"The left arm did not lift as commanded; its readback is still at table level. I’m reducing reach and keeping the wrist angle unchanged to recover a clear, raised pose.\"}",
  "call_id": "call_Hku2kBhRGwWWTlNao6JD77X0",
  "id": "fc_019ab0a2ba501d90016ab476a9974c87d0817a16b175a6da98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hku2kBhRGwWWTlNao6JD77X0",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7219, 1.9804, 1.6276, -1.5574, -0.7509, -2.0068, 0.8001, -0.0315, 0.8879, 0.6983, -0.5507, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3141 left_y=-0.1112 left_z=0.1382 left_yaw=1.1571 left_pitch=-0.1914 left_roll=0.0374 left_gripper=0.8001 right_x=0.2877 right_y=0.0006 right_z=0.1634 right_yaw=-0.0025 right_pitch=-0.1795 right_roll=0.0115 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -10.8513, 4.8752, -0.398, -0.4957, 0.0415, 0.1001, -0.2256, -1.812, 6.8991, 1.6435, -0.0464, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55345a520c9d24c28cdada81fd0ed3730476cc0c0c4c6b6899707cf472b94ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7be6d353379cb0e157ce5e286c8df7a085563ad4a12b2ef890634519b8020d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2be9a4ba48c0fb186cb98cf0962ee9e7c89e717bb16525c33acb8bc7bc62fd",
      "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 13 attempt 0 · /responses · status 200 · 4.873 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.73, 2.6282, 2.1956, -1.4544, -0.7513, -2.0258, 0.6508, -0.0307, 0.8333, 0.6178, -0.4664, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.4072 left_y=-0.1978 left_z=0.0044 left_yaw=1.1551 left_pitch=-0.1979 left_roll=0.0007 left_gripper=0.6508 right_x=0.2864 right_y=0.0008 right_z=0.1583 right_yaw=-0.002 right_pitch=-0.1211 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [2.9744, -13.4906, 6.8718, -0.7155, -0.3541, -0.0904, 0.0073, -0.0479, -1.6479, 6.9949, 1.663, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7036, 2.5122, 1.9602, -1.3834, -0.7597, -2.0026, 0.799, -0.0315, 0.8818, 0.6979, -0.5453, -0.0345, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.388 left_y=-0.1649 left_z=0.0052 left_yaw=1.1741 left_pitch=-0.176 left_roll=0.0624 left_gripper=0.799 right_x=0.2882 right_y=0.0006 right_z=0.1658 right_yaw=-0.0018 right_pitch=-0.1684 right_roll=0.0108 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -15.9248, 4.1778, -0.3297, -0.5397, 0.1441, -0.0171, -0.3897, -1.2923, 10.5504, 1.746, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7219, 1.9804, 1.6276, -1.5574, -0.7509, -2.0068, 0.8001, -0.0315, 0.8879, 0.6983, -0.5507, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3141 left_y=-0.1112 left_z=0.1382 left_yaw=1.1571 left_pitch=-0.1914 left_roll=0.0374 left_gripper=0.8001 right_x=0.2877 right_y=0.0006 right_z=0.1634 right_yaw=-0.0025 right_pitch=-0.1795 right_roll=0.0115 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -10.8513, 4.8752, -0.398, -0.4957, 0.0415, 0.1001, -0.2256, -1.812, 6.8991, 1.6435, -0.0464, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55345a520c9d24c28cdada81fd0ed3730476cc0c0c4c6b6899707cf472b94ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7be6d353379cb0e157ce5e286c8df7a085563ad4a12b2ef890634519b8020d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2be9a4ba48c0fb186cb98cf0962ee9e7c89e717bb16525c33acb8bc7bc62fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaxM2Jo76C_e0OtuU0dmBBIFSmA7-xESMQUSng3Il8Pt7E1ZBka_ifGtKKKg-G1kSZxqOMeS_G8N-kRAofjOwtXcjJ2sJlOtm-QDMkh4LPVSP9Hzx1cl9YhZF1UdANzUyKZQ71tTKJJl85UwNUdmNuqD4BsNOCqFPCwrZaqADUjIg9stUn8DT-JxCqsJhzrG7Mpp_NKhudPKdyAI5iQfj5vqPJIQwnom3Tp0LVuMR9k99yjCNfXz2LpxikjsgkUsfM50wHl724B9-tWN4d7LxtEnq1PTIJ9YwSsWhi5E6I2XASy8wmyyxGFnpI3Q_27hWxRmkzSeZy3kszAveUjT8OThhsJ1IV9tcJYEw8k9xuyXSBaZjP4_30J16ln2YVN--FkjJ0gcuNxilLnAwOMABKM-a_jQoH85YZmR0C-bNoLV4F_hvkNFPtS6NLCVxhkzp9L-RO8HzCRZOROBx4J5QbJ9tqMKmuLs8f8lZBi2-auwNlxcog3xOzE3VexJ2CAAmk3gk12pq_E0fu9h-o2m4No08rEua2juXmoVqn5b_f_c1W0UTTDsSeHw6rgP_wQxRJ5tZKwWZ-IhTnhUwWEBT-8gmhxet4ptKwdmaSmQLas74PBWGi6WHJtwMkEVKY1o0ydKJDwMCC-gpglJ9EBdupBRAeWv3ZLhqx2fyU2JG392f8lf_fTTT5VnjaDZy0hogS8QVWfif_S2NCYPUBhzGmOZlJOMy-bELWIDf59S_QGpJQZZihlSnB9tZ9QW_zbtaHGuuwaZySQrZXkUnTd5pIYiqrN7AgL4tsqEguVw1986dna7bvxJ9JfpNvPPqFhzwi6j6n_jGIzbi86fyFp5yKEqitI_VLzunH4QdYyYmUXVkDfrcg8KnlqahRxm4fRujnHxM9CFa0b5onAjRMht9KdR-l3MMBjDStsY-qGuSULbLNdliyyJHeV44FTIrDamsgwITx2_dZJ9tTyNn35878poM7Ylq9Xr18PxNEP8XzxXd3vJwApl5LhRkrgCu608c_Ly0yVOIFAPppiqL28JVj9srTNxkUvLLCLYbxLRtOe_MRpgAuovb4eDQg1jcnZGtdUwIsg21NDKfsJRIHJVSQcnIFTuHFcR6d0Bviz4yobhuhsQsFLGbkBrjepmYL3rQD46wOIWrqX6LCuidb7DWPi1LLQvSpsCZTjCKEjMtuFvWl0WV0uYynaK36XrwKGqOi9-6smes62bcm0212nn7XLxsQIe2PUMFUey2MPTNDCbsWhPXGAge7ZWfIMXMpKI0aTTlkS7lugvPdEKN5PXgEVAJcG4e-MCWBK7HiRIxBtvOc=",
  "id": "rs_019ab0a2ba501d90016ab476af9fb887d0bef2cd8079bf0043",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.14,\"left_z\":0.16,\"left_yaw\":0,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The arm is clear of the table again, though still short of the raised target. I’m restoring a neutral yaw with a small forward tilt to avoid the awkward wrist configuration.\"}",
  "call_id": "call_WSRLM7KgkWpf3Wgpg2X4cXsW",
  "id": "fc_019ab0a2ba501d90016ab476b0401087d0a7eb56cc814ee914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WSRLM7KgkWpf3Wgpg2X4cXsW",
  "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]: [-0.7574, 1.1934, 0.5961, -0.1375, -0.7589, -0.5571, 0.8001, -0.0315, 0.8902, 0.6971, -0.5671, -0.0345, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3085 left_y=-0.1195 left_z=0.1364 left_yaw=0.1386 left_pitch=0.0618 left_roll=0.0089 left_gripper=0.8001 right_x=0.2848 right_y=0.0007 right_z=0.1593 right_yaw=-0.0018 right_pitch=-0.1993 right_roll=0.012 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -3.959, 7.5419, 1.8046, -0.2613, 0.2173, -0.0024, -0.253, -1.7983, 6.9675, 1.7656, -0.0464, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53eacb1f91cd35854c86d6e4d1dc66d6fd9d3e123a733e16e606d4c00c49920d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee744e4f156930b664d1a8d9d2816ec7c4efcba394940797bb5a863728346acb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c206307422fc673ca7a6cd7ba2e8e6d2d0141632d89edc7389319eb016aa02c",
      "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 14 attempt 0 · /responses · status 200 · 4.031 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6697, 2.5584, 2.0377, -1.4483, -0.7456, -2.0731, 0.6505, -0.0311, 0.836, 0.6178, -0.4656, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3941 left_y=-0.1546 left_z=0.0036 left_yaw=1.2583 left_pitch=-0.1751 left_roll=0.0463 left_gripper=0.6505 right_x=0.2866 right_y=0.0007 right_z=0.1578 right_yaw=-0.0024 right_pitch=-0.123 right_roll=0.0098 right_gripper=0.9992\nstate[joint_eff]: [-3.8769, -15.9385, 6.3385, 0.3053, -0.1245, 0.149, -0.0415, -0.1573, -1.2103, 7.0632, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7219, 1.9804, 1.6276, -1.5574, -0.7509, -2.0068, 0.8001, -0.0315, 0.8879, 0.6983, -0.5507, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3141 left_y=-0.1112 left_z=0.1382 left_yaw=1.1571 left_pitch=-0.1914 left_roll=0.0374 left_gripper=0.8001 right_x=0.2877 right_y=0.0006 right_z=0.1634 right_yaw=-0.0025 right_pitch=-0.1795 right_roll=0.0115 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -10.8513, 4.8752, -0.398, -0.4957, 0.0415, 0.1001, -0.2256, -1.812, 6.8991, 1.6435, -0.0464, -0.0806, -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 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]: [-0.7574, 1.1934, 0.5961, -0.1375, -0.7589, -0.5571, 0.8001, -0.0315, 0.8902, 0.6971, -0.5671, -0.0345, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3085 left_y=-0.1195 left_z=0.1364 left_yaw=0.1386 left_pitch=0.0618 left_roll=0.0089 left_gripper=0.8001 right_x=0.2848 right_y=0.0007 right_z=0.1593 right_yaw=-0.0018 right_pitch=-0.1993 right_roll=0.012 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -3.959, 7.5419, 1.8046, -0.2613, 0.2173, -0.0024, -0.253, -1.7983, 6.9675, 1.7656, -0.0464, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53eacb1f91cd35854c86d6e4d1dc66d6fd9d3e123a733e16e606d4c00c49920d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee744e4f156930b664d1a8d9d2816ec7c4efcba394940797bb5a863728346acb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c206307422fc673ca7a6cd7ba2e8e6d2d0141632d89edc7389319eb016aa02c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHa3vbExE4Sx65bpwn_06ZVU-A5_fJ6RrTHmQ52fFtHNxL7t2ZjhrCRJYV0erh5hP8U0JbEcddoJ_yX6eyAFqqJh5JM9C8dSPDztxlgWZ3g1QpnwGdwyYaZO4qaN6d1YNKgqA09uTQkMi2YSchph3ERBbYSooxaaYCzEyRo0b1z6KolHrP1xau8WbtUW-L90Pd2ITKHoupqLEDWaaAViensWNYqS1s5XmvZmglROXTcpjsFNSpNZyai_MUCC3Az6CrYegpQAqmAl5y-CBiDcYb5rnM8UwOhnXtzwdN5Hw6fnVoRjgFbihWz2oXJKgS--pih5nmFMeOarKIO_Pwy1XzEjkMKm8mq_8MCU4BF58XdyXuO1fXXAY8JQQQV_tKUVe9FOAarlc2QDG_5JP_UrxTEJ1loE79PADcIgvI3-xqA6uGHtYGOc9oiI-6uyWsJsZpJvb2rFB0mQwOOMsGYtLNCk83dvtkquwgOI9AFWoVtzSwaOpw-gtmsV_8QqemaM5Cp9GsTn_wd67aZ9NUYxXO1ETqSUdXp_afRlvhelGbmZenE4_KKayTvQExpxIR2kpYsyUsexjJTJd3s2fvjBcC3ae3XD3DCqpPTRexYMLt9k1CLWTDanWK7xLs6jD2n8_DvBLBA0-9O_-mBPynlZ0WXCYKQ-v5MxRwMvr_hQRLrHBa-nX09p2QMO8VQ9ULKkzNC0N9nMrnH7VLCCQ81pE2UIyEVBf7ExoCVhdvNkxxNtPQ2chT7KLuDmhYS-8s8B0Rgz9yF9YDWADVdJ9OmwBMPMMX16EHQv6zpwaT4sId-dOrAV_vAazSW0qRl0Coj4HkeD00H7Y7kW1RXQZ0ma9LoMG_T2IKtvkRW5eKJTHqAoJesIBs3PC5smnpWhLgZouWOy-Hd-3kyB3VrEsrDZViMXDMT6-dx9EU3BRiAcib9WQn87hw1tUJzkkBMSvnAqJZl0FkEauSIlFp_hpOKd_dDOJjjujlXeBpnFwH5iG5nhMfWXSSJ9RxyCv3-4j3TOppXNsPL_ePzZn7fliMKFXjwfmiCREIBwi7Dj5VWVN8ha107TVWMD7V6CqFJDJzMuBSFTzMx7DqlDWamwiP8mPLtCbfvkdm7wdqVxvHjRaBkAN-B4wowQxst5E48g4O2IG9kFerVxII0dVN2ykWIlQK-OQ6y7AHy7vQiTKQwD0wu1tsrdFE_yNIM6djdgvp5rTrfc8aT4WzLAZfFt4hNXxK75OdCMsgb5lwdzRhD-rs9doNv0UTFKhUTT6BGOdwk8soel1A3_6KGP9qQRZK3Cimx7deh8nfEUrt-NLAjdeAfO5pJ1YPL5RGs9QDRWqz9gweib61tP0UOfPQ_ZUNF3kp4Mn4EL-2lgjSQMHj-iGj0GFB3m2GvGqvuZzuMDmDDP3G7hOhaKd7xpx0Tz8yPGlga7MfZ9QfR6Q6pDWBWHmlj_t0yw-PB4sqJA42_Nb13PTsIQCIY3rOupZNAx7o3iKKHb_5ckdB1nnI1jipli-DGkZny4fvuyTBP8jo_329VxLXytz9kCpHtYm1_YiGXReP0SlLPSgJ3k4YDPe0Z37kYWaKEoOGxOKa5NRuir-6oYWtWVYv65TXAKub1OyKwwD0o--OUg4DE3Tj2aCKghQIinwuAJw1ZtVLQGj9EuG7dCSt_-Bhq6mD8H4lGWlFjBA7rYcE3J6FSP5q0Ku5oS-Y2djQZN42oA6AdLeorpfKzuz_b4w1K1ecDnOd4AbY_arZ4i_kKyFsnyZlCaT6uy_9hzdecEVCtUzMZmwKQgq-u6Axz0YYG3x6h-rQkosFdJzc6M7w==",
  "id": "rs_019ab0a2ba501d90016ab476b429f887d0a55325da85de63b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.14,\"left_z\":0.065,\"left_yaw\":0,\"left_pitch\":0.15},\"note\":\"The cap is visible ahead of the left fingertips after the recovery. I’m advancing along its centerline and lowering partway, keeping the wrist in the configuration that tracks more reliably.\"}",
  "call_id": "call_vz0z7O57f2gt79k89innqMND",
  "id": "fc_019ab0a2ba501d90016ab476b6a15c87d09a2275dd71e55129",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vz0z7O57f2gt79k89innqMND",
  "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]: [-0.6548, 1.5829, 0.429, 0.4599, -0.6266, -0.3573, 0.8001, -0.0315, 0.8932, 0.6971, -0.5713, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3359 left_y=-0.1228 left_z=0.04 left_yaw=0.0372 left_pitch=0.0221 left_roll=0.0919 left_gripper=0.8001 right_x=0.2842 right_y=0.0007 right_z=0.1577 right_yaw=-0.002 right_pitch=-0.2065 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -6.8444, 4.8752, 1.8974, -0.315, 0.1001, -0.0073, -0.3487, -1.9077, 6.8991, 1.6044, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c14bc79df10203f23f3e9071903f446ff13c7e6b463a8cb2bb767fc2f89792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bf391a2c8e35ddda165b10637a9950264f621dca145da636560ebd7162445c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411e6d51a6c0aa2ee6710f5c7814e27928496bc8c5b9f9a6ba0ea01eaf577779",
      "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 15 attempt 0 · /responses · status 200 · 3.762 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7036, 2.5122, 1.9602, -1.3834, -0.7597, -2.0026, 0.799, -0.0315, 0.8818, 0.6979, -0.5453, -0.0345, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.388 left_y=-0.1649 left_z=0.0052 left_yaw=1.1741 left_pitch=-0.176 left_roll=0.0624 left_gripper=0.799 right_x=0.2882 right_y=0.0006 right_z=0.1658 right_yaw=-0.0018 right_pitch=-0.1684 right_roll=0.0108 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -15.9248, 4.1778, -0.3297, -0.5397, 0.1441, -0.0171, -0.3897, -1.2923, 10.5504, 1.746, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7574, 1.1934, 0.5961, -0.1375, -0.7589, -0.5571, 0.8001, -0.0315, 0.8902, 0.6971, -0.5671, -0.0345, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3085 left_y=-0.1195 left_z=0.1364 left_yaw=0.1386 left_pitch=0.0618 left_roll=0.0089 left_gripper=0.8001 right_x=0.2848 right_y=0.0007 right_z=0.1593 right_yaw=-0.0018 right_pitch=-0.1993 right_roll=0.012 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -3.959, 7.5419, 1.8046, -0.2613, 0.2173, -0.0024, -0.253, -1.7983, 6.9675, 1.7656, -0.0464, -0.0317, -0.0171]\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 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]: [-0.6548, 1.5829, 0.429, 0.4599, -0.6266, -0.3573, 0.8001, -0.0315, 0.8932, 0.6971, -0.5713, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3359 left_y=-0.1228 left_z=0.04 left_yaw=0.0372 left_pitch=0.0221 left_roll=0.0919 left_gripper=0.8001 right_x=0.2842 right_y=0.0007 right_z=0.1577 right_yaw=-0.002 right_pitch=-0.2065 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -6.8444, 4.8752, 1.8974, -0.315, 0.1001, -0.0073, -0.3487, -1.9077, 6.8991, 1.6044, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c14bc79df10203f23f3e9071903f446ff13c7e6b463a8cb2bb767fc2f89792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bf391a2c8e35ddda165b10637a9950264f621dca145da636560ebd7162445c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411e6d51a6c0aa2ee6710f5c7814e27928496bc8c5b9f9a6ba0ea01eaf577779",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHa8Evb7URl3kmZV5UR8tgoqk83eCXwyFmHeL2uT9YYjH2-u1ohw7g3oDpmnz818V0y8S3xQKV43UTKMRjh5Qbm9FXlOrBQbdUjWzcO69esaw5vL2x-XbGzJiHfo_LyiDeggo-9kWrYcvv_mA6WSf5GYbWXO7w3eZvm4KyJmCbaZu5SjvcNNTvczLUPe3ffdPCdKhzt7lkaciLdonowmoZonpePiI96v2kiYgu457t1cwee748K9t0ZYGZSgZhRVvJpClKmPUsUPa41nDKcRTxiHkwP8qMz4deb4ouXNvUBhrFnHWSSfANGA6oXKYWMYOYsjB_Fz_h2Sjcol8CXVwRwZpXJXGKa0qmQWUdSTapSeRRQwapsfqQeKKiZYnO0UjkwT4SqqVoG1j6KGGH55g8rsC7b0x1RT6W8RlyrJeGWdEAHjOYKu0xbu6nuFxGqcv-cR4VXXYN5xIwC_ZU49OC8bSQ5lnv0pixjb6pDfXry6FYG-HqFNilXae_D6cTXjwzOF9S6X8UcOVDUoJ602-BxfgDRhJeyWdItO3GFkR_Zt4QX0DMSk96Ipha0mFEuvSjF2pGkeCPzBbu5QNpEZ04CjMhKyy9ffsI2z_zkhXMqBz4M1mSjXi00q5W_v4S2GuevhYySmvP3sY32J0F7q0wTkYqegp5etlMPvX7RAM9nolesoTDj31Lu3oquMidjWEI9wKvfZbwQZCm9Wc1GnherNajjIWyFJFdKFN7XzmRMb8afX66-z5TDXNGNT3maI6XkBICBqpnDEAZ5icCz0a5mCBvXi_zEhjnomOhsRcmjuXzds-JB4rZZwsGYIan-pzzcm8o18e0_UbUV9AOrNH9g9y91PvL5ngfh6OhEPXBPwFyikAIo9PnNfMvV7skZvq61wsQgxH64CnAkZQcofxDWwVpNQwdN94nTY6GdeRPy5esRrJIS1ErvTem8rQGTwBbDT3YCoO1MoYzgcYpRzi8f9awJBBjEkwBCxsdCCxySTDi0uctpllcMwwNhyE87YuPsK7d0ibAGODL6Fw2q4NiJUd1MZ6dswsV-s6vqbqC5hms5uBi-OUh-cKF0bT490empkngBW1Pq3mAyxWZQxeJnjT3JSK2h9tIXuUjSa8fgXlt_dDO4x1OsG3CGCsdsCZERxbSsjAafR3hA5nLqPVT7psdvyaS5vTwh3iDe-jYKZKFKgHbVB1Tu5mLqB-JA6YC7S8uBpBQE-jFbWChKku9RLLaC8vaISIi44atmfMdtuQTcMXSiYC0znZLNFQCmuJSIsdb7w6e-B0wmRG3C9SvzEGsLXgURmJp8--NDi-zb32TsBXe96Cw-vHh8et4YfQfOIIJtKNa8JeYtSjxm_CxfR5F9Adq4a8kQxO9wekE8xRrZFQ98mmUEm5mh_Ha_4aEYtz6dGTGjv4sJz3ZD7SW_uAKafv-PppYbBifwKB9WjliGtEpyLAsyknTI-jtBgSK_ea_OlSIRQVfokZ2hfIZM4dKh0HaQ8Vq0Ljz2GBCdHi43EKrhL1b01quFuViKixSPOmRnCeAEDZ8e9MWlTypnvJ-X0FjyiMd8bAN69TgZLWWn6uWwzFExV-4Vp_g1gM8Nq",
  "id": "rs_019ab0a2ba501d90016ab476b9792087d092f42b6e46fcbff8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.414,\"left_y\":-0.135,\"left_z\":0.018,\"left_yaw\":0,\"left_pitch\":0.15},\"note\":\"The lower view shows the cap still clearly ahead of the fingertips, not underneath them. I’m advancing farther while keeping it centered between the jaws.\"}",
  "call_id": "call_uYN5uRxJ1O9SJwLSdSpx2eo7",
  "id": "fc_019ab0a2ba501d90016ab476bb230487d0ac8206503eab764d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uYN5uRxJ1O9SJwLSdSpx2eo7",
  "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]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3302, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0236 left_pitch=0.1217 left_roll=0.0227 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.7761, 5.0803, 1.9023, 0.0317, 0.1587, -0.0073, -0.1983, -1.7026, 7.0496, 1.5507, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61047f19f9e6e6a210aedfa9c86308d9891c3c1e269fba307d868fba49cf7a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d1b47520f04adb5f6739b47b22760084f0b5fb489a12cb8aeeb407c1b84437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d2132d8a704d765929580aeb4750d7ed0cb5f2c29039dcbe6186e5f0c70325",
      "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 16 attempt 0 · /responses · status 200 · 3.301 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7219, 1.9804, 1.6276, -1.5574, -0.7509, -2.0068, 0.8001, -0.0315, 0.8879, 0.6983, -0.5507, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3141 left_y=-0.1112 left_z=0.1382 left_yaw=1.1571 left_pitch=-0.1914 left_roll=0.0374 left_gripper=0.8001 right_x=0.2877 right_y=0.0006 right_z=0.1634 right_yaw=-0.0025 right_pitch=-0.1795 right_roll=0.0115 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -10.8513, 4.8752, -0.398, -0.4957, 0.0415, 0.1001, -0.2256, -1.812, 6.8991, 1.6435, -0.0464, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.6548, 1.5829, 0.429, 0.4599, -0.6266, -0.3573, 0.8001, -0.0315, 0.8932, 0.6971, -0.5713, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3359 left_y=-0.1228 left_z=0.04 left_yaw=0.0372 left_pitch=0.0221 left_roll=0.0919 left_gripper=0.8001 right_x=0.2842 right_y=0.0007 right_z=0.1577 right_yaw=-0.002 right_pitch=-0.2065 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -6.8444, 4.8752, 1.8974, -0.315, 0.1001, -0.0073, -0.3487, -1.9077, 6.8991, 1.6044, -0.0415, -0.0317, -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 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]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3302, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0236 left_pitch=0.1217 left_roll=0.0227 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.7761, 5.0803, 1.9023, 0.0317, 0.1587, -0.0073, -0.1983, -1.7026, 7.0496, 1.5507, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61047f19f9e6e6a210aedfa9c86308d9891c3c1e269fba307d868fba49cf7a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d1b47520f04adb5f6739b47b22760084f0b5fb489a12cb8aeeb407c1b84437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d2132d8a704d765929580aeb4750d7ed0cb5f2c29039dcbe6186e5f0c70325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbAWR5s8MSFWEjhlgftjkYKpThY-DZmWn4d7hXxc0EQlU0L2qywaYp21uxkXiljTIuMERor10vtjJvhM-sIP6IWOkaC30fL7ZBKUhjHp5a2vpMImEE-gcnOaTcwXgGnCDazegSdIB8gXv_57_2WfgWB7GifIm9yr9AKvYwLdo7TZMj5gjWxXrvUPpiZYUekRwgBZM71h1TC4A2NQiCCby5k_bBMX9MYfMyBh4_X-poSOPmu2jgVPtNi8pAA0KJcIT_7LdN5KBh0PXa6k0NqF-XGCSKCdvVsff3PoIqcqIKNAzlBs_zbYDU0q-o6dxm70-nyJwRV0YT13qKBL7MiEN2bTN22PWnlQy81QQhp1BZj1V2x-2NK-vjua6T03glPzBVsYyh3GH2rXXQKsTtDpAUBdrrXl2wPo0JF32vjFREiSbAdSVXr6qQ47o7x-dq7DNSJw_CAI_aOtmJkXdHSBP0zOzb8N1sEw11AHmolci3-LQ9WQW6yKIXi7quTONbLofKi2GNSWQbjcMMc2Oe2CA9aPLpPqarDOTHP76UA9OeJb7FvoycRE8jeG4fLh6u_kbKBHXpM2AxBDBQR4Kq1QtGuJox-JnNvrjdkaJRgjozzqjFetfX68n5DgrtTeR-93ik-L9G0xw-HGHYQ8YgpFwMAUyQOj-tIlQd_TjFcTopkzo21JQ0qJBnGX5-VeofFJrU1SRKiycT8os2aeri-Oc8O9y3qD3RGHyrmtcXDuup-xVPq3d23g-ZRBsQQXKnmUeHjTU5kzxCtn2PXmdba9QGtUq6ABV9jT3JzJi3U3TMycFXPMmO_rb0W-Tia4AClQH5S9b-pnb6SxT0ZPWr0ARA5KAo7XZdk92woYXAKj9iuJwHJRw9RKDn6P93xQLaPyWkGK0KNrhGusjyTk6c7dS7Qyh1_6rF4e-PdV-0axnTxc3M_WiFiCxcZ6ITbycp--0Ji3pXd2M86ovwNuZAcW15zIavvkID3EMZc0WjTbXbVd9gWLkMmChyya1oGIPapCUXLrmISDsja0E_DI1R0yLY65iI19wPM5vAPPdNS7k7V4vFSfEcMJ4HfU2eP2xUjlQlIGfBW9m5jEEnLa2-G1PeEqZZ-QOVvkx1LXctGag1gMexT-0F5cMWl6gCM4e38dpIK4yRrnE8y1QubzJCxXgptqUsqAPGPTQRH6i6zeWCIhVTGJlBH0MEgqQGmnQs8gmo56rfnGrlhzb7dQKbdzW-yO0v_AzoQb9JtZZZIWVToUzBjh-daA1J8--im1SbbGysEbUh9ZDm425GLShreMbfBmXkAoV9DZYAt30tO7-y2jRFBSegDKoJFAE1DSSzYkrKHVkOil31jG5B6TaYRtV35JbPrOklQYGxyf6E6KnvBNvGGySaClySBfwLmAucst06xJ8PsDuupjhSqhmYitFPYOJxtx2eHqHXCDtIOZk8RxdwnYvU3bcHIUTRHYX1tX8eHrT_5p6uyPzs0R98k5Nr8K5M1LFI4BSYBT5iIQCwF5QZRrVP0a8It_P6y8laMw7V3XvWQ7HuTOqa3BLsiGxq0n5LYjc9ELLLch9Oo_23aso86TFk_8zlreIIv6DW-WDUYYn6a6CLtXZYR9Xv1aI0R3Q==",
  "id": "rs_019ab0a2ba501d90016ab476be0c7c87d0b000a3853a4e45d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.119,\"left_z\":0.05},\"note\":\"The arm only advanced partway, and the cap is now slightly left of center. I’m using a smaller forward step with a sideways correction before the final descent.\"}",
  "call_id": "call_9NPs6cODjsod8gmU7lju8WtD",
  "id": "fc_019ab0a2ba501d90016ab476bfb53487d0827fd0c424b97aaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9NPs6cODjsod8gmU7lju8WtD",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3298, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0234 left_pitch=0.1217 left_roll=0.023 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.6256, 5.2718, 1.8828, -0.0122, 0.2173, -0.0171, -0.3761, -1.6752, 6.8718, 1.5653, -0.0415, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a061a816d86d8dab06b478c65221a64f0d2715a7f6aecbb1d899a86595b006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4531400e8438ff00bf7887f0de7e1366fe2688eacb68c49e19bd6ac527fd6fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d8467cd04251a03548dce9834ee3297afb61fa04e21d1d9c4379af5c033cc8",
      "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 17 attempt 0 · /responses · status 200 · 3.748 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]: [-0.7574, 1.1934, 0.5961, -0.1375, -0.7589, -0.5571, 0.8001, -0.0315, 0.8902, 0.6971, -0.5671, -0.0345, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3085 left_y=-0.1195 left_z=0.1364 left_yaw=0.1386 left_pitch=0.0618 left_roll=0.0089 left_gripper=0.8001 right_x=0.2848 right_y=0.0007 right_z=0.1593 right_yaw=-0.0018 right_pitch=-0.1993 right_roll=0.012 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -3.959, 7.5419, 1.8046, -0.2613, 0.2173, -0.0024, -0.253, -1.7983, 6.9675, 1.7656, -0.0464, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3302, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0236 left_pitch=0.1217 left_roll=0.0227 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.7761, 5.0803, 1.9023, 0.0317, 0.1587, -0.0073, -0.1983, -1.7026, 7.0496, 1.5507, -0.0513, -0.0415, -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]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3298, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0234 left_pitch=0.1217 left_roll=0.023 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.6256, 5.2718, 1.8828, -0.0122, 0.2173, -0.0171, -0.3761, -1.6752, 6.8718, 1.5653, -0.0415, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a061a816d86d8dab06b478c65221a64f0d2715a7f6aecbb1d899a86595b006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4531400e8438ff00bf7887f0de7e1366fe2688eacb68c49e19bd6ac527fd6fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d8467cd04251a03548dce9834ee3297afb61fa04e21d1d9c4379af5c033cc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbDMhXsIvvL9TkL2WamKW6ylbXGg_ambMKlhwlbOZtucyyrBOp27orNUJgNezeGJYzDotbdZrz1LDhWesDW5Xz9whKcrd-MOJvApOxIV9NK9xXTqrVvKZIXpzb6C2BE3ElkiljF725GsWh7nWF-093D8lCQaiBLSeLZnL_NSNsBrJdxjR1cEyFjEqnG7NlFwlt0wHHL3VpMhhrLKsjGzFQvShOYIeD4yMJbd-3zkPTK_4MkBJb3x0LTX39JFJgHOD6eTvQihtHUR9Qy70GMiDAMxEzCHaLQ8zObWzAzy-pz95eegHXEHzBbnRjZU865cibm708I9t-duDIRCilTC5WuCGK-t4LM6d50Lb1COFgs_7alVAngvCXAfprfEb5ebQ6m4j3ndzHzu20FyIjHyUi-uOQQKo5_KqIli90pPwntapv5-gVhBGEX_kPDec8GCSaEjIqGlH3Y3gDJPyAElcb_KKoTph1j659JABw2pgj6U7KyzsIz_51uiUQRy-ggdb1NV3BAAlpEhF4P-gEuH6huPTKFWp4Jz6rMCFGOmvAjXdUPHg2AMoEvbYVn3ickMtbH5rTAK6P9_ABOrQxQ2wrAmNCL4zjHGzZfN4KR_L3aw6IyB24XRoTS5mkvSWdJYkHlxgaZjCf6oZyVLmA1LFQ7NQxEHi0rJGETaXDTPxsHuaIUOLqjfwlfESI-3pftXG_Xsam7r7yxCn2qDxt1fPG4o8BffRMZIsNKwLeRprGtruAt102Btu29zNEpAf5I6mdwJvFXzjof41Y-H-DSj5QIl2QS7-P30OqR5kbozUaNdjoZBmSqqXSyAwJcBgUkMtPCbBkATglX8AEqIDME62EqEs9Yy8nnoSQcob8loB87jxu-4OHaKB2etStSLNywSyEz6kOe--y0R7sPvzWN6VkQCSTe3wQPmzrq5SM_lNO3c-ylXidAk1UqD13WPt4zQ0zNAn1GhrwjIMo3OgRFUsK4QkmRMIfAU9HvOvp9MHpkgKX01g6ll7aN2FyszWloBMVnsga9K9gPTfoGDinQgTBtS8HTOxNEQ22hU40W7PuVppFI1LIJyz1GwEO7c0_4oEQ5XAPqnXxUhE3BpvkkugcaM2-Cx87Rj6il8nmQ1flVU-7Eu9YsCmCx9C77VAVvKUm7mxZi8S3w5c_UaZNfiJgb8d31pIi9SsoFhAyePc4t5A6mO3S-IuaPIFZwdLITnljevg0rUYWyv1kFwezows8M_Sd43HjmKcC5L_PPkilDn_tg1qq5IsE_WxltgwJjq_mE6qiOt_uxie_21PUWK5t-sXIGQz0kbvZNTS1IRawmotDTARbG6jGwSWnt-kQQfWkFpxNTMY3h8nzeU_91Je-OJNdZZ-klVlea3tVd_JxGgsM6lCzSBlzx8WD9F7qx1l54",
  "id": "rs_019ab0a2ba501d90016ab476c2128487d0b511c89d2ebf8f59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.12,\"left_z\":0.055,\"left_pitch\":0,\"left_yaw\":0},\"note\":\"The smaller translation produced no motion, suggesting the tilted pose is not tracking. I’m removing the tilt while requesting the same modest approach to the cap.\"}",
  "call_id": "call_t7vQmzUs3kHAWL6BSMO5mnB9",
  "id": "fc_019ab0a2ba501d90016ab476c2fb1c87d0b3d539a6d42d035a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t7vQmzUs3kHAWL6BSMO5mnB9",
  "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]: [-0.5129, 1.6245, 0.524, 0.4671, -0.4831, -0.3134, 0.8002, -0.0315, 0.8959, 0.6971, -0.5705, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3743 left_y=-0.1125 left_z=0.0505 left_yaw=0.0444 left_pitch=0.0179 left_roll=0.0222 left_gripper=0.8002 right_x=0.2845 right_y=0.0007 right_z=0.1572 right_yaw=-0.0023 right_pitch=-0.2084 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.2291, 7.5145, 1.6484, -0.0171, 0.1148, -0.0171, -0.2667, -1.7573, 6.8718, 1.5311, -0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:368b69e31c2516926f8825852c55ef42ac02681c5c3809ec607dd73affa56e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5211423b7c08a344322c1a3db1e1e0841c5d1c9dda8c82a9f6117a01656ce951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d963b1967a37ccaee8875be6a730f4af098020c31ef66b17c51c650b2e2d64c4",
      "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 18 attempt 0 · /responses · status 200 · 4.377 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]: [-0.6548, 1.5829, 0.429, 0.4599, -0.6266, -0.3573, 0.8001, -0.0315, 0.8932, 0.6971, -0.5713, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3359 left_y=-0.1228 left_z=0.04 left_yaw=0.0372 left_pitch=0.0221 left_roll=0.0919 left_gripper=0.8001 right_x=0.2842 right_y=0.0007 right_z=0.1577 right_yaw=-0.002 right_pitch=-0.2065 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [0.1709, -6.8444, 4.8752, 1.8974, -0.315, 0.1001, -0.0073, -0.3487, -1.9077, 6.8991, 1.6044, -0.0415, -0.0317, -0.0122]\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]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3298, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0234 left_pitch=0.1217 left_roll=0.023 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.6256, 5.2718, 1.8828, -0.0122, 0.2173, -0.0171, -0.3761, -1.6752, 6.8718, 1.5653, -0.0415, -0.0073, -0.0171]\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 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]: [-0.5129, 1.6245, 0.524, 0.4671, -0.4831, -0.3134, 0.8002, -0.0315, 0.8959, 0.6971, -0.5705, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3743 left_y=-0.1125 left_z=0.0505 left_yaw=0.0444 left_pitch=0.0179 left_roll=0.0222 left_gripper=0.8002 right_x=0.2845 right_y=0.0007 right_z=0.1572 right_yaw=-0.0023 right_pitch=-0.2084 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.2291, 7.5145, 1.6484, -0.0171, 0.1148, -0.0171, -0.2667, -1.7573, 6.8718, 1.5311, -0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:368b69e31c2516926f8825852c55ef42ac02681c5c3809ec607dd73affa56e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5211423b7c08a344322c1a3db1e1e0841c5d1c9dda8c82a9f6117a01656ce951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d963b1967a37ccaee8875be6a730f4af098020c31ef66b17c51c650b2e2d64c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbI9VAXu1rLe6DfBJPAkraWJaRpslzE30SH0-zV0zHLMG5y60pxn9NU-fFFXqHfzMhXvj44f6hob1tvLALWlpCmTByizwiqhXL6DigNHy2fcqeQmIoKZg-H36-bC1Us7qcx8hRHpVEPtpm3BFuLVk-50E60flx9zBz2GGmKBR055Mc9Ejj6R14JnsgG6p-m9ZrgvYIcTjvg6FM2h2yE-iBrbA3msntcVNWrgwo-tkRgOdx1kD8q_LP2N7v6SYSuTBwIHxqViEHX9CLSa3zD0vqYca_jiLrEfIHrSBLhg3o-ahpdJ87HTj1bAHw4IpLiSyt_IBWT25AiE3Ehv5uu1Q6LvPpDcPPN7gjgdL1NqoufQcR8HomfuY-33JEUbJCedHuVkfEWdzoD9i1v4sEH34yD9ugJX0j6ZdmWKQiUHiSRKrbJK1NnHhYyPUNJYYqdfqqyN4bhK7prls1gjDacphbL5-vJSuG2Au3cj3KIExaedP8qFTux6H-5lTcPahzgC1h0iaP6e_Fr-MXfPFgytk9zZ3R3-H5KWmDvKCXH3t5a6AWw69cEZ08ZD1VwJWCiZXT40-o3vT1D0SCDOAzEHlX18xIlqy4l0y8959W1rUlGHf1QkZV-uOFAjhqdcKKmo_7VWE3GNghwJyUCzGDk5cpXXYn_5sCCa-MD7XjI-aH-HFuZbJAV_TWPF-uwRRaMt-K0nE-edP4QDvDP-sHMOAorOaxIpqHyTRZcu4WOVNM5YKIdp0n07Rdl7qWEfdgiNwKLFMwiQyooFw5eCTKC-FgWgJT7U3XnE_D7AOHB5O2BG2rdiRPtUabv_n20xg02oNBfigjOsc5ShQZJfsZS4Bvt4SJrQ5OuYeWpFO_f0j7_3hOjjqIKCRMD_0C79HVZxDEr5A35USbFV6HilBmoRmXARNgutj0ZHkkSuh3Fs29mtpUtOEtDRv29Sa0d-JyGj-wjYKMtxjivqOO_1uPj0Cywt5hp4KNhaqxZkGLUGeLhhsNoPx3_3NcTSX6VNhYnmbr7xDWDzoE73y-yVwT6LejVp1kvIF7pKpAEljq17upSYfQr6hEAxxfYE2fN2l8cXP_XdRBg4zsEhXqDM8qK3fiNIKxARem0cVZrlI-44GBe2FnnK_ghFvBVvQyyQeOzf-cIpLziFf9Vgzc_8Gywd7DFW-sdmoBCa5dctqeKthlGefRU7568BvaytVP5g7NfzcT6s-ZqVMq78r5JJRm95ZBN9Hhigal_e8JEaa8cHLwWPC6fOMRpNQfISWKFkf1N1gpDQed5PLXnlmudkT2xRqa-QxfZZJhX30R75cNQq5dEV-tpivhcbdUcFcUhXP8KlhOl6ZZ5o5rNtIXa-i5mtqiWnwIzB7vwQyw-AJXKkA8RkmLoqKHhLGyU5PC-GkxKF1cQAC7dM5FB1IBmRuybz9jAqPWq39GIYXJANHv_3T2P_UA=",
  "id": "rs_019ab0a2ba501d90016ab476c5e1b087d0928324f945ada01d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.113,\"left_z\":0.008,\"left_pitch\":0,\"left_yaw\":0},\"note\":\"Neutral tilt restored motion, and the cap is centered ahead of the fingers. I’m advancing while lowering so its thicker body reaches the fingertip closing line.\"}",
  "call_id": "call_ayyg5TleLfPHt6bFC8a5JRTU",
  "id": "fc_019ab0a2ba501d90016ab476c6cc3887d08e810bfa8c80b638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ayyg5TleLfPHt6bFC8a5JRTU",
  "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]: [-0.4904, 1.7027, 0.5385, 0.4862, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3777 left_y=-0.1109 left_z=0.0287 left_yaw=0.0341 left_pitch=-0.0316 left_roll=0.034 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.002 right_pitch=-0.2092 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4598, 5.8325, 1.8584, -0.2808, 0.0611, -0.0171, -0.1436, -1.894, 7.0359, 1.5263, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12a2f5d0609dd9c56b73919493c3ae41d5d49819c133d1bfbf1416fa248a436",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4860058da283a383a07f6fa1ff841499665e7a48ad5f95a8f3f9ede38e5a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9cc639b28abb15e0713536ca7943128fd7320e3822eb3cd62fa6be0d7167cb",
      "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 19 attempt 0 · /responses · status 200 · 5.544 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3302, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0236 left_pitch=0.1217 left_roll=0.0227 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.7761, 5.0803, 1.9023, 0.0317, 0.1587, -0.0073, -0.1983, -1.7026, 7.0496, 1.5507, -0.0513, -0.0415, -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]: [-0.5129, 1.6245, 0.524, 0.4671, -0.4831, -0.3134, 0.8002, -0.0315, 0.8959, 0.6971, -0.5705, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3743 left_y=-0.1125 left_z=0.0505 left_yaw=0.0444 left_pitch=0.0179 left_roll=0.0222 left_gripper=0.8002 right_x=0.2845 right_y=0.0007 right_z=0.1572 right_yaw=-0.0023 right_pitch=-0.2084 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.2291, 7.5145, 1.6484, -0.0171, 0.1148, -0.0171, -0.2667, -1.7573, 6.8718, 1.5311, -0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.4862, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3777 left_y=-0.1109 left_z=0.0287 left_yaw=0.0341 left_pitch=-0.0316 left_roll=0.034 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.002 right_pitch=-0.2092 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4598, 5.8325, 1.8584, -0.2808, 0.0611, -0.0171, -0.1436, -1.894, 7.0359, 1.5263, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12a2f5d0609dd9c56b73919493c3ae41d5d49819c133d1bfbf1416fa248a436",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4860058da283a383a07f6fa1ff841499665e7a48ad5f95a8f3f9ede38e5a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9cc639b28abb15e0713536ca7943128fd7320e3822eb3cd62fa6be0d7167cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbMeg2wbpF3IDVZj-yIMdZdPgozUvQTNw_iJKLmF11k-_kfquRSjA8P93FLBo4kOkzSZ2Ok3agnqEPG_vq57ml479UfGl3vrf9zNg3B-WUNjKKAIdvV3v6NjQc2jmLbHqfvCwOCRXJ6qrqpJEfalPHJctQ8zWizyVGL9FxBC9KHn1LtJtBL03I5m8biIm5AlYyo71t90ZNqbEaX_gS3UpvEq65X6rmo-8-nmCVKycORfrSYs-HwO7QmQXlPhKiJKkuWHmRqPMdB9hkKJRo_2axU4pCibUTaZ8tUOc3lllNQxGk5UCYke4vxrtl07wGQFmx5TX3S6_R794BNtEZuHBa3Sqrc78jJmoJD3BX77woMQNu5R3Hnrroz560TWmPxfCoZQI9K3s3VfTJH9_kAtGBpFMbt9FVCMZltSy1sxmSDeluLo8VcNZbHXAng1UFHpjC-2quiu6n8oFHUeIV-L6tuDBIF2z_ECD-R-WhGLTDmedwa0BjL-q8o6Bn61M9IiYORYAxqG-seAgSJ_gZhr6CR2XfUm32NJbNSnPqwYvZY3-PGJyL63Czi2sGpTVwvoZwxjL39kpfl2eGY1b7Bb4eLbcWS6gCo9Fnz_glXAlYQdALwihDjdGYM8iF2mPZAa-I_87Nnj1itrx5OekyPADrDS5Fab_lXVMvpikmhsJVJiQs8rQzv2TZMna0bexHbodP7syZzbJ9mmX79ClmPAiTvTOSWavSYpw8qnBNOCEm6rgA9aDHXIAyhT_IDQR5-fcXZ1HUGkuY3dn3d49Wl0jgENZFjOzHYNK3t2JKQVJsLcPgcrLkzP92NMYuX85xSJqb1eCCjbVc1An4jD80z-YThpR0H418nBL5ghkUbeGNRVnboGoQ9SbOXwVb0bqw_lGKfX9Lhuy7-84YO-mzw7G-2jLZa0SG5rM8P_RYG_vbIDxMrSWGCi495IKRXdZeQ4qjWrrgLXJ-vF6g8L-90FaCb7vPCbvPi6v0NlbeMrotPwvWGbxeFErsGCDksOwci-0ZZwpgwO-tIHlwH_gArVPX-DRxEVgriyQsVAAOeEoaevoc7sl31tcy5YJowgay0kfgEV_YwvRGPKT9zRCcw9GMe4jWmxnNWMwMXT4Bd75No-q9lPRNdAVDMmdFVplNGQ-ifQJWft7imcREOCLK1W_ciAyLfp2jTRy-hqf64owlgZnAmh5yALN7XX78-yyCDWZ8c_ZwCoojJW24QNRnsycEelGUTxJuJ9sA0mgKKCef7g_OWa5C8uC8OYMwMHsWzoJPOUi0rQbgBTUwtH-za3qEKauEBzZ_RTRI4jReggP_CTzVVby4SLTZiaGhub5yzMuVx5Z72QgkQ7vdAQLokBNREYtb9S9Dae1COZg2ZhRv3X_CDEEomuv-anbHvQyhBm5iy4G__XVYg54sq0hD6JsEEAJF2LXRf3cP0FphRO0-qImE=",
  "id": "rs_019ab0a2ba501d90016ab476cac5a887d0ad3e03be2d2a8412",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.402,\"left_y\":-0.111,\"left_z\":0.029},\"note\":\"The descent tracked, but the forward move fell short. The cap is still in front of the closing line, so I’m making a short, level advance toward it.\"}",
  "call_id": "call_ODK3S9cKBhWfJLIM524H5cny",
  "id": "fc_019ab0a2ba501d90016ab476cbdb7c87d0aec09359996a87f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ODK3S9cKBhWfJLIM524H5cny",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2847 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.2088 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4872, 5.9692, 1.8339, -0.2564, 0.0611, -0.0171, -0.1436, -1.812, 6.8991, 1.5556, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ae2b97b5ba45b2e4b9bfcfc7682bad088f0f6bd33b61b221e2494f49c8a659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0154380d188f2fdf07bd6ec5cb2c3bd42d9d14e6049beeae9d32f9c732fe01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e5b4a6451a7db184b3fbbd1eac231896982549cc4a855e87c40cb98021056a",
      "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 20 attempt 0 · /responses · status 200 · 4.175 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 1.6241, 0.4225, 0.6441, -0.6117, -0.3298, 0.8002, -0.0315, 0.8951, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.351 left_y=-0.1341 left_z=0.0554 left_yaw=0.0234 left_pitch=0.1217 left_roll=0.023 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1575 right_yaw=-0.002 right_pitch=-0.2069 right_roll=0.0125 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.6256, 5.2718, 1.8828, -0.0122, 0.2173, -0.0171, -0.3761, -1.6752, 6.8718, 1.5653, -0.0415, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.4862, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3777 left_y=-0.1109 left_z=0.0287 left_yaw=0.0341 left_pitch=-0.0316 left_roll=0.034 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.002 right_pitch=-0.2092 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4598, 5.8325, 1.8584, -0.2808, 0.0611, -0.0171, -0.1436, -1.894, 7.0359, 1.5263, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2847 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.2088 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4872, 5.9692, 1.8339, -0.2564, 0.0611, -0.0171, -0.1436, -1.812, 6.8991, 1.5556, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ae2b97b5ba45b2e4b9bfcfc7682bad088f0f6bd33b61b221e2494f49c8a659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0154380d188f2fdf07bd6ec5cb2c3bd42d9d14e6049beeae9d32f9c732fe01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e5b4a6451a7db184b3fbbd1eac231896982549cc4a855e87c40cb98021056a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbSQSxheTR3BjHsj0y4BcXYXC6CfxoAYEJcpH36z-Xb1XFjAQBmtIpY0hsQmZg9D4whRCWvcVSr1ypEqHJaqMl8hTBR8L5fNbt3XLkMyq6um47UsnAE47zc36iGTBAOubiH2Rscgt8rqsfvgfc958yKrCusPM-px8NAsoIoLXldtFai3hrg2jTi34UFKphP5CAJS_K9jurJB0mKfRnC_7jXvTO_7Gs8qNABBN86riV4QQo-CgS0XoU3UC-e1Qy10qmT5aHbhNv7AfRvM_1v1YTuX4iFeUSDh71ASor4hV8WSFLnTuAfFJs4mpNmMkh7eaG-xhtWv0E37u-rDffwkLihY-L_leIKjnwuLxxL6CJBksBVE6xOG3P43haftXmyljo-VRu1_gGrKCEg-ECSlbAZY9oqX2ixjZIAq__XSed9ijA0fr8LBDl_DyAkdvitOMfV29Z-8sefNDROXux9ty0h1joq1hp74W2-IJPcHsXwJ-t7NSOBErFthTEk7PQ-n3H9is7IU4-to15VKgULjBCw1BR0oKrY1FHZkrJndeZUuvEO3hxyDSYaN8Taad72Q5KTwaHW88awzN0WIPKt7y3i2HvjQ3HX9ncXJpFLyc_KPXsFg3sDuq9Fh8RVtxtAWZGJgHqGzjLQTLbDo84471qLiSahsOqCuem6ltsegNc9j6tn0rq6d34baXonAPwjrdL39cRC1G2GMlHbwKwXLcQirp2Qi1RrD667Jg4T_XWI7FzrIw9329K1-tWEPZqOzUMgPKHbqRQRwGg0YypDMjfYHbdIsURT0kgzVUCcincvZfmJy8UyESoUKKdtM-F_pVvN9wucfoZ6nRSVbCQohT5C9mTvqnPNYLRH_b43m49t31N4L6ONFhZJguGucLipSpkbu04C39MhhJ2wBP3BFLW7OMktGcrPS1TAMLSe0IEX_MdSSbRq0XPtkNF-iEfzJSvyXWpd5GtR9__JF82Y59FoDN9CDiT10E8s9fVvdFDyqN7rpO3Q8VeNRmQ5_lCaY2Lfbnlc4GEuhxd3mH4YkVjG8lUjzLfDVPRF8EPmfdaZiRqsQRYqm1Z-CNQYoWsDYMJ_F--DmUi8nB9cuG8x_smX2_EFoPHzF4OWftOUVVttvB5HGXPBrDRwTMs20awgh_BxISy8MrwcICGa7ZWWqAg7aEbhHzKzHW7eiB3ptqXvDVWpQH3qJ2GdRYVQ1wPPrT4fns8DIvwow7B_FY-GnL3YbROGS8zdUQtT80Pq-hfwEvm_EmTwuTkI9g_8HUvBUqqChqS_R-znwFFSHJ97uGLY4GfdZ_nt-6Ft9gHnZxPk8dEY2NM3CXt16E0SVwj2noPqvNYEd4tP-CO7p13Ds7rmvF1CxJCl8g72dWyy2jKwp_W1OnA0qB33BYXZ1zhS7TAAZ6Ukx5SI1IjJk9591FeXW8HZYNEaQx3Pa5_TupXpSNoYbbrKmch7erHxwFuP2lHRm8StDhACt_s_qt1HLSm3cL_MUV1dYB0oOgUR2HwbCcy83C7OYAtEygcPRXDSCTrNBegaYgmV2kg_9GhG5TqK51qfxbyuZTczxOkwG7u2Oy1CPQopMFeprodF2TNcGL30gY07bXkZrFXXtaOpdV65Uu5j8OFwzmWYUrKobOisKo1nyDOz9EWt_JL16aXfv2Kj7WJieiQJ_oML_jqunYNxlnFbr8LsCC9oG2d1mXqIP4D5oKG_ZZTrxrHHZf8305knLsQ3A8-y_jlyWqplOcWJE6erOE2U1pVuqYHvjmZ9jHswhs_kVSm8uXaIcI_SuUTWNgAwgcy_iygWqjn8sZCIgTQhD1jJMrMVM9DSHEdzzsv9hocFAIG-Vu_9LOzoGQCpRBAbh6qYeP1Nx4lweeTL2XHwM_3kxJLytQjUroG1rID3NMpTtpvUGTGLFW-QdLEbxY3sRdA6ukgoaU02xXhEQrEpE4d3VNJjbT3Usz3e9Gk5B_Qmq3vvZiUdGHccNICJRZutgDVkysMpT1eISNHn96slFBL0dtX_xhgwsYIovN8=",
  "id": "rs_019ab0a2ba501d90016ab476ce8d2c87d0a6770741b31792b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.417,\"left_y\":-0.12,\"left_z\":0.014,\"left_yaw\":-0.55,\"left_pitch\":0},\"note\":\"Forward tracking remains stalled at this wrist angle. I’m turning to match the cap’s diagonal direction, which also gives the arm a different configuration for the final approach.\"}",
  "call_id": "call_C0opjG0wvORWF5hDjSzQdk7v",
  "id": "fc_019ab0a2ba501d90016ab476d16b3c87d09eca4c8b8386e965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C0opjG0wvORWF5hDjSzQdk7v",
  "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]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.0023 right_pitch=-0.2092 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -7.4735, 5.8462, 1.8291, -0.2613, 0.0952, -0.0171, -0.2256, -1.6479, 6.8855, 1.5556, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c8d404dfd28bf3bf45468e9659a67cb36a38ebdd984adfc8bc270f0d6fe892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6055016fd1098f32ae39cff7811a37f5610ac5435004af48b3e469f43ef719e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378f64f9be7ceccb75d578e43f7ad09ba841cb990ec6008956befc95f58c9791",
      "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 21 attempt 0 · /responses · status 200 · 5.242 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5129, 1.6245, 0.524, 0.4671, -0.4831, -0.3134, 0.8002, -0.0315, 0.8959, 0.6971, -0.5705, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3743 left_y=-0.1125 left_z=0.0505 left_yaw=0.0444 left_pitch=0.0179 left_roll=0.0222 left_gripper=0.8002 right_x=0.2845 right_y=0.0007 right_z=0.1572 right_yaw=-0.0023 right_pitch=-0.2084 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.2291, 7.5145, 1.6484, -0.0171, 0.1148, -0.0171, -0.2667, -1.7573, 6.8718, 1.5311, -0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2847 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.2088 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4872, 5.9692, 1.8339, -0.2564, 0.0611, -0.0171, -0.1436, -1.812, 6.8991, 1.5556, -0.0611, -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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.0023 right_pitch=-0.2092 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -7.4735, 5.8462, 1.8291, -0.2613, 0.0952, -0.0171, -0.2256, -1.6479, 6.8855, 1.5556, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c8d404dfd28bf3bf45468e9659a67cb36a38ebdd984adfc8bc270f0d6fe892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6055016fd1098f32ae39cff7811a37f5610ac5435004af48b3e469f43ef719e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378f64f9be7ceccb75d578e43f7ad09ba841cb990ec6008956befc95f58c9791",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbXUr897MJX0oG9vHMLK6EDFmbxCwxytniCZqx1W5D3eMBkLLwtT18T1H6WNqO7znXsHSGv0hamGK45GWAzuwlZ07AaH_OMm5F_X4sMsW2TBdOCwROo4kOXj1wNf7F9yLVwCkVfNPe0kFu1n3Fu5rbeUhWinywugnJUoQfLRRsu4h5f8SFm_Smp2VdYwB0gpZeAV0WXUq-gQQZJEzuNHYzV2esjRqukkva2Z2tc8UV3BanBZf-l_m0OsI9thJXJpK3Ei9NKcn0cvHKIQcbj84iBZyn1dpuIx3KBRKIoZeJxHe7-Un_w0qbtJxvWb-Ibmjk4N_f-dznjxu3Je_DFnJ39NJf1XVHCH8iedrcyEYkkU-vjDHEsSnKC5TigEIe4mnWsnTRX9KYT7uqvxgPgEwMcBCjNbd3NuGWmA0KH0Ih0TT-doVRSKK4pqxkgZtxAu0BJg2eN4jAoxpG8EMTeyTPlXC9b1-VyEesYTgFxg_KLV0lTeRcQv3c0VJRUPHOx1H354XTKjOAGqLkPkgFVM7Z4DLDnNFjLD1xhKl_gW7CphkLyR8G17qMLkWPZ2qwrnt9rjv9ZJS_M9dFLyr8ln-mtN_AvkrUXWfcEiU6Ws7PvPS8Gzr1t0A-jQCmu9mOOcZapp-LklSNWlhswIO1NCYjDnxXgxeIuNIIy7t4AmgKKeCIOJ2aA1KnVcByLjESto9aSPm3XsAC3lkb6XvpG9QeGBNrl1nmW7SbvzPGhClfPKM7DkRH9nlXq3GONnZomwQCgl2rnHNvkObSn653PNseB6pWv4duoqkaommOyS3VZY1Zer6AxEWA-Gk4AYVoYkqrNNLy6Br30PxcJlFlHkOTw3ccghY360W7KZVVEAe2YVeqlQVpwqL1Tmsz_vIldvTWwYBxsCFqIld2VTi2AHBWPP4IDEVXzVnLcfz1emS-GGu12rLKRG_D-oxfoGnNmiOggeZ_E2xKc7xoOaPw58uQg6l9CPx39ODknYSUJXzlHJMkC4nFkOLPK98IxTcXmUwdGSv0EVxwo3LtVzn_X0zdxR7SMWG-N2dg_kR7sCdiUb65HTlOeTe1daXVDRjw9ETD3A07L3eD9R3su6vKd84atrGUZAbCHVY3xZCQdftgNdBQBe8EhGc0f5qoaOEnp_4MvyJDRi-l5KBIbF83F2Vz4CzfaHxHVsar_uCBLKB24YFEu1qoZ9nKnYLCNpWVZY-wdlKdYghA4wLGCgEdtTf35WtzNMlfZi01REcuqPLuKPYb8_mCMpu-8aQDxyTZpZxq3oDTUkBmdc_Q7CZFFHr_4uUHURAAZCuT0NBS_p2jP_Qm3W97STCR7kkxS7pU5PCLWGw3PXrZQXPq10SwRS59f4amf69A5VohUcmappVEW7SWWQAFfTJ0miwLFcx4kIZH6ViK4gt6lGrDgd-9LluoWU_xAk_VUG7vlQ2eeu9tD0Oz8HlIeoVU0L05qQMp0B3c9d6oHQO-T5moVllnVVxRTQubuVaZIyhPgqX1sVaT_zH-V9uAHJNMThD42zhH79QYAqZGDRdr8pystlMP0zmkWUirdgbvIzMzDraJnGhnJ3YNMX0gpaBzOVVDLgsSrVpaZpHnVGMMYAd3o-H8RqiE5xOd0S1II9w2nzarqNRnHq41GkeCNAykfG_gsaAxyz43x",
  "id": "rs_019ab0a2ba501d90016ab476d45dac87d08dda9d56c96455a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.35,\"right_y\":0.28,\"right_z\":0.12,\"right_yaw\":0,\"right_gripper\":0.8},\"note\":\"The left arm is no longer responding to the cap approach targets, so I’m withdrawing it. I’ll try picking up the pen with the right arm while leaving space between the arms.\"}",
  "call_id": "call_UqaiqhIrdZAc7QsneJS6l3KK",
  "id": "fc_019ab0a2ba501d90016ab476d5c49c87d0927ac240a1d01bbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UqaiqhIrdZAc7QsneJS6l3KK",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0624, 0.8379, 0.5667, -0.3283, -0.0994, -0.0498, 0.8002, 0.8742, 1.7615, 1.2186, -0.4671, 0.5411, 0.667, 0.8013]\nstate[eef_state]: left_x=0.2994 left_y=0.0025 left_z=0.1618 left_yaw=0.0368 left_pitch=-0.0265 left_roll=0.0234 left_gripper=0.8002 right_x=0.3421 right_y=0.2727 right_z=0.1086 right_yaw=0.0303 right_pitch=-0.2518 right_roll=-0.0156 right_gripper=0.8013\nstate[joint_eff]: [0.3077, -2.0991, 10.5504, 1.6337, -0.0366, 0.232, -0.0171, 0.6085, -8.5128, 8.6359, 1.2039, 0.5006, 0.1587, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e583e2bcb16a9648237a298130aec63dc71844664bfa72d923d052aa7849d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3caec557469b23656dd6ecbba63bbaf4f3e705f6965c7ee9614166c4e522ef41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a089b3b59d49980383a87ba87c14272fe8c5fd072d5fc1ce63b061d2bffb7c32",
      "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 22 attempt 0 · /responses · status 200 · 3.997 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.4862, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3777 left_y=-0.1109 left_z=0.0287 left_yaw=0.0341 left_pitch=-0.0316 left_roll=0.034 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.002 right_pitch=-0.2092 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4598, 5.8325, 1.8584, -0.2808, 0.0611, -0.0171, -0.1436, -1.894, 7.0359, 1.5263, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.0023 right_pitch=-0.2092 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -7.4735, 5.8462, 1.8291, -0.2613, 0.0952, -0.0171, -0.2256, -1.6479, 6.8855, 1.5556, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0624, 0.8379, 0.5667, -0.3283, -0.0994, -0.0498, 0.8002, 0.8742, 1.7615, 1.2186, -0.4671, 0.5411, 0.667, 0.8013]\nstate[eef_state]: left_x=0.2994 left_y=0.0025 left_z=0.1618 left_yaw=0.0368 left_pitch=-0.0265 left_roll=0.0234 left_gripper=0.8002 right_x=0.3421 right_y=0.2727 right_z=0.1086 right_yaw=0.0303 right_pitch=-0.2518 right_roll=-0.0156 right_gripper=0.8013\nstate[joint_eff]: [0.3077, -2.0991, 10.5504, 1.6337, -0.0366, 0.232, -0.0171, 0.6085, -8.5128, 8.6359, 1.2039, 0.5006, 0.1587, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e583e2bcb16a9648237a298130aec63dc71844664bfa72d923d052aa7849d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3caec557469b23656dd6ecbba63bbaf4f3e705f6965c7ee9614166c4e522ef41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a089b3b59d49980383a87ba87c14272fe8c5fd072d5fc1ce63b061d2bffb7c32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbeQIAWd8fLyZmQAcrRfjFK9pBWaNRjLSvds42P5kDY3nhF_boQKkV-BwHSyZJidjiGEcZJAW8H87Ra8HiX6ofpBC2gK_SNfmQGzQpU8l_KudXPiFQPRg6gOD95kVnTXfjk20FfHAil9wtfrYDaU6UpE6uhSdQajtHkG8za6tq0jMTcwQZgKlBzKx_Q8KvjNzjrzf0eOFwdb123aK2MHzkbPoiQR00z_2yx7Wo7WN93NpQD3fwABlYpRN6y7PjFPx2-lvtOiBp11vR6XhlNQx3elhGLcDgZuYGn9J7xgA9BxxcrtJXCgkQKY5qpnYzmSN-2fm2bgLpqNupebFWZwToIOknSW_nnnAf8K-pBaz_yy1u-tAByOi74mQxekRQkWe0rGauxHPWfPkx9Z9UCE8XwLZjMItXw0Hzey1DXyoQuADczpcZWoTJqsuUknGyhzokemRJ3VPXIzcPMEBRFs6U23iEXOuBAxgF284cxMC59RkdoX0z5VMdUoWztsJ5LElchxNMh0XHHAPr7j1XxiTyxK6CmXaNIZ3IKr99GIm8tp3EUsq9zl0bMZJIan6UBLg3lM7YBfR1GUKChZ8HRL6W73zQCLvHayalMxEawer1LU5rmbn0rMhPnfN9d9BGziAjtSPKCbmDlv5XrVnF0yV77RiBdKXNSUOqeNKY_E4ef3OgIc-G6DapHtKkAs9sOLUTSnuE67rpEjEkpK25PKDOZF4502BTtzSYFE14mChF9FdWWSlB-CedElVaLNHkzPyiD184TH53o8QaCIgyKIqtL_1RvcOL2uhABWVo096Sbe-ZSqQt3i7c2eIya8XR-jEOgWF7cD9K_tGXJ1PUGJ8s5k5o2dJhqRC96DM4T1A6aefHc_Ie9VJeo-Q-_jO42mN5ZCD0Q1NJumJrV__Pr9OwfK8ViVffT1Mdb9mPxvIR676S--Nj44mgAXbwLLIdh1sucGSv_gt_TDXTRB3xR-1HKIrpzceg_F32X4_c-SxxoLubVXnCS2zBe7RBw-6yXOoe0mjxdEdN73JU7Y-P1d855z4o6PPWvARURGm2NlvmAVq98NDJqfInKSCzb7pAX9LauzS_8LbKPSagUEzCz2p8bcyxOF0X_O_A7mR2-TJoGADBGUJjPcGsa3ONrxjFNOqwTO8HQVkmpjf5ExI8ZtvdNewPrOVZCNFFwZizTXwdszJq2IFPKnoFOLQcSygsmxMryiWNOnWWN4OUgTmrbT0MXuoYfqx7m70aOIwzmRTdoQCRJnoRWIqZJP5wm-BNBgDzC-aQt093VI1OrXL3DOwjjjBD-zp_Bdae-_9lMPF5Jxn8ONVHlZqrX0XVZ65hbs_FXc-sYgxiwkfAA-RQ6Ysb0w-kvJSq2NXEKCnqNp8dyFmNahQhL0iOaHrGuTnXwQBQ0la67u_EvuBaCZoBLjIn0rnK2yEOYpB50RAOgW84TKmYjPCYnpAnv71lFHClNn9CryRHbD2NpPqrZRHujFxHcgd-ee7_dYRdaPW8ZJwFwnOo5ZVzj4x3M3RDdaiPY3gQn9t7bvY6YHf3W6sOXB45EHfYJ1Po67-ZM7xqxv6lTnUgY7XjKcB84M1Puhzau7YfmcRjgA0ROVBlEAPciAzW3qzkxCBYfIRbDSD5de7W0ska5hNuZpfROUkhHcPuHOCiWA8gz1GvSJcjJUGZaqyMBkO2ivxakD0LxaXNkTnITR-XwDagBRemaFhcwPMM0_mDHztiItppH5aOuF1jE_ugg2trqa2O8lMHc01fEWx9SqMt8ijvX_mmDX5zioOWCzJSzoKfZ1q3a9xKSLOk_1wPgBBQOuxa61UWVhxp5zK8QjNkYj0ePFxY_PkDhmuZ8BJ70oroJTycrHyg0E9yM1ftrzsDwX-wYdHBIE6eN3Jr6rUCJGAi-YYOqsbclA1kJd1F-Sfe10mDfJOHnT2EnOapPBPLkal-GgWFXkv6Vji5cIv-teBHOL3hBRBom3jm5LcCq",
  "id": "rs_019ab0a2ba501d90016ab476db0bb087d09d5cf941be0cbbf6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.24,\"right_z\":0.025,\"right_yaw\":0.6},\"note\":\"The pen is visible diagonally ahead and to the right of the right gripper. I’m lowering toward its barrel and turning the jaws to close across the pen.\"}",
  "call_id": "call_9vfpBSiZn9zB3dHJKUPujl21",
  "id": "fc_019ab0a2ba501d90016ab476ddd0dc87d0b3ecc54259b142bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9vfpBSiZn9zB3dHJKUPujl21",
  "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]: [-0.0593, 0.844, 0.569, -0.3538, -0.0952, -0.0505, 0.8002, 0.5621, 1.8149, 0.9154, 0.0196, 0.0814, 0.0765, 0.8008]\nstate[eef_state]: left_x=0.2964 left_y=0.0028 left_z=0.156 left_yaw=0.0369 left_pitch=-0.0559 left_roll=0.0232 left_gripper=0.8002 right_x=0.3781 right_y=0.2254 right_z=0.0241 right_yaw=0.4381 right_pitch=-0.3154 right_roll=-0.0166 right_gripper=0.8008\nstate[joint_eff]: [-0.4171, -2.0171, 6.8308, 1.9023, -0.0464, -0.0171, -0.0122, -0.841, -7.788, 4.8889, 1.4872, -0.1343, -0.0904, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac396b9fcfb9a8ad3b01cc59413891106a884447bc7a911f096f8250867f8c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c60a32368f94c5bf40da7e81a5f25e051ad9412adbb46a13e911adb785484e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23ce1e5e6a9eb6c8d7416cd1945059b111cdc86f4863145c0770b4db644e05a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 2.207 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5697, -0.0345, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2847 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.2088 right_roll=0.0126 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.4872, 5.9692, 1.8339, -0.2564, 0.0611, -0.0171, -0.1436, -1.812, 6.8991, 1.5556, -0.0611, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0624, 0.8379, 0.5667, -0.3283, -0.0994, -0.0498, 0.8002, 0.8742, 1.7615, 1.2186, -0.4671, 0.5411, 0.667, 0.8013]\nstate[eef_state]: left_x=0.2994 left_y=0.0025 left_z=0.1618 left_yaw=0.0368 left_pitch=-0.0265 left_roll=0.0234 left_gripper=0.8002 right_x=0.3421 right_y=0.2727 right_z=0.1086 right_yaw=0.0303 right_pitch=-0.2518 right_roll=-0.0156 right_gripper=0.8013\nstate[joint_eff]: [0.3077, -2.0991, 10.5504, 1.6337, -0.0366, 0.232, -0.0171, 0.6085, -8.5128, 8.6359, 1.2039, 0.5006, 0.1587, 0.0659]\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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0593, 0.844, 0.569, -0.3538, -0.0952, -0.0505, 0.8002, 0.5621, 1.8149, 0.9154, 0.0196, 0.0814, 0.0765, 0.8008]\nstate[eef_state]: left_x=0.2964 left_y=0.0028 left_z=0.156 left_yaw=0.0369 left_pitch=-0.0559 left_roll=0.0232 left_gripper=0.8002 right_x=0.3781 right_y=0.2254 right_z=0.0241 right_yaw=0.4381 right_pitch=-0.3154 right_roll=-0.0166 right_gripper=0.8008\nstate[joint_eff]: [-0.4171, -2.0171, 6.8308, 1.9023, -0.0464, -0.0171, -0.0122, -0.841, -7.788, 4.8889, 1.4872, -0.1343, -0.0904, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac396b9fcfb9a8ad3b01cc59413891106a884447bc7a911f096f8250867f8c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c60a32368f94c5bf40da7e81a5f25e051ad9412adbb46a13e911adb785484e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23ce1e5e6a9eb6c8d7416cd1945059b111cdc86f4863145c0770b4db644e05a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbj3ty53KjwrCBxAPzsZcMlGE8auhPks1UC6ZuBjDK7rqQls89hIRMqyto68thvOYb6Nf4Arpsk87qitdckYGM60m7FFtTLZ2t-fnidF_eGhaAfN3sXuF_o2qpgTYcVGKKtb9hPUBA68QC5K2kjyPzFhTvyDVflsOZ_u6k9p6V3Ug1N-QmCHi2aICp-2Fe_oXpzAxIjzCHBgWQRYXePNTfUrvE3x6pFRVhZ9NVVEonSP1PWXULyD0Um2m8T3fdxd0AR47mFMsg3uUTszGIPr7_bwO4w-EvngIBXR2B3QnDGuIsCzqvEBu4QPaauC3sCIGcV7mdS0DjdinQONC8nX-qG6cZuZLY7NI0R-6j1Dag3KxyRNTQUdrp0Tqa6whZfpOmfFaijA6VVnKH24Qf56jQaDLwNsMdaA2dpwnk8M0ERgLV7RyQtnyS71abi0UdW-d1qrTF8KLQJgDJfmQ-tXgFc0wESwycqu-KKxm24ICGXKXswMQ0DcoJ014MZgfL4rQlpO7eazdvtt1U-W51N7TbyBugG4ei2YZg6QRICietXOKhCYW2KrakUng1TC_gI6RoYmUI5JpV1kWkuHCmsN85GUCOf9sP-BocRIeE2qOyFeirFgFe1xf_89kD2AT_TINwnf60Ne411BarA8uf9b9BCY8Kp5cdiO5ut1sY9z8Gvp4d0ssmFqJjx7oVIS9FOF3a5qhTOL8dSwTJ-UZnUEN0hrntl9ZTpmSSfynaC_DkhheaSz2XfeNBexxWKsAahXh-gxNoWf1iOwFbZLFWkD6Oejkb0LUh780RdrCZzHp-sFOoWGYhjNUTDUezodmQ1huaDopQmKh2c9zIuSY5b5oPIEhmHxAYEjRj7ccyo9Jx8JzhWGYsnqt5idbHF-V7PIUKFUa7ql9kP99vdASYMSWt3KGrH7dMt6osm_onrUj9NEcjvb57JO84EwCyr5pW_vd_kSDBhkaV0cTdaQpwlFNVIQa3eLSWpCzSHyuykwhsyKDZPS5LLyc-3rTjxQLJrhw9y5cdFBMY1MLMjnapr4S3XS6lqWMGkePcU5zM1ltD5k6gRn3Hii9z5htKL_nYTRoTOwh6mQcjXRtwF6xzLR-WgniGgqMlA9ImanBsL_eaqv1SgSzl_eYi-s0xg8Qw-dyk5dH4oYZOPy0HsSWhCO3b77kocr5SfO7qb2Z8ijAbclP2xYZou5uN71Jm47Fcbga8R8XRg-7CrngIdjOTd_kMLVP5ARNq6UiUyX7ehJ-oNzEWfxmHH47YgyAgJ6WEGivTcJgv5zVBNrLZeozA5dbgsc0btMUOlBttkP-5kgjK7BhL252vHCOYCehlqK1VVu-i8MzcT1BBxyIiyYLfSlgvMhtVQGqEmyF4r4lx2LcDaxTlFgObCKh1eF1ab2DPSfz6PoV2ltl4LC4BrfjY2YzIv2tAdoWi_JtwoetPc598LPQoOXSOlrwdIx4eU8agBkcHV4nSPCDB8rqJFnMu-FVZ_uWkp9D3oDxbAFelggSu6JrM=",
  "id": "rs_019ab0a2ba501d90016ab476e0e1f087d08ac9b71456445517",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.378,\"right_y\":0.225,\"right_z\":-0.008,\"right_yaw\":0.44},\"note\":\"The pen’s barrel is centered through the fingertip region. I’m lowering straight to the tabletop before closing so the thin pen cannot pass underneath the jaws.\"}",
  "call_id": "call_giMJMZdN2wAssCaU6BjhrOuM",
  "id": "fc_019ab0a2ba501d90016ab476e208ec87d0af0c6b6a4ea82497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_giMJMZdN2wAssCaU6BjhrOuM",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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]: [-0.0593, 0.8463, 0.569, -0.3588, -0.0971, -0.0505, 0.8002, 0.5526, 1.8725, 0.8818, 0.1322, 0.0402, 0.0292, 0.8008]\nstate[eef_state]: left_x=0.2957 left_y=0.0032 left_z=0.1544 left_yaw=0.0385 left_pitch=-0.063 left_roll=0.0251 left_gripper=0.8002 right_x=0.3799 right_y=0.2301 right_z=0.0056 right_yaw=0.4921 right_pitch=-0.2971 right_roll=-0.0138 right_gripper=0.8008\nstate[joint_eff]: [-0.3487, -1.7162, 7.0632, 1.707, -0.0806, -0.0317, -0.0171, 0.4308, -7.3778, 4.8342, 1.4237, 0.1343, 0.1294, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00038b14a466914d6bb9bcb523735b4df99b6c292cff33b9842acebe62dd308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c71c0c9e903ee3d3cdf10be8fdac7875d89c0ff9a0e3b99b4c4863d5126c42c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d296c8e48e9ffe531e5b2bee9b779b52be0b12753177a0df28b85a749993d07a",
      "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 24 attempt 0 · /responses · status 200 · 3.555 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 1.7027, 0.5385, 0.49, -0.4477, -0.3046, 0.8002, -0.0315, 0.897, 0.6971, -0.5701, -0.0341, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.3782 left_y=-0.1112 left_z=0.0294 left_yaw=0.0341 left_pitch=-0.0283 left_roll=0.0321 left_gripper=0.8002 right_x=0.2846 right_y=0.0007 right_z=0.1569 right_yaw=-0.0023 right_pitch=-0.2092 right_roll=0.0123 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -7.4735, 5.8462, 1.8291, -0.2613, 0.0952, -0.0171, -0.2256, -1.6479, 6.8855, 1.5556, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0593, 0.844, 0.569, -0.3538, -0.0952, -0.0505, 0.8002, 0.5621, 1.8149, 0.9154, 0.0196, 0.0814, 0.0765, 0.8008]\nstate[eef_state]: left_x=0.2964 left_y=0.0028 left_z=0.156 left_yaw=0.0369 left_pitch=-0.0559 left_roll=0.0232 left_gripper=0.8002 right_x=0.3781 right_y=0.2254 right_z=0.0241 right_yaw=0.4381 right_pitch=-0.3154 right_roll=-0.0166 right_gripper=0.8008\nstate[joint_eff]: [-0.4171, -2.0171, 6.8308, 1.9023, -0.0464, -0.0171, -0.0122, -0.841, -7.788, 4.8889, 1.4872, -0.1343, -0.0904, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 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]: [-0.0593, 0.8463, 0.569, -0.3588, -0.0971, -0.0505, 0.8002, 0.5526, 1.8725, 0.8818, 0.1322, 0.0402, 0.0292, 0.8008]\nstate[eef_state]: left_x=0.2957 left_y=0.0032 left_z=0.1544 left_yaw=0.0385 left_pitch=-0.063 left_roll=0.0251 left_gripper=0.8002 right_x=0.3799 right_y=0.2301 right_z=0.0056 right_yaw=0.4921 right_pitch=-0.2971 right_roll=-0.0138 right_gripper=0.8008\nstate[joint_eff]: [-0.3487, -1.7162, 7.0632, 1.707, -0.0806, -0.0317, -0.0171, 0.4308, -7.3778, 4.8342, 1.4237, 0.1343, 0.1294, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00038b14a466914d6bb9bcb523735b4df99b6c292cff33b9842acebe62dd308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c71c0c9e903ee3d3cdf10be8fdac7875d89c0ff9a0e3b99b4c4863d5126c42c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d296c8e48e9ffe531e5b2bee9b779b52be0b12753177a0df28b85a749993d07a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at table level with the pen running between them. I’m closing the gripper around the barrel.\"}",
  "call_id": "call_1fYkQiqGj8bu3qhcEy9SjIR3",
  "id": "fc_019ab0a2ba501d90016ab476e4fcf087d08eb45c18c67195eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1fYkQiqGj8bu3qhcEy9SjIR3",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0593, 0.8463, 0.569, -0.3645, -0.0971, -0.0505, 0.8002, 0.5579, 1.887, 0.8749, 0.1707, 0.075, 0.0692, 0.042]\nstate[eef_state]: left_x=0.2949 left_y=0.0032 left_z=0.1533 left_yaw=0.0385 left_pitch=-0.0687 left_roll=0.0256 left_gripper=0.8002 right_x=0.3843 right_y=0.2285 right_z=0.0035 right_yaw=0.4451 right_pitch=-0.2777 right_roll=-0.0117 right_gripper=0.042\nstate[joint_eff]: [-0.335, -1.5658, 6.9949, 1.7558, -0.0806, -0.0757, -0.0171, 0.1709, -7.6513, 4.9299, 1.2674, 0.0513, 0.0415, 1.0672]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a407a8f70bdef825108b6166974417f12627ddf7caa376c4403ff276d51e2415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f12c6927fe107a0d8d080cbca2b293a5cb40fe83c45072a4bdbb0a7222e9d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afd8b8393480a4d1c9e864aeec62b2514ea72c36590c5e39dfead66bd2211a0",
      "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 25 attempt 0 · /responses · status 200 · 5.98 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 96 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0624, 0.8379, 0.5667, -0.3283, -0.0994, -0.0498, 0.8002, 0.8742, 1.7615, 1.2186, -0.4671, 0.5411, 0.667, 0.8013]\nstate[eef_state]: left_x=0.2994 left_y=0.0025 left_z=0.1618 left_yaw=0.0368 left_pitch=-0.0265 left_roll=0.0234 left_gripper=0.8002 right_x=0.3421 right_y=0.2727 right_z=0.1086 right_yaw=0.0303 right_pitch=-0.2518 right_roll=-0.0156 right_gripper=0.8013\nstate[joint_eff]: [0.3077, -2.0991, 10.5504, 1.6337, -0.0366, 0.232, -0.0171, 0.6085, -8.5128, 8.6359, 1.2039, 0.5006, 0.1587, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 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]: [-0.0593, 0.8463, 0.569, -0.3588, -0.0971, -0.0505, 0.8002, 0.5526, 1.8725, 0.8818, 0.1322, 0.0402, 0.0292, 0.8008]\nstate[eef_state]: left_x=0.2957 left_y=0.0032 left_z=0.1544 left_yaw=0.0385 left_pitch=-0.063 left_roll=0.0251 left_gripper=0.8002 right_x=0.3799 right_y=0.2301 right_z=0.0056 right_yaw=0.4921 right_pitch=-0.2971 right_roll=-0.0138 right_gripper=0.8008\nstate[joint_eff]: [-0.3487, -1.7162, 7.0632, 1.707, -0.0806, -0.0317, -0.0171, 0.4308, -7.3778, 4.8342, 1.4237, 0.1343, 0.1294, -0.022]\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 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]: [-0.0593, 0.8463, 0.569, -0.3645, -0.0971, -0.0505, 0.8002, 0.5579, 1.887, 0.8749, 0.1707, 0.075, 0.0692, 0.042]\nstate[eef_state]: left_x=0.2949 left_y=0.0032 left_z=0.1533 left_yaw=0.0385 left_pitch=-0.0687 left_roll=0.0256 left_gripper=0.8002 right_x=0.3843 right_y=0.2285 right_z=0.0035 right_yaw=0.4451 right_pitch=-0.2777 right_roll=-0.0117 right_gripper=0.042\nstate[joint_eff]: [-0.335, -1.5658, 6.9949, 1.7558, -0.0806, -0.0757, -0.0171, 0.1709, -7.6513, 4.9299, 1.2674, 0.0513, 0.0415, 1.0672]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a407a8f70bdef825108b6166974417f12627ddf7caa376c4403ff276d51e2415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f12c6927fe107a0d8d080cbca2b293a5cb40fe83c45072a4bdbb0a7222e9d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afd8b8393480a4d1c9e864aeec62b2514ea72c36590c5e39dfead66bd2211a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbqPMM4GjXT8FKdwe3_MdZJcdfmJYRr9zgH6raRTDi1t8exBaCv3UVqxFU-wKOEj42vBJe5UzqhqteO1d6_b9QEbbXytJurRQugpCSnxNBZbCVT57m-XIsUw5F9DvKrOWSPRuOUDuC0ZE6Vuj_EtVHldb8CdJ9cXXj6UUxcqGuC3IFyVbFDXW-Ot3-hmVw9o78JPHJ0ALL5gVMRNy8U-H1dN242n7kNGjdlBFKQtKc2UmroBjhUCPVTKkUKX7ZzaV267CQUKhyeZ0YTAiITNLr8NxuqxoYvDQKfK94p6U0bOo3HAxshcTdvHJHl2MqX6RXtvgWpDpXKNrixt9R336NhoQqD9MIun3ugFjuMmBe9GA1IpAPkwXIsYHKV0EbHxYO3-BGZIa-SStcBeJ8Ugfvt08hTn1YqV5Xr47wZd-RsgdDTHWxKfJL13ABWPIQHxibsNbrtFA1HBdMMXcb-G38cpFsncUvTPQHVsECrZkvTpV0H94j4nbDxJj55QeBEG-a8bQQSXVk3FrHbT-Vp29EzFEVQXgmlS7ieZF8bttW7VDax7rSTmioN5Nb-nwZ96mkJCnG8RRTp2eC3sCHodKEZzArxJ4UT6tr1mS1GenEsauec0LADSHHGcvj5NzY3yUXFc6MqLcWWMG2CQusfg1R8bEFwXv4BIsoAq2-S-o_O4SwpDjKRrEnUKZ92MfGWvLFhNnLEkNmkkQgAudwy_bVjrAqkc-ebs_OMwMXpgkR0gm5mq3EJEMTkKD7uFQJmTouWbsGQLLcnq7Jj4IkCo0se8vUJkZI7MUxrcQh_QrGHxtaDT5l-7ekWRILok1BxCEri-S_hpocHKBPM-4-N7Cr_ilLRQQBjTkOhNOOn0pywc-iDM2x7Lhngz_S8yGisOLttWpoBAfuO7yhbHR3JeNuW5jrJ7lw8vImGEh4UW0zzuHJ0ntHt6iv-x9bMWNyjXlxJkxAl_-GPYYz2gPLipGwGxg8gQ2-2YkgXwgVtOfKmiJGU1OHfhoxD7QqhbbdXEafyluO6HBXH2V0tGS8Ib4XpoNiAWfkrBg5zDYKA92nrOji4BC7iDXSpPg-MMgkOHZnlg94ZHhgTruxnYxVnHoBuncP1jlRYY_I-dTMKZ9EZQZTPFCUzDIcsdkZAA63T7LevZrT6G0KV3_9cD8_wqwNJFMkSTUJ1EK1oMl39Pt_P16xIqXEsrnAsQWUh-p075dOl-5pmcrwp5_eOURHJP-GhZCoWSrwsKJDrGMf9hBAsbYn11m38P5XvAe53UJLHsDqpAUx0-l80uDbQWVRbekY9xfEaNd5GFGJFrpVr3vuFXFoBMx8bZQCR3AjmW0y52LMs4Wi7h1OuRJNkCrlfk9kbslW2Dd0CxuI32Dxp1J7Ow6E=",
  "id": "rs_019ab0a2ba501d90016ab476e80e2887d0bbdd4dc63485de7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.384,\"right_y\":0.228,\"right_z\":0.07,\"right_yaw\":0.445,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The gripper stopped just above its empty reading, and the pen is aligned between the closed fingers. I’m lifting a few centimeters to verify that the pen moves with the gripper.\"}",
  "call_id": "call_2tvYtoWmIcnF5itNs9V5MgZ7",
  "id": "fc_019ab0a2ba501d90016ab476e8afdc87d091453c9244413fb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2tvYtoWmIcnF5itNs9V5MgZ7",
  "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]: [-0.0753, 0.8524, 0.63, -0.4534, -0.1009, -0.0624, 0.8002, 0.5579, 1.7615, 0.9573, -0.0422, 0.0708, 0.0658, 0.0437]\nstate[eef_state]: left_x=0.2911 left_y=-0.0005 left_z=0.1616 left_yaw=0.0324 left_pitch=-0.1021 left_roll=0.022 left_gripper=0.8002 right_x=0.3835 right_y=0.2288 right_z=0.0521 right_yaw=0.4505 right_pitch=-0.283 right_roll=-0.0114 right_gripper=0.0437\nstate[joint_eff]: [-0.6359, -1.5111, 10.2906, 1.746, -0.232, -0.0659, -0.0171, -0.2803, -10.3043, 7.7744, 1.4579, 0.0122, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327fabc3c7621aca9e35dccf73c13ea5130a09061079a47bad215e728623b2e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8704e6c32dac833f89c826d8e89540ddfc0f4858efd27f535249b1c08b1aedf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbcecb7013681225967291a33fd11ffabce7e1717274db755d589a1987ee3f68",
      "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 26 attempt 0 · /responses · status 200 · 3.938 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 96 changed as sent

message 100 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0593, 0.844, 0.569, -0.3538, -0.0952, -0.0505, 0.8002, 0.5621, 1.8149, 0.9154, 0.0196, 0.0814, 0.0765, 0.8008]\nstate[eef_state]: left_x=0.2964 left_y=0.0028 left_z=0.156 left_yaw=0.0369 left_pitch=-0.0559 left_roll=0.0232 left_gripper=0.8002 right_x=0.3781 right_y=0.2254 right_z=0.0241 right_yaw=0.4381 right_pitch=-0.3154 right_roll=-0.0166 right_gripper=0.8008\nstate[joint_eff]: [-0.4171, -2.0171, 6.8308, 1.9023, -0.0464, -0.0171, -0.0122, -0.841, -7.788, 4.8889, 1.4872, -0.1343, -0.0904, -0.0611]",
      "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]: [-0.0593, 0.8463, 0.569, -0.3645, -0.0971, -0.0505, 0.8002, 0.5579, 1.887, 0.8749, 0.1707, 0.075, 0.0692, 0.042]\nstate[eef_state]: left_x=0.2949 left_y=0.0032 left_z=0.1533 left_yaw=0.0385 left_pitch=-0.0687 left_roll=0.0256 left_gripper=0.8002 right_x=0.3843 right_y=0.2285 right_z=0.0035 right_yaw=0.4451 right_pitch=-0.2777 right_roll=-0.0117 right_gripper=0.042\nstate[joint_eff]: [-0.335, -1.5658, 6.9949, 1.7558, -0.0806, -0.0757, -0.0171, 0.1709, -7.6513, 4.9299, 1.2674, 0.0513, 0.0415, 1.0672]",
      "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]: [-0.0753, 0.8524, 0.63, -0.4534, -0.1009, -0.0624, 0.8002, 0.5579, 1.7615, 0.9573, -0.0422, 0.0708, 0.0658, 0.0437]\nstate[eef_state]: left_x=0.2911 left_y=-0.0005 left_z=0.1616 left_yaw=0.0324 left_pitch=-0.1021 left_roll=0.022 left_gripper=0.8002 right_x=0.3835 right_y=0.2288 right_z=0.0521 right_yaw=0.4505 right_pitch=-0.283 right_roll=-0.0114 right_gripper=0.0437\nstate[joint_eff]: [-0.6359, -1.5111, 10.2906, 1.746, -0.232, -0.0659, -0.0171, -0.2803, -10.3043, 7.7744, 1.4579, 0.0122, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327fabc3c7621aca9e35dccf73c13ea5130a09061079a47bad215e728623b2e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8704e6c32dac833f89c826d8e89540ddfc0f4858efd27f535249b1c08b1aedf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbcecb7013681225967291a33fd11ffabce7e1717274db755d589a1987ee3f68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbwKFBQt2dBz08qfZr7vUty65YJLPZgAw-Yj_Hxvb38HBeOYKMYp6wdhVi9YLoT6qhcgrqLiDrIz7Fjn1D2D_O1aK-31oLsHd5-ohpxqfUjDwnUh3CcVu4NPwuy94F4QnsJxMw85KSqpOiCVOwJVKZUZh-WfKV_Q8FHlFE6lo4duwlbABuyAiobkFBGc_o00BbwoVye_znl1ftbMlEZX0Ge41ozaG884V3pnifoXTM7ZtFQjvtU4_IPJ0cciPrcfvy5tyj9Ys-70b0NoKIZfEkREDcuQ0TKE8GCag4AiNYCoJClX9l7LyWNye4jd2PF6c4Ff1yMV5Tde1_XFLpZeX3k8n-NdePXGvQ5NWqT2EHOeyJpatVggGFXhSwNULEd-Os9_IpGy8Dc_MJjseTVBYr23RBNtMjJF3pTpafDsXZC52KNGhz88f4IkVXVMgNOJHLSqNN8wQz5Tm5kgx4tfAJOe301sbMr0x88F70KGz4ATfOYdNTLg66Lk9worPZ1EFW7jvR93DMwAUIPU8tYadSfpC4z8M700iFHZMc_9CM3blXlf1gcIwbf2OQUWVA2fk0pF9vfS3eo4r56mgvsnT8Ky5iN8dlsLn-KiZ9AJqqk7j5HaNnng8qdTepSp4JRQYiahJUcHeHLn72jSJYt1FADYnRiqmoSiaT7yJ86s_Oi8x2SS-ZkP3FE5aP1iZ7NAf9pWDu9tT491rq4wqPaG2vZJ35W0ssveDFxeyn_6StlwyK-1Td63sMz6bK0J-E_XaCUrARSC5iA12iA4w8R51NfagEIs20qRi4DZjwow5MAa7RQRca_PfwTs9jU7MropCmB5ixDUZyC1VrsKYD4fOMa-WITRaViD6RACG81hk2x6KeHMnTuUiDOa_CUggChuqGOQqnJNTD5A9ghVoVMOqMwkUH6QdLyaDq9AtnukiM2xOauAVaAElFmfiZCO47yv24O2JphuwyrARCSti9WIn0X0eezDVyEIKPlnjeAEU-fpSyreLVW4B4Rri0BksW97eJA2adlrZ8MO9iiHBm-6FRss_wvuNSnZ8js9HMh6fRxfWPiywb3se6tPEO1Qji1BwA0b8T_OnJ_CQ3qWykwUpv7KvXsLF2iZ0T48W6_CcPv5RPF3LYJRQf8rubq5wDKS4Ebr5T8q9oQoJQM1EsAimF8iPCDxTwhxamZRIzkX8UdyYIqxMvGu2YWNAgffZlmXJSBlgmL76Vsr5_j_wk-AYNMhKoRFBU6fxRCudDFn70QbB5kVUkyi-Torf188EBuSMElDGzGvyXSLRIPMWdB00gf_SOTcc5aMfISY32oGITkMUauWfKnXUlimcG2PCU8KtC1ndEcL7Nclasidaj23RlJdQmdjLEHPly9kecCaf01Ytzg0ME8lZB-9aOM_CspF0uiDduf93A2a_o0hnLpFsqDbmsYENurHgRK81RCy-Z-JrVLvYU10FedBirkrBom47tACRiJSSMFee-iUTCoZNS7bvYyenTtSqojezxHW1SrFbyOYc_1YUqVyDaM8ZRz8YHHxVQiCpVd39LSIyPuaTrtRCwVsa8qBErBx7GwUp41fn8cDDA_H-IalenMFpeA0qNRU2UJGgohblimy9tGw9oTAqDVbWOoifFiEW8A3T__dLnp5mEJ5qyCoUg7ZhQ2--BRo4IPS2y3t3HC_B_YDbNa0yXmX8e6RYjLz5lNQWT2c0xsHHD1KR6Tlgq1bRlGtbvio0VZRB0Z3Hv8tguL47hVTxCWPufdJ5Dcd9-lUJzsD9XN41hI-sW6xmd5y0CsCEqTCLHdD5HK8cOWn4uehJmFrUKB3HvJWFxairr0l-lexL5P6aLnkGNcE0BjHVC4_R961uSrnpkZPn7Gezb3Rq4u182HjtqwhNHJ_45rQEmOq6U=",
  "id": "rs_019ab0a2ba501d90016ab476ec58bc87d09deac34a2eebe4ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.13,\"left_z\":0.1,\"left_yaw\":-0.5,\"left_gripper\":0.65,\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.17,\"right_yaw\":0.445},\"note\":\"The pen stayed fixed between the right fingers during the lift, confirming a pickup. I’m raising it clear and approaching the cap’s farther-forward position with the left arm.\"}",
  "call_id": "call_VuhNbxvWJ8P28dnLFkjMMa36",
  "id": "fc_019ab0a2ba501d90016ab476ef341487d0855a0d0ba27a56ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VuhNbxvWJ8P28dnLFkjMMa36",
  "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]: [-0.1989, 1.7313, 0.9695, -0.0097, 0.1665, 0.1432, 0.6508, 0.5426, 1.4849, 1.092, -0.4927, 0.0666, 0.0528, 0.0481]\nstate[eef_state]: left_x=0.442 left_y=-0.1153 left_z=0.0767 left_yaw=-0.4317 left_pitch=-0.1882 left_roll=-0.0055 left_gripper=0.6508 right_x=0.349 right_y=0.2009 right_z=0.146 right_yaw=0.4449 right_pitch=-0.3224 right_roll=-0.0212 right_gripper=0.0481\nstate[joint_eff]: [-0.4444, -9.0051, 8.9094, 1.7851, 0.1343, 0.315, 0.0073, -0.841, -8.7453, 9.5932, 1.5116, -0.0464, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b20bf110681ce90f330a443eb7049934c07689dca3f9777c372797a81d94146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d1e51387ce5982397dc3e9a16ca678a0a134a3d4a21f5d970b9853a7a3c5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23a00adacc66fd85304aaa0df2abfbf2eefeaacbe1865e1594d6153efa5cea7",
      "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 27 attempt 0 · /responses · status 200 · 5.964 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 100 changed as sent

message 104 changed as sent

message 93 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]: [-0.0593, 0.8463, 0.569, -0.3588, -0.0971, -0.0505, 0.8002, 0.5526, 1.8725, 0.8818, 0.1322, 0.0402, 0.0292, 0.8008]\nstate[eef_state]: left_x=0.2957 left_y=0.0032 left_z=0.1544 left_yaw=0.0385 left_pitch=-0.063 left_roll=0.0251 left_gripper=0.8002 right_x=0.3799 right_y=0.2301 right_z=0.0056 right_yaw=0.4921 right_pitch=-0.2971 right_roll=-0.0138 right_gripper=0.8008\nstate[joint_eff]: [-0.3487, -1.7162, 7.0632, 1.707, -0.0806, -0.0317, -0.0171, 0.4308, -7.3778, 4.8342, 1.4237, 0.1343, 0.1294, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0753, 0.8524, 0.63, -0.4534, -0.1009, -0.0624, 0.8002, 0.5579, 1.7615, 0.9573, -0.0422, 0.0708, 0.0658, 0.0437]\nstate[eef_state]: left_x=0.2911 left_y=-0.0005 left_z=0.1616 left_yaw=0.0324 left_pitch=-0.1021 left_roll=0.022 left_gripper=0.8002 right_x=0.3835 right_y=0.2288 right_z=0.0521 right_yaw=0.4505 right_pitch=-0.283 right_roll=-0.0114 right_gripper=0.0437\nstate[joint_eff]: [-0.6359, -1.5111, 10.2906, 1.746, -0.232, -0.0659, -0.0171, -0.2803, -10.3043, 7.7744, 1.4579, 0.0122, -0.0415, 1.0281]",
      "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]: [-0.1989, 1.7313, 0.9695, -0.0097, 0.1665, 0.1432, 0.6508, 0.5426, 1.4849, 1.092, -0.4927, 0.0666, 0.0528, 0.0481]\nstate[eef_state]: left_x=0.442 left_y=-0.1153 left_z=0.0767 left_yaw=-0.4317 left_pitch=-0.1882 left_roll=-0.0055 left_gripper=0.6508 right_x=0.349 right_y=0.2009 right_z=0.146 right_yaw=0.4449 right_pitch=-0.3224 right_roll=-0.0212 right_gripper=0.0481\nstate[joint_eff]: [-0.4444, -9.0051, 8.9094, 1.7851, 0.1343, 0.315, 0.0073, -0.841, -8.7453, 9.5932, 1.5116, -0.0464, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b20bf110681ce90f330a443eb7049934c07689dca3f9777c372797a81d94146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d1e51387ce5982397dc3e9a16ca678a0a134a3d4a21f5d970b9853a7a3c5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23a00adacc66fd85304aaa0df2abfbf2eefeaacbe1865e1594d6153efa5cea7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHb12hCnQKIsH6H5pP4k8XcMvs-f8zvhSsP7X_iZP8_zwbr-nSnvacSOLWWFdf928aLVDjG30U0HKyR0Y58abjHoU3h_oKRTiTc19vNbtoRLoe0cHbDWdNz5HPtf9HDhVHCnKvSM0g5EARZtF4mQik7ep8L-vuizIHx8abbMyoU-yoJndmdo2YFPY7IfrNSFJkjX7TooAjgk2J0EqYpx334sfrvud9MjiDnWrS8Y_nROSW8QHPeIYBS88nN_eLTzOBF_CxGz1IMwxScavOEL2xZTtJDqCTRpRlQu21P0igfsiHt6ECYL_8SgHevNOiOa7tjCjO6razImVZFoh55u-HhLZ0NFFhBclaUvr3WC92aP-G-2C-mNhRue7lIYlThTMCMc8cUoZgcfg-6vYdUc9yhvMqqbuXRj2WGxcnGs7bniEP7afSqWmzBgDK8vZ_nMhOXhrdwoqZIlXg3A0qWJWfGzWBHOm0yZ0Ab9jdHBOl0y5ZbskDxQPh0gK-_qrfgPCs2IzcPIvNkQk79-efGWaO85Cpqzow-Kza7wyoFrp1jwUSXiVFmRG5Tl6QvzTJY4RskSpTbsNX9iN7tPTK3U_La-2L1HPKZBbDC5Vi0dWnHub_5i4H1LdnFadjA2hqiVobTKdwfgObf4LobSGlTPpYS0ozHAU2x-ga21pKQcop7TgeUZRtZ1FY1xL6Khd5yhZoU9mAOabtKBArQcwuX5Jp3DoLS4qodBnIF7kdyzfKbPd1UC13mC7CESZR6BVHcg7T9how2a6mtYOsnpGkTRB93ooQuPZ5ZsH3PVMKPmJtko7A21wJCfabUPJQDia7--bTxL9NS8tB_FRfbrXW5hUd9jKIEdTaMsCZmwxgc1W6m5k5vlVSGk5BNi4PDVEWC2xIZkSpqqZnlp_yKJllDIWPAwaV4Bli9JtZkmofuRKlfdpUZ0yoSrOzzyBmGS2p9DpYjx8MUElOe3Ppu0Ye4QYLNtGdD82Fp9k0utpUOq5qT4Td8asQu3ipvTs9OVZ7fORn06ZHLoEMTCN0YOlo1zIMcgu6W3WGgtKwqBBFbploNJhX9CLaIbhNT00YejM65ztNXPfLGYyijo4WnxjS0V3qfox-2a2-y3PthNULaB7vPGShLNpBua1JsO-FOsn3GJGfR8-168hkw-1qRwRFPhUvklZIlHBwH_wYht6JoKjx8YSWR3qVq00jgXsFnfjtaRhjK-SGstUVGApkZQycv7AQ2CFclhrX9cfNKsw7IFuzaIjDSf6cZqC5YcHTYu5mI6YCv3uS_nwusTRW_CCLL4G0oteECicOk4YMnq5cSOZFAYc4jX31OfOOrJa42LGLFOvBbUrO223aBfsLkPb3I8aMlDJfOhDfFXGeABkasmzwZfKbsC-QCQUsuTUr0mZ7aLaCVGZRdnQ885PxBd7xfnIiZWWTRYsTGm5waSlcogq96oXbfuZB3ZEuIHvE4pR8-yC2R2FliVK0uP3HmSOiNlOITK4w==",
  "id": "rs_019ab0a2ba501d90016ab476f3436c87d0bf39f602d7ee5c84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.442,\"left_y\":-0.115,\"left_z\":-0.006,\"left_yaw\":-0.43},\"note\":\"The cap now extends into the left fingertip region, and the pen is held safely aloft. I’m lowering the left gripper straight down onto the cap without another forward shift.\"}",
  "call_id": "call_9afsX3QiAVg9MLRcEnDJsQNr",
  "id": "fc_019ab0a2ba501d90016ab476f4604c87d0bd0e56ae623f6832",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9afsX3QiAVg9MLRcEnDJsQNr",
  "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]: [-0.1989, 1.9209, 0.8566, 0.281, 0.1642, 0.1436, 0.6505, 0.5426, 1.4803, 1.0901, -0.5163, 0.0677, 0.0521, 0.0524]\nstate[eef_state]: left_x=0.4411 left_y=-0.1147 left_z=0.0026 left_yaw=-0.4305 left_pitch=-0.2001 left_roll=-0.0064 left_gripper=0.6505 right_x=0.3447 right_y=0.1981 right_z=0.1434 right_yaw=0.4436 right_pitch=-0.3432 right_roll=-0.0248 right_gripper=0.0524\nstate[joint_eff]: [-0.0068, -6.9402, 4.1094, 1.0623, 0.0464, -0.0073, -0.0464, -0.3487, -5.6547, 6.8855, 1.5946, -0.0024, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d001392c2a5b2c37c2760bcd3ce52fbae1834173b366f4a131aecbe18891a963",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490b709aef6e4541512c404767474ad08ee926763c18cf13968ee8eae911d238",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31bc22abdadfda450245ec06afd8224ef51e02d4beb8b9d866d7388fc0fad20",
      "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 28 attempt 0 · /responses · status 200 · 3.72 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]: [-0.0593, 0.8463, 0.569, -0.3645, -0.0971, -0.0505, 0.8002, 0.5579, 1.887, 0.8749, 0.1707, 0.075, 0.0692, 0.042]\nstate[eef_state]: left_x=0.2949 left_y=0.0032 left_z=0.1533 left_yaw=0.0385 left_pitch=-0.0687 left_roll=0.0256 left_gripper=0.8002 right_x=0.3843 right_y=0.2285 right_z=0.0035 right_yaw=0.4451 right_pitch=-0.2777 right_roll=-0.0117 right_gripper=0.042\nstate[joint_eff]: [-0.335, -1.5658, 6.9949, 1.7558, -0.0806, -0.0757, -0.0171, 0.1709, -7.6513, 4.9299, 1.2674, 0.0513, 0.0415, 1.0672]",
      "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]: [-0.1989, 1.7313, 0.9695, -0.0097, 0.1665, 0.1432, 0.6508, 0.5426, 1.4849, 1.092, -0.4927, 0.0666, 0.0528, 0.0481]\nstate[eef_state]: left_x=0.442 left_y=-0.1153 left_z=0.0767 left_yaw=-0.4317 left_pitch=-0.1882 left_roll=-0.0055 left_gripper=0.6508 right_x=0.349 right_y=0.2009 right_z=0.146 right_yaw=0.4449 right_pitch=-0.3224 right_roll=-0.0212 right_gripper=0.0481\nstate[joint_eff]: [-0.4444, -9.0051, 8.9094, 1.7851, 0.1343, 0.315, 0.0073, -0.841, -8.7453, 9.5932, 1.5116, -0.0464, 0.0171, 1.033]",
      "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]: [-0.1989, 1.9209, 0.8566, 0.281, 0.1642, 0.1436, 0.6505, 0.5426, 1.4803, 1.0901, -0.5163, 0.0677, 0.0521, 0.0524]\nstate[eef_state]: left_x=0.4411 left_y=-0.1147 left_z=0.0026 left_yaw=-0.4305 left_pitch=-0.2001 left_roll=-0.0064 left_gripper=0.6505 right_x=0.3447 right_y=0.1981 right_z=0.1434 right_yaw=0.4436 right_pitch=-0.3432 right_roll=-0.0248 right_gripper=0.0524\nstate[joint_eff]: [-0.0068, -6.9402, 4.1094, 1.0623, 0.0464, -0.0073, -0.0464, -0.3487, -5.6547, 6.8855, 1.5946, -0.0024, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d001392c2a5b2c37c2760bcd3ce52fbae1834173b366f4a131aecbe18891a963",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490b709aef6e4541512c404767474ad08ee926763c18cf13968ee8eae911d238",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31bc22abdadfda450245ec06afd8224ef51e02d4beb8b9d866d7388fc0fad20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHb8Q6zL8MGRwfxswKDcEqk3Ffjb_oGPjeu_vJsIVsj9FUTpGKXnG0RCgnhwB4vL0fyM1V4GOovk8-ulUjMK6pHbQllzR7PYYHbuZ5aEw6aZsCDgzbf5FSC1-jRFSb405O8455l00rO2qxPy6HKG6bL0-AXTfSSsirINm0gyd_TTenj7KPI75UJ92eRZjnZQt4FK90DHTAWFs5EeLlGN7jCInoH2WBWiiQZzIW7GXuyFkWnqVnfphd48RTnokJrCt19yEt7tuJ65hat3abyYaQPT--0KQiU009uYtllxYXBlSiqeDUgokdtRUUSDbNWirzG22WJyVHg7tebRllO65DJ_w-ldeMnZ2YbzHXxoJyfQn22I6pytytbXhX5JQKnEPIwwMQarLhkKKt-ukaR56nlx34a9MuGZ0zjJVIR1t92CvMo913dvrbXPZyy06RbXaFJgZKdHpP6UDG92eNoAHWARLSIXCAw-xBd-FvuZdtAslDVPbueFJSEIJgRkix9aUFpmA33s8zaYAEOBN3JmbL731_R4AdV5uSLQIl_S4MCmiQ1EJw8yLHhVTJsH_ZeoCESRR_nNh3oDZo7rJZJbEy61Yph9nlcXk0IzPzuKeHwXmdRzbefoOunWb8t4gcowMCZze6zwEi84liHFEKjqPjYa2PImvKgdnyfgiYZOKkCIhN5nxFvTEY57j0mATpXPsTYxpGLSkns_kdG3yAzWo-r-cLOyDK0YRtgUJSqf4UJHpyafa7-7uo0bEGUl1lQ8xTe0Yxq72fUKTRNeFuU2s6gN-tYToMs4c939gOQXjYgxiqKKeCHy5d_SqVcWeycg5UJ830JJkLcPeA1z_CggbZhdnjw16Pwn0ea5I3HJwjL0GAR61ylwNZho8F72_M3t2DLMIqtaDYsYkY8Qel1yFeWkCS1iAg1j2pkTPiBfB97RWtebb-2bqCAqTCAvPAXqP5IP9ynokbUbDwv3XWjkAkG_cYwrsIjTJmKSiGDtB14o6HgnqnGwbtXpyhRthG6mYj1YeSbF74bhq-Rt8GptEEFGPx784OCyQfWU7iAX8YgtparJtopwd7lkPBPsCyC4IqK1J6GpI6uCfdNzkyyvOtAdLYh9hKvD369PhBBRhZpdftt-T7TVnepD6XkAXwkAIL5_VkCCKMhcXgXLsVAXYKzT24eA9e9hZtlzThFhypH7ajDLCL5AMRSGPmT10MI-FpcgcSoqAA4zRj7aWwA4I0MXWGNhCw-aovDo5d-WvUJZRMLxrW1REQ0NO3O1mYLe1qGhEA03XlFlgDCbCJQrBEnDppFba7plPQuHW5T_l6D5n3YIoOLT7GyBztsKae-8jtNASvv8T5mqZhYh5uvdPegq_IX0vAxzJw04D-5CwQI_TBMhgk1vaEZDlYYNFtEnCfYNOo3kQSodziWczDuHlANqUAkLtqVHZ6JBuUSC9ftPkMdF1uwuvzJ9eyYrKFD6P8NaDx0Wxt4mhqf3mVZi5GpmiW8HiH24mOqZ7_U89dlyOE6b7qcD9CaoFLbD8UYK_MHdUI5hUnqg_bYFuOBpStZgissKekc67t3F8do5_bl65_7Lr4-dQ7h9WyXYLPUbutpHS01Cd_EtU20GP-J5VOSgmrQo4CH5fnVHlEr6_SmUHmZiNIPL8hqBNhJAwir1_j09U6jtXmeSwepBZL9O5JoYRv2M_NwrGYRGfxDbyHriH0gT95TaPzG3lCIaKYupCWkoFEU92GYnx5eHT_00y29eeFbJADNcljhy3RDXTLdhfNLpJLO9b0NAVJ2UKeLjbv6V06MVsdcleDo9254jWNFreDJxWAdOwCJr-fzWJb1zZSBh-0oo3XgW5WlA04OnApQg_xWv06IhVPJXrlk6C7G2UDu4L6EVu7kHxUco0j9LBY3g4WhdEYSgkJZHOQ-fHqxWW2B9E5n1JUs5BQmSEXLVqbis3hewob3L9KvTwwaBQjJWPPShVa0464hJ3WwETltXyNHsxBRW_e9wE45rLJS7lkqt2ThkNxxRqdRmpmubrEG9d_XiLuxCWsAkaPSLPzMKHQx9ciK_htV4USW39jHHfdrhfYDQSHZdRFV0DvUbwFOPF7TOuXsH1U1Xu5RC6KE1Dph-Ba4P4HbEID2uQhw0u40UpeE0hA_mkwJioEsaEAA=",
  "id": "rs_019ab0a2ba501d90016ab476f7984487d09c432f6d34f268d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.419,\"left_y\":-0.133,\"left_z\":0.006,\"left_yaw\":-0.43},\"note\":\"At table height the cap is alongside the right finger rather than centered. I’m shifting slightly back and right to bring its body onto the closing line.\"}",
  "call_id": "call_2GrQ338NuFBHbzsusNXmXhu8",
  "id": "fc_019ab0a2ba501d90016ab476fb023087d09f242e2249d76005",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2GrQ338NuFBHbzsusNXmXhu8",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2306, 1.9022, 0.8108, 0.3279, 0.1303, 0.1211, 0.6505, 0.543, 1.4822, 1.0897, -0.5171, 0.0673, 0.0521, 0.0562]\nstate[eef_state]: left_x=0.4331 left_y=-0.1216 left_z=0.0025 left_yaw=-0.4201 left_pitch=-0.1855 left_roll=0.0048 left_gripper=0.6505 right_x=0.3444 right_y=0.1982 right_z=0.1424 right_yaw=0.4442 right_pitch=-0.3463 right_roll=-0.0248 right_gripper=0.0562\nstate[joint_eff]: [-1.3607, -10.2906, 5.135, 1.4432, 0.1294, -0.1538, -0.0122, -0.212, -6.5846, 6.7487, 1.4139, -0.0415, -0.0806, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981e41b81d1513d8c12f379bc5834773df69ace59bc0d3f472324e58eafaebed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116c4594a5b061589fef21d303229026bf396ebae89a107d9c20d3449befae85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18308554ce59c17ac3f4159ce39999d7cf7d4240ac71b53147ed3be0c6cbb88b",
      "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 29 attempt 0 · /responses · status 200 · 3.883 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]: [-0.0753, 0.8524, 0.63, -0.4534, -0.1009, -0.0624, 0.8002, 0.5579, 1.7615, 0.9573, -0.0422, 0.0708, 0.0658, 0.0437]\nstate[eef_state]: left_x=0.2911 left_y=-0.0005 left_z=0.1616 left_yaw=0.0324 left_pitch=-0.1021 left_roll=0.022 left_gripper=0.8002 right_x=0.3835 right_y=0.2288 right_z=0.0521 right_yaw=0.4505 right_pitch=-0.283 right_roll=-0.0114 right_gripper=0.0437\nstate[joint_eff]: [-0.6359, -1.5111, 10.2906, 1.746, -0.232, -0.0659, -0.0171, -0.2803, -10.3043, 7.7744, 1.4579, 0.0122, -0.0415, 1.0281]",
      "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]: [-0.1989, 1.9209, 0.8566, 0.281, 0.1642, 0.1436, 0.6505, 0.5426, 1.4803, 1.0901, -0.5163, 0.0677, 0.0521, 0.0524]\nstate[eef_state]: left_x=0.4411 left_y=-0.1147 left_z=0.0026 left_yaw=-0.4305 left_pitch=-0.2001 left_roll=-0.0064 left_gripper=0.6505 right_x=0.3447 right_y=0.1981 right_z=0.1434 right_yaw=0.4436 right_pitch=-0.3432 right_roll=-0.0248 right_gripper=0.0524\nstate[joint_eff]: [-0.0068, -6.9402, 4.1094, 1.0623, 0.0464, -0.0073, -0.0464, -0.3487, -5.6547, 6.8855, 1.5946, -0.0024, -0.0122, 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]: [-0.2306, 1.9022, 0.8108, 0.3279, 0.1303, 0.1211, 0.6505, 0.543, 1.4822, 1.0897, -0.5171, 0.0673, 0.0521, 0.0562]\nstate[eef_state]: left_x=0.4331 left_y=-0.1216 left_z=0.0025 left_yaw=-0.4201 left_pitch=-0.1855 left_roll=0.0048 left_gripper=0.6505 right_x=0.3444 right_y=0.1982 right_z=0.1424 right_yaw=0.4442 right_pitch=-0.3463 right_roll=-0.0248 right_gripper=0.0562\nstate[joint_eff]: [-1.3607, -10.2906, 5.135, 1.4432, 0.1294, -0.1538, -0.0122, -0.212, -6.5846, 6.7487, 1.4139, -0.0415, -0.0806, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981e41b81d1513d8c12f379bc5834773df69ace59bc0d3f472324e58eafaebed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116c4594a5b061589fef21d303229026bf396ebae89a107d9c20d3449befae85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18308554ce59c17ac3f4159ce39999d7cf7d4240ac71b53147ed3be0c6cbb88b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcA7P6WUKcL7AcZSZArebPYrYXRVVQqtf0Lpjtfk5U9nWKrkTUgV5okRxh1mAZukL_4uksgSR_odDS-3sR7zV2o6ezWWTh-_wWYC087nHpYHuEk8AdFqF9YmxQiyX1QyhyH_rhaPshSlSrm2pOno8qEaTG7nlRWah7NJgt4BUj4_z-6pOQN61G0JsJxVSoU5HNkl1QuPJkoaxML5cAOX5D_czWPKBH42t2TzydmXqLfPAmqw7wgf8GMxsYefKZ3g3lCE-DXhzeI4UBZ6661A-P13IR4xUNIM35odFQyFJCbs55gYHUiYXwvyBGCSFFcBme2pzYfeE2myoY018B3LowyjG3_SYvUZOmy0QlzzvaEFn3C6W3yTbgWnTzob8Uz3kEvi4svjkY47m6xxIl001nIcPGisFH8pYTwpZzMqtEt-b6h3RnJtwTqqY9CzGSVEunWV18TvsWqouooIx9V5LXGL3xmHnXjxBEX-OcVOGQXiRaHZUdbEc-lugq81ikLsgcmmDAHqRbrUAbo-O8eZukAG_Bk-fmlNDQvhZGiwzJbdubvAWUytmaSCMfdhsaKYtiLiRAA2AYSb7zc4vakcmWMvvfUq9DGu-vpGszFAPzKC3J4CMlJ3drVk4vkiUzkN5NZjkIWIayEFmK1MEO8Wqjx4gP4owAjp20mh9o_51w-AINJLLU7DY48pINjQW7IY9XxoeMVRC6f-D_3g0Toz9MX8_xThtT9M48qYgTkkmo9S3qNJMvMubXSeakcqpHnzOoeYB2mJvA8GiG5fQzJuhoSLCM9FykMdDx9kNi6hq7RkchUvK0II9UwAGTSTGXKQJ_-X7N8wBaRT-v_AQ1bT1sigQDyS677mirn30y5VJky8o5cRlcDDRLLe1OCsmqapahJNzqTNPVuZsdkFJxlke0sIJQJqiBZ8hjtBfrr7Hnly3cpuomXNaoG7CcqSalkrJrwbgj68gjrDFKOIc0D0BEOMMGnYnk5npkjYg1jKC4s5HeMHXnaU7obF5RJpMhfQARuc-xpPsRPXWhjXojsm4RxmlFjhtU_ccRl0MEUibyu-kd4x35Z7SfuLaLvgkKDaQKa3J_SaCknqnKQOwGZ9TdatA-1WzlcZYCu2WYIHNPYVdAHOUqn2gtUbjbYEF9zBk1GCWpoqqMqphNOAWu_uIu_Jg59xnldyfYg1SQll7ADOYdjnhhng99A3jGV7Jl2OgcGkpg7RtGpl5tt8ap14eh1gE_q_cIqOymBFHO4QoUcBjeWx2bieGth_K1s4W-E3WaLm9o_w8ErPNg5W0y6UEND5nHWRbG5J2nIvTGfHrj7waxl0qYBjr4Q-ehlukaDYVYF0DTiPIzRgR5WNhZPyf96kCzJspx-61FzG_rygdvwhWkpG9aRuySSMf30clUKBze__zj0884SFv5foBGh7iFN9pywfdQr70x-WbIqooVdG7rzwwyqcPEYQSHbi0CtjqXVgY2EDKQo8tYFMMxL75DUxlm-r43_fvi_NT0gBFjnNmRFYAZjTOl8AqKGJwYuOkMBdnwEWFKrlADcbzcfYKRxNg==",
  "id": "rs_019ab0a2ba501d90016ab476fe08e087d0ac130e7c1b826f10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap has entered the left jaw gap after the correction. I’m closing to test the grasp before attempting any alignment with the pen.\"}",
  "call_id": "call_NPbmO7aRbXJrX9VwvnJKRMSf",
  "id": "fc_019ab0a2ba501d90016ab476ff1b5c87d0b5e86e24b00e407f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NPbmO7aRbXJrX9VwvnJKRMSf",
  "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]: [-0.2256, 1.8877, 0.7948, 0.3412, 0.1207, 0.112, 0.0407, 0.5426, 1.4822, 1.0897, -0.5175, 0.0669, 0.0521, 0.0593]\nstate[eef_state]: left_x=0.4323 left_y=-0.1174 left_z=0.0054 left_yaw=-0.4017 left_pitch=-0.175 left_roll=0.0068 left_gripper=0.0407 right_x=0.3444 right_y=0.1981 right_z=0.1423 right_yaw=0.4442 right_pitch=-0.3467 right_roll=-0.0245 right_gripper=0.0593\nstate[joint_eff]: [-0.4718, -7.3368, 6.8581, 1.4188, 0.1978, 0.1099, 1.0769, -0.1983, -6.612, 6.694, 1.3504, -0.0269, -0.0464, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275921365f310d78934516152000c2fbe2ad8d79dcefd5c695a89658f274682c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b720fd64e793a4590e688a0472e5971a50ce21b6c4f2d964654c9f7d0bdfa10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb8ee5c9e845cee85fa7e0acddb3fa250380d269806903acef809033d315bd7",
      "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 30 attempt 0 · /responses · status 200 · 9.847 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]: [-0.1989, 1.7313, 0.9695, -0.0097, 0.1665, 0.1432, 0.6508, 0.5426, 1.4849, 1.092, -0.4927, 0.0666, 0.0528, 0.0481]\nstate[eef_state]: left_x=0.442 left_y=-0.1153 left_z=0.0767 left_yaw=-0.4317 left_pitch=-0.1882 left_roll=-0.0055 left_gripper=0.6508 right_x=0.349 right_y=0.2009 right_z=0.146 right_yaw=0.4449 right_pitch=-0.3224 right_roll=-0.0212 right_gripper=0.0481\nstate[joint_eff]: [-0.4444, -9.0051, 8.9094, 1.7851, 0.1343, 0.315, 0.0073, -0.841, -8.7453, 9.5932, 1.5116, -0.0464, 0.0171, 1.033]",
      "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]: [-0.2306, 1.9022, 0.8108, 0.3279, 0.1303, 0.1211, 0.6505, 0.543, 1.4822, 1.0897, -0.5171, 0.0673, 0.0521, 0.0562]\nstate[eef_state]: left_x=0.4331 left_y=-0.1216 left_z=0.0025 left_yaw=-0.4201 left_pitch=-0.1855 left_roll=0.0048 left_gripper=0.6505 right_x=0.3444 right_y=0.1982 right_z=0.1424 right_yaw=0.4442 right_pitch=-0.3463 right_roll=-0.0248 right_gripper=0.0562\nstate[joint_eff]: [-1.3607, -10.2906, 5.135, 1.4432, 0.1294, -0.1538, -0.0122, -0.212, -6.5846, 6.7487, 1.4139, -0.0415, -0.0806, 0.906]",
      "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]: [-0.2256, 1.8877, 0.7948, 0.3412, 0.1207, 0.112, 0.0407, 0.5426, 1.4822, 1.0897, -0.5175, 0.0669, 0.0521, 0.0593]\nstate[eef_state]: left_x=0.4323 left_y=-0.1174 left_z=0.0054 left_yaw=-0.4017 left_pitch=-0.175 left_roll=0.0068 left_gripper=0.0407 right_x=0.3444 right_y=0.1981 right_z=0.1423 right_yaw=0.4442 right_pitch=-0.3467 right_roll=-0.0245 right_gripper=0.0593\nstate[joint_eff]: [-0.4718, -7.3368, 6.8581, 1.4188, 0.1978, 0.1099, 1.0769, -0.1983, -6.612, 6.694, 1.3504, -0.0269, -0.0464, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275921365f310d78934516152000c2fbe2ad8d79dcefd5c695a89658f274682c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b720fd64e793a4590e688a0472e5971a50ce21b6c4f2d964654c9f7d0bdfa10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb8ee5c9e845cee85fa7e0acddb3fa250380d269806903acef809033d315bd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcExCFX_yrrrrkoThv_mxyocL1Z0ulq5FxmTqjybf5K64VBJaVYIfZFdz457z19YqYGVBM_W0Vgfa7XPizB0F0flXMInC18zP1O8htup5kpJr5e4vwMa6N8bpPA_DZF-gFc9yFkaS4f9Zv_gKy9jXpercxvDWvZktt5n8yGK60lv6Pk9-oxndfKCKNQGHPPtEzQwYEcQpHl5EfIvcviYH1OBP_R57jrZhIFqcet7xYrufxnL3f3-d42fqNuCRStUB8MsIViQ7CvqN_Jfj3p44GpGNnihVcNxvkm3PSmkn2waCzz7vipcA2JpNfiXhvgbJU_3sM8h_mxX41Ne8BlOPQV7zXnzeJ0dfHxpzr8NTElyZLfcK1lONmqps-5My5_0nJdST9ucA12WHTbwMqU5YoNbp25NDqLkZjvLXK8zJ1cXWTLrknqhoidUebn8Jo4GeXb023B28R0egbxQF5aE2e_x482KLynXv5bc7LKf6xkCTe0p2mR1J-926V8ouzpEmhv4_mkUxA9a10K1nvK54xnqzzArUlpzlaNdM3wWnj4tt3t9949TzxpLyHEckkQ4_zyY_s1H6JH_6v4ZAIyumT5fzKiz_vVTWYICzZvz3XHC_cOehlG9CW2VOzpn7sRrCIb1DsP3mw_7-J6LHpWq_8DZuCy7LDs7kprRfItUp_rzbdsJOIWPexrug2KLpBU8kHSz20kwHA2N31HUM0M076PhZaCFfnYvW-nNHiYQbP7lb00lwbzpRGJ7Xztskr34MIocSMUbLqfQaKwKzUIou9LZ7kcl1rnQhBNdmrOVZPn3GYkgfI-sD3wtSnLJTYduzITyrH7N8bJ4lQlx7EtFdqY84kqsCpSsgxkTf2ZpoBP4_MaIUb4KXzwRYkvyKxGQAnt2eo5vY-Oc5_F-vLSZB-D_MDdkii3W5gghcIi2xouBAjDqz0IEenGscdmD6ge4LAn3UAO1s_daS9XGfELbVai6yTcztctln83GrW5NwzFcr8N1n9-5rhX-CfGevk53HqVzrck_dBgAHKi0HFWnV6BlEuKFknmrFFGqJlFBHSNxC1_jL8tUa3EOJ0nLAGyrnCKcBTAoprVOP7x9R62JqAXyhDdPOSQD18tiJXl6LaDfwnPMfOO6dWA72_9hLn5Or7Rr1VqtshlKw8x3WjPwjPAPcPArkUioP-mEHYaPUL_sYegoRiodZ-FVZ_aU3Ync2rRS8MTA8msQDbvIFfr9HtvQDLKAJlfiUdur3phRzkj4pM8IHn6zHz6OdGeDlLvV4De13kl8kIJcZHlmT7kmT-kLg==",
  "id": "rs_019ab0a2ba501d90016ab477023d0087d08327d0fae204ad4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.432,\"left_y\":-0.117,\"left_z\":0.075,\"left_yaw\":-0.4},\"note\":\"The left gripper stopped slightly above its empty reading, with a small part of the cap visible beyond the fingers. I’m lifting to verify that the cap has been picked up.\"}",
  "call_id": "call_tMjHOP06RbInnQQbjYlNWsGY",
  "id": "fc_019ab0a2ba501d90016ab47702c3a887d0abc458a76b1b1807",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tMjHOP06RbInnQQbjYlNWsGY",
  "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]: [-0.2256, 1.7309, 0.8635, 0.0975, 0.1135, 0.1062, 0.0408, 0.543, 1.4834, 1.0874, -0.5232, 0.0669, 0.0521, 0.0626]\nstate[eef_state]: left_x=0.4278 left_y=-0.1151 left_z=0.0537 left_yaw=-0.3929 left_pitch=-0.1939 left_roll=0.0043 left_gripper=0.0408 right_x=0.3429 right_y=0.1973 right_z=0.1401 right_yaw=0.4442 right_pitch=-0.3558 right_roll=-0.0255 right_gripper=0.0626\nstate[joint_eff]: [-0.1846, -9.8393, 8.6769, 1.6093, 0.0806, -0.0122, -0.0024, -0.1846, -6.3658, 6.8718, 1.5165, -0.0122, -0.0464, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de426937361fb88418636d772402b2d2ffbef2927dc881251ce03a82257155bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa756b798cd23ec405fdec61d5a66a780522f2f278c4a271831d88ced590b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e946e8c63003e612af52714baef76199165efd367473c52dc2be1f43b4aaf6",
      "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 · 6.823 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]: [-0.1989, 1.9209, 0.8566, 0.281, 0.1642, 0.1436, 0.6505, 0.5426, 1.4803, 1.0901, -0.5163, 0.0677, 0.0521, 0.0524]\nstate[eef_state]: left_x=0.4411 left_y=-0.1147 left_z=0.0026 left_yaw=-0.4305 left_pitch=-0.2001 left_roll=-0.0064 left_gripper=0.6505 right_x=0.3447 right_y=0.1981 right_z=0.1434 right_yaw=0.4436 right_pitch=-0.3432 right_roll=-0.0248 right_gripper=0.0524\nstate[joint_eff]: [-0.0068, -6.9402, 4.1094, 1.0623, 0.0464, -0.0073, -0.0464, -0.3487, -5.6547, 6.8855, 1.5946, -0.0024, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.2256, 1.8877, 0.7948, 0.3412, 0.1207, 0.112, 0.0407, 0.5426, 1.4822, 1.0897, -0.5175, 0.0669, 0.0521, 0.0593]\nstate[eef_state]: left_x=0.4323 left_y=-0.1174 left_z=0.0054 left_yaw=-0.4017 left_pitch=-0.175 left_roll=0.0068 left_gripper=0.0407 right_x=0.3444 right_y=0.1981 right_z=0.1423 right_yaw=0.4442 right_pitch=-0.3467 right_roll=-0.0245 right_gripper=0.0593\nstate[joint_eff]: [-0.4718, -7.3368, 6.8581, 1.4188, 0.1978, 0.1099, 1.0769, -0.1983, -6.612, 6.694, 1.3504, -0.0269, -0.0464, 0.8864]",
      "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]: [-0.2256, 1.7309, 0.8635, 0.0975, 0.1135, 0.1062, 0.0408, 0.543, 1.4834, 1.0874, -0.5232, 0.0669, 0.0521, 0.0626]\nstate[eef_state]: left_x=0.4278 left_y=-0.1151 left_z=0.0537 left_yaw=-0.3929 left_pitch=-0.1939 left_roll=0.0043 left_gripper=0.0408 right_x=0.3429 right_y=0.1973 right_z=0.1401 right_yaw=0.4442 right_pitch=-0.3558 right_roll=-0.0255 right_gripper=0.0626\nstate[joint_eff]: [-0.1846, -9.8393, 8.6769, 1.6093, 0.0806, -0.0122, -0.0024, -0.1846, -6.3658, 6.8718, 1.5165, -0.0122, -0.0464, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de426937361fb88418636d772402b2d2ffbef2927dc881251ce03a82257155bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa756b798cd23ec405fdec61d5a66a780522f2f278c4a271831d88ced590b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e946e8c63003e612af52714baef76199165efd367473c52dc2be1f43b4aaf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcOTf5zkxVHL1wp3gFFbBhzpDaT_iVzDRWG1V5-mzb55IaM_laAa4S4E3xcuJNw1VW0qpBzhAmdQbyzNTvhn9BqNa3CQ-C84pPgHQczH0UICWJizS6Fh9Cxxkfe-c14Y9Decndjhiu9doG8aVOML8wZERvARY-Kr4RMmetoZ_c-ZoOTFvA_yXawEB-SsD2V-ZGAAUDulO6ltkbLz18AN_GrOb4npCyHx1qu6_yiULmXM0A184DoJVHnKzazqAps3VBu8gnBkIjLlvRD6maM0naj5-Nncx13ogAVfSsIvAymuZRzN6omEYLtY2WUfyRYjq5b8WAxKPuK_V3ek-73kxdGMcVit5HfcGUxlwvdKisUOLBobyTF-VpotVCFyKgxnHZg-WdK8DYykQTS9b2uxAE_tACD8tMkau8mt0dZuSw-UtAdMJg4EiygQ4Hk8-yPE3sgisvDsrXsvFuw-bZou2FYE4pyjVM_wg5GMI-yTFZcTNIAqZuKljxzJ_zOSKRgCB6g6etYMxK72U8ysMpgH0NTE3iADIOlvnuqruJ6jOUTvCccEHPsGFZNdtlJZqXx66aghdP6cGW8J2Vwv8yrUVSZrEHouR4UI91912M0TNaJh7SWM8zIZHtmVQXMV37fodexoCNgC8kC5XGnby8U4ZCGbG4w076GrJ6N5e6ShTlb7O0fbX1pQxlqOY0H2D7RdmmkidbQhXZMjygk_Ju4yOCky_Cw1gwQT11bXybx2vhDNoC7fZTpgv7NK0TtZG73cumjPT6Qc7Aw1K8WA8-bWpWiK5uXFkRCtPgsBtrVQcLHqNQPP7qJpXkqCKVIQ2mshQNV-7bakVha-2NNexlgutyTsgQv9ge692TR1f90h52969RbNKvBFjeljN7-R8RgQZrPFXNBwFWk7dN6GuIT9usCP3BCIUVFtVWpSn9tqH0II1nLeQ0rYHSGB5IQRpQYsQ1NfzKD5WOPvrg_8AXuhqAWg1NEZmhzOGakNmT_-I-B3iUjuitzWJnll9l_hZlyzD_8Fb9_rcquOA-yG8R59P18unoZ33rsMzowiG13JQ-Tr62Y9Q3tjPGaGfQRD3GdQPJnuGt7T4IyGDg-hn6d4HT0HtQDx6RVo3RP9lAMGh3dVTA1NzDtjoBR1y4o_OHHumkq1pOohTXPO12jDu2u3Emav9h8xa8leDjXUP1iaDlgzsfXpRRdKP-SftgCQYHyAVxYJv8BYzRqyLCsO8-03GNwdlatSOjV6qe_FPIhf7wvAkzDLx2SFNTf_rCiYS59wdUAA71OwHvT6aQa0IlwznlsQAQeQuk-oE5S1czErqlxxj5cu0k0y3iOkCOgROF501mqhEIpjlXRWmEu5QLZ-wVtS9XbIa_N8cnDc5apnzfqUIdgY1IwXz9BEOMteRSfnxC1pb5jyzZcGsJ3xJtU-UQe4gwxI3gunFWxlBMLaN8yCtZS1JNcl5lPYUPb9915EStOR5vGwcLc52g2cj3GyVtmWBWWLqePFJb8GjfznvKqpi8SnqhQFRIuUO2YTLhBYMfOa1rThVsUDCyxuv9LXQpBhi8yCCh8HOEymskgiHzT6deBet2Q0_HBRXfZi0cIbxwMtAcF6PZ0s4JGWB4q14_fI6mOC9lelYPfyVn_zXYzgHiGCi0O9nS0ATP3TGi5zgA5WqJ9sUj-SvCqNlrJ8yoCCf3bNk3juSLnNfCUC2IOygBHz4LGLDH1GrlMwsV_qqjlcDbcgB-pYYA8USe3Th-HXX_3wSYSPf1DKhPGc_oFhPcJJCUDHD3Z9kA2D_KtS96_VoPZKaOzg_sr81I_s-KdmT1n1ZxD7F6ad5bB9QZtUOAZgxyN6HVb1R_Rp4rS-qkiqWLtwskBZxdPWQvGKEnekASNMVZIb5rKhtGiVq3WH9uYs2dPxKVJr1-t7KEZXKjnuS_2G5LtZ6K_wIxzgGsi7JAuRuwM7fM9I-4cm5DDZFsMMeUALCNcGl6rGfR6jLqACes5x46jgd9bE3IiEMbxKIada-pWmLMKAOZM1z0Ng5TgAJ3bR2Tn_qm-sshu00oysmFlsBiWX-vMLGQe8vEWjGUyig_DQdNV_jDfRn4DIShXAxBR3is6ygRLIsnsyqthzrjtyAtpRVKHcnvBiTLu928NiHAa6XVYBLqXxON7oBGPS5RqnevLb9xaV_Vi1YqSZ1JUjcswGVMe1CzpTxcxQeN2iUCY4e_JeIWJjetgJKUNFXYPNeGxAVComQaJDsxjX2CMcrpXYXM2ZPGEwUBwno5Hmkr3HCPPWo4vwTr_bl2AJjdQk70lgoOj65QwvgeJ0blVDdzmc-2mOmCVgbf6dA82Obfr-1ul9cVvikX6AJdJPHJVvfoC-AU7nSFD1oBcq4UPzfwOK2dEfzAW8LQ60mE2z60_TEMz7kBsX6YvCVH7Ilo4EriW0romHmrVJj5k2yevWj08BDTkHZcoDduScH63Op2gIMDscAJ-jibwvlDhzPiDJhzWIp4XL_1VHvyxcWaAkLyXmOtvgf0RaOT5B11sVHK-YSSc6yxNxvY0nX_c5SVuh0Rc5icgSH-rdZTnwYdAA4oq69a8UL_Jpw6Fax1poxLameTEPPyCeACoKlEHl_fAriwIIa_fXq7F03vtnS9HyHLKQRVjk1abcNzFkgWFf_tA6sGjwC4MIv_O8NICpNBVmwYyiUGZawaBN0Fw1J9qq89W1hyPL526BTHHROtJc5kMoA3zbbUTu4-ByjEOMBxP5L8vtMSf9269kiDSbCJgRygfPnm_VAc1JczOT9BwXM-H5JJcJR02P0W3bh39CIqkaGCIb9ZYbx17QbKsgDTDvsECaSaaFvdaCLT-a7UBQ9jGG5XAyscwWUqByrNZVHbT1W2FljqevzZDADPUToZDXn_pzkVqbhOdhJRn2yIzH7N38n3OIhUqlONdzWIJ-BgI4c5PiuV123-KxmUUUlG9nDRP-FBZGgpNrKeVqrDP1rcfARa5rxnLFGw-RcWL-qv-xTuP9lccgMILW37DADpAHjgjv4T0WYZKL73QiE4iNSc0dUD8BBmnnHsRcx_99lV8xgA4KgzQsHpFAnquqCesDn0XT84-OhASNNMdrpHS2X6ItXjZemOjehFq0Pi-IuN07jCSoVSe4KZJauDENxqlZCVxA7WUJg3Z-ajTt8TcecmliP0TVizXeEedMe4VpBrpB8LvildUNUO7HqLexGUZOJQ1h3bTpi3jkRGM7Tcf7jXAXwpQ3c9GFvbiz4sjy-l34SJiAS7Rj3ROqYOwebF4J4lnJzH_08dfPupIeA==",
  "id": "rs_019ab0a2ba501d90016ab47706fce887d08b3b25ae033886a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.17},\"note\":\"The cap did not remain between the left fingers during the lift; it has shifted away to the upper-left of the wrist view. I’m clearing the left arm to locate it while keeping the pen secure.\"}",
  "call_id": "call_TRecsrvs5ZJvAszbd7cH4bYC",
  "id": "fc_019ab0a2ba501d90016ab4770d7fec87d0b16d06d51812425b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TRecsrvs5ZJvAszbd7cH4bYC",
  "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]: [-0.0414, 0.9981, 0.7624, -0.5213, -0.0162, -0.0223, 0.0408, 0.5426, 1.4975, 1.1877, -0.6411, 0.0666, 0.046, 0.0643]\nstate[eef_state]: left_x=0.3086 left_y=-0.0063 left_z=0.1657 left_yaw=-0.0268 left_pitch=-0.187 left_roll=0.0016 left_gripper=0.0408 right_x=0.3428 right_y=0.1972 right_z=0.1574 right_yaw=0.4465 right_pitch=-0.3874 right_roll=-0.0324 right_gripper=0.0643\nstate[joint_eff]: [0.3077, -3.0291, 10.6462, 1.5653, -0.0317, -0.0855, -0.0122, -0.5538, -5.9966, 9.6342, 1.3162, -0.0464, 0.022, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9fe9adf7b4b32446103555e57ba4919f676499e510b2ea48a5ac8e62e74c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34b5bd43bd975a16c70527fa82e0b2dfbe8908b7a2b0ac7a612ff160fbf1190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806b2526071ce631666b1c1e4732160b828bc96675e6952c53fa376f9a027b9b",
      "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 32 attempt 0 · /responses · status 200 · 4.414 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]: [-0.2306, 1.9022, 0.8108, 0.3279, 0.1303, 0.1211, 0.6505, 0.543, 1.4822, 1.0897, -0.5171, 0.0673, 0.0521, 0.0562]\nstate[eef_state]: left_x=0.4331 left_y=-0.1216 left_z=0.0025 left_yaw=-0.4201 left_pitch=-0.1855 left_roll=0.0048 left_gripper=0.6505 right_x=0.3444 right_y=0.1982 right_z=0.1424 right_yaw=0.4442 right_pitch=-0.3463 right_roll=-0.0248 right_gripper=0.0562\nstate[joint_eff]: [-1.3607, -10.2906, 5.135, 1.4432, 0.1294, -0.1538, -0.0122, -0.212, -6.5846, 6.7487, 1.4139, -0.0415, -0.0806, 0.906]",
      "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]: [-0.2256, 1.7309, 0.8635, 0.0975, 0.1135, 0.1062, 0.0408, 0.543, 1.4834, 1.0874, -0.5232, 0.0669, 0.0521, 0.0626]\nstate[eef_state]: left_x=0.4278 left_y=-0.1151 left_z=0.0537 left_yaw=-0.3929 left_pitch=-0.1939 left_roll=0.0043 left_gripper=0.0408 right_x=0.3429 right_y=0.1973 right_z=0.1401 right_yaw=0.4442 right_pitch=-0.3558 right_roll=-0.0255 right_gripper=0.0626\nstate[joint_eff]: [-0.1846, -9.8393, 8.6769, 1.6093, 0.0806, -0.0122, -0.0024, -0.1846, -6.3658, 6.8718, 1.5165, -0.0122, -0.0464, 0.6764]",
      "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]: [-0.0414, 0.9981, 0.7624, -0.5213, -0.0162, -0.0223, 0.0408, 0.5426, 1.4975, 1.1877, -0.6411, 0.0666, 0.046, 0.0643]\nstate[eef_state]: left_x=0.3086 left_y=-0.0063 left_z=0.1657 left_yaw=-0.0268 left_pitch=-0.187 left_roll=0.0016 left_gripper=0.0408 right_x=0.3428 right_y=0.1972 right_z=0.1574 right_yaw=0.4465 right_pitch=-0.3874 right_roll=-0.0324 right_gripper=0.0643\nstate[joint_eff]: [0.3077, -3.0291, 10.6462, 1.5653, -0.0317, -0.0855, -0.0122, -0.5538, -5.9966, 9.6342, 1.3162, -0.0464, 0.022, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9fe9adf7b4b32446103555e57ba4919f676499e510b2ea48a5ac8e62e74c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34b5bd43bd975a16c70527fa82e0b2dfbe8908b7a2b0ac7a612ff160fbf1190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806b2526071ce631666b1c1e4732160b828bc96675e6952c53fa376f9a027b9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcWbHgmXqw0Ia4GxWU6-4yY3ck6B9EkFEYyIUnhGcNoKacs5FMhfvwkjMf_xIpkx7jc2m2NJI5S-K-H39gMf9ZJo4fSk1HsrFjE5TcRTbq1wGWeAE5Ld4xLz2Q4lGi5IUVUm6HkoEHE_1Q-0Sm_fSFQHRCF874PWkK7MFYjHQBVQO5pjmhd8Ss0DSyYPwuPrcXvOcXeP6E-XPVe2m0x_7AjwU_kSCG8I3C5FOKxuLe4SHY8z3RRgeLXsRhetTX7a-_Fi4Y5MPw92MtNH8sWdymlLKkODFvjgDqoAdS6r3-fKbmDfjZZxqkvNwXOfscx8VsrN5Y5k6WFixxTFCFxoKKiOcO8WA2YL4YH6sv24USmJHUOMbJjbjk3RHqIYu3xXmJRCnxiFtB3hC9Mnf8zwQFf7yqHT3lKd7W5_Q5F56usJxR7JVE7MYTYviI54CrhF-ihPMbrQpm8ha_CpMZcqQ7I5w36NsOaMoMzvNHuELB50TMRMZCIho5BrSUZX_GgjSKfxeNdesOYSGeAwU8TXyfO_LdbCzsjH3BVlIekuJEyD0UIfYk1Ley8DutOcSYH9qkAX8n_r4PHqP78Cjcfb9IEW2hjOYKA1OKjpqoPNJfF0HYtMi9CyXM5BnLelnVvwvVVTHuC5K7qeLv0t95es_iAevALfX7IhDonS44XXKnYosnWi8bI7hEoKQt_7A1awi_2OWSbiBxSEKALVl20XNJdrXmRKPeQpNzVjNFq-lSMh6tctfRpKiBYTPb-8NhWCom-6I17aQybS8dhQbfmJgPDSaxdeIQFjy-eZE_iwf7mTd5FmQFk9e19bsd9Ch8cesl01xu-dP2GbjJRu_PF1fX9PG3TgEYwWmeEKejFl8uPKh83QpoFSAeUGUASYmA9ZTY1fiifDAUMn_Ur_XZBc20Lr_V5PM-RPnvVCnWatKD-eNo_-iwx3UNC8ytLF2Kk7drWBjm-mwZSskagevUr-E3GpRRvnYVGsg884AipvUcexj36Q8eC3aQutAMSGOXBhxf5w_V41lF7IxWnUpCxgNqehUyk38WwwZJOZbYxu9qOgBWjXOWNTnWZH83QROMVKK-F0_f1rkXol-Yv29fOCI0Hn-pRS-ryJg8MSLNI-vN-dZqrPqpGROB2OOgRYrw4FDaTigwEg9d3XO3EbLd4xIIjMVc4rFahOTd7DoHqZYg2MggVUTeOXrtqPVMMAbmrSkTnZDlEeEMzY3nKYJSY5BbAl3bb-tlXczfv49o3BQ77m50wjHkQTv-SFpdWuMXPBccVJ3Z_I6VHtNG1nYbodQveGSDVN_HhYRAAtLYbYG3yIh7TmEF0nGxcwfPQJCq28rbML0nvn7MvTHQvuLolBcP6GWJuvbC4BPb5HTXwPsEPwsW0OKK4lLMotOQSnFwl4pcbl3NBec1OQybW38CnV2kk3tP_DKO8aZPQuwDw_H2dWkWejDu7NyAwkM-V5b0crwSJQz-jcH67PJntk7eZNzLgMtToGktTQnFFIIuReAQQ3C2kZT_jp2ZGz7LUM70TZrUTI8WVFq0nHrOy2QSFTMUyLX4_JsMnyC6Lzqq2nK2D0eM9IiS1rbAcoEhlnEdgWpLIObmJJA8uyZS0i2F2lw_rVqhYhw2-ooIf5MpPOhrBERLfQ101E4WvOqY1r0EN_NC2EUm1hKSX8stnmOcSZSzHqnE89fvuld8_Iv8_lKFJWH5-CLEF67o1H1cVuy6eusKdYib_aMpvfpCuxyScj8jEulDgm2q2WM1moefZRVA3lvU3HiR6fJbyyzmzoy3gzbokb9jriw4h8JI40EqEz5iRMUAU-Z2trovYMDns05EC0MTWl46JWU9dVUBebZR4hqVj1_OTFMGDtsFRylNMM7N5fqopXWZ8r9vHU1bOBOHa1mwcwmpIos8gcRHOrTPLWKkqqFOwVDWBf7pSaJLlWeJ0kUX64cFkb4DzkDuvQWIJ2ey_4qUJAnJpDkaT6wzjMFyglMBKYJYbw9xnrfRXSCMaaASiOFCsmGdgJ1oFPBFM4NmvmKmZ-PJv_KMjpUXid3s7rEzlxf76LCY5ei4q9MoO-IIrb8ZH9LA_BKD8dVn3cmGn3TTkYHAB0wtedAmDq3syA9xXX8-VDXJfGZKmAaZd1GkVHj6n4plsHXkZmg8rdgzF6noa2A8lV-hrV2f-ULJntWwVe6L_Tz5oA8C8IwzePLeDSM5DDtRJc0PZT1h0rNR0UvNC_8ohGn5lyTbwgv1TsMBL1YFVWsToGx6w4_HDIeBPQcuksdGt_cUZ__zAoJOP6DN_oAROXmPfkjSozGr8Sub7ljRpDtI_KO_lK_FR8iSp9smv5MDS_t83llyv52GfMxUEuKT0sZZCYkXPzWd7OKKKD1awVELfqjs1V4AsUP9C3GTVYQNd9AOYVq7Y2CkYPmpLWA3I-cNDgetieAjBe6RC49f6FwNlmwf-Jtz9DA==",
  "id": "rs_019ab0a2ba501d90016ab477116f3487d0b19d0fe96caec3be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.012,\"right_yaw\":0.445},\"note\":\"The cap has slid far toward the back of the table, beyond the arms’ table-level reach. I can’t safely complete the capping operation there, so I’m lowering the held pen back onto the table.\"}",
  "call_id": "call_vb5j23M1Zbem8gST1HbXv9zx",
  "id": "fc_019ab0a2ba501d90016ab47715763c87d09df91326beed9dd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vb5j23M1Zbem8gST1HbXv9zx",
  "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]: [-0.0399, 1.0054, 0.7654, -0.5419, -0.0223, -0.0261, 0.0408, 0.5426, 1.7229, 0.8249, -0.1146, 0.0666, 0.0444, 0.0668]\nstate[eef_state]: left_x=0.306 left_y=-0.0047 left_z=0.1613 left_yaw=-0.0178 left_pitch=-0.2117 left_roll=0.0036 left_gripper=0.0408 right_x=0.3383 right_y=0.1944 right_z=0.0099 right_yaw=0.4447 right_pitch=-0.449 right_roll=-0.0398 right_gripper=0.0668\nstate[joint_eff]: [-0.4718, -3.2068, 6.6256, 1.6972, -0.0073, -0.0317, -0.0122, -0.5402, -7.3094, 5.4359, 1.619, -0.022, -0.0024, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3cdd89e58fa92afddac47ecc710100d1f416081f8ead92891cf43861fa7939",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56b6426718048ad00991f70af57595de26f50a32eab0a4d933fc1f4b513450f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe23aae7a4cb35a1e8be90c7fcaded413b77e339d20a82bb05fe74090e40ade",
      "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 33 attempt 0 · /responses · status 200 · 4.505 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]: [-0.2256, 1.8877, 0.7948, 0.3412, 0.1207, 0.112, 0.0407, 0.5426, 1.4822, 1.0897, -0.5175, 0.0669, 0.0521, 0.0593]\nstate[eef_state]: left_x=0.4323 left_y=-0.1174 left_z=0.0054 left_yaw=-0.4017 left_pitch=-0.175 left_roll=0.0068 left_gripper=0.0407 right_x=0.3444 right_y=0.1981 right_z=0.1423 right_yaw=0.4442 right_pitch=-0.3467 right_roll=-0.0245 right_gripper=0.0593\nstate[joint_eff]: [-0.4718, -7.3368, 6.8581, 1.4188, 0.1978, 0.1099, 1.0769, -0.1983, -6.612, 6.694, 1.3504, -0.0269, -0.0464, 0.8864]",
      "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]: [-0.0414, 0.9981, 0.7624, -0.5213, -0.0162, -0.0223, 0.0408, 0.5426, 1.4975, 1.1877, -0.6411, 0.0666, 0.046, 0.0643]\nstate[eef_state]: left_x=0.3086 left_y=-0.0063 left_z=0.1657 left_yaw=-0.0268 left_pitch=-0.187 left_roll=0.0016 left_gripper=0.0408 right_x=0.3428 right_y=0.1972 right_z=0.1574 right_yaw=0.4465 right_pitch=-0.3874 right_roll=-0.0324 right_gripper=0.0643\nstate[joint_eff]: [0.3077, -3.0291, 10.6462, 1.5653, -0.0317, -0.0855, -0.0122, -0.5538, -5.9966, 9.6342, 1.3162, -0.0464, 0.022, 0.7302]",
      "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]: [-0.0399, 1.0054, 0.7654, -0.5419, -0.0223, -0.0261, 0.0408, 0.5426, 1.7229, 0.8249, -0.1146, 0.0666, 0.0444, 0.0668]\nstate[eef_state]: left_x=0.306 left_y=-0.0047 left_z=0.1613 left_yaw=-0.0178 left_pitch=-0.2117 left_roll=0.0036 left_gripper=0.0408 right_x=0.3383 right_y=0.1944 right_z=0.0099 right_yaw=0.4447 right_pitch=-0.449 right_roll=-0.0398 right_gripper=0.0668\nstate[joint_eff]: [-0.4718, -3.2068, 6.6256, 1.6972, -0.0073, -0.0317, -0.0122, -0.5402, -7.3094, 5.4359, 1.619, -0.022, -0.0024, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3cdd89e58fa92afddac47ecc710100d1f416081f8ead92891cf43861fa7939",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56b6426718048ad00991f70af57595de26f50a32eab0a4d933fc1f4b513450f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe23aae7a4cb35a1e8be90c7fcaded413b77e339d20a82bb05fe74090e40ade",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7},\"note\":\"The pen is down at table level and still controlled by the right fingers. I’m opening the gripper to leave it safely on the tabletop.\"}",
  "call_id": "call_0hAg8XFobz8xtGo16hAy1eCY",
  "id": "fc_019ab0a2ba501d90016ab4771a991887d0bf7384e687462f84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0hAg8XFobz8xtGo16hAy1eCY",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0399, 1.0054, 0.7654, -0.543, -0.0227, -0.0261, 0.0408, 0.5426, 1.7405, 0.8154, -0.1043, 0.0673, 0.041, 0.6952]\nstate[eef_state]: left_x=0.3058 left_y=-0.0046 left_z=0.1611 left_yaw=-0.0175 left_pitch=-0.2128 left_roll=0.0039 left_gripper=0.0408 right_x=0.3356 right_y=0.1927 right_z=0.0017 right_yaw=0.4452 right_pitch=-0.4657 right_roll=-0.0444 right_gripper=0.6952\nstate[joint_eff]: [-0.212, -2.4137, 6.8991, 1.5507, -0.0366, -0.0659, -0.0073, -0.3897, -8.9231, 6.3521, 1.1502, -0.0122, -0.0073, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30182882831fb5f14b9be160a5753c5cb3e423ed8ca93d1e8a7a632c879a326a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66207032a72522c2f5344fec12a02f34186ec368aa59e9cd71c82cfc682c7da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747b8cb1ea031eb60145b9c13ff8c25bed1b0facb91ae19935695901f990363a",
      "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 34 attempt 0 · /responses · status 200 · 4.205 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 131 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]: [-0.2256, 1.7309, 0.8635, 0.0975, 0.1135, 0.1062, 0.0408, 0.543, 1.4834, 1.0874, -0.5232, 0.0669, 0.0521, 0.0626]\nstate[eef_state]: left_x=0.4278 left_y=-0.1151 left_z=0.0537 left_yaw=-0.3929 left_pitch=-0.1939 left_roll=0.0043 left_gripper=0.0408 right_x=0.3429 right_y=0.1973 right_z=0.1401 right_yaw=0.4442 right_pitch=-0.3558 right_roll=-0.0255 right_gripper=0.0626\nstate[joint_eff]: [-0.1846, -9.8393, 8.6769, 1.6093, 0.0806, -0.0122, -0.0024, -0.1846, -6.3658, 6.8718, 1.5165, -0.0122, -0.0464, 0.6764]",
      "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]: [-0.0399, 1.0054, 0.7654, -0.5419, -0.0223, -0.0261, 0.0408, 0.5426, 1.7229, 0.8249, -0.1146, 0.0666, 0.0444, 0.0668]\nstate[eef_state]: left_x=0.306 left_y=-0.0047 left_z=0.1613 left_yaw=-0.0178 left_pitch=-0.2117 left_roll=0.0036 left_gripper=0.0408 right_x=0.3383 right_y=0.1944 right_z=0.0099 right_yaw=0.4447 right_pitch=-0.449 right_roll=-0.0398 right_gripper=0.0668\nstate[joint_eff]: [-0.4718, -3.2068, 6.6256, 1.6972, -0.0073, -0.0317, -0.0122, -0.5402, -7.3094, 5.4359, 1.619, -0.022, -0.0024, 0.7204]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 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]: [-0.0399, 1.0054, 0.7654, -0.543, -0.0227, -0.0261, 0.0408, 0.5426, 1.7405, 0.8154, -0.1043, 0.0673, 0.041, 0.6952]\nstate[eef_state]: left_x=0.3058 left_y=-0.0046 left_z=0.1611 left_yaw=-0.0175 left_pitch=-0.2128 left_roll=0.0039 left_gripper=0.0408 right_x=0.3356 right_y=0.1927 right_z=0.0017 right_yaw=0.4452 right_pitch=-0.4657 right_roll=-0.0444 right_gripper=0.6952\nstate[joint_eff]: [-0.212, -2.4137, 6.8991, 1.5507, -0.0366, -0.0659, -0.0073, -0.3897, -8.9231, 6.3521, 1.1502, -0.0122, -0.0073, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30182882831fb5f14b9be160a5753c5cb3e423ed8ca93d1e8a7a632c879a326a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66207032a72522c2f5344fec12a02f34186ec368aa59e9cd71c82cfc682c7da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747b8cb1ea031eb60145b9c13ff8c25bed1b0facb91ae19935695901f990363a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The pen has been released, and the cap remains far beyond it near the back-left of the table. I’m parking both arms clear so the separated parts can be recovered by the operator.\"}",
  "call_id": "call_oZSZ3NX8DPJeIw5XdIIsMhH4",
  "id": "fc_019ab0a2ba501d90016ab4771f703087d0b43fe3305ca4e679",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oZSZ3NX8DPJeIw5XdIIsMhH4",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.9771, 0.7792, -0.6338, -0.0189, -0.0246, 0.0408, 0.0158, 1.1954, 1.0294, -0.8902, 0.0246, -0.0353, 0.6958]\nstate[eef_state]: left_x=0.2906 left_y=0.0012 left_z=0.1593 left_yaw=-0.0012 left_pitch=-0.2617 left_roll=0.0031 left_gripper=0.0408 right_x=0.2961 right_y=0.0039 right_z=0.1617 right_yaw=0.0041 right_pitch=-0.4957 right_roll=-0.048 right_gripper=0.6958\nstate[joint_eff]: [0.1573, -3.453, 10.6188, 1.5263, 0.0904, 0.1441, -0.0171, -0.4308, -5.4769, 9.0051, 1.2918, -0.105, 0.0415, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f72b1bc5516fdcc20912812cb2e4523dfe2f4b41209a967fd8e8e85e86d0bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b445b29773c2e5abe8cd30385f04dff579e2f2d1ba9fb0a160b353869a483f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fcac4590e7eaf9e2c500ffee17a86dba766017f119a2c096f535f6f9ef844e6",
      "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]