adhoc

completed
2026-09-24T01:05:48.067288+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
233.2 s
total steps
281
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of center, and the longer pen lies diagonally to its right. I am moving the left gripper above the cap while keeping the right arm parked.
move_to
left_x0.4000left_y-0.2000left_z0.1300left_gripper1.0000right_x0.2950right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0227, -0.0257, 0.9998, -0.017, 0.7914, 0.6086, -0.3771, -0.0208, -0.0154, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4171, -1.4838, 10.5368, 1.7802, -0.0415, 0.0659, -0.0366, -0.7453, -1.2239, 9.9077, 1.8193, -0.0659, 0.0122, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.13,"left_gripper":1,"right_x":0.295,"right_y":0.002,"right_z":0.185},"note":"The short cap is left of center, and the longer pen lies diagonally to its right. I am moving the left gripper above the cap while keeping the right arm parked."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is now near the bottom of the left wrist view, slightly left of the jaw centerline. I am shifting toward it and turning the jaws to grasp across its short cylindrical body.
move_to
left_x0.3900left_y-0.1670left_z0.0500left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6777, 1.6291, 0.9226, -0.0593, -0.5461, -0.4267, 0.9998, -0.0181, 0.7956, 0.6132, -0.3912, -0.0208, -0.0154, 0.9991] state[eef_state]: left_x=0.387 left_y=-0.1891 left_z=0.1091 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.038 left_gripper=0.9998 right_x=0.2945 right_y=0.0019 right_z=0.1815 right_yaw=-0.0011 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.5128, -7.788, 9.2786, 1.8242, -0.3394, -0.0122, -0.0366, -0.0615, -1.7299, 7.2957, 1.8193, -0.0366, -0.0513, -0.022] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.167,"left_z":0.05,"left_yaw":-0.7},"note":"The cap is now near the bottom of the left wrist view, slightly left of the jaw centerline. I am shifting toward it and turning the jaws to grasp across its short cylindrical body."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe cap lies between the open jaws but is slightly ahead and to the right in the wrist view. I am making a small alignment correction and lowering to table level before closing.
move_to
left_x0.4050left_y-0.1530left_z-0.0050left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3202, 1.6745, 0.6739, 0.2543, 0.075, 0.0837, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0208, -0.0151, 0.9991] state[eef_state]: left_x=0.387 left_y=-0.1385 left_z=0.0337 left_yaw=-0.4434 left_pitch=-0.1737 left_roll=0.018 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [0.4034, -6.5573, 6.9949, 1.7118, 0.3443, 0.1929, -0.0171, -0.1162, -1.0188, 7.0222, 1.8144, -0.0513, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.153,"left_z":-0.005,"left_yaw":-0.45},"note":"The cap lies between the open jaws but is slightly ahead and to the right in the wrist view. I am making a small alignment correction and lowering to table level before closing."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe cap is centered in the left wrist view, but the arm remains about 3.5 cm above the table. I am straightening the tool and using a shorter descent to reach the cap without sweeping it sideways.
move_to
left_x0.3900left_y-0.1590left_z0.0050left_yaw-0.6600left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 1.7046, 0.6735, 0.3038, 0.2707, 0.2462, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0204, -0.0154, 0.9991] state[eef_state]: left_x=0.3827 left_y=-0.1591 left_z=0.0347 left_yaw=-0.6642 left_pitch=-0.1252 left_roll=0.0176 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [-0.212, -7.8974, 6.2838, 1.9267, 0.3346, 0.149, -0.0122, -0.0889, -1.2513, 7.1453, 1.7607, -0.0513, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.159,"left_z":0.005,"left_yaw":-0.66,"left_pitch":0,"left_roll":0},"note":"The cap is centered in the left wrist view, but the arm remains about 3.5 cm above the table. I am straightening the tool and using a shorter descent to reach the cap without sweeping it sideways."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe descent has stalled rather than tracking the requested height, and the cap remains directly between the fingers. I am changing the wrist tilt slightly and closing to test whether the cap is within the pads.
move_to
left_x0.3750left_y-0.1590left_z0.0150left_pitch0.3000left_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]: [-0.2886, 1.7046, 0.6739, 0.3038, 0.271, 0.2466, 0.9997, -0.0181, 0.7979, 0.6132, -0.3943, -0.0208, -0.0151, 0.9991] state[eef_state]: left_x=0.3828 left_y=-0.1592 left_z=0.0348 left_yaw=-0.6647 left_pitch=-0.1248 left_roll=0.0178 left_gripper=0.9997 right_x=0.2942 right_y=0.0019 right_z=0.1802 right_yaw=-0.0013 right_pitch=-0.0191 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.3761, -7.8974, 6.4752, 1.9609, 0.3443, 0.1783, -0.0122, -0.1026, -1.2513, 7.0496, 1.7167, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.159,"left_z":0.015,"left_pitch":0.3,"left_gripper":0},"note":"The descent has stalled rather than tracking the requested height, and the cap remains directly between the fingers. I am changing the wrist tilt slightly and closing to test whether the cap is within the pads."})
tool
executing move_to over 15 steps (1.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe left gripper has closed around roughly 8 mm of material, consistent with the cap. I am lifting it for verification and bringing the right gripper above the pen, well away from the left hand.
move_to
left_z0.0750left_x0.3750left_y-0.1570left_pitch0.3000right_x0.4000right_y0.2100right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2501, 2.1181, 0.4023, 1.3441, 0.3683, 0.1318, 0.0849, -0.0181, 0.7979, 0.6132, -0.395, -0.0204, -0.0154, 0.9991] state[eef_state]: left_x=0.3731 left_y=-0.1572 left_z=0.0012 left_yaw=-0.6518 left_pitch=0.2246 left_roll=0.005 left_gripper=0.0849 right_x=0.2941 right_y=0.0019 right_z=0.18 right_yaw=-0.0015 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [0.4171, -6.9402, 1.7162, 2.0635, 0.2515, -0.1099, 0.9597, -0.1162, -1.265, 7.1453, 1.7265, -0.0513, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.075,"left_x":0.375,"left_y":-0.157,"left_pitch":0.3,"right_x":0.4,"right_y":0.21,"right_z":0.14,"right_gripper":1},"note":"The left gripper has closed around roughly 8 mm of material, consistent with the cap. I am lifting it for verification and bringing the right gripper above the pen, well away from the left hand."})
tool
executing move_to over 18 steps (1.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe cap has lifted off its original spot and remains held. The pen runs diagonally across the right wrist view; I am aligning the right jaws across its barrel and lowering toward it.
move_to
right_x0.4000right_y0.1850right_z0.0450right_yaw0.6500right_pitch0.3000left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2478, 1.7958, 0.384, 1.1019, 0.3744, 0.1078, 0.0858, 0.6739, 1.6283, 0.9821, -0.1165, 0.5098, 0.3763, 0.9991] state[eef_state]: left_x=0.3733 left_y=-0.1574 left_z=0.0656 left_yaw=-0.6477 left_pitch=0.2825 left_roll=0.0044 left_gripper=0.0858 right_x=0.3869 right_y=0.2032 right_z=0.1211 right_yaw=0.0387 right_pitch=-0.088 right_roll=-0.0469 right_gripper=0.9991 state[joint_eff]: [0.3487, -8.1983, 4.3419, 1.9414, 0.1538, -0.0562, 0.9353, 0.294, -7.7333, 8.7316, 1.8437, 0.5934, 0.2564, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.185,"right_z":0.045,"right_yaw":0.65,"right_pitch":0.3,"left_z":0.1},"note":"The cap has lifted off its original spot and remains held. The pen runs diagonally across the right wrist view; I am aligning the right jaws across its barrel and lowering toward it."})
tool
executing move_to over 13 steps (1.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe pen is just left of the right gripper's centerline, with its pointed end visible ahead of the jaws. I am shifting a little left and descending so the pads can grip the barrel.
move_to
right_x0.3900right_y0.1920right_z-0.0050right_yaw0.5500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2474, 1.6352, 0.3878, 0.8913, 0.371, 0.1055, 0.0874, 0.3122, 1.9884, 0.503, 1.1088, -0.218, -0.1108, 0.9991] state[eef_state]: left_x=0.3652 left_y=-0.1546 left_z=0.0806 left_yaw=-0.6383 left_pitch=0.2394 left_roll=-0.0152 left_gripper=0.0874 right_x=0.3997 right_y=0.1729 right_z=0.0253 right_yaw=0.5509 right_pitch=0.1923 right_roll=-0.0204 right_gripper=0.9991 state[joint_eff]: [-0.253, -7.5966, 7.5145, 1.7949, 0.0464, -0.0171, 0.8327, -0.4991, -7.6513, 3.9316, 2.1856, -0.3346, -0.0904, -0.022] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.192,"right_z":-0.005,"right_yaw":0.55,"right_pitch":0.3},"note":"The pen is just left of the right gripper's centerline, with its pointed end visible ahead of the jaws. I am shifting a little left and descending so the pads can grip the barrel."})
tool
executing move_to over 4 steps (0.4s)
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 pen barrel now passes through the gap between the right fingertips. I am closing the right gripper while keeping the cap steady in the left hand.
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]: [-0.247, 1.6306, 0.3912, 0.8562, 0.3714, 0.1055, 0.0883, 0.3771, 2.2326, 0.5003, 1.4979, -0.1837, -0.1009, 0.9991] state[eef_state]: left_x=0.3635 left_y=-0.1541 left_z=0.0758 left_yaw=-0.6358 left_pitch=0.2144 left_roll=-0.0259 left_gripper=0.0883 right_x=0.3953 right_y=0.1951 right_z=0.0124 right_yaw=0.5886 right_pitch=0.3289 right_roll=-0.0539 right_gripper=0.9991 state[joint_eff]: [-0.2667, -5.4496, 4.4786, 2.2051, 0.0366, -0.0708, 0.7643, 0.5402, -5.4906, 1.7026, 0.7937, -0.0317, 0.3101, -0.0171] 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":{"right_gripper":0},"note":"The pen barrel now passes through the gap between the right fingertips. I am closing the right gripper while keeping the cap steady in the left hand."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe right gripper closed empty; the pen is still visible beside the left edge of the jaws. I am reopening, moving slightly outward and left, and lowering a little for one corrected grasp.
move_to
right_gripper1.0000right_x0.4090right_y0.2080right_z-0.0150right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8509, 0.3714, 0.1055, 0.0913, 0.3794, 2.2452, 0.5018, 1.5288, -0.1795, -0.102, 0.0127] state[eef_state]: left_x=0.3628 left_y=-0.1539 left_z=0.0744 left_yaw=-0.6353 left_pitch=0.2088 left_roll=-0.0283 left_gripper=0.0913 right_x=0.3961 right_y=0.1957 right_z=0.0149 right_yaw=0.5892 right_pitch=0.348 right_roll=-0.0604 right_gripper=0.0127 state[joint_eff]: [-0.2667, -5.8872, 4.9026, 1.8828, 0.0611, -0.0317, 0.5983, -0.212, -9.5385, 2.2085, 1.5897, -0.1148, -0.0269, 1.0427] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.409,"right_y":0.208,"right_z":-0.015,"right_pitch":0.3},"note":"The right gripper closed empty; the pen is still visible beside the left edge of the jaws. I am reopening, moving slightly outward and left, and lowering a little for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteAfter the correction, the pen is underneath the right gripper rather than beside it. I am closing again and will check the finger spacing before lifting.
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]: [-0.247, 1.6306, 0.3904, 0.8474, 0.371, 0.1055, 0.0937, 0.3954, 2.3146, 0.6014, 1.5536, -0.1677, -0.1246, 0.995] state[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6347 left_pitch=0.2056 left_roll=-0.0295 left_gripper=0.0937 right_x=0.4162 right_y=0.2095 right_z=0.0167 right_yaw=0.6119 right_pitch=0.4005 right_roll=-0.099 right_gripper=0.995 state[joint_eff]: [-0.3214, -5.9009, 4.7795, 1.8486, 0.0269, -0.0073, 0.4615, 0.5812, -6.0923, 2.3726, 1.2479, 0.0464, 0.2222, -0.2125] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"After the correction, the pen is underneath the right gripper rather than beside it. I am closing again and will check the finger spacing before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe second right-hand close was also empty, so I will not repeat the same approach. I am lifting the right arm away to expose the pen and remeasure its position from the overhead view.
move_to
right_x0.3200right_y0.1200right_z0.1600right_gripper1.0000right_yaw0.5500right_pitch0.3000left_x0.3700left_y-0.1600left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8471, 0.371, 0.1051, 0.0959, 0.3943, 2.3127, 0.6022, 1.5677, -0.165, -0.1307, 0.0117] state[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6345 left_pitch=0.2052 left_roll=-0.03 left_gripper=0.0959 right_x=0.4175 right_y=0.209 right_z=0.0211 right_yaw=0.6133 right_pitch=0.4165 right_roll=-0.1099 right_gripper=0.0117 state[joint_eff]: [-0.3214, -5.8188, 4.7248, 1.7753, 0.0024, -0.0708, 0.2076, -0.0889, -9.1009, 2.5094, 1.7753, -0.0562, 0.0562, 0.989] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.12,"right_z":0.16,"right_gripper":1,"right_yaw":0.55,"right_pitch":0.3,"left_x":0.37,"left_y":-0.16,"left_z":0.12},"note":"The second right-hand close was also empty, so I will not repeat the same approach. I am lifting the right arm away to expose the pen and remeasure its position from the overhead view."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteWith the right hand clear, the pen is visible farther toward the table center than the previous approach. I am relocating the open gripper over its middle and matching its diagonal direction.
move_to
right_x0.3900right_y0.2580right_z0.0650right_yaw0.8000right_pitch0.3000right_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]: [-0.2584, 1.4837, 0.4629, 0.5842, 0.3523, 0.1017, 0.0973, 0.2157, 1.0725, 0.2905, 0.63, -0.2577, -0.1818, 0.9946] state[eef_state]: left_x=0.3626 left_y=-0.1552 left_z=0.0979 left_yaw=-0.6253 left_pitch=0.162 left_roll=-0.0424 left_gripper=0.0973 right_x=0.3298 right_y=0.122 right_z=0.1776 right_yaw=0.5491 right_pitch=0.4082 right_roll=-0.148 right_gripper=0.9946 state[joint_eff]: [-0.5402, -7.3778, 8.841, 1.8632, 0.1392, -0.0757, 0.1441, -0.2803, -2.1402, 8.4718, 1.6142, -0.1783, -0.0269, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.258,"right_z":0.065,"right_yaw":0.8,"right_pitch":0.3,"right_roll":0},"note":"With the right hand clear, the pen is visible farther toward the table center than the previous approach. I am relocating the open gripper over its middle and matching its diagonal direction."})
tool
executing move_to over 12 steps (1.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe pen is aligned with the right jaw column near the bottom of the wrist image. I am descending vertically at this newly measured position, without another sideways sweep.
move_to
right_x0.3900right_y0.2580right_z-0.0100right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4606, 0.564, 0.3481, 0.1017, 0.0989, 0.44, 1.9484, 0.5961, 1.0321, -0.3286, -0.1158, 0.9952] state[eef_state]: left_x=0.3598 left_y=-0.1553 left_z=0.0936 left_yaw=-0.6245 left_pitch=0.1428 left_roll=-0.0478 left_gripper=0.0989 right_x=0.3853 right_y=0.2484 right_z=0.0568 right_yaw=0.7808 right_pitch=0.2572 right_roll=-0.0046 right_gripper=0.9952 state[joint_eff]: [-0.0889, -5.2581, 5.8051, 1.9414, 0.0757, -0.0611, 0.149, 0.294, -8.294, 4.7658, 2.2979, -0.1734, 0.0855, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.258,"right_z":-0.01,"right_pitch":0.3},"note":"The pen is aligned with the right jaw column near the bottom of the wrist image. I am descending vertically at this newly measured position, without another sideways sweep."})
tool
executing move_to over 5 steps (0.5s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe pen barrel is now visibly centered between the right fingers at table level. I am closing on this corrected alignment.
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]: [-0.2623, 1.4811, 0.4599, 0.5598, 0.3481, 0.102, 0.1007, 0.4538, 2.2669, 0.6495, 1.396, -0.321, -0.1249, 0.9954] state[eef_state]: left_x=0.3592 left_y=-0.1551 left_z=0.0924 left_yaw=-0.6244 left_pitch=0.1381 left_roll=-0.0492 left_gripper=0.1007 right_x=0.3964 right_y=0.2593 right_z=0.0151 right_yaw=0.8034 right_pitch=0.3494 right_roll=-0.051 right_gripper=0.9954 state[joint_eff]: [-0.335, -5.4359, 5.641, 1.7851, 0.0708, -0.0562, 0.1832, 0.5538, -6.2564, 2.2085, 0.6911, -0.0806, 0.2759, 0.0024] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen barrel is now visibly centered between the right fingers at table level. I am closing on this corrected alignment."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe smooth pen slipped sideways as the jaws closed; the cap is still secure in the left hand. I am realigning with the pen's new position and turning the jaws more squarely across its barrel before using a gentler close.
move_to
right_gripper1.0000right_x0.3820right_y0.2830right_z0.0400right_yaw1.0500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5598, 0.3477, 0.102, 0.1018, 0.4534, 2.2784, 0.6525, 1.4277, -0.3191, -0.1299, 0.0122] state[eef_state]: left_x=0.3591 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1018 right_x=0.398 right_y=0.2595 right_z=0.0181 right_yaw=0.8071 right_pitch=0.371 right_roll=-0.0651 right_gripper=0.0122 state[joint_eff]: [0.0068, -5.4359, 5.7641, 1.7607, 0.0415, -0.0659, 0.1001, 0.0342, -10.3179, 2.4821, 1.5897, -0.0855, 0.0366, 0.9988] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.382,"right_y":0.283,"right_z":0.04,"right_yaw":1.05,"right_pitch":0.3},"note":"The smooth pen slipped sideways as the jaws closed; the cap is still secure in the left hand. I am realigning with the pen's new position and turning the jaws more squarely across its barrel before using a gentler close."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe pen's tip is below the jaw-closing point in the wrist image, so the hand is too far along the pen toward its tip. I am backing along the pen's axis to place the barrel—not the empty space beyond the tip—between partly open jaws.
move_to
right_x0.3520right_y0.2380right_z0.0450right_yaw1.0500right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4599, 0.5594, 0.3477, 0.102, 0.1022, 0.4343, 2.1532, 0.6941, 1.1358, -0.5358, -0.2226, 0.9949] state[eef_state]: left_x=0.3592 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1022 right_x=0.3804 right_y=0.2798 right_z=0.0254 right_yaw=1.0139 right_pitch=0.2827 right_roll=-0.0486 right_gripper=0.9949 state[joint_eff]: [-0.0068, -5.2855, 5.8188, 1.79, 0.0269, -0.0611, 0.0366, -0.7316, -12.0957, 5.1624, 1.8339, -0.2222, -0.1245, -0.1099] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.352,"right_y":0.238,"right_z":0.045,"right_yaw":1.05,"right_gripper":0.35},"note":"The pen's tip is below the jaw-closing point in the wrist image, so the hand is too far along the pen toward its tip. I am backing along the pen's axis to place the barrel—not the empty space beyond the tip—between partly open jaws."})
tool
executing move_to over 7 steps (0.7s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe pen's barrel now crosses the jaw-closing region, with the point clearly extending ahead. I am lowering a few centimeters and closing only to approximately the barrel's thickness to avoid another sideways ejection.
move_to
right_z0.0020right_gripper0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5568, 0.3477, 0.1017, 0.1024, 0.3325, 2.0148, 0.5385, 1.1027, -0.6415, -0.2687, 0.3546] state[eef_state]: left_x=0.3588 left_y=-0.1549 left_z=0.0916 left_yaw=-0.6238 left_pitch=0.1349 left_roll=-0.0507 left_gripper=0.1024 right_x=0.3552 right_y=0.2382 right_z=0.0351 right_yaw=1.0204 right_pitch=0.2628 right_roll=-0.0335 right_gripper=0.3546 state[joint_eff]: [-0.3761, -5.4222, 5.6684, 1.8242, 0.022, -0.0611, 0.0024, -0.5128, -9.6615, 3.5214, 1.6435, -0.2173, -0.0904, 0.1294] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.002,"right_gripper":0.07},"note":"The pen's barrel now crosses the jaw-closing region, with the point clearly extending ahead. I am lowering a few centimeters and closing only to approximately the barrel's thickness to avoid another sideways ejection."})
tool
executing move_to over 3 steps (0.3s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe barrel is now between the pads at table level. I am tightening the grasp and lifting about 5 cm to check whether the pen follows the right hand.
move_to
right_gripper0.0000right_z0.0650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4591, 0.5545, 0.3481, 0.102, 0.1037, 0.3294, 2.1574, 0.5457, 1.2106, -0.6498, -0.2726, 0.0751] state[eef_state]: left_x=0.3584 left_y=-0.1549 left_z=0.091 left_yaw=-0.6242 left_pitch=0.1324 left_roll=-0.0514 left_gripper=0.1037 right_x=0.3525 right_y=0.2372 right_z=0.0025 right_yaw=1.0221 right_pitch=0.2436 right_roll=-0.0167 right_gripper=0.0751 state[joint_eff]: [0.0342, -5.4222, 5.5863, 1.7753, 0.0464, -0.0562, 0.1245, 0.1846, -8.0752, 3.3709, 0.6276, 0.0269, 0.0415, 0.105] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_z":0.065},"note":"The barrel is now between the pads at table level. I am tightening the grasp and lifting about 5 cm to check whether the pen follows the right hand."})
tool
executing move_to over 5 steps (0.5s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe lift confirms the pen is still on the table; it lay just to the right of the closed jaws. I am correcting that small lateral offset and aligning more closely with its axis for a centered grasp.
move_to
right_gripper0.5000right_x0.3670right_y0.2280right_z0.0030right_yaw1.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4587, 0.5518, 0.3477, 0.1017, 0.1052, 0.3294, 1.8816, 0.5388, 0.9707, -0.6487, -0.2745, 0.0145] state[eef_state]: left_x=0.3581 left_y=-0.1547 left_z=0.0903 left_yaw=-0.6235 left_pitch=0.1295 left_roll=-0.0527 left_gripper=0.1052 right_x=0.3534 right_y=0.2374 right_z=0.0618 right_yaw=1.027 right_pitch=0.2656 right_roll=-0.0381 right_gripper=0.0145 state[joint_eff]: [-0.1709, -5.2171, 5.8735, 1.8144, 0.0317, -0.0659, 0.1441, -0.1436, -8.8137, 5.1214, 1.5311, -0.2173, -0.0024, 0.7985] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.5,"right_x":0.367,"right_y":0.228,"right_z":0.003,"right_yaw":1.25},"note":"The lift confirms the pen is still on the table; it lay just to the right of the closed jaws. I am correcting that small lateral offset and aligning more closely with its axis for a centered grasp."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe pen is fully visible between the open pads, with the barrel only a few millimeters left of center. I am making that final correction and closing at table height.
move_to
right_x0.3690right_y0.2310right_z-0.0080right_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]: [-0.2623, 1.4811, 0.4576, 0.5499, 0.3477, 0.102, 0.1059, 0.2134, 2.1563, 0.7048, 0.9573, -0.8894, -0.437, 0.495] state[eef_state]: left_x=0.3576 left_y=-0.1546 left_z=0.0894 left_yaw=-0.6236 left_pitch=0.1267 left_roll=-0.0534 left_gripper=0.1059 right_x=0.3752 right_y=0.2254 right_z=0.0101 right_yaw=1.1774 right_pitch=0.2562 right_roll=-0.0357 right_gripper=0.495 state[joint_eff]: [-0.1846, -5.2991, 5.6547, 1.79, 0.0366, -0.0464, 0.0562, -0.5675, -7.4735, 3.1385, 1.4335, -0.3687, -0.0171, -0.1978] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.369,"right_y":0.231,"right_z":-0.008,"right_gripper":0},"note":"The pen is fully visible between the open pads, with the barrel only a few millimeters left of center. I am making that final correction and closing at table height."})
tool
executing move_to over 5 steps (0.5s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe jaws are still closing above or beside the thin barrel rather than capturing it. I am moving toward the pen's rear end, closer to the right arm's base, and reducing the wrist tilt to get a flatter table-level grasp.
move_to
right_x0.3400right_y0.1950right_z0.0450right_pitch0.0000right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4572, 0.5499, 0.3477, 0.102, 0.1059, 0.2089, 2.1723, 0.7235, 0.9497, -0.9524, -0.4911, 0.0119] state[eef_state]: left_x=0.3575 left_y=-0.1546 left_z=0.0893 left_yaw=-0.6235 left_pitch=0.1263 left_roll=-0.0536 left_gripper=0.1059 right_x=0.3709 right_y=0.2294 right_z=0.0114 right_yaw=1.2524 right_pitch=0.2777 right_roll=-0.0685 right_gripper=0.0119 state[joint_eff]: [-0.1846, -5.4222, 5.5863, 1.7705, 0.0317, -0.0464, -0.0073, -0.6632, -7.9521, 3.2752, 1.3944, -0.3053, -0.0366, 0.9744] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.195,"right_z":0.045,"right_pitch":0,"right_gripper":0.5},"note":"The jaws are still closing above or beside the thin barrel rather than capturing it. I am moving toward the pen's rear end, closer to the right arm's base, and reducing the wrist tilt to get a flatter table-level grasp."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe rear of the pen is visible left of the wrist camera's jaw column. I am correcting toward that barrel segment while reopening fully and restoring a reachable low wrist pose.
move_to
right_x0.3490right_y0.2160right_z0.0050right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4564, 0.5499, 0.3477, 0.102, 0.1059, 0.178, 1.7649, 0.7441, 0.3954, -0.8482, -0.7673, 0.4975] state[eef_state]: left_x=0.3572 left_y=-0.1545 left_z=0.089 left_yaw=-0.6235 left_pitch=0.1256 left_roll=-0.0539 left_gripper=0.1059 right_x=0.3713 right_y=0.2051 right_z=0.0843 right_yaw=1.2636 right_pitch=0.1462 right_roll=-0.2487 right_gripper=0.4975 state[joint_eff]: [-0.1846, -5.2581, 5.8325, 1.8095, 0.0757, -0.0464, -0.0122, -0.3487, -7.4462, 5.4632, 1.0183, -0.0659, -0.0757, -0.0513] 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":{"right_x":0.349,"right_y":0.216,"right_z":0.005,"right_pitch":0.3,"right_roll":0,"right_gripper":1},"note":"The rear of the pen is visible left of the wrist camera's jaw column. I am correcting toward that barrel segment while reopening fully and restoring a reachable low wrist pose."})
tool
executing move_to over 6 steps (0.6s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
assistant
agent noteThe wrist view now clearly shows the whole pen, with its barrel to the right of the jaw center. I am shifting across the barrel by about 2 cm and narrowing the jaws without fully squeezing.
move_to
right_x0.3700right_y0.2090right_z0.0020right_yaw1.2700right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.1059, 0.1688, 2.1353, 0.6647, 0.8684, -1.0016, -0.5705, 0.9955] state[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.1059 right_x=0.3508 right_y=0.2144 right_z=0.0038 right_yaw=1.2702 right_pitch=0.2493 right_roll=-0.0406 right_gripper=0.9955 state[joint_eff]: [-0.2256, -5.4359, 5.6547, 1.7656, 0.0317, -0.0659, -0.0073, -0.6769, -6.6667, 2.988, 0.6813, -0.3004, 0.4274, -0.1929] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.209,"right_z":0.002,"right_yaw":1.27,"right_gripper":0.12},"note":"The wrist view now clearly shows the whole pen, with its barrel to the right of the jaw center. I am shifting across the barrel by about 2 cm and narrowing the jaws without fully squeezing."})
tool
executing move_to over 9 steps (0.9s)
step 208
assistant
agent noteThe pen is now straight along the gap between the right jaws, with its tip projecting forward. I am closing fully on this centered alignment before lifting.
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]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1509, 2.162, 0.7341, 0.8173, -1.0229, -0.5957, 0.1246] state[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3667 right_y=0.2119 right_z=0.0045 right_yaw=1.2803 right_pitch=0.256 right_roll=-0.0521 right_gripper=0.1246 state[joint_eff]: [-0.1162, -5.4085, 5.7231, 1.7363, 0.0366, -0.0171, -0.0073, -0.8, -8.7179, 4.7932, 1.2527, -0.2711, -0.0611, 0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen is now straight along the gap between the right jaws, with its tip projecting forward. I am closing fully on this centered alignment before lifting."})
tool
executing move_to over 2 steps (0.2s)
step 210
assistant
agent noteThe right fingers have stopped at about 5.4 mm, consistent with a real pen grasp. I am lifting both objects clear of the table and beginning to turn the cap so its opening can face the pen tip.
move_to
right_x0.3670right_y0.2120right_z0.1600left_x0.3700left_y-0.1600left_z0.1700left_yaw0.3000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1501, 2.162, 0.7372, 0.8219, -1.0306, -0.5953, 0.0571] state[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3672 right_y=0.2124 right_z=0.0064 right_yaw=1.287 right_pitch=0.2632 right_roll=-0.0569 right_gripper=0.0571 state[joint_eff]: [-0.3487, -5.2308, 5.5453, 1.7753, 0.0562, -0.0366, -0.0171, -0.2393, -9.2923, 3.2889, 1.243, -0.1001, -0.0464, 1.0037] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.367,"right_y":0.212,"right_z":0.16,"left_x":0.37,"left_y":-0.16,"left_z":0.17,"left_yaw":0.3,"left_pitch":0.3},"note":"The right fingers have stopped at about 5.4 mm, consistent with a real pen grasp. I am lifting both objects clear of the table and beginning to turn the cap so its opening can face the pen tip."})
tool
executing move_to over 10 steps (1.0s)
step 220
assistant
agent noteBoth objects are off the table, and the pen stays fixed relative to the right jaws. I am turning and bringing the cap toward the exposed pen tip, keeping an initial separation between the hands.
move_to
left_x0.3900left_y-0.2700left_z0.1700left_yaw1.1500left_pitch0.3000right_x0.3670right_y0.2120right_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]: [-0.786, 1.5211, 0.7261, 0.3134, -0.8574, -0.4454, 0.1066, 0.1509, 1.6939, 0.8669, 0.2329, -1.029, -0.5995, 0.0559] state[eef_state]: left_x=0.3698 left_y=-0.1762 left_z=0.157 left_yaw=0.1556 left_pitch=0.2618 left_roll=-0.0552 left_gripper=0.1066 right_x=0.3684 right_y=0.2127 right_z=0.1443 right_yaw=1.291 right_pitch=0.266 right_roll=-0.0697 right_gripper=0.0559 state[joint_eff]: [-0.253, -6.4615, 8.335, 1.3358, -0.3248, -0.0073, 0.0513, -0.3897, -9.5111, 8.1983, 1.3016, -0.3883, -0.0073, -0.1343] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.27,"left_z":0.17,"left_yaw":1.15,"left_pitch":0.3,"right_x":0.367,"right_y":0.212,"right_z":0.17},"note":"Both objects are off the table, and the pen stays fixed relative to the right jaws. I am turning and bringing the cap toward the exposed pen tip, keeping an initial separation between the hands."})
tool
executing move_to over 9 steps (0.9s)
step 229
assistant
agent noteThe arms have come too close at the wrist bodies, and the right hand was displaced before the cap reached the pen. I am separating and raising the left hand to clear the interference before deciding whether a safe alignment is possible.
move_to
left_x0.3700left_y-0.1900left_z0.2400left_yaw0.6000right_x0.3700right_y0.2000right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9298, 2.1506, 1.6073, -0.5156, -1.2526, -1.3457, 0.1072, 0.0914, 1.6882, 0.8768, 0.0811, -0.9165, -0.5804, 0.0557] state[eef_state]: left_x=0.4165 left_y=-0.2717 left_z=0.1484 left_yaw=0.6393 left_pitch=0.2723 left_roll=-0.2956 left_gripper=0.1072 right_x=0.3807 right_y=0.1792 right_z=0.1195 right_yaw=1.1141 right_pitch=0.1409 right_roll=0.0378 right_gripper=0.0557 state[joint_eff]: [-1.1009, -7.5145, 6.3521, 0.0659, -0.823, -0.1245, 0.0513, 4.2735, -12.0684, 9.3607, 1.9902, -1.4481, -0.2613, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":0.24,"left_yaw":0.6,"right_x":0.37,"right_y":0.2,"right_z":0.15},"note":"The arms have come too close at the wrist bodies, and the right hand was displaced before the cap reached the pen. I am separating and raising the left hand to clear the interference before deciding whether a safe alignment is possible."})
tool
executing move_to over 8 steps (0.8s)
step 237
assistant
agent noteThe left arm did not clear the interference on the upward move. I am reversing its rotation and withdrawing toward the earlier separated pose rather than pushing the hands together.
move_to
left_x0.3650left_y-0.1600left_z0.1500left_yaw-0.2000left_pitch0.3000left_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]: [-0.91, 2.0827, 1.4719, -0.5159, -1.2259, -1.2842, 0.1072, 0.1253, 1.6547, 0.868, -0.0071, -0.8131, -0.5266, 0.0557] state[eef_state]: left_x=0.4042 left_y=-0.2433 left_z=0.1337 left_yaw=0.5952 left_pitch=0.2535 left_roll=-0.1657 left_gripper=0.1072 right_x=0.3724 right_y=0.1799 right_z=0.1076 right_yaw=1.0434 right_pitch=0.044 right_roll=0.0979 right_gripper=0.0557 state[joint_eff]: [1.1009, -13.1214, 8.0889, 1.1941, -0.6374, 0.1734, -0.0024, 1.4427, -11.2615, 8.7043, 1.6532, -0.7155, 0.1343, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_x":0.365,"left_y":-0.16,"left_z":0.15,"left_yaw":-0.2,"left_pitch":0.3,"left_roll":0},"note":"The left arm did not clear the interference on the upward move. I am reversing its rotation and withdrawing toward the earlier separated pose rather than pushing the hands together."})
tool
executing move_to over 8 steps (0.8s)
step 245
assistant
agent noteBoth objects are held, but the wrist bodies interfere before I can align the cap opening with the pen tip safely. I am setting them down separately rather than forcing an uncertain insertion.
move_to
left_x0.3650left_y-0.1400left_z0.0050left_yaw-0.0200left_pitch0.3000right_x0.3700right_y0.1800right_z0.0050right_yaw1.0400right_pitch0.3000right_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]: [-0.6147, 1.4036, 0.4999, 0.5091, -0.551, -0.2485, 0.1073, 0.1249, 1.6562, 0.8639, -0.012, -0.8108, -0.5308, 0.0557] state[eef_state]: left_x=0.3647 left_y=-0.1399 left_z=0.1324 left_yaw=-0.022 left_pitch=0.2366 left_roll=-0.0203 left_gripper=0.1073 right_x=0.3709 right_y=0.1792 right_z=0.1047 right_yaw=1.0434 right_pitch=0.0365 right_roll=0.1018 right_gripper=0.0557 state[joint_eff]: [0.0479, -4.1641, 6.5436, 1.79, 0.105, 0.2076, -0.0024, 0.1983, -7.6376, 6.4205, 1.4432, -0.3004, -0.0317, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.14,"left_z":0.005,"left_yaw":-0.02,"left_pitch":0.3,"right_x":0.37,"right_y":0.18,"right_z":0.005,"right_yaw":1.04,"right_pitch":0.3,"right_roll":0},"note":"Both objects are held, but the wrist bodies interfere before I can align the cap opening with the pen tip safely. I am setting them down separately rather than forcing an uncertain insertion."})
tool
executing move_to over 9 steps (0.9s)
step 254
assistant
agent noteThe cap and pen have reached the tabletop in separate locations. I am opening both grippers to leave them supported on the table.
move_to
left_gripper1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6189, 2.1475, 0.3676, 1.3968, -0.5747, -0.2253, 0.1073, 0.104, 2.1372, 0.5888, 1.0531, -0.9077, -0.3805, 0.0557] state[eef_state]: left_x=0.3628 left_y=-0.1361 left_z=-0.0003 left_yaw=-0.0175 left_pitch=0.2511 left_roll=0.0034 left_gripper=0.1073 right_x=0.3677 right_y=0.1819 right_z=0.0064 right_yaw=1.0514 right_pitch=0.2624 right_roll=0.0262 right_gripper=0.0557 state[joint_eff]: [-0.4581, -6.9128, 2.1128, 0.9109, -0.022, 0.0659, -0.0122, -0.3761, -6.9265, 2.1538, 0.6374, 0.2466, 0.1001, -0.0073] 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":{"left_gripper":1,"right_gripper":1},"note":"The cap and pen have reached the tabletop in separate locations. I am opening both grippers to leave them supported on the table."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteBoth pieces are released on the tabletop and remain uncapped. I am moving the arms back to separated home poses so the objects are accessible for the operator.
move_to
left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6186, 2.1586, 0.3683, 1.4239, -0.5762, -0.2264, 0.9953, 0.1043, 2.1494, 0.5869, 1.0847, -0.9165, -0.3962, 0.995] state[eef_state]: left_x=0.3639 left_y=-0.1364 left_z=0.0015 left_yaw=-0.0126 left_pitch=0.2652 left_roll=-0.0071 left_gripper=0.9953 right_x=0.3672 right_y=0.183 right_z=0.0071 right_yaw=1.0715 right_pitch=0.2761 right_roll=-0.0017 right_gripper=0.995 state[joint_eff]: [-0.1573, -8.3897, 1.7846, 1.5897, -0.1587, -0.0366, -0.1685, -0.1573, -9.4427, 2.8923, 1.2772, -0.1832, 0.1099, -0.2466] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both pieces are released on the tabletop and remain uncapped. I am moving the arms back to separated home poses so the objects are accessible for the operator."})
tool
executing move_to over 16 steps (1.6s)
step 280
assistant
agent noteI picked up both the pen and cap, but could not safely align them for insertion: the wrist bodies interfered before the cap reached the pen tip. Both pieces have been placed separately on the table, and the arms are retracted.
give_up
hindsightA successful pen grasp used right x≈0.367, y≈0.212, z≈0.005, yaw≈1.28, pitch≈0.26; its closed gripper reading was ≈0.056. The cap grasp settled near 0.085–0.107. At this forward wrist tilt, align the pen barrel with the actual jaw-closing region around wrist-image row 170, not the bottom edge. Several apparently centered approaches missed or displaced the pen. Wrist housings can collide even with grasp points about 20 cm apart when yawing the left tool inward; a capping strategy needs a different approach orientation or a fixture.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0521, 0.8165, 0.6323, -0.3561, -0.0929, -0.0792, 0.9964, -0.0231, 0.8093, 0.6296, -0.3477, -0.1047, -0.0742, 0.9959] state[eef_state]: left_x=0.3028 left_y=0.0042 left_z=0.1921 left_yaw=0.0559 left_pitch=0.0326 left_roll=-0.0104 left_gripper=0.9964 right_x=0.3026 right_y=0.0151 right_z=0.1948 right_yaw=0.0962 right_pitch=0.0355 right_roll=-0.0092 right_gripper=0.9959 state[joint_eff]: [0.1983, -2.3453, 9.6205, 1.7509, 0.1245, 0.1832, 0.0952, -0.759, -2.1265, 9.1829, 1.7802, 0.0269, 0.2027, 0.0855] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both the pen and cap, but could not safely align them for insertion: the wrist bodies interfered before the cap reached the pen tip. Both pieces have been placed separately on the table, and the arms are retracted.","hindsight":"A successful pen grasp used right x≈0.367, y≈0.212, z≈0.005, yaw≈1.28, pitch≈0.26; its closed gripper reading was ≈0.056. The cap grasp settled near 0.085–0.107. At this forward wrist tilt, align the pen barrel with the actual jaw-closing region around wrist-image row 170, not the bottom edge. Several apparently centered approaches missed or displaced the pen. Wrist housings can collide even with grasp points about 20 cm apart when yawing the left tool inward; a capping strategy needs a different approach orientation or a fixture."})
tool
give_up: I picked up both the pen and cap, but could not safely align them for insertion: the wrist bodies interfered before the cap reached the pen tip. Both pieces have been placed separately on the table, and the arms are retracted.
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 · 7.35 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, -0.3798, -0.0227, -0.0257, 0.9998, -0.017, 0.7914, 0.6086, -0.3771, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -1.4838, 10.5368, 1.7802, -0.0415, 0.0659, -0.0366, -0.7453, -1.2239, 9.9077, 1.8193, -0.0659, 0.0122, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc63d508cd493a42a5ac4a2d3784b9f0ad18219ff5cd9f221943591b2707c2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f155692392a713058f5870bb623ffcf04a7e92482253d575aa2218920766a82d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3a2d291016fe255c0d4ec90e9aefb6932185cdc325df48c316e31397e824aa",
      "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 · 5.213 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHeAXY2YfWTmG40c0SJAkJitOkIBbRaLg8A7whvQ8x3tKrAthN_Lr-nnHGp8NNRl2KwVM5Gw18IfjAUgLEgg4o-iF7QBPKe9Ma9la8WxLxtDNkwGnaHj2JaP2ZbimbZQSJW2WkE18Xu7j4BRSOJrV4G-ElLfngzvF5dPEsWXQlX-f-RRKjDwRxoX7aIDiJFV_JAapq2rcpG7WjgPcNLUBbhwlsNDUlfBuOohEyRSAec_vN9WSZe2n3dhd35dZQZXLA6FuxDsUSBEV5QvkByxykLkh1SchnXvqN63egZcTII7VknXz4BSeW4nR9ICNdUlpZG_iZPJn3puazoRIxSQ3GowIPEresUpuh0kkhCFGtXosEu1qITxBNqMG0Mivg7BfALZWBfyHx_JMRcxMS4pcJCcUXkIqHg_rOZ6UVcBJ_A9TB-0XhUK3KjIbIKOuA7aLhWLyiUtUYPgD-PPsYHDHCsPhrrvhNV7iB1LYhDZybYCnIXA5YjmWGHMowMrhl8CYibovwLsKTiRMGLG_0boM-bMI5hxG7wfTYbwJMc2yZykQUkWw8NHZHoll9vpwWKpSrM_irxeg5wBZfz2qWMV6NqpNQG0WAWGyMzKAdxM_g2VWDP-yIGBQkwGk2eJSvQcyNUFxmHz0zvxZSHQueMaa371NxP3pB7ZCP4wfq4RSRMxBZeq-J1_1JNEjgg7gh8wMZV65mldQ6oCmczvp6_2PF0UlNbyHbTVgZbKx25uKOELFiGyBcXRYkOSzjnFHYT7KMBstw45OsFVV4qr6d8MSWWLhaPvTxV8NeT_Y6ImpTghixc6uLb6SahMd1JwjG9T0Wtiwb_utULDakojoN2--Ok1WGqd63R8aCqcJkF3pwFseqCUDEyjQZfXrmmYdKFPBJDdr0n1-HmA4DgtB-kJrUKW9RSmcNTISX04Hh001djJRDRwe13uXUFfiFrWeChyq1esjJncMvAlfi10Ips8GSY3YsKRVUnAjJzIu83GHmRWqyEEnRo6bj6ChtyXvpLS5lGdn1uUy-QNTxH1jzMUKzxzfnc4yISLWXoSn94Cjuhcs1b5ED9KFVcGzP1vTEah4DFVyEKNYHdM9fOIiYdaXuVwqphhpXiyZkXuair4BTe3uDuuTrn5Esh1NdchsleY94gmrpXXvH1GwZnXQHsI7PDtlNDeYpaWdnl1K-Ga3b9xO7w_GVZMQXEitMCuoDFnC3AohenmFiG-X3nG5lqx4YqQDQQQKT0Z7eEA-m4K0UMosOJQSpYG-ngYfx15WUevPeVhqEfg2mbJXQLoRtushMB1YWRY1UsY0ZhcH3zGtD6wlri52RVlw569N1uwGNILyqA0JhuEhQsuWDMtnmScj9Q8VuU1vmDHeAT-rClKPRMPCWgUuYnocFxD6BnBpRsOYJ5DyBbhcJEsTMIL88mCrtBZmXH3LDiE7XETFdjFOegDZk4xj1CrAilRAGQNRkJQjxfaU9p0oOz3YPSHP3xuPlx-M28KgyyBj-kXK_Yg2YJaHqGlxFhJYzgxFuKjJdIzczi6dEddtAKKK90n1yrjxrWjC7bBX_aMY8K1jY9FcrGT4yfd3ZDOKg25gdj6hH0OMSQ7sGTwNxVZOzCSS0IPNgXSZMSqxyhKCn3KgpK0yyY8xrxBwOqzHqCRgAMHGCfohancBIyBeZN9m7qRn6kEVtqmQBIK_Dh9rl0AoazH-K-zddNlmThha5H-W1b1581_9ZqzhqoNPZHPdQEZDE_oWK4K6lCXQfQ6HVn52UT3YxReOfyXIbGEucSeKJ7RLYYblEVCakV5NIg1zGRrMdq8eI8vnisTLZsJR8s29_PbN4N1SZqp4DVZLG0LsKmac1SDocEwjHdRe1w36p4sK2c_TwRLfQM7th4RSsm4mJDQ889ejq0I7H0tMAb-Mfytqi4n_CS0Qa82b5wzhSsOp7bYokqqTpt5LAFJdLgfKmVgFVRZ_MOwrdmQMQrFctFRJ8R1QCd7SUFPx7-s2SjbYtfgShJqJWpuTH7MiZ3NtklYk0rVe88gv1Oo96zBcenHopXdNV09CVmBYN6RaRRh30e3PxvVABkjbcPv4slObx9R2zz_e7i3AAb0iMLI5pK7GADiwoV93pjfsGv0rJ3OYFdX50QuAth28KWn0MqLwvlTBKXvJa4R3JhtTZNrC9ZGB_9uyFEDdiCimU2PngezAOy-fG2rtREr69t8H6G3DSRZSJ8d6rbFVYheVnMwf_lRnkdmXYTz4O8eEkxxfiDWRsjWuGPbMDaC0hJwPwpGVOop8LQvm35s4VnWsoIOXHLLkagGiYIej5SvA7iMdgbu50rKUqicWF3dqzEHbqd7lsiTWJaCxf83oJPuv3SYU0s2kccArbZ0e4BSWl783sF0fqJ8fFEiizbLFJpwcXsCz2qP3uwQN9ZSidr3qxtkfv0oeFbB9hwL3I8Pjbylm1wi5UePQFzdfvVPNCXP8g0pE-0xcE1v7VbglZ2TlA8Yt-CG5mRuLgyY",
  "id": "rs_0fada87214a4fea4016ab4777a4ee487d0910b52d639a1b44a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The short cap is left of center, and the longer pen lies diagonally to its right. I am moving the left gripper above the cap while keeping the right arm parked.\"}",
  "call_id": "call_WmrpB5vabiIrO7uDVSixLGXL",
  "id": "fc_0fada87214a4fea4016ab4777e804487d0ae411e820d1559b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WmrpB5vabiIrO7uDVSixLGXL",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.6291, 0.9226, -0.0593, -0.5461, -0.4267, 0.9998, -0.0181, 0.7956, 0.6132, -0.3912, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1891 left_z=0.1091 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.038 left_gripper=0.9998 right_x=0.2945 right_y=0.0019 right_z=0.1815 right_yaw=-0.0011 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -7.788, 9.2786, 1.8242, -0.3394, -0.0122, -0.0366, -0.0615, -1.7299, 7.2957, 1.8193, -0.0366, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f887f614918ea89338861160a5b7a518fe3507ff0d2a1a8a29bb4b311b0293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ac87ce444246f559b7b371e9aeeddf99f9ad36f2134a3357c5e4ec9138e301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1276bfba51c015ea300371a15ac386a0bfd41e361ab4bc54a25fe5b5f2446a",
      "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 · 3.324 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, -0.3798, -0.0227, -0.0257, 0.9998, -0.017, 0.7914, 0.6086, -0.3771, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -1.4838, 10.5368, 1.7802, -0.0415, 0.0659, -0.0366, -0.7453, -1.2239, 9.9077, 1.8193, -0.0659, 0.0122, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6777, 1.6291, 0.9226, -0.0593, -0.5461, -0.4267, 0.9998, -0.0181, 0.7956, 0.6132, -0.3912, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1891 left_z=0.1091 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.038 left_gripper=0.9998 right_x=0.2945 right_y=0.0019 right_z=0.1815 right_yaw=-0.0011 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -7.788, 9.2786, 1.8242, -0.3394, -0.0122, -0.0366, -0.0615, -1.7299, 7.2957, 1.8193, -0.0366, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f887f614918ea89338861160a5b7a518fe3507ff0d2a1a8a29bb4b311b0293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ac87ce444246f559b7b371e9aeeddf99f9ad36f2134a3357c5e4ec9138e301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1276bfba51c015ea300371a15ac386a0bfd41e361ab4bc54a25fe5b5f2446a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHeHtnQkXEPmHDQ9l9Pu-KvFK1rRpPv_iqsBzK3DrJXZjSSx35V5q3DgOCOHS5u10XoG28deivmN_vHga5vAUft4rLFxVnVy6yyvmOhCw61lWmk_eXtlv5fFqcI620CW3XxG9mf29tnxomSppOJInM9s3Vm1eIAx642aqXafpSiP9uQFm-1XUpK5rK9-8HvrU4fsjtTz38ZCvBTQXllErJ6Gvwc_XK7lIsyd0yDkfe4Xtt3GBAsOgQ2qg1-D0Sh2CU1JnaKAhXToAPu87mmF3TgicSmBpr3i0grf8C1qn_WF32j-sUGH3TFeljs0ouzol-hpFu0DKXC-NmQuJcsIuc4G0c3iAA6kH-GKoNSx1ZkM08wLZvR8q1YQDMg_5belL6irYJR1NvNPXryv-NT2D57bJ6TC-taxngA9353zTjxDJWUuodBkxKV-2cxAm0-rBHullKdHs7qiXPAYokECiBNbR7ag3kyw79pcPkWL41mgCGRHZKcWxGRecLDSBJoTSS8_HXF9mtaWTxXG5naGS0hz6neFoow9YymRX_5WvwjhgYmyf_bKcvZPq-TiVBxrPmi1laXODBS5NnBcGpSzV1g5IVEosbO1VgoQuXrznsW5ZT-3FxsyefqXxhF23KAu3rRQW93I9fYaC5haYZKEp8XiZsArrDDlt4xyHfIwY7r3QLzqd046whM9K-FkYEaBFev56dH75ArhdCFLZsCVK8ISlR4F4e4Lim1-GkImHGcRYb_j8w7WfC3Py_wnD4LkB9FUPEZslJgp548jPXtmbeqZM_31_asbi1udj81-rU7LTahFd7yLXYfA5YMtc_8U67_QnYbdlWaoFhUyTCDtB9m4NYQK2mrz7m-nwYwXuC4VKmle82USfE2WMXMgALfk2sjnIQk5uPt2QS4g5MhmETbIJKxFdrN_KoTJGJgLfV84LgxrACnp5cb89q6ASiGzg_qvGjGFeUWj-tCOmSM4Oor-oGNxhzoz2aAcPrcZCrMoNo1WzfktSdxgSzfYxnfE8nnTiYLjYehhhMneLzNAd3amOg2_rOXdwZmpMvfqCbLZfgmfqyF-8wcm1alzSKKqMcno4Al6lJQAodjnubDr_SAdU3vOJAiQm-sjXLMWpjVEyMNr86PndG71Ozn1V6n9TGM4bA2k-9lmBgYMWjRdD4wJ5oAEFN-3LeovMRTWkTfXXwU2en0WISpEWxvoYtjyedR5N3LpwQ28LzhSik9YzdLp1a7D24o7gQSO-zZFRpM0S-ltuZDqGnP1T6uDb8QkYLK0e69HplOOoOw6rQbaaDURt2oGNS1QZ1kbmumVYBpUndATTywAM2N_3tJE1g_h-C_Wq8L8RutZb3bVRFrgOFwnjzF1fMq6DXERhelovyfXaFdtzfrB5O5yd29wEiI262cJnHDFHguPPfm670nreSXBPz0ny6YOmP3jDt56C_O3xGkzSt_7XzpDFRz36yLei4p9KpeAxf315Ro4m6fArRbJhwrwonU4gTc4_yvED2bBxbGHHAEkztQguPGadrXXtRd2vCF4axC-_fEHAJbBLZXt039rievzM0H4I4_SP4tGOJZZCoRAsZRj7vcXawhgBYZBAanoHvycqcUXQmFsSb_NK4ABpJk99SOjYJdOYjwAX4lKRrngVRnbn_zjlWlkrzzIIGecAp3_YXp0JDha2-KOk96P4C4Pfi8eqIMd3YjzQFyHSKHpyriF-6X0qsWXC3WsP4TiqI-Xbf1UtxdnEk9MJvVEH9SWhV46lelpIlLs9Wy3rf4gRMqC7aelzP4qGj5jX9tbGpsBBDujiNjiNps-K5E2IeppQgMhLWJ7QOW7lbS4r-CPuTizkcr4JVmPRky7xn-PE0xxSsr6toVVr2GZ-7uEcJh3ejLVaocEYrlxJJT7VSQ13wO8Wu8Qe3BuqhMUkGxUeIQf1E1Se_WfxbGBB8G03zRWHJo99F4Qhn9L7K4EiGCTtNamIzFINMaXIYW_8Q3vR4t3fRPnPJiidYFO5A6CKH2WNYJjrDMi3ATEJ6oRMep6zpw7TikkrlnLeyoX6pP6eGm_Rxugv6CjGDQ-DXmWZvDhW53kpKTDYBHz1QpKGKwJdvI3JvOiqMXwegTbkTFeRDDb7v4ajldt-5s38YIz0TIWktdDymV1vFq-29fZrO6fjj1ET9uHuVBGR-c9dG_gVQ9HtQIOatj-gEvsJQ080QjxfY9QXH-ZrG06QrQ=",
  "id": "rs_0fada87214a4fea4016ab477834f3487d0acf4ebc0f494108c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.167,\"left_z\":0.05,\"left_yaw\":-0.7},\"note\":\"The cap is now near the bottom of the left wrist view, slightly left of the jaw centerline. I am shifting toward it and turning the jaws to grasp across its short cylindrical body.\"}",
  "call_id": "call_hhEh0IiOr3sHWCoWEgVi3riD",
  "id": "fc_0fada87214a4fea4016ab47786396087d096b1104f45cd211b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hhEh0IiOr3sHWCoWEgVi3riD",
  "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]: [-0.3202, 1.6745, 0.6739, 0.2543, 0.075, 0.0837, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1385 left_z=0.0337 left_yaw=-0.4434 left_pitch=-0.1737 left_roll=0.018 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -6.5573, 6.9949, 1.7118, 0.3443, 0.1929, -0.0171, -0.1162, -1.0188, 7.0222, 1.8144, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d619579677f7888b9ceda206a0be2b339e5375c509fd9b609c630b746556da36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01889a79373d4a6505c7d456dc52902952bbba1d464029e8e47fc10a5e792991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d03b34c478af8b387877b6aacf93aa4753696fed0f94229a4628fe2720040d",
      "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 · 3.96 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]: [-0.6777, 1.6291, 0.9226, -0.0593, -0.5461, -0.4267, 0.9998, -0.0181, 0.7956, 0.6132, -0.3912, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1891 left_z=0.1091 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.038 left_gripper=0.9998 right_x=0.2945 right_y=0.0019 right_z=0.1815 right_yaw=-0.0011 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -7.788, 9.2786, 1.8242, -0.3394, -0.0122, -0.0366, -0.0615, -1.7299, 7.2957, 1.8193, -0.0366, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3202, 1.6745, 0.6739, 0.2543, 0.075, 0.0837, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1385 left_z=0.0337 left_yaw=-0.4434 left_pitch=-0.1737 left_roll=0.018 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -6.5573, 6.9949, 1.7118, 0.3443, 0.1929, -0.0171, -0.1162, -1.0188, 7.0222, 1.8144, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d619579677f7888b9ceda206a0be2b339e5375c509fd9b609c630b746556da36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01889a79373d4a6505c7d456dc52902952bbba1d464029e8e47fc10a5e792991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d03b34c478af8b387877b6aacf93aa4753696fed0f94229a4628fe2720040d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHeLR32KS60OK8rlEMsTQH3SLifUiC5XhMqWKC5Se5hzFDhRNkdmC2O1FDhbut0NOHjXTaDr188axh-SHHyNKmgCoZkJqQKV6c87oF78-I1XYdUSzrU3ou-ZJw2VJJR-CIMXC9nNf1a0nsRnpSvOyq_IpeRytEoK7fH0_SLShdfi0E6SFUiye2TxuLplhr_kwHWikrln4lDgF_lLAMQ_7W6rRDvwDS9ua3J1ZEnsDLC80uBZj1k22nvZCLH1rNEuc9XU4McoCbfqap6QAlqjx6iIqpmOJaSJa2PsaNGCuLarltMawzy1M7iUdTWb23rNjE6BZExp2d6eWwK0KlE0shNesOQxtsmMFFSqVjZK546jawuabBR58LD8XSnjwL1bMCbt89NrPeIlBvSVEpMfvMWYs3pBjQxG3yiYZc5UGx8mtpzrb38nFCXJur-bQlSNUKRvnH3yZnTwpAUkmRz9d9E7D27EEJeaRwoxzRLU32Bl7jn3DzDH2j6kaoSE5yxM7JuZIA0YEzzoyXIAvNdlcY7_WRxZQEbhXYpzmPAKg6v4-iZnpCtDEFm7-OyRP8K7WNY1JDlVYGbriIzFYAbNhbNzme18B7YLOhi81ukHbs2-w-ghhgQRA_APmnD4o6vUjAfxzQT8z0Tgp7YAQXN5e6zWkSVkUBQLJXfcY6LvSUtQ8eGysGLCPYtDD1nvXaT4g-oQjYqPtg1vsxHi2i8C7VELR7OREaq5fqHMHeDZekTDizvIadkbEjwOyWCwqoLLCpOls2c9BEzQf2594A_88rpqPWL-IFU3faTiVPa1C6n4Td9ZLK9bccvhBghjKer8Fd351YWRuCrxL0o2dAAItJDCw9XTFGdPowNVKGwnUcKL-zIP4xnObn5iTzUUnF9HEAi4I4b8T1vmcrRVZdNvDJmWbx_8NLf-OTZhKtK3zPHJbinxwr5lCX7MVhDn2g4nypehYxQrcqdlG8W0-af4wKQVs_5I40SO6B1v54Ql-VjsYGZZraSB9VhT0Ic9t1OFRG4XrbrVLi7PiBZL6pODTVM-_F2glJS2C2fHnoSWJexNNNvg8IhyrBM3Cu86VMzTdHtnLClSdOLifidsQTyG9IFVBcy8EzeXETemg8am7QiKC-04xXLw0SXDhPhKLdvgRcuYa3minTyU4t9o5kryXfnXUijMLMrhy6ghWouJjfx_4V56jnRZb9rLu8E7glsO1NjulzE952FAyj0syCobBoSGwr0yQbwmsGEw_hWvqqxsxBoXH-nbpbzoP_SIhfKQ883xfG3gDsMba0aFNsixFs7eaFVUzmJTadRnsXTCVZ6aIhZy2sPvpU7_rAvs3XAAlDH-tO7eRLYQEaBfjP0tNfzVzKRPECd1_9tVHj-qUNe_YIGNobz_C3ay2ifKsX_B706PbXvdUx7YNMa3jHLRrFdE1vhza8X_AmKJ0U1yd4if7nRv-TFbQiJFK8UZBtXevwvS7e91SWN4uTuYwoOW4YF-gaV5mW6w1kCRGQrIAnEZ-Gg=",
  "id": "rs_0fada87214a4fea4016ab47788f17887d0b976469de0a205a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.153,\"left_z\":-0.005,\"left_yaw\":-0.45},\"note\":\"The cap lies between the open jaws but is slightly ahead and to the right in the wrist view. I am making a small alignment correction and lowering to table level before closing.\"}",
  "call_id": "call_MknXTwajytKOaq8GJahLzrgf",
  "id": "fc_0fada87214a4fea4016ab4778a0de887d092bac1b5c0f1bde4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MknXTwajytKOaq8GJahLzrgf",
  "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]: [-0.2886, 1.7046, 0.6735, 0.3038, 0.2707, 0.2462, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3827 left_y=-0.1591 left_z=0.0347 left_yaw=-0.6642 left_pitch=-0.1252 left_roll=0.0176 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.8974, 6.2838, 1.9267, 0.3346, 0.149, -0.0122, -0.0889, -1.2513, 7.1453, 1.7607, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b6a2ca46e8dcb38fcef2c81a27fad1b79c642ac031d999273d3013a48e2d51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf185200cf66a76f22dfc396a5aa7e16283c2cabb024c778f67628ef608efee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991bf0ce051865a3be9e46be126a9b4875d2806790c0815b6566be19fd9f3abc",
      "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 · 5.067 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, -0.3798, -0.0227, -0.0257, 0.9998, -0.017, 0.7914, 0.6086, -0.3771, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2955 right_y=0.0022 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -1.4838, 10.5368, 1.7802, -0.0415, 0.0659, -0.0366, -0.7453, -1.2239, 9.9077, 1.8193, -0.0659, 0.0122, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3202, 1.6745, 0.6739, 0.2543, 0.075, 0.0837, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1385 left_z=0.0337 left_yaw=-0.4434 left_pitch=-0.1737 left_roll=0.018 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -6.5573, 6.9949, 1.7118, 0.3443, 0.1929, -0.0171, -0.1162, -1.0188, 7.0222, 1.8144, -0.0513, -0.0611, -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]: [-0.2886, 1.7046, 0.6735, 0.3038, 0.2707, 0.2462, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3827 left_y=-0.1591 left_z=0.0347 left_yaw=-0.6642 left_pitch=-0.1252 left_roll=0.0176 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.8974, 6.2838, 1.9267, 0.3346, 0.149, -0.0122, -0.0889, -1.2513, 7.1453, 1.7607, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b6a2ca46e8dcb38fcef2c81a27fad1b79c642ac031d999273d3013a48e2d51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf185200cf66a76f22dfc396a5aa7e16283c2cabb024c778f67628ef608efee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991bf0ce051865a3be9e46be126a9b4875d2806790c0815b6566be19fd9f3abc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHePBKoxGOROnqCWT9gGPITmM3I1I8EAI52g35BI7PT-pvYHqofS_N8IR7KTD5lRThqDSeA_P6GF2SnHvexqW8cOaWo1DgSnQzT_Ag5kQZl0tUpywb22PfX0B9wI_XgAAUAUpmiErnk3fclsJKM9BNtk5c8TisKrTdc56zqOtVq-dkhyFAmVBTnVBd-jVrFMSaq7Wmzdsi-lmU5LB_AVEE2cJ2R2lOeK1jNme_UHz8oPg4N5YPWt4uRWZSOLlCxEddeYLTlZu1RuBqWecEw2njvBsiXD1o2KW8-s0nSsc5cJGtT09MZrcHOC7Wh9weo-B3HVLavZhXSJpHcUACQC0qUalWQyTGZir3d0MhPn1QqjcNGJ7J61-GWYxKNeaT5RIGOWdSdLwL-wWuUvt2k5J06LlDaAYamaLK7Fn7y31tIcNgNQ8bjpU28ZKdERxqEfWfLes9d8RtwFtEyaMlT8krD04suUHRuDc4IKRQudNU-Cx8jZO4MKXY1oZQm66BY8wJNeguuPfOj4BcBBlwRX9j9J6pNO3w1Q00nVlXjl0w-nSjRpiqSdbSZ4WacWhObAp7vW7VxMnVR0MXJjNkniqPzwithdxBjrm4rVW0Tsw0SiEdBbCUtHVGRIEYCRfPiSCB9xEvkGS-lcdKQ5hmpxFFiwByUaWN-bT69fkyPYGttGO76j6c0S5pLwsoOGGU9AUqKUF7qU_LGMI8Zuk--z1GtyUCB3U6Tx50emG2MC8t4-1nVd1P2bk0RDySuEYgaJUGOsTnHXwdKBLCZ5t6B6SIdBj_ltoRTy25jg106LeJPJwh2IjKZE5TK6fYBx1gzb1Uoh-v6enKx4tEjMKidcOQPLiLcJyh76hI5sO5m9Eqv1OgJ0PENo6Zb_2BsbweqDSBlXIsDGty02iJga3CpK_1eXCpUNqK8PxxzMCnxs5PJpu2uWAE5wO0sZKm2ghOceF-yIJKEnhudCySJfRzPUxm-UfjQtZJr1UMaHMMWKK-A_Jgj9njF6THotEPGBq2_GrRoBGqMlShnoDTcB3URhdf26p-Hl3hjqeUGnEWGr4fHXGOsIO0rUam9vhX3YuiMw24ty3btQyqhbmSY6G008ek761LW3u97kzTaq7TkWXF1pNf1ekqEk9Q38hbQ9mxeImH6QxrYtltZssT_ZAOwo83jVPR5v1gomWm19IgZeYCgWkCm0V_8zQ4Y_EbRDzXwjIm9mOSy2PdVedWZbQa9rPO-tGAEVca6OwD-L53VNkUR4774kUDQZjMPb1jXnUCmLllAsIoRcwi61Z-rkOi-jbq9MbgAjViPk73UeD39thEOKbIoPwD3_TgcdSn7DbQnLKDFHPoZKcCjV59KHQoBi7X1xcItxTZqvE9YiX_Q6Q5vMOc93T24sEZyJDG6HzSnWcgkDzKuSbXcd3BgQP1Xw8yNPp_8MMcu9hRzBpzGaJTp3cq2xPg2r0kWKtPmK2jxb4wSTb6c-2YWFNuOYOZu0ac7lkl8zztZurjHlehcY9__NnKW_6x-padgxIJbmVb1kBPuchP5rKpp_hDYURRx1g9oBdV6aUu72oaa1HlFarSj-ksJ-l6Gmfc5au1xC67joRIETHXEnGaNbFX5GlNkIqovZMpVkoe3w8diSzqPWuX-W2VXSiQeW1J0-1m4hdBQYDUsKUN5rHj5tgoG0IU33lxaJtGxENeEJbz7aVaIB2J2GSAI=",
  "id": "rs_0fada87214a4fea4016ab4778c695887d0bed19e4cfa5c7de0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.159,\"left_z\":0.005,\"left_yaw\":-0.66,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The cap is centered in the left wrist view, but the arm remains about 3.5 cm above the table. I am straightening the tool and using a shorter descent to reach the cap without sweeping it sideways.\"}",
  "call_id": "call_MOri90vuEX7myTW7iVoTZJaX",
  "id": "fc_0fada87214a4fea4016ab4778deb7c87d0b9940be11b771a9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MOri90vuEX7myTW7iVoTZJaX",
  "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]: [-0.2886, 1.7046, 0.6739, 0.3038, 0.271, 0.2466, 0.9997, -0.0181, 0.7979, 0.6132, -0.3943, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3828 left_y=-0.1592 left_z=0.0348 left_yaw=-0.6647 left_pitch=-0.1248 left_roll=0.0178 left_gripper=0.9997 right_x=0.2942 right_y=0.0019 right_z=0.1802 right_yaw=-0.0013 right_pitch=-0.0191 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.8974, 6.4752, 1.9609, 0.3443, 0.1783, -0.0122, -0.1026, -1.2513, 7.0496, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a37f230716ad8ba00455b42c5d3aca1c845b5824da1493be974a629388b8dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be21cfe59f634ce8485b67cf7767793814a5a8a0a2137b11c7ba853d6bbcb2db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b05bce3e0f02cd84b208963b022121aa6319ce5241aa08b1a31c942e78eebb3",
      "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 · 3.116 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]: [-0.6777, 1.6291, 0.9226, -0.0593, -0.5461, -0.4267, 0.9998, -0.0181, 0.7956, 0.6132, -0.3912, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1891 left_z=0.1091 left_yaw=-0.0099 left_pitch=-0.0644 left_roll=0.038 left_gripper=0.9998 right_x=0.2945 right_y=0.0019 right_z=0.1815 right_yaw=-0.0011 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -7.788, 9.2786, 1.8242, -0.3394, -0.0122, -0.0366, -0.0615, -1.7299, 7.2957, 1.8193, -0.0366, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.7046, 0.6735, 0.3038, 0.2707, 0.2462, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3827 left_y=-0.1591 left_z=0.0347 left_yaw=-0.6642 left_pitch=-0.1252 left_roll=0.0176 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.8974, 6.2838, 1.9267, 0.3346, 0.149, -0.0122, -0.0889, -1.2513, 7.1453, 1.7607, -0.0513, -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 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]: [-0.2886, 1.7046, 0.6739, 0.3038, 0.271, 0.2466, 0.9997, -0.0181, 0.7979, 0.6132, -0.3943, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3828 left_y=-0.1592 left_z=0.0348 left_yaw=-0.6647 left_pitch=-0.1248 left_roll=0.0178 left_gripper=0.9997 right_x=0.2942 right_y=0.0019 right_z=0.1802 right_yaw=-0.0013 right_pitch=-0.0191 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.8974, 6.4752, 1.9609, 0.3443, 0.1783, -0.0122, -0.1026, -1.2513, 7.0496, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a37f230716ad8ba00455b42c5d3aca1c845b5824da1493be974a629388b8dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be21cfe59f634ce8485b67cf7767793814a5a8a0a2137b11c7ba853d6bbcb2db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b05bce3e0f02cd84b208963b022121aa6319ce5241aa08b1a31c942e78eebb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHeUKKsm1bxcebXaXMrRLodoDtOYm3124UFgI-QWThwjwWecRYqpc7USLblhq-3fGlH5czR11EJMQg-xmNYoBjLm6piEcfLwdbD5osxW4niQByQzFfzCpseg6IVUjgY7VGMZ5o4vOKEqlREav9ZBalyVQ0cXodK8sKN5quYOm3tY95PQGF6yb-6zBywvK8gaP4eCes2L0w2R5P2SJzOO2TRVMZjbWdAMl9QVbBnADWKlrMvVqmQg-pstim8W4H8N4U6NlggqIDuZeMDNvs8QFQfzP5ssshddtzPCpWKxb9_HKQaALBnDpPoC3KjbBfatbX-go-3wD4UBJoezb8Z1W6PMj_9_K-F8EDMQ2tz5-w9dRQYL-B3dMuNA6ww1YyHqKNdiiCbQAFjA5iYK5dPfK3aOOmzs4WqWgCoeySa0XQR-noMfWUq7z-wyay3ppRyeUP6CHivzoatuXBU8yRD2x2m_LyXMGIHQxUYiPYA64qGcqt7aUsWKdwZHOrgb-ZV9_jSTXCXFRcYBVvBo7DYPCUcLJp_pixlzVsy1I90Lok8ogDLvyK4DKX8ajIOcgJ319esGHey2eeSHXcx6ZhmDPFVwDHfr1ky1NAqPUyFha_VCBWGvOmnOtAN_DcPSAOh4vH2Ihry9KBtNZkSeGshOciW_xh63aKYusS5OWCcMGrGX0CuGjiuTX7opHRTkh6QABtyk1OidR-4VOb4w9iNHVv2wXUwocWfTdfTBN0N4Z6kGhy7l1AkIWB1G97HBJvDy6NGyu354278wkYSw5Ka2fOrJ9gp1lQ3ZBAB27k40pjPBACwEWKn_gKf6h2I8z5HrsgtgZAwNA3mV6EeIdsQY3LAik30ZvPyrXmQ_QpI80jy7vBcDxo6wIxnQ2GepEnvTAyG4Blm6o77HqSF6zxIh4lcvVFfRWCqd3F2fMOQbHDDAUvm4ZsCdOg1cdDykHHMx2JeiWNGGzs_5Vh68wfF0IvQlMb1dAWpsGaRTtgAJSIYVh1H-4I7XZUa-0P5yPuMOFlSm2sEx8xtOKmWMUfQgm_G7u628EISI_my6PMRiBCSdZqhWG924CBOs0GbY0KtLccnw5IRIw8rgJ15Jgmu8cicQhlrEQHspfjuNJHB9cpuw24KNynMuKXd2W1kXb-QaQsF5QxOL2RlMgXctcFz1qFR6tQAOq78lkXmerlsyUavOJpNc-x47gx-ZBMq5zJ4pPBXgkbkvsTN2rlBTrAVAlO9YHSv7pqqP-niZenuQUUqZMJqmeMEE3SxIAEG5ghF9PMbbQk1LbVKYe2csNwNdjOjfZ-Jw5uPOsSsF_D8QIJ68SM1sRCGtG1hGEyvA2PzzjAO2BRGA3KkD6xnSRMK1BzGDUlUA10r1BjOpSphSdu95wPA1OiF76X7riMEHFFGbPLUyaocxBXoy7Y3Lj8sstaED4oySmE3AOVx7U6qPlCYotcrtkRupgs1E2hGnQg1U8eZxowPR1TDTi3-qmwdvQdBHL4Ek3IjzgOeclPUEKqcilW7KExaftB_6ULjsh1sGrcsraC3OrPMTCYe0b6gkay6-xLKF0v4jGzu26dYRSZ08IIlTMHl-BHk2xPxbRqUNyntwqf-iYEQUB9M8KK3mVKWu96VnWpl67e7SJ47jq29qyseRttpHqlQOmtNqLhZQRYZWPgpl-k0pl_8gcSwkTdExozG3DPMRrNzAqY6rV3Z6XMZEsRQCTrTPi2yQkGrIqOx3tkMtMRuRBQ-V1mMbwmsE6ad_IUyh1xS6hGJvm4NDK9i3JVNKBpEKaCW7EMyt8R_8OZb5ye_h3MfJyhwpxiBmJZOD8ogBSbpMICL8pNsqAHl4Z1Vp5MsUSIoBi3kCPEvjFAJSVxz2MOBOFQAl1e77ThSszpY9rIeL3YIL6LU5nhc=",
  "id": "rs_0fada87214a4fea4016ab47791010887d0ab912b4862f9b875",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.159,\"left_z\":0.015,\"left_pitch\":0.3,\"left_gripper\":0},\"note\":\"The descent has stalled rather than tracking the requested height, and the cap remains directly between the fingers. I am changing the wrist tilt slightly and closing to test whether the cap is within the pads.\"}",
  "call_id": "call_YxNlktVKidV6Wv6qDw7R1Pte",
  "id": "fc_0fada87214a4fea4016ab477934cb887d0b789e344d5693d71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YxNlktVKidV6Wv6qDw7R1Pte",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2501, 2.1181, 0.4023, 1.3441, 0.3683, 0.1318, 0.0849, -0.0181, 0.7979, 0.6132, -0.395, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3731 left_y=-0.1572 left_z=0.0012 left_yaw=-0.6518 left_pitch=0.2246 left_roll=0.005 left_gripper=0.0849 right_x=0.2941 right_y=0.0019 right_z=0.18 right_yaw=-0.0015 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.9402, 1.7162, 2.0635, 0.2515, -0.1099, 0.9597, -0.1162, -1.265, 7.1453, 1.7265, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9df15e5901b965b5ef56fa59c0ad49bbe491f18bae73913b2d09b6ee9098d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e5205935787965314402b99fb8d84b6d17f2a5c63602eda370884719317b99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57487f9e8d2d67ce040340d9422b6198c64979d39e3bf525544f2eee4d53993",
      "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 · 5.707 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]: [-0.3202, 1.6745, 0.6739, 0.2543, 0.075, 0.0837, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.1385 left_z=0.0337 left_yaw=-0.4434 left_pitch=-0.1737 left_roll=0.018 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -6.5573, 6.9949, 1.7118, 0.3443, 0.1929, -0.0171, -0.1162, -1.0188, 7.0222, 1.8144, -0.0513, -0.0611, -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]: [-0.2886, 1.7046, 0.6739, 0.3038, 0.271, 0.2466, 0.9997, -0.0181, 0.7979, 0.6132, -0.3943, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3828 left_y=-0.1592 left_z=0.0348 left_yaw=-0.6647 left_pitch=-0.1248 left_roll=0.0178 left_gripper=0.9997 right_x=0.2942 right_y=0.0019 right_z=0.1802 right_yaw=-0.0013 right_pitch=-0.0191 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.8974, 6.4752, 1.9609, 0.3443, 0.1783, -0.0122, -0.1026, -1.2513, 7.0496, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2501, 2.1181, 0.4023, 1.3441, 0.3683, 0.1318, 0.0849, -0.0181, 0.7979, 0.6132, -0.395, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3731 left_y=-0.1572 left_z=0.0012 left_yaw=-0.6518 left_pitch=0.2246 left_roll=0.005 left_gripper=0.0849 right_x=0.2941 right_y=0.0019 right_z=0.18 right_yaw=-0.0015 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.9402, 1.7162, 2.0635, 0.2515, -0.1099, 0.9597, -0.1162, -1.265, 7.1453, 1.7265, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9df15e5901b965b5ef56fa59c0ad49bbe491f18bae73913b2d09b6ee9098d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e5205935787965314402b99fb8d84b6d17f2a5c63602eda370884719317b99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57487f9e8d2d67ce040340d9422b6198c64979d39e3bf525544f2eee4d53993",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHeZP3ZcYOmh3PelaDP-D92pBcs4pwjopbJWyrXKYswDOIjsHtDJeBlOTxqVtIgSmvEoL36fgaWqpk9ZftXyb3IR0uRluIf3hbmVMYiqAIeE123MbBxydq-OpENqmzudUorQRxidK_vlPDMvu0IlT3AfxmZVTido9L5RDDFp5n_yCR6Y0KBr88oie-0CYvXjyTogr50Tpjc0PO4N9r9jSCjb5ybvlExfKP43BrtaRS7xw8q9z_HbWVpRDXoocg0iSeDWHY37uMSufLKIns6ZqrP_UCBHnsi56d_j6Z1ozm1-4q93ZDJUom_3GJSp5api6_N6NkXK4aqGNuG5EgnUDSNreBkgkI3HrXNaSjGTLkdHpcSfuVYEVj-xeOynH1iaseN8wwjL7QnWH5ETbZ2AhlyI3Cnxjw6Zptxx1JdtzHjsEN0cyVjxAigNyFvlAfYxUeswOP1ULlI1uqRLgJco61a2cwH4coGMrLbnSUpDGXh1lFPzkrwewzzVUbceLq_iufoxAlTkXTumrA8DwRNEbLIDMsp3bj02Q54o-xXMhJtYzjSkr8G7pzCzzdKMZ25xANy3_kJ6lVzSMBM6iMJFC7kV0De0h9Nx4V0sEzpxr3J2pw3JP8iNk7CP28H_wDdYdeToztrKGYCUYvhnTokPvnjBHAR4eZjWeWFKx5V10ZAKVKvKzORnXe4-Ni2NkOzatCt54RYoMzIM_B2v0UkrvRK2fguFm2aR3927PazAstTMTTTlcv0sBNiDBRwAJypDtHZO5FNawQmHDtOdyVk2FAo_5X9x0-7ML-P9HHZBePfyaTlXxD9Q_1ks7EqMgb7OJ50RREDhNhoyMrEPcBXnkFMIYw1SEZZ7e_ep8ZIWS6EPC2mgzdzQgqH7CH1itf80HvGPkTuqufmuoLan-CanXlxd8ccUYxV-LwFT8QSASDsn14o29pac-cdvSSS1uXJp7gVGXFjondJds2ixa3u25qAtiVF2Umle5LaJyfIhl0toaP_R3VE-vTP81RzTY244Sez3uxm_BnysE9yJoJlyfdUKXeq5mLhUfHWud8oLF9nj0a3JaQpg7ucGKd4_PinWC49FUBtdk7FHFPnajbB7iQdHqieKegs0BOyii71OCgfvSN-Ij8j2K8zUndvQaTP6N8YC-z7qgWjxRHKNdG6kAmEKxaCGrtKBsIE2XPTHRFGq-Aw1l-qMXz72w3UnSTJvsROS2f0B19FQsnVQYDPMQ6iWtCUN_j5OS_mv4BnaNERYsyk=",
  "id": "rs_0fada87214a4fea4016ab477976d8087d0950c84372c7f0c13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"left_x\":0.375,\"left_y\":-0.157,\"left_pitch\":0.3,\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The left gripper has closed around roughly 8 mm of material, consistent with the cap. I am lifting it for verification and bringing the right gripper above the pen, well away from the left hand.\"}",
  "call_id": "call_JOHSHjKF224rbL7TttqfhwTn",
  "id": "fc_0fada87214a4fea4016ab47797c6e887d0bd728f46edd234a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JOHSHjKF224rbL7TttqfhwTn",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 1.7958, 0.384, 1.1019, 0.3744, 0.1078, 0.0858, 0.6739, 1.6283, 0.9821, -0.1165, 0.5098, 0.3763, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.1574 left_z=0.0656 left_yaw=-0.6477 left_pitch=0.2825 left_roll=0.0044 left_gripper=0.0858 right_x=0.3869 right_y=0.2032 right_z=0.1211 right_yaw=0.0387 right_pitch=-0.088 right_roll=-0.0469 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -8.1983, 4.3419, 1.9414, 0.1538, -0.0562, 0.9353, 0.294, -7.7333, 8.7316, 1.8437, 0.5934, 0.2564, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29a796447fd6a2bc4fb9e4a4deeb9982031f7521b4eb18ea59f1d92a181647f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf40e5fafc739667cdca392d694d81b07542f3096b1e88f337e277cd1bdf217",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b968188afd84a70a6edc4c3f4f177d2607f75607a6a59e8dce0adb5de70a5ec5",
      "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 · 4.723 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.7046, 0.6735, 0.3038, 0.2707, 0.2462, 0.9997, -0.0181, 0.7979, 0.6132, -0.3939, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3827 left_y=-0.1591 left_z=0.0347 left_yaw=-0.6642 left_pitch=-0.1252 left_roll=0.0176 left_gripper=0.9997 right_x=0.2943 right_y=0.0019 right_z=0.1803 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.8974, 6.2838, 1.9267, 0.3346, 0.149, -0.0122, -0.0889, -1.2513, 7.1453, 1.7607, -0.0513, -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 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]: [-0.2501, 2.1181, 0.4023, 1.3441, 0.3683, 0.1318, 0.0849, -0.0181, 0.7979, 0.6132, -0.395, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3731 left_y=-0.1572 left_z=0.0012 left_yaw=-0.6518 left_pitch=0.2246 left_roll=0.005 left_gripper=0.0849 right_x=0.2941 right_y=0.0019 right_z=0.18 right_yaw=-0.0015 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.9402, 1.7162, 2.0635, 0.2515, -0.1099, 0.9597, -0.1162, -1.265, 7.1453, 1.7265, -0.0513, -0.0611, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 1.7958, 0.384, 1.1019, 0.3744, 0.1078, 0.0858, 0.6739, 1.6283, 0.9821, -0.1165, 0.5098, 0.3763, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.1574 left_z=0.0656 left_yaw=-0.6477 left_pitch=0.2825 left_roll=0.0044 left_gripper=0.0858 right_x=0.3869 right_y=0.2032 right_z=0.1211 right_yaw=0.0387 right_pitch=-0.088 right_roll=-0.0469 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -8.1983, 4.3419, 1.9414, 0.1538, -0.0562, 0.9353, 0.294, -7.7333, 8.7316, 1.8437, 0.5934, 0.2564, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29a796447fd6a2bc4fb9e4a4deeb9982031f7521b4eb18ea59f1d92a181647f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf40e5fafc739667cdca392d694d81b07542f3096b1e88f337e277cd1bdf217",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b968188afd84a70a6edc4c3f4f177d2607f75607a6a59e8dce0adb5de70a5ec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHegLPWL93jeLQTtIeE5NfiqdTY79q9wjgE-PSro_K1EkTrmz9LXC3Wio8oyv-I-rsRRIkWDnbz4q4LDdUzI7BT4I779_rggTb1Fa5Xdd_DGUD_eK9Ho0LrvOyKsITRo8u4DWENdOdsTSJI9QhKLUQo9Mo_wa1DN03dCVrqVcsJRImtlG2kr0CRzRtw49c4n1MVIJ68ZyvlBQFA6KqNn_n1vwDYt4EOjhHvlMlOjpx7jiTazneX4TTGU0qedX5EikjphXHCHvcoJ8defnuuDrMub91M2_mIs0L8RyThjfZ6cUfjnct2pK1sEmD54o9mSl7thN5fMg4t0lNSPPlBnDVETGOc5QXpzjQMzHfdXoTNkiJfsJTgXW7c4Sdv3qQTYjZEQod9-iDIcuXXeOfIV0he2iSS4XRhkJ-0osVhUdbKdL1Bk7G5ZEA3G81aHLT5FU65m4vZZ9xGXL1_lmri1rf9JUPUur2HnCzd20vKNO-Qykgf5_fRtNL2jO_COyrePuVKiAG8HQBzibEl09nAq78GlV9G0Q4UYiYozlCGL0cZ8nPfiD7iUzwqqW4_aCKi2Rlgm8D5bh7VHf0KAkDdya5XT-hRrPFlEOQOZw3DpD6Mt_DF2ImUoJZqpN8DXhES4ysUmjikJaBT0-zXRGV463JxLO7KpHCb8nPM2D-9o_NTFigjvTkuhfd6Aw9MGswI5QzzD5lOVk6tk95ZViuk8u52sn9Q0FDQqUONgoebA3hrSNcCqeKqCt79vrSvIGs5wyjgDWPL5enpo1KaiJfHmjL38Uc62zONRJS-Yn00YS7yEjvTuA88H1iSUlyFZTgvkkFxq_y-Tt5NG32S-m7conzM-xgq3VT7rrkH3DgvSf6_L7jcKwVALMfHwmSP_CmNGvKqf1E3k7ek0qeUD2zB6ztS97EAgjnX8EtG_pnk39yw-qQJVL3ga-H4D5aCFNHOq15lcU-L8RedyYdq5g3H_uHZpBiN5LL38M3rgHLeGOs2KfZIQ9wQx9ArfDh_7Gn42u8wCvaAWqgXswLKBV80dPeNi4OBY94yhNM5K3D_in4mglD4AYGxXampddoqEqW3JSjIOZLJblbpdEqEo7qlayiP4YWXKFVIkF2DeAEGaPu6JgsC7yD8HdPOYKoszbwvQyc5odxgPALPXnIixykj5DKsgwZ40UO-NngZO-I6-5tbtx5ITI8Lq8B5hh4foz96H4Mh02bQFSlaS0_jrW6IYkO4d9bMYW9bZ0YQQCbjlWd_e62Ii4UJef3SEPRthls9sKWcYO3mLmI6uSzeVdVVVfZGDo4xoUxLmHc89OQfqNHQLXy9L-H_PuKem8dZjkkJpg8IQpxFmqssz-MxY4S5LKEbAc_y87BYIBgHHSIPrnjEBmIw3R8IVP-U99dIza_61efrrD_oiyVIrOA1qkS5VkjtXvkc1fMBWjUqdr6VTNvtCbBN0_q69vAP9WIPUnIIHDLT_FRhmJu8bikRpz-UKdKtqSzT8yZh_9cQdnwd4S7Js-UpVrNvGEGiAWW8fz-SaSASE-U83jmcMeKiw9r94ovK_V9YuknxkfaOTdiDLcO4uCLzKti7vNO8tm194kObIcuVapPwJFAzNJMbQRYlCfeUv5Nv-BOou-jATYCP7wGC_xfcq6tKLedevEEzhFSuWUYqU3J0d2ieimoaivrg9Upanpzhs_JeGK95fa9ScED5MU_9hxNPAk8oxOXM6ZJdqefrKNN5SXHah5HSB8oDiwj03bQ==",
  "id": "rs_0fada87214a4fea4016ab4779d06ec87d0aeba15e4948ec5eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.185,\"right_z\":0.045,\"right_yaw\":0.65,\"right_pitch\":0.3,\"left_z\":0.1},\"note\":\"The cap has lifted off its original spot and remains held. The pen runs diagonally across the right wrist view; I am aligning the right jaws across its barrel and lowering toward it.\"}",
  "call_id": "call_jH8ma9gmAkKFr4I7NMcrcT47",
  "id": "fc_0fada87214a4fea4016ab4779f728087d099363a54bfd4c812",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jH8ma9gmAkKFr4I7NMcrcT47",
  "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]: [-0.2474, 1.6352, 0.3878, 0.8913, 0.371, 0.1055, 0.0874, 0.3122, 1.9884, 0.503, 1.1088, -0.218, -0.1108, 0.9991]\nstate[eef_state]: left_x=0.3652 left_y=-0.1546 left_z=0.0806 left_yaw=-0.6383 left_pitch=0.2394 left_roll=-0.0152 left_gripper=0.0874 right_x=0.3997 right_y=0.1729 right_z=0.0253 right_yaw=0.5509 right_pitch=0.1923 right_roll=-0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -7.5966, 7.5145, 1.7949, 0.0464, -0.0171, 0.8327, -0.4991, -7.6513, 3.9316, 2.1856, -0.3346, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e39eaaf67a9566aae76850e298dfa4caad25507ce3fd3adb11f082253560da0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd74b97e1f85d522002eb4a633512d6d59199df025b9a4f0dd83f78082a01a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71715b332c60e44ae04a93d57f1df612da170ecdb4e8feed43751c6c688dfd1b",
      "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 · 2.446 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.7046, 0.6739, 0.3038, 0.271, 0.2466, 0.9997, -0.0181, 0.7979, 0.6132, -0.3943, -0.0208, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3828 left_y=-0.1592 left_z=0.0348 left_yaw=-0.6647 left_pitch=-0.1248 left_roll=0.0178 left_gripper=0.9997 right_x=0.2942 right_y=0.0019 right_z=0.1802 right_yaw=-0.0013 right_pitch=-0.0191 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.8974, 6.4752, 1.9609, 0.3443, 0.1783, -0.0122, -0.1026, -1.2513, 7.0496, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 1.7958, 0.384, 1.1019, 0.3744, 0.1078, 0.0858, 0.6739, 1.6283, 0.9821, -0.1165, 0.5098, 0.3763, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.1574 left_z=0.0656 left_yaw=-0.6477 left_pitch=0.2825 left_roll=0.0044 left_gripper=0.0858 right_x=0.3869 right_y=0.2032 right_z=0.1211 right_yaw=0.0387 right_pitch=-0.088 right_roll=-0.0469 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -8.1983, 4.3419, 1.9414, 0.1538, -0.0562, 0.9353, 0.294, -7.7333, 8.7316, 1.8437, 0.5934, 0.2564, -0.105]\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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6352, 0.3878, 0.8913, 0.371, 0.1055, 0.0874, 0.3122, 1.9884, 0.503, 1.1088, -0.218, -0.1108, 0.9991]\nstate[eef_state]: left_x=0.3652 left_y=-0.1546 left_z=0.0806 left_yaw=-0.6383 left_pitch=0.2394 left_roll=-0.0152 left_gripper=0.0874 right_x=0.3997 right_y=0.1729 right_z=0.0253 right_yaw=0.5509 right_pitch=0.1923 right_roll=-0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -7.5966, 7.5145, 1.7949, 0.0464, -0.0171, 0.8327, -0.4991, -7.6513, 3.9316, 2.1856, -0.3346, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e39eaaf67a9566aae76850e298dfa4caad25507ce3fd3adb11f082253560da0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd74b97e1f85d522002eb4a633512d6d59199df025b9a4f0dd83f78082a01a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71715b332c60e44ae04a93d57f1df612da170ecdb4e8feed43751c6c688dfd1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHemYqW9dv3b0R6c6Lm_zwdNMwRq5ZHJ8rDE60C55OepL49KVL2KPUif-TtjSGq5vwfhW9eUlpAyOIFGlAXw188f5PiyxjDgk_CL1cpWotN-RF7pH0wPf2o3xtwfD3v6xC9aZ__yaixaHsgT11bzxjtKQziAaqjQ9My8qIXYdtKZEvijldzM7cfdjREsA31GMgBTD_9MDqAeefDu4wo90VFWTnOBT0GBvhvFxZo5Ziv8CKh7ICfpGFdj38aTHu0nDenelmcRkJfPbphRuDD4IY8GxKUdkD4Nvrv1eMnF_xoycND8MSpiLhu3I5A5cVHibUFqWA7bwOxv9_DO1ikl19k-KC0PS6lzhLG4uwJI_PCQ3G5__jTttcRWm2ZiLvyZkCBwdVFW1zsrP-n2KMtvhzky3ouZ-t-ZabFs7aX0ixuW1qMsNEEFNgzHJdQ1KLpmawftm5g8iNBVuiQFiEXuEqITYRu2inankMgJwr_FDewd3EVR_dUXroX9KP3c_61wS6VRh2sXQNDUrABxhmTB0GnLOnW1UVwtVhXwezOSWyoD-oZfnSBFmMWvGI7JeNw1zBgv1JjF0GXB4Mv9izkCw1cNxXUxQjxoZoGmt-f_Q3YRQVNiDMCksc8A_lq_oUVryiJfeYg4_EWRQ8XZRTau16OuJbAWdUoRWFhVIG0A9-a8dSTv0i3kkG2mmS1S7abKR-7gldT72eU8OX9mqWsDFLM6JrsAcZXWm5vEzpk9CqYKz2c_HLu-6646bOP-KXbiAK97JeaDj2bvfu3QHAOxm3CL9ImAtDzBAF9xBdCltR0QWgrN6M9xjsFhs0yC4g1sOIg5pCOjLreV9tsZckBJJ0Lrtd3t7Dxa4KBoN5CrVWPurJ88-tVOTDxnBXDlQxUbLBfSdZxbJdf1YSaZrNP9s55um-tWEwduymLU2aNHRcY_BVkRLzfUQxLSaMvEAbxdxCdW0G-CRu8oRk_2FlvyitrhoP91JluJyrWhbOe-CeT2zbdk29UvMs6eBCDh5VH_XOpZHQs3BfCaU_zbFzXtwoZc5N9iw9izG2vK1Vm4FvDr6oFw9fXP9QAnsePjRhKPPGssQTv8s7nddJJGnPom93HteURxtDLOwykosMjVO8mLVrKcUbjs3KcBjTTGy8VzlptmeJvayEQ6DOVvn9d2tr7A8qO752L1MQjGuZtQeZO_jpUb89G0zvnLlmTtyYAVRgc-htlL8cSqvp9wrMBuuM-w2n2vyXpv2OBcgwDNAkbTcDGpSNLrO8lMC01Uz5xdztmO6VfTXhME2wocD2ARu386Ype9sKP3x54QDbsTbASYJK68LwEouYFYDIHwSomGin_LzWqulTz3Rl6Txb0JuPNrxxsftDCTsCfQkMFmbNdfILYzOruz5a1D1srGpB_tmGpppIoT-6_LiLYLRaWfrm3tH2TqYhcLnTNMfzfBbj0eB2P81Iq4OSL-hzVtyYkC-6mT_2UcwKoR0NdzJj9e-d8nLWmxLlAsazVdhteBSaUvAan26y4sotb_d3EmE4SiNyJXLD3qBGoSbbETGvV-g16ZPiOuEP2hAECt8E61g0C8KOp_t9xME7Mh1lHkFIwDe2a99YWAvGHOk9Y0GNRMGtwHPp_55km17Uw__3YkN0u-UQkv48PGaengfUYnIq1ZoindzzbX9tV5XE6iMPbsIysHQg4_L0CP6abTJ7JNGC32m32gh8yE627VBCGFLNysRUZkuA1SGM4ogYH-RqnlRDzmaPHipCL9GGjNJcKwCKgkaIU=",
  "id": "rs_0fada87214a4fea4016ab477a3241887d0a18dbae3febe2c5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.192,\"right_z\":-0.005,\"right_yaw\":0.55,\"right_pitch\":0.3},\"note\":\"The pen is just left of the right gripper's centerline, with its pointed end visible ahead of the jaws. I am shifting a little left and descending so the pads can grip the barrel.\"}",
  "call_id": "call_j6VJ6jozTLA46WIXjcVSKscH",
  "id": "fc_0fada87214a4fea4016ab477a4f3ec87d081f33fdd37a8f94d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j6VJ6jozTLA46WIXjcVSKscH",
  "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]: [-0.247, 1.6306, 0.3912, 0.8562, 0.3714, 0.1055, 0.0883, 0.3771, 2.2326, 0.5003, 1.4979, -0.1837, -0.1009, 0.9991]\nstate[eef_state]: left_x=0.3635 left_y=-0.1541 left_z=0.0758 left_yaw=-0.6358 left_pitch=0.2144 left_roll=-0.0259 left_gripper=0.0883 right_x=0.3953 right_y=0.1951 right_z=0.0124 right_yaw=0.5886 right_pitch=0.3289 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -5.4496, 4.4786, 2.2051, 0.0366, -0.0708, 0.7643, 0.5402, -5.4906, 1.7026, 0.7937, -0.0317, 0.3101, -0.0171]\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:71d7262c5c488ee14ab635facca858c9216c7c04d4fbab06491313e2ea92e1c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ddf50d350302995b60421878a04b8ad5ac287dc45de6674d82da807c3a9b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c073f61cef0b4731ec9c7f055985aa702ae5eeea12262672e83e6c93155b673f",
      "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 · 4.585 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2501, 2.1181, 0.4023, 1.3441, 0.3683, 0.1318, 0.0849, -0.0181, 0.7979, 0.6132, -0.395, -0.0204, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.3731 left_y=-0.1572 left_z=0.0012 left_yaw=-0.6518 left_pitch=0.2246 left_roll=0.005 left_gripper=0.0849 right_x=0.2941 right_y=0.0019 right_z=0.18 right_yaw=-0.0015 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.9402, 1.7162, 2.0635, 0.2515, -0.1099, 0.9597, -0.1162, -1.265, 7.1453, 1.7265, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6352, 0.3878, 0.8913, 0.371, 0.1055, 0.0874, 0.3122, 1.9884, 0.503, 1.1088, -0.218, -0.1108, 0.9991]\nstate[eef_state]: left_x=0.3652 left_y=-0.1546 left_z=0.0806 left_yaw=-0.6383 left_pitch=0.2394 left_roll=-0.0152 left_gripper=0.0874 right_x=0.3997 right_y=0.1729 right_z=0.0253 right_yaw=0.5509 right_pitch=0.1923 right_roll=-0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -7.5966, 7.5145, 1.7949, 0.0464, -0.0171, 0.8327, -0.4991, -7.6513, 3.9316, 2.1856, -0.3346, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3912, 0.8562, 0.3714, 0.1055, 0.0883, 0.3771, 2.2326, 0.5003, 1.4979, -0.1837, -0.1009, 0.9991]\nstate[eef_state]: left_x=0.3635 left_y=-0.1541 left_z=0.0758 left_yaw=-0.6358 left_pitch=0.2144 left_roll=-0.0259 left_gripper=0.0883 right_x=0.3953 right_y=0.1951 right_z=0.0124 right_yaw=0.5886 right_pitch=0.3289 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -5.4496, 4.4786, 2.2051, 0.0366, -0.0708, 0.7643, 0.5402, -5.4906, 1.7026, 0.7937, -0.0317, 0.3101, -0.0171]\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,$blob:71d7262c5c488ee14ab635facca858c9216c7c04d4fbab06491313e2ea92e1c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ddf50d350302995b60421878a04b8ad5ac287dc45de6674d82da807c3a9b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c073f61cef0b4731ec9c7f055985aa702ae5eeea12262672e83e6c93155b673f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHep5ShabXlnk6cZIdWTYmh93tdpck2DFqQIQfjYuxOyX_8Fbx3Yui7Kf10C6mhlyMNmSCr79DGQbz8nB2279_voQu_7MmAD--wBU31yEDB5L-P6AdeQucp5ASbSo42sc5TNGo6fdPNwIGQ77_x08d7m9hzeOe-Uak2tiqX9tD4R13UBVEdYU0ivkG_l4c_7n3d5CWDBIFa3JKqraXvh7n2_iQonT2StXCZV4PHHCrsAjXRSXpH-UMG8D_QUjiMMwKLQLUgbLje6r-nTs9237vO7DWKmr9XuBRltdoftKUl4jiMTe-YXk-En_ReZIp55ERhw8-EuYww6a15iM6Qmy6WAcj4zfecjeWgZVgDVTqAI9yTduPlYvGkGp4_H0AdmPItcnGqx9nwjbkuptKUEcSc6zY1OgfQpH1E4dZ3tNPUxsgooWc5Pv6Ob1MdR4NoWp2_IRJpWyB3bTJNRTsKPme8t0SECM99hSow5pIRmQWGIzcfW9c25w48vjU5E9FOPHeZfd8kQZd8HHUzq76aZ6rvr4ePbU0aYB_nbjRiUA2bbdFxOx_S_-y3dgSvVQpADHBaec9yJlgoCwxJ8YI_Opy9ZfXBydBdnAW9Elc7DZ6uJFeoypJtrQnkIjNled7zTOqjnkwGkg29tr11i8lpHlhn_ZU1JXambp8xkyAplC73m7hEOC05C82fbxGz5E5iucWrH_x0kWFPBEBcQ9T8KtIsa7Fnumn0FbP_2kPN1ZaeaDWC8MqLwcuCv1VVVydkXawBcYnFB6rz6IArEXv43q6N00bLaTc1mQQS8aC2IVAJNd-duaO6vWGR_YHOfj_4sXNcgoD80RZaf_Zdvdab54nwuW1wQGgQCgUK-Q1T8G1fAPzuPBx1MBRtZEUAMVVgyp02IISmXpZa18ykC5LtOQ2Hf6_tCD3cIPM130BcnSIWY03ssMV3G07bhUEZv5lRFHmAJAqKyzRumF3zr33pVfGr1a65lLn2_AwgZLUw4P5UDgSYjgr1EMW2E1apmmabExrwfoT758w9SAFz6bQJ8G4XHJqligCV0iUegzcmjp8Cgm4oDmSxNhiU5yyfBD7AkLqSXiLrs1TBsjnx5oLY3vaed8Ev4Fr_eP2QnTt-uT8LacWLybl8RWlf0zEoM6DvaWVUcEehevElsgvQcaSmX3KRZzOoQ6SMa8MJfDLmPtbHPr4UahTHRKl0epoc-fQJv4AmG",
  "id": "rs_0fada87214a4fea4016ab477a86c2087d0b6d668bed6aa47f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel now passes through the gap between the right fingertips. I am closing the right gripper while keeping the cap steady in the left hand.\"}",
  "call_id": "call_qkooCZ7WELJDhHXYQjYE01A7",
  "id": "fc_0fada87214a4fea4016ab477a899b087d095cc00ea4e1453c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qkooCZ7WELJDhHXYQjYE01A7",
  "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]: [-0.247, 1.6306, 0.3904, 0.8509, 0.3714, 0.1055, 0.0913, 0.3794, 2.2452, 0.5018, 1.5288, -0.1795, -0.102, 0.0127]\nstate[eef_state]: left_x=0.3628 left_y=-0.1539 left_z=0.0744 left_yaw=-0.6353 left_pitch=0.2088 left_roll=-0.0283 left_gripper=0.0913 right_x=0.3961 right_y=0.1957 right_z=0.0149 right_yaw=0.5892 right_pitch=0.348 right_roll=-0.0604 right_gripper=0.0127\nstate[joint_eff]: [-0.2667, -5.8872, 4.9026, 1.8828, 0.0611, -0.0317, 0.5983, -0.212, -9.5385, 2.2085, 1.5897, -0.1148, -0.0269, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c94789b991cdcce9eeb31e93e47ccca7afd1202f6e5f023ccb81a058087b607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf56afa9386d2873fe31e39940352efa291232805c3524a7167303c7e7cb671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fdc6fe538eec9192f1b12cea565ddbb1bb53d9948f021dd2662590059a9bfb",
      "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 · 2.35 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2478, 1.7958, 0.384, 1.1019, 0.3744, 0.1078, 0.0858, 0.6739, 1.6283, 0.9821, -0.1165, 0.5098, 0.3763, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.1574 left_z=0.0656 left_yaw=-0.6477 left_pitch=0.2825 left_roll=0.0044 left_gripper=0.0858 right_x=0.3869 right_y=0.2032 right_z=0.1211 right_yaw=0.0387 right_pitch=-0.088 right_roll=-0.0469 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -8.1983, 4.3419, 1.9414, 0.1538, -0.0562, 0.9353, 0.294, -7.7333, 8.7316, 1.8437, 0.5934, 0.2564, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3912, 0.8562, 0.3714, 0.1055, 0.0883, 0.3771, 2.2326, 0.5003, 1.4979, -0.1837, -0.1009, 0.9991]\nstate[eef_state]: left_x=0.3635 left_y=-0.1541 left_z=0.0758 left_yaw=-0.6358 left_pitch=0.2144 left_roll=-0.0259 left_gripper=0.0883 right_x=0.3953 right_y=0.1951 right_z=0.0124 right_yaw=0.5886 right_pitch=0.3289 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -5.4496, 4.4786, 2.2051, 0.0366, -0.0708, 0.7643, 0.5402, -5.4906, 1.7026, 0.7937, -0.0317, 0.3101, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8509, 0.3714, 0.1055, 0.0913, 0.3794, 2.2452, 0.5018, 1.5288, -0.1795, -0.102, 0.0127]\nstate[eef_state]: left_x=0.3628 left_y=-0.1539 left_z=0.0744 left_yaw=-0.6353 left_pitch=0.2088 left_roll=-0.0283 left_gripper=0.0913 right_x=0.3961 right_y=0.1957 right_z=0.0149 right_yaw=0.5892 right_pitch=0.348 right_roll=-0.0604 right_gripper=0.0127\nstate[joint_eff]: [-0.2667, -5.8872, 4.9026, 1.8828, 0.0611, -0.0317, 0.5983, -0.212, -9.5385, 2.2085, 1.5897, -0.1148, -0.0269, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c94789b991cdcce9eeb31e93e47ccca7afd1202f6e5f023ccb81a058087b607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf56afa9386d2873fe31e39940352efa291232805c3524a7167303c7e7cb671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fdc6fe538eec9192f1b12cea565ddbb1bb53d9948f021dd2662590059a9bfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHeudMgvhXzQbVo2iZo6_BErKcciFp5nqotwhcaWArnRtJHTHUIFIT93ATtSvBNGPxy4qmWcupasAWDzMX1_o_9JyJsjzLcGO67dv9bbOP3HunZ41Td_tIfWysfTJajcghDX-c3rKmgNP-JgW8h7R6nR3VWzwrW71Hg6NmT9sjml0ooaD7480LLa0Var1vZqKo15Q_e4E3XJIhHY2SutdsnVKQT57WWW-B6DC8aeTcfWcUmBtdFXe44U0Jd_6vJxoMicZhrGl17jgQc5662nscDlK2hrZC-OjJSkSihJMnzuJgGRcy5-1k5mx3-z3_UB9Ga-pgKXz3yM9vnQwoPebW4RcmT0wSirvCeY_Jq7wX0TUG8ID9akqwV86iu2cuvh5NOAcLx-SoNdmmUAEWFmWSuYplg6vwxk6P0DP8jcRFu6qLxf-u5P504QtrwEbIDR1Cr84d8BvlgKMoOs0va-Yvc4kt7UErMtyH_gss73qd1792CeREm9C6H4pPNu7tlEsO2wGgxTQtx42O-dBxqAAAe7mi3HGcH56xtRm-qsqevY3CRMJTry294YK-ghtvIknra_SKDh0r3kDU0mSdLBqKxRH8ujCnSP8MIT4biGCaGkQgTnQ0-LNpDgHcJUNLOISHSGNejUPIlo916zVAlpk1KHhkxG9fllQ39O4u9_Ivsv1Vvzpp0h6QBaETb_6Xz613OhATTPrHo8dNGPIP7vM-s6qaSa0pHVPUrjzijxdnNsz7NKhcUgfWqGAmKGmIx7ZiHU59XWV0JbLi0tJLWNRuTpsntIjhLKPjuLOEgh5UEacxl97F5vgWs268BuUI8UwrMKqU8rsKDiDotbOmxJYyrJogVtr_yXclsLWSRdgV6F_ziWVWpzG0Ti7vAdxz8nqrBnJtvxyKJB-APa0WOaH8sPNwSHykLjHaFlj-dyUBhkvCiEL7cWFfpSJWk33sgSkCC8BWypuyR41vtEgxkbg43DDgnDnvsB6ikB1H_euwuec6FAx8BWB0U6RIYib_8zJGgP-5Sh6lD1jdqtEy3kwg6lmibPasY0SN-NZjAiW1lnwun_4cia7FO4F63UZj_7Dl6wLzZCih6whk8dRTWx4GBBoj0gqhPJ8GEGG8qiNBIk9CDOUtMOQYLmuEJG-bUGxtjm6QlkmIL7mgsRfCS9EbypTsBsBKhfTj7VtQDDbC0zRpSHXgxIuLlN_MlSheAcIbhxL6B1t_mtRrmV8PKlo48rH0g8IH9TATdZm3BPopBE9JLjw_j3lVYHxGjRvO_lhX9qhq47Jf-aeIBnE6UYx5z20Ri4aM70x-kQInB7j29SOVYrOnBnv03G3THOZvaKggvT9y_tfby5yUCiWCdNfAkooiLy-_ciIXuT2J8uiEiRHyf9zkr1yGG6VSdiyyFC9LDEJO1Voqvc_dJlHkWhLcRzhaOuFDuQSKL0z5vIT0Rwira_NL8RU-GN1GXjXaR64W0Havfw0EtgvXKUhnvmv4emsmWrl0daD5-mCY6VxW6Rh-19cv5TsQAn0bKu5qV9KUXd_dZwVtNfVurUEpYvolsyY4uf_c4aoobs2Romm34WkB3feVf71Nz569Jd3aG18_Lx7NTTYUZrOkjMB7ZNIGg2DbdzsEOHjRigOGm271OCyjzUQDCDn5JFNCjqQ9Fw6uGiUlDp-II4wTU10Wzs66bh0vP62okBg-DZlKxu84Zzmz5Gvdgicrpyq6kynFxAZGiPtiEvqrU-R227i8VTM2nEgA==",
  "id": "rs_0fada87214a4fea4016ab477abaabc87d09ad6535c79a57c57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.409,\"right_y\":0.208,\"right_z\":-0.015,\"right_pitch\":0.3},\"note\":\"The right gripper closed empty; the pen is still visible beside the left edge of the jaws. I am reopening, moving slightly outward and left, and lowering a little for one corrected grasp.\"}",
  "call_id": "call_Uw2rG0KpwWn0VnZoShb1rrCd",
  "id": "fc_0fada87214a4fea4016ab477ad986487d0b15ec86cc993d54b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uw2rG0KpwWn0VnZoShb1rrCd",
  "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]: [-0.247, 1.6306, 0.3904, 0.8474, 0.371, 0.1055, 0.0937, 0.3954, 2.3146, 0.6014, 1.5536, -0.1677, -0.1246, 0.995]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6347 left_pitch=0.2056 left_roll=-0.0295 left_gripper=0.0937 right_x=0.4162 right_y=0.2095 right_z=0.0167 right_yaw=0.6119 right_pitch=0.4005 right_roll=-0.099 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -5.9009, 4.7795, 1.8486, 0.0269, -0.0073, 0.4615, 0.5812, -6.0923, 2.3726, 1.2479, 0.0464, 0.2222, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70d54dce3d369d59f50a2efc58ba8a67103292565fdb3c03dcf145df6992d91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec864ac4a9ffe0e191e44bd8ce3794b6a34e5ce209101c9a6aa4e1039412dc14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88e55aa732f9fab73a2be0b871449603894605c83d97525292374954e5fbbcf",
      "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 · 4.442 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6352, 0.3878, 0.8913, 0.371, 0.1055, 0.0874, 0.3122, 1.9884, 0.503, 1.1088, -0.218, -0.1108, 0.9991]\nstate[eef_state]: left_x=0.3652 left_y=-0.1546 left_z=0.0806 left_yaw=-0.6383 left_pitch=0.2394 left_roll=-0.0152 left_gripper=0.0874 right_x=0.3997 right_y=0.1729 right_z=0.0253 right_yaw=0.5509 right_pitch=0.1923 right_roll=-0.0204 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -7.5966, 7.5145, 1.7949, 0.0464, -0.0171, 0.8327, -0.4991, -7.6513, 3.9316, 2.1856, -0.3346, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8509, 0.3714, 0.1055, 0.0913, 0.3794, 2.2452, 0.5018, 1.5288, -0.1795, -0.102, 0.0127]\nstate[eef_state]: left_x=0.3628 left_y=-0.1539 left_z=0.0744 left_yaw=-0.6353 left_pitch=0.2088 left_roll=-0.0283 left_gripper=0.0913 right_x=0.3961 right_y=0.1957 right_z=0.0149 right_yaw=0.5892 right_pitch=0.348 right_roll=-0.0604 right_gripper=0.0127\nstate[joint_eff]: [-0.2667, -5.8872, 4.9026, 1.8828, 0.0611, -0.0317, 0.5983, -0.212, -9.5385, 2.2085, 1.5897, -0.1148, -0.0269, 1.0427]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8474, 0.371, 0.1055, 0.0937, 0.3954, 2.3146, 0.6014, 1.5536, -0.1677, -0.1246, 0.995]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6347 left_pitch=0.2056 left_roll=-0.0295 left_gripper=0.0937 right_x=0.4162 right_y=0.2095 right_z=0.0167 right_yaw=0.6119 right_pitch=0.4005 right_roll=-0.099 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -5.9009, 4.7795, 1.8486, 0.0269, -0.0073, 0.4615, 0.5812, -6.0923, 2.3726, 1.2479, 0.0464, 0.2222, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70d54dce3d369d59f50a2efc58ba8a67103292565fdb3c03dcf145df6992d91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec864ac4a9ffe0e191e44bd8ce3794b6a34e5ce209101c9a6aa4e1039412dc14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88e55aa732f9fab73a2be0b871449603894605c83d97525292374954e5fbbcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHeygCKRj5lAl9pk6wZJDL8O7AWwfzHEieUMLZjriWT_yLLhGgWmK0MpzZfyCag-28pHsjObz5q0nhIvAUkr_Dth44pKvpn8QjfdiDmgPm2dWujEc_7Mx41S6jnBr93hGfRGCsXWq_czXKUSMMkos5wXoF6SbFlpjCWRrEsJE26UzO24X34wHIinJF-BxgG6oVWoN3bJE6Y_zXUv9LQqN1YFpS3U0UMCOrbg1bktDFaKtjykepNMHFvdkqcK1nZMhBQfOnrnc9n7toepVeCiV-Vp7cY4ph3Ko_nU6HWjVBiFINAsnbQK15PjHbHygBarMhW8j0DyjJUakeNyvFUBrmBUDVFHYLpCjIk5NNDznxJV1X21cueI6xLAATsM3jc-9rVC0Oi9roJbrjFxxiRnv9-D2B02zOHHCoPmFlD5d990Npv0lrqtn0-ZmZqnmBTvLWXhidG-sbIQ541u86lqNeCNLlHAFV05zmgLFXRA01g69iniEAZV6VRIvxkZBbwbRsRgtHH4kbDacGLjnibjcAXAT5IsJu4SCsF7xoZTr0gNFQ8PC-Z7ofOY0AeF9-29v0r5F90PHICCh16p3ccEd2l0An0vJAr6gx3J0-RDqSWz6bL-1FrWuA33sPD4jnn0vkdA0TPWYKWjxMGn3TYNjEQSUx1DvL7VH1Wen2IyN2I5_JtLdkD8cwjbQiTJwmFViPIMwJd_D2HdZegCk51gJzL0D_WZSBVe2QUqbIM0vHY7SPYgjqWbgOKwemJ5pjiYPHL0StXza-LFUhOPqE-Zl-XMElnCGg3Xip4i6-GThAKNVoByaW9jk480jLuGDgYCLrIljPPP2qhaNqBZO1FVNLQ6Ib8dilwmFyLoDNo0KWyv9yGSQqVooROmDPYKXpNhzGzCiNKOd0ryvYCA6eNXTA99lqoVrI1vFhu-__vkcA2CVckLF2x-fMVNbw-P-Lw8KUaw3gvnWrwAE2abtu84l03f1gbZwjUPi1GKPL7WYA5aWgkIOMWB7akL29OcKW1Nd_PQnQci56U3p62rYk_GQMV1KCr2jxLDAk7ebN6qLYUCUgmKKk_G-tS1mt-uQapWNruLgXhd36GJApudaTVZ1ZvbI7T0WmbNPMimOTYjYHZwfgTFdT2UTh6wVzraJAUohA0ehzkfBhryqXx4xq46P8uuacTsHQVD6m2S58qpsS_CU-kI6aLDhIoCCx12T5IgeXJT39wAf4oCILT3mbJfbAJxoOMwND0vc0pm5wAWSzRHmZDq56ILnfAHCk9w0yEbecKk",
  "id": "rs_0fada87214a4fea4016ab477b10e8087d0b20819cb58daf9d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the correction, the pen is underneath the right gripper rather than beside it. I am closing again and will check the finger spacing before lifting.\"}",
  "call_id": "call_nWsSE5iCndOMSlcbrdV0EcSw",
  "id": "fc_0fada87214a4fea4016ab477b149c887d0974090e20306e42b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nWsSE5iCndOMSlcbrdV0EcSw",
  "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]: [-0.247, 1.6306, 0.3904, 0.8471, 0.371, 0.1051, 0.0959, 0.3943, 2.3127, 0.6022, 1.5677, -0.165, -0.1307, 0.0117]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6345 left_pitch=0.2052 left_roll=-0.03 left_gripper=0.0959 right_x=0.4175 right_y=0.209 right_z=0.0211 right_yaw=0.6133 right_pitch=0.4165 right_roll=-0.1099 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -5.8188, 4.7248, 1.7753, 0.0024, -0.0708, 0.2076, -0.0889, -9.1009, 2.5094, 1.7753, -0.0562, 0.0562, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0887a0104f36321bc2e31c8604308f08370ee9df3b4dc79458bcd56d4d8df24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08c22a9714e882acbcc87c50636e01444d17f65db18c85a99441d96d74605fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb67545c4eb54794681002458df7c436617a38056cf3d5b4d8db781d61be6cdf",
      "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 · 9.798 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3912, 0.8562, 0.3714, 0.1055, 0.0883, 0.3771, 2.2326, 0.5003, 1.4979, -0.1837, -0.1009, 0.9991]\nstate[eef_state]: left_x=0.3635 left_y=-0.1541 left_z=0.0758 left_yaw=-0.6358 left_pitch=0.2144 left_roll=-0.0259 left_gripper=0.0883 right_x=0.3953 right_y=0.1951 right_z=0.0124 right_yaw=0.5886 right_pitch=0.3289 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -5.4496, 4.4786, 2.2051, 0.0366, -0.0708, 0.7643, 0.5402, -5.4906, 1.7026, 0.7937, -0.0317, 0.3101, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8474, 0.371, 0.1055, 0.0937, 0.3954, 2.3146, 0.6014, 1.5536, -0.1677, -0.1246, 0.995]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6347 left_pitch=0.2056 left_roll=-0.0295 left_gripper=0.0937 right_x=0.4162 right_y=0.2095 right_z=0.0167 right_yaw=0.6119 right_pitch=0.4005 right_roll=-0.099 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -5.9009, 4.7795, 1.8486, 0.0269, -0.0073, 0.4615, 0.5812, -6.0923, 2.3726, 1.2479, 0.0464, 0.2222, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8471, 0.371, 0.1051, 0.0959, 0.3943, 2.3127, 0.6022, 1.5677, -0.165, -0.1307, 0.0117]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6345 left_pitch=0.2052 left_roll=-0.03 left_gripper=0.0959 right_x=0.4175 right_y=0.209 right_z=0.0211 right_yaw=0.6133 right_pitch=0.4165 right_roll=-0.1099 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -5.8188, 4.7248, 1.7753, 0.0024, -0.0708, 0.2076, -0.0889, -9.1009, 2.5094, 1.7753, -0.0562, 0.0562, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0887a0104f36321bc2e31c8604308f08370ee9df3b4dc79458bcd56d4d8df24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08c22a9714e882acbcc87c50636e01444d17f65db18c85a99441d96d74605fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb67545c4eb54794681002458df7c436617a38056cf3d5b4d8db781d61be6cdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHe3DSQb_MnjDxJiaydIAKDpX0ftZJ2UYA52l-pZgYIbGsqq-e1_FdTM2eTsBFduzgkg5R8p9SOmNCS91KloJPHlKemV3mEbi6LiO0DyNlDj4CB3SFO8j3e2SgWulcZ7bOBzqVb8ofCav1eql8KdUp8J3sANbRtZsv2Ruyn0qD0BJuzu33TzMIseVWCvLl-JrddXb_8x4dIwRSzob9lE1mdgHSM2xmGY1EqRSXwsAg2brgygtQEZ5bp1Wi4CCQ89miRGGf3af0f-h0xUKtI4pPDWqVxl0vTfy2xazCqscDzrPwGk98depcsMhksV93xn_7I8Jo7ZpkBh14Zwa7VkPd7Y3YgL3q2du-THMpL3RQOu5486fnWBwj2Lzy1owdOLjKG78amzg9sVlWOil3P6Q6lMDPVRM5mF-gwud-3J7nR4aU92qJztGf6Iy2LritQnqE6fMzugOF0GaTZDS6U3emHGnPHSUvNPh2pRTc8a0ly6UKCj332iCBxJzpPr02kZPgvSDcdilVOu68KId4Ou49CdO_Ystqpsz-FN0G_ocPgaYxAEedY2Pwfrn5bSqoPV98gycYkSzvtSvFj3GGDwRSmpV1AdHteFzzhps4rdqnXkRKabkeVsceqKfE7kfmo0iy6-6SJ9mBoOptOPWGytOKWexoMzskcjtgdxyT7OqQsSR1j-Hrbak4Ldc7Y9j0ioX30e0M2aSWfiB7YmjAvfIpcPwoNqPlPtMpmeEPxuCvSNMBC0GcIa_G1PE47qFAuXmJF24ThwXNNQ7zWWvr9ioQH4oV93xuYgzq6Vnh2xCK0mKUI58sasV2ut7HB480xRYx3g_HxNqDvQpt3BBYog2aZQas6-hncMLlPK3tBvVkQ27dN7r9vnYNN07gPwpgDBfPWucICNohuIxNKjcQBltemPgyPHkDPlO4WIZDYdU0hHp0Q3KjjwKb1hd6SM7Ag-vlj9_371XrR4euleGVInyfDQmxDDXu-p7pkXhf6BZBYgMm0wUxooepHWOD0EY_YN0P4i0U6FvsZEDYw4ilJ8Ys3R82akAueFFOnrmpbheEbFjH0xnfY7GvoHR0JIsTmzoZoSz5tmpsHEFm-ptEaMUMLuUu2jRIl2MOotWE-NpnK875HHq3fiqwF9KAaJnB4dXyUiQsHpwWX1_LW3PWU7wmKM6qu4HF1-3YkBDs2WsfMWn7nAX78GkP4NqlchtRXlSJ_cP0IEjkSDQFGlw7k33jlk-ECjEVyBBpw_-ShxQplfO8-bNTnY6A3CvAz-i9W-BFzU61I1M5xxW8YAxn_ZTdFBmsT3bRd_fpjECVEEL3wUlNKejvgDKziEW5KEW_JOA6zBbpy5gwtu3NNIyCv4LdYiO-N71hY3ckwcam9OpUTAv1Q3wvwHlF9jffyywh1x7_zBgIXV-HSp5KAWHv5zPOCYcNnCi4JDdfXMC1p9sdmY51TVinqIHfhwywJsWtYqvGWyBY3dLTklfApCdjRNsKAUZGp-aPwDFl5Tkzbf0w8uT53yI2Dtjb612ZzMTxFvY7S8",
  "id": "rs_0fada87214a4fea4016ab477b4ee7487d08f3d2565ca2c2f15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.12,\"right_z\":0.16,\"right_gripper\":1,\"right_yaw\":0.55,\"right_pitch\":0.3,\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.12},\"note\":\"The second right-hand close was also empty, so I will not repeat the same approach. I am lifting the right arm away to expose the pen and remeasure its position from the overhead view.\"}",
  "call_id": "call_FqOsvJdwfORnyQKePaMkJKsq",
  "id": "fc_0fada87214a4fea4016ab477b618e487d0abe13cc0dc7dae66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FqOsvJdwfORnyQKePaMkJKsq",
  "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]: [-0.2584, 1.4837, 0.4629, 0.5842, 0.3523, 0.1017, 0.0973, 0.2157, 1.0725, 0.2905, 0.63, -0.2577, -0.1818, 0.9946]\nstate[eef_state]: left_x=0.3626 left_y=-0.1552 left_z=0.0979 left_yaw=-0.6253 left_pitch=0.162 left_roll=-0.0424 left_gripper=0.0973 right_x=0.3298 right_y=0.122 right_z=0.1776 right_yaw=0.5491 right_pitch=0.4082 right_roll=-0.148 right_gripper=0.9946\nstate[joint_eff]: [-0.5402, -7.3778, 8.841, 1.8632, 0.1392, -0.0757, 0.1441, -0.2803, -2.1402, 8.4718, 1.6142, -0.1783, -0.0269, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f7ccca90f8b1c2442a04c97c52f8c3b9d5b618df6ae61f0ea82b1a043d9b2b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a857d745e2c9f35d913f86c0dc436ca94fa76caf715b468f63fb7a75ed0e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538bbd3f5c929b6be9ea24b7b2f5e25917c187442e2e72a1c505b8fa831d5ac5",
      "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 · 8.776 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8509, 0.3714, 0.1055, 0.0913, 0.3794, 2.2452, 0.5018, 1.5288, -0.1795, -0.102, 0.0127]\nstate[eef_state]: left_x=0.3628 left_y=-0.1539 left_z=0.0744 left_yaw=-0.6353 left_pitch=0.2088 left_roll=-0.0283 left_gripper=0.0913 right_x=0.3961 right_y=0.1957 right_z=0.0149 right_yaw=0.5892 right_pitch=0.348 right_roll=-0.0604 right_gripper=0.0127\nstate[joint_eff]: [-0.2667, -5.8872, 4.9026, 1.8828, 0.0611, -0.0317, 0.5983, -0.212, -9.5385, 2.2085, 1.5897, -0.1148, -0.0269, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8471, 0.371, 0.1051, 0.0959, 0.3943, 2.3127, 0.6022, 1.5677, -0.165, -0.1307, 0.0117]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6345 left_pitch=0.2052 left_roll=-0.03 left_gripper=0.0959 right_x=0.4175 right_y=0.209 right_z=0.0211 right_yaw=0.6133 right_pitch=0.4165 right_roll=-0.1099 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -5.8188, 4.7248, 1.7753, 0.0024, -0.0708, 0.2076, -0.0889, -9.1009, 2.5094, 1.7753, -0.0562, 0.0562, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2584, 1.4837, 0.4629, 0.5842, 0.3523, 0.1017, 0.0973, 0.2157, 1.0725, 0.2905, 0.63, -0.2577, -0.1818, 0.9946]\nstate[eef_state]: left_x=0.3626 left_y=-0.1552 left_z=0.0979 left_yaw=-0.6253 left_pitch=0.162 left_roll=-0.0424 left_gripper=0.0973 right_x=0.3298 right_y=0.122 right_z=0.1776 right_yaw=0.5491 right_pitch=0.4082 right_roll=-0.148 right_gripper=0.9946\nstate[joint_eff]: [-0.5402, -7.3778, 8.841, 1.8632, 0.1392, -0.0757, 0.1441, -0.2803, -2.1402, 8.4718, 1.6142, -0.1783, -0.0269, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f7ccca90f8b1c2442a04c97c52f8c3b9d5b618df6ae61f0ea82b1a043d9b2b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a857d745e2c9f35d913f86c0dc436ca94fa76caf715b468f63fb7a75ed0e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538bbd3f5c929b6be9ea24b7b2f5e25917c187442e2e72a1c505b8fa831d5ac5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHfCv0j0g1NhWSUoP0Xdb2h-P6bAsC615ZLwQlqPoWz8SdpCYnFVtv8Lhz-VnVSj_zgLuELxp0iAomd1l1LY4hPsW6k2H4VJ2KjBFvPOkEYbJP2_ElxeM5MYPjAq57PJnFgbgoqp5wPvK41YJVGoSuvx0GKOeIloLWb_mW7qDw6KEiq9MQpOYDYjIqd0ERillJKL0s5pRQ45EdHnKSt11vKgFb2tg92w8QZPIbeLSMFCbuMuGRvT5ntBpkdoImuRgH50lPq-6wSdlbnEOEVYk-4wE3_KncaNg4BJkVFV9lodalwtKx03gj7kOzkHTIfj6aKy5r2wFY4p2ntZbHq_GcD2BxTIcmIU60xKz-2s7pWqs-XLlPGG8Fn-VwVWdffBwqYhadxdfCvvUKdD4fgSxd1MBG-gd_6_3apIOWHBgUx24J8pT3A41AGuNLjsZk7xw45JdahOxwi4-u6uYkHQl73Y0SzwvrM0qDtnJy0dAVA-qT7kGaripAGheoFU3x5o4NKq8p2ZNirk600tstIhc1b2olY4E74JSLi405_Cx9AM2zMELwhxtuJjO5Nl1JOh9ltAobhsHnZwJaEvbHq_zl2-crOpLe9Rbma9d-Nh7rYO4qNlKpo0eq6ZlrONl9FEmV8dkT3P2lMYiB6ep2iMBqsSoP_lW82wWPDUfQ5_yvu_1p_VuTSP4SJbvNw7cLvNsWeNTn783-fCkUY1_dzgudZbwjxYnlVeIr_mEciL_r36VliXTaYwn1u5YwCdoNIZC2-hz-udKuagJSuSGRPLImSYUprppc63ROa6ongOlrVXf4-i-3hj-Flrtc6ze5LTkmbONO8TDBbd2rSObfm4bylk9e8hdqs46dbuL3Dgb30xU4Ft8zOA4VmhbGc-LRXxuhf2reFaM4XyPG6r2KDLj0yLHH5qXrV5VCkb_w6GdpbF9ifStD3svQ-mLiNdqkc4zU0NzhHvgUqOEkQQCScyraoVe6XMslhlR7nSGhoe1EaqlX1PNqx7XQQBZlY5z1BzlwJ0XbNf94oYe4mKB9fyKgc23xIJmFyq7kDLFSKapX1zupWOc4MAZT2LaPxBOmI0Em_t36prip2P_xLDF5gwpEbqBLp2C6Zaq4yRbVxztOWy9a9z0prDn0qgH9N1ThlgkNLuf0RHouQj6jd0gE8kZ03xbk42NyC_37TQGR9OYHq5OB9agh7yU20EnoXkWxTVrkRHtwDQBasT6R4ShA-fynh5gXSOc3De05gVFoxXsvJv3LLPrTIOjfNjaARrt-tMPgLjiezwFJVJpZl1N07E3WP3Gqnp-v6-Sm42dvfj_OdWV_21bteogFYMfGtGXcSWIS4ApSEC0-7VTVB7xaHWIR4SOGRXnmyc_gvHNkq0cw-1wYB0HMZ3ppjVVx7klY1Thunek64Y4YD7Y7qtK39C13DfAjfrf2Y_l394fFbigd5rocV_OXpa-CC-eSa-iCzKQevOl-zOVVrCwKuaIf46riv3Q-r-KPpQQaNOcAw8Y2TR1bOAUTksXfHiDdLf4wqkcPErpX6wws15IHD3zwpBYuv7iS6Fvr-8tiPA3xJeXInHT4zhzkI76ksRDjP_1XMvdg-QPKV9YZnR1UKW5RnWLQ69dS2XdYyREES1alz-b_ocVYPt_yDMbfVHXbEnFjMdG58AiZDx9QuUNXlU82qCazvu_P5B2AvNXdbiC8RtVnKbryT9Go-AoW-yHJ4pag7cUboG3NY8iBa4QnHGIn4aNz22TPaOqeC1sNTeXs_aFpRfBWH6e3hcP4xFNlAKwg4__hMao4RCe8fhKnhOHSi0I4NXZf9feNzjEliTLpK9dDvCaMN-9WfpY3zTv-CXkXL7XB8PJAHX1NVGYu6wydTfwyK9swESvaVZNoz1LmibB_9tBeIaLKPwXnTf6DFSoA0MlvbcrVxd_8U52X847jo20fEol7wtIIk2-T_oZWpyXbmttWF_i_lHC3AS1Kn4CeFTgYzKoMydopzexJ0mwzi-4fbHuFH6BuhpRmiCtsCFjZ02iXX0OrrC8OmLQrozLe-_P4y3M3xIkPNNhWbJxmSc_6IiS0dzwoaS7Sj_Il9G1XgsfbJ6eH68u5VbzUZ6bSYrHYd-HUiAD9ReFTAPODzGCmfOw5x0dA_k7EN_4-gnpyFlO1UMGokz8H-6x15aXOwo5pJGVWx8xFN4260R6yThb7XJ43k0a1NZBg_WJQFGCg4PVXEi5EACRzzK9xqqNAbWVWmPr8sbDeySVIc27JmvkIHkFx6ajMdsqqPOQMUEASPwiUtuv_u1wcU_lmQJETLWRUjkTD9zJkhPPVr1N1EF-kEzfGsbVtBWpkgGvvT-ZEAsGIs=",
  "id": "rs_0fada87214a4fea4016ab477b9c61487d09b17613688ad3585",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.258,\"right_z\":0.065,\"right_yaw\":0.8,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"With the right hand clear, the pen is visible farther toward the table center than the previous approach. I am relocating the open gripper over its middle and matching its diagonal direction.\"}",
  "call_id": "call_lWbq2NARqbPVnHFjx35yUEES",
  "id": "fc_0fada87214a4fea4016ab477bfc57c87d0b93aa671e9d6d71a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lWbq2NARqbPVnHFjx35yUEES",
  "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]: [-0.2623, 1.4811, 0.4606, 0.564, 0.3481, 0.1017, 0.0989, 0.44, 1.9484, 0.5961, 1.0321, -0.3286, -0.1158, 0.9952]\nstate[eef_state]: left_x=0.3598 left_y=-0.1553 left_z=0.0936 left_yaw=-0.6245 left_pitch=0.1428 left_roll=-0.0478 left_gripper=0.0989 right_x=0.3853 right_y=0.2484 right_z=0.0568 right_yaw=0.7808 right_pitch=0.2572 right_roll=-0.0046 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -5.2581, 5.8051, 1.9414, 0.0757, -0.0611, 0.149, 0.294, -8.294, 4.7658, 2.2979, -0.1734, 0.0855, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3f5e1b1e06d5c92b4a35f039a36debbf332950b0386357100166165a2087a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe77b26e663fa87470bc96b226cd0171ea2cd64f48443da20773adb9cfcec06f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a84e6955a0d587b28ae1ed52be4726efdfdef376bbfc8893e590beb30b87cd",
      "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 · 2.633 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8474, 0.371, 0.1055, 0.0937, 0.3954, 2.3146, 0.6014, 1.5536, -0.1677, -0.1246, 0.995]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6347 left_pitch=0.2056 left_roll=-0.0295 left_gripper=0.0937 right_x=0.4162 right_y=0.2095 right_z=0.0167 right_yaw=0.6119 right_pitch=0.4005 right_roll=-0.099 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -5.9009, 4.7795, 1.8486, 0.0269, -0.0073, 0.4615, 0.5812, -6.0923, 2.3726, 1.2479, 0.0464, 0.2222, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2584, 1.4837, 0.4629, 0.5842, 0.3523, 0.1017, 0.0973, 0.2157, 1.0725, 0.2905, 0.63, -0.2577, -0.1818, 0.9946]\nstate[eef_state]: left_x=0.3626 left_y=-0.1552 left_z=0.0979 left_yaw=-0.6253 left_pitch=0.162 left_roll=-0.0424 left_gripper=0.0973 right_x=0.3298 right_y=0.122 right_z=0.1776 right_yaw=0.5491 right_pitch=0.4082 right_roll=-0.148 right_gripper=0.9946\nstate[joint_eff]: [-0.5402, -7.3778, 8.841, 1.8632, 0.1392, -0.0757, 0.1441, -0.2803, -2.1402, 8.4718, 1.6142, -0.1783, -0.0269, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4606, 0.564, 0.3481, 0.1017, 0.0989, 0.44, 1.9484, 0.5961, 1.0321, -0.3286, -0.1158, 0.9952]\nstate[eef_state]: left_x=0.3598 left_y=-0.1553 left_z=0.0936 left_yaw=-0.6245 left_pitch=0.1428 left_roll=-0.0478 left_gripper=0.0989 right_x=0.3853 right_y=0.2484 right_z=0.0568 right_yaw=0.7808 right_pitch=0.2572 right_roll=-0.0046 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -5.2581, 5.8051, 1.9414, 0.0757, -0.0611, 0.149, 0.294, -8.294, 4.7658, 2.2979, -0.1734, 0.0855, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3f5e1b1e06d5c92b4a35f039a36debbf332950b0386357100166165a2087a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe77b26e663fa87470bc96b226cd0171ea2cd64f48443da20773adb9cfcec06f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a84e6955a0d587b28ae1ed52be4726efdfdef376bbfc8893e590beb30b87cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHfMJvdNMixcWH5o3U3vM03Dpu-q90PTbRBUx92Pg09fguutguUP2YX-gXqMTOhiv57cZIMd1ujwdSNxAO1yZOhE4yndkUG_strUQmiafh_9Ay6kMg2ZcyK6Kw_NSVKisoAWjYh6TrzUG81qCEbf2WUfdzi1DPbg-1zvyjbqLGF3YJQBn5C8VJfREd1NvCt4q-dBpUjqKFuMB4Vbk1ZwwjpusLyhzd9K9VlwugYVp-iy7-vlA1Wp786p31j6BEOWxwnJxE_Id3wU8kEsrwpI2YYfxX09VHD2MS4cybH-Hdk_VDlH0JFXtq2eE-263xZwd6WtIFV5XzHyiZ6MGoE8n597lfPz2ODnmzTJ5JQSIGRj6PMnHCRa1yKFCwXixPALyM7X8w7QGwybj2Xob8FzQPMGlMTtlMWG0YhBiUHeSAafzTpNtF9BEZ6uyGinzR9B2yEEw4-QDjKegRBHN5JyyG8zz-0lhbpP55mmZ0hP-D7zoJGeC8ejVoKbHfrnf47t5C1F5J43lvOk7dz5qnN39Y4Fl0d93WZWvGIE08FPhO5n8JKpHP3Dk5ah0RPCN3BoEWZWyKeEarD-fhV6yiD1nDYxFyYFjM0z_RwNzUTryyXrzI4DYF2Kjz5ue3O86RaXR6kx5vdHRYohFz0ZpZZeR0PUlkXMF5UV6-lxNqggBqffstPtxqzFyIxJh6HK_AqaZ1LZakLOsVSzHkuD3tKW8yae9zQCbdiwgtxOnSVN_-V4l87Kw05odrFaYJtrhkMya2ROft872FzxULhFUBajYTk8k9wuZ_qTV9soDOk2B-0gFyFDGTsTluF_o2cokj36b1GIRZwwvF8iVh3dY8en1w93eWa140hJesDmCNahL16bLtY4c4B0pWLTbkHmbIe773YU7GS2_Ehj4U9nTSwIay2dzwBSceoIyRZhzKfcNjRaGu-d32chWkGl3SRpuej3_-8luDVDaDnLdMxn56nJKFAW1TMj2DQhYsQt3PDaYD4ci2OuYurFFimOOnH_VIVe-kLZBCxfgIX5O0Ej67YojQ3-5jU4rPhP87pGsPU9xiP1oOChyaAoq5BEGQNs6T4z4D6i6a439lPi9nAcY9tSjm16orZvAGd8qxei_VnPCDjcnTbCZBge3tlaYK2laX45xZL9Fjllb6r791Jk1mSA883nvc5TgJwHczUpYrIphmR4iA6-OIN8v4SSnpbd4CR7rgKRNijb_f-NshA3QKeLUEmx5fa-r5qUjsIinLZ_fyZGpBptz6EXe51wYU5Q3VtHQaSZBZuEjG6P4RgEmbKiOuFpYN5LPAlwte1uBUnoHFWv5RH_4qwaZrGUa0zsVeTSAVdLJsA_orbaP6oNvsgTe5sLLAdAHOP54QVWK8ZwUSMCtT8QT2YFva6t-ziW5ByU6erhjzabR_0kqTOtJYjKj3D0vOUMsHa9HMXhagqpRaqvcgidJgx0x7Wj0SzGVDFBZg_jIeWlhJeKN6WXkEvTVywBinBEZXO-bDoYqgjUgZj9AlecFksRiyi5Yjvye4x1gXPqaUt5K2kh6LIkNLdaRFSonZjyVRJlq5RtFqZcsbUpniQH3HLnAqynG3rEbprkFu8DZ5wLThwK-DzJGJ6ibLH5mXmA3A08dxjinJxq7W_DSCx6LJjhhTeJ7283LyHpF1XVK8PdLb97JccmJdJwz0WsJqRXdtm5TnGbmBR9mrBMuMeN6JDveGqDk89Vw8XKRmfZfsAkY7jxC-7eoO6RjB7ODIH553Mbp-mQK2MeDjCnMBuniVyQYKt258c4lzUGevu90AIHIbnMFW7VbmVKczmLXqcMSgTEKujcB4u3K6Bjh8-BvWB3ddwbbbKJ6P5JrqS2AjnvgIzPbM_TFR9CpEdrm9qJDebvVqOA17axeMhswJZbPTUVB_LJNhUbSpg6BnzChYEbqaO85I5HiV9m-w3TZ6cgw-VzioL0B9P2S6YV_Hd_4DNNwkfvCyO8Spc-DQHfoNQialJvXOsDdNO5zvPDe5iimLADUsy044W56wLuB3YpHWZD8pObLOHooLGlVk1PiCp72V7LsNLyVZeIshqHcwvG4Dxaf7YSTLYEpp3GIv33U9hqBsmVPzC2qoJ7LxoaPi_8la8GzuxtTKbeYQUu4Ka_Aj5WUrjeCPjLXa1IoVPH2IsJjyPKJcEk2LbAa6l56bWcRp4aRZhvaHE-ouLfDBZCDlEk2Y4aGUN_IEkVGMSJqkp1MgnnL3WA9l2Z9KOTJaU38picwgI3D5MMTGgaBw4SMqtC9dUrA1dJtk7YEXkvEUkWYP3TzmRTXqztdDttpDCD41sfAmGcFEzdjnWWtbFYIS1zr2QAjCV0qpyZZty7mGpM_-B8Vnz_cxKmBSI8xrLkcegIi8miWZkIQIkRkShCd4GaCQbBQToQqp4Pvb_BQx4MCYbSOkNzIL-0QDY28AoWAPvJNvCZpRN31HXYeNi2jCcnnuPRPLGMLZFdiuZwrZva3CC1qIaFBUovtrkqSOM6Ow70jxuMrAHjR9aeSVdcO5O7Bj5LGCAl3ClVcZkAVj6yId0KRfOfttwug_muQh4BqR03x4bEyGG4YpgySYs961ty07z_MLlqqEpDiMXgOC_-9ACHr_dh5XTJKi2fbSAj4mSAfViFtAA-2bqpY3nBaptRtOXAMa9OsxLMC9Pii-OjRTTTbzvZ6OoQDrdpsaYbI9YomSJw6ftMtp-TZL-vi-6HyB0ECrDnTO4gg6tXUEciFoSGsYYYw2OojLIDcsxZevLCvqcibKW6nyXAQ3Lk82usCtBFUV9FiGm7mC-QwBPvPwSIOBWAmykyIIBTyCpqHaBtIPw4ydtm9XluffNJKsO3yXim_QUer-5sjRhBRj_YV3EKSUs7e5mwfTOYTZLA1PSLWbxspmGZ0ZbAqA0YcsS3WSLCAnoYt-7QnSMH8f5RJ3RVHCkG90RgsGBsLXlMcYGcj21z7yXWnxJ8t7-sZAhtPtaYRnwj6B-U6WUVHAFLiIipK09G57ExFa-o",
  "id": "rs_0fada87214a4fea4016ab477c4e63887d0b8c61306fddcaaa0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.258,\"right_z\":-0.01,\"right_pitch\":0.3},\"note\":\"The pen is aligned with the right jaw column near the bottom of the wrist image. I am descending vertically at this newly measured position, without another sideways sweep.\"}",
  "call_id": "call_PXvMAiB6WX2FYuV5F4sYzrns",
  "id": "fc_0fada87214a4fea4016ab477caf20c87d0b6423f097e63ba14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PXvMAiB6WX2FYuV5F4sYzrns",
  "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]: [-0.2623, 1.4811, 0.4599, 0.5598, 0.3481, 0.102, 0.1007, 0.4538, 2.2669, 0.6495, 1.396, -0.321, -0.1249, 0.9954]\nstate[eef_state]: left_x=0.3592 left_y=-0.1551 left_z=0.0924 left_yaw=-0.6244 left_pitch=0.1381 left_roll=-0.0492 left_gripper=0.1007 right_x=0.3964 right_y=0.2593 right_z=0.0151 right_yaw=0.8034 right_pitch=0.3494 right_roll=-0.051 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -5.4359, 5.641, 1.7851, 0.0708, -0.0562, 0.1832, 0.5538, -6.2564, 2.2085, 0.6911, -0.0806, 0.2759, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d872b26da57ceaf42db4ad9aa6e856470d424c480d2b0a2bf2ce787d03f85c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e103bf15e592fddd897bf3ac88dbd64274c83c5479e51e2ff69b7633940436fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c708070e508ede970551ecee5b524c6b4e789b028e66fc576bcde738aea8dce",
      "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 · 8.201 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.247, 1.6306, 0.3904, 0.8471, 0.371, 0.1051, 0.0959, 0.3943, 2.3127, 0.6022, 1.5677, -0.165, -0.1307, 0.0117]\nstate[eef_state]: left_x=0.3625 left_y=-0.1538 left_z=0.0736 left_yaw=-0.6345 left_pitch=0.2052 left_roll=-0.03 left_gripper=0.0959 right_x=0.4175 right_y=0.209 right_z=0.0211 right_yaw=0.6133 right_pitch=0.4165 right_roll=-0.1099 right_gripper=0.0117\nstate[joint_eff]: [-0.3214, -5.8188, 4.7248, 1.7753, 0.0024, -0.0708, 0.2076, -0.0889, -9.1009, 2.5094, 1.7753, -0.0562, 0.0562, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4606, 0.564, 0.3481, 0.1017, 0.0989, 0.44, 1.9484, 0.5961, 1.0321, -0.3286, -0.1158, 0.9952]\nstate[eef_state]: left_x=0.3598 left_y=-0.1553 left_z=0.0936 left_yaw=-0.6245 left_pitch=0.1428 left_roll=-0.0478 left_gripper=0.0989 right_x=0.3853 right_y=0.2484 right_z=0.0568 right_yaw=0.7808 right_pitch=0.2572 right_roll=-0.0046 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -5.2581, 5.8051, 1.9414, 0.0757, -0.0611, 0.149, 0.294, -8.294, 4.7658, 2.2979, -0.1734, 0.0855, 0.0611]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4599, 0.5598, 0.3481, 0.102, 0.1007, 0.4538, 2.2669, 0.6495, 1.396, -0.321, -0.1249, 0.9954]\nstate[eef_state]: left_x=0.3592 left_y=-0.1551 left_z=0.0924 left_yaw=-0.6244 left_pitch=0.1381 left_roll=-0.0492 left_gripper=0.1007 right_x=0.3964 right_y=0.2593 right_z=0.0151 right_yaw=0.8034 right_pitch=0.3494 right_roll=-0.051 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -5.4359, 5.641, 1.7851, 0.0708, -0.0562, 0.1832, 0.5538, -6.2564, 2.2085, 0.6911, -0.0806, 0.2759, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d872b26da57ceaf42db4ad9aa6e856470d424c480d2b0a2bf2ce787d03f85c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e103bf15e592fddd897bf3ac88dbd64274c83c5479e51e2ff69b7633940436fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c708070e508ede970551ecee5b524c6b4e789b028e66fc576bcde738aea8dce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHfPi5edVq5jbLeWZ_zS2wWs7onLPzs1HuYLBnXGTe1ohAyDinpc-COTrFM8zPFfO9aGWYG8d_joHVKoH6hoKvks9Z96fFTHNxtuVqLnNvkuKfuSnvYp4eMo9a9JbTvhnuXlvkDiDN5yWq3fVplV_U6yYSZAelQtURM-l5mKipvhuLHb25_fO9rZifyR540rFhqBX1gRyW_3xOENONElktZyYOs5Ez5GFgnA9bH89A6aJ5pDu8x_jUiHy-hrPAl28FT1OtYQjGxRQuVEHkliSxfky-yFS9e_FGSkCzfWuMNqeimPaiEP_XDFfOc-tHvm2OCgoSwkHkgt7tioWalVRmtL0g7x6zg2xBOnwgF6u9xeTRPn5zcxa16uFgT24OZ7sjeLXQTaZnIEJNiZqWpek8RQa-x3CCq0rbzHav4o2UK_PelYzvPslruVx2cIl-OU6kapct9q_y6-xl9gCIDBeCzAidBGrAYa1KYrs_HbTS9Ebu5iTK5Cj5-KcswWbKLMC-0m-xtqdPyFCY0Tf0nxtfT5k8ZEfpe55OUz7I3smKrfFylEoGAn8w_lKlq6sTCf80LZ4gAiYun7eeujmfYJiHZMG86VCzWwOWj_2HjPjYdTAkpoFbOIKsKIoyNTLTbUpSuAY6VO7WdtUr9zAwtC7EiouGdqKS-azfQ44knHTZYHJETYBWyvhLVa9ktVm3siVu8p7rosQmwLgIqUE29JRDRc0xAA3bl6YIXqsjJKrV9r-F7AR7yQty-Ho9cf4SrOIrpK6ot8CgrLt0Y2WTueGVkR-BJ5mvyXyD83GgAG3n_NTIYwDRksnSDue55qoLTBacM3Zg96JLbgOfCXNT5YNQ3LAy0xSK33T9fAH3miFIPXrYuP1rzJ5mtl3Onw9KvmTNjk3pBVfvBSrMwKCD6X-s4VV4uXg_9VJTFU8xyowOPgE8fpK_xcq6JFfa_1nbHrC0isnytv-VCH029Cf2LNk4J_7ctdZhs9Eyqz1X6nAW8Cbv0RJ0LPMby-sz2Iqmo8_chEe9O7bfqwkjR0DjUQm7KTUKZ-jgOaCLHTgAw2opMOej1fnV0YVUMHOL4YWDy4lRp70ATyuiMRY9oMjBhNrqLOwS1geWFDZq3QtKC5UVaD29cuVVRHpJmBe_oWOULBnO8Wu7YdMsmezQpfaEUpZUVWtnEJjmEdIk4brenxEU_yrNiyPc98rwC-0-k9up-dBkVIG0Qhq-F0VQXThfhKu6Y1kHEH3qY2AuDSslZSUi_JoWUxOfItnZjl1PMrsRXgz0pq",
  "id": "rs_0fada87214a4fea4016ab477cdf14487d0b6ce725f9cf21c05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel is now visibly centered between the right fingers at table level. I am closing on this corrected alignment.\"}",
  "call_id": "call_2Z60p1fFPrN9EgA0M7nvQxVS",
  "id": "fc_0fada87214a4fea4016ab477ce69b487d09f61940e1233f05f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2Z60p1fFPrN9EgA0M7nvQxVS",
  "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]: [-0.2623, 1.4811, 0.4595, 0.5598, 0.3477, 0.102, 0.1018, 0.4534, 2.2784, 0.6525, 1.4277, -0.3191, -0.1299, 0.0122]\nstate[eef_state]: left_x=0.3591 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1018 right_x=0.398 right_y=0.2595 right_z=0.0181 right_yaw=0.8071 right_pitch=0.371 right_roll=-0.0651 right_gripper=0.0122\nstate[joint_eff]: [0.0068, -5.4359, 5.7641, 1.7607, 0.0415, -0.0659, 0.1001, 0.0342, -10.3179, 2.4821, 1.5897, -0.0855, 0.0366, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22e1b4c63a633ec06819d7a486ca037247da98831c3eb398fc4d2168d75b4047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67595683278c34207355f5f01ce1b904866c372e3f5278492c4bc8767f1dbbdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd69671ddb9fcc93f5dbe607ba75890ae395be0d89a2b24c00d722f5e420d0c1",
      "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 · 10.11 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2584, 1.4837, 0.4629, 0.5842, 0.3523, 0.1017, 0.0973, 0.2157, 1.0725, 0.2905, 0.63, -0.2577, -0.1818, 0.9946]\nstate[eef_state]: left_x=0.3626 left_y=-0.1552 left_z=0.0979 left_yaw=-0.6253 left_pitch=0.162 left_roll=-0.0424 left_gripper=0.0973 right_x=0.3298 right_y=0.122 right_z=0.1776 right_yaw=0.5491 right_pitch=0.4082 right_roll=-0.148 right_gripper=0.9946\nstate[joint_eff]: [-0.5402, -7.3778, 8.841, 1.8632, 0.1392, -0.0757, 0.1441, -0.2803, -2.1402, 8.4718, 1.6142, -0.1783, -0.0269, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4599, 0.5598, 0.3481, 0.102, 0.1007, 0.4538, 2.2669, 0.6495, 1.396, -0.321, -0.1249, 0.9954]\nstate[eef_state]: left_x=0.3592 left_y=-0.1551 left_z=0.0924 left_yaw=-0.6244 left_pitch=0.1381 left_roll=-0.0492 left_gripper=0.1007 right_x=0.3964 right_y=0.2593 right_z=0.0151 right_yaw=0.8034 right_pitch=0.3494 right_roll=-0.051 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -5.4359, 5.641, 1.7851, 0.0708, -0.0562, 0.1832, 0.5538, -6.2564, 2.2085, 0.6911, -0.0806, 0.2759, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5598, 0.3477, 0.102, 0.1018, 0.4534, 2.2784, 0.6525, 1.4277, -0.3191, -0.1299, 0.0122]\nstate[eef_state]: left_x=0.3591 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1018 right_x=0.398 right_y=0.2595 right_z=0.0181 right_yaw=0.8071 right_pitch=0.371 right_roll=-0.0651 right_gripper=0.0122\nstate[joint_eff]: [0.0068, -5.4359, 5.7641, 1.7607, 0.0415, -0.0659, 0.1001, 0.0342, -10.3179, 2.4821, 1.5897, -0.0855, 0.0366, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22e1b4c63a633ec06819d7a486ca037247da98831c3eb398fc4d2168d75b4047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67595683278c34207355f5f01ce1b904866c372e3f5278492c4bc8767f1dbbdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd69671ddb9fcc93f5dbe607ba75890ae395be0d89a2b24c00d722f5e420d0c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHfYRQ0TwnNWZaY21lvh7QmLU_NPfJS6uTmHg-YDrOYcJDXsKCU9lQKo7dzsVriwpGv5DMEI2b9wrecawVQ8-Tp1p_V8mJxGRLVY0R33YGV0Z_SoXgDPz72LwQzuxrCvF2INIuhK5m7cTiwGBTUMAdnYDym8pvlnmvYh8NKbxcETSDEfo-aEzV8HEIZTO4K9JWndN2fmQ1Cc_xDDJxZfeBFUTUf1eVnXtu47pTLV_3xyrhNu8isRBnCZmMBpEB66FtEq2VLsOwAJ1NUSscAQHNznyPp_WjnQREUOu59sDXpFNdBqct8SH6a2VtT1xPiQ6Icfq63nAaNfo6Q9b8J3b_64ANDHanvm7bDxnj-Eo2WogJX5VuYSSaQdi7bs2wiC-gKAdk3KBJIaYOjQeWvtcrSTLlf1Mp3xQsG4xURSzLvSnPeH-Lwts13TN1TJkp_SJjJEQATj6ckXUo_sDpspno2O-nLw0xoAX8CkcztwsG0mebcVEfh_Yfwck5jo7zLtKjLTW6QZdr_kJFla_F_NBXuvMhdpF9qNpFxUeMuD5yveoWYaJHRMPhZMNwBYNjHAjz4Dw3Ur0ct22wsk8yNr_eYdlB6zxLKoUaP6DQ-SWywclnQMYt2jpfsvqUYIpU3-Vlh5AvkRS0BVRfRp2s9KorywLRJb7KhAQ4nE_yB2zgYMpUlQ2shNGOFjmcsTSEaouG1NDMi85RqwPWKK_N19PsS0Lje_x6ekXmysPdlDWDhXUHnHnp7-25hI_UkOoGrMRbUzGRQc-FmR4QDQC-nbOy5gJPnQf98II6smb2BtsC72-KVfF952yVTR0ypGi9FMDAMdA6LBa0-pDMRGKSSCBUmwLtty7BEyqv9EpDyA0k8WdCjBl89SlMpgjtaExQaxLEy1Kpc6nkFKdhI4g_7Z6aIz_eFiQA4n-sdSU5VJWKmoJCVDmRXoNUi5WMDEaT2fMgx034zbKNqX9uW80YkcZxsdW-wyKbMPg5RIuTZvKPxmEF2_0jGUNfl0Hd1KaZrizLIfHAGJf9SmLqZDRXnMXFthW-zGdhaeAu7ziZp2zcPXqe2BAb9h3Usvi0S3f5dxtFQWHaHQF72CdMh-64SvDvn4sV6lH2nukHxu0C8NokcldJKj3fdskkV3uitYuFsO5zQcAHD85rKBIre5MpWqZaSMFvEfbffs_1h5tRVFnEriGWIrRuwYiQT9A6wNSxy-MoxmOZzsnvrxm3I1Dhf15LMVJyDaKkWQW8dN2JC8jaQFUzegBqkQYWyx_i8pYWQ4bYOaHpCPCk5gmfErSOpkKRB_O9LRv50em2r8d0EE_pXYykkH-7x40ghcQ1KxII1bJXI7BAXszKsBKbYcJoCHfL8sk1fsY1hJPUmbZFIJNG6NfQu0R_EKGFC6PgEpJuoqYxIlG52g0xdA4hqnewJWLUXg3GBGi-_80yVZ74zfn95tJihcBXDrrmAqFyuESDZZH7WLOKpAahz1wWU0S19B3rAEJDwCCf5p0JmvD-7JPWf4NqHs3GiAH7SZ10hDXB3qKNJOc7BT2Ers2T-kkYq7qQILlg2d5iOnBPMFcR-4HvnfL1eHslY1N9y8KPY8qTI794o_4NF4DwltSoa6l5BTc1aN5iiJYfPqo1Vu4prjErHdlKS7lAbw3_AdsOznho7eaJ3wGhQqfmC4_0y300XxyKbztBtpeCVZz3nLaf_01tzmiVLQGoOXDkDFLt-7I4HEHhvlEBt17dIFHC6fflZ1Jk_Il6QO38qOfnNhRFOoJjvkLvjDaKhix8QAX1t4jGZJlFgIh_jId48lD7qOcQg2giIWArJU-MQXykH4LBi1F-nmvlL8uOGgBJA7sS87ycLgd38KaIdi5_Tt6MEI_ImW5sHZf9UyiEoCJYsY62KA6nWQvRtH2WO75FSkrxKc70iMXwTp_ahmuUYmXrlzrOpQfMVAGRrrL80jcpybhm6L8tMI5oRC2jqvIRei5_4RA4pJbdMYHF6lcwbXmNp1bdwKcXHgBtA3n_9SJDlE2lgYhRaCbxMeGPbODyQfOPP063D07L9M1mvhW0eyHz0ZTOcJFP1XbJY97T6hBSy752uMVyrmkKxtjoPNjzn2EECNhSHKZ08SbPMlTZTcIvqe31KBJtLmpXDjudcPvBpeH83VKCkRSRNX2I2jogfKbD8YQGNhn4D_DctDyOebuASMEvGu0y5jsPJ232fYhKAo64rkxD_yNRTeJrgCcy6xYiVPiXP4K5I_EDrvAHzbWVr-dDRkfNEZNoh32lVoZgBm433yyfDyeQWJDEty_JvU4QvID04BQKhGGNA0HUzjdoUPd8r7buxe63ZuDlkagUrjlzgam_3oWhbE2XYcgWTavv7nAfXLMmfbvEHu-Na5Jv39M1S66GewlM9mlokOaThv7H1AWm9Dd2nD5H-aVFRz6oWRU_YeD4wc9I-hktmclu_ww68eXgmxfG8YzzxujNagvO7L96_lpEfVRwh5hVdmkgWD3BMzsVldTVcc9xTO9RraAOOSaG6YA-MYxrkkUE_BcAoFzh2WNSBoFyTn4q20u9js0Xte2ESSZv27AZEDUnzcs3k6tBaiUQ==",
  "id": "rs_0fada87214a4fea4016ab477d257f487d08af01aaeb3f06124",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.382,\"right_y\":0.283,\"right_z\":0.04,\"right_yaw\":1.05,\"right_pitch\":0.3},\"note\":\"The smooth pen slipped sideways as the jaws closed; the cap is still secure in the left hand. I am realigning with the pen's new position and turning the jaws more squarely across its barrel before using a gentler close.\"}",
  "call_id": "call_qTkX3IgywStod2kg6gZuUqY4",
  "id": "fc_0fada87214a4fea4016ab477d70b3487d0bd8ea77b2ab86a6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qTkX3IgywStod2kg6gZuUqY4",
  "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]: [-0.2623, 1.4811, 0.4599, 0.5594, 0.3477, 0.102, 0.1022, 0.4343, 2.1532, 0.6941, 1.1358, -0.5358, -0.2226, 0.9949]\nstate[eef_state]: left_x=0.3592 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1022 right_x=0.3804 right_y=0.2798 right_z=0.0254 right_yaw=1.0139 right_pitch=0.2827 right_roll=-0.0486 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -5.2855, 5.8188, 1.79, 0.0269, -0.0611, 0.0366, -0.7316, -12.0957, 5.1624, 1.8339, -0.2222, -0.1245, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931a23b79674794862134474025b1b203d95377816358534c8beec2b92cf8a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614a7acfcc16950a559af292016e2c607b0fe003fbe67c1fb01d9c80ccc157a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8957bfd6d1668852368feb5e3af4063e8fce56af942518204354d6ca6f7b8d09",
      "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 · 4.91 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4606, 0.564, 0.3481, 0.1017, 0.0989, 0.44, 1.9484, 0.5961, 1.0321, -0.3286, -0.1158, 0.9952]\nstate[eef_state]: left_x=0.3598 left_y=-0.1553 left_z=0.0936 left_yaw=-0.6245 left_pitch=0.1428 left_roll=-0.0478 left_gripper=0.0989 right_x=0.3853 right_y=0.2484 right_z=0.0568 right_yaw=0.7808 right_pitch=0.2572 right_roll=-0.0046 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -5.2581, 5.8051, 1.9414, 0.0757, -0.0611, 0.149, 0.294, -8.294, 4.7658, 2.2979, -0.1734, 0.0855, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5598, 0.3477, 0.102, 0.1018, 0.4534, 2.2784, 0.6525, 1.4277, -0.3191, -0.1299, 0.0122]\nstate[eef_state]: left_x=0.3591 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1018 right_x=0.398 right_y=0.2595 right_z=0.0181 right_yaw=0.8071 right_pitch=0.371 right_roll=-0.0651 right_gripper=0.0122\nstate[joint_eff]: [0.0068, -5.4359, 5.7641, 1.7607, 0.0415, -0.0659, 0.1001, 0.0342, -10.3179, 2.4821, 1.5897, -0.0855, 0.0366, 0.9988]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4599, 0.5594, 0.3477, 0.102, 0.1022, 0.4343, 2.1532, 0.6941, 1.1358, -0.5358, -0.2226, 0.9949]\nstate[eef_state]: left_x=0.3592 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1022 right_x=0.3804 right_y=0.2798 right_z=0.0254 right_yaw=1.0139 right_pitch=0.2827 right_roll=-0.0486 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -5.2855, 5.8188, 1.79, 0.0269, -0.0611, 0.0366, -0.7316, -12.0957, 5.1624, 1.8339, -0.2222, -0.1245, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931a23b79674794862134474025b1b203d95377816358534c8beec2b92cf8a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614a7acfcc16950a559af292016e2c607b0fe003fbe67c1fb01d9c80ccc157a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8957bfd6d1668852368feb5e3af4063e8fce56af942518204354d6ca6f7b8d09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHfjGhrm_xHWDuN7kgHfm5HTONBVFzh1gGYJNyjise1SIz5R7KuJu-vFvWwI6ciH2GIhZICBv06BOo1jMT80GNiggoxBQ0bJEO8NBkVjQM4JX6I0ERcPvuA5LTomf3stHtDWUtNBq1qrepz7JhBFiAN4ahqqhWwqoD3W9mamUwQES5yRLuE4t474Crt-bLnPCqvx-FDEbONIwHGgCfHm_S-PcVNHY2wnor4p4M447FK1KQS1z55DcPMspD1A2S44XEUe-dqitxyQ52XtGtNsY_7P7OJ5aiJgaXwQMhJ-cWG_V0ENL_jwtiOcXjC3U4huxwf4eH5g2qHBXFqSHbm5SjNRx4-Yj9a1Pmvpk4ndqumP3UcqnfCi8U1AuU0KSpty_5zOfs9vSGLFJb5DHpKlO2Gw-PwjThG4MAzUqXFcSN0ERlgzLO3oOIgIufb4wkHCW_lhTLxXns2sj7FNoamuxXd4ESREsGNFWhEJo8dNFONWZtboAV5eQWJgDd2EjrRGvBw7P4cv2RxespzCEFb4wT7ZiRb6OVl_0lI4-VZRalBs6DMQk7hgUpD0jTXdwkVXIWk9OAGybAgtQBHG9DZ_4HU_u8u3hVsqGPUUkqFcEVlPamGnhIbXSyVvQdH_dtRYURCgLREj8I3WM2qG-6d0bDd8UdSbttl84YXoNZohyjwZxqLNQda22X82v7Hvaw2t1Yk21xdKW2YUG6EgJd3QrQZh36Tvhqarbuci7lbTjPLxMGM1_kgSC--Df7klJAgV_CIO6KgPMCeP38gQJi61VpiNibi7vN7HwBt27vwR62taFQ_3KX7W1gXZHTekEqqWdV7vekUg_cfIVGhHvyA4j-BMyGrpO7dtPSmAlGR0bxcaKdzg-PYAxSu81G984zvmU9CeRaKlNBtoH4S2ujn_0OZ0NpSKEfe1VUNl25Rm4Bs3R27vHQYuV7HT_uimT_nI4cEUxw660E3Cnch0i6rNADFDNfGHrO5gELw47nLYyZFcqQDf_7FCU_-BPkI2SJkahXHBaIBHu2Oz7ph1HK0-ukSSwZFSeFNJySwHCYlIXC3fuDHEzGZrxHf-4-V1qM99kqSRHcQsaSHl-mPOkBN_8itZMbSvJuj_ci2ReqBQ7NWpjOUBOZmyqtoFL1UdJXeqeZwdcZ3fQBqV-6jC08xTGOF7U-Q8kDMAeF7CIKxxCGN6E0ZwV9QBNFD_6o17MZtgKM4WE96REIpT7IZ8guhpxVC7qWNuT6mVBaFSkfU15fCXh2eOO64QPFQE_HLYxZXUnMNUpsEVldWXpbV3C_Mr2UwdrgXO3hrSdKwkB2qYndhV1Hu4jQKSqWq400b9gd6kRSjJs8ADmx-bAKHQ6knbHmGe7-8ENReEK7D_AnNa2vPfA__lnNTLhsR1V386QZIWI4x3J0u0flO1HvZVLfa9fdbkGLoNI6SlhKAoGkbOt_e7SVzph8xw8OTAFEZa7Ni78cV6KEt4817hnuWzml98Pr-5cVKkHtSQQ_HyrrxUdPknv27GsPXdkFUxpVnWIfML6zxf0RlK6mEp0E6edna3NPNc_PkPQjYnqu8RXHANmT8bV-jSyKpLqA9aEQSYUecrVGhMy_3cjjaptBveuXs8ONppp5sTlDTPp-pcwoZdiBWDxA9s0JzHJWQsyYBwtou52TotcL7kMy4urnyI05xHtIH2qXodENLK-8ETjmHZXtBNzi5iBq_JBzfw-teqRsjAuNTzGx_B77M87vzGfDMYKqe_pcPBWHNFZWyLHJJ24PuPoipnYH70KwQr2UuBXSvE6LOOHaiwAiczbP4ToFwz5TvG4eytsXwrRDpkqO4IhEGXj-_oIxw6F9RNw0Ag4qxR7QgzHY09IR7q76F-fU5I4W3K2_dTzRc3j0lwpf6aBP2qBSUZDVbtGc2-rrA3DQ_pVqQuWs8Qbdkz7qFkUUQ-1p3RmkcmI7YBgJdMV20Y11b3DWfJ50bAibI9ga1kNsaqdIOhZELitVPYHIGbC3lP3BeWxa1_gWGXsw7wmWCOEBOcDEg9Fv2GWTv9dx1UJmWKGi7IGr3dfCcKpd3nLrEsdvOxpSDEjFlSEMeBS4weUVSah-zBiER_ygFm3ljDorVAs8Z_scBFI1mg-r0M_udoXKmUQGpThRPVWMs3_L3i8ClrJlDDIShO6haTeTxVfiwtdPt6-izAQevyMdCRNVOb-bOoZ3eN63-8TZ7apivWCzuxSCd5kDxYSQMpj0-bjAsTmOgqFMNDIGXrRBfz50d7o4-DgS1SpzFk1CYPXJYLGSlsN_cY9X_T3-lsxaAhXZBSAp_cNfrn6XXIIpqtpNeBxmFgu-ghsY_8ARD9ckD23Rtamqe4qVCvb_T7e7r_F7rJs6DpgnARYWXA8dhNKO4VF6f8S65slhjlzM1jIQUyRv_T7VkPgrh_Ev_e2uRusa9LyjdUmxDtHssB4syLI2KaXUMsacvlGMwC_SlgDEEdvH98h8hjnQ57yoIORqF32jD6fL7wzqFQcvQVLOw6v5WuvdOpVftCE0yZqHQ-fjmPLSL85jZAxS9Dw6zLpbZRMaO6OReijp3KewO23y6zxFRLMtRJ6n2YOYZJnRxHGRE2tdLtF_8yO90GwK7poWsOJERUbupvO9Bqo_ky7mgmQtPDCGsPzGU7KSTS6cbOUmlLP1TuRt38V2BruK6CB0kc5LAkV2krGximGBMrdIn8jvcE9CPJcFpFKAXJmL-xEmreJCRG8GluXDlDN8YkGZUwNTnloxqbe1_2xly9nyp-6Vb-xbZHEmZE0EGE8VB8JPGvcUWtDazmxSYaRXkzJvxO4pgwB85HRBco-5QXzt4tMlbkvPO_omv18rYNiIWHLPROg0vKx7IjFykGNTX-sZkF0q3R-cNHP4Y9aI45IzPoH6xr3ki4fiZwTeakfPtoLkQ62UjiqG6pQ41uGzK_2e4iyRu1bVnyQxteYmCzQ9tFyQ1lFG0RCcPmsnOhMYLlCLkqFykx2UXHCahMUpJvGydN-BbTPTSQTkAtRYoNGbFyvV_GnlajSbGBxcqnPzfVaRTWgyEDS1SHgGoSjSilpKNSOiAzxA3YuQbZrQNvsOC8vYhZwats742ZLNh_QNektGzvS2JHthw0N2mQoBBgGy6zlUUres473xQSEtsqNNwRIpSFle7wrK2tbq8CfgggCgYzEpg5rROQ2fuczoHLG5EowG3WG-UJ",
  "id": "rs_0fada87214a4fea4016ab477daf9a887d082643aa34b9f753d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.352,\"right_y\":0.238,\"right_z\":0.045,\"right_yaw\":1.05,\"right_gripper\":0.35},\"note\":\"The pen's tip is below the jaw-closing point in the wrist image, so the hand is too far along the pen toward its tip. I am backing along the pen's axis to place the barrel—not the empty space beyond the tip—between partly open jaws.\"}",
  "call_id": "call_zB5sPtQ4xXbhPNd1mocTcm8e",
  "id": "fc_0fada87214a4fea4016ab477e191f087d0b405344e394648e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zB5sPtQ4xXbhPNd1mocTcm8e",
  "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]: [-0.2623, 1.4811, 0.4595, 0.5568, 0.3477, 0.1017, 0.1024, 0.3325, 2.0148, 0.5385, 1.1027, -0.6415, -0.2687, 0.3546]\nstate[eef_state]: left_x=0.3588 left_y=-0.1549 left_z=0.0916 left_yaw=-0.6238 left_pitch=0.1349 left_roll=-0.0507 left_gripper=0.1024 right_x=0.3552 right_y=0.2382 right_z=0.0351 right_yaw=1.0204 right_pitch=0.2628 right_roll=-0.0335 right_gripper=0.3546\nstate[joint_eff]: [-0.3761, -5.4222, 5.6684, 1.8242, 0.022, -0.0611, 0.0024, -0.5128, -9.6615, 3.5214, 1.6435, -0.2173, -0.0904, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4993d5440756c518945cdfe82865eb1baef172c9d740c6fc7d0f723f28550966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d99c351336e2b3b01c10ba202dc868da1c7414b8b9491987ff81152477c0ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2a86c1c80bd4ba85e700c39de4fae774d2fed71022dd6b1a3ad0b40a2b8c33",
      "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 · 3.584 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4599, 0.5598, 0.3481, 0.102, 0.1007, 0.4538, 2.2669, 0.6495, 1.396, -0.321, -0.1249, 0.9954]\nstate[eef_state]: left_x=0.3592 left_y=-0.1551 left_z=0.0924 left_yaw=-0.6244 left_pitch=0.1381 left_roll=-0.0492 left_gripper=0.1007 right_x=0.3964 right_y=0.2593 right_z=0.0151 right_yaw=0.8034 right_pitch=0.3494 right_roll=-0.051 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -5.4359, 5.641, 1.7851, 0.0708, -0.0562, 0.1832, 0.5538, -6.2564, 2.2085, 0.6911, -0.0806, 0.2759, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4599, 0.5594, 0.3477, 0.102, 0.1022, 0.4343, 2.1532, 0.6941, 1.1358, -0.5358, -0.2226, 0.9949]\nstate[eef_state]: left_x=0.3592 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1022 right_x=0.3804 right_y=0.2798 right_z=0.0254 right_yaw=1.0139 right_pitch=0.2827 right_roll=-0.0486 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -5.2855, 5.8188, 1.79, 0.0269, -0.0611, 0.0366, -0.7316, -12.0957, 5.1624, 1.8339, -0.2222, -0.1245, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5568, 0.3477, 0.1017, 0.1024, 0.3325, 2.0148, 0.5385, 1.1027, -0.6415, -0.2687, 0.3546]\nstate[eef_state]: left_x=0.3588 left_y=-0.1549 left_z=0.0916 left_yaw=-0.6238 left_pitch=0.1349 left_roll=-0.0507 left_gripper=0.1024 right_x=0.3552 right_y=0.2382 right_z=0.0351 right_yaw=1.0204 right_pitch=0.2628 right_roll=-0.0335 right_gripper=0.3546\nstate[joint_eff]: [-0.3761, -5.4222, 5.6684, 1.8242, 0.022, -0.0611, 0.0024, -0.5128, -9.6615, 3.5214, 1.6435, -0.2173, -0.0904, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4993d5440756c518945cdfe82865eb1baef172c9d740c6fc7d0f723f28550966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d99c351336e2b3b01c10ba202dc868da1c7414b8b9491987ff81152477c0ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2a86c1c80bd4ba85e700c39de4fae774d2fed71022dd6b1a3ad0b40a2b8c33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHfoRYr2mSihTH8TA9eeCPEOfaVCXJY0HMhvqU6PSpQVPVdDaJl3m2ns7kt25Nqmh5mD_2fFQ88OQNC7fBkHGGA1hqha7wUNXsUf7R_p74v0Q6aI0c38XB1MCjA1n5AkiyRgalc-1EE99wCIoKcw2ZCXu7iYlwxCsnpzuHWVwFiBtX4aDuCZIZeFmUDyse6y7iteTIeAb5OLUW-sSrvgZ_MD6Y5W3GF9k7wQdQXjToH5ADs1VijHdjQr34gYRgpzm_57H1XqgiSnr2gpjYV_7BTcbokAcfxdmeffYd6EJA9xxh635_ufi_CMNJzqyKoPTxc5UC6IgcJy3tj6KAJsmAgggIWAjTBNm86a9K2ELGGvZvZNNlhYaI3QvkLU4SpvxjHkVemMcq7BA2cDO7r8DeTAa-bSo1VR0WlJRE62h0BK9zJtm52YEEdBm9ZlINzeV3TZiZB4su0IHX_ivvWltjLskYkVIV-6WQM9nWBLqNDd0PmI6VcjjTgYBQEkKkCnXOWXCKPU4OptGRVdyY6eoN1HVTgwBLAyq0vOYvNXvdtvUpdbsTmLDBeJnQLmZxSlXe4HlTsD-ZHKuIascNYc9XlaW7IPPBcc9ff8vVU0F4xFn6jcoqjb583UwLq6iuWLwvYVwxCt1hpRsQm4a_KH4WdWAf20he1jbYC2wpnjtjp28TCziiyKK5TZkAAKdBhvtpYSp8KQmWabQfSGLSHYhRMqNR-x55lXBYKGnLz88RREBp1w6gB8AzwJS9OVhJ7_W2ShDz_dcrrzZ1ubKX8rqYTcKxvxa-nIpaYR-Gut3j6-BoBi5yPGB9QwuAqBm6F1e2KBE50z81MQABrrxMACJDBIFr1fihyc3SS8lU1urhll4Pl328KUIFOOg6CAhpXaVzI2b74F8WC9plPDOtFXoWo41vuO7PmtHlXb_CyVjDnFCHbv680bIHEkagT0dJV8B8npWeGra0lnGpZQI1fD8nATsXdqB-sYMbmyjjo8YExw52Lagb_5hsnG7snTPrpFFaSRRid-4XQSYOuc9Z82ZUE25oJgwNSNdg3OzZzjfybNaxP2ZBTTx4zYywR3UKDHRft6XWXV4NZFJFMeBEmzM0B4XE_kr1DOU_9J3pUNfZLHgvPsJJdWsfl55Pc3rm2ds6_XIwSjE6O12JtK3YMv_xNgRYzqmkMHnSFKUBeiPRPH0tj2fKFV9G7FJUVQZv2j4F-DeANSGoy_A2kgdhTu2JNVm8SFIvilcwXXva5ppyck7qzUjlYuqkksIPl1j_yvipr0pxWb4T4CKu0OVMrN6P2yDdz05S8VBK8VlXyskJWrbm1x8JPOPE1DQsuGlQvMMhAcmpuzqU8PJLsudt7jbO0oS7tFaq26MgAZeE4CljxZrxCnHB4mWqkMeeZQebRQ7eo4kgYmgt1Swihq9BTTW3vwIIZyelKB6RNdNeN-v7QtUkUj-009WpzNYRGvajrxbmSg",
  "id": "rs_0fada87214a4fea4016ab477e6734087d08cebc4a9086e38d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.002,\"right_gripper\":0.07},\"note\":\"The pen's barrel now crosses the jaw-closing region, with the point clearly extending ahead. I am lowering a few centimeters and closing only to approximately the barrel's thickness to avoid another sideways ejection.\"}",
  "call_id": "call_twIn3zbq8ZOVcnQybG9av4pj",
  "id": "fc_0fada87214a4fea4016ab477e7c80c87d0850ae0ffdd0520f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_twIn3zbq8ZOVcnQybG9av4pj",
  "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]: [-0.2623, 1.4811, 0.4591, 0.5545, 0.3481, 0.102, 0.1037, 0.3294, 2.1574, 0.5457, 1.2106, -0.6498, -0.2726, 0.0751]\nstate[eef_state]: left_x=0.3584 left_y=-0.1549 left_z=0.091 left_yaw=-0.6242 left_pitch=0.1324 left_roll=-0.0514 left_gripper=0.1037 right_x=0.3525 right_y=0.2372 right_z=0.0025 right_yaw=1.0221 right_pitch=0.2436 right_roll=-0.0167 right_gripper=0.0751\nstate[joint_eff]: [0.0342, -5.4222, 5.5863, 1.7753, 0.0464, -0.0562, 0.1245, 0.1846, -8.0752, 3.3709, 0.6276, 0.0269, 0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b573f2c6e86ec3eb81dd0002b86ccbe1cd7a62f326e4ec0fb2cab4d4dce8053",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b700444c5537866ec3b22fc30aeaf084c1d2420a1c7354559ed46e4f8990f638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e3be8aa1c9540101462f8070ee7f04764126ca5bc23d784111c181305cfa97",
      "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 · 7.544 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5598, 0.3477, 0.102, 0.1018, 0.4534, 2.2784, 0.6525, 1.4277, -0.3191, -0.1299, 0.0122]\nstate[eef_state]: left_x=0.3591 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1018 right_x=0.398 right_y=0.2595 right_z=0.0181 right_yaw=0.8071 right_pitch=0.371 right_roll=-0.0651 right_gripper=0.0122\nstate[joint_eff]: [0.0068, -5.4359, 5.7641, 1.7607, 0.0415, -0.0659, 0.1001, 0.0342, -10.3179, 2.4821, 1.5897, -0.0855, 0.0366, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5568, 0.3477, 0.1017, 0.1024, 0.3325, 2.0148, 0.5385, 1.1027, -0.6415, -0.2687, 0.3546]\nstate[eef_state]: left_x=0.3588 left_y=-0.1549 left_z=0.0916 left_yaw=-0.6238 left_pitch=0.1349 left_roll=-0.0507 left_gripper=0.1024 right_x=0.3552 right_y=0.2382 right_z=0.0351 right_yaw=1.0204 right_pitch=0.2628 right_roll=-0.0335 right_gripper=0.3546\nstate[joint_eff]: [-0.3761, -5.4222, 5.6684, 1.8242, 0.022, -0.0611, 0.0024, -0.5128, -9.6615, 3.5214, 1.6435, -0.2173, -0.0904, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4591, 0.5545, 0.3481, 0.102, 0.1037, 0.3294, 2.1574, 0.5457, 1.2106, -0.6498, -0.2726, 0.0751]\nstate[eef_state]: left_x=0.3584 left_y=-0.1549 left_z=0.091 left_yaw=-0.6242 left_pitch=0.1324 left_roll=-0.0514 left_gripper=0.1037 right_x=0.3525 right_y=0.2372 right_z=0.0025 right_yaw=1.0221 right_pitch=0.2436 right_roll=-0.0167 right_gripper=0.0751\nstate[joint_eff]: [0.0342, -5.4222, 5.5863, 1.7753, 0.0464, -0.0562, 0.1245, 0.1846, -8.0752, 3.3709, 0.6276, 0.0269, 0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b573f2c6e86ec3eb81dd0002b86ccbe1cd7a62f326e4ec0fb2cab4d4dce8053",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b700444c5537866ec3b22fc30aeaf084c1d2420a1c7354559ed46e4f8990f638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e3be8aa1c9540101462f8070ee7f04764126ca5bc23d784111c181305cfa97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHfsq_dmRg2S5QrE_rSMsre7cI5IjZAGG3AQi3CPnCX4aWI1Y3AYOEkM7uIVzCngNY2QWpAa46TEVkt_Bqu3UYvz4w1g1z0PWmaX33x0XfC1yeuo3WsFsszrrXmfmL-cIjqhaXXaNfJ8RPwYDvgRvKMQfbDtqOzwRMlHNwvVm5D1NRvyvRSmMvz5Jo3yaJrvTt0jDakFeUSkLEED5HRuisw9B0ubKPH0-RI4oStwAZlhOWt6Urs8kwj4EBRd7_p1XLsJ8LY3A61rZzrrWyBQkqVXEVTjbflfqsYln9KgggITTwZKgMutXih6TaNc_GYqFWmphRFIYUC9VR5ebzWYnMPBVDoSMG_pNkL04vUOIYdpv-2khgmxpY2jrMpPILIerb2ggkBzYmmy67YvaWAw6O1uS-Ayu9S1KXEAc_80B38s1prV_lRDEDaTVzsxXM24Ax6zuAGzLH1jxM37JfgvJXZOLZuaLKBxrW216-pfAefftgJgw1itjLyiZoWJWeyBV64v9laKjkybyque71-babokJk0RLrSNhzh8ucXj-j88E3_KpOJSP3rdPeRVhHjaT-OaY3G_2spszvxWGeDfljMAWymfEcK2o68ZD5rYCqxuYG0avwSnByll6T_4908waPC_0bAbwvqrq3loIz74B2wxAZsBmW2Qss_Ss5neJADyd3IQQa7TstNl6KQn8m3pcou8SpgcxflsRl9NCZTwahPBQu4L0q-bgfd25NpgQiNLmIJeg5UBXFJxxY_NX9BlO0rmJgWacaTyCE-RV3e4Ax7WWFAtDDPUjxYziybRoJeXxFWi_ypqSmCG-YFjlTorXmGEJxjzIHUpb9U_RyLaTuaTuI_IGTFPs4qrLZSAz1FFg3raqZalZHQeJuMbEz8YecKy8Cs8RgIBjrjKwbqMRmYVhTDpzPqrM8hvQCTRT3Gb5Yxt1IrGAkSzRO2csRSsLF6fAq0J5mtUTr1LNVbLUuuc7Ke35Z9N9shx10jng07st9kFH90a4pZRi8X2eRw6w8_uNnGZF85_PKqbw8QqcBRulyD6DjCyDkAqq6CAjPvDHGSPEIkDl1xwXS2GnM1DGiUYh_OVqKn-x_BylYk21n33iXmee_FANfzvkLGBzdoSEuZIjEdRuPpUOqz3fCGgW1T4PYSQYT2zQeAx7KDZo6ep9eKetST99QtAfSr3-OYfQTg-h2fMXgMMpZhYLd5JmU7eZ4Vc1GUxSf1zeFwsULw25d3g2voNldNKmMPRXAfY-yvT_ja05RQ5sxHmhzCmimv6zV1tLcgB1GnBRy4JDMJUkDZkMgs8GzEPAeXJM0lNgPwhnjZXyNcrcwCoOtHgoqkikzKqfbTrVQFQWN1FeGDuLItF9OlR1r5bXPTZQrO5LY1-FL0ksSnUvtkbd_Q45I8dxzKxiVOE8zlWSdqPuZ5m53Um9SFu8e4IJo_6BFldiqy0HbvSPSH8o_Y2Z--kofJX_O6rOazLLQqiNMe-dT9H5fn1LuEwwFJHBaLDLl8moJ4P4G3ZVXFuu7kxRaf5T6PcrjYxccJAxWudhxetyB6QZQ==",
  "id": "rs_0fada87214a4fea4016ab477eabe5087d0ae84691e82d19d05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.065},\"note\":\"The barrel is now between the pads at table level. I am tightening the grasp and lifting about 5 cm to check whether the pen follows the right hand.\"}",
  "call_id": "call_7ezM9QU8XIGo37BrqceasEXI",
  "id": "fc_0fada87214a4fea4016ab477ebfa3087d09037811910b74046",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7ezM9QU8XIGo37BrqceasEXI",
  "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]: [-0.2623, 1.4811, 0.4587, 0.5518, 0.3477, 0.1017, 0.1052, 0.3294, 1.8816, 0.5388, 0.9707, -0.6487, -0.2745, 0.0145]\nstate[eef_state]: left_x=0.3581 left_y=-0.1547 left_z=0.0903 left_yaw=-0.6235 left_pitch=0.1295 left_roll=-0.0527 left_gripper=0.1052 right_x=0.3534 right_y=0.2374 right_z=0.0618 right_yaw=1.027 right_pitch=0.2656 right_roll=-0.0381 right_gripper=0.0145\nstate[joint_eff]: [-0.1709, -5.2171, 5.8735, 1.8144, 0.0317, -0.0659, 0.1441, -0.1436, -8.8137, 5.1214, 1.5311, -0.2173, -0.0024, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2f9cf307885a5da6f4cad5df80e0f7eedaddc4d3c951c9457202ed0d52bb7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41740fae91b3e77bc11317e1ffce52ef4a4578a9e71a8acd9064f27c312a3c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ca7cfcf6d72a9844f0b5546fce06aaeb8b3e1f0db3f05ce61c79aa77ebd6fc",
      "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 · 4.486 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4599, 0.5594, 0.3477, 0.102, 0.1022, 0.4343, 2.1532, 0.6941, 1.1358, -0.5358, -0.2226, 0.9949]\nstate[eef_state]: left_x=0.3592 left_y=-0.155 left_z=0.0923 left_yaw=-0.6241 left_pitch=0.1377 left_roll=-0.0492 left_gripper=0.1022 right_x=0.3804 right_y=0.2798 right_z=0.0254 right_yaw=1.0139 right_pitch=0.2827 right_roll=-0.0486 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -5.2855, 5.8188, 1.79, 0.0269, -0.0611, 0.0366, -0.7316, -12.0957, 5.1624, 1.8339, -0.2222, -0.1245, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4591, 0.5545, 0.3481, 0.102, 0.1037, 0.3294, 2.1574, 0.5457, 1.2106, -0.6498, -0.2726, 0.0751]\nstate[eef_state]: left_x=0.3584 left_y=-0.1549 left_z=0.091 left_yaw=-0.6242 left_pitch=0.1324 left_roll=-0.0514 left_gripper=0.1037 right_x=0.3525 right_y=0.2372 right_z=0.0025 right_yaw=1.0221 right_pitch=0.2436 right_roll=-0.0167 right_gripper=0.0751\nstate[joint_eff]: [0.0342, -5.4222, 5.5863, 1.7753, 0.0464, -0.0562, 0.1245, 0.1846, -8.0752, 3.3709, 0.6276, 0.0269, 0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4587, 0.5518, 0.3477, 0.1017, 0.1052, 0.3294, 1.8816, 0.5388, 0.9707, -0.6487, -0.2745, 0.0145]\nstate[eef_state]: left_x=0.3581 left_y=-0.1547 left_z=0.0903 left_yaw=-0.6235 left_pitch=0.1295 left_roll=-0.0527 left_gripper=0.1052 right_x=0.3534 right_y=0.2374 right_z=0.0618 right_yaw=1.027 right_pitch=0.2656 right_roll=-0.0381 right_gripper=0.0145\nstate[joint_eff]: [-0.1709, -5.2171, 5.8735, 1.8144, 0.0317, -0.0659, 0.1441, -0.1436, -8.8137, 5.1214, 1.5311, -0.2173, -0.0024, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2f9cf307885a5da6f4cad5df80e0f7eedaddc4d3c951c9457202ed0d52bb7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41740fae91b3e77bc11317e1ffce52ef4a4578a9e71a8acd9064f27c312a3c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ca7cfcf6d72a9844f0b5546fce06aaeb8b3e1f0db3f05ce61c79aa77ebd6fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHf06Qxq7qNehMsqcwtaMmU7FJY6KmcdFIaeLSS1VDs1H08KxL89fieeH9xCTK7tAC_eFz1BM2GCfYj02HDQn0GCcYhyOh5wa98M0YUASYusAx9qGH7iTmFKxAvdwkZxfYSUWRFL_Vu3hxd0gVwuFYRuNeXP8oo_dGGqB44FFbM9EX7whtT9IIKKfg16SvMr7da5aKVoLkuA9uwX7re8uwrVigqTJkxdG15yp3Uf7b0tG7WsZq62AcCWv-7U7Ay67Foa4Em_sniTFBgDPNry-bosbfO1uWN9KbmUzqnIKzTRFidCyniFQ_5FDTxPdbR22PeTf7OpOl2vUcTPIYZzbIjfIyXAGNyo5_VDEYI3xbmdF-XMRAd7DTrWTxAALirNIwhNbaJlZupzbW0xmMg-fIHdTUoUzMbRwnzY5fF3WvWRuou7bdttFH_RM5ne3uWer9scvN00BSOFfbwe5ekZvxBlb274J8pCe45isdRr_fdrrCMgT3Yv8gOJlys9yTuA2RWOhc4muHm-NLyo6CrAANGKpUj63ofVFpL59b2CEqXBx8eU4orLfPQJeOY7i94jMoHC5o92MxqRz0VlhGxh-V9DWSn9KDkQZ8tsbA6vbEvPpm639HLlW58fbscVPYaCGE0sR1LVGjuJ7yn-izZ2bD0ExQ5Z68E3J11yrO3RCzSqraSjr7FH3znVM_pbidYN2k2I1RjBJEaz_rY7fqM19NaIdoDeox3jfq5xprpRbTMZ_nlsVVYnSfC7IsYT50TjeXDxKxWhXBIww8FNq9tph_ba2o5NzSETBsy4FHROiWUTht6-5uQTTM36MSVN696yTBr12Xsl6vqbPEdCUcAq3AGP7vfP-XgpTCLyWgIZKzI06gKlBNdbDLRLk-q5vn4EfZTU0uyU9VNTxSrkIz-2u0jViHnhgRrViyBOyoQ_zHhQJCU5T5qY2DtDgXI83H2MqFN6SLoh04qwmXSYcQ_kh0Pp0Ad9pYwUfmijw-_m_seYFXbp-lnPDyeQHgxcUKDK0Ew57U5luVZZQ0qSj4IN1oO4L2Jx-Vbsfy_2Vpegd4lvoqDeJ-rckadm7wqsvv-Z_0q1OtRc38K6-RqZGSOv6KpQu4VKgUAi5R-eZd0yC9I8y3Qi_9R8RXx7mvFpA1me4jyR4du2LTHO9BaCKREJLWFbRXbuw4lKt6cboA6B7Mfobg4wFdx40NELcnq1Ma4NUakMiMq4HdsKotfwleAHYDg-qtBMVJ-_b8Z_vB0ASslq80y2K4mNkNHfNMuTeK2FA-AlyCZGbHekb59lZ0fcbYrrt4w19yr3NqZScOQcPOViNFhBEw_5eGIILw8-GrC4_tg_uM8C7SX2VMF9ilV9xHmJ1qf4oeszWN7xjTLiawvsRPylv0sqskC7dcZr4QoZTfjhKIJDJEaKlNiiDTMEssX8laGm5RSLvwVy5FkrRCDO29s7EmqUFAGbvFdZ1fcgGNk0YYk-gSj0pm3G0ikCBoTOR2_e9-Ih_KR_zICWXG9nTn14IoHI2EixQK-_FbL577TtxffB6LmQhPyNYBLXgb_iEyKjQDy9Ka2jphPY8eT3iDmSeN_xR8SowIAp3fXA-9kgYwTeCPP5UPrQwx5NsZW83Dom0d6JPUUeqj_8S78amC7QM3fTOpZZHhN9pIPmSeNCUVlijAYWIxeBOjCwBw8-mZfSmXNDYBnmVGj45xjKrclRAgfzK24qMjxeQGVtJyAEW4jqK-0Z9epIpTvBZDMcuHKowNH5iVM7hOhYBSC8X-nfAja9kq9cfKgk-KHznmNsHNmFNSo11F7IAPypiRdN8KKxQ1acbdPHri5TFQ0udov9SVSMiqerDZuLPsfuZg4HAd130haUp7eP0HGmvP3Na12Tv2-_z0BGFeowIUmeDiV7osTXYkX9b0IOrjyBKF2xy-vOnQJZcKkRwwB42pGTQwMpGiJJqo93ZcbigZYYju0VLdu74yg1g7uMs9MDfZrrWGygZjdAegiUzfFg4L10alZZ0hmDrmYeUPcM-fs1vyBqRiosPCS_rM9M1HM07uNijSsU6qcHloyj35X5be6eVxUTP5Bv_NvdiuKIG8SBZZt18W73iOZXVjJvFxKCTx5Fjz9zBvG-mJEmxXPl1Nt6pNLVta_6S7bje00aRK-8-Vexh5rLvv6uXKFCyP6-EKS85xE8Ij-5iquIrENHH2rGXwNNazsWOzsU5i9JZS-EeLqkwzToSDzL4FuaUBCHiT8S6MgHpocNwHIhMdEr0tXZOTMDp9DmXMEXmimR2VKHw_t0f32LdVgct23OKwihCyEPz2LJ--tRihCuhFKU7dWR3ik9oGJbLJ6JkMVvSovy3_07wdVHZ2Z5TET7PVenUseWNfPY55fnbOAIiwIOTXfZR7mwz_b3sxkEVf8I5r8ngrrySwEaup5YDFYT_o_HQfxeE-OcBBFKo9Oaau51iaDhUOMozuT0e9Aw3p0faCFZqza5DBkcjUweCwjJb7jj2qwLghF--6nAy5cc0ovIkloC8XaEkkHeeSRPzt3vf_BJZ4nd-q24SS7CpCLtvU5cz57X38lDtS7--NSd806Ox0bXeFr_KJigzHpF9c-IyHasXQAW75Ej4-yEjJxayauFy2y9",
  "id": "rs_0fada87214a4fea4016ab477ee9d8c87d0b4111cd500ab1026",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.5,\"right_x\":0.367,\"right_y\":0.228,\"right_z\":0.003,\"right_yaw\":1.25},\"note\":\"The lift confirms the pen is still on the table; it lay just to the right of the closed jaws. I am correcting that small lateral offset and aligning more closely with its axis for a centered grasp.\"}",
  "call_id": "call_87U2uNw0MP4zEBh8Ndw1DYYJ",
  "id": "fc_0fada87214a4fea4016ab477f2e12487d097cce82fe1dabd9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_87U2uNw0MP4zEBh8Ndw1DYYJ",
  "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]: [-0.2623, 1.4811, 0.4576, 0.5499, 0.3477, 0.102, 0.1059, 0.2134, 2.1563, 0.7048, 0.9573, -0.8894, -0.437, 0.495]\nstate[eef_state]: left_x=0.3576 left_y=-0.1546 left_z=0.0894 left_yaw=-0.6236 left_pitch=0.1267 left_roll=-0.0534 left_gripper=0.1059 right_x=0.3752 right_y=0.2254 right_z=0.0101 right_yaw=1.1774 right_pitch=0.2562 right_roll=-0.0357 right_gripper=0.495\nstate[joint_eff]: [-0.1846, -5.2991, 5.6547, 1.79, 0.0366, -0.0464, 0.0562, -0.5675, -7.4735, 3.1385, 1.4335, -0.3687, -0.0171, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:035ffe36590aea4be73bd1a995d4916e3fcca54ed772444c4e67f656194be379",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7e298bb9f814ce04d0e8d76c4da2573000e167d6d242e7851242a38edfa668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb22226f539235f65b2eb575c99c6c526faa69f29bc0cf56b9248e1455fc68e6",
      "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 · 10.15 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4595, 0.5568, 0.3477, 0.1017, 0.1024, 0.3325, 2.0148, 0.5385, 1.1027, -0.6415, -0.2687, 0.3546]\nstate[eef_state]: left_x=0.3588 left_y=-0.1549 left_z=0.0916 left_yaw=-0.6238 left_pitch=0.1349 left_roll=-0.0507 left_gripper=0.1024 right_x=0.3552 right_y=0.2382 right_z=0.0351 right_yaw=1.0204 right_pitch=0.2628 right_roll=-0.0335 right_gripper=0.3546\nstate[joint_eff]: [-0.3761, -5.4222, 5.6684, 1.8242, 0.022, -0.0611, 0.0024, -0.5128, -9.6615, 3.5214, 1.6435, -0.2173, -0.0904, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4587, 0.5518, 0.3477, 0.1017, 0.1052, 0.3294, 1.8816, 0.5388, 0.9707, -0.6487, -0.2745, 0.0145]\nstate[eef_state]: left_x=0.3581 left_y=-0.1547 left_z=0.0903 left_yaw=-0.6235 left_pitch=0.1295 left_roll=-0.0527 left_gripper=0.1052 right_x=0.3534 right_y=0.2374 right_z=0.0618 right_yaw=1.027 right_pitch=0.2656 right_roll=-0.0381 right_gripper=0.0145\nstate[joint_eff]: [-0.1709, -5.2171, 5.8735, 1.8144, 0.0317, -0.0659, 0.1441, -0.1436, -8.8137, 5.1214, 1.5311, -0.2173, -0.0024, 0.7985]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4576, 0.5499, 0.3477, 0.102, 0.1059, 0.2134, 2.1563, 0.7048, 0.9573, -0.8894, -0.437, 0.495]\nstate[eef_state]: left_x=0.3576 left_y=-0.1546 left_z=0.0894 left_yaw=-0.6236 left_pitch=0.1267 left_roll=-0.0534 left_gripper=0.1059 right_x=0.3752 right_y=0.2254 right_z=0.0101 right_yaw=1.1774 right_pitch=0.2562 right_roll=-0.0357 right_gripper=0.495\nstate[joint_eff]: [-0.1846, -5.2991, 5.6547, 1.79, 0.0366, -0.0464, 0.0562, -0.5675, -7.4735, 3.1385, 1.4335, -0.3687, -0.0171, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:035ffe36590aea4be73bd1a995d4916e3fcca54ed772444c4e67f656194be379",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7e298bb9f814ce04d0e8d76c4da2573000e167d6d242e7851242a38edfa668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb22226f539235f65b2eb575c99c6c526faa69f29bc0cf56b9248e1455fc68e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHf5nKS9Xhoxlfo-Hzz6uXz0KV82xQwxr3ubLzO24bEEhgI0AWuUdejQ5aG37SqeVFtCCDQltLYA7h9qXt42fcDsG2_SLJnIo6d5dr1lNG5C-XVZieEEWy0YfQzaSPgxDTLRrCzmQ8n1eV5I5qjlbDnCP2YNyZrZZvrM_3zudJmhb2OBt8RTOWkR32FHsaR9hfVi8kt3Dbki-FeWwegVghL3nWqGu00haqboyBNcebBPPm7OuGMVV5MscixnupZk1MjTGTYNFgcQp3-adn21nETmDj9VQJKCNKpqjVp6MJ47EAzPb0VCeO6qga81UGAL6ohSkuNfOwscb4ooApxLQiMvD1LS33BNSDDCdUaQ_8dN_xnwpN9DsEvnv1gRBibGkSuKfH6XAg8t2hlGhvsIFUiXMyUpTMnr2fRF32g-JnGcMALGUlDXI9rBuUd_BrAU_QH7kYcRdLcWWng5XtZrPqK8PlKj35c5npWxnymgsrtIulJ2qE6ZfrPixWDSPHaYf0qCcpAZdDD5PYr1r76UiMuut8m6uMsuZzeQun8F8L1H1_qKXSicfFdxYSAab2L5f8MN_nLmBhHXAkdbggR59xexkeCA_gfLIqBPqwMFLFmVsJETySsIyJT9AjDet85JiKPzaWrk2bdZ9uNDRhU5EXu8pblViAYZjlJ_23KIeovJfo-mgwLJT4o9BE4SDHJWgKbSaP8yf3hkg6TR9fxnd38XlRujLGDFQxf-RfbId0OHF5fFUa271wYdMxg_bk6MpTo2wtoWflknQN3aqH2AodQzVOj2hEGXHg7qmbIcTZ1XD7NYTjEIuT4_D-mdJhwEV4CZbFJvCyEh6bfKM-aqD7y_UEUfXiPNgVCN0asz-Zt_WDlYlr1VBjE_1cPcfDjFo1Y3ZLRjvMvX1rjLjqEzKEJyN6iOV9lN41Ud647ZmVAjmGjM-75n9XDuz3ilATjR_V8o5NcAv0htO3LKTl7RkNF3Ig67suJPp_76SB_CbqSVVHN8DoYEZH98ael7-1n_A9iIp6TYsnSEuqIzYcVZW57hVOhIgEGivBvaA-J6-LjOEhfTLYn-jBKqPXiGiPiO8CVsR1plCiJmO22ESaVZCqDfefVb_A_h3wxbxCzDRGX0oec4Dq85wV3YXIkCba6ITjDFLkt6MO6L6cgfkZVxofcRk6naDhr0A94-0ATtp7wQkd9IRdF7xlHF3LSGn3e6lkzqke4mASOOfOvjU748plKtqHKu0K91pnHU2OS7GoDvFv5pWIBk8mn0Qsf6QYqpsl2nEAoXbpn_8Y0vTEzm7jUUHHU_B5EwqpsleIHdL7vZ0p-XtIzgYthkRGqlU44F6S7g3pP_FlxHYCtTx6lTJuK6AhOKwEMtkSoZfzixWj89l54zLtAMcRBB3IQwuOW6ss45STDxGZCy-xAz3W-PQmfvhfI3mJ3bjtV0qpPC_CXgNdRuRgaMn_zSGZTW7SLIoNBXni_L7fyb1Fv_H4QaE3UPolG-kz7kb4CbtmE5ZLyOqfBOMWH2-PD7OS0QMGK9u3QeVHahVeS9EjRWiUkn9wow-a3xKq_po2Zw1Up3pkhqNOnFy0JabBd0vDre8ifHs0NamEy7f3C62GWlUdFUVuecFV-POZqGrD5wd-ejNrMMzplgCEgJd9q5RzM2eEWeuo2e5upDd2RH13FjFn7490HS9mktfmhCfmyKrOMyomBTqPdUgAUYkfMGg_Sm8IyNm8WPx-oeL8vtSsXPlzqrvVN5pQ==",
  "id": "rs_0fada87214a4fea4016ab477f6985887d094a021dcf379b929",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.369,\"right_y\":0.231,\"right_z\":-0.008,\"right_gripper\":0},\"note\":\"The pen is fully visible between the open pads, with the barrel only a few millimeters left of center. I am making that final correction and closing at table height.\"}",
  "call_id": "call_M4LkpgFXFUUzW6qZNEDZgHWH",
  "id": "fc_0fada87214a4fea4016ab477f8bebc87d0a35472883e32f25a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M4LkpgFXFUUzW6qZNEDZgHWH",
  "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]: [-0.2623, 1.4811, 0.4572, 0.5499, 0.3477, 0.102, 0.1059, 0.2089, 2.1723, 0.7235, 0.9497, -0.9524, -0.4911, 0.0119]\nstate[eef_state]: left_x=0.3575 left_y=-0.1546 left_z=0.0893 left_yaw=-0.6235 left_pitch=0.1263 left_roll=-0.0536 left_gripper=0.1059 right_x=0.3709 right_y=0.2294 right_z=0.0114 right_yaw=1.2524 right_pitch=0.2777 right_roll=-0.0685 right_gripper=0.0119\nstate[joint_eff]: [-0.1846, -5.4222, 5.5863, 1.7705, 0.0317, -0.0464, -0.0073, -0.6632, -7.9521, 3.2752, 1.3944, -0.3053, -0.0366, 0.9744]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de16e079e962e68ec1ca68fd02728c7ac5293b8b8a49d1cdfefb827179382794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376ddf6f1767ab7dce6b6fc2c0ee7da08e26fc9021c320d3f3d105e111ff3b96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17882d6b09d7cb4cd3c41d0f7afe58b58ddaf83b828436b3caad467425bed8e9",
      "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 · 15.26 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4591, 0.5545, 0.3481, 0.102, 0.1037, 0.3294, 2.1574, 0.5457, 1.2106, -0.6498, -0.2726, 0.0751]\nstate[eef_state]: left_x=0.3584 left_y=-0.1549 left_z=0.091 left_yaw=-0.6242 left_pitch=0.1324 left_roll=-0.0514 left_gripper=0.1037 right_x=0.3525 right_y=0.2372 right_z=0.0025 right_yaw=1.0221 right_pitch=0.2436 right_roll=-0.0167 right_gripper=0.0751\nstate[joint_eff]: [0.0342, -5.4222, 5.5863, 1.7753, 0.0464, -0.0562, 0.1245, 0.1846, -8.0752, 3.3709, 0.6276, 0.0269, 0.0415, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4576, 0.5499, 0.3477, 0.102, 0.1059, 0.2134, 2.1563, 0.7048, 0.9573, -0.8894, -0.437, 0.495]\nstate[eef_state]: left_x=0.3576 left_y=-0.1546 left_z=0.0894 left_yaw=-0.6236 left_pitch=0.1267 left_roll=-0.0534 left_gripper=0.1059 right_x=0.3752 right_y=0.2254 right_z=0.0101 right_yaw=1.1774 right_pitch=0.2562 right_roll=-0.0357 right_gripper=0.495\nstate[joint_eff]: [-0.1846, -5.2991, 5.6547, 1.79, 0.0366, -0.0464, 0.0562, -0.5675, -7.4735, 3.1385, 1.4335, -0.3687, -0.0171, -0.1978]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4572, 0.5499, 0.3477, 0.102, 0.1059, 0.2089, 2.1723, 0.7235, 0.9497, -0.9524, -0.4911, 0.0119]\nstate[eef_state]: left_x=0.3575 left_y=-0.1546 left_z=0.0893 left_yaw=-0.6235 left_pitch=0.1263 left_roll=-0.0536 left_gripper=0.1059 right_x=0.3709 right_y=0.2294 right_z=0.0114 right_yaw=1.2524 right_pitch=0.2777 right_roll=-0.0685 right_gripper=0.0119\nstate[joint_eff]: [-0.1846, -5.4222, 5.5863, 1.7705, 0.0317, -0.0464, -0.0073, -0.6632, -7.9521, 3.2752, 1.3944, -0.3053, -0.0366, 0.9744]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de16e079e962e68ec1ca68fd02728c7ac5293b8b8a49d1cdfefb827179382794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376ddf6f1767ab7dce6b6fc2c0ee7da08e26fc9021c320d3f3d105e111ff3b96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17882d6b09d7cb4cd3c41d0f7afe58b58ddaf83b828436b3caad467425bed8e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHgE4ggBXUePOJqp7HuQC1w9DekSZ6-PYoJDkZDOPFBlInFD64JT8wwCdJAhso7AM34xX5J9SoBFXmIg5wV6VlSiKzIw3znItDhWzOd7-DS7r6d3BgsIF7vhDhy3mVq2bSB_KDDkOUyAHHNtyCGa6wrOe2JKY_9Qd7bctdwfWzPAjmgrpNvnn4ga9tTF1CBCoDlOPPSnwLju28TAFgKpZtPYdqjQZGK5BgfiK4grxU3-NYDgdUyLxYe3J_vQzeEZKx9hzOglxp7JU_Am_AGD9MqoRdoWiiSNTAck-0SmuLM2kbGJPL0mpSsL3oF_UylP0OoWRCxHb6txsZDDl88tufi6pj7Mb4Sn0IluqJ0pEEclf6_4CQ0WQSQfDcffugcnrjH8_WZ-Rg_wuC2TBRJj9xI8oXePqgxFtmFaQ-ZVlGHXa0fsD3VlmgWPU9x97Q8vSuplZefj_a5EyaxhPDt3sA0rcbbZQ0WiSFVCIow9Fiafh8_ZrMM9HqtznIB8rkk4244Ymzfehem6Cnm6GTkHDJjUd86YwF-5QhGars_ZqsVsrU7gVGsRgOUTELxn2L_g4OF1YNBg9pDGdqfMZkzlSoHrCbMYmjtmA5PNK9BeI5kD4hCT3rfO4k0FCzzqpp9UFRs_jWydyJpf8-hmtiunqKqkTLLul_y6voxpEi_2U0kCWa0c5dPvPJM0IOMqODDgruhZLMPOmBpp_yAO7sHT4BTHZjxYdYTZ6K1D8FcnisU0u4MzCgKA21y3qsgfASk5HmbGX5bVPheHIJKRHna3NOzvDg0-ebU3iTWlHbYRD1fyaVFYsn4rBvHZ0G-Tl2wPfi1FjXYkcgvu07tYOvRZqDVIGm6CdCzEo_mItbkBfU-rrCqh91YyiVfk_JfBmkK1Tij_WU4nZaZX40vfCvKibHfpr1uVO1URayKeGevXnU_zED2ML7nflY7Y9idnYufZAW7kPBnaP7j7eOIs6n_MnelBALi1iiBu9Ud3hhFd2WFLY0benRAdEz3uCzk4zBCAhoavzJwfPMFa7RX-2ayfHNQviENuGacyUezdJlLpJq_AgNm4NR7iEzZctszaaXTfVlscHbEowcOPpfvxpQt9KlCDUOVGSVN9kJkS7zi2FWHBqGolr0rV1n4P4NR4M1Pd82fvx1fWl6Y6C5MaayD5wRtkHR1wJYvpgdU2X5uNVbchyuc7RKVeTDhcqYzMYIcsmZp8B6Dqxs_oBytfE_YP7q2cawNMjFZ2HwkNAAx8ozWnhnXq8PA0WHKI91XNpHcqKdjC_0ftK2DtB02MqIWysecGH79L6am2y50LS5HbY0-uSNEh8TdOwv0Yo8bY1BaWZbBxFb5KObjyY3PjjO9s5d_Rs4q9BtJDgFXGNehNX5XhMUAj0sTaVvfbQ_CGpVGRF-KLV53r7qbwb3cV4L40i8Fm9QV_zP5kP2FrfI6FVNzqrP6JbwE_18g2dfw_2sIR633LW_0U3448ZXabOc7GXJL0Hzoo_-VSMEPWvqNiehhfZ7wVcrtiuydgPlF20ov5f5_n2MtpoA2EfKKsLh7Qeh17Uxk-XluaFmRHeMiKX9ThaIGucZD8oTqWWIw6-Opu90D4_6lvpI6PIqMKY46ai5fomwyxn3UqB9MWEOJOlDn0SctZtl0WEpTAMBSubNZgTj_2i5RfhsS-7YLetqOy7o7kBZxJAaYf_IhLH3RmBm-Pu-MlgLDTb1rLwVHfdii8rkxxp7YvO0M24E1-_41dD-hcVcVpOLHGDzIFxvhPbzFdqeZDdFpXyduyNHCU7m_PcPUJHPwCqeyuxW9WKDerhYrcQGIYLzLgqhDLyIzJZ8X6UMMxSUHenuFBdcgOsq4SagFJwkeGQs1olYk8j6MWs6Wbh0gszThV8D3sXRbySy0LFlPjqdhfeCoHQsLOIq8Az3S5ZS6uGAN-8Ns6gWqNePn4OSsOYhmbRMCJEc2O-u1DRYELMkm4Q7HSEMXPJPwYJJpyxcNl51zarhce62IkuAtrWR0NV3S5CWf82x-bleGAQXhmdRjxi8gZMdfJweq521HBf_cOb5RG6cXObbeoa87V1fzPMq7lXyDFE96Tw2fptYLyNUy5uHiyOu1CODWf7kUk3shC2lcxW2qBKqfRNSCddzVhSRtLUTPP_FvtYhluur2y8TT5d2m5BkOyHU--Vg45aaHEk25IswLIaxWMECG5s35kyXnJmxdgXbkw9ZsOpn-WicQcC5UE_FSlUOOfMM7JIT91Q4OTm6IoH6WIcpwQYuMd5KV2WzYXpvwlFelbUrbW9KrqrDdXfUyG01aOK_XfNkxhuMEqJJHhYvyjYrW3WmlhZ8BuQn4jmPf50z3HzuX-Gq1TKwjYuq-6LeqS99k3O9EehPHt70HLoWZmA188ZIfgd0h3rtbXZOEeFS71jV0m8CJOrX3_B5bCeVNbfsTGW-61RcRreVnjR4mrWpdW7lFqc4V5pAzgWLiWbN4-lJrzr18FvMdsdRsn60rCkqk9rvf_Digjx7Xleen4ADS2PGkUM6pgTrc_uBxzSJ9TGSgue_eOAcN2ECbD8sHq2Z3e85T7gKtK15X9THOY4GdyX4lAJKPCB30kL4USMVinlYeCuui0BkeaWrGpJqDBg0OmtASLb9oyv52gfhk6stITe3fx5h0F5A4kvmgOoQK-RbfMWSIBFsa-BMT0Jg2Mp7UL8STyCk3C2gi6f2Bg82FfQZ-cv7tgJzuRRNa5UywYqwHEYrkJRMXj0kJ9V-pyDjieIfCHSFaP7Cy7wwoEkWBr3rfpNtQsbQ_kAEj7epPGSFL1wP0QgkcHSCggprrYpGe2rSdJbtRVCZ7dd_842w6FZ-j1o5PJn_Mb-WveTY1aRFncobnqqz_v0Rvfj1KZyDiz7cd3kYbxelvttgtfSg5HsieY1PPj9IZ2gMtphgVYy2ifDeaxBMNkiBKJ6PM5Kkk567nLWPucTkiLovIJkR9ddnuCUb8Ul5-HpwVvO9KO8fPab8uBwXHvknu3gAn1S4GSOKhh01KZA-gPAIqju58ZdplEL_mNp5c2osL5rQrDa__9SccLQEFPpTGFxYRlv083JgNMfW74nb2vSAujGdbZ3Q8hsHZfal3-_hjoVdoe_wn_oSU0dRzxo5AYCjHpeE9g2QHYWN7O437fGxIvXFLm4PLd0aWqF9n68pmVk4MGSYJdbhORRqwrkABkVRXeLj6faaBoAVSTuX7SHRncx18InIbqoZ4vYGBodPFRNr-fpB5RUE7smKhYDehgQxEnsM20rMfaWlNyiui-neN1LnTkt-77mC_741vpKgCumh4XR6qU_O3Q-mpibNnzIxefIm6BAffWt_gdItlsLIf1KmXih46273IpeOyIaeJi1ynV2nEa4LpgQx1w2X29ARQofgNvrAcl3DBHRo5PDv7wDwHqjbA4tQNMRiR-h7eWCRnUvVE=",
  "id": "rs_0fada87214a4fea4016ab477fbaffc87d09dd902ddfa5bf9f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.195,\"right_z\":0.045,\"right_pitch\":0,\"right_gripper\":0.5},\"note\":\"The jaws are still closing above or beside the thin barrel rather than capturing it. I am moving toward the pen's rear end, closer to the right arm's base, and reducing the wrist tilt to get a flatter table-level grasp.\"}",
  "call_id": "call_dJcmykqfYfLJMim01pFq4rad",
  "id": "fc_0fada87214a4fea4016ab47802822087d093fc98c6c392cf90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dJcmykqfYfLJMim01pFq4rad",
  "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]: [-0.2623, 1.4811, 0.4564, 0.5499, 0.3477, 0.102, 0.1059, 0.178, 1.7649, 0.7441, 0.3954, -0.8482, -0.7673, 0.4975]\nstate[eef_state]: left_x=0.3572 left_y=-0.1545 left_z=0.089 left_yaw=-0.6235 left_pitch=0.1256 left_roll=-0.0539 left_gripper=0.1059 right_x=0.3713 right_y=0.2051 right_z=0.0843 right_yaw=1.2636 right_pitch=0.1462 right_roll=-0.2487 right_gripper=0.4975\nstate[joint_eff]: [-0.1846, -5.2581, 5.8325, 1.8095, 0.0757, -0.0464, -0.0122, -0.3487, -7.4462, 5.4632, 1.0183, -0.0659, -0.0757, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8553b523ab6d31d95e39e5c210273e8066572626645c272d5e8c22a4894d72a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f75b1862ecaf068df78a15dae64fe24dcd58ea755c5e7d59643f18d5c9a4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0add6a9e019bb26ea6a19e8ce0587c207dcf65938bfdf5844d45ecda89b2fbe3",
      "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 · 6.585 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4587, 0.5518, 0.3477, 0.1017, 0.1052, 0.3294, 1.8816, 0.5388, 0.9707, -0.6487, -0.2745, 0.0145]\nstate[eef_state]: left_x=0.3581 left_y=-0.1547 left_z=0.0903 left_yaw=-0.6235 left_pitch=0.1295 left_roll=-0.0527 left_gripper=0.1052 right_x=0.3534 right_y=0.2374 right_z=0.0618 right_yaw=1.027 right_pitch=0.2656 right_roll=-0.0381 right_gripper=0.0145\nstate[joint_eff]: [-0.1709, -5.2171, 5.8735, 1.8144, 0.0317, -0.0659, 0.1441, -0.1436, -8.8137, 5.1214, 1.5311, -0.2173, -0.0024, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4572, 0.5499, 0.3477, 0.102, 0.1059, 0.2089, 2.1723, 0.7235, 0.9497, -0.9524, -0.4911, 0.0119]\nstate[eef_state]: left_x=0.3575 left_y=-0.1546 left_z=0.0893 left_yaw=-0.6235 left_pitch=0.1263 left_roll=-0.0536 left_gripper=0.1059 right_x=0.3709 right_y=0.2294 right_z=0.0114 right_yaw=1.2524 right_pitch=0.2777 right_roll=-0.0685 right_gripper=0.0119\nstate[joint_eff]: [-0.1846, -5.4222, 5.5863, 1.7705, 0.0317, -0.0464, -0.0073, -0.6632, -7.9521, 3.2752, 1.3944, -0.3053, -0.0366, 0.9744]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4564, 0.5499, 0.3477, 0.102, 0.1059, 0.178, 1.7649, 0.7441, 0.3954, -0.8482, -0.7673, 0.4975]\nstate[eef_state]: left_x=0.3572 left_y=-0.1545 left_z=0.089 left_yaw=-0.6235 left_pitch=0.1256 left_roll=-0.0539 left_gripper=0.1059 right_x=0.3713 right_y=0.2051 right_z=0.0843 right_yaw=1.2636 right_pitch=0.1462 right_roll=-0.2487 right_gripper=0.4975\nstate[joint_eff]: [-0.1846, -5.2581, 5.8325, 1.8095, 0.0757, -0.0464, -0.0122, -0.3487, -7.4462, 5.4632, 1.0183, -0.0659, -0.0757, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8553b523ab6d31d95e39e5c210273e8066572626645c272d5e8c22a4894d72a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f75b1862ecaf068df78a15dae64fe24dcd58ea755c5e7d59643f18d5c9a4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0add6a9e019bb26ea6a19e8ce0587c207dcf65938bfdf5844d45ecda89b2fbe3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHgUYx4msu1k6yCwf__wR9g_RSulwsL7zU99GoXvCj8r-Lxws28-hmAwYe8ztM2U82qXvgkajeSszhIlkN5I_3O7rEh_0u1LA8Kr2YxgAI39xJLXUgpmimvRIh7W5u7bED0VCDKUKa2rXWyqWx7R90_d0CbeZGjjFgxs2KIYjnX0Bq0Lj8ixbIQE8sr5hVgdxUvvIFa-ZAt4FQJryO5guCi2Sd7Pj6ychqymQZa4omSh62JOu6g24xp2joDcfuAEkGWdJn1by18xcBji2cERHHGgm2SmhHjr0ALWv5IRuovMOaGrphVLz-mY9vfd21-ptWz-K3zm5N_M2VAYMA_9RmfcffpNSFDEcIc1S2T9cdavDj2ZzTsdM9M_uuMlx2npSnKjYZBy_myr1MFpZQUpu-JI7JvTXMyFJy0Gjt-qAjqB7h0hlAtzwAqAKK1YYANRMfNAik6nbp0jjEmTJVUI8MJprTn_R3AiO2qbDxqv3pqtBUEev6CJfYnUzqFtIPj6RIKSAvftAbw69ovkgKTkdz21s6bmvNAHQf6lTxfFB6XVwfJawkIP3_b75dwXKTFfoWKvSM6qveFvS9v575xpreRpzW4mRZs2qDDcridqWZucHbR8zKtov_fRDg8X2aGrV-Yqm53iCm4TuqZ_yHsZ6N7hPV7pO75VNRV1jxE25PdjdnJwKlwYyqapwRiT2_u0KiH5q0ARPAqOSA4enXwvynQbwoJipZd8A0Two7jZ4ahSdWnmCnmAHpsCu8YulpNDhyOGbLp71IDe9a8YJJFe69ICAf4D6PvzumcNF43xqA2Lfp0Y6WzgDZ14eGoSAj0ej1HSkCv_VLS5uJ13DKmPk2psIhqM-NJRE0toqMzQ_I3nUf15hc7nq6ZcmtiO0NkPAILFwv8dyyP8KwtT3t1d3X5L1EEBs4NKU1df3gdDgU0LsJhbHe0hN9gjDvUPKrP2rnejbH14zbrp0IOn-99bjmjL0CC1wXvXImRKy4deMt6bFxg4mGGBsuZk3hSwxUb4Oa1iGOt_7kYAbDPeOcLbQ2Obfs2733JKkwRmBbVphu5YSp26nJMj3IoQcwfdOPnjqHm8ojBNBd2FrYC3Fh4AgwmC2zKc7rUTrtZAksp4Fl64MKuXEqy37O4gQ4UZRzdchPM7uUoAJBK8rw02lCsTXIseA7SjjaieVKtkKZEOxbi00AoNMDvQLT30XsGK_vN3cHT79GCaYLzQRCL6U9AQC36LppUnT1shTrFtRhnbY5opyyjYE8JsxPsIAIJ0PZP1druVJ_tRRFAHwif6YhtMM2KT6Gf7HHZCGnUyHuuo53Ph2ld1MkjppTs8i7cgvOik4sPWkOU8yRULtO_KBeX3uU6vSbk_RWo9VDOy7GgZiPgoGnWmDtQ_30OiZ7ycm2d0AjC4rzCXCTlvm2YwimnW4x1nz8P4FCn7Bb3IbqEp3sTMkU9bOKrg6SOHRhiFqpLLYB9mHA6BHzYuxpQR32bBSTORF6cmT2WEpZrvHHFQJC_Y9noQPjn--DKliJUaBeTzvuAlj9rmtBOqd4-ZZkPLXyPNvQz8_-wh7Z9XXOKtY4haaKCexDZAUqKHtoT6vQmJrgP6yxb1vew7V-EvG6e2vUCMMnrWNOR_KaLEIJQha3MBAUtn2-HiDEPQKWnCuneRSACbEyw4_zhiLsXAe929D4dD4hRsIdywNvTPqisXM2cF1zBiNStwGkAleCP4i_8MfGcUd6kC7fbHxw5Fh-lMTAjuHlu3EBS-4I_rkCo9cibDg0kB5qeCwXYVqWmcmJCbjeVKyjgpNs1KhyDi9ukt4m-eQ3QCyT1HRnA99He4YyePWkBOl6py_VwxPoRgJ3AqzERcLGdj4Vglp6ke4p7PTa5Clm0dLYJwEOuLD8xnO-lDQvnkbS1CP6XGOVxw9qoNL_HW34UiWNcNBemXEJyFnQy9UCldYqFAsCdY6DIiglUDWJjrXxzzQjbYl-VHsabDgZqA_jN5EiGbF0IdzgPL1Y0SOhNjl_XSNLPmQcQVkiFFUiQOs4xdEsxG1M35h8xIMFLh6i2XeXW9dPRiL-MJ2FUx3C4gkweJKgLebPLADBd7g1h-GfW9EKuA6kt-E1NUOWPT2Fao-fUmnS0fBkpkOyDCfU3p-_NkGGI9DRAl6HVv94u8zDg-Is2e8cp1d12s7zWeJVsVlyq4EGrd1B1KsktIcRhrJOxvyJ6EQ3VedHY-JQALUPHO-peLEDbNq7ZDovWu8NCjZdY0iZ9uroLMbfXlY8lyh_5__AmpPcnBz-AjeciliZKjf_LWshINN1kN7_dpN9FKMLIgrEIzUKZQ8Ff9QI7Ybzs-P4EZNbnouV2yd6POWxOvEEaFUCOEYdveZ2U8N_CMBAKo-tukAV_Eu67z2Rca53wy9FaUqrd1eJ1ZqX5-LqeWWttUJovd2d9iYazA-_i_SmEJUCQbuen3dUnYP6UqHVAWbidNnydlgYpQPzE-CTyZwkL1SfHT265lt-bRkZfnxjNLKfPKooDGYQoxEiMAOxg-jOcNmNeorV0yPLTZ8HV97c7nRrfpCL5eUYDVks5ImPgbiSRz77Gn2ps0hRKm1QhPWNX_jUvAbd2Hwt53SbwEoAKnNMG6vGWUA55CxNtZfQykZ1-iipkZzLrLOnlhQbXXX4T1CCKHUzLzVQEPwBU1souVmLhSXLY-RYglyeI6YIg4b5w0K0jZ9-TBN1SKgIEChi5QDt70W3VdeGQ8XfBkTsO6CJBQNVMShkQs6uLq7BjUHto7kn7S2s0d4pTvOKiiRvqr-JjFXpVfaNmckaqfodE1qJTHeXnVso7RXo0-r1qHcgiNio166jL_lsVoZT6vHaT23xRqSQ6ALzFv0fXk-9k0RED04eXSUx6pXv7Wj4WfwZ8nLFasUvsQZIgNkBpUqGf-7YmgXUllp1qBjtLV6Gn9kFtBqwAvUuSOrFYvSbUk5Da3PQicoV-qkxcoHGLTEp490YKOo2QxDtx1uBflnRTPZ4Valar5aKy3QFfqMjW1SZ2Dp5rZn0OUmbie-Y3-3wb3-4O_Wv7jiAgAYh6VwqfZUv9c7noJ8ZGNzd92QE3aUZPm3WtslrBcXlJSaER-PYvwQJ1QSug2McWYFSkvUUwtIpRr8bujpGKmGdrMGLforTkGLI4cJa8JBQZ9rEW60xz32QEfgAPc80ixENJzIlJf2hINGBJG5YCrnr2IlGZ_6G9JUB677yWRX0bLkWDPHUS5JgU2HiuTnsHDAcWCmH513PLiJCPB3L4ul1rK7x_OKlUcQg1RBCMsjvzVVEM-WuSq_jjcmXABVomsAbIQuFORVhjOzssYU5TeUopmgB9B24JuPGBmzeVyM1CzImsLsV8L595l_FLtBuy5Aq7MW6T7zNNO1hezH3jCqgh09bGJY8sKBQ-zV8LU7WqLIBx2lTsmvJgAQKA4GeLHXE6M1YgMDIPpuqZGkzTAJ5_-NXiG1YmYpG9r6uWg0eGa2KplIfoObdeWFBs4oWmV9hRVcMOUs37Zc9JkFPhO-KugDMzws_mGNkgxxk0eGBqQpu06nudoSLC0swCA5YCi7ed_07Jd1jIerfjQPu7TfcuKh2lnoQPxQyp_epOzT9Va_ZajFviamjAVFZfg3AV5-MIcDk5bTsHhKiNtt89A5RFj7YIn6vQ__BoNABHwIg==",
  "id": "rs_0fada87214a4fea4016ab47806f3e487d08e4fd30b6e103b6e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtHgUu8OSCRLt3DXGzaS1N8FAfthKor8o-6s7RP5q2B_fOydA0ov_hwe8MHimpo8qqGXoOUZf_8Aq9BMyYjqfv3lCGcE7nEKX3Mkdd_HoggU4q9UBn1-atTwYuPGizYytD5S-yXU9Jnxl1gBg-C68mluHj9XW50S-vjeLAFe0HOLBJQRd6Ey1i8qeOLv5WPRkx_qf6R7tky0y0gQGjc5l6FTC1oJfJ4von7z0GMoyDX00B0as-4N6hj24RIn_EWecyGeIuMRVpzxISAVsl_dw5gSdfbEEvIAgWkK1kBlGGvsr9Hc8kX53J1cjrJNv7rXinXA2msH68WyE4-5LVjX7l1oczUmPzcfGKCOSV2hGXAUYyT6pLcqrlTSCtyzPh7XRv7OEpBKebgFpLMviMUAMITvli8c584pp8PEvRbfsApZ5JCarALQ4YIWAudRXOoVPp3dJOpMtQ1tZFtNWjy7adI7dfMGvf3qp93TbLPGXtGSW127gLe-VUmiUu8wTYi-cLaTISYX5xtZOI_jN9JiBoQfJq_tiYMMonveHO6PuDQ8rKJ9kn2z7NuwYHeSSQEn3-n2MR8YmJ-PHz0RpNpYBnmYAQdU4lmaIggfeDX3_Ebdnqo_tVP6GVZvrccLUculueeTodU2-TYTLk6jWS_vkNk7Rc1HUsyiFba8z6KcvzxD4gd39kFDqDtIe9yeuV78RvT_sgcWlleRmnrYlaASd-utPiAuniSQ-q8QLZaAxK9JfgZCoJh_uEUinvrO8n0vOodvON1KBTukapHfJ2ElBG9IWYEuW2fBfEgTged-dcz0GjeLrP2qxl-tmSUJUubXPEJavK8jXweOSSeEnOYlnvHStS_AkIj5vyN_Ge9y9LgXkhVFBrLCXk195rdbJsJPioskSAeRxtU9icA36bYypC_B4286SX8LUTIgnaT7DXtSjn4EVxx6q-kdJMSjLRueQkjc1iM-m3yvH7TJPOpGFUIfIfguZ7sj3hk5D8UuhNMrrlamiZvl5jA2y4bdP4AEHpke5IZe-EHFQjVociZ_72bZ1nMukpN7ok2umSVoj-9_wBhoUOSBahaKwwMQLtPrKOl0aRn6sanNQErbJhEEM6ku3fHaRBq_VPLcUnRMzF_KXKJ1ni8V14waeElleeiy5DpOF6xcVxng2FhdpTMkRxXqyX83Wb92Eu_F4Jxh45AJHKyzCYogxZvE48ljj22s4G84GW9u0wO62Rchl47SUcPZPbsV2zPnO0UvPwzH-Y5tksdEcq_PA3zAVfgMKBaDZvfYJt4NYN86OyM3ILE9PjgH2ID4XUhd8tl3swcqWYMSbnj5gNf2WtaYTJbibKNnvakgs54fEXddEBNvevaDUtUeGM7rzmhBlP2xRtdsT2OXlsCjrIq21KXsY8BMDrWK59GeM9pLgrk2ZQscalkyqYXklkoUIsoFIEZL7OIIciHMeuIavgWWYHXNBU28-uYmt5y8610Yhus04iMowLulJ0cEe9p6UoieYfyRCG-4gUR4gMINRZILOs0bMUVvVU30aynHax1s0M2q7-d3S5JcLBtKb-oUG-A2T5kpfkeNQj-YkqFZG7aO4CviGiV5KiH284-ywfgBSkQiQKDjZgSq0LMhMJGZBL3RczLr68tzxL0kRBeUfvkGW_v3OPTPjRef-sGdAnwsK6JsfUKUpabHG9qZXVi3I8Qx9U5qjfyGl1NfxQ7pqAWGYqhUvs3e95BgasPGXZPDE5KH-p-3GF2nBHagWHzj8gFcDF6YI_UJ8t-khJyq_CTvRyw2D951_KJD2aNeAvMDA35wuOCYpNeU4Om8RpdfDiA6jqo4uaRx4P7roU4Lh8JIDhs9BCmtJzT_kTuRoRVYDPWmzY3eBONmNgVhgyPvN6tuU-2kG0JUTDZX3vqABO8VnvMbR9P5LXT3Wa_AR4pAbiMoQc2EVd7J4qiViQVIhdcR1JVYD3eDm7TdZMlztDR4Gym-5dxWE6ar9d7ERve1gV042ED_5UxUPCvrqa8c8nwL3Afjp447iv-SNDO6FLTor-iNKbZIGIHThTeQ_iKNHExt0W1wcTKaJ4_Ou_LWN-ImmvDlqcRBZnz51_s-2Qs647R9CkfivvJR_O0vHwLF631YfbYI1bOn_Km0xn9G-OLsYSuRb3YiUIpK9JjxA5hdvz26CHtmREC6HdI9pEd_ZtCVgfnzcnmbgiHOaUrrTWNpsFxN5W3pC149W7-pxiNP9Zk5CuvbNg6NYewPEZLwBMOVqW1krFD7VuzVfOLdYz4Fw2YMEsbRPfDit6ReH4gxVTRGyDOJ6ivCSBUAt",
  "id": "rs_0fada87214a4fea4016ab4780ff1e487d0b8135ff9055678e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.349,\"right_y\":0.216,\"right_z\":0.005,\"right_pitch\":0.3,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The rear of the pen is visible left of the wrist camera's jaw column. I am correcting toward that barrel segment while reopening fully and restoring a reachable low wrist pose.\"}",
  "call_id": "call_S3Se7qCE1UZYYuDC1ADuesyj",
  "id": "fc_0fada87214a4fea4016ab47812db6087d08bc47cde11d97ecd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S3Se7qCE1UZYYuDC1ADuesyj",
  "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]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.1059, 0.1688, 2.1353, 0.6647, 0.8684, -1.0016, -0.5705, 0.9955]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.1059 right_x=0.3508 right_y=0.2144 right_z=0.0038 right_yaw=1.2702 right_pitch=0.2493 right_roll=-0.0406 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -5.4359, 5.6547, 1.7656, 0.0317, -0.0659, -0.0073, -0.6769, -6.6667, 2.988, 0.6813, -0.3004, 0.4274, -0.1929]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7547c0623d6feb782821f7b9243f942abeb126659e6a870489f9174f28991b05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f20da1ad209bc5644f8b6e689e57dc7cfb4be121310971a1dd3432b6b0fe0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfb806241c43d399fb797b52d4c7f8ec0b6f9bc47704eaeff6021a27fb5091f",
      "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 · 2.934 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 95 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4576, 0.5499, 0.3477, 0.102, 0.1059, 0.2134, 2.1563, 0.7048, 0.9573, -0.8894, -0.437, 0.495]\nstate[eef_state]: left_x=0.3576 left_y=-0.1546 left_z=0.0894 left_yaw=-0.6236 left_pitch=0.1267 left_roll=-0.0534 left_gripper=0.1059 right_x=0.3752 right_y=0.2254 right_z=0.0101 right_yaw=1.1774 right_pitch=0.2562 right_roll=-0.0357 right_gripper=0.495\nstate[joint_eff]: [-0.1846, -5.2991, 5.6547, 1.79, 0.0366, -0.0464, 0.0562, -0.5675, -7.4735, 3.1385, 1.4335, -0.3687, -0.0171, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4564, 0.5499, 0.3477, 0.102, 0.1059, 0.178, 1.7649, 0.7441, 0.3954, -0.8482, -0.7673, 0.4975]\nstate[eef_state]: left_x=0.3572 left_y=-0.1545 left_z=0.089 left_yaw=-0.6235 left_pitch=0.1256 left_roll=-0.0539 left_gripper=0.1059 right_x=0.3713 right_y=0.2051 right_z=0.0843 right_yaw=1.2636 right_pitch=0.1462 right_roll=-0.2487 right_gripper=0.4975\nstate[joint_eff]: [-0.1846, -5.2581, 5.8325, 1.8095, 0.0757, -0.0464, -0.0122, -0.3487, -7.4462, 5.4632, 1.0183, -0.0659, -0.0757, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.1059, 0.1688, 2.1353, 0.6647, 0.8684, -1.0016, -0.5705, 0.9955]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.1059 right_x=0.3508 right_y=0.2144 right_z=0.0038 right_yaw=1.2702 right_pitch=0.2493 right_roll=-0.0406 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -5.4359, 5.6547, 1.7656, 0.0317, -0.0659, -0.0073, -0.6769, -6.6667, 2.988, 0.6813, -0.3004, 0.4274, -0.1929]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7547c0623d6feb782821f7b9243f942abeb126659e6a870489f9174f28991b05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f20da1ad209bc5644f8b6e689e57dc7cfb4be121310971a1dd3432b6b0fe0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfb806241c43d399fb797b52d4c7f8ec0b6f9bc47704eaeff6021a27fb5091f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHgbBLgnt4ncwtwCz5X1swZISUepczH8bfZZTmZSxz6OAdaig4zn-rYsPShezBD-fJ82Yu2RtGBCTS7MA7r_r876GOnPuhQXIEsQjSNB5SFJyPV4b_pv3s45Yc_4ZPg7fTf_EfdpYrs2tcRnuGKfzVLUplHuX_lxgsF78LJMxKIeqrqQmqqfd5X5We_EdylkIC9fbwWAC5Dn7tRKvd3bHj2X4VNnhUrd7xKOiFNVvZzc3OiFjMx5IxKdAORx7knpg7CZMKxiYRM2_3VQq8f4rFd6dy-N9YEcVvp2I8ib8iT-uAUgG7BYikIlGGT2495rX0OKeCt9RlakOzjKA3X-UjN2RHXIpo90-NElaxR2UUOISmTcbaEE6QxP8Vn04lNA0P_7jZFlu17u0SvU83Hdbwe2pD-n-gzZAPvbkxna28X6lkvegmJa6pMRWCReHgEWfb3p2EoQ5xVicT3JQuiFhf2q7jQybE7-zV6U89-Bcz6rGtH4I4XOimQXPiPZ56yKPkes4kQHALPGkhiPfd7BCG59HRTxGGf4Yk3EWkZ9WunUaQTm9mMtwgv1TX5JylD4GWaXo4NbKyfBhWbeZgEJX-Bxa3qzTs4oaZCsdPcklTXRkxSCQTnexQXijCiD1gGbEikGimQj9w1TRzDTWUN7rWmlUeA-ujOaXhHsJ_86U89PNJy-2PgtGtJxxN5tg8exsRYFifZlf-QHrgxU6cLRioGkkUvkI7jSOWAID95sUQY64sguIszngNmhk2yKrR6x5yuZN1g1mDGB-szzxEgXe1AM8Nsb8dDUqjx2sTsNmsbp3i3L6e6z1yvZJUjrewl5LpUgdhFTlLWDYaBykuJY00Wjh3TWIQPLFA1ZJKGBZlxcVeQXi7pDMn-5njwiXqIJcaoTNLznjtTtIdTnIEWDESFfFQsBSjBTRxdJCLX898rqNR7DbQjzMoFzOHr6oqU71xhGDO9_1EydDkosP5KZ2_V9eEt0kDlTTcEuFu1fiuKFcWr54j5HvW5bmLcAjtw4SVDehFoYMWwgg1PMPsmyUDVe10pUBgouUlvDCnQ0iORrypQlCgunf2EYM8lLHADOX3NlVXjQVEpvNJ43V3vyHzLwmGqqVKZmFFzu9ozMrjADkM0DGpoknL2zfnBFfew-u_atA0sRbESMUwEfvVFD5JywkALKIOKEUhntG9g82m1rN-jpx2yBdl4lFDuJJnY9u6_7nQupG1aeWvo662HrLGssb-wYAms9jf35tGMBHDAiHLW5W039wf9pYNpPAzyJ1lo6kNCwf2mf73vC5d8Diif0TbnLBZY5ZD3KoJoy8-_iG1MzmUquUCxpuolbhnb1QQbmN5msLcTUhlbQE4ngKiQm5f14Ljm-epZdJMjpzsazarFMSfH6rrs0uVw8Ky-TL9GFN4KMBG--NiI3igAIYBIMKVVSbwM_mUg5hQlQeZz3VteMyW2DIEYQ-CObCuVwknUagrGaOFvY3TshGsZdMZy4xX25amgO_d-x5K_hCPFdvF7k0NmZwcF2aHUEr6Wa8UI3eIJyArdmazntXGz5uTjHv9alnd33wjr780qBK4CfX04v2BGLHC_9V5VJQ0bPJfx_q6uClFuckd0KQwvLfCt7wNyXf8Gnw1enYTjk4v8PB-VZhsZRKWMI5LpeRvKHLZvDLEZRMa-YxxlYxfQ9Z79d1Q4q8UEuWv4BKxWR5c47xTwsFNmoJmNMh9LYEqgOrAJBc6QeiWabrAJRJ7fNlL6SU3n-QGBoJCZrVYKfF32JHhu0MX7AKGSQ3YDNPCyJrJkrYNFn6LkZRzoc2ghBoG5uyZOFYlX69WnhieHV84fEIzgMTOZ0ls8VQ2bEc7s-kAZHU4cNwO4ZJikL09xnn2SJJh1CgqWHMmhRGJFW2HeyFWYMOyj1g1ZCG32UUUbNaIoGK_A-BbBt0u_1P-9l_lVF5u-bxWpBn-p90EV-vrM9V4zRqfPv_rQBqgocEEgq-Nq5lZSpkZ9hCft0MFowHfW-Gs8OD2U6RVyN4w4Aivgxm1k6CwmpJO7XmCU56sKRpHrNaJARzmlxlE0hBCaPJuGcT-I1ySTHMnMxueDvyBo6WZcjnUTNi0BYLo-7H0GIHvUsK2ZSmhqZ1VJkHucfR9ufcLdxSfRKh9Ey3xXWvyekic6dYqvBn7L6o4H1xxW6266RhCuR5k8pN0pcS7BZgOkjDSJtbsy-HsedsUY-OCVrkJw=",
  "id": "rs_0fada87214a4fea4016ab47816918c87d095550a009e3ee444",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.209,\"right_z\":0.002,\"right_yaw\":1.27,\"right_gripper\":0.12},\"note\":\"The wrist view now clearly shows the whole pen, with its barrel to the right of the jaw center. I am shifting across the barrel by about 2 cm and narrowing the jaws without fully squeezing.\"}",
  "call_id": "call_oVSHc2sKTRVpRoJDc0fC0zCN",
  "id": "fc_0fada87214a4fea4016ab4781a211087d0b3fae4c5c79820bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oVSHc2sKTRVpRoJDc0fC0zCN",
  "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]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1509, 2.162, 0.7341, 0.8173, -1.0229, -0.5957, 0.1246]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3667 right_y=0.2119 right_z=0.0045 right_yaw=1.2803 right_pitch=0.256 right_roll=-0.0521 right_gripper=0.1246\nstate[joint_eff]: [-0.1162, -5.4085, 5.7231, 1.7363, 0.0366, -0.0171, -0.0073, -0.8, -8.7179, 4.7932, 1.2527, -0.2711, -0.0611, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76935ec5aa11a5e6940d8c697618806f86c516ca12efbb2b5424053cf9a5afdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d7dc724177f34a9f881eb9ccd7734d6f351934a4931da761de6fac09a4a3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fed3deadf8fdc8072fabc1840994caf010628397812fc80a8254a77dcc2b0c8",
      "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 · 11.95 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 95 changed as sent

message 99 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4572, 0.5499, 0.3477, 0.102, 0.1059, 0.2089, 2.1723, 0.7235, 0.9497, -0.9524, -0.4911, 0.0119]\nstate[eef_state]: left_x=0.3575 left_y=-0.1546 left_z=0.0893 left_yaw=-0.6235 left_pitch=0.1263 left_roll=-0.0536 left_gripper=0.1059 right_x=0.3709 right_y=0.2294 right_z=0.0114 right_yaw=1.2524 right_pitch=0.2777 right_roll=-0.0685 right_gripper=0.0119\nstate[joint_eff]: [-0.1846, -5.4222, 5.5863, 1.7705, 0.0317, -0.0464, -0.0073, -0.6632, -7.9521, 3.2752, 1.3944, -0.3053, -0.0366, 0.9744]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.1059, 0.1688, 2.1353, 0.6647, 0.8684, -1.0016, -0.5705, 0.9955]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.1059 right_x=0.3508 right_y=0.2144 right_z=0.0038 right_yaw=1.2702 right_pitch=0.2493 right_roll=-0.0406 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -5.4359, 5.6547, 1.7656, 0.0317, -0.0659, -0.0073, -0.6769, -6.6667, 2.988, 0.6813, -0.3004, 0.4274, -0.1929]\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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1509, 2.162, 0.7341, 0.8173, -1.0229, -0.5957, 0.1246]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3667 right_y=0.2119 right_z=0.0045 right_yaw=1.2803 right_pitch=0.256 right_roll=-0.0521 right_gripper=0.1246\nstate[joint_eff]: [-0.1162, -5.4085, 5.7231, 1.7363, 0.0366, -0.0171, -0.0073, -0.8, -8.7179, 4.7932, 1.2527, -0.2711, -0.0611, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76935ec5aa11a5e6940d8c697618806f86c516ca12efbb2b5424053cf9a5afdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d7dc724177f34a9f881eb9ccd7734d6f351934a4931da761de6fac09a4a3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fed3deadf8fdc8072fabc1840994caf010628397812fc80a8254a77dcc2b0c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHgfJzNs0RoHWW5Gr7pMLqnE3gyvNibUwRSE9i89fBMGevbLi1YAijOcKcIzQMi9Ulgs2xKardcVXVMU6E0KBYhhn-tJC3Xs4sXp39kxw1-jAxZ_lI_7Weh6-uPcPaRZB9l8prw1Cyv9A9mqySrlBQvxn_fWmIBlujbczs1ohfDbpaGm4dk2D1X_Ajtzb6OCKxQEA9NSYSEWKMgLl60n_8EP4DBM6zKFtFrOIJ8ws03P5gi1ns-eOlxrR3QEfPHX_Yd1NSetEt0Vmt6_0QpulGPUYjQDJNHBXsvg_PbAiQHgawcuNq5SEhlKNa7Yeqnd8CQwEScSiFKwEM3E74Ki3JMl83VyKIJRE6w1JZq4hebW5R1J5fSijTZpQVb6zDmqNZH-gZI6fmd2aCDkYsWKN8QIrHw6C8ojKJ7nbfrzwNuBBzQVu6GCvsmzChBPqKY-3WmaVkj6mv57vyuOBk9aZL6Uk63vYYAKB2u7hrRTV0R4tm6my8a0FSC6UjkgD-OJkS5LxdnI58Repk4wqKDgOnrulatEtDZN5ynYqTr5dcEbyGiPwh0tWQaTmBkWfWZHPcw_7ClTqTFKJNrjOBMrqEpYPIpdMBllhk3BUCW7n3Bl6YSn09ULccoBYMYMLv1Sje5vHEruSr-eFhBN-DL2SeHmJk9oVkSXlQL0kdntLKcZgZbrClkX0KxN5m0MDXgrtj7wBB3UbJA0A01-XeDV4Iz5KtR3G_wTuuUTGYas1vqBQ4boFXB70UFA01qIfd5e63SJ3SiVCXdFssSlQUUZSwfRlBToacGJihfeQcKagztPUM9NSSi0aGs-ulUMvm_p1ZvqHk4pj4F_ANBJDZ6uXmRXxHhPz0i5eoAr87u_4eZhuuaMjqAIAWqvo02ISXfVgZg32fuYMAoELMqrLfuLnsF3vlkIcXHbRSeTbvs7MGtifx47kchNfH4PUO_4YBXnhUCUSKocwBpd5sUoBw0MZpxGXlA6Jkplo3mLPmb0FiW3J1uz4L-t7-a0s4aBvHj8qoWkoI4KOZmBAQctb7jvpvrzbeKuPDqyrwxxIeg6y_iKFBHp59DXAqe6LC7EjbmKh0swFzgMZkTd9kfNR2N0xDphnhFwXCkVqmvJEDfJZvgpYfwfSr-kZzArtCmSQE70IyydgobZaWygkvtoUFxG7lNPTORzlbiMQNpp9lqujCJUZtvKh9s2z4xx3cz2Q35AZAL9dxGWM72htuBF7ngvi1rYLu2RAOY_pf4mXMMqTo0WOYsQmLAPe_Jb3ZCJKi_lRUMvC-aUFvsFDBOgO8mdfxK6IQ==",
  "id": "rs_0fada87214a4fea4016ab4781df8d487d0b1ecc3dc3fad9f42",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is now straight along the gap between the right jaws, with its tip projecting forward. I am closing fully on this centered alignment before lifting.\"}",
  "call_id": "call_mZD0dgQXHr65h1tfADR9Rhi9",
  "id": "fc_0fada87214a4fea4016ab4781e616487d084b836dca859ce63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mZD0dgQXHr65h1tfADR9Rhi9",
  "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]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1501, 2.162, 0.7372, 0.8219, -1.0306, -0.5953, 0.0571]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3672 right_y=0.2124 right_z=0.0064 right_yaw=1.287 right_pitch=0.2632 right_roll=-0.0569 right_gripper=0.0571\nstate[joint_eff]: [-0.3487, -5.2308, 5.5453, 1.7753, 0.0562, -0.0366, -0.0171, -0.2393, -9.2923, 3.2889, 1.243, -0.1001, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d388287c58ac0bb10c922bec4e781d89dab7599b27820913919eea804c9ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1339c56ecb0c2544dd6561e6519b4992fd2b63a084e455677293a9009952ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edd46297f9ba478d57068125d6b15ee4c07fc82fdef707ae1a6b5727643e8a5",
      "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 · 9.992 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4564, 0.5499, 0.3477, 0.102, 0.1059, 0.178, 1.7649, 0.7441, 0.3954, -0.8482, -0.7673, 0.4975]\nstate[eef_state]: left_x=0.3572 left_y=-0.1545 left_z=0.089 left_yaw=-0.6235 left_pitch=0.1256 left_roll=-0.0539 left_gripper=0.1059 right_x=0.3713 right_y=0.2051 right_z=0.0843 right_yaw=1.2636 right_pitch=0.1462 right_roll=-0.2487 right_gripper=0.4975\nstate[joint_eff]: [-0.1846, -5.2581, 5.8325, 1.8095, 0.0757, -0.0464, -0.0122, -0.3487, -7.4462, 5.4632, 1.0183, -0.0659, -0.0757, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1509, 2.162, 0.7341, 0.8173, -1.0229, -0.5957, 0.1246]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3667 right_y=0.2119 right_z=0.0045 right_yaw=1.2803 right_pitch=0.256 right_roll=-0.0521 right_gripper=0.1246\nstate[joint_eff]: [-0.1162, -5.4085, 5.7231, 1.7363, 0.0366, -0.0171, -0.0073, -0.8, -8.7179, 4.7932, 1.2527, -0.2711, -0.0611, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1501, 2.162, 0.7372, 0.8219, -1.0306, -0.5953, 0.0571]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3672 right_y=0.2124 right_z=0.0064 right_yaw=1.287 right_pitch=0.2632 right_roll=-0.0569 right_gripper=0.0571\nstate[joint_eff]: [-0.3487, -5.2308, 5.5453, 1.7753, 0.0562, -0.0366, -0.0171, -0.2393, -9.2923, 3.2889, 1.243, -0.1001, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d388287c58ac0bb10c922bec4e781d89dab7599b27820913919eea804c9ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1339c56ecb0c2544dd6561e6519b4992fd2b63a084e455677293a9009952ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edd46297f9ba478d57068125d6b15ee4c07fc82fdef707ae1a6b5727643e8a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHgrvK62ja37qChvb0dQq8qqQlDwF33zhkDwzsqCQB73SSYX_EBiFNmIwTAEep-fh1Ct3FM6ZLMTnxNxyS9RbRIMC6A0mAl7RTT4LZPO-tZsvtFpUaWR8GfQl0_FlMwjTOULSm_1l4coPaLQEpby0F1Nw1VDxdme2HwnOKYFVkLLjJ4MlNirudHvLodZCQIQaRKSHOavzxkA_iI6nAlaMC9wBuGejDXGNMMKEdFPZj3OwI--8ITBjaKT11MmaaVMKZTffOjq6_uyJ6JjyCtTdC1te1mW8Umzw16Iyj9oM-dioxyRXSf6-7_SRtOs5MGrltTgsumAux3dBwgymwOjnfduCnYBYvLf3AYlkrk5EiSk3WS-erbiCUawBMsFdlsNnryB7e0GJ2cqG6n821G-MpYIPwhelj5VuhO3P31yQKuWYRb_EeaWjSdwyWGTSXgxc8h84fZ4vHXAHbTQEMt1GdfsuFYIz2cjEqdFCleOm_a_czIWpJcWFCQMZFO0GqLZVwsvomXcEDDwZy53-swWkGfPfY7G9I-P-xPZsRhV980Ow0MC5dKstZXlEai-14mASwbAkZyiDrBfTSL3eTNH3GCsFk3Di05-OJJeTOMblCy2ut6oerIS6B_laoH4YBB_9o56FaS7GxROdpJa9qBDxYBdTR624nFqF2fcZidrBvpm8zCPuGWTYiGKwyr2swSIIWdUEfcbFdp1VAWW-aUEwsvg6QLjiascbPYw03zTq4iLJuNaibWJ2KDJ90fqLUD-KKDxFz9-pEeXEq-FsarQmhEGohgK1Tsg5tWvAks8yoSjFPPfb9InCegBWvIDGIO2wBITCz5z-lcN0AZDIHRPH_jPJA_3iHcD-X-dVxexBpo1N94pIe3zwz7GOz9GFCY_Btd0wbJa-1G6qENlOQ4fdOByIlRIvS3S8nD4s1CazbG75vGuk3UMTrs2Rl4WtlhGqnFe1IieWrS9mrI6p6aYyWVUwdE5Xl6oaejQ3pj0nu4v8HONmeNVC0KnizrJXzM8wHTYBH5GvWzTGC7LIWrJ11JHq_2fjsANs7qkTEsCgJ5hO5RIzbnQvAl2oBDDOgSEsWkkR4WGnkPGO8GOtyN0nHekil1P5NizPBGliit-mfTVn0O3bYNzIiAqqsW5wvrPOk8t9_BqyM6Vo6JXuEyhWA6IPF-6A-bfR8nc2tS_8t4UUUUvp8fMi3g-Yn_2W2PhNyIi_vcIxKeFTK20HKOyHKtGmBuJqUQSykkLB2tUusv_hZdtTHy7DzccMAVhDVtVeLPY06U1R37hMewMg458A3pR_FVf_OPlJfuBeeA2w1Tlq0y7rNBmS-Y1Ieg-J95o2blAlnQFHBU3nTWubfb069OTPFjX_57FSxQY3yrmyfY6UMaPnDGsHwRR1AF9FZ-FKGhiyBHUZ-2auN8CfkLtHTMX-Rghiz5uXJUP9QoD6oqZFrK8btKjaDxAuj_PRUIs8cQhoEKJDz5Jb9VVemTEVUVThl-Sr10DfMq54C1qPzPYfVf6bEJ7PabDDULPWMegvoAcYql8ukjdRrVBYIaUNev55GPBNBybwu61l80g2OT90b8KrP1g1Mka7gBTT6liEOgx3jMGKHNk1HQxS3Inf9-RPLf_WTkf2dSXbhdMzL7iAWhhu7PoCbGDoemKds42qWBpi0o_E69fvUOsPq16DSGDLQYxTKnsXe5lCLU-xT4PJpZwJ0a2UA3_zCROoG9qJ3s3CI-k39yn9hpyZ3U_yw4z6CLBFpqQpRD9QOCWBCpB8bU109zcpXxsAoydbx9cUBA3ASEry_c_5jXijWILxDIyuJW3St-dUomRxjURWg6g4nJYzlqROcS-qRBnEQkkXvmxVAEc-LjEKmCumtzQ_AcVDWQfJifBgItBENlEIO3oyBvlO7tit04AWQkLzi8jg01aLVqqRTOdizRwHGoMbHpjnielgjRAzuMHD5V9G10QdgoSHUgnSFEacQIu4qOkWFzgMxAlM_hPcoszXb58n1iJiL_gpgF4UyyyZxPw3LFWhSX5REWB5bZIck_2KVI8YtcZ30TXicTrjPfd2hE5BM7aH_YGgsGp5EUVUUieaCsMcu8SNNOni7ES7eNhcvjJH4iKS_qZXNT8yjhvs8O8tbFDNH6VFAf09EDneYEjdpcI1ljrV9nBEo3MfVvCuIGEn6UQyAJ5W91rklDoLdMBY3XgL3C9QPPOz3eYpJd0vYhfSTUHyxzbbqjIzexa1OFaH9xr9HQRMIIRtsRGUz58Nr9w626ZZrW5mOL43RddspjBwDAH59raR180Q0R7baOiut_Qz5hjJ0ktJ5GIGwHrdtBZON-ofcTClTv_UWkgryoM_uNi0xQVf61gEI6OE4XDOOL7HlkVy5pgtHGvZhw7UYUeaM54Ab9xqXX0YNpYxK9ro8pGuehPWNKGu-KylpqePM_MiOh_02FCjfmDRUt9_6TM4fk2Gmo8PAzmiFE9YNmczEK-prailgzYoRVn4YifBMU4fq_z60yq1FUfKHQSw0QZ0oB4foYOngSRMhaV5AYMilMjVPzlHIF-a2bihQRgkFjaWoLwIzEONYA9QZ3yfQAkpDHk7g9rgChr5o5YXOlwAYJXFUEZZIKQX6xUEN66dUgcomNPsN_oApqwP_HAqsn-YywIwFBYwjJcJ3f5--WXifqBN-Id7EjYvSEht8RrSZYRFuORGJb7YSaSqJp793WJXD9owfhDFSQKAPFz9rERz2RqY8Lz0A0NPCll5xpv73li3Sb_avDsNWvlbDMk53zkzI1kg4HB1UshfP8wr62vIZ5i3GOVhqeceiEYDFFd2eWRDinr4dF3dzdDbd_DuThsDmtP_drZg7nzfkmmQ5Q3fa65eGKKLdsHmc-VrG4b92msoeZai4U6xNY6XtJmRx0Y1qXaT0Ht6-2jwU6pSfInKCegYwyRRyPLyc_La2MBDQG8-gQcPYugPGkO5WXl0Y_dAXHUwd6VbhyVC2wgvrAmWdvGB_VRbZiXoJ8jacUjnLZYBO6OKTRFN-_Lasy8Ma4IS8Sn66DgxPlFsH3NV8-V_VSQR8Eu3iE3cmS8ENZWJD6FIi8R8IFtvBxJ6FPNus2Oi4IEMqqCOUBsHpIVLywyyw2x4kcILClGymXdxBDW53Fu8Di2ewhQPkVpxiy9jBiTcw6lOQ_7tbvVCn0K4EYv-j8vMyJCCZ_sqQt5-NfXAThkL4csG3EFesWuiy3g2YBSaG95_JywUfpDAcPyqMJqKtDLAQJt5BJHyNFRabQtBqpnYbS5Q0Nw0qfmg0sdHtpl3b3qe1Bs1A9uLmdeP5pl46uDF7xa_m0al0lm4GkhnzA23qLHqAqMVX3CkIzgC4Z7EfXjKyF02pUjtUo1cSBlJhROPnMrw87HUDMiNPIUYsBelUYVB3l2bdvveUvulAjQ7O6eyewH5qOfsIfzXkOsJOh8zP9P_Cgzx47eMTpzqWTnwougiqInpe1AC-cKLa8JO0vD-KrrjPxyUXRKCRF2jDcbL2zNWZj29AqbDEtvaPIeTZFUbADGJk3rdgezMXsoAXFcPRfCsc-tBocc_fv0yVIZOa4cNm373WxcUM8Z7ptZ2um9n9nLjYx4NH6Z-5WicqrM4tNbgpRK_pA-2uDXcpSpYRMt8v4bfYdHsGxrwl0kh-PVBScpPH5xHD0TOZaknhArGhH3q_9_8-Qt7G0gNkFtxavaPyME9UupJ9ZO3_Nc",
  "id": "rs_0fada87214a4fea4016ab478212f6487d0821a866b83ef898b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.367,\"right_y\":0.212,\"right_z\":0.16,\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.17,\"left_yaw\":0.3,\"left_pitch\":0.3},\"note\":\"The right fingers have stopped at about 5.4 mm, consistent with a real pen grasp. I am lifting both objects clear of the table and beginning to turn the cap so its opening can face the pen tip.\"}",
  "call_id": "call_1leKWcG5Pmn9OMKPueWe6lrE",
  "id": "fc_0fada87214a4fea4016ab478293cb887d08a63a6ae8af7b2f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1leKWcG5Pmn9OMKPueWe6lrE",
  "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]: [-0.786, 1.5211, 0.7261, 0.3134, -0.8574, -0.4454, 0.1066, 0.1509, 1.6939, 0.8669, 0.2329, -1.029, -0.5995, 0.0559]\nstate[eef_state]: left_x=0.3698 left_y=-0.1762 left_z=0.157 left_yaw=0.1556 left_pitch=0.2618 left_roll=-0.0552 left_gripper=0.1066 right_x=0.3684 right_y=0.2127 right_z=0.1443 right_yaw=1.291 right_pitch=0.266 right_roll=-0.0697 right_gripper=0.0559\nstate[joint_eff]: [-0.253, -6.4615, 8.335, 1.3358, -0.3248, -0.0073, 0.0513, -0.3897, -9.5111, 8.1983, 1.3016, -0.3883, -0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81081afd921aa040eb944a4b30e0aa5adf8ec1efb4958edb085c75f26b63002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68bc33b6743803225d23da9f97efa61c846dff03f247f52470ecc9d1ad40054",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39d86ed6759d99a6c8344b06cb9e511a3a6b51e91828e11639b6b370e2166d8",
      "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 · 6.687 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.1059, 0.1688, 2.1353, 0.6647, 0.8684, -1.0016, -0.5705, 0.9955]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.1059 right_x=0.3508 right_y=0.2144 right_z=0.0038 right_yaw=1.2702 right_pitch=0.2493 right_roll=-0.0406 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -5.4359, 5.6547, 1.7656, 0.0317, -0.0659, -0.0073, -0.6769, -6.6667, 2.988, 0.6813, -0.3004, 0.4274, -0.1929]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1501, 2.162, 0.7372, 0.8219, -1.0306, -0.5953, 0.0571]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3672 right_y=0.2124 right_z=0.0064 right_yaw=1.287 right_pitch=0.2632 right_roll=-0.0569 right_gripper=0.0571\nstate[joint_eff]: [-0.3487, -5.2308, 5.5453, 1.7753, 0.0562, -0.0366, -0.0171, -0.2393, -9.2923, 3.2889, 1.243, -0.1001, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.786, 1.5211, 0.7261, 0.3134, -0.8574, -0.4454, 0.1066, 0.1509, 1.6939, 0.8669, 0.2329, -1.029, -0.5995, 0.0559]\nstate[eef_state]: left_x=0.3698 left_y=-0.1762 left_z=0.157 left_yaw=0.1556 left_pitch=0.2618 left_roll=-0.0552 left_gripper=0.1066 right_x=0.3684 right_y=0.2127 right_z=0.1443 right_yaw=1.291 right_pitch=0.266 right_roll=-0.0697 right_gripper=0.0559\nstate[joint_eff]: [-0.253, -6.4615, 8.335, 1.3358, -0.3248, -0.0073, 0.0513, -0.3897, -9.5111, 8.1983, 1.3016, -0.3883, -0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81081afd921aa040eb944a4b30e0aa5adf8ec1efb4958edb085c75f26b63002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68bc33b6743803225d23da9f97efa61c846dff03f247f52470ecc9d1ad40054",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39d86ed6759d99a6c8344b06cb9e511a3a6b51e91828e11639b6b370e2166d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHg21mJrNI4USODt6x4FO6wkrr79IwFRPtm-Qrt3Vst-6kbLQtaJTDzd-RyW2MSwmLv3QiyXIHCSfo4IHJsAqicn0WOvwZPjpsAqHmH6YxmL8XS8wNs73qorgXKB0xfijfnkH2p2mQ5AWInBpsCMwNEpt2f6bI1zoxmEKKUl67AkDpmoGdJCmu7oNkdIN-ngnAXFIxrvn8650biz27hmhkN9r7aQpgUM_5U_h_Q1VWB-j4H5Z6QoYrM4bZesxm0synPpZ5IkWL0wi1viup4nl_JNqGQ4PhvHQdNNkzRbG0bEZH-Bsf3Z9gEAtLZZsjFRK8FL7PNn80tEVn4JynPRuqeB3itNJosASNgHP2WB1gYTB3QK3zXsdcZ0dVbczDOIN4Qhe-MWGkOJMYnHvDZz1W3k9uvEHtK-fb0nzF3SeZHdo4O35yCgEaanyqfHWHkY0EXrBD90OZoCQ1hgP31dBRgv4qrM5WtfEeok1yn_zp1DskxE7lmSNcKG4HPbQfMmfTwM3QJyG2QxbMfdqLuYsQUgF6m7w70rSxNwlh71tTmeDw429B4UYmSr8TfOOq6YwpUTFbVeDRtVObZHls_-1qsvjOPuQW-mz1gpUqQcRP-0Oa0vbsNPd6jOQi3RG4EI6dVtOT7YDLQ-q7b2gKTVhnWIDpM5O20VHRwwBftd2wxGfszTaS1G4wR8_tyB5ecsYTQsaEZFq0unSpb1QId2OwBz8rCZPJMhCgMZiWE2-mzH6WH7SQ4sXysuMKnzxxU7ICtsM4gUN8xbiXvRYAb2HlvCK_0t9MztH9I6c7ZMoWHEtbKYZ-BBApyGKRXL-ec24h2AmHFmHHxZ2vRayp7Jf8BmdezJiMPV0iAFA4lERqZCdPOV9sTriApG2K8fx_f4Fs_08k8tWv7ONohuKloiRsPYDoc9aghbKBxuzYkz9-zIS16ZozZ3Y-Ct7qE8u0KPr_VXKKX4wuFauIpApFvgWtnweCQamzgPoIbw2S5nGfTC6SOsv8anxizLVteOW_I_e0cBC5humge2YDrC3PvPRjvyQgz6kmTay2bKHAqyVY_kt_ldQn9hoK_uNqniJe30iAGVnz4fz6Z1eNTYI4TLtSEAEVSqu7TG1zwic_uMoMcxAfMQx0W7nVSEDGODiaU58_Y8qFs_hLMEitQjIhoJscnMRhF8Rdtp5yaJW0UWVI5rvHMs6aD9iA-u_96sIQf_NEvfqXDyrb-mIlVmy-KQYcU8SxC04D5NqcfsJEZIjBzVs3jz5lIt2h8P9-Em-K8Vi8jIAwsgGQ2xcHtaDznnjRvHvzZ0UOv7-XxqUSVYiRy_CcyRn3IX64VMtsMQVMtB0liUi3q4hU4gfXixpnc9KTzvUCVBIMjRkR0U9N0jVAL7mleSItBTjpnTvM2C8g30foE0pmpuyFCIvt5qXnGGTktYVm4G9Ae4w4U2k6IxU30XYEtxPVtcbkgfue4a7Pl2F_E32yhI0uQMidu6AHphsIhVnYGFubpx4yhxvCsrjRIxDz0McAuTHWzgzF6Aos9i8OGVtu3L9fxMlIGc6znX0ARToe3HLXJApKlhnxj-lFbBaC333fjn74JPzKyCwp8LdDqiyXK7xaucY3QIwLy6gB3UiiGGigkzoW-V1LM2o9s-o_-520LvmmyJ0AiOnFMAkdbB3u2qSBOH-vcy1fl836LHl5-Jjue9GYcFFEu2v4JJhNEcdxcwPh1vMPOjmT-vS6D8z9jT055qeAZiQ05iukSrf55jO3GNXV1oM3-BW8dSY7OSq7Wy4uXgd-JM8AlHYHPqSi00q3baxjCXll3Rw3q3OTvPfT4YB-_NapbkpJ74Mom2tWoZij6E2Y86xvo8uraCmmEylZPjno3Tc3s97MY1Eya737qI64KkTKQgRxnnCu89BNp6mRDjCTsbftWvC1uL9eh3tkUoYdTRADwDAAaCfd6AFIK9yQBx1rxXrDng7DDBNrkVMkh4WY339KZpsXvN0aBiIyhdgqSga6J1rTWPuv7aFYJjdHC74WPTLQOQB7pDy7nJjhnWdrTnRPNAdxyfuOeMnJ1nKqFhz2OHB8axRbsxJAPLOL3HSLZYvRGUSIoKRzv8zRzyd6JyU-zGA8ouqT7kGQNr4B9O8wcwHEiOPM5ol7zy5StKruJAmokBrP-uoGx8wesjdI5MrQquaNbAARLRnC4eiwonRkcGATVdLtWumMZObppb27tviHyCgUskRH1ayrBwxPBX9Z5kBmp1I4NwSI5sT_WrRudM-9egalABbPGsEyL7Zg6J-UzfjOJcRr4WsuOTeo2hwJ59IL4qDBTWWZWoXZzasjYCeMXoCk9DFGvAWRnMpu3_QU8ssupxwJaK6AvmYT9igLEMFRcsQvYCRarMKNTJaX_yOBArMvDDRNafXUEMhQWxARRw3zdcNdU-FkrgkPeitmqcuK-FgMmYutNFdouaeF7aMngFlJyH1UV_lMBSJBpqUGUBT0hLiYSqZAufJYOVOSBwXVq_bZL58SvDh0YPg_25TY-DWqnKzPjrRxxzhyOsuklK1ueHsjlY-b5GeKkQQE3U8Ov6bXVy090p7h52CkCoM6mvt83NA9hh1h5fgUIow-5piYPN11Rn7tbLYwOvCSyKrhqiBTTNZHoyIJEppN28g7wqE2qAe6tRNy3PsoGXFnHBKjdwMEpbKWUJFtbg3aPtF-hSPcMLnNAb4xiJgjLmtav8vQvphd48IEU-v83FpnkNG5NSgWIX8zWutTeGNajF2j9KfL3zbspQgs5Z9fOqpZHGlqZMi5qPCkmI3_Zwz3pRHB1yONuJooAJAhrkAi0EfLsH2OPfTxgsF0feOIZgvZBwYqEC4r8pJPAQUS1Ba5IQBxU8Gm56O_Sv2gb8jLsosppCX343XALk8XH7jI_q3OZQ8R-3KYxNri0Z5hViFlQ5rNaSBFE7fOnno7-fg7UYK2BHCzAfcHPWDqsfJnVdw9afg-1APCV38FysA6IngelAr0CzbhMUUPd-fmQ_RxoeejzEcZk_npzISiRz1ZPPFkBfsrg0gh1aKGrY3J_y-Lq9vIYK1yHuS93QxWiDlP9YsZe8GSYSHK1HoX6q7F9by8ua600LV-oDepPjYHVTGRLgVanSv7s_VIFE8aY2VKi3r4m_q-KGRaHzaZXzjDgZyxxdd7p3SerEFJ4Ni-0_isBHwcZs9KlrGn7e0IF3VT3pP1OZ9j9MQAIlpOkUXoN1NTsKDXeDCh1VOwX5YJ7ojbVxrlKBKROIEP3evaFk_CD-TTBo5QKlRnM1TmWlc9y2-xeayBGzF_bvCUiiexqE50Hr8_1wRwlnj99IMKEAyJ9KmdQvqo3cdKBZcIr3Shf-Jo6ifZy9Y4ahqKrS4Mm1m5HMFVQosykKcZUfLrqjQz-D8s9RcLbk2aedi6Aqbb579iYqWnhw-PxYL4R_8JmHU-dBOrVatvsKDhwrsiD_Uy3e3rpL",
  "id": "rs_0fada87214a4fea4016ab4782ddb2887d0ae7f2d7d5f903057",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.27,\"left_z\":0.17,\"left_yaw\":1.15,\"left_pitch\":0.3,\"right_x\":0.367,\"right_y\":0.212,\"right_z\":0.17},\"note\":\"Both objects are off the table, and the pen stays fixed relative to the right jaws. I am turning and bringing the cap toward the exposed pen tip, keeping an initial separation between the hands.\"}",
  "call_id": "call_OK28LDwLicGJXX4ajiCxlcWA",
  "id": "fc_0fada87214a4fea4016ab47834d63487d0be7c5fdfe64aa120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OK28LDwLicGJXX4ajiCxlcWA",
  "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]: [-0.9298, 2.1506, 1.6073, -0.5156, -1.2526, -1.3457, 0.1072, 0.0914, 1.6882, 0.8768, 0.0811, -0.9165, -0.5804, 0.0557]\nstate[eef_state]: left_x=0.4165 left_y=-0.2717 left_z=0.1484 left_yaw=0.6393 left_pitch=0.2723 left_roll=-0.2956 left_gripper=0.1072 right_x=0.3807 right_y=0.1792 right_z=0.1195 right_yaw=1.1141 right_pitch=0.1409 right_roll=0.0378 right_gripper=0.0557\nstate[joint_eff]: [-1.1009, -7.5145, 6.3521, 0.0659, -0.823, -0.1245, 0.0513, 4.2735, -12.0684, 9.3607, 1.9902, -1.4481, -0.2613, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46dfcebcaa64f72ceba1cc43331d9730c288cb9c7370d3cade819de0d86aa723",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f06215970bd418b797e1ed84836055993adf98f0cc9309c66537477a95f2bce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc61b63ad5fbb9ae9a080b99d2ef3110a4dc6139ba073e279957a7600cbdc3ed",
      "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 · 3.783 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1509, 2.162, 0.7341, 0.8173, -1.0229, -0.5957, 0.1246]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3667 right_y=0.2119 right_z=0.0045 right_yaw=1.2803 right_pitch=0.256 right_roll=-0.0521 right_gripper=0.1246\nstate[joint_eff]: [-0.1162, -5.4085, 5.7231, 1.7363, 0.0366, -0.0171, -0.0073, -0.8, -8.7179, 4.7932, 1.2527, -0.2711, -0.0611, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.786, 1.5211, 0.7261, 0.3134, -0.8574, -0.4454, 0.1066, 0.1509, 1.6939, 0.8669, 0.2329, -1.029, -0.5995, 0.0559]\nstate[eef_state]: left_x=0.3698 left_y=-0.1762 left_z=0.157 left_yaw=0.1556 left_pitch=0.2618 left_roll=-0.0552 left_gripper=0.1066 right_x=0.3684 right_y=0.2127 right_z=0.1443 right_yaw=1.291 right_pitch=0.266 right_roll=-0.0697 right_gripper=0.0559\nstate[joint_eff]: [-0.253, -6.4615, 8.335, 1.3358, -0.3248, -0.0073, 0.0513, -0.3897, -9.5111, 8.1983, 1.3016, -0.3883, -0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9298, 2.1506, 1.6073, -0.5156, -1.2526, -1.3457, 0.1072, 0.0914, 1.6882, 0.8768, 0.0811, -0.9165, -0.5804, 0.0557]\nstate[eef_state]: left_x=0.4165 left_y=-0.2717 left_z=0.1484 left_yaw=0.6393 left_pitch=0.2723 left_roll=-0.2956 left_gripper=0.1072 right_x=0.3807 right_y=0.1792 right_z=0.1195 right_yaw=1.1141 right_pitch=0.1409 right_roll=0.0378 right_gripper=0.0557\nstate[joint_eff]: [-1.1009, -7.5145, 6.3521, 0.0659, -0.823, -0.1245, 0.0513, 4.2735, -12.0684, 9.3607, 1.9902, -1.4481, -0.2613, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46dfcebcaa64f72ceba1cc43331d9730c288cb9c7370d3cade819de0d86aa723",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f06215970bd418b797e1ed84836055993adf98f0cc9309c66537477a95f2bce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc61b63ad5fbb9ae9a080b99d2ef3110a4dc6139ba073e279957a7600cbdc3ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHg9c4xE3pk4VJ6_CefEUhCrutqQ0zhWH9rVlzRtCg0Y507yHtjuURdWG256nqxXCratSw6IqV15It97NxIeGzTZ3jV7ar30crf4oXGxyaS_oYw_nPMwJXKd8n0RpkY5C0koddlYOvNkQPWmPjIB1lJQ1pwAZ3FwP0KeXvgbr2BhLMVuGXH1KuX1Hmv5i8z0PynLPCZlQ6_B5RJiKWmuXTjBe7ugea0CRUT5uYytDKJXn0C3lwZgpkFYvF1597XjPPdD27llmlDVsrXGrZ1m0hFnyzlvM37NKI1ztj_4Pdrtd09Z6Hz_-u6eTVgLFOX5M8aomHLbNYELrOCx4XaHuNZFEbriIzR2ERIHsI6nW-0mYYres9yLoa1sVRw9otUnEGjemXQ7hZDHAI_IhEIuwYKek0mhPSTIN1iNKNOwiFEXrA_82Lg1NoRiV99e3_Mr2VIn47SY-748nlDf9lwRiwdpgt9R4ivcgt-9cbiUoiDU8iIGsIly09jf3ROG7dr62M5yD1OTyWD0DtwI_3hCXUIQpF7X6Dswmw_iIogiXiOBMRJNiHGIRLXBNsSjVSSIwkzCu7Olef2a3fHEjBV2vVWeIe4MJ9WyWbZbPiKl-mjvTOC6Yjjx1B6CF-13tdEFMJYxcJ-gIhe13SBO4VbkN-8SZoInKCob50kVtsNo1DyyyTCmFxaIJgm57VXpksart2iY3i8MAWtG3JsNq7ZLbvlpz-wBZUS2OT8MSJwXHOiNfOc0mse0cs3LhE-RF6rPwIdDZSSAVyQMSMBLA2pXERSFTy32jmcL0V1EQQ43V8T_pOBqYzvXwrbkmwiQKfI7eqg1g4FxxqzSSil1ji3wc_2vOKg1VPvmP0qm-bQEEi5GdYmaadJ7U54ZEByQmdDqGIpPAWu4STjC7RTZfMz1q9OZwQrzm3mbrUPttWzQm68wlhxOLuvdeN5hb1hxDXUFangl6rRZUWinL5NS8wdwKmTGWeYV_oviWJJ8g5st1fm1Uw2Lgk5bnFXBPpCForyaWRcAbRJ-IAanr00YoTBwbYOzk8HRfPQDq39mZbmjpc5SIdB6jpbc70vM_0cdHVsgCpIfbrMNJ9eAq6Kn-C28LJ3KudUpo2U_pd4muGz_MscEPLapgWg1Wh8HwIuPOx0N5iw6hPPjkCUSi2k4f5fDsAOL7zVof5Ol5s40k1Dg8U3a_lINWUFuX5wQiTa8kliOUp3kqucJVobfMgaEC_0CNIIdjWwpE_cM4Am0N_lceKoR_6iFW251bRDvHbisLOfT4K9qZQs0EqbvXLi9exyfXC9h_vKOzvW63I_2woMaS2C3wQf0MU1cc2cVR7kPU5a2CFOE2X8NsTQyALoInTsdu3w79kLOJOmfzAPtnif6OfC-aX8d0wOOeZBhG-3k7JI0xAQro1Iq9OGyZy61i2fGNKjmP1JqkpeTLaWYAWDKyQ48adQo7wZ8LgdBDG3zmWMH1AMse9IgTs5d0K5mI-cYUrCa0TKLcI8-c7F3UrKwhrzmxQKg1avYCxHRiV9fLPVx8v8aUqQWsc93zFZP-d0HWj_IeUqnV9deFNcCd1OHEUUR9XnMj0B1zMlpeznvpz1FwlQI51YFz4jXsJVCb9SxDSDxHVENcqZATM5ya8r-lynjrnLR0rRsb5HqwI3duTmWsIpPjrWm7CDBoVFbamZxCneWgXoN0lvrpgM8wRsRl801IwEOPCJo08P_slLw83OImaFL3d9A3TEF9-FGa2OkU1ldkRUFWzz7vpJfcEcbVl4REd8nDRNLWPeQ4lG12j0KE6DAmIRQljXuU4R2ev9fPRaQCUh7J1IsKDN1cMfWfdmd_bN6V6rh28E27XcqcBqdUIvbyWGgwoRk3Itn5bjS935SoeWjAjqoqE49WD4xigvxuZt5VtgNCIGOf5SGy31FBtKSriiE72SaTOpTMNLMxX2mq7KBnr4dCzYTB-_XZmmRGQ1YOL6IgatNhv4qpsgQyI7c4AouOcgCd7lqi1myAZsvHQJmi4JJu0_zHt3eS9mQNcLj9f61WgpdEaODxsbd_1nHoEqabLA8CuVVS_jGjVLQEtIik9cj8HESrX-Ggvhzg9vesTe65RAhAa3PdhDFqMsSTyWSg7lV4j3uKL-_wiY3pinKPvzWJCOVja8mPwMXMuz8SFUisdkdfaEn4no3rVfMZfsH8SoFU_xoyyqUsByvGufuor_slKBf0Dd-luaVWLzRf428UG9wWOJNTywxInvOGCaeY7Dig8ofzyyfVlTVHdO5mYoEgJGan29B-mRy0bjc3HdRc9cxyV-rVlt5S972aVGSBJ5cbbBv4VD6w8stR7BAhGhKvVYC-He3KiG2M-SpMq8Ca7j_LQg-KeG4oRWCE0CrOn9NDkqX4afI70TD1J-5s8kF4azsB2mndmc6CwjUiQiMLlmqAmf2X885AFdt",
  "id": "rs_0fada87214a4fea4016ab47838ada487d0ab7c51f6bb665e6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.24,\"left_yaw\":0.6,\"right_x\":0.37,\"right_y\":0.2,\"right_z\":0.15},\"note\":\"The arms have come too close at the wrist bodies, and the right hand was displaced before the cap reached the pen. I am separating and raising the left hand to clear the interference before deciding whether a safe alignment is possible.\"}",
  "call_id": "call_cehPooq1ug57rDsYTsrK5Kdi",
  "id": "fc_0fada87214a4fea4016ab4783c590487d0b11afdc23ef683d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cehPooq1ug57rDsYTsrK5Kdi",
  "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]: [-0.91, 2.0827, 1.4719, -0.5159, -1.2259, -1.2842, 0.1072, 0.1253, 1.6547, 0.868, -0.0071, -0.8131, -0.5266, 0.0557]\nstate[eef_state]: left_x=0.4042 left_y=-0.2433 left_z=0.1337 left_yaw=0.5952 left_pitch=0.2535 left_roll=-0.1657 left_gripper=0.1072 right_x=0.3724 right_y=0.1799 right_z=0.1076 right_yaw=1.0434 right_pitch=0.044 right_roll=0.0979 right_gripper=0.0557\nstate[joint_eff]: [1.1009, -13.1214, 8.0889, 1.1941, -0.6374, 0.1734, -0.0024, 1.4427, -11.2615, 8.7043, 1.6532, -0.7155, 0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83958ba722b220a109cb2b2b717ab1b0ba19ed74f79ef5cd389969957a324126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f08c410b0583afe84a1e1976db8f6ddd7705b0fa4f0f1dcaed4a0574c3fc20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51b8b9ec67914296439aa44f313adb9aba4dbb6fbdadff36bead6b46ef291dc",
      "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 · 8.283 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.4811, 0.4553, 0.5491, 0.3477, 0.102, 0.106, 0.1501, 2.162, 0.7372, 0.8219, -1.0306, -0.5953, 0.0571]\nstate[eef_state]: left_x=0.3568 left_y=-0.1544 left_z=0.0884 left_yaw=-0.6234 left_pitch=0.1238 left_roll=-0.0545 left_gripper=0.106 right_x=0.3672 right_y=0.2124 right_z=0.0064 right_yaw=1.287 right_pitch=0.2632 right_roll=-0.0569 right_gripper=0.0571\nstate[joint_eff]: [-0.3487, -5.2308, 5.5453, 1.7753, 0.0562, -0.0366, -0.0171, -0.2393, -9.2923, 3.2889, 1.243, -0.1001, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9298, 2.1506, 1.6073, -0.5156, -1.2526, -1.3457, 0.1072, 0.0914, 1.6882, 0.8768, 0.0811, -0.9165, -0.5804, 0.0557]\nstate[eef_state]: left_x=0.4165 left_y=-0.2717 left_z=0.1484 left_yaw=0.6393 left_pitch=0.2723 left_roll=-0.2956 left_gripper=0.1072 right_x=0.3807 right_y=0.1792 right_z=0.1195 right_yaw=1.1141 right_pitch=0.1409 right_roll=0.0378 right_gripper=0.0557\nstate[joint_eff]: [-1.1009, -7.5145, 6.3521, 0.0659, -0.823, -0.1245, 0.0513, 4.2735, -12.0684, 9.3607, 1.9902, -1.4481, -0.2613, -0.0317]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.91, 2.0827, 1.4719, -0.5159, -1.2259, -1.2842, 0.1072, 0.1253, 1.6547, 0.868, -0.0071, -0.8131, -0.5266, 0.0557]\nstate[eef_state]: left_x=0.4042 left_y=-0.2433 left_z=0.1337 left_yaw=0.5952 left_pitch=0.2535 left_roll=-0.1657 left_gripper=0.1072 right_x=0.3724 right_y=0.1799 right_z=0.1076 right_yaw=1.0434 right_pitch=0.044 right_roll=0.0979 right_gripper=0.0557\nstate[joint_eff]: [1.1009, -13.1214, 8.0889, 1.1941, -0.6374, 0.1734, -0.0024, 1.4427, -11.2615, 8.7043, 1.6532, -0.7155, 0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83958ba722b220a109cb2b2b717ab1b0ba19ed74f79ef5cd389969957a324126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f08c410b0583afe84a1e1976db8f6ddd7705b0fa4f0f1dcaed4a0574c3fc20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51b8b9ec67914296439aa44f313adb9aba4dbb6fbdadff36bead6b46ef291dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHhCDphMltvsRlyTGRqv93jlSe8RzxPYQqy7QvkWlyoBWj4tcPTgGv0n_u06zhQylwTeHHPoNspk1y_puxsmhQQhgZzwf5xOKq6pGhwPa7nQqYHqTGHv4NhUSLrmddrPckyaR1i-frwa2OiVmBaJ3lJ2f0AzyFLfkeT1GX3D296EBOJyhc2c2lMdqgW8A6QTjfV172zGtNO5kmtnQPDw30NbZY-8-AV-muKd5pj6emweAz6UdAUv5YifGXR3hjq3yI6agGgqsZIEhXkJuUzzgY_FTnMMjFmPmhBA8pxXZFBLv0BcRGcaMalFXnbRA40cB539eSztyfaZr3vpbB4YASZXWao-mJg6lcRYFRoqawnHGdEY36YGPR94Sf7Vgjj01tmzpRiduZQSkwCE62CJoau4nwX-sh68npl1yprNaf-u7_s8nOp-nZRNcHKZHHZoYHuoe_Oa7XywXF3zTgP_IkvEiOM9_nkIN_cxTarOGB8TxvMGSP1eiwumYtQGP82ge17quYxUtcoeIUKAmmdO5O2APfXkqSxkIhBR9y8Vfc5n9aL1CW2ROF7E5bBrJtq2tcoFDF_g_Xlru3uXoLylrcuYPjXs7X_uhS5Gf1J7wFKY6S-a5v4yp2X0JBplXCo4PuBZszTOs150kVV3YAn9gdcT_u7ykIW7ahTxnMltczAlXdYrZvaxuE3A21ebbC7pcCO6rqyA5z6gnQW-PvwT8RD9tlkx7rnxnR4xanYgYj6Rbe7W6Jy6ZWgdbo955YNgHbzPEaSc275SBGQGoy4LUlww9fyik_3bdWf28FNQ1LAgCn98tf1KxTp3DhFl9Dvlv8byehE14tC7_b6oSTIVYrIRITyPDTknTiJj5sN7NKl8nZDGdDJOoccgL_iHk5PlJypi-ksN27iIQTSZGWBNQpJos482ZiExyb8M5-uMH91QeCR3Y4Hm-n1tu17o-FfX8rDFqaSFNNGiOC44rEpMDRYerOA3FSTGtPo1OR3dsx5MM2sqfnrFoni9LVNPYW4oS6riJRyRU0jbALHBXhA-QKpJY8V914vhcb0mE6VkWnw2CU5f_NuOBLiNg5JhhthIHxO_abzRxAK0mryppuxAzyUJ6F-7-bUZkJGbSLLAsJfNqMn8S1qbC9OkeBu5VPkcwjUzjAEjOpBHy0jeBh6NRywx5uTz-JgPbmGTj0paHLGojb6CJS0qUqv-4E-4wDjHRBVQROKkMFv0R1fipNm5stMEk1iLTJAYCH2drEPzg28d6yCEQdI7ZXxUoy4Wk6hz88CpwxnnKzVGlVzTxYzxTVVGtOKMKmkiVu5rMtPAXeVlzWWmQTyXddOWxQnoXtgQrY2LUGenqjaWc0lVHqrlBb_K51h4Z4R8DWdhFToPMX85TktX2Jih2nKQBibjGNZHkg8btbUaHzHL6U4cUY32AVKl_dd4zhzfgPswIpcaym8fgUgyncfnqOXr8DSX9QPIDMnWsaOjuKfm4kbzOK_dY_e8Iw==",
  "id": "rs_0fada87214a4fea4016ab4784001b887d0921a6726ca321b64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.16,\"left_z\":0.15,\"left_yaw\":-0.2,\"left_pitch\":0.3,\"left_roll\":0},\"note\":\"The left arm did not clear the interference on the upward move. I am reversing its rotation and withdrawing toward the earlier separated pose rather than pushing the hands together.\"}",
  "call_id": "call_398MnFoU1jJlyU5WYl0JipWr",
  "id": "fc_0fada87214a4fea4016ab47841295887d0a848d4b05ca5055b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_398MnFoU1jJlyU5WYl0JipWr",
  "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]: [-0.6147, 1.4036, 0.4999, 0.5091, -0.551, -0.2485, 0.1073, 0.1249, 1.6562, 0.8639, -0.012, -0.8108, -0.5308, 0.0557]\nstate[eef_state]: left_x=0.3647 left_y=-0.1399 left_z=0.1324 left_yaw=-0.022 left_pitch=0.2366 left_roll=-0.0203 left_gripper=0.1073 right_x=0.3709 right_y=0.1792 right_z=0.1047 right_yaw=1.0434 right_pitch=0.0365 right_roll=0.1018 right_gripper=0.0557\nstate[joint_eff]: [0.0479, -4.1641, 6.5436, 1.79, 0.105, 0.2076, -0.0024, 0.1983, -7.6376, 6.4205, 1.4432, -0.3004, -0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e0115d9d9763b7e3c02d75cb168b2f5b540d4396a90563d383b669390a4b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c074274bce86ec3ab55d2de6dd82e2a45bf217de6391fba550e8102b2d77dcc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcddec1d7aecdfab81c1c41cce4bb8f5f09b4979ad37bfb48ce2293a72806299",
      "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 · 3.407 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.786, 1.5211, 0.7261, 0.3134, -0.8574, -0.4454, 0.1066, 0.1509, 1.6939, 0.8669, 0.2329, -1.029, -0.5995, 0.0559]\nstate[eef_state]: left_x=0.3698 left_y=-0.1762 left_z=0.157 left_yaw=0.1556 left_pitch=0.2618 left_roll=-0.0552 left_gripper=0.1066 right_x=0.3684 right_y=0.2127 right_z=0.1443 right_yaw=1.291 right_pitch=0.266 right_roll=-0.0697 right_gripper=0.0559\nstate[joint_eff]: [-0.253, -6.4615, 8.335, 1.3358, -0.3248, -0.0073, 0.0513, -0.3897, -9.5111, 8.1983, 1.3016, -0.3883, -0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.91, 2.0827, 1.4719, -0.5159, -1.2259, -1.2842, 0.1072, 0.1253, 1.6547, 0.868, -0.0071, -0.8131, -0.5266, 0.0557]\nstate[eef_state]: left_x=0.4042 left_y=-0.2433 left_z=0.1337 left_yaw=0.5952 left_pitch=0.2535 left_roll=-0.1657 left_gripper=0.1072 right_x=0.3724 right_y=0.1799 right_z=0.1076 right_yaw=1.0434 right_pitch=0.044 right_roll=0.0979 right_gripper=0.0557\nstate[joint_eff]: [1.1009, -13.1214, 8.0889, 1.1941, -0.6374, 0.1734, -0.0024, 1.4427, -11.2615, 8.7043, 1.6532, -0.7155, 0.1343, -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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6147, 1.4036, 0.4999, 0.5091, -0.551, -0.2485, 0.1073, 0.1249, 1.6562, 0.8639, -0.012, -0.8108, -0.5308, 0.0557]\nstate[eef_state]: left_x=0.3647 left_y=-0.1399 left_z=0.1324 left_yaw=-0.022 left_pitch=0.2366 left_roll=-0.0203 left_gripper=0.1073 right_x=0.3709 right_y=0.1792 right_z=0.1047 right_yaw=1.0434 right_pitch=0.0365 right_roll=0.1018 right_gripper=0.0557\nstate[joint_eff]: [0.0479, -4.1641, 6.5436, 1.79, 0.105, 0.2076, -0.0024, 0.1983, -7.6376, 6.4205, 1.4432, -0.3004, -0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e0115d9d9763b7e3c02d75cb168b2f5b540d4396a90563d383b669390a4b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c074274bce86ec3ab55d2de6dd82e2a45bf217de6391fba550e8102b2d77dcc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcddec1d7aecdfab81c1c41cce4bb8f5f09b4979ad37bfb48ce2293a72806299",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHhL_m1K5KMWeQQjzksI9gNx9WC7LGvHLqsS9C3LigQoikeCuUVnV5o-DWZkMdXaQCcL1O7OHqK3szkrvJ9KIHGypwSYHo_M3Xo8t1Yy-60GviZB3X6KH61m2xfyLisuGqhjsJwEiCsTdHUEFOpsFqbu2TdgRwhTItrycl2M8_tsFQJKgMW0q9sGQZZ8FdFOBnYsADWLMyh_zTbQiFGz08pCnhnRRmGuIC9tOrInC-K_sHXw7ec_13zItRadkwo69UjjI5YQ33-II0x3600W5fHxdykm7sXc0bjQ3mm3yxjPqX7OY2YSPREnlMcxhEGKa6EcOb4PVJg2OvkG0TqVngFJeDGw4qtMQ39Z3a67sfEO-vVnj7Q91h0bX30CdgmMmppVz_J9l9QFY22Ph-rOZirJA6bQEze3KRDPzXv3WrCFE37syvBtxpxupCe70yHwWCED_cLH9oMs4MWWHgh_ntwVr0wDnevWHxJPJPqkEvjjz72RfmdofjoN1q1TkRZLAd8q74uNRv8rYtUAt_5U75Qi0N67_jDFIbz433JiXfJiVd1Drl0bSxTP7cAMIfuOjd2M9MgqZuDLIeyb9VsRlPGsskBXFLCEjwg_UE72Yr0_DcBIbhXxGLEx--jb7eSpMHV3lnQO5YlVEsFX4JqMOlXRrEleqLnuPct9BGVsMdazWS0cw_UWwH9xUnRd0i4DHhP_-98gNoEFdPYzfXELMD4HpaET-VTIv8mgwjXs9yNLULzThUwGtyP2AjL0ze2ba_I9rp9PzK0bPoHEPAZ6_S9nCh_7brDLdc3IMO2VT-hN-iE-dlYszaQKCDiqafH-iug2AFMMCvmCNxcRuBIHXL-cduYLBGi2FQF31Mw5NSK7L5oX1nLtPeKLOP25mdQ6gwaN-7UHZR7OkoPzqOkmv5TXVFH_cYyydQ9W3mov5KAZmH2K0KsNpkznxTlp-jIAjvQxOUhgRVhoPpY_RGMFerGo7XWLt4YwcYYnFDLlH5w4hBWwyLPhUbtRS2ILB8aIgiZzvo5gpWEUFus3u1czxdIWdo6Q0fRKfkOLACWrW7nJ4etVTj9cMn5Es0Vy2OPFFeFVORpwKqEiC18azIxiAd7V8TZz4pk5jwF8r3P3PYu0OGLEYD97HjmkPWveKgt0qu_DbY-lkPjaNy22dU6R2scvsUFVkagPaw8b2hl8HAYYSmp4mHiao8I2PvyfyG2f4pMwp86lVLdTQbUSKCOPQ884FB4s0mHuAD-Z1C4dVWf1Qw7b_SV8GUhozB0Xf85nrrXS71W93SOqPH7pMgqGA_Y5D9dZ5Df80vOTsCmIXzlBIb8e4B3aO15kEC8J2apXuBkKkl8m2n1UhLHsYLmgVhROM2WRymGcKEh5ceU7yROIk-MQYA4uG0tTVEAGUFE37V9X4BniIkpzegJcdIUrOEg2SP1xEBQob8Ng3gH1GrVco1UhQTyHo4Q_GB_hLm6GkE3A9pueFmh5GsVR3SjJGDwCmqCyq2V87XuRTzrDWaXMTjNdRIrurVI6bjSZSPfsZ17OK7BtiIC8Aetm407p1QDsLYSy3JBNdOvLDwuX5pf6SfpuDJ1Z-Y-n6NJisItTuA1x-CCeTWKPuTKBcXkpnbTYRGY2B5gVsWCNh5fauc9Ay8kDq_UuZw4B2qrticxgQdHwRqON66IkvEIlK__xN5MjZsUTptJtgALnDyuFgLO3RmxdKJTUKt-x18pBbTE4U_4wrS--tBcLoXjfS_ZaOVFZru9u_mLMoGuEluKMEvKhyskU3q24zS7No-mT8cE8TZsQ6r0Up_7Z4SfLvovneR1ckt4TbER45yWUUB9fVuWRT7vCcGLl2_BKMyrxb4x8qnIgdixktgfx0eKo4w5kzN4eEGLB_c0RadXRQCAdOwS1Mui6ELMhw4bxEEMHcA-TZJzZ5fOVdbwwNG7aFBRsEAieLhhTspc-LZIZva30XziLr3Zz6cZqw6DSY5xALIMwiAxL9jW0q_7aY6L-U-rknfJIer4xRSW6a0_QvCt67loZZ4AB6I5REBemOkIAioLrvZW66JZH3qqihfpnynTp2QvBDxqBHsVy0uziOQPG9wRtuDEUeKGGcVfs3CzOUjzda43k0jjzgCQuZIsH_DNvmOAmycYm9xTc8MrNNqSrV0tva4x0HQHu_opR6wfW4XKFtCUD1KFr5qFBiTkjWIV15QfUN03fSGTQS8Hpee2CpgQRqSFHunzgCdNp7p83f2q13tNHPk6MXU1-9_bLMTXtGTnpRWWTXVjM730g3ZVOQwlSYD20lxH_U7Jlqhqnhugcp595uRBcP1bCnfI7QWK7Fd4nrppMXqWfy4FsjXQ78bTDPocHN-danOSGh57fL_LCqrDXq7Lu23-2GMTV_IovyJY6FCqi3EEy_fWUIi6ZS479VEO9VBWVxN5_oZPXjE-WO_KmZ_laO2AmC5Ti-TLPkgUK3ATY-cZU2lkqILoyKMrg7NhBLvkqyLHxngySGI_WSCsmBzdCO9PYNPS0ZTJSTSd_wP6ZPUDiEdHOgKiPljNv7FAE2sA-Sh6TJSDk_WQ_a0eOxyxcz7boI0DURY5jP3nTKW0PeKRD80rJIKJswfxbzMGn8zuTzg8PaED7WvNw_LC_C7HMyAPKEQ8Uyfj9Cmdm-hix7NTqOl6_zJKFh-ttyKWc5qDGDjAhTojcT6ysmPJBdNfUZwilvT8nUHzDuGZHLA9bPL-0EVW7HjqZdTcSWdi5pRautehc_a3GLrvxbORxR9wEPgssXyZSs5ijPKeuDarEuZq9TkPvZkB8oQ97sQmAXL_1cAGT34o7nVn_sCalB-oryQAsyn_xZY1QjSev8U1W4SMsA7bKzG68QWT9rGZUqnPy6Kyf1UiRjKEboLZaOUQu1rU1lpuLb3hF686FmTt4Pj6-Cc602_NKxPLqtBjnUgMTcQCPx3kFh6Hns6zSQDFtrW1KXoaYS_btwUChuWV8mr3awJnOjemWLLa-JkjQxzjogyjwd8_jupvUTpgs",
  "id": "rs_0fada87214a4fea4016ab4784456a487d0ab0d5a2b020332db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.14,\"left_z\":0.005,\"left_yaw\":-0.02,\"left_pitch\":0.3,\"right_x\":0.37,\"right_y\":0.18,\"right_z\":0.005,\"right_yaw\":1.04,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"Both objects are held, but the wrist bodies interfere before I can align the cap opening with the pen tip safely. I am setting them down separately rather than forcing an uncertain insertion.\"}",
  "call_id": "call_BBO1NHENVy9olm4QfUrajN1u",
  "id": "fc_0fada87214a4fea4016ab47849d51c87d0b8873cfac6d8eb50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BBO1NHENVy9olm4QfUrajN1u",
  "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]: [-0.6189, 2.1475, 0.3676, 1.3968, -0.5747, -0.2253, 0.1073, 0.104, 2.1372, 0.5888, 1.0531, -0.9077, -0.3805, 0.0557]\nstate[eef_state]: left_x=0.3628 left_y=-0.1361 left_z=-0.0003 left_yaw=-0.0175 left_pitch=0.2511 left_roll=0.0034 left_gripper=0.1073 right_x=0.3677 right_y=0.1819 right_z=0.0064 right_yaw=1.0514 right_pitch=0.2624 right_roll=0.0262 right_gripper=0.0557\nstate[joint_eff]: [-0.4581, -6.9128, 2.1128, 0.9109, -0.022, 0.0659, -0.0122, -0.3761, -6.9265, 2.1538, 0.6374, 0.2466, 0.1001, -0.0073]\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:a23e9d80581fc4f746dc3d9e35029b12c622c75384f01ae6c05aa9335d0afb05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ca138ef98c8980a6d92c85ab880009ef6846a616033dcac2920f85012a190c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6214dd43a08b7a0bdc58707379412d061cd25022f0d2fa4157010ff8a6aea4",
      "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 · 3.203 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9298, 2.1506, 1.6073, -0.5156, -1.2526, -1.3457, 0.1072, 0.0914, 1.6882, 0.8768, 0.0811, -0.9165, -0.5804, 0.0557]\nstate[eef_state]: left_x=0.4165 left_y=-0.2717 left_z=0.1484 left_yaw=0.6393 left_pitch=0.2723 left_roll=-0.2956 left_gripper=0.1072 right_x=0.3807 right_y=0.1792 right_z=0.1195 right_yaw=1.1141 right_pitch=0.1409 right_roll=0.0378 right_gripper=0.0557\nstate[joint_eff]: [-1.1009, -7.5145, 6.3521, 0.0659, -0.823, -0.1245, 0.0513, 4.2735, -12.0684, 9.3607, 1.9902, -1.4481, -0.2613, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6147, 1.4036, 0.4999, 0.5091, -0.551, -0.2485, 0.1073, 0.1249, 1.6562, 0.8639, -0.012, -0.8108, -0.5308, 0.0557]\nstate[eef_state]: left_x=0.3647 left_y=-0.1399 left_z=0.1324 left_yaw=-0.022 left_pitch=0.2366 left_roll=-0.0203 left_gripper=0.1073 right_x=0.3709 right_y=0.1792 right_z=0.1047 right_yaw=1.0434 right_pitch=0.0365 right_roll=0.1018 right_gripper=0.0557\nstate[joint_eff]: [0.0479, -4.1641, 6.5436, 1.79, 0.105, 0.2076, -0.0024, 0.1983, -7.6376, 6.4205, 1.4432, -0.3004, -0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6189, 2.1475, 0.3676, 1.3968, -0.5747, -0.2253, 0.1073, 0.104, 2.1372, 0.5888, 1.0531, -0.9077, -0.3805, 0.0557]\nstate[eef_state]: left_x=0.3628 left_y=-0.1361 left_z=-0.0003 left_yaw=-0.0175 left_pitch=0.2511 left_roll=0.0034 left_gripper=0.1073 right_x=0.3677 right_y=0.1819 right_z=0.0064 right_yaw=1.0514 right_pitch=0.2624 right_roll=0.0262 right_gripper=0.0557\nstate[joint_eff]: [-0.4581, -6.9128, 2.1128, 0.9109, -0.022, 0.0659, -0.0122, -0.3761, -6.9265, 2.1538, 0.6374, 0.2466, 0.1001, -0.0073]\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,$blob:a23e9d80581fc4f746dc3d9e35029b12c622c75384f01ae6c05aa9335d0afb05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ca138ef98c8980a6d92c85ab880009ef6846a616033dcac2920f85012a190c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6214dd43a08b7a0bdc58707379412d061cd25022f0d2fa4157010ff8a6aea4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHhPXvsbV4zEbczoqRkh5mPlneGm-GDHRljqC3aFCeQ1CE-O4PftSZdCVedYjcU0Lu6Wf8zqN94k9L6kqXK_7UY69NkkDY8bNngnGFaOsTybFhG5l7uo6yO4SEH8zblz8-z8bIn75yIuX92ghqeFlnSLdciiFWQiT0P1f77jWdFG41kRviZUMbZnUisSU_xB42vFxCS7uaEphNZO6PcV9IqiwaXo5225ELYqppeTp7R1yUcDDdYAuQOfhVBdI5hB9ICYKQpd34iNZVHYm4DmYPVx1khvM78ft3IAL6bEIonxPe3XmE1DgN04JWCN6hkZY_r8ZySW2EJ1pecib-f4aq_tACvNDUEWiALs5l4p1YQwuhKiBf8CUbiKeGcvBGMm2I9CN_Co6YOtthobMPRooWNnUXcpC0f8h4xz9qq3w_-IRaAmLG-kGRTqvL6cenf6RseE2SiTSYcIi5CFRuwL7PsDHv_ZN5hom-7U-2lWpsc5107rJtBKBe7sddrUBze-OQ4QVrcT3u-dPkTJRIk2iZWtCwKLDKgqVqmUjpNE2CIxsj0oWRZ_X7j0YGvwzJekXeTMkDXkJtDeCVUyR5YeiqS5zEOCy2Rh7Oym12-CqB2myxjOLy8Zzo-Z-QHQCLuE1x8MRZ1wsAE4xKw1_86M8F66SLQujSioklTGZGK3X8yamdA32GzKjUqz1siJE20K6PRSB7vN6fHiVEtbnBhcZp75WWmUJ_fN99lcKbsx3cgyf3VjBk-QgFvrsmS9sBLGl1Isc36a2tuzpKgrgA9ulERorXTrLixuILTkXoGkLFwOpqdQK0bRmbJHX3hN8EiuL8A8l8Lk_HBbQ2LSQ1y78tDd58O5Qd6XTxCmAXTAXN-lcWhND37x4o3_ZGAZEOtE5anbRqH03FfjZxrV8zEH3KNqGf1z8P6QQAQXDjV7WBsCuNej4EDLgj-tTzZFR2qyfRUmg2g4UB0tJaZclnCvx-q2cULOLHoVptxDUN1asvNaLVCA7PJKUwqtHGB2aiBiTS_Cd_Jnd064gLDt8FUWGYmlrgryhIXZesco2noQstFpti5LArSDlR9DmAVz-Qy5dD_w8HVPM6Idu4tmRjYVkYROzT1m5Aduq8DVKalJmEjZyQjFCkmVpx_4tBd6KVazVDGzuGyZanZ8vkiAQW9MqDOytXcwkaHTQEpMzy51kjIF30lx0EJlxChgkVHssRxVQS1E",
  "id": "rs_0fada87214a4fea4016ab4784e680087d0adc52fe1da380720",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"The cap and pen have reached the tabletop in separate locations. I am opening both grippers to leave them supported on the table.\"}",
  "call_id": "call_XlgM5XkfL0lURRZ40wn6KXsJ",
  "id": "fc_0fada87214a4fea4016ab4784ea26087d09b591a09bc1d7a8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XlgM5XkfL0lURRZ40wn6KXsJ",
  "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]: [-0.6186, 2.1586, 0.3683, 1.4239, -0.5762, -0.2264, 0.9953, 0.1043, 2.1494, 0.5869, 1.0847, -0.9165, -0.3962, 0.995]\nstate[eef_state]: left_x=0.3639 left_y=-0.1364 left_z=0.0015 left_yaw=-0.0126 left_pitch=0.2652 left_roll=-0.0071 left_gripper=0.9953 right_x=0.3672 right_y=0.183 right_z=0.0071 right_yaw=1.0715 right_pitch=0.2761 right_roll=-0.0017 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -8.3897, 1.7846, 1.5897, -0.1587, -0.0366, -0.1685, -0.1573, -9.4427, 2.8923, 1.2772, -0.1832, 0.1099, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d4818bd6305e39c49e880eeb50009b7212704da09b9b9aa9e1fca03951294d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4e3072f595b64065e934d59c43ae2681d907433d5a2a2dbac60130d14d1c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028fff8a029a0b8a767c1070530fab7ecd8f6d588d2ec591b0bfd8523ca75420",
      "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 · 5.038 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.91, 2.0827, 1.4719, -0.5159, -1.2259, -1.2842, 0.1072, 0.1253, 1.6547, 0.868, -0.0071, -0.8131, -0.5266, 0.0557]\nstate[eef_state]: left_x=0.4042 left_y=-0.2433 left_z=0.1337 left_yaw=0.5952 left_pitch=0.2535 left_roll=-0.1657 left_gripper=0.1072 right_x=0.3724 right_y=0.1799 right_z=0.1076 right_yaw=1.0434 right_pitch=0.044 right_roll=0.0979 right_gripper=0.0557\nstate[joint_eff]: [1.1009, -13.1214, 8.0889, 1.1941, -0.6374, 0.1734, -0.0024, 1.4427, -11.2615, 8.7043, 1.6532, -0.7155, 0.1343, -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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6189, 2.1475, 0.3676, 1.3968, -0.5747, -0.2253, 0.1073, 0.104, 2.1372, 0.5888, 1.0531, -0.9077, -0.3805, 0.0557]\nstate[eef_state]: left_x=0.3628 left_y=-0.1361 left_z=-0.0003 left_yaw=-0.0175 left_pitch=0.2511 left_roll=0.0034 left_gripper=0.1073 right_x=0.3677 right_y=0.1819 right_z=0.0064 right_yaw=1.0514 right_pitch=0.2624 right_roll=0.0262 right_gripper=0.0557\nstate[joint_eff]: [-0.4581, -6.9128, 2.1128, 0.9109, -0.022, 0.0659, -0.0122, -0.3761, -6.9265, 2.1538, 0.6374, 0.2466, 0.1001, -0.0073]\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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6186, 2.1586, 0.3683, 1.4239, -0.5762, -0.2264, 0.9953, 0.1043, 2.1494, 0.5869, 1.0847, -0.9165, -0.3962, 0.995]\nstate[eef_state]: left_x=0.3639 left_y=-0.1364 left_z=0.0015 left_yaw=-0.0126 left_pitch=0.2652 left_roll=-0.0071 left_gripper=0.9953 right_x=0.3672 right_y=0.183 right_z=0.0071 right_yaw=1.0715 right_pitch=0.2761 right_roll=-0.0017 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -8.3897, 1.7846, 1.5897, -0.1587, -0.0366, -0.1685, -0.1573, -9.4427, 2.8923, 1.2772, -0.1832, 0.1099, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d4818bd6305e39c49e880eeb50009b7212704da09b9b9aa9e1fca03951294d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4e3072f595b64065e934d59c43ae2681d907433d5a2a2dbac60130d14d1c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028fff8a029a0b8a767c1070530fab7ecd8f6d588d2ec591b0bfd8523ca75420",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHhT30n8xvpuYF2Wbss8MXajwASQk2dVVQW1JUevhMWXgHEAaxDIPDv_iO0TkXjnd7P7oJBj_QUT7qVdUxQjuVB-NeCl5GGorILinbOJreuCxDf4R1jNp5kfnV4u6HQzG3JcfbGm6Lp1zcvrszSthFwzUP0A11HQgEfO6wXAMJM0dst87yHejDA5KuUwn9qs_yaKuNG9n20fyt6rLH-h4U8kfMs_ncrKPe-rJgw3VFPBnEFeAsL9-Nnqw4K8gic9LW594g424C9y2CSyaiik4QWDBRdP3kHXMTUZQEOqM5rD1PtIMyfaC-55es7VimQCkFpboTpysGpWyts3J6U4z52FCUs7kgBK2hZF44-bRkwRzlat3dQlh7sULS8LyCDbu76yycRLS3NyDPRtSOTfzWyj4PZiISRDn8qvOPRjR8Z3_V_d-3Ydu3DeC6pByUnP_MdOQuVCmlzKgnjpJ7Y3hb90jSFIgKww1nOP1hmZV3YXedRV80Oz4dZyc7JcuQflsxrNs6kn4HKD2dfl_ulG2IDkF_fYozATxSDX55dhgdaXViDNcAI2Yl6Gm5f2OwkX2dl7oJHqw5jXu27pvPEZKzCCBnw0nnceZtn2aJxITP86wRLAQl3X24DgwjJtxty09QbSylXrZD911t4AdstrM1LaCHZ-QpIaYiVuGIweXiHnUYZQWjVSbWqFBauOKKvy43VKggnKb1Tt2YygnkWV11wCoQz9zjx4Am0nVEMz87GZaaLisPCAppSueFflHcUKp-AMsHd0qHVdq4pMe8WkdM7jdaQvmmbXWVpniKj5zLc4E9_3A8dq4plOFlzRPkO37HD5kseBnzD-v5EaFoGPOilNMfZLu-EZbU93TsRNJNgM-8e2RFGInhocMEcY6mU_hxgllTaDezmNE8SeF6WmfEqsU7QcO7AaBEmxM6QcljqIxDumyEG4yEJ-Pb7otjUQ6ppLIFD0c-486AU3rVB90YZMkLXySynuLCokt-AHSuxxbjFxo0MZC4p-I1TRWcSvme2nWSTAD6UpHCw3CGavy5c7Y1vwSK4aOJCYu0_OotKDzll0xrG-D5i1zaeSvZamq9It6XBfj55IkFPgbkmQ4g_2ABHQL2pjUVXIj_n956MhU-IV1verTBV7imWKJrztTe8N-UzbAUhh32XLdM1tuPCdd65IHNJBbelbm6fvlEDqIjjsy9xRRq7kWZYjHJ-X3oSjvzAiDJjCZ8fZxeTzFzP0GyJGxd4tJT01QPSqc476WKg=",
  "id": "rs_0fada87214a4fea4016ab47851f30487d0bd110b5fc7e1f537",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both pieces are released on the tabletop and remain uncapped. I am moving the arms back to separated home poses so the objects are accessible for the operator.\"}",
  "call_id": "call_fAK6cAw3HCGX2TrN2eHRvBrL",
  "id": "fc_0fada87214a4fea4016ab4785230b887d0a6e4f005576d6bf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fAK6cAw3HCGX2TrN2eHRvBrL",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0521, 0.8165, 0.6323, -0.3561, -0.0929, -0.0792, 0.9964, -0.0231, 0.8093, 0.6296, -0.3477, -0.1047, -0.0742, 0.9959]\nstate[eef_state]: left_x=0.3028 left_y=0.0042 left_z=0.1921 left_yaw=0.0559 left_pitch=0.0326 left_roll=-0.0104 left_gripper=0.9964 right_x=0.3026 right_y=0.0151 right_z=0.1948 right_yaw=0.0962 right_pitch=0.0355 right_roll=-0.0092 right_gripper=0.9959\nstate[joint_eff]: [0.1983, -2.3453, 9.6205, 1.7509, 0.1245, 0.1832, 0.0952, -0.759, -2.1265, 9.1829, 1.7802, 0.0269, 0.2027, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9222e90b01e8aa95da9d3eb6aa75539ebc82e704b28b6f5ba685e6d42110041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d86fe6f48e3cc2f9eb6c6bac0763e3f9618755a10f5072ef49710e3756e84b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c983c844aa8dfcfc3a56044a412346129ef5cf389e6572844c8048623b80aecf",
      "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]