adhoc

completed
2026-09-24T00:43:20.982762+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 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
223.4 s
total steps
282
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap first, leaving the right arm clear.
move_to
left_x0.4000left_y-0.2200left_z0.1500left_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]: [-0.02, 0.7925, 0.6022, -0.3798, -0.0219, -0.0246, 0.9996, -0.0185, 0.7914, 0.609, -0.3775, -0.0212, -0.0128, 0.9994] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2955 right_y=0.0019 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4718, -1.4974, 10.5231, 1.7265, -0.0757, 0.0855, -0.0562, -0.5949, -1.2513, 9.853, 1.8193, -0.0708, -0.0757, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.15,"left_gripper":1},"note":"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap first, leaving the right arm clear."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap appears near the bottom center of the left wrist view, close to the fingertip line. I’m lowering toward it and aligning the jaws across its narrow sides.
move_to
left_x0.4050left_y-0.2150left_z0.0350left_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]: [-0.7235, 1.6478, 1.0313, -0.1478, -0.5774, -0.4629, 0.9996, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.3903 left_y=-0.2113 left_z=0.1317 left_yaw=-0.0114 left_pitch=-0.0489 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0016 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.5538, -8.3897, 9.306, 1.5116, -0.4518, 0.1099, -0.0562, -0.2803, -1.7436, 6.9265, 1.8144, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.215,"left_z":0.035,"left_yaw":-0.45},"note":"The cap appears near the bottom center of the left wrist view, close to the fingertip line. I’m lowering toward it and aligning the jaws across its narrow sides."})
tool
executing move_to over 7 steps (0.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe cap is aligned between the jaws but still extends ahead of the fingertip line. I’m advancing slightly and lowering to table level before closing.
move_to
left_x0.4170left_y-0.2170left_z-0.0060left_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]: [-0.5426, 1.8194, 0.7605, 0.3401, -0.1841, -0.1268, 0.9995, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.396 left_y=-0.1969 left_z=0.0233 left_yaw=-0.3294 left_pitch=-0.1348 left_roll=0.0319 left_gripper=0.9995 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [0.3487, -8.253, 5.3812, 1.9756, 0.105, 0.2027, -0.0171, -0.0205, -1.2513, 7.0222, 1.7705, -0.0171, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.417,"left_y":-0.217,"left_z":-0.006,"left_yaw":-0.45},"note":"The cap is aligned between the jaws but still extends ahead of the fingertip line. I’m advancing slightly and lowering to table level before closing."})
tool
executing move_to over 2 steps (0.2s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe cap has moved into the fingertip region and the gripper is at table height. I’m closing gently around it, then I’ll check whether it lifts with the jaws.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5198, 1.9285, 0.7986, 0.44, -0.0944, -0.0601, 0.9995, -0.0193, 0.7975, 0.6132, -0.3927, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.4102 left_y=-0.2114 left_z=0.0069 left_yaw=-0.4189 left_pitch=-0.1166 left_roll=0.0212 left_gripper=0.9995 right_x=0.2944 right_y=0.0016 right_z=0.1806 right_yaw=-0.0013 right_pitch=-0.0172 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [0.4171, -8.7453, 5.7368, 1.6874, 0.232, 0.2027, -0.0073, -0.212, -1.1145, 7.0359, 1.7265, -0.0073, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap has moved into the fingertip region and the gripper is at table height. I’m closing gently around it, then I’ll check whether it lifts with the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe fully closed reading is nearly zero, so the first grasp missed the cap. I’m reopening and shifting about two centimeters farther forward for one corrected attempt.
move_to
left_x0.4400left_y-0.2250left_z0.0200left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5163, 1.9785, 0.8303, 0.4736, -0.0906, -0.0422, 0.0098, -0.0193, 0.8017, 0.6132, -0.3927, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.4202 left_y=-0.2161 left_z=0.002 left_yaw=-0.4286 left_pitch=-0.1019 left_roll=0.0314 left_gripper=0.0098 right_x=0.2947 right_y=0.0015 right_z=0.1795 right_yaw=-0.0016 right_pitch=-0.0214 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [0.1983, -8.294, 5.7778, 1.3651, 0.1441, 0.1099, 0.7106, -0.0889, -1.6479, 7.0222, 1.7998, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.225,"left_z":0.02,"left_gripper":0.65},"note":"The fully closed reading is nearly zero, so the first grasp missed the cap. I’m reopening and shifting about two centimeters farther forward for one corrected attempt."})
tool
executing move_to over 7 steps (0.7s)
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 jaws are now slightly farther forward over the cap’s last visible position. I’m completing the table-level retry and checking the closed width.
move_to
left_z-0.0100left_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]: [-0.5152, 1.9789, 0.9035, 0.3752, -0.0963, -0.0505, 0.6455, -0.0193, 0.8036, 0.6132, -0.3943, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.4297 left_y=-0.2197 left_z=0.009 left_yaw=-0.4178 left_pitch=-0.1269 left_roll=0.0308 left_gripper=0.6455 right_x=0.2946 right_y=0.0016 right_z=0.1786 right_yaw=-0.0013 right_pitch=-0.0248 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [0.1026, -8.8547, 8.3897, 1.5116, -0.0073, 0.0513, -0.105, -0.212, -1.4017, 7.0632, 1.7851, -0.0317, -0.0708, -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":-0.01,"left_gripper":0},"note":"The jaws are now slightly farther forward over the cap’s last visible position. I’m completing the table-level retry and checking the closed width."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe second close is also empty. I’m lifting and moving aside to reveal the cap and remeasure its position rather than repeating the same grasp.
move_to
left_x0.3200left_y-0.0800left_z0.1800left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5156, 2.0155, 0.8982, 0.4427, -0.1001, -0.0532, 0.0098, -0.0193, 0.8043, 0.6132, -0.3965, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.4341 left_y=-0.2216 left_z=0.003 left_yaw=-0.4138 left_pitch=-0.1011 left_roll=0.0286 left_gripper=0.0098 right_x=0.2944 right_y=0.0015 right_z=0.1779 right_yaw=-0.0016 right_pitch=-0.0279 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [-0.253, -7.4325, 4.3556, 1.5263, 0.0073, 0.0464, 0.7741, -0.212, -1.388, 7.0222, 1.7949, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.08,"left_z":0.18,"left_gripper":0.7},"note":"The second close is also empty. I’m lifting and moving aside to reveal the cap and remeasure its position rather than repeating the same grasp."})
tool
executing move_to over 13 steps (1.3s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe cap is still lying just left of the pen. The cleared overhead view indicates the previous attempts went beyond it, so I’m approaching a few centimeters nearer the base.
move_to
left_x0.3800left_y-0.2250left_z0.0400left_yaw-0.4500left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.181, 1.079, 0.7292, -0.3218, 0.1253, 0.1246, 0.6973, -0.0193, 0.8093, 0.6132, -0.4114, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.3294 left_y=-0.0791 left_z=0.1646 left_yaw=-0.3662 left_pitch=-0.0959 left_roll=0.0279 left_gripper=0.6973 right_x=0.2926 right_y=0.0016 right_z=0.1735 right_yaw=-0.0016 right_pitch=-0.0477 right_roll=0.0008 right_gripper=0.9994 state[joint_eff]: [0.1709, -4.1231, 10.3726, 1.8193, 0.1538, 0.2515, 0.0464, -0.3624, -1.388, 7.1179, 1.8632, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.225,"left_z":0.04,"left_yaw":-0.45,"left_gripper":0.6},"note":"The cap is still lying just left of the pen. The cleared overhead view indicates the previous attempts went beyond it, so I’m approaching a few centimeters nearer the base."})
tool
executing move_to over 13 steps (1.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe cap is visible just left of the jaw centerline in the close-up. I’m shifting left to center it and lowering the fingertips around its body.
move_to
left_x0.3900left_y-0.2070left_z-0.0060left_yaw-0.4500left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5873, 1.7493, 0.6956, 0.2714, -0.1211, -0.0746, 0.6009, -0.0193, 0.8116, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.3587 left_y=-0.2088 left_z=0.0157 left_yaw=-0.4541 left_pitch=-0.2058 left_roll=0.0392 left_gripper=0.6009 right_x=0.2925 right_y=0.0016 right_z=0.1725 right_yaw=-0.0016 right_pitch=-0.0519 right_roll=0.0008 right_gripper=0.9994 state[joint_eff]: [-0.335, -8.4034, 8.3487, 1.8535, 0.0073, -0.0659, 0.0269, -0.1709, -1.4564, 7.2, 1.7118, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.207,"left_z":-0.006,"left_yaw":-0.45,"left_pitch":0.1},"note":"The cap is visible just left of the jaw centerline in the close-up. I’m shifting left to center it and lowering the fingertips around its body."})
tool
executing move_to over 11 steps (1.1s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe cap shifted to the right during the approach and is now beside the right jaw. I’m lifting slightly, recentering over its new position, and matching its changed angle.
move_to
left_x0.3950left_y-0.2580left_z0.0350left_yaw0.2000left_pitch0.0500left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5442, 2.0266, 0.5728, 0.9771, -0.1238, -0.041, 0.6008, -0.0193, 0.812, 0.6132, -0.4129, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.3918 left_y=-0.2074 left_z=0.0003 left_yaw=-0.4291 left_pitch=0.0968 left_roll=0.0303 left_gripper=0.6008 right_x=0.2926 right_y=0.0016 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0519 right_roll=0.0011 right_gripper=0.9994 state[joint_eff]: [0.5538, -6.7077, 2.8376, 1.3944, 0.105, 0.149, -0.022, -0.212, -1.3607, 7.2137, 1.7705, -0.0073, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.258,"left_z":0.035,"left_yaw":0.2,"left_pitch":0.05,"left_gripper":0.8},"note":"The cap shifted to the right during the approach and is now beside the right jaw. I’m lifting slightly, recentering over its new position, and matching its changed angle."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe readback shows the last rotation carried the gripper too far right of the requested position. I’m correcting toward the cap with a smaller, nearly vertical approach.
move_to
left_x0.3800left_y-0.2500left_z0.0120left_yaw0.0000left_pitch0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8711, 2.0567, 1.042, 0.3599, -0.7296, -0.5632, 0.7977, -0.0193, 0.8146, 0.6132, -0.4141, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.4043 left_y=-0.2919 left_z=0.0463 left_yaw=0.0112 left_pitch=0.0976 left_roll=-0.0707 left_gripper=0.7977 right_x=0.2925 right_y=0.0016 right_z=0.1716 right_yaw=-0.0016 right_pitch=-0.0557 right_roll=0.0009 right_gripper=0.9994 state[joint_eff]: [-0.212, -9.9214, 5.8462, 1.2479, -0.3687, -0.0562, -0.1099, -0.335, -1.5521, 7.0359, 1.6581, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.25,"left_z":0.012,"left_yaw":0,"left_pitch":0.05},"note":"The readback shows the last rotation carried the gripper too far right of the requested position. I’m correcting toward the cap with a smaller, nearly vertical approach."})
tool
executing move_to over 4 steps (0.4s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe arm is still settling toward the corrected pose. I’m bringing the jaws partway together while completing the low approach, leaving enough space for the cap.
move_to
left_x0.3800left_y-0.2500left_z0.0050left_yaw0.0000left_pitch0.0500left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1436, -0.8654, -0.7517, 0.7981, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.4007 left_y=-0.271 left_z=0.0448 left_yaw=0.1857 left_pitch=0.0797 left_roll=-0.0571 left_gripper=0.7981 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994 state[joint_eff]: [0.1299, -9.9761, 6.065, 1.243, -0.5934, -0.0904, 0.022, -0.0752, -1.3197, 7.0085, 1.6728, -0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.25,"left_z":0.005,"left_yaw":0,"left_pitch":0.05,"left_gripper":0.2},"note":"The arm is still settling toward the corrected pose. I’m bringing the jaws partway together while completing the low approach, leaving enough space for the cap."})
tool
executing move_to over 6 steps (0.6s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe left arm has stopped tracking several centimeters above the requested grasp pose, so I’m backing up to a simpler configuration. I’m also refreshing the idle arm’s parked position.
move_to
left_x0.3200left_y-0.2000left_z0.1500left_yaw0.0000left_pitch0.0000left_gripper0.8000right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1425, -0.8677, -0.7605, 0.2054, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.4007 left_y=-0.2706 left_z=0.0449 left_yaw=0.1918 left_pitch=0.0803 left_roll=-0.063 left_gripper=0.2054 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994 state[joint_eff]: [0.1709, -9.9624, 6.0786, 1.326, -0.5153, -0.0024, 0.1245, -0.1026, -1.388, 7.0085, 1.6825, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.2,"left_z":0.15,"left_yaw":0,"left_pitch":0,"left_gripper":0.8,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The left arm has stopped tracking several centimeters above the requested grasp pose, so I’m backing up to a simpler configuration. I’m also refreshing the idle arm’s parked position."})
tool
executing move_to over 7 steps (0.7s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe cap is now beside the pen and visible to the right of the left wrist’s jaw column. I’m approaching that new position without rotating, to avoid another sweeping contact.
move_to
left_x0.3600left_y-0.2800left_z0.0250left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.868, 1.422, 0.8307, -0.1135, -0.701, -0.6521, 0.7958, -0.0219, 0.8307, 0.6136, -0.4389, -0.025, -0.0128, 0.9994] state[eef_state]: left_x=0.3314 left_y=-0.2095 left_z=0.1536 left_yaw=0.0379 left_pitch=0.0481 left_roll=-0.1213 left_gripper=0.7958 right_x=0.2898 right_y=0.0016 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9994 state[joint_eff]: [0.4581, -5.8325, 6.2564, 1.5849, -0.1832, 0.1783, -0.0464, -0.7043, -1.1829, 10.2632, 1.6581, -0.1001, -0.105, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.28,"left_z":0.025,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.55},"note":"The cap is now beside the pen and visible to the right of the left wrist’s jaw column. I’m approaching that new position without rotating, to avoid another sweeping contact."})
tool
executing move_to over 9 steps (0.9s)
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 noteThe close-up clearly shows the cap ahead and to the right of the fingertips. I’m moving diagonally to bring its middle between the jaws while keeping a little table clearance.
move_to
left_x0.3970left_y-0.3020left_z0.0180left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9306, 1.9755, 0.9161, 0.1608, -0.7326, -0.6563, 0.5516, -0.0257, 0.836, 0.6132, -0.4572, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3495 left_y=-0.2654 left_z=0.0129 left_yaw=0.0 left_pitch=-0.0517 left_roll=0.0429 left_gripper=0.5516 right_x=0.2872 right_y=0.0011 right_z=0.1573 right_yaw=-0.0018 right_pitch=-0.1201 right_roll=0.0066 right_gripper=0.9994 state[joint_eff]: [-0.6632, -10.1128, 7.3231, 1.4383, -0.5055, 0.0366, 0.0366, 0.2667, -1.8393, 7.2547, 1.7998, -0.0366, -0.0806, -0.0122] 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":{"left_x":0.397,"left_y":-0.302,"left_z":0.018,"left_gripper":0.65},"note":"The close-up clearly shows the cap ahead and to the right of the fingertips. I’m moving diagonally to bring its middle between the jaws while keeping a little table clearance."})
tool
executing move_to over 4 steps (0.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe cap is closer to the jaw tips but remains slightly right of center. I’m making a small lateral correction and lowering to its grasp height.
move_to
left_x0.4050left_y-0.3290left_z0.0040left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8944, 2.112, 1.1397, 0.0902, -0.7238, -0.6453, 0.6483, -0.0257, 0.8379, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3897 left_y=-0.2928 left_z=0.0135 left_yaw=0.0239 left_pitch=-0.0476 left_roll=0.0347 left_gripper=0.6483 right_x=0.2861 right_y=0.0011 right_z=0.1554 right_yaw=-0.0018 right_pitch=-0.1296 right_roll=0.0069 right_gripper=0.9994 state[joint_eff]: [0.2256, -10.3316, 7.1179, 1.116, -0.149, 0.2906, -0.105, -0.0615, -1.5385, 6.9538, 1.6777, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.329,"left_z":0.004,"left_gripper":0.55},"note":"The cap is closer to the jaw tips but remains slightly right of center. I’m making a small lateral correction and lowering to its grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe arm is not reaching the requested sideways position at table height. I’m lifting and adding a forward tilt to gain reach before attempting the cap again.
move_to
left_x0.3970left_y-0.3250left_z0.0550left_pitch0.4000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9001, 2.1418, 1.1671, 0.0681, -0.7254, -0.6533, 0.5516, -0.0257, 0.8391, 0.6132, -0.4648, -0.028, -0.0124, 0.9994] state[eef_state]: left_x=0.3896 left_y=-0.2967 left_z=0.0059 left_yaw=0.0246 left_pitch=-0.0612 left_roll=0.0484 left_gripper=0.5516 right_x=0.2862 right_y=0.0012 right_z=0.1551 right_yaw=-0.0014 right_pitch=-0.1307 right_roll=0.0071 right_gripper=0.9994 state[joint_eff]: [-0.4171, -10.7145, 6.8581, 1.2869, -0.3639, -0.0562, 0.0317, -0.1436, -1.5795, 6.9675, 1.5946, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.397,"left_y":-0.325,"left_z":0.055,"left_pitch":0.4,"left_gripper":0.7},"note":"The arm is not reaching the requested sideways position at table height. I’m lifting and adding a forward tilt to gain reach before attempting the cap again."})
tool
executing move_to over 16 steps (1.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe tilted pose now reaches the cap, which is centered near the fingertip region. I’m lowering around it with the jaws still open.
move_to
left_x0.3970left_y-0.3250left_z0.0020left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9848, 2.2589, 1.0763, 0.7719, -1.0157, -0.321, 0.6987, -0.0257, 0.8394, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3967 left_y=-0.3197 left_z=0.0469 left_yaw=0.0373 left_pitch=0.3571 left_roll=0.0481 left_gripper=0.6987 right_x=0.2862 right_y=0.0011 right_z=0.155 right_yaw=-0.0017 right_pitch=-0.1311 right_roll=0.0069 right_gripper=0.9994 state[joint_eff]: [-0.8821, -10.3726, 4.6291, 1.7118, -0.1245, 0.2076, -0.1294, -0.212, -1.4291, 6.9538, 1.5946, -0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.397,"left_y":-0.325,"left_z":0.002,"left_gripper":0.4},"note":"The tilted pose now reaches the cap, which is centered near the fingertip region. I’m lowering around it with the jaws still open."})
tool
executing move_to over 3 steps (0.3s)
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 cap is visibly between the two jaw tips. I’m closing around it without changing the arm pose.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.989, 2.3821, 1.1, 0.8822, -1.0214, -0.3237, 0.4052, -0.0257, 0.841, 0.6132, -0.4648, -0.028, -0.0124, 0.9994] state[eef_state]: left_x=0.3973 left_y=-0.3233 left_z=0.013 left_yaw=0.0429 left_pitch=0.3647 left_roll=0.0368 left_gripper=0.4052 right_x=0.2863 right_y=0.0012 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9994 state[joint_eff]: [-0.4581, -11.3709, 5.9282, 1.1258, -0.188, 0.6032, -0.0464, -0.253, -1.0051, 6.9402, 1.663, -0.0317, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_gripper":0},"note":"The cap is visibly between the two jaw tips. I’m closing around it without changing the arm pose."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe close was empty; the cap lay behind the very ends of the jaws rather than at the pinch point. I’m reopening and backing the fingertips onto its center, slightly lower.
move_to
left_x0.3780left_y-0.3150left_z-0.0090left_pitch0.3000left_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]: [-0.989, 2.3928, 1.1053, 0.9028, -1.0328, -0.3313, 0.0095, -0.0257, 0.8421, 0.6132, -0.4644, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3982 left_y=-0.3228 left_z=0.0132 left_yaw=0.0621 left_pitch=0.3763 left_roll=0.017 left_gripper=0.0095 right_x=0.2864 right_y=0.0011 right_z=0.1543 right_yaw=-0.0017 right_pitch=-0.1334 right_roll=0.007 right_gripper=0.9994 state[joint_eff]: [0.0205, -12.547, 3.9316, 1.3455, -0.0952, 0.0513, 0.7643, -0.1573, -1.5932, 6.9402, 1.6923, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.378,"left_y":-0.315,"left_z":-0.009,"left_pitch":0.3,"left_gripper":0.5},"note":"The close was empty; the cap lay behind the very ends of the jaws rather than at the pinch point. I’m reopening and backing the fingertips onto its center, slightly lower."})
tool
executing move_to over 5 steps (0.5s)
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 cap is now clearly spanning the gap at the jaw tips. I’m making a final small centering correction and closing on its body.
move_to
left_x0.3720left_y-0.3050left_z-0.0100left_pitch0.2200left_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]: [-1.0084, 2.3684, 1.0744, 0.8654, -1.0405, -0.4267, 0.4951, -0.0257, 0.8429, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3873 left_y=-0.3219 left_z=0.011 left_yaw=0.0894 left_pitch=0.358 left_roll=-0.0402 left_gripper=0.4951 right_x=0.2863 right_y=0.0011 right_z=0.154 right_yaw=-0.0017 right_pitch=-0.1346 right_roll=0.007 right_gripper=0.9994 state[joint_eff]: [-0.4855, -11.1658, 2.5641, 0.862, -0.0708, -0.1685, -0.1392, -0.0342, -1.2923, 6.9812, 1.6386, -0.0171, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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":{"left_x":0.372,"left_y":-0.305,"left_z":-0.01,"left_pitch":0.22,"left_gripper":0},"note":"The cap is now clearly spanning the gap at the jaw tips. I’m making a final small centering correction and closing on its body."})
tool
executing move_to over 5 steps (0.5s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe cap slid just ahead of the closed fingertips and remains on the table. I’m reopening wide and advancing only enough to surround the visible cap.
move_to
left_x0.3950left_y-0.3060left_z0.0120left_pitch0.2200left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0077, 2.3043, 1.0363, 0.7189, -1.0077, -0.5652, 0.0096, -0.0257, 0.8444, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3789 left_y=-0.3136 left_z=0.0065 left_yaw=0.1062 left_pitch=0.2864 left_roll=-0.0754 left_gripper=0.0096 right_x=0.2864 right_y=0.0011 right_z=0.1536 right_yaw=-0.0017 right_pitch=-0.1361 right_roll=0.007 right_gripper=0.9994 state[joint_eff]: [0.0479, -11.5897, 3.0291, 0.9792, -0.0562, -0.2125, 0.7399, -0.0205, -1.3744, 6.9402, 1.6484, -0.0122, -0.0464, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.306,"left_z":0.012,"left_pitch":0.22,"left_gripper":0.75},"note":"The cap slid just ahead of the closed fingertips and remains on the table. I’m reopening wide and advancing only enough to surround the visible cap."})
tool
executing move_to over 8 steps (0.8s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe low pose is preventing forward motion. I’m lifting a few centimeters to move over the cap without dragging the fingertips along the table.
move_to
left_x0.4100left_y-0.3030left_z0.0500left_pitch0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0058, 2.2841, 1.0309, 0.672, -0.9955, -0.6022, 0.7455, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3774 left_y=-0.3117 left_z=0.0066 left_yaw=0.1112 left_pitch=0.2651 left_roll=-0.0853 left_gripper=0.7455 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994 state[joint_eff]: [0.0479, -10.4547, 2.9333, 0.9939, -0.0806, -0.2418, -0.1538, -0.1162, -1.5111, 6.9538, 1.6288, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.303,"left_z":0.05,"left_pitch":0.35},"note":"The low pose is preventing forward motion. I’m lifting a few centimeters to move over the cap without dragging the fingertips along the table."})
tool
executing move_to over 3 steps (0.3s)
step 174
top_cam
camera top_cam step 174
assistant
agent noteThe left arm is no longer tracking these nearby targets, so I’m withdrawing it to a safe, folded-back pose. The cap and pen are still on the tabletop.
move_to
left_x0.3000left_y-0.0600left_z0.2000left_pitch0.0000left_yaw0.0000left_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]: [-1.0058, 2.2841, 1.0309, 0.6697, -0.9958, -0.6018, 0.7461, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.3772 left_y=-0.3115 left_z=0.0063 left_yaw=0.1107 left_pitch=0.2643 left_roll=-0.0827 left_gripper=0.7461 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994 state[joint_eff]: [0.0479, -10.441, 2.9197, 1.0085, -0.1099, -0.2076, 0.0464, -0.0205, -1.4974, 6.9402, 1.6288, -0.0269, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.06,"left_z":0.2,"left_pitch":0,"left_yaw":0,"left_roll":0},"note":"The left arm is no longer tracking these nearby targets, so I’m withdrawing it to a safe, folded-back pose. The cap and pen are still on the tabletop."})
tool
executing move_to over 23 steps (2.3s)
step 197
assistant
agent noteWith the left arm clear, the cap is visible just left of the pen’s pointed end. I’m approaching it with the right arm from the other side, using a tilted pose for the central-table reach.
move_to
right_x0.4300right_y0.3250right_z0.1100right_pitch0.4000right_gripper0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4263, 0.9104, 0.6754, -0.3748, -0.4026, -0.2989, 0.7461, -0.0257, 0.8463, 0.6132, -0.4648, -0.028, -0.0124, 0.9994] state[eef_state]: left_x=0.3043 left_y=-0.0582 left_z=0.1888 left_yaw=0.0583 left_pitch=0.015 left_roll=-0.0179 left_gripper=0.7461 right_x=0.2865 right_y=0.0012 right_z=0.1531 right_yaw=-0.0014 right_pitch=-0.138 right_roll=0.0073 right_gripper=0.9994 state[joint_eff]: [0.2393, -2.2906, 10.1538, 1.7167, 0.0073, 0.2759, -0.0073, -0.1162, -1.6615, 7.1179, 1.619, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.325,"right_z":0.11,"right_pitch":0.4,"right_gripper":0.9},"note":"With the left arm clear, the cap is visible just left of the pen’s pointed end. I’m approaching it with the right arm from the other side, using a tilted pose for the central-table reach."})
tool
executing move_to over 27 steps (2.7s)
step 224
assistant
agent noteThe right gripper is over the cap’s overhead position; the cap is hidden beneath it rather than ahead in the wrist view. I’m lowering slowly toward the table.
move_to
right_x0.4250right_y0.3250right_z0.0120right_pitch0.3000right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4267, 0.9173, 0.6758, -0.4004, -0.3923, -0.2905, 0.7462, 0.8864, 2.1338, 1.0943, 0.7059, 0.8341, 0.2153, 0.9007] state[eef_state]: left_x=0.3014 left_y=-0.0589 left_z=0.1818 left_yaw=0.045 left_pitch=-0.0162 left_roll=-0.0014 left_gripper=0.7462 right_x=0.4244 right_y=0.3188 right_z=0.0928 right_yaw=0.0377 right_pitch=0.3377 right_roll=-0.0354 right_gripper=0.9007 state[joint_eff]: [0.0205, -2.5778, 7.1316, 1.8242, -0.2369, -0.1538, -0.0073, 0.7043, -10.9744, 6.8308, 1.9463, 0.4078, -0.0171, 0.0513] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.325,"right_z":0.012,"right_pitch":0.3,"right_gripper":0.8},"note":"The right gripper is over the cap’s overhead position; the cap is hidden beneath it rather than ahead in the wrist view. I’m lowering slowly toward the table."})
tool
executing move_to over 6 steps (0.6s)
step 230
assistant
agent noteThe cap remains behind the right wrist camera’s visible fingertip area. I’m moving a little toward the base to bring it into view and avoid closing blindly.
move_to
right_x0.3980right_y0.3250right_z0.0250right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 0.9199, 0.6758, -0.4068, -0.3916, -0.2901, 0.7462, 0.8917, 2.3455, 1.108, 0.8158, 0.8318, 0.2348, 0.8017] state[eef_state]: left_x=0.3007 left_y=-0.0588 left_z=0.1798 left_yaw=0.0439 left_pitch=-0.0246 left_roll=0.0026 left_gripper=0.7462 right_x=0.4218 right_y=0.3204 right_z=0.0116 right_yaw=0.0552 right_pitch=0.279 right_roll=-0.084 right_gripper=0.8017 state[joint_eff]: [-0.1026, -2.2632, 6.9538, 1.707, -0.1783, -0.0659, -0.0171, -0.0205, -10.7692, 6.0513, 1.1844, -0.0562, 0.1978, 0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.398,"right_y":0.325,"right_z":0.025,"right_gripper":0.7},"note":"The cap remains behind the right wrist camera’s visible fingertip area. I’m moving a little toward the base to bring it into view and avoid closing blindly."})
tool
executing move_to over 2 steps (0.2s)
step 232
assistant
agent noteThe cap is still occluded, so I’m backing away another few centimeters with more clearance. This should expose it in front of the fingertips for a measured approach.
move_to
right_x0.3650right_y0.3250right_z0.0400right_pitch0.1500right_gripper0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4267, 0.9215, 0.6758, -0.4088, -0.392, -0.2897, 0.7461, 0.9134, 2.3211, 1.074, 0.8078, 0.8478, 0.2508, 0.7038] state[eef_state]: left_x=0.3006 left_y=-0.0586 left_z=0.179 left_yaw=0.0444 left_pitch=-0.0275 left_roll=0.0047 left_gripper=0.7461 right_x=0.4101 right_y=0.3204 right_z=0.0126 right_yaw=0.0585 right_pitch=0.273 right_roll=-0.0863 right_gripper=0.7038 state[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6777, -0.1587, -0.0611, -0.0171, 1.7162, -14.0103, 4.8205, 1.5507, 0.2955, 0.0806, 0.0952] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.325,"right_z":0.04,"right_pitch":0.15,"right_gripper":0.9},"note":"The cap is still occluded, so I’m backing away another few centimeters with more clearance. This should expose it in front of the fingertips for a measured approach."})
tool
executing move_to over 5 steps (0.5s)
step 237
assistant
agent noteThe cap is now visible at the lower right of the wrist image. I’m shifting right to center it on the jaw column and moving forward to the actual fingertip grasp point.
move_to
right_x0.4020right_y0.2850right_z0.0030right_pitch0.1500right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4088, -0.3916, -0.2897, 0.7462, 0.9848, 2.1563, 1.0428, 0.5014, 0.8577, 0.3904, 0.8975] state[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1786 left_yaw=0.0437 left_pitch=-0.029 left_roll=0.0052 left_gripper=0.7462 right_x=0.3738 right_y=0.328 right_z=0.0322 right_yaw=0.0762 right_pitch=0.1726 right_roll=-0.0912 right_gripper=0.8975 state[joint_eff]: [-0.0479, -1.7026, 6.9538, 1.6728, -0.1929, -0.0366, -0.0073, 0.7316, -13.0256, 4.7385, 1.5116, 0.3541, 0.1636, -0.0708] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.402,"right_y":0.285,"right_z":0.003,"right_pitch":0.15,"right_gripper":0.6},"note":"The cap is now visible at the lower right of the wrist image. I’m shifting right to center it on the jaw column and moving forward to the actual fingertip grasp point."})
tool
executing move_to over 4 steps (0.4s)
step 241
assistant
agent noteThe right arm also failed to follow the low diagonal move. I’m making the lateral correction at a higher, untilted pose, where the arm has more room to move.
move_to
right_x0.4000right_y0.2700right_z0.0800right_pitch0.0000right_yaw0.0000right_roll0.0000right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4267, 0.923, 0.6758, -0.4091, -0.3908, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3977, 0.8574, 0.4385, 0.6041] state[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0435 left_pitch=-0.0295 left_roll=0.005 left_gripper=0.7462 right_x=0.3643 right_y=0.3238 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.1099 right_gripper=0.6041 state[joint_eff]: [-0.0889, -2.0718, 6.9675, 1.5995, -0.1636, -0.0513, -0.0171, 0.0615, -12.2325, 5.012, 1.4969, 0.3736, 0.0757, 0.1685] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.27,"right_z":0.08,"right_pitch":0,"right_yaw":0,"right_roll":0,"right_gripper":0.8},"note":"The right arm also failed to follow the low diagonal move. I’m making the lateral correction at a higher, untilted pose, where the arm has more room to move."})
tool
executing move_to over 5 steps (0.5s)
step 246
assistant
agent noteThe position is stalled despite clearance. I’m turning the wrist to align with the arm’s diagonal reach, which should avoid the awkward joint configuration.
move_to
right_x0.3950right_y0.2850right_z0.0900right_yaw0.6500right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4091, -0.3912, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3981, 0.857, 0.4389, 0.7981] state[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0434 left_pitch=-0.0294 left_roll=0.0052 left_gripper=0.7462 right_x=0.3643 right_y=0.3239 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.109 right_gripper=0.7981 state[joint_eff]: [-0.3487, -2.0718, 7.1453, 1.6337, -0.2125, -0.0757, -0.0171, 0.1299, -12.3145, 5.012, 1.4823, 0.3639, 0.0562, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.285,"right_z":0.09,"right_yaw":0.65,"right_pitch":0.2},"note":"The position is stalled despite clearance. I’m turning the wrist to align with the arm’s diagonal reach, which should avoid the awkward joint configuration."})
tool
executing move_to over 4 steps (0.4s)
step 250
assistant
agent noteThe wrist realignment has freed the arm, but the readback is temporarily right of the target. I’m returning toward the cap at a modest height with the jaws open.
move_to
right_x0.3950right_y0.2850right_z0.0450right_yaw0.5500right_pitch0.1500right_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]: [-0.4271, 0.9253, 0.6758, -0.4129, -0.3897, -0.2897, 0.7462, 0.7094, 1.8862, 0.7692, 0.5854, 0.6147, 0.2104, 0.7983] state[eef_state]: left_x=0.3002 left_y=-0.0589 left_z=0.1771 left_yaw=0.0423 left_pitch=-0.0353 left_roll=0.0071 left_gripper=0.7462 right_x=0.4041 right_y=0.2173 right_z=0.0606 right_yaw=0.0792 right_pitch=0.1301 right_roll=-0.1066 right_gripper=0.7983 state[joint_eff]: [-0.2256, -1.6889, 7.1453, 1.6386, -0.1832, -0.0659, -0.0171, 3.1111, -8.2803, 5.6957, 2.0195, -0.022, -0.188, 0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.285,"right_z":0.045,"right_yaw":0.55,"right_pitch":0.15,"right_gripper":0.5},"note":"The wrist realignment has freed the arm, but the readback is temporarily right of the target. I’m returning toward the cap at a modest height with the jaws open."})
tool
executing move_to over 6 steps (0.6s)
step 256
assistant
agent noteThe pen and cap are now visible at the bottom of the right wrist image, with the cap just left of center. I’m placing the open fingertips around the cap while staying clear of the pen.
move_to
right_x0.4050right_y0.2750right_z0.0020right_yaw0.4000right_pitch0.1500right_gripper0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 0.9306, 0.6754, -0.4274, -0.3885, -0.2897, 0.7461, 0.7063, 1.9095, 0.7418, 0.6872, 0.4667, 0.1017, 0.5029] state[eef_state]: left_x=0.2985 left_y=-0.0584 left_z=0.1727 left_yaw=0.0418 left_pitch=-0.0537 left_roll=0.0156 left_gripper=0.7461 right_x=0.4001 right_y=0.2416 right_z=0.0541 right_yaw=0.2521 right_pitch=0.1309 right_roll=-0.1178 right_gripper=0.5029 state[joint_eff]: [-0.1573, -2.5231, 6.9538, 1.7509, -0.232, -0.0562, -0.0171, -0.3624, -8.8274, 4.9026, 1.7753, 0.2271, 0.1392, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.275,"right_z":0.002,"right_yaw":0.4,"right_pitch":0.15,"right_gripper":0.75},"note":"The pen and cap are now visible at the bottom of the right wrist image, with the cap just left of center. I’m placing the open fingertips around the cap while staying clear of the pen."})
tool
executing move_to over 4 steps (0.4s)
step 260
assistant
agent noteThe right arm has again stopped short of the low grasp pose, and neither object is secured. I’m withdrawing the right arm rather than continuing uncertain contact near the pen and cap.
move_to
right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 0.9306, 0.6754, -0.4313, -0.3878, -0.2897, 0.7462, 0.7067, 1.9095, 0.7418, 0.6872, 0.4664, 0.1055, 0.7467] state[eef_state]: left_x=0.2979 left_y=-0.0583 left_z=0.172 left_yaw=0.0412 left_pitch=-0.0573 left_roll=0.0169 left_gripper=0.7462 right_x=0.4 right_y=0.2418 right_z=0.054 right_yaw=0.2508 right_pitch=0.131 right_roll=-0.1141 right_gripper=0.7467 state[joint_eff]: [-0.0752, -1.9077, 6.9402, 1.6874, -0.1441, -0.0415, -0.0073, -0.2393, -8.8274, 5.094, 1.7705, 0.1392, 0.1294, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The right arm has again stopped short of the low grasp pose, and neither object is secured. I’m withdrawing the right arm rather than continuing uncertain contact near the pen and cap."})
tool
executing move_to over 21 steps (2.1s)
step 281
assistant
agent noteI could not secure the thin cap: the closes were empty, and both arms repeatedly stopped tracking near the required low grasp poses. The pen and cap remain separate on the table, and I have withdrawn both grippers clear of them.
give_up
hindsightOn this attempt, low central-table approaches repeatedly stalled with centimeter-scale position errors, even after changing targets; retreating well back and up restored motion. Small nearby corrections did not reliably recover tracking. The cap slid and rotated easily under incidental jaw contact, so its position must be rechecked after each miss. Visible portions of the jaws in the wrist image are not a reliable marker of the fingertip pinch point; treating them as that point led to incorrect corrections.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4271, 0.936, 0.675, -0.4355, -0.3882, -0.2897, 0.7462, -0.0059, 0.8352, 0.6426, -0.3698, 0.0223, 0.0048, 0.9989] state[eef_state]: left_x=0.2976 left_y=-0.058 left_z=0.1696 left_yaw=0.0418 left_pitch=-0.066 left_roll=0.0216 left_gripper=0.7462 right_x=0.3036 right_y=-0.0021 right_z=0.1883 right_yaw=-0.0336 right_pitch=-0.0026 right_roll=-0.0083 right_gripper=0.9989 state[joint_eff]: [-0.0752, -2.2359, 6.9949, 1.6679, -0.1783, -0.0513, -0.0171, -0.3624, -2.1538, 9.8393, 1.7851, -0.149, -0.0366, -0.0757] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the thin cap: the closes were empty, and both arms repeatedly stopped tracking near the required low grasp poses. The pen and cap remain separate on the table, and I have withdrawn both grippers clear of them.","hindsight":"On this attempt, low central-table approaches repeatedly stalled with centimeter-scale position errors, even after changing targets; retreating well back and up restored motion. Small nearby corrections did not reliably recover tracking. The cap slid and rotated easily under incidental jaw contact, so its position must be rechecked after each miss. Visible portions of the jaws in the wrist image are not a reliable marker of the fingertip pinch point; treating them as that point led to incorrect corrections."})
tool
give_up: I could not secure the thin cap: the closes were empty, and both arms repeatedly stopped tracking near the required low grasp poses. The pen and cap remain separate on the table, and I have withdrawn both grippers clear of them.
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 · 7.644 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, 0.7925, 0.6022, -0.3798, -0.0219, -0.0246, 0.9996, -0.0185, 0.7914, 0.609, -0.3775, -0.0212, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2955 right_y=0.0019 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4974, 10.5231, 1.7265, -0.0757, 0.0855, -0.0562, -0.5949, -1.2513, 9.853, 1.8193, -0.0708, -0.0757, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1a81d88a1aa6ab4f0b65417afe8b6889e99983bce0e6474bd7a58ae8328bff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa538617cf42e5c79544f8d2c4e4d7389c45dcb27f0139a578867a5afde7954d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f0b8ccebf0572583df8c2244cae652f9c8f4dbe509bb63af534a55dbfba118",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.439 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHI9OjbTJ8hqc_mJadCdhzmFrAV4aSwU4r__L9JzcjWznOIVq43xUK2Qc5bnJCqGwtVrQvdM9WeuXLIMLsqK5wpzF4jtCbK8EoqlaKgqn-H7sBb0wpim3gkfpxeDLJsa0iaoY90Db6d8bwK3AIseX6I1LpoO5giszi-wdRQdRz7JwUKNJnSLsPOCgGahWKib95r7B7F3VaWUGsaNLXnF8jN3L4XSBKcVri15yrO-fdp9UuFSFBpwEtxDGcle6Ty2c1I2LBHV_IJeJ2nKnvVVJVcQFT_X7IYEEyk0ASnBLqqsG558Y1lA-oH99omqCryEXaxvPDns3jT7daiSnj8mjvnWttSlM7blUxYK1X6R-ydOnfoOjhgXCxMnzsqL4L9TQZx_6gSZZhSYgyvkrdNOY016Yjtdhzo005hemmgGGwd2qMK1oFcx0EAJa0-RfTGoRHoGuErikUAqBVqAvo2XGMIFgYPpU7Myzinvnurmje_jI1VSca-24mB9eYjBkGA58PxTYmspNjqDZfXkju8HEsXYYyFbwx384qd2Sk-Rs_rJ-a44KkFztgXuBCyDLg4Mpqpzfej_IclSZRd6F7Cfy6JHx-YAyt8MptG7fQfrB8W4dZh0PzIqGoni81voKHfpzAs2iUQJ4aDfibVdf2XikvHlndq-n9KfgzQSzq3Qxc_Ya-S6xARWRPnlsbC9Tq2mPhMxnJ03VsIQIXQWeJR02dRkNe9yPFJyzJPiex1zMdvbGz_Z4XF9hKl4x3Nl3RNFHJ2uwzZCvUsGfQYIYRrKMCF13f9bnm8b1FozFw55iNVDC0yyslHdZEDWUb_xRV5phXm9hr1XQX_OJMA4yUIKpMH12Zql_iIrJUBLB78RgPdYxYjktSxIrt-l4ZhrAIai5AjnQVRSrFMe_0Ar4-8PRIyvz11f9Gv7gPYIqIVReotKbzsbSklkq382Bp5SYHdik0esngfJUIk_dL5CKIfEdamyupKcGvj4C-92f8n9e7YGDMsCHgnCEkGV1mkiA9Wvr7bKWr71NGjQxeA202uoUfxA41oexx8siaWJPwVVXASi20T2Jpk227kLe-XlOsDUMz_Dn1M-k-VoJ_oD6NPsifPkRo_cIxjSEvr6djUMosizwvQANWSBmmK-gJ9SFFO6_S_VSAtLVouMZQi7BPyfblcOvCWhO0YqLFGBCm_Mpwff9Ev_LXU9Y5qodPKsWaoN4RsfKWOUbd7SHcS4wSw4y8i84Zc3nOf6sQoU2z-NuE8wim2sM2rxcoNaWsatJvz1dKhCCsn7cN9hFxeJIsikHSZqWVUbhiIMIP1RvZBTkClnJfY_N8Y-oqeU82-uBVNc8z96BR7VkiDzNKcWBaPVhdFvGfhjpnMyb8hX_i_RxzNDN3FcyikJflBWMfPLdHOSEqRkGn9KU7nZt5TWgXaYbXeIsUmkAefI_RzBweaf7rN8AOPXV8bgKCrwi_3jR_t65xyPqJu51n3VJPAwsrFZ5yuVSAnFq9nnk0frHOvrJ8k5buppmA19m0rBjIOnu0RiqQ302evlG3EZlbFxPu-A2nv__FK2hRQZhAka18K8WLYN7GcPHCoGjk8Dx1KASjoSRrjelN4ahoEx3M7CwOCLXMTcOLu5kbUrkSBZrsIs6ixs48a4KGGBX8It9v6j6WZHx5Ev3w9ay7rmRRpEBgz7e_dT4VT8eW1WRQvsmpnchFtFONatem6pzvhh1OKgGXZcTbSZvQ0h7y4cOLxBTOhZ2yzotQKuLlyoG3tFZgz5xprxq7qUm-PX8-I5UFRce1M3bx5fXxWXbZGc0f0aZr4o5ywKJ1979oXNR75b5FH3tDOZ22tj3KZt9r2lYo1d-99gw57z1V1q88hWnmVO_P4pbTWX-BlJk6v9JKXKjgjLYSdgVg6PB1Crvc9FXBjBi0EJkumLx8xDld9zSFeVRFeCi8_weeM70RviIllTlZFrSoJBpTkL8CtpmHIvPLX49fV-iG6HYO85V2svrEYGHj08Lns_TzSJ9J_OjicbGaLukeIXE_aTOOfICmR1mjuCaJ52AtjYKMdHNueHAURbwvYUKWtp3tb3M_BfQy0mKdDkk8z8qKtVCbTtvxXE1OduQprVhZLLtUe1OXdFAC8X8NxILmw0Dr_ZTRhJqoObYAwK9sJnSpfnS2Z3UlS140UdpIZDdakQCvWIQPm2Q8T_OR-2iqOZXphJ_J-8Iec3mg9pW0yq56mXQqydVV848yyIVJUQ6l5--CFgkedD23IhZf87sfdev4fLmbSOwcF9VQTBOanU0Rq562SmJjdp2cNPd8Ffq0ozEz1G23bD_glyi_LddibhwUp8uRTxQFCm6EtE-AK03Yb3aE4WkWvR744yIdLdMtt7",
  "id": "rs_0eb21617a5aff9fa016ab47237382487d0b08be431a9b38501",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap first, leaving the right arm clear.\"}",
  "call_id": "call_09rPiElF0hfubCll6HdyTR9W",
  "id": "fc_0eb21617a5aff9fa016ab4723c630087d093195b29c8c25f5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_09rPiElF0hfubCll6HdyTR9W",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7235, 1.6478, 1.0313, -0.1478, -0.5774, -0.4629, 0.9996, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.2113 left_z=0.1317 left_yaw=-0.0114 left_pitch=-0.0489 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0016 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -8.3897, 9.306, 1.5116, -0.4518, 0.1099, -0.0562, -0.2803, -1.7436, 6.9265, 1.8144, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5f477a58c87cdd19f40d59efd44f301087865642666d54738806afa201096f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6e4039a48311ef9cb22832f0dcb840c77557b782ae9e16d1e7fdd2de463004",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d298dfb2dffe780de9693ec00c5f1eb6b84a69d3474cc1faedad025bf2de7214",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.759 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, 0.7925, 0.6022, -0.3798, -0.0219, -0.0246, 0.9996, -0.0185, 0.7914, 0.609, -0.3775, -0.0212, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2955 right_y=0.0019 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4974, 10.5231, 1.7265, -0.0757, 0.0855, -0.0562, -0.5949, -1.2513, 9.853, 1.8193, -0.0708, -0.0757, -0.0708]",
      "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]: [-0.7235, 1.6478, 1.0313, -0.1478, -0.5774, -0.4629, 0.9996, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.2113 left_z=0.1317 left_yaw=-0.0114 left_pitch=-0.0489 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0016 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -8.3897, 9.306, 1.5116, -0.4518, 0.1099, -0.0562, -0.2803, -1.7436, 6.9265, 1.8144, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5f477a58c87cdd19f40d59efd44f301087865642666d54738806afa201096f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6e4039a48311ef9cb22832f0dcb840c77557b782ae9e16d1e7fdd2de463004",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d298dfb2dffe780de9693ec00c5f1eb6b84a69d3474cc1faedad025bf2de7214",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJGgwVC0fpE8kykmEV2iGKySB9_t7vTjeYuta3JkS1kha1QGt_7QaHk9qSXrhKNKPXuoqaqKE1xbDr4BIrqo3pfenpGjmw4eUTaWENHKwK9yUIa_r9kVT0WeyI3fZRDg0IJ_Tl9DBEFZGfMrUDA7w6BhLJSGqzlOvAYyYHSAo8IE0OjO-Q76qk1w05_gJrT7HJSGdn4carLi3luXAO7xxIgM3_Liw2c-vVrPC_s3a0BXBgtZSj43ELuRkBX_MNrcCyKgw3Oy7awWKqsSPvdQUrMMTnlIoh8tuGHJUxHBNl6ubB0pjTHknZV_QhHVCmnf40JgEurN_d93fSV9oO1rhnV0TRmGtZXb5O8i_ckAvtFSpbcwWbaD3CSKp7Ky1e43OJZ9wwQGmad60zue2p9KurgDDSgolRM8j7zqCng8tMXWrlYfEAkUqmXZcZqC2trDNWOIZBqgiTf8pDbY0Ijw5zhVDPK_Lkw_2DuHlZle3Zsu1IG6juwXku9eorCzPsIpyRRRqh7D0EROlUXoB2GTR15N1HjZgT81_qDMfwTEQqXFsnAncjQ64bRd1g5F4knHAQlY_dJWuv0DKaw0NmlArxd-1UT6MxiOcUaUWPl7phZ5cyHWjFPFdxkjfkyEKZUYmRdcSYHNZUgNbCYk6I6U5P6qayUtbnzuOsbe5Zk4hFOU_tWetr1YNoze81BVwN4Oq8K0bHIO6tOHcloHeRrMq7bg-T1eodCoxRRzqoAk1RiJpV0VKgHzRwHkcexYVEW_HmUF4PXRCMEK1Zi5bFVlKpHMyxsWGDL5Xg09hVVt6zpxu5hyEdaj5-ptLvXU8ynPzXMtQwhPnWFtfoEm9Mo_ZCbw_NbfKEKIQIgCbTK6YlJ36FvIbIv98035D4rSrnKEGOo3uzlyFKC-FsltV2ZT8YIssiEnTgqS6LRWXxusR1sZeogQubWTKJzjqvIQC2LdDTiFPFtIqazohTMgtI56sldj2da2Zg_Hmult8W_9o_LFkc7W72jzta4tWRTgjB_j2OMcUDIXN9-j6nARWe_nCXDACLgi-M3LUzXvKc-8WggfBKx5v76b--_hAWTikKdnmDjNIxKEx5nmbcdfiVe1ST_FiYrQPop6_DiKEdiPU2ijMzxUuEXElSOT9jKqK60CRhHGq_8j3U1M3haQxgLQqzm8ia2-ISliNCPyjEH7xkPtsnStTip6dRoJ1sCzJKQKWgFX_DwSrajtct-BBBqx5mmCG7h6iRxQ347dyqMv-cR-i-6fe1GJDzGd3nQ6k9pNg_E1njQ-XCMRjTOKgrobt7Xs_kom-bVkRGScOlXstwrrjiPaUWOXtoolL34B-0E_nJIi00b2LEJ_OgxrvET9DjG00mJ_ezDj_vjjtcGXQhp29_6iM_WRxeWtK0rZyvS11adMz6eRuxd3Lrr6RPhdro6rIG921a5J-juSVIli4zvGgRfJR_CIBh68EuOQgR5nyFElrlHfbesHbp4CUWliEyxCwqJYKs8XzO2cyipwhzohnxRmeajS3DL3_fSs3LqbuCrAkfNEXXV0FWYV_59UqvaBX4w_e6MldzxUhz09oWcFeXm6X6JfBq29fpDo5Xi0z18JBsRqcqN-vCXrZCofVaft9BGk2wBSYLFrLP8LL54oJYJkKHYoBD1e82wP7bAu3qswik2vH4EcFBbvueuyGPmTxagDcv03X9hV6rl5UbXlDyGSxEfAbVfCiE_e0qWgGrDN1LfO1gEmnF4JLVq3qWhDt2mHJcy4YI_N_tAFBGFHyZ7Qp1vralqgpqD1y8OOjZYv1FcKikg9vwk4DEU6vOVCinnFfJeUI5fJCXpLKpwMjM2Qyh5ZpDCesUsXbqw6w8Dcya7ycnZsPqxDDfzw5KVtZ9z84fOI4bqZGZ3H2U-VV9iLCTAVKsAztbD1VZ78w5zjQz4zAyM1Wu2PFaqKVeJ86DMPm4Pn5U6sVbHU_47hXM8Q1HZRp5RYP7vjJmT0K29zR8elgTTpdU3MTgm9sUk8shN6rvho6FQrezAGEoZ6SnsIBeI9OEoRMTPwHpl-5GI_Som1CoGrCU2wdA9h4oa0r2g0JTwqygWYerU1vWalp9yTtGEffOtidpQUk8b_jqHiNm0joojJxSOOFXAO8zh9mJXKBnYAsFWjeAWSh_JA9dvagsYA7clKhbvFDpSJ0YFnmq_V5E1fS88F_yc_FmDH2ZI3OFG3ACXQAy7tJXpVgqeTGyEIdT9YpvONQQPT0BxaKFWrDcprJ0sa67ptSUPFCSGWpPS_jr9kOLEG7pYQJUTM1O1nR8uOK6lzC151Rec1YEG4KewIgvxm4z0M27F5EZc5ZfYJ0mL4OHv8GFHONA=",
  "id": "rs_0eb21617a5aff9fa016ab472412d4887d0813f638a3f3cba45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.215,\"left_z\":0.035,\"left_yaw\":-0.45},\"note\":\"The cap appears near the bottom center of the left wrist view, close to the fingertip line. I’m lowering toward it and aligning the jaws across its narrow sides.\"}",
  "call_id": "call_3LNGDwjy5MIXvcpxhzh9ujWi",
  "id": "fc_0eb21617a5aff9fa016ab47245e8c487d0a66c786907ba73b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3LNGDwjy5MIXvcpxhzh9ujWi",
  "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]: [-0.5426, 1.8194, 0.7605, 0.3401, -0.1841, -0.1268, 0.9995, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.396 left_y=-0.1969 left_z=0.0233 left_yaw=-0.3294 left_pitch=-0.1348 left_roll=0.0319 left_gripper=0.9995 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.3487, -8.253, 5.3812, 1.9756, 0.105, 0.2027, -0.0171, -0.0205, -1.2513, 7.0222, 1.7705, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e53dcd6decc08c521824da7a6a5b47ba0bf7a26298a20b98405b5c5cdc102b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7df9b97f2d602e4ceba114b045c53c53b6782bce911204154d9f55251a07b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:613ab97652db0dadbc1fa1c396a3e0aafa9c4ce699716dc8ba6a08983a0f025c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.599 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]: [-0.7235, 1.6478, 1.0313, -0.1478, -0.5774, -0.4629, 0.9996, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.2113 left_z=0.1317 left_yaw=-0.0114 left_pitch=-0.0489 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0016 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -8.3897, 9.306, 1.5116, -0.4518, 0.1099, -0.0562, -0.2803, -1.7436, 6.9265, 1.8144, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5426, 1.8194, 0.7605, 0.3401, -0.1841, -0.1268, 0.9995, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.396 left_y=-0.1969 left_z=0.0233 left_yaw=-0.3294 left_pitch=-0.1348 left_roll=0.0319 left_gripper=0.9995 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.3487, -8.253, 5.3812, 1.9756, 0.105, 0.2027, -0.0171, -0.0205, -1.2513, 7.0222, 1.7705, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e53dcd6decc08c521824da7a6a5b47ba0bf7a26298a20b98405b5c5cdc102b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7df9b97f2d602e4ceba114b045c53c53b6782bce911204154d9f55251a07b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:613ab97652db0dadbc1fa1c396a3e0aafa9c4ce699716dc8ba6a08983a0f025c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJMGoKH0xa80mRnO4aSdjUhl3ATqXFhN6m29iFQoRu3SVrTKDU_lhQ6-LOAvdkgLqbEREu8DQK71vK0P-fJrlYzwpOb4zi3fiL9kDhxY37UNSDJ-qGAA5g3iFFKn-at969aDcTF3u26uNmaaBRjBg_SGXrXetdlblglBydmloSIul3_YtMg5ii4BaiJWt8rP1CP_uTQpzpK7-QUho_hveT4QUdFQ5uxwItEGWNxnn8QeFCGRqFS_e2MfMp5QRG-fuUo9w_aQD_uCMegYON3X3V-QXx3enxd69dwR67osFzsTfQO8vquYW0pGtdPmkgCY0o7QA4kAI_sPRS-R2hpOt3k26xSqk-VGWibOl9Cgqj5jH-IYweFIb2G4KbUyhtqgsFo6fbkUXHBK3xlc87DiDM4k5sNcjHb2F8MwGd1PpKKIuIkXK1Qkk5gKMi4llSeM94sXTp2mE7Z_sAWW4WSmEEVPpoLaVYXqhmCNvNzTVdT50Jmu_UPBivKh3jlm5KnK1HxlZHPJCU16XvJIMPetUAO_hyXI_k_KUiYXLA2TNF9WJJzucfpdf83SpbuIHNqoOxzJAfOVXhEj-2yzrpDw8A7WdOO-_6kKx9n-dNeXEbsFEFkQAE77H1WxZbtlo1WEJwyFzWrboxgMw7aq5mbLxOe5yvpj_HDJ-3iuLWOZDxYdJ7vJMaW1mUlFDaRM5pUHo7FnbO3PxO81L2mrsUnl4-_7tou2RyQaGfMXq0PWNHVLxsnLywE-z694PZxn7sW_Fim5TQiEgzHIQQW7Wed1FZVmN1ZnMlBqm4VxpZQU_NlCVAAjKIUzsfrRp3GjeKHb9gr0ARNd19ij_rrfragJawhSs3jvJ7ys_mIWqGoxxfScPlmYTzLWvCAt5EEiMLYKkEPjQJrNHQtuuvtDjqtqmVUIT0tB1jUH7f3t22A9SsRYq7aILzm2M9TnkzHBQezvrm4BHGP3WJ0-rOEQh3h85o8sCDY9KK8FX1K8jdX_xcLlRLkA2rRSCm3PSJFuHlFPKyVhPuf3_CHelTB9f6mSarGLR38EPS_DPTxVDzjndTJiZxKS6OrUlw4XxcEBh4deGW1V5j7PSAXcvkEbY5n-rpExiJUSoT9k-30emYVSWsAt5coyD5mWWTmSr5gEawJRcCADQTYVZsStquUepKMb8G38gdsUCkSqjFbgVucrW0IZlQlQa2DNFtchYNrmtDcZxc2PZzdJxpMl83uVpYkC1pIfyFmSkofRLi388JEYkS7b-evsiG1VdxaOguDtU4ijm6mQpaNi-CdUsq4idiGRYY6V8PI1aIStxx3P6PNiOtVo1nAaLWXkcT33maQ2SLi_n0KBjiJeA_n7UToLEbjNDGClIsmatmUGjayh2JLhPpB8fAUe3u_RLRAwryd8D7-t-3faVRuM72oIDA2n1zT89Oz6myvBL8CP-2IDjUSGR6X0hvAILzq3MQ8qSsHN0j7JVKhb-DQyHpR-wkpWiCBjQGN8GNi4iWZWXUfnQ_qo3DwotT5CGAVUq5MLTpAk0MWabCGEVH2oRGVHdJWoFyn56Xo5IcPY19US-G2cc_NH75oIQNVnN7cJcH4iY-Su7MmOtcWPm4i7Rye2ZS6adDJ0b08PKlbfDptud6tMiA0DXM2VLrxwzRbNSZ-QuNe7bpQ9FhSOkMcbdDAvdhT2ZK3RhlU9ogd8hkKq6n6IC0_Nlw9HvJcZE4w8y2GsXLn4RWXt8x2aQGW8cMtKSEOrwR_23TK3UEEBmCuT1qltNqH_trvfHnrgaCb9YptTTI6IfAmzBk2frhJjRYnC9FqfYvJ2bAhVQ==",
  "id": "rs_0eb21617a5aff9fa016ab47248d7b487d0ac8570487330233f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.417,\"left_y\":-0.217,\"left_z\":-0.006,\"left_yaw\":-0.45},\"note\":\"The cap is aligned between the jaws but still extends ahead of the fingertip line. I’m advancing slightly and lowering to table level before closing.\"}",
  "call_id": "call_LBTB6m2cer2aePAZ1nRmVetp",
  "id": "fc_0eb21617a5aff9fa016ab4724b657487d0b2956224fdfe599d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LBTB6m2cer2aePAZ1nRmVetp",
  "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]: [-0.5198, 1.9285, 0.7986, 0.44, -0.0944, -0.0601, 0.9995, -0.0193, 0.7975, 0.6132, -0.3927, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4102 left_y=-0.2114 left_z=0.0069 left_yaw=-0.4189 left_pitch=-0.1166 left_roll=0.0212 left_gripper=0.9995 right_x=0.2944 right_y=0.0016 right_z=0.1806 right_yaw=-0.0013 right_pitch=-0.0172 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -8.7453, 5.7368, 1.6874, 0.232, 0.2027, -0.0073, -0.212, -1.1145, 7.0359, 1.7265, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd0b5c214cf6fff6b4f11cc0eca47ceeb20708c04c07df307b81e59f6565749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a48bd8e9bbf86dbbfdcc53cb005cff6ffaed1b5b89fc63dd2980b4e65d96271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33dceb34d3757bada6886db4996faf636c6b00d0fd1befe5df49eaaba9cf3a61",
      "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 · 5.151 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, 0.7925, 0.6022, -0.3798, -0.0219, -0.0246, 0.9996, -0.0185, 0.7914, 0.609, -0.3775, -0.0212, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2955 right_y=0.0019 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4974, 10.5231, 1.7265, -0.0757, 0.0855, -0.0562, -0.5949, -1.2513, 9.853, 1.8193, -0.0708, -0.0757, -0.0708]",
      "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]: [-0.5426, 1.8194, 0.7605, 0.3401, -0.1841, -0.1268, 0.9995, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.396 left_y=-0.1969 left_z=0.0233 left_yaw=-0.3294 left_pitch=-0.1348 left_roll=0.0319 left_gripper=0.9995 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.3487, -8.253, 5.3812, 1.9756, 0.105, 0.2027, -0.0171, -0.0205, -1.2513, 7.0222, 1.7705, -0.0171, -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]: [-0.5198, 1.9285, 0.7986, 0.44, -0.0944, -0.0601, 0.9995, -0.0193, 0.7975, 0.6132, -0.3927, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4102 left_y=-0.2114 left_z=0.0069 left_yaw=-0.4189 left_pitch=-0.1166 left_roll=0.0212 left_gripper=0.9995 right_x=0.2944 right_y=0.0016 right_z=0.1806 right_yaw=-0.0013 right_pitch=-0.0172 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -8.7453, 5.7368, 1.6874, 0.232, 0.2027, -0.0073, -0.212, -1.1145, 7.0359, 1.7265, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd0b5c214cf6fff6b4f11cc0eca47ceeb20708c04c07df307b81e59f6565749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a48bd8e9bbf86dbbfdcc53cb005cff6ffaed1b5b89fc63dd2980b4e65d96271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33dceb34d3757bada6886db4996faf636c6b00d0fd1befe5df49eaaba9cf3a61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJPtCm-nTTkRr4l7BKlKZdCWVKkdlpZy1iaMsfV6XQ7HQJQvdrwOXs4gIgEHeLCiKUZDjCjIRg6AA7P2yIAJCHzhI87HVyGNr6ctRQiA3Dn-ng1-vVIK-bgxP-MEXPJHuMK-0SghitbwMvckZEfyRIhzXktl9-7R79fHaJQghDjFDOdNAt2fhkY72Svuzi4Oylkl8yRmQ5HguO8xaM1otn_8CJXn7am158E1Oa1oNWUPHthlnUoE8DM9EulJ_pHP5VbRaaxbzJ7UCNNpZSvAqspLgYYPBL2QrbN8POn8aTf5XI9TrhDxghuxoFGBVmwAXCRRAE7pNaTSRJJ4ECkevF233UPlxT34wPll62ahvv72tt5fjWy2D9biYde8abp0zkqzuFzGAleqQTRk3QIgfiQgO2yl5ke9cczZeONZUNrM55-mZiUQWhpe9GDB1PCRK8gVKnTyZnPqfsKPw88C_2BEKNiw2DMaOqBLizqSX9P-S2-549BggQHSfUf0WNfNKeY_ko6jqP8oHPl2IK_qUw-bZZvFzTfjI9YMYLSY4i-yJTOcAX6YVQNfOIirpAC4zd7ZNlE2-wrIXneLsn3AXdjaRtTCodXVKbguRvWsELK70-KigxIuTZQslFd15oQ4XFvLdXTis7w1PiT0FG9-VX4Jh27kKoxZg2NmShsVCmw6-20swUTDevUl54TC0-4efPqlLKLr3O7shXKfeArZJ2kU-rxwiOZmFP6hk7pmvdnFK--fu9zXGA9D6yU8xPAKXbMva79rYsIKlZZ3R1RpkWqycHneDuGh7r6saWZQbFCNNI0UtFp2BSDEIW-7neINeSf6m-PKt0nF3ZfhAzk6n4GBRL8NbTyeZTazJDZxGWeUAiaWZ4n-rf4y9jzglqbv7oPCCPo8ZkC-nOrwDvTLsjnEjPJjHjo443VbAnf_pa2xM-Ehg1zbLsl39RLZn_XuEm5Bim3Dwp5CYfHIx_HHvZjL6OFgjrNH2GFdDQF9Cuobl-ytX-eaCgB9maXMlEOXcsuvoB4oBFyd53o8cZaCVy2jM9nFWbjW9teav6PRUojIlTZYd2DqHRftn1sUj-AKURI4l5HUOpTYDBvImWz5-B3UI8T55QnxsLDmG9IE4uZR3FZnlEgz-Qr-p2XoHGOnZgLoSPcNVhprw_xONQAK4_joASkddDX1kWRJaFLmLVRqtBvfv-D24OaVMBGsGg7iiFUPUsIIiKpjUs-OvMU39w3eg==",
  "id": "rs_0eb21617a5aff9fa016ab4724dbc8c87d0bbf2923f0bee50f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap has moved into the fingertip region and the gripper is at table height. I’m closing gently around it, then I’ll check whether it lifts with the jaws.\"}",
  "call_id": "call_jc5WBugYnbWnEiW5ydxyQGZH",
  "id": "fc_0eb21617a5aff9fa016ab4724e0b5887d08ee69bec807fdcc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jc5WBugYnbWnEiW5ydxyQGZH",
  "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]: [-0.5163, 1.9785, 0.8303, 0.4736, -0.0906, -0.0422, 0.0098, -0.0193, 0.8017, 0.6132, -0.3927, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4202 left_y=-0.2161 left_z=0.002 left_yaw=-0.4286 left_pitch=-0.1019 left_roll=0.0314 left_gripper=0.0098 right_x=0.2947 right_y=0.0015 right_z=0.1795 right_yaw=-0.0016 right_pitch=-0.0214 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.294, 5.7778, 1.3651, 0.1441, 0.1099, 0.7106, -0.0889, -1.6479, 7.0222, 1.7998, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be97cfaa8da357d11c4a84e8c9340225232040b6b47710f6d86a5ce0df1dc94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fab46fe004ed47cdc5fa5e8b9241ae75de4c668ebda3c6e448b29a5be6823d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c5430c6eb9a3d5ca0082bdf1877321f57e253296b9a3f64fd63cbdf1088f00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.72 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]: [-0.7235, 1.6478, 1.0313, -0.1478, -0.5774, -0.4629, 0.9996, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.2113 left_z=0.1317 left_yaw=-0.0114 left_pitch=-0.0489 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0016 right_pitch=-0.0145 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -8.3897, 9.306, 1.5116, -0.4518, 0.1099, -0.0562, -0.2803, -1.7436, 6.9265, 1.8144, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5198, 1.9285, 0.7986, 0.44, -0.0944, -0.0601, 0.9995, -0.0193, 0.7975, 0.6132, -0.3927, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4102 left_y=-0.2114 left_z=0.0069 left_yaw=-0.4189 left_pitch=-0.1166 left_roll=0.0212 left_gripper=0.9995 right_x=0.2944 right_y=0.0016 right_z=0.1806 right_yaw=-0.0013 right_pitch=-0.0172 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -8.7453, 5.7368, 1.6874, 0.232, 0.2027, -0.0073, -0.212, -1.1145, 7.0359, 1.7265, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5163, 1.9785, 0.8303, 0.4736, -0.0906, -0.0422, 0.0098, -0.0193, 0.8017, 0.6132, -0.3927, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4202 left_y=-0.2161 left_z=0.002 left_yaw=-0.4286 left_pitch=-0.1019 left_roll=0.0314 left_gripper=0.0098 right_x=0.2947 right_y=0.0015 right_z=0.1795 right_yaw=-0.0016 right_pitch=-0.0214 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.294, 5.7778, 1.3651, 0.1441, 0.1099, 0.7106, -0.0889, -1.6479, 7.0222, 1.7998, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be97cfaa8da357d11c4a84e8c9340225232040b6b47710f6d86a5ce0df1dc94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fab46fe004ed47cdc5fa5e8b9241ae75de4c668ebda3c6e448b29a5be6823d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c5430c6eb9a3d5ca0082bdf1877321f57e253296b9a3f64fd63cbdf1088f00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJVXCTbL0Qqfwhfzu_k7g95tXI6xkYEl329H-3DZpQWxSLVwBJss78SKy_X_mvc986E8eMLnqUJjKYuqprtoOhAU0sK9RWfmaeB2Hc0Gq38vIywOTlM33FRyzlOcjHPYBteE8xDTB03ajS9Blk1J5h-71vhnBwCDsLdJe0Es96ArUwqew3NUi1E90yIHPLtDVAtLaJmsg79w-A01j3MWcea36e14PXofi3HdZ0BUCkwUeTpPujHVi0OiDqIpUspphuY73m1FJPz7y0jDA0liq1661gwdJz8gHgpjxq__MiXwTIphblWc_g-r30-DNbKe9eJLx1opMw4YoZ-OZYeoAkjSzz2mA6a6HlHCS7D9jdDOfXNgK51qri8iBDH46zufUXAxw3ewXEzSf3RZWU8jxfPFtoLGg962v3rBqIN7yWsG-Npd81c7JFPsvCISIXiVyOZpeID5OF9px3meOVgFjV_l5oxWQE-o7bCSbuREoxsHUy-r4P6gHbsm3GHLja0iUu3YtFGqtOAtHNfZdZnJYfwOMPGKk6BLn1ghLMcSfgtbmd2TjYqZKBf9hGcCMlxQv317LFKWwHT4ch105wKLabgBxit7unQqlgyqKsyrU8-rl8kSUUZrK7IEkkosM9k4tGd_wGea3RdpmgzbTUvC2mxFEUuFcDqPU0360fxvnw3I0zjsDZu1OMi2t_vZ1KY_E3hgBAweOVYp9UurspRUl1qyq9UB9uKmDvDkCy2u8l8R2IumxUy8ZrqVkqZqdGQ48ELU2WYvozyAhosOVou3d9h1Sl_-ZJPUjBnCjc42zBLvWRTbUgHxbKwzAh-LAgCEBsYUfxPmBDE1lHipM7Uz9de2NILWh0x01ro5nRucRnCAgLpKPvb-hQl8Ypc7F5-tFp8SkKMNH0eoLzkCSx9KRkVb9NAyvTIUXo3pswNMw2AI5STku_NE4R-J532Sr8Fs0yAZeXIAFZVlgoTxuJTfrGEC95WtpBLku0l6FTygDx53cdR2D3E8uUYVRrKpmZGLFu98mA3cHvsqqDqycyIJB8bKPwiTwtmPIstNpMUfzqcxYqSOMPeW-QAH397TQ_iGrsye0Rb_mhON9L1jYSxhY1Q9SFJ5MIK_MC_W_-sX56qxZ8rV5reeu7VPolpK1Nvc8vR7GXxLCiWzG6Hze31ri3eQwqou5i7P8xwY6Is8BS2-MJA2YA_osak605-azkSqsf7mikzaA49hIpG_L_6525ygdMAK3QoXqkhay-PtQE_WlilXJ--CCzCLS68IHr9rv5-7pESwsNZ_EH2usZQGwE5EUp57MqZjaspZseNu1ylBVdYA3psl1JXGkc0uwH1LNbVsZw-HlHCsKk_rpGYb4UqegD7jgCfsxRTf2GZEDNQtJb6yS0OJ4bgqZcFeqa2uTbJjUTSDYBCuMJ97eGq1bCk8l7CBFQoqHAE1aD4NprNew5pivAouutHJf4PSrwdyMJAgEMBsPlef7sVDe8U5AustD_Ki4fe8aMeiQCW4W-b6LakO11cBkcxczvfQo1IQx4_Up7n4xBeLMwckKD3dYO52ntm3u4KjZHx3OdPfSH002KTW7UUj9V2dIUx26jEyegZ9_wIzifG_uEDJmfjLEv7rf5i2xWWk0lPsWvdjhJFZV9VPfzLnTeCmlgVMoF42yhjKW4TyAYEPVobexTnxgp_y5JqgtCvs_7_cpv4CBTiScFRgm__OWSkzwsXPMBlPDgj8rt2YrzuBZqKyO_qk1k58Y5fWktlE9ewvZMd4Ko6VzDLP3cxIB0RBM2n3Dkz6zVAnLGBu7Q-qtxarYDPFawvRsDtksh9I7WuHRkhogO3vt0=",
  "id": "rs_0eb21617a5aff9fa016ab47251dcd887d080bc9d8f9131739b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.225,\"left_z\":0.02,\"left_gripper\":0.65},\"note\":\"The fully closed reading is nearly zero, so the first grasp missed the cap. I’m reopening and shifting about two centimeters farther forward for one corrected attempt.\"}",
  "call_id": "call_TUPIhLOEwqROxsEbyACzsx4g",
  "id": "fc_0eb21617a5aff9fa016ab472539d0087d09217f2b00d1f7663",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TUPIhLOEwqROxsEbyACzsx4g",
  "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]: [-0.5152, 1.9789, 0.9035, 0.3752, -0.0963, -0.0505, 0.6455, -0.0193, 0.8036, 0.6132, -0.3943, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4297 left_y=-0.2197 left_z=0.009 left_yaw=-0.4178 left_pitch=-0.1269 left_roll=0.0308 left_gripper=0.6455 right_x=0.2946 right_y=0.0016 right_z=0.1786 right_yaw=-0.0013 right_pitch=-0.0248 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -8.8547, 8.3897, 1.5116, -0.0073, 0.0513, -0.105, -0.212, -1.4017, 7.0632, 1.7851, -0.0317, -0.0708, -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:e043696da73c6e758d052d3b397ca3638f497c7688bb013e1422b854c719f2b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065e45f2ba65dca088306725936a18e294517601c2fc11391896842e9218a63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc6c1c98b6c91f3ab21ac4b4ded497f830088c503444bb31877ebd32c53cdff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.856 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]: [-0.5426, 1.8194, 0.7605, 0.3401, -0.1841, -0.1268, 0.9995, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.396 left_y=-0.1969 left_z=0.0233 left_yaw=-0.3294 left_pitch=-0.1348 left_roll=0.0319 left_gripper=0.9995 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.3487, -8.253, 5.3812, 1.9756, 0.105, 0.2027, -0.0171, -0.0205, -1.2513, 7.0222, 1.7705, -0.0171, -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]: [-0.5163, 1.9785, 0.8303, 0.4736, -0.0906, -0.0422, 0.0098, -0.0193, 0.8017, 0.6132, -0.3927, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4202 left_y=-0.2161 left_z=0.002 left_yaw=-0.4286 left_pitch=-0.1019 left_roll=0.0314 left_gripper=0.0098 right_x=0.2947 right_y=0.0015 right_z=0.1795 right_yaw=-0.0016 right_pitch=-0.0214 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.294, 5.7778, 1.3651, 0.1441, 0.1099, 0.7106, -0.0889, -1.6479, 7.0222, 1.7998, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5152, 1.9789, 0.9035, 0.3752, -0.0963, -0.0505, 0.6455, -0.0193, 0.8036, 0.6132, -0.3943, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4297 left_y=-0.2197 left_z=0.009 left_yaw=-0.4178 left_pitch=-0.1269 left_roll=0.0308 left_gripper=0.6455 right_x=0.2946 right_y=0.0016 right_z=0.1786 right_yaw=-0.0013 right_pitch=-0.0248 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -8.8547, 8.3897, 1.5116, -0.0073, 0.0513, -0.105, -0.212, -1.4017, 7.0632, 1.7851, -0.0317, -0.0708, -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,$blob:e043696da73c6e758d052d3b397ca3638f497c7688bb013e1422b854c719f2b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065e45f2ba65dca088306725936a18e294517601c2fc11391896842e9218a63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc6c1c98b6c91f3ab21ac4b4ded497f830088c503444bb31877ebd32c53cdff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":-0.01,\"left_gripper\":0},\"note\":\"The jaws are now slightly farther forward over the cap’s last visible position. I’m completing the table-level retry and checking the closed width.\"}",
  "call_id": "call_wcsTQNqFDIBohBKLAmt1XN7z",
  "id": "fc_0eb21617a5aff9fa016ab47257464087d084175b4909babc2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wcsTQNqFDIBohBKLAmt1XN7z",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5156, 2.0155, 0.8982, 0.4427, -0.1001, -0.0532, 0.0098, -0.0193, 0.8043, 0.6132, -0.3965, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4341 left_y=-0.2216 left_z=0.003 left_yaw=-0.4138 left_pitch=-0.1011 left_roll=0.0286 left_gripper=0.0098 right_x=0.2944 right_y=0.0015 right_z=0.1779 right_yaw=-0.0016 right_pitch=-0.0279 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4325, 4.3556, 1.5263, 0.0073, 0.0464, 0.7741, -0.212, -1.388, 7.0222, 1.7949, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827135a2a2d5ff11c68acaad023a46c47e407e788f83ea9f85eefed1c186c668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bddaddfc931f9dfa56cfe6c49e2361d31c958f7ec226358002db22f0ed78905",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed9b58973889adc2d55c83e0e22aca6377db089c8b8f2dbf19d9f24d081bf13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 8.502 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5198, 1.9285, 0.7986, 0.44, -0.0944, -0.0601, 0.9995, -0.0193, 0.7975, 0.6132, -0.3927, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4102 left_y=-0.2114 left_z=0.0069 left_yaw=-0.4189 left_pitch=-0.1166 left_roll=0.0212 left_gripper=0.9995 right_x=0.2944 right_y=0.0016 right_z=0.1806 right_yaw=-0.0013 right_pitch=-0.0172 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -8.7453, 5.7368, 1.6874, 0.232, 0.2027, -0.0073, -0.212, -1.1145, 7.0359, 1.7265, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5152, 1.9789, 0.9035, 0.3752, -0.0963, -0.0505, 0.6455, -0.0193, 0.8036, 0.6132, -0.3943, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4297 left_y=-0.2197 left_z=0.009 left_yaw=-0.4178 left_pitch=-0.1269 left_roll=0.0308 left_gripper=0.6455 right_x=0.2946 right_y=0.0016 right_z=0.1786 right_yaw=-0.0013 right_pitch=-0.0248 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -8.8547, 8.3897, 1.5116, -0.0073, 0.0513, -0.105, -0.212, -1.4017, 7.0632, 1.7851, -0.0317, -0.0708, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5156, 2.0155, 0.8982, 0.4427, -0.1001, -0.0532, 0.0098, -0.0193, 0.8043, 0.6132, -0.3965, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4341 left_y=-0.2216 left_z=0.003 left_yaw=-0.4138 left_pitch=-0.1011 left_roll=0.0286 left_gripper=0.0098 right_x=0.2944 right_y=0.0015 right_z=0.1779 right_yaw=-0.0016 right_pitch=-0.0279 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4325, 4.3556, 1.5263, 0.0073, 0.0464, 0.7741, -0.212, -1.388, 7.0222, 1.7949, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827135a2a2d5ff11c68acaad023a46c47e407e788f83ea9f85eefed1c186c668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bddaddfc931f9dfa56cfe6c49e2361d31c958f7ec226358002db22f0ed78905",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed9b58973889adc2d55c83e0e22aca6377db089c8b8f2dbf19d9f24d081bf13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJbp6FtHG-SRvQ28tSfB1aY7BGzyG2kP3iQWs2CIiYEcDGY-6rFQfGhaT7vXoux38CfzFUi1blCh8Ol34VUPulU9TT2g0VhQJrpyP9CZYPNpXguZc4Kg6xo9R7WInGF4fbvX_RHWU4sW_MkFrZM8-uN6lU8DEPZpDu0xTARaFpM-iANsId5vWXfMXQ3ueVDVXWa4uBbabNnWljdkCkudgFGECeCL9osv_zMtWJKKl_-55dMVIy8h_xzrkIiSsael2GiItbBlR_UluzVclRVSD3ztZDPqqOSJcBdepAkR91DYHDqZddAP7XOzae2ksGHVwVscJ3Tpdsfpddt89cNLp_w6FzQl9L1nEpkX-ozO92pIu6zNYPyon6ILnqO9GY9MxuIGr7lI76RBgdDJMwmKavaI9HL3NxmFBwUcqPII2d_TskQagGgGrd1vRSSxVf2Q3eOcd3dSubYhnfmvEU6B8IHftCg9xETpMOSOOYeeVrGvdX6Io4kZfHPUiDFfmTXmmpcQZt9ejFAZTkfPRYSZ0oemNaQ3DJcDJd2tix-eyT2SRXOHhiazzCPmZM1f7F-SFwH6cXIq5KwPmdzNBxevM1naW3J0XN0NF3E-ukkN4PbHpNNQtxv68WNpsN6stEwwKP-tdJxabmNVmmnGKb1aYmpCeP5aptNk6AVF5pyOHA3cBO__i084qCe9xcbcR-tjxty0HcuKH7QnEm5mXDTUs4GPfSflozpJMuLjPzOxOUCoMSRYqq3DbejPDFrw5R6Lci-tFHgeKHEty26_-wVXHD44_K_mPdoMkfRx9ztiil7zlVcZiCUxyikdKh8DnptURfXgmf_buNyOBRzvCf2fKB1AP2cuwGf4PW6Pngzodsl-vhOJJzfhwz940T13bTQN0qndNjatiitcpkqimUMlva5aib8QZlPnwrpmCo-QJrxr_TtpBfUTqjMhToIjFKwnSCMa1JGhIHUhO9v1KTJpDSTytp60G-55_d7oq5pF97Rzey59JAcoF6Yus21qUQJaW5qTuVgZn0tydC5NqBJS8BJLkq-8RJXXUCfwMyJVzAImxT99j-nASV23vvbUZnrlfC9hLtNJMDKneHQu-cL4zUhr_qum3tp5oEjph5Fr7_RgMLpAjIsWJATphu-z_UAjra03fGN93hO14foenhBpOIuDrXHrWNurVOZtKRRa05dw7ZlDV5VlRYBC6sF2FP7ciz3ptrVFS-IwrUkgB3N2q03K7OH_BjApMrbhXOp-V9Wf2_OGSpedLRU5FJDh1QoCj7fh_qGGJx-rPw_gyeo96dfe4NQPCucgwxwHRb5ZshY1f1YPpN9NaBwJSbI3PJku3qjmTmoQddwixILg4LOqq-vBt22Eq3fsdkR4dYE9R5oj3e7LgcRHeLbBIftECYiDflP",
  "id": "rs_0eb21617a5aff9fa016ab4725a647487d0908d560c327b66ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.08,\"left_z\":0.18,\"left_gripper\":0.7},\"note\":\"The second close is also empty. I’m lifting and moving aside to reveal the cap and remeasure its position rather than repeating the same grasp.\"}",
  "call_id": "call_ROJqudQvLNatKnGNqEepLMbX",
  "id": "fc_0eb21617a5aff9fa016ab4725b28b487d096d6933242502129",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ROJqudQvLNatKnGNqEepLMbX",
  "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]: [-0.181, 1.079, 0.7292, -0.3218, 0.1253, 0.1246, 0.6973, -0.0193, 0.8093, 0.6132, -0.4114, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.0791 left_z=0.1646 left_yaw=-0.3662 left_pitch=-0.0959 left_roll=0.0279 left_gripper=0.6973 right_x=0.2926 right_y=0.0016 right_z=0.1735 right_yaw=-0.0016 right_pitch=-0.0477 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -4.1231, 10.3726, 1.8193, 0.1538, 0.2515, 0.0464, -0.3624, -1.388, 7.1179, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f803e354472bcc9c9802fdde8701b3a5fd41c0a300d69114a8480b394d4d027",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b633adae2c263273a0d08d745aaab1ee1ab5c5f2fb374ecd2319286b3cd32954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b1ad3b430b49df41f11730ed6273dea8ce79ce0ce5fd3fef81b943fdd9da00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 7.732 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 29 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5163, 1.9785, 0.8303, 0.4736, -0.0906, -0.0422, 0.0098, -0.0193, 0.8017, 0.6132, -0.3927, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4202 left_y=-0.2161 left_z=0.002 left_yaw=-0.4286 left_pitch=-0.1019 left_roll=0.0314 left_gripper=0.0098 right_x=0.2947 right_y=0.0015 right_z=0.1795 right_yaw=-0.0016 right_pitch=-0.0214 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.294, 5.7778, 1.3651, 0.1441, 0.1099, 0.7106, -0.0889, -1.6479, 7.0222, 1.7998, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5156, 2.0155, 0.8982, 0.4427, -0.1001, -0.0532, 0.0098, -0.0193, 0.8043, 0.6132, -0.3965, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4341 left_y=-0.2216 left_z=0.003 left_yaw=-0.4138 left_pitch=-0.1011 left_roll=0.0286 left_gripper=0.0098 right_x=0.2944 right_y=0.0015 right_z=0.1779 right_yaw=-0.0016 right_pitch=-0.0279 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4325, 4.3556, 1.5263, 0.0073, 0.0464, 0.7741, -0.212, -1.388, 7.0222, 1.7949, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.181, 1.079, 0.7292, -0.3218, 0.1253, 0.1246, 0.6973, -0.0193, 0.8093, 0.6132, -0.4114, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.0791 left_z=0.1646 left_yaw=-0.3662 left_pitch=-0.0959 left_roll=0.0279 left_gripper=0.6973 right_x=0.2926 right_y=0.0016 right_z=0.1735 right_yaw=-0.0016 right_pitch=-0.0477 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -4.1231, 10.3726, 1.8193, 0.1538, 0.2515, 0.0464, -0.3624, -1.388, 7.1179, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f803e354472bcc9c9802fdde8701b3a5fd41c0a300d69114a8480b394d4d027",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b633adae2c263273a0d08d745aaab1ee1ab5c5f2fb374ecd2319286b3cd32954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b1ad3b430b49df41f11730ed6273dea8ce79ce0ce5fd3fef81b943fdd9da00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJlSiORM5yWboUrqfDPiRt9PiEUjnu08rsnn6ZLmmnyMyh863UMTTyfwQfU20JeX5X7sL3nVQMnKKLuuhu3N5iM_ATD_L_10z8L0z1ef8uMcmZYxzcdONW6m-01YGRWSRadRbJNh5tZhfcE3Z3HYSC7-PIK7yHhWwZOlkFzuRObA_UpqINZeCR1gntwDLnUBpjj65r9Nbsfbmzv2hajfPmCWAvOEOf5X6H3jlHApPY3ulgGxyBkpAfS2HZyQUnXXQrAwkGisLd4CJqoozS4Ze8erVedEyP0F_HcazvsBuj93mJqp4PW-4OYrNTiZ4ou-WgqH2WJ6OHkbwbqrVdVsilC2jKZjN4hpVMK2xFRWN7Yq1EPVMn5gGyFcm4fucl8CO9T-8A48pPvAd0Jjfgh-6a6mMlY67nI_VgL6vJdb8IHTyxu3ArxAguvZmlfeFVaZIThCz3nCpsbxzq6eny84QXjF_0NlSG-gHTsORhlXBNfw2c5bCjFPGOjsaGfoFWdPrAwb4SbxSfMeF2uQKbBAvidseCT7sCmsvCdsGSzuyyRxbp3k4h6e4rvqJBDpFi9rcG6iY2dwl6D74q7O9x-CdYgBzoTKjuUY1_Naja8GzTvqQQ77kmruqooH29JgicIvnFVPdNk648GoXSL7M0tHi7rL0q_VtzNX282dSUOJaFdQHOI67JcwxqprzOe0ltFB1WSjuOPs7kC8P04eNdhtnWnvJwm-JCYcusZ75LZ9ArtSW2-Xyl5_D4ePdTQLqI2MmdyyyWZZ-2ERRzQ9O4Dpz3XOPe9y8p_S-72i3IoNOVphJHqbNwvCGIfCAsJKDW-V1yqbiqTTFRP-7JYzFjjtwAagx1Yj7dOay4b1AlSeB20Te2nBQnEu0NftJXUQUpwFiz00tU4WwBAQPK8NAk-fhhlx9OqmVq76iUnSMrY1zWlO5f2cbHkE3sHglOCi-sqDBfE5rA5eCfJxFuvLRnE4CaE91JqyUXrCD4Yyx7YXJA99X3xWNtrgdHd1lAk2bWljKHlFGMSS5Z_qB4YFU10qLagOFwiBCispPvAmK19QyYAiniWNkTaeZPuWMl08j0PQqJvFwvliWpNmMy3-NlO10G1uAiTYEtAabEnc8MH9MhsdcUXtjNDSU40AAnlt9mFxlyBvfykOhYf8p8nH-f9qksQ_7vkIAdCbLTZaqIjElF42Mbfca10jX2X6pze5DKD8uAoacfRLJk0F8TtUCmiwvK31kVEUABhecstlE_Rn55dZD4xfYVnRQCHXuC5QBCDm6kPQRQZYuPseo7XyEqckQi1SFBeHgeZaXJ6nTrOjVMUWD282G8jjOYC-dfE-WHkUeTLBekuCZqNLOOzqYAwzWhPDn-_SRAdH9-WWKe9I8hX_Reki33ZZ3il3liLW57ofK93LogjTW_MG6gVcjcNB1ZnnysiFu7EGpB8Rf5sy4K5gfRPZRzvbJ7ECfJwQ8IXVY4iSWy_-q6Yo-RkppprKcPJOjBqM6mFFiNr_veGHzmM9l0raZGWuM2xU2NutokqAy2OqesGD4b-NVqvhg9jzcwsHrmnNzu_LkGfA7U7MWxD-WBCZGGuom945hsgh_H9EmacKhaHvR-NHhzroIVCZMuBZOgex4I_ST7Ei3pqOemI1R3T1AEVtZvvS-mVVRgxjzHB3pJWsabxIzfgsxPDFArpvfHHwRA0vW5CKgxj9XQv9yD6cv4y0T0BEdxsy7-oBxcnukKg5Oq1ON-sSyGrZ1MGEamajopT4xPuhXRZql1kWI_YQYrctH-tHBS_dCpUMh5fdq1SIrMP1a0m2M610TNXD8axeKT3wlf2G9nUNyuh4IaFILz872l7kpR-lgoKrReNL6VhDY1qY8xv9chO2pD2ZNn2nkiDsbuEN_B0z3_hNWOWsglVd0HQhzLQClHetq4gFKZbrQDoiSNUE5tM0pj7LUgjvXz8gwK5NYdkNyjw1Xd5YfWW991bp9uCnXovAm0wQKM8MxJ7_lWoGqkyMxfX2Ln3PhyD12J1gIgJFDviUe_GxGd-9u-Q95R3qUffTpS7JYibPNz98uAwmBv7RwlC_Qz-lSHIsDfNFc9Bu0YmE5FFqNy_Q3Qa188gT0x_DxzxEbnHcG0ChM1BIPNVisaJfDzGNy7U6fKSHTHjcMIzK7Ver-xgYDDrWGHRE8gJ48KB91QlZZ8rMjX-VL9ns013h2KkX9j01PApYim7kG8eTNOBdcLtcOItMQnVtyrDqxobjdKIAbvc13H15brYSX25P3MZ7Y-HAy8vuKuRD8QwkUJ4lChH-wxaAD2ZFmYoYaE7HOU0BaHspsp1aIHEK3g7Ank3B6KidTDSkhQ_tZI1kai9RWckdTUH7Z055Fxr9WaARg2ZcnWuCuNVpuV2r5KVAX2HrN_W1zZBD3Dkt8D4-IEYmwgUSXrqIs-gYQnk8nNTE_9K02ZchfW2ig5zESk2Z7cGTwwt3qtTe-mrYEeUgwhW_x86Ytbvf0B1Sn5QFELF3encl8n19Ez7Cj3r91F-JZDqaTglidGXPzMo4XNEBSA6CeDFqg_DiPsxveQa-yIW3mnv0IzCBTdmfL6w7q3sAt03eUQVomMtHpXrtd6w7N0Pnj1ao2p7N8AwFGr5wK9Kz1X4if-EDn8NFXn4_QZx2cag-CGsnoFxcioYdh53GEjKzVKnkyWeTUXCtwHjWW4GjE8PH6md4SMu-d7K7VI9eZRhlXLN_XKCiMSRtjNaLWCWxYskqPr558yHUQJvJbuoxNWF24Cii_ZSf4GT2f-YRKKQIyDjdAX-I6RU3uQi_D6ci7O2ytQ_BOQN3iNDO9bZ",
  "id": "rs_0eb21617a5aff9fa016ab4725f4ea087d0b599f20df42d80a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.225,\"left_z\":0.04,\"left_yaw\":-0.45,\"left_gripper\":0.6},\"note\":\"The cap is still lying just left of the pen. The cleared overhead view indicates the previous attempts went beyond it, so I’m approaching a few centimeters nearer the base.\"}",
  "call_id": "call_SNtrtHYzz0crZknuqnAuFacE",
  "id": "fc_0eb21617a5aff9fa016ab4726469ac87d09e1388d62c8adcfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SNtrtHYzz0crZknuqnAuFacE",
  "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]: [-0.5873, 1.7493, 0.6956, 0.2714, -0.1211, -0.0746, 0.6009, -0.0193, 0.8116, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3587 left_y=-0.2088 left_z=0.0157 left_yaw=-0.4541 left_pitch=-0.2058 left_roll=0.0392 left_gripper=0.6009 right_x=0.2925 right_y=0.0016 right_z=0.1725 right_yaw=-0.0016 right_pitch=-0.0519 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.4034, 8.3487, 1.8535, 0.0073, -0.0659, 0.0269, -0.1709, -1.4564, 7.2, 1.7118, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29ca2240a1277d1bf5f84e7c60973a148bc764a2c48724c62305953eeda4626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9cee455e96256e1d2f5eff1872c9fd107d046e99b2372450cc7389be4072215",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff2281ab03d2dfea1803169400859f7b8dde26b3a1a00da7d70a13b468371b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 6.297 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 29 changed as sent

message 33 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5152, 1.9789, 0.9035, 0.3752, -0.0963, -0.0505, 0.6455, -0.0193, 0.8036, 0.6132, -0.3943, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4297 left_y=-0.2197 left_z=0.009 left_yaw=-0.4178 left_pitch=-0.1269 left_roll=0.0308 left_gripper=0.6455 right_x=0.2946 right_y=0.0016 right_z=0.1786 right_yaw=-0.0013 right_pitch=-0.0248 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -8.8547, 8.3897, 1.5116, -0.0073, 0.0513, -0.105, -0.212, -1.4017, 7.0632, 1.7851, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.181, 1.079, 0.7292, -0.3218, 0.1253, 0.1246, 0.6973, -0.0193, 0.8093, 0.6132, -0.4114, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.0791 left_z=0.1646 left_yaw=-0.3662 left_pitch=-0.0959 left_roll=0.0279 left_gripper=0.6973 right_x=0.2926 right_y=0.0016 right_z=0.1735 right_yaw=-0.0016 right_pitch=-0.0477 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -4.1231, 10.3726, 1.8193, 0.1538, 0.2515, 0.0464, -0.3624, -1.388, 7.1179, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5873, 1.7493, 0.6956, 0.2714, -0.1211, -0.0746, 0.6009, -0.0193, 0.8116, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3587 left_y=-0.2088 left_z=0.0157 left_yaw=-0.4541 left_pitch=-0.2058 left_roll=0.0392 left_gripper=0.6009 right_x=0.2925 right_y=0.0016 right_z=0.1725 right_yaw=-0.0016 right_pitch=-0.0519 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.4034, 8.3487, 1.8535, 0.0073, -0.0659, 0.0269, -0.1709, -1.4564, 7.2, 1.7118, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29ca2240a1277d1bf5f84e7c60973a148bc764a2c48724c62305953eeda4626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9cee455e96256e1d2f5eff1872c9fd107d046e99b2372450cc7389be4072215",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff2281ab03d2dfea1803169400859f7b8dde26b3a1a00da7d70a13b468371b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJugGDMbonhn14T_QYW--w7ckSujcldeq-6Vl_Y0vQw9gYG-mSniy-gEqWdhaush7qYkhBWQnaO5k8ybHItOmDsjV5cjtu6tjrece_oir_c2vDLmVbhjU2WicvqzXQDOPjS2htsaS0h0m6H39SnKeO98nOd5aVAn0E2_yhz8Hu5Y68ykACtKfaqxJUCY47XC-U3oJ_XHjARR7GvKr7ofPTywqnkbwKw9BA2Cjj26j3ecil2e_Mi8etSvy9Nn6j29jdOfmzg5wGu2lUWOdZoHA08SLCqJF6lCnVokWZ9lAZ_WjXTZx2M6dCABtFtNyyHCfBh0zAIb9wzGb8Y_GLCG2yu8Ah5pj1dJ2xmRREIoCBGnrjBGPtW_q2aQFFx2fyYolxJ7ysk-sShZxJignU3aFvHCURiBR0GgANMPPl828kVZ3_1BdMshHTM7OcQcQeERFF5rTH5Vf2R6ntNLq2SAqqyqED3qgqYWHCS7IXpeLKaCS4JkAD33R6FqL6dGwjZMWuiFk1ckfsmgWMGGwchjdytgWgKe2TfTxJRMcrkHs30m9FUQ_QfhX1C7DPhvO6vA_9DuN9wvTeZ2kvVpYZWk21tj3OZ4KGovc9vDKcaZl8yzbzPuLeukjDmMGVk1gQ2w-ugyq5NZ9uhviwW5io6vkHDR42olT2mS0IdVj7Fdv0ECIze_s1e3rz4dyL0wpcKt7PxnU2iTC3TupRBzrE265AI30wGiOb3R-V_HF4yQ8DWFXcvgGZoozSeuT1rxDZUFC3FuiXP11S6OXpMvauSNPxHPXzoQKv2Pp_G3zJR5qLlq-4nOuvszFqiSFt-76HjKKUSix4OC0fJ69mxhCl-O9kwO0eiz6uNXwkc33tHQTEPuG4s8p5i1CnXBu_Z_z5QzpzoQPw1sBc3kM06WI1sksoz2MRTi_xSlTmxhobdtChxUBVDHH8r6IzQIYex9-MFQdpvARmgK8FDiB1lhdmt57VAFIS0xbTGOEUDuOgCRiSXVeWVzpUwCkeYxMR6j6-fNX7CDqi_70667Njd-2F9xPPwwXVwRd4TU2cxyG4eKD7WxOSKvrK7KDcg_yMI3TQ5x-bKiTNLf2GHF1YOtqYb8ta2sVyktSf53De7rifmJTD_jEmVh1tqFSi-xRCKAfydgu4orR892GZmnNxTcDq11o6FfmI2Uln24NuNpgmc42FJm9RMonihijej-SxYLn7kYtoFnkyYszpJlDsXzRKQc71X2bvluB_rfIuuWykNjqOuRsxizm47MCz_3A2VSYxZkd39K8op0EaqzIM8_GqJyBX64rit8aCNd5N2wJAUuGeL_KC6K7xrph4zIhps9oxr-mwgLmW6SjqrBnL7y5uzcPtD3o0qKZ4NiU7fnWNg99YhJGpUoLLLfS2zJyK71pmX79Yv_edZefrCmhpdNpZ3r7oLjY41heJWxVD-pncmJ08u-korF36BsxsIRku8A02k47t42InsBTW7q0vMWy3ir4PSiBHvR92PfO9eJsqaxyUxBywo_6Q_V5Hi3xe0km5rkNaYgn_MUaiOdzIGSXclFr963Ys_kcbVOpU4V2B5cXDfJbx2_KX0P6V61vlfaD0ckE7HbHkhY2qCynNkYK7oOpRJI_cIJzA1UejEkdw5NpiSGlKgAGXC49evjBDcmBSeePueSthP_ExHsqRBvGBOSdV4qBFsjYq4fN4iZ36w2pm-D2AwNlE2rWVyoXGnXt8yJlycKGPf_3XqIqQkHFo27tx3elBUhWFmmjibNIeQQueNFwSnWrU_GYhlvF51pi7otnOt8PU141Jv-NVCS4mYaqfZnElWWdTtCb8sgdypXrsg20Arqf_kuaZz55MwyoM3XjTmSHSVVQ6eFH9eK-CIbVpW3uAZwmT4fFI3lnSS7GYS885GV6UbvcOwZJGV4eGDqV5jpcW_FIzrhrZr9wiA87ZfeQFdXq5rfDHPIAjXDNbiIApfTCHYnLoSvuVHdEv0q7SfUMDCHZcjlZskKR14r1_G0CB7lCGc4CQQSe7whVfiAdIQYa2rYUZp412ZH0GPaRYExKUBsSXst6wUMGQxsaxTMaeUipS3YKTRggsHM7XCwmYFFumMSBohqHLD_v0Vp7IwHa-6kW6SdRxY90eaS3A0tHTed5V4BbvLJQX4ZDCiB8lnRDkCu4xHuru5GDzUBnTd",
  "id": "rs_0eb21617a5aff9fa016ab47268e71887d0aa160e287619ee02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.207,\"left_z\":-0.006,\"left_yaw\":-0.45,\"left_pitch\":0.1},\"note\":\"The cap is visible just left of the jaw centerline in the close-up. I’m shifting left to center it and lowering the fingertips around its body.\"}",
  "call_id": "call_s27XSWvElIYmMqAUq2z4sG9d",
  "id": "fc_0eb21617a5aff9fa016ab4726d1c2087d0a9ed766ea41586ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s27XSWvElIYmMqAUq2z4sG9d",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 2.0266, 0.5728, 0.9771, -0.1238, -0.041, 0.6008, -0.0193, 0.812, 0.6132, -0.4129, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3918 left_y=-0.2074 left_z=0.0003 left_yaw=-0.4291 left_pitch=0.0968 left_roll=0.0303 left_gripper=0.6008 right_x=0.2926 right_y=0.0016 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0519 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -6.7077, 2.8376, 1.3944, 0.105, 0.149, -0.022, -0.212, -1.3607, 7.2137, 1.7705, -0.0073, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e354f512d7dabe64a41b4952d109ffa3cc2da167c3a5c054c40c68618e48678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5908b4a3c5ff7e43c530e5d00434055faf62437ccdfd72c550b9b7f5df9c2736",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccff26a250663d3122077aa3e01486bc61e617357bed2772ae5e8dad81344db1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 5.287 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5156, 2.0155, 0.8982, 0.4427, -0.1001, -0.0532, 0.0098, -0.0193, 0.8043, 0.6132, -0.3965, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4341 left_y=-0.2216 left_z=0.003 left_yaw=-0.4138 left_pitch=-0.1011 left_roll=0.0286 left_gripper=0.0098 right_x=0.2944 right_y=0.0015 right_z=0.1779 right_yaw=-0.0016 right_pitch=-0.0279 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4325, 4.3556, 1.5263, 0.0073, 0.0464, 0.7741, -0.212, -1.388, 7.0222, 1.7949, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5873, 1.7493, 0.6956, 0.2714, -0.1211, -0.0746, 0.6009, -0.0193, 0.8116, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3587 left_y=-0.2088 left_z=0.0157 left_yaw=-0.4541 left_pitch=-0.2058 left_roll=0.0392 left_gripper=0.6009 right_x=0.2925 right_y=0.0016 right_z=0.1725 right_yaw=-0.0016 right_pitch=-0.0519 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.4034, 8.3487, 1.8535, 0.0073, -0.0659, 0.0269, -0.1709, -1.4564, 7.2, 1.7118, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 2.0266, 0.5728, 0.9771, -0.1238, -0.041, 0.6008, -0.0193, 0.812, 0.6132, -0.4129, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3918 left_y=-0.2074 left_z=0.0003 left_yaw=-0.4291 left_pitch=0.0968 left_roll=0.0303 left_gripper=0.6008 right_x=0.2926 right_y=0.0016 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0519 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -6.7077, 2.8376, 1.3944, 0.105, 0.149, -0.022, -0.212, -1.3607, 7.2137, 1.7705, -0.0073, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e354f512d7dabe64a41b4952d109ffa3cc2da167c3a5c054c40c68618e48678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5908b4a3c5ff7e43c530e5d00434055faf62437ccdfd72c550b9b7f5df9c2736",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccff26a250663d3122077aa3e01486bc61e617357bed2772ae5e8dad81344db1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ1pHn5EDyO8nOpDz1vcYvqdAedVqZMN5Hd5QrqvWjCv2Udfr7WT9oHjNtXhzHEufCghweGujoxy0S63Wk2PPEcZUicVtOggfp-9Di-GWl3EnMamwwTtaPMfqVnNyOKNZeixw9DtRqy4XO5nl0tO7J4fbPTWPISiUEqfrqkreaXsxVWpXjnxrzwePHWpZJ5-u7qj9dlK3KL14RVu2xlSwVwu8vCY2kZ1IX2JDrJvz2jmuAr3Lam6nTNzn-3uvDcMy7_t26HJy-K4dDm1Boje1EQcx62M15XYVg6h7gEvFbgDzpf4U9gAkU5BD5oV_98DtIPKEWY-wyfRAfZRSgzxK_EaSQ7u29g-5TK0m18aa4aWBHNE_kjxePz_T3onPmtoSG37mFw0QR6-DjwIzvEgwt9M9URzoKMyOHDDR7Tq30rWs4BvXEwDFBP9rF-b2jClMr6Ka-d6vQnjbZW17rAjp3wZPeVwW3cmzSZqFZsCrz13-6Wvtprng6h9TH0fN5g6rLRzBKAfyOPbsdBLVNRHnULIPhN78SAgbAAtu7z5j0qFFC075LWFUEy4ZbaqqvDpu-DPyXeRIqzCQoJb0jSN19FROQejb1P1Jh_AMofyOtGRI8T78uqb9fNmrZ0yrWptN1K-xHhY1yFv4X1f6nQcGn1LqcfkhkR1yfUKM0_xEmQr1bYUaOPJOTvPyhAmBKwhEFj7Kajmp7i2ZhlgP8SxQQ5BaKp_ubgc-_Hsze6hayPoDDgQJQNel4Wqtc2K4ZQd8odL0KTrEV7834PGytUsBngodzRIPoYaVCGKe-2H6ZMkSaMjjsv5xN8e1WRYD36Z58vsf5WbOdvKWngEzYPk_J5gNKlw3iPtpl3qKhs9YF_g9yksuOH9dUlub043kujbUvTiJo5Rv03fSyH2blAOMa-dMKf6LeKajiF_6Nlua7IZTNB-eciJawDRQBlHDUOfegrg8J_Ng0Jww0ONf-9NPT3CSSXAGYxwp0hAlyXqclGMzj4CbWF-2aQc3RXOJhr1rhVN0M5xSyxk-zP54MD-YihgaQ6vAQRP4_tqSkHxaJNWFDlbnnIMhoJa838t-lEfooXfRbpDMtcjl5D3QpnGd3NIxnHTqUSyeIv6b_nzXdB8l4tzvgNKC6xK6TtLD4cICew6c72VvtDwZdMFLzeZZyjfXC19lED9mAxtnQTXRpYWAK0TPv23J40CuYBGwkEpPsiyaUUI8MPRaiGHOc8o_hIih7Jnd6FTsjYiEZker7SeeqLzgw4l7JxZbxXilnyjcmyI-xL5MoYzx-FcQD1UVdUtKNGtmmDTf0E4cCWZmW6KkfGtgPh7JMGW-bJeZ0-w47ysok9Rmz7jtzzS8X5XbO1_8rRoy1L5dBIwiWo_58EJ_qj6o8_xKuOdX8ljyRbdvl2wsGgLBF0-fDkw1nbQwRMz3rj6OlqOVdofav9Q4s0bZ_pc1EJmo8lwKXOR2orrj5a24o_iNnzKtuoBM-aSuRVI18IdkepzCFY-4UuRG4PHFAoXdgauMsMWjSkVHhBV2Nh5WC2lhgNA0ZrdslwHOsZcQ0dtI_Wi9-EHcPdbO9dljuX8OACRtDyKa8ic_i52tBJxbg2Wl6A_dM7duw16jOZc3BJ9WImCB2WYui-1pWIGj8NpQJgDhY0Q5Xc6ay260MeJ7xC1sdpulKqZnrnZ3iaU7vSXoOzLurpL3AqpYz22B2JmaHuTLoCDfOkVkcUrKqUMSv9-9i64uxRD4k89PSdRCw6YVrAwHZcDMr_Ksy-Z-VSezGgB8bJd3Pu4WX37sL08HhKTWQGkEERvjBOagfrkCBXH8yfJxAxLkzaqQsAg2evNtUDyIog9CPSCPkVV5rZWtt5nNKqZCEP1NYD2JY3bEuEX5hbkLfQAbvjD5kk9guUyGXGWVVrJ9d0Y2oPVqhRTv4qSaNm7vHDT2LyFsfNHXEb9FHEjhyBXJSBK9bLIgkQQXdbVwe-hj0ZoQB_sJa-whiUFUkceaFEu3o0nTqROO-2Rydq_fKzmfI6PfpPwlbBptD5O3lfibYdPwVrydJxM5v8nAreJFWpECQliVS0c2eA6mSBBYAmzrlazkLlHWulMqqAseF4VyjY2hJTCzdr6kCyMe2Sa16uCKW22F2vxSNWCr0NVRBxSIJv4orcamwoozvUdKAEuAgpEmTltCHDD414w-t3yKLnOZfqLlZwsmQaSImW_5NRG-eTYikNO1-ASuwr-RqDK7PboobxKhMyuVjYRBHRqeq6fyOX9ySNgxHnOo8ag40Sze92zaRA73WwUnhNMoinAaNmAgqPo72NFm5h2BZ8v816gJ_FFTD7yPkGqyMH6Guw_Fnvw452mPY=",
  "id": "rs_0eb21617a5aff9fa016ab4727124a087d08e3a48ca6b271334",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.258,\"left_z\":0.035,\"left_yaw\":0.2,\"left_pitch\":0.05,\"left_gripper\":0.8},\"note\":\"The cap shifted to the right during the approach and is now beside the right jaw. I’m lifting slightly, recentering over its new position, and matching its changed angle.\"}",
  "call_id": "call_h2R1l43UeVpclEeLmH7YT9gp",
  "id": "fc_0eb21617a5aff9fa016ab47274d0bc87d09ad3ec9dc86649b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h2R1l43UeVpclEeLmH7YT9gp",
  "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]: [-0.8711, 2.0567, 1.042, 0.3599, -0.7296, -0.5632, 0.7977, -0.0193, 0.8146, 0.6132, -0.4141, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4043 left_y=-0.2919 left_z=0.0463 left_yaw=0.0112 left_pitch=0.0976 left_roll=-0.0707 left_gripper=0.7977 right_x=0.2925 right_y=0.0016 right_z=0.1716 right_yaw=-0.0016 right_pitch=-0.0557 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -9.9214, 5.8462, 1.2479, -0.3687, -0.0562, -0.1099, -0.335, -1.5521, 7.0359, 1.6581, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec45d306e8350d0eb4284141fa2bfce4d0a4bedef9e5c2e47ddd6c228f3ed78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e501fdc5f582fdac8c388b13cabaca074870efcf33e86905607de59dd518e15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee325170ddb31dfb3bd71809091a385c408deaadfecee3e00d3726023bdc9eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.451 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.181, 1.079, 0.7292, -0.3218, 0.1253, 0.1246, 0.6973, -0.0193, 0.8093, 0.6132, -0.4114, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3294 left_y=-0.0791 left_z=0.1646 left_yaw=-0.3662 left_pitch=-0.0959 left_roll=0.0279 left_gripper=0.6973 right_x=0.2926 right_y=0.0016 right_z=0.1735 right_yaw=-0.0016 right_pitch=-0.0477 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -4.1231, 10.3726, 1.8193, 0.1538, 0.2515, 0.0464, -0.3624, -1.388, 7.1179, 1.8632, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 2.0266, 0.5728, 0.9771, -0.1238, -0.041, 0.6008, -0.0193, 0.812, 0.6132, -0.4129, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3918 left_y=-0.2074 left_z=0.0003 left_yaw=-0.4291 left_pitch=0.0968 left_roll=0.0303 left_gripper=0.6008 right_x=0.2926 right_y=0.0016 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0519 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -6.7077, 2.8376, 1.3944, 0.105, 0.149, -0.022, -0.212, -1.3607, 7.2137, 1.7705, -0.0073, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8711, 2.0567, 1.042, 0.3599, -0.7296, -0.5632, 0.7977, -0.0193, 0.8146, 0.6132, -0.4141, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4043 left_y=-0.2919 left_z=0.0463 left_yaw=0.0112 left_pitch=0.0976 left_roll=-0.0707 left_gripper=0.7977 right_x=0.2925 right_y=0.0016 right_z=0.1716 right_yaw=-0.0016 right_pitch=-0.0557 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -9.9214, 5.8462, 1.2479, -0.3687, -0.0562, -0.1099, -0.335, -1.5521, 7.0359, 1.6581, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec45d306e8350d0eb4284141fa2bfce4d0a4bedef9e5c2e47ddd6c228f3ed78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e501fdc5f582fdac8c388b13cabaca074870efcf33e86905607de59dd518e15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee325170ddb31dfb3bd71809091a385c408deaadfecee3e00d3726023bdc9eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ7hJvMZ7J7A_ZnX4sZoVvJ0DG3EfH4-enoFBrHivYE2qOnZJmi3IsWYtC9Wj0IjVdk4iI_FUTBAb0IxJPAcdgci_DPHrRYH6LrnWjj0nlj3DQYDK8bdDb1aXzCS47mmCt8k4VOpiXFLEjvjViz8Ip86mrpYqouSs3r9RiyPfcQg0IvHJv6QEI-1-msXdcnzv88wF28__RhUVj0etry-Ixv4rwlAVcgfxdVSxkRVaW16ojOyvpv3gnXU-jh53QCXfn6fhFffsYDQ4wWjuILKY28NkWfgHcfx07sk-yXxy7h0dt22DARxjuU8Zx0hP2MTx7U-qSEojDoUAZxwXSRo-V063GIV1xv7rUd9xvAhyNMu1mTFcOMPynsyu-8h3Yw_1X8Bm0OYPPw9KCnPw-LIFo4p2drHTYDowujAyyX4yg6okf0fTLzgRih4dsc23qxT5xxA38uzyYpc6DnouMhco3q66AKBs_s2ljzRnNXS_Xag7d-SsK3bXvK6QhQ4wbq4mW45UdhH0jRZzFR6mg_jpzj2t2VcJYUtbwpjwnVzlEwnv4b0275-l_PXFUFB9WtI1SuI4LzFiX5E-3lg6VwAfv27ZWeNH-n1UGxKE6SAeSQ5NLDgTeKQq0j56B-_2iZt4pMywaovUKfw_NxLY2vp1zBuGLIbsJXs3BWVMVhmUyBvg7CypTqZCNm2wnKW98XRvMB_YnbCN8avW1MRu5XsfQTu1oXlNw2d4AOb56YrM-vb1X74qFTryL5v61e_C-Eo-bQ4H6qNJpttShB4CoVgChksJDkJhbrOhgwV0EsnHbvH6VHNZ7OpJ9af-8tEHzODCjS8cMmhBO_JBr40OO9VC7tVet2LHaVo1vE5Ck613NudJh_XTK38MTn0LKTOf4E4wUBEQi-0E_t7YxARI1k3pY1jZM4KWTAEysuSRXHNvKqlfQBOnIF0erD0bjd0KuKZhtmBu4_C-cYJD_ECQpPSOUjJpgcydKA_aDEhVkihKZEH0lEMaFT_qtgAKZZWGfH3LacObIyCtrSafQ3u2AFcmebOJiOqmGKpX5GfQDKO1feEilf49PGqExxxV57DdWrwHrF69ikEw_Uy_XncsnyFOLs-hu4z3wcWgwAECVKlOvLxjj-XFUfTD-Hx3nVUC2WVeQE5fCQoe4x5kGgxInw12NsBNfXCni9iShW-M_lzeK1UllKGRm4plisFHJ32RwS6CuNypemtlrzRM_TqhhszKsCn_glpNrG5HMWbrfVsrPJMBd0OTaCE6urCLywtAc_iICcHbLiWQbP1cn4aCgvqBs8r_jhDfPck7S0ztK7T1tIf5R2ifrT6ricySR0x6ldE46AO_d8SKsBGLeFUf2wiBfBJiDMTkbRkvqGFwpBrBupcWWhNR-HujpjC9EagxfBGstx6TIJ52H1JJCftj0zxi0_hmtudWRJBNBRWAs8lS8bqzV1RBZRfFu6Ar0NrEYBnz6u8o84mBv-L3rZ7ZLy7U71RqXTqEzovrZRAYBZ1jnIBpDHAU0AyO1vihPY0BDdTZrmkR2WLt6ZTtLdf5ifTQVQsnRKv2tQKvze27t_Otl_bi4iPFlOZo2iwSWENDHgnlgk-Yti7O3EGF0k_eh7xIQ32zQV3v18PkPssy8Rtb5aSgxjt1hfBTuJKRbIVaJaJ7n1fHF0x0_LwG_DyXgk0zcHqTHD1b2DntOYZOy3sbxJsc1YaoT2KMdBeryg_JTB-J_fp8Ff05eiAAm-EG14MMGtzA==",
  "id": "rs_0eb21617a5aff9fa016ab47278892087d09a8cb888f7b85faa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.25,\"left_z\":0.012,\"left_yaw\":0,\"left_pitch\":0.05},\"note\":\"The readback shows the last rotation carried the gripper too far right of the requested position. I’m correcting toward the cap with a smaller, nearly vertical approach.\"}",
  "call_id": "call_02uWRbpTuGvG6y8bzIGSVPni",
  "id": "fc_0eb21617a5aff9fa016ab4727a880887d09532f68bb7d30cb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_02uWRbpTuGvG6y8bzIGSVPni",
  "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]: [-0.8841, 2.0686, 1.1133, 0.1436, -0.8654, -0.7517, 0.7981, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.271 left_z=0.0448 left_yaw=0.1857 left_pitch=0.0797 left_roll=-0.0571 left_gripper=0.7981 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.9761, 6.065, 1.243, -0.5934, -0.0904, 0.022, -0.0752, -1.3197, 7.0085, 1.6728, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d3dc7e21e511d9642f4e6d07c2d9701fe63c5090c68e7f51d2809b3ed2dae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4da99847e4ffc1d89716214e0989ff1d85141a7892a9a979b46ebe68f6758d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95dbf346bb2dd01f443bdc02b7c9ca596c7cf07d1315b3dfa48c5917bec95556",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.65 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5873, 1.7493, 0.6956, 0.2714, -0.1211, -0.0746, 0.6009, -0.0193, 0.8116, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3587 left_y=-0.2088 left_z=0.0157 left_yaw=-0.4541 left_pitch=-0.2058 left_roll=0.0392 left_gripper=0.6009 right_x=0.2925 right_y=0.0016 right_z=0.1725 right_yaw=-0.0016 right_pitch=-0.0519 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.4034, 8.3487, 1.8535, 0.0073, -0.0659, 0.0269, -0.1709, -1.4564, 7.2, 1.7118, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8711, 2.0567, 1.042, 0.3599, -0.7296, -0.5632, 0.7977, -0.0193, 0.8146, 0.6132, -0.4141, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4043 left_y=-0.2919 left_z=0.0463 left_yaw=0.0112 left_pitch=0.0976 left_roll=-0.0707 left_gripper=0.7977 right_x=0.2925 right_y=0.0016 right_z=0.1716 right_yaw=-0.0016 right_pitch=-0.0557 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -9.9214, 5.8462, 1.2479, -0.3687, -0.0562, -0.1099, -0.335, -1.5521, 7.0359, 1.6581, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1436, -0.8654, -0.7517, 0.7981, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.271 left_z=0.0448 left_yaw=0.1857 left_pitch=0.0797 left_roll=-0.0571 left_gripper=0.7981 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.9761, 6.065, 1.243, -0.5934, -0.0904, 0.022, -0.0752, -1.3197, 7.0085, 1.6728, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d3dc7e21e511d9642f4e6d07c2d9701fe63c5090c68e7f51d2809b3ed2dae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4da99847e4ffc1d89716214e0989ff1d85141a7892a9a979b46ebe68f6758d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95dbf346bb2dd01f443bdc02b7c9ca596c7cf07d1315b3dfa48c5917bec95556",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKA4qhvGjW9j8ONFyv2cK25T9ILT-Cec6vFfH6KpEQEyJc2gx75eL3Nm5a027ELJNWz9TUSst_yfWhJv5fkXYEY39DGZHK9WkwANbGqrG0B2IXAoEBsd6sTnbKmHLLL6NwHz_kAi-CUiwgxwPB9-FALpcCfikTmeNHokpEn68yPxL1DdCN113VMwqtGCd8kSJ29ksXzB4Dmm9IaDyxs_5m7Vv4XBYANEL0SFcU59cZOobaPwISdqzwU085EgIm6321-rU0SJrY2t7q7A01oMeaqBWbH73zRL-0eOM-rnO-WqybGpiaibQUDF0bglv1NDZFAg_hV1vjkyJSezHhkZDyV8hV4JBe3rUciXCDmJU03OAMUjU13_O1UgWlyjk8iBAsprPSRqJhxdVh312LjsXwL0iRsxy8Jw7JvUnL5cbMtrxZi4Ii-X5x_3LKM0l5yIFIFbAKtY002nUuJ_LXY1Pd3XfT_MmXIbfuhiymzErOWdTLcNKXouPvags3WncE1OChYsogM9lsCoa1uhNJAZ2Jh9P0gTPiWgHtkC_tLznRlTwED4807c4NciaW2d9B5PmUZXE203Xhs_zRBua5NpO3ihiseKwEHRC1nxXSbRUA_Vn7pf0RENwfL_zWqk16sif8oKCMoj0aWhFKErBpWc-pm9_DpWsKEg-mKm_YCueQvv8LdFJkgkxsZMa2Mk6PdINDnNIkJGPMfepQUpulz5n3DXc0M21DZrHwU3bbfEjcM4C9GveRjmigGDi24CRQoBrIswX8tH9AsJAEktKrNRt53X5XI_Wi211uh1LGE-AV6R6wUy-JWMajkkAtIijhZ__cCn_OZTmfQC6TEV83hBEuhEAZG7rdjcH7ekTp8dqcjmOFr4NVGQ-7wTbt9ADhc8dLCyueEVkPEFToTTXiAjwPvm1zlwoVm0ULiE7ViaA5A5-ZY2rNAnI7viw-2EzFFveZi8FI_nJIFlKxVG6sVLoRbp0ElhPMbC3THoiwSdZaQS1hxwnB8WQirq0j87aLgSV9fatckk3xmos8F9kk_CHTWxLOjCy51f6KGtDAw5-4EdYHwDoymEdOFfag2dLNf0VldCLH-OqwCw44H6ctTRyyjV7VBS-tmF6ssqtVbUT7sYv87B32vH5oOmtmg7PVowHm_QyHZ6XOvUfcnnfqKk7ENOOz1atNBLChQ9BcPEU-ZTnKJipQZbI_YlOxR0TpE0AYG0n2Sp8C8ZpsstShQ6hP3Q6qCzyaycpYjDUnVOQ0Z86RfMUbea5m3nExfp7tjIzOP52ejaaNDWd5MUNOKdioLaQDDkWyChyU9bfj0K3WLk2Ju65iGkifUXaIIQEbeG864O63vMb-cVuhBW0A1LDn8ujlLfXxTlsF_1fFAOI0XWchGSMZwfCZ-mSmeY5JnlXm-K1N9YGxDNclyCwYrGTVFNWOwkIwvHWE5yU48lNUYgks8wU9a1VtdDGMwdRncGAp2GE-n_jNvJ0fRBqUI5ANKv5bJVFr1XgD-jhbH9O-420vFpb96rPgoNv5AM97yYHKA4IJW_YsrR93QC_ENAwj74qMMM-xnJQZ5Eo5HMEGQp0NfSplxBmXVKah2U8QwlmtPhyDG3QA5WwhGkiRUAdA0iG7G3coCSJmfD4vlEx0HoulkR2Q1Ke4XUzmnhOhv3d8HQtljQOMoocu0Zzw3wcNQJmrTDcIDe_K5kTQjF4U7Ti28lfQOBgXzQQyDbHK9MnqmMyN2qF_XBGw8k0AZlPDMURIQBUsivSf8Ekej8luOsWNMK_7JW-VdkDwV8trKEeXclPhRtRMn54wmM0-NeH59z0e_hroEmcWuLof_gLxWaHfhM9zBmmi81gkJqOg-eE1U",
  "id": "rs_0eb21617a5aff9fa016ab4727d6e8887d09837411827a79c73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.25,\"left_z\":0.005,\"left_yaw\":0,\"left_pitch\":0.05,\"left_gripper\":0.2},\"note\":\"The arm is still settling toward the corrected pose. I’m bringing the jaws partway together while completing the low approach, leaving enough space for the cap.\"}",
  "call_id": "call_sOy7SBzSBJdtHAuOP3rDbjlD",
  "id": "fc_0eb21617a5aff9fa016ab4727f693487d0843908f7e790d19f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sOy7SBzSBJdtHAuOP3rDbjlD",
  "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]: [-0.8841, 2.0686, 1.1133, 0.1425, -0.8677, -0.7605, 0.2054, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.2706 left_z=0.0449 left_yaw=0.1918 left_pitch=0.0803 left_roll=-0.063 left_gripper=0.2054 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.9624, 6.0786, 1.326, -0.5153, -0.0024, 0.1245, -0.1026, -1.388, 7.0085, 1.6825, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4d4de0a544d2c8dcaa58a681854cf380488c04c92ddd15284ed09e1bb05384",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2f4d6e5e5678c8fe9a74b531558c3ff5637071a2b7f7df2c3206d5fd50b87d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f865d8e9511f42aad2b6a65eb14faed3f6b908936e082d96c40d22d8d65d5e7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 7.102 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5442, 2.0266, 0.5728, 0.9771, -0.1238, -0.041, 0.6008, -0.0193, 0.812, 0.6132, -0.4129, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3918 left_y=-0.2074 left_z=0.0003 left_yaw=-0.4291 left_pitch=0.0968 left_roll=0.0303 left_gripper=0.6008 right_x=0.2926 right_y=0.0016 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0519 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -6.7077, 2.8376, 1.3944, 0.105, 0.149, -0.022, -0.212, -1.3607, 7.2137, 1.7705, -0.0073, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1436, -0.8654, -0.7517, 0.7981, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.271 left_z=0.0448 left_yaw=0.1857 left_pitch=0.0797 left_roll=-0.0571 left_gripper=0.7981 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.9761, 6.065, 1.243, -0.5934, -0.0904, 0.022, -0.0752, -1.3197, 7.0085, 1.6728, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1425, -0.8677, -0.7605, 0.2054, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.2706 left_z=0.0449 left_yaw=0.1918 left_pitch=0.0803 left_roll=-0.063 left_gripper=0.2054 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.9624, 6.0786, 1.326, -0.5153, -0.0024, 0.1245, -0.1026, -1.388, 7.0085, 1.6825, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4d4de0a544d2c8dcaa58a681854cf380488c04c92ddd15284ed09e1bb05384",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2f4d6e5e5678c8fe9a74b531558c3ff5637071a2b7f7df2c3206d5fd50b87d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f865d8e9511f42aad2b6a65eb14faed3f6b908936e082d96c40d22d8d65d5e7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHKE322yTbBdRcHzNxo4Hv-B3wDfHRa_oR0XP9gDtAKvP4QUJZ1hvhMOiEOuCxhDsi-r0TRC4c2Emb1uoKj7st0bKN0h8ibQE7-8eUYmtjCdeqPbNECWt2l1PLNf4pIBWKiG1UFUY1T6cgRAAG88RKa63NXb048SYINJ2MTgIHjptqflg_n2u4IbQ2Gk_znVyIHN0Mb3OhzGmXloX2LGtRW1Cbp4Co_BtTsvWdGiI5D0Zdttysnyejt-QHG24oPcxYizWfSPxLrJfypow-QQXgbQK-Cce234c_oMm3Pc_H9D3_YmvPDHcMFqCpzURnhGLBWF-MBWIgbcoMcT0QF9vSMF1cQu6pigstpUvGjJ1NVHfVQtt_JHnd087axJPwJmQtdMQDlD-qedBhCaWG2rHPS1cSn6zyrs9lHuP6Dw6bQ6P8vBhh4kPZ6QyBUBxK-mzXeaMQtZ84mHUlyU7evFCvqW1Dzb4rqZsa3y9t29gagFYOWnKFaLG1xbbgro30r0KZBqnJvXp3vpzsnYRScGdBvcKSUTXB8q1b4dfuaElGKuFemsIP2uCLMbV71ssvuMUDE0mpUGaQS3mDD2RAyQxbMJJqiO0fGKHfXm0P9uz_bHPbpyEpUaCqS-Hwf-teKU6ZdMhcofoGyWVZhuUvXfRvkoR9uOMvaXhtKn-Ed4GGnDzcN82vjns8xyAM1zl0GihEobubWfR-AXWwNLZNaQah51yUG19aDcbPaRdchcyYNpsASIbg5JceAYTmAeiVlq__4y9NdgGB3QGuq-OKOxwq7acF6F6JQwGGQ_RIReXzOSKSqCtGLhT2W7FJdCgAGplel-Jh1VnWbOfWu7uyE1j2DUpIUkd5Ui3AwdHZ-fsRCOw-H3WZ556r0GIZo2pNofFL7GKlMiTXuvamLvPtWFH6p2SReHNoqKnVnelg_FVXGB8Y4k4UfPCzDGx98ebQjHt3eaQ8emC9QmOEkVQXdy3vybk8MviiFmBYawoD8H7zYyxuvvek1JUdxl2VVTTCP1Jcia8OL5lyYan_6fqr_VM2ND6YyFMXNdl50kK_bdAGCBzP1nklcFj3WxUKkVCEMCPk7eH1qwtyN03Pri7TRCKw3eDr5zE9-I8-i2mMfqzrKJXQ7-GUYJ3v6N-gPgu8HCMIGh7eUsbAWJgOHnHo0BDleJrcjEPmS9YWA8U2JQhzMnu7rR7wAxIKhdmR18zGpVmU3hy08DHmFjM_3TtzrMiPE5uTvt7pL1TQvyg70cVN-HKc8IY9xf5Y0hcQhFpgdIdn8RhwvDnsb_8c3jVzMUBOf0kjQHZS4H72J-OxLUnn_mTZ2VejiHbF2Kg_PTOri7vO82u4LP8Cesmd44pUH-qDgVt2WjEuo7AQR9zyPSElvzIkfvVPhqkOa-GLEwoo6pdvE_HqN9kaOYtaypm9hIb6GjeS6WzTlPPK8ko3r74iViR145l_1kRqJMpTdX4cdsLVlx",
  "id": "rs_0eb21617a5aff9fa016ab47282370487d0ad67ddf874aefc7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.2,\"left_z\":0.15,\"left_yaw\":0,\"left_pitch\":0,\"left_gripper\":0.8,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The left arm has stopped tracking several centimeters above the requested grasp pose, so I’m backing up to a simpler configuration. I’m also refreshing the idle arm’s parked position.\"}",
  "call_id": "call_keGF9TbWQH6zmthR7TENuOR2",
  "id": "fc_0eb21617a5aff9fa016ab4728341bc87d096607c8e4284d234",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_keGF9TbWQH6zmthR7TENuOR2",
  "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]: [-0.868, 1.422, 0.8307, -0.1135, -0.701, -0.6521, 0.7958, -0.0219, 0.8307, 0.6136, -0.4389, -0.025, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3314 left_y=-0.2095 left_z=0.1536 left_yaw=0.0379 left_pitch=0.0481 left_roll=-0.1213 left_gripper=0.7958 right_x=0.2898 right_y=0.0016 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -5.8325, 6.2564, 1.5849, -0.1832, 0.1783, -0.0464, -0.7043, -1.1829, 10.2632, 1.6581, -0.1001, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9361e4c06a70dd5a7302590e0faeab1c216c65e90e36905e9205126480f6edfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ae737b60e0e022aa5f8e0e7d72b7d116f0c25c1ba69474ab537cf26098eac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae0784045bf7513a13e452feddc1ca01a070bba963687d1f58dec3e3dce87b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.466 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8711, 2.0567, 1.042, 0.3599, -0.7296, -0.5632, 0.7977, -0.0193, 0.8146, 0.6132, -0.4141, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4043 left_y=-0.2919 left_z=0.0463 left_yaw=0.0112 left_pitch=0.0976 left_roll=-0.0707 left_gripper=0.7977 right_x=0.2925 right_y=0.0016 right_z=0.1716 right_yaw=-0.0016 right_pitch=-0.0557 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -9.9214, 5.8462, 1.2479, -0.3687, -0.0562, -0.1099, -0.335, -1.5521, 7.0359, 1.6581, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1425, -0.8677, -0.7605, 0.2054, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.2706 left_z=0.0449 left_yaw=0.1918 left_pitch=0.0803 left_roll=-0.063 left_gripper=0.2054 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.9624, 6.0786, 1.326, -0.5153, -0.0024, 0.1245, -0.1026, -1.388, 7.0085, 1.6825, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.868, 1.422, 0.8307, -0.1135, -0.701, -0.6521, 0.7958, -0.0219, 0.8307, 0.6136, -0.4389, -0.025, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3314 left_y=-0.2095 left_z=0.1536 left_yaw=0.0379 left_pitch=0.0481 left_roll=-0.1213 left_gripper=0.7958 right_x=0.2898 right_y=0.0016 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -5.8325, 6.2564, 1.5849, -0.1832, 0.1783, -0.0464, -0.7043, -1.1829, 10.2632, 1.6581, -0.1001, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9361e4c06a70dd5a7302590e0faeab1c216c65e90e36905e9205126480f6edfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ae737b60e0e022aa5f8e0e7d72b7d116f0c25c1ba69474ab537cf26098eac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae0784045bf7513a13e452feddc1ca01a070bba963687d1f58dec3e3dce87b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHKMvSujQoTrC39G3TgliTGCuZzbElEsh2kuRGZ2MM8BC4FEF4lN8txSz-5UaEfWsMO29RVz-Nh8-EA9T13AxDb9WgxwD8c92VpIl-gkHhuvK1Sf4S0_imjwm1vhNavtpQa4lscjG-rh699Q663Zd06UVn8qEb340TCb-g1Y84FX1Vn5FW-fviIFd4kBllUAMW_5OCi0iLc_ZN_5BpLDu8P9IC8J6Zpt4ydCMkZXuXdU1bc-6qh8hpWsZKz9RazoNi_KSUUAcZCkwcbhST0ePqsM_x5bslHUk1CYYbKwgOxWtslPRhbkxdVSUdgm4aBwX-R2gkg_SELtT_YsVDQREmrU7SP7akI5kCpTipxS2NqmJukPh5RqWUDiwgfUAXrpxkqG9UnV0t9RpU8d9ol_MubL6mbJXR9XACaFa28LgGGHvIXjqN_phIhu8wwgU5R1f1Ke5FOx1bRu48h_GAieBqM6JZcgXWKYswmRum-2lrISbxAUnr1wSHIIC34foriJheQQM1ajYPAyMXqLFl2g2c5-cfuLLJISFIIq_5Z4fh1vQZhu2plgP8iv4ImZCsZ5v6xskLdHqWvvucRuPZwyIgvEOTSMdy1vcQUv-uKSWEYDJOV0mTCooFAmUyxMOS5v4GIHMycmvzEvfQe_XwVMYlDsaook27sdRX4g-BbVHh2IbkqJ1c0LTJVVD5gJd1HOKwyOKATZopNypr3zQcK9sw4RKOmSf_cCfNvwWuzmj9B5DsuvIJ_fIeW3FFmHoqrfwVf5OYZUy2qlRLApxgSYYTON7QG11XR4xgFZURU30a0xkszUiJ04JqTePWOIAZ2u4KwclplfoBidiN_c3K6lp0uXL5J0Gn9oI7NZ9UenPAsSReNb_yw_TpFFMjp9hYDHcG-QMUXe-PNL24n-IGXMiGtQeEb-aYRrvyjJr3Co5vUNx5d_u5M5KNmMsKqOFbwj1zvlGplGYddpUHy-Wmv6Z5U1-uPx8tVByy4BvTHNDXGV-s56yeL-inEA2ea2mdE9R9aNYy3JZ1IwKlNt5ZFR6WweThtbcJX1ASk3N-QnaYKQjiAUbVNzZK2cii2sxjuP2EExHA0z_pL2KRh6MKDlF2mgZD8KPVFqf2VW_kBe7dctor_DI5ghJ8HrDJu2oRjrH7JiSohBF0429Vaq-_DEiU31Z9pigA-uW0DUDN3VWmxwHCOUHGqcGS5Fn_ugIOB52t9dKZkl9XCDLBDpkwXvrupWZYK-vW_74LfJ0yUSpn1TNLj-dihkihLgd1QD_cIO1ThBoTkLVmtknxpwz6r2L4ByB6BaZNkAisvxPKM_hTJvtkE-dRJWdCk-MItJNYqFUAfl7oiX-m7wcOCmPK2w2JKlK83o9lYqB3iLR6Q8NbiPMjWuT-GNW0OEESTLYCJv_QYLYwIEsOwARmj7ZkZo69BAOvK6pEkAKgZYxsQsDc_2Q9O75v7GRQyGAAUFxfILUP3z89TET5qScETn9VtIuZ680UkTJowdGtFQxCKo9KZ4CXSnBYB2SE4bc8CtAm-nUXaQRjKc8Fef6XIR4aB3objEuDmpviWBVt2GhuQROb-5Q341qTQXQjZ-lP3VG3f2B7E6qiKOIwFuCO1SEEHTYnsNIcdU_Ya6ZFrWEaXdUOyVCQUQSBhmd2qY1ZVNLxj3429pZ6UKugo8Lz_5WQnjtLHTebTYkK7Eg3Y7n-aW9ElL9hvwMl63Wa4pQYIphqeVTk0N_VS-awU-ZLby-L-8jOnkRP8hDCUS7uyU2ZHmfIJTtTqJyLwyB2_XFq3Qf78drT_icS2JlkbTNB_2IppoDhyN0sF55_l8kOOrUnGJFarEq5KeKSc9Pok8FJ83bJibO0lXrri07IAkHpuLRkKnYT-0ChfDIx2UNNz32rirnK22yGvlKsJY5N5wewmQAKr1W1Oeesw5nPr7D2R59_Y2GO1dki2XCm5to6brc1z_bZZCiME6a0fl53TUHxFJBw-4RvaW4o8ek_8j8kR41GJ1AYxSsLuvEtgtCy7V5fJ4IJVRcBgfRXjCFRVOTgV3Bx9KljnmUX46_mGXic91DIROn9Q4_qHEeqYPQ9FI2a9CSXk94XxrCIciC3_MTlSGfzES88EZqaHJC3d_Kqrt5j4tntRSZGjTdRnVF1zWrdVuvEA6dJHsxzraHOedywuVDcMgsz3bmzRrg6K8BRfo_q0kgcocdAoK4UjkbN6w-3jRNuvhPyBfI1747d-gaSQhlaJ90U6PxdsNg8hWaJIfNeJuHM3kASHqqjtdrSuMTJxtTRlS5rESJqGEeXaH1LlhFvJGvD-d5Zf2dH0N2bDd7_e8DzGGuk2dy3l3LdBxNNRuX3US3rqS3vvxlHrFtIgDG0QumeaDygCoK3GrdXVOzzq55h7rHw==",
  "id": "rs_0eb21617a5aff9fa016ab47287198c87d0911da8ae41d6ec34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.28,\"left_z\":0.025,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.55},\"note\":\"The cap is now beside the pen and visible to the right of the left wrist’s jaw column. I’m approaching that new position without rotating, to avoid another sweeping contact.\"}",
  "call_id": "call_hk7NG7hZ5I9ITNt9YEljC332",
  "id": "fc_0eb21617a5aff9fa016ab4728b409c87d0864152d9ffc2e3f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hk7NG7hZ5I9ITNt9YEljC332",
  "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]: [-0.9306, 1.9755, 0.9161, 0.1608, -0.7326, -0.6563, 0.5516, -0.0257, 0.836, 0.6132, -0.4572, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3495 left_y=-0.2654 left_z=0.0129 left_yaw=0.0 left_pitch=-0.0517 left_roll=0.0429 left_gripper=0.5516 right_x=0.2872 right_y=0.0011 right_z=0.1573 right_yaw=-0.0018 right_pitch=-0.1201 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -10.1128, 7.3231, 1.4383, -0.5055, 0.0366, 0.0366, 0.2667, -1.8393, 7.2547, 1.7998, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee95a5055c0bb75b5d901d7209ca24c38bce790f2a5ab4a1f8dd6fe91282908b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0efa2d22f1ad299c1bb80293a87172493e7831460e7550abb195adcbb14b72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3fafc7cd38309db2228a514471914bc7d29a8a1c9ab3fa85b0951e9deb5ae8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.657 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1436, -0.8654, -0.7517, 0.7981, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.271 left_z=0.0448 left_yaw=0.1857 left_pitch=0.0797 left_roll=-0.0571 left_gripper=0.7981 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.9761, 6.065, 1.243, -0.5934, -0.0904, 0.022, -0.0752, -1.3197, 7.0085, 1.6728, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.868, 1.422, 0.8307, -0.1135, -0.701, -0.6521, 0.7958, -0.0219, 0.8307, 0.6136, -0.4389, -0.025, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3314 left_y=-0.2095 left_z=0.1536 left_yaw=0.0379 left_pitch=0.0481 left_roll=-0.1213 left_gripper=0.7958 right_x=0.2898 right_y=0.0016 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -5.8325, 6.2564, 1.5849, -0.1832, 0.1783, -0.0464, -0.7043, -1.1829, 10.2632, 1.6581, -0.1001, -0.105, -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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9306, 1.9755, 0.9161, 0.1608, -0.7326, -0.6563, 0.5516, -0.0257, 0.836, 0.6132, -0.4572, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3495 left_y=-0.2654 left_z=0.0129 left_yaw=0.0 left_pitch=-0.0517 left_roll=0.0429 left_gripper=0.5516 right_x=0.2872 right_y=0.0011 right_z=0.1573 right_yaw=-0.0018 right_pitch=-0.1201 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -10.1128, 7.3231, 1.4383, -0.5055, 0.0366, 0.0366, 0.2667, -1.8393, 7.2547, 1.7998, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee95a5055c0bb75b5d901d7209ca24c38bce790f2a5ab4a1f8dd6fe91282908b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0efa2d22f1ad299c1bb80293a87172493e7831460e7550abb195adcbb14b72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3fafc7cd38309db2228a514471914bc7d29a8a1c9ab3fa85b0951e9deb5ae8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHKR5EOMXSt1FIDJiDhsjUwQEzKB01JepjpY-J3o7Do8Sob3IMRHQNm2SiOkkOY_eIQmvLBzacyMO5vuJJ6A0smTAP6JCNrcSnF36m2sASixnOXc8sP6Fw4u2BSNsug7A55tO-2xLUUKqn0WgfR_IFFDmNnEYwS3fkhEiluwInYr6axORq8cPB_jXV7TluHS3hhU-Ck1Dum4Zby61bRd9u36FgQFPxjheOeYp54xgEfWlMGPAtcjCtccKmIOM62CEs1YgSsB-anq6GZwZc3s8aV6oIYHffYGUhveruj_TMxNq3xeYsOajGi7DDjHLLl3W5nozKAFecve6ySn6e2kpjI5cegtMrlqCWlsTe65M2t0dZ_AbxVYj94WqsZPQeZ4PBokShwzWMeIaQDolQXm1V1PRHI5RCkmI5UijUxAiAvjLBDFbwiQrNdRUDsWqtV2R3yrJOBK8Cq2NudWX0PsclZRDF7HAYweg30vTNsajWsFwXmxea4Yvk-oJ_ZvF4tqwdzgnjgtY6VjR-kzGPaQO1YmNCcegV9wDr4-SHo3xgEo6C_aTqrGB1UsUjPbZawU2eKDvwPbZYZgFIgWfANAXQ9YqfVWtX3RiGgFJJwTlc2dCmSAyXaTv0iP_Hb5FUnlkzQrQZZgOZtIShjTMadFqNzuUJtHdG5r89X9BrHRUWSF31NjRPlD0pRh5wLvDgi6J1BlxGS4-1VIizeIswgZO8PCJoBci_85xFz9jGgtjXl-MDfRzZeEVPe-ZeupemQLJyUdGQs9gIqSU5xjghRm_1mQh5vtlc9nl_feL38_xHwkZxHRR6LS50n7TdAF7WDV3lPIxTG2bmlrdpoehoENsZreMoQlemw-Avnm2z5BWbqCVm6KfsF5K5sLTh_3RWXpW4SjVlUDxnzY7sOo9TywP53Olr7lGiQrbxYToXeHH6-CMjXgdjKdsg3WXcj6V7f_IBjnTrUXFg-P62PutRKriTXwLrX9R2_APCLzakDYk39SGK3P6k3gF9RMRFJ9Lgb8YNpXlGkthfK2F15XtR_gaM8PcHtZq0EaIz_Ko4qfkx_peKKAfWdPdws9ZcDpvZf4tIntqIDj5Qz0XKFHnaO2UYbbFP5Ur0MI5bcsQN26pibgW0Bx7jfOtEGJszCYTTvoq-aa5Y3K6JOlsv053NtW_MeZGkRVfJ9rjZyPuTblrol219n9aIxetKXmTeWE0ml2DrdA-N_WCocbxR2biwtCxTqUNrUGM8uThNeCQHTV0YY07mneCPb69hXgbv11aLYFnWEFhmRozheiKiQPUROElTquz0SQWfBqwRh2FRbS-x_ArHa5coX8s_bzX2m0wcAEdFPfS4uJXahozjHhN4rPCJzb_piFJKLhtW1rqrMNsLbnqkbFNLlvLQltBKl7Ln4-N4yb-nOSf8Y1VS-PeOZFOb5IT6rOs5McRs2gWl2XFPppWzCIvXVzm6IOHwJ8AlgobZY0CkYx6i3FaRRQHh1ajDrO9Vo1oBoEKVzN_5ORYwsyBYhFXImwbGTPaFcE-dc3DHrJLlpacnoGIM9Oi_tf-XLdf7Pc4xfKx-F0ZPoUiuKMdLM=",
  "id": "rs_0eb21617a5aff9fa016ab4728f1f8887d097daa7b50fb56038",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.302,\"left_z\":0.018,\"left_gripper\":0.65},\"note\":\"The close-up clearly shows the cap ahead and to the right of the fingertips. I’m moving diagonally to bring its middle between the jaws while keeping a little table clearance.\"}",
  "call_id": "call_NRZzsu7ouaF3R71mWklO5ocj",
  "id": "fc_0eb21617a5aff9fa016ab47290961087d0bf2e880cb763695c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NRZzsu7ouaF3R71mWklO5ocj",
  "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]: [-0.8944, 2.112, 1.1397, 0.0902, -0.7238, -0.6453, 0.6483, -0.0257, 0.8379, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.2928 left_z=0.0135 left_yaw=0.0239 left_pitch=-0.0476 left_roll=0.0347 left_gripper=0.6483 right_x=0.2861 right_y=0.0011 right_z=0.1554 right_yaw=-0.0018 right_pitch=-0.1296 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -10.3316, 7.1179, 1.116, -0.149, 0.2906, -0.105, -0.0615, -1.5385, 6.9538, 1.6777, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd8e08dde396467a04049e8fe0e99bf651ec7b384f3561c6d71d8b07ff3d213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc34dda2b86dd004c9adba64f7099418f348502dd8305161ee22f1f96e304c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64c7bda948ffbc8d4a60cd4b8b68e6faab114086ed57658b6e9aec024ad2a56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 6.662 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.0686, 1.1133, 0.1425, -0.8677, -0.7605, 0.2054, -0.0193, 0.8165, 0.6132, -0.4133, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4007 left_y=-0.2706 left_z=0.0449 left_yaw=0.1918 left_pitch=0.0803 left_roll=-0.063 left_gripper=0.2054 right_x=0.2928 right_y=0.0016 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0568 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.9624, 6.0786, 1.326, -0.5153, -0.0024, 0.1245, -0.1026, -1.388, 7.0085, 1.6825, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9306, 1.9755, 0.9161, 0.1608, -0.7326, -0.6563, 0.5516, -0.0257, 0.836, 0.6132, -0.4572, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3495 left_y=-0.2654 left_z=0.0129 left_yaw=0.0 left_pitch=-0.0517 left_roll=0.0429 left_gripper=0.5516 right_x=0.2872 right_y=0.0011 right_z=0.1573 right_yaw=-0.0018 right_pitch=-0.1201 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -10.1128, 7.3231, 1.4383, -0.5055, 0.0366, 0.0366, 0.2667, -1.8393, 7.2547, 1.7998, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8944, 2.112, 1.1397, 0.0902, -0.7238, -0.6453, 0.6483, -0.0257, 0.8379, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.2928 left_z=0.0135 left_yaw=0.0239 left_pitch=-0.0476 left_roll=0.0347 left_gripper=0.6483 right_x=0.2861 right_y=0.0011 right_z=0.1554 right_yaw=-0.0018 right_pitch=-0.1296 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -10.3316, 7.1179, 1.116, -0.149, 0.2906, -0.105, -0.0615, -1.5385, 6.9538, 1.6777, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd8e08dde396467a04049e8fe0e99bf651ec7b384f3561c6d71d8b07ff3d213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc34dda2b86dd004c9adba64f7099418f348502dd8305161ee22f1f96e304c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64c7bda948ffbc8d4a60cd4b8b68e6faab114086ed57658b6e9aec024ad2a56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKYV8FgKAeNWj2K6hXF_og1fskQk51PreE3ydse-32ThTJPARtTEVTwPd901zLTTiOsgiaW2YIHSAOqH8zfudfzPYQ5Uy2QKN8U9NYtvFn9voIuYlTY_k106h5TwSZliXSOHJuRlL7DzswbH41pdz_bcQwJfdI-v3b1JTB4RdKQL6nsR1iILRm6koENyzWYjJrL3r18wZi_dzRo6mLqT5qr9OhdzHokz8aSOiB7X-gfHoZWau2e_gLgcr4FmMh0ubMA9aPb0OZgaGPI8khk7ElIUhhQfTCmd1N1g45jGdYYqbuaS9eD_toXrHN8WDZNFyoGXOgnXR4_Fc7dLTpuvG_glMrVUnhUytmkXzFgVwUuv2kmwu0KHMMGjExknpYAnJ_Q-eoyWAFTmfKoLMmfWbITqES5uFYKoJQi3KdcOpqPqbh_MOx-HSHO797cQWTxlAP1Obl3sxE3XSB7pJuTV1kZIEEQ0eqZ6RRbHIosI9P83bWcursvZT80ODxr1gFeLAEv8LLZ7SEgtd3ooOIqztpgAs-C3qoYBp9h1-8pMd0MVlosVZq4OZ2NmO60EER_OPPszAQgZZm-oHxbsDveGScp-yOtQixw9QSnGkPVpzapHc7aaqxjIQSAfBf0ue2ygBzXTuiV88RrgKSkWAw2nJ4wBjUBydg0wCfFtugO_2htztBVQyUAbnRURA8CPl4MontRrKC-viW7k41gJpv7GuQOLFBqsC9VgXUZuYkOJJYVuXLTtRADNz0sDlOMMPOSq8JHJHdyxhHCxCEArx5ZVpb__6kIrzK4qEL5A3Q4X0dUck0uvsNUlNnX56CSAm5_3CPLS1qpbfA6bS8xbRaI-NT1yGiAJ9_oKmyn-7ruoUkA9ZlfX9mJKeNDDLN_x2735lsmBDSeV0VhmyThDE0LadYYXUwtZoCs7qYkVNR9fQKsyQ456uFcjmS4nqYtd5jDAs1Cr5PVMXw4WQD2CYeSAwzmAmko72NJysoedxfF4yQknN6nMc1C-QKJ2EP7y8IzicHLQAAfOJXEHrIux7Hm8sdrmUbE1N9IZcUFlc_qz7ErxDPn62M-viHOx3HGNCcDX2ZrYkEcBseMO303VJTnq-sC0wTy2JdR7-09rbEQkzDkoiWaZzRhzQMgU2HHSNBAXwBJzMdJ8jJ1H-50313HK1EVDpJ4BsmtgdTM19_k90mvPtgX6QB1Wpu-aMNOqA1e-Pr_zbIDagAMonL4ANI5U8BQ4I36JPrfoSDO6Qx7YmhRZFoC2SosSku2Bd0WNY2iT9tRQG5NbEgtC10O7i7OfzrCnGHtRS-z-cjv3aaialSi4TnFKPhnt7Cj6lyqsmhW1LFHcdqhYtdhoW-roFX8JGbK9ftcakv6eOKrAzeU_aXMRslVBiLwiKrz4xUwKHxQe350HTvsCIkHCsYF1wH4ZV8mrL7OaE5dBF4f5r0Ikq3uISKbT6feZIGjHoHxnDIPaoSFazScLtN0kCbysrXaABSC7Gxt68E2w_0J7iaM7UYnIlwVYqnfOY4DDHMswE-ga9dSGiKcgWkPc0TeV6CTdiIrfko4tmTXkRz-kvXaQhQcg7_Gg0BV6UKB5EM52xbMKbhRUFiN_zfMkDTI35Cs2y8_Rs_q2hR5ggxG6bFrbsaFdq-OiaYkuPwTdlc99-Tzjtad12VStGvPr3bgEYGxjXQcHIxuyWTtPZQMqQg5II9romEzq76yMnqCIW30WA0ikKNDFGdcF265eD9_Upfn9RPeOotUgvL373HWZ29ekqSqgt1xRNk1cLNev6TaZeC0QNPlnk4BWcX3xCnSI0HX0Tafmk5fvMRmsB-4y5UxvnEHvY2DxfUhhGTHoKfoGOwZdqzrsq_Pt_-EeFWRn-r6Yi5oRi3koB1WZYka4_5GqR4oh0yXJTqZ4l0_NVZwYJENehfNhJPuSZfHNIwmS9tWMNG1n_qJA7GhZT1MnyAFiVJzv8BSLsC2FWylcsUMXhK4rUGNH6huEafMHeT-w97_blVbnKgdycSkZcN7-CsxGEL8n9BXQXbDx4zDAu3ghDWUWcNDdxhp748avjBPqKaN_jPRruKgqgXtYT822h6qZIm_oqT6Cd6hKozL6dgO7kt_VCFEu7XoHfZKuNv8MjI0G-G7Qw8s6wlsHYTso1_q_k294F7FpFXWYoKWOiFlPxWjlbPmNHK8vfmd4pQaQ1HS3ph7wDuB1QwLr5XD4dQpSgGi6eQU5yH5yg9CDUnXMx23FeeJX4_dWHffCHuZQIy7ZB6RQUl1i8ttocQbNaw6xHj7jZRRcdhAjq540A9Km4G-ZMZTD1dsvdr0hNPkGItTfUOPttD24MfW6jV70RJZi5lPbtM=",
  "id": "rs_0eb21617a5aff9fa016ab4729378e087d085eafebd0b88f17b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.329,\"left_z\":0.004,\"left_gripper\":0.55},\"note\":\"The cap is closer to the jaw tips but remains slightly right of center. I’m making a small lateral correction and lowering to its grasp height.\"}",
  "call_id": "call_z5Ln2YXCq6YPBfswVaN4xWll",
  "id": "fc_0eb21617a5aff9fa016ab47297ca0087d0a4d87715a2d2545c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z5Ln2YXCq6YPBfswVaN4xWll",
  "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]: [-0.9001, 2.1418, 1.1671, 0.0681, -0.7254, -0.6533, 0.5516, -0.0257, 0.8391, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3896 left_y=-0.2967 left_z=0.0059 left_yaw=0.0246 left_pitch=-0.0612 left_roll=0.0484 left_gripper=0.5516 right_x=0.2862 right_y=0.0012 right_z=0.1551 right_yaw=-0.0014 right_pitch=-0.1307 right_roll=0.0071 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -10.7145, 6.8581, 1.2869, -0.3639, -0.0562, 0.0317, -0.1436, -1.5795, 6.9675, 1.5946, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078a77ffed19f9614bbdba7d7aa5d77431bd1fa6ae3a7bfb086b9db0c603cd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b9b53ffbcf8674415ef976176bab9798a8b5192a96580cabce7c357fcd20f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9624d9f2bbd6dd93e35f367653a99815fe7a5c7a94c4ef70644c1f74b057a811",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.914 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.868, 1.422, 0.8307, -0.1135, -0.701, -0.6521, 0.7958, -0.0219, 0.8307, 0.6136, -0.4389, -0.025, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3314 left_y=-0.2095 left_z=0.1536 left_yaw=0.0379 left_pitch=0.0481 left_roll=-0.1213 left_gripper=0.7958 right_x=0.2898 right_y=0.0016 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0961 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -5.8325, 6.2564, 1.5849, -0.1832, 0.1783, -0.0464, -0.7043, -1.1829, 10.2632, 1.6581, -0.1001, -0.105, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8944, 2.112, 1.1397, 0.0902, -0.7238, -0.6453, 0.6483, -0.0257, 0.8379, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.2928 left_z=0.0135 left_yaw=0.0239 left_pitch=-0.0476 left_roll=0.0347 left_gripper=0.6483 right_x=0.2861 right_y=0.0011 right_z=0.1554 right_yaw=-0.0018 right_pitch=-0.1296 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -10.3316, 7.1179, 1.116, -0.149, 0.2906, -0.105, -0.0615, -1.5385, 6.9538, 1.6777, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9001, 2.1418, 1.1671, 0.0681, -0.7254, -0.6533, 0.5516, -0.0257, 0.8391, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3896 left_y=-0.2967 left_z=0.0059 left_yaw=0.0246 left_pitch=-0.0612 left_roll=0.0484 left_gripper=0.5516 right_x=0.2862 right_y=0.0012 right_z=0.1551 right_yaw=-0.0014 right_pitch=-0.1307 right_roll=0.0071 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -10.7145, 6.8581, 1.2869, -0.3639, -0.0562, 0.0317, -0.1436, -1.5795, 6.9675, 1.5946, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078a77ffed19f9614bbdba7d7aa5d77431bd1fa6ae3a7bfb086b9db0c603cd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b9b53ffbcf8674415ef976176bab9798a8b5192a96580cabce7c357fcd20f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9624d9f2bbd6dd93e35f367653a99815fe7a5c7a94c4ef70644c1f74b057a811",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKfMZyWbwu-BzgorMAXppMwF7PvAYaKyNeXnvyC0hiyG2Tw4SM36Pm8fPLiUUu4gvwWVr4AwOfwcVWwQQrtcQogo5cE_zaLWBBUcHpWav5ifeom4EJK77PRdTh6kS4V9tUo9Z2uSupq3W0fLz5ACtLmxAdhZRHODgjwcJlzNYftQE1UAnQN9GBHwvm984ZJQdKXrAUmj5YqZmB7wNzdnfp-iQT2EObjixosBZ1C41jqs1k8FBDHbVKbYPX64hsq6YI52Ocoy8MzXV4qFYEvfwv5zjHwE_EAD9idzztYeYQpJpEMfLJJzUK7Hv5Zsrhqk0O3GjzQ_WrW2CA4bcxIfc28nyFQsRWnlVQLee-ur9TO8Fyf-rslWbagGpFP9BIFusZw87OR388TsNqn1ryXo2SjZMeCuMPzopho8SVax3MqpKMyrYhNlUk6a0yUnPWv47y1zHf7WiEHKGnoWctmJawgrJAS51DZ7Cdyhb6Isu4sX71eh6fJ1cETmYq398Z-OBAuXJ-QfY4Rp7dGoltCZqg5bK3Di9t3Y35WkSE2dfqUjo3DUlEUDhUoY6LBnlq2wJ12XGszXsC-jJQLeHCHoEeCzbY-a5i_l7eXyMqpSk2GNNHDa2idlgL9LZi-KYPeAaHs_fmpZsl5iClfAlicvpesHjy3S4kQBlQJYK0Kh8GIT6RcGhQBpHjY17bANkzTfsUb4JkxX3zUZFyfg04uCODBaZdzcvzAMZp7qZQof6OqS9P-IBT8RbRmW0lfEH2hZBmAZ-RGjnRvumo10E0g-eD-aJLyepPoh6OMruGeA8sm8Q5G85DXiMOh4xbbi6iT64EAf6ceF_rbNGez-hvZD2r7VsSv6wmVFKVaZ-AynI90o0KCeUR-KJAU9FVaUDWau42uq7fJU-ny4Dbuo1K3XPYx6_Ej6tOGtI_FvnoGxZNZ5JRd6XFekKujdQipDEabqBKAdzxKBIYyCEgEbz3Wa3kycs38Cec5k_SvXj5WBTndLZyPvIUuxawkK2YYBs9-UHaUqEeGUFmEiOnjTenDPQ1qgNrcYaU3gClvnOC2_qiHLzQ3v0SImo-mNQYiybYO_LTlkIGRcNUPsTKZxXacQjdJiuD_Wib-g41bBj2cSCvedFuZFS6aimJnsoQrLYz5gxh0ELoQxT4-P8KZjEncSUN5W21qvMZcRViEpc0zM2BUJQRopeLW0S1vklp-PMazNyeiim8kRXm33BF5u6W7WmITvrfV7wKcWJW-qBWWvnXHxjWD0tPJSis9dw_8SbJRDw1qagb5d6216WFHOIVYdbJ8DcshDV88OuAAAXjnTAQMlXgYzJZSGmafbaumnFJGaaDmnmItV2oJkAU7K-tO4VW0o6UmCaFKXNV5M9MVCq6B1bt-_11ud6DOh7pukQqghAFnu04yZfAIORo2Es7VdTxdIk0v4rChUzv-z4lmChWqOh8nJCWWhzGpbRfNZzgoC0Hpd80PmaPWmzJpx-_Js4hLgCp9ngjA-eDXChxcuFecHvPlXC84ejAC6JJQnfQVR1XAozlsPVu2D3IwZofExEv7guppXGW0leJGMxcyZDBPKWytaCJC3Kifxv6b1zhPCDbsJiYPIKU5gh3JG6j3aDawbl0RRHgn2NLHu9L3ClnudMPMEVLL6aGzbU97R__oRxbcnOnPEWPXVXVKT49OqXrsuQ-SMIgxjD3zrFja6e-vufBSPhHmmMoDlamzfzX1YUnCZIwpzjSIQMNZWTAQDOB3NastrBEiCKbHryLqdqpC02blS75rwSMh9_tp8wN6QXHNYrb82MrSGw2bQ4feQWgbIMsshpGflxvRw7-XZLL-_esLEwXo5UZqcAams3o1_3kqmBH3cnzm2Bys8y-J9hYdTNWZhlKirayaiCRO8KhnK8JYjJLNAmEqfodvGMbsSBfeCMZQYnMJ5ZWPePcpOlTKeceSnG6yUsSS8UDy_lkZAbOk--C585usOXDlYLhf2MK7b6_JO1cL1DUnqLIk_SeZehaQ5Y6fo16HMBRDC2IsbjuK-QpM_2ArtDNm2zzaPzvL_xhfMis_mOGBF3V8L99Fyf0TAXYL2DCZFMbPpu4sZLM_B4JDd9ETaR8sEltoY4RrQJ3bovrcmTbzEQjKdPxboY5TRMiHHeV7LWG5cLWawjVdFRFksRdkj27b2IwxwiyXt31Y8n8cLPEzUbWJwzM36ZHqgzuH1uFLG_BbtlhOo15FgGn4j9mfqix8Q37jPo0g5ESAhR-SxosWZTfysFZbG6cFuwtccqCGTSi7lYojjLoFU9MxyINmcGqPHgGXjhiD",
  "id": "rs_0eb21617a5aff9fa016ab4729a7a7c87d088e0349933d0f0d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.325,\"left_z\":0.055,\"left_pitch\":0.4,\"left_gripper\":0.7},\"note\":\"The arm is not reaching the requested sideways position at table height. I’m lifting and adding a forward tilt to gain reach before attempting the cap again.\"}",
  "call_id": "call_rwYaNYLOaBEDpYsJUStXXD6D",
  "id": "fc_0eb21617a5aff9fa016ab4729e781887d08ce8171b19fc216b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rwYaNYLOaBEDpYsJUStXXD6D",
  "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]: [-0.9848, 2.2589, 1.0763, 0.7719, -1.0157, -0.321, 0.6987, -0.0257, 0.8394, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3967 left_y=-0.3197 left_z=0.0469 left_yaw=0.0373 left_pitch=0.3571 left_roll=0.0481 left_gripper=0.6987 right_x=0.2862 right_y=0.0011 right_z=0.155 right_yaw=-0.0017 right_pitch=-0.1311 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [-0.8821, -10.3726, 4.6291, 1.7118, -0.1245, 0.2076, -0.1294, -0.212, -1.4291, 6.9538, 1.5946, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775c73de383da0e340ff7b1f850012ce3c22a5ef57ea0ada9286607c59c7f8aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7389aff34050d3bd5f47f87f29c6336fd017b510f348d09d852afed3eafc3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d869ec943a1c068f0ae878a8166410f1bc6f26fcfc8b3f876ccc0fad4ae020",
      "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 · 2.859 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9306, 1.9755, 0.9161, 0.1608, -0.7326, -0.6563, 0.5516, -0.0257, 0.836, 0.6132, -0.4572, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3495 left_y=-0.2654 left_z=0.0129 left_yaw=0.0 left_pitch=-0.0517 left_roll=0.0429 left_gripper=0.5516 right_x=0.2872 right_y=0.0011 right_z=0.1573 right_yaw=-0.0018 right_pitch=-0.1201 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -10.1128, 7.3231, 1.4383, -0.5055, 0.0366, 0.0366, 0.2667, -1.8393, 7.2547, 1.7998, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9001, 2.1418, 1.1671, 0.0681, -0.7254, -0.6533, 0.5516, -0.0257, 0.8391, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3896 left_y=-0.2967 left_z=0.0059 left_yaw=0.0246 left_pitch=-0.0612 left_roll=0.0484 left_gripper=0.5516 right_x=0.2862 right_y=0.0012 right_z=0.1551 right_yaw=-0.0014 right_pitch=-0.1307 right_roll=0.0071 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -10.7145, 6.8581, 1.2869, -0.3639, -0.0562, 0.0317, -0.1436, -1.5795, 6.9675, 1.5946, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9848, 2.2589, 1.0763, 0.7719, -1.0157, -0.321, 0.6987, -0.0257, 0.8394, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3967 left_y=-0.3197 left_z=0.0469 left_yaw=0.0373 left_pitch=0.3571 left_roll=0.0481 left_gripper=0.6987 right_x=0.2862 right_y=0.0011 right_z=0.155 right_yaw=-0.0017 right_pitch=-0.1311 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [-0.8821, -10.3726, 4.6291, 1.7118, -0.1245, 0.2076, -0.1294, -0.212, -1.4291, 6.9538, 1.5946, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775c73de383da0e340ff7b1f850012ce3c22a5ef57ea0ada9286607c59c7f8aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7389aff34050d3bd5f47f87f29c6336fd017b510f348d09d852afed3eafc3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d869ec943a1c068f0ae878a8166410f1bc6f26fcfc8b3f876ccc0fad4ae020",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKlCM946C39xvloBF2AfqTdh6LagGQYib5M3czlGxksTjigPnzr7NpS0hu01Aa-X15yF40u8zEAI6qcv5Hu_RSktEiCAUJDe57CxWV9jZ4g0_0vov8BlBB9FQa73RCziemQBwuSevyRSmLAUKf9C1zGM3N1LvKw87dyfu43grM1qyyDc_1QuO3Pv0MiurjsZTypyLCc3xMNVwrF2qTjTrbRcFNMY8uEqwZcusb0P22X4-z2rwtSjlqfiKIpXSYZJaAIzbvwrQCP0rrTUANpFt3qX71dDwue9GxbzAY3EXMtOSi87xYMZILawftetw-DVHSrJkuaw3mDqY2cCvicPOaucsCnZMlvpr9BzQZn8wmGDfOdQT4GgxKPI9brjMNmMC120T1Trga5BX4a8EPs0lGZmsXkeMkVFz4E7fK4EgVFYP90v7BYZsc8o6fCDkkvFmfSHlCqG3esgpQGO_2pp5LzE5AbLWLVDlAy_i1Yn9cQDPcNLPROPLpPDYlXEXCFDPUu7Q66TK3l-jWL6Qnv8JGGsamlg5zgnRWzq_CkFDhyz-oMSH24634M1dxMQVZEX9qEVbCtdmDZ-5ndLIdwuNFV6UZqbskIwnu0BhcR6X8zKQ3Ci3Y-rA1MEizS8MI-wucfYlPHnuKB8iMYb9aOEg0nR2iauEYAqJxSX6JBLzEZtW9d0VhjDTY4GClzQRW9I8BqhirV-dAmSedUBd1U17V8UmJYX8JGXy9Zau0txvUK9IC5Qf2JI2RYzucJtVdLwAuol5I23a9JyXlBppe4IUdSKMOwnCje60sLCqaaoKRgV_MtVHz9WCqxrdT0Sj3nJAi-oXGvfw6fZQKlWdUquQazQFto8Moe_b3xcsclF9xfxFBm7QsH6R7-cWClUY4KuW3gyZsaslRK7SY5kt7iWJOhT0CHa3QsIU3xuHNYiIdqWCKG-ToeCbKo-PkXaLtYFFZhWQTgGiS05jue5ydSSnq_e9fw1SLssyCkR84JLOf6qh4V4qV6Hv4saXrD1ux11dVdzrI31QmBxICf2RLVVleqRBnLDeyqLdrd5r5F_6OrEqiuCaDV_ZnHyZWvmCu8xI_VdIqfwValddiVP0fuGtwB3rIb_84H8256kYEWTAGEZaFrjJPSoFkGbRNuMaxcslvs98iCV1z40sr-FR0sJfRq_1WYdOD-dsF5ZLD-SF2m8EBC8WVaW1sXOAk-QVpLO41I37OknLtNup_X7tj-VNDfRrHiEhzu0e2EHrmLpWQxqQL6WRVpfYnL2f9pmqppBHvCZtNPuvdWvmAXMDEVo4gcsGx3z5RN_x9WTQEnuOd04qltWG_O4Sx93vkh5mqSk3gcq3vQvMNkwRfURCJ-1QgFY4W4OzI9Sdi5dZFNgqe54U5ZXNBKCWy8nRoqUG6miGbXegM2TEKmFo8m7ra3WDFzfU1Kg_mkAVzbkLHRrcq0cb01BPLX4GUUpeQ0bGKA_0tA4_c_01zHTtsTdHEHMzK5Hw==",
  "id": "rs_0eb21617a5aff9fa016ab472a2e3d087d0b0cce2c4eb80f312",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.325,\"left_z\":0.002,\"left_gripper\":0.4},\"note\":\"The tilted pose now reaches the cap, which is centered near the fingertip region. I’m lowering around it with the jaws still open.\"}",
  "call_id": "call_3yAStAgZcYEy2DjSVVGlgEah",
  "id": "fc_0eb21617a5aff9fa016ab472a3d24087d0b3a894f9ef289634",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3yAStAgZcYEy2DjSVVGlgEah",
  "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]: [-0.989, 2.3821, 1.1, 0.8822, -1.0214, -0.3237, 0.4052, -0.0257, 0.841, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.3233 left_z=0.013 left_yaw=0.0429 left_pitch=0.3647 left_roll=0.0368 left_gripper=0.4052 right_x=0.2863 right_y=0.0012 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -11.3709, 5.9282, 1.1258, -0.188, 0.6032, -0.0464, -0.253, -1.0051, 6.9402, 1.663, -0.0317, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75578691b408d303ddfdef4a3178e420a1d1533ba9de2c47d845cf526dfdfee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b326ecfeb49178b9d3319c0670ce2c83f121c4d2ec395c71c5d2663bbe1305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfde3fabe1a60a37f474819c6d3f8443d51829027c3df193730b3f2e6ae1053a",
      "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 · 7.16 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8944, 2.112, 1.1397, 0.0902, -0.7238, -0.6453, 0.6483, -0.0257, 0.8379, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.2928 left_z=0.0135 left_yaw=0.0239 left_pitch=-0.0476 left_roll=0.0347 left_gripper=0.6483 right_x=0.2861 right_y=0.0011 right_z=0.1554 right_yaw=-0.0018 right_pitch=-0.1296 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -10.3316, 7.1179, 1.116, -0.149, 0.2906, -0.105, -0.0615, -1.5385, 6.9538, 1.6777, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9848, 2.2589, 1.0763, 0.7719, -1.0157, -0.321, 0.6987, -0.0257, 0.8394, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3967 left_y=-0.3197 left_z=0.0469 left_yaw=0.0373 left_pitch=0.3571 left_roll=0.0481 left_gripper=0.6987 right_x=0.2862 right_y=0.0011 right_z=0.155 right_yaw=-0.0017 right_pitch=-0.1311 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [-0.8821, -10.3726, 4.6291, 1.7118, -0.1245, 0.2076, -0.1294, -0.212, -1.4291, 6.9538, 1.5946, -0.0415, -0.0269, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.989, 2.3821, 1.1, 0.8822, -1.0214, -0.3237, 0.4052, -0.0257, 0.841, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.3233 left_z=0.013 left_yaw=0.0429 left_pitch=0.3647 left_roll=0.0368 left_gripper=0.4052 right_x=0.2863 right_y=0.0012 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -11.3709, 5.9282, 1.1258, -0.188, 0.6032, -0.0464, -0.253, -1.0051, 6.9402, 1.663, -0.0317, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75578691b408d303ddfdef4a3178e420a1d1533ba9de2c47d845cf526dfdfee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b326ecfeb49178b9d3319c0670ce2c83f121c4d2ec395c71c5d2663bbe1305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfde3fabe1a60a37f474819c6d3f8443d51829027c3df193730b3f2e6ae1053a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKo2JRgsYjy5QJTLPD8_64OIq9je42ftqZlJMLHdtT6LJDVfmVlDlvUghCO-Zt_WVuM-63Wxfq-d2-DteaH-Z6-dQnX4sarYyZKcrcWZNbRQZDjlWSN4YIrvV3Py8QFPPYa6wrD2CeAibP6jaPkE6Hn4LvQMpL-3zoiNNrFMiodQY0UPhsh7IhkW976CU-z37n2dpck1ypZaQ6w6BizJoFeGGfFN6sFgpRxWWbz5VyYTxs76F-s9hoDRJHLVdRbaBFSzj0IsD9QvltOYg4yqaWBcvWXs-ZNUmtmvKBA-sOwYn4gA8NE8AyW6PCqFMdfEUVS49_p9524vDIO2MfOmpeJnGcJ9nZKYBBY5SRKPcjZqAQtmdbumUjGcvm26ksvCtVBAd6qxoxECho92T858gFkwmN6mcDU4Z0polGWdF2BR8ESh1ZjxVep1A0uREXsEeX5J9WGQNRXAh_sYlkNZctvGJUqKXYEAHAu8zz-EwqIH1yn8Wwp5f6tpciNkMgRXjhNnucU7_0LUeUsDhPD_LI_uj0tzUrzzhrdTwK5NE3_b2W0hwhQG6fH5lZZM-omhofyyR9K1cdcHI3AT-KpGtyjk5EFlYagJBIrKj_WMrJaG0AirBmRPmgYKM49suaGBq_jbnTTGx92AQqRdgEa7pIpYOs9gg-g4i4iVxu-eeD38LIlWxnrK3CKoTW7B2f75Y8bWUvRysYnhn5EzPyU5ThXWarrUNucLZcimpqt2Qqdlp6i5Ha0BEzgCJMlW1DmOyJHO6xoFsthFUqfXYxjAWNVAMr_9VhAnq6GVVtZX-yk7-SUeMyOvW_04XnYaL-QJuNjnqpDjcLIoW3yyvWXFUNQy7ZJtfem7zWs45ZA0O3kBeZxVHlCfqR6PvyY1TbuP_TlSr1y9734XQfj66dLhoof_dFoJeeemKAw-QbcF-Cy_0yKRutEGxfJBklxjMvp9gUvbmzsdl_Keiky4zcs-DsfMBiBUv-667YHzKECu7GQ-VbVoc1SXsuzR7rSKaBaivaOPFdILQJfSgfShM4dpl_qwu9quKcqqtkxROTPilpt3K8v_wxmGBr5r7n8ckGiieQjnDw1lyaNoabbwcPZov-PUxfr9kfw20k4gSdZ37a_6SGRAeiBLB_DydPrw5a1Akia83zGNnTp60oe6ncWJ6IkdacVqH65tJR8ck14HApldn8szjfMQqSnQ1IA1Dse-WdEl7jwVYd12u035SBSPwYL1ARDPg81pWvqhVLGoKH5PHrNPYOgvNnL5tg8s2DMSsE4",
  "id": "rs_0eb21617a5aff9fa016ab472a6a5f487d0b9eba23ff4d7b45c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is visibly between the two jaw tips. I’m closing around it without changing the arm pose.\"}",
  "call_id": "call_RxphP2r8Vnt0iVIIcbLSbWgh",
  "id": "fc_0eb21617a5aff9fa016ab472a7403487d0bd8de6b8ba3217d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RxphP2r8Vnt0iVIIcbLSbWgh",
  "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]: [-0.989, 2.3928, 1.1053, 0.9028, -1.0328, -0.3313, 0.0095, -0.0257, 0.8421, 0.6132, -0.4644, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3982 left_y=-0.3228 left_z=0.0132 left_yaw=0.0621 left_pitch=0.3763 left_roll=0.017 left_gripper=0.0095 right_x=0.2864 right_y=0.0011 right_z=0.1543 right_yaw=-0.0017 right_pitch=-0.1334 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -12.547, 3.9316, 1.3455, -0.0952, 0.0513, 0.7643, -0.1573, -1.5932, 6.9402, 1.6923, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f63b885343db045c378b4f0f3e5980644a238cbedf1e7bd43bda3d3e9fec88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6aa4f2de8954386cde5186a62ea56ec46d4ee3ea917d865a8359e18fec9f994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b0c129207a9a14276e3d8e94207ec265332c013b802749f379913bed7bba60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 6.516 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9001, 2.1418, 1.1671, 0.0681, -0.7254, -0.6533, 0.5516, -0.0257, 0.8391, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3896 left_y=-0.2967 left_z=0.0059 left_yaw=0.0246 left_pitch=-0.0612 left_roll=0.0484 left_gripper=0.5516 right_x=0.2862 right_y=0.0012 right_z=0.1551 right_yaw=-0.0014 right_pitch=-0.1307 right_roll=0.0071 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -10.7145, 6.8581, 1.2869, -0.3639, -0.0562, 0.0317, -0.1436, -1.5795, 6.9675, 1.5946, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.989, 2.3821, 1.1, 0.8822, -1.0214, -0.3237, 0.4052, -0.0257, 0.841, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.3233 left_z=0.013 left_yaw=0.0429 left_pitch=0.3647 left_roll=0.0368 left_gripper=0.4052 right_x=0.2863 right_y=0.0012 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -11.3709, 5.9282, 1.1258, -0.188, 0.6032, -0.0464, -0.253, -1.0051, 6.9402, 1.663, -0.0317, -0.0269, -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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.989, 2.3928, 1.1053, 0.9028, -1.0328, -0.3313, 0.0095, -0.0257, 0.8421, 0.6132, -0.4644, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3982 left_y=-0.3228 left_z=0.0132 left_yaw=0.0621 left_pitch=0.3763 left_roll=0.017 left_gripper=0.0095 right_x=0.2864 right_y=0.0011 right_z=0.1543 right_yaw=-0.0017 right_pitch=-0.1334 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -12.547, 3.9316, 1.3455, -0.0952, 0.0513, 0.7643, -0.1573, -1.5932, 6.9402, 1.6923, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f63b885343db045c378b4f0f3e5980644a238cbedf1e7bd43bda3d3e9fec88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6aa4f2de8954386cde5186a62ea56ec46d4ee3ea917d865a8359e18fec9f994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b0c129207a9a14276e3d8e94207ec265332c013b802749f379913bed7bba60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHKvHXl2GwjnULYauiueA6GbGBj7IMATNBVXrv-e5pqLPJYCcU4p90GawO0fHIFNjqYlcMW7AQNEII9VOBKMKY-1TW15mvpIlaw99s8GhG3PCpdf8kKTEtwYysRE2ToseSO-BUOHzAukki_gIPwoCLkX1WktzvvAg-_0sVxQAmr3nbq23pyquqPsmrHAjDTanatESKUN3X9QquYOJ95GglZVqy7rpg8-n_zk-Oy58cTT45ZTbqnmk__uGIsqHwNOnl_VVlnmMVWQI5rwFH-fiu4muds4TNdETuKY0JBsAHD7vwwVdgcYiQLDxwiCPtwd7WfD2KozTEOhiIKZbLOfUuN5-RMSuaNlA5frkOOIfXuNfYxeXGITGwWHZdkB3HiWwgU-DrhWtTATU7MEfcP5NXFbEIZ3pc-qLQwGXoENt6f5BnK8FQHfwx65vSy7dott12uWnslWnlPfQNC-1MNazH0_IN6b-tzYKU91NaXJNfmGoGgTDiYgP_HIkAMzt-bmg5OSytN5OF9c5lTdHfzMJiG8SpCrTlTQDYEIL2mP0IdJe0ktrWT4-G2naTooY0t_cAOxX8KySGpf-mvFMIL7EjMS2wLlHUFoiMQzazst4gmMoeIa3hszYe9A5bs7Ds-kmtDsQS52H_47N16v0DhDXXmiEInaj_xAKQtQW9JSh1sFiT3lli6uWqgYe3cxuSGmrNQB3Q7ru2I4V9VcmN6hoqrlPlMDHb2A-bO06Bsog6MhXH5haqVw9Ek1cpecIKP0_wotq_2iZhOKpxk2IxOI0Z21aCWLm_lgvh-QSG11G0_I4BkpZ-IvUEsPlMPwVJdSM4LCD_3SpE74NgdjaMO72sAo64Hu51rXAsXO8oubcyJKwP5CbzBNOnBOfmhSyuZPwXGBIRq85wSsNAi_J2IRwFYtThRvJsxQ5FTSc_jdmBUHPw2LUhvuE3eIU9zfi3xkCr0BhMoNA6USTtIGkpRZARRL2fn_mYUvieCX7okxwHZxjWmJjaMnq8ytkN227R-0kHl6DiFSGr92Okvl3g_O3PzRxcrYJqG2iIB1CQSWbqbuxD0xnJF8VlAOi5HYYgfinfPIBQFKB8ofrZbR0R9-h1YGqpfYZF4gjwNuwDxMWkPVAl9hbJ4Z5VhHF3FE0HMG3Sim0chG8ENHJb97j4mhezAPDL3NK7ko0otu6C0r4r7uaxFK2HW4dx2Sli_b1FQcw2j7ElFIh8gZyUfPaEM6FUVUTkSlq_BeagcPnGPV61KmNJ-9XHs9cqsg9RQE4ObCBm16H_DTK8mZMVPBRoQ3rIKEcNJiOatXzRUv2HRu-pBsVjfqPZD3QtCDsJhtF0Y4r3Y6Bp0Ll7wA8aIXJAlMlSan5sN2PpWXu3I3k8kuYhyYrW_SnmGpKu4iYzhot7WT8spiA0WQvmcSygdha2Azz9PDD8pznnWO1LIpEruEivcQdQsx00JUE_wlGhMvN2EOoZQegDvU7HMoxWTm2MSTeKi989KE3O_YBsfUAZQYnqgJfCujafPGq08xBOR0yEVvGl5VJymTznpHxrLvyCYJbox4JloWINnf2SE6tRGZIJQ8_6pCnKcAyEw3WkHYTPzPJ2JsykN-kia_94lQcfahoXjlPlomVCBLRrsPGirSTZonMQAevcVzmYtSTnjujdgunLbbtcZIFaJD3MTSlPDM3tc35vrKoKTIqvHuZ9dqhDHg5ggef1edLbKjGZe_3QLkTqLq9xJwqF525MBfosys6O2yqGtgnILSg0qoDe68Q15jhn4o4Zq5v8-aIYb8jPbZZU09c1QjFXmSXvYvWeZMy3K3vbfUQAyc_wl_StrFk4sg5iVrFdSUEESJ2D0SzPZYYg3hEVoyM5rh4HymBenfu9KZQv-tpQBc0rYbeESGU_zLKaex-V5kiCliDAW2AMGkEXiuF543Jk_lBwwqAxsoeH5MaO53mPyQef417Fzeqe7Lf-oxgaMHlHsy6r_tz9Xn9uZLqpcNG8n9n0vo2Vx4TCVriDUW5Wz0kP62w7wfNBFIPpY3KDgqjC28BAvGagVNgwbCstfzlsNh2zMqsmkAVj1prjl2rK9FYPG-v3EsQ1N-VPfPPFmEPft2lB7cL61wfdvuQripmOJGKWmX0gdhkbmdNTTPpAXWnDFpTtADsFBWcexeC5MZSHSij6SmM3yHagxluF1kM-HDZFldfPTPVuxwBei-aYgB50OIFFhXgEHqUf-hAB134_ZSHz0kTtVf8hBW",
  "id": "rs_0eb21617a5aff9fa016ab472aa6f8c87d0aef37850ca4b32c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.378,\"left_y\":-0.315,\"left_z\":-0.009,\"left_pitch\":0.3,\"left_gripper\":0.5},\"note\":\"The close was empty; the cap lay behind the very ends of the jaws rather than at the pinch point. I’m reopening and backing the fingertips onto its center, slightly lower.\"}",
  "call_id": "call_yC1A6ljbpONdlT8sPjQNGDVk",
  "id": "fc_0eb21617a5aff9fa016ab472ae790487d09465dc8be640dfd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yC1A6ljbpONdlT8sPjQNGDVk",
  "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]: [-1.0084, 2.3684, 1.0744, 0.8654, -1.0405, -0.4267, 0.4951, -0.0257, 0.8429, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3873 left_y=-0.3219 left_z=0.011 left_yaw=0.0894 left_pitch=0.358 left_roll=-0.0402 left_gripper=0.4951 right_x=0.2863 right_y=0.0011 right_z=0.154 right_yaw=-0.0017 right_pitch=-0.1346 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -11.1658, 2.5641, 0.862, -0.0708, -0.1685, -0.1392, -0.0342, -1.2923, 6.9812, 1.6386, -0.0171, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f99424c99b3d7be59edeb6dc8c3eb0fbaddc60d933ff897589bdf2daa75acb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35afc4f2d33520359f820189cbd2d9309609c0ae7444997fcf4643424e6ca799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71497e5101ca389f0408c36caec1c6b30df14b0e503b4fd691aaf814abd64ad8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 6.037 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9848, 2.2589, 1.0763, 0.7719, -1.0157, -0.321, 0.6987, -0.0257, 0.8394, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3967 left_y=-0.3197 left_z=0.0469 left_yaw=0.0373 left_pitch=0.3571 left_roll=0.0481 left_gripper=0.6987 right_x=0.2862 right_y=0.0011 right_z=0.155 right_yaw=-0.0017 right_pitch=-0.1311 right_roll=0.0069 right_gripper=0.9994\nstate[joint_eff]: [-0.8821, -10.3726, 4.6291, 1.7118, -0.1245, 0.2076, -0.1294, -0.212, -1.4291, 6.9538, 1.5946, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.989, 2.3928, 1.1053, 0.9028, -1.0328, -0.3313, 0.0095, -0.0257, 0.8421, 0.6132, -0.4644, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3982 left_y=-0.3228 left_z=0.0132 left_yaw=0.0621 left_pitch=0.3763 left_roll=0.017 left_gripper=0.0095 right_x=0.2864 right_y=0.0011 right_z=0.1543 right_yaw=-0.0017 right_pitch=-0.1334 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -12.547, 3.9316, 1.3455, -0.0952, 0.0513, 0.7643, -0.1573, -1.5932, 6.9402, 1.6923, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0084, 2.3684, 1.0744, 0.8654, -1.0405, -0.4267, 0.4951, -0.0257, 0.8429, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3873 left_y=-0.3219 left_z=0.011 left_yaw=0.0894 left_pitch=0.358 left_roll=-0.0402 left_gripper=0.4951 right_x=0.2863 right_y=0.0011 right_z=0.154 right_yaw=-0.0017 right_pitch=-0.1346 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -11.1658, 2.5641, 0.862, -0.0708, -0.1685, -0.1392, -0.0342, -1.2923, 6.9812, 1.6386, -0.0171, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f99424c99b3d7be59edeb6dc8c3eb0fbaddc60d933ff897589bdf2daa75acb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35afc4f2d33520359f820189cbd2d9309609c0ae7444997fcf4643424e6ca799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71497e5101ca389f0408c36caec1c6b30df14b0e503b4fd691aaf814abd64ad8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHK2ZM1V3hbbODXEZj9LVb4maJXOhXh-6_yBfhoDh-Gq_DzohQfLpXWyK5FgifOIAo_EgjW-x5I5rLqboe8v-QfdJ7bbM173kTVig45kLpYXIFTxDiFakayIknLmIccC3fdl5YWqrhU7KevO8I_8rl-XU4MVk6mxADNpz9IMLl2l8I-Uzz_8dHxxJvNetp3EBh5AJAlEpuz_x3oiHV_VzsisEAOaCuo2rZ3APRvxnCSGvsV6mvOIwq4cgXEnXmvkzckHDferXglkARdMbZsHGkdWfVW-mgdD10Qky8Tn8CEMrF3tMMMrKh4Mut7dKc21IqjJm1JznbEnHtJkyG4NIQINKklMu9FDYDB2QKETjWjPCda0j8O8Juyzm49FemOZ_KWOzCV1W-rRfbrUzEbzQapzEq_GgPV0WrXBhPei-V4Qm2uuqXeD2JopzC6c7llQclXQxkDMTtZEqGi6OJhX4L8jjgFBGzJgIR-ev62DzU828se_oDBrg97gY_LXL9Iy-OpdXq6h9hg1o7wVxsmP5Cxna0W3JQjpqK2U8kk2ODQ7TO3y3afTYKT0EY5GCqlTT4FX5_Jy3rtvk2rJJZew6qQ4Emvv3QUmO305Cneba_QJvecnMkpH2JXk2Qz09r7Jhrj1enU6AX4Eqe82LmlJSkcRdLe65W4pJG7x188fjS2p3FXuEQHUJl4Z8yEUBa3xFGeY5KN4wKiZklIfMRHnljzv2_OBUVWTKKkkpzcicEaA0z5xgHAfVvXGbXBovI1SLT6XK1QT5bykIK-imFBodN3ydqY5LrxX51ngXSC6f6ID4ebSVwFVguq0X5NcYqnhh757ZcHKMHwkfn4BaBZXwLKMx_vLkYw_kZ8y2xkycor_xtcUneFGpX2WQkl4PJMp3VDOVhUsWho2VX965_FF4hJn_s6FDN9B5PRPOD6jFyxW_PJGbbZfCizbn_gzuoLDxC85DXwLb5FqMTwy7UdsW_MQ3mcBEenuaDX-_W6GWaDYZabtY_GqJOcEEL5Nfx6Tu7IuU0Ci3Y_neKW2hxSa7Vl5PFHEhIDh-vzCIhYU4NinbXKTtERLF8DuNxGgsQxiDHD5d8EWMEHhCA4QO9sODX7RQDhMm-FFgJOwWuLViieTU8BICtJW7guftfRwapH7cF4Dc1rXK7TDlSeDMJGlUcJxDPLtVVETVYs7igwGQF4PqhxUq47la6LSztLdo__JqUc90TxJec9_2iFlT4XP_2GPL4IazFuW_eAtv_JRLFC1x9DecwTLB3kwBhqW90CxuKViLoqKZPyagGTuuvtOsMt8dNeIpNDe_xjwVJNVaoPR17NrPcjVIQFQxug41Zw4b7JVhi4SFP9sUL63nJsKGtZJ5EdXYj0p7YeqdgrQCg6IpeBPf6U1pKKwwQnEJHbXdxYnrOLcY6vx3O5QL4RBfAqTO9XJK6xu5xqS2r7efS6_s_EAZPD-vDpmKulhjqnyz4qCg-U4lh8IQmX8vJ00T0eRvmkjVGWCquyRMVfo-qddp4VEJ_hV5QV-99vgYMwdbjiXz3pjGnCFw-VTJUy2BgjYG3j9UI0r0vWz-9086QjZGgvoDvS0g6THuLpT2gu4JvaUEXI79OYByp_4otyLj_udz3q_z3qE56J8Vvi1-eJH1iIRWTArF54NJo5T6f2qYr2Fg8jY-B_JL5n24vLypdjU6xyVBV9ySp3zrSTqiu7CmucZ-Kj9WYQaimefEaiTH1_5mpco8wfZIc9CEX7ju_w7LoSKvIH-9P0FlDa_pYs1Y_uKAUmjfr1FYtz27RqW_dltnY3G-I1VDzN-7QVu324tpyTVZH6wqLaUkZgm0XCF5bwzHDsAlmM8dMbCnMlUEHvxruCdgGmW4EiIcnQ-Cb3U0U8x6uH48yWp8hRqglj5rzI8IZy8ULoFxCiuhcNqMLinWDZtA7gFTm-Ha3ZrIP7Y5PI-DtvUiPIDIWaKrknfKZGNNtaLF6Og34YQbMp6DidiGdtonoiDvC3jS9lIMu5uIJcwtLOF2sLqwfjunBMt24ZX3AZ1wjUetCqwTBFjOZIhG7oJ0nVxY35BiP__8kfHXE3rgj-_sC8zD7wm5ay509cHEUHApb9Il7oRIp5DVwV-v4q-c4vwcgo7Ehwz_CRAdXfIpKavCeneAVJu5ax8YZaD6aFWfqrl7YMc1OXuF67s48tLD_l_ulU98VSeAsyZ4PPZRhiNrXR_6Cna3dBdg3P0CXTX7ZmI4t9OrXozfhWa5hmugMiE7OaV7JIGEccA8GvmgzX32WAMbIvM8VIgWLJfjNPsivw1Za4iKoFhDN-IoHGPSlNzJELqV2wEoANQZGmROvl42m8-a4pr1WsHb-KDkl5PRgOtiJPwMHhCe9Cv22LH7bChiJ8dSmS82qbF97qMchs7rP9pTxd3VHzBwY8=",
  "id": "rs_0eb21617a5aff9fa016ab472b1cdf487d09f80ee32307ba1b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.372,\"left_y\":-0.305,\"left_z\":-0.01,\"left_pitch\":0.22,\"left_gripper\":0},\"note\":\"The cap is now clearly spanning the gap at the jaw tips. I’m making a final small centering correction and closing on its body.\"}",
  "call_id": "call_KMtYMusjcJoaSYX5YaHQTdTy",
  "id": "fc_0eb21617a5aff9fa016ab472b5b75887d093720fbdc69c131e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KMtYMusjcJoaSYX5YaHQTdTy",
  "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]: [-1.0077, 2.3043, 1.0363, 0.7189, -1.0077, -0.5652, 0.0096, -0.0257, 0.8444, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3789 left_y=-0.3136 left_z=0.0065 left_yaw=0.1062 left_pitch=0.2864 left_roll=-0.0754 left_gripper=0.0096 right_x=0.2864 right_y=0.0011 right_z=0.1536 right_yaw=-0.0017 right_pitch=-0.1361 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -11.5897, 3.0291, 0.9792, -0.0562, -0.2125, 0.7399, -0.0205, -1.3744, 6.9402, 1.6484, -0.0122, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2bf4418b7358452fb9afbcbfe23dea04267ee3cf6b259e902b7cda74faf26b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc96f94852d203be49a94701cc99bab4f5b76b9c843800b0c18308265f8d3d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a418adabc5397bfde2f129180796235a6c92743e232b2bcc8c0e1b36c33afb0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.781 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.989, 2.3821, 1.1, 0.8822, -1.0214, -0.3237, 0.4052, -0.0257, 0.841, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.3233 left_z=0.013 left_yaw=0.0429 left_pitch=0.3647 left_roll=0.0368 left_gripper=0.4052 right_x=0.2863 right_y=0.0012 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -11.3709, 5.9282, 1.1258, -0.188, 0.6032, -0.0464, -0.253, -1.0051, 6.9402, 1.663, -0.0317, -0.0269, -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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0084, 2.3684, 1.0744, 0.8654, -1.0405, -0.4267, 0.4951, -0.0257, 0.8429, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3873 left_y=-0.3219 left_z=0.011 left_yaw=0.0894 left_pitch=0.358 left_roll=-0.0402 left_gripper=0.4951 right_x=0.2863 right_y=0.0011 right_z=0.154 right_yaw=-0.0017 right_pitch=-0.1346 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -11.1658, 2.5641, 0.862, -0.0708, -0.1685, -0.1392, -0.0342, -1.2923, 6.9812, 1.6386, -0.0171, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0077, 2.3043, 1.0363, 0.7189, -1.0077, -0.5652, 0.0096, -0.0257, 0.8444, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3789 left_y=-0.3136 left_z=0.0065 left_yaw=0.1062 left_pitch=0.2864 left_roll=-0.0754 left_gripper=0.0096 right_x=0.2864 right_y=0.0011 right_z=0.1536 right_yaw=-0.0017 right_pitch=-0.1361 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -11.5897, 3.0291, 0.9792, -0.0562, -0.2125, 0.7399, -0.0205, -1.3744, 6.9402, 1.6484, -0.0122, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2bf4418b7358452fb9afbcbfe23dea04267ee3cf6b259e902b7cda74faf26b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc96f94852d203be49a94701cc99bab4f5b76b9c843800b0c18308265f8d3d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a418adabc5397bfde2f129180796235a6c92743e232b2bcc8c0e1b36c33afb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHK9nY8WkaPmFYxxrHFm-5Om6Yo0lZFlHaX5wnZosjwhnAZDwgpv5VpiWS8Z8JdYvnh2RS2ocClLyqN5puyH8JfuSeOMp-dkcEDjhc9WTeDr0n1gABRVHxEaGgs2E-gG3JIzJCOo8FCPeAuD-H8n0LKJYIemHOoI7e6IJKm-FAGHJQ30_nsdWjs1t2y8mTgPCLdocIi2jnLQyyPl2_9IAy3GRnxb_27YoHR0Ge0Esw19C3yg1RkLR3CtEZq1GMwzQtvNv3hwNBYfgsbhPoLiOHNV7xGbjVeb1ax_2E02zebHkFz-qLEiq0hEGJe3WTPM-yXZ722LNjhFRmmiFn4OT7wuxwxQawMkPE2TEpcCZq8n9STTGKOWXTJsfYn-rpvBof3pX9Zx5rRVkkFn39wLsyRyPBmno0Se06ADKyeeEgjRx68IsgVwDgWOKhWKlSxQNH9rMkItc7O-g2m3kYylXrUHgVjqcvyp9ynpRUotfAKY0D_WGMJSkPpYTMPomyXn9daJLhYFOTjh3gkOR2Rmn0AThpdeh9cwIZD5YBSxEQ0FV5cTw2NgngQgeaM1__aoyH4M9Wt6myM2Vry8mG1iPQ_4c1BEhbTAzQ8Q_UXbB4DCIuqXb7tWD4prPcNataWpHVvUqv3KubpJM4sesjA0YDjI9ZrUsaxAvuvwzLq-wXrS1lEbvnnY5MFwnzVxzbqSKOFcCk2A5wYxGPYmvz9zF43iB4WO_h3aPvP6AnHJLA-rXmf0nerS4facVdlVgL4IrtkdPHJ_W6GF5oOSt8MBAClTsQ8VgXOG-veROvDnVZjjAblWB1XYplfn7VkafsjdJO3bwgMpfguvPHrepPh_p6PnaylXM1kT6w2Vzuw7eNn1xV1yS-ZN3zKpdE-qRqC0Nw7m4nyRwn0sQ6CG6dS0SFh_Vp5nEMCH4ROjU4V2oDBY0Q6zQUCzYWDvo7jCJWeRfn1rCW4t5PoN8HsaZbpSa_x1-2r6t65w9J2ZF8FOeHp9PJDdbpYYDsOJBJ4joMnzubiLVdhwX5cQSEZLZBaCWQ69XKp4Cvx4NaxOIBUIWgHYaHK3LUpyQAaZTinFdfH28vOjxQwdIhnhHNCUd2aeaCzt0rbVvqPbYi9dCo-pRkHNXcmdRgHz9r3ITSvJD0_B1OlxhK2o8p4jjyEDjwSq1r9Ov9p1gqe3nRNjOg3Qx6RtsE7i-hve9_jOme2OW-AVIMHTZvWcZ4ix93HSFej4dA9xOvpX9hkEbL6NXPS5XTK9ew2wOBUZD0DZ4WseSba7aKsJMGQ6YubhxFFaTKsmUsMefNCLHs7bHp8qNk5eu2hwsyciadAU9guIJNfONVocecbh5id4Q6_rCxaJUHEwsQPfNc1bcouztGS9YdKmaS9_aDOlbcASf37yoXTZ98InER-i647ZN146NPXV5a3CIzp9LWX9W1VLtr_XnysYR65NXWXXZxqD-E5a9oHlBJwWCvtR8nli9gwaWD7Wc1PJcbcoxDRkng4UANvW6x3VQtorm5wChwPg9v6OVaQHBO0ZyDGPLVny5ZkCR38lbnA8omYxq7elBQZTWO92_B3yP_-r-BwNZhBt0M7qya-XHad5xPZE5GglsPKMwLCIQ7ncLXSJ4VgGpZ6whxEJPpVrVl1Shd4Kwr49lDUBAzdR4ogjH0zDiUb7ZOqVT60vkX2yNIZjK7udzrcqrvN5ZwAGcq80PuLxmDAaXBovjEQgVsTSgXJtHobLQjQYtbCSLscbOsnKvBQQzrIGmfnbw2wpm_u8L8qnyONg76cenwHohKYIYvcMitckHeyr6Zmy2B_s8z0PucaKjjxI0gOHVo2NeMB2vzMXgeO2KGD47Vmven7E-JOM-P0bZN2Xck446BJNAD-emXgqBeyVl7gbGDIFeI6iwn-PbqZQVT96oN3BlCdzcHz9SIupa_8ZeKZOLghMgc1SUOyuQ33kCw2mW3QzE9fXCvs8Vnmep69_VMEqI5-ygohb",
  "id": "rs_0eb21617a5aff9fa016ab472b9113887d0a488d395aa1dee73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.306,\"left_z\":0.012,\"left_pitch\":0.22,\"left_gripper\":0.75},\"note\":\"The cap slid just ahead of the closed fingertips and remains on the table. I’m reopening wide and advancing only enough to surround the visible cap.\"}",
  "call_id": "call_Rbf0ehh429b9xEYQbO9Lkx7Z",
  "id": "fc_0eb21617a5aff9fa016ab472bbef4c87d081230d360d2fe090",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rbf0ehh429b9xEYQbO9Lkx7Z",
  "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]: [-1.0058, 2.2841, 1.0309, 0.672, -0.9955, -0.6022, 0.7455, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3774 left_y=-0.3117 left_z=0.0066 left_yaw=0.1112 left_pitch=0.2651 left_roll=-0.0853 left_gripper=0.7455 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.4547, 2.9333, 0.9939, -0.0806, -0.2418, -0.1538, -0.1162, -1.5111, 6.9538, 1.6288, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35adf7252178e59fb9b5ccdbafda97a61d512b68028802daf13b20877ace36a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8cc7fee9552553af41e843404aad29e175dd08e760fea83fe1d8c5c5a01b41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c190840ed04cf8d57d9ebfb0f747823471b116c80ab6c6088d7a0d8fce3f8919",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.072 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.989, 2.3928, 1.1053, 0.9028, -1.0328, -0.3313, 0.0095, -0.0257, 0.8421, 0.6132, -0.4644, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3982 left_y=-0.3228 left_z=0.0132 left_yaw=0.0621 left_pitch=0.3763 left_roll=0.017 left_gripper=0.0095 right_x=0.2864 right_y=0.0011 right_z=0.1543 right_yaw=-0.0017 right_pitch=-0.1334 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -12.547, 3.9316, 1.3455, -0.0952, 0.0513, 0.7643, -0.1573, -1.5932, 6.9402, 1.6923, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0077, 2.3043, 1.0363, 0.7189, -1.0077, -0.5652, 0.0096, -0.0257, 0.8444, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3789 left_y=-0.3136 left_z=0.0065 left_yaw=0.1062 left_pitch=0.2864 left_roll=-0.0754 left_gripper=0.0096 right_x=0.2864 right_y=0.0011 right_z=0.1536 right_yaw=-0.0017 right_pitch=-0.1361 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -11.5897, 3.0291, 0.9792, -0.0562, -0.2125, 0.7399, -0.0205, -1.3744, 6.9402, 1.6484, -0.0122, -0.0464, -0.0122]\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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0058, 2.2841, 1.0309, 0.672, -0.9955, -0.6022, 0.7455, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3774 left_y=-0.3117 left_z=0.0066 left_yaw=0.1112 left_pitch=0.2651 left_roll=-0.0853 left_gripper=0.7455 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.4547, 2.9333, 0.9939, -0.0806, -0.2418, -0.1538, -0.1162, -1.5111, 6.9538, 1.6288, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35adf7252178e59fb9b5ccdbafda97a61d512b68028802daf13b20877ace36a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8cc7fee9552553af41e843404aad29e175dd08e760fea83fe1d8c5c5a01b41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c190840ed04cf8d57d9ebfb0f747823471b116c80ab6c6088d7a0d8fce3f8919",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLBVq0ATpa8aDhLYGKCQUpfNT_XCXb2kwAY9P2WOH9mGmfmJpb8IopPKLy6Co2JhURE9WOStp2EzD-QRwnp9Lt8BYjUsXytYWjALoJByVcoTPmmKUpCyQpcR1gRcxPLKifgMRKxAVC4JPaLXTCJ2LYYspyGV4nG7XxxH0groonEsvjKtd2WN76hp5DvRbL8ekfs2MRTY7F6Hazp7dD3VbADp-EftMguJ9TUNpfu9X82ZDNolpBllmkxYPfenOz1mtSK8aKLaGvDkiRzAqkxWdB_72Ac9GJWrQZ_Kz5lV1e8jpGu9SVjUtdeU0GTSj7y9nq9Nzt2t7YW31reoeJo5y5AGcA0cLllFdBgqb6hAvxxcLTdvhUxunZzvu9ZbQfj-3c2N11ZVVFTJwXCMR5Lhzc0GXSp16AjG3MFFO8qSheHYyD2eXw1qziCDLgcQfyCMCKDFGA3DllOQgAJngCgyo2nnwGP0IS3QfGI0BiwspjEkFUy0fIucnvA1MnR2SP6bNBAT6jYzYF4gIFAluc7STBZfhIT1-lEFQKDq167QSkRoBZdKN8Vz0s3y5Hj7d_zDwg9RzkgByJ9zlVoqsnffXxm7KxJov1KbdGYUnhB3fqxi7bnQD05zfVgcMLy0o4ak3o0AVhQZczfJ4Z5DAk3PUPxBDhdXNXXEe0pSpug4zPIt8HqZRrcoQGnPugDuWquBb4UD3hVcZD9FXUXfe83MlWusk2xHrOrKaZTms8UGvOngO3jo9-xnZI55gUWfgZg3Ait61QNBgIPE4K82GtY_lf6X4aYJs_lW4A4JQLQm09OT3PUs2WD-0cbX7wVMWKbim5cIGzafJEJo4kMRdUoNurfyX8Yiq0zxAl5gxbE0tT7L3CK8CVkUKmJsOL3fDiBOeiR6bwf5HyVYg_5kl_NXEQTTZ7-FZrVfIpzrX_dvxzQaz_8V1305ay3WswMc3QE8V8hfZdETQrwFPLmHrqKhKF9LV4bRqxx6CqLB48mIbROxexMptRH718KbxBGcJfAMyQzYehnf-8KLIg8EVCGN6QNvyao0YiNL7i1D-fPu2DnHlqIafNOO6Ul3t_LekvTE3hSDcBzyufQPezqc13lsgbk6edtBZOCW2CzumyOgk3mhFaeizOWNmXmapzLb_vc44FyQD8KGcqlY20I6RwgApRM-wio5Ud2-W-7RBQdHhqMdT7nr526L7zdUKia14LweS4wZ2gUu7V9qumzB80bC100X_aad4wAlZMcavoK36bEAxk25jok_sHLRweo1UGr5c8lx6KAM2dybPVQInETxTLZEF5zP5P8KTFV-771cohccRiNbqXpVI_thJ4u4KIkhDDmFdofHiWeqdwp9czsvKFKXetiZbfe6Hl0InLikr9_P9q_9_53Gfrm4-IbsAUuyT-WX-xhwYcG9V_X9RUWeDC25duNMlB6bcDwdHaQoLfWEJfjXn5vkxsJn47Tit_ounxVrs7roav4mj0lee5iwMcF9gd1msqLCCHmnh2MU761kfCxd3sP8M_v8QNjBAXtZusMPcKuMPA0mWouIkA52LuV-Q==",
  "id": "rs_0eb21617a5aff9fa016ab472bf757887d0a956ad702bfd6ee1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.303,\"left_z\":0.05,\"left_pitch\":0.35},\"note\":\"The low pose is preventing forward motion. I’m lifting a few centimeters to move over the cap without dragging the fingertips along the table.\"}",
  "call_id": "call_X12lj1WAfyiz6aaGIS7g88lu",
  "id": "fc_0eb21617a5aff9fa016ab472c0b76c87d0b90ca8d2bd627190",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X12lj1WAfyiz6aaGIS7g88lu",
  "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]: [-1.0058, 2.2841, 1.0309, 0.6697, -0.9958, -0.6018, 0.7461, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.3115 left_z=0.0063 left_yaw=0.1107 left_pitch=0.2643 left_roll=-0.0827 left_gripper=0.7461 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.441, 2.9197, 1.0085, -0.1099, -0.2076, 0.0464, -0.0205, -1.4974, 6.9402, 1.6288, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c487c0d9c78a23a950c2a2cbe45c8013b4f1bc7c5e19aedbfa04844edc0b0231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c827a0b9ad30e42c36a9adfd930eef1e787f78f9e0805d4b384ed17718898050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba966a20c84fc76595a3680a7fd61aaf2bba65d11d16c11761fb98ce71a1ddab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 9.387 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0084, 2.3684, 1.0744, 0.8654, -1.0405, -0.4267, 0.4951, -0.0257, 0.8429, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3873 left_y=-0.3219 left_z=0.011 left_yaw=0.0894 left_pitch=0.358 left_roll=-0.0402 left_gripper=0.4951 right_x=0.2863 right_y=0.0011 right_z=0.154 right_yaw=-0.0017 right_pitch=-0.1346 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -11.1658, 2.5641, 0.862, -0.0708, -0.1685, -0.1392, -0.0342, -1.2923, 6.9812, 1.6386, -0.0171, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0058, 2.2841, 1.0309, 0.672, -0.9955, -0.6022, 0.7455, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3774 left_y=-0.3117 left_z=0.0066 left_yaw=0.1112 left_pitch=0.2651 left_roll=-0.0853 left_gripper=0.7455 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.4547, 2.9333, 0.9939, -0.0806, -0.2418, -0.1538, -0.1162, -1.5111, 6.9538, 1.6288, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0058, 2.2841, 1.0309, 0.6697, -0.9958, -0.6018, 0.7461, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.3115 left_z=0.0063 left_yaw=0.1107 left_pitch=0.2643 left_roll=-0.0827 left_gripper=0.7461 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.441, 2.9197, 1.0085, -0.1099, -0.2076, 0.0464, -0.0205, -1.4974, 6.9402, 1.6288, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c487c0d9c78a23a950c2a2cbe45c8013b4f1bc7c5e19aedbfa04844edc0b0231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c827a0b9ad30e42c36a9adfd930eef1e787f78f9e0805d4b384ed17718898050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba966a20c84fc76595a3680a7fd61aaf2bba65d11d16c11761fb98ce71a1ddab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHLFayzMZB-PLpmDlXqifEDWeJoK5Y3ejUu2PANlA-GjUC9-YrBI2wXnIKiq68ydv6OgXiCKIXr_Bu7xKzcDSlEtDUphvhdX-5GgtpaAM0scJrun2syxBko4it062rDrCMAl8jAUiyC3pKB8Ueib2PQMu-KXBqEpYy8Jx2PoxkBG2ny_YjZOOAeGDjfsiSkq1ff73-t68d4hAAxe0_Xz_-xOk3WE19_AkenKULBJHmzSPXpbHkEtKA3rG-LtUd-p1nwkm_aZHIi_kXglUxHAzp7zBViBJeeoJy4mnd0P6MKXYmqHROiJeXJqy3i2zzd-hc_NseNvnoPXz_HR5oGs05YV5WBOIu1BbXj3p2gR4Mk-qsPldrCYBhfmDd5YwbHdXCYgk3ZfOKonaHq7U5i8hpx8iWRARRoPzZRsG3Tu-1OAgL2hxF4Ye3yVM0523_ZJ941LblPcgrYtUmQnDs_h29Cv8BIGz3kSo4CgGqKtXRHMIT68XLt68VOM8wfvigCrqIfN9hjJKDQnISRYZvEkNCNwWI1khuDFNWZXOZrDJ2BKwAiJ1eqc5my-cRE-5wr97kdovOmLRb729yeXbCFBH0wdVmvfC2p2170YIitUDz0l9z8Xlp-60Eu3NF2qPpitzYF2HwlaaIg3OmArnpgGGrK4h64OciUyzOhdExtLkDlVtPSe5736Wgv9fnC9qmAnTnDCqajptSKQGINKIjtKYgqazLlUyMzgQmRPjyI8h_Z_0UjpsUFEDXh5pM6npImeuS396XSvfFvnJkraBFhFD69inY02uKQ2CQtIDLugVnkoN5uWhivw7oIWFgxjoITjPo2_OA--z7mLXbi43sEoEziTReFC_MuyQ9TgQognNCm8PongIFc3Peo2TCHhKm8G9J8liizhJNsUxAP3vvbXfc7QPqTUcpuQumMUtMX-_OIa8jcbnl3eEcKz_U3j5vb6JJKsUy8mUj8sSBY2i5b41VNjfz7xp0qHPTYrFEQtf5_5IW0RSfzdkGGK68dbUzqXrkGS8bVSC0DJ2AD2IX0wBJxyj4Qo4yygKt0VSOqNZU6tIRvn6BNaCfBEBAbzRSkaZU8yzX_NIMnNahI81F3mS4MzzKjEiAUT41GCBkvqGYoXmkhLJZ-n2ehG9CmQkmKUOMmsLGNDcqveEhpR4adgfQoYpLwmtBwBnYie8T30ES4AhfTI8SoACitGS9IwngZtkYhpaQQOZUXML7wqn-G_J-QXZzxVEr0S7RZaQszLQp-XKMUlVOUJhaes-pIuu0ScXaFor6mzqrvRiWxekJ3qcnfSKMbOWFNToaHSZ4VExe2m0jNJsQDnV6_QVCyhhzX36-QJQVGXocYpJl1u8Iy1UBUzPJ0-kQnYSuUNMfrwSxpNeBUGB34IQ2-Ck1lSzQfoEWybdiXBSFbJoa8Rn4x_8g4a8s52FEsAAz7PD3hQAfZOFXuuEWsTWWBcH4ZYVU8-J-_TgaJiDUBquYEEOio5s_zdK5A66gAzLuCSAgwWgrDpeGg=",
  "id": "rs_0eb21617a5aff9fa016ab472c3bc3087d0b253ed5dcdb8543c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.06,\"left_z\":0.2,\"left_pitch\":0,\"left_yaw\":0,\"left_roll\":0},\"note\":\"The left arm is no longer tracking these nearby targets, so I’m withdrawing it to a safe, folded-back pose. The cap and pen are still on the tabletop.\"}",
  "call_id": "call_ycZymrO68tHV6AeYYzo0YyLx",
  "id": "fc_0eb21617a5aff9fa016ab472c497d487d082af32b2089abbb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ycZymrO68tHV6AeYYzo0YyLx",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.4263, 0.9104, 0.6754, -0.3748, -0.4026, -0.2989, 0.7461, -0.0257, 0.8463, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3043 left_y=-0.0582 left_z=0.1888 left_yaw=0.0583 left_pitch=0.015 left_roll=-0.0179 left_gripper=0.7461 right_x=0.2865 right_y=0.0012 right_z=0.1531 right_yaw=-0.0014 right_pitch=-0.138 right_roll=0.0073 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -2.2906, 10.1538, 1.7167, 0.0073, 0.2759, -0.0073, -0.1162, -1.6615, 7.1179, 1.619, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd008be301c8904870dfe39dff5b2dac3ed53dfbc9860bd888e697c7a4ce39af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7d17356e9651b21b175b59c12e53670df92ebde80aaef965b9359ca1aa16be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67144e6727ae7f5caea3b84f62587c59dd51a8caa5c1e678d71d5739da04a2e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.779 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0077, 2.3043, 1.0363, 0.7189, -1.0077, -0.5652, 0.0096, -0.0257, 0.8444, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3789 left_y=-0.3136 left_z=0.0065 left_yaw=0.1062 left_pitch=0.2864 left_roll=-0.0754 left_gripper=0.0096 right_x=0.2864 right_y=0.0011 right_z=0.1536 right_yaw=-0.0017 right_pitch=-0.1361 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -11.5897, 3.0291, 0.9792, -0.0562, -0.2125, 0.7399, -0.0205, -1.3744, 6.9402, 1.6484, -0.0122, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0058, 2.2841, 1.0309, 0.6697, -0.9958, -0.6018, 0.7461, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.3115 left_z=0.0063 left_yaw=0.1107 left_pitch=0.2643 left_roll=-0.0827 left_gripper=0.7461 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.441, 2.9197, 1.0085, -0.1099, -0.2076, 0.0464, -0.0205, -1.4974, 6.9402, 1.6288, -0.0269, -0.0757, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4263, 0.9104, 0.6754, -0.3748, -0.4026, -0.2989, 0.7461, -0.0257, 0.8463, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3043 left_y=-0.0582 left_z=0.1888 left_yaw=0.0583 left_pitch=0.015 left_roll=-0.0179 left_gripper=0.7461 right_x=0.2865 right_y=0.0012 right_z=0.1531 right_yaw=-0.0014 right_pitch=-0.138 right_roll=0.0073 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -2.2906, 10.1538, 1.7167, 0.0073, 0.2759, -0.0073, -0.1162, -1.6615, 7.1179, 1.619, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd008be301c8904870dfe39dff5b2dac3ed53dfbc9860bd888e697c7a4ce39af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7d17356e9651b21b175b59c12e53670df92ebde80aaef965b9359ca1aa16be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67144e6727ae7f5caea3b84f62587c59dd51a8caa5c1e678d71d5739da04a2e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0eb21617a5aff9fa016ab472c9a9d887d08251407eca30726a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.325,\"right_z\":0.11,\"right_pitch\":0.4,\"right_gripper\":0.9},\"note\":\"With the left arm clear, the cap is visible just left of the pen’s pointed end. I’m approaching it with the right arm from the other side, using a tilted pose for the central-table reach.\"}",
  "call_id": "call_Umz9sdWW96tmjX9oAIqLLqJ9",
  "id": "fc_0eb21617a5aff9fa016ab472d0a43887d0af7757d6a1c604d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Umz9sdWW96tmjX9oAIqLLqJ9",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.4267, 0.9173, 0.6758, -0.4004, -0.3923, -0.2905, 0.7462, 0.8864, 2.1338, 1.0943, 0.7059, 0.8341, 0.2153, 0.9007]\nstate[eef_state]: left_x=0.3014 left_y=-0.0589 left_z=0.1818 left_yaw=0.045 left_pitch=-0.0162 left_roll=-0.0014 left_gripper=0.7462 right_x=0.4244 right_y=0.3188 right_z=0.0928 right_yaw=0.0377 right_pitch=0.3377 right_roll=-0.0354 right_gripper=0.9007\nstate[joint_eff]: [0.0205, -2.5778, 7.1316, 1.8242, -0.2369, -0.1538, -0.0073, 0.7043, -10.9744, 6.8308, 1.9463, 0.4078, -0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27cb21b2a99481a11d00a54b656c0b4d19a3a288d8fb9a5141fa1736821f0f50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220b799e5a811a3d9a0fcba96b9ed88bc9d435ad934c6f120cba79264a11635d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d61f153a0e0ff0b84751143a2f31401cf06f6d0efe03cd75f225a75c2db199",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.608 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0058, 2.2841, 1.0309, 0.672, -0.9955, -0.6022, 0.7455, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3774 left_y=-0.3117 left_z=0.0066 left_yaw=0.1112 left_pitch=0.2651 left_roll=-0.0853 left_gripper=0.7455 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.4547, 2.9333, 0.9939, -0.0806, -0.2418, -0.1538, -0.1162, -1.5111, 6.9538, 1.6288, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4263, 0.9104, 0.6754, -0.3748, -0.4026, -0.2989, 0.7461, -0.0257, 0.8463, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3043 left_y=-0.0582 left_z=0.1888 left_yaw=0.0583 left_pitch=0.015 left_roll=-0.0179 left_gripper=0.7461 right_x=0.2865 right_y=0.0012 right_z=0.1531 right_yaw=-0.0014 right_pitch=-0.138 right_roll=0.0073 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -2.2906, 10.1538, 1.7167, 0.0073, 0.2759, -0.0073, -0.1162, -1.6615, 7.1179, 1.619, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.9173, 0.6758, -0.4004, -0.3923, -0.2905, 0.7462, 0.8864, 2.1338, 1.0943, 0.7059, 0.8341, 0.2153, 0.9007]\nstate[eef_state]: left_x=0.3014 left_y=-0.0589 left_z=0.1818 left_yaw=0.045 left_pitch=-0.0162 left_roll=-0.0014 left_gripper=0.7462 right_x=0.4244 right_y=0.3188 right_z=0.0928 right_yaw=0.0377 right_pitch=0.3377 right_roll=-0.0354 right_gripper=0.9007\nstate[joint_eff]: [0.0205, -2.5778, 7.1316, 1.8242, -0.2369, -0.1538, -0.0073, 0.7043, -10.9744, 6.8308, 1.9463, 0.4078, -0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27cb21b2a99481a11d00a54b656c0b4d19a3a288d8fb9a5141fa1736821f0f50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220b799e5a811a3d9a0fcba96b9ed88bc9d435ad934c6f120cba79264a11635d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d61f153a0e0ff0b84751143a2f31401cf06f6d0efe03cd75f225a75c2db199",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHLXbogWZlhzLwgH_hn55uEb8rwr4TpVaMuxQt7w5IsB3eorAqpPxm8tJT4Ac809UpYGY0_qzOW22kVq4F4qMSVUyd_tEAAseKSoioj6UzpgqCxSrJnckw07FVTxkUn5u4BrcSjKL2jbLfj1b0JkU6HJMQdDq6-OfsToWCP3WRdFa9uellT7A1R_IO67OFeaTBWBXr7JaJRHbCLDc5QByHZzLcccLG3eDDjzqpz4XudBG5dWtEtVXZp1cUfUpHiaVM3N-bQYjuTxDgdLMa5S6zrQ-QW95DK4VlgjdKyMtSXwGKwGhUvJ_2-RUmrj505v6xrLHcBVeR3bmrl72qPzi4pjOEEt27ntkfNqBISMPg3Y2gPUysD9Xr-5jHi-emB6hlPmSK83oYZroM0CkC5V3ezRwLjxKFCmRbGcd0cbt6rrrzlIROn9Jtv3yht-sPJp2vOGQIQKZWCDNOQG1eUWIL4ntgdkq-Xi6JNLsNOHjGUn7ApLXDSxGV2DPCJKZe0fpL0ogkAPOlLLm8_C5Dy_LvvWhMCDofuLmaTdckqBQ61SlymveJhAyiDn3FKOvn1HCn-BpdjgvCIrXUVg3lle40QuZXW4eubVgesHBU6_rCMQi_D0MYmNjFRFM4I3IZyLAxNlMmIC9kycJGUnbxHfB9zdh-La_1Xvv1rbyzEtMMTjgZWuN3C-MEq9z7Of8zAtYqjav16yOsLs5OLvPDa4GE3akMaqHvTvj5b2CESy57imaVU8yxT6YxkveuG4UPPQvFz3lYjMkYRzmRqQOqGFhyEHspMIqBfN29EoQNd_aMQDYlcCXMYZZrYShC7O5EgbYBwJn9Z0dDgQBjR2cr1__o71Q3V--VLGEAyH4PQq4di_yAec8EYzbaw935yDis_c7qKetv92fb08OPKmZN2UpCYD9TKT8IJ23yb5PU4AQdod7BAoDSf0omD7XCTBvOUM9ItfklHU9VQ0NRecKBAO8FcLG7B0WUp2BIKMpJEOjusfqO378elY_qrGYfB0f9AhAejkI_l9Ol7r23RqOvpJXhjzoQYoGVjln_-FJfdqByyAkU3zwoS9Z195FyKAoEdGDTVuj-Vv2SLzE6C-QFH4Iz-Nlm9GJMUDNWSBspfGWizq7yvEny4LEXrZAIha5WbW4Nj-K672curJoQamfC3JrlKZ9DYBzL066Tbx0tk5ccZovRthXxb7sBsotpa4vOxJ-s0_13qKj5FcFX5lViLcYPzeDnajc5pqLCH1XMtEtS4ogGF7BtTGP9Q5Hpm1Yv5XPGRTB86nhoVfNuweHW7eaRoQOVnoaZBXIlP7PLx7dmWpup9M6SihfR8My0zx0OtbgIaJ77-rztYizl1_yEFUqU1-jLev3FdMpzfxR_wt1tcG5WjD_JugrXNo8vT1iwOSoA4FTArqarGtdxXSK99QpglyMhWbZ_wnQ53I2aj-4no-a2Ew-ArjSVFlXBRoF3L_YDqopcST222vKMlqgjzdKMAypA==",
  "id": "rs_0eb21617a5aff9fa016ab472d5aa1087d0b821bed7ce5913da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.325,\"right_z\":0.012,\"right_pitch\":0.3,\"right_gripper\":0.8},\"note\":\"The right gripper is over the cap’s overhead position; the cap is hidden beneath it rather than ahead in the wrist view. I’m lowering slowly toward the table.\"}",
  "call_id": "call_hwPX08mFxnkoTqYnwsd9hYgM",
  "id": "fc_0eb21617a5aff9fa016ab472d6bf4087d09ddad1bb727a45a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hwPX08mFxnkoTqYnwsd9hYgM",
  "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]: [-0.4271, 0.9199, 0.6758, -0.4068, -0.3916, -0.2901, 0.7462, 0.8917, 2.3455, 1.108, 0.8158, 0.8318, 0.2348, 0.8017]\nstate[eef_state]: left_x=0.3007 left_y=-0.0588 left_z=0.1798 left_yaw=0.0439 left_pitch=-0.0246 left_roll=0.0026 left_gripper=0.7462 right_x=0.4218 right_y=0.3204 right_z=0.0116 right_yaw=0.0552 right_pitch=0.279 right_roll=-0.084 right_gripper=0.8017\nstate[joint_eff]: [-0.1026, -2.2632, 6.9538, 1.707, -0.1783, -0.0659, -0.0171, -0.0205, -10.7692, 6.0513, 1.1844, -0.0562, 0.1978, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd9a1dd093be10d2c4e7f175aa1fdbe4aef9300e5a298d9913a6061184e6145",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e511e18d24849702da001194a1c1fe24b3efcf33ebd54249cc2409f9f43c3e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfcc2b81017ad37103719951eeb8667a09ff09b94f035dee8fc3dad7c9fab302",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.128 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0058, 2.2841, 1.0309, 0.6697, -0.9958, -0.6018, 0.7461, -0.0257, 0.8448, 0.6132, -0.4648, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.3115 left_z=0.0063 left_yaw=0.1107 left_pitch=0.2643 left_roll=-0.0827 left_gripper=0.7461 right_x=0.2864 right_y=0.0011 right_z=0.1535 right_yaw=-0.0017 right_pitch=-0.1365 right_roll=0.007 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -10.441, 2.9197, 1.0085, -0.1099, -0.2076, 0.0464, -0.0205, -1.4974, 6.9402, 1.6288, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.9173, 0.6758, -0.4004, -0.3923, -0.2905, 0.7462, 0.8864, 2.1338, 1.0943, 0.7059, 0.8341, 0.2153, 0.9007]\nstate[eef_state]: left_x=0.3014 left_y=-0.0589 left_z=0.1818 left_yaw=0.045 left_pitch=-0.0162 left_roll=-0.0014 left_gripper=0.7462 right_x=0.4244 right_y=0.3188 right_z=0.0928 right_yaw=0.0377 right_pitch=0.3377 right_roll=-0.0354 right_gripper=0.9007\nstate[joint_eff]: [0.0205, -2.5778, 7.1316, 1.8242, -0.2369, -0.1538, -0.0073, 0.7043, -10.9744, 6.8308, 1.9463, 0.4078, -0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9199, 0.6758, -0.4068, -0.3916, -0.2901, 0.7462, 0.8917, 2.3455, 1.108, 0.8158, 0.8318, 0.2348, 0.8017]\nstate[eef_state]: left_x=0.3007 left_y=-0.0588 left_z=0.1798 left_yaw=0.0439 left_pitch=-0.0246 left_roll=0.0026 left_gripper=0.7462 right_x=0.4218 right_y=0.3204 right_z=0.0116 right_yaw=0.0552 right_pitch=0.279 right_roll=-0.084 right_gripper=0.8017\nstate[joint_eff]: [-0.1026, -2.2632, 6.9538, 1.707, -0.1783, -0.0659, -0.0171, -0.0205, -10.7692, 6.0513, 1.1844, -0.0562, 0.1978, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd9a1dd093be10d2c4e7f175aa1fdbe4aef9300e5a298d9913a6061184e6145",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e511e18d24849702da001194a1c1fe24b3efcf33ebd54249cc2409f9f43c3e19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfcc2b81017ad37103719951eeb8667a09ff09b94f035dee8fc3dad7c9fab302",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLdzkCyflc-kkec1juLpvihAaUMhjLEhtylY1NpogzWMC-tOjI8q4gveTwZ2MOhqzk0OrxP__oZI4G4evBoPd0oPNyr1uOpY_swaGeAJAbRM5sI6GqQWvCWe7x_u46wE7pJ_fKSIDJ_fUnd-10Fqq9aNnS7eTy5WWSZ6pnC2bG0ZcRfLVpSMB3ItfKy89jMqBAZjr664oJInrzs3nPuDr56FfPmAaedX9R9yA_vSJg_-y6jenCpfLGcyF_VbCui_YHSEgMIN3yMYvXy6uyzJj72Ur5E3_Gr_5XO2hV4jyGIfeyFphvcxZ01QY9HNK3cAa_Zp_7q0XDJug6O3o0f6G9r-98vvGsKR6v8K0XYNdl2Cwz8MFy8eHZ62dElX8duraEZte1Tv3qjht8VioNNPX6q78QR2t0s3gRhlPvGz8RlWTJvsIEYTYmkieQIgUWq6a2yKqJSdMrP9GNJ5Fm68lEeWIYoDRitrBmCumWOLGuAKthvYJ6OnGlsS9UL8d8zRCw-OQO9_J-us6sV_Qp1UZ2WgPp7U1cWcrYNx5xx6wU_y035wW5vxxbs88CXv4CEzIYo05PG1ZUzlbflWMGs--A61c_gdPRxnX8l1tBg39FaD1RZcZr8xeC4sE35qNHlC2Py5PETt-VFNEczEbDVcAAaBoXITqeYBZPMfJCckiSHgFrLL5S5kg0-UdpsiO7fqJ7ktejvVwxNMVW9bD9BaUuJajuvomxNiCNWgiq_BWabEpf8eslUwdCI835GE0g_0qUnzwokvzTjrU8zlBMdQHrVgLFSLs4P9sqUHztb_MMi5z2g8U7TY6-h-DDXMf9lc4qqFBAzpbbQrdQDFosOzszQcWZVWGTnmmzRurCuuUiEwWbeqVkj5priCu7WYAU_cXxHhgA-HNKtG7cLrAXt1I-38oOI9QSLeL1SFJymXcVQew_hTOy5-Sh45_C8EZvs23McN2HeF5tsIyIP-Dc0U1yMu_0gGNiBX30Dh1Zy3J2dZ8CVg0rA2dA_9kzrkzjSP5Jnk5gYu7a4RUf84YFxibxmlvVwtlx_RkIROcixpxfYoMyuWfkBu1ai5Iu8vF7_b4t97Tqj_YD1Vv-EQX3o_BdbENUkz3L9I1RKG2Up9P3_ehuYcVvwpZ-X4jGnyUXXK-xalYa-qROg14WSN_wT0UMs5CWODeY1pQHhnMrXaERHW8T5F5qS263AezDZwqsGW4MbUosSkd9fjO2Flcmeuyv-YF-4hvuRWsyjYXqRycyos3qtpQ8smGtJl6Ch1ovd65LFAFPgYiZX0UXzp4Pb3m4IBNqXsWPq5hhVqgvQnWtR8xkqct6gnTf3zdJRPE6d05CkwppheZiNp6a3hBd0xCCsvUJbIPUqHvPmTqCjv9waxFm1uD4KwWq1ioB9S24nhDF7F10CgnQ0LNkUkuDDdOgLN7UiS-zPlARPRYbWjzFwntI7c1LpIadgo_xQrZ44TaLhfqqQL0bppT07JF-JSN-r7PWeb93sQ8BaNuM12tt196NzWF6Q-cqrb3MXnF2FLlfd2-jx5n7TddvYA216ASzfPy0bCEeA6AOb5N1yWNyQBq5KNfCoCV5zvJskjDRtlAxQD8UviKkh_CKRYqKmrjsddM948R80ykWp_hWK8bB7N51_qoI1dAhKyqHv5-i08cEneFD3NqtxyKtLVBlzO8EI-feUx8K9woMHvQhpOKYxR7nvEs5dbbjfbum-LHdAe1BZkwHVcGYlQFqhkKQYSnC-x0-AvMMfwug-q6uY9ntNpUCdmUkcDiGxSasPhPr29p9GHdkRvq9HbH3X6oBS8maqKVKYT7vhtrRcIVx6R8qzMRvlcz_5pC7l2BFfsDPBTLPh",
  "id": "rs_0eb21617a5aff9fa016ab472da17d487d0bb83fa768f24cd49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.398,\"right_y\":0.325,\"right_z\":0.025,\"right_gripper\":0.7},\"note\":\"The cap remains behind the right wrist camera’s visible fingertip area. I’m moving a little toward the base to bring it into view and avoid closing blindly.\"}",
  "call_id": "call_mVDJYwelKNF4e7kbS4QX5gzv",
  "id": "fc_0eb21617a5aff9fa016ab472dbfc0487d087526d6883c8fb5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mVDJYwelKNF4e7kbS4QX5gzv",
  "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]: [-0.4267, 0.9215, 0.6758, -0.4088, -0.392, -0.2897, 0.7461, 0.9134, 2.3211, 1.074, 0.8078, 0.8478, 0.2508, 0.7038]\nstate[eef_state]: left_x=0.3006 left_y=-0.0586 left_z=0.179 left_yaw=0.0444 left_pitch=-0.0275 left_roll=0.0047 left_gripper=0.7461 right_x=0.4101 right_y=0.3204 right_z=0.0126 right_yaw=0.0585 right_pitch=0.273 right_roll=-0.0863 right_gripper=0.7038\nstate[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6777, -0.1587, -0.0611, -0.0171, 1.7162, -14.0103, 4.8205, 1.5507, 0.2955, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e32b6ff609c846436bf66ea4cc157cabdc12a8777dd026b580fa2defb0120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa35781538e600b857e03fa3e4d68aaa838bc206ea9967dd27f019b058779a28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206a085ebd69ad364f0c8697920db252b95805217588f8ba6c49847ec944d780",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 10.99 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4263, 0.9104, 0.6754, -0.3748, -0.4026, -0.2989, 0.7461, -0.0257, 0.8463, 0.6132, -0.4648, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3043 left_y=-0.0582 left_z=0.1888 left_yaw=0.0583 left_pitch=0.015 left_roll=-0.0179 left_gripper=0.7461 right_x=0.2865 right_y=0.0012 right_z=0.1531 right_yaw=-0.0014 right_pitch=-0.138 right_roll=0.0073 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -2.2906, 10.1538, 1.7167, 0.0073, 0.2759, -0.0073, -0.1162, -1.6615, 7.1179, 1.619, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9199, 0.6758, -0.4068, -0.3916, -0.2901, 0.7462, 0.8917, 2.3455, 1.108, 0.8158, 0.8318, 0.2348, 0.8017]\nstate[eef_state]: left_x=0.3007 left_y=-0.0588 left_z=0.1798 left_yaw=0.0439 left_pitch=-0.0246 left_roll=0.0026 left_gripper=0.7462 right_x=0.4218 right_y=0.3204 right_z=0.0116 right_yaw=0.0552 right_pitch=0.279 right_roll=-0.084 right_gripper=0.8017\nstate[joint_eff]: [-0.1026, -2.2632, 6.9538, 1.707, -0.1783, -0.0659, -0.0171, -0.0205, -10.7692, 6.0513, 1.1844, -0.0562, 0.1978, 0.0904]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.9215, 0.6758, -0.4088, -0.392, -0.2897, 0.7461, 0.9134, 2.3211, 1.074, 0.8078, 0.8478, 0.2508, 0.7038]\nstate[eef_state]: left_x=0.3006 left_y=-0.0586 left_z=0.179 left_yaw=0.0444 left_pitch=-0.0275 left_roll=0.0047 left_gripper=0.7461 right_x=0.4101 right_y=0.3204 right_z=0.0126 right_yaw=0.0585 right_pitch=0.273 right_roll=-0.0863 right_gripper=0.7038\nstate[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6777, -0.1587, -0.0611, -0.0171, 1.7162, -14.0103, 4.8205, 1.5507, 0.2955, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e32b6ff609c846436bf66ea4cc157cabdc12a8777dd026b580fa2defb0120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa35781538e600b857e03fa3e4d68aaa838bc206ea9967dd27f019b058779a28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206a085ebd69ad364f0c8697920db252b95805217588f8ba6c49847ec944d780",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLgEBbuIiSZcnYKLOiU3yNWgRPmw9jKm7XTMxdFHAGfCnPDZogBsH7fBaLcfvxO2FnJJ3wjxh9cEcuvZoAGwc_qtAlLvQ8I3uEK4kRQ1Mi-ttk2HtapcD6qyUORjgGbGMQEIJmCj9ylD70voe9bUN5G6Z1HQFygi_kWkwMfOs965IcYovrmPGLUTcCBM6E5PjgQkvx7s98ftlsr_JlJB9pVM9Unn6c5LIEzNFt4lxgk3v46ieoe8dcRpqXAROzmkc218eqtHZukjItREgVRfhQR-3XUu_lKL7nnuYUlq4IplpBGgTEPCerRHYQX3woEdqCirMoiBDxXInN72kxfC0XhTlWjkoOYcR2PEN5v_3I5SrRg88g-PwLOl8FHzy7Du5YfLJp4RiEaqMgMgbm-b3lE_4xAzT-MzQEkU709RC_BwJfSi28Hzzpsjwn9ZvBAOMeTQZZ2YeGYCJ-BG-Fl8v-KFvQ1bW1WEBz2JGb4q0etRDrEDdeQdMumS5ivOcn3UhC-yxocHY6ZZbnRC1Q6f2i97K04_ltq6LThVnwrZ_wpyuDDRL5P5lZKFxyBeqJ4BAh5OEGLyaEb0fxtjCia9uzDuTzXUi9X-vw_PGYhcu1k-6OZbb6FCsR47rXGQh8DfOQKV90QBG9amXy6XOVBe4U9gHKQWjG4S476geiF3xBThxm2Yzxbq3JhcxsfAuHAtGsvqn4Jfxcze7I8sXL7VR6sxPmrYxtGOGSFQbF8nseSHYQntygBEBHA3uhcsLbQyRTTRLkIdCG6CZrTijrH_34xPZFaypFLjVk9xB2zfT_EwAaShtq7fsmWcQd4ShflyqlsTIc5DfJkzTXgO4cN_TJG2TkYsPqi7Vs9oknODx8Nrs8tgbdpa_XJ7Nb0EUSgavT5M34JP8w3niJjUal7TFvzU3yq7STT_M5KvJcmM5oTIz84cd-x93GUFhwrt1W6JxgfL-fqloiNydpY3zSPpx6E18lQyv2zoKddRkkNxf7L80OS3mPjlrJBDQv7womMN6_emcLV6v5mb0KMXzpOHpdq_cUWQCQpA8sE1mS-BiL8WapRYZJOacNzSwgHdzSESdERSEJAuoCP0hCrpjNn-91gGK9-txK9v4nDE2eUcmgkwk0LNhU7VlNv8YNsIF_hJsPz3SBPofVTtaN19n1BY10-dBxpcPXiA6uJQz5vREo16KRutmIgBzjId_ippYDasm41gd1DXqv_7OYQnouznDdaxLIowb0IiX6uFOx3GGPBgt5nJw3D_vo9b3oqh2yYWkKnm93SCL0ijK5roVE5Ozl54VF3oQEBZg22s4pCv0cNXSJE6XHqQc8kGya8z26CqCI7uBCV3plomSFQjddnjAyNm2DYArcSF_AZegXc-wDJ9sJzMDHgmH4OW31yp4hUYIyp",
  "id": "rs_0eb21617a5aff9fa016ab472de989087d0baa6f8a66f0d27a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.325,\"right_z\":0.04,\"right_pitch\":0.15,\"right_gripper\":0.9},\"note\":\"The cap is still occluded, so I’m backing away another few centimeters with more clearance. This should expose it in front of the fingertips for a measured approach.\"}",
  "call_id": "call_psF3b54AE0JlTJpv4ertBhlk",
  "id": "fc_0eb21617a5aff9fa016ab472df3f4487d08940a5d1d8c1910d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_psF3b54AE0JlTJpv4ertBhlk",
  "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]: [-0.4271, 0.923, 0.6758, -0.4088, -0.3916, -0.2897, 0.7462, 0.9848, 2.1563, 1.0428, 0.5014, 0.8577, 0.3904, 0.8975]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1786 left_yaw=0.0437 left_pitch=-0.029 left_roll=0.0052 left_gripper=0.7462 right_x=0.3738 right_y=0.328 right_z=0.0322 right_yaw=0.0762 right_pitch=0.1726 right_roll=-0.0912 right_gripper=0.8975\nstate[joint_eff]: [-0.0479, -1.7026, 6.9538, 1.6728, -0.1929, -0.0366, -0.0073, 0.7316, -13.0256, 4.7385, 1.5116, 0.3541, 0.1636, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06e376bc41cac9a9e3fb5f8eb90a5d2cf0b6dd6960619f0f8389a9d52a9c6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2ee3e0b41e8354b15942720a96dfa5d92ecf7030857f7522df5bdef1c72a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba0a370cdcc6c8699a7bae704b637d9b104bc1508095f8c1b146afd36e18005",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.492 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.9173, 0.6758, -0.4004, -0.3923, -0.2905, 0.7462, 0.8864, 2.1338, 1.0943, 0.7059, 0.8341, 0.2153, 0.9007]\nstate[eef_state]: left_x=0.3014 left_y=-0.0589 left_z=0.1818 left_yaw=0.045 left_pitch=-0.0162 left_roll=-0.0014 left_gripper=0.7462 right_x=0.4244 right_y=0.3188 right_z=0.0928 right_yaw=0.0377 right_pitch=0.3377 right_roll=-0.0354 right_gripper=0.9007\nstate[joint_eff]: [0.0205, -2.5778, 7.1316, 1.8242, -0.2369, -0.1538, -0.0073, 0.7043, -10.9744, 6.8308, 1.9463, 0.4078, -0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.9215, 0.6758, -0.4088, -0.392, -0.2897, 0.7461, 0.9134, 2.3211, 1.074, 0.8078, 0.8478, 0.2508, 0.7038]\nstate[eef_state]: left_x=0.3006 left_y=-0.0586 left_z=0.179 left_yaw=0.0444 left_pitch=-0.0275 left_roll=0.0047 left_gripper=0.7461 right_x=0.4101 right_y=0.3204 right_z=0.0126 right_yaw=0.0585 right_pitch=0.273 right_roll=-0.0863 right_gripper=0.7038\nstate[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6777, -0.1587, -0.0611, -0.0171, 1.7162, -14.0103, 4.8205, 1.5507, 0.2955, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4088, -0.3916, -0.2897, 0.7462, 0.9848, 2.1563, 1.0428, 0.5014, 0.8577, 0.3904, 0.8975]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1786 left_yaw=0.0437 left_pitch=-0.029 left_roll=0.0052 left_gripper=0.7462 right_x=0.3738 right_y=0.328 right_z=0.0322 right_yaw=0.0762 right_pitch=0.1726 right_roll=-0.0912 right_gripper=0.8975\nstate[joint_eff]: [-0.0479, -1.7026, 6.9538, 1.6728, -0.1929, -0.0366, -0.0073, 0.7316, -13.0256, 4.7385, 1.5116, 0.3541, 0.1636, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06e376bc41cac9a9e3fb5f8eb90a5d2cf0b6dd6960619f0f8389a9d52a9c6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2ee3e0b41e8354b15942720a96dfa5d92ecf7030857f7522df5bdef1c72a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba0a370cdcc6c8699a7bae704b637d9b104bc1508095f8c1b146afd36e18005",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHLryBMRIu6n82J-1apthQ9E5_PXQHeclJ5ZU3p92zpAb97W4cCUMjEy7JG352NuAKu1nLlOUBpubo-c6pRA3bKiEF2mk1_4Wch0nRlKdpZg-z4kgojrH_LZxdzJMyXD395_bOs1CWLyqvCCuRGBT3-nfqxWhRrl245OTox1g3KZykDm6A4a2AEq-bwop6AXd__5_dDm74mEKY266hcgk5dxtn6o6tqj0aVxpMkmHCbJI-2i2bqoRnb7hADjHZRjKALb9tL48QtD_p7TqTzWn4JEVHs7RGC9TubKy4IHx1YsP4XArsSHk63uHq1OgA02L-yl_lmPujKRKUTKJ6lOLgODiT7K9L7TKKscFI_z7XoOxRSLs80_c8fcEWBD1zAfP50SCO0kvAjC50UcEG2hSTCyRqayzhOovWzfccpFiubro7L6uWmwwQPl3YZp2PTOot8iGVs8pPXO1GNP8Hr5ds8ouGC1hbQrfDLdhdkSpD6dpuoAqCogsr-vKtUm41qoLaZHhHXUEDyqqIYq1GdwroHqf9v5yyWHIXw5DSFy7Y2VwWazyjzQ8CPcsA8MaJ2YUULmzB-COoW_mKWO55eocvmxg34YVNpQ4bbuiEIYSBKJa4v_mSGgTUjkCO-28VM6d9bpoMNJUhUsVG8kHdcdzAaLhni605Iwh_D219zr_-j8XGDhtd9Kwcs066y4CH6Vow6FxUl2f9JaYiQQTykPOEfQBsUaQrDHE6f1UhMxgiulOCH-ul9Q5glbpF_1UJsO8Io03bGOwxRCjkVSDgo5I8f1mcW8d_3ZA10wb5J6kVhwnQK6kBWB7iU1tsQK1UfOhDlPMO_ZWkfTxcYIusqy0SMg16IaxOlxQjXOMe7PIWtxfpqeg0vO-05TINSrSb2uh6CaRbLY8Wym-BwRoToGJ3j4sEHe-UFufSWGKXaZxzicbBwIzV7YnW1TTr-9f9yvNIlKI1ZwNQZe7BsAsTnoXAyChp7Z5Z-omtdccFz5qPCi_OqQ7iIQhFzloONsadgH7NqNf5GfC0vn7ySxCdKBCyIfxVjryhK_WZc59N7N63YOEgTcQe0t7QZPhFxl9VU4IcdSNdlS27GXoPTXO3JPM9saPgSOhXIEPIlSLfA-TJxjxo_aa2-zJzYSfVH2_jHLznIpc71oocG1vAtYgeQyqE1F3xAbSKvvl_yDGeBj6GZCt9VOJBYiOSbUIStihugWx_s3hABOFKZRQylYD8EZwGOPxxlAdmjxQt1wlBof8O77WSzGJfw6baoGMZOEJ9eL6OnE_d4blokEnFWkMCAAaxbJpzYtMhYcYHTNBIdGAUwPLeAZjuWQPm-kdQdpgh2ZbFw3zEqXm9CU2nuS3Lg7rJ1viDN-TL8HYdTPobqm9JH72UOex87BQTOG3RAEhUWEe0VHfxdcVX1LB0oVaxOAnDldMmBXvNZJLn4lpFl8eaLEyPd4qRM5zPSsqiuyFV2_mgfZT2a02troyOGQiI_xP7k0caELK2RxN4G0QkNKuG8JabOSDUx1eVIfTNqawbWC35YIPSuaiwkD62wf0kmrMGs8ZCnncmeNXnq892lhk4Lnvqnmw2pYSk3pCCSwKYRtvsLtlBzhtmdEbc8_fKaqvzBNeXYgTIegtK2XnUwSMCUkhl_RthpzM07kk45esBM9H0M7vRd7XDX-XnnzPYSKhTi8Y0_It4kesvmv0K2uujV4SWSphvDO1qG0ZCNHUM9YW7y96psUxVG8Dqxqpxdi42m_H9Xcvrtsbw9veBDWiBbTYrYS9Pcfqrvx4wEG5aud5YE6nZHE1mwQsnn194pEun9qGS6J7McIz0afcHVgamuoQwDj5rrCMOJRLLbmjZLxDuFHwfFhVYks_dFm3HBy9G-Uj5V64qVuX-t0SMBmEvYVUH9rmA_AA9xI3TyBVBPw13H-13e8JxtV_UGh5uhw0J3j-W4oepY9AF_niOrA0BfmgnVs49WmfENZ5Jg7hbnHwl_LdZP1D1u6ABug5wFTt5QVZiV1ATBlxUqsmpajoViTyzhOzlojdWae2VuBBNZVXHi6y6Z8glRNdaE1Htp3eZPU3rFtasTh8srsI_hIvuqk-KhdCy0gk0typLuGbxS4yP_mlf3Jvzk5g4fKRsZJ-KwyAQqCuIXfdIK3lFRkFG73E7sUeY-Tg9-_wrn2mIw9DxUSHx8X728xEbPWmy5r9OP1GVry2Z9tRDySVfIh8UCKETPk_uL9gEIpCgFUzr8_fqrIFGVk08HYyv-rDBqJVcADc5MG2rx8_DOWNKZvTxunbsuQQJV8so4Uyi2tVailwVqEJaO-f7MWJYYh2UzLuqOV7wcoDE5BfT2CZ9-hUYJPZf1fbQ0lMGpsnyfufUlO0m6nOA3bHPSniok-XKWGsYVFRykapvZwH4J3mSX-UOene3TCMWADXUcoOLW-CUKGoM89-rAvML0Po6vkE1IurZ5iHh3dGtoyARr5shccXH58BKAZ6RqRTv4gSqtqujSFfjFPjzxr_PgzGzI7fv5Qz-TsttkdhY8hbTr6vwmkjCts77sw9e-a1HG-VBsNMKHt8FbmdalCS-CurLXQpd3GVGpVVWUViiBp4xi_CutKoP3K3UG8nD_giv-HiJWFj02voHu-6adkzu8LN8pMxbzxXcO8clzwxIURKgWkBAVSpM8adp1yOG7cz5VbU6l5UbcAE0y6qly64gxinaJ-1J3J-inFxnj6J6b1RdE-3H-julAM1pGNnrLNnQBzjZQHcaQL3bV5nYixDItZObX1tOEQsfsJcxdsrlA9sZRSc3pAGgbZ6rv96pWHqEKuNGDAqJM6c_5-XRJX1a2Z-tkii7N798OfkW-Exy120bvAJYhVyjy3nelC86MCiGxTbgwYmH8GhvYzk7E-b1KRYUojNA3z6IUsCvQRu0obDzip3AK_M7VSGSoniNhaAkSq4YQIya2_lvpS5je1Ho1PsjHiQuRjmpSWvwd4dRtnFWJ4f3fRL2ZCLQGXhPiF2WEUdc4t2tbmiX9Ou6rkt1Q1d0wrahOoWe7Ia_x6lyP7HPqyoABcR6tvpubZuDBPNsXrp6QJUuv90wv4hEUL4C7CsGw_SBA-2QE-L8yAgQiZj2ox8e9W1XYomzwsYkISe0WhPq78eci3WAq5MGN0XrMbfsO-a4nFAFwJ0LFhW8-IPCkFE0iEeXMTjvAstVam0nUxbvG4l02fGFQl_x8r3pMPiYUM-LheM51zfSL2ALZFrzVlwCSIJDUZBVPa6v2y8VFBMkCojnmRa-hd0-jikvSPAlIwfs8Y8-mGe1sYR-SJ1OQTi3I7-JqYCiYfJaHX5B6R-aNqJCfp7JdbNByVoAVDy-CqYBabmNlS7z_qm-acKDvL38Pp131WWkPx3dWwaxaBN7zWor2T1b5ZU7yTgH0lL0QLm1NQB6RpibHvpourKjOm0uOlkAYR4Zz-HluG_6o7GbGbiXRSB0zCG68QIl3XUMVN2SJGcm-LJlyM2zweZ2W95V0ylkhPo_bB62OGD3ZDCpGldGsFcWz2",
  "id": "rs_0eb21617a5aff9fa016ab472e23bac87d09acfb13c3239d20a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.402,\"right_y\":0.285,\"right_z\":0.003,\"right_pitch\":0.15,\"right_gripper\":0.6},\"note\":\"The cap is now visible at the lower right of the wrist image. I’m shifting right to center it on the jaw column and moving forward to the actual fingertip grasp point.\"}",
  "call_id": "call_ifg977IJfFxOvlpsjSWILL9t",
  "id": "fc_0eb21617a5aff9fa016ab472ead73c87d0af749ca67ac01b46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ifg977IJfFxOvlpsjSWILL9t",
  "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]: [-0.4267, 0.923, 0.6758, -0.4091, -0.3908, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3977, 0.8574, 0.4385, 0.6041]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0435 left_pitch=-0.0295 left_roll=0.005 left_gripper=0.7462 right_x=0.3643 right_y=0.3238 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.1099 right_gripper=0.6041\nstate[joint_eff]: [-0.0889, -2.0718, 6.9675, 1.5995, -0.1636, -0.0513, -0.0171, 0.0615, -12.2325, 5.012, 1.4969, 0.3736, 0.0757, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937abf03a61fa2c802b2082906602f9d2f3ab26803d6ceaa11b462b66cafbb3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25276422bbe0e08dcbd9146bc9b7482215f6f512777297fc4ecdfbe2abc185c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e5bf8e59308022b596d9558663252f05ac111422da33bc6cca463cf4dcf41b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 6.005 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9199, 0.6758, -0.4068, -0.3916, -0.2901, 0.7462, 0.8917, 2.3455, 1.108, 0.8158, 0.8318, 0.2348, 0.8017]\nstate[eef_state]: left_x=0.3007 left_y=-0.0588 left_z=0.1798 left_yaw=0.0439 left_pitch=-0.0246 left_roll=0.0026 left_gripper=0.7462 right_x=0.4218 right_y=0.3204 right_z=0.0116 right_yaw=0.0552 right_pitch=0.279 right_roll=-0.084 right_gripper=0.8017\nstate[joint_eff]: [-0.1026, -2.2632, 6.9538, 1.707, -0.1783, -0.0659, -0.0171, -0.0205, -10.7692, 6.0513, 1.1844, -0.0562, 0.1978, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4088, -0.3916, -0.2897, 0.7462, 0.9848, 2.1563, 1.0428, 0.5014, 0.8577, 0.3904, 0.8975]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1786 left_yaw=0.0437 left_pitch=-0.029 left_roll=0.0052 left_gripper=0.7462 right_x=0.3738 right_y=0.328 right_z=0.0322 right_yaw=0.0762 right_pitch=0.1726 right_roll=-0.0912 right_gripper=0.8975\nstate[joint_eff]: [-0.0479, -1.7026, 6.9538, 1.6728, -0.1929, -0.0366, -0.0073, 0.7316, -13.0256, 4.7385, 1.5116, 0.3541, 0.1636, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.923, 0.6758, -0.4091, -0.3908, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3977, 0.8574, 0.4385, 0.6041]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0435 left_pitch=-0.0295 left_roll=0.005 left_gripper=0.7462 right_x=0.3643 right_y=0.3238 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.1099 right_gripper=0.6041\nstate[joint_eff]: [-0.0889, -2.0718, 6.9675, 1.5995, -0.1636, -0.0513, -0.0171, 0.0615, -12.2325, 5.012, 1.4969, 0.3736, 0.0757, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937abf03a61fa2c802b2082906602f9d2f3ab26803d6ceaa11b462b66cafbb3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25276422bbe0e08dcbd9146bc9b7482215f6f512777297fc4ecdfbe2abc185c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e5bf8e59308022b596d9558663252f05ac111422da33bc6cca463cf4dcf41b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLvlZb7LVvQEEQemj0ARAwLv4D18ix9EtpQfJSXCC2ujJ9-bWnKmxdb87Ix0IN92_OM0caJBY4KqAN44mvxKpsq7GUAP2sZYXsRjZjqL5HfUhnCYaxSAkjELCH59A0xpptor02upBHMCiWFo9-dyZT9LKL17wReinmiznPQToqPLNFxfoBeir2_jVXtuF3wvx75x-vTNCkfB4uXH0QoZ-2Wj_sqTwmFw3uVD6ouC_2nIS50KJQX5jJSSTReC79eX9zLZouLyXSInWODKvB-Vtj7mf0dXL2I2S70MOftdIgk7fCApOgz6tlQOf12_PXAWhxu1pwZfVBq1fbHFLsMm53ZNgc6HYHkd7CiWGrRoJFNRwPgAh9BIhKNti5ekEaRauysWnVYbhU-4whPc1Sspexi8sCzNo39Fy7ySEMW6EMmqqtfVXwnccoddZkLwfX4Wk6FdI34hNOlyT6ZyY1BQx6v1Df4gTxaPwA0lSy8Y-7cBZYq0OEKoFF56ogX7PsTnnpLE9u1yudlp7uMcCX7z-ZPittJqu6nsiCIe5_woHwKz9jKYaOrBikF_cW-Z2XEpAdhRd4iqKHNZ0XMeWViOKtC9_J8wrLCZ9qmfU3zhXzTi7EB88IplNp6FO4xthFPIEqNZAsP-vccdQk2PT7ZU6RCPO3dnUh6Wo3MC80ZmX95MW_z_31AunfAir_89kI-3PIfdFW9uyr14Tg8pwWNJBxaUDg7sfYtUP6C0qzqxZx6WcWQHp9ARaVbgRf6RxBC7ZoftRdjfCaqkFAui2FL135oZ6XxchVsNqR9HnYTvoTcjccHsX64l3QMGKEfUAPrvXO12-5_3ul0hY5BniFisAc3Y0optVYOGhRkcOifAVOwIxcXHSf98x_7SNhN16u0n3-tOf8qQ8d7iBg_O-QylmeK1cbey0wsTINqUY7mAz3JNEb1jSw-XcT0LC0wy_XZU943e8NocQ16Sp2zq29Z-_UGYWL3afovR0A9-dwnlYR2SMB5wELvObx71EGGcCgDYvADSs_YM6h4goUI5BkDYWMt5cKV1mDZ6ZCkMv8_IUwjW5rfeD_4vOc70vQO2SKgJlhzgNxd7EIHX8XATW-8kAtEJDJ9c9k2EY_MY_MwNqXZgE-9zWdTFNwxqEsPKGrmQlAnHja5t44lokmHBeclpES5fmLA7YobMFYMEKinJo-EVVaY8EllTLOkp0fA5LJJJrxVuQV6lIWXz6otv2u4wEp704N7RBx_WPxfjmZ4EdjMp58MRF0mm4ld2MAX_tfv73vuZStW0HvjxdaBNnbtBaGed0BgIsTtwBGaOcxHnRNlObU=",
  "id": "rs_0eb21617a5aff9fa016ab472eda3b887d09f9190b226f32103",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.27,\"right_z\":0.08,\"right_pitch\":0,\"right_yaw\":0,\"right_roll\":0,\"right_gripper\":0.8},\"note\":\"The right arm also failed to follow the low diagonal move. I’m making the lateral correction at a higher, untilted pose, where the arm has more room to move.\"}",
  "call_id": "call_IIr3xbMXzFrrSOzerMOkNR8g",
  "id": "fc_0eb21617a5aff9fa016ab472ee4c7c87d093da2990ccfbbfaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IIr3xbMXzFrrSOzerMOkNR8g",
  "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]: [-0.4271, 0.923, 0.6758, -0.4091, -0.3912, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3981, 0.857, 0.4389, 0.7981]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0434 left_pitch=-0.0294 left_roll=0.0052 left_gripper=0.7462 right_x=0.3643 right_y=0.3239 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.109 right_gripper=0.7981\nstate[joint_eff]: [-0.3487, -2.0718, 7.1453, 1.6337, -0.2125, -0.0757, -0.0171, 0.1299, -12.3145, 5.012, 1.4823, 0.3639, 0.0562, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3601a9552eaff2dd9486cd9881ce32bb532145445ba5f6be4d7a6a88ad3d4ead",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3cf2e031235fd65d3094e03d269bba3b43d72ae0f17c95ed30d2fc7b05e463",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0001b19f27338b17e6fc6ef995207c2ca8b9673a7213bc1c8d38db7fe86cb60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.448 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.9215, 0.6758, -0.4088, -0.392, -0.2897, 0.7461, 0.9134, 2.3211, 1.074, 0.8078, 0.8478, 0.2508, 0.7038]\nstate[eef_state]: left_x=0.3006 left_y=-0.0586 left_z=0.179 left_yaw=0.0444 left_pitch=-0.0275 left_roll=0.0047 left_gripper=0.7461 right_x=0.4101 right_y=0.3204 right_z=0.0126 right_yaw=0.0585 right_pitch=0.273 right_roll=-0.0863 right_gripper=0.7038\nstate[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6777, -0.1587, -0.0611, -0.0171, 1.7162, -14.0103, 4.8205, 1.5507, 0.2955, 0.0806, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.923, 0.6758, -0.4091, -0.3908, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3977, 0.8574, 0.4385, 0.6041]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0435 left_pitch=-0.0295 left_roll=0.005 left_gripper=0.7462 right_x=0.3643 right_y=0.3238 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.1099 right_gripper=0.6041\nstate[joint_eff]: [-0.0889, -2.0718, 6.9675, 1.5995, -0.1636, -0.0513, -0.0171, 0.0615, -12.2325, 5.012, 1.4969, 0.3736, 0.0757, 0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4091, -0.3912, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3981, 0.857, 0.4389, 0.7981]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0434 left_pitch=-0.0294 left_roll=0.0052 left_gripper=0.7462 right_x=0.3643 right_y=0.3239 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.109 right_gripper=0.7981\nstate[joint_eff]: [-0.3487, -2.0718, 7.1453, 1.6337, -0.2125, -0.0757, -0.0171, 0.1299, -12.3145, 5.012, 1.4823, 0.3639, 0.0562, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3601a9552eaff2dd9486cd9881ce32bb532145445ba5f6be4d7a6a88ad3d4ead",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3cf2e031235fd65d3094e03d269bba3b43d72ae0f17c95ed30d2fc7b05e463",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0001b19f27338b17e6fc6ef995207c2ca8b9673a7213bc1c8d38db7fe86cb60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHL20Cq5I0fDIvIyeCxOuXZI7scilynNN7fylK8IWYVvCjr0R5E8zGFHQf09BNUc09fxdt_xF-VGSRmr6j4TeQ9mb-lueiYHIZn-CDDs3lEIv_fDYvkthPEuB_RSwlhO5TUiMg0LKVf2y6qjFAO294H1HIPeelwtmutp9PMkqh-vXXmPQExsDG-1fvGzN5OoRGT_uQRkJrJn7JTY5mVwYgoa8uTQ8WxsBZylqMCyiKDbY3dBYTWokbmMCxjpB_KKIqBe9OX-9__JU375KKu0Cm4VbTxBMaDFHOtvXFl0Q-eMATAAfO5Ze4efhzxaOPaFaecz954yOWVOgCl3lLo0vxQ_mMQmEFagZnb5W48wjtnzl4NV6yRfJMQJDEodif7zKS2bc3_NORJ9MRfh_qM4MeKhFzvURObZuLRiOJ3OzQLzx8ARcSXJxk2FsDfXmpQ02hYV_BySnTO0FMVeBQMPwMKwXWXN8QMljIRbWlIidpx-dj_GSzrg4fWTk5TXn5BZe6TUD76e3OWn4_XEH4cDRinW_PSMXX-DRret1Ha-FZ5q3-F3guElwrG_Te5XH5SHqVt-1q5zGixhvNW0OoWbS06aQ1fYHnIf58AMi_npGvftCRIJ7yrvoDee_WoSBC1jkc4-rlSEVRTt8WWtwpa1Ds5bhX-pkSgr9XLnAyxAR67prW89-zre8zOtNW2rTl8QRZW3Fr8rLQ2QxGYhiesReRGrwfSmXIK6-PHlezqnS68lGotH8v85AxuN8JpaT3TbvXNmFaSGBEuxoeGV4v9NMMFoS5ulP6vcY9PhGX0wsfeVchYWOZ2nN24mqlKdqq6Wz84cKzPzW36OFmT2XV7mmwHl6phOn6IMUvJ1ebk1VXRJVNxyZX78Vow8HMcHAhStJLjwvEfVwQNweCW51Ln97wJGod0eRMu0n4V6KhfFb_GHxQoFd2oHzYDxvw5nJ7ndjZG8MjEuXVQeoS5xr_0DjWESuykgZX9xRUMGIxj-15Dh_D10SHBbtP-hfPp38Ie-hA8hOr_ZQ09ek9h-Mj96Nd1TEuPiYXZH9ZhRqk8UeytJ0ek4xeBsPBxv9GHRMrPyGxuVdJOVqURxw5wPzjHgQiSvqdyWdcuVN7ITWUYxBZpj3qTMDlbeS7IEKccaiQIG5m-hkoIgG1C_zqdNT_QWNLkvB0A_IFmY_6AVOEt30f1KYvSJQR1M1Pf18J802KWB3TIPTW4a3cUR-xlcd1LcdCXRC3w4gylpCIjkoWoM8xIDCNeO58a_3libK3QvWDTB53FEUzRrUC7loZ5XX_pdymXk8CgCyreFOqqNr3pBo5Vi205wttgojLcXy9SGKGqG8QbFUAQsrDAiofIIbGIRtyJVY-411H8nYFlloxz6JqSDh5edGPNAilHcrvCVUfZ02hFL_G8Et6GRPTAq5nMtLLRWToCe4ZZFtfjzk8ok4A3tJACyZEuimolG4LieE4V0Nwld6b_xBrtPKbooyRVbo0-QyQtXfzs-fxmlVMqjbr4t_gfcJTGR8fCZY2MQcVH4SL3nKD1CQQeqQgZey66T-umZcsips43G44nxqoCcJlQPSBzjyrtyXaFskKoZ5CUL-EklazHOTKfWHEp7xCDzWdpi-ZDxE-GrxrANvdFVIx30zPizG1NcncNL1R-1u3tZD1OFpIgLT7h9jcLJskOsBzN4bBeKhA9u-cUUq8tYOqwQuQaHUPUzWzObW-1qoiQvvYmbiWqbRjDczV98oNn8T4mAGVaDpNRbU0h7W4f8ZoJ3dkvngiiEcbB3eQBzRK7Mc1XD9m-sPjCg1DO0lJ7iws90NsHAZ90zOC3MpfTwvE0r3uwSP1mcbh3uyHtdo_xa4OJAl_fGqMQ_IoYcJSNJio0feZaum2c89lpkQW2rSFfIf59p5VfKutAQhlyE2Hx_2anDgj3bS6tbAd_AKvZyHg3LThj_r7iMoPlMWjOpaT8lKYx0FoJJZ1uvuawCFS2YNFY-Irunc6EqvUZpbX-48pRLT3HIDv4G_XSaszS8POhwc3sbmhIn7-6Yn6JoK5W-oxIke0FpYXbtQoih_HzhCtUlc2z4Jten3xhKjG-UgUY3R7hWH-A0zTCzG6JSNZy3v9qiNcZnFzl5ItUkF78Gjw03xyzB56z4t9_894IyNQi9-hwbDH29iAu0KYLTPCibIQIcozfSeaI46x7l8frBw-ffXg==",
  "id": "rs_0eb21617a5aff9fa016ab472f17ac487d08ad39d26f6f9711a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.285,\"right_z\":0.09,\"right_yaw\":0.65,\"right_pitch\":0.2},\"note\":\"The position is stalled despite clearance. I’m turning the wrist to align with the arm’s diagonal reach, which should avoid the awkward joint configuration.\"}",
  "call_id": "call_QZxjzJ0ZD5mPCF4LnxUufC9T",
  "id": "fc_0eb21617a5aff9fa016ab472f4fe7887d08f7cdd85e6904057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QZxjzJ0ZD5mPCF4LnxUufC9T",
  "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]: [-0.4271, 0.9253, 0.6758, -0.4129, -0.3897, -0.2897, 0.7462, 0.7094, 1.8862, 0.7692, 0.5854, 0.6147, 0.2104, 0.7983]\nstate[eef_state]: left_x=0.3002 left_y=-0.0589 left_z=0.1771 left_yaw=0.0423 left_pitch=-0.0353 left_roll=0.0071 left_gripper=0.7462 right_x=0.4041 right_y=0.2173 right_z=0.0606 right_yaw=0.0792 right_pitch=0.1301 right_roll=-0.1066 right_gripper=0.7983\nstate[joint_eff]: [-0.2256, -1.6889, 7.1453, 1.6386, -0.1832, -0.0659, -0.0171, 3.1111, -8.2803, 5.6957, 2.0195, -0.022, -0.188, 0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819ae703f82664354de848f35479e05eb3fcbe56611f49499df82d6732e0fabd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2139fdfff9e1018982f7f4b8216b9e82001a0ee245adb4ae7db3a5c2487de7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e07407ed2557e9f844eeafad24f7c7507b771da696ada555d525d4188785c03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.727 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4088, -0.3916, -0.2897, 0.7462, 0.9848, 2.1563, 1.0428, 0.5014, 0.8577, 0.3904, 0.8975]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1786 left_yaw=0.0437 left_pitch=-0.029 left_roll=0.0052 left_gripper=0.7462 right_x=0.3738 right_y=0.328 right_z=0.0322 right_yaw=0.0762 right_pitch=0.1726 right_roll=-0.0912 right_gripper=0.8975\nstate[joint_eff]: [-0.0479, -1.7026, 6.9538, 1.6728, -0.1929, -0.0366, -0.0073, 0.7316, -13.0256, 4.7385, 1.5116, 0.3541, 0.1636, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4091, -0.3912, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3981, 0.857, 0.4389, 0.7981]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0434 left_pitch=-0.0294 left_roll=0.0052 left_gripper=0.7462 right_x=0.3643 right_y=0.3239 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.109 right_gripper=0.7981\nstate[joint_eff]: [-0.3487, -2.0718, 7.1453, 1.6337, -0.2125, -0.0757, -0.0171, 0.1299, -12.3145, 5.012, 1.4823, 0.3639, 0.0562, -0.1001]\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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9253, 0.6758, -0.4129, -0.3897, -0.2897, 0.7462, 0.7094, 1.8862, 0.7692, 0.5854, 0.6147, 0.2104, 0.7983]\nstate[eef_state]: left_x=0.3002 left_y=-0.0589 left_z=0.1771 left_yaw=0.0423 left_pitch=-0.0353 left_roll=0.0071 left_gripper=0.7462 right_x=0.4041 right_y=0.2173 right_z=0.0606 right_yaw=0.0792 right_pitch=0.1301 right_roll=-0.1066 right_gripper=0.7983\nstate[joint_eff]: [-0.2256, -1.6889, 7.1453, 1.6386, -0.1832, -0.0659, -0.0171, 3.1111, -8.2803, 5.6957, 2.0195, -0.022, -0.188, 0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819ae703f82664354de848f35479e05eb3fcbe56611f49499df82d6732e0fabd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2139fdfff9e1018982f7f4b8216b9e82001a0ee245adb4ae7db3a5c2487de7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e07407ed2557e9f844eeafad24f7c7507b771da696ada555d525d4188785c03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHL5BPXeD2N23FF0MO34rVTzY50zTWMwi1I4MEPkn23dUe8jH-ivvS3EdnB3v0HtgoqdnAvAADuq3N8IBL9wnwJqDL4YRYVqcbS4h_psSWg6praXXHAMbmNLT5kfbgF4Uuz5YyvbVSNDO569w5B8RE5MU6v_f8f9BJbDpuyodrFGcyebGGRzoL-vEZLABV4iDrzOgxzKI1Mm8ASVHSGJEcPCrOGe0Xao0V-Y7Zg_YEl1q7PmZ2OKKNOYXiyMtsw6K0zI4GeWcswHBXKqruAA5aJoHkqqGkoaQivsN0pT1z7hhR5IEjhRjAeaQSu37iG3KYZqcmkzbuG82SILYSnI6xlWZ_sbKkGpw-AMEHaJj18lpCb1Ooq3-jJ1CdFzTEdFXU7SLTDJx0GXchlpCwKb5cGyWKzR-fnanlJo7mR7Lq3bDNCw5OpN2j19o0wu3dOpqwM2nCeJ5QPCY_PcHsl3Rk_z0Br6goo0E0Kh_KYxGg-SwxGehs6XTZaU9nOHEH3wEDHxUpRsuaRei2nkI64CObAe4VplgEEkgCJu0FVbCm_npZ_ZAFN4QlWhH3s6cTH8NFWEq34rCxlpSLp5brgQUzQEtJDvjI6jX7nWZCXu_qUH5Iu3rCG_MHfexynUzqsQHMKq_sTa8JiVaPmHHGVV6nruUk12SoAgSyerkfQRVxh0YHjt9iSS4cg3FQAaJsQtuR-qoAApN8102Bnvsim9UzV2Gg3mfgkrOhVNhb061qhGeirep0JDHKHWmfCbdU7P0e5nzP7jqv_Qfe1Q4dQH0kFz5VRGId_HePrWcXwPdpjrvfnYdXLTz3Zvy-mgM2_gP65o0iwaJt7qEFhIQA2yWnmWXbVa6aKL5L29MtbL0sH-mDl6kn6HjkbpJiRUMn-FChicn4vwJrm3NTFwf11pYLHQlOrwW6C9IKLX4_Qg0Zw22pBdEomX3DZm3ROXgVlcg31L_0fJ8PiPsLm5bUPIikbmbW2QWeakKTx6dCoYW4sVEhU0BsQxc13fkMkG9qf_hKT5St6-ACTkkqJOtiZRNQkNnNchWoSyNp2YNKnhvc79HRH0XYCaeTDN6-iR8qkRRZ-arc0H096wbNna3HU-7Vq7ul935BcKNhY8LvEnX_O2rw_8rUtU722DbrXObGXXR6sO7bKwoS2CayAMMatuPEn55mo4_HHVvGbmX8lym-Ki3yHHt5CReM_k09LETCIPHTclXQD1QfVJsYziYfIWlT8n4IofIdmKIgmQiDvNPDwdmasQ10sW8Ryf1Cubmlp5nnKl6UC5KYKXY7UDg2jcWvg9dJB6wGIzhSFMIEe9L5ytiOtZ0D265h160wB7NVlk5uojtHOipG7lN6tr1RBUhVbIrnJpiL8akjj_Hp85D3vOCGk5ZeMvxEQhBOwV8Xyc8CCqQugHBHRrtkgSFdwHZgJRKl7h9Xnl8reCKgsVjE57ropSvK5b3ccFveB-NwZcUTe3a4Q7JZCyv_OYkHd0pd1_PA==",
  "id": "rs_0eb21617a5aff9fa016ab472f7d31c87d08d029183e1caeb93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.285,\"right_z\":0.045,\"right_yaw\":0.55,\"right_pitch\":0.15,\"right_gripper\":0.5},\"note\":\"The wrist realignment has freed the arm, but the readback is temporarily right of the target. I’m returning toward the cap at a modest height with the jaws open.\"}",
  "call_id": "call_MhkWz6gMjkEKhXKj49OqnGXe",
  "id": "fc_0eb21617a5aff9fa016ab472f8cbb487d081535770529a78be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MhkWz6gMjkEKhXKj49OqnGXe",
  "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]: [-0.4271, 0.9306, 0.6754, -0.4274, -0.3885, -0.2897, 0.7461, 0.7063, 1.9095, 0.7418, 0.6872, 0.4667, 0.1017, 0.5029]\nstate[eef_state]: left_x=0.2985 left_y=-0.0584 left_z=0.1727 left_yaw=0.0418 left_pitch=-0.0537 left_roll=0.0156 left_gripper=0.7461 right_x=0.4001 right_y=0.2416 right_z=0.0541 right_yaw=0.2521 right_pitch=0.1309 right_roll=-0.1178 right_gripper=0.5029\nstate[joint_eff]: [-0.1573, -2.5231, 6.9538, 1.7509, -0.232, -0.0562, -0.0171, -0.3624, -8.8274, 4.9026, 1.7753, 0.2271, 0.1392, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4500b075573564aafd8cdc0f60ec7cc5855d73df222d6d29242d24c1fc52d18f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f54531ad7093c5b57362a19a0c0d124d5858640691b67d260a37bb926b51a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c753f4ac85a05e8ae0dbc092696ff446434d0fbd1649302766affa545f575f82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.043 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4267, 0.923, 0.6758, -0.4091, -0.3908, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3977, 0.8574, 0.4385, 0.6041]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0435 left_pitch=-0.0295 left_roll=0.005 left_gripper=0.7462 right_x=0.3643 right_y=0.3238 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.1099 right_gripper=0.6041\nstate[joint_eff]: [-0.0889, -2.0718, 6.9675, 1.5995, -0.1636, -0.0513, -0.0171, 0.0615, -12.2325, 5.012, 1.4969, 0.3736, 0.0757, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9253, 0.6758, -0.4129, -0.3897, -0.2897, 0.7462, 0.7094, 1.8862, 0.7692, 0.5854, 0.6147, 0.2104, 0.7983]\nstate[eef_state]: left_x=0.3002 left_y=-0.0589 left_z=0.1771 left_yaw=0.0423 left_pitch=-0.0353 left_roll=0.0071 left_gripper=0.7462 right_x=0.4041 right_y=0.2173 right_z=0.0606 right_yaw=0.0792 right_pitch=0.1301 right_roll=-0.1066 right_gripper=0.7983\nstate[joint_eff]: [-0.2256, -1.6889, 7.1453, 1.6386, -0.1832, -0.0659, -0.0171, 3.1111, -8.2803, 5.6957, 2.0195, -0.022, -0.188, 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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9306, 0.6754, -0.4274, -0.3885, -0.2897, 0.7461, 0.7063, 1.9095, 0.7418, 0.6872, 0.4667, 0.1017, 0.5029]\nstate[eef_state]: left_x=0.2985 left_y=-0.0584 left_z=0.1727 left_yaw=0.0418 left_pitch=-0.0537 left_roll=0.0156 left_gripper=0.7461 right_x=0.4001 right_y=0.2416 right_z=0.0541 right_yaw=0.2521 right_pitch=0.1309 right_roll=-0.1178 right_gripper=0.5029\nstate[joint_eff]: [-0.1573, -2.5231, 6.9538, 1.7509, -0.232, -0.0562, -0.0171, -0.3624, -8.8274, 4.9026, 1.7753, 0.2271, 0.1392, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4500b075573564aafd8cdc0f60ec7cc5855d73df222d6d29242d24c1fc52d18f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f54531ad7093c5b57362a19a0c0d124d5858640691b67d260a37bb926b51a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c753f4ac85a05e8ae0dbc092696ff446434d0fbd1649302766affa545f575f82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHMADG0D5vvuIOH4RiFKOAz6c9LzyZLu8U9N7MMJPyJilIU_BJ2XW69nJY-6d-VzLttAIXWGdyAaKcJpNu6xubxZ8apVP3g1MSYusR1BXnMNkbN9TukKhbGNKZzN6H9OWoPRWTF31LxkypZhQhZlbQ_qRKH8RD0En64cPe4RFTxjCuHKdXuNmuEYRmF8OCvHOkd5HQufapDKeTlNHqOjYvSVqTrWClOTmX0HuGWTJEVEFJgLhDqycISNVwRoIHdXkiFABpMQLxvA1yrLjTOnLArAcQUNZVU531r12tCLOEmJlz0kG96p8vfYVKNWj7gqrmZ5hwCyZTbi-2ifu6QnOfdh6ws10MbjyUFAST7y8kG9kb_2cGWBYQzfZ9jovvmFN2Ue4gaAGWPNUpr7M-IPC_ME1TlAYl3dT_j744DXcFGAjzQSWs5E2atayNJdZHmR-mlO_YurI_rCUTzKrtbPPwBiZOnZJ4QEeyRnyl85zlM8f8dFTHqIToFvJDTmXOa0xmwhVnFGl5H0te7Rzlt87rYIPPkUmi1HaVz9xS8FDmhRI-IEqUV0dHZ8kRiZlXj8TWEj4f8SWmxXmm7NG3GDC4hRrY3mS-p4i-rXNKmRbERN6xJ7aftVDStKatfkECSdWZOnIV3UiCqZmdg5OaJ78jBbANb-rNO6YXuUlkaJ19ziH9MX5JD6_MEgIIW_lavBQKCrU7xjjc6RsP2v2wrj1FkdWKI0gaCr1DtQbRYmEXbFhCSu3EHxn-e4y_DlVj7sz_IwzpCiNy3pQwU6tD6uccBEkMJQ2Uul1JPTGb5pTMr0nDJ2obLFFj6qhi8e-qpJLMgFxh4wIwFhcZ1iMgLJ02VhQrlAWcyuxSVRgwsJAEjCVcqyRbF-l-2kAS8WWxtvPgQYh7-UAvD4MNY3PPydJ5RGE8fBod3nMYzZP9ZLbrKAmgl3dtg6NaWNSky3WuXk9591qG1UlsrA0-QTAdA24Boetm5WrtuuseJIpa7r1Gi0lDu-w8w4yRZstH1xGIablxU8CKJcLStWMjIZHWPdQ3o4P2uZLhpbsMMC1YIJ1y96zuLqYrLWPbeoZNWjb7maQzq2sOoXU0N3jmLW-EDezC6QgfT8Rp9v2vcyfXyLRkzIDK7ADgmiQ8BkNkaJPp0jiUDhtEkPsGukmb8YJESN-X1azU0mJt13fbCxv9A2o8-JbzjEjdRXCsaL0Ul6G-ecFD-gpxXX_3R_lFOBJHLQZBeg5qCmGcEmSXcKWEOd-cOulSdD6KQMRcYyVQyhpid5QnbHalO6bw4jRFOW2TOnE7ALZ8Qc7NS8vn4gIrhFLvpoJO38cPSx3fyzuSar8esbwwEYULlH9Z5vBSF0BWNMTchz05Y2Y3RF72Iuf52agkOz9hgO4IIYTRp4QUXgTF_JRnGbOVbi7-XDwbNA8TPkzOn3NJOnenLKLYjenCy8jycmOCW_f3e3anziKpsE045uoMoKY3mMJtKCh9KjaUcShfy1NKrCzx9TO_BKzTTJ6_sb17YMSQCvcO3G_SDjVejk6Hqe649ZJJM6bybvgYP1uwm3XWbMKtKSzj1c8oFf6yt-FvD0MwI2kRykeTUGNE6OVm2zrfQEBhIKsQMPc3XCo8XiK-1irgVSaUZfsEgNysId09y4UgePE1qH2eqr5HkplxD6_iJYXK95tHVrSY4VyATVK8fk5quZ4SnxQs5qxo4hD7V1moidfn1zGyEsgYuiO75-p54fmFzVkcpfYcpBa2k0RTuv46_SZ_xLcZe8K_Mc_rWKEqZ53IbCOukfvGs7dRDZRxnKgAs8JJAg-9a_X0OBJ_rtXskciKaAM29JrEOoRtbKuMLzomFoq0zsgBpoBMJpNWXK5ARNOFFsapXJ4i-gMg==",
  "id": "rs_0eb21617a5aff9fa016ab472fbe80887d092be145348fddc80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.275,\"right_z\":0.002,\"right_yaw\":0.4,\"right_pitch\":0.15,\"right_gripper\":0.75},\"note\":\"The pen and cap are now visible at the bottom of the right wrist image, with the cap just left of center. I’m placing the open fingertips around the cap while staying clear of the pen.\"}",
  "call_id": "call_n6fxyqvYULVmvObxbG0BFxul",
  "id": "fc_0eb21617a5aff9fa016ab472fed8bc87d0ad5e9df65934a120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n6fxyqvYULVmvObxbG0BFxul",
  "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]: [-0.4271, 0.9306, 0.6754, -0.4313, -0.3878, -0.2897, 0.7462, 0.7067, 1.9095, 0.7418, 0.6872, 0.4664, 0.1055, 0.7467]\nstate[eef_state]: left_x=0.2979 left_y=-0.0583 left_z=0.172 left_yaw=0.0412 left_pitch=-0.0573 left_roll=0.0169 left_gripper=0.7462 right_x=0.4 right_y=0.2418 right_z=0.054 right_yaw=0.2508 right_pitch=0.131 right_roll=-0.1141 right_gripper=0.7467\nstate[joint_eff]: [-0.0752, -1.9077, 6.9402, 1.6874, -0.1441, -0.0415, -0.0073, -0.2393, -8.8274, 5.094, 1.7705, 0.1392, 0.1294, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f42094933ce99c7442a9f6c8aee787a3cf1b0e6a61dee84c5de04ee5f5e6a4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b012a5df76a4141bb1e180fa492ab7806449094653064d805115790e7acaabb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7095a7d47f3e7cdd365269b6b3db82017b45be01b38045b01fc20f08869734d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.797 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.923, 0.6758, -0.4091, -0.3912, -0.2897, 0.7462, 0.9966, 2.1288, 1.0401, 0.3981, 0.857, 0.4389, 0.7981]\nstate[eef_state]: left_x=0.3006 left_y=-0.0588 left_z=0.1785 left_yaw=0.0434 left_pitch=-0.0294 left_roll=0.0052 left_gripper=0.7462 right_x=0.3643 right_y=0.3239 right_z=0.0285 right_yaw=0.0721 right_pitch=0.1266 right_roll=-0.109 right_gripper=0.7981\nstate[joint_eff]: [-0.3487, -2.0718, 7.1453, 1.6337, -0.2125, -0.0757, -0.0171, 0.1299, -12.3145, 5.012, 1.4823, 0.3639, 0.0562, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9306, 0.6754, -0.4274, -0.3885, -0.2897, 0.7461, 0.7063, 1.9095, 0.7418, 0.6872, 0.4667, 0.1017, 0.5029]\nstate[eef_state]: left_x=0.2985 left_y=-0.0584 left_z=0.1727 left_yaw=0.0418 left_pitch=-0.0537 left_roll=0.0156 left_gripper=0.7461 right_x=0.4001 right_y=0.2416 right_z=0.0541 right_yaw=0.2521 right_pitch=0.1309 right_roll=-0.1178 right_gripper=0.5029\nstate[joint_eff]: [-0.1573, -2.5231, 6.9538, 1.7509, -0.232, -0.0562, -0.0171, -0.3624, -8.8274, 4.9026, 1.7753, 0.2271, 0.1392, 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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.9306, 0.6754, -0.4313, -0.3878, -0.2897, 0.7462, 0.7067, 1.9095, 0.7418, 0.6872, 0.4664, 0.1055, 0.7467]\nstate[eef_state]: left_x=0.2979 left_y=-0.0583 left_z=0.172 left_yaw=0.0412 left_pitch=-0.0573 left_roll=0.0169 left_gripper=0.7462 right_x=0.4 right_y=0.2418 right_z=0.054 right_yaw=0.2508 right_pitch=0.131 right_roll=-0.1141 right_gripper=0.7467\nstate[joint_eff]: [-0.0752, -1.9077, 6.9402, 1.6874, -0.1441, -0.0415, -0.0073, -0.2393, -8.8274, 5.094, 1.7705, 0.1392, 0.1294, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f42094933ce99c7442a9f6c8aee787a3cf1b0e6a61dee84c5de04ee5f5e6a4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b012a5df76a4141bb1e180fa492ab7806449094653064d805115790e7acaabb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7095a7d47f3e7cdd365269b6b3db82017b45be01b38045b01fc20f08869734d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHMGpNqH9ZL34_ZTX2r8UHKvJeSNhzbEmboWUOv06wh1hBhhEeAekzWTH1kHx8aisNyQbe5sxwdgECT1B0rB5oKOgefS4gJi6PtefotoVLv3WfsyJTyQqGwMJyqzIZW2YUY4M54_sK5moYSQOHqEtN0wvea-wtT0KoJuSEnSzRuWSknCNrnMv2QE4yEtTricA-NjiKeysluThVYMtksHTb0nRjBPaZ8I1aiymEIHRPkt1edTP1eB_vma9Cx37-qVZfQUknB-vGS3Qnwflhp_pCKKgvsquiqysBzbseXZGyJsysn2CLImFSsgIeBHc2wfnBNsmzSsCN3HQYSkF2lc4DdF_EKfAqsvOltf1HAA5D_C1UZR-M-McpdHoKbEd7_8qdY4Gl7CwshgjNsGpoflIOLVqXsev8Um5YrIMLn7V2DheTo_3w6hHT4Uwf2jpq03IeX1FvN4n24PR3Hxws6xSnRU61AxxfO42g209rN3_23x4RKyIsNCxUQ1pCTgSjAb039wpgAnDcQhiFRbfBRVJ31zfS8cPCDwCywS1zpOshhPq6rcStvXokpvEKaMjCiUkr3GueSposEG8bv8Pf7iUHIppm7HUQxRgQgPzahAYMumWbvpbkiVElx6vxWhbKzPSvNc-P7gz-amdwmKHIJAJebLIbilt8a_dcDZ9Yad24U-KyczoiHu9vmewgCJRqXiAJs6YD4jJZt5llpNOM9jJa_DR3LL_3ruORZgYdbKigqzSKvtbUJNvyhHMCpctqysCBBR-c2J2sh7iECinjeBMKD68SWU-PavwBN0HlxzzGg18bXU8xThW3arM9Dx02ZarnXj2TvgjgbsEDpIizk-KUYYgwWhuY7h-OWAmuqE49dYW51Osfq8aYcvBwhLCTssABtftuVGPUsrfGTyqxJQFETGWoxqaFk6P8iKe72tmTcQHwlTVewCp2uCHibjWf5pWtjNYU_JouMarvWx1nWy4aKReJEiUZsFgIguSm_6JPg_aWFYePecd1z5YOWab-LiEzy6QL2QZfWm4AenwKPjRqK8-j5vjR8Uri5Z_u0O__3-IXBD3on01Vt9u35tw8Gg-Ssx5PQ2Ly2kZaboyE6vLt7UM_pMj8cpRtc9ZA4p3-I-mskHy9-qlx71WpZ3vqaotcVLBoQTpha-NT0z9kx-ysRkQfdoYFFJ49ENXN4FDeIn99QKvjt2FwUcdIw1xVCZAQhsoRKb6CLqE3aVcgr6rU7ZhKh4Kq-oczkpXVtsxPt7sm9lrZbj_3PV6BZahkuU_sCbN4jarxs7L6mbns-HIIoJZKjzvDqVjXVh_D3YWoSdgOnIETO7Wg7ateuDvERUpoQv3UQojla-eWtLtvBcADH-Jb5BoiKOGjCcfEmL-xjqt4ycrCkDoiyFK0mz_Ufw9OIydtvMPbVdiycjzgr9r90CHd_kZadeoUaGsW2-sw97PbFQIqvsmdn5Nw0TB8odehWh6Wlrx6LtZOgLF4i00DWNvaNgKSyAAbkc-aXGDFQviVH2Ayy8IpO_7HPDeDwDfoxaPjtZd37R-EieI5pObLvoezNwVFWtYDTbRkh328O_t-rnk8Zn_Yn1_sjWD4loh3sP13Cs5IQ6ywnbQkb6E6kO5nx84XzasRIXaxnx2_CvCMx6cJ0tm0Ko0NH2GDu6YP1wqlPbIIVJ_y-7GTIlWQ7PGt6ne_PEY-S1Z12w9ggqXBg=",
  "id": "rs_0eb21617a5aff9fa016ab4730222b487d0a5f099d509ee7ad9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The right arm has again stopped short of the low grasp pose, and neither object is secured. I’m withdrawing the right arm rather than continuing uncertain contact near the pen and cap.\"}",
  "call_id": "call_qj9DhMmNGgkshDsKxMcUh3p1",
  "id": "fc_0eb21617a5aff9fa016ab47303d2f487d083ae861229b45bcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qj9DhMmNGgkshDsKxMcUh3p1",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4271, 0.936, 0.675, -0.4355, -0.3882, -0.2897, 0.7462, -0.0059, 0.8352, 0.6426, -0.3698, 0.0223, 0.0048, 0.9989]\nstate[eef_state]: left_x=0.2976 left_y=-0.058 left_z=0.1696 left_yaw=0.0418 left_pitch=-0.066 left_roll=0.0216 left_gripper=0.7462 right_x=0.3036 right_y=-0.0021 right_z=0.1883 right_yaw=-0.0336 right_pitch=-0.0026 right_roll=-0.0083 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -2.2359, 6.9949, 1.6679, -0.1783, -0.0513, -0.0171, -0.3624, -2.1538, 9.8393, 1.7851, -0.149, -0.0366, -0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa1e1aed5158e1c2ab2ab233bc0e422a8eab0546921b46fe8a928771aa11eb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca01406b150684a69fac7f738d4739db7fdb3e3ffd8b99b9de2cd38237a1e67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91fce1b64955021096e989f98b69cb682760579f37dbab49027e8b603f0d96c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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