adhoc

completed
2026-09-23T22:51:09.495431+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
208.6 s
total steps
279
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 long diagonal pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked.
move_to
left_x0.4050left_y-0.2050left_z0.1300left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.02, -0.0113, 0.9997, -0.0181, 0.791, 0.6094, -0.3759, -0.0204, -0.0124, 0.999] state[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.5949, -1.5248, 10.5368, 1.7558, -0.0806, -0.0513, -0.0415, -0.5812, -1.2376, 9.8393, 1.7607, 0.0122, -0.0366, -0.1148] 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":0.405,"left_y":-0.205,"left_z":0.13,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"The short cap is left of the long diagonal pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’m lowering and turning the gripper to pinch across the cap rather than along its length.
move_to
left_x0.3970left_y-0.1830left_z0.0350left_yaw-0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6788, 1.6543, 0.9504, -0.0612, -0.5449, -0.4137, 0.9997, -0.0223, 0.7959, 0.6132, -0.4076, -0.028, -0.0128, 0.999] state[eef_state]: left_x=0.3923 left_y=-0.1942 left_z=0.1093 left_yaw=-0.0086 left_pitch=-0.0626 left_roll=0.0373 left_gripper=0.9997 right_x=0.2923 right_y=0.002 right_z=0.178 right_yaw=0.0025 right_pitch=-0.0327 right_roll=0.0045 right_gripper=0.999 state[joint_eff]: [-0.4991, -7.9658, 9.2513, 1.7705, -0.3443, -0.0122, -0.0415, -0.8957, -1.7436, 8.5675, 1.9023, -0.0757, -0.1099, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.397,"left_y":-0.183,"left_z":0.035,"left_yaw":-0.9},"note":"The cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’m lowering and turning the gripper to pinch across the cap rather than along its length."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe cap lies between the open fingers in the wrist view, but the yaw turn stopped short and shifted the grasp point. I’m making a small centring correction and narrowing the jaws before the final pinch.
move_to
left_x0.4010left_y-0.1740left_z0.0000left_yaw-0.9000left_gripper0.4200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2756, 1.8042, 0.7452, 0.2646, 0.2699, 0.2573, 0.9997, -0.0257, 0.7982, 0.6132, -0.4126, -0.0277, -0.0128, 0.999] state[eef_state]: left_x=0.3941 left_y=-0.1567 left_z=0.0133 left_yaw=-0.6499 left_pitch=-0.1863 left_roll=-0.0076 left_gripper=0.9997 right_x=0.2918 right_y=0.001 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.04 right_roll=0.0045 right_gripper=0.999 state[joint_eff]: [0.1846, -8.9094, 7.8701, 1.8242, 0.2466, 0.2662, -0.0171, -0.0068, -1.3607, 7.1453, 1.7802, -0.0317, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.401,"left_y":-0.174,"left_z":0.0,"left_yaw":-0.9,"left_gripper":0.42},"note":"The cap lies between the open fingers in the wrist view, but the yaw turn stopped short and shifted the grasp point. I’m making a small centring correction and narrowing the jaws before the final pinch."})
tool
executing move_to over 6 steps (0.6s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe cap’s body is in the narrowed jaw opening at table height. I’m closing the left gripper to test the grasp before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2577, 1.8393, 0.7055, 0.3561, 0.3252, 0.2859, 0.4248, -0.0257, 0.7986, 0.6132, -0.4126, -0.028, -0.0124, 0.999] state[eef_state]: left_x=0.3901 left_y=-0.1575 left_z=0.0035 left_yaw=-0.6919 left_pitch=-0.1554 left_roll=-0.016 left_gripper=0.4248 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=-0.0011 right_pitch=-0.0403 right_roll=0.005 right_gripper=0.999 state[joint_eff]: [-0.253, -8.212, 5.0667, 1.7753, 0.2808, -0.0757, 0.0952, -0.1436, -1.306, 7.1863, 1.7167, -0.0366, -0.0855, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap’s body is in the narrowed jaw opening at table height. I’m closing the left gripper to test the grasp before lifting."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe fingers closed fully, so that was an empty pinch. I’m reopening and shifting about two centimetres outward along the cap’s direction for one corrected attempt.
move_to
left_x0.4120left_y-0.1800left_z0.0500left_yaw-0.7000left_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]: [-0.2577, 1.8351, 0.7071, 0.387, 0.3237, 0.2707, 0.0087, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0128, 0.999] state[eef_state]: left_x=0.3961 left_y=-0.1588 left_z=0.011 left_yaw=-0.6802 left_pitch=-0.1226 left_roll=-0.0114 left_gripper=0.0087 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0009 right_pitch=-0.0411 right_roll=0.0047 right_gripper=0.999 state[joint_eff]: [-0.5128, -7.8154, 5.5179, 1.3944, 0.1685, 0.0757, 0.5446, -0.1436, -0.9504, 7.0085, 1.6923, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.412,"left_y":-0.18,"left_z":0.05,"left_yaw":-0.7,"left_gripper":0.6},"note":"The fingers closed fully, so that was an empty pinch. I’m reopening and shifting about two centimetres outward along the cap’s direction for one corrected attempt."})
tool
executing move_to over 6 steps (0.6s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteWith the jaws open, the cap is clearly visible ahead and left of the grasp point. I’m moving forward and slightly sideways to put the thicker cap body between the fingertips.
move_to
left_x0.4380left_y-0.1790left_z0.0050left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2955, 1.8214, 0.8097, 0.2111, 0.3035, 0.2455, 0.5949, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0124, 0.999] state[eef_state]: left_x=0.3995 left_y=-0.173 left_z=0.0207 left_yaw=-0.6913 left_pitch=-0.1831 left_roll=-0.0413 left_gripper=0.5949 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0011 right_pitch=-0.0411 right_roll=0.005 right_gripper=0.999 state[joint_eff]: [-0.6769, -11.1795, 8.2803, 1.7118, 0.3101, 0.1685, 0.1441, -0.1436, -1.0462, 7.0085, 1.6874, -0.0317, -0.0757, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.438,"left_y":-0.179,"left_z":0.005,"left_yaw":-0.7},"note":"With the jaws open, the cap is clearly visible ahead and left of the grasp point. I’m moving forward and slightly sideways to put the thicker cap body between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe forward move brought the cap body to fingertip depth, but it remains left of the jaw centre. I’m correcting that small sideways offset and gently narrowing around it.
move_to
left_x0.4470left_y-0.1600left_z0.0000left_yaw-0.7000left_gripper0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2832, 1.9591, 0.9291, 0.2131, 0.3122, 0.2516, 0.5952, -0.0257, 0.8021, 0.6132, -0.4141, -0.028, -0.0124, 0.999] state[eef_state]: left_x=0.4281 left_y=-0.1774 left_z=0.0037 left_yaw=-0.6908 left_pitch=-0.1956 left_roll=-0.0493 left_gripper=0.5952 right_x=0.2918 right_y=0.001 right_z=0.175 right_yaw=-0.0011 right_pitch=-0.0453 right_roll=0.0052 right_gripper=0.999 state[joint_eff]: [0.4034, -8.8957, 6.0376, 1.4237, 0.2125, 0.0904, 0.0073, -0.3487, -1.0188, 7.2274, 1.7118, -0.0611, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.447,"left_y":-0.16,"left_z":0,"left_yaw":-0.7,"left_gripper":0.16},"note":"The forward move brought the cap body to fingertip depth, but it remains left of the jaw centre. I’m correcting that small sideways offset and gently narrowing around it."})
tool
executing move_to over 5 steps (0.5s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe cap now appears centred between the fingertips. I’m completing the pinch and will check the jaw spacing before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2745, 1.9781, 0.947, 0.2195, 0.3138, 0.2554, 0.1645, -0.0257, 0.8043, 0.6132, -0.4152, -0.028, -0.0124, 0.999] state[eef_state]: left_x=0.4347 left_y=-0.1753 left_z=0.0025 left_yaw=-0.685 left_pitch=-0.1901 left_roll=-0.0454 left_gripper=0.1645 right_x=0.2918 right_y=0.001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0487 right_roll=0.0052 right_gripper=0.999 state[joint_eff]: [0.2256, -10.3179, 4.8752, 1.3553, 0.2222, 0.0366, 0.0171, -0.212, -1.4974, 7.0769, 1.6923, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap now appears centred between the fingertips. I’m completing the pinch and will check the jaw spacing before lifting."})
tool
executing move_to over 2 steps (0.2s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe closing width is very small, so this grasp is uncertain. I’m lifting a few centimetres and slightly back to see whether the cap comes off the table.
move_to
left_x0.4070left_y-0.1570left_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2745, 1.9778, 0.947, 0.2211, 0.3176, 0.2543, 0.0259, -0.0257, 0.8047, 0.6132, -0.4152, -0.0277, -0.0124, 0.999] state[eef_state]: left_x=0.4347 left_y=-0.176 left_z=0.003 left_yaw=-0.6873 left_pitch=-0.1873 left_roll=-0.048 left_gripper=0.0259 right_x=0.2918 right_y=0.001 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.0491 right_roll=0.005 right_gripper=0.999 state[joint_eff]: [0.0615, -10.2906, 4.9162, 1.3651, 0.1294, 0.0513, 1.2576, -0.0615, -1.1966, 7.0496, 1.7118, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.407,"left_y":-0.157,"left_z":0.09},"note":"The closing width is very small, so this grasp is uncertain. I’m lifting a few centimetres and slightly back to see whether the cap comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe arm barely lifted at this extended, rotated pose, although the cap-like piece remains at the fingers. I’m retracting to a higher, less extended pose to clear the table and verify it.
move_to
left_x0.3600left_y-0.1500left_z0.1800left_yaw-0.5000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2604, 1.9083, 0.944, 0.1158, 0.3218, 0.2565, 0.0491, -0.0257, 0.8066, 0.6132, -0.4145, -0.028, -0.0124, 0.999] state[eef_state]: left_x=0.4248 left_y=-0.1673 left_z=0.0158 left_yaw=-0.6812 left_pitch=-0.2216 left_roll=-0.0653 left_gripper=0.0491 right_x=0.292 right_y=0.001 right_z=0.1737 right_yaw=-0.0011 right_pitch=-0.0503 right_roll=0.0053 right_gripper=0.999 state[joint_eff]: [1.0462, -15.0359, 7.4598, 2.1954, 0.3394, 0.2173, 1.033, -0.253, -1.1966, 7.0496, 1.7705, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.15,"left_z":0.18,"left_yaw":-0.5,"left_pitch":0},"note":"The arm barely lifted at this extended, rotated pose, although the cap-like piece remains at the fingers. I’m retracting to a higher, less extended pose to clear the table and verify it."})
tool
executing move_to over 11 steps (1.1s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe cap has lifted with the left gripper and is no longer on the table. I’m bringing the right gripper above the pen’s barrel, aligned with its diagonal direction.
move_to
right_x0.4150right_y0.2950right_z0.1300right_yaw0.4000right_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]: [-0.3157, 1.2903, 0.8101, -0.107, 0.205, 0.0639, 0.0551, -0.0257, 0.8112, 0.6132, -0.4168, -0.028, -0.0124, 0.999] state[eef_state]: left_x=0.3648 left_y=-0.1532 left_z=0.1712 left_yaw=-0.5247 left_pitch=-0.0025 left_roll=-0.0609 left_gripper=0.0551 right_x=0.292 right_y=0.001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.0571 right_roll=0.0054 right_gripper=0.999 state[joint_eff]: [-0.7316, -5.8598, 7.5282, 1.6093, -0.1148, -0.0757, 1.033, -0.0615, -1.1282, 7.0359, 1.7705, -0.0415, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.295,"right_z":0.13,"right_yaw":0.4,"right_gripper":0.7},"note":"The cap has lifted with the left gripper and is no longer on the table. I’m bringing the right gripper above the pen’s barrel, aligned with its diagonal direction."})
tool
executing move_to over 25 steps (2.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe pen’s writing end is visible ahead of the right fingertips, with the barrel extending into the grasp area. I’m lowering around the barrel while keeping the cap held safely to the left.
move_to
right_x0.4160right_y0.2850right_z0.0150right_yaw0.5500right_gripper0.5000left_x0.3600left_y-0.1500left_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]: [-0.3202, 1.2972, 0.8047, -0.1249, 0.1905, 0.046, 0.06, 0.6834, 1.7847, 1.1275, -0.0368, 0.2249, 0.168, 0.7017] state[eef_state]: left_x=0.3623 left_y=-0.1516 left_z=0.1624 left_yaw=-0.5076 left_pitch=-0.0343 left_roll=-0.0736 left_gripper=0.06 right_x=0.4049 right_y=0.2835 right_z=0.113 right_yaw=0.3966 right_pitch=-0.1159 right_roll=-0.0131 right_gripper=0.7017 state[joint_eff]: [0.3214, -5.6547, 7.3094, 1.8193, 0.1783, 0.1148, 1.0232, 0.6359, -9.1966, 8.8821, 1.8828, 0.0855, -0.0317, 0.1441] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.416,"right_y":0.285,"right_z":0.015,"right_yaw":0.55,"right_gripper":0.5,"left_x":0.36,"left_y":-0.15,"left_z":0.18},"note":"The pen’s writing end is visible ahead of the right fingertips, with the barrel extending into the grasp area. I’m lowering around the barrel while keeping the cap held safely to the left."})
tool
executing move_to over 7 steps (0.7s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe pen barrel is slightly right of the right jaw centre. I’m shifting the fingers onto it at table level and narrowing gently to avoid rolling it away.
move_to
right_x0.4220right_y0.2680right_z-0.0030right_yaw0.5500right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3206, 1.2945, 0.8143, -0.1947, 0.1898, 0.0448, 0.0636, 0.622, 1.9995, 0.9943, 0.2768, 0.0795, 0.0505, 0.5018] state[eef_state]: left_x=0.3543 left_y=-0.149 left_z=0.154 left_yaw=-0.5074 left_pitch=-0.091 left_roll=-0.0848 left_gripper=0.0636 right_x=0.4088 right_y=0.2802 right_z=0.0137 right_yaw=0.5206 right_pitch=-0.1682 right_roll=-0.0166 right_gripper=0.5018 state[joint_eff]: [0.1983, -6.7897, 10.7145, 1.7656, 0.0513, -0.0269, 1.033, -0.8137, -9.2103, 5.0393, 1.8291, 0.0757, -0.0659, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.422,"right_y":0.268,"right_z":-0.003,"right_yaw":0.55,"right_gripper":0.15},"note":"The pen barrel is slightly right of the right jaw centre. I’m shifting the fingers onto it at table level and narrowing gently to avoid rolling it away."})
tool
executing move_to over 4 steps (0.4s)
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 barrel is now centred between the right fingertips. I’m closing to secure it before the lift check.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3206, 1.2922, 0.8177, -0.2058, 0.1894, 0.0444, 0.0649, 0.5743, 2.0357, 0.9878, 0.3344, 0.0238, 0.0029, 0.1544] state[eef_state]: left_x=0.3534 left_y=-0.1486 left_z=0.1542 left_yaw=-0.507 left_pitch=-0.0963 left_roll=-0.0859 left_gripper=0.0649 right_x=0.4195 right_y=0.2707 right_z=0.0044 right_yaw=0.5465 right_pitch=-0.1559 right_roll=-0.0148 right_gripper=0.1544 state[joint_eff]: [-0.1162, -4.8342, 6.612, 1.7118, 0.022, -0.0659, 1.033, -0.6496, -8.0752, 6.5162, 1.6093, 0.0855, -0.0611, 0.1978] 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":{"right_gripper":0},"note":"The barrel is now centred between the right fingertips. I’m closing to secure it before the lift check."})
tool
executing move_to over 2 steps (0.2s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThat close appears empty. I’m reopening, lifting slightly, and moving two centimetres along the pen toward its writing end to correct the grasp.
move_to
right_x0.4320right_y0.2860right_z0.0650right_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]: [-0.3214, 1.2926, 0.8177, -0.2066, 0.1894, 0.0444, 0.0685, 0.569, 2.0396, 0.9909, 0.3542, 0.0166, -0.0128, 0.0097] state[eef_state]: left_x=0.3532 left_y=-0.1489 left_z=0.1539 left_yaw=-0.5078 left_pitch=-0.0974 left_roll=-0.0861 left_gripper=0.0685 right_x=0.4235 right_y=0.2716 right_z=0.0074 right_yaw=0.5558 right_pitch=-0.137 right_roll=-0.0217 right_gripper=0.0097 state[joint_eff]: [-0.1846, -5.053, 7.0359, 1.6142, 0.022, -0.0757, 0.9206, -0.4581, -8.8, 6.1744, 1.5116, -0.0269, 0.0611, 0.6178] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.432,"right_y":0.286,"right_z":0.065,"right_gripper":0.5},"note":"That close appears empty. I’m reopening, lifting slightly, and moving two centimetres along the pen toward its writing end to correct the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe writing tip is visible just ahead of the jaws, and the arm did not track the attempted lift at this extended pose. I’m retracting slightly onto the barrel and lowering the fingertips enough to reach the thin pen.
move_to
right_x0.4050right_y0.2590right_z-0.0150right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3214, 1.2926, 0.8173, -0.2066, 0.189, 0.0425, 0.072, 0.5686, 2.0415, 0.9909, 0.3473, 0.0174, -0.0128, 0.4951] state[eef_state]: left_x=0.3531 left_y=-0.1488 left_z=0.1537 left_yaw=-0.5064 left_pitch=-0.0979 left_roll=-0.0874 left_gripper=0.072 right_x=0.4226 right_y=0.2706 right_z=0.0051 right_yaw=0.5547 right_pitch=-0.1458 right_roll=-0.0223 right_gripper=0.4951 state[joint_eff]: [-0.1709, -4.5197, 7.2274, 1.5946, 0.0024, -0.0366, 0.7399, -0.6769, -8.8547, 5.7094, 1.5214, -0.0904, -0.0122, -0.2369] approver: 4 step(s) modified (delta_clamped ×4). 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":{"right_x":0.405,"right_y":0.259,"right_z":-0.015,"right_gripper":0.25},"note":"The writing tip is visible just ahead of the jaws, and the arm did not track the attempted lift at this extended pose. I’m retracting slightly onto the barrel and lowering the fingertips enough to reach the thin pen."})
tool
executing move_to over 3 steps (0.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe right grasp point is stuck near the table despite the correction, so I won’t force another close there. I’m retracting and raising the arm to recover a reachable approach to the pen.
move_to
right_x0.3500right_y0.2300right_z0.1500right_yaw0.5000right_pitch0.0000right_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]: [-0.3214, 1.2926, 0.8173, -0.2062, 0.189, 0.0422, 0.0751, 0.5686, 2.0415, 0.9909, 0.347, 0.017, -0.0124, 0.2542] state[eef_state]: left_x=0.3532 left_y=-0.1488 left_z=0.1538 left_yaw=-0.5062 left_pitch=-0.0976 left_roll=-0.0877 left_gripper=0.0751 right_x=0.4225 right_y=0.2707 right_z=0.0051 right_yaw=0.5548 right_pitch=-0.1461 right_roll=-0.0218 right_gripper=0.2542 state[joint_eff]: [-0.335, -4.9846, 7.0085, 1.6288, -0.0024, -0.0415, 0.6569, -0.7726, -8.9641, 5.7368, 1.4872, -0.0269, 0.0366, 0.2418] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.23,"right_z":0.15,"right_yaw":0.5,"right_pitch":0,"right_gripper":0.6},"note":"The right grasp point is stuck near the table despite the correction, so I won’t force another close there. I’m retracting and raising the arm to recover a reachable approach to the pen."})
tool
executing move_to over 10 steps (1.0s)
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 pen remains on the table, with its tip ahead of the right gripper. From this recovered pose I’m descending onto the barrel farther back from the tip, where the arm has more reach margin.
move_to
right_x0.3880right_y0.2500right_z0.0080right_yaw0.5000right_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]: [-0.3214, 1.298, 0.815, -0.2058, 0.1871, 0.0422, 0.076, 0.6113, 1.4425, 0.7918, 0.0929, 0.086, 0.0219, 0.5981] state[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1509 left_yaw=-0.5047 left_pitch=-0.1049 left_roll=-0.0878 left_gripper=0.076 right_x=0.3558 right_y=0.2353 right_z=0.143 right_yaw=0.521 right_pitch=0.0017 right_roll=-0.0271 right_gripper=0.5981 state[joint_eff]: [-0.0342, -5.2991, 7.1726, 1.707, 0.022, -0.0806, 0.4615, 0.4991, -7.0085, 6.4068, 1.7265, 0.1636, 0.1392, -0.1148] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.388,"right_y":0.25,"right_z":0.008,"right_yaw":0.5,"right_gripper":0.4},"note":"The pen remains on the table, with its tip ahead of the right gripper. From this recovered pose I’m descending onto the barrel farther back from the tip, where the arm has more reach margin."})
tool
executing move_to over 9 steps (0.9s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe pen’s barrel now runs directly between the right fingertips, with the tip well clear ahead. I’m closing at this lower, reachable position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1871, 0.0422, 0.0793, 0.606, 1.9438, 0.6945, 0.6346, 0.0929, 0.0212, 0.4017] state[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1499 left_yaw=-0.5048 left_pitch=-0.1079 left_roll=-0.0884 left_gripper=0.0793 right_x=0.3785 right_y=0.2467 right_z=0.0027 right_yaw=0.5101 right_pitch=-0.0545 right_roll=-0.0368 right_gripper=0.4017 state[joint_eff]: [-0.1846, -5.2034, 6.8718, 1.5604, 0.0464, -0.0073, 0.6081, -0.5128, -8.0205, 5.1487, 0.8425, 0.0757, -0.1001, 0.022] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen’s barrel now runs directly between the right fingertips, with the tip well clear ahead. I’m closing at this lower, reachable position."})
tool
executing move_to over 5 steps (0.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe right jaws stopped at a nonzero width around the barrel. I’m lifting the pen a short distance to confirm it is secure.
move_to
right_x0.3750right_y0.2450right_z0.0950
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1867, 0.0422, 0.0829, 0.6044, 1.9602, 0.6971, 0.6674, 0.0925, 0.0181, 0.0436] state[eef_state]: left_x=0.3531 left_y=-0.1483 left_z=0.1499 left_yaw=-0.5045 left_pitch=-0.108 left_roll=-0.0881 left_gripper=0.0829 right_x=0.3819 right_y=0.2483 right_z=0.0031 right_yaw=0.5106 right_pitch=-0.0356 right_roll=-0.0373 right_gripper=0.0436 state[joint_eff]: [-0.3761, -5.012, 6.8308, 1.5897, 0.0122, -0.0562, 0.3687, 0.0889, -9.9761, 4.2462, 1.3846, 0.0171, -0.0024, 1.0574] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.245,"right_z":0.095},"note":"The right jaws stopped at a nonzero width around the barrel. I’m lifting the pen a short distance to confirm it is secure."})
tool
executing move_to over 6 steps (0.6s)
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 noteBoth pieces are now lifted. I’m turning the cap to face along the pen’s axis and bringing them to a common working height, leaving room between the grippers before alignment.
move_to
left_x0.4450left_y-0.2650left_z0.2000left_yaw0.6500left_pitch0.0000right_x0.3500right_y0.2300right_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]: [-0.3214, 1.3003, 0.8146, -0.2066, 0.1871, 0.0422, 0.0858, 0.6044, 1.6726, 0.7586, 0.3199, 0.0929, 0.0174, 0.0461] state[eef_state]: left_x=0.353 left_y=-0.1484 left_z=0.1498 left_yaw=-0.5048 left_pitch=-0.1083 left_roll=-0.0884 left_gripper=0.0858 right_x=0.3758 right_y=0.244 right_z=0.0797 right_yaw=0.5107 right_pitch=-0.0341 right_roll=-0.038 right_gripper=0.0461 state[joint_eff]: [-0.335, -4.8479, 7.0632, 1.6484, 0.0464, -0.0122, 0.2808, 0.0068, -8.841, 8.2393, 1.7705, 0.0317, -0.0269, 1.0281] 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":0.445,"left_y":-0.265,"left_z":0.2,"left_yaw":0.65,"left_pitch":0,"right_x":0.35,"right_y":0.23,"right_z":0.18},"note":"Both pieces are now lifted. I’m turning the cap to face along the pen’s axis and bringing them to a common working height, leaving room between the grippers before alignment."})
tool
executing move_to over 11 steps (1.1s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe pieces are held with their long axes forward, but the cap is still well to the side and higher than the pen. I’m bringing the axes closer while compensating for the observed height sag.
move_to
left_x0.4600left_y-0.3300left_z0.2100left_yaw0.5000right_x0.3400right_y0.2700right_z0.2150right_yaw0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8017, 2.2578, 2.0953, -1.0073, -0.9066, -1.2133, 0.0887, 0.5808, 1.4239, 0.8562, -0.1677, 0.1555, 0.0525, 0.0516] state[eef_state]: left_x=0.4563 left_y=-0.2663 left_z=0.1711 left_yaw=0.5438 left_pitch=-0.0355 left_roll=-0.1137 left_gripper=0.0887 right_x=0.3489 right_y=0.2005 right_z=0.1281 right_yaw=0.4132 right_pitch=-0.1682 right_roll=-0.0671 right_gripper=0.0516 state[joint_eff]: [-2.5778, -9.1282, 3.0017, 0.3297, -0.5885, 0.0366, 0.2857, 2.6598, -9.9897, 12.1504, 3.2161, -0.9255, -0.3199, 1.0281] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.33,"left_z":0.21,"left_yaw":0.5,"right_x":0.34,"right_y":0.27,"right_z":0.215,"right_yaw":0.5},"note":"The pieces are held with their long axes forward, but the cap is still well to the side and higher than the pen. I’m bringing the axes closer while compensating for the observed height sag."})
tool
executing move_to over 6 steps (0.6s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteBoth arms have stopped following the sideways commands and the joint loads rose, indicating interference between the arms. I’m separating them immediately while retaining the two pieces.
move_to
left_x0.4000left_y-0.1500left_z0.2200left_yaw0.0000right_x0.3100right_y0.1500right_z0.1600right_yaw0.5000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7834, 2.603, 2.8845, -1.5406, -0.9043, -1.277, 0.0908, 0.6167, 1.4857, 1.1599, -0.5941, 0.2882, 0.2073, 0.0554] state[eef_state]: left_x=0.4691 left_y=-0.2662 left_z=0.2026 left_yaw=0.5998 left_pitch=-0.059 left_roll=-0.0787 left_gripper=0.0908 right_x=0.3484 right_y=0.1898 right_z=0.1631 right_yaw=0.2387 right_pitch=-0.3136 right_roll=-0.1038 right_gripper=0.0554 state[joint_eff]: [-7.0496, -6.7077, 4.4376, 1.7998, -0.6569, 0.0952, 0.1978, 10.441, -5.7504, 14.9675, 3.0745, -0.5788, -0.9792, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.15,"left_z":0.22,"left_yaw":0,"right_x":0.31,"right_y":0.15,"right_z":0.16,"right_yaw":0.5,"right_pitch":0},"note":"Both arms have stopped following the sideways commands and the joint loads rose, indicating interference between the arms. I’m separating them immediately while retaining the two pieces."})
tool
executing move_to over 11 steps (1.1s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe right arm has moved clear, but the left arm is still in a highly folded, poorly tracking pose. I’m drawing the left arm back and upward before any further alignment.
move_to
left_x0.3100left_y-0.2000left_z0.2500left_yaw-0.4000left_pitch0.0000left_roll0.0000right_x0.3000right_y0.1000right_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]: [-0.8558, 2.6656, 2.949, -1.5696, -0.7864, -1.1988, 0.0929, 0.4377, 1.0966, 0.6189, -0.1898, 0.083, -0.0486, 0.0559] state[eef_state]: left_x=0.4431 left_y=-0.3142 left_z=0.1722 left_yaw=0.4501 left_pitch=-0.1731 left_roll=-0.0167 left_gripper=0.0929 right_x=0.3108 right_y=0.1333 right_z=0.1354 right_yaw=0.387 right_pitch=-0.1095 right_roll=-0.091 right_gripper=0.0559 state[joint_eff]: [12.1915, -26.441, 11.3299, 0.9939, -1.0574, 0.3101, 0.2173, 0.6906, -5.6547, 7.3504, 2.0586, -0.2466, -0.2515, 1.0232] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.2,"left_z":0.25,"left_yaw":-0.4,"left_pitch":0,"left_roll":0,"right_x":0.3,"right_y":0.1,"right_z":0.18},"note":"The right arm has moved clear, but the left arm is still in a highly folded, poorly tracking pose. I’m drawing the left arm back and upward before any further alignment."})
tool
executing move_to over 11 steps (1.1s)
step 184
assistant
agent noteThe left arm rose much higher than requested, so its current folded configuration is not suitable for assembly. I’m returning it toward its normal home geometry, keeping the cap clamped.
move_to
left_x0.2800left_y-0.0800left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7395, 2.2372, 3.1317, -1.5833, -0.3805, -0.3283, 0.0944, 0.3038, 0.9855, 0.6952, -0.4141, -0.0135, -0.1253, 0.0559] state[eef_state]: left_x=0.3943 left_y=-0.266 left_z=0.3995 left_yaw=-0.2469 left_pitch=-0.0595 left_roll=-0.027 left_gripper=0.0944 right_x=0.298 right_y=0.0997 right_z=0.1598 right_yaw=0.3766 right_pitch=-0.149 right_roll=-0.0888 right_gripper=0.0559 state[joint_eff]: [0.3487, -9.3607, 4.4513, 1.7216, 0.0024, 0.315, 0.1441, -0.5949, -3.7812, 10.5915, 1.4774, -0.1538, -0.0806, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.08,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The left arm rose much higher than requested, so its current folded configuration is not suitable for assembly. I’m returning it toward its normal home geometry, keeping the cap clamped."})
tool
executing move_to over 17 steps (1.7s)
step 201
assistant
agent noteThe cap is still secure, but the left arm remains above its requested position. I’m choosing an intermediate pose closer to the measured position so the arm can unfold without approaching the pen arm.
move_to
left_x0.3500left_y-0.1000left_z0.3500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5591, 1.8069, 2.5515, -1.2148, -0.4549, -0.3428, 0.0957, 0.3016, 0.989, 0.6971, -0.4343, -0.0204, -0.1318, 0.0559] state[eef_state]: left_x=0.4037 left_y=-0.1568 left_z=0.4754 left_yaw=0.0075 left_pitch=0.1493 left_roll=-0.1146 left_gripper=0.0957 right_x=0.2952 right_y=0.0994 right_z=0.1559 right_yaw=0.384 right_pitch=-0.1706 right_roll=-0.0875 right_gripper=0.0559 state[joint_eff]: [-1.853, -10.8923, 6.7214, 2.6984, -0.0757, 0.0464, 0.1294, -0.0752, -2.2769, 6.7897, 1.8535, -0.0122, -0.0122, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.1,"left_z":0.35,"left_yaw":0},"note":"The cap is still secure, but the left arm remains above its requested position. I’m choosing an intermediate pose closer to the measured position so the arm can unfold without approaching the pen arm."})
tool
executing move_to over 9 steps (0.9s)
step 210
assistant
agent noteThe left arm is tracking again at shorter reach. I’m trying a closer-in, side-to-side alignment so neither arm needs the extended configuration that caused the problem.
move_to
left_x0.3000left_y-0.2000left_z0.2200left_yaw0.8500right_x0.3000right_y0.2700right_z0.2200right_yaw0.8500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.466, 1.2171, 1.3277, -0.6701, -0.3759, -0.3119, 0.0972, 0.3012, 0.9943, 0.6968, -0.4389, -0.0212, -0.1322, 0.0559] state[eef_state]: left_x=0.3562 left_y=-0.1025 left_z=0.3221 left_yaw=0.0139 left_pitch=0.0541 left_roll=-0.076 left_gripper=0.0972 right_x=0.2946 right_y=0.0992 right_z=0.1533 right_yaw=0.3846 right_pitch=-0.1809 right_roll=-0.0864 right_gripper=0.0559 state[joint_eff]: [0.1026, -4.3145, 7.8427, 2.2344, 0.0073, 0.1538, 0.1392, 0.0068, -2.441, 6.9538, 1.6972, -0.0806, -0.0757, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.2,"left_z":0.22,"left_yaw":0.85,"right_x":0.3,"right_y":0.27,"right_z":0.22,"right_yaw":0.85,"right_pitch":0},"note":"The left arm is tracking again at shorter reach. I’m trying a closer-in, side-to-side alignment so neither arm needs the extended configuration that caused the problem."})
tool
executing move_to over 15 steps (1.5s)
step 225
assistant
agent noteThe gripper bodies are interfering again before the cap and pen can align, and the right wrist load has increased. I’m withdrawing the pen arm; I won’t force the pieces together.
move_to
right_x0.2900right_y0.0800right_z0.2200right_yaw0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9615, 1.7107, 1.7016, -0.9611, -0.857, -0.7708, 0.0988, 0.6678, 1.2652, 0.9352, -0.3313, -0.0608, -0.1574, 0.0565] state[eef_state]: left_x=0.3455 left_y=-0.2556 left_z=0.2781 left_yaw=0.1171 left_pitch=0.0002 left_roll=0.0524 left_gripper=0.0988 right_x=0.2945 right_y=0.2505 right_z=0.19 right_yaw=0.7975 right_pitch=-0.1045 right_roll=-0.0883 right_gripper=0.0565 state[joint_eff]: [4.0547, -6.7077, 3.9179, -0.0366, -0.0708, 0.7448, 0.1538, 0.8274, -5.3675, 10.5094, 4.4322, -2.1172, -0.1783, 0.5299] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.08,"right_z":0.22,"right_yaw":0.5},"note":"The gripper bodies are interfering again before the cap and pen can align, and the right wrist load has increased. I’m withdrawing the pen arm; I won’t force the pieces together."})
tool
executing move_to over 15 steps (1.5s)
step 240
assistant
agent noteThe pieces remain held, but reliable capping is not possible with this approach. I’m returning them to separate clear areas of the table before stopping.
move_to
left_x0.3000left_y-0.1400left_z0.0600left_yaw0.0000right_x0.3000right_y0.0800right_z0.0600right_yaw0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9585, 1.7321, 1.6993, -0.9768, -0.8555, -0.7975, 0.1001, 0.2863, 0.9821, 0.8753, -0.5468, -0.2115, -0.276, 0.0564] state[eef_state]: left_x=0.3467 left_y=-0.2553 left_z=0.2672 left_yaw=0.134 left_pitch=-0.0184 left_roll=0.0642 left_gripper=0.1001 right_x=0.2919 right_y=0.1283 right_z=0.2176 right_yaw=0.6065 right_pitch=-0.0817 right_roll=-0.0947 right_gripper=0.0564 state[joint_eff]: [-0.5949, -10.1812, 6.5709, 1.3504, -0.4713, 0.2369, 0.1245, 2.7282, -1.0872, 8.1299, 1.4969, -0.3004, -0.1636, 0.989] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.14,"left_z":0.06,"left_yaw":0,"right_x":0.3,"right_y":0.08,"right_z":0.06,"right_yaw":0.5},"note":"The pieces remain held, but reliable capping is not possible with this approach. I’m returning them to separate clear areas of the table before stopping."})
tool
executing move_to over 14 steps (1.4s)
step 254
assistant
agent noteBoth grippers are over clear table areas and tracking normally again. I’m lowering the held pieces to the surface for a controlled release.
move_to
left_z0.0080right_z0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7898, 1.3865, 0.4614, 0.041, -0.6785, -0.5041, 0.1008, 0.0978, 1.1263, 0.3103, 0.0731, -0.271, -0.3244, 0.0583] state[eef_state]: left_x=0.2915 left_y=-0.1315 left_z=0.0515 left_yaw=0.0312 left_pitch=-0.0793 left_roll=0.1178 left_gripper=0.1008 right_x=0.2887 right_y=0.0795 right_z=0.0506 right_yaw=0.4974 right_pitch=-0.1535 right_roll=-0.0651 right_gripper=0.0583 state[joint_eff]: [0.3624, -4.8889, 6.3521, 1.6874, -0.4274, 0.1343, 0.0513, -0.4171, -2.6188, 6.0923, 1.9512, -0.2418, -0.1197, 0.9548] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.008,"right_z":0.008},"note":"Both grippers are over clear table areas and tracking normally again. I’m lowering the held pieces to the surface for a controlled release."})
tool
executing move_to over 3 steps (0.3s)
step 257
assistant
agent noteThe pen and cap are at table level in separate locations. I’m opening both grippers to leave them safely on the surface.
move_to
left_gripper0.7000right_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]: [-0.7883, 1.5578, 0.3965, 0.239, -0.6716, -0.4957, 0.1008, 0.0929, 1.3216, 0.2241, 0.297, -0.2707, -0.3267, 0.0589] state[eef_state]: left_x=0.2885 left_y=-0.1292 left_z=0.0092 left_yaw=0.0262 left_pitch=-0.11 left_roll=0.1487 left_gripper=0.1008 right_x=0.2814 right_y=0.0773 right_z=0.0048 right_yaw=0.4974 right_pitch=-0.2067 right_roll=-0.0442 right_gripper=0.0589 state[joint_eff]: [-0.3624, -5.8735, 4.5607, 1.7705, -0.4469, -0.0952, -0.0073, 0.1983, -4.1641, 5.4359, 2.0098, -0.1392, -0.0024, 0.9744] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.7,"right_gripper":0.7},"note":"The pen and cap are at table level in separate locations. I’m opening both grippers to leave them safely on the surface."})
tool
executing move_to over 7 steps (0.7s)
step 264
assistant
agent noteBoth pieces have been released onto the table. I’m lifting and parking the arms to clear the view and verify that they are left safely apart.
move_to
left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7887, 1.5875, 0.3782, 0.3038, -0.675, -0.5133, 0.6959, 0.0929, 1.3342, 0.21, 0.3019, -0.271, -0.3267, 0.6954] state[eef_state]: left_x=0.2892 left_y=-0.1294 left_z=0.0045 left_yaw=0.0363 left_pitch=-0.0952 left_roll=0.1244 left_gripper=0.6959 right_x=0.2757 right_y=0.0768 right_z=-0.0023 right_yaw=0.4996 right_pitch=-0.2266 right_roll=-0.0351 right_gripper=0.6954 state[joint_eff]: [-0.1983, -5.4359, 4.4786, 1.5311, -0.359, 0.0904, -0.022, -0.212, -4.3966, 5.9966, 1.4676, -0.1685, -0.0513, -0.1538] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"left_pitch":0},"note":"Both pieces have been released onto the table. I’m lifting and parking the arms to clear the view and verify that they are left safely apart."})
tool
executing move_to over 14 steps (1.4s)
step 278
assistant
agent noteI picked up both the pen and cap, but could not align them reliably without arm interference and large pose-tracking errors. I returned both pieces to the table separately and parked the arms; the pen is not capped.
give_up
hindsightThe successful cap grasp was near left (0.435, -0.176, 0.003) with yaw about -0.69; the successful pen grasp was near right (0.382, 0.248, 0.003) with yaw about 0.51. Initial jaw readings can be misleadingly small: the cap settled above 0.05 after lifting and the pen around 0.046. Avoid a central assembly pose with the cap arm extended near x=0.46, y=-0.33: tracking deteriorated severely and the arms interfered. If a recovery target produces a large height error, use an intermediate target near the measured pose; left (0.35, -0.10, 0.35) restored tracking after a folded configuration.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1337, 0.8185, 0.635, -0.4149, -0.2298, -0.0177, 0.6967, -0.0006, 0.8032, 0.6273, -0.4137, -0.036, -0.0757, 0.6964] state[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1828 left_yaw=0.0661 left_pitch=-0.0131 left_roll=0.1125 left_gripper=0.6967 right_x=0.2935 right_y=0.0098 right_z=0.1812 right_yaw=0.0643 right_pitch=-0.0321 right_roll=-0.0434 right_gripper=0.6964 state[joint_eff]: [0.212, -2.1265, 9.894, 1.7509, -0.105, 0.1978, 0.0708, -0.6085, -1.812, 9.7026, 1.663, 0.188, 0.2369, 0.0952] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both the pen and cap, but could not align them reliably without arm interference and large pose-tracking errors. I returned both pieces to the table separately and parked the arms; the pen is not capped.","hindsight":"The successful cap grasp was near left (0.435, -0.176, 0.003) with yaw about -0.69; the successful pen grasp was near right (0.382, 0.248, 0.003) with yaw about 0.51. Initial jaw readings can be misleadingly small: the cap settled above 0.05 after lifting and the pen around 0.046. Avoid a central assembly pose with the cap arm extended near x=0.46, y=-0.33: tracking deteriorated severely and the arms interfered. If a recovery target produces a large height error, use an intermediate target near the measured pose; left (0.35, -0.10, 0.35) restored tracking after a folded configuration."})
tool
give_up: I picked up both the pen and cap, but could not align them reliably without arm interference and large pose-tracking errors. I returned both pieces to the table separately and parked the arms; the pen is not capped.
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 · 9.149 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.02, -0.0113, 0.9997, -0.0181, 0.791, 0.6094, -0.3759, -0.0204, -0.0124, 0.999]\nstate[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5949, -1.5248, 10.5368, 1.7558, -0.0806, -0.0513, -0.0415, -0.5812, -1.2376, 9.8393, 1.7607, 0.0122, -0.0366, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5b1f39c7ee53d89db4dac6d7dc6aab01d41728df83a6a33f9875e941b33811",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:118e987b7148c863d653da35923ec357e55f854b5e1ee016c8e9f0c5ecf19a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ef0e39f2335399c4b8edd3709b79af7c0366c926389cc383b7ae80fbf72c39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 4.898 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFfztdUn0PTPBxsrPfgwHk22amb12ABy50WNduGURnVDUwj3H8Hhjo4SbDHXv1oqmc4hpk9Z-Ovoa1-9__WeoAcsh1sOMxNOls_Gbku_zQy7NsrX1CqSwP2BVS3svhfm1y7_YlR3NhWyINtAgcmJqz5su-0iUl1ugaYHxOKDRVFM_4hztVE1Cr6nBdvdf5VsoCmlKeJD6KgD5bnNC5zJo7HGfh1eNtbU2_BZkOzQXfZYltAK181e4Ze3R97FpUxF6IYmZ1Jg0-QPqZlS9CD5gUw5wZAWpLSBdfAsLYU3sJ9OGDywzbmVfX3NYD4evukOik-fsUZRXM6pAUtWdGIPPl1l7X0ZDPAdP1eNAb2nDHXc4k6tnRoM0dz0pLBwiK82vVA_yaqTEXFHq4zOLJ45yoNvNwLV3i2PHciyLx4nQ0ArRy-Xg72ugz4oCYQIzoTsKzmUeAUs6vU7UMS9ZLlXVhqcaKqP49al3enS8OpniyxkuhlBhWbNzdQ6cgGFvQ5cY-XfFpG171X4ju25YdAJ4EuIcPn0q7Kpb6T12EjZHf5aZN78z21H6LlaSEmoybTfjqWWzi5kw6maglT8w_AIAA6QrTcmrmmi9yjjSATmGHS21ryN5QUyqQeq2C3q00AAAYJtxHrYJyXJ_4vzj9K5rn4rJUQCXBC74sfsfeD_oOfLIspNhOHDmbFSeg2AMQsWxmK-dJMpTzvBo9CJCJGsckz0XfugHK_RnZke7CwCf44rGdtPMAOYZ6oIDgetQOKmi5ADQ4DAgOyCrQGmVWqFHP2fBR_cmIV8IZkYEQoNs1IJkjxYkMlpb6XiiJZEANlwhJ6iowEgNuY3SSNgPzmYN8GPh2DPxX3El-GndfHLT0zpATcqsooLyt16OiUNNUL-EyXfnM5jWS4WhpZDwvwuvifLBX50Q0LEqliTq4fqh8CTWL6cMcumgext5_wGOgXIdAoCLGLqSWKeWTXNVLzFbuf9gqB2ClfO2ji9F-ggxy_YGQk6rThleWhQ7r3ToFJZk-em1UOtBZHZ1CBT5DpWFNXIJVFuJ-nTMWuxOOQoGMIVrzgEeHvgH5dCK81FWILcTGtfcN99tgkT4wlri9ddu4Xy_2n2YHFNO1FDP4AloPFXH1HEdjy_Cx8pBtwAUMSLlH7KIT-o8DqWKJeX5FojV2SCODzLbkkQakkwdLRRN07YLQGYpLKRQuSUS-gJyPdIqC2hP6plrh1hysEASum1WsGTQonBBtExQzDTLUtD91bd7JawEBpUkiJFuQ4ss3K1u9wpz7cjL5Aw3sXpEdMBxkoCDBvl4a715rWH1tPl0yD9ONl7CpwdDc0CYMdnrxNFXpiawdqqyBeaFl7dOJN_VWsruh4k9JjPPmSlC_roVXbM0AaO_D4uVlwCvjJ6hzGtY-C_n_BYQwUt2mbXtZKpVcv4Q3JDdvSlFh61caKVb7fTKktHMPGFx5tjHKWnG6NK0D4JW8SDPMs-hDoucs1RcMBTKWauXfTO999MSp-Aejw4BWKCEBreMBdMWMOLc_aU_8sFiwLyo5GbfEH1dVLsp5oorktYdOzkNtDAgszrhoTMbJ6ybP_a9YTGifZ4LpbAdAx5bdKfkK70OiZ4W15UWT8hpLXpS3gmBmGFRqJawRx-MF-M5eiiMW9vmSra0G4vXMlPC6Yy3uXS4vujsx3SbWmZTKeiCRKTMk6m82dO2SMnASFZvObaRDXGwoP689rF_skocriM5aGx-tLPhBuctLwSB4F3K5e59-gR42UJNfQN5cKQvVp4sCe7PCQQlu7r1y2uVD2Wp8iPtxNgAq90KyNVZ8Ru19tDyolaROi-98pUEC-ENJwxpp0jEz0Abiak65sfYUW0ngG1phdno6uNWppWKzuly0YXw3eBou33aBaxMDySpCoIXRGvyihkQerDc8T3GlpNUw0QNPglWDRUXB1DRbdWhPiod_dBITeqcj7EfA-1t74zNK-5dkTmdoA7YLb5mN8FNW99Qx3-tOOIikI5WESCCN5YeqgVaBAtf7gCTuQ7gqK4rQAGvrWbDQJnA0Mg_jTBEDQ6mFNzxs6d2FBRMTDNFkkJiDZvGah3_2kyofiq-vX72_7WfOMOk5owxq9YwZVcslK9rMhhOjUeO1HLN-JU84SMkjFVmA-85yvqyMz1hv1KAZGpkPQgZWz9KVzUTUZ4w3mnzeFL0St-11g1PfnbkFsbGXy76AkkjGkqvP07nNL3_3XEONGdu2MjNt1eaTIKqbdCLaDavLTvSd3bEawO5Jqo2cjfDGfqSDzxIFn7pdmDOq-ZkMtKP5cB0PETGEcg1679ESJEOKXlFDqRD-tAltgVQQrqtyeWruTOq8GFKl8I72B3-mSeEVItpq1BulFzBbVgWeWe65HwbLyk1BEo1YqUq1yHpbAPZF-Vc2FS1_5eqFuC7QGUufb5BCM_aPtLEZqlpmnhq2ImamQTm_Y9cu4ltROmRRaBrP6cDKlcENo1T7rknP2yfvY1YduLLELiqWJdI8fQdfs_qhskbSaq5Vqk7ksbi70ypeaqtUJx4n1ZxXdq6N2DILuQJHVtHOqHLyXhBDn8sMSQAdbioF6PeszpTaIoOn8uspL9k7PFeSEiBD4XSoxk58DgKi9Yh3dUVn1PCv0DJc_rgbMhZFQGCV7gEsArExIEZUEPyirDWIGvc4P5V_t0CJdP8Q0p8kieWyLreSAQYz0Gi5Mq4Ncz_XjT1fTuIAQ6xUn2G5BqjEBByHfTfhjPYeanTrVrFN9EufCi4wTFVodvCL3-Awm6JPTVMvmieONHGfuCNWg=",
  "id": "rs_06bd11ff0f39cdd6016ab457ebe19487d0905c819ba7c37d9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.205,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"The short cap is left of the long diagonal pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked.\"}",
  "call_id": "call_emcv5wSTyffWpUn3UO6WHFcC",
  "id": "fc_06bd11ff0f39cdd6016ab457f2715487d0ba8efe26b731a98a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_emcv5wSTyffWpUn3UO6WHFcC",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.6543, 0.9504, -0.0612, -0.5449, -0.4137, 0.9997, -0.0223, 0.7959, 0.6132, -0.4076, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.1942 left_z=0.1093 left_yaw=-0.0086 left_pitch=-0.0626 left_roll=0.0373 left_gripper=0.9997 right_x=0.2923 right_y=0.002 right_z=0.178 right_yaw=0.0025 right_pitch=-0.0327 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.9658, 9.2513, 1.7705, -0.3443, -0.0122, -0.0415, -0.8957, -1.7436, 8.5675, 1.9023, -0.0757, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f883d2474a3fcf1ba9f757a49b5e9d6964944d971dfee368df3f0156d8f3e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e15c65cab61c7613bdbc96cbc3d076c53dc50d164e18e67fc84cfed0ae6ede",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d48c10d4a968613ceede40269c575627b07d807477c6007717d0416de0a777c",
      "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 · 4.039 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.02, -0.0113, 0.9997, -0.0181, 0.791, 0.6094, -0.3759, -0.0204, -0.0124, 0.999]\nstate[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5949, -1.5248, 10.5368, 1.7558, -0.0806, -0.0513, -0.0415, -0.5812, -1.2376, 9.8393, 1.7607, 0.0122, -0.0366, -0.1148]",
      "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]: [-0.6788, 1.6543, 0.9504, -0.0612, -0.5449, -0.4137, 0.9997, -0.0223, 0.7959, 0.6132, -0.4076, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.1942 left_z=0.1093 left_yaw=-0.0086 left_pitch=-0.0626 left_roll=0.0373 left_gripper=0.9997 right_x=0.2923 right_y=0.002 right_z=0.178 right_yaw=0.0025 right_pitch=-0.0327 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.9658, 9.2513, 1.7705, -0.3443, -0.0122, -0.0415, -0.8957, -1.7436, 8.5675, 1.9023, -0.0757, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f883d2474a3fcf1ba9f757a49b5e9d6964944d971dfee368df3f0156d8f3e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e15c65cab61c7613bdbc96cbc3d076c53dc50d164e18e67fc84cfed0ae6ede",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d48c10d4a968613ceede40269c575627b07d807477c6007717d0416de0a777c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFf6FgooXBEt6EOYFFXH9dd_ENQptWBYtlVJPB4KVAwb-ScIz_9aFbiWbexmqvrrB0tPGmqPLX7b1NYk_2c2i1_bzBxwjcGKs4ds_R_MKkK4UKa7cvyf5jpzTCCzglN852IyEErtxE7YNoFesigzO-qJJapCjOab9VKXwiqbaKXQFk0D2SKaUJ66XFQncjO_RdioTn5tHiTx60ExRPAzbUiGVaTmQBIUqdy-4W1iFXHSZSEEoCHSYXc4pKP4dn24SN-z5QM9tNYf-oLdbN_RdNuKCkGEKB_UkM45GQk3dxx7ba31it7KquoJP-5CEtrwvDtIJz84Xe3oA7dVkm4iccnbFEqfYiy39PJZlfzGTBymLqmozLKX1kMi1YGYXUWFR3iq4CmXN003wk9OZkbI2vbYLP6ckcgOdCTVoYo51qyWMZWSS7e3U47E0guLX6GyYIlnUWTrdGWu1tO5q7GwJTNJ0zzq_kj5vStZAI1KRBfMCDm2qf9nvuzQIqBMGVhOk7cwtpNtusSbgUfZmwuqxtwcYeuwJ9TXOPLcvrT7J-497ZCZe6UNzO8mjlu7VEzC1mrSjLasKN3PIc2OjSDKB7hgNjidZszek--3GMuSvFb-4WMwnz2Jlg1KG9LK6h-i-BITFdWYwFzAT1PL0U3Frhl8O6kdX3JW2WDLB-wkzOMspOoHTPWJw90YG3AK1-ozT2-OvGsfJ-I_4dd-vk1Sn0jIAH5weOdM8SJ5yiVTI_EDmy9QetOeLrRL4_g8RvO87_bWqU79VAPhfB0QYLvPGdNjjsjpsT6SrRvmX4ND12xlQSmc3J5joD8FYjtfNT8Wacu2AhRW3GAc3zdv9nVU49BBZa9tbltDvlAHO-r3bEvQU-bNYEHTIJWpyyeLfmfLflvTRjLj8jaEa3Oq9HdvGXQbgT68nO8Kxo-asuBSdJBbKybkgnmgGbgF4_iBp2eB2IXazYtiK2sqEHk76U7Ws02TUTd5CPyT8dGFH59XMlWi0zkAemwdpxBz-Yn2_RTXqwxBII4-5z-7JTLGwV-ov5IpWZoxaSSb13G1xY3uHtQnicu3W5cgEkX7CPev9sPawxguuQxpQRscXiMbDRW0INkYf25xWRQKziIG_JWDbkgj8L0aZWFVabRIq7LQinsWCqUPQSXpTLrSWkwgp0NEn6XX5oVgiY2GG5OAAh2mX82I39dCUh81mz3vZYHPZ3zVpRFY8oZsq1XbUNjf420P12Hy_0Gy9VDQmnecWHQ8j_qcq2SkIw9rX0BAddXQDOEl6soIksMugy8bLilgO63W1p6XiCLXbFxSj0Ke9IOZKL52UTx1tF7MksHInheRHr53exodfEY4ZCVNjSCOzLLWgcJtni8o7L8IC6kpBl_70A8mI0bOr5PAQsA9pGWWdCom-dRwxUgaJxWTQf5dBHXqFqCtCA7SGIcpring3gJdzmqwIYpPuikSeH3yL9-5ln0HE6kMXwkEx3AdmL9hmqetiVpEYpsKqRghQ5fBGLqEdFH3oQEho7hgmiHDQIy3EZZw29JQk05I6Yy2DB1XXlvYsw5Nr7wqUyYaG3f2hzTaRodnOnoEGFKXrLYfxoNPPfARDP0mJrpVOSGpnckQ9Q_CSgBYP7h0AurspbDXGhGhUSp6ylS-LmL2eZWwEBFVPG-UbK4KP1jrIotHe0Qz2Yk8Yq0rPwUdyRQz8_ngpjvjav3NMzyKQ4eVipY-3F4mojiKv2ap3xkJz8prKJ7-2P1Po-q9Z61RaZw8uwnfDgjuKMVclsdz8nzlbRaOuOL9_YiU3MBtzNzLifhMEfeZqOdG30ctjHeYezWQb5Oglg0byduOzkf-5p-SeyizVsi6fPshg0qkSYs0Qdqm4X7zw3MntbwTsrvqODjo-cUdsRMH-vZYyLXgsqLm9nzuYxNfHOBqwkycJerboVs3qWsVAZNqH20pDQ==",
  "id": "rs_06bd11ff0f39cdd6016ab457f67f2c87d0a4c8a60ebe2fe739",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.183,\"left_z\":0.035,\"left_yaw\":-0.9},\"note\":\"The cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’m lowering and turning the gripper to pinch across the cap rather than along its length.\"}",
  "call_id": "call_bJVLGT3xUCaWbF2QSWkZ8vwx",
  "id": "fc_06bd11ff0f39cdd6016ab457f91fa087d08087bc6afc8c04ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bJVLGT3xUCaWbF2QSWkZ8vwx",
  "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]: [-0.2756, 1.8042, 0.7452, 0.2646, 0.2699, 0.2573, 0.9997, -0.0257, 0.7982, 0.6132, -0.4126, -0.0277, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3941 left_y=-0.1567 left_z=0.0133 left_yaw=-0.6499 left_pitch=-0.1863 left_roll=-0.0076 left_gripper=0.9997 right_x=0.2918 right_y=0.001 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.04 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.9094, 7.8701, 1.8242, 0.2466, 0.2662, -0.0171, -0.0068, -1.3607, 7.1453, 1.7802, -0.0317, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366b84225f7272b9890954b851a80e8c7470504d7760d2c9ccb32cb083389ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131dfa7b20b2e41fff03043ef08ee3d2f32da6acde7458dfb4303633de578e76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0435a11a9190a9a2e9575b1d2adbaf17e696272128ebeeb1511c9bdafddb62f9",
      "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 · 2.766 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]: [-0.6788, 1.6543, 0.9504, -0.0612, -0.5449, -0.4137, 0.9997, -0.0223, 0.7959, 0.6132, -0.4076, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.1942 left_z=0.1093 left_yaw=-0.0086 left_pitch=-0.0626 left_roll=0.0373 left_gripper=0.9997 right_x=0.2923 right_y=0.002 right_z=0.178 right_yaw=0.0025 right_pitch=-0.0327 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.9658, 9.2513, 1.7705, -0.3443, -0.0122, -0.0415, -0.8957, -1.7436, 8.5675, 1.9023, -0.0757, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2756, 1.8042, 0.7452, 0.2646, 0.2699, 0.2573, 0.9997, -0.0257, 0.7982, 0.6132, -0.4126, -0.0277, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3941 left_y=-0.1567 left_z=0.0133 left_yaw=-0.6499 left_pitch=-0.1863 left_roll=-0.0076 left_gripper=0.9997 right_x=0.2918 right_y=0.001 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.04 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.9094, 7.8701, 1.8242, 0.2466, 0.2662, -0.0171, -0.0068, -1.3607, 7.1453, 1.7802, -0.0317, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366b84225f7272b9890954b851a80e8c7470504d7760d2c9ccb32cb083389ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131dfa7b20b2e41fff03043ef08ee3d2f32da6acde7458dfb4303633de578e76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0435a11a9190a9a2e9575b1d2adbaf17e696272128ebeeb1511c9bdafddb62f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFf-E_si8uDY2Ru8Nk2cqSsP4P0Z_2f4BIuzwXDbJMdpPp812qZSBy5V5_kx_Jo6qF3qWMKohqfUIhzc81qYlCK2feLIZc3NLA0VyNY6M_wt8iOriYjFP3pZySx8GGjA0IUEy8g06sbhceXZvS_Lxm8T0byy9R-5Jodn5cWMrC4Yypelzqt6Hcge2GKTGi8YmjxruCEUz9f6YYe1IAYGmFSr6svXuVZdR6-5Mb1Q3x50FeI2wql3bVa9oVm3-8-I1rPgaOd9fzTGf9URPCC6IzUodPYBeJwTMG3dHqWkQ2pAZ1E6u3cuMxOe38rVScP1k46zZ0s22BiCGbiUusqOuB9M3QoOrCxAJiaYo7K7aD8c_p4qaGjPPlQTdENbZ4ra9nNIBETZUFooLBxFo0AvbqNkSvDhMJekm9sEwyYNy6Kd1ymOzLb4Tsy_I1I9Nl8sStTv40ShmrCDMRy_wo8-Qs_SKAkgkPJufihKuBvmS0pipcz5BNdcmfvBAzX00rATCq5GRcVIiPcznOh-CmlGqjaDelMYuNpkkOD3JOleimbzUrIwIBsy1XVLWo1GwMvbwAzMjdXV2w9GjfsybG4WmFXQYdoVUTNl9U9Pu-9KHVOZQiwf3mNkooF6GB7_4YW2xlfZqlUjvXxoaRDOSdTC57gA9I2GGq2ROZrTpZR2eil0mNoPQ6hAjjUmPqZ1W0PCW10xnfXgFT1Q_f4PYARUzQQ9OMotD8Mx5r-u6cT--7SFlL-aClo9mjhDb7n0tYAFy74PFx0Fz-RPyrZXS_EQfgAgn2tlz7xrx_mQCfTs1-rjA0DKASdDLTkjcWPqHF2o3sQD-PpPUZW78w8oENzU1OAUGqMNMbEucFfTW4BpK_PPGhtvYtWiuVp0u-U1a8tOxvtmglmxwe2opdSZEZL1KHS6OetbyTrCK-nzJGsUbEjN6AAfKjRcZpBWWMgwefDWuDq51P_7vXt9kt3lgjia9ZE28Jp2Rm25WQVygg7rnUgtd0fIUv7_h39PMgCnwaH7gcDfr1rleLG6vLAEdN5QQAU-d4gmSpu45qlQBuQeWEOKPxpr61ZEPSRrbjmcsb1Kh275p922z8GLtZtoHC2p9GlrZ5CwgqOiLWFW4GXGN6sTclEkft6duBDqUV5OQCNyXiRdAkUBGtEyZwRLUfExPXWX3awOa_N4wE-q0q8gLcCL3k554JRjRioRsEX2P4xzcEeACiA4TWCkyq8iC9HtyqdhiW2eAZVvBRiXvyT51h0UaICtciujgxjIBOztmLqrkx9JTNc-mhEk3C1WdaNhWFZdMA5odRAbMFhzXDmKQ7dEuAU4nw5zIcUspb9wEcGJvG1wVc3DVUTGEsuPivLPk5kTLHaVjJ5U5lKQdPmOU4WeiDdSpquClN2Zml8UgPFZX4AnN9R_seWHj43qKIvySYTx3JTXVobqi7FL-ERa6UZjGyHucbh-3OTJGg7hdLOsagV6ZnVxA19vQRdkHgzUSoUXXXWEkeaCalfVV7Ii4reWVVlei_B22ES5K0J1nsmEdcmgcl5AzkMbmrMvU2bwRqy2ZHuXv0V2dkzZ2ywmMscEDjMoIYOutQo5vFUjmB6YXLnqfYmhjXQAqZjV8M4zRc2cLg==",
  "id": "rs_06bd11ff0f39cdd6016ab457fc0d4087d0928b0eae9c552ee8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.401,\"left_y\":-0.174,\"left_z\":0.0,\"left_yaw\":-0.9,\"left_gripper\":0.42},\"note\":\"The cap lies between the open fingers in the wrist view, but the yaw turn stopped short and shifted the grasp point. I’m making a small centring correction and narrowing the jaws before the final pinch.\"}",
  "call_id": "call_CdqMOhSPwDPjiim1iWzCoRCZ",
  "id": "fc_06bd11ff0f39cdd6016ab457fd7be887d09c86067e2c00b766",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CdqMOhSPwDPjiim1iWzCoRCZ",
  "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]: [-0.2577, 1.8393, 0.7055, 0.3561, 0.3252, 0.2859, 0.4248, -0.0257, 0.7986, 0.6132, -0.4126, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3901 left_y=-0.1575 left_z=0.0035 left_yaw=-0.6919 left_pitch=-0.1554 left_roll=-0.016 left_gripper=0.4248 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=-0.0011 right_pitch=-0.0403 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.253, -8.212, 5.0667, 1.7753, 0.2808, -0.0757, 0.0952, -0.1436, -1.306, 7.1863, 1.7167, -0.0366, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8ac82bc73c3ff47d5b8b8b9c38c7979b34e6fc6f23bbc9a45e4e699f2c78f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1aa1a494f2ade1dac89bfaa102e31cd5f5771ceedc46b287156affe4952bc5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e1e29b791b06003cc6e1dbde522e6a5305f69dcc099958daabbea28ff8d796",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.228 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6014, -0.3805, -0.02, -0.0113, 0.9997, -0.0181, 0.791, 0.6094, -0.3759, -0.0204, -0.0124, 0.999]\nstate[eef_state]: left_x=0.2943 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2957 right_y=0.0018 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5949, -1.5248, 10.5368, 1.7558, -0.0806, -0.0513, -0.0415, -0.5812, -1.2376, 9.8393, 1.7607, 0.0122, -0.0366, -0.1148]",
      "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]: [-0.2756, 1.8042, 0.7452, 0.2646, 0.2699, 0.2573, 0.9997, -0.0257, 0.7982, 0.6132, -0.4126, -0.0277, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3941 left_y=-0.1567 left_z=0.0133 left_yaw=-0.6499 left_pitch=-0.1863 left_roll=-0.0076 left_gripper=0.9997 right_x=0.2918 right_y=0.001 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.04 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.9094, 7.8701, 1.8242, 0.2466, 0.2662, -0.0171, -0.0068, -1.3607, 7.1453, 1.7802, -0.0317, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2577, 1.8393, 0.7055, 0.3561, 0.3252, 0.2859, 0.4248, -0.0257, 0.7986, 0.6132, -0.4126, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3901 left_y=-0.1575 left_z=0.0035 left_yaw=-0.6919 left_pitch=-0.1554 left_roll=-0.016 left_gripper=0.4248 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=-0.0011 right_pitch=-0.0403 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.253, -8.212, 5.0667, 1.7753, 0.2808, -0.0757, 0.0952, -0.1436, -1.306, 7.1863, 1.7167, -0.0366, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8ac82bc73c3ff47d5b8b8b9c38c7979b34e6fc6f23bbc9a45e4e699f2c78f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1aa1a494f2ade1dac89bfaa102e31cd5f5771ceedc46b287156affe4952bc5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e1e29b791b06003cc6e1dbde522e6a5305f69dcc099958daabbea28ff8d796",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgCjbU61aq-hWm34tEiqYFyfVK2VFKnyEV69DDsb6oM8wECoFjCwvehH_F08aM3ckakPNCQg6tFg-WBHrGvvTn0L9avCMpOBjNtNlOSPFoB0IvibIN51jUdp1C5ZFTiTe1oZjE-ixnvBx6FK7Br1olxonT2mD3oGO5JWDHrZjrVUG00zbvBI2CMiavEGh6natdnEeCWtF9Fw1GYgCzGs6V9Mx_gmbgzovvipxQLjHx0OX27R9v92P7qHZROEcw-XU1aTya7uRvVO-KX-IRzNnKV-vpDypjeltTRcJJtjDliT-5ghKlumal26MXo-wUqVoenFyDE2xvRK0r_iO9jDu59CoSfhHpfdI2Ay91CiS1ubIli01Tr_GgUz2tfcbzPXPYUrbId6_Fi_1_pE7KfuyjMKjigZIClxscD0_EIDjMRfVR4XOpEF7e1oYoW5SN1XwTFmqV7gkppHhS63ZvziGWcazqHQQvc2m4mhSKbZvLINLyNLKiHXPGfazRKKwtJgghVUmZO4uYWeXq88OCUtSqauFwvvnD_jAPhvW1-ArsEKYRbSe-j4Av2CY_7VjGDJE3fFCUNe64kL2BBmHn6a6FXX1SqolSNhO8f6IcnBawn-BqRBH1gpBIO3Pw93nc8uFQle5418r6Rqz3Z60Nd6plnA3Nl5Ed2Mbgu3WD6US7Q8u-lu199qjrczak4a-S3lol83iqlloBAS-Cj9DQvClICWDY7pjDdtNon87PXr3ryjnlUcbiD2_22YxsENKNFuKGGr1vWawWHz2gaxYMurATJpOe0fKstNZSJBwiARsVj5LuBlC3_h1Ts45Hewv4gdCAnLyiTLL_J9A_O3D2nlTLnC-oL99ZnYMivalPXZqmbQAp02kG_6IdEbLAqAfbhEa6womrnNmLHllX7510lGc-n0MyuQROlSpiIT0e9YHLxNaJ-N9VV2CYVg3AQSfZEgPWjhmqhhzMXJW6zo3be7zKHRUGfIAGjZzXGERw3ifxEp45v2Ho7m0O4Z5nkasuCFCd4wV1V1i-aCV84Rox5y1zjt9xIRLh-BeiHaUQMRYKUX1wb1NJ1EHB2zHGGFbcxf2M9_vlCUo-TpnzfoTSsSNYy9OSnlv-VVP5R9uipgUuVD4kQ8hDZhnER3IPdTbIiksJSeNpOU2sE_JUm3_40DIs2gEKtTcLoLdMqRqv3PHYwH4tJNOZkNxMZ02IqsXDYI-r0F7cs96bQqcPN56eZWu4kkaA4w4py85PkLcNiYCpdSiI=",
  "id": "rs_06bd11ff0f39cdd6016ab45800d34887d0a094992ee1486152",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s body is in the narrowed jaw opening at table height. I’m closing the left gripper to test the grasp before lifting.\"}",
  "call_id": "call_5FnwNQ4s7t25SmfKnkG1D971",
  "id": "fc_06bd11ff0f39cdd6016ab458012b6087d0a4980edce4588355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5FnwNQ4s7t25SmfKnkG1D971",
  "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]: [-0.2577, 1.8351, 0.7071, 0.387, 0.3237, 0.2707, 0.0087, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1588 left_z=0.011 left_yaw=-0.6802 left_pitch=-0.1226 left_roll=-0.0114 left_gripper=0.0087 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0009 right_pitch=-0.0411 right_roll=0.0047 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.8154, 5.5179, 1.3944, 0.1685, 0.0757, 0.5446, -0.1436, -0.9504, 7.0085, 1.6923, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2993e61241816de53f43b5a71b9d47e18b36094e32387c2b5fdd220689ef15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3fe15f14df1fedd310d008695ff17a4e9e816d0b968079adcbf7518e53a154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960ab567c91567f7e64e6405002ff97e0a9f3c936de0db3b53193111bbb21280",
      "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 · 6.044 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]: [-0.6788, 1.6543, 0.9504, -0.0612, -0.5449, -0.4137, 0.9997, -0.0223, 0.7959, 0.6132, -0.4076, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.1942 left_z=0.1093 left_yaw=-0.0086 left_pitch=-0.0626 left_roll=0.0373 left_gripper=0.9997 right_x=0.2923 right_y=0.002 right_z=0.178 right_yaw=0.0025 right_pitch=-0.0327 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.9658, 9.2513, 1.7705, -0.3443, -0.0122, -0.0415, -0.8957, -1.7436, 8.5675, 1.9023, -0.0757, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2577, 1.8393, 0.7055, 0.3561, 0.3252, 0.2859, 0.4248, -0.0257, 0.7986, 0.6132, -0.4126, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3901 left_y=-0.1575 left_z=0.0035 left_yaw=-0.6919 left_pitch=-0.1554 left_roll=-0.016 left_gripper=0.4248 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=-0.0011 right_pitch=-0.0403 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.253, -8.212, 5.0667, 1.7753, 0.2808, -0.0757, 0.0952, -0.1436, -1.306, 7.1863, 1.7167, -0.0366, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2577, 1.8351, 0.7071, 0.387, 0.3237, 0.2707, 0.0087, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1588 left_z=0.011 left_yaw=-0.6802 left_pitch=-0.1226 left_roll=-0.0114 left_gripper=0.0087 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0009 right_pitch=-0.0411 right_roll=0.0047 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.8154, 5.5179, 1.3944, 0.1685, 0.0757, 0.5446, -0.1436, -0.9504, 7.0085, 1.6923, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2993e61241816de53f43b5a71b9d47e18b36094e32387c2b5fdd220689ef15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3fe15f14df1fedd310d008695ff17a4e9e816d0b968079adcbf7518e53a154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960ab567c91567f7e64e6405002ff97e0a9f3c936de0db3b53193111bbb21280",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgGlBc6iddphMgOdnB9CIZByvcu7PLFCEUYlPBThbUPd3eK3nhno1nJcPtSXOvpjedIxdHfebcoWtPv9tqMm5LwSmetEuOB6aWxHJ5K6ussixSLYDOuqIPwIHU8QGkFbjTpnjqoRSdXsR7hk1cz1YmEAJgh9gFYxSyTOMCwHZX0MHo6PFjyGF8IvMqTr45jTUz7nnzGWV5cqiBK7_-4GeRJbjNKVxZoiB2jhi6V7G55uLZkBgniZoC7i4ZDgZ2BbxLgCXEPSgWioxKWnB1YGXqkP4oSBmi1cEyxrXvH4CG5rbKYkZCdvDY-WjZPNytgSLWm2rPWssfpQT_xSfFnkL5e5szC305jXOjnkDMsxeVtVfHYOzJtohhjS4UHcUf-gl6EMbcWP5SsYnCTGeuHbwXyyjzKgcA68E3M6avM1COpXVclkjsdMWryxNsg1NdW5wTtWH4ZUNN4NmVATHWMDgTR2B3EQYTjVUMQ-7aNyzmR99TmfX86li1P-ilY_k4QOO96bQ5f3DQQwptng6SzZtWvjy43PumU8wx3vDvoHyk1dzMXWXV1x2O-Hv1uVwmInpdR-dSBZL0aOWzDXuBl6hvEpzNyC5rcC82NLP_LSwAt1m6m-oR5nEAJUCpsKgL-qhyfEiYBJxSUd4fVX1KSZTnjcz7U0WQif1T4MA8iWdpjDxxgBbT8SUYQppmcLwA9xcvJY4rCl1oVGEEt7Hcwf7SFykh7ZAVLkpDCr5QMmroJPIEYYHBX846wIGh7VBifNz67L9pPgBcVGt_ts9gYsFA2YwMZeRE22Tv0UV6EpvY1rrYYCFhwKA3qwmCtUXMh9SS1xMO-AcxathcF39Q9or_-6-_nekNNuTL0UZTKaA2C0gj2yKYeIfeDZlRmWpR5OdNVyvc4XQ1x5sMgniXkmdVBBtEku3eqH4AGuUSbWSvnZUJRibfP5Ias8wwkpODPfQlphwSKrduXvnyHC-0OzMSSC8xY1ZaaQatp8HLW1A6n_8Z-z1mCXe7xu-GcEr_DEs679AIStqzgJEteWSv6n4DrFNMFyMxiEERlyROVuBD4d2HygAQWFb4FdN5MWU5II_TP_LiYqlzkjx14Fd3LhdHV8vuhJEWd8MElpLm67P-Znc1UJIJj8XQk_7MuW1GsptIZSt4QMoN7o4_Pft8CywYv_AX0oHOapvH23PpDs1PFLYJYNrriNO450-RMU9idF45Jr8iiE0Inxv4sFafND3ZpEC-R4-NeQmAMkwZYMo104utJrNtcOP9Z3sR8prnTqpkQgyRFaYb7bqAehS9jATE7cvV7biDYNFts-vYV07QNasHSlK6CHM1Mbc5QEcr_DiPeQ4IgLGbGoZJRPxcY559mRyOU44Ov8vQHhwmuNwfettfoCe6qhk5KUAHSDPXHePg9qQWcowsT_cEENHESSCqMieIlTjCA32trdrmTQKOZC9Yt7GTYsUTUnMZElOSeXr_qaWhsTnbLyH91SZRfkVYj1lutfbCMDpG1mga3WU3QsBcpLKrsP5cLNz4ibtL-Kd63zijdNDKoYQVDiKbreRb_zrb5A0m_wamskF1exxqvyczySpeQfAZLcqOEAR7bfsHtAW0XoHy5WYGloVA9VQPJPVCN19sOO4LQkxPC4sFUGzXmfrTbUrVLEzH9BgMyC1RERFV07JFXnT6XijEDr9FMGIRjtJSDjt4zBQntAw2HA0lahE8_2FnFZvZbf3oU9peQ",
  "id": "rs_06bd11ff0f39cdd6016ab45804168087d0b94f489cb9e3fb2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.18,\"left_z\":0.05,\"left_yaw\":-0.7,\"left_gripper\":0.6},\"note\":\"The fingers closed fully, so that was an empty pinch. I’m reopening and shifting about two centimetres outward along the cap’s direction for one corrected attempt.\"}",
  "call_id": "call_YvuHQZxi9kcDa1cviq2FI7j3",
  "id": "fc_06bd11ff0f39cdd6016ab45805a28487d0b8b040ea896dda61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YvuHQZxi9kcDa1cviq2FI7j3",
  "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]: [-0.2955, 1.8214, 0.8097, 0.2111, 0.3035, 0.2455, 0.5949, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3995 left_y=-0.173 left_z=0.0207 left_yaw=-0.6913 left_pitch=-0.1831 left_roll=-0.0413 left_gripper=0.5949 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0011 right_pitch=-0.0411 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -11.1795, 8.2803, 1.7118, 0.3101, 0.1685, 0.1441, -0.1436, -1.0462, 7.0085, 1.6874, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12c7460a368f0b843da3710af869a09e5a86ec38795ed61299b76bd401d50f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c11e7601c0711cfc67761a23d92d590eed4bd42afaf5bd17dc0d0e37026dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f75aea0116c53157de797aab51827f450effc4bcccc01d6545c2c0c8f2deb049",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.723 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]: [-0.2756, 1.8042, 0.7452, 0.2646, 0.2699, 0.2573, 0.9997, -0.0257, 0.7982, 0.6132, -0.4126, -0.0277, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3941 left_y=-0.1567 left_z=0.0133 left_yaw=-0.6499 left_pitch=-0.1863 left_roll=-0.0076 left_gripper=0.9997 right_x=0.2918 right_y=0.001 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.04 right_roll=0.0045 right_gripper=0.999\nstate[joint_eff]: [0.1846, -8.9094, 7.8701, 1.8242, 0.2466, 0.2662, -0.0171, -0.0068, -1.3607, 7.1453, 1.7802, -0.0317, -0.0708, -0.0073]\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]: [-0.2577, 1.8351, 0.7071, 0.387, 0.3237, 0.2707, 0.0087, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1588 left_z=0.011 left_yaw=-0.6802 left_pitch=-0.1226 left_roll=-0.0114 left_gripper=0.0087 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0009 right_pitch=-0.0411 right_roll=0.0047 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.8154, 5.5179, 1.3944, 0.1685, 0.0757, 0.5446, -0.1436, -0.9504, 7.0085, 1.6923, -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 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]: [-0.2955, 1.8214, 0.8097, 0.2111, 0.3035, 0.2455, 0.5949, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3995 left_y=-0.173 left_z=0.0207 left_yaw=-0.6913 left_pitch=-0.1831 left_roll=-0.0413 left_gripper=0.5949 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0011 right_pitch=-0.0411 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -11.1795, 8.2803, 1.7118, 0.3101, 0.1685, 0.1441, -0.1436, -1.0462, 7.0085, 1.6874, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12c7460a368f0b843da3710af869a09e5a86ec38795ed61299b76bd401d50f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c11e7601c0711cfc67761a23d92d590eed4bd42afaf5bd17dc0d0e37026dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f75aea0116c53157de797aab51827f450effc4bcccc01d6545c2c0c8f2deb049",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgNG2eQaaUUKY6wvSOIWKPPzOxotk0EkhRB6GpJ4uTe0DzZYp_LCcOiMThnHWRPgqK2tFGINgoNq4APTi-9ZIoAxAtma_HvrmCEg39toIhT0TkDQNdLZfOu4Fh7jy6VUCZyE5VT3WR9ZcehuRbLpdWeb1x7PSo6xDK0E5RC3X9pEMalBdS6_X3o7nv-QM30yLvBKlToKI3U8-DVBEW0IZyXQ3YxftQBFDy_6Jzq-uA7bb-wKwFeQy9TMTCgoG2iJy1RO6Z5PClSSdr21SxbC3AGbEa-HOItkaM1OPjGbfhZnnY1WQ3UtvxUxhdIg0fbMpGGtVM_nbym9qSfNN-70mZmYvrNwwTMYu3_ehO8VhhQBCzynyKp2kHOVCfFBcG4quVzuO7Tlrv9fFdCkPsITjcEIpSzg4d8xyAwIW8AQ4a1DsZjdfHw9PfNnEWiwj9MMrCVphcQ3wUQx9XR03_0DqRtJxdiN_qxoD3Y4U_VBJ3RamCMwQ9QSZ5B-KtuA-WYa0vlCwZCkDoHRKDTPS2xXXxYh5aVAlfIeZjRAUA6tXttbXU7Guk4_hwPmcA8RSgXXcgom5a0mXM5a_HW7BhkJVG3K6ALyrCwuNLuSq4SuX8GSXiv3Z2H7GbYCngwTPgoHmloztk7qXobXtulRQK_6hAI-zIQ6cp_NO232CFx2izy9lKBzWo7lzdQ1o04JvI6L4Q7vixHhoiqaHJpB4qpGKXRsHo7TZ796lPCgFHkr-RyZm2RNqXqkBrPLKYqbHrBvUonm5oKiSSfsH2yTUTGvUH7RynusQwJSCjzi8MPmVPkhww53Fc09S-ZvGxREHQLhxsB0VMFO9Yv3czMrka9fWuZRzRJsJwLP7BXzHcGbAUczOuWRdG7wqtOiWBRAZnqTlhwzQi9XwZnOdzBDCEpgNc9aXcXQq0VTY5YcQCKUFpyKKZFY0Kp2i8Cf7CFOmOOvHLkZhK1merpfB8L-jb89DaENzoz7ItxMnrfhAIL7qPy38xLkk1lHTJcheoikI8aDSD8yrZCXbKeXD4sM7kpDIBTLN9a625Hnosu8ydbgSE-MpHlgwK98Exmo650fZfE2vR4swK9FShenn0qm_woA6clW3-yqPyAi0zXQbldWQeFuQy6ImuYzp2jW9jnIlzN6Gn8rbypAIxUZtqE9MPlZuUGkXkiTxwMbBW5Q_LkorA9MYuFZcqnokuiut52-Hw5yaD495wB9ZhMQOHAcZIm7m23z_bovNF_HWRww5MG8OgVvKk8SG_gpGjw4pmRzR5NAm36CaUyOXp--vojYSRJ0W2_Fn0V1grNWHX-kGzIQNvmjiLOKjlMb9C4HQbitrjUqRmmw78OYzeG8pJLL68rdcBNzN05etifNbW37iYPi_VfkHVW1xMma3qmF-qZavupk9_fCwAhYvZCTUv7rYrwMn25dBdA_QB-cZeXrYebW6mZTyVWWix8myVzQaubehGMb0bBoNO2oh5PZbQaXMh9q83liqsRlL47UoTxDt0kHuHYzgkP31B4kcpMT6zyvgouPx9rw5NJypUbnGSbyYhzGeatKaxIw2it02XbSJlA2640SrNnOiwrLnFwdFfvTZkB2xTebet9OM6BJjLofohQndpDIDnMpxUxAmAXyAtiRIZvVrqptDqcd7d_Tw5_8GWAOsSdpMOoFldxkr-Tj2cHeCWbIR5XMj3H3y3dB7O1oEtKUA88g5G9kzFSOIvWzJ2L7vDEovUzjKg4_3iodLeV6Pu_hm6V8iWNmFe0_9UirujKgTFhJMUZe3cl0RPH_ef5xx_FM6RA5FD8OMx9jQIBnb2ngRpnux2al7uuAg9inU-_K0YqzI2H8VMu9RlMSc8AcP8brTMnuQaG5vgykrYBoM0ejwVGLWpAUQkHGoLlqZbFzTPFayZb_pMTlDs34BEKGoEQjFCAHmyboiDdGKdkmCAqRaHaAei3W4w1Jc26bPH_fDxH1c6ByLbNM94Tc2nlC51Q6YSQM-LZXoEFR9WB5FeZXQ==",
  "id": "rs_06bd11ff0f39cdd6016ab45809a7c487d099efec8b1b158f5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.438,\"left_y\":-0.179,\"left_z\":0.005,\"left_yaw\":-0.7},\"note\":\"With the jaws open, the cap is clearly visible ahead and left of the grasp point. I’m moving forward and slightly sideways to put the thicker cap body between the fingertips.\"}",
  "call_id": "call_ffzhNTeElbI4M8gwhU68Nd5F",
  "id": "fc_06bd11ff0f39cdd6016ab4580c695887d080e2831a80328e1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ffzhNTeElbI4M8gwhU68Nd5F",
  "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]: [-0.2832, 1.9591, 0.9291, 0.2131, 0.3122, 0.2516, 0.5952, -0.0257, 0.8021, 0.6132, -0.4141, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4281 left_y=-0.1774 left_z=0.0037 left_yaw=-0.6908 left_pitch=-0.1956 left_roll=-0.0493 left_gripper=0.5952 right_x=0.2918 right_y=0.001 right_z=0.175 right_yaw=-0.0011 right_pitch=-0.0453 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.4034, -8.8957, 6.0376, 1.4237, 0.2125, 0.0904, 0.0073, -0.3487, -1.0188, 7.2274, 1.7118, -0.0611, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf3bb95a405bdbef37e3362004348a3bda9848b0fc15903e32c1d8cdce9d4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8010d662c26bef6c21fb1906b020189c9f252f5ebb058588ca2598c175136b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1abb9a0850376d0fd36b6b500acf314d2a1c3c3db43050ea3613839759973e",
      "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 · 2.222 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2577, 1.8393, 0.7055, 0.3561, 0.3252, 0.2859, 0.4248, -0.0257, 0.7986, 0.6132, -0.4126, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3901 left_y=-0.1575 left_z=0.0035 left_yaw=-0.6919 left_pitch=-0.1554 left_roll=-0.016 left_gripper=0.4248 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=-0.0011 right_pitch=-0.0403 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.253, -8.212, 5.0667, 1.7753, 0.2808, -0.0757, 0.0952, -0.1436, -1.306, 7.1863, 1.7167, -0.0366, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2955, 1.8214, 0.8097, 0.2111, 0.3035, 0.2455, 0.5949, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3995 left_y=-0.173 left_z=0.0207 left_yaw=-0.6913 left_pitch=-0.1831 left_roll=-0.0413 left_gripper=0.5949 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0011 right_pitch=-0.0411 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -11.1795, 8.2803, 1.7118, 0.3101, 0.1685, 0.1441, -0.1436, -1.0462, 7.0085, 1.6874, -0.0317, -0.0757, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2832, 1.9591, 0.9291, 0.2131, 0.3122, 0.2516, 0.5952, -0.0257, 0.8021, 0.6132, -0.4141, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4281 left_y=-0.1774 left_z=0.0037 left_yaw=-0.6908 left_pitch=-0.1956 left_roll=-0.0493 left_gripper=0.5952 right_x=0.2918 right_y=0.001 right_z=0.175 right_yaw=-0.0011 right_pitch=-0.0453 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.4034, -8.8957, 6.0376, 1.4237, 0.2125, 0.0904, 0.0073, -0.3487, -1.0188, 7.2274, 1.7118, -0.0611, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf3bb95a405bdbef37e3362004348a3bda9848b0fc15903e32c1d8cdce9d4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8010d662c26bef6c21fb1906b020189c9f252f5ebb058588ca2598c175136b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1abb9a0850376d0fd36b6b500acf314d2a1c3c3db43050ea3613839759973e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgSp0-MG4arNTPI7uid4ITp-VbHxUx0yi6dc2igVnDE0RobhuK6f18SZroKa-YO3Ptbdp6vRhnQG09TlfN1lTABgH2MOUX1QeJSodVICJg5CWPGOzk3E_aP5APxdhpVd9lnTPqhqQUd8uaAmxNmIqGfQWfBmxAotinYCmklXVYIPFqP7yq-brKS1xeU_SNENLJitIlgWHqu901ow20gm9CW08RU3wUhaAh1yByuoXJAKWRmbNLe5wQ0UsCzmb5s-WApryttK2wUlf9Xzq0H4w1fRJewlckls9PSdJMQ1i2t1HjdKTlmP-6WS2csdrneO3sWCJGfGKrDCyCZsik9CGJ4bpueTcerVOK_CcLRFCyO0rkLzVb69_mbAQsLad_WkxgRTljqgQaTXD42Aq-RAw724uJgIgnHSzqhpEQTTeBPkB1SPCHXWCcT9NKaXaZwCn0ov0Zh5p3kZUKfMLOqo88q6-_a8U_rbdWBELUGt7BpEHOGQMCsIeW2DTKY5SnDtHVBPZssH7bJyfiLQy4AVHsD0W3KFTssXIzqibbuLk7NcUg53sPwPAJJDYANZnghFqogMaW6khkyy_Ejq68hFOFbiShIsCcTyKbRAX07gpRK64mA5WerJr5UNpwP4i0TG3x3i1YIqv_NdL-DPr95RAIDdF5f1B04peVMB7qDsWoyEWk42vXex9MKE4vDy5g5B8KWD52p1Nk9d3PvggkY0Jt0_uktPm-STAE5DHr4eSq5KYBsK8tUTa4Xtu47BXh_KpUfBz-2soZQSdfa13tHKILYpYjHkI0_UNE12f9nDLQ0UKJz0hlaeMqtJLzOk_iB1WpoRyE_lDu8LRxr4zLfZuzbWrxGAmjSvIV5IrkhmCtc94mdLNgVN0GC1auRSHqcSABeHbDmmHJQ1CKSSfWEFOGNK_pzYrALtUUr6TyYQxZFdHvn67QZs3s_NOabuEcJVBR8acgfe7-VA3w_Q2QO0zHIAPiQEzIBwHDeilY4kig1zaWdGPn2pVvI65LmI2tQVNx8P3FT4lOtC-fKHp4A_httP995enYODWuYkvYWIKvw-z948psTNkj7w7IQcM-4B5JFZA4FJcDCooHTVmOsn7RvB1EFwPO4nuUWplbbNH7_ibyXSnrHfnte-LtJfFFINcCbKTMTDexde9iZMa9bbSQzwBS5VdDos44SGkc-bCOdQg97HIYuyklajW-YV0xvJndcDooiyaVWwmxtKvFy3OBrI1YnxIP42PJ4k_eU55FrJ9lx7mot5B_hhWIbUpnkb18ZA0QHpQ6JLOk40LfnzMkluOcNbrCwJk1-GY7XxmMD3qKXs01b6M4knvbHSnLpx4jTwufPTgTFlNly5LqZZQyVEEjoXZuDrsEiWaitkdn38yLSE_jvtHi85SNsvlT519GCXA-k7HadoNqRdKvK8WpXvg_XHpVSF09GaZ7bVg1ykxb-eW9_-Pmsca9xAHDSwAIro3FQyvHu1lw6a03aCGw6CAJ00rJ5Rw2VlrbIE5uQz9rqx8_ecfw9SzPXQiBuCVqvLOaurfcPVgRaVXXbgkB2yp2dt-MXb5p8l4by2B9MKtEkIxaxMjaAHhxNUQHOha0M-8L2DIpVW8CO8lgcOG9rWCNeKTteOFn_tCqU9xkxyT4=",
  "id": "rs_06bd11ff0f39cdd6016ab4580ee6c087d09fb70088119cbc93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.16,\"left_z\":0,\"left_yaw\":-0.7,\"left_gripper\":0.16},\"note\":\"The forward move brought the cap body to fingertip depth, but it remains left of the jaw centre. I’m correcting that small sideways offset and gently narrowing around it.\"}",
  "call_id": "call_4CzYCCsxDgQ9RKI8EOES3paq",
  "id": "fc_06bd11ff0f39cdd6016ab45810e98487d09946992bf9839bf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4CzYCCsxDgQ9RKI8EOES3paq",
  "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]: [-0.2745, 1.9781, 0.947, 0.2195, 0.3138, 0.2554, 0.1645, -0.0257, 0.8043, 0.6132, -0.4152, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.1753 left_z=0.0025 left_yaw=-0.685 left_pitch=-0.1901 left_roll=-0.0454 left_gripper=0.1645 right_x=0.2918 right_y=0.001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0487 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.2256, -10.3179, 4.8752, 1.3553, 0.2222, 0.0366, 0.0171, -0.212, -1.4974, 7.0769, 1.6923, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8bb632d08bbd90be69375488b387b6388389a5e56ea50b7592e544e3673ba2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c391ae30e8989752a8715869ba62765320c949d7cd7a899745db2b7f0ea14489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1171a8bee1881ad71cb06c62c091d0cab42efae1b80bd4ae8f746010f0f2a3d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.686 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2577, 1.8351, 0.7071, 0.387, 0.3237, 0.2707, 0.0087, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0128, 0.999]\nstate[eef_state]: left_x=0.3961 left_y=-0.1588 left_z=0.011 left_yaw=-0.6802 left_pitch=-0.1226 left_roll=-0.0114 left_gripper=0.0087 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0009 right_pitch=-0.0411 right_roll=0.0047 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -7.8154, 5.5179, 1.3944, 0.1685, 0.0757, 0.5446, -0.1436, -0.9504, 7.0085, 1.6923, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2832, 1.9591, 0.9291, 0.2131, 0.3122, 0.2516, 0.5952, -0.0257, 0.8021, 0.6132, -0.4141, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4281 left_y=-0.1774 left_z=0.0037 left_yaw=-0.6908 left_pitch=-0.1956 left_roll=-0.0493 left_gripper=0.5952 right_x=0.2918 right_y=0.001 right_z=0.175 right_yaw=-0.0011 right_pitch=-0.0453 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.4034, -8.8957, 6.0376, 1.4237, 0.2125, 0.0904, 0.0073, -0.3487, -1.0188, 7.2274, 1.7118, -0.0611, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.9781, 0.947, 0.2195, 0.3138, 0.2554, 0.1645, -0.0257, 0.8043, 0.6132, -0.4152, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.1753 left_z=0.0025 left_yaw=-0.685 left_pitch=-0.1901 left_roll=-0.0454 left_gripper=0.1645 right_x=0.2918 right_y=0.001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0487 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.2256, -10.3179, 4.8752, 1.3553, 0.2222, 0.0366, 0.0171, -0.212, -1.4974, 7.0769, 1.6923, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8bb632d08bbd90be69375488b387b6388389a5e56ea50b7592e544e3673ba2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c391ae30e8989752a8715869ba62765320c949d7cd7a899745db2b7f0ea14489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1171a8bee1881ad71cb06c62c091d0cab42efae1b80bd4ae8f746010f0f2a3d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgVNbsBQEN7wdBaUCmehNT1QuyyICXr4qOnvPwLJroOEusmo-s0Fg_S5JYrwXB2ExtCcxUMbkBZeBHuqMYgTIwn72hP7B3Z6QcwBAAotBIbiQXwN4Fvw_GHU6tvprUKgpfh6xpf6-EfvMTfbbzySnwhtGY_tb4ByWbNMsDJ1XwfqGb6F8VyHlWfiyWbJr17so-xlEsTDZ4F37CVqYoREIFPIppowIzP6DsHI6IJMl8N_Ty_L1IfwmjMQMjTm_CGCB3vl-Xw3RkKy7-7Yupuv0dxJVtkud3tpPrrdE0VCrYkyJmf_ccUvISThlO1Zyw7lEAQ5tRDh9tBeUblBBc6TWZO7dp0Rf93SYdtQ5flOEwWOMx7xt4vCQ6AM9h1GLV0khDTVx2E1hEnh456-4QrAaToXuR2ZGcz8NhBA_id01BPGJNW7vb_wLedZx3BS0MYqJCf4qXmthq11TjKP9an2i48gmZNf07AHR4zh629sjKNOX91vG_M-5CwZFRKp2NA-8ivojjT_2kzgLwp1zqeFmuYqhjDzsZaEeNW8hjCfwM6puAb3Q6k8iBgUiAHLxA1Psyjd9lTaV4psGXfFwkZiTLcmzM_WTXWPYFejZdIek5h1VTYJiMOqJXaIhucTOeiv0_q1H6euwlJxOrat-1_G3e2Z2f34IprVGlRNEsNjKsXuOGQRdC1qIZaPj4wiZ2nF0fhV1UDzU-zkMdW6IcwxwAZ7mVRngQy1Z8LRm493l6xVrECwpAfeUN2CA3mtRPpb4YOHpSrywHdoJR5Ox03HdCdbs7TcWhbPUD-LzZuHZwjLSwX3tztkOI8DnWNY6QVWjaeqnNljzCR0pI0CRW58FJUzTAmK6yFL35GeG1dN1C8a-VRjNOGh36LFdjlcLFUp-qOjAOvKJgLgojoxoWsEnotpoZkI7l3o8nX5QuB_WabZoxVEKEO4Pt7qLYklBTbdYMjpo5bW3_3jQ27Y3UmZCbYrQlcO5dbNzTymoI2X3IrPtv5M3Vb5NeYfFGaItQsJlLlOF0fBM9fUt7us35qMhMiWE0Rqnfrcu4wBuWfpRSoYeez5bv5Ggz2Lh48AnT9VIEr3pTnmV4QeOdULmggexQ3cCJJvxE8v0STi9RvtEbO5sivFu1R_cwj4k9h2I_ovZkKq1M0iF4up6H62fhs0MJuHVwA48g5dKJGFk_5Fq7MJaFsik_xmWflDHxoNBx9G4IS_w_rV11q6laZnZ2IGOvPZoKKXWadUeY7BcOSStjyyW1iszql24Xuk6xl6mIGdl7l",
  "id": "rs_06bd11ff0f39cdd6016ab45814011c87d0bd56caf5340cbddc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now appears centred between the fingertips. I’m completing the pinch and will check the jaw spacing before lifting.\"}",
  "call_id": "call_3sKfRLZx5A1bcpFTd0fEL5K3",
  "id": "fc_06bd11ff0f39cdd6016ab458143ddc87d0a2a1a62c8adac33e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3sKfRLZx5A1bcpFTd0fEL5K3",
  "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]: [-0.2745, 1.9778, 0.947, 0.2211, 0.3176, 0.2543, 0.0259, -0.0257, 0.8047, 0.6132, -0.4152, -0.0277, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.176 left_z=0.003 left_yaw=-0.6873 left_pitch=-0.1873 left_roll=-0.048 left_gripper=0.0259 right_x=0.2918 right_y=0.001 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.0491 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.0615, -10.2906, 4.9162, 1.3651, 0.1294, 0.0513, 1.2576, -0.0615, -1.1966, 7.0496, 1.7118, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdff2c99a54e0ace3f50bb79766c5e1e1667e6dc70541c6795593821e578fc58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76665ab8670a1d4bb7d41a3215d01f98626e8692be82e4b59a9d1647fa82af55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930f5da4ff05428786279221a91a7ca099616ddd1ae17f334d6a2cc297f59ac4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.58 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2955, 1.8214, 0.8097, 0.2111, 0.3035, 0.2455, 0.5949, -0.0257, 0.799, 0.6132, -0.4129, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3995 left_y=-0.173 left_z=0.0207 left_yaw=-0.6913 left_pitch=-0.1831 left_roll=-0.0413 left_gripper=0.5949 right_x=0.2918 right_y=0.001 right_z=0.1761 right_yaw=-0.0011 right_pitch=-0.0411 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -11.1795, 8.2803, 1.7118, 0.3101, 0.1685, 0.1441, -0.1436, -1.0462, 7.0085, 1.6874, -0.0317, -0.0757, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.9781, 0.947, 0.2195, 0.3138, 0.2554, 0.1645, -0.0257, 0.8043, 0.6132, -0.4152, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.1753 left_z=0.0025 left_yaw=-0.685 left_pitch=-0.1901 left_roll=-0.0454 left_gripper=0.1645 right_x=0.2918 right_y=0.001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0487 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.2256, -10.3179, 4.8752, 1.3553, 0.2222, 0.0366, 0.0171, -0.212, -1.4974, 7.0769, 1.6923, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.9778, 0.947, 0.2211, 0.3176, 0.2543, 0.0259, -0.0257, 0.8047, 0.6132, -0.4152, -0.0277, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.176 left_z=0.003 left_yaw=-0.6873 left_pitch=-0.1873 left_roll=-0.048 left_gripper=0.0259 right_x=0.2918 right_y=0.001 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.0491 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.0615, -10.2906, 4.9162, 1.3651, 0.1294, 0.0513, 1.2576, -0.0615, -1.1966, 7.0496, 1.7118, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdff2c99a54e0ace3f50bb79766c5e1e1667e6dc70541c6795593821e578fc58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76665ab8670a1d4bb7d41a3215d01f98626e8692be82e4b59a9d1647fa82af55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930f5da4ff05428786279221a91a7ca099616ddd1ae17f334d6a2cc297f59ac4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgYgs-1iN5mPGpTCQDmKOd2eFC51uCxxrV2hxserRWISfkIA7Cd3xeDVWDn6oD8Mmb8HtLL4yoMWLpnIYQgBI7W6h1A660cM5Sko70qaFjUupsxHVk-vvzBGXTqMZYxIF9Tl9Mx329uQzdMLjFuu5K9o6xAUbKVGYmCDdKKtCqOA-kkslLs3yKzQjtSyEy8AU_uDrFE_u10ayN8M98mOsyErEQUJh9W7iIa008I5cJ67CtbRNm6naSUg4XjlsvnnjAdVY0gmRQVDZbDCjOVW7QEDrA_bjZONAmvixdQmZWPghGgltt63-jlD2fjFPzU8l0cPTxzAKaxA9pOczFqCpDowerAJJiQAhmroCR2noXVPYEwfGtfpK0yw23oNxCdA50MXOKkRxvKhi7jUJmE8Dx8QoIA4erfF_LHq9yNc1Jm0HmXRp1KuD9WS01xyM6a3hEGxB0OEDNPvyh9g9sGrV-D3XG-89bFpWFdL023rkeIlEN3Q1fYNP1sTZDcTtx3EDrR-t5bt5CFfpO3zaWIuB3AI5YYNZkOc9-XisF6TZGytrgkFs2zCBoHWdgfHp6P9NisgQ0UpHl2FYWFttLvbJNOZSo-iC_GJ82nHN8rTj-EzB9Ic6h9tgh7WyGFWMnoZY7NLoP3hYxJ6Zz3aItmRhCiXNdJtVqd7DVJlJockLFqxidVdSRcB1MTBIhe3ZqaasbY_LF5NgNqfxYoiRXAp04LN3iiZpqrGhJQuyBbIxgKsS8YTuS95C8hMocfzUYkLZYGDE4hOLByxBrWLL3VTB58TmVXHizqrs0Wio_RHCPr0igSpaorNi-eycZkaNm9nfiFV-My8R8vObPaNaVYLetKuopvWaoc8kfOZ8b2KkD9T9bSqgbJrOAdnEig-Ia_EdfmLJ3qX4tQNtODRJ96UcR8uqs6XF3LxOkETyrBkbnIVBqPecmWwRBQVIFACTVXv8uIHHL3sK22LmKiYT7I5W2QF9Ms7U2w5CxJLkdkXMI32lsOhV58dIRPIOysuBm-87hb9xfBgx7HZBcxf-0CsptS17UiWEtkF7obhAE3XpuLjOaVr1FdOoiU0yYTskqmZuGYLaXFIVNmqEqcChzFIUxe160rSHoeIObea6vBsf-yXLipHiWg7V87qFdxmYIS7UR6G8CG_0taeQeOU2jN1Yo8fT71F1adQ-Qxjw04eTfV0SwiIA486BeLtY7bS61_8QG1Hj5VE2n8VS3Ck8aNLs_nbn3LG8xxtyqkVXO0AVMxjhxqGZogFwMi0uBmkJaXSiy7XCQGS5bQ-duV94IkmhosjTuhWW3lsSUd66j-2Hf56U8WOvvtLThlF3jcAHJAtWj6Tzg2Nbz1tm4fJZDbTYueNpnVZ5SdfT-LpAXRaneGwmQAvwd7T9O7Htq9QfdW14CN5SVLonyl6zrTn6U8LSedXdw5ou5ipw2WK8zRKvGIlJANnDhHJXxHj7YYt903hv8qKD3luRFAz84sV0q37B3NzVhfNlG8reSXybx9qVlmAIAfQEzjz3IaLAKr6bK8ZywuXo6xNWl4Qnm4Vq7Ak6unFYA319kdvST4PISlCXc7C_XV5wzGu-nidFDf5vPq9CIk",
  "id": "rs_06bd11ff0f39cdd6016ab45816825887d0bc13a09dcea1d56e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.407,\"left_y\":-0.157,\"left_z\":0.09},\"note\":\"The closing width is very small, so this grasp is uncertain. I’m lifting a few centimetres and slightly back to see whether the cap comes off the table.\"}",
  "call_id": "call_UD8AA53hS9WwvRRYAuOGk152",
  "id": "fc_06bd11ff0f39cdd6016ab45817c0fc87d092d5f28d4704c36a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UD8AA53hS9WwvRRYAuOGk152",
  "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]: [-0.2604, 1.9083, 0.944, 0.1158, 0.3218, 0.2565, 0.0491, -0.0257, 0.8066, 0.6132, -0.4145, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4248 left_y=-0.1673 left_z=0.0158 left_yaw=-0.6812 left_pitch=-0.2216 left_roll=-0.0653 left_gripper=0.0491 right_x=0.292 right_y=0.001 right_z=0.1737 right_yaw=-0.0011 right_pitch=-0.0503 right_roll=0.0053 right_gripper=0.999\nstate[joint_eff]: [1.0462, -15.0359, 7.4598, 2.1954, 0.3394, 0.2173, 1.033, -0.253, -1.1966, 7.0496, 1.7705, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e2a82264bab9158321d5febfa45ca152f9bef7f5ff60aafe207afc1d4ee7178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6975ad26f785e8b1ed14fa5b0b26180db8f210c03e5e476182a060bc88314d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0798394a2b11ea6d294cd960802cd29b0d8a4d07ad082363141512906d0dcc7a",
      "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 · 4.885 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2832, 1.9591, 0.9291, 0.2131, 0.3122, 0.2516, 0.5952, -0.0257, 0.8021, 0.6132, -0.4141, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4281 left_y=-0.1774 left_z=0.0037 left_yaw=-0.6908 left_pitch=-0.1956 left_roll=-0.0493 left_gripper=0.5952 right_x=0.2918 right_y=0.001 right_z=0.175 right_yaw=-0.0011 right_pitch=-0.0453 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.4034, -8.8957, 6.0376, 1.4237, 0.2125, 0.0904, 0.0073, -0.3487, -1.0188, 7.2274, 1.7118, -0.0611, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.9778, 0.947, 0.2211, 0.3176, 0.2543, 0.0259, -0.0257, 0.8047, 0.6132, -0.4152, -0.0277, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.176 left_z=0.003 left_yaw=-0.6873 left_pitch=-0.1873 left_roll=-0.048 left_gripper=0.0259 right_x=0.2918 right_y=0.001 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.0491 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.0615, -10.2906, 4.9162, 1.3651, 0.1294, 0.0513, 1.2576, -0.0615, -1.1966, 7.0496, 1.7118, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2604, 1.9083, 0.944, 0.1158, 0.3218, 0.2565, 0.0491, -0.0257, 0.8066, 0.6132, -0.4145, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4248 left_y=-0.1673 left_z=0.0158 left_yaw=-0.6812 left_pitch=-0.2216 left_roll=-0.0653 left_gripper=0.0491 right_x=0.292 right_y=0.001 right_z=0.1737 right_yaw=-0.0011 right_pitch=-0.0503 right_roll=0.0053 right_gripper=0.999\nstate[joint_eff]: [1.0462, -15.0359, 7.4598, 2.1954, 0.3394, 0.2173, 1.033, -0.253, -1.1966, 7.0496, 1.7705, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e2a82264bab9158321d5febfa45ca152f9bef7f5ff60aafe207afc1d4ee7178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6975ad26f785e8b1ed14fa5b0b26180db8f210c03e5e476182a060bc88314d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0798394a2b11ea6d294cd960802cd29b0d8a4d07ad082363141512906d0dcc7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgcX_8sS_nNgY7AfTD8iPZ8M5J0x4rFcrKUDGyV3Yi82y4xB5VXVFr_wQroMcKtYL--t4UModvmQIjvpKNB5jD_ualGJABs6qTItlhwI0rfb1PneQlg_JqXXN91zblVL67YYV2bSS-zWqRTEToj_MD4RL6lojXn657Tt9cRqeCmVrAbJUPNJB9RtoXC_83M3FWZXlMuAWoXg5ggWGCu-C9UJLMSi1xauZhxY6eg0c89xXWUK72vzlIkoeNrnZJaEvDzJKzAmIUpYx2EfZyyvSAmHyTDhnR-fqpwA7B0XE36TVcA2MmNlimkSGFQrDGmTyiiOR7VQ3AmEzspIOVBAbC7Bj8lIFfbxRA97YIvpglUapnD4pSNn1XszGEAum9vkqJrnhM_DoM2Px8E5HzolaizNccBYaKxD8VL78yjAqNv7k23FVl1XmVsRRUubQisDL99o0hpNCtmrro7Eq1fcgfwUoHC5S-8z7681Yq-ecVuf6jFKoKlbMyNED20vCVHA4AzCXDvgFKW_IHfcc27Jb14u9WxizFGEF6C9F6Gs3lg4MEd-TxA6kPxunR17txKmVUu8lPZHRyA_JFV9MxQWsJxtA-MwRQnk6sZgxkpp1wfBDE8CeE5z5X_9BloaNhkQJGT4tJhVdQa_6pDqf3-lZI2HdL9k1TekVtPm_phQDGTt0nyYzm6d4zA9zcuiKVad0QO2R7VXp6P6xAw0YOcVtfCAg9ob2Ah6iGOmYrpsJNiBYitFrKowI08P5E8szdJt0ZwGhBPbbo4P6ANnOwkSTiz9MZkhaZz2Zp2DzpTlVntC-WyfnYAWIKFz1CNAMdfhhdpN7-x7P4-0O1g3gU0ve4HPmO3Xft3kzEAHURyxhu_J9Zf7Nv0N-TsaPMPhRRjtmhQzUGEHL5LP9137OJEQsFouq5gDNqhjbPABzwJHRLU3Jno8x7JZsZJxX_xA0rvvkwPDKYG2WIgQ4y0G_ItiAbEglfE2suJPyTWzApzhlFCNEN7-ycmJEXTLSxP1JVEF3KeFpWN1PB3duWDL6583mcVkaiYmNMZRYXduOMJ-wk3cJpv06Odm8S8eYTpm-Q4NNlIXCwutlabt7PBFFhSHKn67V4-b4iM6CQvNTag-WEo3qcgEdVcb3FoMIba59MFdTXyMx2LZj8-eYV-c9gM84nNnQWoC-zRE0r0xii5-CvUQ0dqetR9emaREgZaAT270bRf2DXYs9aiYN-sGGkVx0TUfEGNGKc0Ngq0jLS5MdqTkGt02e2fzc_xT60iU1O0cNzMpiWLQUzeUZEUz3_LSFhIj6uovK6yovddBy0fN-RwXohNRZmcUsHvtP3IFbZ9ZQ0tldKQlSGTceIqdcfAxknR33A2o9Ml9Sjprh8UlTS9uPh1zmcCdOkJY6XYnR4ZjtCOCQEgxk94zvEiCLk8su7OjLXhRW1PseQ1vlHkRh2nEm8D9rCV-1xwoqfvn4aFVmb-3Qsg3GDFuzLMrR2-NtcF7w==",
  "id": "rs_06bd11ff0f39cdd6016ab4581a84ac87d0a40e300cf288d103",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.18,\"left_yaw\":-0.5,\"left_pitch\":0},\"note\":\"The arm barely lifted at this extended, rotated pose, although the cap-like piece remains at the fingers. I’m retracting to a higher, less extended pose to clear the table and verify it.\"}",
  "call_id": "call_9DENrMC3nCyMElOPBQ7Vixi6",
  "id": "fc_06bd11ff0f39cdd6016ab4581b80d887d093a2c32cdbd53580",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9DENrMC3nCyMElOPBQ7Vixi6",
  "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]: [-0.3157, 1.2903, 0.8101, -0.107, 0.205, 0.0639, 0.0551, -0.0257, 0.8112, 0.6132, -0.4168, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3648 left_y=-0.1532 left_z=0.1712 left_yaw=-0.5247 left_pitch=-0.0025 left_roll=-0.0609 left_gripper=0.0551 right_x=0.292 right_y=0.001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.0571 right_roll=0.0054 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -5.8598, 7.5282, 1.6093, -0.1148, -0.0757, 1.033, -0.0615, -1.1282, 7.0359, 1.7705, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e3aa33f7f8043a2e4e1419f82614eb41eb6e9f0905ce896505cacdcdad1c5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1955d515188f9b8071e192ca029dcefcc9193102d57ca394b19d6d33f6b68cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac5c4b93f98b268337d9e5306e5e3074208b9316976c2098fbc949acc8cca98",
      "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 · 5.225 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.9781, 0.947, 0.2195, 0.3138, 0.2554, 0.1645, -0.0257, 0.8043, 0.6132, -0.4152, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.1753 left_z=0.0025 left_yaw=-0.685 left_pitch=-0.1901 left_roll=-0.0454 left_gripper=0.1645 right_x=0.2918 right_y=0.001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0487 right_roll=0.0052 right_gripper=0.999\nstate[joint_eff]: [0.2256, -10.3179, 4.8752, 1.3553, 0.2222, 0.0366, 0.0171, -0.212, -1.4974, 7.0769, 1.6923, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2604, 1.9083, 0.944, 0.1158, 0.3218, 0.2565, 0.0491, -0.0257, 0.8066, 0.6132, -0.4145, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4248 left_y=-0.1673 left_z=0.0158 left_yaw=-0.6812 left_pitch=-0.2216 left_roll=-0.0653 left_gripper=0.0491 right_x=0.292 right_y=0.001 right_z=0.1737 right_yaw=-0.0011 right_pitch=-0.0503 right_roll=0.0053 right_gripper=0.999\nstate[joint_eff]: [1.0462, -15.0359, 7.4598, 2.1954, 0.3394, 0.2173, 1.033, -0.253, -1.1966, 7.0496, 1.7705, -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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3157, 1.2903, 0.8101, -0.107, 0.205, 0.0639, 0.0551, -0.0257, 0.8112, 0.6132, -0.4168, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3648 left_y=-0.1532 left_z=0.1712 left_yaw=-0.5247 left_pitch=-0.0025 left_roll=-0.0609 left_gripper=0.0551 right_x=0.292 right_y=0.001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.0571 right_roll=0.0054 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -5.8598, 7.5282, 1.6093, -0.1148, -0.0757, 1.033, -0.0615, -1.1282, 7.0359, 1.7705, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e3aa33f7f8043a2e4e1419f82614eb41eb6e9f0905ce896505cacdcdad1c5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1955d515188f9b8071e192ca029dcefcc9193102d57ca394b19d6d33f6b68cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac5c4b93f98b268337d9e5306e5e3074208b9316976c2098fbc949acc8cca98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgiWjwTntkHwnlz8TGzKzIgjBW1kUzwOCUFf5KfLFQXCueaGBOE92uKBftIkG3MrciUeXkEmDFyjTlHS6mZCAibchqh6bAGE23R3s2NhSsy-BtQvA1CUUgMa-yH856jbN6sb9KdaPWgtefk1sFkPnpRH6S0HFkZJI6CIcopE9uVyl74wKDHXiCA-AmksHXTHNRPzOSqjhTQL93cpcekK_p7h5fSDAJe9xyri0mjl6bbAfCy9u_xKYsD9eu8BPlru3grG5VqQwqAUA7zs5ZRiG98SIj2d912mWk3-yiB2dJVqE54jsGlr-iAeCGYB-EYoNIzhWRdlCbUKnYme6PoQt_r0VCMrI9VQvp-0h6TyaxWYN08HA22p5s2DVJZZF3ThyzzwktCj32R1tUupYz9gMkl8zmBgwRjY67W55zhFgYSogK46Wb6tl0EAQJhaRSnhqzDC48_XQIr76Eic_bGRdx4G9MS-lCnIqobTDG4ssKtE6cQ-CSn331K-9Dk_hT8U0VXhHWtiDiw_9EwpqTM8V3Xn5yp_xbLsfg3qWxVWAGxS5_HERQE2gDQLM8f_UUDOKZwowhVledMJuY6AooxrHg8vfE8euaUHPRr9VSp95WYmIxn3IPO1Uj_OF27PoXBB6hql7_9qk0WXy_Y8eNTA2qYhSkoFpfx6xYAz1rlM0PpKWCnMP0d1oUI2jB2-LijcB1IHESwirPVW1_wjsVr1-xpoMuUQfK8V9Yor83H-IiUDeb5NSyx811C38fUx4aqMcfS_xhYupZUDvaXTUHu1Hb11K9-cn81q-yHXV3PeGK8VHIffUFAheqyFdT46s8wx3-Fg-IbP6g9ug29FQFqP5Yoq_q4kswjC9dBUxwyVxQePIEpMb8Y0VLlFkGkN_do66obX7tAymhp0OJ4PjwdqJS-GcLcYYWJxloZikfsxjJBH9EzU4-XXyRYk6Y89lOiBfAYZJ2hubrGl7X_7rpprTcuAUqeU6eCbT94j-hMcBHa6VEchKn_o_dQgENl-yaykdJXy-wclo9BYtG7Z9XOpeKIJo0N9zv4az_7jBYqnabj_9Cu2_M8ybGH4c1iTG6yfWGzHEhRzRAmjkflodVx_sh6PuSD_oK3X5Mtl6xlsOP4-hcvZF7IsJGq3jkOESWlpoWnqDfxxbqdFm_wIrn1RPNSGQ8Bbz934vVrl1BWLQCBUbDi_nHDeFNGgd88p2vHhreIrjC_vyYz7oLn834DG4_s4V7DM7Z93EPjpd73sp-PfXwtQ7Pz5WdKWcdzqqa1OZTowOVJCVU1QeMdNWZVIRNiRGMZFQPdZ8hC4K2vFK5Q3hvpMd7atNZ3cCQ7fxbkfh_qDIfjx_d5qpKzmxJ80ceIx15iCUXiuLut5_l33hQH0kFyMc45vx3eAZF1y05i7jxRH2vOKnDf2YTYln0yI2c4Xg6c57HiUII1M28aF9-Q123Q9e3u4BuuMmMb4FMVBPRZCywTfjxu1m5MGENwhks21-DgWZdPgUxqJDWC05c4WdJFF77wa2iqCe5T9O5Zmx_0td-1-tHzM_FM_SyVTLlkq5HNhbN_Wo14R1comVZ2CwPatdVCzUD7_uME-KASqc1K5mkks50Sl1JfynbVTA_m5ulB8uFV1AW-JLcxYlPhLZgaTbO9hzkhW7Y9dH_buKqcHi1leyLQjfyRSuRGnPOXMgJVIx2qA0_9nh-hJX6y9bpnqwCh7mMJ4InooEQGx4vdXj7PG9VMHBOqPSyMUi0FAP1iauz7o20L0giJiDaF2fwGaBeu5EFoCVcZUHhmiD_U",
  "id": "rs_06bd11ff0f39cdd6016ab4581f2de487d09dd62a3cc2535ff4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.295,\"right_z\":0.13,\"right_yaw\":0.4,\"right_gripper\":0.7},\"note\":\"The cap has lifted with the left gripper and is no longer on the table. I’m bringing the right gripper above the pen’s barrel, aligned with its diagonal direction.\"}",
  "call_id": "call_845EpyxGSZOaSOgO6mFO8gLM",
  "id": "fc_06bd11ff0f39cdd6016ab45821b14087d083107393bdf02d23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_845EpyxGSZOaSOgO6mFO8gLM",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3202, 1.2972, 0.8047, -0.1249, 0.1905, 0.046, 0.06, 0.6834, 1.7847, 1.1275, -0.0368, 0.2249, 0.168, 0.7017]\nstate[eef_state]: left_x=0.3623 left_y=-0.1516 left_z=0.1624 left_yaw=-0.5076 left_pitch=-0.0343 left_roll=-0.0736 left_gripper=0.06 right_x=0.4049 right_y=0.2835 right_z=0.113 right_yaw=0.3966 right_pitch=-0.1159 right_roll=-0.0131 right_gripper=0.7017\nstate[joint_eff]: [0.3214, -5.6547, 7.3094, 1.8193, 0.1783, 0.1148, 1.0232, 0.6359, -9.1966, 8.8821, 1.8828, 0.0855, -0.0317, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6f762870c80d2b074027f140041556dfac43b46dddbb978ad6d7745d852eef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b79e0983276599be58d509f1ee936efb86977d349e087d6c8b97883a9bf1981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedb3062c001eaf21c9e0cab0b78a04beaff808393643cc885470bafc2d8820c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 5.096 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2745, 1.9778, 0.947, 0.2211, 0.3176, 0.2543, 0.0259, -0.0257, 0.8047, 0.6132, -0.4152, -0.0277, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4347 left_y=-0.176 left_z=0.003 left_yaw=-0.6873 left_pitch=-0.1873 left_roll=-0.048 left_gripper=0.0259 right_x=0.2918 right_y=0.001 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.0491 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.0615, -10.2906, 4.9162, 1.3651, 0.1294, 0.0513, 1.2576, -0.0615, -1.1966, 7.0496, 1.7118, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3157, 1.2903, 0.8101, -0.107, 0.205, 0.0639, 0.0551, -0.0257, 0.8112, 0.6132, -0.4168, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3648 left_y=-0.1532 left_z=0.1712 left_yaw=-0.5247 left_pitch=-0.0025 left_roll=-0.0609 left_gripper=0.0551 right_x=0.292 right_y=0.001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.0571 right_roll=0.0054 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -5.8598, 7.5282, 1.6093, -0.1148, -0.0757, 1.033, -0.0615, -1.1282, 7.0359, 1.7705, -0.0415, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3202, 1.2972, 0.8047, -0.1249, 0.1905, 0.046, 0.06, 0.6834, 1.7847, 1.1275, -0.0368, 0.2249, 0.168, 0.7017]\nstate[eef_state]: left_x=0.3623 left_y=-0.1516 left_z=0.1624 left_yaw=-0.5076 left_pitch=-0.0343 left_roll=-0.0736 left_gripper=0.06 right_x=0.4049 right_y=0.2835 right_z=0.113 right_yaw=0.3966 right_pitch=-0.1159 right_roll=-0.0131 right_gripper=0.7017\nstate[joint_eff]: [0.3214, -5.6547, 7.3094, 1.8193, 0.1783, 0.1148, 1.0232, 0.6359, -9.1966, 8.8821, 1.8828, 0.0855, -0.0317, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6f762870c80d2b074027f140041556dfac43b46dddbb978ad6d7745d852eef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b79e0983276599be58d509f1ee936efb86977d349e087d6c8b97883a9bf1981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedb3062c001eaf21c9e0cab0b78a04beaff808393643cc885470bafc2d8820c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgqSDuqYLQwtL62-4vDpkENVtBs5D6BtPxL_IaR6y345WihQpgnCAulgk5bjELn9oW1Ala4JnjnxsmeFFMMI_cM-uCQiVsSFPC03QPb-EvETw3hiK0YCZEdegDU2OdRgy64riV-GnZmE-WrseMBVLhcbIKh390gtdlXd619aPzczDCguYJp1ceXVXeRxi14OZOW92Xvk6Ux06eDcTEZpsk1-BqDQxYRtSMxU9ccp9uTWZGCs-_VDRyawGYlqD-o5N6UM7nXn5y4RG4A1eXhOk3wXsE8LQSxYHtBY08RJOz3XOwogmsl89U7AyEVK3mPfW2X1kVAWKq5ghyqpH4Wkg8B-G6dgn0LKR_eXJefRHD58HZSWa_07o6yQtsyQ0DKvYXxBXAKF9gFiDMoCAFU7ZPLZeaYVDmj1ohag4ZXt1mZU9UZQwQNY22iWFj3r6I8KCSYPnzKZwpSk2zylPYSRttrfdH6DEWBMy0P3VJS8LUrthlBIqsKDYkB0uWnYaDS7QDomPdTrm9Xm21vwPS6vT_ORTMiHoHKSHP7PxI45pBilTvwfMffUM73Z7WamPRTIthXFof7qBIb56PNr_NhSnvxGk5nacphWKoNEiqVIgCEsWgnDrypqUhqgkzXj3MX4YepgJqXbqUS2FvbNU4UN_DpDmrt72r_5QbNq5Kyv72QrniTP7JQSWV7lKGO7y7Kqssx0n0jVz_haf7MsmNFTDwULU6hfr-FIZatv4xvJAxkv2O2EtbALIJR7-RTMaajxewlfd9xLleOJbMs5OcBUVxhFL-pJBFfBPAwKmCl7SWft4BqhrATWOk3Cv870hMNzrVgBJ4NiGp0EI1TQsHtGalox37kN96yYbK7-H9QaJ-Iq1qPx3Nh0rak6m270H6BjJUID33gl38Vr4Zu5ALAp75jKVY1IyaNEgZHz_hQkAlB25nJA7jwQWC3tUNr1Ifu3bK9xTO46JUCg02ZeN9W8yKwjMT6VtGEXOgm9i9KYZonv7UWj3zti94LqYnx7w2LJJlxAGi2Iv05_FGDKd0uF3p5f1BNIu58S5meiw36jFmNZk3c9ePtQ5m7veIWtaV2YanDeo3xL0x65WBWDfE_kw6x-zeQ3gy5ivnBJ_nkXpimuNUwgV7ZBY6lg_96gdEHWHjx4jkPzre5CaBr_2jP4YtyR_5P0KLHtSz-Xkc3rls9Lbc2eIwjgLug5AnE_AYQYWvlLUIPGOqagK0ubi_57xyMIDXt3dh75ETvyx_iuAVuhRFkvDpROkC_qMvg02vMHeVV1x-JFLn5xayo4qetMdvVjPT5VC-xdBLd4jgtbjpxd8WAc61gnuXCtSIGBw0jKwxqh8KDOd8piZxjuhtJP6UXlmdiaSLNJslgzVBT-CfktmngC7hzJlxGOXvIyIiywYML_8bMJIhUa00cmxkyqyLMScIjwuNiAOHf6_kCJOrd0X-jVRjP8gQxtA24m2CqxItwE-FNBZAPcLeo2ghI6vnkGlR6IB7UDMsu538VZEenGZX2OIYwFpVIynF0ePzCq56R34HXla89WEVTvpqD4yPdNiUmOtAGoewi76R54JyyMNL5P4MyPPIx9LLpGlVcypRZeQVGif1X_kmUJqTvHMnqW8KjeCyS3YHy3wMFeozGT2R5hZXVxEX_rSYCRsbB2eMK_x0YNkuerhKuGLVCUIUU7iSQdLpk0n7StEOm_AZ9AT3IrlGya-A9eXGAaM7woo-kTgGPD9LiNfRZ_mllR-pDkchQQQtexwHwGLJLRVLTQzZ1qKhFHkCc7hcRgbvy70HG_79_V5yo0c_vvTAfpFW_RkI2DZNFeXxWNy9WsOOlUBm71BVNBh-GTTWtQIhIVESwZ2yBXMjqokSkEtlVUhoH_ejuuUaU21orRj5vvBQzR7KqV4m6ASV9igrMWVlgPoJZyJEILcCXBoft8hJrv4KJ9lSaZwDKbUIS6kvkdxog_XDGcxXrX_yYVtuhB7zxDvmgu5p5Cvi8-ROlHc5RN0HmxQ==",
  "id": "rs_06bd11ff0f39cdd6016ab45826814887d0ae61a49b92711795",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.416,\"right_y\":0.285,\"right_z\":0.015,\"right_yaw\":0.55,\"right_gripper\":0.5,\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.18},\"note\":\"The pen’s writing end is visible ahead of the right fingertips, with the barrel extending into the grasp area. I’m lowering around the barrel while keeping the cap held safely to the left.\"}",
  "call_id": "call_iZuw2z98bFBC1q0g0RnpfJS3",
  "id": "fc_06bd11ff0f39cdd6016ab4582926c887d0b6b9dcd68f098c12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iZuw2z98bFBC1q0g0RnpfJS3",
  "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]: [-0.3206, 1.2945, 0.8143, -0.1947, 0.1898, 0.0448, 0.0636, 0.622, 1.9995, 0.9943, 0.2768, 0.0795, 0.0505, 0.5018]\nstate[eef_state]: left_x=0.3543 left_y=-0.149 left_z=0.154 left_yaw=-0.5074 left_pitch=-0.091 left_roll=-0.0848 left_gripper=0.0636 right_x=0.4088 right_y=0.2802 right_z=0.0137 right_yaw=0.5206 right_pitch=-0.1682 right_roll=-0.0166 right_gripper=0.5018\nstate[joint_eff]: [0.1983, -6.7897, 10.7145, 1.7656, 0.0513, -0.0269, 1.033, -0.8137, -9.2103, 5.0393, 1.8291, 0.0757, -0.0659, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef78eab4967bb89d32b63efeaf7e86e5d1be4a52e8c42c452297c90a7af6d146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e54660326c825c87da3323f9dc6f0e3b678e9b562d783e7eddf47b2ee50849e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffccddd2fbb0771aa90ea730dd6bd26d98e0a470f6939ec83ea13c405ec12194",
      "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 · 1.991 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2604, 1.9083, 0.944, 0.1158, 0.3218, 0.2565, 0.0491, -0.0257, 0.8066, 0.6132, -0.4145, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.4248 left_y=-0.1673 left_z=0.0158 left_yaw=-0.6812 left_pitch=-0.2216 left_roll=-0.0653 left_gripper=0.0491 right_x=0.292 right_y=0.001 right_z=0.1737 right_yaw=-0.0011 right_pitch=-0.0503 right_roll=0.0053 right_gripper=0.999\nstate[joint_eff]: [1.0462, -15.0359, 7.4598, 2.1954, 0.3394, 0.2173, 1.033, -0.253, -1.1966, 7.0496, 1.7705, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3202, 1.2972, 0.8047, -0.1249, 0.1905, 0.046, 0.06, 0.6834, 1.7847, 1.1275, -0.0368, 0.2249, 0.168, 0.7017]\nstate[eef_state]: left_x=0.3623 left_y=-0.1516 left_z=0.1624 left_yaw=-0.5076 left_pitch=-0.0343 left_roll=-0.0736 left_gripper=0.06 right_x=0.4049 right_y=0.2835 right_z=0.113 right_yaw=0.3966 right_pitch=-0.1159 right_roll=-0.0131 right_gripper=0.7017\nstate[joint_eff]: [0.3214, -5.6547, 7.3094, 1.8193, 0.1783, 0.1148, 1.0232, 0.6359, -9.1966, 8.8821, 1.8828, 0.0855, -0.0317, 0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3206, 1.2945, 0.8143, -0.1947, 0.1898, 0.0448, 0.0636, 0.622, 1.9995, 0.9943, 0.2768, 0.0795, 0.0505, 0.5018]\nstate[eef_state]: left_x=0.3543 left_y=-0.149 left_z=0.154 left_yaw=-0.5074 left_pitch=-0.091 left_roll=-0.0848 left_gripper=0.0636 right_x=0.4088 right_y=0.2802 right_z=0.0137 right_yaw=0.5206 right_pitch=-0.1682 right_roll=-0.0166 right_gripper=0.5018\nstate[joint_eff]: [0.1983, -6.7897, 10.7145, 1.7656, 0.0513, -0.0269, 1.033, -0.8137, -9.2103, 5.0393, 1.8291, 0.0757, -0.0659, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef78eab4967bb89d32b63efeaf7e86e5d1be4a52e8c42c452297c90a7af6d146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e54660326c825c87da3323f9dc6f0e3b678e9b562d783e7eddf47b2ee50849e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffccddd2fbb0771aa90ea730dd6bd26d98e0a470f6939ec83ea13c405ec12194",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgwYsRUKvjiuHV48fyice2Xj1HAkGseZc3HUsZIAqTsm6EtcgSIjJST--ESQ1Iz_2gjtEuTeZVQcI12rd13ZAwHKA9ohUUt9geIq3-NK_XcJkeP4QZtHXWYWRu2HiluAeDCFxwbwxjyGT8TftLJWifBIj5TLN9tZx8wPVqjRYqwEPZuw36kdw68Aa54aJ-3iMBVwOS7upDk8hIZDDs13zc39-PELaR7sWYADdJwwbqHrfC0aPsSI9UP3BXurPaP2kN7ey188IZ3flP4PGLWD02_NDM7DJSLA8OT_YRsau1R9p7vgtGzp4LqelECA3_gHLeOTgEnHFQPbMCAu4LbhdTnWSINZOOwXwyLmp_MqEZvawqEtu_R4MNMBaZYZ3_-aFETGP1j35txf1A5iqNRsQMq29ccc7_E3LMfOY65C9BB4PgVptf5co9ttBiWDmSw6N_DwK1jZgYbONG2iYzQqkkjfP1tGzbFX7W3kaDu9z1eydO7F63ODk2__9fXvq7vLrhBHdEbEcWgemIzcS7TCHeN5GZJ8I-XVGEn_L5ykgNWtr7Y_SQFk9YKpTwyJ6dNf4mXJn4AlUItzxyYSONAmDmiFKJ2pDIRvfDnSYbuGZr_o87khzmWT5l5h8EppxgIJK2vOfcIiWdovhc0Ba1DCh9X7Cn3T1N9QYaC5WdvmPG753PtfNK_3nGVejBIscbk0HST0vNzK-bZpz3qmzkPUoKQ1MdUQ1cgWy5niEOZDHJwj73OY-J1NO4Q6ftJ8xNt4F6zbLBBtR5qJn3Bb7GbtueWfbrucdAcXUgTLqM_GGhYZDDkNET3MMMGujKyuYq_wk5H1mT8yVNo3sF0rNoakz0GF6IoD70I-Kmx8nsvCW0Xny3gZSMnl4SqlH1SvmhHQk1Kfguxvs3hi5J9OfS9cM6fcbrEqjNwsQ5-rYfgiiStnburJ1SxYtbGVmmLxc_2c79Botwolm8EAsmp7QazVi2wytbdd-_3DVwB2P9UhvSxqz0ww6Az6qPXLj2Yt9QG30cTiFdns9yrK9vgTTe9QqEvYzF-871euUuZpb1puDJlxmW6MMZJUQaChwlUBpTMW5gNHgqiHhDyTT7u-TdYDh7YiH4rlcyDAoWqfJtgXw0F83QK4cUHeoqYBpXfgRYXDTFSyfQUbya3EPG2GAso4nP04pzTxl62bmhRRTnXFYorNMPt9pGqLZsINRKKCRHzx2jmxmvFEuKlU07YpkwkQ_I4Swk6kF1spSnAfqs92UVyNomqeosQTi5KJMMd3H9T498n8L7rOZeezeSkfQqs3H-lu3DFU0kboJfqdEPDL6NS99oP2lCvgfS9w5D7pe4_45sNgDqO83VKFqRzxYdvhpvuo5QrCwS-MQRdEH-Jx8HjQ1S3fc4KMeE14AHpJgXHPKmmEhqM3Ouy06CGE90YX0JiCTBClO3tl-PBMm072DZnDsI35UZuk-3C7zcjCjFZ0bDoG8kNkhIHTLcuXcjDljtA9pdVv6XR3Z628B8p3-esQOQN0BS9W6reSLav5aqQkSzscVkcKOV_5YM9OQ7g1CPm35g02LtshK44MuFRPrXHrGLGytuDYE3wIbD45oMDUbkKNvyn5lAfBIaJQpnGYWrhaNxq-srKrO4TMPf5QfZ4sCEDkapSxq1t0ZWgFyeKIZcj4Bupz56yjJOBSXAOA7qtGaFLNswnPsmM3zqQaoHW92BcFYqr-tdT_2YxxvQF41ouKqFerycfcQA_DB1aHSuBlDpcsb48o9D987RAkvuFa5Tc5U3cgG8wAbYow9qSEq6bWiCpTkPYJn7BdlCgrf_d20BS_pc1emogFvzfM4j_di-wixhsWyq3b5TCI6yWO2rf2cEe2gtLrtaqFyaYIIg0jz4sizj0wTb5zFyWUvksBVjgO1-8xRvMxhdmnMiwj1fQ9YpQ_tOEIloTA9hgMykTL0BD3w30V4RGyVuNClAqF8Y=",
  "id": "rs_06bd11ff0f39cdd6016ab4582c55e887d084658e865c3cb52c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.422,\"right_y\":0.268,\"right_z\":-0.003,\"right_yaw\":0.55,\"right_gripper\":0.15},\"note\":\"The pen barrel is slightly right of the right jaw centre. I’m shifting the fingers onto it at table level and narrowing gently to avoid rolling it away.\"}",
  "call_id": "call_oweiJE88J6zuMH0UgLNJTRyf",
  "id": "fc_06bd11ff0f39cdd6016ab4582f14bc87d0961280bf9ad95497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oweiJE88J6zuMH0UgLNJTRyf",
  "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]: [-0.3206, 1.2922, 0.8177, -0.2058, 0.1894, 0.0444, 0.0649, 0.5743, 2.0357, 0.9878, 0.3344, 0.0238, 0.0029, 0.1544]\nstate[eef_state]: left_x=0.3534 left_y=-0.1486 left_z=0.1542 left_yaw=-0.507 left_pitch=-0.0963 left_roll=-0.0859 left_gripper=0.0649 right_x=0.4195 right_y=0.2707 right_z=0.0044 right_yaw=0.5465 right_pitch=-0.1559 right_roll=-0.0148 right_gripper=0.1544\nstate[joint_eff]: [-0.1162, -4.8342, 6.612, 1.7118, 0.022, -0.0659, 1.033, -0.6496, -8.0752, 6.5162, 1.6093, 0.0855, -0.0611, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddaf57c4395be325c9bb801c6c6f5443c737632e0117b6950893941b81e1319a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e490f687c6a3b6bd85243119e41e7f3a718171b2f082af238881c3d0f5eebe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0999bb35257ddb7ed98a574589ccb359f01bb4a5d1374e1a87bd2290e47bbe7b",
      "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 · 4.686 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3157, 1.2903, 0.8101, -0.107, 0.205, 0.0639, 0.0551, -0.0257, 0.8112, 0.6132, -0.4168, -0.028, -0.0124, 0.999]\nstate[eef_state]: left_x=0.3648 left_y=-0.1532 left_z=0.1712 left_yaw=-0.5247 left_pitch=-0.0025 left_roll=-0.0609 left_gripper=0.0551 right_x=0.292 right_y=0.001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.0571 right_roll=0.0054 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -5.8598, 7.5282, 1.6093, -0.1148, -0.0757, 1.033, -0.0615, -1.1282, 7.0359, 1.7705, -0.0415, -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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3206, 1.2945, 0.8143, -0.1947, 0.1898, 0.0448, 0.0636, 0.622, 1.9995, 0.9943, 0.2768, 0.0795, 0.0505, 0.5018]\nstate[eef_state]: left_x=0.3543 left_y=-0.149 left_z=0.154 left_yaw=-0.5074 left_pitch=-0.091 left_roll=-0.0848 left_gripper=0.0636 right_x=0.4088 right_y=0.2802 right_z=0.0137 right_yaw=0.5206 right_pitch=-0.1682 right_roll=-0.0166 right_gripper=0.5018\nstate[joint_eff]: [0.1983, -6.7897, 10.7145, 1.7656, 0.0513, -0.0269, 1.033, -0.8137, -9.2103, 5.0393, 1.8291, 0.0757, -0.0659, -0.0464]\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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3206, 1.2922, 0.8177, -0.2058, 0.1894, 0.0444, 0.0649, 0.5743, 2.0357, 0.9878, 0.3344, 0.0238, 0.0029, 0.1544]\nstate[eef_state]: left_x=0.3534 left_y=-0.1486 left_z=0.1542 left_yaw=-0.507 left_pitch=-0.0963 left_roll=-0.0859 left_gripper=0.0649 right_x=0.4195 right_y=0.2707 right_z=0.0044 right_yaw=0.5465 right_pitch=-0.1559 right_roll=-0.0148 right_gripper=0.1544\nstate[joint_eff]: [-0.1162, -4.8342, 6.612, 1.7118, 0.022, -0.0659, 1.033, -0.6496, -8.0752, 6.5162, 1.6093, 0.0855, -0.0611, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddaf57c4395be325c9bb801c6c6f5443c737632e0117b6950893941b81e1319a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e490f687c6a3b6bd85243119e41e7f3a718171b2f082af238881c3d0f5eebe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0999bb35257ddb7ed98a574589ccb359f01bb4a5d1374e1a87bd2290e47bbe7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgy9Uoo0OGLtbzFbXOW43ee0O5WIcQdpFTh9h4A1QqP3wnKnTD057lC4QpNFz7e2MlJWHOYkGX-oILFWAHyjEZUulT_9PEVdQsuzyYQz4epYqsnpNUSgkRqK2-u3D_-FUF8RAN4Ne-0yICBuruLU_iVmwHWUA6_LQmF4gX8-mouzD9PqMIdfSpfnZlPJD4OIBDbY1ddo3ozRthUsHognTGKnHw5fDWykqRi2PkVtXSpoybvMez-zbQrw-oKgZVgV63LbhNU8MJmTEV2N9KNtnPxPgDGd4K9rz4O6CjKzT5rWuR6Vdd68oDG0X2uq9S9KgmAkWM5xsUqwHSb1AQLksaALh6BdfoIAMQIJJ5-OtQgsWDRTFSGp2dzHyiIj1dOczVzA4NWiNaVduPyvTYATc7l8TL-9YCpbX-bmaW8x4OcW6G-isg7McKv4MP8ZewmVCvMo4jSMOyZ9jSMKrsKrw4SPoXi403xWMxgRSUYGXZ3E5c4X7GDmSP1LejSdm1L4kk7J4Aj4DnbsWvwfUcLYWJ3PmL_irUhGcN0ITHcb6C_uDI22siy6V13y9YQggpillP5xQLX5Lmae_N2-IY2kdyIUPqUFdtroKWlxM7Ol0SuH6EbP5QrMH5csTu1oCgIpbf3s_cs0w-qYxX36BM1KgncxqV1CcgFc8dO5mwv8eHEh3kZwmicbY7hjQ-kVtaBFmVJ4kHJoa2aPzH5lvS_Pj7lvlZOysCnfFuTXGbM7W5jzPb50Am73IKs291OVNrf0Y6U1-CJQ3l5dIjRuLw6Rs-JI1yk9qNSD4iwmfLcXPkEvU8559YovFxtBblo4_f-Z62dDeTFsOYjjOpzC7mPrrvLppyKB-J_LKunshxCckfJfLIFIsFGc-e75CF_hMgJ29XQSE6aPlD4P1DKLGQLF75EaYlmGD3pD7z3hh7Qi1g_y2uvW_1ZBo-hZou20B0-1s3JcDLRwj38dmeGdcwWKbx0CA-ULZJFqfm-GrHjxOhrjP_wzYdWnaJ_FWHU7bISdPww5r18CnDVtrAEDXOfp4HAw1rp_9VGpW2Ul_utXCOc_X4K9QXLHnXZquM4q0h1b5V8_XnM6IFVTbPN-QuRnTZW14Yi394xjgHi4suLMDJQomAbVjkObZgN0UaAuNe6trugi8PGi-AgGZgKGzdXqOqzt2vviI55VtqVu9qATRBJ39J_fVMvEZcJhUf6MOZnhDVaYY-g-DFf4Yz5Aqss9d73Yg==",
  "id": "rs_06bd11ff0f39cdd6016ab45831c01887d094ee793f4d791865",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel is now centred between the right fingertips. I’m closing to secure it before the lift check.\"}",
  "call_id": "call_MooJPhias4245v0ZRn62c93o",
  "id": "fc_06bd11ff0f39cdd6016ab458320c6887d09b2d0a4b15c95d08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MooJPhias4245v0ZRn62c93o",
  "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]: [-0.3214, 1.2926, 0.8177, -0.2066, 0.1894, 0.0444, 0.0685, 0.569, 2.0396, 0.9909, 0.3542, 0.0166, -0.0128, 0.0097]\nstate[eef_state]: left_x=0.3532 left_y=-0.1489 left_z=0.1539 left_yaw=-0.5078 left_pitch=-0.0974 left_roll=-0.0861 left_gripper=0.0685 right_x=0.4235 right_y=0.2716 right_z=0.0074 right_yaw=0.5558 right_pitch=-0.137 right_roll=-0.0217 right_gripper=0.0097\nstate[joint_eff]: [-0.1846, -5.053, 7.0359, 1.6142, 0.022, -0.0757, 0.9206, -0.4581, -8.8, 6.1744, 1.5116, -0.0269, 0.0611, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c39b0a436a525e45ad6363cadb2af2a861ac01e51d6512a7c6d7e4415ef485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9429188e13d6746ad179b8c21c453023f0930980f1edea7c8bad1684806265d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15960c762831bc03a795e0bdf9016d3d14df2b61f44e01402b6c90127334257b",
      "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 · 5.844 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3202, 1.2972, 0.8047, -0.1249, 0.1905, 0.046, 0.06, 0.6834, 1.7847, 1.1275, -0.0368, 0.2249, 0.168, 0.7017]\nstate[eef_state]: left_x=0.3623 left_y=-0.1516 left_z=0.1624 left_yaw=-0.5076 left_pitch=-0.0343 left_roll=-0.0736 left_gripper=0.06 right_x=0.4049 right_y=0.2835 right_z=0.113 right_yaw=0.3966 right_pitch=-0.1159 right_roll=-0.0131 right_gripper=0.7017\nstate[joint_eff]: [0.3214, -5.6547, 7.3094, 1.8193, 0.1783, 0.1148, 1.0232, 0.6359, -9.1966, 8.8821, 1.8828, 0.0855, -0.0317, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3206, 1.2922, 0.8177, -0.2058, 0.1894, 0.0444, 0.0649, 0.5743, 2.0357, 0.9878, 0.3344, 0.0238, 0.0029, 0.1544]\nstate[eef_state]: left_x=0.3534 left_y=-0.1486 left_z=0.1542 left_yaw=-0.507 left_pitch=-0.0963 left_roll=-0.0859 left_gripper=0.0649 right_x=0.4195 right_y=0.2707 right_z=0.0044 right_yaw=0.5465 right_pitch=-0.1559 right_roll=-0.0148 right_gripper=0.1544\nstate[joint_eff]: [-0.1162, -4.8342, 6.612, 1.7118, 0.022, -0.0659, 1.033, -0.6496, -8.0752, 6.5162, 1.6093, 0.0855, -0.0611, 0.1978]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8177, -0.2066, 0.1894, 0.0444, 0.0685, 0.569, 2.0396, 0.9909, 0.3542, 0.0166, -0.0128, 0.0097]\nstate[eef_state]: left_x=0.3532 left_y=-0.1489 left_z=0.1539 left_yaw=-0.5078 left_pitch=-0.0974 left_roll=-0.0861 left_gripper=0.0685 right_x=0.4235 right_y=0.2716 right_z=0.0074 right_yaw=0.5558 right_pitch=-0.137 right_roll=-0.0217 right_gripper=0.0097\nstate[joint_eff]: [-0.1846, -5.053, 7.0359, 1.6142, 0.022, -0.0757, 0.9206, -0.4581, -8.8, 6.1744, 1.5116, -0.0269, 0.0611, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c39b0a436a525e45ad6363cadb2af2a861ac01e51d6512a7c6d7e4415ef485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9429188e13d6746ad179b8c21c453023f0930980f1edea7c8bad1684806265d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15960c762831bc03a795e0bdf9016d3d14df2b61f44e01402b6c90127334257b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFg36V2nWV7mvT3DFwzWi8zWyqe9QZK1oab8GrbChixG_zl9IPvIxZzpIYfkMFWTekqAduilv_KicK4Tjq8wkS7K6VMZzNJUxkZNU7qELXnXHPnBOLkPU82TilUmifTrOp6okKVZkEGOcIQ7opcwzGZy2dgz5T_iMSDDUJzu0q25kNkdSvl9z7nRRI8upAWBkWE9bqoKy2cVjME8Kj9KSLkVr_KhksacWjxPwwEd3RlvdmR-bdXcTSXTmatH5OtRxfR8NrRDDhINRfDEcc9g4KYiY_TMih6WPcyfHoBV6rWUwoE3-svQL0VqhV_i2G6W-yS-OYTYD3JWKp-Xc7NmMxsBeKQ_MFNxUwbv6C2cIoNO6KvRRbh6oFc3KN_dLKGk7Mkt6o-NIG1H2cLrmr9C0Tk4S2Tz-kZA55m_qCUmojI38mhA6bNplIFIvBv9p1UTdeYKdSwD1ITO2lcy_SmACazdbXgxCWeLdfl0HkKHcUKTSxVGEYROhxxdI1XPBgRoCNxdACOyZpuyK4rY_xZZroZmQMVDRaXxflFCk7u5lylmXtoVfqN3Uscm58fxohWqYhGkbSLyxZJC_Au7hI5Non9cEXVb1KtKhGtH0A5WyCjv6EQE-o_3KHAP9DawLr1B7UXmYZgzrJ2nyTBphoptn5QZdND4MXzVSYfYvyAo3NzoJVxCimhtWxXce4C8_Ft70B-u4pxhqR3Qqm1tpACkT85KhUeiWvoWA9LekTQ2ZaOJOoclCetracXIGbUmIUtG3w-usgFe-ZBNLKl58E6zLzC5xyhCDIQ8mGCeujCbzLUGRxRaCKXjX-MNEUeM3T6vIUjka0nZIIJ01Mbd29dDxy1GZnqqDOMRjkBdHtTVPYYg1qjkNKCCUYC3btN-sCP-42X1unO0pUK0g8yiGQa-H5fePuyAuph5Z1AWi7Vu73KIYydG66_Nl9c27WDq3Rlw_5mcGiEwfSRr0ymN5-my_1VpIcE9tRp8LJKrc7DZRB6XjvjpnZsR72w2lOzb3mr9MHDVdH3EapaTZKYY5QzITrAMFD9DJ6ZamZqL795uKRlgAGShglweb4b4fNTOPPCT6AAN1zbWZf8SeSbBG7OUi1RFWusz3sis1Py_CwLjOoPQEZFTo3GZM-K1lJmCnrP_cF6pHzQ9HOJW2CYnvpL1Azg2w_y-azpPtdJRTp1Y7gtxSrv0w8KCYgWVK_RYqgxmpE8IRXe5DoHG5DFxSyE6ZYI3BCR9_HVay6SKF7a2jOXpfSyEz1Zz_jthjRtrfP_YJQ9rJ4r2t5uFn_oKWGfny3IJW-ymAFMJNj4fzJgkNeq6hA7GcHLCI4BvfbYwEee4UP7ik3GtcfTtx5WWjk-GaTL7N0MlO4Vl-qkuXTl8Af1Ae501nNbsxZfvHYFCynp8GvHFG323zSJVKOlm5t6b8x9MuTgSeiLZtjiJPTEyEX5ATNh6jyR-hzQGcog1VcB3ValOKB7zYE39UFTIL4l9m9zRmR5X2-LXirglKKylOO3Xi7XKxI9JO7Q0g_lN9vDIV0adSt07MBEqV9cyiyRs1ubO81GhJR2J2TOcmcbhwYIDpPEqASGApSk8M3CjEF1O2qvBm3G6zjiprfFjNd2Gh5w--iGOHHPQ8krmq-2TpOKIJdRnCA8n3ukdIJO29n2fIR2ZAtmYGiXDeQOIfQXv9eoNKYISktWgL-z9ejYPp_NxG1p0RKXsB0jY7qAZBnloMz8W",
  "id": "rs_06bd11ff0f39cdd6016ab45833f83c87d097737fe5bf44528b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.432,\"right_y\":0.286,\"right_z\":0.065,\"right_gripper\":0.5},\"note\":\"That close appears empty. I’m reopening, lifting slightly, and moving two centimetres along the pen toward its writing end to correct the grasp.\"}",
  "call_id": "call_Vr3VKsXTaX429ax7FhLVjbb6",
  "id": "fc_06bd11ff0f39cdd6016ab45836299087d0995f0a4fb9b89b9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vr3VKsXTaX429ax7FhLVjbb6",
  "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]: [-0.3214, 1.2926, 0.8173, -0.2066, 0.189, 0.0425, 0.072, 0.5686, 2.0415, 0.9909, 0.3473, 0.0174, -0.0128, 0.4951]\nstate[eef_state]: left_x=0.3531 left_y=-0.1488 left_z=0.1537 left_yaw=-0.5064 left_pitch=-0.0979 left_roll=-0.0874 left_gripper=0.072 right_x=0.4226 right_y=0.2706 right_z=0.0051 right_yaw=0.5547 right_pitch=-0.1458 right_roll=-0.0223 right_gripper=0.4951\nstate[joint_eff]: [-0.1709, -4.5197, 7.2274, 1.5946, 0.0024, -0.0366, 0.7399, -0.6769, -8.8547, 5.7094, 1.5214, -0.0904, -0.0122, -0.2369]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411bf95a978beb90621dc25533fc46c1b478b64a3f23edbe4a03bb5e269ac64d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa385e974a093410e0882ba6384c87333ec803b1ecaa6f41010597f01449dd75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000be99476818fc676220274ef53894192e1470b8c7061fe52188041a8892ec9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.824 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3206, 1.2945, 0.8143, -0.1947, 0.1898, 0.0448, 0.0636, 0.622, 1.9995, 0.9943, 0.2768, 0.0795, 0.0505, 0.5018]\nstate[eef_state]: left_x=0.3543 left_y=-0.149 left_z=0.154 left_yaw=-0.5074 left_pitch=-0.091 left_roll=-0.0848 left_gripper=0.0636 right_x=0.4088 right_y=0.2802 right_z=0.0137 right_yaw=0.5206 right_pitch=-0.1682 right_roll=-0.0166 right_gripper=0.5018\nstate[joint_eff]: [0.1983, -6.7897, 10.7145, 1.7656, 0.0513, -0.0269, 1.033, -0.8137, -9.2103, 5.0393, 1.8291, 0.0757, -0.0659, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8177, -0.2066, 0.1894, 0.0444, 0.0685, 0.569, 2.0396, 0.9909, 0.3542, 0.0166, -0.0128, 0.0097]\nstate[eef_state]: left_x=0.3532 left_y=-0.1489 left_z=0.1539 left_yaw=-0.5078 left_pitch=-0.0974 left_roll=-0.0861 left_gripper=0.0685 right_x=0.4235 right_y=0.2716 right_z=0.0074 right_yaw=0.5558 right_pitch=-0.137 right_roll=-0.0217 right_gripper=0.0097\nstate[joint_eff]: [-0.1846, -5.053, 7.0359, 1.6142, 0.022, -0.0757, 0.9206, -0.4581, -8.8, 6.1744, 1.5116, -0.0269, 0.0611, 0.6178]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8173, -0.2066, 0.189, 0.0425, 0.072, 0.5686, 2.0415, 0.9909, 0.3473, 0.0174, -0.0128, 0.4951]\nstate[eef_state]: left_x=0.3531 left_y=-0.1488 left_z=0.1537 left_yaw=-0.5064 left_pitch=-0.0979 left_roll=-0.0874 left_gripper=0.072 right_x=0.4226 right_y=0.2706 right_z=0.0051 right_yaw=0.5547 right_pitch=-0.1458 right_roll=-0.0223 right_gripper=0.4951\nstate[joint_eff]: [-0.1709, -4.5197, 7.2274, 1.5946, 0.0024, -0.0366, 0.7399, -0.6769, -8.8547, 5.7094, 1.5214, -0.0904, -0.0122, -0.2369]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411bf95a978beb90621dc25533fc46c1b478b64a3f23edbe4a03bb5e269ac64d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa385e974a093410e0882ba6384c87333ec803b1ecaa6f41010597f01449dd75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000be99476818fc676220274ef53894192e1470b8c7061fe52188041a8892ec9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFg9w8fYlCmN-RNqhN9pY7l_I4_taYUQ_O22s5VHeOURxgQpZx7Nnr56uUr2W94itOjtwoLSYPVnH48lRrwbkRGcX6dfNlROfc0M5kKUVvw6diVIjKp3zaUcNjx_1bebbu01eqh3g6EqBV0bpl8AMXp1eWo9YimxhdbMmkHdqsHyEXbavWwzVzficHi0k9qNprVQg6YQdzWwKyuc0BBFQfOxCbqcjUQB2z8uhArK1cQ_y-vxeUaFOoCd9vPwaQnkrYgzNWiVdFyAq78Sw0F-7SMBzXAnE6KZ6HQ7FK-O2OEp72E43IBObgocTdO5dUoo_e_NAq0FIh50UXi2nyhTFp6VfCzKqE1SwCabIQ66Njs2q8J89sr4knXouWm_8VF6lkm8RE31OfiUj1x-9ThVWTkB5mxVvC4XayjPHGQrx3bL-JneO666zwMM933P5OMuLNYKBka5AUJkXdntIDzA9nXmTbVdd6v9WrgLb8d_E-SNhE-904PXa3FwR7Y1rQTJFesU7O_0zttFMiLD0Y3ptbGjoFHR7yEe-w-wSNR9nYoI1uwtSkY7VfozuIffJup34lwjVqrtlHoBXXSckx0zyicVDhq2_qYF2ipQIwAn0XxhWGCG1QXPDoHWnluEckgpQkXoDmPRIH8LDUIX2LBfl5QdOjXDNoksqt83bJ-91Q6MhEKBtWA27tcVv3aEvozPxR9dj3RS7LSkPH6uYC_QN-ucpKk2l104v9DcDSI1ufk6RtvNddXgA_63_uudg98xT9dw-4Ojb-4KU4foMFCHo_u6vRnwezFovsQxq0tkJvYD-W_x5N1IlcNgtvs18sPtdaKKSA8lfK4c2MgPyBIoIUDHsslnDnadPU3qPD6zJzPhCJNn0iphzSWZhatuyq8rhVt8aDBbSNq6YXp9dxEYAb4yDcV8ZDeXJ79dqd6572oh37X4C-PFIfmRIKQL6lc9rMC_TCRrCFpB34Mm_HmD17GbLNRXwJHj54Pm7urSkAFeAq3ESTLGWBbd7sLVI10rOb2bE8DfLBazD3UwS8onWp2qgC-QYOnOmKfLmkQv9hMfqRqJY3SzIVGFYS4Mu1fiy0M-X1WFGtVlFTxO2S2yV_eZjJ0Wd-pkEw6jmGLspDLB6WliLA2Tlc5uxBuVKFk1Wwnmw_PsrMEUGYMkv_4jhlcU-K7mf3iM9dls3J0Lrefd6y2w-RNefjtfZGcA5a9JfcvIhm-d7bh9a8i_YMrGpgR3gB8jZ9bnyJkrCk8Ebccytb982UCPQKIFCVIjhSwBK6GVGZNm-2epbgfxjsbC2R22TOLNOwD3hrk-nsc7ProzRkrrdzBarFO5NuMLV9xO3Z5AnsBOFPog9D2BsMwmnXD6aaLF3ciq2LJtSn32Jv75d0vWmO0XThY5UVNFlhWyyu6yvwkBTD8FObtoSUw6IkmF7sGgxmwxY_ZJQcKFPM2yajNbh54C4ffq1-xfNwb9gjOV3ucqoiw-buew7hFvfbOhOePeo_G1G2HyaTNy5MFEXvhXFOK_wpOznaweF0nQwXdifHrJiFz571pBwkjALluwzExWwQp8yUImc84Ge0UvCqh5BGl8RAxJeLo99U6TwmgF-P5cJVnw3GtzVI86Fojx8bdqa81PhmrsxwL2OtlNFNYphg4LWzQXrI0FsMNKdDBsah1Yb7albjgfWQArmSLZR4tW1LrKPwdO0LXAUrcmzkBil6vW2pcmzEKmlG7z0kMDFDlTQwoSQ4u6hXHEM10NQ3DYKfTTB67cFcBUPJsvtlHP_Ry1c3r8tXCPTLC-1CGFj7-inyx5bSnGuhzPjoLysbjLzgbju122zd4egyg-uR2MpafzVDDN0PJKG1pK8uu1QoEWxBntdGwq8b2_abkrsnv7yYP96fS3pFBwHB0Zerg8dxX-UblIoVg4PFP8sn1upPLKM-Ub0s3ZCyixw1v_v5DA0We2KXF_5cWiizBnMd9ETCDwdwosfAODn9DpcjC4iJi_lFkfJIAP7GJeY2i5RWoQ9Dpve3jiXYy624GtvM6ixipaMFYpcUiKs4VgF50Vh88Lzn14g8omQXn6NjRxxZHzw8hHhrErHo50LbBBAhhmsyenU4h-EgpJZui2H1bz0qPj5aFNQflIQnHvCt1unf51dZ5j8vaAX_hCTJ40WvXUXeUbYj5ZWA9ifUiEa0AbYALb3IJ4KthzVHi3VTbtZg==",
  "id": "rs_06bd11ff0f39cdd6016ab458391ea087d0aadb5618a6669654",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.259,\"right_z\":-0.015,\"right_gripper\":0.25},\"note\":\"The writing tip is visible just ahead of the jaws, and the arm did not track the attempted lift at this extended pose. I’m retracting slightly onto the barrel and lowering the fingertips enough to reach the thin pen.\"}",
  "call_id": "call_aHhki8raq7t5mYst372k2ZF3",
  "id": "fc_06bd11ff0f39cdd6016ab4583c896087d08873e80003b262f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aHhki8raq7t5mYst372k2ZF3",
  "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]: [-0.3214, 1.2926, 0.8173, -0.2062, 0.189, 0.0422, 0.0751, 0.5686, 2.0415, 0.9909, 0.347, 0.017, -0.0124, 0.2542]\nstate[eef_state]: left_x=0.3532 left_y=-0.1488 left_z=0.1538 left_yaw=-0.5062 left_pitch=-0.0976 left_roll=-0.0877 left_gripper=0.0751 right_x=0.4225 right_y=0.2707 right_z=0.0051 right_yaw=0.5548 right_pitch=-0.1461 right_roll=-0.0218 right_gripper=0.2542\nstate[joint_eff]: [-0.335, -4.9846, 7.0085, 1.6288, -0.0024, -0.0415, 0.6569, -0.7726, -8.9641, 5.7368, 1.4872, -0.0269, 0.0366, 0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b944b323270a497a2098ad4440b10e1130fa620bda455bb0d164c2bc5246263",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd93728482536651eea9613557edca91456ccd372337a9fb87c93fc68b36058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5384422f8dd9bbde4e71f7f805daea8e9ae9b2fa7881b79dcd2d2c93699f7cf9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 10.83 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3206, 1.2922, 0.8177, -0.2058, 0.1894, 0.0444, 0.0649, 0.5743, 2.0357, 0.9878, 0.3344, 0.0238, 0.0029, 0.1544]\nstate[eef_state]: left_x=0.3534 left_y=-0.1486 left_z=0.1542 left_yaw=-0.507 left_pitch=-0.0963 left_roll=-0.0859 left_gripper=0.0649 right_x=0.4195 right_y=0.2707 right_z=0.0044 right_yaw=0.5465 right_pitch=-0.1559 right_roll=-0.0148 right_gripper=0.1544\nstate[joint_eff]: [-0.1162, -4.8342, 6.612, 1.7118, 0.022, -0.0659, 1.033, -0.6496, -8.0752, 6.5162, 1.6093, 0.0855, -0.0611, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8173, -0.2066, 0.189, 0.0425, 0.072, 0.5686, 2.0415, 0.9909, 0.3473, 0.0174, -0.0128, 0.4951]\nstate[eef_state]: left_x=0.3531 left_y=-0.1488 left_z=0.1537 left_yaw=-0.5064 left_pitch=-0.0979 left_roll=-0.0874 left_gripper=0.072 right_x=0.4226 right_y=0.2706 right_z=0.0051 right_yaw=0.5547 right_pitch=-0.1458 right_roll=-0.0223 right_gripper=0.4951\nstate[joint_eff]: [-0.1709, -4.5197, 7.2274, 1.5946, 0.0024, -0.0366, 0.7399, -0.6769, -8.8547, 5.7094, 1.5214, -0.0904, -0.0122, -0.2369]\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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8173, -0.2062, 0.189, 0.0422, 0.0751, 0.5686, 2.0415, 0.9909, 0.347, 0.017, -0.0124, 0.2542]\nstate[eef_state]: left_x=0.3532 left_y=-0.1488 left_z=0.1538 left_yaw=-0.5062 left_pitch=-0.0976 left_roll=-0.0877 left_gripper=0.0751 right_x=0.4225 right_y=0.2707 right_z=0.0051 right_yaw=0.5548 right_pitch=-0.1461 right_roll=-0.0218 right_gripper=0.2542\nstate[joint_eff]: [-0.335, -4.9846, 7.0085, 1.6288, -0.0024, -0.0415, 0.6569, -0.7726, -8.9641, 5.7368, 1.4872, -0.0269, 0.0366, 0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b944b323270a497a2098ad4440b10e1130fa620bda455bb0d164c2bc5246263",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd93728482536651eea9613557edca91456ccd372337a9fb87c93fc68b36058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5384422f8dd9bbde4e71f7f805daea8e9ae9b2fa7881b79dcd2d2c93699f7cf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFhBEa3fmHgNB44vtpxaT-PQw2PDAD9w8SuS74p49dz2Jzp6h989cHQC76aaCX2Jf3rs6RHGXfDmZUUYvJwYmnAKXPBQECuxu4qkOrnL3qYFOBE90egqWhnTYF3EQkY0mhysiG8sq3VvjF-0U32MO6WGuHStcpwk4buYAZJQAJ-FtXGRWa0InMcfjfkJSiT0M6M3QWj2mnnHfArQhUOKVzSvrbcqBCBW0r95TYJRldJHmbrjxb8-7EOO6YA6PIYTDtwJXmpWhQH0oXr6QDjtOyTiXS2Dk8O7NGqQ-c9bP1mALIXC-xWCER6yQexvt0XEfVqV9or6lU2T5519G-DJ0tQM2gVyy9QsWw4uh7uZ_X4jquXPegdE7fsWeJpa3MqC9JBw9In2Q2AT6kYW0lzouxCcsjpze9rQ3m3Q1QHgkPl-hxEzTjxYIS-sTnnMQV1ujOnwpvFyMPh6uhGQrOfx56lzuypWYbCoH9a7jT5NktwUwPVaVwYkyRwmBZplsTjLHzP_nq1nZ5GT1UJ_o9VLGjmOvEsFALgSLTZ_iR_m-BjIee9OP8qssYvkjx9wNgj6UQ9nVLHfgG9ah09aHtwYgYrDHM9XEDsFVFWwcUQkVVFyigDOLfLoh3P3yiyUlb2G5n_NyM6KEVhsWENBbVp0TT1TUzWAMxzgQ17KG_qm6w6Zjwm7awSjKtSw65EUpZm3lb4A6vBL16TEPkSVT-FKMUmUObkc6qp2XrV-KfMkEoKus1vRn2nTbWcnBDaLwTL4ALrE393jl4IFK-Pga7A5Z98eHeVf6V58Deg_8eTmJthCYVbHzx12l68WO4Qcznn6PargSffpH7hgPebiY_tFD4YJi-XbrMKbQFHJgXEKncYM4mhKUNlE6HwLawRucIzUNbV4WaIFU2C63muW-aoN-4ZCJENY99E6-z-6gD4BdSBfKe6eZREI7tLHhqLnW2o7S1V5If554_g6ZAJPOfLoCGQ6nb-y9Q2VMAcQxJDtaLjxriWXig9UV6M1Ch_THXpLxFGe_iPNpkKdOa9OL6Xf9l1nKUVl7saMOJolAFYrjatn8aWrCyHe1938jZuBIaP29y9kV5G1VLaxyw4IS4iwO1pl0DP5ZelJAD6eXYe_hRJx5BFx601SUmCklgx1f4o-3Qh-RVrW_ktBIaRgbRzsMIqzzzPfqtFbaM8r4sYy0IxxeEVvtLKLMUrNGoqAS7vGe7z1FJHOJEt8PwgIdahH-VsNp764djZe89GgYz5PSdcz8WPUkQe3q5QYvGDwyRWTtIcR6jtRTaOcLp9bGSYhq3hejg8iaGkEN4lVwvUwIMOxJbH_8bWyXyIfiPYY991CJnxnXcvHBP4lqPxCOT_TvEW69sn5B88Rv4m_VVnVrfvgsa3oW79VzYJJvt7Ap-Vy0P2EG2wH1PKYG6QfVSP-KN73lA_bh6IBqbNIOdgfw6zQ6xCsZbUfbd7xSB0FS-S647GY",
  "id": "rs_06bd11ff0f39cdd6016ab4583f3f5087d0b3d5e6713c1ae876",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.23,\"right_z\":0.15,\"right_yaw\":0.5,\"right_pitch\":0,\"right_gripper\":0.6},\"note\":\"The right grasp point is stuck near the table despite the correction, so I won’t force another close there. I’m retracting and raising the arm to recover a reachable approach to the pen.\"}",
  "call_id": "call_3NEmwarYWSawjoUlwUGcPOMF",
  "id": "fc_06bd11ff0f39cdd6016ab4584050cc87d0a0e2f41b0c545a6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3NEmwarYWSawjoUlwUGcPOMF",
  "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]: [-0.3214, 1.298, 0.815, -0.2058, 0.1871, 0.0422, 0.076, 0.6113, 1.4425, 0.7918, 0.0929, 0.086, 0.0219, 0.5981]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1509 left_yaw=-0.5047 left_pitch=-0.1049 left_roll=-0.0878 left_gripper=0.076 right_x=0.3558 right_y=0.2353 right_z=0.143 right_yaw=0.521 right_pitch=0.0017 right_roll=-0.0271 right_gripper=0.5981\nstate[joint_eff]: [-0.0342, -5.2991, 7.1726, 1.707, 0.022, -0.0806, 0.4615, 0.4991, -7.0085, 6.4068, 1.7265, 0.1636, 0.1392, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb949e1149f1725dd3ab6c21a4e1f8278dbbefb13aaf410be55ab6e227b9385",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6713bb4fe2173a5184d539d308d3cd3005b85f0b258596849a3bd38012bdf178",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f442d00e1c894453c4eb1d83b6f8876ca0b9f62d4b696a5d694bd8348e2da940",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.704 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8177, -0.2066, 0.1894, 0.0444, 0.0685, 0.569, 2.0396, 0.9909, 0.3542, 0.0166, -0.0128, 0.0097]\nstate[eef_state]: left_x=0.3532 left_y=-0.1489 left_z=0.1539 left_yaw=-0.5078 left_pitch=-0.0974 left_roll=-0.0861 left_gripper=0.0685 right_x=0.4235 right_y=0.2716 right_z=0.0074 right_yaw=0.5558 right_pitch=-0.137 right_roll=-0.0217 right_gripper=0.0097\nstate[joint_eff]: [-0.1846, -5.053, 7.0359, 1.6142, 0.022, -0.0757, 0.9206, -0.4581, -8.8, 6.1744, 1.5116, -0.0269, 0.0611, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8173, -0.2062, 0.189, 0.0422, 0.0751, 0.5686, 2.0415, 0.9909, 0.347, 0.017, -0.0124, 0.2542]\nstate[eef_state]: left_x=0.3532 left_y=-0.1488 left_z=0.1538 left_yaw=-0.5062 left_pitch=-0.0976 left_roll=-0.0877 left_gripper=0.0751 right_x=0.4225 right_y=0.2707 right_z=0.0051 right_yaw=0.5548 right_pitch=-0.1461 right_roll=-0.0218 right_gripper=0.2542\nstate[joint_eff]: [-0.335, -4.9846, 7.0085, 1.6288, -0.0024, -0.0415, 0.6569, -0.7726, -8.9641, 5.7368, 1.4872, -0.0269, 0.0366, 0.2418]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.298, 0.815, -0.2058, 0.1871, 0.0422, 0.076, 0.6113, 1.4425, 0.7918, 0.0929, 0.086, 0.0219, 0.5981]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1509 left_yaw=-0.5047 left_pitch=-0.1049 left_roll=-0.0878 left_gripper=0.076 right_x=0.3558 right_y=0.2353 right_z=0.143 right_yaw=0.521 right_pitch=0.0017 right_roll=-0.0271 right_gripper=0.5981\nstate[joint_eff]: [-0.0342, -5.2991, 7.1726, 1.707, 0.022, -0.0806, 0.4615, 0.4991, -7.0085, 6.4068, 1.7265, 0.1636, 0.1392, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb949e1149f1725dd3ab6c21a4e1f8278dbbefb13aaf410be55ab6e227b9385",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6713bb4fe2173a5184d539d308d3cd3005b85f0b258596849a3bd38012bdf178",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f442d00e1c894453c4eb1d83b6f8876ca0b9f62d4b696a5d694bd8348e2da940",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFhNx1AtFtAg0ZdJ6DPsPS4Kiejes_dPAxlbRS9N8jtHYAyfskpA00m5VvaTj4hrY8VlND7hia5CDt0ewOITY1mDVY9dMaj5mYtelCEQN-crPAehbx5obfMXqTAOb3O5iOQfGfVIeIU6hUaxM2v20CwdJ2XM3J9vMjGrFwPtHVF4ue6-QQg2jl97WNkLLjIiJx7AOV_R6jr-rMHTCgYyzoLywOIQBwbCgOQSxG8XKhREkbX6wsTHxCgMsIy6bBTPIr_AMGQ5C9hC49ohGO69KkK3Yidymvus34Twlz_tLewOmO80DoGXjcyylVM6q6ysLuxieg02AQ36GdJ7oMchO8jtH-1rVvxbh8ulUbG6YPd5OMJmGOeXykW4G0ceWCmsT0AqsUBOtkVPNdty7yuo9kEbaq7Yj2UBNd22vLw-xMK9ximYfg4R3vds8MG4KGlZ1jWqqbM-yWloY8qQdsVZ1TxaIG78Kjk4aTgTSypDha6kP7nJL5xmAjO-r0eIf9sshX3opiP3TYv3H6NVlfpv8z2wnNMroTB4X1JwPGmX3zIQKR0DChoM8AoK8nL3r5dHWGQdATZ2ZJEuZSZdgtUf3uah0Mui43v6W3WM9x9LVfeta2o-Z3hcDnPKAhX3vKokTPzqrzQOwG1ldsVH8gBut4Mwa-TPhMBozePQIdeHo68sVWSPMWK9FVE6mcpvSytmQQcq1fWk4IBJVBIW166MP1h8legKDvNVBMbibnYXgEXKZGiqmoKhOfx1u9xz21iAZMqCpcS2lUeblM-Q6Bde6Vko1Lh0bHc0CSgihzGUyv3GduXQfxCHdqya1efVGhfnyptPQ8gZUJ-j5Qme2a6YYV4cKwwdSqKNw1iBY_AfgPm3t46oWrRIjxHvr9jQ2NX5OsolbktPabsM-IGacq-251IPd_B8uob40USBmGpFCnva83pSF_0T9cpk9UeDRM61u8MBoh9lqySKd0EnrGzL0iA_F-_bTX_yke8l4_RAqgH-UiRV503hWrYkO_m2bxD_gXFvfPUXU6IPeuHPjsvUweYzE-qk-SeDm16Ktg8YeGDjn8G7P93jCJ5mjAF_sBQDztr4NuGmEZhXQAsK54w134YcuGJqbOT0SXKRjp8JA9ZmIY7e0CrhYcQMLxPQf3RDN9hexjkS06b0jBXZ7rTcwB5q1555t1FZkXUq9J5hOAKn7EU0fJQxy5uOknddNqBIGmEOw_BJ05iKLILxpU7-R9EYew0B9HjGmhKD2-oXYFjOK1yYcrkq3oiHGqhGrDX3Wmcx4d6hEdrkAkuNya8_gSvRCTI51NOu4-JO1nuIEHfxWfYhssh-KtACwyG_qivTHc96xEPWse6gPExiE1renseFlD3QP9-T-gT8WKuRWuGI0T6UotFaJMM5PfK6LEnfn0-h1B81YwjB8kWw-F_u_Q2UJP2WIMblsh6S0rfaofgjSaAmzjcZVeXYYx_YdXyNmcEiudO9CUTuZZQt66rBkLUNPBZbqNOgk6wg0LEv5OfCijuCG2Sku-nilAKi1t0qrg57TrOKqvYEwntLwGInN2FHbeWiSpcj9v4VC5cDJ3MhiZN2G63R9YL64ENgDG6JUwYDIzDdFhDa02VGWd7m93XdqVYfo2lB9JAaxnWzosSgjOEcTRDKhDPKFHChrMIOgtfe6R15K75YTrdLX0M2Krqrb3YWgGC5Z1TK8G2CVCcg1qi2dKR8gsY1UW_YZkUzjOLrdrA0NAATDe06bo3uK_thZDRa8USePYEBAYL60tL7idLzoQyrGJIcA1DkktmjoSgSHhASL2gcbNPmmsjSHdEdOQGNQpxIuPp-FUOO8xZ6LF2KQ0kc6g6KNJCfXVdgLdjYi38-uMPcSTxuzT5Wcv2TZG2H7LEHQwwnIgasiH8PUSvOVWhEBlRkPi4Wd3avkDcUaNBq3kj0L9tpspzLF24HjLoGzbbFG5K6EnfqUofLOrZ3IQcX0lLQAkql1lgUBsYmxhtGcwJPaT_MorCCz3cT-b0jLVNm-MdJddJMTztJzY7gLL_QreOm6vq3GJjUKs-cwkZGQhTABZRQZGIRYqW5pSbO9TdCDUaSHILns2NDa01t8HkP6ed_FXXfN6Cx1U1VHCqKFL0A8vJB6z3yBNCw6vI2ReWHhW_TRa4jq0vghBvZOV6p3htdgSLKFFvpoej54yGqJFf8cA1tdZeddPgKTaiybnSC1r7r3ESnQ_VTSzjv8goi-dk1aDrHNZy5BWcCTRDGYivd1Y48RKofRRS-7pO6DaS1DvKBZtoPIuf1EpWW11csS8-xsW1t0g86sJEZDxDrkCLxl3cgDOlpprrrOvfW1d39Vb7t1laSwR8bX5Onki7P7wRN3ZVsVIc0C7XO4FlpnAAASsgBAXZEIAaF6Zr7kTpYLQYHPV4AXjoO0oZfRtdur07lz8Ada70K0o_rUfpRqGfSKkzKK_deJx2CP7X0VZtn5dLr4bque3huXkw7p7li5_QzEEkS5BsHqZMkMyXndATfG7M9-RrkLvng0YckyWKRBUISP7amgoh2Jdw7BfU0NMc9i7vnSkb4Bdjd_jIwXiABnxZdXiYs_oK6Clv8lcbVvHj4uvNPS_BNj0U_kPgPNTiUasZSCdh8YyyLBqpjM8SXO2lMc2kybEDCMxiUFyddzfooundrODMz-mDmLelJ-FV9u-Nic4wZaNZrtWK4bXOz-FnLlIBWhwdfZXHdJ9nAADcFAAsMQXgxabKc4WvDmPUAjbS7urfG7bjvbmpSFAABq1A5TaqGwrXVT2RAR1lp-XDCTofeq4NnLOZMIAbx45YjKxq4kP085OkEdBHgjx9AoUoWPa4kqA5oxH-JHNohgsTnjKn01DqElEezMzAgASEQWTmSy6lTwEEHnMtpKSzgruGgQJO8igGdrRv-NOqL01-tSmf94HvRtP3YE2FskO8na59M7GkcHt0-9wWsn2zui2vSjvN1Jg1bstyB8elBq9aD-HDoCfUZB2gCT2NQ4NBoxH1FMrqaQeQjMpTw2OloQ5H_R6_6jDNe6EpopLmTFVqnyp145xlAOtaP77aGWuEMRqCniqy5XqOmGERYnlZWYnhdYN7VWhhjmsq7tUopsWODR9FLX0VuNuXnVrqDgonHXq0x6zFp1ctN",
  "id": "rs_06bd11ff0f39cdd6016ab45844ab8887d081f898db18e1b9df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.388,\"right_y\":0.25,\"right_z\":0.008,\"right_yaw\":0.5,\"right_gripper\":0.4},\"note\":\"The pen remains on the table, with its tip ahead of the right gripper. From this recovered pose I’m descending onto the barrel farther back from the tip, where the arm has more reach margin.\"}",
  "call_id": "call_UkD3qN1jXNG9sd2Ce8jUm3P1",
  "id": "fc_06bd11ff0f39cdd6016ab4584bc33487d0ab68aede24e68f5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UkD3qN1jXNG9sd2Ce8jUm3P1",
  "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]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1871, 0.0422, 0.0793, 0.606, 1.9438, 0.6945, 0.6346, 0.0929, 0.0212, 0.4017]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1499 left_yaw=-0.5048 left_pitch=-0.1079 left_roll=-0.0884 left_gripper=0.0793 right_x=0.3785 right_y=0.2467 right_z=0.0027 right_yaw=0.5101 right_pitch=-0.0545 right_roll=-0.0368 right_gripper=0.4017\nstate[joint_eff]: [-0.1846, -5.2034, 6.8718, 1.5604, 0.0464, -0.0073, 0.6081, -0.5128, -8.0205, 5.1487, 0.8425, 0.0757, -0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8914f1838be654d58ca168da2799d0be56ef18bda8399034e228cb212de509f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0212c0cb375c570b1d1c1731ff379db20f512a2ed0c9111da30f4b3803255c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea54d1169a3673412ad76a94abe3a5c1c62b7c648a5729993579df6bccc7baa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.384 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8173, -0.2066, 0.189, 0.0425, 0.072, 0.5686, 2.0415, 0.9909, 0.3473, 0.0174, -0.0128, 0.4951]\nstate[eef_state]: left_x=0.3531 left_y=-0.1488 left_z=0.1537 left_yaw=-0.5064 left_pitch=-0.0979 left_roll=-0.0874 left_gripper=0.072 right_x=0.4226 right_y=0.2706 right_z=0.0051 right_yaw=0.5547 right_pitch=-0.1458 right_roll=-0.0223 right_gripper=0.4951\nstate[joint_eff]: [-0.1709, -4.5197, 7.2274, 1.5946, 0.0024, -0.0366, 0.7399, -0.6769, -8.8547, 5.7094, 1.5214, -0.0904, -0.0122, -0.2369]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.298, 0.815, -0.2058, 0.1871, 0.0422, 0.076, 0.6113, 1.4425, 0.7918, 0.0929, 0.086, 0.0219, 0.5981]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1509 left_yaw=-0.5047 left_pitch=-0.1049 left_roll=-0.0878 left_gripper=0.076 right_x=0.3558 right_y=0.2353 right_z=0.143 right_yaw=0.521 right_pitch=0.0017 right_roll=-0.0271 right_gripper=0.5981\nstate[joint_eff]: [-0.0342, -5.2991, 7.1726, 1.707, 0.022, -0.0806, 0.4615, 0.4991, -7.0085, 6.4068, 1.7265, 0.1636, 0.1392, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1871, 0.0422, 0.0793, 0.606, 1.9438, 0.6945, 0.6346, 0.0929, 0.0212, 0.4017]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1499 left_yaw=-0.5048 left_pitch=-0.1079 left_roll=-0.0884 left_gripper=0.0793 right_x=0.3785 right_y=0.2467 right_z=0.0027 right_yaw=0.5101 right_pitch=-0.0545 right_roll=-0.0368 right_gripper=0.4017\nstate[joint_eff]: [-0.1846, -5.2034, 6.8718, 1.5604, 0.0464, -0.0073, 0.6081, -0.5128, -8.0205, 5.1487, 0.8425, 0.0757, -0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8914f1838be654d58ca168da2799d0be56ef18bda8399034e228cb212de509f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0212c0cb375c570b1d1c1731ff379db20f512a2ed0c9111da30f4b3803255c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea54d1169a3673412ad76a94abe3a5c1c62b7c648a5729993579df6bccc7baa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhQE4PTXVyuQ1c1XpEN55YiRb07PL36GE4agD1SCHYHHyPvdfO6KwCHpYMBmkzRWMJDwNdBOmP-9mFjZepR7WJHScsgCKux816fydo6PX_-nCQ9aTvXcHg8j-5RUvVJFHfSNaG6ZgL50xUIjdEe88x-DyCV25XVgPtIA8OSEz0X8qCDHXne5wPOS2-quS6PzgV7lgNbYZH3OsPfEg73QsSqx-hG4BeuGpsxh4vkdl9jlkC2ao1EAHsKuUdpBvJfEcrprmUlZVKRn2VLQrn_kQZei67jsAEA1BJ4x3FDNwre2jZ8aIUaXR4YTjgRfjqkBmFsvdzJhE8lRlW7qkjewZCaxYrfMBQ6-xLpYkfoBckGGdJ57xrU2KQt_XT7Arqveqi7yGwXcM25dXcb_or9HGVMbfuh6gIDLmI5KzkzR4TwUZzsBUOrzUs_R9TPW4vGu-eV6U12EVl3gTrZs2gSs-1BQ1xQ8ah3oD8fN_LrRjRhvXEYe2ksw__06xg4zkcZfMZsscG13Gzpwqi4xX6659eC-x5ehq6XLVNhZgASy8VvLN-0CMqHVZuxxO7FGkw5U0UBUm_HmjeLBh6IOFmXlE0DJp2mCl1ME-340LfGbwUrGWCEDKoEkYNxhd9OPXdpXG2MU8M8p1KLSnAMSiaxilf1kyPlQw3JRtQzYOMqRazuE8Rhj44Hf-NlUObyuKfkAveGlyUe2EMub3Pj1t3bx13BAlCE5Zl4i0Cw90E7cYJEFj5u6ewLAhSOy0Eb1KO_w8Lyjik-Y1hBm1kPDNvpw05R85GZnFxuW2Uzc2IhF7MdTwlv0DoMD6D4jKBm39VCBV3aKc6kZrKiUM3Iu5ypFR6wYwsFZ_M_Sz-pF_UOdyqUObPkOCJ7hVxB6BuYT_4GP85i584Ad8wnom79Ssg1oyzQN6Y51TtLPwtXiQkO5HNkQTUPtl3VCIdzUvTZ3aRr8z9wdBo6XuWU37qQUN0vOkORY4UdDB9emOGSaDxBQNwF3sdFeesDjhW79aq836rP9nch2fVxmJDjlie0-njTD4d6N-PMP6YCU1DyuK4RTtzGA2NeKejoDJd_EHGC7NXWfmZVOvQDUHmXExcAg4FHeY5Cd5xNfc0hP4zbXC6-T1NJ4IKDndhab6nYLy5mEOaElQ1e_ovE26GKO9t2gQPakiy_AtEVl4yZh4ea5oD6GGVGj1agJJYypq4_pv6ZuGZCxZy5b8WI9SvpLFor417aK8u_CE6N2Go47hrmOQGNwSd10cc=",
  "id": "rs_06bd11ff0f39cdd6016ab4584fa8c487d0ab47b794a3ab4101",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s barrel now runs directly between the right fingertips, with the tip well clear ahead. I’m closing at this lower, reachable position.\"}",
  "call_id": "call_hRqQJVrtMNLr1WvK97awTu8p",
  "id": "fc_06bd11ff0f39cdd6016ab45850245887d08cd6fa6eb0ce8002",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hRqQJVrtMNLr1WvK97awTu8p",
  "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]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1867, 0.0422, 0.0829, 0.6044, 1.9602, 0.6971, 0.6674, 0.0925, 0.0181, 0.0436]\nstate[eef_state]: left_x=0.3531 left_y=-0.1483 left_z=0.1499 left_yaw=-0.5045 left_pitch=-0.108 left_roll=-0.0881 left_gripper=0.0829 right_x=0.3819 right_y=0.2483 right_z=0.0031 right_yaw=0.5106 right_pitch=-0.0356 right_roll=-0.0373 right_gripper=0.0436\nstate[joint_eff]: [-0.3761, -5.012, 6.8308, 1.5897, 0.0122, -0.0562, 0.3687, 0.0889, -9.9761, 4.2462, 1.3846, 0.0171, -0.0024, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c38786ef4c74d1a1bf4453575be40bef170d7baed89b18a33de7c6a30b29fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8d6aa56f046ff6b5f8c5d1a34f8ff06edfc62cc2e081df7ffb25f587ed92a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25d4e1ce3dd2fde4b7b122642a6fa32892ce8ca0169282979c9163957ac3fb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 15.66 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.2926, 0.8173, -0.2062, 0.189, 0.0422, 0.0751, 0.5686, 2.0415, 0.9909, 0.347, 0.017, -0.0124, 0.2542]\nstate[eef_state]: left_x=0.3532 left_y=-0.1488 left_z=0.1538 left_yaw=-0.5062 left_pitch=-0.0976 left_roll=-0.0877 left_gripper=0.0751 right_x=0.4225 right_y=0.2707 right_z=0.0051 right_yaw=0.5548 right_pitch=-0.1461 right_roll=-0.0218 right_gripper=0.2542\nstate[joint_eff]: [-0.335, -4.9846, 7.0085, 1.6288, -0.0024, -0.0415, 0.6569, -0.7726, -8.9641, 5.7368, 1.4872, -0.0269, 0.0366, 0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1871, 0.0422, 0.0793, 0.606, 1.9438, 0.6945, 0.6346, 0.0929, 0.0212, 0.4017]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1499 left_yaw=-0.5048 left_pitch=-0.1079 left_roll=-0.0884 left_gripper=0.0793 right_x=0.3785 right_y=0.2467 right_z=0.0027 right_yaw=0.5101 right_pitch=-0.0545 right_roll=-0.0368 right_gripper=0.4017\nstate[joint_eff]: [-0.1846, -5.2034, 6.8718, 1.5604, 0.0464, -0.0073, 0.6081, -0.5128, -8.0205, 5.1487, 0.8425, 0.0757, -0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1867, 0.0422, 0.0829, 0.6044, 1.9602, 0.6971, 0.6674, 0.0925, 0.0181, 0.0436]\nstate[eef_state]: left_x=0.3531 left_y=-0.1483 left_z=0.1499 left_yaw=-0.5045 left_pitch=-0.108 left_roll=-0.0881 left_gripper=0.0829 right_x=0.3819 right_y=0.2483 right_z=0.0031 right_yaw=0.5106 right_pitch=-0.0356 right_roll=-0.0373 right_gripper=0.0436\nstate[joint_eff]: [-0.3761, -5.012, 6.8308, 1.5897, 0.0122, -0.0562, 0.3687, 0.0889, -9.9761, 4.2462, 1.3846, 0.0171, -0.0024, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c38786ef4c74d1a1bf4453575be40bef170d7baed89b18a33de7c6a30b29fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8d6aa56f046ff6b5f8c5d1a34f8ff06edfc62cc2e081df7ffb25f587ed92a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25d4e1ce3dd2fde4b7b122642a6fa32892ce8ca0169282979c9163957ac3fb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.245,\"right_z\":0.095},\"note\":\"The right jaws stopped at a nonzero width around the barrel. I’m lifting the pen a short distance to confirm it is secure.\"}",
  "call_id": "call_mT0VlK9ehwnc46rJADC27alO",
  "id": "fc_06bd11ff0f39cdd6016ab45852b66887d0b031a7a000a454a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mT0VlK9ehwnc46rJADC27alO",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.8146, -0.2066, 0.1871, 0.0422, 0.0858, 0.6044, 1.6726, 0.7586, 0.3199, 0.0929, 0.0174, 0.0461]\nstate[eef_state]: left_x=0.353 left_y=-0.1484 left_z=0.1498 left_yaw=-0.5048 left_pitch=-0.1083 left_roll=-0.0884 left_gripper=0.0858 right_x=0.3758 right_y=0.244 right_z=0.0797 right_yaw=0.5107 right_pitch=-0.0341 right_roll=-0.038 right_gripper=0.0461\nstate[joint_eff]: [-0.335, -4.8479, 7.0632, 1.6484, 0.0464, -0.0122, 0.2808, 0.0068, -8.841, 8.2393, 1.7705, 0.0317, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599e4eeb3b3a153a68bc38a1f26bd69413ae2fab8829180d9ae187f22be71ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105cf5778f924f4c7adb3a8d5950c9e3b378381f0b239b36993dd0aef49f44f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b65a9e7a2c399dec58e84104405aa464494c6e9c7b6e1c457ca97c6f178896b",
      "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 · 8.694 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 81 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.298, 0.815, -0.2058, 0.1871, 0.0422, 0.076, 0.6113, 1.4425, 0.7918, 0.0929, 0.086, 0.0219, 0.5981]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1509 left_yaw=-0.5047 left_pitch=-0.1049 left_roll=-0.0878 left_gripper=0.076 right_x=0.3558 right_y=0.2353 right_z=0.143 right_yaw=0.521 right_pitch=0.0017 right_roll=-0.0271 right_gripper=0.5981\nstate[joint_eff]: [-0.0342, -5.2991, 7.1726, 1.707, 0.022, -0.0806, 0.4615, 0.4991, -7.0085, 6.4068, 1.7265, 0.1636, 0.1392, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1867, 0.0422, 0.0829, 0.6044, 1.9602, 0.6971, 0.6674, 0.0925, 0.0181, 0.0436]\nstate[eef_state]: left_x=0.3531 left_y=-0.1483 left_z=0.1499 left_yaw=-0.5045 left_pitch=-0.108 left_roll=-0.0881 left_gripper=0.0829 right_x=0.3819 right_y=0.2483 right_z=0.0031 right_yaw=0.5106 right_pitch=-0.0356 right_roll=-0.0373 right_gripper=0.0436\nstate[joint_eff]: [-0.3761, -5.012, 6.8308, 1.5897, 0.0122, -0.0562, 0.3687, 0.0889, -9.9761, 4.2462, 1.3846, 0.0171, -0.0024, 1.0574]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.8146, -0.2066, 0.1871, 0.0422, 0.0858, 0.6044, 1.6726, 0.7586, 0.3199, 0.0929, 0.0174, 0.0461]\nstate[eef_state]: left_x=0.353 left_y=-0.1484 left_z=0.1498 left_yaw=-0.5048 left_pitch=-0.1083 left_roll=-0.0884 left_gripper=0.0858 right_x=0.3758 right_y=0.244 right_z=0.0797 right_yaw=0.5107 right_pitch=-0.0341 right_roll=-0.038 right_gripper=0.0461\nstate[joint_eff]: [-0.335, -4.8479, 7.0632, 1.6484, 0.0464, -0.0122, 0.2808, 0.0068, -8.841, 8.2393, 1.7705, 0.0317, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599e4eeb3b3a153a68bc38a1f26bd69413ae2fab8829180d9ae187f22be71ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105cf5778f924f4c7adb3a8d5950c9e3b378381f0b239b36993dd0aef49f44f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b65a9e7a2c399dec58e84104405aa464494c6e9c7b6e1c457ca97c6f178896b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_06bd11ff0f39cdd6016ab45855877487d093a5e459f075b3f3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhjSu-SVtAtaPkF2wV7pS2gd0o93y-Am2ezXF-9tfJyzWjsognhm1h2ERCbT-PztOXdBl0V4EaAzJR8megJbjjqd7rUkiZwxW8E9UIGHrcE4NAs4zht3vaWWn_pdRh6dzfL9ypqJuBP11uJG_bhZEYlysg9WZbLs6S5UNXMi2OoIY9KIQthREAuf6n179AEXQ7opwD60VtGQJLv9HcwA8RG7ZT0ZtZ-DhslSKVq_eq7lCoYPzFQWIPSRYXCUbaZcQauugUESLbuU-gf9HuPCHa9ua9xWfwzImHw1VIkBwUPG_oaI85uojFIbZdkX0QSzrI1Vilc1IzinKbBoS6hMfcku2HIj_fkH7eAn0xD12kfpHrIkGqk56f6XjRrkJ8jkt1QHzhu_p7-xprmItZkUcUpnxifENcI9ozSHLeOCN7KBDaVWh8KioDDlSQL2KkcZbdQkvHu533t3qJfdpnFXuCKmK6zywdVTE0ZL66CtmaOy-eDCoWtR7Kc_Fgkgrr2pKEPiTqNihQADl-wbBnjBZibLPezTPvgrdq12a1zHNHYn7sgQKjQo76TWq_zEIjZjVOutBpzl3z_PE3OFjvkCZHDnoirqHgG0uUWATFaXH69E_pp7_Gyez9pcEfz-267GdUTttrSz1TPYEdFzPMS1LZXkCqOOOx71VZqjiyQQT4x4IRY6BnlsneMrHli3w7zlHjdMiRL66L68vvPOqxuSgE_AxWZnBDCbOumbVrt_XIuz8gNv1NrO9bF99NI5Vp9eNauz_vS1ZwRd818joNfSEEhAfw8QJytmbXqqsatrr_o0JOR4d0yYRTN3-QMI9eyjKIQzojU4HANE1tZU6FRIv9Al4xLgoXK05UOOwSbAHMCUmn_Pl_NKDRQ-12d5fIKqQiCKzqtbTE8Dtbj_E0305Slo-HP7TvLuBq7rhGwQ1sYStM2BRntKzYUKWs7m21ocapU2cFO4V9KRezjlZNGak8-gyFlZp3v5BvQSHJhSbIAcDNeHf6WmCdLm1Ap55elcBmOh8664IzNI2syibnSO09XQuBWy11UVNNBsXANBSq3-ryI-dKnuGCL6ymYXrRdOodvEeMeVwygkufxIxWHqyD2OgnOzJIlL8iQSMC4eQfrcvzmMcGXsUBgZ4KWRkHy3pBLqzaQjjtNaOlYRo_7bST4k_6NdbNm61Q9oT9yrRfPsPfbkvSfRmM8TJSpTdu2P1sKGDo7qEL7TfWo1nbNmSpfIYtXaTvB0LfweXNnG4hFFpgbT4BtRN8B95UFsbF5ttVMxt40Kq-WWJBceR7L5NXRKafovxRGiOw8w_CQ2gnAOkDRyROWYq9aVl5UX6XC91TUJW69PaOtBwhdUxIobo01xD5eEUzrsZAMLn2q49RMT2vsNBDnrhdilpYbHf9eev37gsu6TiyH96UugAYRU5ePLc4UUEUv4rx7z-G2r2LMAHTalBy-LtqJ6Z6o92OsQiS4-Red4_z9V18mG-vuxVOZ8PAMxIXvD0dfjlRcLnVOwmRZNJ5pjF05zHNMhCTF17DXfOhBh10EwflFlCZsAoBQj1QB3dLFEOqx5_JbF_eLgATPfEBY9aduEpH_El7-_c29vSTGbqY8bccyuLAEtOD8B7Y20LkJ_qyFiBNuZC6HnNyd-MJLDLKzQ5fC5pyMGuVQz__L9GuOukRJSx2WkyKxERp59_FkUJfGZWQXA2Ywac3qq1wUEDWEIpx8uITr79VlsqY4W68abCFVQOnD0hoBwNQiseHSJAuEMP1N5PkyFHN1TdT-gevCRwpZD7byplLFzXRebCoCWzZybaiUoyBGUAhO9guI8uE7l-gwrZrqd-FLlYcbXudUN4ZNsDgYg9-gk5CKtaZQbnPvPeMjt-MQn_fc8FnerSe6fmP1wBu1PW3VxLiPtbf5SEGVLQVaaAlb4C2Yto92d_90F5Jaqv40X7-67BQUQXrvxPNqLsfd8-9MwxfLgSUpKQDSex72whKi12T_cbkZ-bT8v9R_2jivYRJqE_0LcPg6WyYa4p2FqJGb3LaaehWWhKr-xwwnX9hg5i4fO-zdkvWVM-RusdGZrlgFOkzauyD00bADsRSk20rBDWjdpvQVTha4ye64q3xfcMdkpHF9koCKwgZnNH0KtDqz5TheyLorw-RjvJwTJB1XzMgWoPuk8mTWNRS4HY0f32QqbNEM_OUQLzdZem2pWfp9qbfSPimw22ezM2AA-APVN6tPDEyIccf0DzJEzC07eoHGYAupMOKDHENmW3WiPT3UKK1Py6aS01tXznli5Na0i4aLH4xP1nZT-vTEOhWh",
  "id": "rs_06bd11ff0f39cdd6016ab4585e866887d08a79e5c1d546567d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.265,\"left_z\":0.2,\"left_yaw\":0.65,\"left_pitch\":0,\"right_x\":0.35,\"right_y\":0.23,\"right_z\":0.18},\"note\":\"Both pieces are now lifted. I’m turning the cap to face along the pen’s axis and bringing them to a common working height, leaving room between the grippers before alignment.\"}",
  "call_id": "call_XehmNA6wsp6CpVcJfdbkpHqY",
  "id": "fc_06bd11ff0f39cdd6016ab45862a04887d099391732d4882aa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XehmNA6wsp6CpVcJfdbkpHqY",
  "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]: [-0.8017, 2.2578, 2.0953, -1.0073, -0.9066, -1.2133, 0.0887, 0.5808, 1.4239, 0.8562, -0.1677, 0.1555, 0.0525, 0.0516]\nstate[eef_state]: left_x=0.4563 left_y=-0.2663 left_z=0.1711 left_yaw=0.5438 left_pitch=-0.0355 left_roll=-0.1137 left_gripper=0.0887 right_x=0.3489 right_y=0.2005 right_z=0.1281 right_yaw=0.4132 right_pitch=-0.1682 right_roll=-0.0671 right_gripper=0.0516\nstate[joint_eff]: [-2.5778, -9.1282, 3.0017, 0.3297, -0.5885, 0.0366, 0.2857, 2.6598, -9.9897, 12.1504, 3.2161, -0.9255, -0.3199, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7730f055e7c09f0ec6cfa40720104e84fd6746752297aa53d5b3a3abe295b50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1976ee8a197a36024b24ed37955a41eff9dd0d4f5f8b7d27039f8ea9701763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4556e3e026a78532e39673f58eb24063d8b0d7876a47a64e1d160d000baa148",
      "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 · 11.63 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 81 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1871, 0.0422, 0.0793, 0.606, 1.9438, 0.6945, 0.6346, 0.0929, 0.0212, 0.4017]\nstate[eef_state]: left_x=0.3531 left_y=-0.1484 left_z=0.1499 left_yaw=-0.5048 left_pitch=-0.1079 left_roll=-0.0884 left_gripper=0.0793 right_x=0.3785 right_y=0.2467 right_z=0.0027 right_yaw=0.5101 right_pitch=-0.0545 right_roll=-0.0368 right_gripper=0.4017\nstate[joint_eff]: [-0.1846, -5.2034, 6.8718, 1.5604, 0.0464, -0.0073, 0.6081, -0.5128, -8.0205, 5.1487, 0.8425, 0.0757, -0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.8146, -0.2066, 0.1871, 0.0422, 0.0858, 0.6044, 1.6726, 0.7586, 0.3199, 0.0929, 0.0174, 0.0461]\nstate[eef_state]: left_x=0.353 left_y=-0.1484 left_z=0.1498 left_yaw=-0.5048 left_pitch=-0.1083 left_roll=-0.0884 left_gripper=0.0858 right_x=0.3758 right_y=0.244 right_z=0.0797 right_yaw=0.5107 right_pitch=-0.0341 right_roll=-0.038 right_gripper=0.0461\nstate[joint_eff]: [-0.335, -4.8479, 7.0632, 1.6484, 0.0464, -0.0122, 0.2808, 0.0068, -8.841, 8.2393, 1.7705, 0.0317, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8017, 2.2578, 2.0953, -1.0073, -0.9066, -1.2133, 0.0887, 0.5808, 1.4239, 0.8562, -0.1677, 0.1555, 0.0525, 0.0516]\nstate[eef_state]: left_x=0.4563 left_y=-0.2663 left_z=0.1711 left_yaw=0.5438 left_pitch=-0.0355 left_roll=-0.1137 left_gripper=0.0887 right_x=0.3489 right_y=0.2005 right_z=0.1281 right_yaw=0.4132 right_pitch=-0.1682 right_roll=-0.0671 right_gripper=0.0516\nstate[joint_eff]: [-2.5778, -9.1282, 3.0017, 0.3297, -0.5885, 0.0366, 0.2857, 2.6598, -9.9897, 12.1504, 3.2161, -0.9255, -0.3199, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7730f055e7c09f0ec6cfa40720104e84fd6746752297aa53d5b3a3abe295b50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1976ee8a197a36024b24ed37955a41eff9dd0d4f5f8b7d27039f8ea9701763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4556e3e026a78532e39673f58eb24063d8b0d7876a47a64e1d160d000baa148",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhtCuAoWxbk1AH6thfg0ZWE4RXliZwWPc5_M39kxSUSyBGwll91aRXr7F8RhYkVanW4Dz4fbb2S_g7gBo_kwg-EVOqXUF1DXaFJtCLf5jOdtJj_KEEj-35vzpWUXkmN40vP9ahcFZYVoQUQYeNkqPaYVRH_JEVw_k9JoeTToJmLc6crQZe8L7chV4BcxeR88W7dwSPC8Ofw9RJrAiNnwjs7bofe2ElvfEJ9PIuzPkY2m_wvww4QZoh-L3m-IFZvYzmIRz-92KyA4-ALC1Nz-dZuJ2fRvmRB_e3-bmmUQ-NzOtLrdA4mwd9wn6RxvgbPHeQAhWIU_ZucUGJ7UeImPr59eivaieWkLZ0JazHOPGrVifmoVYYFlDNi154IQmmQzUR4xyv7zSthxbd6P20Yo0Kpx_XmRYyakefifVAcxTPWxXrySIo-Lw0lW-NRLgDpzfeIlT33ON-atw9muYAMO8hCfYjL6CT6yLLqJLCBpR0DpM6EJQbk3Fod4Us55x4J3WfyDV4B-BRGv6A3aj9KcxA2ZJug5t9-XZniCadMLAD7ynEuzCnmuq7blmaf3DoVzRmNsNOevhYjevsxLykEsNDTCYDxhtKVXeg9mIeLWXYy6J9_zmTdY05__mgrNHGZihPubdym4or41eX7D5ahkblaBwQb1Ne7OUD9D--Pp2ZbslZOi5yMCx46pymbZwSW3hRZG6UrFWnmd66A3SNS9eUfnaH3FXUGCrClYd9-1IISQILOvgBfFAXPTy7QCPT0Yh0f8SRKdq6yEBI3b6_wrzItcPAzeDuPqxj3UKdx9uLS7VF3Pcctax5Pw5-2-Ye86Dn-gNbYBIw37lqMWrVX2OEjDuqNqgcNcQ8RmEnxcPWvRf9LSWaBwwwh7yhvC5pI6eY2jKmR-5xvg0y_Ip54sVZhWb6McA-GuPN7TBbPXsO_x_UnIDYV2S9QKpjI2RVhXTigMlujNcejAPT8gxB5yhAbGQ7STlVxkVI0ppIHaj9qIasebYYuW374zuAqZMOdGiltACUx2CWJZZEW0HmASgqC9o2wnuSQZi8s8KPD5fKqA8v2m2KvWBEOj2d1wn7kiDYSL0EGCNiCSQO3TNR50fL8VSiFw1uTpAG42eKx8HTmiHJtu59HGlbJaxeVv80nqcOAaDg0vYFi4gYsr--AApHV45nF-92f-QDBsMMTujakR8dNQRIoPjQSa4FnzzCccchf97hgH6ZynX-AZFZiS2_7G8GR9WrAKmg0STHvWGlF2jz7GAlRyP0Bwu_YnhbMT0-wUgSvSiRmJ3hsWj9MQP9uCAFvsbsnm9gTiThOWr2sqvPJk7wiRYDgvdvic_-aFyGEpd87IWrcUAtzcEq1wF9HQv8VYaZxNTycv16z4PHtwRWMpg4vcu1d6YH9eJufcUbapIRzeKJozLCdWqO2Pw6HWeloQhrzBZCvht_t7dcF4ZaEi_NbsBlw3MjrWF6O7OzwyxM_49yg5UPZxdsqQsifzTXO7IAK8AylHVA5ydoh30i4jNZAJRgJ5buGSLHXBUB6tt3meZmJtWT_c13p0RPgp99gREcXZ5w9OKOZX_wPHTr_CIfZ0aIOV-UNI1uhVDWG88NVvRi1dj6yoyROknmqtZ8uh1Q4M4wRIjAiS5aOM_LnJUrceim0_dsx9bUerIgseFrG2k0i-LUecpMaVfmCaeULQIa99mxzpkJw-Yg_iZlm4_8FOMQZdxetw_NUmxuGIThtE-pNqPRkBbT_Rp19togKwPeedKICvTWYAOwSLw5w6xdTzy9kUpk4dl8X9nmih6ZV3yo4_5yyLKIRx_WmgIj1lCzAvkXaxgmfZOYloquH4cT80C_Q3TSSP89jbZrAiEUM7EUq5LGpklZkDQvgM1-SI9ywo2UUcWn41FX-wEv7YX5AHJFlawJMw_iS52tYG3N-X2L7mRruvUUMs6uMjK34lV4YO9wKFs90jOvTiswJXNCyKPqppnhOR2jq4nhNU13e2bBSYnMVfZrizaCa8aCsnP5DBJ7YECCjrLQfvKEPRv1jwZh0kfUx639yhA-BUUhzDWl0rpllSKjlBw5E4Dvl9lNvIvPv3ZEb4_iYwffhl480HNNdfAyX6HD2q-vWmLAfgZAcB3DqgVjmIY1Q2h0SsCyVoXpb2ggtB_bBccu56Jta3RwjbWQ_eZUw0CysGWtHwUGoS7kM_GSofqWR5HTtgXpci3XTFxVRE1m6lJLOhHJ0WSWnrniyjcTsLWeGzFyPcBkPKEVy1UpmKJ_uuaz3x71_4BBXmO8zbxxe6kWs-oAjew67QXPqfRHQ8Gt-BS8R8xZ9H9NHG3lNPqpvOM3YIr0B96yz7YguCreQK_hrqOV-m3wgULlCOEOeh5Z5UEOgDtDYwnxjda-mOORFTx9aDbE4ccjylRULpVL_kDPyctGiFSBp8u1INPhSq8o4IjExr36dfCCISFzBgH2J7JdlmSf6_rWM7ngrDejRQa2L3qN2aHNMJjHth4MrM0S5RiO6Hekv7sCRybbP2IRwDSVJsqSS8he7XV2PadQyNU2SSNNQgsZrdTg4TEpdFgsZfrOf-McIhaUFf0N_h6-cZmgnOY0badAKEfTOcwsANNizFh7hfKyGAk6DVGBky2zlaltncusrlcujFVE-3Ot1-msN792pi-XfA2_jfM92_zusbNqG7uP7g_KezTM6X_iVXFzoebA1g6xFI052uDZSRb-qhBRZPIQoIkwM_jajLrrD66sYHVLc86szWxX0N-zWES_bo5IZ9kfQhp8qlU3Q8r589f-Xi076rWho9Khlsk_di5KuSBOCTz8eOGzTp5gZ7p09ihios5o6JxkcS1jMww==",
  "id": "rs_06bd11ff0f39cdd6016ab45866e79087d091bbf51ee643286a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.33,\"left_z\":0.21,\"left_yaw\":0.5,\"right_x\":0.34,\"right_y\":0.27,\"right_z\":0.215,\"right_yaw\":0.5},\"note\":\"The pieces are held with their long axes forward, but the cap is still well to the side and higher than the pen. I’m bringing the axes closer while compensating for the observed height sag.\"}",
  "call_id": "call_Ic8RsEyQaBJN4kudVP326MTC",
  "id": "fc_06bd11ff0f39cdd6016ab4586c618c87d091fef60725062ba9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ic8RsEyQaBJN4kudVP326MTC",
  "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]: [-0.7834, 2.603, 2.8845, -1.5406, -0.9043, -1.277, 0.0908, 0.6167, 1.4857, 1.1599, -0.5941, 0.2882, 0.2073, 0.0554]\nstate[eef_state]: left_x=0.4691 left_y=-0.2662 left_z=0.2026 left_yaw=0.5998 left_pitch=-0.059 left_roll=-0.0787 left_gripper=0.0908 right_x=0.3484 right_y=0.1898 right_z=0.1631 right_yaw=0.2387 right_pitch=-0.3136 right_roll=-0.1038 right_gripper=0.0554\nstate[joint_eff]: [-7.0496, -6.7077, 4.4376, 1.7998, -0.6569, 0.0952, 0.1978, 10.441, -5.7504, 14.9675, 3.0745, -0.5788, -0.9792, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc9f28f1543276e0f1875c88eae2a9fa600da18d14bf9b4909e4415203aa189",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b652313acf975c190cb4debde3fbb8a75425ca8c89fdefa3735d7f7cbd509ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c69a77425eab8ae7ac394edd9eabb09a8291283109c68c3782526f06c99ade",
      "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 · 4.092 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.815, -0.2066, 0.1867, 0.0422, 0.0829, 0.6044, 1.9602, 0.6971, 0.6674, 0.0925, 0.0181, 0.0436]\nstate[eef_state]: left_x=0.3531 left_y=-0.1483 left_z=0.1499 left_yaw=-0.5045 left_pitch=-0.108 left_roll=-0.0881 left_gripper=0.0829 right_x=0.3819 right_y=0.2483 right_z=0.0031 right_yaw=0.5106 right_pitch=-0.0356 right_roll=-0.0373 right_gripper=0.0436\nstate[joint_eff]: [-0.3761, -5.012, 6.8308, 1.5897, 0.0122, -0.0562, 0.3687, 0.0889, -9.9761, 4.2462, 1.3846, 0.0171, -0.0024, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8017, 2.2578, 2.0953, -1.0073, -0.9066, -1.2133, 0.0887, 0.5808, 1.4239, 0.8562, -0.1677, 0.1555, 0.0525, 0.0516]\nstate[eef_state]: left_x=0.4563 left_y=-0.2663 left_z=0.1711 left_yaw=0.5438 left_pitch=-0.0355 left_roll=-0.1137 left_gripper=0.0887 right_x=0.3489 right_y=0.2005 right_z=0.1281 right_yaw=0.4132 right_pitch=-0.1682 right_roll=-0.0671 right_gripper=0.0516\nstate[joint_eff]: [-2.5778, -9.1282, 3.0017, 0.3297, -0.5885, 0.0366, 0.2857, 2.6598, -9.9897, 12.1504, 3.2161, -0.9255, -0.3199, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7834, 2.603, 2.8845, -1.5406, -0.9043, -1.277, 0.0908, 0.6167, 1.4857, 1.1599, -0.5941, 0.2882, 0.2073, 0.0554]\nstate[eef_state]: left_x=0.4691 left_y=-0.2662 left_z=0.2026 left_yaw=0.5998 left_pitch=-0.059 left_roll=-0.0787 left_gripper=0.0908 right_x=0.3484 right_y=0.1898 right_z=0.1631 right_yaw=0.2387 right_pitch=-0.3136 right_roll=-0.1038 right_gripper=0.0554\nstate[joint_eff]: [-7.0496, -6.7077, 4.4376, 1.7998, -0.6569, 0.0952, 0.1978, 10.441, -5.7504, 14.9675, 3.0745, -0.5788, -0.9792, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc9f28f1543276e0f1875c88eae2a9fa600da18d14bf9b4909e4415203aa189",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b652313acf975c190cb4debde3fbb8a75425ca8c89fdefa3735d7f7cbd509ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c69a77425eab8ae7ac394edd9eabb09a8291283109c68c3782526f06c99ade",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFh5B3h0x-VCJRmeLVzUVIR_0fmjqm3fjKEzFU75MHLX7jiQypLwYVrO3z58aA47vTu11axZvjFi3-n34gyAGyH_pLRAurJTsiWrwwxsYT7014uSRDM3ya3dHW3ikja57EsTKws824ttJD9kCLzw_HZh0fGwHB-tQ8FpzOwyv-yBVc9BGe7P2VqOfqHkQFIvioQ9G0ZFVcwk-3FtQfco6h6_dsm1wk9sKe_Fy04yYDK8xdxuAdZ2C4JO5smSl92Te7j50kSFmFA-i-xBVhyWUpi8xVzf8tf0AkGM4wHK3_JmZBLn1OQGX9-jqt3mbZfoSh_Bp2it1_wRQ6d3khBAfCzKzrrxFI-LxWGvAA_PgAJ3OIOH57qbUj_ibUxfsbJXZWuDfa57edKnFxVd8hQdKfzRd_vXpLp2rTBot0E7WYW16uSKWLBo1aXAWzdP3CBsdTMBW6BgwiwsjfJPwd4lENLY19RFEJ-5q18uRU73RkP7gloi3w5Fl3UcFGMjMFHLBn_P4v8txC59rp5Om7emcVWKVJgRwxpI98dyupu1a-c2z8x_XD1EafYfTHCMpIQj6GKGUG9n3qgeY8XXJCRFIlldehQmTRx7Rth9THOOrkyPVtvfccdvWTgXVZCJ3NajT3cSKtFfQOPC-rQvh-rqh92_DsjK6gcAVbIZNIFKvazhGjJpQYNcMFMWzUM6yB6Ewn4swG8ARLMvJ0vIzxy4Damt5Skxs33hXKQhmKQvC31b_TPop_rzEZdkg4dTQtOgDqJAmAFeavnU9Z02LKX8787r6xlxARHgPLjtZHdSXAbubxHBnmquCIodpAGiclOSDvzqyUyKZOVcQlgFQPQevn_dSsuEFZsmtDudo1HH9hTJGX8x5RljlWpoTgkcjwHaAww39wLpVE6muIhMNemufCjHHrJOloPRuPxJxBaCaUBGm0zGPo9aCODfHxHUGYzJU3UdDWSD5-x3WxMzRGftL6mepS5QhPWvAirLLNYexHW5pS-S2MW9SQKCv8SKjp_NIxtbqjf-AtfBB90ylyHjdXxfTiX55JkMfIig2CnNFYO6jsntoe1MmjZHuPSsouFQai5ob3BeEedBz6YBMMYyYxwUNbPVZFwiqcvF2EC0-JfHaM-MkSoQnWv0P51lr9WIEhbQf0cc-MeqhRp3-buoWFNZyYGkP2bNPKNSvPHrjLS4J3NrNdV7MEKCQEHZLTR_N3JfV8yqjiQ2FNC2Dqjf5llqsn7ZkEKYYpu3o0UNgeH-tgCQ5STfZdzrjv0svUSm6diReXWmmEY2_SHuahXpEC_bdtbIr_n62zh_pK5dKtCBgcbimqQ_brZmrlI6WLtVnV4h2XB0v6YXEgzofk0_XLg1rLsErR6WINAD0REXx5H5aQWtHUbQpflO8jcKyChZr6Aqx6xrqEAbqqkAi5fPV-vkTbsw8Ea0EdWF6jKpp4sKH_SdflfjV52XedAy_QidPqjCZZU5vHQwsHDGaY5ehSi14XFZwRbm8CVTBCty5eitWt8fpSRkyqt7YaizGLqOfKfvoCnLHZzDqdKxY0xLV3680dMSP3loDZsbl5cNW6SEANSLJmFDgI8wIq2L-ZztzMseCCDDcyAxmvaEDFaxrYV2hvCOiXbvpemr7aV3Gcf3Qoy9utmqTm-11VBCir1NLztn11Xr-v55retuDHsmc7iwQ-9UeerP4cWBubG3Ir446085zMMe1UHqSoQSsBPhcruCYAZNNiolDS1zWi821vvJZC9ev4vLzE1Wwmjk5LRWMxC1u4ghS6sXmsxjDh2jdQ16SHDjS_pHrMeVuPxIauE5fvCWZ9B2SOn1e3Lsw74U6cMlxzHgtWyoNPR6VTejVJZ3iZrXEpJoexPUjJuDj-008BDB8xX-W-uFFISgKKV07VM-wi9F3Syf23TKq8QQ2zLYjw5oWRXtRagTNGJ1NLFsXcZxaHX8LVx8Xt2eatAgwwnUUd4CZRELJguF-rifZZfpo5uh3fl36PPlNFdkiPksDz9rXdTBPrNufzEpO7loD3fQaueDOiWW59sN2QL-F9zhGS2YSmFuHiDg1JgbnFk_izBApKs2-3KFTu0xh_VwWSUHfSPOqLFaMTsvhN2jH9z0MaHVOd9Gf-GsBGpQGhianrkWDg-IyD9TdxC8xau0ZYIQxvzGnjgpBBIMDRHBMKExp4wIFdcJ1zDofPK3nryA2CbciwDNqLRCP4tBJTvFHYX1SVrGqT1Z6g_XcUd71qPvURnlN3tMyFT0D60ir45bJp_i3bIsOJZCZ5AhKJJXQbZPE7oIePYiz_-l9yYo7Por7zXEOlbdeRjEgfozMwtBfwD1Z2z5ZbAugHPKlBnfmh1hk2-wKUrtO605FbgNsOKxU4iOCWQCZ8w-qn1Yw1IKbova42bd0kok-WSdS2LEXc7MIsqmzob8t-fNGI_2v7ki-R5FDHZj_kHd1y5ZLMVhIaXnE3Y_4aSKzs0fyALCP1RDhc0vsF41hhr_8lA5ov8zydxQtgLxGNi1TN0oLqI4hdITo3h_a2RAlZuM9VUeddowpjVEC3NHhxjZ18XE1hTw2fqb-SROs3iizjVwjz6AXheBl0VXqbRbeWR7dyqciW1vNUOMDFpfDO907DFobaRaoZWRRxBULy0b0r-h1qzHaJBJD-4Ca_coZ2h0_anYEaKFEz_bxe3ryPSZRQwmWVeD4ckanZ90zBXck40FKw-By61EWlOTJAsQgODXQTtwrOBapEyfcOhEvdlHLi20q8WlBWJCfpd_ueRbfmAT_FlzNq8FtR110J9yXBmqMo9MZmLKUcQtqHt5tnX7FCLduyDY0O9ZhuNBSaYBoRcaBYBwRfrHX-43nJXUqzcFdnLoOybbC7x61cQmCZ-C7AGqe3xrteyqdmE8KQPVXdykMtwPPbdMv5kz_8ZIZyyOBQJnzT7EAkuFcW-uwD581w8wUP-SaowJpQqxq_IFRh1fAY2pEvi_8VMrIs3mI47PM5HdXzg2Ne61wcqfk50Yhvezc7GGNTzqVW0ODl8wi8pYZoWxCRcQsVLZpCDJyIEs2HGA779-PRpTGV6s-NdoIC-WH1f9CGUfaeCobvHoxPopXEf_PkYoWg-SdH5OBH1sMwiERTR_8lY9vzMVt4Ld5eyWoX_-7MvtTqwzatdFiFotz_Uzx75gr2z4mE7kkcRxLsEP8CogCci7eF3FYP-3adGgoUcn6CnpMVG03D8AavANJe_4he8WjTmUAOcM1s__R5V-rpr_4aVPSEdqCiyjSXXXDWJbZVtadzX5QuFE21omYObGaYJJMkQ0QyyyyXFifbTZ2-p8_Rf2wPDeGghn5NZJnrmolgyAtGXM9YuvpmsCnvMF9EAsiXxLX5Y9kj_WmaMa2lLdtGfDCYOCPE3lnHYWGl27A0MPUZhnUDFK2rOhpqG5oENi3o2U60Y8D0ZY6oMdpU6y7eBLB2rnGNGRWoRyJYb-YzjD7OiXYN8PnqLH4B_f0xEokGZ5AK29mYoZOlr5a0TeeTkrzeZhyXqU4Z80LwAgZWxBhoddGYq0po_A4px7fwkcQO3lla-7bbTXhoPG_yvctWKON2JfXCZtqV3rEO7tWuauv6u0zK8FRtgih7A9O1BIpE800zCpFBNlSztQEwi4jGbkZPS_WmTu7V5zdQ1pfmZHOb8_MuTz6IrrbRAuELCPN02VvRyIplIC-FG7T-gf3H5IRg5t3oQr1tAxXlV7MMlHe-zYKSUybLQtJzJH9stUNXcM5ebPqKfkx8eqwpCjyFin-6rhWelj1oHTzW5q_JVLAA4-URSyW178UTDsyw==",
  "id": "rs_06bd11ff0f39cdd6016ab45870996487d0817f56472cf45d0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.15,\"left_z\":0.22,\"left_yaw\":0,\"right_x\":0.31,\"right_y\":0.15,\"right_z\":0.16,\"right_yaw\":0.5,\"right_pitch\":0},\"note\":\"Both arms have stopped following the sideways commands and the joint loads rose, indicating interference between the arms. I’m separating them immediately while retaining the two pieces.\"}",
  "call_id": "call_adpLQ0Kkg0IIs4CFVNYSsUTq",
  "id": "fc_06bd11ff0f39cdd6016ab458786d8c87d0b65d2bd5bf570b70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_adpLQ0Kkg0IIs4CFVNYSsUTq",
  "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]: [-0.8558, 2.6656, 2.949, -1.5696, -0.7864, -1.1988, 0.0929, 0.4377, 1.0966, 0.6189, -0.1898, 0.083, -0.0486, 0.0559]\nstate[eef_state]: left_x=0.4431 left_y=-0.3142 left_z=0.1722 left_yaw=0.4501 left_pitch=-0.1731 left_roll=-0.0167 left_gripper=0.0929 right_x=0.3108 right_y=0.1333 right_z=0.1354 right_yaw=0.387 right_pitch=-0.1095 right_roll=-0.091 right_gripper=0.0559\nstate[joint_eff]: [12.1915, -26.441, 11.3299, 0.9939, -1.0574, 0.3101, 0.2173, 0.6906, -5.6547, 7.3504, 2.0586, -0.2466, -0.2515, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c635ea3b53f541de0c6cc7945f9794a251de59522750b710c04d7af4b982bfd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69bae742c2599424e4ba7f0bcd6ed6bb16feb8536eebc8513f8315ae22bb231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb1cc778b0444016c2114c3cbaccf3c385430ef430ec20c461c3363af174ac3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.108 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 90 changed as sent

message 94 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3214, 1.3003, 0.8146, -0.2066, 0.1871, 0.0422, 0.0858, 0.6044, 1.6726, 0.7586, 0.3199, 0.0929, 0.0174, 0.0461]\nstate[eef_state]: left_x=0.353 left_y=-0.1484 left_z=0.1498 left_yaw=-0.5048 left_pitch=-0.1083 left_roll=-0.0884 left_gripper=0.0858 right_x=0.3758 right_y=0.244 right_z=0.0797 right_yaw=0.5107 right_pitch=-0.0341 right_roll=-0.038 right_gripper=0.0461\nstate[joint_eff]: [-0.335, -4.8479, 7.0632, 1.6484, 0.0464, -0.0122, 0.2808, 0.0068, -8.841, 8.2393, 1.7705, 0.0317, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7834, 2.603, 2.8845, -1.5406, -0.9043, -1.277, 0.0908, 0.6167, 1.4857, 1.1599, -0.5941, 0.2882, 0.2073, 0.0554]\nstate[eef_state]: left_x=0.4691 left_y=-0.2662 left_z=0.2026 left_yaw=0.5998 left_pitch=-0.059 left_roll=-0.0787 left_gripper=0.0908 right_x=0.3484 right_y=0.1898 right_z=0.1631 right_yaw=0.2387 right_pitch=-0.3136 right_roll=-0.1038 right_gripper=0.0554\nstate[joint_eff]: [-7.0496, -6.7077, 4.4376, 1.7998, -0.6569, 0.0952, 0.1978, 10.441, -5.7504, 14.9675, 3.0745, -0.5788, -0.9792, 1.0281]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8558, 2.6656, 2.949, -1.5696, -0.7864, -1.1988, 0.0929, 0.4377, 1.0966, 0.6189, -0.1898, 0.083, -0.0486, 0.0559]\nstate[eef_state]: left_x=0.4431 left_y=-0.3142 left_z=0.1722 left_yaw=0.4501 left_pitch=-0.1731 left_roll=-0.0167 left_gripper=0.0929 right_x=0.3108 right_y=0.1333 right_z=0.1354 right_yaw=0.387 right_pitch=-0.1095 right_roll=-0.091 right_gripper=0.0559\nstate[joint_eff]: [12.1915, -26.441, 11.3299, 0.9939, -1.0574, 0.3101, 0.2173, 0.6906, -5.6547, 7.3504, 2.0586, -0.2466, -0.2515, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c635ea3b53f541de0c6cc7945f9794a251de59522750b710c04d7af4b982bfd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69bae742c2599424e4ba7f0bcd6ed6bb16feb8536eebc8513f8315ae22bb231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb1cc778b0444016c2114c3cbaccf3c385430ef430ec20c461c3363af174ac3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFh-1Qb_LWE6NaZOWL-IvIQEDCk-10Z9cZbb09pD2PBPo14I6MsxIvyXQ6e90ewxw7KC8aYZveVMxK1rh5GsHdmCu2y-sX22CY9KoJ_0oUAr6FWvlvQXiFXXnSPwUxHlA9S7sCcO2nZ2Nd7POuc8MDnfMgsIsqcOfZGI26AMzyqoDJPpZSuYA0Dkvsvnz1ZvwbOV_NPD22gmfEB3Z9mEiKUWOt6JL7HgolHf9Cv4aNYqKEHSg6Xz-9cqTuXXcMboB_bSQbaKKj_jnXt5Z-Gz2_quX9pfUufRY3iva3jS1lXY7_lzwE6F3p-fWamy6qCkeHJQfOKLzQlxbXe2kqOQO2zERk03Z-s8N1Vl0KFAHbjuL0u-kwM3GGSHv1fypB_U8Nbua7_vKa6BZmt2x572VHcBXwxWThAWxlUQgjApznWWoHRLOIXUuqGS1qtolMY7VbeScOpJGgaqRRh8RxQLbrUw1dtgG3fllXdvN6GMvdTmGc8gcq-WXleCCgOmPw9ylpqv4Qtl-yBfDbQJixMdbmsM9eF6AwH-pXqul5qUVjHCFfArySoajGfXm0gikqplxd-61dzi23mo-usVHKFcLHxzw_ewKiE5zvBCe17uedlDpphRhtU8sZZ_Hulrk5dSF3AWB9wM9usfYFsixb77lEa96liV5OYKZYPYQ97mHMMUgHRWDf6dX6Y_mTKPflF7_WsURp3i7M0IugTq0GtXPuw0CAYwwZAhCQFavcTS74u7rKYccQWkw_HWY3UyaWai66i82v32rTRDd18kzSvjGI4I7DvWYX5z_6tw_bVFXthWqFBsxJbspFdBDeTuFFKfuzCJf1uVdY7ZytSM6n0P3OlZaiEoexpJRtYb4tF_gS8xoCE3GWyk5_8Xlp9AA9xB-CN6f0S06eD2LxbChiA_JnCsP5zhZuhTcHkBXRUF9qVABqtuD30zgbagZ5N_TlLHufjjuaw-5LwUg7DgLxpA7nSrH6j5RO-vefPyXnVMZ9Dzczg8S1Wy8igBjzuFvKNiYqhzp_HnZldmw22AwM6jttbvr9KdDDlIuWPvEUr4qs_lWfA3qmc1eDtv_Cn9FfqcglS71t_XX-Fa-U6jXOSCTT2fFcZY3eK1hhneo2o84WbR_LKldZ4i5Ge_NV2GfhRT6vC8yei5d_055bSkpTzfGcrCrxH3pUpgQuUOUXvL-whit-AO2fjHMpHGyjeXNfPl7ejkk0fshi3Vtp0QrJhn9fKy_fsh2yAfmp5jytfM0Vh32iBrvXkLpQgfptQebONzdyd0c8lizvCmDchttIPYri5sTXLzIpN0WHXDIXNlcb6mqoPgUEVVg0695_bGbRw3eaY9gPQH5rN1HBSXxXf4WR8Ukpu1lldM-DBYRw41u-hZJG1qUw9jZHodu8ubnieFBIIUte8mCMCNvmwSKVALnvJxEQ==",
  "id": "rs_06bd11ff0f39cdd6016ab4587c712c87d09da0a7942e3fb4ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.2,\"left_z\":0.25,\"left_yaw\":-0.4,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.18},\"note\":\"The right arm has moved clear, but the left arm is still in a highly folded, poorly tracking pose. I’m drawing the left arm back and upward before any further alignment.\"}",
  "call_id": "call_6yj2jEDWW0kMD2ZYJPUKr20O",
  "id": "fc_06bd11ff0f39cdd6016ab4587d657887d080cb2b997946110d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6yj2jEDWW0kMD2ZYJPUKr20O",
  "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]: [-0.7395, 2.2372, 3.1317, -1.5833, -0.3805, -0.3283, 0.0944, 0.3038, 0.9855, 0.6952, -0.4141, -0.0135, -0.1253, 0.0559]\nstate[eef_state]: left_x=0.3943 left_y=-0.266 left_z=0.3995 left_yaw=-0.2469 left_pitch=-0.0595 left_roll=-0.027 left_gripper=0.0944 right_x=0.298 right_y=0.0997 right_z=0.1598 right_yaw=0.3766 right_pitch=-0.149 right_roll=-0.0888 right_gripper=0.0559\nstate[joint_eff]: [0.3487, -9.3607, 4.4513, 1.7216, 0.0024, 0.315, 0.1441, -0.5949, -3.7812, 10.5915, 1.4774, -0.1538, -0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e5ae109c486d2566c45c992d66f610622e6023e6e5979006efcc272ab33510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7df8c0fad8dd92bdc7e61a4f966a315bd66007ee350836445d05e13ca5474df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77238e43d57b44267eca522780ddfc84d4527c496abfd9b8e94e86028459bf1a",
      "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 · 4.349 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8017, 2.2578, 2.0953, -1.0073, -0.9066, -1.2133, 0.0887, 0.5808, 1.4239, 0.8562, -0.1677, 0.1555, 0.0525, 0.0516]\nstate[eef_state]: left_x=0.4563 left_y=-0.2663 left_z=0.1711 left_yaw=0.5438 left_pitch=-0.0355 left_roll=-0.1137 left_gripper=0.0887 right_x=0.3489 right_y=0.2005 right_z=0.1281 right_yaw=0.4132 right_pitch=-0.1682 right_roll=-0.0671 right_gripper=0.0516\nstate[joint_eff]: [-2.5778, -9.1282, 3.0017, 0.3297, -0.5885, 0.0366, 0.2857, 2.6598, -9.9897, 12.1504, 3.2161, -0.9255, -0.3199, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8558, 2.6656, 2.949, -1.5696, -0.7864, -1.1988, 0.0929, 0.4377, 1.0966, 0.6189, -0.1898, 0.083, -0.0486, 0.0559]\nstate[eef_state]: left_x=0.4431 left_y=-0.3142 left_z=0.1722 left_yaw=0.4501 left_pitch=-0.1731 left_roll=-0.0167 left_gripper=0.0929 right_x=0.3108 right_y=0.1333 right_z=0.1354 right_yaw=0.387 right_pitch=-0.1095 right_roll=-0.091 right_gripper=0.0559\nstate[joint_eff]: [12.1915, -26.441, 11.3299, 0.9939, -1.0574, 0.3101, 0.2173, 0.6906, -5.6547, 7.3504, 2.0586, -0.2466, -0.2515, 1.0232]\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 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 2.2372, 3.1317, -1.5833, -0.3805, -0.3283, 0.0944, 0.3038, 0.9855, 0.6952, -0.4141, -0.0135, -0.1253, 0.0559]\nstate[eef_state]: left_x=0.3943 left_y=-0.266 left_z=0.3995 left_yaw=-0.2469 left_pitch=-0.0595 left_roll=-0.027 left_gripper=0.0944 right_x=0.298 right_y=0.0997 right_z=0.1598 right_yaw=0.3766 right_pitch=-0.149 right_roll=-0.0888 right_gripper=0.0559\nstate[joint_eff]: [0.3487, -9.3607, 4.4513, 1.7216, 0.0024, 0.315, 0.1441, -0.5949, -3.7812, 10.5915, 1.4774, -0.1538, -0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e5ae109c486d2566c45c992d66f610622e6023e6e5979006efcc272ab33510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7df8c0fad8dd92bdc7e61a4f966a315bd66007ee350836445d05e13ca5474df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77238e43d57b44267eca522780ddfc84d4527c496abfd9b8e94e86028459bf1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiFL2QD1cfFWP64TJlL3F4LPl-q3Qy1RsK064WmWFV-3k7gGB3gJHFoMoH8-pcKo-BfsKyNJ_hRN6EjYeFXDXUZhGRCuIjmNujziw_0Qho5pjUh01reFWROL53NJ7Z59PVJPlhH2k5PCNyu2qvXp-Xj3b75ydMeUZOWR1Zb4PZBkXDb6W_OAgTcfqG8OhKQhGa75bJHTOXeqWZOnc8N0pqjZaMPFzZqL_Wx0MiLOEITUeo0-_c1ZRH5Lvq7C6s2aO19KY0NgX1q1RrNQ7LXYjTz_BQVxCGrtAj98Ju-YVD337-fxaPaPXEcuQTP9qfVi_q5zHBhPZY2z4uDpAPV5Os4Xvk-p7wzD0c8wfi-8n99lPhaK9J4m4SdT-C8rXxYxKAwLTMgo9fFs10MZIgmKbPWpz3hp2Lj-3zSWF8R3SY6HKlOFeCJ1RZS79Aab25i8MG_WdiYa2ScZgoRFve2JrW-iX7pwgOW0IMLmQ_aZNRr4sY9GXs19P1SmqeoIo3GJbDIt1mdY7NTujCvRH2H27oGrQHq3hoxvVCFf_sUwM7hp1oZBu8vZjJyf3aBagq2f2-vA_PvDbX8cvAtiDnsmbBRq8-D7nWyOVFOeZc7CLbH5uh5MpJ9aP-Wl1hKKhz08Jw97PesMD4b9WXhjDOFNZjrWU3Yb8fFWfpgfz8XGjhciMo7BeCn_WhJCfFYoPhkDF624cJBD1oZwKdaXAUE2w5R2UXnwbVP2rB94cDv4WBEocCEGiXQ8S5DNUihpA3ZtVCvJ51U89c99cs3Ad5QQSmwdQMs0V9kvgo2oOlPS8HSGRwgDSm5rQfF7BnH2KJj42v4cwhVwbBCdMKMmnN6cySxHWaVN9EL_eQHX7degtvJO6CiW4CmxC94sMlWuL0X6Bs_h2b5AAEHJLny8QeGgZrjOX3PChYHWmalLUO9ru2U4PlGrpxCWZXxL51iqnnPxnZB4K5Lckt72l2VNyx7Q8KyFh6e_bSL3Yd33NmT3K4Vqm7JkKEEyiO0dYcjTuF7pDzb77NNKykipgPQ_rnCEg44rgTSZmAmiBx-qbgpob5HC7J9f20OuhaTjk0FAH2XE0DaprgMA-8OJp1fwOFo18UF0Ll2V-kDkibZp6pN76KjqY8ByCj4xAXbC4ao-G0RUqiKmxxdTrqiS3zm6VsNFQmhRDYY7valBnkvr4AbJln8OjnTrNmcRSTcGFJLtWSuJ4Pq77Za1Upn07zJt3u-Ov6UTRw8LXNsrPQimIzunVTugJJO_g73El2kXFjffKYdPR4kH3ZEj-u69-DvfvE_ttiNPjqqCmrYroAnU23JO-FNkaEdZX1sbdW1tqDRy0xUfgXo-ugQhz-CXnDqUv7bPgpXfXpJ_zuNS4t0ZgpvwM2wkPfvVHBZTBra-XOnCRDoREzZ6UkTkqrfGIhf1pxdRrybKy-yTBfXfVKfMeOff6oHV-xLlbY3aRwwrKfvj9uqAZyeKZQsO43s-STrQ4692TZU6uh5nVWpLaAl1Y5gPdBMq09Odq8evmubw0Td4kyDqNxmJOsjj29IE28aXYP4Sw9lcpWHAT7vPLZ7-O0UQ8ZVi6zrlZTScwlAqmkA93Uz-6-8dlGxEuaGVE2FNPYx5O3Wtxd1IcBgVkS7KNQQycLCezyG7Rh76fWGii7mGF1HRmIzCGUFeunAD872iUBhIdMAtaQq76Tcn4lT5dVWlYWYdxg0vXaGUu84sJ8tH-8J-hbB06SnoZCLkMGOlnp3ZqHMhJpT4v8LdRMJ1MKhIeLQe4NbOykbCM8VoNjeO5Z27DEX",
  "id": "rs_06bd11ff0f39cdd6016ab45881a84c87d0b5bc630172364839",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.08,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm rose much higher than requested, so its current folded configuration is not suitable for assembly. I’m returning it toward its normal home geometry, keeping the cap clamped.\"}",
  "call_id": "call_B0X3t5IrD9EHxs6DuZ7NFtvg",
  "id": "fc_06bd11ff0f39cdd6016ab45883d8f887d09927a62f0e16ebf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B0X3t5IrD9EHxs6DuZ7NFtvg",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5591, 1.8069, 2.5515, -1.2148, -0.4549, -0.3428, 0.0957, 0.3016, 0.989, 0.6971, -0.4343, -0.0204, -0.1318, 0.0559]\nstate[eef_state]: left_x=0.4037 left_y=-0.1568 left_z=0.4754 left_yaw=0.0075 left_pitch=0.1493 left_roll=-0.1146 left_gripper=0.0957 right_x=0.2952 right_y=0.0994 right_z=0.1559 right_yaw=0.384 right_pitch=-0.1706 right_roll=-0.0875 right_gripper=0.0559\nstate[joint_eff]: [-1.853, -10.8923, 6.7214, 2.6984, -0.0757, 0.0464, 0.1294, -0.0752, -2.2769, 6.7897, 1.8535, -0.0122, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd572d8b7ddd303573857892c3f17d36a2e29c7f79f8589d18198533edb987f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f6d40a6c4a0a4cb8153e4d2eda0940d5fcbc3f49767a03a8f1d6b2ef0fa03e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28471b90b1ca5ad371e0382f8f48338f52eb3fd412ec547fad678fdabafe64a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 9.859 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7834, 2.603, 2.8845, -1.5406, -0.9043, -1.277, 0.0908, 0.6167, 1.4857, 1.1599, -0.5941, 0.2882, 0.2073, 0.0554]\nstate[eef_state]: left_x=0.4691 left_y=-0.2662 left_z=0.2026 left_yaw=0.5998 left_pitch=-0.059 left_roll=-0.0787 left_gripper=0.0908 right_x=0.3484 right_y=0.1898 right_z=0.1631 right_yaw=0.2387 right_pitch=-0.3136 right_roll=-0.1038 right_gripper=0.0554\nstate[joint_eff]: [-7.0496, -6.7077, 4.4376, 1.7998, -0.6569, 0.0952, 0.1978, 10.441, -5.7504, 14.9675, 3.0745, -0.5788, -0.9792, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 2.2372, 3.1317, -1.5833, -0.3805, -0.3283, 0.0944, 0.3038, 0.9855, 0.6952, -0.4141, -0.0135, -0.1253, 0.0559]\nstate[eef_state]: left_x=0.3943 left_y=-0.266 left_z=0.3995 left_yaw=-0.2469 left_pitch=-0.0595 left_roll=-0.027 left_gripper=0.0944 right_x=0.298 right_y=0.0997 right_z=0.1598 right_yaw=0.3766 right_pitch=-0.149 right_roll=-0.0888 right_gripper=0.0559\nstate[joint_eff]: [0.3487, -9.3607, 4.4513, 1.7216, 0.0024, 0.315, 0.1441, -0.5949, -3.7812, 10.5915, 1.4774, -0.1538, -0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5591, 1.8069, 2.5515, -1.2148, -0.4549, -0.3428, 0.0957, 0.3016, 0.989, 0.6971, -0.4343, -0.0204, -0.1318, 0.0559]\nstate[eef_state]: left_x=0.4037 left_y=-0.1568 left_z=0.4754 left_yaw=0.0075 left_pitch=0.1493 left_roll=-0.1146 left_gripper=0.0957 right_x=0.2952 right_y=0.0994 right_z=0.1559 right_yaw=0.384 right_pitch=-0.1706 right_roll=-0.0875 right_gripper=0.0559\nstate[joint_eff]: [-1.853, -10.8923, 6.7214, 2.6984, -0.0757, 0.0464, 0.1294, -0.0752, -2.2769, 6.7897, 1.8535, -0.0122, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd572d8b7ddd303573857892c3f17d36a2e29c7f79f8589d18198533edb987f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f6d40a6c4a0a4cb8153e4d2eda0940d5fcbc3f49767a03a8f1d6b2ef0fa03e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28471b90b1ca5ad371e0382f8f48338f52eb3fd412ec547fad678fdabafe64a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiLZKkklwl4PE1tHH5Qz-OqPbOzzgiAZ6b-y7dizanmjVSvVl7Qn5x821u3pManFaMBCAtnJf2rbLxemulM6TUjHHik1TXh6CDC8sd46IdPvy320fsed5eJ17DK9TEHhRgoSOT7hSxRPK3H3AUoWk8EOs81HgBvvtO5RATbk7k8C_FeY9hOhWO9Z9OXDkl0v4onxAMKu8a9jFME03bRIPTE6fueXuuKn-1lj1AQgMl--Y4kRpewDtOnE-K4qYRCB1f9gZ3_Cyi5s0Pm4oV0-M8NnqnC5TAM9ljMAR73Hr64R-rCk4Wy-NiD6KzMcZpIEeYFooNSfQ3q_sgqNwXKVlR1HYsTzdf6yxpTESG7aOKjFeKRp_BJGwTfHHdb60Zm-2KB2k5KkVuXJZGWAMrIdNHxZOKiv6P5XKcHDNUV941JK0aI5Tjr7LzLoRkFlRbNqrNMBbxKYK_P_w6Ps9oLpHHjsjIcO52PkZaVx_qLioH3kJ6Mz5P28PTPP4RyojhIwFP4y-V75qbbPi0Y3Jotri8irSf6YNeUAyuM4JYEefaQZNGJ925FODIk8tvEU8hkNkvm6_qOMHX2WDwbwcSzgwXMYE8ztJTJsVLGr9xM8n6TerjhNMc5rtbz_aHLIvGmfHDaDAuletNALg5HLGVhwlvXoyubcZc7xY9whIcUcLUsVjSlnrzjN1OMwDY6B1qkqZWxSp9Jni7EblkLHV8Rs0q_DKDE0maq0CCE7fG8-RPWbk09wDlWcOQfYoUigijsWabusp3USYCxMLlGO75W56qcuMVoZgpW_dyRiJNPD1HqoSSuubPXKVmWpvBbBan9yg8z6ngyCjoETzQaQbOkus5HZL2HpmKxSPgK9ZLrpv7AiPO78NP-RCEfFk38z8EWOfrEPemV7g41M7y3-HHqsH01jyoj7O4KNn9GIoWSXAEb8_IgnSc08bd5EF881kUgMC-JJnEl53q_F2mLFhSh8-5P9KgkpNF009ECgXbukGgj4QPzxlDvCnR2xPRGhpkailOnD4-jqacbVYN9H5Njk1AQ1pI3GWRZ9ZbUyan4uyFr_3X73a-jJQvbc-qja--ud2z-Fat1AelTb8lYpygDS6tfs6G7in7slJc62kudRPCdsoSrm_tFVev2RTQJHuLaRFAv9e9nqulTHdWQSIzZ1Ig83BNmm018mh1qgeFwDs0wruEayEBXrmGmZlHS3SwTyeBspCVG_wlXiVbZXioXx8NSVrUkPG8HjgOm6D_70efl0Bl0TA4M--nK5WFMvkknzvchA46TV2yDEQvMMfR8oWNwxlUjdRIrct87yhJR2CyehItekZKUKvThC68EbjPPmGVKNVF75Yiagu4sft9AC6USCAdNq7-2PHdOCw4FZA43QFJY_LgE-ZUAh2FQKAcN-6uqebGSISDiVkmSMM5AZFlVY2eXLfO2EdMfaqYdoVy6HXIDaLei1uHt7k08y9aVMxe1AzL1qcvUlRtP2j8tjcq5SidmgWuJG9n99qOZQY0fRprNDxffEMXI4795M5re967shtYcSZBXi1N7KxgXR3z3tYumeiVIKffeCwfZIMblZfi9pRUdogWpgSwFxpx-ISx5lL_6w-nNM7RN_cbi3UyxxiKH-C44oACStaQw5ay3UGZaQSwnOH6KTLl5mmS7mDtQhkjx0MeG99IgO8XDCbArqzusChp1poNOrDA61xDUt_hf0sU3iOI1qCnXZSbZ5-KTcPZo30LQ00XKN7YBkIj1gA==",
  "id": "rs_06bd11ff0f39cdd6016ab458881ab087d0ba05b56af97ad694",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.35,\"left_yaw\":0},\"note\":\"The cap is still secure, but the left arm remains above its requested position. I’m choosing an intermediate pose closer to the measured position so the arm can unfold without approaching the pen arm.\"}",
  "call_id": "call_2OJINQSbNQmiQeGlCcsZkCwg",
  "id": "fc_06bd11ff0f39cdd6016ab45889e6bc87d09a7ea7fefc95d7b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2OJINQSbNQmiQeGlCcsZkCwg",
  "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]: [-0.466, 1.2171, 1.3277, -0.6701, -0.3759, -0.3119, 0.0972, 0.3012, 0.9943, 0.6968, -0.4389, -0.0212, -0.1322, 0.0559]\nstate[eef_state]: left_x=0.3562 left_y=-0.1025 left_z=0.3221 left_yaw=0.0139 left_pitch=0.0541 left_roll=-0.076 left_gripper=0.0972 right_x=0.2946 right_y=0.0992 right_z=0.1533 right_yaw=0.3846 right_pitch=-0.1809 right_roll=-0.0864 right_gripper=0.0559\nstate[joint_eff]: [0.1026, -4.3145, 7.8427, 2.2344, 0.0073, 0.1538, 0.1392, 0.0068, -2.441, 6.9538, 1.6972, -0.0806, -0.0757, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb976a8b6080105bb31b4d042b7f10d5e459c605cf8586cca944bcf325261fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3ae0bd7a54a07c7adccd7a9721a8428ed907a500098535d3b306360ddef2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:029138804ce7e3f17887db53bd3628e3950e2bd6deae6912d03bd11d4a47cc57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 5.251 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8558, 2.6656, 2.949, -1.5696, -0.7864, -1.1988, 0.0929, 0.4377, 1.0966, 0.6189, -0.1898, 0.083, -0.0486, 0.0559]\nstate[eef_state]: left_x=0.4431 left_y=-0.3142 left_z=0.1722 left_yaw=0.4501 left_pitch=-0.1731 left_roll=-0.0167 left_gripper=0.0929 right_x=0.3108 right_y=0.1333 right_z=0.1354 right_yaw=0.387 right_pitch=-0.1095 right_roll=-0.091 right_gripper=0.0559\nstate[joint_eff]: [12.1915, -26.441, 11.3299, 0.9939, -1.0574, 0.3101, 0.2173, 0.6906, -5.6547, 7.3504, 2.0586, -0.2466, -0.2515, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5591, 1.8069, 2.5515, -1.2148, -0.4549, -0.3428, 0.0957, 0.3016, 0.989, 0.6971, -0.4343, -0.0204, -0.1318, 0.0559]\nstate[eef_state]: left_x=0.4037 left_y=-0.1568 left_z=0.4754 left_yaw=0.0075 left_pitch=0.1493 left_roll=-0.1146 left_gripper=0.0957 right_x=0.2952 right_y=0.0994 right_z=0.1559 right_yaw=0.384 right_pitch=-0.1706 right_roll=-0.0875 right_gripper=0.0559\nstate[joint_eff]: [-1.853, -10.8923, 6.7214, 2.6984, -0.0757, 0.0464, 0.1294, -0.0752, -2.2769, 6.7897, 1.8535, -0.0122, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.466, 1.2171, 1.3277, -0.6701, -0.3759, -0.3119, 0.0972, 0.3012, 0.9943, 0.6968, -0.4389, -0.0212, -0.1322, 0.0559]\nstate[eef_state]: left_x=0.3562 left_y=-0.1025 left_z=0.3221 left_yaw=0.0139 left_pitch=0.0541 left_roll=-0.076 left_gripper=0.0972 right_x=0.2946 right_y=0.0992 right_z=0.1533 right_yaw=0.3846 right_pitch=-0.1809 right_roll=-0.0864 right_gripper=0.0559\nstate[joint_eff]: [0.1026, -4.3145, 7.8427, 2.2344, 0.0073, 0.1538, 0.1392, 0.0068, -2.441, 6.9538, 1.6972, -0.0806, -0.0757, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb976a8b6080105bb31b4d042b7f10d5e459c605cf8586cca944bcf325261fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3ae0bd7a54a07c7adccd7a9721a8428ed907a500098535d3b306360ddef2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:029138804ce7e3f17887db53bd3628e3950e2bd6deae6912d03bd11d4a47cc57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiVICU3aHw51PLySmNyqEatBWLFpuAkKFhcm1GQokndia54_8b7BtZivRCV7GXcmOKOx-5zO7QWPi_vnE2aao0S615Zcq-q6nOBmcqe3Fs-2H_q3PnH-Vqu2TKj9SoX8Mzb_0o3pjgP400lfxLC5-YCY04OQMXQMTgP-Ee1IHjnwwZP_xhzUPf70HjZBEragerQhjNJx5RqT74eyZGHhqgfwoKgvF2CBuVaVp48d9cmCTRtp06H2FyJrfgecSNqsWqjnvA4Ks4AmvXJsB97moCnyBhb7gNJNknJZI_3ApM_yoGZyei7YIARV1psLw9ViQR6DHlquFgPJGWk6pPy3OZBvjnWpHDW0N6oReYBCZouQx6XEXgT3vsKQb1p6UOyOMOVkWxpaKPlJzwiQSLNWYs81KqF5inKjkqutZIfk9w23AQiJoqQNpLUHIcsmFpisCsIHTKnwITmcoNVTiKET2QS41PEUSTzQwabeszPUrBWsOtObeJ-Iy_g9LYAJC1EF90ipAzZQBEJrdTiayzO3ZtFrvvmbWnRvqK6-kdUo1n7LAs5jPPWxEsP4JSBxbdIVfgnwrgwY0MAeEai1I5Mt9QP9DTwnZ5cLlrXXj9PgHmvKexRUhBhkhkivSO0DUAxi5fGtSxuT_JD2EbFQzI4DNA5kB4_0m9cBSrnnielgXzqa_Wcaq4Iw-mLudCFAdpK1_PEgdmcUTTxAfQnnRmaYAzoJNQOWUu67HfsjntvBdyjMMOOtdi56C_ArKuKVe0Q48xFfQrK9EA3JLZqVtB9_jzOhocsCBulQAfos6Ix2-AUdEeYYTIKLi_xduT1Nw2PVnoZOqcHySZBBg3JHuIXcCLNRqPNwMjtryiI7FdxV25lhKcF8_ZULFmbMuVgOlE468xVWE7WsPSj73My8S5PZOoK50uF7UWRdIcwkHw93JtnsskCwRfWOsI1GgIenVO46VsoYf6KfYoixQK6LT7m05kAkM-90kudtFqlxUj_PaBmh8a-rfeQfBRlmJLPPZDZAlob0MqXf-B6YHNOpl2nDPDpEEXpKUusVCfq2ZaFlAsSUD51fK0wu0reKz5xdNPBrj9wbDxzROID6U2KKqvffvZKivn1QCXbK9hR9Jnqd5Oniwjma_jroV8M2REc6SZ4DzcU8pxzp1YpV2G1PJGPfo1FXK4b3WxEAcaSUpYRUEX_dtXs7bwxvBGsjWXJleqzyHTfusy5WbJzV9Afkb2HbbOGAEaiS94d3_KSLaLTiz6NsdVbLRSwFVKg7gMu0UTwTjeM27tyxu1OBGdZj7K6QJ0v6NSpeRTnnJjs1l_u32vv4Q0WVXJuOlZ-Qyxd_g6GgGsxDxbzBy26H2aDF1mM9TTAd2ECWNGOY1WSqbht2vZZs7z1ox6nN6z2PiIl-cU_abFlePJ2eV8y78o1jUQFXl8_-Lv4ToaJGyveujiK4d5U7XrdPw61HcWV_X46svzRkE9wgp4yd4ZAp7x3FVrkmZtOeNWb4n1T23NDKWoT5p9rUjfyzROzPs3fXghPCyjp2y2zCGIC2j--gbY5hrDNPUhYz2Mk7KqVcvkdbxy54FH0wX27nDOa4dvZXrwlh8a1a1GM8RUpuG_RkAUtZ8ubj-q5gZkErzqGWdPC_zHGLACpYTnqpkkfzl1YkhfsV2epT3E-69UWi8tYxRgS_VJSyy484lPyQHK9xHlYIWtSD27aK7tx0VpWHogDlVElVWA2YUt8kZgRgqPWQT6h57d98NtHGEFPi_GMfKgElyWU-X2z6-nXZzsNySN418Q9Qpiy3MD_--isu3EXE61aeuCaOwNRrti1cXr7KaEm_01x7w4fw2r9jmyKHWbmjGzleR8_CgkkV20EUPDcvIShULkmUl38y2BpVHuDJtXTHy4DaWERHKwMnx7rcfN76zACtWYHux5jb5LecovSKT-2tjfQSkhaWMbmFsD_AbvD1_okTYj8XVFvSEIQtP-sisD5HphE2OqzkH3f7zK1wAaCv9buonMD1jtLxhJo3vGveBQ85oOLiUL24tC8Rydf-5RloQxckWN3NIlLmIdcMqPVwvJtKy6Cv7_3xlACY_DwPZ94kl1nVn61ACtACYR8eN5zkW9v2WbFA9zww29Lm9X9mu6sE8heEVu33FF85AwfAk6H_mFeao7MZ9pp85cf5cWqVjyQicxLCVqLPKsSueTJPO03A0rfJDhytk2SCstgWcLRM2Vbn03xXkt62YwPxB1QUgyH9_YvgzYQI7pRHyLR02r9tDUcsPz0AL1eYiUK1a-dKpIGDQeGDKq7F6RK5KmygrF72DMl20-8GzyZ1Ejp-Tx1WAfwSyVQYyhr_7jFTI-Pb6L9Z6T7ugqfHVu_ZyudkXNvXShZK46xfN7NzGU8Se2AEb-VbXHRsqBcorYkNnAwWkYOx1GBTXhXYJ7-RGgrU4ZBECgoABAyus2HzGVZ2rioto-nQmWHte5ev4H_TIM8VJEwtvwPwfb3paC4qKx6VefE_Iq8HuHokq8eyGQRv9gEs_zzBcnR5cc97zW7D07Xo-Uc5Ck1EELdyPxjvrt-4Z_aiiZNeyR9zei-mnPf2EWin9txzb5_Y53V8XXyPKbc1J8-ylwa9zLw-AW6Yz9FQYMHSVrVQI-dRaWus5eYmwFoIgukv3vHqotyAqzLO25BavrklR0OaYT6foBqKCxsXbIVvbB2lgBFCrKNOjUdRGHThK5VPac7u6keAR3I-WrAVtZpGv_4bjpwlB6QjcauavsAyx0X60tqlP5Bs7DMSzjLMRNDbwSDSLp_eUk5evxhReFYrbD6Wrv3G1S0-azUEG0aJd26SyHC8pMefkMWZpxBO8v2tu9FSGirLjD_eYTiJcQczV9UWa3hGw78za60yJLOXUF0qXDAAdecCqKS3G7y5UDVZlokusxzb1AkmtzjT8027-mf_ClRQa0yEcfAavExgShUT81MP9_3ov4amemdCaSk6LXbRvjDyyUe8mgD4coJtLisuLPIVfYqtHH9PsJI6Z4n51zixkf7RFPcGgmcdywzatUFGYDaWpRoBiQo-IKQQ4M2MWU2hk0IA7NE_DrRIqWlFAOhpSdzbAciGVJBqDZWyEm98-uf54RxL1puRrW1nxJ9hw2u11iOXMZvE-jXon6waJVH3x1V7MuwLoafYBBSRg2rU9DmVZOcYp6Wq1bZpqsCHqWUg2izJNVSZh6wcUp6reVWsLIKJf7BbvM7enmQNmXuI_br40sv00Bv7FjrP8_CXIjg3Jcr6EEHW0y-PniKexL_4Iz_qbtQCxpyyB-NxIQ29-XJQ1-nkhUJAvZxeuE=",
  "id": "rs_06bd11ff0f39cdd6016ab4588d2dac87d0a12f2ad07ddc5607",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.22,\"left_yaw\":0.85,\"right_x\":0.3,\"right_y\":0.27,\"right_z\":0.22,\"right_yaw\":0.85,\"right_pitch\":0},\"note\":\"The left arm is tracking again at shorter reach. I’m trying a closer-in, side-to-side alignment so neither arm needs the extended configuration that caused the problem.\"}",
  "call_id": "call_r8Mjb8mXTE9gOrJjNnoBbfvi",
  "id": "fc_06bd11ff0f39cdd6016ab4589421f487d0a678892217247177",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r8Mjb8mXTE9gOrJjNnoBbfvi",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9615, 1.7107, 1.7016, -0.9611, -0.857, -0.7708, 0.0988, 0.6678, 1.2652, 0.9352, -0.3313, -0.0608, -0.1574, 0.0565]\nstate[eef_state]: left_x=0.3455 left_y=-0.2556 left_z=0.2781 left_yaw=0.1171 left_pitch=0.0002 left_roll=0.0524 left_gripper=0.0988 right_x=0.2945 right_y=0.2505 right_z=0.19 right_yaw=0.7975 right_pitch=-0.1045 right_roll=-0.0883 right_gripper=0.0565\nstate[joint_eff]: [4.0547, -6.7077, 3.9179, -0.0366, -0.0708, 0.7448, 0.1538, 0.8274, -5.3675, 10.5094, 4.4322, -2.1172, -0.1783, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb5b31741d52fb5762c16a7039d211e8a8d18f4518738226dadf9dcabf4ef46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f74a02c6e41fb9ed2f1f45799d6a3cfcbf482ebc61fad2fddb244889bf70752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6758d2d9b5f84ef4ac19b1793ac02a819445dddb52b09191720716ea506400",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.104 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 2.2372, 3.1317, -1.5833, -0.3805, -0.3283, 0.0944, 0.3038, 0.9855, 0.6952, -0.4141, -0.0135, -0.1253, 0.0559]\nstate[eef_state]: left_x=0.3943 left_y=-0.266 left_z=0.3995 left_yaw=-0.2469 left_pitch=-0.0595 left_roll=-0.027 left_gripper=0.0944 right_x=0.298 right_y=0.0997 right_z=0.1598 right_yaw=0.3766 right_pitch=-0.149 right_roll=-0.0888 right_gripper=0.0559\nstate[joint_eff]: [0.3487, -9.3607, 4.4513, 1.7216, 0.0024, 0.315, 0.1441, -0.5949, -3.7812, 10.5915, 1.4774, -0.1538, -0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.466, 1.2171, 1.3277, -0.6701, -0.3759, -0.3119, 0.0972, 0.3012, 0.9943, 0.6968, -0.4389, -0.0212, -0.1322, 0.0559]\nstate[eef_state]: left_x=0.3562 left_y=-0.1025 left_z=0.3221 left_yaw=0.0139 left_pitch=0.0541 left_roll=-0.076 left_gripper=0.0972 right_x=0.2946 right_y=0.0992 right_z=0.1533 right_yaw=0.3846 right_pitch=-0.1809 right_roll=-0.0864 right_gripper=0.0559\nstate[joint_eff]: [0.1026, -4.3145, 7.8427, 2.2344, 0.0073, 0.1538, 0.1392, 0.0068, -2.441, 6.9538, 1.6972, -0.0806, -0.0757, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9615, 1.7107, 1.7016, -0.9611, -0.857, -0.7708, 0.0988, 0.6678, 1.2652, 0.9352, -0.3313, -0.0608, -0.1574, 0.0565]\nstate[eef_state]: left_x=0.3455 left_y=-0.2556 left_z=0.2781 left_yaw=0.1171 left_pitch=0.0002 left_roll=0.0524 left_gripper=0.0988 right_x=0.2945 right_y=0.2505 right_z=0.19 right_yaw=0.7975 right_pitch=-0.1045 right_roll=-0.0883 right_gripper=0.0565\nstate[joint_eff]: [4.0547, -6.7077, 3.9179, -0.0366, -0.0708, 0.7448, 0.1538, 0.8274, -5.3675, 10.5094, 4.4322, -2.1172, -0.1783, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb5b31741d52fb5762c16a7039d211e8a8d18f4518738226dadf9dcabf4ef46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f74a02c6e41fb9ed2f1f45799d6a3cfcbf482ebc61fad2fddb244889bf70752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6758d2d9b5f84ef4ac19b1793ac02a819445dddb52b09191720716ea506400",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiczZuW_Ach4EbyMxtD2ykqlpk2GlVK9sf97dqiE_f9iOkBY2hg3wfLc1sKKj_p0DRMpSQl5XUaryCgHiiyv1TD64nxqWOuDz9svij0xKpxkp27PvJJYANeW0geFOZk2ClvK2EoduCfet9eCAxiZDpWrhMuew8ZLGcLuNf82trbBiGkuid6HtAjh-WN3_yBId1uVHKUsS8IZBUO-YDDOmcBvh0KFhlue8w2kaQaCfyPH3_b9vskZpde-5ZmNjRPV7ij-zhTfsMwwgiz5IhtYguoz7JgtrcbPfUX15v09xC-Fyq6-mM-tUDGSSnEDNYWMEe_55oCJy7wR5x7rvDRGS-MwE-V53fyjaw29bNVbtWm4Gm20L9hnf4sfyc2KFuw4z6V2tikW4pTMTNwudcm7y2906HDZMd8-uTEiQU1E_LQ9cxE3ic55okMDuYMcWN_Kzwym3O79vFGM2q1Lf8ymMT8GphVP5jQZqudpgmqzo2GAgbqrWqrAIM7f6y6qGcH0qH-K_XF7SvFo-OYcohEevXatWI9nHHRRQp3GPicLNz--0B7h5jVOJ-USaii4U4aWQKhxe3aJTbjmJAsuBxCYONy5RHtq5lj_JeIFHAzmUn0O5CF6hkEkRyJa0vdqqT3Aw3v9zz0cH0X4EVfJUzUJCUpr5S8d3zsmtlcwRi0l9HvKemzgy4xEV70dRlklFkS7tQ7ooNg4yKnOfK44XUvZQLbp7XVKea0VUJ-B83xdnT5h65Eph8SSD7tluReJoRs30_1lqFEENSoUWjFegTNr66VnfCJt2pLV4PVzdq33_n9Trp5UGsXEp-O3zotuXmudbugZdivZw7Pze0nCpwQVjxsv-cMA2mAhclYNVNDxV7mMHEk1u-fAvKrshHFVev1f7lXcUtyZyid1Mg5FU8TYuEN1URWt0krGVMgN6Uh0swzuEjeGhpqlivQJr6l-Npx3iXrOG7MMt5GYp3Py6eARSGg-tazL_5NeEEJB-aJ2H-wkORsQvv-VWGw-M4KBpeVTqrReSzpmsvNHAMdwSgQN1XkEKhe9nEZrmOMX3eb4QQ-eMCCvV842YOjgq_QLRM5nZj5rMdjn-ZWQSzmJe_MKk0DvYeke0RoVOFj4srEi-nE-3_eZ4lX74wk2josRtp_ktxW7vB_VYDG9NdA5xMGwFYHRjn5pIwYywssF9QXRR6lZI7Xm9O5SJBPZVPZy-sm0mo6C_ErCA9NgmAJiKDlQMgtuNTUz46BpxuBR-bdTuOJGgOzX_bzcXlt2Cdjqsh66lYpAPr_hQ5akiTOVI2KIzOh6mYpFGbM7y6oBGNiEXfFWy3GZKoh3g3U2utzhSUdrxx5V0Gve8MQkaZA74_fHU9xdyhhkGbgCnrHkiEDeABawip9he4hR8hGr5jvxOsltzjTvIFezoJBO0exEPjzCdJkqVzcDhNiAGG2O60FJLz4OKbxPQMpo1NB62xpDWFrxlLPzoOlBJfqsjcizctn2osZHb61BTxrYl_ITNC4eD1n-P8ltY6JdC_yUgt2RR3YhARqYgDeACs_pdeVUaMwj8jJXXrOLv29UKX4HOXf9uTXq-joKk80gwcfFtVFw6t620GKmUhXlEsD9aUig8NOMo3o0fCH-A2xbgAJvgiqOQmLRuFcO8Jl9GcmxaAndpTQcSwTyLTph5ubVhXewgmp6cZ0SxmeBHcWX7gcLTWlfnjQ_UArsX-6YwZBCJWpF2bqbnMfjR7xUTAuRrr6lBYfjccIUzQDNCm6ZbMYFfRc0JBw0PxxX9jj1rWC5FbTRB6ezyHAOX6t9Afnez-MiNMyyDq3Q0gYgoG3I2WgxnDfgP95gZcfT_4u_snkmVmaXFOyuNlXQslZfNXcT1iD8RXj8OpuIHFAp7PF7RvfskxzdYlkQdRTHo14uZ-tlIhF2-6GMrhOdRF4_EHzTiTxgpP1od0C2dM1_9igQFMEAWqyBX3hQBgLltZfVeWTopR42byREhzDePFXjAPCvCMjrRnWZ2dIS4Glva6EU2HKi9nOBWzrK6imIJgvpSwOrqJPV65-_gy-IrKl08KCHfiWZidASzqcYD34b2gelhc4OAI9Iz-bIVAQuPFfG4Ycu1LlpGh3N3-Z7EvIQrOETtpciQjKkZPG0a6vfBa-PpTaNDwIo8lMxPVcX-FkcpBSlrVSqypxF-Re7DgPA9twgQ4jqHWUx6YL9VMbdjjJVeKRLtbHcnsjChAv8p8Nf_kF-fK0SVPHy1c83ZVQoZ56ar8pRhBVGd9SfQ==",
  "id": "rs_06bd11ff0f39cdd6016ab458987b4487d0bb24b41f36c0ce38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.08,\"right_z\":0.22,\"right_yaw\":0.5},\"note\":\"The gripper bodies are interfering again before the cap and pen can align, and the right wrist load has increased. I’m withdrawing the pen arm; I won’t force the pieces together.\"}",
  "call_id": "call_pcr3YWFz0ZZuOWoQDeFuYOfZ",
  "id": "fc_06bd11ff0f39cdd6016ab4589b850487d0820b9cbc859fd37f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pcr3YWFz0ZZuOWoQDeFuYOfZ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9585, 1.7321, 1.6993, -0.9768, -0.8555, -0.7975, 0.1001, 0.2863, 0.9821, 0.8753, -0.5468, -0.2115, -0.276, 0.0564]\nstate[eef_state]: left_x=0.3467 left_y=-0.2553 left_z=0.2672 left_yaw=0.134 left_pitch=-0.0184 left_roll=0.0642 left_gripper=0.1001 right_x=0.2919 right_y=0.1283 right_z=0.2176 right_yaw=0.6065 right_pitch=-0.0817 right_roll=-0.0947 right_gripper=0.0564\nstate[joint_eff]: [-0.5949, -10.1812, 6.5709, 1.3504, -0.4713, 0.2369, 0.1245, 2.7282, -1.0872, 8.1299, 1.4969, -0.3004, -0.1636, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82245562d8e6fc6a4d7fe471a2e5b0ca995e78cabea48fba43f8981a5d6d966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292193fe079195398903828690c4a5e8cc23b2caf89c7e983781162761437b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55376dc07260dc3c17520057f45c2402a0864abdce1eb66426509cd5f846664c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.002 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5591, 1.8069, 2.5515, -1.2148, -0.4549, -0.3428, 0.0957, 0.3016, 0.989, 0.6971, -0.4343, -0.0204, -0.1318, 0.0559]\nstate[eef_state]: left_x=0.4037 left_y=-0.1568 left_z=0.4754 left_yaw=0.0075 left_pitch=0.1493 left_roll=-0.1146 left_gripper=0.0957 right_x=0.2952 right_y=0.0994 right_z=0.1559 right_yaw=0.384 right_pitch=-0.1706 right_roll=-0.0875 right_gripper=0.0559\nstate[joint_eff]: [-1.853, -10.8923, 6.7214, 2.6984, -0.0757, 0.0464, 0.1294, -0.0752, -2.2769, 6.7897, 1.8535, -0.0122, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9615, 1.7107, 1.7016, -0.9611, -0.857, -0.7708, 0.0988, 0.6678, 1.2652, 0.9352, -0.3313, -0.0608, -0.1574, 0.0565]\nstate[eef_state]: left_x=0.3455 left_y=-0.2556 left_z=0.2781 left_yaw=0.1171 left_pitch=0.0002 left_roll=0.0524 left_gripper=0.0988 right_x=0.2945 right_y=0.2505 right_z=0.19 right_yaw=0.7975 right_pitch=-0.1045 right_roll=-0.0883 right_gripper=0.0565\nstate[joint_eff]: [4.0547, -6.7077, 3.9179, -0.0366, -0.0708, 0.7448, 0.1538, 0.8274, -5.3675, 10.5094, 4.4322, -2.1172, -0.1783, 0.5299]\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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9585, 1.7321, 1.6993, -0.9768, -0.8555, -0.7975, 0.1001, 0.2863, 0.9821, 0.8753, -0.5468, -0.2115, -0.276, 0.0564]\nstate[eef_state]: left_x=0.3467 left_y=-0.2553 left_z=0.2672 left_yaw=0.134 left_pitch=-0.0184 left_roll=0.0642 left_gripper=0.1001 right_x=0.2919 right_y=0.1283 right_z=0.2176 right_yaw=0.6065 right_pitch=-0.0817 right_roll=-0.0947 right_gripper=0.0564\nstate[joint_eff]: [-0.5949, -10.1812, 6.5709, 1.3504, -0.4713, 0.2369, 0.1245, 2.7282, -1.0872, 8.1299, 1.4969, -0.3004, -0.1636, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82245562d8e6fc6a4d7fe471a2e5b0ca995e78cabea48fba43f8981a5d6d966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292193fe079195398903828690c4a5e8cc23b2caf89c7e983781162761437b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55376dc07260dc3c17520057f45c2402a0864abdce1eb66426509cd5f846664c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFih_PmjyFyMr-g-u2WBWKKxCLN5QLW9nz_D9SpLKfjjWPWOdZCMpoRAK4SUcO9-me5PP92BOAhBBZxt6VnKHK6iI3skir1rr93SnbG_cS5A8_pY33X-YIM3znJS8PWauI-Bw1fqDWMbyS46R-6KYaN9r9Lq9n46nM58ETMXWCbsLnvhJ3a7ShA0oLTrj0z-IVXXeYlqICtCHjSar0E-cA7M1HBTs-_a58G4mlmt47F6RbxVZSHUubmSMhsUI04P-MExRtTWT_lBWU8Ed_EWldIa1Xow1UUvIGf6r11aTy97gl1_UNy7coBTVYu1PCPwfHpcTSC2DTL1JhGBL65fQkHGxREao5zdBx1_HHeEm8wyY6hNLysvjWEvMcsXiNmYBu6Zc3sUJ1lpTgOxlOS9-rG9BPE7fjUHcb0C9ajxuRQyljY4TJiI4wV85Amt-9hTi2heQnUDmbc8bKh8IPOTXheqi8-5hbXNzvgp8hK9aQABUdgC7rVJQOzwGUTHN_IOTYWeGPtW6RsZ59Oy8sZh-aUN2c-AtPZ8C5jKJOda1roKv0nnRjGvRu2DVvRuCFs6B6qcal_KC4X1WTuJ2erBHQaN-2GKDtbKy23EypXYf_8jDuyOfl5dgMfPUFK-3s_AzT5P_OZYVC3A_U4isCepJRjAaxpa5Ce70fFMoprj6uAyn_0-Ba4qCVYWK2BcS5DjBOdbAdtXJ9MQAuWIEeNdv4v3f54XIFS2A-oFkTcXZ1O9MR5vFTW81hPFqQnZg9NnE4zaULsvBN2dd7AOkK03MCQ7fOzG9AC5RALkz_roWhO84LW4QrGQcM2eTHVVb8tNenPWpd6gCtobi97ozEfASfXa3p7uTF67E_ST5Q9PvYwa9TI9FmzEbbMwPlRQ0eNfB-cwi71nbesHHDhXd2iog5YuCVg6nwlRX-r8xHp2F2CWjDfBIySj-F_rV1gQawpKyNxpweni68Qkt7UEAzPMtxdTEZ1i4D5GS8l5Tv-J2reFfahzVj0aIgka5LCMdQYdS3HjmCSMIdq7ze8XPKRP7AQfGK4g2Zi3JwAvhIjv5FMi9hcoOKcPkL9hXvrraz1FJhG4cYNnSaVEs4WjjpC5nmE3crdRbVMgeUczxB2vXGDUJoONgrDoU-m2gar5PlUM6YIvjwxDUUZY-Knb87umjiCCaB_recgBMJKPjx_QS_bEMmCEKGwRc_eT61P1H0qU0CjZRGtFsZDsspiOsGXdoKiBLCWsD2Z9WqtNwnUKk39skpVAFBJdSMtAgnf04SdxY34uJkxOUQrnly4dloR6EMeDpBMXsUf8WaYR5o7nMu0rfw8qKs_drqbRWTp5M9iFGvF0BfR3s0M0nZbYG6fXTL0svjZNXq4zcxh_kCLfTGoWDDpmCEKI5_dPcPj1gi6NYpOSVU4CJ4brpGj8zaKJXzB3OA==",
  "id": "rs_06bd11ff0f39cdd6016ab4589f6e7887d09cf3c2e6b4fdc060",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.14,\"left_z\":0.06,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.06,\"right_yaw\":0.5},\"note\":\"The pieces remain held, but reliable capping is not possible with this approach. I’m returning them to separate clear areas of the table before stopping.\"}",
  "call_id": "call_Dm4N4hrjxcmyCVqbxs6sKvj5",
  "id": "fc_06bd11ff0f39cdd6016ab458a0733487d0968c6ac3065c36f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dm4N4hrjxcmyCVqbxs6sKvj5",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7898, 1.3865, 0.4614, 0.041, -0.6785, -0.5041, 0.1008, 0.0978, 1.1263, 0.3103, 0.0731, -0.271, -0.3244, 0.0583]\nstate[eef_state]: left_x=0.2915 left_y=-0.1315 left_z=0.0515 left_yaw=0.0312 left_pitch=-0.0793 left_roll=0.1178 left_gripper=0.1008 right_x=0.2887 right_y=0.0795 right_z=0.0506 right_yaw=0.4974 right_pitch=-0.1535 right_roll=-0.0651 right_gripper=0.0583\nstate[joint_eff]: [0.3624, -4.8889, 6.3521, 1.6874, -0.4274, 0.1343, 0.0513, -0.4171, -2.6188, 6.0923, 1.9512, -0.2418, -0.1197, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490e1eec74308c58211e831bb14958167a79420fe257c3a63f0abecfdc2c9173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032bd42e5f48c486b4c6d8202937ca6cb671e27327d664949c0363498e9701b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236f3059da05725d353683ec0bdd53917860491ec9af0bf7b6c0035d93a7fc99",
      "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 · 2.543 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.466, 1.2171, 1.3277, -0.6701, -0.3759, -0.3119, 0.0972, 0.3012, 0.9943, 0.6968, -0.4389, -0.0212, -0.1322, 0.0559]\nstate[eef_state]: left_x=0.3562 left_y=-0.1025 left_z=0.3221 left_yaw=0.0139 left_pitch=0.0541 left_roll=-0.076 left_gripper=0.0972 right_x=0.2946 right_y=0.0992 right_z=0.1533 right_yaw=0.3846 right_pitch=-0.1809 right_roll=-0.0864 right_gripper=0.0559\nstate[joint_eff]: [0.1026, -4.3145, 7.8427, 2.2344, 0.0073, 0.1538, 0.1392, 0.0068, -2.441, 6.9538, 1.6972, -0.0806, -0.0757, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9585, 1.7321, 1.6993, -0.9768, -0.8555, -0.7975, 0.1001, 0.2863, 0.9821, 0.8753, -0.5468, -0.2115, -0.276, 0.0564]\nstate[eef_state]: left_x=0.3467 left_y=-0.2553 left_z=0.2672 left_yaw=0.134 left_pitch=-0.0184 left_roll=0.0642 left_gripper=0.1001 right_x=0.2919 right_y=0.1283 right_z=0.2176 right_yaw=0.6065 right_pitch=-0.0817 right_roll=-0.0947 right_gripper=0.0564\nstate[joint_eff]: [-0.5949, -10.1812, 6.5709, 1.3504, -0.4713, 0.2369, 0.1245, 2.7282, -1.0872, 8.1299, 1.4969, -0.3004, -0.1636, 0.989]\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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7898, 1.3865, 0.4614, 0.041, -0.6785, -0.5041, 0.1008, 0.0978, 1.1263, 0.3103, 0.0731, -0.271, -0.3244, 0.0583]\nstate[eef_state]: left_x=0.2915 left_y=-0.1315 left_z=0.0515 left_yaw=0.0312 left_pitch=-0.0793 left_roll=0.1178 left_gripper=0.1008 right_x=0.2887 right_y=0.0795 right_z=0.0506 right_yaw=0.4974 right_pitch=-0.1535 right_roll=-0.0651 right_gripper=0.0583\nstate[joint_eff]: [0.3624, -4.8889, 6.3521, 1.6874, -0.4274, 0.1343, 0.0513, -0.4171, -2.6188, 6.0923, 1.9512, -0.2418, -0.1197, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490e1eec74308c58211e831bb14958167a79420fe257c3a63f0abecfdc2c9173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032bd42e5f48c486b4c6d8202937ca6cb671e27327d664949c0363498e9701b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236f3059da05725d353683ec0bdd53917860491ec9af0bf7b6c0035d93a7fc99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFinzdp_lgAM9Yknraj9yEzhN5sDPtuMmU0GZ_z_3Ezo58QkPRNa4s8oM67x84WntkU_lmhgpmPb51DB562giff5IeUjIbL4tOeGIAOmKgA49D8wuc5PQW71aIOM8PlbKc8mrz2mmlfAKHnlq95tY8vZepM7yBYfbWhnCXYAakhLj3sU934npVWPKy6eb-8Qv5s7xD0S9p-mMhzXnm0vbF6p-bWTP32DKh2NDRvSFQy11nG9SukSnOpftJDKVoNyPk4tVTSsTapm2rF9HvGxPMKXqtlswVQv_xKkMYmX6zSlkXSskoX3r8uPjHAZ-FxMTJZvvMogKswUtsIyRlPfWMVRc_pZf1a14-3TI6GilJeWA4NDDe04GyTJYkByu31Q6q_Qof1cwaBEsYWSoUkDs0dijlDWb9SvGRXA12eU9vBtrEW-uHWzAgQXYu_ku8Zbkhppy_jXLlQhImQn3wGfCGJFd94I9ZX5MX0aMEr46ohQXFGQQysDMZ7GJq-v970tfA--tMy8zaVjXeLNqfwSQaHC6mNbxCfOa_91v__F8t1yihGqYWldw5P50aGlAv1AhySv2BfED9LEZI5psN7GbSJRtga_OUuYJD8E4dS9vEhLJ0yM4TtB8sTIuPtuLXO1X8lHa4XuLbTsg-annJ1s4sm5TI0x-kYGJ5cHQlGjcceRs5NpNF5tSyZ53yFUae0GVsusHhJcj9iv-rMSJxMqTaMjAku9qfWqv-j-sL8wWvmUddveo_hTirljW4Ew6adR84GJDqHkD6xx7bbrWyNWPpdYuM5DE6hzeDXQBRtOQtiaL_C1s5JNUFx2eA45pnaL5K8iOgSGj2ipMeD5I-GCKONIUDnGHXNkr-5C0J3PBhEEY1dXj7HIqley9UdH6xdmdbIN_feQr3SPHeAY0t94LNLorsIO4SvHAIcBv9mXYQnf5e1wxrtAsvS5Xiko2PRMnRHMF9lwEdXbXsE4WNs4tGN3XE6SWuz1Rw9NMguYenuSFFFjqHYMhkkrs0-PGjwmRoPPl-k_aWu1FGJ5kgMLNSbzFBthsukcCI-1o7IaUWAnqujZKqv15CIOpfZ547rEmLTviaay4ZS4nomyyc8JjB4DNNZmde4fCD4PRCVIFz29IcHz9X_tP8yCFFWMY3MuN2ZWaB5awwr8XbniTNX58jmCCDxObIsLQSxOxkmXflSbRuK8WfiknlQJIzuYECHh7BVoRG_iQ97jSV9-sy-16_xk_OliIwx8FItZ8i9xdweRslJqazf_d0ju-Z88gG0akJ4IkF75a0ivfiJDK6JWJvYLyg==",
  "id": "rs_06bd11ff0f39cdd6016ab458a5ebd487d0a8227506f53f74e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.008,\"right_z\":0.008},\"note\":\"Both grippers are over clear table areas and tracking normally again. I’m lowering the held pieces to the surface for a controlled release.\"}",
  "call_id": "call_4EvgoDQShYtcpoww2gwuTkIp",
  "id": "fc_06bd11ff0f39cdd6016ab458a6a57887d08fe5f0f47976e485",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4EvgoDQShYtcpoww2gwuTkIp",
  "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]: [-0.7883, 1.5578, 0.3965, 0.239, -0.6716, -0.4957, 0.1008, 0.0929, 1.3216, 0.2241, 0.297, -0.2707, -0.3267, 0.0589]\nstate[eef_state]: left_x=0.2885 left_y=-0.1292 left_z=0.0092 left_yaw=0.0262 left_pitch=-0.11 left_roll=0.1487 left_gripper=0.1008 right_x=0.2814 right_y=0.0773 right_z=0.0048 right_yaw=0.4974 right_pitch=-0.2067 right_roll=-0.0442 right_gripper=0.0589\nstate[joint_eff]: [-0.3624, -5.8735, 4.5607, 1.7705, -0.4469, -0.0952, -0.0073, 0.1983, -4.1641, 5.4359, 2.0098, -0.1392, -0.0024, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f6bfe8477955df3a8dbf6470a194f82b45a18992aff9b363e67a2e07d75596",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506a943dd5046b9f50cbb886637f5857023145264d8577a6a37aac7d755bf0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b08861665362f4311d206ffd97d0f5f759ca79ea8513b76675d768b6bc9ac5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.678 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9615, 1.7107, 1.7016, -0.9611, -0.857, -0.7708, 0.0988, 0.6678, 1.2652, 0.9352, -0.3313, -0.0608, -0.1574, 0.0565]\nstate[eef_state]: left_x=0.3455 left_y=-0.2556 left_z=0.2781 left_yaw=0.1171 left_pitch=0.0002 left_roll=0.0524 left_gripper=0.0988 right_x=0.2945 right_y=0.2505 right_z=0.19 right_yaw=0.7975 right_pitch=-0.1045 right_roll=-0.0883 right_gripper=0.0565\nstate[joint_eff]: [4.0547, -6.7077, 3.9179, -0.0366, -0.0708, 0.7448, 0.1538, 0.8274, -5.3675, 10.5094, 4.4322, -2.1172, -0.1783, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7898, 1.3865, 0.4614, 0.041, -0.6785, -0.5041, 0.1008, 0.0978, 1.1263, 0.3103, 0.0731, -0.271, -0.3244, 0.0583]\nstate[eef_state]: left_x=0.2915 left_y=-0.1315 left_z=0.0515 left_yaw=0.0312 left_pitch=-0.0793 left_roll=0.1178 left_gripper=0.1008 right_x=0.2887 right_y=0.0795 right_z=0.0506 right_yaw=0.4974 right_pitch=-0.1535 right_roll=-0.0651 right_gripper=0.0583\nstate[joint_eff]: [0.3624, -4.8889, 6.3521, 1.6874, -0.4274, 0.1343, 0.0513, -0.4171, -2.6188, 6.0923, 1.9512, -0.2418, -0.1197, 0.9548]\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 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7883, 1.5578, 0.3965, 0.239, -0.6716, -0.4957, 0.1008, 0.0929, 1.3216, 0.2241, 0.297, -0.2707, -0.3267, 0.0589]\nstate[eef_state]: left_x=0.2885 left_y=-0.1292 left_z=0.0092 left_yaw=0.0262 left_pitch=-0.11 left_roll=0.1487 left_gripper=0.1008 right_x=0.2814 right_y=0.0773 right_z=0.0048 right_yaw=0.4974 right_pitch=-0.2067 right_roll=-0.0442 right_gripper=0.0589\nstate[joint_eff]: [-0.3624, -5.8735, 4.5607, 1.7705, -0.4469, -0.0952, -0.0073, 0.1983, -4.1641, 5.4359, 2.0098, -0.1392, -0.0024, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f6bfe8477955df3a8dbf6470a194f82b45a18992aff9b363e67a2e07d75596",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506a943dd5046b9f50cbb886637f5857023145264d8577a6a37aac7d755bf0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b08861665362f4311d206ffd97d0f5f759ca79ea8513b76675d768b6bc9ac5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0.7,\"right_gripper\":0.7},\"note\":\"The pen and cap are at table level in separate locations. I’m opening both grippers to leave them safely on the surface.\"}",
  "call_id": "call_bO9kpsXQOO9TyFXtE8xdeDnZ",
  "id": "fc_06bd11ff0f39cdd6016ab458a936b487d09f7822c400f23c20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bO9kpsXQOO9TyFXtE8xdeDnZ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7887, 1.5875, 0.3782, 0.3038, -0.675, -0.5133, 0.6959, 0.0929, 1.3342, 0.21, 0.3019, -0.271, -0.3267, 0.6954]\nstate[eef_state]: left_x=0.2892 left_y=-0.1294 left_z=0.0045 left_yaw=0.0363 left_pitch=-0.0952 left_roll=0.1244 left_gripper=0.6959 right_x=0.2757 right_y=0.0768 right_z=-0.0023 right_yaw=0.4996 right_pitch=-0.2266 right_roll=-0.0351 right_gripper=0.6954\nstate[joint_eff]: [-0.1983, -5.4359, 4.4786, 1.5311, -0.359, 0.0904, -0.022, -0.212, -4.3966, 5.9966, 1.4676, -0.1685, -0.0513, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1eac6484a2327524d2f45a7b532311f08325a38ea407e3a038d631f0d8b0c59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29a7ff6488eb5cc97c88ea3fb3a7b0cce6b15f3f6828616374e0f242facb941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b48f164483dd6358b5f2af36a160da920bbd6df545f3656ecc26e55b00b87d72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 4.284 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 125 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9585, 1.7321, 1.6993, -0.9768, -0.8555, -0.7975, 0.1001, 0.2863, 0.9821, 0.8753, -0.5468, -0.2115, -0.276, 0.0564]\nstate[eef_state]: left_x=0.3467 left_y=-0.2553 left_z=0.2672 left_yaw=0.134 left_pitch=-0.0184 left_roll=0.0642 left_gripper=0.1001 right_x=0.2919 right_y=0.1283 right_z=0.2176 right_yaw=0.6065 right_pitch=-0.0817 right_roll=-0.0947 right_gripper=0.0564\nstate[joint_eff]: [-0.5949, -10.1812, 6.5709, 1.3504, -0.4713, 0.2369, 0.1245, 2.7282, -1.0872, 8.1299, 1.4969, -0.3004, -0.1636, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7883, 1.5578, 0.3965, 0.239, -0.6716, -0.4957, 0.1008, 0.0929, 1.3216, 0.2241, 0.297, -0.2707, -0.3267, 0.0589]\nstate[eef_state]: left_x=0.2885 left_y=-0.1292 left_z=0.0092 left_yaw=0.0262 left_pitch=-0.11 left_roll=0.1487 left_gripper=0.1008 right_x=0.2814 right_y=0.0773 right_z=0.0048 right_yaw=0.4974 right_pitch=-0.2067 right_roll=-0.0442 right_gripper=0.0589\nstate[joint_eff]: [-0.3624, -5.8735, 4.5607, 1.7705, -0.4469, -0.0952, -0.0073, 0.1983, -4.1641, 5.4359, 2.0098, -0.1392, -0.0024, 0.9744]\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]: [-0.7887, 1.5875, 0.3782, 0.3038, -0.675, -0.5133, 0.6959, 0.0929, 1.3342, 0.21, 0.3019, -0.271, -0.3267, 0.6954]\nstate[eef_state]: left_x=0.2892 left_y=-0.1294 left_z=0.0045 left_yaw=0.0363 left_pitch=-0.0952 left_roll=0.1244 left_gripper=0.6959 right_x=0.2757 right_y=0.0768 right_z=-0.0023 right_yaw=0.4996 right_pitch=-0.2266 right_roll=-0.0351 right_gripper=0.6954\nstate[joint_eff]: [-0.1983, -5.4359, 4.4786, 1.5311, -0.359, 0.0904, -0.022, -0.212, -4.3966, 5.9966, 1.4676, -0.1685, -0.0513, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1eac6484a2327524d2f45a7b532311f08325a38ea407e3a038d631f0d8b0c59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29a7ff6488eb5cc97c88ea3fb3a7b0cce6b15f3f6828616374e0f242facb941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b48f164483dd6358b5f2af36a160da920bbd6df545f3656ecc26e55b00b87d72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"left_pitch\":0},\"note\":\"Both pieces have been released onto the table. I’m lifting and parking the arms to clear the view and verify that they are left safely apart.\"}",
  "call_id": "call_lIdfWw2Ytt4cpiCaLNWv2ura",
  "id": "fc_06bd11ff0f39cdd6016ab458ac2a3487d0925e9908abe73c4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lIdfWw2Ytt4cpiCaLNWv2ura",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1337, 0.8185, 0.635, -0.4149, -0.2298, -0.0177, 0.6967, -0.0006, 0.8032, 0.6273, -0.4137, -0.036, -0.0757, 0.6964]\nstate[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1828 left_yaw=0.0661 left_pitch=-0.0131 left_roll=0.1125 left_gripper=0.6967 right_x=0.2935 right_y=0.0098 right_z=0.1812 right_yaw=0.0643 right_pitch=-0.0321 right_roll=-0.0434 right_gripper=0.6964\nstate[joint_eff]: [0.212, -2.1265, 9.894, 1.7509, -0.105, 0.1978, 0.0708, -0.6085, -1.812, 9.7026, 1.663, 0.188, 0.2369, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7a4e1d790eb70b1c2194ca9c0b01c8daba46497abec250ad8b857deedd4e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d902f2a910d8eb295e00dd5bc29977a26bdc5877f83a053dcddcffdd15b5ea7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1cc8c8e7385ef8307ae405ed5ee970254ba16f20961bc5f7546395a92b72fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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