adhoc

completed
2026-09-24T03:04:38.506331+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
255.1 s
total steps
302
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 on the left of the table and the pen is on the right. I’m bringing the left gripper above the cap while keeping the right arm parked clear.
move_to
left_x0.4000left_y-0.1700left_z0.1100left_gripper1.0000right_x0.2965right_y0.0005right_z0.1858
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, 0.7921, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0185, 0.791, 0.6109, -0.3714, -0.0135, -0.0128, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0005 right_z=0.1858 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.3897, -1.4427, 10.5094, 1.7753, -0.0171, 0.0708, -0.0464, -0.7179, -1.2513, 9.6342, 1.6972, -0.1148, -0.0269, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.17,"left_z":0.11,"left_gripper":1,"right_x":0.2965,"right_y":0.0005,"right_z":0.1858},"note":"The short cap is on the left of the table and the pen is on the right. I’m bringing the left gripper above the cap while keeping the right arm parked clear."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe cap is near the bottom of the left wrist view, slightly left of the jaw center. I’m lowering toward it and turning the jaws to grip across its short width.
move_to
left_x0.3950left_y-0.1480left_z0.0350left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6003, 1.6005, 0.7986, 0.0574, -0.485, -0.3672, 0.9997, -0.0193, 0.7959, 0.6132, -0.3866, -0.0128, -0.0124, 0.9993] state[eef_state]: left_x=0.3851 left_y=-0.1595 left_z=0.0883 left_yaw=-0.0105 left_pitch=-0.0739 left_roll=0.0395 left_gripper=0.9997 right_x=0.2951 right_y=0.0002 right_z=0.1823 right_yaw=-0.0016 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [-0.4308, -7.8291, 8.8, 1.7656, -0.2515, -0.0708, -0.0464, -0.1162, -1.6342, 6.9402, 1.8584, -0.0366, -0.0611, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.148,"left_z":0.035,"left_yaw":-0.45},"note":"The cap is near the bottom of the left wrist view, slightly left of the jaw center. I’m lowering toward it and turning the jaws to grip across its short width."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap remains between the open fingers but is a little right of center. I’m making a small forward and sideways correction at table height before closing.
move_to
left_x0.4080left_y-0.1340left_z-0.0070left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3584, 1.7065, 0.6266, 0.3283, -0.1196, -0.0643, 0.9996, -0.0193, 0.7975, 0.6132, -0.3908, -0.0124, -0.0124, 0.9993] state[eef_state]: left_x=0.3865 left_y=-0.1185 left_z=0.0183 left_yaw=-0.2324 left_pitch=-0.1764 left_roll=0.0423 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.181 right_yaw=-0.0019 right_pitch=-0.0237 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-1.0325, -7.8701, 5.9829, 2.0195, 0.149, 0.2515, -0.0171, -0.335, -1.347, 7.0222, 1.7314, -0.0366, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.408,"left_y":-0.134,"left_z":-0.007,"left_yaw":-0.4},"note":"The cap remains between the open fingers but is a little right of center. I’m making a small forward and sideways correction at table height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe cap is now under the closing region of the left jaws at table height. I’m closing the gripper to secure it.
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]: [-0.3397, 1.7683, 0.6159, 0.4461, 0.0029, 0.0391, 0.9996, -0.0193, 0.7979, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993] state[eef_state]: left_x=0.3913 left_y=-0.135 left_z=0.0114 left_yaw=-0.3747 left_pitch=-0.1374 left_roll=0.036 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0237 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [0.4444, -6.7624, 5.1624, 1.663, -0.0269, -0.0464, -0.0122, -0.0889, -1.265, 7.1316, 1.7607, -0.0366, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is now under the closing region of the left jaws at table height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe left gripper has stopped with a small nonzero opening, which may indicate a grip on the cap. I’m lifting a few centimeters to check that it comes off the table.
move_to
left_x0.3950left_y-0.1270left_z0.0750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3386, 1.8, 0.6147, 0.4747, -0.046, 0.0032, 0.0506, -0.0193, 0.7986, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993] state[eef_state]: left_x=0.395 left_y=-0.1267 left_z=0.004 left_yaw=-0.3126 left_pitch=-0.1408 left_roll=0.0406 left_gripper=0.0506 right_x=0.2948 right_y=0.0002 right_z=0.1808 right_yaw=-0.0016 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [0.2667, -7.4735, 4.9983, 1.6581, 0.0708, 0.1099, 1.3504, -0.1162, -1.3197, 7.0496, 1.7411, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.127,"left_z":0.075},"note":"The left gripper has stopped with a small nonzero opening, which may indicate a grip on the cap. I’m lifting a few centimeters to check that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe cap stayed fixed relative to the left fingers during the lift, so it appears secured. I’m raising it clear and bringing the right gripper above the pen.
move_to
left_x0.3600left_y-0.1300left_z0.1700right_x0.4000right_y0.2500right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3389, 1.5967, 0.691, 0.1921, -0.046, -0.0002, 0.0611, -0.0193, 0.7998, 0.6132, -0.3908, -0.0128, -0.0124, 0.9993] state[eef_state]: left_x=0.3922 left_y=-0.1259 left_z=0.059 left_yaw=-0.3111 left_pitch=-0.1438 left_roll=0.038 left_gripper=0.0611 right_x=0.2948 right_y=0.0002 right_z=0.1804 right_yaw=-0.0016 right_pitch=-0.0259 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.4034, -7.9111, 8.9094, 1.6337, -0.0611, 0.0073, 1.033, -0.0479, -0.9504, 7.0769, 1.7656, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.13,"left_z":0.17,"right_x":0.4,"right_y":0.25,"right_z":0.12,"right_gripper":1},"note":"The cap stayed fixed relative to the left fingers during the lift, so it appears secured. I’m raising it clear and bringing the right gripper above the pen."})
tool
executing move_to over 21 steps (2.1s)
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 pen lies diagonally to the right of the right wrist’s centerline, with its pointed end toward the far left. I’m centering on the barrel and rotating the jaws to grip across it.
move_to
right_x0.4070right_y0.2180right_z0.0700right_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.392, 1.3136, 0.8661, -0.3283, -0.0799, -0.0364, 0.0611, 0.7624, 1.7622, 1.0672, -0.0715, 0.5945, 0.4603, 0.9993] state[eef_state]: left_x=0.3538 left_y=-0.1271 left_z=0.1432 left_yaw=-0.3147 left_pitch=-0.2038 left_roll=0.0376 left_gripper=0.0611 right_x=0.3933 right_y=0.2437 right_z=0.1104 right_yaw=0.0269 right_pitch=-0.0611 right_roll=-0.0244 right_gripper=0.9993 state[joint_eff]: [-0.7453, -6.5573, 10.5368, 1.5458, -0.1832, 0.0171, 1.0281, 0.5812, -8.5949, 7.9932, 1.5214, 0.4957, 0.1343, -0.0855] 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":{"right_x":0.407,"right_y":0.218,"right_z":0.07,"right_yaw":0.65},"note":"The pen lies diagonally to the right of the right wrist’s centerline, with its pointed end toward the far left. I’m centering on the barrel and rotating the jaws to grip across it."})
tool
executing move_to over 4 steps (0.4s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe pen barrel now crosses the jaw centerline. I’m lowering the right fingers to table level with a small forward correction so they can close around the barrel.
move_to
right_x0.4180right_y0.1800right_z-0.0050right_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]: [-0.3935, 1.3155, 0.8665, -0.3508, -0.0788, -0.0441, 0.0668, 0.4362, 1.747, 0.8204, 0.1833, 0.0868, 0.0364, 0.9993] state[eef_state]: left_x=0.35 left_y=-0.1264 left_z=0.1387 left_yaw=-0.3125 left_pitch=-0.2276 left_roll=0.0332 left_gripper=0.0668 right_x=0.4061 right_y=0.1764 right_z=0.0457 right_yaw=0.3418 right_pitch=-0.1889 right_roll=-0.0285 right_gripper=0.9993 state[joint_eff]: [-0.0205, -5.2034, 7.1316, 1.7314, -0.0513, -0.0073, 1.033, 3.2479, -8.1436, 6.7624, 2.2491, -0.6227, -0.1587, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.418,"right_y":0.18,"right_z":-0.005,"right_yaw":0.5},"note":"The pen barrel now crosses the jaw centerline. I’m lowering the right fingers to table level with a small forward correction so they can close around the barrel."})
tool
executing move_to over 4 steps (0.4s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe last descent was limited, and the barrel is still slightly right of the fingers. I’m correcting that offset and completing the final short descent.
move_to
right_x0.4140right_y0.1820right_z0.0010right_yaw0.4800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0444, 0.0709, 0.4709, 1.8004, 0.7815, 0.3138, -0.0063, -0.0074, 0.9993] state[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3122 left_pitch=-0.2341 left_roll=0.0335 left_gripper=0.0709 right_x=0.3968 right_y=0.2073 right_z=0.0321 right_yaw=0.4806 right_pitch=-0.1538 right_roll=0.0022 right_gripper=0.9993 state[joint_eff]: [-0.253, -5.1624, 6.7624, 1.5458, -0.0806, -0.0317, 1.033, -0.1162, -7.8017, 5.8325, 1.8486, 0.1245, 0.1685, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.414,"right_y":0.182,"right_z":0.001,"right_yaw":0.48},"note":"The last descent was limited, and the barrel is still slightly right of the fingers. I’m correcting that offset and completing the final short descent."})
tool
executing move_to over 3 steps (0.3s)
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 right arm has stopped above the table rather than following the descent. I’m moving slightly toward the base and tipping the wrist forward to reach the pen without forcing the stalled pose.
move_to
right_x0.3890right_y0.1810right_z0.0040right_pitch0.2500right_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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0441, 0.0709, 0.4709, 1.8004, 0.7815, 0.3225, 0.0189, 0.012, 0.9993] state[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3124 left_pitch=-0.2341 left_roll=0.0337 left_gripper=0.0709 right_x=0.4 right_y=0.2039 right_z=0.0338 right_yaw=0.4486 right_pitch=-0.1449 right_roll=0.0009 right_gripper=0.9993 state[joint_eff]: [-0.3214, -5.1214, 6.7624, 1.5165, -0.0855, -0.022, 1.0379, -0.3761, -8.2803, 5.7915, 1.8291, 0.0611, 0.0708, -0.0122] 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":0.389,"right_y":0.181,"right_z":0.004,"right_pitch":0.25,"right_yaw":0.5},"note":"The right arm has stopped above the table rather than following the descent. I’m moving slightly toward the base and tipping the wrist forward to reach the pen without forcing the stalled pose."})
tool
executing move_to over 14 steps (1.4s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe forward wrist tilt brought the fingers down to the table, and the pen barrel is centered between them. I’m closing the right gripper around it.
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]: [-0.3935, 1.3155, 0.8665, -0.3691, -0.0788, -0.0441, 0.0709, 0.3878, 2.1475, 0.4713, 1.3369, -0.0933, -0.0414, 0.9992] state[eef_state]: left_x=0.347 left_y=-0.1251 left_z=0.1356 left_yaw=-0.3122 left_pitch=-0.2459 left_roll=0.0347 left_gripper=0.0709 right_x=0.3905 right_y=0.1811 right_z=0.0017 right_yaw=0.4915 right_pitch=0.2136 right_roll=-0.0045 right_gripper=0.9992 state[joint_eff]: [-0.3624, -4.9709, 6.9675, 1.58, -0.0952, -0.0122, 1.033, -0.6359, -6.9538, 1.7846, 1.5067, -0.1392, 0.0659, -0.022] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The forward wrist tilt brought the fingers down to the table, and the pen barrel is centered between them. I’m closing the right gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe right jaws stopped at a pen-sized opening. I’m lifting the pen to confirm the grasp and refreshing the left arm’s raised holding pose before aligning the two pieces.
move_to
right_x0.3920right_y0.1800right_z0.0750left_x0.3500left_y-0.1250left_z0.1700left_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]: [-0.3935, 1.3155, 0.8665, -0.3786, -0.0788, -0.0444, 0.0709, 0.3859, 2.1628, 0.4713, 1.3632, -0.0875, -0.0399, 0.056] state[eef_state]: left_x=0.3454 left_y=-0.1245 left_z=0.134 left_yaw=-0.3118 left_pitch=-0.2554 left_roll=0.0353 left_gripper=0.0709 right_x=0.3917 right_y=0.1797 right_z=0.0015 right_yaw=0.484 right_pitch=0.2244 right_roll=-0.0061 right_gripper=0.056 state[joint_eff]: [-0.1299, -5.135, 6.9402, 1.5604, -0.0708, -0.0611, 1.0379, -0.0615, -9.4291, 2.6051, 1.663, -0.105, 0.0024, 1.3553] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.392,"right_y":0.18,"right_z":0.075,"left_x":0.35,"left_y":-0.125,"left_z":0.17,"left_pitch":0},"note":"The right jaws stopped at a pen-sized opening. I’m lifting the pen to confirm the grasp and refreshing the left arm’s raised holding pose before aligning the two pieces."})
tool
executing move_to over 9 steps (0.9s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteBoth pieces remained in their grippers during the lift. I’m raising the pen to the cap’s height and turning both so their long axes can line up across the table.
move_to
left_x0.3500left_y-0.1250left_z0.1800left_yaw0.4500left_pitch0.0000right_x0.3900right_y0.1800right_z0.1800right_yaw1.0500right_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]: [-0.3935, 1.1965, 0.7311, -0.1825, -0.0826, -0.0437, 0.0723, 0.3855, 1.7973, 0.4633, 0.9958, -0.0875, -0.041, 0.066] state[eef_state]: left_x=0.3447 left_y=-0.1234 left_z=0.153 left_yaw=-0.3114 left_pitch=-0.0761 left_roll=0.0235 left_gripper=0.0723 right_x=0.3889 right_y=0.1783 right_z=0.0637 right_yaw=0.484 right_pitch=0.2145 right_roll=-0.0062 right_gripper=0.066 state[joint_eff]: [-0.4581, -5.8598, 6.7077, 2.0684, -0.2173, 0.0611, 1.033, -0.2667, -8.4581, 5.8598, 1.9219, -0.0611, -0.0171, 1.033] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.125,"left_z":0.18,"left_yaw":0.45,"left_pitch":0,"right_x":0.39,"right_y":0.18,"right_z":0.18,"right_yaw":1.05,"right_pitch":0},"note":"Both pieces remained in their grippers during the lift. I’m raising the pen to the cap’s height and turning both so their long axes can line up across the table."})
tool
executing move_to over 8 steps (0.8s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe pen tip and the cap’s narrow closed end are visible beyond their fingers. I’m continuing the rotation toward a common left–right axis while keeping a wide gap between the hands.
move_to
left_x0.3500left_y-0.1700left_z0.1800left_yaw1.0000right_x0.3500right_y0.2200right_z0.1800right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7277, 1.4982, 1.0634, -0.5426, -0.7898, -0.7784, 0.0761, 0.1574, 1.5669, 1.0531, -0.123, -0.6445, -0.485, 0.066] state[eef_state]: left_x=0.3524 left_y=-0.1411 left_z=0.1654 left_yaw=0.3081 left_pitch=-0.0543 left_roll=0.0356 left_gripper=0.0761 right_x=0.4093 right_y=0.176 right_z=0.1823 right_yaw=0.9444 right_pitch=0.0549 right_roll=-0.0551 right_gripper=0.066 state[joint_eff]: [-0.253, -6.6803, 8.6496, 0.989, -0.7155, -0.0806, 0.7546, -0.6085, -6.3521, 7.9658, 1.4579, -0.3248, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.18,"left_yaw":1.0,"right_x":0.35,"right_y":0.22,"right_z":0.18,"right_yaw":1.57},"note":"The pen tip and the cap’s narrow closed end are visible beyond their fingers. I’m continuing the rotation toward a common left–right axis while keeping a wide gap between the hands."})
tool
executing move_to over 5 steps (0.5s)
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 pen is nearly across the table, but the left wrist has not yet completed its turn. I’m using another modest alignment move rather than bringing the pieces together prematurely.
move_to
left_x0.3350left_y-0.1950left_z0.1600left_yaw1.2500right_x0.3500right_y0.2400right_z0.1700right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.823, 1.9129, 1.5654, -1.0798, -0.9146, -1.356, 0.0799, 0.1658, 1.7622, 1.3354, -0.6159, -0.9436, -1.0203, 0.066] state[eef_state]: left_x=0.3668 left_y=-0.1844 left_z=0.1578 left_yaw=0.6082 left_pitch=-0.0794 left_roll=0.0361 left_gripper=0.0799 right_x=0.3759 right_y=0.2115 right_z=0.1744 right_yaw=1.4253 right_pitch=0.0185 right_roll=-0.0598 right_gripper=0.066 state[joint_eff]: [0.6496, -11.0974, 8.1299, 0.4029, -0.7302, -0.1783, 0.7692, 0.4991, -8.6906, 6.9675, 0.6813, -0.7302, -0.1099, 1.0281] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.195,"left_z":0.16,"left_yaw":1.25,"right_x":0.35,"right_y":0.24,"right_z":0.17,"right_yaw":1.57},"note":"The right pen is nearly across the table, but the left wrist has not yet completed its turn. I’m using another modest alignment move rather than bringing the pieces together prematurely."})
tool
executing move_to over 5 steps (0.5s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe left wrist is not tracking the larger rotation, so I’m changing the assembly direction to the diagonal it can hold comfortably. The pen will approach the cap from behind along that same diagonal.
move_to
left_x0.3600left_y-0.2300left_z0.1700left_yaw0.6500right_x0.2500right_y0.3350right_z0.1700right_yaw0.8500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8169, 1.9121, 1.5661, -1.1378, -0.9203, -1.4128, 0.082, 0.1764, 1.7802, 1.3624, -0.7826, -1.0073, -1.2095, 0.066] state[eef_state]: left_x=0.3614 left_y=-0.1743 left_z=0.1579 left_yaw=0.6502 left_pitch=-0.079 left_roll=0.0475 left_gripper=0.082 right_x=0.3498 right_y=0.2177 right_z=0.1725 right_yaw=1.5589 right_pitch=0.0291 right_roll=-0.0564 right_gripper=0.066 state[joint_eff]: [-0.0205, -11.1658, 7.8564, 0.2613, -0.7692, -0.0562, 0.7057, -0.3897, -8.2667, 7.7607, 0.6862, -0.7888, -0.0366, 1.0281] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.23,"left_z":0.17,"left_yaw":0.65,"right_x":0.25,"right_y":0.335,"right_z":0.17,"right_yaw":0.85},"note":"The left wrist is not tracking the larger rotation, so I’m changing the assembly direction to the diagonal it can hold comfortably. The pen will approach the cap from behind along that same diagonal."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe arms stopped well short of the requested positions and joint loads rose, indicating interference. I’m separating the hands and giving them different heights before attempting a safer alignment.
move_to
left_x0.3400left_y-0.1200left_z0.2300left_yaw0.3500left_roll0.0000right_x0.3000right_y0.1300right_z0.1100right_yaw0.6500right_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]: [-0.8532, 2.0506, 1.7897, -1.6955, -0.9047, -1.5547, 0.0851, 0.4316, 1.3304, 0.8349, -0.2153, -0.2829, -0.4232, 0.066] state[eef_state]: left_x=0.3219 left_y=-0.1522 left_z=0.1752 left_yaw=0.7356 left_pitch=-0.0972 left_roll=0.4085 left_gripper=0.0851 right_x=0.3257 right_y=0.2083 right_z=0.1484 right_yaw=0.8968 right_pitch=-0.133 right_roll=-0.1432 right_gripper=0.066 state[joint_eff]: [-5.7094, -6.735, 11.8222, 2.3761, -0.652, -0.0269, 0.735, 13.3128, -2.6325, 5.9419, 1.6484, -1.7216, -1.2576, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.12,"left_z":0.23,"left_yaw":0.35,"left_roll":0,"right_x":0.3,"right_y":0.13,"right_z":0.11,"right_yaw":0.65,"right_roll":0},"note":"The arms stopped well short of the requested positions and joint loads rose, indicating interference. I’m separating the hands and giving them different heights before attempting a safer alignment."})
tool
executing move_to over 7 steps (0.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe arms are separated again and their loads have fallen. I’m changing to a forward–backward alignment and tilting the gripper bodies outward to leave room between them.
move_to
left_x0.3600left_y-0.1300left_z0.1700left_yaw0.0000left_roll-0.6000left_pitch0.0000right_x0.3000right_y0.1700right_z0.1300right_yaw0.0000right_roll0.6000right_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]: [-0.7078, 1.4361, 1.3067, -1.005, -0.7952, -0.9745, 0.0854, 0.4271, 1.2308, 0.5812, -0.0883, -0.1478, -0.1493, 0.0661] state[eef_state]: left_x=0.3253 left_y=-0.1076 left_z=0.2261 left_yaw=0.4491 left_pitch=-0.1181 left_roll=0.0218 left_gripper=0.0854 right_x=0.3014 right_y=0.1697 right_z=0.0959 right_yaw=0.6346 right_pitch=-0.1768 right_roll=-0.0084 right_gripper=0.0661 state[joint_eff]: [0.1299, -4.3966, 6.0103, 1.1648, -0.3541, 0.3101, 0.7106, -0.1436, -6.0786, 8.8274, 2.1221, -0.2076, -0.149, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.13,"left_z":0.17,"left_yaw":0,"left_roll":-0.6,"left_pitch":0,"right_x":0.3,"right_y":0.17,"right_z":0.13,"right_yaw":0,"right_roll":0.6,"right_pitch":0},"note":"The arms are separated again and their loads have fallen. I’m changing to a forward–backward alignment and tilting the gripper bodies outward to leave room between them."})
tool
executing move_to over 8 steps (0.8s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe left gripper followed the outward tilt, but the right wrist held its previous pose. I’m reducing the right-hand rotation increment and moving the cap closer to a supported working height.
move_to
left_x0.3600left_y-0.1500left_z0.1000left_yaw0.0000left_roll-0.5000right_x0.3000right_y0.1500right_z0.1700right_yaw0.3200right_roll0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3862, 1.1866, 0.6556, -0.0788, -0.168, -0.7227, 0.086, 0.395, 1.1919, 0.5606, -0.1158, -0.1848, -0.1539, 0.0713] state[eef_state]: left_x=0.3488 left_y=-0.1061 left_z=0.1447 left_yaw=0.1222 left_pitch=-0.1047 left_roll=-0.4846 left_gripper=0.086 right_x=0.2948 right_y=0.162 right_z=0.0956 right_yaw=0.637 right_pitch=-0.1801 right_roll=0.0149 right_gripper=0.0713 state[joint_eff]: [0.1573, -3.9043, 7.5966, 2.0244, -0.022, 0.1245, 0.6813, 0.1299, -4.9026, 7.8017, 1.7558, -0.2027, -0.0952, 1.033] 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":0.36,"left_y":-0.15,"left_z":0.1,"left_yaw":0,"left_roll":-0.5,"right_x":0.3,"right_y":0.15,"right_z":0.17,"right_yaw":0.32,"right_roll":0.3},"note":"The left gripper followed the outward tilt, but the right wrist held its previous pose. I’m reducing the right-hand rotation increment and moving the cap closer to a supported working height."})
tool
executing move_to over 5 steps (0.5s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteBoth parts are still held. I’m positioning the cap farther forward and bringing the pen toward the center, with outward wrist tilts to keep the arm bodies apart.
move_to
left_x0.4100left_y-0.2700left_z0.1700left_yaw0.0000left_roll-0.5000left_pitch0.1500right_x0.2800right_y0.2800right_z0.1700right_yaw0.0000right_roll0.4000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4526, 1.3762, 0.5968, 0.115, -0.1215, -0.7231, 0.0865, 0.4, 1.1103, 0.7334, -0.308, -0.1272, 0.0463, 0.0754] state[eef_state]: left_x=0.3515 left_y=-0.1432 left_z=0.0903 left_yaw=0.0187 left_pitch=-0.166 left_roll=-0.4837 left_gripper=0.0865 right_x=0.3055 right_y=0.1574 right_z=0.1591 right_yaw=0.4851 right_pitch=-0.1315 right_roll=0.1212 right_gripper=0.0754 state[joint_eff]: [-0.4581, -5.2308, 6.065, 2.0391, -0.0855, 0.0855, 0.315, 0.4855, -3.6444, 7.2957, 1.3065, 0.105, 0.1783, 0.8083] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.27,"left_z":0.17,"left_yaw":0,"left_roll":-0.5,"left_pitch":0.15,"right_x":0.28,"right_y":0.28,"right_z":0.17,"right_yaw":0,"right_roll":0.4,"right_pitch":0.1},"note":"Both parts are still held. I’m positioning the cap farther forward and bringing the pen toward the center, with outward wrist tilts to keep the arm bodies apart."})
tool
executing move_to over 12 steps (1.2s)
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 noteThe left arm could not reach the farther pose, so I’m shortening its reach and adding a small forward tilt. The pen is approaching beside the cap, still with clearance rather than insertion contact.
move_to
left_x0.3700left_y-0.2550left_z0.1500left_yaw0.0000left_roll-0.3000left_pitch0.3000right_x0.2700right_y0.3200right_z0.1500right_yaw0.0000right_roll0.4000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5583, 1.5105, 0.6838, 0.1997, -0.226, -0.7307, 0.0893, 1.0702, 1.4033, 0.7605, -0.0132, 0.6769, 0.791, 0.0757] state[eef_state]: left_x=0.371 left_y=-0.1808 left_z=0.094 left_yaw=0.0052 left_pitch=-0.1042 left_roll=-0.4531 left_gripper=0.0893 right_x=0.2729 right_y=0.2757 right_z=0.1469 right_yaw=0.1016 right_pitch=0.0293 right_roll=0.3032 right_gripper=0.0757 state[joint_eff]: [-1.8803, -7.2957, 8.6496, 1.956, -0.2418, 0.105, 0.6081, 0.4034, -5.4359, 8.9915, 1.7607, 0.4078, 0.2173, 0.9988] approver: 1 step(s) modified (delta_clamped). 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":0.37,"left_y":-0.255,"left_z":0.15,"left_yaw":0,"left_roll":-0.3,"left_pitch":0.3,"right_x":0.27,"right_y":0.32,"right_z":0.15,"right_yaw":0,"right_roll":0.4,"right_pitch":0.15},"note":"The left arm could not reach the farther pose, so I’m shortening its reach and adding a small forward tilt. The pen is approaching beside the cap, still with clearance rather than insertion contact."})
tool
executing move_to over 14 steps (1.4s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe pen is above and to the side of the cap, and the wrist bodies are getting close. I’m backing the pen off slightly, lowering it, and increasing the outward tilt before closing the lateral gap.
move_to
right_x0.2450right_y0.2800right_z0.1100right_roll0.7500right_pitch0.1500left_x0.3700left_y-0.2550left_z0.1600left_roll-0.7500left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7773, 1.6302, 0.7059, 0.4114, -0.5034, -0.6624, 0.0918, 1.1805, 1.5852, 0.8055, 0.1165, 0.8776, 0.8978, 0.0757] state[eef_state]: left_x=0.3668 left_y=-0.2363 left_z=0.106 left_yaw=-0.0133 left_pitch=0.091 left_roll=-0.3478 left_gripper=0.0918 right_x=0.2686 right_y=0.3053 right_z=0.1339 right_yaw=0.0043 right_pitch=0.1166 right_roll=0.3329 right_gripper=0.0757 state[joint_eff]: [-4.4103, -6.0786, 7.9932, 1.8632, -0.0513, 0.2857, 0.5543, 1.306, -5.641, 9.6479, 2.464, -0.4567, -0.5006, 0.989] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.245,"right_y":0.28,"right_z":0.11,"right_roll":0.75,"right_pitch":0.15,"left_x":0.37,"left_y":-0.255,"left_z":0.16,"left_roll":-0.75,"left_pitch":0.15},"note":"The pen is above and to the side of the cap, and the wrist bodies are getting close. I’m backing the pen off slightly, lowering it, and increasing the outward tilt before closing the lateral gap."})
tool
executing move_to over 6 steps (0.6s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe increased tilt has cleared the wrist bodies. I’m moving the pen sideways toward the cap’s axis and raising its tip toward the cap opening, while keeping a fore–aft gap.
move_to
right_x0.2500right_y0.3500right_z0.1450right_yaw0.0000right_roll0.7500right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7433, 1.5753, 0.6559, 0.5381, -0.3752, -0.8326, 0.0952, 1.1778, 1.5414, 0.4137, 0.6193, 0.7803, 0.9894, 0.0781] state[eef_state]: left_x=0.3667 left_y=-0.2443 left_z=0.1305 left_yaw=-0.0004 left_pitch=0.1065 left_roll=-0.6303 left_gripper=0.0952 right_x=0.2427 right_y=0.2702 right_z=0.0852 right_yaw=0.0211 right_pitch=0.1069 right_roll=0.5802 right_gripper=0.0781 state[joint_eff]: [0.6632, -8.8684, 7.4872, 2.127, 0.0952, -0.0855, 0.3346, -0.4034, -6.1197, 5.8872, 1.8877, 0.1636, 0.1294, 0.7985] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.35,"right_z":0.145,"right_yaw":0,"right_roll":0.75,"right_pitch":0.15},"note":"The increased tilt has cleared the wrist bodies. I’m moving the pen sideways toward the cap’s axis and raising its tip toward the cap opening, while keeping a fore–aft gap."})
tool
executing move_to over 7 steps (0.7s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe pen tip is now close to the cap’s height but remains about six centimeters to its side. I’m reducing that sideways offset and making only a small forward advance.
move_to
right_x0.2580right_y0.3900right_z0.1400right_yaw0.0000right_roll0.7500right_pitch0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.738, 1.5696, 0.6559, 0.569, -0.3405, -0.8825, 0.0973, 1.2369, 1.6417, 0.6853, 0.5266, 0.815, 1.0447, 0.0791] state[eef_state]: left_x=0.3674 left_y=-0.2496 left_z=0.1389 left_yaw=-0.0024 left_pitch=0.1087 left_roll=-0.7087 left_gripper=0.0973 right_x=0.2501 right_y=0.3398 right_z=0.1303 right_yaw=0.0176 right_pitch=0.1337 right_roll=0.6977 right_gripper=0.0791 state[joint_eff]: [0.2393, -8.3761, 7.4735, 2.0098, 0.0562, -0.0317, 0.2125, 1.3333, -6.8581, 8.0889, 1.8535, 0.4029, 0.1294, 0.8523] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.258,"right_y":0.39,"right_z":0.14,"right_yaw":0,"right_roll":0.75,"right_pitch":0.13},"note":"The pen tip is now close to the cap’s height but remains about six centimeters to its side. I’m reducing that sideways offset and making only a small forward advance."})
tool
executing move_to over 5 steps (0.5s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
assistant
agent noteThe sideways gap is now only a few centimeters, and the pen tip is slightly low. I’m bringing the axes together with a small height correction and a 1.5-centimeter forward move.
move_to
right_x0.2730right_y0.4000right_z0.1570right_roll0.8000right_pitch0.1300left_x0.3690left_y-0.2630left_z0.1600left_roll-0.7500left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7296, 1.5658, 0.6556, 0.5663, -0.3428, -0.8825, 0.1001, 1.2488, 1.779, 0.8425, 0.4507, 0.8345, 1.0828, 0.0802] state[eef_state]: left_x=0.3694 left_y=-0.2458 left_z=0.1398 left_yaw=0.0081 left_pitch=0.1098 left_roll=-0.7086 left_gripper=0.1001 right_x=0.2585 right_y=0.3725 right_z=0.1206 right_yaw=0.0032 right_pitch=0.1106 right_roll=0.6759 right_gripper=0.0802 state[joint_eff]: [-1.0051, -6.188, 6.0786, 1.8632, -0.0366, -0.0366, 0.2808, 1.1419, -7.5556, 9.7299, 2.0098, 0.1001, -0.0806, 0.7888] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.273,"right_y":0.4,"right_z":0.157,"right_roll":0.8,"right_pitch":0.13,"left_x":0.369,"left_y":-0.263,"left_z":0.16,"left_roll":-0.75,"left_pitch":0.15},"note":"The sideways gap is now only a few centimeters, and the pen tip is slightly low. I’m bringing the axes together with a small height correction and a 1.5-centimeter forward move."})
tool
executing move_to over 3 steps (0.3s)
step 197
assistant
agent noteThe wrist bodies are blocking further approach before the pen reaches the opening. I’m withdrawing the pen and lowering the cap so I can regrasp it nearer its closed end, leaving the opening exposed.
move_to
right_x0.2700right_y0.2300right_z0.1600right_roll0.4000left_x0.3700left_y-0.2450left_z0.0700left_yaw0.0000left_roll0.0000left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7383, 1.5661, 0.6628, 0.5652, -0.3668, -0.8913, 0.1017, 1.2518, 1.7889, 0.8509, 0.437, 0.8482, 1.0931, 0.0809] state[eef_state]: left_x=0.3701 left_y=-0.2463 left_z=0.143 left_yaw=0.0254 left_pitch=0.1164 left_roll=-0.7145 left_gripper=0.1017 right_x=0.2587 right_y=0.3721 right_z=0.1181 right_yaw=-0.0083 right_pitch=0.1086 right_roll=0.6685 right_gripper=0.0809 state[joint_eff]: [-2.5915, -6.4615, 9.1692, 2.044, -0.0952, -0.0611, 0.1538, 0.7179, -8.2667, 9.4017, 1.9609, 0.0415, -0.0171, 0.7399] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.23,"right_z":0.16,"right_roll":0.4,"left_x":0.37,"left_y":-0.245,"left_z":0.07,"left_yaw":0,"left_roll":0,"left_pitch":0.25},"note":"The wrist bodies are blocking further approach before the pen reaches the opening. I’m withdrawing the pen and lowering the cap so I can regrasp it nearer its closed end, leaving the opening exposed."})
tool
executing move_to over 12 steps (1.2s)
step 209
assistant
agent noteThe cap is clear of the pen again. I’m lowering it gently to the tabletop before changing where the left fingers hold it.
move_to
left_x0.3620left_y-0.2450left_z0.0070left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.889, 1.8904, 0.6998, 0.6491, -0.7727, -0.4503, 0.1036, 1.0542, 1.2392, 0.6144, 0.1337, 0.7666, 0.8825, 0.0828] state[eef_state]: left_x=0.3621 left_y=-0.2447 left_z=0.0563 left_yaw=-0.0217 left_pitch=0.1913 left_roll=-0.0384 left_gripper=0.1036 right_x=0.2724 right_y=0.2386 right_z=0.1741 right_yaw=-0.0443 right_pitch=0.137 right_roll=0.5018 right_gripper=0.0828 state[joint_eff]: [-0.6906, -7.9932, 6.9949, 2.0537, -0.2564, 0.1001, 0.1929, -1.1145, -3.0017, 5.641, 1.3651, 0.1783, -0.1245, 0.6764] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.362,"left_y":-0.245,"left_z":0.007,"left_pitch":0.15,"left_roll":0},"note":"The cap is clear of the pen again. I’m lowering it gently to the tabletop before changing where the left fingers hold it."})
tool
executing move_to over 4 steps (0.4s)
step 213
assistant
agent noteThe cap is now supported at table height. I’m opening the left fingers enough to move the grasp toward its narrow closed end.
move_to
left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8909, 2.051, 0.7052, 0.7124, -0.7868, -0.4511, 0.1054, 1.0496, 1.2373, 0.6018, 0.1074, 0.7479, 0.8673, 0.0827] state[eef_state]: left_x=0.3592 left_y=-0.2397 left_z=0.0055 left_yaw=-0.024 left_pitch=0.1378 left_roll=0.0371 left_gripper=0.1054 right_x=0.2698 right_y=0.2359 right_z=0.1639 right_yaw=-0.0218 right_pitch=0.1153 right_roll=0.4592 right_gripper=0.0827 state[joint_eff]: [-0.294, -8.9368, 4.6701, 1.2918, 0.1099, -0.1245, 0.2027, 0.2803, -4.1094, 7.5829, 1.8535, 0.3541, 0.1294, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.45},"note":"The cap is now supported at table height. I’m opening the left fingers enough to move the grasp toward its narrow closed end."})
tool
executing move_to over 4 steps (0.4s)
step 217
assistant
agent noteThe released cap lies lengthwise in front of the left fingers. I’m sliding the open fingers about three centimeters toward its closed end so the open end will extend behind the new grip.
move_to
left_x0.3890left_y-0.2420left_z0.0080left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8906, 2.0567, 0.7059, 0.7372, -0.778, -0.4694, 0.4456, 1.0492, 1.2373, 0.6018, 0.1104, 0.7429, 0.8669, 0.0848] state[eef_state]: left_x=0.3606 left_y=-0.2429 left_z=0.0068 left_yaw=-0.0181 left_pitch=0.1469 left_roll=0.0016 left_gripper=0.4456 right_x=0.2698 right_y=0.2368 right_z=0.1641 right_yaw=-0.0181 right_pitch=0.1147 right_roll=0.4628 right_gripper=0.0848 state[joint_eff]: [-0.0342, -8.4581, 4.4239, 1.6239, -0.2711, 0.0611, -0.0269, -0.1709, -4.2462, 6.694, 1.5946, 0.2418, -0.0513, 0.5885] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.389,"left_y":-0.242,"left_z":0.008,"left_pitch":0.2},"note":"The released cap lies lengthwise in front of the left fingers. I’m sliding the open fingers about three centimeters toward its closed end so the open end will extend behind the new grip."})
tool
executing move_to over 3 steps (0.3s)
step 220
assistant
agent noteThe low sideways-loaded pose did not move forward. I’m lifting the open fingers slightly and increasing the forward wrist tilt before the new grasp.
move_to
left_x0.3850left_y-0.2430left_z0.0500left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8909, 2.0567, 0.7059, 0.7372, -0.7776, -0.4694, 0.4466, 1.0492, 1.2373, 0.5961, 0.104, 0.7383, 0.8665, 0.0868] state[eef_state]: left_x=0.3605 left_y=-0.2431 left_z=0.0068 left_yaw=-0.0188 left_pitch=0.1468 left_roll=0.0014 left_gripper=0.4466 right_x=0.2686 right_y=0.236 right_z=0.1604 right_yaw=-0.0129 right_pitch=0.1068 right_roll=0.4528 right_gripper=0.0868 state[joint_eff]: [-0.3214, -8.4444, 4.4103, 1.619, -0.2076, 0.0122, 0.0952, -0.0752, -3.8496, 7.0632, 1.7021, 0.232, -0.0415, 0.1929] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.243,"left_z":0.05,"left_pitch":0.4},"note":"The low sideways-loaded pose did not move forward. I’m lifting the open fingers slightly and increasing the forward wrist tilt before the new grasp."})
tool
executing move_to over 9 steps (0.9s)
step 229
assistant
agent noteThe left fingers have moved forward over the cap’s narrow end. I’m lowering them for the new grasp, leaving more of the cap opening behind the fingers.
move_to
left_x0.3850left_y-0.2430left_z0.0030left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8669, 2.1361, 0.6868, 1.1072, -0.833, -0.2592, 0.4467, 1.0492, 1.2373, 0.5961, 0.104, 0.7311, 0.8661, 0.0889] state[eef_state]: left_x=0.3799 left_y=-0.24 left_z=0.0359 left_yaw=-0.0153 left_pitch=0.3419 left_roll=0.0117 left_gripper=0.4467 right_x=0.2681 right_y=0.2371 right_z=0.16 right_yaw=-0.0067 right_pitch=0.1037 right_roll=0.4543 right_gripper=0.0889 state[joint_eff]: [0.335, -8.335, 4.0957, 1.9414, -0.1197, 0.1148, -0.0024, -0.1162, -4.0957, 6.5846, 1.6142, 0.1978, -0.0757, 0.2125] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.243,"left_z":0.003,"left_pitch":0.4},"note":"The left fingers have moved forward over the cap’s narrow end. I’m lowering them for the new grasp, leaving more of the cap opening behind the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 232
assistant
agent noteThe fingers are at the cap’s narrow end near the table. I’m closing to secure the new grip before lifting it back to the pen.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8665, 2.3203, 0.7216, 1.3319, -0.8478, -0.2218, 0.4468, 1.0492, 1.2373, 0.5961, 0.104, 0.728, 0.8661, 0.091] state[eef_state]: left_x=0.3844 left_y=-0.2423 left_z=0.0096 left_yaw=-0.0015 left_pitch=0.3942 left_roll=-0.0069 left_gripper=0.4468 right_x=0.2679 right_y=0.2375 right_z=0.1598 right_yaw=-0.0042 right_pitch=0.1023 right_roll=0.4551 right_gripper=0.091 state[joint_eff]: [-0.1709, -8.759, 3.3573, 0.1587, 0.149, 0.1001, -0.0024, -0.1709, -4.2462, 6.8718, 1.6044, 0.2662, -0.0562, 0.2271] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are at the cap’s narrow end near the table. I’m closing to secure the new grip before lifting it back to the pen."})
tool
executing move_to over 5 steps (0.5s)
step 237
assistant
agent noteThe gripper closed empty, so the forward shift went past the cap’s end. I’m reopening and moving back about 1.5 centimeters for one corrected grasp.
move_to
left_x0.3720left_y-0.2430left_z0.0030left_pitch0.3000left_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]: [-0.8661, 2.3383, 0.7303, 1.3972, -0.8585, -0.1997, 0.0113, 1.0492, 1.2373, 0.5961, 0.1036, 0.7231, 0.8661, 0.0918] state[eef_state]: left_x=0.3869 left_y=-0.2431 left_z=0.0164 left_yaw=0.0143 left_pitch=0.4323 left_roll=-0.0281 left_gripper=0.0113 right_x=0.2676 right_y=0.2383 right_z=0.1594 right_yaw=-0.0 right_pitch=0.0999 right_roll=0.456 right_gripper=0.0918 state[joint_eff]: [-0.0205, -8.1709, 3.2205, 1.3455, 0.0659, 0.0122, 0.7497, -0.0205, -4.1915, 6.5846, 1.5849, 0.1734, -0.0806, 0.0708] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.372,"left_y":-0.243,"left_z":0.003,"left_pitch":0.3,"left_gripper":0.4},"note":"The gripper closed empty, so the forward shift went past the cap’s end. I’m reopening and moving back about 1.5 centimeters for one corrected grasp."})
tool
executing move_to over 5 steps (0.5s)
step 242
assistant
agent noteThe left arm is again holding its low pose instead of following the correction. I’m lifting it away to locate the released cap clearly rather than closing blindly.
move_to
left_x0.3100left_y-0.1700left_z0.1600left_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]: [-0.8665, 2.3428, 0.7303, 1.3949, -0.8574, -0.1997, 0.396, 1.0492, 1.2373, 0.5961, 0.1036, 0.72, 0.8661, 0.0931] state[eef_state]: left_x=0.3865 left_y=-0.2431 left_z=0.014 left_yaw=0.0105 left_pitch=0.4278 left_roll=-0.0225 left_gripper=0.396 right_x=0.2674 right_y=0.2387 right_z=0.1592 right_yaw=0.0025 right_pitch=0.0985 right_roll=0.4568 right_gripper=0.0931 state[joint_eff]: [-0.1709, -8.335, 2.7692, 1.4139, 0.0269, 0.0073, 0.0464, -0.0889, -4.2188, 6.5983, 1.58, 0.1587, -0.0806, 0.1245] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.17,"left_z":0.16,"left_pitch":0,"left_roll":0},"note":"The left arm is again holding its low pose instead of following the correction. I’m lifting it away to locate the released cap clearly rather than closing blindly."})
tool
executing move_to over 15 steps (1.5s)
step 257
assistant
agent noteThe cap is back on the table, but I have not achieved a reliable insertion alignment. I’m lowering the pen separately and parking the left arm so both pieces can be left safely accessible.
move_to
right_x0.2700right_y0.2400right_z0.0500right_roll0.0000right_pitch0.2500left_x0.2945left_y0.0014left_z0.1800left_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]: [-0.8391, 1.2957, 0.7361, -0.1616, -0.7052, -0.5495, 0.3972, 1.0489, 1.2373, 0.5961, 0.1036, 0.7124, 0.8661, 0.0939] state[eef_state]: left_x=0.316 left_y=-0.1752 left_z=0.1519 left_yaw=0.0146 left_pitch=0.0427 left_roll=-0.0174 left_gripper=0.3972 right_x=0.267 right_y=0.2398 right_z=0.1588 right_yaw=0.0085 right_pitch=0.0952 right_roll=0.4588 right_gripper=0.0939 state[joint_eff]: [0.2667, -5.5453, 9.6615, 1.3797, -0.2662, 0.0366, 0.105, 0.0068, -3.8085, 6.5983, 1.5995, 0.1978, -0.0513, 0.0757] 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":{"right_x":0.27,"right_y":0.24,"right_z":0.05,"right_roll":0,"right_pitch":0.25,"left_x":0.2945,"left_y":0.0014,"left_z":0.18,"left_pitch":0},"note":"The cap is back on the table, but I have not achieved a reliable insertion alignment. I’m lowering the pen separately and parking the left arm so both pieces can be left safely accessible."})
tool
executing move_to over 16 steps (1.6s)
step 273
assistant
agent noteThe pen is above a clear patch of table beside the cap. I’m lowering it to the surface before releasing it.
move_to
right_x0.2700right_y0.2400right_z0.0040right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0509, 0.8036, 0.5896, -0.3672, -0.1066, -0.1093, 0.3973, 1.1454, 1.8027, 0.4919, 0.6193, 1.0115, 0.6079, 0.0952] state[eef_state]: left_x=0.2952 left_y=0.0074 left_z=0.1739 left_yaw=0.0865 left_pitch=-0.0079 left_roll=-0.0238 left_gripper=0.3973 right_x=0.2685 right_y=0.2384 right_z=0.0433 right_yaw=0.0263 right_pitch=0.2062 right_roll=-0.0 right_gripper=0.0952 state[joint_eff]: [0.1573, -2.0581, 8.1573, 1.8144, 0.1343, 0.1099, -0.0024, 0.8137, -6.4889, 4.6291, 1.6484, 0.6081, -0.1099, 0.1294] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.24,"right_z":0.004,"right_pitch":0.15},"note":"The pen is above a clear patch of table beside the cap. I’m lowering it to the surface before releasing it."})
tool
executing move_to over 3 steps (0.3s)
step 276
assistant
agent noteThe pen has reached table height. I’m opening the right fingers to leave it beside the cap.
move_to
right_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]: [-0.0494, 0.8066, 0.5892, -0.3798, -0.0818, -0.0967, 0.3973, 1.1339, 1.9285, 0.498, 0.6682, 0.9859, 0.6277, 0.0961] state[eef_state]: left_x=0.2937 left_y=0.0035 left_z=0.1701 left_yaw=0.0604 left_pitch=-0.0254 left_roll=-0.025 left_gripper=0.3973 right_x=0.2687 right_y=0.2359 right_z=0.0095 right_yaw=0.0337 right_pitch=0.1597 right_roll=-0.0381 right_gripper=0.0961 state[joint_eff]: [-0.3624, -1.4154, 7.0359, 1.8779, -0.2955, -0.1587, -0.0122, -0.4991, -7.1726, 4.6017, 1.6728, 0.4567, 0.1148, 0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.5},"note":"The pen has reached table height. I’m opening the right fingers to leave it beside the cap."})
tool
executing move_to over 5 steps (0.5s)
step 281
assistant
agent noteThe pen is resting separately on the table and the cap remains nearby. I’m lifting the empty right gripper away to leave both objects unobstructed.
move_to
right_x0.2965right_y0.0005right_z0.1858right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.049, 0.8066, 0.5888, -0.3805, -0.0967, -0.1059, 0.3973, 1.1339, 1.9537, 0.4988, 0.6739, 0.9596, 0.6506, 0.4959] state[eef_state]: left_x=0.2935 left_y=0.0063 left_z=0.1699 left_yaw=0.0783 left_pitch=-0.0256 left_roll=-0.0241 left_gripper=0.3973 right_x=0.2668 right_y=0.2379 right_z=-0.0001 right_yaw=0.0417 right_pitch=0.1352 right_roll=-0.0252 right_gripper=0.4959 state[joint_eff]: [-0.1026, -1.1419, 7.0906, 1.7167, 0.0317, 0.0171, -0.0122, -0.3487, -7.2821, 3.8769, 1.4823, 0.359, 0.0464, -0.1245] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2965,"right_y":0.0005,"right_z":0.1858,"right_pitch":0,"right_roll":0},"note":"The pen is resting separately on the table and the cap remains nearby. I’m lifting the empty right gripper away to leave both objects unobstructed."})
tool
executing move_to over 20 steps (2.0s)
step 301
assistant
agent noteI picked up both pieces, but could not reliably align and insert the pen into the cap without the gripper bodies interfering. The pieces were released separately and both arms were moved clear; the pen is not capped.
give_up
hindsightFor this assembly, grasp the cap near its closed end from the outset so its opening protrudes well beyond the fingers. Parallel downward grippers collided during alignment even with grasp points about 11 cm apart; opposite wrist rolls of about 0.7 rad improved clearance but were insufficient with the original cap grip. Large yaw changes and low poses near x=0.38, |y|=0.24 sometimes failed to track; lifting and shortening reach restored motion. Use readback and visual confirmation rather than repeating stalled targets.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 0.8108, 0.5877, -0.3813, -0.0975, -0.1066, 0.3973, -0.0296, 0.7898, 0.5678, -0.3328, -0.0013, -0.0017, 0.4957] state[eef_state]: left_x=0.2935 left_y=0.0066 left_z=0.1681 left_yaw=0.0801 left_pitch=-0.0316 left_roll=-0.0235 left_gripper=0.3973 right_x=0.2962 right_y=-0.0049 right_z=0.1743 right_yaw=-0.0273 right_pitch=-0.0035 right_roll=0.003 right_gripper=0.4957 state[joint_eff]: [-0.1436, -1.6752, 7.3094, 1.7118, -0.0708, -0.0513, -0.0122, -0.4444, -0.8274, 9.2786, 1.8095, 0.0171, -0.1197, -0.0269] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both pieces, but could not reliably align and insert the pen into the cap without the gripper bodies interfering. The pieces were released separately and both arms were moved clear; the pen is not capped.","hindsight":"For this assembly, grasp the cap near its closed end from the outset so its opening protrudes well beyond the fingers. Parallel downward grippers collided during alignment even with grasp points about 11 cm apart; opposite wrist rolls of about 0.7 rad improved clearance but were insufficient with the original cap grip. Large yaw changes and low poses near x=0.38, |y|=0.24 sometimes failed to track; lifting and shortening reach restored motion. Use readback and visual confirmation rather than repeating stalled targets."})
tool
give_up: I picked up both pieces, but could not reliably align and insert the pen into the cap without the gripper bodies interfering. The pieces were released separately and both arms were moved clear; 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 · 6.838 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, 0.7921, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0185, 0.791, 0.6109, -0.3714, -0.0135, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0005 right_z=0.1858 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.4427, 10.5094, 1.7753, -0.0171, 0.0708, -0.0464, -0.7179, -1.2513, 9.6342, 1.6972, -0.1148, -0.0269, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e6c7423ae85fa71ad620fe0a8a677c77bd2d3f5c1d046a287c7e0c47a0dadb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed0853991c3a168a0da3104548c1ea490a8c352e30f5438c07ba0ed1d99494b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a8061b9b86ab90e232a3a5bfaa4977481e386582fbed8c129e0b94dcbfd7632",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.469 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNauPtUeZFcW0q32vjAemzizjpVpgiljHNcKSJyeW3NfIwnfVBx0p-tIutAYXsvPR96hKvzmTsiluqM6p9kdugxDb6llVJpVLXZaj5gUELHYzTzjWavaV8L-1BlL6rMgYQPkehuazd8pD5rfpEbkRrp_o4ghk5wh2uKTPZ1E89vi2bO_ZqwAxYZ8f5fjRTSqcjDXTfFPG25JzObC1chsXV8tSoDuWJ7l_hOle4Arr2JP3e7jOFznL5LdXHMXLGFxJ4lMlP_ygtyOKvychkT_1OS9NsjLw2cjOLYitXxIGW4-3pHwmO0l4z2fNifNHM0bMi7_gSy86s-alKlzgOSvcVjtwOaI53w5V3-DDnoNH0-bqU5KXgqFkfIZsf84zdNh1o3YSz0TYAHbioONsrHdMyA7JWJBD5HRsFW9h2bi_RUdz-bpldWpHIRADB3xqnRtWZrZwCOuubuVtRBx8-VC_UNOW9F-GDjF_FoglWf-mpi7hOE_0HwTZ804oGW8UPRLaa3bw5Wglvh8T2_3UR16mfbEuj76v5OIBRW0RVqqOfjd-1hX2RqhcZ4ncauPenaZ8A4WyAG4z8Mp9kbrKNcToa9RYMXkY0pKP5ZFErQU4jOitx_pv-wnZ5tYgb3G-obnu_3oyFDNAvhirI5QMJSxoT96FQKWGK_CI99RsJBMSsrGumiZm1pgsv91hpplBf6_5blTD0r8lSeQZP2JJpjy5rF1POkvFVhco18MLEbHPCP_xT185jmwZYJc7caIJPMnBW6iuMbcBapFK8C9nfXUGJGYW6Rd5vj0SI2mBM8_kCVFdB1wSSCySWkTVsjBJMY1I5LFqyuBUOMtqKT7WDY86gEyX2T47u0vsBmbK-JMxVri35p4l2Rt5Kl8SkFGUuJvfjw_S9TvLLj53kYWoS4bmp-ZV11aUyejs8beeqrU5aPW0ISa4eWf7IxFq9-VQDAfyZ04OpZAA2Nq_mSvWUzIMF5l5GCFGZIOBhCA7b4tIqYlMq40W4pcPh2IMBQi_WohJtVUFIhJCP7LUOBfomYCtDEOQ6UDtlBDCraHNXAgdUtsB9JWciTsfF3p7G-Ou65v9KTPonS7FXavLDzZStcAFQehvmLq7IQZ-1jK1Wiw3EjDkjfh8T86uWJdFtD2RIDfdXnMBpqnaFCm4KOZ9NGtgnb6CIK2fNwtsbk5Lx4UB0lPx79L1ul6xK-b6EbFI6KauY5NyyydTg1NJhoGHfX0Ey_O8MwyTkNiSg_BbIxXLwdh1TXxOQf1OFEb5nznx_7mTSUnvr0F2PIR7c9iG0QPI-QYZAB4cC7c1_fbDM-C17_L2XQ_oJHuhZBWe-3Ypo1hZxIJCFxY2C07jDAd0Aek6vZQ-KeVX9CIfD_SfSmjI2pLtJIz5d_1YZDDrygvAwt3uvHNgQbyCWbVQbmsHGROTkgv0ebvURuJ8ferKisGJiKuDKq0-Lx9j9TO1qPG4vVFVNCRqLwMaZCa16LWMAHwgI3G0gBHqndEXV4qqA_88Tn6TuUUSXnHj0hbs8oWqSQDEUAs5A52DZUYhFXNZRNsPz0smVtyRERQ27qWZde455jZWrp1l7r5KJ61O1kb38hKzaCyA_Cl9AWYPMyo0GsY4QRRAtVXblsMI0sCidD26k299-1ibyPwEBl4maF1aOzQ8HZZkGHhbpygJluqVp4oG2A7Z80u6bIxffkHjfR3C44DwoowaDzXvSMkednTZyko56nUEtld_eSNgFDw41yWqDtpSgUX_8dFuwDZOlFP2S-9VKO_-fnSJo7Sq3zAzftAiMS4rdtViDQI9ELytt-JSt_swBVcOQ4z1ib1mgreSbwzlVnKSe9Ta9mPe6GxHWMFM0qmgmXu_muealMRvSfH5Zl8lG9dfNCs_BlvWBTo-cg_xdAx1lo9WgteyxhPPTNKjk94HoQZ1OQ9WD4x2ute-BrTVxdpzlmeqFeF18SGkfXuFAfQDCUn7vNn2g6vDRkDrQxY6M-9XxP5zzj-p0dIzSSRb_qp-W10OhBuMpmg2SVurqVtsquiKlQVsWFL5DfOMaOGUHnenSam4rHL2HnddZfpPRWkCgt1FZd0rp_FHgetVsrmBkpi0JjBChwCLtxzeGZMht7iK9oZ2nZvimDs6ReVe6CaOsWq7YHmH-TDgpYKExu67hG_b54IghkJRU8S1X-DHiHoWGMWnDv1wihaOPutmGkk-OUaiNMjpeNCTo7uM9xdSRt_NRpSy9Vr2MCVf0c_bdy2z8WEGZzVRp6lInSRIEf0k7ADgqtIf30U_e_jq2QIe8CQou_SeixuhWHsHQkAZiOCfDmP6eTVdP2q2GWHhJ1l-98HzsPr13rBl1Z1SM=",
  "id": "rs_0d74ad643be87f17016ab49354de3c87d08dbf73edc28ba382",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.11,\"left_gripper\":1,\"right_x\":0.2965,\"right_y\":0.0005,\"right_z\":0.1858},\"note\":\"The short cap is on the left of the table and the pen is on the right. I’m bringing the left gripper above the cap while keeping the right arm parked clear.\"}",
  "call_id": "call_vvlszW8IpLoKq99ZSv9XypiU",
  "id": "fc_0d74ad643be87f17016ab49359060c87d098ed9fe74715ce41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vvlszW8IpLoKq99ZSv9XypiU",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6003, 1.6005, 0.7986, 0.0574, -0.485, -0.3672, 0.9997, -0.0193, 0.7959, 0.6132, -0.3866, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3851 left_y=-0.1595 left_z=0.0883 left_yaw=-0.0105 left_pitch=-0.0739 left_roll=0.0395 left_gripper=0.9997 right_x=0.2951 right_y=0.0002 right_z=0.1823 right_yaw=-0.0016 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.8291, 8.8, 1.7656, -0.2515, -0.0708, -0.0464, -0.1162, -1.6342, 6.9402, 1.8584, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accb0457b042e9b19743aa1fb4679b3792eba4545989a66fb11f7a696d3af33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881d6c16521def22eaa9eedb0099dd1c5a052c826599cd364be7081dfefa64e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639b2b2e45894cf7a9f036bc7694e2a9b1f2efab84e66e7f3778e74138c8ed24",
      "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 · 4.094 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, 0.7921, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0185, 0.791, 0.6109, -0.3714, -0.0135, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0005 right_z=0.1858 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.4427, 10.5094, 1.7753, -0.0171, 0.0708, -0.0464, -0.7179, -1.2513, 9.6342, 1.6972, -0.1148, -0.0269, -0.0855]",
      "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]: [-0.6003, 1.6005, 0.7986, 0.0574, -0.485, -0.3672, 0.9997, -0.0193, 0.7959, 0.6132, -0.3866, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3851 left_y=-0.1595 left_z=0.0883 left_yaw=-0.0105 left_pitch=-0.0739 left_roll=0.0395 left_gripper=0.9997 right_x=0.2951 right_y=0.0002 right_z=0.1823 right_yaw=-0.0016 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.8291, 8.8, 1.7656, -0.2515, -0.0708, -0.0464, -0.1162, -1.6342, 6.9402, 1.8584, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accb0457b042e9b19743aa1fb4679b3792eba4545989a66fb11f7a696d3af33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881d6c16521def22eaa9eedb0099dd1c5a052c826599cd364be7081dfefa64e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639b2b2e45894cf7a9f036bc7694e2a9b1f2efab84e66e7f3778e74138c8ed24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNjhyiCVUQV03h4yLxPcQPkaCKcwtsVv-zRTl-8fszpIyC7JsmH1mW5Ofzvkro_pUzquWaT6JKbIGDIOU4jiqiMpYLlbX5TkpmxEuom_P4a3Xfh4UfzezgEUfoCX_i4--cWpKDS8Zxxe4IdewB3YQO0wf-TtmtLXntfnRYpE2gBqmoE_o7bcfDlanJZA3_9bq9RdwKQG-qyZQj39LJV_s5tJ9eO150jH3M2qZGHs5dKY-U8ifWDc9VRwPaQAdylcuSYAeS0ajq5zWB4UJpDepFwfCB8kwy_tnr42d7OISEb7bYzT8at_ARzM5kyHTEuGKXrh0zLzjskROmijS-UKESUNhQzWpuhQPZfM9j2Q-yhk_LwVuvqPpYu-eGogeBeKibElzun_aQbQn8guEhYa5JCJmS29fnre2hp8XvXvk3hJ1PyIykmLiZtKZCCMsGr7XGNH0oBQYePa4MhmHRHov7OsvheeeinscLMhkpejino3UeGI9IW1FxX8XQnCO6v7qMF_Tutq8LAND6rUhBzah0XtcA_q8vq6ogFBL5nuGiRji68Bx-VwFpcQEinLBlDgDRDbQt8usH5xJji3DSw9-A32O5IXmDxbVHdf8itW7hiBFSMuoCoGM2UmRTpqOffRELzeC_EqpIBcd01N3bpwpc4ORRRdrbIEZtxVXVgITNnKDKDN9xHc74d7QXoU-6ejEzZNVJtmlFw_ZyqAsS9U23pe7STf6W7Pv6JfCbdqrndtwqVsmq24DARMHKNnJzi7wLUuO74jh8teBlOCORb1pCNujQNShpX0TyuHK1flVvAgJVTYcTcp5RIiym95N1P2CQ--RlAYGn8auzPocy93czogkpWrYCAi3COfptxpJS3ECBJaR-AfDHDMKanZO0MyUnIx1_JG6HrMXLE8mF3Fk2tlRVaLIX2TvgXfq6BtsQPxWXanLanHruffqI3El7a3_V0eFo_D8Rrn3Wg4wEiyxduEWBXf0wc567DROkflzoCdcVo43-TDlTgIxrYTI5zvyrr0jjP_HsmPvXcvANkhDQXVE_PVDGBdLg28X_DH7PdXG5rlMC1tc0ThQZdNxs00sSxoj9uvvh5ndk2K0o-DptGaoI0qh-ybqlBJO7-n_eyKtRC1lyroSu9lf1E8rpY9udzoffseE9itQE0ZCvOqf46r-DeymZjc8Rks8K-JSqg3rnSMubKfTF0y9m--8NXcRwoa6wqfKUg4_ovUhIzfe0YdVuQOFrufL3jsEwkQwUKYjCNkHwUoC2SAWRsyofc_ZINqfFkNbUIGquB42GG54OrskfNDNfAD0Qlczq7k2EtNSKoQaaNxvRCk6CoRlhP9rfMpxty090m56mbIH29rcoSphTAM_YzVLjxis7p-u7QfnnqDxPbza0YRBbSfO6rFObXLNAAzwz9fI42Dydr4F3R3jDV8R5n9WwLqtJJ_6JRfNwtkJaF1aG6gEXfv-ru91cuZ58T0ui1nglTPoH_jN2VOPVr5NCToBMFm6xSVBfGIbU2L7rT08bmWmsCDhweMv78J2Gaj7amK1kgwIwBhcSfXlW8QUydOEuuqalyOZjoKKgQo1bcnmieplxay_WlOPJ24RCRs2Oi6dJwel_k0Vw9wrK91ST3RAeZ0glv-ZTsAi0cgdp3WfYO9GLBDS6XCMYv0QALQ6B79e3nW1zJHuUVAupLvAKbeW1xTwdadJMU0vq_13BEzPZVR45onFx8W6-IkeqTiofdlYwykp8ZSGIqJl1ypBs9IQ5dmeqtHL8tbVDdluwABax0be2NcOt9ULhHkwSvEHoayd-ATW-05spcc7WSZ_uRThHJHTuRSWQYPQgIIgNiKZ-jD_CzF8KKRKV7xL6-u6Yza3IEF6MqytYaQdJPcTgfJmfODADyf5BzeViTIMeP8mATQhWKeqw5x_vDcO4SpM6zOxOl8k2bUhCjV-3vlHylZxyzTvKkCRocl4TdPk5XFwWsrHghh_PfL6WL12RbGUVgrv8xuCaEZG9by8MC19AD25Jr2KWQL7eU_josBKkIIK1h3toXH3IMLiXXFdICduXGq7Lz0_Mj7n_QtAgDkBMwOwa85hSq-vqe_m43gKqsfPz5z6lLeDWFD0Ay7RzLDZuHaaxd0mS7KEQkjGHaRjDq54JL6XuA4hsL1Y_bmBMbbcwsOYHvrrbPUw1-JyLOawzjAQcq5Lt2e2PiRWHHBIsgAZqNU95ktSkrx40yjtIP9xJ7pNncXXpqrdX7BmTXLPve2KToTHxZXi6xRFS1nn3PaK4U_K3oPMgQ7B46SYzHdzfxLnc4aqTYdSeJf2ZBaC0TNb3cdNCcQFB0j08GrnpzF-yv8upnYtNH2oQj04VdJf-jVUbJtUYLhZLrJg04S_QdclzDLoUHG9mj70bhFOZJNtLZWrxHuUa_ixDZGOZcuOsElXZ_ETBVaAWzWQ9GDuLIah32-sSG8TGbiVraDZKBKRvVYSNvcF_nxqbtEZ_KFwjXUtbWdvD_F70mOyE8SAyTfrN5Jk-WqlqdhDUcHZh3XfefI1DoMn6EqzEUsCRw-YSsFboOqXFb3PZ-dj1Cx-lb70EHS8Au8kkyfVvlBGcS35G8kvVohtHJ4oO9XFCccNX9LOaeipotupFrlomXKnsivTbtR2e5Q4_vaxW3ktgHdrimcMIq73whs_Cgq48DgddVYUjhDWib_U2xiFIk0OeBwwXC4f54CF8ZxbqD-MqxLrCXohU2txZuQiJVDR8QQvloL2kXekRTeeIys6QrGMnSTAj_YfZb8Xwd4w==",
  "id": "rs_0d74ad643be87f17016ab4935cf11487d0bed02d0ff96a79dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.148,\"left_z\":0.035,\"left_yaw\":-0.45},\"note\":\"The cap is near the bottom of the left wrist view, slightly left of the jaw center. I’m lowering toward it and turning the jaws to grip across its short width.\"}",
  "call_id": "call_PSdTY2y24KEsNQsFjfyP6qgH",
  "id": "fc_0d74ad643be87f17016ab49362586487d09b6b0e79d8b65d68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PSdTY2y24KEsNQsFjfyP6qgH",
  "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]: [-0.3584, 1.7065, 0.6266, 0.3283, -0.1196, -0.0643, 0.9996, -0.0193, 0.7975, 0.6132, -0.3908, -0.0124, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1185 left_z=0.0183 left_yaw=-0.2324 left_pitch=-0.1764 left_roll=0.0423 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.181 right_yaw=-0.0019 right_pitch=-0.0237 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-1.0325, -7.8701, 5.9829, 2.0195, 0.149, 0.2515, -0.0171, -0.335, -1.347, 7.0222, 1.7314, -0.0366, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679a9cdd1027085538384ac6b3f8974c732056155e4396b65fc1112a67e8c325",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee933cd21f02b198e90f8bc1f7f5c101d8403bdeb9a8a2b340761688301adde5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e80909f1bceb90789787eccf56dc5cb66bed1bdab77c157ed5b50766925e6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.246 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]: [-0.6003, 1.6005, 0.7986, 0.0574, -0.485, -0.3672, 0.9997, -0.0193, 0.7959, 0.6132, -0.3866, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3851 left_y=-0.1595 left_z=0.0883 left_yaw=-0.0105 left_pitch=-0.0739 left_roll=0.0395 left_gripper=0.9997 right_x=0.2951 right_y=0.0002 right_z=0.1823 right_yaw=-0.0016 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.8291, 8.8, 1.7656, -0.2515, -0.0708, -0.0464, -0.1162, -1.6342, 6.9402, 1.8584, -0.0366, -0.0611, -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]: [-0.3584, 1.7065, 0.6266, 0.3283, -0.1196, -0.0643, 0.9996, -0.0193, 0.7975, 0.6132, -0.3908, -0.0124, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1185 left_z=0.0183 left_yaw=-0.2324 left_pitch=-0.1764 left_roll=0.0423 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.181 right_yaw=-0.0019 right_pitch=-0.0237 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-1.0325, -7.8701, 5.9829, 2.0195, 0.149, 0.2515, -0.0171, -0.335, -1.347, 7.0222, 1.7314, -0.0366, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679a9cdd1027085538384ac6b3f8974c732056155e4396b65fc1112a67e8c325",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee933cd21f02b198e90f8bc1f7f5c101d8403bdeb9a8a2b340761688301adde5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e80909f1bceb90789787eccf56dc5cb66bed1bdab77c157ed5b50766925e6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNnO0nUePVbOe6X8enOvzCpTT_7d31lWJPVjQYhltnekBJ5JRLvCH1Mz5zQr-wWRppc2QtOG6gHqhrSrFDj6j2a4vOb-3m6EfEfVfLCM9gsEp0GUj9iDldqVAK_awK4901u-g8Qcy95sVfvH6BXtW2E1wpyEhyf4xG6PrrGY1F7N4nsW6BobX66x07Avki_pILyPro-wUTLniYgieuRxCOk_hBnTV64ZKa0YwD1nVcez4Jarb9yyJQnuKYuvWDTwBnQ3Sj1bcZS-cs-BN98YSFSXRYKNzQTMHZHiWCt9sH1vwVZE2hqDvB-Db7x_ToXmA8q89N3ZJnhggOJ1eVbsjajvRX-yJqejzVhFAAG04P4vdoI1S-vKXvPJnhgyrDXcAXs4CdMnUn7dB8jD85MiT194vJz0bcYSm4oGxKGLojn_e2NVd6fZU_jr7yhKnQ67KgxfQ5PPDdd6FGPwd3txxDJlXEJIzFLZcXtq8e2JhP2JTg9t3rXerUFGJ3JuLUJpSaBHhTyws_5Lx5cAgbDmnt6Bq7YO0Zty2ySxX7AQKuHBog2DOau_2GucKrWoVHn20StTJaNMjIgpsLsUOykoUvP0ZQ45f00lxUzkvaFgahncKx7sWBP3zGVAizlf5Mix3Xog888rhkraWNwWA8sl3iBOd9NBammbSVVXpJDlmHjC4_k81HTlyi5juljT2Sw3qga3J1IYp_tHojBd33jb9jeTP6ykDJBuiea_IU8NPouJ-f-npKZ4-_7iioOSg2ezxNj0jI8MUm11DIdxFJbQiUHLPQGvK1XL2aymytIB3nd7HnsV-dreaqs3P9rJWtey9cnR6ULhIM4UVvUDyRcWs2f0eUB2dEaW_fwxXRTLX6TuSduYxhl8L71aj0bfk0r1R9E05a4Bara_Px0ohmE6F_8jarQRXG5ZRAcBYP_pe2CqWHalVC-ED2gdBHk92K_GcvsKgBz_28CmUAhtgYYBLSP-hq81vB72W8cResnBlFlBBcUVLXfmpcbTVj_BHDnzu2siXQceHH9BmST8fKWo7L5RmT4rbLxCCOdJSB1nsieJB4JcZKVumzm1MBucUn09uL6P16r1xzgmH1jLgoWNU_JBVOx8DqSK80fmlfEcHTcC6xJdWMSEwKH1mq2CnSdvsG6tc2hwky4hFlk2RbLvRuH9oV4ICrOFU4vGTmnjOPKUBaVcj_uSP8rIgTZslPOehIZqcHP-INykScvwsLwrSr2arC0FSO56jitouF1tpMsNjiAKuEEPvHMNymlinLMtZciaQTJlgo81jZwTFQyixkxYZ5f4y7I9uZJfvJKVbKI0YqZs4Ao74lyeziEjtIyPQivoYPVC_C8yyu1mMybPKlhJdPErcH1fXT6M24y-f1W-nsMHAm6xdPezNScXZn2zY6p2oDQKa1IjD3kl-4DA9LYypzKWOQuWlVlsGRbxGH9P4dOChPYC3tPyKmr43sKw-VaJWZ1zbbGbWmsNFE7F-57lygt6MYgK4jZ6O9oXW_iBkVm5-5P5tebkrCDYAL5HozxLbI4dhAfiaRajQDPTRZW20OgsxR5QlWZ5xbqhU3iWLPtJCkxEJycuwvYlhblxDQFWZsXWWYyV8_ZS2cHteO-9DI0JECqGQKXfJkgFD4GgrlHBfQGjoaw7DcLltusfseKi-OACXtZOZNboXpqqAN3sQ==",
  "id": "rs_0d74ad643be87f17016ab49364e47c87d0af5c0c5812c8ef7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.134,\"left_z\":-0.007,\"left_yaw\":-0.4},\"note\":\"The cap remains between the open fingers but is a little right of center. I’m making a small forward and sideways correction at table height before closing.\"}",
  "call_id": "call_Y325xqc4G784xBR3OGAYfmrh",
  "id": "fc_0d74ad643be87f17016ab49366bf8487d0986d7f8ceb434a13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y325xqc4G784xBR3OGAYfmrh",
  "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]: [-0.3397, 1.7683, 0.6159, 0.4461, 0.0029, 0.0391, 0.9996, -0.0193, 0.7979, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3913 left_y=-0.135 left_z=0.0114 left_yaw=-0.3747 left_pitch=-0.1374 left_roll=0.036 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0237 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -6.7624, 5.1624, 1.663, -0.0269, -0.0464, -0.0122, -0.0889, -1.265, 7.1316, 1.7607, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e2f18dd81d67b87bd92a69d53758ee7a0409c8e6befcc998e1269d61d27fed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a96afcf0407fb4e91a658a03c173f13362db76fc178236da5a9433864864e96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f695c3e3ec34c250d8272c1dae5438c43f387e9a54860fae1828c4d92d17aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.565 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, 0.7921, 0.6022, -0.3798, -0.0216, -0.025, 0.9996, -0.0185, 0.791, 0.6109, -0.3714, -0.0135, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0014 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0005 right_z=0.1858 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.4427, 10.5094, 1.7753, -0.0171, 0.0708, -0.0464, -0.7179, -1.2513, 9.6342, 1.6972, -0.1148, -0.0269, -0.0855]",
      "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]: [-0.3584, 1.7065, 0.6266, 0.3283, -0.1196, -0.0643, 0.9996, -0.0193, 0.7975, 0.6132, -0.3908, -0.0124, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1185 left_z=0.0183 left_yaw=-0.2324 left_pitch=-0.1764 left_roll=0.0423 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.181 right_yaw=-0.0019 right_pitch=-0.0237 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-1.0325, -7.8701, 5.9829, 2.0195, 0.149, 0.2515, -0.0171, -0.335, -1.347, 7.0222, 1.7314, -0.0366, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3397, 1.7683, 0.6159, 0.4461, 0.0029, 0.0391, 0.9996, -0.0193, 0.7979, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3913 left_y=-0.135 left_z=0.0114 left_yaw=-0.3747 left_pitch=-0.1374 left_roll=0.036 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0237 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -6.7624, 5.1624, 1.663, -0.0269, -0.0464, -0.0122, -0.0889, -1.265, 7.1316, 1.7607, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e2f18dd81d67b87bd92a69d53758ee7a0409c8e6befcc998e1269d61d27fed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a96afcf0407fb4e91a658a03c173f13362db76fc178236da5a9433864864e96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f695c3e3ec34c250d8272c1dae5438c43f387e9a54860fae1828c4d92d17aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNrh_70Y72qEvpQEWi5dVFeQ1bTlH5bOLmQoyMwicmW-qD-W6HiyZld6LQsOQftUguzRPdOT3I7NRdKLA6AhRD43-dQcAwJKEtvumSNqA0IaRnCz19uJF3GJ5OFqMxgTXiWSnnXX4JYPvtEepH61SFSG6I5__ZVOyoTNyMd3gcKbYXXViTeXdb-J2QSviQcbgFq1BVWbwZA1hFluUbMj7MM8MOhTYfaO9J3oZdiPUkqvXSJJCsWBU-DGEyyDmNGuXJkJeL1UH03AAoAy-ZFYRaRoAd0JxAORMsJSXVMB9gV7V_bP-3X1pzrhoP-8JJm8louphwGVFT0Ax4JIQ4mE1BLtzY6C4inrrY6Hf0VoFC0J1xBotI6NOE9Eoc-aPRSUf55TQLV4-SaVML_WRr1sAyHI4iCSQM2WCyMsH3YBaRZYBydoMQClCrPmBP9x8oXGksAV4ieFIyM7D4VRNujAxzzIilObVj3Mc7lTxQLfe7LmwyHUPec3mrvbGeKqgxFGWAwhzNBt3nj9F7ZHFtyKTqDmiAap4DC1fcvRZ9Px9JrsIcygs8b1pFgl44UTjf96eLaeu_jFGEwEKjQ-DhcysUBFUvBo250Dy-Axm3pOMwzcmH6Q_m4yIIjOa0XWl_zSx4w5s9PMHppVZLPIdffMJupNwH7eFIjGqnSRz73n9v3gvQXDX8iYRjBh05CKVTR4c5fqScohWGJBiEQGpnHKx2Tj-u4ex9l8oTwDI7PVu48bdPaw1KAonOvJOsHRIDL4uW5Pdh_CdVZDNCci6LWWU0-8kU0v7A07XL4Emw1nHFteaQbu8C8J0qvKeoipc4oaHle7hVTysb9bWJ9UpQQtSm8uVoZQ_mtCiRVIVQrN0CYk0l8ZrrLFtE_7K3kX9quMEvyP3IOchND-aNoKlCyd2iMkfTQkQZuj6g-yh4x811Fu8eqzjAeCDa6z6IrxH18jBR8x62Gnwm_2uW05To9XqGsQ6A50PkxECU5W2x6wXSjXv2TVvDSq_cY_IQEDi8P31HPsxLQJnwira2ahjUpZdWP9nRc6fQqfa3g6LlhcVY5Ajo73JLv2c6PwqYP1jmJclA5vlFeleXiEacpz1Yrv90ET_kR3dEUGfmzJtU7mOmzY3Hpf3vzSjKinE5mp2cc8CPN4ZxmLwjeN-vJ0hOpDZixCkCH_6fAWKMOOd1WBVQKNToZ7YVtc1XHzUL4BOkZCaafoxUM_lMcR9uIIKE5UIPSPn6ydkKkBZetBXEzqtfZgY6C2pUkH1maoHAbFkLtXPuXVgJGe6LLx3xnCQninuIc6ZrYpJy5ErDODKUMoCL5ScsXMc6hN8D9cXapYVCr2dUCDrQ1RC8xhutR_dcfXEld-dzabMbrUpfQ_Kp656PhOj0CD4s6YdmcFGE0gHJZ4nAQEDnwiqqHZq2GXCLyVy1L4Ml9Z4Ajeh6viwyQQBExNnuFrgtpm9UD_75v5OMrVS4KDXS7L0J_aTrnXosT34HlCxeKtGdpc7kXcRUPiRqjE73McySRfPKMMLegtMCcyCH8c6L_Xy9QsRtM1FGKFq4srw==",
  "id": "rs_0d74ad643be87f17016ab49369208487d0b8702f3503ed2920",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now under the closing region of the left jaws at table height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_2ckkqs5lYDycaIMQxJYm00AK",
  "id": "fc_0d74ad643be87f17016ab4936a714887d0ac6eeb525a8c532a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ckkqs5lYDycaIMQxJYm00AK",
  "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]: [-0.3386, 1.8, 0.6147, 0.4747, -0.046, 0.0032, 0.0506, -0.0193, 0.7986, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.395 left_y=-0.1267 left_z=0.004 left_yaw=-0.3126 left_pitch=-0.1408 left_roll=0.0406 left_gripper=0.0506 right_x=0.2948 right_y=0.0002 right_z=0.1808 right_yaw=-0.0016 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -7.4735, 4.9983, 1.6581, 0.0708, 0.1099, 1.3504, -0.1162, -1.3197, 7.0496, 1.7411, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c38149deff70e62c1611b03de1407daffa647d5bc098a7523ee74f796226d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e5cb9fa25b952ff75dade24e182978ab1a3475fd2fb76173c5b4fac76ed42c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d12a0e57461c506417eafd7e8f5663fd116308d8f416d773c199f0650f92ed4",
      "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 · 6.085 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]: [-0.6003, 1.6005, 0.7986, 0.0574, -0.485, -0.3672, 0.9997, -0.0193, 0.7959, 0.6132, -0.3866, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3851 left_y=-0.1595 left_z=0.0883 left_yaw=-0.0105 left_pitch=-0.0739 left_roll=0.0395 left_gripper=0.9997 right_x=0.2951 right_y=0.0002 right_z=0.1823 right_yaw=-0.0016 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -7.8291, 8.8, 1.7656, -0.2515, -0.0708, -0.0464, -0.1162, -1.6342, 6.9402, 1.8584, -0.0366, -0.0611, -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]: [-0.3397, 1.7683, 0.6159, 0.4461, 0.0029, 0.0391, 0.9996, -0.0193, 0.7979, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3913 left_y=-0.135 left_z=0.0114 left_yaw=-0.3747 left_pitch=-0.1374 left_roll=0.036 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0237 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -6.7624, 5.1624, 1.663, -0.0269, -0.0464, -0.0122, -0.0889, -1.265, 7.1316, 1.7607, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3386, 1.8, 0.6147, 0.4747, -0.046, 0.0032, 0.0506, -0.0193, 0.7986, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.395 left_y=-0.1267 left_z=0.004 left_yaw=-0.3126 left_pitch=-0.1408 left_roll=0.0406 left_gripper=0.0506 right_x=0.2948 right_y=0.0002 right_z=0.1808 right_yaw=-0.0016 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -7.4735, 4.9983, 1.6581, 0.0708, 0.1099, 1.3504, -0.1162, -1.3197, 7.0496, 1.7411, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c38149deff70e62c1611b03de1407daffa647d5bc098a7523ee74f796226d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e5cb9fa25b952ff75dade24e182978ab1a3475fd2fb76173c5b4fac76ed42c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d12a0e57461c506417eafd7e8f5663fd116308d8f416d773c199f0650f92ed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNuY-2KmvQlSw6Oxu5EMC7CnbD10JASOAE52lqRifhvYPtDc8Ge6S_e3th0Qf2KM1BlvZYJlPGbPL6AcTA_E73GOAfTDjEmSNM13qINyVSEJR04v7KQGaon-cgwHHyQIkYjobNzmoJt_FvadlgbCt1lYq8St-cYfa77CCCUPpfDvUpTOM_i6sVurrDMfAQ6p44YHsoyPh8dU-OmaOvagHruNeEV3zjgBGdtV_oBejrdlbkPyBbd3QAuZQKk0I01MJEstVR97QKb0RTvtjDpKldrLUWlfZFa2exXJ1BbGODObSlCbpyhjdt1NWEhXWI7DjnDa4kQWHEX-tMtfhxcpUDZeP-Lhz8tUTmMezZRZSkvtALQmdIVZn3Q2Ldau9eb_uAuUUIKvniZrgHEE6QoNUvDgNpx8TTxqI7snVwdeyvYYEXDICcI6-bx0CCK0UfLKlk0CCcZcu1f0zwqhGPbJvVUiZCEQAZeDMfh0vMAqZVurkz_M4T-J2PWg-jtCxWP64PLHZdAdCFXGmwkDqdujkA0cyTdahKfb15B-91lWIrZNUUBGhKdcx2X7oF67PT543npKCG8hV_GIQ1xYl4qf9kcD6kU_y7myaj8dunDqzfeK6JE5vIOJSQmXnqu3QnCPqbPjgCUU1k_lPVl0P7t__sQeKoOBN9BaopZPWGwKorHaMEThvJqaOcGRDOoVwJPU2oGlaffJ4iMcESeTqdmG6GfaevBaDRi4XL7e6gQn0bifkojS4nEw6mbj-zdtqMs74VLlRK5TYqRYNbyB_WGDM0VIEyj6OQd5elrwxk-ZXnmcsBygHui3ihRwxqfgdoTN9ELLBVfcXBuTUBNrhNE5fbB-1cLe-lss5YhV6aAc8zq81vryq5sw-oE7Me5gvEun4wawe41UWUlx3RfngF0VUFnbOd9eVeCOkOSq75tU50IJEkCGJOliIN3hNZ8d8JQ3GyvsPQ0UN9T4Kdq3u-cXwCpvHQ0pkgeMejQeARjjlT7oKA1FW0EV2sEnD7qUak7pR46sIene6PrOQIxAXKP88EgG3utrqKqLp_LADmwxXFFEhXwchiHyWZ7V-d5KabV4vkUVh9vRC0XXUVwHbko1OnK6IyfOsgOk3qbcZ-_94d5154QjvJl6HtDQbozMs88bpdpXJg3gtfnv3RezR2c_lgMADJAQZqhSg-2mI4jp_XG4laJZDvRTXVH56V8-luJ3ZzkdthcQ_eeDcOIaqGDeBUJjFn76geTXaihDYT-8AUWtHk=",
  "id": "rs_0d74ad643be87f17016ab4936d4c0487d0b7bcc04961016318",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.127,\"left_z\":0.075},\"note\":\"The left gripper has stopped with a small nonzero opening, which may indicate a grip on the cap. I’m lifting a few centimeters to check that it comes off the table.\"}",
  "call_id": "call_RL4X2rtGbvgNaO2bcHmT6qhJ",
  "id": "fc_0d74ad643be87f17016ab4936db25887d09bccd9614d2866c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RL4X2rtGbvgNaO2bcHmT6qhJ",
  "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]: [-0.3389, 1.5967, 0.691, 0.1921, -0.046, -0.0002, 0.0611, -0.0193, 0.7998, 0.6132, -0.3908, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3922 left_y=-0.1259 left_z=0.059 left_yaw=-0.3111 left_pitch=-0.1438 left_roll=0.038 left_gripper=0.0611 right_x=0.2948 right_y=0.0002 right_z=0.1804 right_yaw=-0.0016 right_pitch=-0.0259 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -7.9111, 8.9094, 1.6337, -0.0611, 0.0073, 1.033, -0.0479, -0.9504, 7.0769, 1.7656, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff94648db2f06f2d89e8a282104edc44ee4200d487f2ddf2ac5ef3b1d906cba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44be62d746ce97b59840ac5b7a283b810068535dd66c8fd518895b5369dd692b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f29350e355826436ff7ab51b506a4b4e9b888454a306d02d98bf777b4f2967b",
      "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 · 6.759 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]: [-0.3584, 1.7065, 0.6266, 0.3283, -0.1196, -0.0643, 0.9996, -0.0193, 0.7975, 0.6132, -0.3908, -0.0124, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1185 left_z=0.0183 left_yaw=-0.2324 left_pitch=-0.1764 left_roll=0.0423 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.181 right_yaw=-0.0019 right_pitch=-0.0237 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-1.0325, -7.8701, 5.9829, 2.0195, 0.149, 0.2515, -0.0171, -0.335, -1.347, 7.0222, 1.7314, -0.0366, -0.0806, -0.0171]\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]: [-0.3386, 1.8, 0.6147, 0.4747, -0.046, 0.0032, 0.0506, -0.0193, 0.7986, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.395 left_y=-0.1267 left_z=0.004 left_yaw=-0.3126 left_pitch=-0.1408 left_roll=0.0406 left_gripper=0.0506 right_x=0.2948 right_y=0.0002 right_z=0.1808 right_yaw=-0.0016 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -7.4735, 4.9983, 1.6581, 0.0708, 0.1099, 1.3504, -0.1162, -1.3197, 7.0496, 1.7411, -0.0464, -0.0708, -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]: [-0.3389, 1.5967, 0.691, 0.1921, -0.046, -0.0002, 0.0611, -0.0193, 0.7998, 0.6132, -0.3908, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3922 left_y=-0.1259 left_z=0.059 left_yaw=-0.3111 left_pitch=-0.1438 left_roll=0.038 left_gripper=0.0611 right_x=0.2948 right_y=0.0002 right_z=0.1804 right_yaw=-0.0016 right_pitch=-0.0259 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -7.9111, 8.9094, 1.6337, -0.0611, 0.0073, 1.033, -0.0479, -0.9504, 7.0769, 1.7656, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff94648db2f06f2d89e8a282104edc44ee4200d487f2ddf2ac5ef3b1d906cba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44be62d746ce97b59840ac5b7a283b810068535dd66c8fd518895b5369dd692b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f29350e355826436ff7ab51b506a4b4e9b888454a306d02d98bf777b4f2967b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJN1F5eGPJf8YIbWKRUFkxXGa6ZGWDb7mUAfg7sQQCFLwi6rSEhBTxa4Dq6W248YrZRDv2qbePRkERpZzs0Kh8HtONc_l1OTcc5g5dAzTsqiLnuHqzz49HPrfRXSRXyb1P0b5cun6VuzCPE_eG_1IKGXZdBYM1CUPdgaR-WAWdsl1rQyfuSIGpEKTdLlXGUliiTV_zx99Txou6fGt95LOHUmYadw_psx2Uh1KxSGQ34CbmrZujwbBUMftp3-I0D256P3kWIfgh0j4Gk7hwOCuCNxN8hKQiiXuX3h8nE2m-7tzXMdxuSDHb-DZaHDSOPUn3C48AC2K_1sy4o4myxY0dGh-XAfr8iyTK45VxvIPuc0r-QVb0xCan7c-zUasi86zJLTle1v0Dp9Lnl0gLNPyRDD5B9oRpAWJapKj8qoh71wtu1fOUxfQ6Odi4UfIuuuIHOzLFPUpfvKttqm6eajAfp9r9nhGlLjgVWe_z-OisYeoOHwqxz7at3Z_x80cyA78nrzvvIx3K1K37STjTRTjfHVVKJIwfKF61ndWA8k-qUIo6WBlAtiybq-gFPEy-DhRkSBxSFZuj9eBudnNbrmtAF9Nzce5NUBpkcjrhchLQiMYW1GpNbegGtjGKdw8hLyZo0Q2Da8xBtWTZt1N3W-7ijt6ZVQdgvZP4hfmV6ObN2tHnjpaEXY2lMxMVmye6aP4EXtKYCPUMbVvkTm0rBw13dO1f4dgndD2L5yvXwhl7UFN9DKai8J1baAQ58LP9wB8qbeXwaX3VNtT3W3bgKR5mi6tVFLWsmkEHq-inclhVhX3PRsu_prx_Dk8QPLmWVLQOMOdhF_JjYm6RN5vSl6Z32frZDfJO9iStN9Rav3y2WV2_-jRsdhLu8Fq1tbleS-5L-zwHdohQK8c6yeVVzgISh5m4el3lnQGQlsTaowOQs0FS3-JOWfc083v54Mgl_jEjIMN5RSWG9swEnnQvAQ3vQ6pLexyn53N-IcqGRqf4dLbRnB5_rc1btCW4sMO0Lqus_Ab-imZeYwGnUZMWVI0duiAyifCVTsBtA51doUBRA_HXwf323q2ftnnJm0n9cOmRuzGGZYr3Kantus7mM2R9R4OV8X0n8QIbZaSHRmu7pI9S1XkUCDmVqHxkbVW4kMsTJw0ooxAz05sQcjAXymYRyUQUDcr_-s5uFDlPEOW51dZLSwERo0Yc8KtzTa_l66N9U1MmmCnnqZsmUKF59VoeVZT77-11H6r9ykIaZMjZoEYgDe_Eidp0mLKiDiqZn2XaqZZV8dkdVz_ZZt2aG5XpF1WskM536cOGDONpRdsrenQunY2xyLxj1Ta5LpTo0IMAj1A8z-WyabBFPGGz3OpdY9SvOWFKZ_IgMZQETSNrSroJ593d3jL_qkBmCuHtfUHWvMy20GklXqMLd25sMe-NZb6cbDjOIjkss3c41I_VFl7tcSqWI8zPMMiWJFeg85HX0TQeMXUv6DcUEukyMpsm4RdfPRmT-1qXCusjqx3hsXIoTth16fdCFY34Pi4qb3J0xgq5KGJuT1-iC5VIVfn2d1igI6RITrCIo-mqP8rOX9RBNwNvUIu9nYBssuEGtxk4fALFzbyBvXY29We0-vPHKpI8ET1KYxVoqh5pxgopCD-UKCwk9Kfn8lQ1NtWxISbyvitY-vBnFLEC-g8_rDhFhL3pKT_gCRENtK-gyTqVjGQ5O0mj2HglLc4C98EmxYi8U8VTQJVMBid4YNyKO6-7tlbEL04xo_wNEUn91H_NqFMkZu_wzl62xOkG3DSUWMRbdz8hy_IFqsdcEKacCzOSbvpIv13SlGcDyY2quPhpnlzfYDMOGxhjSgKN7HCRKfahtKEBljubCP8gCqJJnLLOpQSANU8aBtPdZMyV4oXfBifj7ggD1RhtndvEn_Zf25ya3Q6R1bQZqOV9MzBgR414VzFQ4J09b49GxlLuKGkKhlSJrRmmqZAZtRuOoztHbKIJseYFPXFd0LUpMD02T96aSs82hclilOsy1OXgMfn-3WhAhkv4qpscqLUTfHsBFk665mIgYqlzCg-a6Kz-JlKNWdqu6nuKN9xg-ykgpgGEsiL3YMhIJGIHtQ0jIjVv7SKx_Qrivt6ZyE_URXeK5Eb2Dd2dGib9OScVAKLfx1IXr2RtE=",
  "id": "rs_0d74ad643be87f17016ab4937054e887d091c777355ce2de2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.13,\"left_z\":0.17,\"right_x\":0.4,\"right_y\":0.25,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The cap stayed fixed relative to the left fingers during the lift, so it appears secured. I’m raising it clear and bringing the right gripper above the pen.\"}",
  "call_id": "call_SBoFbxs0SMIye6Xzt1FzQFx0",
  "id": "fc_0d74ad643be87f17016ab49373bd5887d0ac23686fe3b4fdc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SBoFbxs0SMIye6Xzt1FzQFx0",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.392, 1.3136, 0.8661, -0.3283, -0.0799, -0.0364, 0.0611, 0.7624, 1.7622, 1.0672, -0.0715, 0.5945, 0.4603, 0.9993]\nstate[eef_state]: left_x=0.3538 left_y=-0.1271 left_z=0.1432 left_yaw=-0.3147 left_pitch=-0.2038 left_roll=0.0376 left_gripper=0.0611 right_x=0.3933 right_y=0.2437 right_z=0.1104 right_yaw=0.0269 right_pitch=-0.0611 right_roll=-0.0244 right_gripper=0.9993\nstate[joint_eff]: [-0.7453, -6.5573, 10.5368, 1.5458, -0.1832, 0.0171, 1.0281, 0.5812, -8.5949, 7.9932, 1.5214, 0.4957, 0.1343, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc60fc4e35643e27b05a1549d942e3ff8d4c1ea06b144947ac942d79f9311127",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48cdcff2bf3cfbe385646c5699d32a422a954861a496a9cb2fb0085c479c273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488c263a7e5fecde7980616dbcd408288219e54dbc8d347e8a9f18702569f070",
      "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 · 4.63 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]: [-0.3397, 1.7683, 0.6159, 0.4461, 0.0029, 0.0391, 0.9996, -0.0193, 0.7979, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3913 left_y=-0.135 left_z=0.0114 left_yaw=-0.3747 left_pitch=-0.1374 left_roll=0.036 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0237 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.4444, -6.7624, 5.1624, 1.663, -0.0269, -0.0464, -0.0122, -0.0889, -1.265, 7.1316, 1.7607, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3389, 1.5967, 0.691, 0.1921, -0.046, -0.0002, 0.0611, -0.0193, 0.7998, 0.6132, -0.3908, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3922 left_y=-0.1259 left_z=0.059 left_yaw=-0.3111 left_pitch=-0.1438 left_roll=0.038 left_gripper=0.0611 right_x=0.2948 right_y=0.0002 right_z=0.1804 right_yaw=-0.0016 right_pitch=-0.0259 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -7.9111, 8.9094, 1.6337, -0.0611, 0.0073, 1.033, -0.0479, -0.9504, 7.0769, 1.7656, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.392, 1.3136, 0.8661, -0.3283, -0.0799, -0.0364, 0.0611, 0.7624, 1.7622, 1.0672, -0.0715, 0.5945, 0.4603, 0.9993]\nstate[eef_state]: left_x=0.3538 left_y=-0.1271 left_z=0.1432 left_yaw=-0.3147 left_pitch=-0.2038 left_roll=0.0376 left_gripper=0.0611 right_x=0.3933 right_y=0.2437 right_z=0.1104 right_yaw=0.0269 right_pitch=-0.0611 right_roll=-0.0244 right_gripper=0.9993\nstate[joint_eff]: [-0.7453, -6.5573, 10.5368, 1.5458, -0.1832, 0.0171, 1.0281, 0.5812, -8.5949, 7.9932, 1.5214, 0.4957, 0.1343, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc60fc4e35643e27b05a1549d942e3ff8d4c1ea06b144947ac942d79f9311127",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48cdcff2bf3cfbe385646c5699d32a422a954861a496a9cb2fb0085c479c273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488c263a7e5fecde7980616dbcd408288219e54dbc8d347e8a9f18702569f070",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJN9_fOJkIJgSX7mlx86_igrUxVP2f4gZrC3Fpy4wPRIPSc3OidiXfSvxGRTCLyaWuR_9mo6gIalHHrWPqIFWzazFrPML1Qik8exKg5DA1lkIsWtQvO0Du1Te87w2TSJbT8Mbr1Ah-JWxEG-gqS7fdIFGVdi4CrfayRcPbT3fvWWonvARku3lcZ0K9Yyt1aEa8-yNgYhfJv9WjkWLeQzSKBYzUuOVCvi5PmghUhJpxAcVY4P_2aAslYxmXkoeKL605Cp5JCmKmx7Skiru5uUWKMbDt2oyx54vqtFPhiRLgGuUgzpQSB8Aaq3RyESQ5Yna85eMAEPyQsb0NCb6HN0QupDGhHAUTo2NpiBF0xbiy-ddEmXZd5QR_wuzazqEsESpIMjBc75No8nY3erITGuZvvXbi92OrvVUwKqRQNptIbthHxzN-Ffg34qwTMRW9J3g5b3i9kYO4kybegU7CvB2JNH2gq1_PFo22QsdpEbcX5SwvACbPFj__bcZ6UB-KZWKhqCuRddI8mRRyegOsavxGZ9VvbWvm1j1w814ExbHZz1beXqhu5w37DZ0DzB_Up4vKKwvQKLA73F6d_nCDYOY0a3K56_GAkm1RB0hVOwnbIC9-aY7q5M9NEbVmVS8lJhxDhCMf-ki9dRRVT-MEZtYFVKVdelcezd-DvjKiw9JKmVnb53_LQxp4FqVcARORagUPWCmuA14sJSAt7j_Isl8684ILunAsbp3B2tb1ifIS8fI_Sf6iDGB085VuOzoZvhyF9rJVpbM-KyY8fiHfrIXVEtI7eNnRTiwgh2m5-woEdCtIpAXuxGGV_E-bv4JoumooqsmcpLGDhpYBy9OfkfR5s1wjkGT2ZKMnKcTq3gvQx2gpVtGssRnDusKFV_-ScBW7ihP9JSLBPbQhymF6n1o_w3jZUaCcBb2SiDDQf8LJqzZgyACdUcjf4KTZ7InP8Ba7gQXwO2ewvKwF-awO6k-i7xS9POKq3vp37vO27dfE4weeFfyiUkhVK8M8COllCUpLbDrLdujDuJwQWiqOZP2IvU8tbuxv_GGv9GNVfk2IW73w1IJbSyNPuxm-6GbVj717CklWMdoWwXEokKnOF9h-1W0QAAE-rhaVNxCWINvIbbpHg05cufo5EzKVc1J3Jwu4QAdIB7t2RzMPFS8ci1Aor3Wsbx5S6MpfhW8E9yyUnk_zBdUCiBEXh0QTSULAuUDKZ3IN_DBF6xWxntM1b3jjRiiXqQTxfAr4DZu-El6vmZbg-8Ir0vbvb4j_Pi44j2U0SLnINo4paShDuoxNIyZ0TmCCw6GdFe7Kfe7ob7mblLcy7vHlOAqtLbFid4gUYLVDkkddaq-J5NAaUJr31pv5EPk1W_fSIs__-JPhrxjZpE9d_UAAwu1dYB3qbvK6t7Ev9I1rJ0iUKqmLVPiSZVKMkf4saIu-t2Q8PLwtfdrzxuBAMeczwGbn1qMC0YyFgFS_7oll5FNopZUf9AMcJL9wcVDSsR6mc202IPl7OGgW6TVUJe9r-njmekbBSvVJCtQDCj_nAoicJin5pzIm6QBmQPe929_jmAPuMefXKSYVK_73CNXhl_qrtRJ-3b7Uqv3OV0RoL6UUFiyMQZH7469U5CC2_l0fctjW0TdpoCpcN1bXziSP1pPh4weHASn0tg-KBmj9j35z0TgIS_Z1mIzRFoGdXLwKB-UXzfe13doYPPj7JESjL-NZEY2COvHaALYYHBAR8jkQq_mmw3BPqMoyNt353icfTeq9cvU1DfxvSKCPKyLNIBsvWKPc4t0B8mTUj_usd1xqKBoOQsDqJcUkIBclvWA2_mmWp1U4E94DGX_kX5nmkRx06rQfMZwsnw50sTTZ7mtgorsPKrvJvi_ss2wFwUXkwclNPe0Y3jWvVXPTT6LRZpCANfbnSqpBp48JhJnqGpxxvNIWF09KOsZQ1BVSZXwnum6lJabBxzH2e-6u8bE-bFi41BQnnsj60beZGMFBl7xerO5gIHYkvTOCUBe210qpTDTzWAjBcbRXMuPCX9O2AO6EuPNufcVJ5Frl5kh58j4pGy2GtOsKGbRG6ihFmSRE8VhtyBQLPblFWt_KUZhkDRiZPS1qom9WDgH8NFRcuOsp_Bb7PacvjKpEZKFHCjihXJ7ez_actkMXJFJJmXBHgLeKcyd1nVwA9p3K7stjscxV2h38JhKgNkh2zyGCAYIhfcBVS_7RRgMkIioHPAOmyw8a8hFhX9Gu5qDi1ont3Ar3mqpJLTu_y-zOLrlclYj7Q3KkgqquotTH6yrKBYwBJAoyNuYE7I5NL0uWbMs_S94ISGUVJOdpvLvTJrF5no1DRl0acIUwKkWU-FnCv3io6Re1iJ_n_1-fbenQIclEzLEbxpY6IgCw_djkbrVYr4SKggVHvTyKBelzL6n87_jjIQiDmGZit7uidGfvgdwsHr-m-GAUvwIesGDg3om-CRnvV2cqCuAVRqqLZqXS6ICEPtKtM6VnKX2cHZrpiqWHmuVpEZroGuluaDm2QBPNnXc9tjv0EmyM78zCQjtGEiivS54tO27txN69tXa2PUkOg1VTAHfCDFiG0gb8T5IA==",
  "id": "rs_0d74ad643be87f17016ab4937869bc87d08ea0aaaf0e6ec7d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.407,\"right_y\":0.218,\"right_z\":0.07,\"right_yaw\":0.65},\"note\":\"The pen lies diagonally to the right of the right wrist’s centerline, with its pointed end toward the far left. I’m centering on the barrel and rotating the jaws to grip across it.\"}",
  "call_id": "call_DH4uWQoGJms30a9oQL1eNAbM",
  "id": "fc_0d74ad643be87f17016ab4937cbb5c87d08cf20cffc6dbe010",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DH4uWQoGJms30a9oQL1eNAbM",
  "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]: [-0.3935, 1.3155, 0.8665, -0.3508, -0.0788, -0.0441, 0.0668, 0.4362, 1.747, 0.8204, 0.1833, 0.0868, 0.0364, 0.9993]\nstate[eef_state]: left_x=0.35 left_y=-0.1264 left_z=0.1387 left_yaw=-0.3125 left_pitch=-0.2276 left_roll=0.0332 left_gripper=0.0668 right_x=0.4061 right_y=0.1764 right_z=0.0457 right_yaw=0.3418 right_pitch=-0.1889 right_roll=-0.0285 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -5.2034, 7.1316, 1.7314, -0.0513, -0.0073, 1.033, 3.2479, -8.1436, 6.7624, 2.2491, -0.6227, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232f6048f9466f9c764464b0f27b89d4ecdb819c6a46aad608b5487a36fb20ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1767b586a2222d5f739cac460f3a3d87e0be87ce166398eb703d33063ad4b089",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbb19703546a28a28837bdcd94d8737a07b43431080d2ea20f892d9be30f4c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.459 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]: [-0.3386, 1.8, 0.6147, 0.4747, -0.046, 0.0032, 0.0506, -0.0193, 0.7986, 0.6132, -0.3904, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.395 left_y=-0.1267 left_z=0.004 left_yaw=-0.3126 left_pitch=-0.1408 left_roll=0.0406 left_gripper=0.0506 right_x=0.2948 right_y=0.0002 right_z=0.1808 right_yaw=-0.0016 right_pitch=-0.0244 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -7.4735, 4.9983, 1.6581, 0.0708, 0.1099, 1.3504, -0.1162, -1.3197, 7.0496, 1.7411, -0.0464, -0.0708, -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]: [-0.392, 1.3136, 0.8661, -0.3283, -0.0799, -0.0364, 0.0611, 0.7624, 1.7622, 1.0672, -0.0715, 0.5945, 0.4603, 0.9993]\nstate[eef_state]: left_x=0.3538 left_y=-0.1271 left_z=0.1432 left_yaw=-0.3147 left_pitch=-0.2038 left_roll=0.0376 left_gripper=0.0611 right_x=0.3933 right_y=0.2437 right_z=0.1104 right_yaw=0.0269 right_pitch=-0.0611 right_roll=-0.0244 right_gripper=0.9993\nstate[joint_eff]: [-0.7453, -6.5573, 10.5368, 1.5458, -0.1832, 0.0171, 1.0281, 0.5812, -8.5949, 7.9932, 1.5214, 0.4957, 0.1343, -0.0855]",
      "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]: [-0.3935, 1.3155, 0.8665, -0.3508, -0.0788, -0.0441, 0.0668, 0.4362, 1.747, 0.8204, 0.1833, 0.0868, 0.0364, 0.9993]\nstate[eef_state]: left_x=0.35 left_y=-0.1264 left_z=0.1387 left_yaw=-0.3125 left_pitch=-0.2276 left_roll=0.0332 left_gripper=0.0668 right_x=0.4061 right_y=0.1764 right_z=0.0457 right_yaw=0.3418 right_pitch=-0.1889 right_roll=-0.0285 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -5.2034, 7.1316, 1.7314, -0.0513, -0.0073, 1.033, 3.2479, -8.1436, 6.7624, 2.2491, -0.6227, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232f6048f9466f9c764464b0f27b89d4ecdb819c6a46aad608b5487a36fb20ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1767b586a2222d5f739cac460f3a3d87e0be87ce166398eb703d33063ad4b089",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbb19703546a28a28837bdcd94d8737a07b43431080d2ea20f892d9be30f4c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOCzKfrA7ZZ_G4n_UcwQ1Hy7NG1SC1oWMZHbFCsMvdynBfIOuri3TwLoaFjBk0jdlnhD0b29Ph2BW167wfB3C02mKSringyOo2TvOKTTU6U9HOuYijv2Yy2TGvCky-B1oem94QFazC8bSVYkXk64o2TS3ouvSiS5An8kw2zXnkashDDquhnjZ7g0D9fFiqLBH9n_sgNQy6v2PjFKRJK3SQF0Y4C7REXkewalDRzTuISoJ8uimy9wH8u2TzFC3cVR4uR8CH8MwrW-y9vD8-2oQROVdCB91n4WEzleg0CfGCkbodJgcoJiJJcHT_qCtZujLDofeauK-rJ21LzWKm_BqwweHEdH_7wX4MDyweNBN_z9C36PdX9GzFppBdBIdarGuLX8mf6uqEJ0yA80_qSYpDYQduUa6hXiNMPLpHbz997htr3OV_E3wD3x2llGyJqhyfNNGtDlAvWeNIh3jmKJ3yc-OM1wuyJ440EVv5Umi_MOsrPQXAuahuxQ2_ufiwvqzj-gRDXXJ4LNHI5WNHERZXV9beVvksqrfUD_PtKHO3YK-BvPBtbfSdk1-00DxwNxiEnS1tO-75rHa1fxMQ3ncrUm9DeeMPsr0gEvDzBHlLMkNutbQG1F50RBHjE1FKpp5uHsoki_2QTjW6ep5w2ywPCdAkRNuGVNNzvmju3cq-a71QC7CzJasmyI5-qEX2clEM7K7zkfW-FmZsDDOXIB3oygec5aBfanSrKctqLjQXK-WIC7uU1ups1yElm7ZUXWuBZ3l5qPZrvdAJ4e-eYokf7pdRGerzih01Xcnfyv8pPW09l3KJiIZK-EdtRQrZ8vS5BQScL9QVi2Rezv2YRm-5vUKyld4RLf82XQ05UgMnEiKi9QbdhZwCk_rmWO7f_WP9jfrebFxlgPygDRStILVrhPxb-reSrOb-S3X9ytR2Ew3Q44k1bP57IQjFG_xEk5zEcOSocWPJm71jzd541EgC4ieMvKNQ8ka5UVXflI8jho6NvYZYMYDM2fk4tGhgOT74IO25dH8K1vEPO5GUlTDSW5qVl5Ugv755grs96d-hf1koScFofstpOyWztP-bzC_KWIaqM10Ar_qvI--7DXl4MvCMIlh3AGJCGFhk31F8A9HJ4D3U7usLpOy7YyHPzE5056Oa6XPWo4ECFMuSw82ezqBqAa-2Oa33Kd2MFuGkaRwY1AurQqJdj5VY_oq0KQrZdc5kvev-SJzLgr2qWJGNJ-QpNjWwrVds5jo5edd8agKzo1GciDYCyezMsF8l-CJzwqYAUQ5eTssdCxOIeEY70pfdpZ-4tnZfh3R_jsRnU_H18u5HxnOjS22-TS-CFlYRD6gOUzrErKZSiRkBD79VIn1hMlLhlwONTRg3R-vc6D9akhgtJC0B3yEX89mJCdM52n-cN6MZlFk_mowzMLy2IKbEssFamNIlKYOhiLVGVMfqaJYJA7nfjeeC9LqbjXpFrMU2Bt6jv90tQucMYWBJSpTx0wKJ7SUzq3yrRf46S8qIEGXzZkceeYO7HmV4cLRf-xHJ70wwRT6dW9XCBcdk9tCwRiGCaTaYzGydY5EzbmX68TrFA9-XIES10-_K3Cw0s8X_aMjpz8yn9QoGW0v0ZNQtS3aFtybIPjcFTU-p2A0os_1ZNfRHmooWVSLAAopd-BymUwX9D52gjMMikbKvbgZwnRLPvA8jzL0vY5I1F3CFc8Lu5YYBKk2TLOBNqHcxpaDDFUGmat8FEWcar1XwX7w==",
  "id": "rs_0d74ad643be87f17016ab4937fce2487d0996d950fd5d71a3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.18,\"right_z\":-0.005,\"right_yaw\":0.5},\"note\":\"The pen barrel now crosses the jaw centerline. I’m lowering the right fingers to table level with a small forward correction so they can close around the barrel.\"}",
  "call_id": "call_YrQyJPNecqeYGECxraBYUeo5",
  "id": "fc_0d74ad643be87f17016ab49381c5d887d084512f2cc64670fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YrQyJPNecqeYGECxraBYUeo5",
  "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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0444, 0.0709, 0.4709, 1.8004, 0.7815, 0.3138, -0.0063, -0.0074, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3122 left_pitch=-0.2341 left_roll=0.0335 left_gripper=0.0709 right_x=0.3968 right_y=0.2073 right_z=0.0321 right_yaw=0.4806 right_pitch=-0.1538 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -5.1624, 6.7624, 1.5458, -0.0806, -0.0317, 1.033, -0.1162, -7.8017, 5.8325, 1.8486, 0.1245, 0.1685, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ef975ecd86c805d81101efb7e0890926b5d800ca3d74e4f2085ddd071719a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8672dfe0bf098caf0f080f562b5e1510e790aeb29ae46e2fec3833f665e2eb29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db19f0c01df0f8d004df15ba5f787547f57f5a91d15d96683e98318bbd68b2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 4.308 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]: [-0.3389, 1.5967, 0.691, 0.1921, -0.046, -0.0002, 0.0611, -0.0193, 0.7998, 0.6132, -0.3908, -0.0128, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.3922 left_y=-0.1259 left_z=0.059 left_yaw=-0.3111 left_pitch=-0.1438 left_roll=0.038 left_gripper=0.0611 right_x=0.2948 right_y=0.0002 right_z=0.1804 right_yaw=-0.0016 right_pitch=-0.0259 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -7.9111, 8.9094, 1.6337, -0.0611, 0.0073, 1.033, -0.0479, -0.9504, 7.0769, 1.7656, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.3935, 1.3155, 0.8665, -0.3508, -0.0788, -0.0441, 0.0668, 0.4362, 1.747, 0.8204, 0.1833, 0.0868, 0.0364, 0.9993]\nstate[eef_state]: left_x=0.35 left_y=-0.1264 left_z=0.1387 left_yaw=-0.3125 left_pitch=-0.2276 left_roll=0.0332 left_gripper=0.0668 right_x=0.4061 right_y=0.1764 right_z=0.0457 right_yaw=0.3418 right_pitch=-0.1889 right_roll=-0.0285 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -5.2034, 7.1316, 1.7314, -0.0513, -0.0073, 1.033, 3.2479, -8.1436, 6.7624, 2.2491, -0.6227, -0.1587, -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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0444, 0.0709, 0.4709, 1.8004, 0.7815, 0.3138, -0.0063, -0.0074, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3122 left_pitch=-0.2341 left_roll=0.0335 left_gripper=0.0709 right_x=0.3968 right_y=0.2073 right_z=0.0321 right_yaw=0.4806 right_pitch=-0.1538 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -5.1624, 6.7624, 1.5458, -0.0806, -0.0317, 1.033, -0.1162, -7.8017, 5.8325, 1.8486, 0.1245, 0.1685, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ef975ecd86c805d81101efb7e0890926b5d800ca3d74e4f2085ddd071719a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8672dfe0bf098caf0f080f562b5e1510e790aeb29ae46e2fec3833f665e2eb29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db19f0c01df0f8d004df15ba5f787547f57f5a91d15d96683e98318bbd68b2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOGIO3DscrHLi7J-BQpd2_zKcE-Atsy-2JlAllr3UUr6jQvQsjz2m17UuiMqxtrzWWl6rt09yvUoSbQfEEFXw8HTnI6aM6hRSn34neDdhfatqlR4xo8Paez8jkfN5qhZ_hqyWmGdR6Xa6NHimwnx4DNvOfJdA6fsb66aYC5sRUll1lofX1j8i4IXGmaUOQLXrxva2AIW2mlM-C5mInGCIlJ3gGJqeQTECV50FDEvU-6Ch-kLmCam1DgZdmaNluV48-ptERBKr3nQ0D-R29kWEsi2SOszwKHT5uuVVAvoOZfkRd5jmnwA24CrndzjrEIYi3doNq-Ba1x4dmH8rsOPAWftzfvVPAACrKS63izFW1pI4DLEDTKPVTzm_vl6ehpeiOnld92Omww14EGJf4uS448z9UtqlKkxDX5JYIp_3xBdo7ghgj7iqiojxBLX_qhnCM-fEM-SfwaPDMq-XDPf15-P0XICaNYwlexxRIcG9UkQ57NbjFvqpaiaDxr_55nEQh8LWP95a1aYo1gjWqP_VWHZNNPT7uLt0MSqEG8PM5o3CToOhmdIHpONfjUxUka-v4I2FkLBLoY8QhvoJKI5a7_GXwk17cSYL1bQQQgB6urkXHmxOAqOt9BY9WstIBZgFphsaOqUNSdqy52ga5x0JaCKQLMQPgCVTYTmQc5ce6fwPgedoGa4h8jCWRuUvjH2lZT3WhcBUETL8O5cEj6OrB0A5uLSJB0Mzn8W5clQgxswdZpnc3vxWugxrsNU6pu7WfewES0fBBiEAowlXkZmgTS-lKgSW1MetqvA0uRjQQZY6BUH1HfrMWzIOa1_G0G_cA44xdPKuJXgRkZDmb-aiJjguy4Y6bXgcphtgjWskKVxjdkTAGt5fNcjASIYH7emxssllwx29mbIEzvW2UaXAhqnD5j0i-6FMyGccFPibgayezVNqMnL4Wwcd63gozADMmbxl8Uhj4oHc9SpnOwRwMjCdp0Itk2FMv31Q7RETVdQhj3mB7DXZg9doFbhLWGV1HXxXWoaQS4SK6hkzji7hUjKpFuicDq4-Q6LgsDt1vtfDw3MviNLUhCT4K_uLWSnE7muraEz2xsOE9V--JI4hcA4M-0dqPuQ4nmons9GT0t5WyM1_nv26ZL00jFn_SyjfvJflCiKM91kTk7YrfwxRyhbYVdzGDRQ7LDCIaMMPgA_bnDjTwnZmL-SdlbI1NMs0iS0zbriigj8ucS2zOGtujMNhijVRqkT4IgLP0HJN74PL0IVjvUxjHQ2SlbsWgOhrlZ33llLLt3xo0HAYKA27TjhGFZnb9XL1uTJUiRknmdEwAq-cho7Hhsrs-IFYIL5g0AzSUuy6Mxoy8_d4ZMJfNP6959YvynocRFf5ToKP847eUfrfxms6mWjxDLJ-Db5VQuQmDrAYk_l5ZumbDVoHHro92pZZmyCrp1sALwz6yGoFSgRhQheftgf_ciJBEr11TD",
  "id": "rs_0d74ad643be87f17016ab493847ce087d09bed450db3433147",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.414,\"right_y\":0.182,\"right_z\":0.001,\"right_yaw\":0.48},\"note\":\"The last descent was limited, and the barrel is still slightly right of the fingers. I’m correcting that offset and completing the final short descent.\"}",
  "call_id": "call_5e2h2446pd7aqFRHkHd9e2vm",
  "id": "fc_0d74ad643be87f17016ab493858d3487d09144d8aa4511234b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5e2h2446pd7aqFRHkHd9e2vm",
  "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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0441, 0.0709, 0.4709, 1.8004, 0.7815, 0.3225, 0.0189, 0.012, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3124 left_pitch=-0.2341 left_roll=0.0337 left_gripper=0.0709 right_x=0.4 right_y=0.2039 right_z=0.0338 right_yaw=0.4486 right_pitch=-0.1449 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -5.1214, 6.7624, 1.5165, -0.0855, -0.022, 1.0379, -0.3761, -8.2803, 5.7915, 1.8291, 0.0611, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7481866dc5ca2e49ec39ad00c3cbd6449e948890dcb76358de5d5808e4f2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85105e0d08a13322341a8161683b1a12833da99651728b9e99ba32b365ad4f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2977360321907ed0cf2b930d37bf6431f75e6101d58d541e905275b719802b64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.346 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]: [-0.392, 1.3136, 0.8661, -0.3283, -0.0799, -0.0364, 0.0611, 0.7624, 1.7622, 1.0672, -0.0715, 0.5945, 0.4603, 0.9993]\nstate[eef_state]: left_x=0.3538 left_y=-0.1271 left_z=0.1432 left_yaw=-0.3147 left_pitch=-0.2038 left_roll=0.0376 left_gripper=0.0611 right_x=0.3933 right_y=0.2437 right_z=0.1104 right_yaw=0.0269 right_pitch=-0.0611 right_roll=-0.0244 right_gripper=0.9993\nstate[joint_eff]: [-0.7453, -6.5573, 10.5368, 1.5458, -0.1832, 0.0171, 1.0281, 0.5812, -8.5949, 7.9932, 1.5214, 0.4957, 0.1343, -0.0855]",
      "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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0444, 0.0709, 0.4709, 1.8004, 0.7815, 0.3138, -0.0063, -0.0074, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3122 left_pitch=-0.2341 left_roll=0.0335 left_gripper=0.0709 right_x=0.3968 right_y=0.2073 right_z=0.0321 right_yaw=0.4806 right_pitch=-0.1538 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -5.1624, 6.7624, 1.5458, -0.0806, -0.0317, 1.033, -0.1162, -7.8017, 5.8325, 1.8486, 0.1245, 0.1685, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0441, 0.0709, 0.4709, 1.8004, 0.7815, 0.3225, 0.0189, 0.012, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3124 left_pitch=-0.2341 left_roll=0.0337 left_gripper=0.0709 right_x=0.4 right_y=0.2039 right_z=0.0338 right_yaw=0.4486 right_pitch=-0.1449 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -5.1214, 6.7624, 1.5165, -0.0855, -0.022, 1.0379, -0.3761, -8.2803, 5.7915, 1.8291, 0.0611, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7481866dc5ca2e49ec39ad00c3cbd6449e948890dcb76358de5d5808e4f2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85105e0d08a13322341a8161683b1a12833da99651728b9e99ba32b365ad4f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2977360321907ed0cf2b930d37bf6431f75e6101d58d541e905275b719802b64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOLIlvD1gZCTqM-N4k0ZbXG7paJT3MWRpAbd5IZePAC5vWAwBJNjkI1Oq0GtJ35NEO3ZFxMHZkDzStRd2oOkpWFDeatwIDIFNBi1oNakurUjbZ_ti7SeR29uX_ETUvCq36YF076qBjlDBgbh7OE8R_FL4okFOJZa_fbXxIcNFqStDMUSmjOl-XobhE815JtnrcApMvLE9ktYW1gDpBVPgpfrjNMQwii6PykKmw4e3EOA5VbMZDLfO8LqZygRP38dsP8UDVvYYX8uACCmpvOVCnboGP80SnSDcrAV55AB2tl1bPTIB8w_nhNz3DWduItC_56hq2iHTY8VROLRt7V7P-TXXtoO1FffhrPJe9DqE_ugzPZQxAzcKK-v8fuzHZIOYwQQQDeliYTwJSy7jBzfFlvHVXAP5X2lkVQ2KeTuA7eDW15n93z8TvRmvz0yQktS9GjwTPM7WoQKz8bKubogoHe-QtZ9Gf0V_SrLrJYk0jyPfn9_jASD3cpFcRvQRmTkuWI-ZKBXSy1W75sX-sbFvQtYwNDkc6e5qzdA7rEU5yHsOUgFJ_BDjuP5-5Y8wZ4QpU-itxg07DRHu8o2XZ-w3m_YmLJ8ynTthFfwP26vpCt48g4zKJNHTosokX8Gg3LHRBw5ik3I7Na_fp-7p69Llle1jmdnWLOIg_SzhXuw19CKZLVFRxTahoMzrXuUGDabcg9oBlw8-APVYXdMOsBfDh-ocoSlUTO8pdt5IDt6ZhHSNhVBlFIJJ70ESlUutMaRSYLQZWlsNZ2OmKs-EZCeGwEhGYb7S3IX9pXwZHh5tjlxgxPQvlxBhrTpQ0IwIvGLrx40V2BoQCLwiVJVWlQ4gj3iD3rUxPn2EpzVOrhVIn9ut3_jfjYRp4GWYNZIJ1OhLx9LYDDKtF-I1ALa6lrXaNqcxdrdBnG9Jl7xcdxYMenISB-t_RI5EBXaGOn7KyHyDoWm40TzSNoso-boiehPx3jeCX3McRWiEbtyPx4YoH1l_g5RGGgwlxms0NFeTe4nbKe2JgPBMiFf4sMrwxV86RuUQVceE9oYDatFWqoYa9IM49ys3cOxyvltT4_VMrsfHGLXwqN1g2k3XcA1jmsOu9XEcHsQQ_12GtiN2NmHAXyH2zNTBWpuCaVCQ2dNkUzSgAPiBtu2Y11Y1EzsduIrYvjF4aatM2vOwvcNS13vsdwrkj3n_M0Day7Fa0RK0_f6dW8At-9yHXTPT6eWVtFgRQhJK6yedRfFxdcDbJ8jKJnESjkW9urJcFrdA6V7AroWLAKUduTpj86b1NJerjP6B8D1wPxDLvYA7QC_tBqljmBPl5M19WKWIwqznHS5m3m_vOysnEgn-ZNfHmjWq6OLwokSpTUdfqI4PF_fLlWXbyyteBCA0Q46QeqGn9oxsu_jb3pzXOtogpA4J87fQvXzno3FN11-oyylrx7nE13Te1S2CHTxvROK2o_FVSuFqjCUal7Pvi9LXByYtpNdFxEhl1tmK1ADJQGgNDhF7V-4Cw08VSucjTfnHhS8IwjVTEqUFM1XPXFReZVSxChHJ8-WaMfCa0lL8ywMzUGzYHWEUwoeX1AwLb8jG3N7K3VN75wRlKPw-r6XzaYqs_Xs5whDnxdbuRviRAIDa6iC8Yk1v9GHB_jykG00mPRqmR57YCLfEPV11287yPOw1EppcWm8Z9Gpz6VtbzrQtKWlc0gnQB6l1PoUd9C2FTP34qCp7SGeDYXtXbAZLpVjAzxOSLterAJKsGkrwijDtDt7SUWlz8GkT9zX8Llm9agSXFJ4pNkxq8XVYO2M4sZeX6q0kSVVc6B0_-C2rZ6dVX50TLt9SBROC8=",
  "id": "rs_0d74ad643be87f17016ab49388107c87d0b8ff0ef18f35e1fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.389,\"right_y\":0.181,\"right_z\":0.004,\"right_pitch\":0.25,\"right_yaw\":0.5},\"note\":\"The right arm has stopped above the table rather than following the descent. I’m moving slightly toward the base and tipping the wrist forward to reach the pen without forcing the stalled pose.\"}",
  "call_id": "call_wiDeHI9jQPcDwNxY6ptdeIZr",
  "id": "fc_0d74ad643be87f17016ab49389eac887d0b093cb16501ff991",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wiDeHI9jQPcDwNxY6ptdeIZr",
  "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]: [-0.3935, 1.3155, 0.8665, -0.3691, -0.0788, -0.0441, 0.0709, 0.3878, 2.1475, 0.4713, 1.3369, -0.0933, -0.0414, 0.9992]\nstate[eef_state]: left_x=0.347 left_y=-0.1251 left_z=0.1356 left_yaw=-0.3122 left_pitch=-0.2459 left_roll=0.0347 left_gripper=0.0709 right_x=0.3905 right_y=0.1811 right_z=0.0017 right_yaw=0.4915 right_pitch=0.2136 right_roll=-0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.9709, 6.9675, 1.58, -0.0952, -0.0122, 1.033, -0.6359, -6.9538, 1.7846, 1.5067, -0.1392, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7fd45dff4555185a057f0db211ccbca27623c730a9085b5238ebc10a6900c04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545b1df2c3811e5f56904095405fa85155e44957583c30af4087dab008497ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed44accce7d182ceb1d2bb767b59a70d194463ca7ce80186e11276dd86ecef64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 10.29 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]: [-0.3935, 1.3155, 0.8665, -0.3508, -0.0788, -0.0441, 0.0668, 0.4362, 1.747, 0.8204, 0.1833, 0.0868, 0.0364, 0.9993]\nstate[eef_state]: left_x=0.35 left_y=-0.1264 left_z=0.1387 left_yaw=-0.3125 left_pitch=-0.2276 left_roll=0.0332 left_gripper=0.0668 right_x=0.4061 right_y=0.1764 right_z=0.0457 right_yaw=0.3418 right_pitch=-0.1889 right_roll=-0.0285 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -5.2034, 7.1316, 1.7314, -0.0513, -0.0073, 1.033, 3.2479, -8.1436, 6.7624, 2.2491, -0.6227, -0.1587, -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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0441, 0.0709, 0.4709, 1.8004, 0.7815, 0.3225, 0.0189, 0.012, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3124 left_pitch=-0.2341 left_roll=0.0337 left_gripper=0.0709 right_x=0.4 right_y=0.2039 right_z=0.0338 right_yaw=0.4486 right_pitch=-0.1449 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -5.1214, 6.7624, 1.5165, -0.0855, -0.022, 1.0379, -0.3761, -8.2803, 5.7915, 1.8291, 0.0611, 0.0708, -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]: [-0.3935, 1.3155, 0.8665, -0.3691, -0.0788, -0.0441, 0.0709, 0.3878, 2.1475, 0.4713, 1.3369, -0.0933, -0.0414, 0.9992]\nstate[eef_state]: left_x=0.347 left_y=-0.1251 left_z=0.1356 left_yaw=-0.3122 left_pitch=-0.2459 left_roll=0.0347 left_gripper=0.0709 right_x=0.3905 right_y=0.1811 right_z=0.0017 right_yaw=0.4915 right_pitch=0.2136 right_roll=-0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.9709, 6.9675, 1.58, -0.0952, -0.0122, 1.033, -0.6359, -6.9538, 1.7846, 1.5067, -0.1392, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7fd45dff4555185a057f0db211ccbca27623c730a9085b5238ebc10a6900c04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545b1df2c3811e5f56904095405fa85155e44957583c30af4087dab008497ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed44accce7d182ceb1d2bb767b59a70d194463ca7ce80186e11276dd86ecef64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOOiJOtZ6Jb_Rs1AtH9Sq7nRMO3ds-kYxep4Gc0nF13WQsLRdXRr2zdiJ_K28_6AjkK297tBObHW53kju-002BhbHPjZLUlmCKGDQgmikzKBJtuJ55--6jsXRkM-oGDvhgdiMjIkB6s-_49NuwR32li0_vk9v0I--dA8QGgbe89M7F1dz3K6tq6BJsvMMP6RQQKW_ik5DPMm6O_xazoUnyX5_2mJIVxQ6SQ4U18LC22ruWMODlWM0uJIyN7BdrP2doQtZn0lTd21Fu2Vyk3SHkcOecysotJQQyggexNbFtfUmeq-dVUT9Au4bHEOU4CC212ILeHWUiicIBTZzWkO5idjh3-BqMPBHhFDQWsrfK2n17h5tyDCmFuG7FGwjTT7cTPmhPHgfZO35-zuofa6dn3QtifdeKGA-nWRHYd0j7Hb6eh2cF3-8ua7-F2Lo97HceOLLZvXhWjgI-nlQYPVfwyW4JPE_5bqaw2gkldNPekURMjP_D50npxp-rWbG6myteu0uH9WDUpC1l8UkXsWfZAIwbzUwbLywYe5OxCuzvQo1g8IlRZT2GPsmLsez_vXOtBOyQTeR4UGCPLQkFS_WkUXP_oNNuomB1Pk2HCRHwlFkSsiiuGaCo_MzIDKCqsPxLEOGRt0pi_Q6az1bIsJWIt3CTXgu_AD95Oqv7WfDu8dcBsp5AXgOnQOOyG3xgdZOjqKdueNnFoeeB_ogPwfzcx3mecr0Gym8y8OEfQfbrDAwX9hbWxIQn-ReJi74RH81oMYQVp39m7bW2IuGmtEHHoc4EZ_k3O-wA58dzmBY-GaPm14oa_bhJ9PUrKfrffKYybhiH6DuOAJlbcrmbX3Y2owrzz-JFe5rrvj8lUUlrpNRLAl0-VxgJbCtmLNWK9rBjS1rKs-UeMAljG4-4-fMf2Sc4tXMzRUVISjYGhs7kLi6F6QJ6KihoDR-yq097Qs55zC5zt59qUrDL6OKpMUS2YGvme4qlT1Ocn3-b_2rGqosJClzrHuIfPpuUAF4-8B_RA2bNJM_LGCSXj0Uy0rtwRQa6N7pfuUnB_tvFNxgP6WU_SvWtXEGQ0wA1famtkEPCrV6nheG5zNpco0nEfr8_yp_x8CzFEFFGYMkH6iCD9qbJw5980xsHAGPYb3Up4P9n1StWYasjSdA-9ItqRhc-BUTdHkkEmWmMMMkxW2UMnRDsTVrZAZzxkpRZNDTJujiEh6_8ZnWWaqj-DShU5ZSyVMg==",
  "id": "rs_0d74ad643be87f17016ab4938deba087d0a4d3f99044c9a1c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward wrist tilt brought the fingers down to the table, and the pen barrel is centered between them. I’m closing the right gripper around it.\"}",
  "call_id": "call_5OSa05Yh8JfWoQG5jfFEXIFh",
  "id": "fc_0d74ad643be87f17016ab4938e1a0c87d08a38a62bade6e16e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5OSa05Yh8JfWoQG5jfFEXIFh",
  "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]: [-0.3935, 1.3155, 0.8665, -0.3786, -0.0788, -0.0444, 0.0709, 0.3859, 2.1628, 0.4713, 1.3632, -0.0875, -0.0399, 0.056]\nstate[eef_state]: left_x=0.3454 left_y=-0.1245 left_z=0.134 left_yaw=-0.3118 left_pitch=-0.2554 left_roll=0.0353 left_gripper=0.0709 right_x=0.3917 right_y=0.1797 right_z=0.0015 right_yaw=0.484 right_pitch=0.2244 right_roll=-0.0061 right_gripper=0.056\nstate[joint_eff]: [-0.1299, -5.135, 6.9402, 1.5604, -0.0708, -0.0611, 1.0379, -0.0615, -9.4291, 2.6051, 1.663, -0.105, 0.0024, 1.3553]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c133d8beca96ae301cbdda9cb2492c9c1c72b88734eba134d917b3ac4c7a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc15c80e64a8d6b41018f5070ded00a357e30b76f15fcbce6801d49f934e65c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314d2618e553814c7cb56e5549aabca7484f3620fb834026655c4502c6d0b6f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.611 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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0444, 0.0709, 0.4709, 1.8004, 0.7815, 0.3138, -0.0063, -0.0074, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3122 left_pitch=-0.2341 left_roll=0.0335 left_gripper=0.0709 right_x=0.3968 right_y=0.2073 right_z=0.0321 right_yaw=0.4806 right_pitch=-0.1538 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -5.1624, 6.7624, 1.5458, -0.0806, -0.0317, 1.033, -0.1162, -7.8017, 5.8325, 1.8486, 0.1245, 0.1685, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3935, 1.3155, 0.8665, -0.3691, -0.0788, -0.0441, 0.0709, 0.3878, 2.1475, 0.4713, 1.3369, -0.0933, -0.0414, 0.9992]\nstate[eef_state]: left_x=0.347 left_y=-0.1251 left_z=0.1356 left_yaw=-0.3122 left_pitch=-0.2459 left_roll=0.0347 left_gripper=0.0709 right_x=0.3905 right_y=0.1811 right_z=0.0017 right_yaw=0.4915 right_pitch=0.2136 right_roll=-0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.9709, 6.9675, 1.58, -0.0952, -0.0122, 1.033, -0.6359, -6.9538, 1.7846, 1.5067, -0.1392, 0.0659, -0.022]",
      "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]: [-0.3935, 1.3155, 0.8665, -0.3786, -0.0788, -0.0444, 0.0709, 0.3859, 2.1628, 0.4713, 1.3632, -0.0875, -0.0399, 0.056]\nstate[eef_state]: left_x=0.3454 left_y=-0.1245 left_z=0.134 left_yaw=-0.3118 left_pitch=-0.2554 left_roll=0.0353 left_gripper=0.0709 right_x=0.3917 right_y=0.1797 right_z=0.0015 right_yaw=0.484 right_pitch=0.2244 right_roll=-0.0061 right_gripper=0.056\nstate[joint_eff]: [-0.1299, -5.135, 6.9402, 1.5604, -0.0708, -0.0611, 1.0379, -0.0615, -9.4291, 2.6051, 1.663, -0.105, 0.0024, 1.3553]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c133d8beca96ae301cbdda9cb2492c9c1c72b88734eba134d917b3ac4c7a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc15c80e64a8d6b41018f5070ded00a357e30b76f15fcbce6801d49f934e65c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314d2618e553814c7cb56e5549aabca7484f3620fb834026655c4502c6d0b6f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOaBqT76IyK45F2Gu2aV6bnpD5phm1mHUbTBK6dyq_5CFpvdyA49h9hlLYbtd41yiNK0pxQQm6T8TFNcSBBCOyxgd_ZBwVueOYLISEcJKylG0wj7hmcohtBQuIVgv3NAJatnHt4u_IhEpcE4gCp91KABtIbJqkMDkSSP8UtG17SSvIyEfJ0vrjuWtYf5b9Q1CktrYfqdEinpvxZ28uxUOyAT0qbIrEpRv3yTH3hkH5Fi6hD44ygpKxulduIS2uzawQMP7KDPohRMbbwGgcLNBien3okr_HyKMGB4BOmD3QjLkT-kT5sYXKjz3egfQSqFhKhNx_iY7ypLnwT_c9AjM2f9yHuD9SeNjvyQX2IPhIZQUWJpxtpDVXy4AboXl-_6qrOq4SM1Fre2c71Cc67l9Cump1bQc4281NjBMSQ7XVUUlBsHx9KLSE0K33HPxGmfUU-2M80ZJKMw3K6y_TmIQGcQpByJcJKjHJM6lwmgJiicPkQBGBJ89o72CQ7c_4H0FbluJhkYXzzeWlHj7rgwZUvU4HcrBywMuz0bH5weYLyQgPHUMS9bFZxFblRkDLi_uRYQvK5cU3cWt7zlVs4Zj6kmjnWBnc1zyuezgmHlYemOJDO36U3EWcUJInVpZkaciquh7n_oVFk42CaSM8govHQ55JWtbwlNMq5RJwqompbk3Gdkjj67gnnc4WccqeA9-g-yPe-q2JBwAslE2va-Lz35ZeQXHPVOqSh9pM7aNM2qKo9SHrirdDn_Upk6uCuceoLrUPk74kQ-f9ESAufmG4v74QRgQ3eFd5BSnj8k586XJ35n70NgOLrK8dRJMVvy8G-hn_RhVtJnvGOoqb5Lz2sme4GdhkP1zpo4t1WfiWB633CKRKrPXcxkzQEdqJCYBxJmmm8G2SlRFsyeUxREXigvmf-leDbrVjZPCHhEV0bDe0Hf1OANkxhs_o2oDHa4MNc-6tJz1VyqiMsmuDBRw8U3vzsdRkf1R_SWztqyr9TzGLqNByPAkSaL4NnfX732CvW0poZ2eQ-X9fRbh-pKu60gBcLdTpVCx8lLq_TzbV47tiDCKMuvqRT0rqrndIOaD7zd3WFmGOCtBIbb3PNPGgE8u5ncL66ljreJsTKTh6LlMPhlJtWiBPYts8C7jCA2oMPvwuqLVlTecFJf6sk2Ao4JYI6NJiDwTC-T4_2xCYxSD9LpJJ5syW9_e4D2pKYdP1m1Ih0wnXT6UocBute1UuvydB_p1l7AjBHb98C6ylfkIRRJKBW0nMzd91xClLqW0EAi_H4B2EOOu_ujy5iTmv9Kh53oSBlrOyLkEbuaOeJWal5WorK3_szQ5Ov9cmFP7HKfpUvlbna5JULbvt-4Mp-B0hlFkvysRn_E49VbZzgRaAQ9mINQdjmsOa8ykfvMqYoeHzQhUBnWrC-T905tuf8ce_MQksWKas5OgP-_ypImt24uLlya_-vzCuiU_LG3c_52H7UVibR0EkpJPrj8YN6Nph33mPg1XPO6XEmuDxESGdXh-VY99UMfYuj928z326wzyqlSUBZIWAlr2rAprZLzCfMWQd3xFUDthubxZbTdfg2kN9z0j03gPdOsI0YHwSEGP47ukEeY0ZJ0ZA3cmzFwpFotTQi9vD4w90F8XImJerR6Ei4vXah1_G7PdVhIvOpD00Szbn98pbZqc_ZWBW023Mqi0zctIOuFeWXDxNO6NwR3lbfD3RvNOmAvvGqLQRvfBus4zbIft1QYkXzUKLmXDTaZeW8-jsMYP6zqRt4_DZHLEQJQI9OOkvk-d1Ic4IADPr2Oqk1VeC2eRyJGIfS6BE2YuePHQovbW7YZ6gNI-6-zw2XRbkoc-g8nno29jiZ7jyxxrVNwKmCLIfQFnJNWPpqL8X9DdIcvsF3mJc5TFSSbA_B8JdGdBgv98MJ-ugU2eVOcIezxOi3QwnpA3iAvXpUV91WNpYXg4HGBaX2j45i3UDihhrk-UQd-Y5PNgi8oyK6cYBTEs9vdg-zTElACfKj3D1pe-bpNvBk6powm535FagtuNY91rfuwTIsYNSOshIZPBPRCZnJbmvl6x0c1Rum5fapXFJAviqVfcUrTvRN1Jv_RrOrP14hRl-w_Y46yFrt6OiU1htTGTiWEWAhtH7x9NZSIX_2zkJ97wTCjQfna7QzH1C_go_jGc-R1jpQqQU97apErPEuB4Hl9mMNKLGdIiceR2JVjqNOgGQmYpb-6Lmmr0dVA0ckvIPMUTOaZq8Y0Hc5GHnQv-knTkiALI16FmXoxoLQGPvDGSVo7Qdfj0PhS9hbuzvTuUpPzOH0KFc0lrk4aUk_2Eq5_v21dCnj3eh6IOBZ5tBic3c6Xto-JuTN61IV9vD2ug9nBwbj9z5kORnpTMmfcwRLGDGbubk_K0EG_sTLuWsuy1BLJB3QHGUmcreM1uyxfptEmlM0yYAqFMOHlSce8HME-cWwmRt5-ZUvxr-9zA6Uy4EYlEpQwHO57Vs-tcNLZWvkXcxAdJ4KMM_clVX_aWdGV10r9Otct1E0sI8M6cEe2bHtNrSGoK5tdEFDcH5CeVzQHKhl-KLyIyizcm-3SLpoi4WSsFGkFebam78PPSUmEgGjdJV1ksealEQ2wHjfh0jccE_PDPG1vr9E_jdicQerJPt-1z6vNZcflSwAuVVVOBluLzkaiNTmO_dmt8iyg-vAcCc35snZ8qNAY-USMO7ICFZ4oj3GWNadu9AFftOGfdZtr8vRi6LyB3k_RcpITxI1JxsRGhtTcdPNWMtmPV1G0zAzd7mAPHBmEqHz4uSHTP06qmYZDslEGscntI3It6Q5Vywa_wZyLpbTw6UFCz42AqAXsFUMHKcWuZXcnRL2WrSD8pihhFIovkVmk1_bbE3L0OspDZAH2LWeMfX4E9JJVfl48lOKmKmDg64rRj1JWl1Jq8Hyad3VW8lzNeFUcyOYqb_64AN5PXsMfYtp-ZmBydhn1RA7Lu5u6xRvxSZ9BquaynMH5-bR9X6FLkxsT2LzfmbEH9dSQ-A16wjE9l_PJmPL7iKbyViqRsdxRuMgmjiuWi0I9aO_NVI2YaPh_iW7ZW-EfG5ZlEkV1SrKra1YLMX5CNPVCucf43lAKMzDTaBznuZZQGSabj4s0hi59MdzG-EjW3_NoHODBqeUa5UEowyRHd6Sxe9pxml4hCunKzvgEenL_fl7ieW92cGar-r21yX38QrAuzmq86lWfgJg-LGxvmoEk58Itd-npkD9hEZIMELM_FSYb25XnlnsLWuX0BKnRjgDOVzbyJOZ5UQ8AoMeBoAp0qTVVRithZueBnOhG4xYfNeTKw3itqjTdD-VGDL0zLC2NDFou_eocbeA8fZsj3gz2BGA5rIoT9cqGUBR0YklW76VHDS9TLgbrNMSN5albZbH-49jO9UpII37FGlWCsBysJajtwVOG__vgSeoEOUVSWmCEln4p58-s8jJr9mgWXV0Xo766UCLzew1yd_wVFwZPhalEu64bgyccnMVJvg7pe1aMMH6FH2PhmnOu2bIjQY8uPtoJTMytPuDEqgXOwNAOQ0LGwmyZPfWbv8AArkbKGNiB9vj7fdvOAQ6xIcqmjVY1NaxtNzeR15PMifT2OO7zZ3GrwF4llaXwPuMbsLzj43loWN9R_kW0WtKfpt-iNGPEVuM0MNQ22Bs_O58yQ4x_cx7DDXc6hoxBBD4pClMyp6-pr-s6mM_bPIx9_NsSgfbecAXc3DcWDIsKd_0XnbP0v3WzaLUk0G5NwY5V5B7bKRM-1QyJIGEM29q3ricTGlqEPXcTtcc3qDU4aNC2OejJgx5TPD2eyCi8yPCUac6iIzpEzO3UKFN4sO9hItMnAaJ2bQHbd7Gz-P-uxtoJAzGVXqlxmXrANa-ZIE7TjDH5RD4LzE_0F9QLor5Q1d_r3GsujhBMvCey5Q0Z44gqzBHgIBUvp1YQ2QN-C1kcQe53BbdieD04YG7LFEI5laC751-MoxK1VTjwFePi2shokqaQoeBvF0KHb4zOx-_g7u4M373DSfmzc9-nO36D-lDkYi3wgxYLvAMmWAnwOicAtXXfvbdVlJEh6w899dMfIZzi3N-keYAC08zYKcXJWQjzeIu70E0-eupyaghDeOkbw==",
  "id": "rs_0d74ad643be87f17016ab493918a8c87d0a9677fc8fe39866e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.18,\"right_z\":0.075,\"left_x\":0.35,\"left_y\":-0.125,\"left_z\":0.17,\"left_pitch\":0},\"note\":\"The right jaws stopped at a pen-sized opening. I’m lifting the pen to confirm the grasp and refreshing the left arm’s raised holding pose before aligning the two pieces.\"}",
  "call_id": "call_YgGChIU0PTKEPxVnWuDBEpR4",
  "id": "fc_0d74ad643be87f17016ab49398b6f887d0b8c12375b4a4fe4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YgGChIU0PTKEPxVnWuDBEpR4",
  "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]: [-0.3935, 1.1965, 0.7311, -0.1825, -0.0826, -0.0437, 0.0723, 0.3855, 1.7973, 0.4633, 0.9958, -0.0875, -0.041, 0.066]\nstate[eef_state]: left_x=0.3447 left_y=-0.1234 left_z=0.153 left_yaw=-0.3114 left_pitch=-0.0761 left_roll=0.0235 left_gripper=0.0723 right_x=0.3889 right_y=0.1783 right_z=0.0637 right_yaw=0.484 right_pitch=0.2145 right_roll=-0.0062 right_gripper=0.066\nstate[joint_eff]: [-0.4581, -5.8598, 6.7077, 2.0684, -0.2173, 0.0611, 1.033, -0.2667, -8.4581, 5.8598, 1.9219, -0.0611, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586293328b01b5b7e3ea870035b078d81c84bf79aef0b6fbe4a11e5dc5d4b005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10226aa564c4cb2483fe15ee01d19033ae52dc1ec9e6f719388e4eabfd6c4a6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ac3ebda166cedf60987914b85c34c0971aaa44e882fbe19129711010857e15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.012 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]: [-0.3935, 1.3155, 0.8665, -0.3573, -0.0788, -0.0441, 0.0709, 0.4709, 1.8004, 0.7815, 0.3225, 0.0189, 0.012, 0.9993]\nstate[eef_state]: left_x=0.349 left_y=-0.1259 left_z=0.1376 left_yaw=-0.3124 left_pitch=-0.2341 left_roll=0.0337 left_gripper=0.0709 right_x=0.4 right_y=0.2039 right_z=0.0338 right_yaw=0.4486 right_pitch=-0.1449 right_roll=0.0009 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -5.1214, 6.7624, 1.5165, -0.0855, -0.022, 1.0379, -0.3761, -8.2803, 5.7915, 1.8291, 0.0611, 0.0708, -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]: [-0.3935, 1.3155, 0.8665, -0.3786, -0.0788, -0.0444, 0.0709, 0.3859, 2.1628, 0.4713, 1.3632, -0.0875, -0.0399, 0.056]\nstate[eef_state]: left_x=0.3454 left_y=-0.1245 left_z=0.134 left_yaw=-0.3118 left_pitch=-0.2554 left_roll=0.0353 left_gripper=0.0709 right_x=0.3917 right_y=0.1797 right_z=0.0015 right_yaw=0.484 right_pitch=0.2244 right_roll=-0.0061 right_gripper=0.056\nstate[joint_eff]: [-0.1299, -5.135, 6.9402, 1.5604, -0.0708, -0.0611, 1.0379, -0.0615, -9.4291, 2.6051, 1.663, -0.105, 0.0024, 1.3553]",
      "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]: [-0.3935, 1.1965, 0.7311, -0.1825, -0.0826, -0.0437, 0.0723, 0.3855, 1.7973, 0.4633, 0.9958, -0.0875, -0.041, 0.066]\nstate[eef_state]: left_x=0.3447 left_y=-0.1234 left_z=0.153 left_yaw=-0.3114 left_pitch=-0.0761 left_roll=0.0235 left_gripper=0.0723 right_x=0.3889 right_y=0.1783 right_z=0.0637 right_yaw=0.484 right_pitch=0.2145 right_roll=-0.0062 right_gripper=0.066\nstate[joint_eff]: [-0.4581, -5.8598, 6.7077, 2.0684, -0.2173, 0.0611, 1.033, -0.2667, -8.4581, 5.8598, 1.9219, -0.0611, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586293328b01b5b7e3ea870035b078d81c84bf79aef0b6fbe4a11e5dc5d4b005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10226aa564c4cb2483fe15ee01d19033ae52dc1ec9e6f719388e4eabfd6c4a6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ac3ebda166cedf60987914b85c34c0971aaa44e882fbe19129711010857e15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOeRaQad7LXCwN-0lAcLevNc0grMiz2c00ggFris0MTrhnsE27hQQBmdlT5d5vMeYGzgw7vGfYRUOI_C3rqFtFBwsjYluUDiGFQI7xpq9hjNpOacAtvgisI07erhlHfEYbHVc72kjaLscdDg57SESfxWVOqiAT-VzVn-0mrqbgGnEaX6RCMc2k0ICvcrTmWV6A8Aluvc6MXU0jAiprilE_jP-5-hqqtHeZN83tAFYWIJ4Nv88676T2zjQmBltDU38v9xhs6gTNEQNinLa3p1SYM4l34nh9DxZgH8sg3dE_MzquvafIdDcZsAX_4sIY0IyYQxwtEQ9L61osI7axiIuhLy0kw5t87L5kteC-svPDnR2Wq7k6pHlXA0jHGEkaqhI0onhvzGo9e9Uc5-nniP2pDXM_m5mealHgUonPWoIDWL96sBe3nuBt5xpaXWnQDV6O8d5agx36-g3COKcSY97JIU1J-CW6z-ELxefYWWrTycdKwGdcnODh5sw9umhQc2duJYj1xfHnSzdbWNgQ7TZTIyKLz4vLM-kzrmwuS6XwjXsZfmfzkxcs7waIC6YYqCj1XzqCDF8cHiia_jD-fn91srhMGllXA-SRwTCEeSyizdPk7r8Ey1ZPyk7wUQg-xOt09oZC6mex82y8K2_qZ_MI_vFzlGSkBmviy-R8LKkSnIdb-tHN2bBh0O2U-Wbn7w29PFFErHLVShfS5vkdk9XWbrWwLd1bczG_9dIQoSrGKV4QJeljr6OnQa5ckD1fFTOJr-86kXhzDY-a05Cl5DLZ7wie6d_PGmxWK9KtNotDl5fv9d0LMR8CGsWqmz_aFrtxw_s4Hd_GcyEUwl-qcdQBh0nMYHDI7gk8iLzFaFYUw141ZqTBucTzcv41vdUazv-gU6vFcGKU6UFR479RMKmMZdwSEdTVTdwI_sXL5m9hdWjcRJ6TKrCOSPp10ozwCyG118HXAaDHxWcR1WOstSiWuEofJn2iPV7nTTCda9jpakFNkA_oNKX2yiTrdZiNT9r1_WJp1sQvTFYhj_HYW69WA3_bvwOLvGb5XX4c_C6Jt-CuJxpybC08mp-f_mBiis5qSKy8I1O3npA95iKVr8gri_yWVH_ycWsUPDR0LcP7yYNWBb449E3KIhH57njqsgQjv1f-KnHi1rqWxG9Kp2zjfZ9wXtQCaBm4UwrILs6xNZRW2G8G6fetgGTXzNcgyfzUBXp195mYFPl_TPdcrq42wwOUM4f6tvEzXHZm1wARZFqw1Jm49QC2dNbKaNo-MEkvAfRpYSylal7xRmLibTzEFE5iG5qZNjUam6ROs4LUQut-U5jx3K5tqkDuIebNF-bP9_ScBiOHEuOBebr_emWStdA==",
  "id": "rs_0d74ad643be87f17016ab4939c311487d0827db821a086ebb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.125,\"left_z\":0.18,\"left_yaw\":0.45,\"left_pitch\":0,\"right_x\":0.39,\"right_y\":0.18,\"right_z\":0.18,\"right_yaw\":1.05,\"right_pitch\":0},\"note\":\"Both pieces remained in their grippers during the lift. I’m raising the pen to the cap’s height and turning both so their long axes can line up across the table.\"}",
  "call_id": "call_LWbXBy6akdpQHfd2dcsksqqS",
  "id": "fc_0d74ad643be87f17016ab4939cda3887d0a62769dc9dc7cafa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LWbXBy6akdpQHfd2dcsksqqS",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7277, 1.4982, 1.0634, -0.5426, -0.7898, -0.7784, 0.0761, 0.1574, 1.5669, 1.0531, -0.123, -0.6445, -0.485, 0.066]\nstate[eef_state]: left_x=0.3524 left_y=-0.1411 left_z=0.1654 left_yaw=0.3081 left_pitch=-0.0543 left_roll=0.0356 left_gripper=0.0761 right_x=0.4093 right_y=0.176 right_z=0.1823 right_yaw=0.9444 right_pitch=0.0549 right_roll=-0.0551 right_gripper=0.066\nstate[joint_eff]: [-0.253, -6.6803, 8.6496, 0.989, -0.7155, -0.0806, 0.7546, -0.6085, -6.3521, 7.9658, 1.4579, -0.3248, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d917c577901504ce3bebd5fb7f2a0b98c312b20b7c9705fecafee7a78430e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19798c131f3f8eb10d2fcb3ea41951eab8467affe423d7656f73e572a9b26ccb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb5a3a7521ef935de74f23706658d89c4d7c9784174e4a4524b145915b71309",
      "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 · 6.55 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]: [-0.3935, 1.3155, 0.8665, -0.3691, -0.0788, -0.0441, 0.0709, 0.3878, 2.1475, 0.4713, 1.3369, -0.0933, -0.0414, 0.9992]\nstate[eef_state]: left_x=0.347 left_y=-0.1251 left_z=0.1356 left_yaw=-0.3122 left_pitch=-0.2459 left_roll=0.0347 left_gripper=0.0709 right_x=0.3905 right_y=0.1811 right_z=0.0017 right_yaw=0.4915 right_pitch=0.2136 right_roll=-0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -4.9709, 6.9675, 1.58, -0.0952, -0.0122, 1.033, -0.6359, -6.9538, 1.7846, 1.5067, -0.1392, 0.0659, -0.022]",
      "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]: [-0.3935, 1.1965, 0.7311, -0.1825, -0.0826, -0.0437, 0.0723, 0.3855, 1.7973, 0.4633, 0.9958, -0.0875, -0.041, 0.066]\nstate[eef_state]: left_x=0.3447 left_y=-0.1234 left_z=0.153 left_yaw=-0.3114 left_pitch=-0.0761 left_roll=0.0235 left_gripper=0.0723 right_x=0.3889 right_y=0.1783 right_z=0.0637 right_yaw=0.484 right_pitch=0.2145 right_roll=-0.0062 right_gripper=0.066\nstate[joint_eff]: [-0.4581, -5.8598, 6.7077, 2.0684, -0.2173, 0.0611, 1.033, -0.2667, -8.4581, 5.8598, 1.9219, -0.0611, -0.0171, 1.033]",
      "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]: [-0.7277, 1.4982, 1.0634, -0.5426, -0.7898, -0.7784, 0.0761, 0.1574, 1.5669, 1.0531, -0.123, -0.6445, -0.485, 0.066]\nstate[eef_state]: left_x=0.3524 left_y=-0.1411 left_z=0.1654 left_yaw=0.3081 left_pitch=-0.0543 left_roll=0.0356 left_gripper=0.0761 right_x=0.4093 right_y=0.176 right_z=0.1823 right_yaw=0.9444 right_pitch=0.0549 right_roll=-0.0551 right_gripper=0.066\nstate[joint_eff]: [-0.253, -6.6803, 8.6496, 0.989, -0.7155, -0.0806, 0.7546, -0.6085, -6.3521, 7.9658, 1.4579, -0.3248, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d917c577901504ce3bebd5fb7f2a0b98c312b20b7c9705fecafee7a78430e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19798c131f3f8eb10d2fcb3ea41951eab8467affe423d7656f73e572a9b26ccb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb5a3a7521ef935de74f23706658d89c4d7c9784174e4a4524b145915b71309",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOjpZHDOcFIibAy_PLcPsY5gnDWxAhLqIIvWa8pxpse-tDhw4OV_BGAWULdpz6px_1Fc3-sibMTEUCZ9XZG6YOVpwkvFc2WD3yHhGlb3SBzIYh3Z5ZpKzOJ4UIBU3XngweBisRXMsvUlo3ZLyMrpes5mFvpC04EfdSRaycXxwGhkTEHebIIFLVfQlACHNBisvyw7J8-xlyFygGXbHH0zZQ08KBV5z4z9VlNtmjdx_dEESvfh_-XiBrWtwQpRydlpRvp2sCzbGyupGdCO_GcjTTW_-kohebzGltw2kUNXw6-ojp5GLXHD095iVOW122K5niuArAfKEMyULiqaAzIv5NlrGHGZu-hOjdB7RYpu966HEVCnlmxXk0s_bp5shsF_8wwo1T3ZQ711LNYFloG4CVMPK01YEKw0oYT_PfSrGWKXM4tYh_n5gzFZwQAcaUn5LUyhHM1kwvbjuQ7JN1Lzas0YoWgsQh52CgsspmK4rjws3MjMMbQpIFw7BMQuIt0qob2b8YmdsNexuzZd1PteDhpGG-tPwgoDnHSsQQHv8tNPxCzRqpnI0hwkoCYyIrrHgHrr4zObxEvgi96UXdoqfZ9L46SuK5rz7ttw20WhqkBT0bF93BTgsDaW39htWqG2GoX56h270gLQbIIS--WSTuS23uF8GNWBlYifOXwUi1hsIideyma941k4W8T8qqKP9xMh6dOI2CcXvP5nybmAoh-Xbrj9M5yPrm8j6QqG1Ohy25hqvuiAz8GNmbzFFJvp2ubwHfEv0NmGX6YOjDgDGoxH5sKPqxE0I-9l7ZRazBIHDPgJTWwO1X-eSiT-MHEz7IM876VOzeCGHkL4gpu93DzyQU1wJ0e1iUf_Lkc74m-PPUS6QdbWeBORV6Yra2O6SHoKVnEcWIrB-w4OFC9oSh6KyOdl3DanQeRX2F0WlXQUkQO2pMwSNvD7-XCcnVgKnqkIdLrfIlf7YHksfkmBwwCqHyEw75_oIRdDmEZlIl8QgL0w5vFUDj-X3CZncubb2PEiJTYlRAWICqgjgE89jY85OnfLSUUNZiFP7HAuvqBQc2bTUyC4CjklCpyGBugR1AjcbxZovygH598ELfhdPgdsR86es0efAuch4fdZ4bDmptSv_3vlsSdRtdDkPYLIhGbvope8c-iZWLxQoORyafwIzGw_zfTsK4MyyWdGCnMCmG5-RKfgN0FE2OmDAV4zujQiHQyLP4-jplsMwHqL8TCIrxEJkIFFwHo8-F6AD1ZSSfArDqOJe21dneIUxlFbFIzC9zdfcRaIdoOv_246MevqSqzhpgGQX0_oYjIoeaQuIm-LvYYpFUh_b4H0hMGOK74ECR814niuIsOUaQexFYZ8l4_aBgbpSigtwxk5Sq0ayEAZHlLQrKfArFeGL_ARI197AI8uepIruZ5nXzwzL-gxvsHuMLuOh77m_Uyy9Ds2Yw1tcGD3fS_3cI90zcyUZCPlGGLmxFQlICS6-gm-XEeniUsJav7AMeJ9C7ucjZuRR3EBOWwl_oyOqa4eCoCU_-uT4SDg_N6sZTgY8R4tiI8jg==",
  "id": "rs_0d74ad643be87f17016ab493a0957087d094331905fd909799",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.18,\"left_yaw\":1.0,\"right_x\":0.35,\"right_y\":0.22,\"right_z\":0.18,\"right_yaw\":1.57},\"note\":\"The pen tip and the cap’s narrow closed end are visible beyond their fingers. I’m continuing the rotation toward a common left–right axis while keeping a wide gap between the hands.\"}",
  "call_id": "call_s9lmiYGC5cN4IeCMtdqgmELl",
  "id": "fc_0d74ad643be87f17016ab493a204f487d089f6877f96cf2180",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s9lmiYGC5cN4IeCMtdqgmELl",
  "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]: [-0.823, 1.9129, 1.5654, -1.0798, -0.9146, -1.356, 0.0799, 0.1658, 1.7622, 1.3354, -0.6159, -0.9436, -1.0203, 0.066]\nstate[eef_state]: left_x=0.3668 left_y=-0.1844 left_z=0.1578 left_yaw=0.6082 left_pitch=-0.0794 left_roll=0.0361 left_gripper=0.0799 right_x=0.3759 right_y=0.2115 right_z=0.1744 right_yaw=1.4253 right_pitch=0.0185 right_roll=-0.0598 right_gripper=0.066\nstate[joint_eff]: [0.6496, -11.0974, 8.1299, 0.4029, -0.7302, -0.1783, 0.7692, 0.4991, -8.6906, 6.9675, 0.6813, -0.7302, -0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10885b8ead6a012fc65298b9af66ab24a289b3f50a468452721cb74afb98ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a704137b87d64532398bb67f104e0cca68ea34f81bed5d4a21dba0b47291ffc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569d75cc273e6b9d8e7e25f38c6e402554a419d8b0c1f1e213f250e3d8c14884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 10.21 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]: [-0.3935, 1.3155, 0.8665, -0.3786, -0.0788, -0.0444, 0.0709, 0.3859, 2.1628, 0.4713, 1.3632, -0.0875, -0.0399, 0.056]\nstate[eef_state]: left_x=0.3454 left_y=-0.1245 left_z=0.134 left_yaw=-0.3118 left_pitch=-0.2554 left_roll=0.0353 left_gripper=0.0709 right_x=0.3917 right_y=0.1797 right_z=0.0015 right_yaw=0.484 right_pitch=0.2244 right_roll=-0.0061 right_gripper=0.056\nstate[joint_eff]: [-0.1299, -5.135, 6.9402, 1.5604, -0.0708, -0.0611, 1.0379, -0.0615, -9.4291, 2.6051, 1.663, -0.105, 0.0024, 1.3553]",
      "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]: [-0.7277, 1.4982, 1.0634, -0.5426, -0.7898, -0.7784, 0.0761, 0.1574, 1.5669, 1.0531, -0.123, -0.6445, -0.485, 0.066]\nstate[eef_state]: left_x=0.3524 left_y=-0.1411 left_z=0.1654 left_yaw=0.3081 left_pitch=-0.0543 left_roll=0.0356 left_gripper=0.0761 right_x=0.4093 right_y=0.176 right_z=0.1823 right_yaw=0.9444 right_pitch=0.0549 right_roll=-0.0551 right_gripper=0.066\nstate[joint_eff]: [-0.253, -6.6803, 8.6496, 0.989, -0.7155, -0.0806, 0.7546, -0.6085, -6.3521, 7.9658, 1.4579, -0.3248, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.823, 1.9129, 1.5654, -1.0798, -0.9146, -1.356, 0.0799, 0.1658, 1.7622, 1.3354, -0.6159, -0.9436, -1.0203, 0.066]\nstate[eef_state]: left_x=0.3668 left_y=-0.1844 left_z=0.1578 left_yaw=0.6082 left_pitch=-0.0794 left_roll=0.0361 left_gripper=0.0799 right_x=0.3759 right_y=0.2115 right_z=0.1744 right_yaw=1.4253 right_pitch=0.0185 right_roll=-0.0598 right_gripper=0.066\nstate[joint_eff]: [0.6496, -11.0974, 8.1299, 0.4029, -0.7302, -0.1783, 0.7692, 0.4991, -8.6906, 6.9675, 0.6813, -0.7302, -0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10885b8ead6a012fc65298b9af66ab24a289b3f50a468452721cb74afb98ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a704137b87d64532398bb67f104e0cca68ea34f81bed5d4a21dba0b47291ffc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569d75cc273e6b9d8e7e25f38c6e402554a419d8b0c1f1e213f250e3d8c14884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOqykH4ptOynpmZa6RRThkrPleZ7Hn24bm37R7qRjkpXoc8mAl2BmpXdjx8FPkFCDRvEYgMyyNkfyZVJ4x0eDTiJJuMebXhFKJopnBd_3UMrvGW7q68sm2i68VYRZ2WP5TWCx_QFhkVFPfsPocA8PMkUncfWaRxjsIsm0ZCByeMragCseqs8D2YJpXCx8j1yPguMkQBXQc0Fh1srK07ctgm9HT2MXAYcDiYBhl02fH31ePaUw4Nk_e97-5xib1kxX_1Mf09chqYNXf68Gt3Njz3KfE8yyywpYKvQT_lhicnkBPZN--wT9x3ZFZk0GWvYA4B4zUpzlhf_qP-BLcvIHCL35F5Nsrae4Sh42SSffNxypS_gMLPlNLBMfUaUAqGDHrWtjozcU50yj8QCq_wyZocKS6GkgoaIAQuYEK6_7au_5UYDMDzefF6jwhPVppkaXFnQtm3vgF6KyTp2saBtRr5Yqb9V6_jXT9yZ09FGOEgM1D3GnBGI18vAZB0qSDGDxOw9rsvUnn76hDp4AX2wJn0lntOymAOVvcKsJETu_2H3w09JJz8N-9YgT7Ik2SP8-ycyqPshctRDIOyP1HG05TQNfMl3F3DXusyb6XgX1hA1IhyYCTEaPSzLGs8VGWblMvPooyxPs5igwu5qUBu6P72e3dUULQ5-PL-DKxcJdJW6YvGUmA9NJiy_0TNorO0dWX0Qn_j9Tz2w_D7l8UKqOz3qgALHqtIqdxcY0aFmRwi5nn_MfHBHu6L4M5k0aAVa5utJw5h0jX_jBl-ZdVrif6LiOov_TBPkLJUsbYOU8uil1vGQ-yMpollWffeoADugL-9VQUbKX11UJ_a6URs54XUgy0T7dkszixczZSKn8BgAHxijP_WgKSylPaRKg5YJrb4JGDOtpjSUW0-cRa2avzWfVvNvywXz3k2QHDyOM0gEVn-Ltqf98y3wwEfkNgeyr_Bkt0VBZuf5qR2X73_k0fHz-AUfE1DJAdrkAX-S-d3bgCYqLRscCFhAKwWETvpeN2dd--q7HsJkaMIQ22AkLX0dcwcmHnodNAvrHeyJIav4RsW7jaqzc3nh97ZGjxmfqUrSxtWpjFWyuGh1S-eSA2ol_Vydh8fljbZIEIMAxT5n761adFUOHI5rAebNzCSSHxlicGCCf3mfITPgXulkOkbSE9uTGUPxAhurZp6HbVASjXZ9BYIkz3cnauqIpsrljeiN_Mz62YK53yO4_72lYJ9jsQSyIetXarAn-5yQYa9KDI74jSZZ0MYhezx70fQXWBjiH6hpjpyYtJtmXPUEzSAdXNMWeuClw32uSfI2z997YCUv_00QzPRpnl_b0NfmYl5dxqObvpporU3ev2YTZpThc_c1CSZoQoslDCDxhWvg3S9YJ1G4c7vmRpUBgz1xDvPJRSQO3VXpnstDM8yzvD8DrNSEs5NX3-wcp7QhTvhokvB4HtXA1j-y1ZtETs8ps_LgMmbEIXpSHAQ7yd2neAqIZd66TXpSYlVTo10Tp_k7-KCcwAoUH9JDQ307eWqfRmrihdlU_5D6lqEUGS9EH7gcMckokUSMoK2cM72Qd60JdRY0LuIOaC8mTttZkays6y3IKwwYhKmvnDaFAZeX1c57I3xRMCRWIkWu2mpHdhxU8th-CpNyCwo7vw0JnlJ9Vq4IZu3-kekmk96kGctiTGdIR-29ufklkymSltTiQljbgA5InsR7zlar0yIvTBp8gPwfcwn8LLQ3iFq9CA2IvnycNykKXFZUcA8Rmo9VtjNt5lupI0Yw-CZChThzOb1GqjDWf8Qk1e0VGbgA6iSD2DLqPamitIOZEkYSsEyvl4mOMUDKB7IwZ1nuGStXw_t8233ZDt1NuM98EsI51aB9ElNS-aiX0_lp6LJ3yeGEQX_5JrD6XLv-b6uN8TMDxZ7XVTN2zZxrxfqNE4Wu0SmTsERX_vj3BCbJMKiIuesfxylXWDsYag54PXvplTEjPwTleaFd9a9dtwiE3TAzWrCwdMKppPh8aubs7fXTB-MoD5E8QHVccSqFarAoJH7Hy5aQ4APcoSRW-xqRR71CrnQrt7tHALy57vucIuJ6zzGSOx9_RfCyOIKR7jr3lxgOAVckSAW8KCq5gMnGnt56LyPkFXd0YQUBr6ZxbQrnFMlmgPDBWdueGYxPhGfu_45vAthiNJq6UiTfqtmycy2vhaH213-KkYcrDAcKPxsP83905aDVYUH6T8oD_MPUaXh558Y3EPCPkzROYFUCh1OyszZYFd7YEFE_MmIL0mVWjSjPosso44EOBg8oo3WKBA93Lm0LBg60pb3OVRS-dAgKBp9m0sE86vWXvEZnw2B4lUoD2fNqqx2U9aYNDu-2PTS3o4J3Y_K",
  "id": "rs_0d74ad643be87f17016ab493a5004087d0af8a9fbe7826435b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.195,\"left_z\":0.16,\"left_yaw\":1.25,\"right_x\":0.35,\"right_y\":0.24,\"right_z\":0.17,\"right_yaw\":1.57},\"note\":\"The right pen is nearly across the table, but the left wrist has not yet completed its turn. I’m using another modest alignment move rather than bringing the pieces together prematurely.\"}",
  "call_id": "call_GlbXsDbB0YV1Hjr3l1Aa2Bym",
  "id": "fc_0d74ad643be87f17016ab493a8a15487d09a4e836d7bb28a87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GlbXsDbB0YV1Hjr3l1Aa2Bym",
  "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]: [-0.8169, 1.9121, 1.5661, -1.1378, -0.9203, -1.4128, 0.082, 0.1764, 1.7802, 1.3624, -0.7826, -1.0073, -1.2095, 0.066]\nstate[eef_state]: left_x=0.3614 left_y=-0.1743 left_z=0.1579 left_yaw=0.6502 left_pitch=-0.079 left_roll=0.0475 left_gripper=0.082 right_x=0.3498 right_y=0.2177 right_z=0.1725 right_yaw=1.5589 right_pitch=0.0291 right_roll=-0.0564 right_gripper=0.066\nstate[joint_eff]: [-0.0205, -11.1658, 7.8564, 0.2613, -0.7692, -0.0562, 0.7057, -0.3897, -8.2667, 7.7607, 0.6862, -0.7888, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277f9d267f019b006077470f6c03021a1181ce3085227bffb01873ae57103c1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da9f8abf1d155c29eae9864fee0795f43f92ce886a3b9015cbe205b82a0d2d51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa6521a980cd03a46644a7b732f093ee7a3dcf64231694314c7273685cd63643",
      "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 · 6.243 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]: [-0.3935, 1.1965, 0.7311, -0.1825, -0.0826, -0.0437, 0.0723, 0.3855, 1.7973, 0.4633, 0.9958, -0.0875, -0.041, 0.066]\nstate[eef_state]: left_x=0.3447 left_y=-0.1234 left_z=0.153 left_yaw=-0.3114 left_pitch=-0.0761 left_roll=0.0235 left_gripper=0.0723 right_x=0.3889 right_y=0.1783 right_z=0.0637 right_yaw=0.484 right_pitch=0.2145 right_roll=-0.0062 right_gripper=0.066\nstate[joint_eff]: [-0.4581, -5.8598, 6.7077, 2.0684, -0.2173, 0.0611, 1.033, -0.2667, -8.4581, 5.8598, 1.9219, -0.0611, -0.0171, 1.033]",
      "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]: [-0.823, 1.9129, 1.5654, -1.0798, -0.9146, -1.356, 0.0799, 0.1658, 1.7622, 1.3354, -0.6159, -0.9436, -1.0203, 0.066]\nstate[eef_state]: left_x=0.3668 left_y=-0.1844 left_z=0.1578 left_yaw=0.6082 left_pitch=-0.0794 left_roll=0.0361 left_gripper=0.0799 right_x=0.3759 right_y=0.2115 right_z=0.1744 right_yaw=1.4253 right_pitch=0.0185 right_roll=-0.0598 right_gripper=0.066\nstate[joint_eff]: [0.6496, -11.0974, 8.1299, 0.4029, -0.7302, -0.1783, 0.7692, 0.4991, -8.6906, 6.9675, 0.6813, -0.7302, -0.1099, 1.0281]",
      "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]: [-0.8169, 1.9121, 1.5661, -1.1378, -0.9203, -1.4128, 0.082, 0.1764, 1.7802, 1.3624, -0.7826, -1.0073, -1.2095, 0.066]\nstate[eef_state]: left_x=0.3614 left_y=-0.1743 left_z=0.1579 left_yaw=0.6502 left_pitch=-0.079 left_roll=0.0475 left_gripper=0.082 right_x=0.3498 right_y=0.2177 right_z=0.1725 right_yaw=1.5589 right_pitch=0.0291 right_roll=-0.0564 right_gripper=0.066\nstate[joint_eff]: [-0.0205, -11.1658, 7.8564, 0.2613, -0.7692, -0.0562, 0.7057, -0.3897, -8.2667, 7.7607, 0.6862, -0.7888, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277f9d267f019b006077470f6c03021a1181ce3085227bffb01873ae57103c1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da9f8abf1d155c29eae9864fee0795f43f92ce886a3b9015cbe205b82a0d2d51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa6521a980cd03a46644a7b732f093ee7a3dcf64231694314c7273685cd63643",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJO0nmCPBaAYVYBK2bIyzqc8ZAVa4rccpitjaUV30ZvXaIaY-wCCeKvz1k0vP6Zn1JkeeMY_SENsdLO0C5PVwI1hTurl4MN8loUaRhDPgDhuR9UgAmC2lEdonQNOGbcXnXlt7q-4dbaF6sEH8A8Sqe1iDenlcDT40w_6rWguLESi9TBAP3wGZvYRbSn9CDUNpk-ajGrO2mYAnaLOMb7iImBBRdeo-lAFgNtZ8HXDFsYasuGlrlp3yVGXrpav5o4lL8u6zwDqmLmXQAMozASZZHUOTCwE2Bojx4OXulY5aVucbTwqW0vph69TeLo1vLqwzKBDsa_3YfWAWzxn7yBA58Ai1Bcn7fb9-IpqJKKMwsanMoC_qw0Rx_ku-W4xlw6hI9dKnfpVyOIucrxAFbGFTFJuhj5xzVfUfKV5urq5cJDREw7pzTExsBTRlavAVN860B1MB6xbWbqHJc-VOkXLqbieIXHwEo33l9ePtI5KpwmGXMCXUiZpfwXOoMVgr-fpHXur-PgM7dJgZxJIuIwI_F8zxdrq6fWWWl6HdYizVIFNAokoStOZfrUGKFiMDjmFav9lYhf-aP35jbf8fz9lQ6RIf4Z-d4FiuqlkQTIHeIqc0QP4d7E2YSHr6juHneg_FETSoannBykSbE2Ju_QfO1YYE2wu3_jqqpQfAERcQnW_VlEUX4gfMW3UbsZFU-2gABYLdo3_LmZBpOWF7D6UMl6ESGDTIMszJetFBPSC4Y4a_IViWLDRIUi9sNT6Azj2dWwvV70dmfZRMXZE1yhYve6aOm2DWIiWFoPDvuzTV95-tS4Rmx-64wdS9xzZuhhRktKNaggRkd8lM-52B-QwMBptF6YKUloLzr8poNVlTQczldw9LQvWTvQROPY0BE260L-L4nQUKnYW442U6Vs7uX3-ODD8evSUZHUMxErf9vWxid7CTB7L997O4Ij9_F4YMgVIl-gEyvzelbWEeC_BJlpw9jtDm4VhA8Zv-Y0aLeCufYwRPCC6Nt9lfwztA6_V4wVu_ya-fXx_Mofwbx7I_mYszL5aG4yjVqZlkVciF3t28LvcSH4McoYRDPDT6dMLd5xFTo8HiMfXgm3Jfl6dhn4J-CtEND_Suk4iZJfP_ziFfyRUbdAhktw0W2ck2wr9FMeyvRp0nK1h6qQtBfSuYV6GR3QqCos9Yaz1S9lOkVoZcmbtKDPo9mqQp5AgqK6dFzXlhXO1lQ9yA_dymeBNMKJw10HpuKKJouxlSpirvQmzd5kUgh3XnfUs5sCpbf2obGLyY6jE9MOTITml3-UZcVlQbPpRA_ce_5YJ8AGHljNG_0cDtMSHK4n3ce_zQ7Rs74281Txrg6p-7PPPZGGuvq2vRXRd_YK3I4aXTIv285yWfzfEDrJAlp8NOVOZCyRui2iHrnLzYXUTUNBOH_r_Wd2J7Nsdp7lTZRmnY2ZsRmRPxsHWCLA7nSOWq7P6eX-a__cQ7NxdvDbqqUR5f73eapH9aqGap8RhTfA1OpljUD6TrPJQAEnngosbev9yyehe4odG3vIHx54Q4qWllyciP7p0Xssh36m6tun-E59cRzCh1juQSvuYEfKwjPhMEYFcEyI-cIQ7QZqF1UVoAEUX7y78MoA__h9JcRtdh1CYvyfnOev7FMn_iuu4-gYeG8IQ7TTeLQtyTX8JdCMqFNgm7KbO305bA_gtSf2mAUikPzurxlp58pG8g5M0HP49sR654uJGmMIhCZDRcJlDt_eqyJkY7ZyGOmLdcPc1l-ximmfjBkpmV1HonS2I3RNVm_OzZjceoriuMSq1vkgRUQDoEsTiLVbfKJTGuhkeiGbItvo0ZG8uprlemly5Ng7yK-t9L1-uyyr1zot8uwDtYike1s45eh7w_EVsj5pC4ex6s7R4w5sRdlSmF9ySAdq3bcmP7IFhphmUWwiri_utAZxoo8aW6c6LyRLi_nYJX3ReShxUwUnvfOhsieL8E0HPC5WuX1qA2--EFXpfv9o4ZdcgHosgbGOxHlzEe6oH7PGRgigS9trt1ULJdf8Ebz0hFz9K52LNgdV095LTHMucS9AoU6pbP4o0yiE46BnYtQSXfA5Zd5_ZmPV8sNAxdy4q21HQrstCC-gmpA0CwjvyU-wZzqbu2R8Mv7ibQhKdxDy8bBZO_UcmVavzai9DeAf0n4J35uu_tAHy78OQhUwCQuIzcn4jjOIrD8nXs3mKhgvqnw_kMAbcdBzqjIKwdPrttf9-NwQ49iibtZAwwOHBvXnMQBC86ms_o4P3_GRqftYL28-BZoTiALY0QFGKjDYWl5-TxLelgnwK87FpCS5ddiydw925mEHA3LHyaMX2VOduA3VdL1SqqTL6U3gy_K7-YM21vGD-k1vRpTegAMPIO5cWlA4S_k8KDIC-Se9bOOBzFlqyKsJ3V-DNbeGtRZCa73amltPS3OfkhpHA5F5tkwJlHsO0Zu-dbkHT0WkCDgDksz9Mg9wLSqOMQ9Y7rFjhJXmN7MRK77PGPW9vYyqkG6Ye7CkQ02wiU4JEL6S0exAn1KRPq9dDHAonU0OcwTud_VShdiirS3-wZMWaW_cs4qO2KjCRmjG0GZ95f2FIvwlbA__rOoR9kPqeVPtVbhYYrH85lvPEwLt4Vu19iefOJMPBR09ImPAK8CPiHZ98TfoDRms4cKciAvm6cKWkzhvpj5oMrSxr8NVfivo0Xwov1oZUEKlonDUyuMx03nERrmH2qmXEBgNBuC3_W2OKk_LBzCuvylvbGzhGf7yEbZHPXBPBmYK1d2JM1ny2VZRcXg4j0J2tukbN_qSuJjktZ25q9OCfwz59PiQz8CKnnR56BNeIgqIGY2pm_Qexlt94uEgtr3U1FbakzKjsSkwLwS7lB01Dw-iWgRoBdInfc2pJRj9fMsjfy0wUbrwF6AQnVPEkpSiXCU980HSeLz0Snq52z3vXRtwV2qyHMFasrUOELXjcaEZ4gJ0XClEv0jVETaI-GQxIl8c6XOI2p46BfduMZEkRl01PjJGJh0oEU6uFRg1uLWRgFZaje3G7nvqyIpAhz6n0zodF6MH2l4phkn0M4Ru0ggsZ-_e1lsTZNAnfUkq4Cv0mAF3SFVN5PwIi8KG0WZ6gNx3MaNpWHUYzZPK6LrtPEgR09cWBtvRIjTyCkHE2lacVJBnVw3sYJ2xfQv8nX6pLD4eTCYqOeUq_LbHSEQhWk-bdvq4cQnfJ5ZmLWLZL6Vtq808-u2y4DdiqMteXOngr02nEqoc6hWNZjTgQDLCNSAc_1FW0tb7dmQLMjliXrr2nIu0EIWnE39VcIWJ0sMO_ygl7j897xyRgHPmYhq9pvQKIP6Zw8sTbOtglkj-Mr78ZCXxZ8e27zZaz4V_bA94sOFkIXp4DieEzpUKKISaf8f8Iph4jw6LwYKO2MxMAig5Qz3hGbkfueVV7KLLAnOTpRvrkZLDcCx7XGFTLTpHDRnGJVKI6YaVyZAYat4_LFqHpkNUCWTha2WcTYvig6dPYVrPF4cKZdP4xINdQgcWQyRLiuufNmBvgFqUHFb85s2apd69x-RfUNTqG6JVCkIuQhUM=",
  "id": "rs_0d74ad643be87f17016ab493ac09ac87d08212316651a5b113",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.23,\"left_z\":0.17,\"left_yaw\":0.65,\"right_x\":0.25,\"right_y\":0.335,\"right_z\":0.17,\"right_yaw\":0.85},\"note\":\"The left wrist is not tracking the larger rotation, so I’m changing the assembly direction to the diagonal it can hold comfortably. The pen will approach the cap from behind along that same diagonal.\"}",
  "call_id": "call_7iV7iUrNiq8JsC3F2GCHATVk",
  "id": "fc_0d74ad643be87f17016ab493b3546887d0bf663aa5d4c87c40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7iV7iUrNiq8JsC3F2GCHATVk",
  "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]: [-0.8532, 2.0506, 1.7897, -1.6955, -0.9047, -1.5547, 0.0851, 0.4316, 1.3304, 0.8349, -0.2153, -0.2829, -0.4232, 0.066]\nstate[eef_state]: left_x=0.3219 left_y=-0.1522 left_z=0.1752 left_yaw=0.7356 left_pitch=-0.0972 left_roll=0.4085 left_gripper=0.0851 right_x=0.3257 right_y=0.2083 right_z=0.1484 right_yaw=0.8968 right_pitch=-0.133 right_roll=-0.1432 right_gripper=0.066\nstate[joint_eff]: [-5.7094, -6.735, 11.8222, 2.3761, -0.652, -0.0269, 0.735, 13.3128, -2.6325, 5.9419, 1.6484, -1.7216, -1.2576, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eead4ef734cecb3a80eaa19216906f65dc0c194a3307e1390d704e6f04a0d18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec3546977837c9c20f07543058e1e42c64ca068e9332b31d6221b71b79fdbce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c0c2b44db37e54daea53205d923e20514481282fc4a5c8de8d220e8e14e1fa",
      "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 · 11.4 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]: [-0.7277, 1.4982, 1.0634, -0.5426, -0.7898, -0.7784, 0.0761, 0.1574, 1.5669, 1.0531, -0.123, -0.6445, -0.485, 0.066]\nstate[eef_state]: left_x=0.3524 left_y=-0.1411 left_z=0.1654 left_yaw=0.3081 left_pitch=-0.0543 left_roll=0.0356 left_gripper=0.0761 right_x=0.4093 right_y=0.176 right_z=0.1823 right_yaw=0.9444 right_pitch=0.0549 right_roll=-0.0551 right_gripper=0.066\nstate[joint_eff]: [-0.253, -6.6803, 8.6496, 0.989, -0.7155, -0.0806, 0.7546, -0.6085, -6.3521, 7.9658, 1.4579, -0.3248, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8169, 1.9121, 1.5661, -1.1378, -0.9203, -1.4128, 0.082, 0.1764, 1.7802, 1.3624, -0.7826, -1.0073, -1.2095, 0.066]\nstate[eef_state]: left_x=0.3614 left_y=-0.1743 left_z=0.1579 left_yaw=0.6502 left_pitch=-0.079 left_roll=0.0475 left_gripper=0.082 right_x=0.3498 right_y=0.2177 right_z=0.1725 right_yaw=1.5589 right_pitch=0.0291 right_roll=-0.0564 right_gripper=0.066\nstate[joint_eff]: [-0.0205, -11.1658, 7.8564, 0.2613, -0.7692, -0.0562, 0.7057, -0.3897, -8.2667, 7.7607, 0.6862, -0.7888, -0.0366, 1.0281]",
      "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]: [-0.8532, 2.0506, 1.7897, -1.6955, -0.9047, -1.5547, 0.0851, 0.4316, 1.3304, 0.8349, -0.2153, -0.2829, -0.4232, 0.066]\nstate[eef_state]: left_x=0.3219 left_y=-0.1522 left_z=0.1752 left_yaw=0.7356 left_pitch=-0.0972 left_roll=0.4085 left_gripper=0.0851 right_x=0.3257 right_y=0.2083 right_z=0.1484 right_yaw=0.8968 right_pitch=-0.133 right_roll=-0.1432 right_gripper=0.066\nstate[joint_eff]: [-5.7094, -6.735, 11.8222, 2.3761, -0.652, -0.0269, 0.735, 13.3128, -2.6325, 5.9419, 1.6484, -1.7216, -1.2576, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eead4ef734cecb3a80eaa19216906f65dc0c194a3307e1390d704e6f04a0d18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec3546977837c9c20f07543058e1e42c64ca068e9332b31d6221b71b79fdbce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c0c2b44db37e54daea53205d923e20514481282fc4a5c8de8d220e8e14e1fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJO8Yf8kCPSaKenLzjZdPTGjkNm-JegHravQTvrv4rnFy8R4XrKNnAsrac6HeeAHvcKWFc1DFrCoS4Uk7Zw7GLEekonf7dGFmlwqeqIK1OrxPp2QV7m6AdLIKdsJ4DN74tjaQz_J0TR_gBqsH6K8GTkBE7f0geV9v57fER70qlovduvHcrLvV2s2swOrxIqOrNTl5h_a7H6jI8MkLJ7L3ZR6_sfRkPj85eIvUJ1P9jtF4vb_ANZCk2tQAhXOPIjv5RLWPv0zx4cVni6s7LBfvkbIuMivPQz6s2-MO22yW5WXR-Unkh50azHHGDLvkCix54xcGEvYQ9XQSEG_rDg_bT8GAviPdyYyM1EKjSz5wIugDtFsDvKcehzZ3CB43BcJzulQLymKujuhTQYOJ0wfQ0lYT9upewxgp8SvHZ9ybVCetusxs7CRnr___2DcFmupUf_ZeheFVll_sJweV_vT26w0BoEBTTuHlHw49VR1bSGslQSumV2GyfXhD_TbaqZkf0AqMn6ya8PGnJRHy5Al6amujG0eo5m5MWeFVA--ETA3K_qzhVK9fjMKrZnyRTwLfRb6HveuFZCcbTmnQ-a26wMcLIC196lSs05vXYuFlBbDgm1j7ZVsC-jYHsXOMH-RxKZcjZtR-YOnyTr4_fWAC6kCZT7gpQpn5D3LFUUT-oIjmA5EIszCUArhb3s2MVs2WP4NrmDcnDLRwxHj7Y0uBomO09Ecdyxc2LkvIb5VAtMUNvq89Ln6R_mx6NQTix4BMFLCeAzIVJhtoUoRR2BIBFjLlJBZy2B_RUTiG1d93nfAWPiQJ9V7DqBSPN2aJ-bE5lWW9bjfb1s-LN7OPEZsM9mS8JR4r_4t7Dklp_FVXH3xCjOXYx7Y4J4xKJCVnt1HMFrAJzkowdWrr9ujW1dw4FGX_K22Lk-yib2e6ffkMt8M7OJCSbmkxRJZCFK8IrjV6xs3tzz2nr6k8WR0QH-ecqZijx63vW2BZMofNonONhuX3XPvD4JuW5ih0LjV6hINKt4BOLWNVc08l7xEY43GhPDk4lDqigQQQl2JG1K713YvgOcJFtQWFO3yoIFoJHpQ19FADrJbf-mlaz5Hx2NHDudOOgoaUCD1juIMmx7kyNbOj2vjO2Dyan3HjCDs5wjgdDNe1RCWOxaK13uRy6skPydoo9CjhgcPVaelKuqDqpYuHuGoYk0_Z3uXFq5K2dE6eFw0uuiFtaNMIlLNlhp8uyTt1mGGlNz75mmIMuPXinyWGe9OQC6MH5X7texlAPUE6frLP3BTf2n4cEEnYv8sBrNwbsQdDtsQ8mLG5bqOcdY70zFXyAsHxw0dTPuhAO01O4jfOTFjhq0VxjC05bD3I6HEoQNfc8HY25DeK8vjAr16Y0YSzvfTvQnlEY2E61RT18rSWs2bIYswV247UFYixU9HgjINF8LAtEe5H9locGTXWyQyVW_yGuyZEB1vPWVs4SGXVjJxkPD14r3_gU8L77sMCiGrpVDMIzrMQH_97kgYMDKtyMq7Lf3E4Jw2YqUw6A3sCCETMVwZLxCdmJl-1xgUThjP5rcFn0llooHzKpn-dg_CgGd3qB8pWo19nk72iXfNVWabQxxeb6j_IYyH0Ioa0sp9K1cukXhNvTJH3fFr5w9K--8W9jY0RFxwEvOxCNzHC31CUmIVS4B7KVYNThxwiOB9TEwl1pZFNtnR_5kJHIydHN4gZoYq4Nk3bpwwn1lOVjDJ_1iTd6hd_st5a-nxpqpIzl3dmk7cnGr2-lJ8MS4YKhuW-bccZB28rB95TKzba8dtCquqBA0jD3OG3K5ShPcMXB8333s4ehi5js04sQkDxp7Zv3AY3MAh9iQnK1pENdsFxSSvf2YgkXMfLFL_3XPRTgloNVYm5-nx5hy2LYn9jwBfwOHxAdV-6F7VOSfd4kAhqmnODmqByQ1TQOhJRBtLVQuAPWZIhLGWu5lCd_nzXrC6queJQWy_gtrrsFwR3bs0KHHLrIQvhL9T6Q14-_Mc7-h2hCEk2Kiw0UCsoKgHLtpoXfXSAvlEYXEzq7C5_v6rcAok6TddAIYWrOeF6QvR5JF5NMkKu9EkMTbrxAPQJK76MiRgCqEwv_CvoyOCwBW8w1sInpz8CVIzXuD7_FhdL6famHrJs7zg6sGEyCbbTqdNVw6bgiEjsemMPAn8VbO0LZyfS92Oh8xuSltXwgzxFDPSCcXH1Syuzq8oKWIXq-u74Rq0aQE3suSFo4s2ZSY9EPtGbYkvB9f3Rdel9YGep3HlI7OMTnhbW980tvw=",
  "id": "rs_0d74ad643be87f17016ab493b7284487d0b8fd334466488cfb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.12,\"left_z\":0.23,\"left_yaw\":0.35,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0.13,\"right_z\":0.11,\"right_yaw\":0.65,\"right_roll\":0},\"note\":\"The arms stopped well short of the requested positions and joint loads rose, indicating interference. I’m separating the hands and giving them different heights before attempting a safer alignment.\"}",
  "call_id": "call_c52FcGWjSIHy6j2Zccx5IXbD",
  "id": "fc_0d74ad643be87f17016ab493ba693c87d0854ee3833c9b8411",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c52FcGWjSIHy6j2Zccx5IXbD",
  "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]: [-0.7078, 1.4361, 1.3067, -1.005, -0.7952, -0.9745, 0.0854, 0.4271, 1.2308, 0.5812, -0.0883, -0.1478, -0.1493, 0.0661]\nstate[eef_state]: left_x=0.3253 left_y=-0.1076 left_z=0.2261 left_yaw=0.4491 left_pitch=-0.1181 left_roll=0.0218 left_gripper=0.0854 right_x=0.3014 right_y=0.1697 right_z=0.0959 right_yaw=0.6346 right_pitch=-0.1768 right_roll=-0.0084 right_gripper=0.0661\nstate[joint_eff]: [0.1299, -4.3966, 6.0103, 1.1648, -0.3541, 0.3101, 0.7106, -0.1436, -6.0786, 8.8274, 2.1221, -0.2076, -0.149, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557a5a036452284c688aa6ffe3897102921fd79a536978a75d012219924b22c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e4202e272d6b98435538ac35132668e538c4a04e3cb4b2ac3df24203b78f9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8130279030d6cd6d85ae7ab372c3a2763adad0935d7ce9670806a87ba1c7d365",
      "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 · 6.783 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]: [-0.823, 1.9129, 1.5654, -1.0798, -0.9146, -1.356, 0.0799, 0.1658, 1.7622, 1.3354, -0.6159, -0.9436, -1.0203, 0.066]\nstate[eef_state]: left_x=0.3668 left_y=-0.1844 left_z=0.1578 left_yaw=0.6082 left_pitch=-0.0794 left_roll=0.0361 left_gripper=0.0799 right_x=0.3759 right_y=0.2115 right_z=0.1744 right_yaw=1.4253 right_pitch=0.0185 right_roll=-0.0598 right_gripper=0.066\nstate[joint_eff]: [0.6496, -11.0974, 8.1299, 0.4029, -0.7302, -0.1783, 0.7692, 0.4991, -8.6906, 6.9675, 0.6813, -0.7302, -0.1099, 1.0281]",
      "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]: [-0.8532, 2.0506, 1.7897, -1.6955, -0.9047, -1.5547, 0.0851, 0.4316, 1.3304, 0.8349, -0.2153, -0.2829, -0.4232, 0.066]\nstate[eef_state]: left_x=0.3219 left_y=-0.1522 left_z=0.1752 left_yaw=0.7356 left_pitch=-0.0972 left_roll=0.4085 left_gripper=0.0851 right_x=0.3257 right_y=0.2083 right_z=0.1484 right_yaw=0.8968 right_pitch=-0.133 right_roll=-0.1432 right_gripper=0.066\nstate[joint_eff]: [-5.7094, -6.735, 11.8222, 2.3761, -0.652, -0.0269, 0.735, 13.3128, -2.6325, 5.9419, 1.6484, -1.7216, -1.2576, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7078, 1.4361, 1.3067, -1.005, -0.7952, -0.9745, 0.0854, 0.4271, 1.2308, 0.5812, -0.0883, -0.1478, -0.1493, 0.0661]\nstate[eef_state]: left_x=0.3253 left_y=-0.1076 left_z=0.2261 left_yaw=0.4491 left_pitch=-0.1181 left_roll=0.0218 left_gripper=0.0854 right_x=0.3014 right_y=0.1697 right_z=0.0959 right_yaw=0.6346 right_pitch=-0.1768 right_roll=-0.0084 right_gripper=0.0661\nstate[joint_eff]: [0.1299, -4.3966, 6.0103, 1.1648, -0.3541, 0.3101, 0.7106, -0.1436, -6.0786, 8.8274, 2.1221, -0.2076, -0.149, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557a5a036452284c688aa6ffe3897102921fd79a536978a75d012219924b22c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e4202e272d6b98435538ac35132668e538c4a04e3cb4b2ac3df24203b78f9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8130279030d6cd6d85ae7ab372c3a2763adad0935d7ce9670806a87ba1c7d365",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPIe32YYn3Dq666J4ovSopZSgH2enRbhaoz1U3qXJ8n-Z1UnHwwmDFbVgNFFwamrtXrHiKo1vc7e8Zhzk5UNAAozFgKetTyS4YMyXpL6Mn8h1TjduPyHhMjbad4EgF_BQVqu2ef5gAdTUpspq747sAioICaaN7KO1WBBEDgAiaBVflpDPCqTbfItdcnDTSmMkUonHDx2LyD9FjBUrfb1vwwjic4Wv3vLpu3ucqr3_zr2rEdWhPA0_6DlP2nifRCSoStFA6SEx8pBYM6KkNV1_GNr1ZzvJKH6lkSbqoue_MWsdJsVtw-adkGaHRSHGrvlpcO-wcE5GXWhu7lXmGuvdoG5yfDjOvGV-LkeTv5odiIgvrWFtnmJsXbu1sL6jFMFJbzOAtPuaN7vjRbH28rztimwFCv2NRWXcseiGIrLgIu9xiMAWd1EtiKeuW9ziJpKqk6gWILVGs7M4z32Kjr0VoNloAyhxuEcDoydZpWABGwWfSx0ewOpAMJb3LADwO5GGV-pdpugP7TZwabGwj66t9GvFbtvP0ZbZgjqirHKGrVaLbSIPhOAuhoiq2FaselT4ZJB5kssE8m2JxiLKER1WotOXxOWNFmd-AODaJe0xLXFey__EdYcKRgvDKSXPoYDhNwq82LHn1-4dXBIVSydhF8gx9Rm6mTzqjvZyTdb0nl4rMyRNT1kV2NeCzNjnbpeLnYz5h0qDLx1THn1WqrZA3ETm3XQU79_-XpOKLzMCXAH6Rs4HxCfjBRGIIlLmvtFzYmovyelZC2n-BED9Po1pomRvNp9Jm_QYDOyF_pCwJV9dwVdysPvjay8J-AYo2jnD8397DI4Dr7_eBHX49Qff4Tl1603f6ysefDyZnnYB8qku1szMo6OM8vD13Q-4d3siITrrzUPAV5viO4-wfVoLR7nSulUWAu6-bx2CK4VmA8uWGnoyUTIxyQI25CHUnmYLoQk1eZkCUEBxQTSXTbR2J3haeZqzVhYRTBz-_kHluc1WeJ4qtvNYv9XcY6H_j9BdA3MDjfnMJUCYNJnmG8o9mJL4LWQQZELpGg9LC6JJQzlOb0t4fU7vTrQFDLa8Vk3JtD37c5mukWcYn-EUAcoYfHMvo22wS-KHNxZXePPk194JD6zizfEorV95Mbw6e_IrGLiRCa6ADA0euGpRgUWSZJhBlsJt-vzl4rYGPLF-9EycX3zhvRsbikd_Fl_ZoUIA0w-XnoqBil1OMqvnMgc9oC534TkLPtDFcR3lpwuWL2Q_WOSQjLXZCaTr9zGJ4HN1lKne3FBRdKK7hZinOl5mFz9h96cx523KFbhOw4nWje7q35u472of1V1gfAzXjD1_BD8C_rW1lQqktK8twHtBSfKqZuRMTCJd6tn6eQWsPbV0TBiEaX8UUaPfv4qxcZr0eV-abQRqFQwfu5mcQeoiZFAaifm47ov_xefd8A_DOY5siWiT2c6vgxNffK7Lz_0CAMxo50NrhWBDugeFU6izAZnnTXN_J1vFziNP4zxOEfyXVuGYv9514gKrJ8hHGymgudK5HTWf_UdmTlTjbtqe7tIPACcsgVkeBIriQQseEMa9r1qCLbYM4s5v9k9dvoPNKtT5mcfd88i3_ztHRhOYX3go4qFB85ZFzn-04BdhZ2JFk6BvTBmM_P-fvzWGjVFQLWW90FAUB1ivnyCy_XVS1dXBn67AYowPZa2S_dhPZeiCl-ro-kTWlfZW1p5m_k74cgFt5grgjFa76WvVSn6iT_zRTWB30RyXx9UA4-zq072lFygmAcMjlXhI0jlIXcJDUEDouYV-t8nDhDgCo2rb21iQ30SyAkelh1TRRQ9k0kOOhXF3jI-pzXL0V8V3BC1mHSOXK3n7jpmzua4FRUzS9OYc7LpsNh8s4IsP2xWJSwP5CJzndo4KFs9W7Z5QzHemNCfrN9-ZjvI45zrZ7oUCprb4kroknAZai_KMiYN7ea1DWaouk1I-ZX3IdLlnq8_99glX6c2gduvCl5TyMQxrljVRCgrKxeZ3JCWL3Hwu0KSvRO_8xYYt3vC6loERAmC2L9NwT5enkxkbLN57OYOYvzg7v3Ww-7Av2RG2OrDa9KXJv-AafH34JWJgTuBSCAOqmPSpLT8cQbRh8iAENUWSAsI7JjbCEteGFcq0b2gU0XgR8jR-U4BYjGbDxjwowUnSEKdPIk5xcR2tj4DfcPc5G-Mcs4CcGU5am95PvSthIMx60tdc1un9plC-NUT8T-tqMMbnWlopQ32fvmDSFhoPMgPaL2gBZ6OG-KiYBvLjJM2AJTVOBTDHpwySU1JOPm_GkFSiYWyxuj9fFXKSia4KFl73xmZWJy1GoB_-ZmolYww82DsnTqTyTkv4_OB5E9kc9GaYSJ_-AjyqkIjIBqD_P_kUry2cM6ABz9AfyajnevdIXKSoRTRSNBNJTnNwHwdLWoiWQzB506FxGo1rzZPWQ5nYGgOOTvS8ADM7V-72V6kZBz403DvtlWfaUHd-b1HbPLrxMVUoLNEXB79Nim3d70fUAdJPMOhEG9YXT6pv_i77C6TC07Bt3_QDzEhchMhrTBCUh9YAoKFOul8MYkmaZfm-JS9CJLf4FvenMNYVRJ3YDVntALSPpux_5Wtsy-Iwux41_SPwYsN_4WG9nco40FpKuAdpTk3qQl6l3TJgmNic8evkKak_faypwkDbeOA3BlIfWF4viCgl6KYCl4v41JIgAuvjXt4SpeHaL6XWOaQZN1rruMPdxwjO8nC6Sl5rBjtwvpBsT7dchZvOdz5_oaxoYpHMcYxN_H1NuX-Nq83ASOBuceoDRrqjEdRM8tPmwGTAC2jM2dfLfXO3VnaQne8LXR3LynYUeP-x6PPkQZE4_yq-X5zwznU0VrUvkjN-JMgRXDr37Cgf2um82gjbL_OALZe8_-OTzOl8HD7RupvxmU_tu0Y4FxTwtocLpCXZpIERUv1b8r3-EVqeA_KhgMkHqADrJEsh4ldInIOsvoFFzJ0bq5U_ge5QY4JgusiLBKxCUKVKIQ9qnTdfg6LynScygE6bs3VaT9lMgs1dtPP-cVAQSP-nPwoc95j0k9ErqsXaIknT-GFm-MzZT4YhpOUhh3m9BFsUHc8qN_i0miJiBCR4ciQudpuQ4C2upO12ID4lhvi60t5dacbd_pAeulWkB6POS9gmV_81igyKu0Mlr0P9Vzi8ZloVYp2fQxR5G4YqB8RkrPC5UorX-N3ibBGvR9qo0SZgiHZXEXYKNtuO2g2reJyH6QUlbaaK2k770QUz7mRgDLQZ2Bxn6-gPFoR8IErk_N0xZKG23N-DGd-vaKNglpfikoXKAUW4XCg5UXRDe-l2CQlVGTltXE0LhTISk_UfZNA19UTVeVU5JgdFqlV4YuNaepAhXHtj19DGcInO6tcdMrrOIGJLj6QX54hvOmxQ5VKLLGLSbzNl5arZEJL2cpIOf6jDUjFW-N_KXmr0JEbS7n5EuBkRIJtd_-HiUI20dzQgGpvK5lruxZwP5pjCRxuhk1CwEcl61hYeXSHdwvjJ0m7VzU_36xhp0TWsyOuS9FeAVkZaJREW4OefzxxmzoRHkc-qk4Ps16Awo6_JRiNRF4-ZyI3n-XXWTbTIqwLRa7tHONimKgpxU7TWhID8r_73CPZXxV2LVtCq6c02QhYi762tnPMuVM7QUfpadAmdS6bQnXsPVubcSOJDcAw2PVEa1l6Xv6csHrcOZ0fPmbOqwMcFKKWMnih8TSet_aS8pmgT8GOb-0k_jdyQ2xnkE-d3LyluZf23Bj6leXwnoBDQMD6kXnGRmD4XPozCEkiFHvJ0kgGl1UKiNqiEVolIW_U7_pNaJ17lGAHepJaIR-I43v5RwgoJtJBfNXPqalWhEE24L5QL2vpvHFgOjve3oy5xWx8fzAZTbJg3WmXNvIDdeUHIg3UxDXd0PYu_0pWlFDDwCBGmvG7De5Dm1QQyWDeTcqRlaGDMLpO-Ss7ALgnUUuXjTH88nZj0cT2-XFMn-3hUrzfwvTKqatoaUrEk-dE3C6SoynAmK5OO7CF7gaoFlrgIMF5zeGjh3rN6pVoN9Y4dp_bMharfmFiyeUwSrAdJfHGEbb7KR3k5n7",
  "id": "rs_0d74ad643be87f17016ab493bdff5487d0a4555656ca18817a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.13,\"left_z\":0.17,\"left_yaw\":0,\"left_roll\":-0.6,\"left_pitch\":0,\"right_x\":0.3,\"right_y\":0.17,\"right_z\":0.13,\"right_yaw\":0,\"right_roll\":0.6,\"right_pitch\":0},\"note\":\"The arms are separated again and their loads have fallen. I’m changing to a forward–backward alignment and tilting the gripper bodies outward to leave room between them.\"}",
  "call_id": "call_2DD0wNoi60ZfHyAvNHld1jF1",
  "id": "fc_0d74ad643be87f17016ab493c658d887d0af5ca54c96c9b423",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2DD0wNoi60ZfHyAvNHld1jF1",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3862, 1.1866, 0.6556, -0.0788, -0.168, -0.7227, 0.086, 0.395, 1.1919, 0.5606, -0.1158, -0.1848, -0.1539, 0.0713]\nstate[eef_state]: left_x=0.3488 left_y=-0.1061 left_z=0.1447 left_yaw=0.1222 left_pitch=-0.1047 left_roll=-0.4846 left_gripper=0.086 right_x=0.2948 right_y=0.162 right_z=0.0956 right_yaw=0.637 right_pitch=-0.1801 right_roll=0.0149 right_gripper=0.0713\nstate[joint_eff]: [0.1573, -3.9043, 7.5966, 2.0244, -0.022, 0.1245, 0.6813, 0.1299, -4.9026, 7.8017, 1.7558, -0.2027, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065d613a7257fad4a63b9d47c1bb1966fe1164e84bb67445ef9baa44e34360bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f87838582b8794235553293fe002e319cefc33b1ac8d21d856d69e542a86847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525737b806e3ac8e8b499f416f8f2b57043570a302380d6733e580dba1e34cf4",
      "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 · 6.439 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]: [-0.8169, 1.9121, 1.5661, -1.1378, -0.9203, -1.4128, 0.082, 0.1764, 1.7802, 1.3624, -0.7826, -1.0073, -1.2095, 0.066]\nstate[eef_state]: left_x=0.3614 left_y=-0.1743 left_z=0.1579 left_yaw=0.6502 left_pitch=-0.079 left_roll=0.0475 left_gripper=0.082 right_x=0.3498 right_y=0.2177 right_z=0.1725 right_yaw=1.5589 right_pitch=0.0291 right_roll=-0.0564 right_gripper=0.066\nstate[joint_eff]: [-0.0205, -11.1658, 7.8564, 0.2613, -0.7692, -0.0562, 0.7057, -0.3897, -8.2667, 7.7607, 0.6862, -0.7888, -0.0366, 1.0281]",
      "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]: [-0.7078, 1.4361, 1.3067, -1.005, -0.7952, -0.9745, 0.0854, 0.4271, 1.2308, 0.5812, -0.0883, -0.1478, -0.1493, 0.0661]\nstate[eef_state]: left_x=0.3253 left_y=-0.1076 left_z=0.2261 left_yaw=0.4491 left_pitch=-0.1181 left_roll=0.0218 left_gripper=0.0854 right_x=0.3014 right_y=0.1697 right_z=0.0959 right_yaw=0.6346 right_pitch=-0.1768 right_roll=-0.0084 right_gripper=0.0661\nstate[joint_eff]: [0.1299, -4.3966, 6.0103, 1.1648, -0.3541, 0.3101, 0.7106, -0.1436, -6.0786, 8.8274, 2.1221, -0.2076, -0.149, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.3862, 1.1866, 0.6556, -0.0788, -0.168, -0.7227, 0.086, 0.395, 1.1919, 0.5606, -0.1158, -0.1848, -0.1539, 0.0713]\nstate[eef_state]: left_x=0.3488 left_y=-0.1061 left_z=0.1447 left_yaw=0.1222 left_pitch=-0.1047 left_roll=-0.4846 left_gripper=0.086 right_x=0.2948 right_y=0.162 right_z=0.0956 right_yaw=0.637 right_pitch=-0.1801 right_roll=0.0149 right_gripper=0.0713\nstate[joint_eff]: [0.1573, -3.9043, 7.5966, 2.0244, -0.022, 0.1245, 0.6813, 0.1299, -4.9026, 7.8017, 1.7558, -0.2027, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065d613a7257fad4a63b9d47c1bb1966fe1164e84bb67445ef9baa44e34360bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f87838582b8794235553293fe002e319cefc33b1ac8d21d856d69e542a86847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525737b806e3ac8e8b499f416f8f2b57043570a302380d6733e580dba1e34cf4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJPPnpkQI_5yEj3aFDewVOlMgc1Tel4ysgmtq0DiSuiE0vNAJ-0Z6qniHsXyTNu0WpiFZ6LsVyp-ggOQylup1dW1bwD_Cg6vHc5RwCXpWFODApLbVtUzw6z53ChfIhJ0wMK7xF7HTRdgz2swzX-dS6j_UbeCE-Jz5XdMZKwa6nNlJs3YFzmHs_NjpwzsQFnRc2K1RQ8bjbwkQvABOEc0mPpNT8q0SVrZDhsE5mUM75HGGlFfZPqBfUK7e8ZNDfsD8zeBcIbI6_fSLmqHUNOq71kyU917WugC7pV7vbl534NyFXyRP1vdZjE5hEVKSTDSEJtQUq5PMmVGgCgT3iVqVlM6sRjpA12B0XdFa9zu-LhLoktF2uUx0cKLREfC2INJr2PRp0MvmOxL5CUeJYY_7PeTb2kBXju0vIunI0hENed5_1IHAfoG4bhY-U3mdbqmzl-eKjkBuD54K0GBlRmVTWSUtgQoXibNEmyEqJsr8pJhhHKzb7VXBVw_1BjkWvYdHho64vKdDpAIF-Gkyd04PdkoMr09aLuBpk7Wk6ZzBaxTsl89XHpqf9f_X53k65g4dmY7kJC-d8ZbkOQZh9Vm9bYXj7fBN_K-DVmrPrYpKUxIkHA-FEyiJFnrtxBpqN0-mjjZ1R-N5KV2NnqQE8rnYcC2xDz-Sael2S67WwRUstpmAr_qTgxoPD7r93St6cU6vuvHhScylCUzk16RsPIr2sESyBJyTbFbjg5_SF-y8HyOLkMzd8lXCaijvi-NKpbVkGJCrWGDxbGHotNQ6lWGUf03MDnh_pliGyddRROkPFcUa72KuCy6NpRlUvCod22sWLmRWF1haeVEewqcM9SomX3NJRgdl1Ut0tnF5jesTRNUDxhlhLf5yEmqIKpjHYbYCy25yq2yAas__W2sauZN4U4uRtyo718Q0Wp9fGzvi2GU4JA9qRoowza2wPGsh666laJ4PRDmwJNuIrEZw8kLN6Ksyqd5fLdTs-b3PLcT0gpXM8boWNPTGdG9Y1QcNx0LAe1Ii7sE0Si_VOlLNxjcV0tpkPlWdLWhYhyORrr2hZJB9_ywkom5QXsxdZToJQFELF5McyQLKYPNSPCrTY2MNevFnQ40aSiLvqYL8AKANnX2Tgxj6PzVSVShmGQL9-Z1j7XGGlVD9hCqFAik7od8E-UNHEKNoRnz5JxXKVYDcgM4of83r76vkhWLEisXPrh5MqAy-C_pTYUwFGKPoZXcO-3CboG0f7vvzWU4DArMSAZB0aEeTfNEDHUh50UkN_2JxSvaRrUuf0yrR_vpddQb5-lXP08yPOELM27Z37aGQcEdWLo9a4w-qJMRJJOT74aMO9nRwf7fUxFLgEV2Wl9uWi07FA_NwHpmo9crr722RSI0vxzjHDCS_ZAwCVCgkxI53YUrClRMJhwLNE_q3nU6-3gxtj711noyPgU3_EoIhLwaf6kWzApi13YIxBH1fZyquGpVyegU9ITjf7T_VtnQm4ho2y9juWceGkwYJxT0X06S34UOL9TBMMQRtphMPnA06lm8tjuR3Upa1RRrFIAEN6cBJdJoj2jQEf37WIe8lb21Ic6XubzQRhdBjwT53oBqVy35QBhh5dPXrsXjZndZc-SlliJ6Oy7O9CrG0zrgsuSQco9zSyIu8B1UQNx3LJepGSfQByELd_osmYyby7uaD3zDYW5f74UPVgMFTOvrK3omkfeQ6h0_RF6kVnCojk0eMIYpoxKBczNNnOz6IAjd94Mq6cPFVqbi7Qrz2wORnWs1mOaGRcMOBowVWUvcGA8KwUMEPSuNb0IoyKDP6MkkKfcWlcErihtKD3XK1wvDjXee3WeGOzy1P1bUcjbIC6FmrwLEJCIKNkP26qf5GWsFekpY7OqjRawKDdnb86SFoD_qHQcHNJlqnk4Ihn1Rd0z9OdpXy57vZ4XFCAaznEpfCHBPyzXxT3aTzAPzV5Sh9r4Cmx52OYrzqQPg4QXQgvnIAN9Qs8xlV_1xujuF7fmFJ-dWx-lujmTUODUIG8B12GtbNHirVlXYf2ZuvYkrcYk7lQN4T2WOkXFAUGq6l6P2xxn3WhQGIxS-b_6byG7ZGp2HBMr9bBF22xtsGMrhLxw3TcJI_kzjxnp8YGDegZ0sKz-stuKixTx1U01q8WcuBFPEnxqXeqnEvnRmpiu6bc_w75aYrAVgPaMZKQNXWkKTJDCy0o0UIdPgBuqLqvXrWDtar0NAb06DMDLvfidx8bNF6wQYurRouyQZxoWmz0ZDKrlD8rmI7ORdSEgs7Sjauur3D_sqETHZ2GLYLKp4IziW8Sq1SRjEkoQU3lDmpuh8lWAg22YXy4bc7ELjeUEVDNCql3_ot7Jr1q7pTMeAWErr4_b3Aeu0g8qpW81MehOXMKIfV938F2T8bpQHvp5ZvQTJ9SFWZemk5bIWm55dPD85VjCx7SDkRAkg8xyU10o8pM8MqA==",
  "id": "rs_0d74ad643be87f17016ab493ca19a487d0a76a16643a9e131c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.1,\"left_yaw\":0,\"left_roll\":-0.5,\"right_x\":0.3,\"right_y\":0.15,\"right_z\":0.17,\"right_yaw\":0.32,\"right_roll\":0.3},\"note\":\"The left gripper followed the outward tilt, but the right wrist held its previous pose. I’m reducing the right-hand rotation increment and moving the cap closer to a supported working height.\"}",
  "call_id": "call_Wqx1C28N9HrKDMf5lg7UZFSP",
  "id": "fc_0d74ad643be87f17016ab493ce51cc87d0acc5dadea04a6e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wqx1C28N9HrKDMf5lg7UZFSP",
  "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]: [-0.4526, 1.3762, 0.5968, 0.115, -0.1215, -0.7231, 0.0865, 0.4, 1.1103, 0.7334, -0.308, -0.1272, 0.0463, 0.0754]\nstate[eef_state]: left_x=0.3515 left_y=-0.1432 left_z=0.0903 left_yaw=0.0187 left_pitch=-0.166 left_roll=-0.4837 left_gripper=0.0865 right_x=0.3055 right_y=0.1574 right_z=0.1591 right_yaw=0.4851 right_pitch=-0.1315 right_roll=0.1212 right_gripper=0.0754\nstate[joint_eff]: [-0.4581, -5.2308, 6.065, 2.0391, -0.0855, 0.0855, 0.315, 0.4855, -3.6444, 7.2957, 1.3065, 0.105, 0.1783, 0.8083]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2911a235494f631c358740c1e72d640c599a18a00dbb073dcffe3203ca61fb1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7e0b15d35ac05b00a44bcbb76755993e432c445d4f60492fcd8e06ffc4b8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f12799dd4761a95ed0b5ef873a0f8dc6fc0fbef4fa9d6625de218498de991ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.791 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]: [-0.8532, 2.0506, 1.7897, -1.6955, -0.9047, -1.5547, 0.0851, 0.4316, 1.3304, 0.8349, -0.2153, -0.2829, -0.4232, 0.066]\nstate[eef_state]: left_x=0.3219 left_y=-0.1522 left_z=0.1752 left_yaw=0.7356 left_pitch=-0.0972 left_roll=0.4085 left_gripper=0.0851 right_x=0.3257 right_y=0.2083 right_z=0.1484 right_yaw=0.8968 right_pitch=-0.133 right_roll=-0.1432 right_gripper=0.066\nstate[joint_eff]: [-5.7094, -6.735, 11.8222, 2.3761, -0.652, -0.0269, 0.735, 13.3128, -2.6325, 5.9419, 1.6484, -1.7216, -1.2576, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3862, 1.1866, 0.6556, -0.0788, -0.168, -0.7227, 0.086, 0.395, 1.1919, 0.5606, -0.1158, -0.1848, -0.1539, 0.0713]\nstate[eef_state]: left_x=0.3488 left_y=-0.1061 left_z=0.1447 left_yaw=0.1222 left_pitch=-0.1047 left_roll=-0.4846 left_gripper=0.086 right_x=0.2948 right_y=0.162 right_z=0.0956 right_yaw=0.637 right_pitch=-0.1801 right_roll=0.0149 right_gripper=0.0713\nstate[joint_eff]: [0.1573, -3.9043, 7.5966, 2.0244, -0.022, 0.1245, 0.6813, 0.1299, -4.9026, 7.8017, 1.7558, -0.2027, -0.0952, 1.033]",
      "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]: [-0.4526, 1.3762, 0.5968, 0.115, -0.1215, -0.7231, 0.0865, 0.4, 1.1103, 0.7334, -0.308, -0.1272, 0.0463, 0.0754]\nstate[eef_state]: left_x=0.3515 left_y=-0.1432 left_z=0.0903 left_yaw=0.0187 left_pitch=-0.166 left_roll=-0.4837 left_gripper=0.0865 right_x=0.3055 right_y=0.1574 right_z=0.1591 right_yaw=0.4851 right_pitch=-0.1315 right_roll=0.1212 right_gripper=0.0754\nstate[joint_eff]: [-0.4581, -5.2308, 6.065, 2.0391, -0.0855, 0.0855, 0.315, 0.4855, -3.6444, 7.2957, 1.3065, 0.105, 0.1783, 0.8083]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2911a235494f631c358740c1e72d640c599a18a00dbb073dcffe3203ca61fb1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7e0b15d35ac05b00a44bcbb76755993e432c445d4f60492fcd8e06ffc4b8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f12799dd4761a95ed0b5ef873a0f8dc6fc0fbef4fa9d6625de218498de991ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPW3a6FIDQWcfIFSKaEqIFfVGvnD2gXKNvlaxd68ooOxGb94FpgJF1G9KSyK1iPao-tIk6vl69Wueb7uembKp9blZ-sqXT-rYYKEnS047eB1386OWYiLXVI8x6DdYLtbNzjw9at0JPoX8OVcc-jszJ7blQRtNhJCfw7ACoeqfQLHNjQma5XJCpSj7ODKQPzjr0A9aybZN56ZfIlG4y1vdJYmfn9OA_R_6sZc3h6BdNSm6f-Tw778a6MtiXO2VGgp7f_axc6yCWCZpXcBD4sVBngiQ-bbfeAbUFykW859Xj89cmxnnG2bKHazNxoIjCRk7AW3cV9pOkS2ANKcIgN3Fglaq4rWO9y05Q59AuoLZCXVCDMHHvEOT1re1ZPZBpjHOVq-vpB2SO8PpFLw-XkHNrSajgKzRyOZXa_j62fIIA0nWkGMlMIEa9-6NYTSf5bXjL3KYYjsBwWV1qs0NUbLZYX5H5KEe1QMjNC4mpdvBFNL342F8yX6sqo_kOTkNGjfza0TZk0wwIMwu-ozOP_Kv-jlXSeGd6kDoAp6q6GxLY0OA5hDrJ0V0P4G178CtEM4SvKOlb_6VcMQuKzq639YomrxLS7Jbwb8HNTZtwC21Jkz46GqN6kSIHmVSE0SrLl0heznaB5OZU4TvRpg3JiFb29D5jcYNH4mu_O4hqX-bAkP-9WfzHWd4Xr-iChNnuoE5la8DaGu_c_eKWp2fQzd7QGmi1LLFzvV7S8TqNT8o_YEka9hMDwFaaQenV9xwovRdtxe4gsdHAocgL0lntUm_yI1Z4QOYeF8khpTbAnFZrY1fdB_BxafuoC7lL9kZWNTHF-WVIwHtDyKMErTkPhp0mjwGdxYJ8hFNDhXMlUCLOEUy_1a5bQbHcLr3WJEmAEZwuikRcwt9rlFhMGfZfS66l1bFYg0zyoVlL0HQ4J5UdXoxCm3pbsVvQWxL8GTI5SrFjnmSgMf2iXa3XAbMqaksiaG_ftAnCxD_Pnew7SFRvk1NUySsWZgwmuCC6W5LoDOLI8E4PPbByVnQGM9bgq8teeNsxzoWF3MpDVGt0F3wTWXve_5VevKcvXI67GaIwrBLQ4ulgv2uJKGF1ftnskwe_ncx2E2_Y5qemu4ntp0ogFH_E8e-rbiSFwXeKEyQ6CSv11eD88J-FfN-Wm5VWMbRhnAtzxH9nn5gid9NFbeyTAXGpdd_Nl7plKKP6S633nYZVVEE1CN7Vzeft6KDXhPLZcAwLVL76HjF2n-bIYYTuy9bXS68G-ceaSUzpbaK2KsVKyPX7swcjvHUNcTsff9a2AxQsfrgPOeQ3Kgwjv6qpLq2JEW_UVzm4Vl1KUN6JopC5piP8Dn0Tah3G5lEMaSsplFn0BBvfAhJdMLI1A5qs44gQeckPekXuY4MOAk2XXaYBjuGpFbdVqTB5FnCbxADYDmkY6BsCjHYIuJjBkUU_QsLBBnD7vP-evr7UBOWHpeW6vrCp9xS7lvvoOToPm_5wZ_e5KAHi_xCnNWB-3D5vAF_Wx0BAOvzXvyYS9mzROJUxyGmv2TyvqQRdnyfrufWDguOqtY60ClY3rSHxngpV9vj9Fqajpu8su0WNCA2kKaPAvWxC31Zlkf4gPNYI2zlT1RlkDWL_OTMJFnFTfg8Hl-96dvuVYYb1lt87j0wS6txSHB0S2UZOW5DQ2Tj5qWjVAIBMkDIeHAS_nAFYEgjK2gm347pZdF_lcVRynlpGuaActN2d6da7MDi8ZoN9O0RZO-rDbx9wsXwIHuzyFhvpRQs4=",
  "id": "rs_0d74ad643be87f17016ab493d1781887d089a1835d9ddf6991",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.27,\"left_z\":0.17,\"left_yaw\":0,\"left_roll\":-0.5,\"left_pitch\":0.15,\"right_x\":0.28,\"right_y\":0.28,\"right_z\":0.17,\"right_yaw\":0,\"right_roll\":0.4,\"right_pitch\":0.1},\"note\":\"Both parts are still held. I’m positioning the cap farther forward and bringing the pen toward the center, with outward wrist tilts to keep the arm bodies apart.\"}",
  "call_id": "call_6bEwaIVyQjxbCUxO9DqJVX6x",
  "id": "fc_0d74ad643be87f17016ab493d46c5087d0adbd21fa6f55ee90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6bEwaIVyQjxbCUxO9DqJVX6x",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5583, 1.5105, 0.6838, 0.1997, -0.226, -0.7307, 0.0893, 1.0702, 1.4033, 0.7605, -0.0132, 0.6769, 0.791, 0.0757]\nstate[eef_state]: left_x=0.371 left_y=-0.1808 left_z=0.094 left_yaw=0.0052 left_pitch=-0.1042 left_roll=-0.4531 left_gripper=0.0893 right_x=0.2729 right_y=0.2757 right_z=0.1469 right_yaw=0.1016 right_pitch=0.0293 right_roll=0.3032 right_gripper=0.0757\nstate[joint_eff]: [-1.8803, -7.2957, 8.6496, 1.956, -0.2418, 0.105, 0.6081, 0.4034, -5.4359, 8.9915, 1.7607, 0.4078, 0.2173, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b352a288c65f1c779ba19f93605d169124f6417aaf1d9265589b0c63a9eb22d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ceb46a58fe305f9257612307729636ba26fe3cd7805a40d4261fa30f9e29032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7241eb5f5a533274148396ebadc131f88e6db3343482d5e830cabbd34c0caa",
      "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 · 10.29 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7078, 1.4361, 1.3067, -1.005, -0.7952, -0.9745, 0.0854, 0.4271, 1.2308, 0.5812, -0.0883, -0.1478, -0.1493, 0.0661]\nstate[eef_state]: left_x=0.3253 left_y=-0.1076 left_z=0.2261 left_yaw=0.4491 left_pitch=-0.1181 left_roll=0.0218 left_gripper=0.0854 right_x=0.3014 right_y=0.1697 right_z=0.0959 right_yaw=0.6346 right_pitch=-0.1768 right_roll=-0.0084 right_gripper=0.0661\nstate[joint_eff]: [0.1299, -4.3966, 6.0103, 1.1648, -0.3541, 0.3101, 0.7106, -0.1436, -6.0786, 8.8274, 2.1221, -0.2076, -0.149, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.4526, 1.3762, 0.5968, 0.115, -0.1215, -0.7231, 0.0865, 0.4, 1.1103, 0.7334, -0.308, -0.1272, 0.0463, 0.0754]\nstate[eef_state]: left_x=0.3515 left_y=-0.1432 left_z=0.0903 left_yaw=0.0187 left_pitch=-0.166 left_roll=-0.4837 left_gripper=0.0865 right_x=0.3055 right_y=0.1574 right_z=0.1591 right_yaw=0.4851 right_pitch=-0.1315 right_roll=0.1212 right_gripper=0.0754\nstate[joint_eff]: [-0.4581, -5.2308, 6.065, 2.0391, -0.0855, 0.0855, 0.315, 0.4855, -3.6444, 7.2957, 1.3065, 0.105, 0.1783, 0.8083]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5583, 1.5105, 0.6838, 0.1997, -0.226, -0.7307, 0.0893, 1.0702, 1.4033, 0.7605, -0.0132, 0.6769, 0.791, 0.0757]\nstate[eef_state]: left_x=0.371 left_y=-0.1808 left_z=0.094 left_yaw=0.0052 left_pitch=-0.1042 left_roll=-0.4531 left_gripper=0.0893 right_x=0.2729 right_y=0.2757 right_z=0.1469 right_yaw=0.1016 right_pitch=0.0293 right_roll=0.3032 right_gripper=0.0757\nstate[joint_eff]: [-1.8803, -7.2957, 8.6496, 1.956, -0.2418, 0.105, 0.6081, 0.4034, -5.4359, 8.9915, 1.7607, 0.4078, 0.2173, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b352a288c65f1c779ba19f93605d169124f6417aaf1d9265589b0c63a9eb22d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ceb46a58fe305f9257612307729636ba26fe3cd7805a40d4261fa30f9e29032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7241eb5f5a533274148396ebadc131f88e6db3343482d5e830cabbd34c0caa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPdGc3L-2ckXC5phAosHCmN9MbOIkYfQdN5xpdfH-kAs1wD_A1PnPTJ3H5D03mj9YEDjsl_2crwWgDI4-0Q5RAZRLfiCnlhRjmf3CXKqiCHo86shJ5WEpNXTqzhCA7wsjcv6mL3noFFFh3TvJurTpwBV_pd7QKlbz3-5WE74OzxaBiho_T4edZ4BQUjNnDmjGj4_om7qjCnGSVzwOyKhLHCaSJBNoglpFfJNWDDu3HlKuIy3COkvW8Capv9Oglq_KgUOpeYrTrqkgbh8EGMnZVxEv4Zv7Sit1MpQeJ6fhWba449_OWbIQvrYqbW2b45XMBkTW5pHS1EOdfKkQ-nJ9MxAuY5KBpAwBEXX757529nc4YFuS9_3rPLrRXrhhxKED8yZvtXZZLxz1fQq72h9ovwSy3ziAE_JPXrDFnBLutOkDd0knfvhXiUbM0mts4Cy7umVyDgUkVhUHzE5Gpq4orjQtePhGM7iGSTekaTMb_QAb8kqJi5rhX0EKaO_kTQXXZsgTF0UCkhRmrtYhKRTZRUgTvuv-HnS1o5xD2ffVbhICDd4dpZDEE5INQ6D6jp_kILQSns3gKdDhyLZfOQVmvDFPgqCxBLmrAhLacqDkRtAb-iJDvHI15TONc1JYOanBgt3AtA8wHG-A2PO6DvQK1kbdNUgcWCuQ6pdTPxNOcs33WotadmuudzMsKNeD9a7J25BMqMcjTLUrbNjMizZaA-zzfs7P8YLYistNy7YKy8BJjewHhNHTUu6XJATvS4qd3b-rMPPN0X1eofVv3-vnKvkMtq-mWJLEcBRtZg3aPbOu_Q0LxYliiK12rHF6xofEcBAiLc5qPqYl13w085gSPkeK3SPgRPaMMUIbmGyBqE82WGHJN1OSg83eC6oyO-Mpw8JRRcQpCOIAS6F_HcUoYNIablY1akfmuLfltFtadFSmoONdQLM4g9Bb7CazqziMQCdfv-IUW8A0J_1rWP5SvZJ3cG6YhCviOWKSTdp_cX7CD_jcToRKz1NpP95Fzrns48cBKW44Ox_OUIoLv97wzKRqSq3oq8BNAnX-49XRz8ApPk4BaqAGWf_kb35w9Yvfh4LW5XDRGlwxTM_mh6PefA1NSdjLTSmCvUzU3zPPI2bHKt11j8k18sHOcfuRZgZo-j-MSAJeJnMK52OCIbwejf_guP34Yz68Inm2JslEUqZQC60vTC-YEJ5b7hI10utchEAGu4JNEz3uDT0w-3WFd8WjhNLR-h38Oo7F2x7m_ygpzBcuQ-2HaJcXo94AMvsCsR4XsUnRkGPayNCZfQEbyB3ThPI8IRFKm7mSVwvdTpVf4xRk7T_XPGZMqRtrMac5JUmM3vkIohVOEOP6SA6fVC3TN5Yay4Rb1SWd6u78UM8jTQcaf8N1pmjYGuh6clgj-cVzVFetZW7k2jJTXgQo3ElLCcNwmNsTT9s-tokPpsAhG-seSmtq-xsTqpx9-kzxm4CPEMD2Qk47nptaGaeWMyhA4UVBuMAPoJIAC5VjH57454zxp08MOYilol0_v-KXgvMbQ1PzXhNbV4ANFxOkhCfOdvACSoAYHVbHDA7IffzWUDOqTYwhpRMVS15jKPrPtt5fA2okAYlAK-6ERoszQ-t8edGqDzOT3MyQy_4Y8o_rxQgMtn-Vf55Yp--JKkvS8Vo3aRHe769Bm-Vg0bYBupXL5ld-oGCM1stRtJ40W-NhiA056qJy2AZlpDdvbcmZIV9V4WcvCl4nqtoZSrCv2cIte3lS-n9ZoGzX8uHnoZV_o0JZyDsk_Q5eqwnjmSvbJZW9iT2APxTMrOsgfvSbLcAVQYYiR8ceZn1qrR8OteXFJ46UYr-jcAFh1jhyGPMey9pOT6AAcy-fhVm5yWYR-k3J9vP4nnLjsFjrV6W3CfiqJ06TJD0pgRlVgqUpzjozhR8lG6U1Lshy5nDkK_QGtY5DWfApXEkbGjx6CVVZ_l3ii6OKBCm7SdkF_vuN7JKB6l",
  "id": "rs_0d74ad643be87f17016ab493d8fea487d0a9616b9a5ad0bd4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.255,\"left_z\":0.15,\"left_yaw\":0,\"left_roll\":-0.3,\"left_pitch\":0.3,\"right_x\":0.27,\"right_y\":0.32,\"right_z\":0.15,\"right_yaw\":0,\"right_roll\":0.4,\"right_pitch\":0.15},\"note\":\"The left arm could not reach the farther pose, so I’m shortening its reach and adding a small forward tilt. The pen is approaching beside the cap, still with clearance rather than insertion contact.\"}",
  "call_id": "call_MgFEjruCFOSBAIro2G0xgP9Q",
  "id": "fc_0d74ad643be87f17016ab493dbb5c487d0aa049c072eae3780",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MgFEjruCFOSBAIro2G0xgP9Q",
  "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]: [-0.7773, 1.6302, 0.7059, 0.4114, -0.5034, -0.6624, 0.0918, 1.1805, 1.5852, 0.8055, 0.1165, 0.8776, 0.8978, 0.0757]\nstate[eef_state]: left_x=0.3668 left_y=-0.2363 left_z=0.106 left_yaw=-0.0133 left_pitch=0.091 left_roll=-0.3478 left_gripper=0.0918 right_x=0.2686 right_y=0.3053 right_z=0.1339 right_yaw=0.0043 right_pitch=0.1166 right_roll=0.3329 right_gripper=0.0757\nstate[joint_eff]: [-4.4103, -6.0786, 7.9932, 1.8632, -0.0513, 0.2857, 0.5543, 1.306, -5.641, 9.6479, 2.464, -0.4567, -0.5006, 0.989]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e400380f7094baeeeba93ea114fe0f6aafa082ad186c9549c901328e0318fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a142771af8a6acbcd265034d95682d18b83702f433ba42ad338be067ff718884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166effcc3b8995737c46125020495f1d05c6ead5e11a60bfc95f642d5c7cf455",
      "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 · 4.227 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3862, 1.1866, 0.6556, -0.0788, -0.168, -0.7227, 0.086, 0.395, 1.1919, 0.5606, -0.1158, -0.1848, -0.1539, 0.0713]\nstate[eef_state]: left_x=0.3488 left_y=-0.1061 left_z=0.1447 left_yaw=0.1222 left_pitch=-0.1047 left_roll=-0.4846 left_gripper=0.086 right_x=0.2948 right_y=0.162 right_z=0.0956 right_yaw=0.637 right_pitch=-0.1801 right_roll=0.0149 right_gripper=0.0713\nstate[joint_eff]: [0.1573, -3.9043, 7.5966, 2.0244, -0.022, 0.1245, 0.6813, 0.1299, -4.9026, 7.8017, 1.7558, -0.2027, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5583, 1.5105, 0.6838, 0.1997, -0.226, -0.7307, 0.0893, 1.0702, 1.4033, 0.7605, -0.0132, 0.6769, 0.791, 0.0757]\nstate[eef_state]: left_x=0.371 left_y=-0.1808 left_z=0.094 left_yaw=0.0052 left_pitch=-0.1042 left_roll=-0.4531 left_gripper=0.0893 right_x=0.2729 right_y=0.2757 right_z=0.1469 right_yaw=0.1016 right_pitch=0.0293 right_roll=0.3032 right_gripper=0.0757\nstate[joint_eff]: [-1.8803, -7.2957, 8.6496, 1.956, -0.2418, 0.105, 0.6081, 0.4034, -5.4359, 8.9915, 1.7607, 0.4078, 0.2173, 0.9988]\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 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]: [-0.7773, 1.6302, 0.7059, 0.4114, -0.5034, -0.6624, 0.0918, 1.1805, 1.5852, 0.8055, 0.1165, 0.8776, 0.8978, 0.0757]\nstate[eef_state]: left_x=0.3668 left_y=-0.2363 left_z=0.106 left_yaw=-0.0133 left_pitch=0.091 left_roll=-0.3478 left_gripper=0.0918 right_x=0.2686 right_y=0.3053 right_z=0.1339 right_yaw=0.0043 right_pitch=0.1166 right_roll=0.3329 right_gripper=0.0757\nstate[joint_eff]: [-4.4103, -6.0786, 7.9932, 1.8632, -0.0513, 0.2857, 0.5543, 1.306, -5.641, 9.6479, 2.464, -0.4567, -0.5006, 0.989]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e400380f7094baeeeba93ea114fe0f6aafa082ad186c9549c901328e0318fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a142771af8a6acbcd265034d95682d18b83702f433ba42ad338be067ff718884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166effcc3b8995737c46125020495f1d05c6ead5e11a60bfc95f642d5c7cf455",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPog7zx6z-yVEce22avMY5p6pKjOa4XoZLV4KL5iZMntG1hF72h1z644PBPHNljVaYOb5nWVXXy8WKAOLDfwYoRzHq7EaWzEzrLhA6IvBr8vgc17fj6vfRaxgl99Ccjrye82EuHCINLvpzDr6olNDJ7dmzxHNQ9xZb05Cmdhv3wNd0sLAXx9VYUdh8LyNKajsn1vP22FQmCnDVknv0ZRo6CzLZV9GX1hRvjeq8y6pqKqoOSgjkIhJo8tQ1wRi_k-BVAItxOzH4FTwR6i4Hjzu9PovjD16z9XN1YlBmVlDMifw9UMT4NCCfV0OTCD7NBnbSoaAhoXZ9nnKDuXZgHFtX0QilEjfj7qYph0iKUhPDiU4usx6gWHk9zNGB7lg1Ax3pU7_nKQNIu0EbicjhGBPnyDSsBNr-ShcKXKvfhfzygj7dBBBnpztA0xrJjLgYT3_UdyfXafHWSYoJVI1XM_UjMTvL5WpAe3VsQwX8BBOzcfjLfuonTAepXY66651KdtWuI8XewbctJkYEKqcpFpNIPZiQo52Lw115lBP70Rquye0jKUG0dwtOFOGg0lbw84KqQrWbuX1XY6NXOxokyXott-KDcFyvnh5DA9nKrLmxvszR3UmOQuDTfRGjzMuN_QzzUNmVPTMurEfpUqirv8foHGG0SDMjBTrs671cuP19DLmb3nloJWx5mwEYGUBs3yBAad4mJvmpgsIXCFSXmYlwar-1jv1oEyW-FDuLl0oeRjNqfThMWytdvfpEHuEkNFKdmR9kk-WyBtykbQFNGWo5ETOqujlGNcL1LUvhl02iqeqEG8wou7hszSBJJjfVTf3V4MgBjXibr-tvZUVE7GcHSkJnZEFhcZYlYxB3DMU7aYHwYX4Ew3SnsgM0FuT9_NZOMMVrhIYcHUKoRHanuLw9t48-KVO0vHg-Z6WOr1Yi-IieuiutPGJNDYsuqH-DIaNtfLjKM1RJ8YUvPC4_LxEXst5U4mJSUKNL0TPdi-wDqZA5fM0d-1xBVTnC7lQZKLg4bW3br14HZlsVYBWFQOELnvUET3MvT1rkUI4jm45kowsaDOX1nxATIsNhC8LhojJ3Bfcbul7ve5AOD9JzFUnHRJMnEYyFBQH61JXzolB6zXZECO4klA8CHsddNPrbCqoZCqIS_Nt-ENaMPg2r3RmKIuj8vCVImau_vicyVQaLkOC3gSS0Lw0g_87Bw8MWVRxbCDOb0gHkvL2yM-KK78Na-Lu_k4oGILPszlNQ2yT79643QwPJQXRInTU5BCGtOY02iH9rUJavgfDGkCoGXsN-2k4WhA3VCWNy__Iqx9uktxj8SFh4Tp9CM2dRlq9rMcim8AjUzQEdPCYl7eXdl-x6WveDB2z0ccRuCuOREbTGUHa0bq4x-tibCgAiBh23qNRYj9owyKGazj7cY8jrcBjhN0u-DN6ur7sDku2W9M2lH6XaXqcBx8qRQiJoIEr_GIh6iWYcepeUce_zrh22P5v6W-kbxRvmY_L-gdzJOSaJ7Io3GodV_eX-nMxOUW5f3BeC0pSxXAH_xADFuXEyRYsbuZDKTYZKT-_xSmb46y8QkvjWRea_puWJk77DQCrdpEIw2YWuDENaNUJ9R455xDB7mpUv8fy_rC8jQl_zM__Vkr8MsfGuzZfPteB5Esr3f-O7uawLgZjB7aUgHt59C0cxN7ip6kuhWcfw0W5D8yju6VsExwPAY-sGyrupt01VUyg06clZ5cnglfzEM1l96uaOJ2lGK5llN_wD9wC0C0_izWGrkMiHck_ttxu1dK4iqPa4ngz1tzDYJmY747SZghtk_BUirzJ7zPMKt-O1xZ0MYKei9joOwC70Y6r8M23AMFDmxOsWcjwjyED82MZvtee6gSOuFe8SA34ZEN4-SSh6XlesOcJ0gUHvwAFVnUwO-JJlMOkLfltd8r24nKB8lht7I2PAJG1XV25bzSHAUTv1LUVL675X25Yujc6SDWqx96FLUH9HgV6ybyRd3lfDz5qBWUTiyQy1exuTgLOJJ-EJtC0oTMLcgrRP2Rj5iFot6rK0Z5oj0it37qNY0wd-Y0KhN7JOAm6vekhCKeX15Pe8L9jenSHAN690Yo30M_WKCOBJb9lOVASOWXjnXylvO3aZzi5YhrU6ElYoKhVT2mzPFQScz3W_54G8G-OjcAXiwsS_lMCz_xo9hV2OvM9nMjRPKLzHEy8pnyx6L7Fl48mD_JxSCFaSOemimyU9NRfeONsA8OhanWJOLZKF4WEkT5a7wDqX1vs2VUA26u89LN4jXHluYuJEl6gq9SDzY8Hn8nlancsw_FrKr7jdtHMjDrdsMZeKdAbML7wBHIGs0ESZAbZQRSp7fyKYLsrftfxQ-XCfYkyx1B6rvB_JTnH3PAuqhD4rE13c8bzUNGwL2QBkAYR0-7OJBFp8lzgmHvGMjpEy_Qc3JxjA_I8CexUoHzyJ9lko7vRwFnlZisMP5Sts9LEtS1kFHiqAQ1_YDW6EOQW-shG7DI5n3j7QsW3vfbVUpP1q87Y-eWUoi-B2LX2eLIQJBL-9MRVHX3nwcdv2DAbclbtOqu3OaLmjmSV5DM3nWDF63sIK3Kv2OKIWgIBIMB5bc6uWftX0qOPVpHjjQoRb1lz36pFY66AX562xlyARr3cpHWoG0tcmSWTl1aA_DLd4C2Yj9H8eQ0b9ZWX0jy2sNCbWKMVsej89woi_8KcUrRsfX6N3Njx0WwlcMNA38jbcwRT1NznkB30iSNa7MpH0Z2XiKM6lq5PmGsqEq2QGzCKtBI6aTbqMj6BnJYx_eE1ndKuOc5shWJGHmQPT0MUi75O_7BhsUnGKPFkdNToGJrXfJhf9Eu59OMpWXoc1nOPtZF0CWonglocYORu0U9-kGzoPujG3STtg75zUxHO4PBOryIdg5yI5Nvv-H36aiYsaoFJZZWlSV3qpHjJ3ZZM-X0b_5qUYeENOLQIJGFxoy4tWCJ91GnPj7qwvU1ffp9hC5rk4d2Hr_pcCzoi2qnckG2OZJnkONe_ivd-R6PEJFsn62hAvpNgGv2MG6fyq4nWgAKrSz9e46qhxRU93CVonMRHc7ip1buyAuNJh-ywU5UGxDrmCxmvRkR90e7XzKOonmLvIEFgMn2uNaIVrjIUpgYZnCjQrnLS8710SLyj7vG61EMGgbP29O9H8yOr5NV1mA-4F01Z-CXDa51G7O2bFYRyl42pTuW0wgRDjjQpBGRJt5SfUUeMIjanIXNCL0tkOkkuBRN10-dHu-qvItbYmQaNc5HmfsgoPqhAk5ZK21s1UNdWLdo1ExG5MwiEDK3XepnhGCyZmTVna6XjiGM_T3CbvLUi74MNZyiu3qMhDOdg==",
  "id": "rs_0d74ad643be87f17016ab493dfff3087d09c51173862e7a1de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_y\":0.28,\"right_z\":0.11,\"right_roll\":0.75,\"right_pitch\":0.15,\"left_x\":0.37,\"left_y\":-0.255,\"left_z\":0.16,\"left_roll\":-0.75,\"left_pitch\":0.15},\"note\":\"The pen is above and to the side of the cap, and the wrist bodies are getting close. I’m backing the pen off slightly, lowering it, and increasing the outward tilt before closing the lateral gap.\"}",
  "call_id": "call_vjQXrgdv4PNprdE0LSXP8Etx",
  "id": "fc_0d74ad643be87f17016ab493e78d2c87d09aa0eeed891f4ede",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vjQXrgdv4PNprdE0LSXP8Etx",
  "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]: [-0.7433, 1.5753, 0.6559, 0.5381, -0.3752, -0.8326, 0.0952, 1.1778, 1.5414, 0.4137, 0.6193, 0.7803, 0.9894, 0.0781]\nstate[eef_state]: left_x=0.3667 left_y=-0.2443 left_z=0.1305 left_yaw=-0.0004 left_pitch=0.1065 left_roll=-0.6303 left_gripper=0.0952 right_x=0.2427 right_y=0.2702 right_z=0.0852 right_yaw=0.0211 right_pitch=0.1069 right_roll=0.5802 right_gripper=0.0781\nstate[joint_eff]: [0.6632, -8.8684, 7.4872, 2.127, 0.0952, -0.0855, 0.3346, -0.4034, -6.1197, 5.8872, 1.8877, 0.1636, 0.1294, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa38c4fc2fb6c24d14d507b90e671081394be71a20ac896fbe5857608a1a234e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e2ae01701969e16c480dd15487880662f54f9f9cd0226fcd266c2bb137eae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcd701d81d5f21ddbdc5f01fdd4226f70eb97627df65a07806e64075169e241",
      "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 · 12.89 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]: [-0.4526, 1.3762, 0.5968, 0.115, -0.1215, -0.7231, 0.0865, 0.4, 1.1103, 0.7334, -0.308, -0.1272, 0.0463, 0.0754]\nstate[eef_state]: left_x=0.3515 left_y=-0.1432 left_z=0.0903 left_yaw=0.0187 left_pitch=-0.166 left_roll=-0.4837 left_gripper=0.0865 right_x=0.3055 right_y=0.1574 right_z=0.1591 right_yaw=0.4851 right_pitch=-0.1315 right_roll=0.1212 right_gripper=0.0754\nstate[joint_eff]: [-0.4581, -5.2308, 6.065, 2.0391, -0.0855, 0.0855, 0.315, 0.4855, -3.6444, 7.2957, 1.3065, 0.105, 0.1783, 0.8083]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7773, 1.6302, 0.7059, 0.4114, -0.5034, -0.6624, 0.0918, 1.1805, 1.5852, 0.8055, 0.1165, 0.8776, 0.8978, 0.0757]\nstate[eef_state]: left_x=0.3668 left_y=-0.2363 left_z=0.106 left_yaw=-0.0133 left_pitch=0.091 left_roll=-0.3478 left_gripper=0.0918 right_x=0.2686 right_y=0.3053 right_z=0.1339 right_yaw=0.0043 right_pitch=0.1166 right_roll=0.3329 right_gripper=0.0757\nstate[joint_eff]: [-4.4103, -6.0786, 7.9932, 1.8632, -0.0513, 0.2857, 0.5543, 1.306, -5.641, 9.6479, 2.464, -0.4567, -0.5006, 0.989]\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 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]: [-0.7433, 1.5753, 0.6559, 0.5381, -0.3752, -0.8326, 0.0952, 1.1778, 1.5414, 0.4137, 0.6193, 0.7803, 0.9894, 0.0781]\nstate[eef_state]: left_x=0.3667 left_y=-0.2443 left_z=0.1305 left_yaw=-0.0004 left_pitch=0.1065 left_roll=-0.6303 left_gripper=0.0952 right_x=0.2427 right_y=0.2702 right_z=0.0852 right_yaw=0.0211 right_pitch=0.1069 right_roll=0.5802 right_gripper=0.0781\nstate[joint_eff]: [0.6632, -8.8684, 7.4872, 2.127, 0.0952, -0.0855, 0.3346, -0.4034, -6.1197, 5.8872, 1.8877, 0.1636, 0.1294, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa38c4fc2fb6c24d14d507b90e671081394be71a20ac896fbe5857608a1a234e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e2ae01701969e16c480dd15487880662f54f9f9cd0226fcd266c2bb137eae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcd701d81d5f21ddbdc5f01fdd4226f70eb97627df65a07806e64075169e241",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPt3TaM_0F-NZ2CC51TJk4Jz680uQBWTr-HjLG0Qn3Ajz1LoF1fvL1ZvD7cpvJkxn5JizwPJmHsv5As3vmXORFyK8R_XddtrRYD6Ub4uPwrQAfVAg9ZrLbvBXGn9Uyot1aEpHo3IRA8f2iJlb5pI4Pp_MRRLe-TyEUIaXjIE1SkQXyJPgGau_qTD4xZYIlM-RYJ_7yLNCsH74HL_D2mLTUYkvKV3huDaZqdKfQbApPt9i81ny3XL9A6LtY7mWkmt-fz6gJO4LCcIyeiu6FaegLUXWO0x1y10WhyprhGLOcgmB-He2fb_SXXOtZHchf4cpvDu3jJDPOErrWzXkMuEXJwjf-T5CsXhlT8SY-DIt0Jb9uQP0m13aNlZJYE3-qr4OfQj_eKyVL3MPxjtVfIXxtp28DMnDay4stla8dOPxpSjl9-6b8Z9SO9kFuIiZNYF2i5NXxO6Bks_VxnsaxDBsNXAmT6kDjoWGt9_exyOlBuP8TtYRCCNy3_DdT7HWvCPUrbic-4jf6eQs6eTUPkIkBjbHWZhScs4L8PBjR8pElgwmvA8hK9GgvB9YhMILg_R3KpckyCc3gtKno_ykltGf-bh6lrO2IZ6KUZ5L8dPuB-yKiuNALQg6KfJ5QTSmVRmo3-z_GxcD0HVFmV5py1oMnK2_IrLMpQmQaq7JD3EtpuZdKRX6u5BCSM92gZ1mgQvCweec_wt1IfU6WgRsAY3iBihNqseaw5gbUzPuM5gjtgO9g0M0vAzfcGtdvTEVz6zsA94wQEG_buhHNbbfVaZUwVul-yloAY6z3HrR9rdooocYAdg2cH15li5aSfNKQ_2bZa5COYvKgrf0qk0T0UKZO1-DO-miS6fkyEpUpzKrrVIjkWodNXARvEdo4_7sm3Pr0VXRLCpCfWjwBBAEah2RsqTCrvFE_UYHEVlTcThFoZctq9ZfuDMOYmYtwDxd2ALgaPMo1M_B62f4xKQ9IhXkrLYsm_aY6UAxQLf5TtcWnuYzwDqVBCgn2QpJkjLcyF5Gm_XM-zszdd6CdYL1fY7G5T23UjoXC82gZSJnBxwn0AQt8pTE60UeXrvzSc7hW3L0LuZ16DhejJC_dH-a277xneOWgdAGtt6OF2l1ZlWmxiiU4kmj8DidMaZoWePuiPeN8YecjVPMlzx7n7HvwwFjAAwJMAmDW0TZQoOdqBZnDTJejMmp9ac9YnL-JZujQvp6qnzTrA4OF8GpLnS5v-xRUJ6N7daKdto_vKuSCMHj8cFzdxIXP3iKGbaKt078fqevRDk0jYB7ujIpfk14vdpS-rb48xGh18q6MLJwKSiUlHMcoFSy0qvuBhCS3GdIRaGkMvO-Ef6Mq4zVMKR8aXdi2icKaYJU1GXTCSLgwOD5Yso1atAk3bHWH3Mit7b1BO270rvfZxnaxfqKdJ19PZ_4TdWp2VvBm6V3Ks-FJ0VxwTvIsysYqLGFiHTaS9e9Pp5jen7jreRImJti0I0C2tSrN8uJKJZhBcRmLhAmBRHUmnwZJi0UWEGFFyS8AMyD8SMejNi_VnVANeyTmrVWfCl26Vads-EdX3Iw0L44qWceGKKEJ3BvVgx6Nv9k3mQgyJFBoG3HYtYijlt1rhga9_TsNsqw==",
  "id": "rs_0d74ad643be87f17016ab493eaf53c87d0b250c0643ff79d99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.35,\"right_z\":0.145,\"right_yaw\":0,\"right_roll\":0.75,\"right_pitch\":0.15},\"note\":\"The increased tilt has cleared the wrist bodies. I’m moving the pen sideways toward the cap’s axis and raising its tip toward the cap opening, while keeping a fore–aft gap.\"}",
  "call_id": "call_Fq9BGz4D0v1HGNN8SDPm5euj",
  "id": "fc_0d74ad643be87f17016ab493ec307887d0ac8a485d5c5de061",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fq9BGz4D0v1HGNN8SDPm5euj",
  "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]: [-0.738, 1.5696, 0.6559, 0.569, -0.3405, -0.8825, 0.0973, 1.2369, 1.6417, 0.6853, 0.5266, 0.815, 1.0447, 0.0791]\nstate[eef_state]: left_x=0.3674 left_y=-0.2496 left_z=0.1389 left_yaw=-0.0024 left_pitch=0.1087 left_roll=-0.7087 left_gripper=0.0973 right_x=0.2501 right_y=0.3398 right_z=0.1303 right_yaw=0.0176 right_pitch=0.1337 right_roll=0.6977 right_gripper=0.0791\nstate[joint_eff]: [0.2393, -8.3761, 7.4735, 2.0098, 0.0562, -0.0317, 0.2125, 1.3333, -6.8581, 8.0889, 1.8535, 0.4029, 0.1294, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d570bd274692de7aef47e364a571269433cf57dce6387ac24591bdfeff8ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b1093028f981963a520a2cf664fea9ce5b87cd2ff7ffe14f344cd8642d28ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ed257c708d4f6b2f90f3c6bfada05dc45d1fb426366c71e87f74bdef39dcc1",
      "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 · 5.054 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5583, 1.5105, 0.6838, 0.1997, -0.226, -0.7307, 0.0893, 1.0702, 1.4033, 0.7605, -0.0132, 0.6769, 0.791, 0.0757]\nstate[eef_state]: left_x=0.371 left_y=-0.1808 left_z=0.094 left_yaw=0.0052 left_pitch=-0.1042 left_roll=-0.4531 left_gripper=0.0893 right_x=0.2729 right_y=0.2757 right_z=0.1469 right_yaw=0.1016 right_pitch=0.0293 right_roll=0.3032 right_gripper=0.0757\nstate[joint_eff]: [-1.8803, -7.2957, 8.6496, 1.956, -0.2418, 0.105, 0.6081, 0.4034, -5.4359, 8.9915, 1.7607, 0.4078, 0.2173, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7433, 1.5753, 0.6559, 0.5381, -0.3752, -0.8326, 0.0952, 1.1778, 1.5414, 0.4137, 0.6193, 0.7803, 0.9894, 0.0781]\nstate[eef_state]: left_x=0.3667 left_y=-0.2443 left_z=0.1305 left_yaw=-0.0004 left_pitch=0.1065 left_roll=-0.6303 left_gripper=0.0952 right_x=0.2427 right_y=0.2702 right_z=0.0852 right_yaw=0.0211 right_pitch=0.1069 right_roll=0.5802 right_gripper=0.0781\nstate[joint_eff]: [0.6632, -8.8684, 7.4872, 2.127, 0.0952, -0.0855, 0.3346, -0.4034, -6.1197, 5.8872, 1.8877, 0.1636, 0.1294, 0.7985]\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]: [-0.738, 1.5696, 0.6559, 0.569, -0.3405, -0.8825, 0.0973, 1.2369, 1.6417, 0.6853, 0.5266, 0.815, 1.0447, 0.0791]\nstate[eef_state]: left_x=0.3674 left_y=-0.2496 left_z=0.1389 left_yaw=-0.0024 left_pitch=0.1087 left_roll=-0.7087 left_gripper=0.0973 right_x=0.2501 right_y=0.3398 right_z=0.1303 right_yaw=0.0176 right_pitch=0.1337 right_roll=0.6977 right_gripper=0.0791\nstate[joint_eff]: [0.2393, -8.3761, 7.4735, 2.0098, 0.0562, -0.0317, 0.2125, 1.3333, -6.8581, 8.0889, 1.8535, 0.4029, 0.1294, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d570bd274692de7aef47e364a571269433cf57dce6387ac24591bdfeff8ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b1093028f981963a520a2cf664fea9ce5b87cd2ff7ffe14f344cd8642d28ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ed257c708d4f6b2f90f3c6bfada05dc45d1fb426366c71e87f74bdef39dcc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJP7LyD003uSBosUvj87UhBuQV8WIojufoXnrpWdpe24fUPeD7rhZrIqsQRTDCSYvVDZ5Y3bDtAZXwQW7AJWvRwxuDVYbJ5xdRiaklxAko-jID28rFbCFryZeWuP0CB0_PWQ-Nb-yNtL8DpYGPVQQ5PJw-t_KzLzMF8WsOteOSCzbuZO73uaG1WnC9Z6uEZaBDEbZDPWje79tWTJ5gYVJGgB115d3aK5Djn7DsqiZ7ddiiPFFE7hFQFKNV0XUgk-u3_gr9KhnyoukOw4Ghia6oTFSUZTRHJiW-O41yjwoiOVAXU4IiDKLMN5xG8geb8LLuVl4mBjw0NpFntkkoK-7cLMzz3Qkjmz2lv8s6-5Mf73fr92_Lf7ow-EH9MvQm8ZyQzxxr7sqIN8rijju0jaJeCwWRfx3irw5UIFsSQrEiiSWSF9N__zl-iYwPBYDmLXdRkMEq78qe3gtjDf9MlfYEtesxozCmgTeS5ON6aW71COBWeZHrMK5-Mnn01QCYwjexedpoJ50YTb6ADwPOhnykhjQB3WOaTuV_QFONtt9tM5b6EvFdloFytqGql3hWBpIuuEaP5y27VV6lU0bpk2Bdyo5Rj4U6fGpcc_jaHR-XxS3GpfP0y_YjDM4UMkLIjNQsIsA8TbvvAdBxZQBteReQjkBBkrYlDIQiHpo1jAy1YBW14dvoQcfyCSd0w-xLj2rySes1qPppmViCVNuf4ma7crLE48Qcx_rkEwYKUmGJrIVBkXpLttyt2mZl643Wibccu5iXNvrj9AYW5N2jGwA4hBIqH31HEJ-9x16in1fP4eh6bxCIA8q0PQa2L6_6EOvj1Dmn94W5EqxlEmkCU5d3RK0cjldktaXrTDKkLpH_7hUpJb8ffxLkd__wqmvllAKcJgSqJCMeuUOj-MIirUqibtkiyZwuf65uEQNRZrh3pao3nQf9J2uRgllV8oJCJpx7zwD-dOcf1uqy_xFOmloAc4UWBUvs5a5mTOHR8mKjjyJHLwLp0A6RDJNfMD9qHq34yLtgjjNIwrjbHu_2K8Etx2spZhY0uXi0VC4DmW0-2Ti1U_3ObvI7c0p9maYrtlDzD7m16pJL3cl-oXhCuW6pLgWo-evaOzwuy8JoXAV-gtNmh4T_HsXDuv-gRDTyzTr2Ishxi7Kn84Ke49X5avcg30DYtE0t7FpTDoPoZcXvpYGduUd6zPR3vMpnItW-tfCsuS1-QnKKDeeyuYQNVGjiGwdQn1QWhGQfkrCXGCKDYyz8POZFKVOrh08bVyjrj1nCpI-UkiIamEM1lJ18mk5oLsoIeR05r9wumVVmutmOC1sCI6TP8VViSNPaisXyt2FPGB617oTi4Gny1_0TGHFgJl-NfZixaVo6K64Rf7CcVc9FCdevftXEqbYg5twsqOH-B8FZ5dUipm9x9v087P311tel6j5WYHV7ayY_B796-suhrDuAQXPHGwceCL9NccAqdsBbwjfxNY68Te9S_ivE5H9JnrYJXbKCy7bQmLUfmt6dorcHYqPyBgk4it7BdrPHj7isR5keWvmTIQqJqaydWBzq5dGMQhkMPvgHkBgbIgm02NT_EhiGEOU337yC4JCGIrvXInhS_tOt6yk9TniMgMkTvdyLZhmwkaAaXPxc1sY59LZwlyV9V_3wCL-zH6Hc0fbgoTdAbrzQpSzogJ5AXYQauCKqSqotmzp3Gx9aVy0hnZ2VkhtcPnMU_Ofk_DA5-OQyjqvVxz6sVPF4NM0KCEkSrW018r_81Ud1gFb3H0AXWrZgGCq5o2ovDwpQyIsAmTS12i2zInyV-kUzkXyAquL8iyZt-mm3FmIDuexlwWdcQyH7LU8qtCmrGZwRRyQ846vaf2KPbmPXRyk-UoFORXWj6rOPHBfxhyldfCiNubYcgDu4jsioHg7MIs_cAaEhLxg6F-O812DyZX7EtX0iU80R4y08W1uVDB0QddmAqSK7sCWdontQv_wO7jb_GJ53aw3L7qSlEMZvnr41BRiooDHMlEehefalkYD7sW4Txaiqd2hUpkjh5UpOdO_LPt-FqY-bOn9qsS7nH7_RAqi8loz3JsSAf646y_UrSrjkBz1F_54rd3cl58o3YLzuESN8uS-EwUl0k4vj_XHNN2HlFUYuP1HDeKBN1zOKRncA1Ba7smy7loFwlTwxFoZVMbYQmL9DUeFEZZsuTVnn8SAEJPr7l-5H1eUsnYh54EhBBxNpr21AxH0wPj1iRkiuIdqCgsekSLmW6NBIwoW1TkNLgMiPlSQ20LvjkER1Xrd1Q7XwOgybQ5ynIp49yIGcEqgTtHtqCsL8PpDOWbbD6pkHvMRmEjFgNWovCF5_f-dXFnK_xgtbZJi10eEERcUBqjig1UlyQeAAbSyGc22mWuh4BAGRrIJ3EOcxOOTsfTxUnwdOtbDOBP3cEZIh0AMzXsfwLc",
  "id": "rs_0d74ad643be87f17016ab493f146bc87d0bde9f985327b2c9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.258,\"right_y\":0.39,\"right_z\":0.14,\"right_yaw\":0,\"right_roll\":0.75,\"right_pitch\":0.13},\"note\":\"The pen tip is now close to the cap’s height but remains about six centimeters to its side. I’m reducing that sideways offset and making only a small forward advance.\"}",
  "call_id": "call_LjWG0IjWgHrIwy9xCP1qtoMI",
  "id": "fc_0d74ad643be87f17016ab493f5731087d0be898fa0ee4da233",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LjWG0IjWgHrIwy9xCP1qtoMI",
  "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]: [-0.7296, 1.5658, 0.6556, 0.5663, -0.3428, -0.8825, 0.1001, 1.2488, 1.779, 0.8425, 0.4507, 0.8345, 1.0828, 0.0802]\nstate[eef_state]: left_x=0.3694 left_y=-0.2458 left_z=0.1398 left_yaw=0.0081 left_pitch=0.1098 left_roll=-0.7086 left_gripper=0.1001 right_x=0.2585 right_y=0.3725 right_z=0.1206 right_yaw=0.0032 right_pitch=0.1106 right_roll=0.6759 right_gripper=0.0802\nstate[joint_eff]: [-1.0051, -6.188, 6.0786, 1.8632, -0.0366, -0.0366, 0.2808, 1.1419, -7.5556, 9.7299, 2.0098, 0.1001, -0.0806, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164cf444d3a5e0d3829b39f41ca477748c3859a43e4177480c732a0d6e5952ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d52a042458722f7209b620b81d8dd144ca09cd0fa40ff665ffd4407c02ed6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bab911e8f0240a70a5b06f9c4a22461198b1a9e19f980775a60526a396ec18e",
      "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 · 9.841 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]: [-0.7773, 1.6302, 0.7059, 0.4114, -0.5034, -0.6624, 0.0918, 1.1805, 1.5852, 0.8055, 0.1165, 0.8776, 0.8978, 0.0757]\nstate[eef_state]: left_x=0.3668 left_y=-0.2363 left_z=0.106 left_yaw=-0.0133 left_pitch=0.091 left_roll=-0.3478 left_gripper=0.0918 right_x=0.2686 right_y=0.3053 right_z=0.1339 right_yaw=0.0043 right_pitch=0.1166 right_roll=0.3329 right_gripper=0.0757\nstate[joint_eff]: [-4.4103, -6.0786, 7.9932, 1.8632, -0.0513, 0.2857, 0.5543, 1.306, -5.641, 9.6479, 2.464, -0.4567, -0.5006, 0.989]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.738, 1.5696, 0.6559, 0.569, -0.3405, -0.8825, 0.0973, 1.2369, 1.6417, 0.6853, 0.5266, 0.815, 1.0447, 0.0791]\nstate[eef_state]: left_x=0.3674 left_y=-0.2496 left_z=0.1389 left_yaw=-0.0024 left_pitch=0.1087 left_roll=-0.7087 left_gripper=0.0973 right_x=0.2501 right_y=0.3398 right_z=0.1303 right_yaw=0.0176 right_pitch=0.1337 right_roll=0.6977 right_gripper=0.0791\nstate[joint_eff]: [0.2393, -8.3761, 7.4735, 2.0098, 0.0562, -0.0317, 0.2125, 1.3333, -6.8581, 8.0889, 1.8535, 0.4029, 0.1294, 0.8523]",
      "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]: [-0.7296, 1.5658, 0.6556, 0.5663, -0.3428, -0.8825, 0.1001, 1.2488, 1.779, 0.8425, 0.4507, 0.8345, 1.0828, 0.0802]\nstate[eef_state]: left_x=0.3694 left_y=-0.2458 left_z=0.1398 left_yaw=0.0081 left_pitch=0.1098 left_roll=-0.7086 left_gripper=0.1001 right_x=0.2585 right_y=0.3725 right_z=0.1206 right_yaw=0.0032 right_pitch=0.1106 right_roll=0.6759 right_gripper=0.0802\nstate[joint_eff]: [-1.0051, -6.188, 6.0786, 1.8632, -0.0366, -0.0366, 0.2808, 1.1419, -7.5556, 9.7299, 2.0098, 0.1001, -0.0806, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164cf444d3a5e0d3829b39f41ca477748c3859a43e4177480c732a0d6e5952ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d52a042458722f7209b620b81d8dd144ca09cd0fa40ff665ffd4407c02ed6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bab911e8f0240a70a5b06f9c4a22461198b1a9e19f980775a60526a396ec18e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJQAP1_8DWzOf3BR2HmZVV50M20Ld43oH-_chgxQ9msEnc7rjYnI_J2-t2arxUUkK4Tsx1KbHGn4pYA059lZOBgWy63Zq3l2ZNOA9YKaeYqx6tNrH1g95tFmOcWeuUenAHCrMQpo8b3o_b73mSSaKryCzjyixmDngwjb8agcl0jjGZYCB_h9JeB5Vub_yXqJLdGRo8yqz_HlM32BOEWthvINM7VOsh9hR2Bkr8wbDreGVYRgkXoEP0oysoJeUJfys-sRDpa0sNj7A6HfJlAsr_1hCbJ_HZphGCNKWZmtTSwBv4qnoiEiWSsMrcZ-hO0FfDdLQ7O0PLGdHx98DfZezxv6_5ACyoXRtH_xtZnpTFOwWM7A4VV_vg4JR8C_EEwPSy2Q_QdxvBkTedcn-e0NZ9kKjNsc9-iDfF9J1bP7YJINzdhjm-gNLl4saUaduOy1iFhM3wzgLHJBYlGSOFHVhMvfap8_MVjW6pmeCiXzimvsFeGmTXu8C59dDhRAZRYXsEL4ZmBaiEyfey-q8ZrknYkqOrWfOJD7PoRrQmRpUw91Ch9F2lThsKtrN02sbebqPgUxqjVNVESyDkblZ5eVJzwupqRQedLfZduVjWqZKKCSK8S3Na_6zVaj1D4k2K0vaNzenxPl74EHXMfy-Vi_0LTBaevmM0s_K5wPo3pV-suzI5YVSDUT1tC9M1thoKx6pegYqb2ZTGW-ZAy2mKGXAK_OZYVEPBf12M7JldAWD5uTxyx1munSh8_kOTYYAWh1KXDn_y2w67XegVOMiHi7KOb9THnyjLQ4F3lIeO2pY7--Ofh6hIK1Rr2IWQ26qz5bOZfeNEbBKAPRXgbm9twM7iL6tA_5p0i0OEyKoJptQcBYhGZAsNqXeOxKPur5Xe4pXozTpef_tse2H98c2_PNMaaYbJGXexbrKfkROneuPF6pKp_OiquFN-28Q52myj44RrbZn2EtCjQ4RS9vqkqPV-3x5IhT0AfhSmtE1TV8lEcoyfeVHRh3WsXYuAYAtoOUlbu85hyBjz7FG_tCdYFmk1feNODptDmjuRhZjagO37PFJnAbW9T2j_c-29ciOY7OT4Q_dKQHqZm2yHprsPZSPwL27Qzp1fkWN8LRRII0NwU7QcDiyfCA6JbWtnfxSJlPf1EhNZGXu7oUwcZ9yV77t5oN5-cShmnGXi_OTzBl_arLZTrpojc4bLsKSFgGj5tfcOqRkmEq2nBI8xwdb-vs6ARXFETM-ue1bmYMQy9_Arj5am4kh8YRHtf3rNR_IRsc72V7wiSWzNvPwJ4wjYVVwKvqtSftrqCNCpHyOXx__j8a6L5eFfaV9TFd_0LV8de4CLlHrj9EYT-lsEIPG2oMox9hPcijJoD5EMSBoPwQ7s52bX--mpv-cK89LmRgWzA4-SFBaZFWfwLD1NPlgm2lrpnWtTN-KkrgPZ4vPL0m3wXDqnVzJgqlMhRH7Ooh07T6nx8Q53esllRigZJyp3u2VdEEOo_BcjVoYRp2eogTHaPt-MARqYMd_OQN8nmRP2JsHBfI4YaCRqjcnB47oI_NDz5HGNKNV09y2BiFXWf4YTmbPLMxH3uqLT9c7Z8-6cSx5YrPojXiewafyy1jufk1Op3JIUFqeFDx3vLJyHomO4L75DknEhwDTd0IXgfRl54CgHJybXToRMIcZW-cBBCyEcLla5uEoUW_o5x6EN0JCABuclywOWLA16zAAt562q4x1D0WGOvXbUA854R6DFIvx2KtggbBLmTnoY_A1BQ9zvdT7QB3QhtdoGPuiSJGQrNkY0fLvYb-IbDixtvMn_yX2Q3tXw==",
  "id": "rs_0d74ad643be87f17016ab493fd21b887d080bc6022ac8fb20b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.273,\"right_y\":0.4,\"right_z\":0.157,\"right_roll\":0.8,\"right_pitch\":0.13,\"left_x\":0.369,\"left_y\":-0.263,\"left_z\":0.16,\"left_roll\":-0.75,\"left_pitch\":0.15},\"note\":\"The sideways gap is now only a few centimeters, and the pen tip is slightly low. I’m bringing the axes together with a small height correction and a 1.5-centimeter forward move.\"}",
  "call_id": "call_qLNCj4V5veshI0mRmjRBHOj2",
  "id": "fc_0d74ad643be87f17016ab493ff435c87d086d51f76678d76bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qLNCj4V5veshI0mRmjRBHOj2",
  "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]: [-0.7383, 1.5661, 0.6628, 0.5652, -0.3668, -0.8913, 0.1017, 1.2518, 1.7889, 0.8509, 0.437, 0.8482, 1.0931, 0.0809]\nstate[eef_state]: left_x=0.3701 left_y=-0.2463 left_z=0.143 left_yaw=0.0254 left_pitch=0.1164 left_roll=-0.7145 left_gripper=0.1017 right_x=0.2587 right_y=0.3721 right_z=0.1181 right_yaw=-0.0083 right_pitch=0.1086 right_roll=0.6685 right_gripper=0.0809\nstate[joint_eff]: [-2.5915, -6.4615, 9.1692, 2.044, -0.0952, -0.0611, 0.1538, 0.7179, -8.2667, 9.4017, 1.9609, 0.0415, -0.0171, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:896656666977198a31a25dfd44964de2bd51af6f9f773a8715623f517ab2fae9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89db6e893d1692fac2599a641009f3664861998ab8e4923cbc24048c5c0a2c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedf179af78555378dcaa6cd7bb8ebeab12d964664afde2b4cb07d6a70ac653d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.115 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]: [-0.7433, 1.5753, 0.6559, 0.5381, -0.3752, -0.8326, 0.0952, 1.1778, 1.5414, 0.4137, 0.6193, 0.7803, 0.9894, 0.0781]\nstate[eef_state]: left_x=0.3667 left_y=-0.2443 left_z=0.1305 left_yaw=-0.0004 left_pitch=0.1065 left_roll=-0.6303 left_gripper=0.0952 right_x=0.2427 right_y=0.2702 right_z=0.0852 right_yaw=0.0211 right_pitch=0.1069 right_roll=0.5802 right_gripper=0.0781\nstate[joint_eff]: [0.6632, -8.8684, 7.4872, 2.127, 0.0952, -0.0855, 0.3346, -0.4034, -6.1197, 5.8872, 1.8877, 0.1636, 0.1294, 0.7985]\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]: [-0.7296, 1.5658, 0.6556, 0.5663, -0.3428, -0.8825, 0.1001, 1.2488, 1.779, 0.8425, 0.4507, 0.8345, 1.0828, 0.0802]\nstate[eef_state]: left_x=0.3694 left_y=-0.2458 left_z=0.1398 left_yaw=0.0081 left_pitch=0.1098 left_roll=-0.7086 left_gripper=0.1001 right_x=0.2585 right_y=0.3725 right_z=0.1206 right_yaw=0.0032 right_pitch=0.1106 right_roll=0.6759 right_gripper=0.0802\nstate[joint_eff]: [-1.0051, -6.188, 6.0786, 1.8632, -0.0366, -0.0366, 0.2808, 1.1419, -7.5556, 9.7299, 2.0098, 0.1001, -0.0806, 0.7888]",
      "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]: [-0.7383, 1.5661, 0.6628, 0.5652, -0.3668, -0.8913, 0.1017, 1.2518, 1.7889, 0.8509, 0.437, 0.8482, 1.0931, 0.0809]\nstate[eef_state]: left_x=0.3701 left_y=-0.2463 left_z=0.143 left_yaw=0.0254 left_pitch=0.1164 left_roll=-0.7145 left_gripper=0.1017 right_x=0.2587 right_y=0.3721 right_z=0.1181 right_yaw=-0.0083 right_pitch=0.1086 right_roll=0.6685 right_gripper=0.0809\nstate[joint_eff]: [-2.5915, -6.4615, 9.1692, 2.044, -0.0952, -0.0611, 0.1538, 0.7179, -8.2667, 9.4017, 1.9609, 0.0415, -0.0171, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:896656666977198a31a25dfd44964de2bd51af6f9f773a8715623f517ab2fae9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89db6e893d1692fac2599a641009f3664861998ab8e4923cbc24048c5c0a2c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedf179af78555378dcaa6cd7bb8ebeab12d964664afde2b4cb07d6a70ac653d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJQK_R81HgWWv7jVHZf1mwKU6JxHVbIKWt6fP9wv_TWj3Q7x31qaKq5phl3pydIHKzEny-ShwKw8jsrZvJQ52aelQGaGdkAmmJt-_ugAckmlkusX8UTUNisqECcZhZPPlrFcOe3wUD4HMk0Oddi8SwGuzrtI8m_GzjuIx22D38E3X5lgIs1Xbn72LF9Dwpk5Hq9OhzgTr_s5Po07pbEloNizKeYdL8OgnFp-SQHc9URoaWGIyLYCRCKcV0iCaga9jU0ljatCXXjtPAiwfGg5LnDd_HJPAr8yN6pmP369hHhshqJJwNNbwZ-hwEO_I3pSQJH3G39T8hpvFDVnLo_yP1n9TFL0EQHsYWtpQ7s8rfptas2HEwuCj7MU32GQztc6MwMDjZ8DHBJ5BWwlESuMv6EwuytZwRRDrJ5AU35LuP6cIWaorxzDu8AMfKgfDAWAMD3sjeojrwroSDyJDchqrZPhbtPH-4QP3b4_xDre62H83oPqTb_Mbjc_WDG4WbHvR_njENIG0TKn3ULOv4VgTpIGmzRyov_nlyEwx0PLiGiJxj8JOKMObqd-HtOcrCpM__dmofgzDvLtVDTl-p4a4C1HvY1KBb8L4gYSczqq4yGOJjDznfdETUGnM0SjJNgMAh7pYJG7cQL7BbY12R0kQl-od_HzYOoAM51ObumsZqdTmepgiphT7lDgpYGn6LOeNrm6Pg82haErDKrmjfF0wcAvPbczfGdMjLgiOUbH6IsYQ8CfNE4RnxALU9PIRbuiN6ZDIbErSVEm0TNP53rudaWiIkrDrJejrxoHG7OfgZmixbCfW5Zcy2SBXsJQG1SHDAPdvZj4-6y5q-siRipqaBPe8YRWZsRHQrKGOEUsMtBLdcIfha8zoIPXh_pTZHA0c10aCwkrVDRfPjsx4AGx0QA4E6tuxvnOeEIRtM3mGRBbj72vbsGibJMd8wYbLeqxc9MrBVqrB6b6lrGQmW_q1O0GXSJVmLDyFrfZ3cOUaNG8r44ZcdFtVfE09E7xF5ZU6C0yyjlGMDKkha0YJLU0UkDitoDMHQQfPmXr3lmWwnNBndKgaXehWWyN0eCD8ejG1uZwWi4wV4vLsDKkegB3P60bMcHaIVKqV_nuoZPt17iFf0NzPuk1b8FoAUjOc3MPgRdlF7O1k0QqonbFvLIouw9IrkKOZDJozmIEu26O1parxprSsxSzaP0C2WrvKgZ3i6r-tr-QPthoykfb6eVo9GvQmiES4MTSQi84tMDaY2DzMNDT3sJoK4DWR2DZBessl59lJfXlbFiB_JesfeEbgOqWulT8nCh1fOqGPRPJYnu2RxefvIS4DjtDC3slp-eayD4DpQ_E4dG7pVTqI_N4ma7Q-0Brz7IIru3EV-34jyAT3gDjOLQG9I5wVSBjBXez3ESnMRg3144PrWxCwaYqAIIlVKCCG7ox-TYOLHWsNpGt0iHxuWRd22MDtLofTuwBJpV1FJG_kEEBckB6psnVLe53SNUjdJD9cbDIb8AA8gEdu0b5rgGX9bdWPOMTP8wjqTIj_7OiHso9YDe6tVKLCjrJTp0G4P2P2j8D4Gew-AQ4JwONjDau-Id0EdqPM7eBHIWfUG6NI4Y7ohKgtvEkXMrPGqT_GdY5JCZ-hi15yCgvL82bughVC2vNuBUy7KbliW4rQFLpEjEST8g7BZG6Q_WlUuJYLCL_sIKwLkuzNlcRjntbz9K3PLoxFaUaOqlJ-84CuSxrID1wZeTQh3e3vqXwkoMeyTTiAYLGXHD4Nnsuk5lTMZznPWOMricVjMjJeFhQDoLHYxaqm6bPpaTXTu-6dfxno5M6AiGpS6bfyBumoVkFJSnT7ewjbvDHYSYRLp11SHRAI58otw_1kbcYZ3ZBDasDdXIVQ_vUQkOBHL77CHVP9l1lkRzwQFKTx_bTbwMIGTDFVOMLaIeRz7yq-baueLUxb6mRjdJihEV0SkvFQ3UEqtMVXDGDPJZDAWXgNYVuhRAsr25IikjdqwM7Yp75LINxh2RmeV5olQPTXZBt3ngnwO0pt-Gguhnn3Zmr4RglPOU7CocZbL2hPT_yEn2LpzHkJkl1PflS5E7TTpE6HSlcnp2WA7ewOobL4mPRmCuyQwjQRcbJOrXUJ-JAgFaAPDSI-drmp-Jgj_SSwBKF0AFEY3L8nrGzU_OBa8ko8-MbKeEYObyZEEnMpsOmsdleNK4oLopQodBdZuuTN9MOgWBs0AHt4ZUVHn9c7HX9m2KcrpAUUTZHwm4-LrZyPTv7JZkLhiQIeZfeS2Z8YdRwDnhjEqA64X3r7XEeAr2kfeozHxw7nUnNQfT6cTpj8vCFXM826FMjruCRmz2284rTnqJPkZDM7a3BJ8IG1KTUP2_ZKq2xG-TFaQcq2FtylpjSvX4RvOttp1ZkN6_9sE3UknPBy2-p0C-vvi942OJwhJjWRZyzz-1F2wPD5b4CwAcfi1d3C0dvWQpdD9dc-9uCD_4BRmXuhBqgpAt3xbA7Qg-kigl_7BHxaR59SHAuPFz0-Bonq0hvVNXpRP248mQRqrIbMbvGjVh5cD0OU5gZaaMp5Jsdyg_XmjXeMQgRFsG0_Qs-hUfyPswNB-NkZQCMKMHikVcvqnD03U-qyHhk6h8ob6RLG3whOMWUwGrBsVrbC_JHEav435KoP1rQVTgqHROzLcl_eH4RTTjZM--jkmuk99ZZCwNa5gu7AsBYKEbT84g48XfT0Vw5z6BosUnRVf-FN21CsqEGKXzqW7oKy8ddlupFE4J1KYBk7tG4EcI1ChSz2nirf3pRgQB7b_M7EniY4_Khwn2dUKX6tgFgAJfuOa3cniH8Df3-xeiaj5UITh_15wk730mvr8CXEtqf3ROezuQbCD_XgM8-inK5nngdUS-qdtmmZM0nxWkOPebzP-u5lcge3fo21xR7QFIkdtfIOuOfinZj05Lc-yIl25DCjnW8AofXiwJAlVWcA-pKoA7LQc1DogwNByUyI2C-Wuf1wwj6Nx8kxvGv-aszLSKpwUvDKbO3BqYld-4v10nHoJVWfN1O5-YRplTQ0yBgXlJvUFa5YBw9yJ9xq4gewIWhiwyCVFXTjOWibNRtSYGcv7gucK3Dc-907c7l3L-jlXXBKSC2aj55YH8kVQ68V3LkUy7HxX8Wgpd5d3ZSD64uZPzHq0mb70fikozFMLtJvDyl8i4Fhk31PkDDvD3DeJcNFkOKT_HTR85PoWcnkhGDXLp1FSrsHhwESLt37RRLkyczj3rsxw-I5W6r-u69fImpiCBPeIDgpur5-TMBaPYLND5_IHJVxnnwIOjHQHnqP_qvWjmfoH9vCNAj6tIVQzu3v2HiDe7vNA1K1DLhUmbQvJ8WpIdvm4r9kp-T12mtjQckmYUgD7U3DfQ0SV0XrV44dhVpzOWC3oQJ-iqFeQx6xg==",
  "id": "rs_0d74ad643be87f17016ab4940254f487d0b4764903e7cdb7c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.23,\"right_z\":0.16,\"right_roll\":0.4,\"left_x\":0.37,\"left_y\":-0.245,\"left_z\":0.07,\"left_yaw\":0,\"left_roll\":0,\"left_pitch\":0.25},\"note\":\"The wrist bodies are blocking further approach before the pen reaches the opening. I’m withdrawing the pen and lowering the cap so I can regrasp it nearer its closed end, leaving the opening exposed.\"}",
  "call_id": "call_ma9IKIxfDtnU0s4j3XLcAPFb",
  "id": "fc_0d74ad643be87f17016ab49409502887d08b447aa893f7a473",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ma9IKIxfDtnU0s4j3XLcAPFb",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.889, 1.8904, 0.6998, 0.6491, -0.7727, -0.4503, 0.1036, 1.0542, 1.2392, 0.6144, 0.1337, 0.7666, 0.8825, 0.0828]\nstate[eef_state]: left_x=0.3621 left_y=-0.2447 left_z=0.0563 left_yaw=-0.0217 left_pitch=0.1913 left_roll=-0.0384 left_gripper=0.1036 right_x=0.2724 right_y=0.2386 right_z=0.1741 right_yaw=-0.0443 right_pitch=0.137 right_roll=0.5018 right_gripper=0.0828\nstate[joint_eff]: [-0.6906, -7.9932, 6.9949, 2.0537, -0.2564, 0.1001, 0.1929, -1.1145, -3.0017, 5.641, 1.3651, 0.1783, -0.1245, 0.6764]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95ddb4b1fc1bb017bc104aeb2c6b3c73852f245f80bd17ce0db761bc4a3c38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe66fd489ba35721fba3f976fa11c06df3e8f81e44527f2c0a8aa4cc83768478",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e68a9ea3e8b43057575badab3352ac08fa2d63220ab51deb4a813595c0a1da5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.036 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]: [-0.738, 1.5696, 0.6559, 0.569, -0.3405, -0.8825, 0.0973, 1.2369, 1.6417, 0.6853, 0.5266, 0.815, 1.0447, 0.0791]\nstate[eef_state]: left_x=0.3674 left_y=-0.2496 left_z=0.1389 left_yaw=-0.0024 left_pitch=0.1087 left_roll=-0.7087 left_gripper=0.0973 right_x=0.2501 right_y=0.3398 right_z=0.1303 right_yaw=0.0176 right_pitch=0.1337 right_roll=0.6977 right_gripper=0.0791\nstate[joint_eff]: [0.2393, -8.3761, 7.4735, 2.0098, 0.0562, -0.0317, 0.2125, 1.3333, -6.8581, 8.0889, 1.8535, 0.4029, 0.1294, 0.8523]",
      "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]: [-0.7383, 1.5661, 0.6628, 0.5652, -0.3668, -0.8913, 0.1017, 1.2518, 1.7889, 0.8509, 0.437, 0.8482, 1.0931, 0.0809]\nstate[eef_state]: left_x=0.3701 left_y=-0.2463 left_z=0.143 left_yaw=0.0254 left_pitch=0.1164 left_roll=-0.7145 left_gripper=0.1017 right_x=0.2587 right_y=0.3721 right_z=0.1181 right_yaw=-0.0083 right_pitch=0.1086 right_roll=0.6685 right_gripper=0.0809\nstate[joint_eff]: [-2.5915, -6.4615, 9.1692, 2.044, -0.0952, -0.0611, 0.1538, 0.7179, -8.2667, 9.4017, 1.9609, 0.0415, -0.0171, 0.7399]",
      "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]: [-0.889, 1.8904, 0.6998, 0.6491, -0.7727, -0.4503, 0.1036, 1.0542, 1.2392, 0.6144, 0.1337, 0.7666, 0.8825, 0.0828]\nstate[eef_state]: left_x=0.3621 left_y=-0.2447 left_z=0.0563 left_yaw=-0.0217 left_pitch=0.1913 left_roll=-0.0384 left_gripper=0.1036 right_x=0.2724 right_y=0.2386 right_z=0.1741 right_yaw=-0.0443 right_pitch=0.137 right_roll=0.5018 right_gripper=0.0828\nstate[joint_eff]: [-0.6906, -7.9932, 6.9949, 2.0537, -0.2564, 0.1001, 0.1929, -1.1145, -3.0017, 5.641, 1.3651, 0.1783, -0.1245, 0.6764]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95ddb4b1fc1bb017bc104aeb2c6b3c73852f245f80bd17ce0db761bc4a3c38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe66fd489ba35721fba3f976fa11c06df3e8f81e44527f2c0a8aa4cc83768478",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e68a9ea3e8b43057575badab3352ac08fa2d63220ab51deb4a813595c0a1da5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJQPX_KAnz1muxEgi4wotg4Nsv_gLHo3a67MlZkp63IXdJhON7FG3c8-XztszeIrS8_XVzPwQKil_pwCka1Jj4YQdYTyuaopD-P635Sj4K597LOGpVQFPFv6FBXkdaw3IZLPgSGoHmHjnUaMs6jdboWj0ybKFll8QPxBdCG5eNOlVLwNBH3CmI5y3cfRrVeUHoTkM1oYjb4JXgzjyAC1XRv1uZOEMnE3HKA0RP_TxYiwkCdaUKnPPv5PD2UtcpBIGnIuoEf6CTsrakNee12RCW2DA_3-F1K_wZqL2x66A9mp19aieU7ce4pJINfOojxzARoFNvasdjfFTBqtDNM892dAaVaGooFdCmoRy5zR7XJp8jJM8-ftNsqBtSw8VG_GVR9ngXKL0dVlQ9ucIvbtWFOitQua0Ka6V_nG2lY_thr2RQd4snuGYg4P2l-NuDbhb3bV0RLIVs9ai1ICucEua-Sssv23eAOvt3tzQhPugcoN8c47imTVThKzydcGwsQviy_r4a4MAjKLgP-XpkCAwsINrX1x5-UGO_pawgvC1FJfSxR_aSoaEcf78QwjyRGpYBLpNu7PUecSdY4xrwsmGcCpz10d-hozDb2E67VXGZ2GnC0hZE1qiXqWMP3-JB_NKM2t_lpikPx10sSt_-l55Mcf2357c0VSGOxGrnT2dXazoqaQPPq1JyOW4BV_YLuy7EIGxewjuj6nUavzF9_IhHo1ay0tGuGLZEihEYtyTUT67aGKEaVSAZFWQTBRhmAPnaDS76KfssY_U6qJLdEZGIHmAk6Rl7jU_ZAnKUVvFT928p2Ay_HreTSFb40v_MYVN15qK3byj2Y8XKpzNjqy0hChv6uCf55TUWErgoWqv-Ny8Rjwg5YVW79got58zCWbRr3H9GU0e2R6MW0iNOFtSPYzhpV3HA9uyMA0OnZLLkuSh6xt7yo_eeedI6WT9G-5mE0RfeaWvD4H26oaaxyNA7uNYAQnsJUYjJYb5wRlEz2hFhfOJr37yXLSCtPgWIx4JYnn1hNby0xqQ_l7ut6rHV6UGh4oumDGzJ1lDbcCPQa1P86eXVTBUt3C69S892RR3WTJCj4IOJR-aSuV-t1BfY6Jo8pAiS5Ypc1VUfdLRLRKWRtD59u8M0cUsumVNcvIMKBEnLsL5y8NPR1AblVDCqFAwCfaD5e0vOeLlTrbAhX426n3DMOpOn6n1qoUI6GpHQT6Y6ea0Ilhv3uk5elhGTSR3Q8ssfFD7vhyERwm6xQDcuwYO2DSqxM8qdsSKKMrQwPYZqVFaO07653BZr-mYs_dno-A5DlbMSduOWL5IkWzK2E=",
  "id": "rs_0d74ad643be87f17016ab4940d5ad087d095b56ead5a68eddb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.362,\"left_y\":-0.245,\"left_z\":0.007,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The cap is clear of the pen again. I’m lowering it gently to the tabletop before changing where the left fingers hold it.\"}",
  "call_id": "call_rxZW4O0EhUA2CtvHS5Apd5qs",
  "id": "fc_0d74ad643be87f17016ab4940e1e8087d0a206309c50f51409",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rxZW4O0EhUA2CtvHS5Apd5qs",
  "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]: [-0.8909, 2.051, 0.7052, 0.7124, -0.7868, -0.4511, 0.1054, 1.0496, 1.2373, 0.6018, 0.1074, 0.7479, 0.8673, 0.0827]\nstate[eef_state]: left_x=0.3592 left_y=-0.2397 left_z=0.0055 left_yaw=-0.024 left_pitch=0.1378 left_roll=0.0371 left_gripper=0.1054 right_x=0.2698 right_y=0.2359 right_z=0.1639 right_yaw=-0.0218 right_pitch=0.1153 right_roll=0.4592 right_gripper=0.0827\nstate[joint_eff]: [-0.294, -8.9368, 4.6701, 1.2918, 0.1099, -0.1245, 0.2027, 0.2803, -4.1094, 7.5829, 1.8535, 0.3541, 0.1294, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a3d41de7a3aeab76818875ea5abe9c8cc1eed95978a86b58c7ee297f0fa0f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669ed9b6de470e54463164a74bb49f581a883d0de6a6a34f05ada2dec2e61d16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad515925a12c52abc0fe77219a5629fab3a43029f65dbff0a9f6efee89f2bfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.365 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]: [-0.7296, 1.5658, 0.6556, 0.5663, -0.3428, -0.8825, 0.1001, 1.2488, 1.779, 0.8425, 0.4507, 0.8345, 1.0828, 0.0802]\nstate[eef_state]: left_x=0.3694 left_y=-0.2458 left_z=0.1398 left_yaw=0.0081 left_pitch=0.1098 left_roll=-0.7086 left_gripper=0.1001 right_x=0.2585 right_y=0.3725 right_z=0.1206 right_yaw=0.0032 right_pitch=0.1106 right_roll=0.6759 right_gripper=0.0802\nstate[joint_eff]: [-1.0051, -6.188, 6.0786, 1.8632, -0.0366, -0.0366, 0.2808, 1.1419, -7.5556, 9.7299, 2.0098, 0.1001, -0.0806, 0.7888]",
      "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]: [-0.889, 1.8904, 0.6998, 0.6491, -0.7727, -0.4503, 0.1036, 1.0542, 1.2392, 0.6144, 0.1337, 0.7666, 0.8825, 0.0828]\nstate[eef_state]: left_x=0.3621 left_y=-0.2447 left_z=0.0563 left_yaw=-0.0217 left_pitch=0.1913 left_roll=-0.0384 left_gripper=0.1036 right_x=0.2724 right_y=0.2386 right_z=0.1741 right_yaw=-0.0443 right_pitch=0.137 right_roll=0.5018 right_gripper=0.0828\nstate[joint_eff]: [-0.6906, -7.9932, 6.9949, 2.0537, -0.2564, 0.1001, 0.1929, -1.1145, -3.0017, 5.641, 1.3651, 0.1783, -0.1245, 0.6764]\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 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]: [-0.8909, 2.051, 0.7052, 0.7124, -0.7868, -0.4511, 0.1054, 1.0496, 1.2373, 0.6018, 0.1074, 0.7479, 0.8673, 0.0827]\nstate[eef_state]: left_x=0.3592 left_y=-0.2397 left_z=0.0055 left_yaw=-0.024 left_pitch=0.1378 left_roll=0.0371 left_gripper=0.1054 right_x=0.2698 right_y=0.2359 right_z=0.1639 right_yaw=-0.0218 right_pitch=0.1153 right_roll=0.4592 right_gripper=0.0827\nstate[joint_eff]: [-0.294, -8.9368, 4.6701, 1.2918, 0.1099, -0.1245, 0.2027, 0.2803, -4.1094, 7.5829, 1.8535, 0.3541, 0.1294, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a3d41de7a3aeab76818875ea5abe9c8cc1eed95978a86b58c7ee297f0fa0f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669ed9b6de470e54463164a74bb49f581a883d0de6a6a34f05ada2dec2e61d16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad515925a12c52abc0fe77219a5629fab3a43029f65dbff0a9f6efee89f2bfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0.45},\"note\":\"The cap is now supported at table height. I’m opening the left fingers enough to move the grasp toward its narrow closed end.\"}",
  "call_id": "call_aIQkTYjXlNhPuZoe4Xj6sOax",
  "id": "fc_0d74ad643be87f17016ab49410eaa487d0800e368309aa0caf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aIQkTYjXlNhPuZoe4Xj6sOax",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8906, 2.0567, 0.7059, 0.7372, -0.778, -0.4694, 0.4456, 1.0492, 1.2373, 0.6018, 0.1104, 0.7429, 0.8669, 0.0848]\nstate[eef_state]: left_x=0.3606 left_y=-0.2429 left_z=0.0068 left_yaw=-0.0181 left_pitch=0.1469 left_roll=0.0016 left_gripper=0.4456 right_x=0.2698 right_y=0.2368 right_z=0.1641 right_yaw=-0.0181 right_pitch=0.1147 right_roll=0.4628 right_gripper=0.0848\nstate[joint_eff]: [-0.0342, -8.4581, 4.4239, 1.6239, -0.2711, 0.0611, -0.0269, -0.1709, -4.2462, 6.694, 1.5946, 0.2418, -0.0513, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe2e4c230ecd5fa59d58f81def98f05d989113f8221f8b4f6334dbf9956a679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a463982b6f02603498bd559fbc72e56d979911bae692ae6a00f01814917db7cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e02f2e2b34322561d392148d4aeb35d8d28fe3eefda70ba9bea3db4ae421cc7",
      "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 · 3.255 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 113 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]: [-0.7383, 1.5661, 0.6628, 0.5652, -0.3668, -0.8913, 0.1017, 1.2518, 1.7889, 0.8509, 0.437, 0.8482, 1.0931, 0.0809]\nstate[eef_state]: left_x=0.3701 left_y=-0.2463 left_z=0.143 left_yaw=0.0254 left_pitch=0.1164 left_roll=-0.7145 left_gripper=0.1017 right_x=0.2587 right_y=0.3721 right_z=0.1181 right_yaw=-0.0083 right_pitch=0.1086 right_roll=0.6685 right_gripper=0.0809\nstate[joint_eff]: [-2.5915, -6.4615, 9.1692, 2.044, -0.0952, -0.0611, 0.1538, 0.7179, -8.2667, 9.4017, 1.9609, 0.0415, -0.0171, 0.7399]",
      "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]: [-0.8909, 2.051, 0.7052, 0.7124, -0.7868, -0.4511, 0.1054, 1.0496, 1.2373, 0.6018, 0.1074, 0.7479, 0.8673, 0.0827]\nstate[eef_state]: left_x=0.3592 left_y=-0.2397 left_z=0.0055 left_yaw=-0.024 left_pitch=0.1378 left_roll=0.0371 left_gripper=0.1054 right_x=0.2698 right_y=0.2359 right_z=0.1639 right_yaw=-0.0218 right_pitch=0.1153 right_roll=0.4592 right_gripper=0.0827\nstate[joint_eff]: [-0.294, -8.9368, 4.6701, 1.2918, 0.1099, -0.1245, 0.2027, 0.2803, -4.1094, 7.5829, 1.8535, 0.3541, 0.1294, 0.6422]\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 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8906, 2.0567, 0.7059, 0.7372, -0.778, -0.4694, 0.4456, 1.0492, 1.2373, 0.6018, 0.1104, 0.7429, 0.8669, 0.0848]\nstate[eef_state]: left_x=0.3606 left_y=-0.2429 left_z=0.0068 left_yaw=-0.0181 left_pitch=0.1469 left_roll=0.0016 left_gripper=0.4456 right_x=0.2698 right_y=0.2368 right_z=0.1641 right_yaw=-0.0181 right_pitch=0.1147 right_roll=0.4628 right_gripper=0.0848\nstate[joint_eff]: [-0.0342, -8.4581, 4.4239, 1.6239, -0.2711, 0.0611, -0.0269, -0.1709, -4.2462, 6.694, 1.5946, 0.2418, -0.0513, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe2e4c230ecd5fa59d58f81def98f05d989113f8221f8b4f6334dbf9956a679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a463982b6f02603498bd559fbc72e56d979911bae692ae6a00f01814917db7cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e02f2e2b34322561d392148d4aeb35d8d28fe3eefda70ba9bea3db4ae421cc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJQX92txZzZvodpGHgV6vqCyxIh_2GfV-T1X052Z4uOAxxhjO4LnfI09ocLBRLxDPBu2uMeCDIZS1V8wdDqtpPl_4Pb6n3UnqhGqlCvX2Y6RLQR1HvDDO_uktfWb2IR9Fhx7hO4jEt81ZEntk9SIaloqMMZQT9pfi6XrfyDpkVmZshcUwlzzfqp9Lb9DVMOFdclPr3plRlxPeYuoc9FhrAi1muYtkMTaf7XnrKmierhYcNNsA1pupKwjb8cWdanX8rTV-2hF94rKjrhP2RqST_0E7gbc88mxRjgWCYZ5_K84ViDyHABlxlZhnfBTNAph4SdTKh01fHNObOa4u--yCnsbrukD4MU2Y9xJPZzD9aetkovJB-2FGm9FeHcS_XWGo3XRT4xbgHJLSwxKBsGDOkTrcJ8VWWjpcqX_hJE5T36DjWuIqPL6xR-CUhbOinF7gYGGIFc_JUfb3-0ep_CS_rnm_rR8lJHIYZsfjsmEzW1RaWADLCmhEG_WrjsACI1LBL-pI9J2wxcJezp3M35NWy63zVeIXDw_0xLxKkq3KvztAsRTMsFvU_pnS5L0SZ1-TrCBCBH8o9XmaVpK3YqZGFmDBZou_2poWe4kUzrFeg_KOM_DfEcPK1uS34-AkZ-DWDCXP-B-Is931VXf4eKler1peFIvQCxlJitEgsbsNgaahvX0GvWRo-3EG4P_nLwth5hG5yQbD_r_Y6A0J0t8X8SN36vrQib5FmXGs88TB1jba7OqYJgsnOGhTYfJDa3zXWdKW-GK99cGgsrC06B7pZXrqUpoFsdZYNAQ4hSlyEA1otYBBEkP9fys-Gn0K7rkO53AbglYM6Ec9LnxolUBUI6KjczFB1IIZaOGU0Ja_SYosnTN2FCVoXo9Tg3hb8vBcbQhRfqolqfPfgoMTWWGWB54FZLuncZWRcqySMRYT_OvsftbUBv8Bi8VWTtZCkEwPn1kU89mMH8xscr5XTbS6uyXK8LLHy3Iq5FVBRT9kJu3jN8_gg_tn1ZN4jduYnqimCkKvIZ3TDdc_kL9ClVZ-eWq7Emfx4hQmqqgL6MtZolvcWss_QPN-3VBT-Xhvk9cwg5ymlHf5LHOI8ru4E-QsSXC8FG7d8_Tggg9KIlgp9d0e2wy3UH8kVcNx4Ek0aMm-Atbwjvc1keVC3MiqgQ62lcwmrRIRHG6y7_0AV75pUyTXRO2gENSTSIYZRLOo8E2n9U2rXoY1nGdBC7epshiHP0R-C-lCfLjrfIaQ3Ntbp-b52ud8uUJOR3kPsb1-f8JFnS953SpZhQIzyGuZWy20NN7smh_IjyGZJfX7GkuGei7Kkml1p6Wc1-lAb3lHiFXhg6_4jNVh72B6tNsfccwXeelqIZPWrh8wf9OWn_111QHwrGTHjyFyPA-L3ms0iGJxy8QpK0aBgh-4LYabn1V4s_QAzZ43kTLYJxwrM6gnLhLKQU6obwQkMFJFLwt1q4zTTiFUUDw4DPeONa0MElElU2V-qFc81SU6OYpUZCINjmLq0R5N13jaUvZFCNEGlv-cQkSSWM8OTzoRroe5w-g2NPihab6ACC_l_hPEwiUuFPolJCgrSETLBFvAwUxLslHutBNq_t7DhlHhjOKVukfS1myLimgF7IweunFWO6Svlk9IM1jO_MafRCuhNzsoWNalA1fMwP_36BFSbWjDzxur052zFbGFzmLrNHaClJLSq-j94Q=",
  "id": "rs_0d74ad643be87f17016ab4941425e887d0bff2216bba5f0fd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.389,\"left_y\":-0.242,\"left_z\":0.008,\"left_pitch\":0.2},\"note\":\"The released cap lies lengthwise in front of the left fingers. I’m sliding the open fingers about three centimeters toward its closed end so the open end will extend behind the new grip.\"}",
  "call_id": "call_k7JEpSLR8UwEI1l5W1Q7gJmF",
  "id": "fc_0d74ad643be87f17016ab49416146487d09f05c83dbfa00587",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k7JEpSLR8UwEI1l5W1Q7gJmF",
  "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]: [-0.8909, 2.0567, 0.7059, 0.7372, -0.7776, -0.4694, 0.4466, 1.0492, 1.2373, 0.5961, 0.104, 0.7383, 0.8665, 0.0868]\nstate[eef_state]: left_x=0.3605 left_y=-0.2431 left_z=0.0068 left_yaw=-0.0188 left_pitch=0.1468 left_roll=0.0014 left_gripper=0.4466 right_x=0.2686 right_y=0.236 right_z=0.1604 right_yaw=-0.0129 right_pitch=0.1068 right_roll=0.4528 right_gripper=0.0868\nstate[joint_eff]: [-0.3214, -8.4444, 4.4103, 1.619, -0.2076, 0.0122, 0.0952, -0.0752, -3.8496, 7.0632, 1.7021, 0.232, -0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69b0b21c3817a792015d5df401834169a976bc8279df3e3711f4591989321c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8992415066e7479927c7e74b3af754078f248c1bee95a0020dc339d24dbdd9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388ba6b126c90519ed9f079455c38934ee90a2592ed8ca1e7a33a4b52be33318",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.554 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 113 changed as sent

message 117 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]: [-0.889, 1.8904, 0.6998, 0.6491, -0.7727, -0.4503, 0.1036, 1.0542, 1.2392, 0.6144, 0.1337, 0.7666, 0.8825, 0.0828]\nstate[eef_state]: left_x=0.3621 left_y=-0.2447 left_z=0.0563 left_yaw=-0.0217 left_pitch=0.1913 left_roll=-0.0384 left_gripper=0.1036 right_x=0.2724 right_y=0.2386 right_z=0.1741 right_yaw=-0.0443 right_pitch=0.137 right_roll=0.5018 right_gripper=0.0828\nstate[joint_eff]: [-0.6906, -7.9932, 6.9949, 2.0537, -0.2564, 0.1001, 0.1929, -1.1145, -3.0017, 5.641, 1.3651, 0.1783, -0.1245, 0.6764]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8906, 2.0567, 0.7059, 0.7372, -0.778, -0.4694, 0.4456, 1.0492, 1.2373, 0.6018, 0.1104, 0.7429, 0.8669, 0.0848]\nstate[eef_state]: left_x=0.3606 left_y=-0.2429 left_z=0.0068 left_yaw=-0.0181 left_pitch=0.1469 left_roll=0.0016 left_gripper=0.4456 right_x=0.2698 right_y=0.2368 right_z=0.1641 right_yaw=-0.0181 right_pitch=0.1147 right_roll=0.4628 right_gripper=0.0848\nstate[joint_eff]: [-0.0342, -8.4581, 4.4239, 1.6239, -0.2711, 0.0611, -0.0269, -0.1709, -4.2462, 6.694, 1.5946, 0.2418, -0.0513, 0.5885]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.0567, 0.7059, 0.7372, -0.7776, -0.4694, 0.4466, 1.0492, 1.2373, 0.5961, 0.104, 0.7383, 0.8665, 0.0868]\nstate[eef_state]: left_x=0.3605 left_y=-0.2431 left_z=0.0068 left_yaw=-0.0188 left_pitch=0.1468 left_roll=0.0014 left_gripper=0.4466 right_x=0.2686 right_y=0.236 right_z=0.1604 right_yaw=-0.0129 right_pitch=0.1068 right_roll=0.4528 right_gripper=0.0868\nstate[joint_eff]: [-0.3214, -8.4444, 4.4103, 1.619, -0.2076, 0.0122, 0.0952, -0.0752, -3.8496, 7.0632, 1.7021, 0.232, -0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69b0b21c3817a792015d5df401834169a976bc8279df3e3711f4591989321c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8992415066e7479927c7e74b3af754078f248c1bee95a0020dc339d24dbdd9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388ba6b126c90519ed9f079455c38934ee90a2592ed8ca1e7a33a4b52be33318",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJQaW51YcFFiGKt5s5cDvw3t_cE1LqZthaC0vpsXELJ18sUKfkiN8IWLWH28pid9ii5G2A3Gffsmf1fHNHoSR-pB0whZrgu2fpXHP9nXP1xT93EIYrwjDQ5ssjsqHYvKEJXpIFJjkx4ylLwRFg-Oy3Q4Eb7qToiEHnS9_s6mIBD31RuMwX5vkDyrDPYSIA_bc1UAcegZFOK4trE5V6aOUXExpS4HZYdSCKRN19S5qjdoFCbosaUkoOdQmZTEvMuaozb-vtfB4LBNWxGm706N_AucRZMPhWrkxAhBkg5yAEioaNV9CDlIKB698u3qYuW7Fa-YPkiaLXwY0yhq7KmFZJMdb_MG1dYd_HNAjZhEqS_4z0Tx7k74g-4UuN7YxeNOyd2uMId5TthvBzhHMqWog9l8ofzc_-tZFR9whSNbo0rfZkympPykEjX8BEtvbfhSVFhZlJCqefguO6qn2Jvgyaro6-TxuvxkCCJCviOaxdnP5GDjfKvzNTpe3EBCAsXlsLsUMh5lpLs8hyGGMVETKZgKHfZ6BGYwTTKvUjzwtT1CqEVGJ_O0qCPoO2NPd5AXQwZeYGR6LGamsSdRD__yKqtWBqOFt6NC7GzgKGwjKSlxOmeWAqa43gTV3Lll5qxiJDVRj_uH3qjMxd_GduuJ3vDoF7x0iJxys4Dye0iCL4Y42YQYyyr5T6QsWxv2spUdyFMaw3sJTKRP9E0ASziMzwrOGP3t8cHn5s_iE5jjYdjOrXvLyaFjHO7I8-VsB9DHTvSNOVodXX3vLOIRb0eWf0lCsw2vzwq4QS8-DgiiEg2-i6v5uhpFuIMyvLauN4Vxe5m6lLo8WEUIMh2ejIANbi-H_qSDzXPafFz-jIvk51wZ7Qcir2RVa8OCLxsjIVx_21K392_gMGKUtkeFIO_Kv--0m6MO2OqaLgkfSFQO2kOygJnsVaIp58rexFCQD0nrZdgmTPMf9gy1DNEjzwcBoywzKBUKUEq4sN4qpNGe3GFIQlikuooGY9c80c6iMnC3Rc8ySb3pYus5diwPb539yfmsyLi5HOvIXzdy-AKgoJUXMWtHVoXzN6scEAAlQ37U_-DvYNjEWhpkFynf3zavyvYdcYeAvpb3carF5Xrr1MXlAcMFE7RAMJbRR-gcacEu1a5UM_7aOvCuLRcvGXRUjq91DaEYP59zFU0Sk5H5Bw0TF64EQkBiuiPDb3Wb34AOT5en-mvLKK4Sc_eomSCxwLilHtB7Fp73ARkBHSh_kqBqESjYoZXc2wNI6Omd6-4hYR5syKwNHQmCzov2A7qUGP8mq8O4PkdXAtlqXfJxxTJqTQKZIwIGBHDyM43o16U0KUME",
  "id": "rs_0d74ad643be87f17016ab49418f60887d096c5727c5de0497d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.243,\"left_z\":0.05,\"left_pitch\":0.4},\"note\":\"The low sideways-loaded pose did not move forward. I’m lifting the open fingers slightly and increasing the forward wrist tilt before the new grasp.\"}",
  "call_id": "call_6RFGSWc74JG4w7QE0fJPyPkU",
  "id": "fc_0d74ad643be87f17016ab49419707087d08fca7ce4400453dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6RFGSWc74JG4w7QE0fJPyPkU",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8669, 2.1361, 0.6868, 1.1072, -0.833, -0.2592, 0.4467, 1.0492, 1.2373, 0.5961, 0.104, 0.7311, 0.8661, 0.0889]\nstate[eef_state]: left_x=0.3799 left_y=-0.24 left_z=0.0359 left_yaw=-0.0153 left_pitch=0.3419 left_roll=0.0117 left_gripper=0.4467 right_x=0.2681 right_y=0.2371 right_z=0.16 right_yaw=-0.0067 right_pitch=0.1037 right_roll=0.4543 right_gripper=0.0889\nstate[joint_eff]: [0.335, -8.335, 4.0957, 1.9414, -0.1197, 0.1148, -0.0024, -0.1162, -4.0957, 6.5846, 1.6142, 0.1978, -0.0757, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be579286705bda18d56003f9782f08319ccb63ce6fd04fabf57a9f59e00fba3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1d0871d6859f225fa4a30770e1133a75bcfde5b74f2f0c3a4c09dd0f041cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c1be3a85db6dd5800da086c8bb3b6ac8f855771f3beda6b0b626d8fcd361c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 2.659 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 117 changed as sent

message 121 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]: [-0.8909, 2.051, 0.7052, 0.7124, -0.7868, -0.4511, 0.1054, 1.0496, 1.2373, 0.6018, 0.1074, 0.7479, 0.8673, 0.0827]\nstate[eef_state]: left_x=0.3592 left_y=-0.2397 left_z=0.0055 left_yaw=-0.024 left_pitch=0.1378 left_roll=0.0371 left_gripper=0.1054 right_x=0.2698 right_y=0.2359 right_z=0.1639 right_yaw=-0.0218 right_pitch=0.1153 right_roll=0.4592 right_gripper=0.0827\nstate[joint_eff]: [-0.294, -8.9368, 4.6701, 1.2918, 0.1099, -0.1245, 0.2027, 0.2803, -4.1094, 7.5829, 1.8535, 0.3541, 0.1294, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.0567, 0.7059, 0.7372, -0.7776, -0.4694, 0.4466, 1.0492, 1.2373, 0.5961, 0.104, 0.7383, 0.8665, 0.0868]\nstate[eef_state]: left_x=0.3605 left_y=-0.2431 left_z=0.0068 left_yaw=-0.0188 left_pitch=0.1468 left_roll=0.0014 left_gripper=0.4466 right_x=0.2686 right_y=0.236 right_z=0.1604 right_yaw=-0.0129 right_pitch=0.1068 right_roll=0.4528 right_gripper=0.0868\nstate[joint_eff]: [-0.3214, -8.4444, 4.4103, 1.619, -0.2076, 0.0122, 0.0952, -0.0752, -3.8496, 7.0632, 1.7021, 0.232, -0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8669, 2.1361, 0.6868, 1.1072, -0.833, -0.2592, 0.4467, 1.0492, 1.2373, 0.5961, 0.104, 0.7311, 0.8661, 0.0889]\nstate[eef_state]: left_x=0.3799 left_y=-0.24 left_z=0.0359 left_yaw=-0.0153 left_pitch=0.3419 left_roll=0.0117 left_gripper=0.4467 right_x=0.2681 right_y=0.2371 right_z=0.16 right_yaw=-0.0067 right_pitch=0.1037 right_roll=0.4543 right_gripper=0.0889\nstate[joint_eff]: [0.335, -8.335, 4.0957, 1.9414, -0.1197, 0.1148, -0.0024, -0.1162, -4.0957, 6.5846, 1.6142, 0.1978, -0.0757, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be579286705bda18d56003f9782f08319ccb63ce6fd04fabf57a9f59e00fba3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1d0871d6859f225fa4a30770e1133a75bcfde5b74f2f0c3a4c09dd0f041cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c1be3a85db6dd5800da086c8bb3b6ac8f855771f3beda6b0b626d8fcd361c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJQf-LTKqkK-Y-o-jXm3NqvfqyjVgaIG-kZx9jVP4H1bbJgM65Id_vZZXst0E2F0HOWUEffgwBKfdcdgTj2YKNvHtuH1Gv7N-iUHupU5IZ_nIcYjmBs8J4ygrtTNRQecFUq8E1xKV1ZogAfK-1Q3sFruMCFfRbWSx1J7_OKIhn3H-CnFlko_ok0RsAda92v4xjisa1t3a7ZGceHlJBab3_DItEjNSYwV8d4w-vAjZM4Cyjha61VDRa0Uo8EcfxV9dWfro7rJltKmcOzfaDvmx_zn0tzyyXHduJj7J9afPmWJRvmAVs9-wpRFTWD4F9cMoNyv_DuZSQvp0GB3QLTU17djBujck4zbi0c7qbM3NLeLH__s5wWmZzpu71LBuXpQDDA6dPucFgnUoC3PviKtS-1p5HwdYmLwQYFjQwxuF1JRnoyMd2SILidM4CWJ-TB7Lyuve7_5lW4kvV9f3rB5rPi3Pg1Jrg7Deq18RQY7hQtPWtegGYeERhP7CiVs9b1aAKCaG4A7az1HkKWU2T61PfgfPpM1EktuxYmyIswrvASlTEngY99uYMBRT9vfvA_CaAsyYxJ19SH7aZmAPrXvcjcAIKswRmPLRsDmdjV3QlVWWAPZm1NPMXMBetmtH5acZemWZyuwWNwBH7U1K6jOJGuCvoFcq12_TvsK-GO8nZn0azGHUUk6qkB8lAcb9HYr-RB5N0wZQnChqV8rvJX1Ja3CdCJHMnEnWNiK-PSD6kJHrkxd2pWbGQHy_gJOOxtcFGJDsNQP_YuLrJkvGjH9CaobfabgG3ZLL9n3ro1MQMedn-N7UPG-Jq0vaFl_fD9QR0K2-niuFUGHHsJ49TfZWYu5JSorKM09oAgktg2plcUJF3_uDfYG0WveB-ufYLjB6XX7sChI1Kh1u81nd3ipgL_JCLqqNnWDBWCBkDIAxVdNoDy9P4mmSa41SUHfzWHHA2jTl9p-QmGm7MNCXQ_dan39436ft4iIIyqIzQk4y4NhSNW0ZgvNBHfdTe9nigCTL24-vzeH9GXmwByt9gdbfGbx1Gi2oulaD7mOH4Pik_qvLowWn90bWLLMYEGpDJGGZ63nqkaoAVb42ym-yI4yWVM7K5mJpvveLyLAIHFDRd4LsoNyoPD_DvXuLSRamIhRThom37FbTodCNwA_OTAnbvjJlpZuzQQO30rlAtjTCOJQGH1I2P036FRRswBSwfS4eOp4R9zolFUql554ZUfdnAEknggfz0B9YoYS_50gNhsmjd6zsbbfC78EIQ7TzlDJpCr-_-CBj1ScIUiIQEP2JX0mO6qDBg5jLQHrysmuGbe6okYwMWO_AbxiUBYjyEQKLF8JedCENctbhI6ssD-3jPqppU5jdnOGYLdlIAl3gIwvcSrGZdRgOekv5WoTKjzdOETY9pP53aBmCjZSsQ9udkuxFLP4pzto4r8R-2DNDFfOB_ZA5W9smkD0TuWLiC44JjXU",
  "id": "rs_0d74ad643be87f17016ab4941cd93887d0842f83c6f5d7f7f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.243,\"left_z\":0.003,\"left_pitch\":0.4},\"note\":\"The left fingers have moved forward over the cap’s narrow end. I’m lowering them for the new grasp, leaving more of the cap opening behind the fingers.\"}",
  "call_id": "call_TLO3hAS2LAw47YSUEG733GIN",
  "id": "fc_0d74ad643be87f17016ab4941e07a487d08c7f779e6549db3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TLO3hAS2LAw47YSUEG733GIN",
  "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]: [-0.8665, 2.3203, 0.7216, 1.3319, -0.8478, -0.2218, 0.4468, 1.0492, 1.2373, 0.5961, 0.104, 0.728, 0.8661, 0.091]\nstate[eef_state]: left_x=0.3844 left_y=-0.2423 left_z=0.0096 left_yaw=-0.0015 left_pitch=0.3942 left_roll=-0.0069 left_gripper=0.4468 right_x=0.2679 right_y=0.2375 right_z=0.1598 right_yaw=-0.0042 right_pitch=0.1023 right_roll=0.4551 right_gripper=0.091\nstate[joint_eff]: [-0.1709, -8.759, 3.3573, 0.1587, 0.149, 0.1001, -0.0024, -0.1709, -4.2462, 6.8718, 1.6044, 0.2662, -0.0562, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e16ee024abdcfbe4767179f1eeddc1aa96aac3666d0608fef6c3463cc3035a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3893240c0dfd74dc8fbc84bd8bcbc32e68c459de7547e157ca01426cbe9cbf64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e2f7ce5f47bf1175b5e06d95124e0ed59333bffbe47a6e31599fbc17901191",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.303 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8906, 2.0567, 0.7059, 0.7372, -0.778, -0.4694, 0.4456, 1.0492, 1.2373, 0.6018, 0.1104, 0.7429, 0.8669, 0.0848]\nstate[eef_state]: left_x=0.3606 left_y=-0.2429 left_z=0.0068 left_yaw=-0.0181 left_pitch=0.1469 left_roll=0.0016 left_gripper=0.4456 right_x=0.2698 right_y=0.2368 right_z=0.1641 right_yaw=-0.0181 right_pitch=0.1147 right_roll=0.4628 right_gripper=0.0848\nstate[joint_eff]: [-0.0342, -8.4581, 4.4239, 1.6239, -0.2711, 0.0611, -0.0269, -0.1709, -4.2462, 6.694, 1.5946, 0.2418, -0.0513, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8669, 2.1361, 0.6868, 1.1072, -0.833, -0.2592, 0.4467, 1.0492, 1.2373, 0.5961, 0.104, 0.7311, 0.8661, 0.0889]\nstate[eef_state]: left_x=0.3799 left_y=-0.24 left_z=0.0359 left_yaw=-0.0153 left_pitch=0.3419 left_roll=0.0117 left_gripper=0.4467 right_x=0.2681 right_y=0.2371 right_z=0.16 right_yaw=-0.0067 right_pitch=0.1037 right_roll=0.4543 right_gripper=0.0889\nstate[joint_eff]: [0.335, -8.335, 4.0957, 1.9414, -0.1197, 0.1148, -0.0024, -0.1162, -4.0957, 6.5846, 1.6142, 0.1978, -0.0757, 0.2125]",
      "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]: [-0.8665, 2.3203, 0.7216, 1.3319, -0.8478, -0.2218, 0.4468, 1.0492, 1.2373, 0.5961, 0.104, 0.728, 0.8661, 0.091]\nstate[eef_state]: left_x=0.3844 left_y=-0.2423 left_z=0.0096 left_yaw=-0.0015 left_pitch=0.3942 left_roll=-0.0069 left_gripper=0.4468 right_x=0.2679 right_y=0.2375 right_z=0.1598 right_yaw=-0.0042 right_pitch=0.1023 right_roll=0.4551 right_gripper=0.091\nstate[joint_eff]: [-0.1709, -8.759, 3.3573, 0.1587, 0.149, 0.1001, -0.0024, -0.1709, -4.2462, 6.8718, 1.6044, 0.2662, -0.0562, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e16ee024abdcfbe4767179f1eeddc1aa96aac3666d0608fef6c3463cc3035a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3893240c0dfd74dc8fbc84bd8bcbc32e68c459de7547e157ca01426cbe9cbf64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e2f7ce5f47bf1175b5e06d95124e0ed59333bffbe47a6e31599fbc17901191",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJQh8PoEUcxDeCtEvGtNgEcqgLViVaxHSiQai31v1KKIB2hHcDsVHbP2diUsSvGSpgCaGLcvl2gLhrLLPkajTpFbWrJIeuxmh5BAo_RWjwsTBGV_YtPrBqDcva9olcVapo-REG24kkD0zlnTQmt44HQvN7xNyt4l0nll1Xw6OpHFlS1X3BQ6dCXwClVzBxatUCJIuCn9FOxx8648mrabL_Kn12CluUUxExeASORfmNr8RpuaUfYEbGbaHWenk-VqGDpJzEdn_LFGkCRnMqgxS3iH53pmNRpLePHsoMfe78KT5Oh_F6pJKooaCcE5z5FYXzfNw-jMLukuu4RIhZgFh3CoZiBvjZD7hx_4ZebRj6CrZaH8DAOHVzGHAFuJ2075x2ZZvzMXgmdB2K-jn4KwsP8_SkS005JZPD0kk_1y8SWd-y7W5zhxP_XOnd-BWCCxyXfVYV6rWyQiiaLlHetxxuwR8URrKQhsPohl11HZvKgHdAx3Ua2CRV0SjBRia8lLwgl8UNMl1kfsY2fjXzE7FnbmqhGq6WbsEkdTTan2ifmB90MootiirtwXnRZGBTCZKV_s5b0rO5-nPpFdmgJWVpPdNczwGiYpR2Qr2k-gxqLyZuxSsfMcggQ0w91ls0gy2msJxf6Cq4Uk09xu3jpqlVuDzEeft5nqyptwC8yoYSdzEX5zxEjwdhLCHyg0jv0scEUGF5SOz1jHezkLU_vseSKudcuKXtga0e2YbXxN7IM6mHSzB40ENQGAJdM9ztuxMerScX2yMB3bbR5Z1X7t7f3At3guQZ_zdqpHe372FeHcKn7v9KTiIAvr_7x6XiJIsvNPZdryNafsFCwGQ6l8NhulZrnJAQ_jaukQc6AKQRUUk8PC2Y6otVfa8KjE3QfUWw_I96WYhyv2sHEwqmZ_0gjYBYmS_Pqh_cghWQKKFNyvPuu0uCmgNqBlHDsv50BGIaIWr0FhX5SZcqTvSrdLfiXo65_kJzOMcMIVJSWcOt3DVfycRrQZly1mkTL3OskKAFSekLvYo6q9eVKPLIx8PWNVCT5JJ8GyK1KAdOVUFBpVjl_KpSx56lsDSOGelNJTnTAKmsvm505zEpetcbJhZVk1lUTzsu3uEuSTVD-38hup6t0U3N97F3rLT8QWUxy3xk3qexa2gCnfWTyAa-_4IOb_4GZIIZ313A3Pmh9bDAyVaQWLazHohwg98CtAdjOhup3-zrXZ9hqBRnFh7RVxycV1VXzS2mcvDWt88pxdr-K6YWcC_m83eQ84-CY5wOqJUE3PrJ7etxC3Vu0NINDf_WSEYPITXAEU_pLfD67vTgFB7CA=",
  "id": "rs_0d74ad643be87f17016ab49420bad087d0ad62bc9363fddfec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are at the cap’s narrow end near the table. I’m closing to secure the new grip before lifting it back to the pen.\"}",
  "call_id": "call_kkmevwf5SQPKGLkQxe9p98CM",
  "id": "fc_0d74ad643be87f17016ab4942115a487d0955f6d494d17c9c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kkmevwf5SQPKGLkQxe9p98CM",
  "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]: [-0.8661, 2.3383, 0.7303, 1.3972, -0.8585, -0.1997, 0.0113, 1.0492, 1.2373, 0.5961, 0.1036, 0.7231, 0.8661, 0.0918]\nstate[eef_state]: left_x=0.3869 left_y=-0.2431 left_z=0.0164 left_yaw=0.0143 left_pitch=0.4323 left_roll=-0.0281 left_gripper=0.0113 right_x=0.2676 right_y=0.2383 right_z=0.1594 right_yaw=-0.0 right_pitch=0.0999 right_roll=0.456 right_gripper=0.0918\nstate[joint_eff]: [-0.0205, -8.1709, 3.2205, 1.3455, 0.0659, 0.0122, 0.7497, -0.0205, -4.1915, 6.5846, 1.5849, 0.1734, -0.0806, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8eafb0654cfc6def98ae538bb035f64faff926d5f26c62c7cfd5f5ced42f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae31b867f88ba0972147388c4c8a6e08ff080a220de4c58a150bfc27ab48d94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1783e926982b22dbd9b67a676ce69e0c113a26fc1e8e19df2a75669bec48b4b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 3.588 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.0567, 0.7059, 0.7372, -0.7776, -0.4694, 0.4466, 1.0492, 1.2373, 0.5961, 0.104, 0.7383, 0.8665, 0.0868]\nstate[eef_state]: left_x=0.3605 left_y=-0.2431 left_z=0.0068 left_yaw=-0.0188 left_pitch=0.1468 left_roll=0.0014 left_gripper=0.4466 right_x=0.2686 right_y=0.236 right_z=0.1604 right_yaw=-0.0129 right_pitch=0.1068 right_roll=0.4528 right_gripper=0.0868\nstate[joint_eff]: [-0.3214, -8.4444, 4.4103, 1.619, -0.2076, 0.0122, 0.0952, -0.0752, -3.8496, 7.0632, 1.7021, 0.232, -0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8665, 2.3203, 0.7216, 1.3319, -0.8478, -0.2218, 0.4468, 1.0492, 1.2373, 0.5961, 0.104, 0.728, 0.8661, 0.091]\nstate[eef_state]: left_x=0.3844 left_y=-0.2423 left_z=0.0096 left_yaw=-0.0015 left_pitch=0.3942 left_roll=-0.0069 left_gripper=0.4468 right_x=0.2679 right_y=0.2375 right_z=0.1598 right_yaw=-0.0042 right_pitch=0.1023 right_roll=0.4551 right_gripper=0.091\nstate[joint_eff]: [-0.1709, -8.759, 3.3573, 0.1587, 0.149, 0.1001, -0.0024, -0.1709, -4.2462, 6.8718, 1.6044, 0.2662, -0.0562, 0.2271]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8661, 2.3383, 0.7303, 1.3972, -0.8585, -0.1997, 0.0113, 1.0492, 1.2373, 0.5961, 0.1036, 0.7231, 0.8661, 0.0918]\nstate[eef_state]: left_x=0.3869 left_y=-0.2431 left_z=0.0164 left_yaw=0.0143 left_pitch=0.4323 left_roll=-0.0281 left_gripper=0.0113 right_x=0.2676 right_y=0.2383 right_z=0.1594 right_yaw=-0.0 right_pitch=0.0999 right_roll=0.456 right_gripper=0.0918\nstate[joint_eff]: [-0.0205, -8.1709, 3.2205, 1.3455, 0.0659, 0.0122, 0.7497, -0.0205, -4.1915, 6.5846, 1.5849, 0.1734, -0.0806, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8eafb0654cfc6def98ae538bb035f64faff926d5f26c62c7cfd5f5ced42f31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae31b867f88ba0972147388c4c8a6e08ff080a220de4c58a150bfc27ab48d94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1783e926982b22dbd9b67a676ce69e0c113a26fc1e8e19df2a75669bec48b4b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJQmeAE21cWs2zr4H3mEpefUxiXa_Q1ZuCs6N9vo3nvd3bHKFkHdcwAtvKyc3bYZWJf4txN4ezTbPBh6CJ6DvzpfIfoYFq169032DpxavojD0z6eG-8PGFVOA5Pg5xASEbeIdtvlZzpIoBuFR9JmThrjHoWitWRyp35F9nuOgX-5x2fuOdZ3HXZxVO3x4he5qvDRlvSGDgt6ksBVyewm_owPtAaeTYsaeUYxhs51lx7JfD1yxdLcdGua2qRQcDzpeYHl6ikQNex7DowuFpIwjpHSSiFmjOY8byB92cP6A3sFLxspUDDFNdt_Q_fqIRalQayAHAS1QhXD5LxSOA18-7ScLgNm3VWMwGlaRYm-t6MuhefKSOYBfacrPMhPTgP6LegrzCNZWAkkp-ZCU6qpyZks9DVYmFXC9eA4tsQ06W50xlo0iGVssdUQ1pkyG3od9UbbY09m03ffPI0jKtzyYVH2xSBeXCQzumvQFnoviMTSCwq1hsLVDiHefppDuwD-xyqdhGDhxSELQZ_oJY88zZLfBpLwdl0qgnpS1Yb7K47l3v7ANG-0r3ST6Flu5xWcICiKxuaHrqIrPpmzDJdDN6KNGIOIQgEuePCX5bz-9VQFqbUhNs2R3EUVgE2MAYTFJ7sDaSQhD5jhoAa9ggH-1E0KmxK2KShK8Bp_asJ64eENy1dZP6XUwPP5-fejvENj-k6XdzSay-_iwFCNlWN2nFJkh19yWWPffsGqzPArktia97Le0vyQE37KVqzP1UOa8WWIzS0p_tOW9-PYomlYhyrQbKBzDnQv0nQsIKWIMbztOrk1ZSGE3uOmasWblkk75_83dShXT_aqL69l_COAp7vIvTA8h3vAcKyNsw7FBpufcpQRlHFOPQixnSNsgLfOsHNFswq70hEqDjIuwzlBoT-W6XZsyGluww-xPBX5dN6_50MKDQS-PSZ1Tzp-I3PZxw1txYslyo5H6XvYBLSViolJEygm5dVoS34p_LzIfn6Ej-1WlNRQulLAnGKUESQUXF1vfqkP02hf4iUEKdRVDgd5h8kubwgzWZpwy1oCbN1-T6P-aEFxoYAT40-5yL1n0OlpyDRElF3DBmSpf4dwcXL5qqhpo-_bT0G60-ZodaiIih7nU94WzTaW2FayTqYb1P6oxPAVQQUx-6k5ZZ1T6AzwhhCKAPbtGKpzf8KOjBJT04YicXhh__Cmk-OTFYkLmDp3FwBbuO5qScNcr4vwKI2cAKNeBZfWbbvfTKxMSCy5iQjx1J-WAExewFIz8Z1dkGaTMOPiUJuWHR3WKmb-6JGMRztjKI9TJa7AVEDa-NLtB3Puzbazvel_zWoCsHRkInzrAaIblLUSfbLDQ9frvGKiJTQ4HLnmwiA4z49qrXVqKr2qm7Lticr-7P1sSTURknnZDghT0wdsxU0NvKXtAcTnP5pLqZ62srmcJZFQyGDS1AHIFTnF5tWdnBFl3IovwehsQ4qWolDP0S_2mhdrwvBIg-8BnbOX_1QeJX1anyD3zEjAhzaRk6ttRgUhX5P2HHr0DHlojWLHvF9SqHGkqIHBchpsJTIgaIN5HxbY1FZeTiQ=",
  "id": "rs_0d74ad643be87f17016ab49423be3487d0aceb1ac163059920",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.372,\"left_y\":-0.243,\"left_z\":0.003,\"left_pitch\":0.3,\"left_gripper\":0.4},\"note\":\"The gripper closed empty, so the forward shift went past the cap’s end. I’m reopening and moving back about 1.5 centimeters for one corrected grasp.\"}",
  "call_id": "call_FOtdYtw9XKW2zjmTsO18LRI6",
  "id": "fc_0d74ad643be87f17016ab4942562f087d0b84e95d6cbe24d90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FOtdYtw9XKW2zjmTsO18LRI6",
  "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]: [-0.8665, 2.3428, 0.7303, 1.3949, -0.8574, -0.1997, 0.396, 1.0492, 1.2373, 0.5961, 0.1036, 0.72, 0.8661, 0.0931]\nstate[eef_state]: left_x=0.3865 left_y=-0.2431 left_z=0.014 left_yaw=0.0105 left_pitch=0.4278 left_roll=-0.0225 left_gripper=0.396 right_x=0.2674 right_y=0.2387 right_z=0.1592 right_yaw=0.0025 right_pitch=0.0985 right_roll=0.4568 right_gripper=0.0931\nstate[joint_eff]: [-0.1709, -8.335, 2.7692, 1.4139, 0.0269, 0.0073, 0.0464, -0.0889, -4.2188, 6.5983, 1.58, 0.1587, -0.0806, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eae8e065bfa7ebb5456baf958e201e2924946e9a9204fe43dd7aa11337f1711",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24fab5dbf46beb1eef59717f9c65898ea260c462ea030899a0e72928e523df22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6c2717b0c8892360998f6681505c5c00f83dd90b2ff789db6b3cdd0cae10ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 10.54 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8669, 2.1361, 0.6868, 1.1072, -0.833, -0.2592, 0.4467, 1.0492, 1.2373, 0.5961, 0.104, 0.7311, 0.8661, 0.0889]\nstate[eef_state]: left_x=0.3799 left_y=-0.24 left_z=0.0359 left_yaw=-0.0153 left_pitch=0.3419 left_roll=0.0117 left_gripper=0.4467 right_x=0.2681 right_y=0.2371 right_z=0.16 right_yaw=-0.0067 right_pitch=0.1037 right_roll=0.4543 right_gripper=0.0889\nstate[joint_eff]: [0.335, -8.335, 4.0957, 1.9414, -0.1197, 0.1148, -0.0024, -0.1162, -4.0957, 6.5846, 1.6142, 0.1978, -0.0757, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8661, 2.3383, 0.7303, 1.3972, -0.8585, -0.1997, 0.0113, 1.0492, 1.2373, 0.5961, 0.1036, 0.7231, 0.8661, 0.0918]\nstate[eef_state]: left_x=0.3869 left_y=-0.2431 left_z=0.0164 left_yaw=0.0143 left_pitch=0.4323 left_roll=-0.0281 left_gripper=0.0113 right_x=0.2676 right_y=0.2383 right_z=0.1594 right_yaw=-0.0 right_pitch=0.0999 right_roll=0.456 right_gripper=0.0918\nstate[joint_eff]: [-0.0205, -8.1709, 3.2205, 1.3455, 0.0659, 0.0122, 0.7497, -0.0205, -4.1915, 6.5846, 1.5849, 0.1734, -0.0806, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8665, 2.3428, 0.7303, 1.3949, -0.8574, -0.1997, 0.396, 1.0492, 1.2373, 0.5961, 0.1036, 0.72, 0.8661, 0.0931]\nstate[eef_state]: left_x=0.3865 left_y=-0.2431 left_z=0.014 left_yaw=0.0105 left_pitch=0.4278 left_roll=-0.0225 left_gripper=0.396 right_x=0.2674 right_y=0.2387 right_z=0.1592 right_yaw=0.0025 right_pitch=0.0985 right_roll=0.4568 right_gripper=0.0931\nstate[joint_eff]: [-0.1709, -8.335, 2.7692, 1.4139, 0.0269, 0.0073, 0.0464, -0.0889, -4.2188, 6.5983, 1.58, 0.1587, -0.0806, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eae8e065bfa7ebb5456baf958e201e2924946e9a9204fe43dd7aa11337f1711",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24fab5dbf46beb1eef59717f9c65898ea260c462ea030899a0e72928e523df22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6c2717b0c8892360998f6681505c5c00f83dd90b2ff789db6b3cdd0cae10ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJQqnOhKdPvITlJ7eV6dt05Rmvms9xfo-qaIDEBglEpZWIFbkcUUurqVhgd8hCx-Br3EyGKnTjiAJUyPjkmS7821kXmT9OVQdmjRGoZELXVCgtUPFcR1EIWIurn6FgzvEwB7fSC49dwxAAU3oSVCZzJQjGiSsH0KoYod0uCc917qUD5J-ZP6TrucirfF0ik_TRHhOX2Y2s9a3fVl6Pju8v_Iya_uuBXUjIgIu6_ay7xYVQLCLM3L7baN_660ElkrkiwhMbkg-AlYNb9KKAoUkzqBEMyLNZ0FT0j5WpkT8w6Uiz0uOMteuUQyHC3nEA3ahqRjFAAN2a0K8aJAMSDjLp9nrAGJGfqf8uZ5sQIOfyUtimMiwHUQctIB7_aDqUyHI7GXqlUvLujc66WZvzwlkSPFFxuoFFYXroJwZizmxKx9aVJzRxV7MkKgx-O3BH0v9oL9RKxMJGvXRBIWwyv2crUH6H6vcLW6l18PV6vRJtDb2-9L58K61Fjy2t2MSbyWTn8NUK50Nlo2Fx4SljX_bc0EGO8SMxskwSxgQn8db40OweDsbXcrow0ZlSEAQBD6Vo1xaJQjGa3nBuuZsopLdCxZ99CKFNlt_q8VkfiYhzwnDJYFnEFC-gKsEwnda-Nb37phPpzfVsQB0Tzy5kFdRooZCwCkQ7mHe8Cy16fsvNMGbP5q0A4hyy96Prn-uanp_HYbSl_XXnTXsLb7H2AJcGzfkU2LYYZD3muMTU2yRerFRT_WYPa2qjy-ZFVbYdktIIzZrk9x2AHtcaG9FSP9-13-7Cydl54W8BCKFCts5YjsazVuxM-B-3Lk1pEWwW_iU8M39GyHasUXQ9DYOEWUS3_UkzsVyJd_CppsGPkUFzK49aZJkpmWZqe0w7HlVS5GC1gKH-6mxG8CeRrTBxauzerVRtH0586wTgQu5RmHeD0_ADvzr8tXIjrk3kldrK-7RPI9NMqDCGPpmmgJQFiOiAYCpXAeABVTjzH2lMPvyNH3XjzoKJGUo0dP8uF9PxJfEAL8o8OLbCHuycUyDs0Bi_b130vt5UMKfwKjqRfJe-xKDf7c35uI_JFCpQ-GcSJlkMSsnSpKlRXvVcNyBEwbo0Ow6w1QRs6YgFOwH1AdjVveKcFUWn4iompx8ruiX-Ydcq2rJW4Np_G955pNYw8p3cOxM9YBr0GqWgGFXxYTk0_zdGvV4usLSRh5vk5qMvdtjk8s52rqO0DdOmvk_RXufHd5XDRwlz472iDMp-vNNL5THTfVHF-MBWfR2pm3pbuvZSgZuZQDM-XkDDU6UtRITw2w2jm_9F-_NB8dipbhs40p7zmqg0Lt_k0CbP7sOBm0VC8LFo_WK_VNdVR4aScDXZXaYCYQaWh1MYREFfUNNIu5_IRlqTbVb5Wl-VDX-b17hbmZx-MBxd37Bohjgs5H6VnN1erzDrihq1LUgLYeYq1gebktKgoiujg3E5JZx6TT_GiD",
  "id": "rs_0d74ad643be87f17016ab494286cf487d094af868dbfce0d63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.17,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm is again holding its low pose instead of following the correction. I’m lifting it away to locate the released cap clearly rather than closing blindly.\"}",
  "call_id": "call_oOETzNjQIWaPt8hZdHcWBlsV",
  "id": "fc_0d74ad643be87f17016ab494296ac487d0828c7aafbc026ca4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOETzNjQIWaPt8hZdHcWBlsV",
  "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]: [-0.8391, 1.2957, 0.7361, -0.1616, -0.7052, -0.5495, 0.3972, 1.0489, 1.2373, 0.5961, 0.1036, 0.7124, 0.8661, 0.0939]\nstate[eef_state]: left_x=0.316 left_y=-0.1752 left_z=0.1519 left_yaw=0.0146 left_pitch=0.0427 left_roll=-0.0174 left_gripper=0.3972 right_x=0.267 right_y=0.2398 right_z=0.1588 right_yaw=0.0085 right_pitch=0.0952 right_roll=0.4588 right_gripper=0.0939\nstate[joint_eff]: [0.2667, -5.5453, 9.6615, 1.3797, -0.2662, 0.0366, 0.105, 0.0068, -3.8085, 6.5983, 1.5995, 0.1978, -0.0513, 0.0757]\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:de86a3a7bba752989555dc7a4d18865df5de1eb518b218aed910bff31f4d655f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61d49e4e7b8d6e6269d5aa1c90d74a9f2aedc075510164a82eb69aefbdbeb75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b0ceb3629788335cef3e915d3774c6a467e62f831c6d60565a5f73bf071f56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.215 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

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]: [-0.8665, 2.3203, 0.7216, 1.3319, -0.8478, -0.2218, 0.4468, 1.0492, 1.2373, 0.5961, 0.104, 0.728, 0.8661, 0.091]\nstate[eef_state]: left_x=0.3844 left_y=-0.2423 left_z=0.0096 left_yaw=-0.0015 left_pitch=0.3942 left_roll=-0.0069 left_gripper=0.4468 right_x=0.2679 right_y=0.2375 right_z=0.1598 right_yaw=-0.0042 right_pitch=0.1023 right_roll=0.4551 right_gripper=0.091\nstate[joint_eff]: [-0.1709, -8.759, 3.3573, 0.1587, 0.149, 0.1001, -0.0024, -0.1709, -4.2462, 6.8718, 1.6044, 0.2662, -0.0562, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8665, 2.3428, 0.7303, 1.3949, -0.8574, -0.1997, 0.396, 1.0492, 1.2373, 0.5961, 0.1036, 0.72, 0.8661, 0.0931]\nstate[eef_state]: left_x=0.3865 left_y=-0.2431 left_z=0.014 left_yaw=0.0105 left_pitch=0.4278 left_roll=-0.0225 left_gripper=0.396 right_x=0.2674 right_y=0.2387 right_z=0.1592 right_yaw=0.0025 right_pitch=0.0985 right_roll=0.4568 right_gripper=0.0931\nstate[joint_eff]: [-0.1709, -8.335, 2.7692, 1.4139, 0.0269, 0.0073, 0.0464, -0.0889, -4.2188, 6.5983, 1.58, 0.1587, -0.0806, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8391, 1.2957, 0.7361, -0.1616, -0.7052, -0.5495, 0.3972, 1.0489, 1.2373, 0.5961, 0.1036, 0.7124, 0.8661, 0.0939]\nstate[eef_state]: left_x=0.316 left_y=-0.1752 left_z=0.1519 left_yaw=0.0146 left_pitch=0.0427 left_roll=-0.0174 left_gripper=0.3972 right_x=0.267 right_y=0.2398 right_z=0.1588 right_yaw=0.0085 right_pitch=0.0952 right_roll=0.4588 right_gripper=0.0939\nstate[joint_eff]: [0.2667, -5.5453, 9.6615, 1.3797, -0.2662, 0.0366, 0.105, 0.0068, -3.8085, 6.5983, 1.5995, 0.1978, -0.0513, 0.0757]\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,$blob:de86a3a7bba752989555dc7a4d18865df5de1eb518b218aed910bff31f4d655f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61d49e4e7b8d6e6269d5aa1c90d74a9f2aedc075510164a82eb69aefbdbeb75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b0ceb3629788335cef3e915d3774c6a467e62f831c6d60565a5f73bf071f56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJQ2vt0I0o6m8t2dWdvlslYKsh3UgfgmyRkHF2wJ7240aWx4CxfsjgoZc9X0ozoVaxZb-6PnWJ6CMT5aLrvmbQZ5PvB2fzu9pVMGfpYIaZ2hvpL22LwRfaKozlF8G4-6sdnO8ILeUXuhe7DtSBS0uDnmzdnevA_h3M1u1q_V5tFiJpQf5DT68OevjnGysbee3tAej1iLt1ylAGjrhcdLvhGygXJLF8sSjA6YsE3exbT0bJN9zeqUyJ3m0Z2oPeA7dwssNdBa5EMPcPK-7UVeS8slozZFMbc8pqbxP2XRjXRqzN_7nZ2Or3nv3ydiTtqmjIa0Ywq7oIx8Tm4EEB_LZy-PdmBwoe6aKEbhdMFvxqdv61XgC0zH11d9lRv2WOdM85l30gh6zzb9_Gq5Z0pgItliwGwueZUHGTV6bfPgUi2R2-U6EBdRLZDXMxihJuRgRjIZqJ-45SHdPHF-aaIpIZ4FiSmPAaKEtMhCB9EviykFK4gTkNOjPd2mCbJ5rCobmtAlV2Ro6mVoPKlFBBsCGkVQycSPQXB9CncksKm22J-P7amvGc1ntEBsjF1klhdBNtbPjntJSmLbC8DS63l3supf4_2pi76CbKWRjj4GUy74IhqB-VB9CUKm1qsO7z9Q1uRPsEECxyTF2N5nRt_ppXIEswJj_mOlDdvdARll5MhRENtAzkg6IAqJt31eEx4vR8ORsffFppM_lpLpCFzQYYDcGjggM6Fa5Wj3nZjU7DItlT0aveSHAq-pL-_nv0JYtF0zGK-Z8ZrW0DUkIcwxda95fgxT6zt1LyhtiO6NU3nDyQwQABRCwjSLXRT9HA_AuGMHfcHZJBU2usmpQMcC6M_iZHeR0vrB08mOp0k0Or9CQMDAmLHKByFxQppvR_M9ula_g7CRX7CcHzRFqCszRBAfXt_Vxs3t2nut776BMxlxaQ12Xf_-molBM3NUURCEwyKDw6akVcZ-kOk-CvKVFE0SX6ohzCiTs9n1bkXcBf9cYWwO7dcp4or0K5Vr42zSVxSVXn8AB9O27mBd54I2V4sWmjIkm6yoL0C5m50bZvrchnncB8WGG01aeD6sGKHT9RJ6QbIUQN3p0d3Gvn7OSxWHCkgY7X7btN6Yk9Nk0YBpbj_rY5keCCaXNCueoZUWfLZWAGRN7APqchZRZCiD0aVC-F8EsGYayEwFQjzHkdZol_VVWQxkm60lQgl-MaKf2lwrOfhqgn_dwldUV_2B8fTHineAPZFhDsmzTxcl27muv6SVFqX30yzninsBx-GJPQRwyz2DTNNe_M44gvHU4X-KjbQW26J1gv1NlK7uNIH0rP3ii__EqX-jxxdPjP0WqVKTocwEDBlTxLEMmZnA9qggUSdlXEMFR8-qTmuGvP1RWjrBJHZnh339Oeyb3e815qWvrmIxQkbiBJ25kxNYQz7wmRlaiidpDtfpZx_dzDa67yBTFyAkCN1XLFEVt6k3l0aw24GyYN0EXE766zNJ_XOzc2-U-o8G6cGcQT46rHYdvlCbZd3f-FTJmmRX_GskEimdSfGXz3EavgJ0pXKkdKWnSFMP3AcGOYHgzjlTwrTWlGzNO5MRZhMyqAniaFGVhiYcNSBwyPobB_F10wUSPEDPbQsR0tzuOzWMgc36i9SEDZiOeO78NyIpy3utFSxuCFl5uig9trTQdWtoJiS6mgabagy3sZ9UUsZ4NBDC10-HmtYjp1K9-xPUwIOLXI7AC1dD17dN_vkykwA2x6ptKt6-5oqf_FA4Z4iqdKTZKUOekAwADMxyyq1Jxx5QICQDwJZFL3KzPY25Y7gJ_u25P1ujn-OkS_eLlVROOqt7OqyfrxIijIcGsYQyRCVQmokkFR04coOo9gKHHuaMuaymkPB5rzMNmNunypYbUApitSh_zpDm_T0X5BhSwLE_gdIcPmVohV3E6BR-O897sSiDDQ_Em_1NdymgO10vxTxwmI6j4aDR6ETtfW1nmco9j8Os57aOq7bsqcNEikYYUeREZiz1LdLSJQ8e0a8b-gPW3SiDSsGFrwYtB0B5x-lih9pTBUue9vKLXjQCg-EZaedzi7m9PYLxFDa-jMqHxnmsOf9ICegUx89eNV690YWaIAQnjGzVKr5SBttSDAjdjmcSG8VDBuZfqS1vzJlH9GAD2odBOXXDYDndXz5vp37M_FE4szG3gDvuc3axRZ0BvUeuR-2wbARY5qTmlruVa83jPV1BVQa0y71qkhs069HldqfYJ9TGQi2E_RJ4lN3jDgZs3NvjPM7dr3cP7ij03-mC8loyExPhVe7UJVzLUB1v3NW4sZnueHiftNNSKebQeFy8__ibvFcYr-O2Y9ZAuePZoiO9QYDjQssZFzUAAPUd95RB4g8UIKWXhfTo-n_n77O0CdQZqF3cXs5szg2pSam0KV9-ZfvyA8JCDm5hc3F6xZY3gMZy_WQqS634fxedDTybDestr2uJEf8isnngHsg0sVS20CkkInaq2S71HhkXkX0HXFJI-3jaIWmKmuV0VqFfjsH3OFlaTFk4n3QthnS_6BNAZOnILkaGg9LMJZqL0jqZ6kZZZ38qHRGs9x7dKXXy0CQLrSWdld1prmpJd-y4knf9nN0DH7b94XhK51zH7AhkGFY1_peExeLbqpC4UyuzcYK0f3IoGlXF3uRBfKjImukET1u98y1-gqmUOn7ZrzN5D2l0-H8woyMNCHA8tFX4TkEkL-twrvlHrE89HxsSuuabAx_kVzVXVh95jrMdZGJ1PD_m1EeQGGrD2oUUcaWa4cbxiAkHzZEDJNGAsIzg2nnn1SG54jMilgjWUWIPcmqwqsNXGg32ikbxxjXmHACyNVT0IGY1o-M8zLMw5ntCD0qwTjWyEBJlSUo9xSG784DtzE30LzmEhFbn3KyHwFUDAWhAG62MgSc8NiXD550nqL7xfAod6rrMt5sZ4wYSaGb28HtW0pnvXVWBOeoSX0Yyi1-OhzK69Ok_jYwhPKKFBlZ98u5caCmKzD2yjCvWwihWRpCAqcgCB3ZlRTng2eYUxLLMpmhi7XOYDoEIhtycWsSXNpYdI0mAstCK-dG_7LCxN_rBMWyLGnbF30k4E-flciwYGbsMO4ypK2nSEhYXxPRpORd9YkV98Q8FoXNYLUfdGTAc2_SwLu738JJkT_SJMhXVfsq1YETGs4O3ec7QnJef3Er3yXAEAuZPeg8UT3p1f1UcB8UZBsnhscnN7gJVf6QXHG4gK1ZuKk0GHX9L7JF7-05m3DLNZ0Lz2wuZghydJ_zTGSVs3_KSawNasj5DK6SDiCbESuhiZK5AwzpkbRnLvwpoVW62Hr7VskFtkZa3gxcFc-5d-VbeeJamPye-2jOVFqzCyEGGHPgS1b138aBrEoi-58zURIrXBNJAn3As3Ln4ZzwT96uJTK_Se0N8buDvDVWTbINP8obWcOAoREwJB-dN7q-ZoFrDb7pBaGzF6Z9zEmodtVQPx1-hLA-0AtvEP31rpl2TiJWQl_tinpGMGsiPrK-HIt6dWz9wmFHOTopI0bHTLEIoVBlvsYp80E_Z8WwHanS-wSRiPOx5xgmK8frRBD2Q-FBe86gtln_uPBcRdyp4C1O63z0w7tRZYBy9V2JL5byr8aEAN2EiCp36GfoZxYelref0-pq8DXVzzq1KVH0fzbkMBTtvbQOXgWj8DpvuQhBQ_qbcq5EGEvQ45LSOK9-h-KPKCYUerLUtiITPVm0pjV0vVbDX3ZzBCKCOEg==",
  "id": "rs_0d74ad643be87f17016ab4942d6b8c87d0ae24cb0c3f9542bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.24,\"right_z\":0.05,\"right_roll\":0,\"right_pitch\":0.25,\"left_x\":0.2945,\"left_y\":0.0014,\"left_z\":0.18,\"left_pitch\":0},\"note\":\"The cap is back on the table, but I have not achieved a reliable insertion alignment. I’m lowering the pen separately and parking the left arm so both pieces can be left safely accessible.\"}",
  "call_id": "call_nwFN9KuwdEpib05gDmVqC9Ah",
  "id": "fc_0d74ad643be87f17016ab49435485c87d087e1c6095290ad90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nwFN9KuwdEpib05gDmVqC9Ah",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0509, 0.8036, 0.5896, -0.3672, -0.1066, -0.1093, 0.3973, 1.1454, 1.8027, 0.4919, 0.6193, 1.0115, 0.6079, 0.0952]\nstate[eef_state]: left_x=0.2952 left_y=0.0074 left_z=0.1739 left_yaw=0.0865 left_pitch=-0.0079 left_roll=-0.0238 left_gripper=0.3973 right_x=0.2685 right_y=0.2384 right_z=0.0433 right_yaw=0.0263 right_pitch=0.2062 right_roll=-0.0 right_gripper=0.0952\nstate[joint_eff]: [0.1573, -2.0581, 8.1573, 1.8144, 0.1343, 0.1099, -0.0024, 0.8137, -6.4889, 4.6291, 1.6484, 0.6081, -0.1099, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea72d577b5b9f919459cfeabfb67cde4dc8baf6207ab1170c5455cfb16be302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea3a2526bd39afada50fffeecb7d166ea5f55877836e0147f5fcd7b17f2af19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cc36121765531546acfbf30c5d98f2c018143915f00465459b2446adb9088a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 2.353 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8661, 2.3383, 0.7303, 1.3972, -0.8585, -0.1997, 0.0113, 1.0492, 1.2373, 0.5961, 0.1036, 0.7231, 0.8661, 0.0918]\nstate[eef_state]: left_x=0.3869 left_y=-0.2431 left_z=0.0164 left_yaw=0.0143 left_pitch=0.4323 left_roll=-0.0281 left_gripper=0.0113 right_x=0.2676 right_y=0.2383 right_z=0.1594 right_yaw=-0.0 right_pitch=0.0999 right_roll=0.456 right_gripper=0.0918\nstate[joint_eff]: [-0.0205, -8.1709, 3.2205, 1.3455, 0.0659, 0.0122, 0.7497, -0.0205, -4.1915, 6.5846, 1.5849, 0.1734, -0.0806, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8391, 1.2957, 0.7361, -0.1616, -0.7052, -0.5495, 0.3972, 1.0489, 1.2373, 0.5961, 0.1036, 0.7124, 0.8661, 0.0939]\nstate[eef_state]: left_x=0.316 left_y=-0.1752 left_z=0.1519 left_yaw=0.0146 left_pitch=0.0427 left_roll=-0.0174 left_gripper=0.3972 right_x=0.267 right_y=0.2398 right_z=0.1588 right_yaw=0.0085 right_pitch=0.0952 right_roll=0.4588 right_gripper=0.0939\nstate[joint_eff]: [0.2667, -5.5453, 9.6615, 1.3797, -0.2662, 0.0366, 0.105, 0.0068, -3.8085, 6.5983, 1.5995, 0.1978, -0.0513, 0.0757]\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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0509, 0.8036, 0.5896, -0.3672, -0.1066, -0.1093, 0.3973, 1.1454, 1.8027, 0.4919, 0.6193, 1.0115, 0.6079, 0.0952]\nstate[eef_state]: left_x=0.2952 left_y=0.0074 left_z=0.1739 left_yaw=0.0865 left_pitch=-0.0079 left_roll=-0.0238 left_gripper=0.3973 right_x=0.2685 right_y=0.2384 right_z=0.0433 right_yaw=0.0263 right_pitch=0.2062 right_roll=-0.0 right_gripper=0.0952\nstate[joint_eff]: [0.1573, -2.0581, 8.1573, 1.8144, 0.1343, 0.1099, -0.0024, 0.8137, -6.4889, 4.6291, 1.6484, 0.6081, -0.1099, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea72d577b5b9f919459cfeabfb67cde4dc8baf6207ab1170c5455cfb16be302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea3a2526bd39afada50fffeecb7d166ea5f55877836e0147f5fcd7b17f2af19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cc36121765531546acfbf30c5d98f2c018143915f00465459b2446adb9088a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJQ7Y3XPi7EP_Zu10aDM6RTM7YG5fE4YVe8Y66GL0R5BoUsnz4uw3fx-XhJhYlx6GSXFPQIpnStugRHHWRenzYDmYuvUiPD8kx0huHoJDb3Mcut50nnK3CzXQ-MXX0ROUw0b_4iLTDgOiP7IrKHMBVdKFg1Co-1g4lTEtqe_V27SiDSh0tzf-Frhv6dIqSWIN0o68HUkqXj_9fSHXvvbYRDnHjovTNvliZzVb3jJc7Z9tFnhHU1KKlhhcbxdcsgjPd43H1dQRZFeYXOmHBo5WOndRE_JL2uHoT9Hsb30Mjb_Y7GhRvThjrau7yhzKvLek-nHs5dzj54yHCkT-0Hj_NCk7L3XdDp2VXMGDW_l1knwDh15dAvXs-5ZW4HarirfGzeGsGOUfpGQ8_q4EDGzBYCnhInLbyhB-i84TRYlAFNWI0B_Q96NBy8B91HHsKD3KWeExk4u8dS4jWaa5E_6FitT7JY0xRRGSuvX7L7B31m9Ia4GWNWmaRVPM4UAy9jGS2pHJGhIwQTOo579TeaQNrJI-IxwblF7vM6UFmtDCe6SalBZdyV7xsPRyCLYjdG8fC-bygqzpmihbWVmhyuuVefKGe0gf_Z3Advh67ADf3UM-JElFLzqFYG9IRvYdxEH3cfyRGVYH9rDUDXTjocYJq8y_kqQ_p1jC3HNjnTEsbv3zdCDHQiopFRWXCCNH3e65UXoTbfKg-B-0NxY6ai6Xl-FcT7QzmQUD78f9kjRVQSVUmEnFrhIZR3hMERw4nbozNS9pPdZc8DlmKyrqEzmMY7mf_zYNX0oS8twjLW2HK50PAcgitA527PjWVkpdhphct1-vUOblRW89NRKELFuciwMPrJlSD_oIv1AVjeAtjNPRQnTYR9Gt4bM3YHFkQdpaZ2xRuxCxWM_xDm4TLsHsXKHpfAchwc9ntMSuDuFK81m6hfBSChpUtHRxgCcTrZfOZv9AR6ahSzdkTZF4fvELEsoEtm7iOJFT3p2BfK0h6Op_YpRx3eMcZb-_RmyiOSJdmBAWGSlU74UZwLGWRP3DsXDKujMzoyeJonniSOGz7ztRzfLWUH44K6hAWuMhnaXeegl8slujCHSvkXEKEfYQ8t5NTC4mbAiI5EAGs8RfdMqKBWw2Bt32PlxQ8FL0q3TCZjnK0xw0MmrQ-pqxtvdqaLmcWo8klRarl5TljoH-NDIhGyZeiLWBWWVRasR6pbwLs-OV3-kTWVcyB70yhT0nD6qCkFkXgh1k423b6vRUQdB9ad4LSmYwVOztO1Mb7EZc-AJr3Ew3wvCcPedEKR78_mSzA==",
  "id": "rs_0d74ad643be87f17016ab49439e31c87d0bf660700d280f27f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.24,\"right_z\":0.004,\"right_pitch\":0.15},\"note\":\"The pen is above a clear patch of table beside the cap. I’m lowering it to the surface before releasing it.\"}",
  "call_id": "call_X80sQ1PrJOrykJuDJYYXnGcV",
  "id": "fc_0d74ad643be87f17016ab4943a5af087d08701f77308ccd5f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X80sQ1PrJOrykJuDJYYXnGcV",
  "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]: [-0.0494, 0.8066, 0.5892, -0.3798, -0.0818, -0.0967, 0.3973, 1.1339, 1.9285, 0.498, 0.6682, 0.9859, 0.6277, 0.0961]\nstate[eef_state]: left_x=0.2937 left_y=0.0035 left_z=0.1701 left_yaw=0.0604 left_pitch=-0.0254 left_roll=-0.025 left_gripper=0.3973 right_x=0.2687 right_y=0.2359 right_z=0.0095 right_yaw=0.0337 right_pitch=0.1597 right_roll=-0.0381 right_gripper=0.0961\nstate[joint_eff]: [-0.3624, -1.4154, 7.0359, 1.8779, -0.2955, -0.1587, -0.0122, -0.4991, -7.1726, 4.6017, 1.6728, 0.4567, 0.1148, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc167b41d6caa9dd398383f8331905e35a549e86f98483718eab6a43b6129fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15582e5a5f579c0138df34623860b7856d0d921c5e79d4644a4016e8f6dc135d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd3f77c0723d8884f250f15c0622391cf00c15c427bf158dc66531646426884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 3.564 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8665, 2.3428, 0.7303, 1.3949, -0.8574, -0.1997, 0.396, 1.0492, 1.2373, 0.5961, 0.1036, 0.72, 0.8661, 0.0931]\nstate[eef_state]: left_x=0.3865 left_y=-0.2431 left_z=0.014 left_yaw=0.0105 left_pitch=0.4278 left_roll=-0.0225 left_gripper=0.396 right_x=0.2674 right_y=0.2387 right_z=0.1592 right_yaw=0.0025 right_pitch=0.0985 right_roll=0.4568 right_gripper=0.0931\nstate[joint_eff]: [-0.1709, -8.335, 2.7692, 1.4139, 0.0269, 0.0073, 0.0464, -0.0889, -4.2188, 6.5983, 1.58, 0.1587, -0.0806, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0509, 0.8036, 0.5896, -0.3672, -0.1066, -0.1093, 0.3973, 1.1454, 1.8027, 0.4919, 0.6193, 1.0115, 0.6079, 0.0952]\nstate[eef_state]: left_x=0.2952 left_y=0.0074 left_z=0.1739 left_yaw=0.0865 left_pitch=-0.0079 left_roll=-0.0238 left_gripper=0.3973 right_x=0.2685 right_y=0.2384 right_z=0.0433 right_yaw=0.0263 right_pitch=0.2062 right_roll=-0.0 right_gripper=0.0952\nstate[joint_eff]: [0.1573, -2.0581, 8.1573, 1.8144, 0.1343, 0.1099, -0.0024, 0.8137, -6.4889, 4.6291, 1.6484, 0.6081, -0.1099, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0494, 0.8066, 0.5892, -0.3798, -0.0818, -0.0967, 0.3973, 1.1339, 1.9285, 0.498, 0.6682, 0.9859, 0.6277, 0.0961]\nstate[eef_state]: left_x=0.2937 left_y=0.0035 left_z=0.1701 left_yaw=0.0604 left_pitch=-0.0254 left_roll=-0.025 left_gripper=0.3973 right_x=0.2687 right_y=0.2359 right_z=0.0095 right_yaw=0.0337 right_pitch=0.1597 right_roll=-0.0381 right_gripper=0.0961\nstate[joint_eff]: [-0.3624, -1.4154, 7.0359, 1.8779, -0.2955, -0.1587, -0.0122, -0.4991, -7.1726, 4.6017, 1.6728, 0.4567, 0.1148, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc167b41d6caa9dd398383f8331905e35a549e86f98483718eab6a43b6129fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15582e5a5f579c0138df34623860b7856d0d921c5e79d4644a4016e8f6dc135d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd3f77c0723d8884f250f15c0622391cf00c15c427bf158dc66531646426884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The pen has reached table height. I’m opening the right fingers to leave it beside the cap.\"}",
  "call_id": "call_dgTgwor0FKcJwrQ7mJHMR5kz",
  "id": "fc_0d74ad643be87f17016ab4943d273887d0aa87524f11a3b1dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dgTgwor0FKcJwrQ7mJHMR5kz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.049, 0.8066, 0.5888, -0.3805, -0.0967, -0.1059, 0.3973, 1.1339, 1.9537, 0.4988, 0.6739, 0.9596, 0.6506, 0.4959]\nstate[eef_state]: left_x=0.2935 left_y=0.0063 left_z=0.1699 left_yaw=0.0783 left_pitch=-0.0256 left_roll=-0.0241 left_gripper=0.3973 right_x=0.2668 right_y=0.2379 right_z=-0.0001 right_yaw=0.0417 right_pitch=0.1352 right_roll=-0.0252 right_gripper=0.4959\nstate[joint_eff]: [-0.1026, -1.1419, 7.0906, 1.7167, 0.0317, 0.0171, -0.0122, -0.3487, -7.2821, 3.8769, 1.4823, 0.359, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82628358c0e194b48945f501e2513e08becad4b67aa2dbc0848c111eb031257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c283cedabbf5b3ccfc9bb2a5f228c3f97d4dda169c894bfa5f26564c281a60af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3a174b0706cc6bb4e83f2fe970e4670c6195c185c1acfb9f6a23b279a803c6",
      "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 38 attempt 0 · /responses · status 200 · 6.701 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 148 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8391, 1.2957, 0.7361, -0.1616, -0.7052, -0.5495, 0.3972, 1.0489, 1.2373, 0.5961, 0.1036, 0.7124, 0.8661, 0.0939]\nstate[eef_state]: left_x=0.316 left_y=-0.1752 left_z=0.1519 left_yaw=0.0146 left_pitch=0.0427 left_roll=-0.0174 left_gripper=0.3972 right_x=0.267 right_y=0.2398 right_z=0.1588 right_yaw=0.0085 right_pitch=0.0952 right_roll=0.4588 right_gripper=0.0939\nstate[joint_eff]: [0.2667, -5.5453, 9.6615, 1.3797, -0.2662, 0.0366, 0.105, 0.0068, -3.8085, 6.5983, 1.5995, 0.1978, -0.0513, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0494, 0.8066, 0.5892, -0.3798, -0.0818, -0.0967, 0.3973, 1.1339, 1.9285, 0.498, 0.6682, 0.9859, 0.6277, 0.0961]\nstate[eef_state]: left_x=0.2937 left_y=0.0035 left_z=0.1701 left_yaw=0.0604 left_pitch=-0.0254 left_roll=-0.025 left_gripper=0.3973 right_x=0.2687 right_y=0.2359 right_z=0.0095 right_yaw=0.0337 right_pitch=0.1597 right_roll=-0.0381 right_gripper=0.0961\nstate[joint_eff]: [-0.3624, -1.4154, 7.0359, 1.8779, -0.2955, -0.1587, -0.0122, -0.4991, -7.1726, 4.6017, 1.6728, 0.4567, 0.1148, 0.0806]\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 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.049, 0.8066, 0.5888, -0.3805, -0.0967, -0.1059, 0.3973, 1.1339, 1.9537, 0.4988, 0.6739, 0.9596, 0.6506, 0.4959]\nstate[eef_state]: left_x=0.2935 left_y=0.0063 left_z=0.1699 left_yaw=0.0783 left_pitch=-0.0256 left_roll=-0.0241 left_gripper=0.3973 right_x=0.2668 right_y=0.2379 right_z=-0.0001 right_yaw=0.0417 right_pitch=0.1352 right_roll=-0.0252 right_gripper=0.4959\nstate[joint_eff]: [-0.1026, -1.1419, 7.0906, 1.7167, 0.0317, 0.0171, -0.0122, -0.3487, -7.2821, 3.8769, 1.4823, 0.359, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82628358c0e194b48945f501e2513e08becad4b67aa2dbc0848c111eb031257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c283cedabbf5b3ccfc9bb2a5f228c3f97d4dda169c894bfa5f26564c281a60af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3a174b0706cc6bb4e83f2fe970e4670c6195c185c1acfb9f6a23b279a803c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJRBqQLJe06-OwqjkRufS5_uFUH1x46ssq7ev2cYcqb731VK7n-KfLX3-0Q2AnWov3Q2uvA1rScSzajcnMy1VoaN2JCQCMbSwtuwKheFdh_0tl4TxUIVktWbBuOzfMHL1JM-dWwgNNJz1h7xCkRKRP7AL3nAw1vv7vVUwwSLFmFwDqwdrp7AgmraYucBy8FmmzEOUmNRXNDjxXAIYJ6D9TgXbAHA-dTLnaofAG9AJLG4rRJ0aAcfBup6PZer5UsXem-noUqi4JzRrVL5m2Ekh3HGIfU6qzW0jGORmJhw3Wln-GtoW12dCI6s3Uv3B_PjbkH_zls1z59MESZRfnDpevXh_Zph2rXTyO1PKTq4vCCthnRzm4t-LZdVW-tuTVkwNssTno301xwlCLO7_9MiGcPHnQMhijDiiAmhmDx1wJxN_H8VTUz4RhFzHlT03TR2EUhR_lSD8bbU7xCs_Aflyh1Lco8t0FyZ7NM-drkQHJ9KZr3SDruwslE1o36KkFrDT3QDBR7IysbrQ1Js_GldRSB5sZuE1eUzXmbmmY1XUhGOYRGH5l9jLgzn2H5xHtnoaIzNcvpocpZQPOkHc9imVb9_Ln_TUZVQSRFFsa7sBTz8XiJAzRnM7A15JcCCF-FKWMg-aSuPbRInPJyArizQrUykkAVm2aT6CUH78-ou0joP6UBhEFMhf5B8A7rJnnr802sE_6iabU06q09bc0I2TO9ZrA-TxMNBOcs6pQYQT9zdUMd4J4FzTAAfPsgiy9-pZl0HtlXyN2rPzgBsqwjBN5TmWFXELr9KjY2N8H1R1g1YHPpWIldIfZRGgc03QtTxw2o_C_k0tDsR9yUFhf_jW67SdlOenECZiV_VhYH8gN9rl6gmrfADTQL4d7zNEiMK20o-FPnju1aM5Q4OQ0hL_XyzvWQZshRRVoSLh-i2xy3r8Tfbp7vGfxh05c5-LeqTxquJBPhRVJUhQMORQXu_2L32PmBb912Ex9_0Vdendbk3Ld0jFgKMejf0VFyP2ZKRuUXgqWUscXNFJAN6XRdfStYoCopCZHlHffBOYxdcu78Mc6Pq2VB2sS2AfJeK0WrxU-pVAQTaTxTEtObUNIaDqc5_ck_XFd23_GGEGien6lbJLY_pBZ9LpMxnMRQi23A2Mn666DVZOvNKnmRLhIq4zwkF0aY5R0CcrJw0Pg-NppJRRTiTrJKdYxi1Xf73OTX87wwJdW-t-pKbEHNkCk8nJIVWSA5O_yzlWlduMDn3FrbjrsqWzKeDk_eViXkhagj-y4e75OIxDKgLgyCCRbYO6oEH-iAnL4sHrhp4z285-0vtPMuRiHeD3qysl0VTVPkJ1KQ6L_Q94NztstAqHnPJPaF_RA2kDcH3sAHWthBjQUvxYlZlC0y5xbwcdwYz65NYI5BVJOhjnUQMwESIaDx6_svHijrdoofW6FYzTNi3anrIe6lbDZhoFZFDFeuyYZ3JFzJMn1sK5Yu2vymavFbiu-OZxZsQ-sX6eCTfFQ0tSCbv_S5-V-jSbqxwG1tzfc2KjgBTLZ8GR2MRifs_ZDEYDFUTCmDiQYGFUfWdyx92mUNKdL0=",
  "id": "rs_0d74ad643be87f17016ab4943fec5c87d08e87304d7b7c9494",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2965,\"right_y\":0.0005,\"right_z\":0.1858,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pen is resting separately on the table and the cap remains nearby. I’m lifting the empty right gripper away to leave both objects unobstructed.\"}",
  "call_id": "call_uw9bVDSisVzneIDTyjnjyOI1",
  "id": "fc_0d74ad643be87f17016ab49440f56c87d08e5d1cd3c2010059",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uw9bVDSisVzneIDTyjnjyOI1",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0483, 0.8108, 0.5877, -0.3813, -0.0975, -0.1066, 0.3973, -0.0296, 0.7898, 0.5678, -0.3328, -0.0013, -0.0017, 0.4957]\nstate[eef_state]: left_x=0.2935 left_y=0.0066 left_z=0.1681 left_yaw=0.0801 left_pitch=-0.0316 left_roll=-0.0235 left_gripper=0.3973 right_x=0.2962 right_y=-0.0049 right_z=0.1743 right_yaw=-0.0273 right_pitch=-0.0035 right_roll=0.003 right_gripper=0.4957\nstate[joint_eff]: [-0.1436, -1.6752, 7.3094, 1.7118, -0.0708, -0.0513, -0.0122, -0.4444, -0.8274, 9.2786, 1.8095, 0.0171, -0.1197, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1dd015a221caf3a73332b9327ab5fb22b08c911d01ad43376ade252ce69e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867273e9cde03148f2860c54e926b8a22f441130f131be51afc6980919fd5c37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6baa45f991eed3a1468811c0b17acaf245196611a10f0584c14e9c0743dbeab0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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