adhoc

completed
2026-09-23T23:59:15.582613+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
239.9 s
total steps
303
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 long pen is near the middle-right of the table, with its separate cap to the left. I’m bringing the right gripper above the pen, angled along its length so the jaws can pinch across it.
move_to
right_x0.3700right_y0.2850right_z0.1300right_yaw0.8000right_gripper1.0000left_x0.2950left_y0.0010left_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.794, 0.6025, -0.3801, -0.0196, -0.0254, 0.9997, -0.0154, 0.7921, 0.6098, -0.3779, -0.0235, -0.0128, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9997 right_x=0.2956 right_y=0.0032 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.6359, -1.4974, 10.441, 1.79, -0.0611, 0.1245, -0.0415, -0.8957, -1.347, 9.8393, 1.8095, -0.0269, -0.022, -0.0904] 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":{"right_x":0.37,"right_y":0.285,"right_z":0.13,"right_yaw":0.8,"right_gripper":1,"left_x":0.295,"left_y":0.001,"left_z":0.19},"note":"The long pen is near the middle-right of the table, with its separate cap to the left. I’m bringing the right gripper above the pen, angled along its length so the jaws can pinch across it."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe pen runs nearly along the right wrist view, slightly to the right of the jaw center, with its writing tip pointing away. I’m making a small sideways correction and lowering to grasp the barrel near its rear.
move_to
right_x0.3750right_y0.2730right_z0.0050right_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]: [-0.02, 0.8051, 0.6067, -0.4313, -0.02, -0.0261, 0.9997, 0.5652, 1.6173, 0.8864, 0.0929, -0.1795, -0.1169, 0.9992] state[eef_state]: left_x=0.2887 left_y=0.0013 left_z=0.1678 left_yaw=0.0008 left_pitch=-0.058 left_roll=0.0006 left_gripper=0.9997 right_x=0.3619 right_y=0.2711 right_z=0.1117 right_yaw=0.7682 right_pitch=-0.0663 right_roll=0.0095 right_gripper=0.9992 state[joint_eff]: [-0.1709, -1.6615, 10.1812, 1.7998, -0.0855, -0.0562, -0.0171, 0.6222, -7.5829, 8.4171, 2.044, -0.1538, -0.0024, -0.0904] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.273,"right_z":0.005,"right_yaw":0.65},"note":"The pen runs nearly along the right wrist view, slightly to the right of the jaw center, with its writing tip pointing away. I’m making a small sideways correction and lowering to grasp the barrel near its rear."})
tool
executing move_to over 7 steps (0.7s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteAt table height the pen is still on the right side of the open jaws rather than centered. I’m shifting the gripper about three centimeters toward it and lifting slightly to avoid dragging a finger across the barrel.
move_to
right_x0.3920right_y0.2490right_z0.0250right_yaw0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8066, 0.6064, -0.4366, -0.02, -0.0261, 0.9997, 0.5938, 1.9285, 0.7639, 0.4877, -0.0803, -0.0559, 0.9991] state[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9997 right_x=0.3683 right_y=0.27 right_z=0.0039 right_yaw=0.6808 right_pitch=-0.1144 right_roll=0.0037 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.4154, 7.0359, 1.6923, -0.0659, -0.022, -0.0171, 0.4308, -7.9932, 4.4376, 1.1062, -0.2125, 0.2466, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.392,"right_y":0.249,"right_z":0.025,"right_yaw":0.8},"note":"At table height the pen is still on the right side of the open jaws rather than centered. I’m shifting the gripper about three centimeters toward it and lifting slightly to avoid dragging a finger across the barrel."})
tool
executing move_to over 2 steps (0.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe pen remains right of the jaw center, and the previous small command was only partly reached. I’m making a clearer lateral correction while keeping the fingertips at the pen’s height.
move_to
right_x0.3900right_y0.2190right_z0.0030right_yaw0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8066, 0.606, -0.4385, -0.02, -0.0261, 0.9997, 0.5282, 1.9388, 0.8055, 0.4587, -0.1703, -0.1268, 0.9991] state[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0675 left_roll=0.0008 left_gripper=0.9997 right_x=0.3838 right_y=0.2627 right_z=0.0094 right_yaw=0.7294 right_pitch=-0.1032 right_roll=0.0035 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.6825, -0.0708, -0.0513, -0.0171, -2.1675, -11.8769, 6.5299, 1.6288, -0.1245, 0.0415, -0.0073] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.219,"right_z":0.003,"right_yaw":0.8},"note":"The pen remains right of the jaw center, and the previous small command was only partly reached. I’m making a clearer lateral correction while keeping the fingertips at the pen’s height."})
tool
executing move_to over 4 steps (0.4s)
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 pen is now between the open fingertips, with its rear barrel inside the jaw span. I’m closing the right gripper, then I’ll check the opening and lift to test whether it is secure.
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]: [-0.02, 0.8108, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9198, 0.7925, 0.4202, -0.2287, -0.1799, 0.9991] state[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1633 left_yaw=0.0005 left_pitch=-0.0744 left_roll=0.0007 left_gripper=0.9997 right_x=0.3797 right_y=0.2524 right_z=0.0074 right_yaw=0.7704 right_pitch=-0.1251 right_roll=0.0059 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.6479, 7.2137, 1.7314, -0.0366, -0.0757, -0.0122, -0.0479, -7.159, 4.9436, 1.9414, 0.0122, 0.149, -0.0073] 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":{"right_gripper":0},"note":"The pen is now between the open fingertips, with its rear barrel inside the jaw span. I’m closing the right gripper, then I’ll check the opening and lift to test whether it is secure."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe gripper closed almost completely, so that attempt did not securely catch the thin barrel. The pen is now aligned with the jaws; I’m reopening, moving slightly farther along it, and lowering for one retry.
move_to
right_gripper0.6000right_x0.4000right_y0.2670right_z-0.0120
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8112, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9156, 0.7967, 0.4397, -0.2295, -0.1761, 0.0122] state[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1632 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9997 right_x=0.3839 right_y=0.2548 right_z=0.0143 right_yaw=0.7682 right_pitch=-0.0982 right_roll=0.0017 right_gripper=0.0122 state[joint_eff]: [-0.1846, -0.8957, 6.9949, 1.6532, -0.0611, -0.0562, -0.0122, -0.0615, -8.4444, 5.1077, 1.3455, 0.0122, -0.0659, 0.7057] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.6,"right_x":0.4,"right_y":0.267,"right_z":-0.012},"note":"The gripper closed almost completely, so that attempt did not securely catch the thin barrel. The pen is now aligned with the jaws; I’m reopening, moving slightly farther along it, and lowering for one retry."})
tool
executing move_to over 6 steps (0.6s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe pen slid to the left as the fingers came down, so it is no longer inside the jaw opening. I’m lifting clear and recentering over its new position before another descent.
move_to
right_x0.3660right_y0.3080right_z0.0550right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8127, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.498, 2.0232, 0.8555, 0.5304, -0.2371, -0.1852, 0.5948] state[eef_state]: left_x=0.2875 left_y=0.0013 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.0763 left_roll=0.0007 left_gripper=0.9997 right_x=0.4012 right_y=0.2694 right_z=0.0039 right_yaw=0.7858 right_pitch=-0.0566 right_roll=-0.0129 right_gripper=0.5948 state[joint_eff]: [-0.1983, -1.4291, 6.9675, 1.6825, -0.0562, -0.0659, -0.0171, 0.0342, -7.2, 5.6821, 1.2479, 0.0171, 0.1148, -0.2076] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.366,"right_y":0.308,"right_z":0.055,"right_gripper":0.8},"note":"The pen slid to the left as the fingers came down, so it is no longer inside the jaw opening. I’m lifting clear and recentering over its new position before another descent."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe pen is centered between the open jaws in the wrist view. I’m lowering straight down without any sideways motion so the fingertips straddle the barrel.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8139, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6388, 1.8809, 0.8539, 0.4061, -0.1535, -0.1284, 0.7973] state[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1625 left_yaw=0.0009 left_pitch=-0.0774 left_roll=0.001 left_gripper=0.9997 right_x=0.3653 right_y=0.3094 right_z=0.0426 right_yaw=0.8259 right_pitch=-0.0523 right_roll=-0.0181 right_gripper=0.7973 state[joint_eff]: [-0.1026, -0.841, 7.1453, 1.6825, -0.0855, -0.0806, -0.0171, -0.4581, -10.359, 6.612, 1.5653, 0.0904, 0.1832, -0.149] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.01},"note":"The pen is centered between the open jaws in the wrist view. I’m lowering straight down without any sideways motion so the fingertips straddle the barrel."})
tool
executing move_to over 4 steps (0.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe barrel remains centered and the fingertips have reached table level. I’m closing around it now.
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]: [-0.02, 0.8162, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6418, 2.0186, 0.8253, 0.5781, -0.1444, -0.1349, 0.7977] state[eef_state]: left_x=0.2877 left_y=0.0014 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0797 left_roll=0.001 left_gripper=0.9997 right_x=0.3675 right_y=0.3109 right_z=0.0032 right_yaw=0.8246 right_pitch=-0.0477 right_roll=-0.0297 right_gripper=0.7977 state[joint_eff]: [-0.2393, -1.5795, 6.9675, 1.663, -0.0269, -0.0513, -0.0171, -0.3761, -7.2274, 3.7675, 1.1111, -0.1685, 0.1734, 0.0317] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The barrel remains centered and the fingertips have reached table level. I’m closing around it now."})
tool
executing move_to over 8 steps (0.8s)
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 closed opening is about five millimeters, consistent with the pen barrel rather than an empty close. I’m lifting a few centimeters to confirm that the pen follows the gripper.
move_to
right_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]: [-0.02, 0.8185, 0.6037, -0.4385, -0.0196, -0.0261, 0.9996, 0.6418, 2.0312, 0.8223, 0.617, -0.1505, -0.139, 0.0504] state[eef_state]: left_x=0.2879 left_y=0.0013 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0816 left_roll=0.0008 left_gripper=0.9996 right_x=0.3692 right_y=0.3135 right_z=0.0043 right_yaw=0.8318 right_pitch=-0.0242 right_roll=-0.0341 right_gripper=0.0504 state[joint_eff]: [-0.1026, -1.4974, 7.2274, 1.7021, -0.0611, -0.0562, -0.0122, 0.0068, -10.5504, 5.4906, 1.3504, 0.0269, 0.0366, 1.3358] 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_z":0.075},"note":"The closed opening is about five millimeters, consistent with the pen barrel rather than an empty close. I’m lifting a few centimeters to confirm that the pen follows the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe pen has risen with the right gripper and stays fixed relative to its fingertips. I’m moving it to a clear holding position so the left arm can pick up the cap without crowding it.
move_to
right_x0.3200right_y0.1800right_z0.1800right_yaw0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.82, 0.6037, -0.4389, -0.02, -0.0257, 0.9997, 0.6418, 1.8545, 0.8677, 0.3824, -0.1539, -0.1394, 0.0557] state[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1609 left_yaw=0.0007 left_pitch=-0.0835 left_roll=0.0014 left_gripper=0.9997 right_x=0.3665 right_y=0.3122 right_z=0.0552 right_yaw=0.835 right_pitch=-0.0362 right_roll=-0.0301 right_gripper=0.0557 state[joint_eff]: [-0.3214, -1.4701, 7.2, 1.6484, -0.0611, -0.0366, -0.0073, -0.3487, -10.988, 7.788, 1.6581, -0.0708, -0.0317, 1.033] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.18,"right_z":0.18,"right_yaw":0.8},"note":"The pen has risen with the right gripper and stays fixed relative to its fingertips. I’m moving it to a clear holding position so the left arm can pick up the cap without crowding it."})
tool
executing move_to over 12 steps (1.2s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe cap is still alone on the left half of the table. I’m approaching it with the left gripper aligned along its diagonal length, while the right arm holds the pen clear.
move_to
left_x0.4140left_y-0.2150left_z0.1150left_yaw-0.7500left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8204, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.3336, 1.235, 0.7761, -0.1925, -0.3481, -0.2897, 0.0557] state[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1608 left_yaw=0.0009 left_pitch=-0.0839 left_roll=0.0011 left_gripper=0.9997 right_x=0.326 right_y=0.1805 right_z=0.1635 right_yaw=0.7692 right_pitch=-0.0463 right_roll=-0.0312 right_gripper=0.0557 state[joint_eff]: [-0.2667, -1.1419, 7.0359, 1.7509, -0.0757, -0.0317, -0.0171, -0.2803, -5.5863, 10.3726, 1.7314, -0.2418, -0.0464, 1.0281] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.414,"left_y":-0.215,"left_z":0.115,"left_yaw":-0.75,"left_gripper":0.8},"note":"The cap is still alone on the left half of the table. I’m approaching it with the left gripper aligned along its diagonal length, while the right arm holds the pen clear."})
tool
executing move_to over 20 steps (2.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe cap is visible near the left side of the left jaw opening. I’m correcting toward it and descending to table level, aiming to pinch its wider body rather than its narrow end.
move_to
left_x0.4270left_y-0.1950left_z0.0040left_yaw-0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3729, 1.676, 0.9588, -0.0536, 0.2447, 0.178, 0.8007, 0.3294, 1.2373, 0.7765, -0.2111, -0.3523, -0.3035, 0.0557] state[eef_state]: left_x=0.4002 left_y=-0.1987 left_z=0.0907 left_yaw=-0.689 left_pitch=-0.1709 left_roll=-0.031 left_gripper=0.8007 right_x=0.324 right_y=0.179 right_z=0.1596 right_yaw=0.7763 right_pitch=-0.0639 right_roll=-0.0313 right_gripper=0.0557 state[joint_eff]: [-0.3624, -8.1436, 9.1966, 1.9805, 0.4567, 0.1636, -0.0122, 0.2393, -4.6701, 6.8444, 1.8046, -0.1392, 0.1001, 1.033] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.427,"left_y":-0.195,"left_z":0.004,"left_yaw":-0.75},"note":"The cap is visible near the left side of the left jaw opening. I’m correcting toward it and descending to table level, aiming to pinch its wider body rather than its narrow end."})
tool
executing move_to over 6 steps (0.6s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe cap is now on the jaw centerline at the bottom of the wrist image. I’m settling the fingertips at table level and closing around it.
move_to
left_gripper0.0000left_z-0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3199, 1.9453, 0.9279, 0.1799, 0.2955, 0.239, 0.8006, 0.3294, 1.2373, 0.7765, -0.2249, -0.3519, -0.3042, 0.0557] state[eef_state]: left_x=0.4183 left_y=-0.189 left_z=0.0033 left_yaw=-0.7163 left_pitch=-0.2197 left_roll=-0.0448 left_gripper=0.8006 right_x=0.3221 right_y=0.1782 right_z=0.157 right_yaw=0.7768 right_pitch=-0.0764 right_roll=-0.0262 right_gripper=0.0557 state[joint_eff]: [0.5675, -7.2547, 6.6393, 1.2723, 0.3004, 0.1343, -0.0269, -0.1983, -4.506, 6.9265, 1.8193, -0.1685, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":-0.008},"note":"The cap is now on the jaw centerline at the bottom of the wrist image. I’m settling the fingertips at table level and closing around it."})
tool
executing move_to over 9 steps (0.9s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe left gripper closed empty, so the cap was not between the contact pads. I’m reopening and moving two centimeters along its length, with a slight lift and tilt correction before the retry.
move_to
left_x0.4430left_y-0.2050left_z0.0350left_gripper0.6500left_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]: [-0.3145, 1.9652, 0.9249, 0.2291, 0.2924, 0.2367, 0.0078, 0.3294, 1.2373, 0.7765, -0.2306, -0.3519, -0.3042, 0.0557] state[eef_state]: left_x=0.4247 left_y=-0.1879 left_z=0.0014 left_yaw=-0.705 left_pitch=-0.1963 left_roll=-0.0341 left_gripper=0.0078 right_x=0.3212 right_y=0.178 right_z=0.156 right_yaw=0.777 right_pitch=-0.0816 right_roll=-0.0237 right_gripper=0.0557 state[joint_eff]: [-0.6632, -8.4171, 4.6291, 1.5067, 0.149, 0.0366, 0.6569, -0.1299, -4.3829, 6.8171, 1.6337, -0.188, -0.0366, 1.0232] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.443,"left_y":-0.205,"left_z":0.035,"left_gripper":0.65,"left_pitch":0.15},"note":"The left gripper closed empty, so the cap was not between the contact pads. I’m reopening and moving two centimeters along its length, with a slight lift and tilt correction before the retry."})
tool
executing move_to over 12 steps (1.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe cap is now under the fingertip area and obscured from the wrist camera. I’m lowering vertically for the second grasp attempt without sweeping across the table.
move_to
left_z-0.0090
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3134, 2.0098, 0.7956, 0.6964, 0.3534, 0.136, 0.6472, 0.3294, 1.2373, 0.7765, -0.2337, -0.3523, -0.3042, 0.0557] state[eef_state]: left_x=0.4379 left_y=-0.2024 left_z=0.0258 left_yaw=-0.6932 left_pitch=0.0882 left_roll=-0.0408 left_gripper=0.6472 right_x=0.3208 right_y=0.1779 right_z=0.1554 right_yaw=0.7774 right_pitch=-0.0842 right_roll=-0.0221 right_gripper=0.0557 state[joint_eff]: [0.3897, -8.0205, 4.6154, 1.9609, 0.2759, 0.0317, -0.1148, -0.0205, -4.3419, 6.8991, 1.5995, -0.1832, -0.0366, 1.0281] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.009},"note":"The cap is now under the fingertip area and obscured from the wrist camera. I’m lowering vertically for the second grasp attempt without sweeping across the table."})
tool
executing move_to over 3 steps (0.3s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe left fingertips are at table level around the cap’s estimated position. I’m closing and checking whether the opening indicates that the cap was captured.
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]: [-0.3145, 2.1166, 0.7902, 0.8314, 0.3515, 0.139, 0.648, 0.3294, 1.2373, 0.7765, -0.2352, -0.3519, -0.3042, 0.0557] state[eef_state]: left_x=0.441 left_y=-0.2037 left_z=0.0026 left_yaw=-0.6953 left_pitch=0.1091 left_roll=-0.0286 left_gripper=0.648 right_x=0.3206 right_y=0.1777 right_z=0.1552 right_yaw=0.7771 right_pitch=-0.0857 right_roll=-0.0217 right_gripper=0.0557 state[joint_eff]: [-0.1573, -8.2667, 4.1231, 0.7302, 0.0562, -0.1734, 0.0464, -0.0479, -4.3419, 7.0085, 1.5995, -0.149, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are at table level around the cap’s estimated position. I’m closing and checking whether the opening indicates that the cap was captured."})
tool
executing move_to over 7 steps (0.7s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe second cap attempt also closed empty. I’m moving the left arm out of the way to locate the cap clearly from above rather than repeating the same estimate.
move_to
left_x0.3000left_y-0.0400left_z0.1800left_gripper0.8000left_pitch0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3141, 2.1277, 0.7898, 0.8566, 0.3489, 0.1329, 0.0089, 0.3294, 1.2373, 0.7765, -0.2371, -0.3523, -0.3046, 0.0557] state[eef_state]: left_x=0.4427 left_y=-0.2036 left_z=0.0025 left_yaw=-0.69 left_pitch=0.1213 left_roll=-0.0279 left_gripper=0.0089 right_x=0.3203 right_y=0.1777 right_z=0.1548 right_yaw=0.7777 right_pitch=-0.0873 right_roll=-0.021 right_gripper=0.0557 state[joint_eff]: [0.0479, -8.5538, 3.9863, 1.5751, 0.1294, 0.0171, 0.652, -0.0068, -4.5333, 6.8308, 1.5751, -0.1929, -0.0562, 1.033] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.04,"left_z":0.18,"left_gripper":0.8,"left_pitch":0,"left_yaw":0},"note":"The second cap attempt also closed empty. I’m moving the left arm out of the way to locate the cap clearly from above rather than repeating the same estimate."})
tool
executing move_to over 15 steps (1.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe cap is visible again, now closer to the bases and rotated after sliding. I’m approaching this new position from above, matching its new diagonal orientation.
move_to
left_x0.3150left_y-0.1800left_z0.0850left_yaw0.6500left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2741, 0.8734, 0.5758, -0.242, -0.1699, -0.1593, 0.797, 0.3294, 1.2392, 0.7757, -0.2546, -0.3519, -0.3046, 0.0557] state[eef_state]: left_x=0.3093 left_y=-0.0522 left_z=0.1746 left_yaw=-0.0553 left_pitch=0.0402 left_roll=-0.0394 left_gripper=0.797 right_x=0.3177 right_y=0.1767 right_z=0.1507 right_yaw=0.7783 right_pitch=-0.1056 right_roll=-0.0124 right_gripper=0.0557 state[joint_eff]: [0.7043, -1.7299, 9.7846, 1.7118, -0.1099, -0.1099, -0.1294, -0.1299, -4.4923, 6.8581, 1.8193, -0.1587, -0.0464, 1.033] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.18,"left_z":0.085,"left_yaw":0.65,"left_gripper":0.7},"note":"The cap is visible again, now closer to the bases and rotated after sliding. I’m approaching this new position from above, matching its new diagonal orientation."})
tool
executing move_to over 12 steps (1.2s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe cap is fully visible just left of the jaw center, with space below it. I’m advancing slightly along it, correcting the lateral offset, and lowering onto its wider section.
move_to
left_x0.3340left_y-0.1720left_z-0.0060left_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]: [-0.9554, 1.887, 1.1416, -0.7307, -0.9974, -1.4891, 0.7009, 0.3294, 1.2392, 0.7757, -0.2607, -0.3515, -0.3046, 0.0557] state[eef_state]: left_x=0.3194 left_y=-0.1885 left_z=0.0758 left_yaw=0.5609 left_pitch=0.001 left_roll=-0.0155 left_gripper=0.7009 right_x=0.3168 right_y=0.1764 right_z=0.1496 right_yaw=0.7782 right_pitch=-0.1112 right_roll=-0.0099 right_gripper=0.0557 state[joint_eff]: [-0.294, -9.9077, 6.4479, -0.0513, -0.9011, -0.0562, 0.0317, -0.0752, -4.465, 6.8034, 1.6142, -0.1587, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.334,"left_y":-0.172,"left_z":-0.006,"left_yaw":0.65},"note":"The cap is fully visible just left of the jaw center, with space below it. I’m advancing slightly along it, correcting the lateral offset, and lowering onto its wider section."})
tool
executing move_to over 6 steps (0.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteAt table height the cap’s wider end is still just ahead of the gripping pads and slightly left of center. I’m making a small final alignment so that wider end enters the gap before closing.
move_to
left_x0.3480left_y-0.1490left_z0.0010
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8989, 2.0933, 1.0927, -0.5426, -0.9962, -1.5425, 0.7007, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3046, 0.0557] state[eef_state]: left_x=0.3298 left_y=-0.1707 left_z=0.0011 left_yaw=0.6463 left_pitch=-0.0029 left_roll=0.0067 left_gripper=0.7007 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1135 right_roll=-0.0085 right_gripper=0.0557 state[joint_eff]: [0.4034, -9.0051, 4.041, 0.3199, -0.0562, 0.1636, -0.022, -0.1162, -4.4786, 7.0085, 1.5653, -0.1929, -0.0464, 1.0232] 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":{"left_x":0.348,"left_y":-0.149,"left_z":0.001},"note":"At table height the cap’s wider end is still just ahead of the gripping pads and slightly left of center. I’m making a small final alignment so that wider end enters the gap before closing."})
tool
executing move_to over 2 steps (0.2s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe cap’s wider body is inside the open jaw span at table height. I’m closing the left gripper to capture 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]: [-0.8642, 2.0827, 1.0573, -0.453, -1.0119, -1.4818, 0.7008, 0.3294, 1.2392, 0.7757, -0.2638, -0.3519, -0.3046, 0.0557] state[eef_state]: left_x=0.3391 left_y=-0.161 left_z=0.001 left_yaw=0.6495 left_pitch=0.0153 left_roll=-0.0062 left_gripper=0.7008 right_x=0.3163 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1139 right_roll=-0.0084 right_gripper=0.0557 state[joint_eff]: [1.9214, -10.5094, 3.6855, 0.4664, -0.315, 0.1832, -0.0073, -0.0342, -4.4786, 6.8034, 1.5556, -0.1636, -0.0562, 1.0281] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap’s wider body is inside the open jaw span at table height. I’m closing the left gripper to capture it."})
tool
executing move_to over 8 steps (0.8s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe left gripper stopped at a small but nonempty opening. I’m lifting the cap to verify that it is held before bringing it toward the pen.
move_to
left_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]: [-0.8684, 2.0747, 1.0405, -0.445, -1.0222, -1.483, 0.0449, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3042, 0.0557] state[eef_state]: left_x=0.3368 left_y=-0.159 left_z=0.002 left_yaw=0.6469 left_pitch=0.0255 left_roll=-0.0059 left_gripper=0.0449 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7785 right_pitch=-0.1135 right_roll=-0.0082 right_gripper=0.0557 state[joint_eff]: [0.253, -8.8137, 6.0923, 0.3199, -0.4567, -0.0171, 1.1795, -0.0479, -4.3556, 6.9128, 1.5849, -0.1538, -0.022, 1.0281] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.075},"note":"The left gripper stopped at a small but nonempty opening. I’m lifting the cap to verify that it is held before bringing it toward the pen."})
tool
executing move_to over 5 steps (0.5s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe cap has lifted with the left gripper, so both pieces are now held. I’m raising the cap to a clear assembly height and turning its axis to match the pen, keeping the grippers well separated.
move_to
left_x0.4200left_y-0.2600left_z0.1900left_yaw0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8684, 1.9373, 1.1091, -0.6472, -1.0142, -1.4841, 0.049, 0.3294, 1.2392, 0.7757, -0.2646, -0.3519, -0.3046, 0.0557] state[eef_state]: left_x=0.3368 left_y=-0.1602 left_z=0.0561 left_yaw=0.6468 left_pitch=0.0177 left_roll=-0.0111 left_gripper=0.049 right_x=0.3162 right_y=0.1762 right_z=0.1489 right_yaw=0.7787 right_pitch=-0.1146 right_roll=-0.008 right_gripper=0.0557 state[joint_eff]: [-0.335, -10.7692, 6.9265, 0.2515, -0.6471, 0.0073, 1.033, -0.0889, -4.4786, 6.8308, 1.6337, -0.1636, -0.0317, 1.0281] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.26,"left_z":0.19,"left_yaw":0.8},"note":"The cap has lifted with the left gripper, so both pieces are now held. I’m raising the cap to a clear assembly height and turning its axis to match the pen, keeping the grippers well separated."})
tool
executing move_to over 9 steps (0.9s)
step 200
top_cam
camera top_cam step 200
assistant
agent noteThe cap is held above and forward of the pen, and their long axes are nearly parallel. I’m bringing the pen inward toward the cap’s line while leaving a clear gap between the two grippers.
move_to
right_x0.3200right_y0.2650right_z0.1750right_pitch0.0800right_yaw0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8421, 2.4157, 2.2875, -1.5047, -0.9878, -1.7012, 0.0547, 0.3271, 1.2388, 0.7757, -0.26, -0.342, -0.3008, 0.0557] state[eef_state]: left_x=0.4173 left_y=-0.2407 left_z=0.1486 left_yaw=0.7897 left_pitch=-0.0105 left_roll=-0.0364 left_gripper=0.0547 right_x=0.3182 right_y=0.1743 right_z=0.1495 right_yaw=0.7661 right_pitch=-0.1129 right_roll=-0.0132 right_gripper=0.0557 state[joint_eff]: [0.5949, -13.4769, 8.4991, 0.0757, -0.7985, 0.1343, 1.0281, 0.3487, -4.465, 6.8444, 1.5214, -0.2955, -0.0611, 1.0232] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.265,"right_z":0.175,"right_pitch":0.08,"right_yaw":0.8},"note":"The cap is held above and forward of the pen, and their long axes are nearly parallel. I’m bringing the pen inward toward the cap’s line while leaving a clear gap between the two grippers."})
tool
executing move_to over 8 steps (0.8s)
step 208
assistant
agent noteThe arm bodies crowded each other before the pen reached the cap, and the position readings show resistance. I’m backing the pen away immediately to restore clearance before changing the approach.
move_to
right_x0.2900right_y0.1600right_z0.2200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7834, 2.4172, 2.2879, -1.5318, -0.9764, -1.7016, 0.0547, 0.5476, 1.3151, 0.7589, -0.0536, -0.1318, -0.0868, 0.0557] state[eef_state]: left_x=0.4267 left_y=-0.2134 left_z=0.1467 left_yaw=0.85 left_pitch=-0.0201 left_roll=-0.0079 left_gripper=0.0547 right_x=0.3225 right_y=0.2281 right_z=0.1488 right_yaw=0.6942 right_pitch=-0.0437 right_roll=0.0018 right_gripper=0.0557 state[joint_eff]: [-4.8479, -13.053, 5.5179, 0.4029, -0.6374, -0.0464, 1.0281, 4.3692, -3.3436, 8.1983, 2.5714, -0.8474, -0.4957, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.16,"right_z":0.22},"note":"The arm bodies crowded each other before the pen reached the cap, and the position readings show resistance. I’m backing the pen away immediately to restore clearance before changing the approach."})
tool
executing move_to over 6 steps (0.6s)
step 214
assistant
agent noteThe pen is clear again. I’m drawing the cap back to a less extended position and rolling its gripper sideways so the bulky wrist will stay out of the pen’s approach path.
move_to
left_x0.3650left_y-0.2100left_z0.2000left_roll1.0000left_yaw0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7822, 2.4172, 2.2883, -1.5295, -0.9615, -1.7042, 0.0547, 0.35, 1.0542, 0.8413, -0.4107, -0.2615, -0.1879, 0.0607] state[eef_state]: left_x=0.4261 left_y=-0.2141 left_z=0.1446 left_yaw=0.8539 left_pitch=-0.0351 left_roll=-0.0118 left_gripper=0.0547 right_x=0.3 right_y=0.1619 right_z=0.208 right_yaw=0.6594 right_pitch=-0.0392 right_roll=-0.0054 right_gripper=0.0607 state[joint_eff]: [-0.212, -12.9983, 5.7231, 0.1441, -0.6764, -0.0513, 1.0281, -0.253, -3.7265, 9.6205, 1.6484, -0.1734, -0.0122, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.21,"left_z":0.2,"left_roll":1.0,"left_yaw":0.75},"note":"The pen is clear again. I’m drawing the cap back to a less extended position and rolling its gripper sideways so the bulky wrist will stay out of the pen’s approach path."})
tool
executing move_to over 13 steps (1.3s)
step 227
assistant
agent noteThe sideways wrist pose could not track the requested position, so it is not a usable assembly configuration. I’m returning the cap to a more natural, downward-facing grasp with the arm clear of the pen.
move_to
left_x0.3600left_y-0.2000left_z0.1800left_roll0.0000left_yaw-0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6243, 2.3066, 1.7126, -1.5581, -1.0859, -1.1831, 0.0547, 0.3473, 1.058, 0.8425, -0.4343, -0.2668, -0.2058, 0.0607] state[eef_state]: left_x=0.3772 left_y=-0.0747 left_z=0.0933 left_yaw=0.7396 left_pitch=-0.0778 left_roll=0.9205 left_gripper=0.0547 right_x=0.2972 right_y=0.1609 right_z=0.2029 right_yaw=0.6711 right_pitch=-0.0631 right_roll=-0.0089 right_gripper=0.0607 state[joint_eff]: [0.294, -15.2, 5.053, -0.6911, -0.7985, 0.1148, 1.0281, 0.1299, -3.2068, 6.9675, 1.9121, -0.0708, 0.1587, 1.0379] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.2,"left_z":0.18,"left_roll":0,"left_yaw":-0.75},"note":"The sideways wrist pose could not track the requested position, so it is not a usable assembly configuration. I’m returning the cap to a more natural, downward-facing grasp with the arm clear of the pen."})
tool
executing move_to over 12 steps (1.2s)
step 239
assistant
agent noteBoth pieces were picked up, but I cannot bring their ends together safely: the wrists interfere and the alternative cap pose does not track reliably. I’m lowering the cap to leave it safely on the table rather than forcing the assembly.
move_to
left_x0.3500left_y-0.1700left_z0.0080left_yaw-0.5350left_pitch0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4198, 1.3823, 0.9306, -0.2779, 0.0463, 0.1196, 0.0596, 0.3473, 1.0653, 0.8421, -0.4419, -0.2668, -0.2073, 0.0607] state[eef_state]: left_x=0.3643 left_y=-0.1677 left_z=0.1542 left_yaw=-0.535 left_pitch=-0.159 left_roll=0.0679 left_gripper=0.0596 right_x=0.2967 right_y=0.1608 right_z=0.199 right_yaw=0.6723 right_pitch=-0.0776 right_roll=-0.0052 right_gripper=0.0607 state[joint_eff]: [0.1709, -5.3812, 9.7162, 1.5946, 0.2369, 0.2711, 1.033, -0.1026, -3.7402, 7.0085, 1.6923, -0.1294, -0.0171, 1.0379] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.008,"left_yaw":-0.535,"left_pitch":0.08},"note":"Both pieces were picked up, but I cannot bring their ends together safely: the wrists interfere and the alternative cap pose does not track reliably. I’m lowering the cap to leave it safely on the table rather than forcing the assembly."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteThe cap has reached the tabletop. I’m opening the left gripper to set it down gently.
move_to
left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4397, 1.813, 0.3782, 0.8562, 0.0505, 0.0948, 0.0633, 0.3473, 1.0668, 0.8421, -0.4431, -0.2668, -0.2108, 0.0607] state[eef_state]: left_x=0.3439 left_y=-0.1676 left_z=-0.0009 left_yaw=-0.5436 left_pitch=-0.0076 left_roll=0.0622 left_gripper=0.0633 right_x=0.2967 right_y=0.1607 right_z=0.1983 right_yaw=0.6742 right_pitch=-0.0801 right_roll=-0.0072 right_gripper=0.0607 state[joint_eff]: [-0.3624, -6.106, 2.5915, 0.4762, -0.0659, -0.0513, 1.0232, -0.0342, -3.1795, 6.9675, 1.6239, -0.1392, -0.022, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.65},"note":"The cap has reached the tabletop. I’m opening the left gripper to set it down gently."})
tool
executing move_to over 6 steps (0.6s)
step 255
assistant
agent noteThe cap is released on the table. I’m withdrawing the left arm to its home area so it will not obstruct setting down the pen.
move_to
left_x0.2950left_y0.0000left_z0.1900left_yaw0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4393, 1.8259, 0.366, 0.8959, 0.0521, 0.0872, 0.6454, 0.3473, 1.0679, 0.8421, -0.4419, -0.2668, -0.2142, 0.0607] state[eef_state]: left_x=0.3432 left_y=-0.1675 left_z=-0.001 left_yaw=-0.5403 left_pitch=0.0071 left_roll=0.0565 left_gripper=0.6454 right_x=0.2969 right_y=0.1608 right_z=0.1982 right_yaw=0.676 right_pitch=-0.08 right_roll=-0.0099 right_gripper=0.0607 state[joint_eff]: [-0.1983, -7.5282, 4.4786, 1.3553, -0.0562, 0.0073, 0.0024, -0.0479, -3.3299, 7.0222, 1.6239, -0.1441, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"left_yaw":0,"left_pitch":0},"note":"The cap is released on the table. I’m withdrawing the left arm to its home area so it will not obstruct setting down the pen."})
tool
executing move_to over 15 steps (1.5s)
step 270
assistant
agent noteThe cap is resting separately on the left. I’m lowering the pen onto a clear area on the right, away from the cap and the parked arm.
move_to
right_x0.3000right_y0.1600right_z0.0080right_yaw0.6750right_pitch0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0803, 0.8169, 0.5938, -0.3443, -0.0807, -0.0013, 0.6458, 0.3473, 1.0737, 0.8421, -0.4568, -0.2668, -0.2146, 0.0607] state[eef_state]: left_x=0.2997 left_y=-0.0062 left_z=0.1766 left_yaw=-0.0219 left_pitch=0.0051 left_roll=0.0528 left_gripper=0.6458 right_x=0.2952 right_y=0.1602 right_z=0.1936 right_yaw=0.6768 right_pitch=-0.0995 right_roll=-0.0035 right_gripper=0.0607 state[joint_eff]: [0.2393, -2.2222, 9.894, 1.6288, -0.1001, -0.0513, 0.0269, -0.0479, -3.6308, 7.0222, 1.7998, -0.1197, -0.0122, 1.033] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.16,"right_z":0.008,"right_yaw":0.675,"right_pitch":0.08},"note":"The cap is resting separately on the left. I’m lowering the pen onto a clear area on the right, away from the cap and the parked arm."})
tool
executing move_to over 12 steps (1.2s)
step 282
assistant
agent noteThe pen is supported by the tabletop. I’m opening the right gripper to release it without sliding it.
move_to
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0792, 0.8219, 0.5922, -0.3714, -0.0795, -0.0006, 0.6458, 0.3199, 1.7111, 0.1982, 0.9108, -0.3355, -0.1921, 0.0607] state[eef_state]: left_x=0.2961 left_y=-0.0058 left_z=0.169 left_yaw=-0.0221 left_pitch=-0.0285 left_roll=0.0547 left_gripper=0.6458 right_x=0.2904 right_y=0.1612 right_z=-0.0017 right_yaw=0.6927 right_pitch=-0.0048 right_roll=0.0241 right_gripper=0.0607 state[joint_eff]: [-0.1983, -1.5932, 7.2274, 1.9658, -0.0952, 0.0122, -0.0073, -1.0598, -4.6701, 1.7709, 0.5397, 0.1001, 0.0415, 1.0379] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65},"note":"The pen is supported by the tabletop. I’m opening the right gripper to release it without sliding it."})
tool
executing move_to over 6 steps (0.6s)
step 288
assistant
agent noteThe pen has been released. I’m lifting the right arm back to its home area and keeping the left arm parked, leaving both pieces accessible on the table.
move_to
right_x0.2950right_y0.0000right_z0.1900right_yaw0.0000right_pitch0.0000left_x0.2950left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0792, 0.8261, 0.5896, -0.3798, -0.0792, -0.0006, 0.6458, 0.3164, 1.7199, 0.1913, 0.9401, -0.342, -0.194, 0.6449] state[eef_state]: left_x=0.2948 left_y=-0.0058 left_z=0.1649 left_yaw=-0.0224 left_pitch=-0.0438 left_roll=0.0554 left_gripper=0.6458 right_x=0.2906 right_y=0.1613 right_z=-0.0003 right_yaw=0.6957 right_pitch=0.0094 right_roll=0.0208 right_gripper=0.6449 state[joint_eff]: [-0.0889, -1.7026, 7.2274, 1.7949, -0.0855, -0.0659, -0.0122, 0.1846, -5.7504, 3.6171, 1.4579, -0.0513, 0.0562, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19,"right_yaw":0,"right_pitch":0,"left_x":0.295,"left_y":0,"left_z":0.19},"note":"The pen has been released. I’m lifting the right arm back to its home area and keeping the left arm parked, leaving both pieces accessible on the table."})
tool
executing move_to over 14 steps (1.4s)
step 302
assistant
agent noteI picked up both the pen and cap, but could not safely align them for insertion: the wrists interfered during the approach, and an alternative wrist orientation did not track reliably. Both pieces are now separately on the table, with the arms withdrawn; the pen remains uncapped.
give_up
hindsightA secure grasp of these thin parts settled around 0.05–0.06 gripper opening, confirmed by lifting. The cap slid substantially during initial table-level approaches, so its original position could not be reused. In this trial the left-arm pose near x=0.42, y=-0.26, z=0.19, yaw=0.8 crowded the right wrist before assembly; adding left_roll=1.0 produced over 10 cm of position error. Grasp-point separation alone did not ensure wrist-body clearance. Plan cap grasp location and an accessible assembly configuration before picking up both parts.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0452, 0.8333, 0.651, -0.4732, -0.0708, 0.001, 0.6458, -0.0364, 0.7994, 0.5877, -0.3523, -0.0971, -0.0463, 0.6461] state[eef_state]: left_x=0.2901 left_y=0.003 left_z=0.172 left_yaw=0.0038 left_pitch=-0.0833 left_roll=0.0537 left_gripper=0.6458 right_x=0.2966 right_y=0.0099 right_z=0.1772 right_yaw=0.0592 right_pitch=-0.0012 right_roll=0.011 right_gripper=0.6461 state[joint_eff]: [0.5812, -1.4838, 10.6188, 1.7118, 0.1392, 0.1832, -0.0122, -0.4718, -1.8393, 9.347, 1.7705, 0.0904, 0.2564, 0.1148] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both the pen and cap, but could not safely align them for insertion: the wrists interfered during the approach, and an alternative wrist orientation did not track reliably. Both pieces are now separately on the table, with the arms withdrawn; the pen remains uncapped.","hindsight":"A secure grasp of these thin parts settled around 0.05–0.06 gripper opening, confirmed by lifting. The cap slid substantially during initial table-level approaches, so its original position could not be reused. In this trial the left-arm pose near x=0.42, y=-0.26, z=0.19, yaw=0.8 crowded the right wrist before assembly; adding left_roll=1.0 produced over 10 cm of position error. Grasp-point separation alone did not ensure wrist-body clearance. Plan cap grasp location and an accessible assembly configuration before picking up both parts."})
tool
give_up: I picked up both the pen and cap, but could not safely align them for insertion: the wrists interfered during the approach, and an alternative wrist orientation did not track reliably. Both pieces are now separately on the table, with the arms withdrawn; the pen remains uncapped.
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 · 8.967 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, 0.794, 0.6025, -0.3801, -0.0196, -0.0254, 0.9997, -0.0154, 0.7921, 0.6098, -0.3779, -0.0235, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9997 right_x=0.2956 right_y=0.0032 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -1.4974, 10.441, 1.79, -0.0611, 0.1245, -0.0415, -0.8957, -1.347, 9.8393, 1.8095, -0.0269, -0.022, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:510591496c281cd98d80e7a020b7b6f0fd9aa0cadde026e297268b332c782f27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c91354af603c1488b19ccd6b443a865b63693414fd76dc52456490a9169bb75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35c8bb045c092a33a24a9fdfb65b0cb20cb4a1f018fec0a182740cbde00d2580",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 7.305 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfp-ayCS-1T-PNkyPtAo2aGWYawP8t1hQ3yuKL_ZPjvfRhkd3kD9pprbi2Sx7n-ddwodqRZ5EFR7WQ0e5-SGDWeYW2QBt4lsf4VFwxl-uOISaGyXSzLH0z5vh5OBmbgriHIYUZMaF_K9kH8aV-CveB0mgC25yU05UU6LNeQ8wjNagPQ_idRVxqnUOLOHn8hM79Hv8pbuSFwnojp2zBDQe0iZ7gSeJX28L1wdyKsqAgXi32k3QgzBEYnGp2__g52Q1yBdP6gmRJtnakD38mJweI4pZlvttfmY1Lv9p9UHPs7xERLmwz7DlgmPMy7dXpq_zb-IwN49jAhKLCPiJzl-jWy7k0CYrxsTudx58CMeCrNHpiuEP4gpDCKgiZHrJqR-iA4qnhCcm4GBkcT3T7l4eSo-Ek_BbprPWYASwiEv4pXSnCbf1uIsglTb5VFhx8mVG9cN5LVoYDzR6mUudKj9y8BwZpPfYi7B8nM8sHWbK6H4k1wUXiQZ-S298faVBC-bLYPTkINNtW6TMqqOk1_E7wSNEhehXdbO1LP5TDQcFEd3IQMDtcTVgCiNRQ_qBf0BFVAYL8oWQ0t2Rn8qrJMxxSy_v3UpjX-dggGUU99a_FrMNNyUIJV0OUbubfKcNTucyx-BRxVK4Ix7iPbBYz47kuMatkF22DtzkvlVzMIM1tEdvJ3uHcV10HM19GNgN0I04SdRqo_R6ruMOma9nuWjWYkXAZzT4sluGC4Dr7PpeTSLppLKe3A_1cneYYw8fwCIgEySWU9bmSathyF313_miV5eMv2XLXJW665eUqBcy2kxkduty-sEoVUjzlXiIhgBVZE6NL2_Enqsik7JhgiOBM94jsg4CrQXziPGXDTq14cC-_TAtBReNGehC1mCQXC3Nlmejl4aseuSAxo8psa1U_8bkiUvXvY-cnHyw-xPL9MYz2YyEpevVwZHY0ZKEQOs4Fk-N6lAP5Alm_VngQyqQ7bPuFcgbJ93rn1y0dDafpkad3m0kUCVVzMqQf7DdVAdoAQzWFt0FwcUbYIVCmryFGdGWNGO7YjLAUEHlX0hYyWBtLieUR39-67iXDJ9kUtIXlFxp_OswO27hGhmmpRRw5pPCrv2h__nkfEcrKG8pAs_xYI0SSwHKBpzAunA_Mqjc3pBU7pcFZ5SlJ2gMvN7pmHjpZp2lCEaiEWV7dfNay7p8t7TA04TJi61xNJgStf8wCM43M2HbO0cpiHIU50Jjw2Oz0jkAh-34WMG2y19lbyx6_K3YeScNgG7Z4199LLSS2yVe78Z0SapcqwGJK4ZNxjBYZufYJjkxgZeDbVd_n079d1y278Jk-ReyHIceMLi5RWiEtbER3rQM2IyR2k3vnlvemkQ-c1esWblApi2e_Bf0zJZk4nXYBj0oLmlx8bgju14582oayteUfiifSGY32FpedIQR7NFjuGtOdEQ15oyrfXO-6VL_gRdjhFsDDcBoh1FgJSRLitVZReiM7-z9YhTwd4dS4AVQIu_9e8BoHKGoLiJb9QN6mUqO9evlHVBeHbCFPi_Nw1GOvcPUeyZCyWHg2zLzRfJIrP6OCRoIqB-oQx2_akv9zHqyLq1uY5hkahyRgPLRAbaYe4v_XQPzVlyseEPoW61I1SwtsRl_vKAByYLRU9m9GEYyykohwPSsuF-3h8YQt8Q5m73-Mh2WNxHdfJQHkjSc-UhBCSyd5Oqfal3I97Nule-gk-kwB3cTPr7iI5gItMLg9j8EmnuRHgdcoRCwa4sX2tJKN_QSFZ4M6tmNg-EApECVTOySwzv_-f0XCKr9rdu_Ozao9TMUGXDvRCWx3kAcWFm4pUzCgxv3EVwW_Qk9D0PCKxAcRug3RtvlzPls5LfQta4WeHWjkObJLk8FRmhyo8FqBDy_TcRv6NgfgWw5iJgVIVwK7bPUsobZRWSrIXb3j1S0_XuseMUbnTww7RqqB9a8IKKKrgaB8axFjBC9SJp27lUEbk8jUJeh1jukBstxlxayy1HarjoHES_RMQPtfLDBcyV5Lo2adlyfwbpEul14l2Bc6wvEJZtpiim7igJTZkYLJVp9BDY6sRRPS8giIcCUbGekivhVJF3T9TVhDyQdElp3_nQF26OmVIqX6wlXYhUQPnjWWLT_I5EeW1UUXqJGp147eNzpB867FRY2NnjK4Q5y6ynT1bui-D-QLFlHMOcsWlhyUE8BUDSnuVUFhLtBj0gIx7VmxRd-YvDLFX4b3eP2RXeFG4dGyMqq3ms-llxHvcvaMK990pzs6o9HcpcMEgfCZL9GJWiixOqYze7QpcvihcoEZPulRlWJsssxmdNtdg5ng-KL17hQENIcV1U-hgw8AiMkREt8wza1Ot_kSsKqeZi2ogeu8BDOSkh2VyEtqQw4tsWaoIuWrqapvgAfODau1zS8FEDjwSA0ZLH50uVp7uvZ56K9Qekcdv1-SWlmEWDDGU0noc8qPC0zPx5HN1nG9W6Dd4visZCyoAHoSrGriO_-Cewu3KeRwW0jtgVfQpHq03YP8_8KmFSVPQwtzySRFzpK96ImCAtaQNqYx751SVtHWiLHNvIb7d7b6_cLMOlxnzbwxLXLlibxi-6ulBzmVR9JYE-6DXNtbGbxb9hQ969DCs-pg8w39IR4U6riylV7hTkIj_2lulyi10TyiT7hIzP7n2hBvWKdLSu5PX-tyAV5U96X5MmC6UowgJkM7BN3nFdLdmImkxD7wdHYwiPqqFXZZlUVZvMlAGgacgBcVW5X0NMSRcGbQV6Qy3_zuqk2sNGhmgbq9uVyD-JmmiPhmad-c6s9wL-_EzB0AHj4cdJHOgibKy8XrS9rEpLYPC2bu4cTm_03cAsigYo_qXQffs7zH7iWjRPWbuXUibTjXZC_ea_ibkzD5_xkzD8mKaqjc0TIc7gdV9fMz6drVw2p3bi3yew_FWRTYRWiVKkPuenfKGqzJFCNwOHmw4DZrVJCtU576xt2VWLbM0TFAYas7ipituTyXvaA5g_UrTV2OtwXpAyy8neHiR_JNgxiD2AFqc9XhKR43TZZiabsspfn7BYUnM7lGOK4dxl6YybW80YTlYQulluyEe6iKwIJnwSvH6fMCU-AGMyGWgyByJMtympJa8zvzOxEuL32HmHrXVvg8lz4_FveVjn9Rj1o-avn2NhA==",
  "id": "rs_0ccb37c1594e58e4016ab467e1c25887d0b850a74990a959fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.285,\"right_z\":0.13,\"right_yaw\":0.8,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0.001,\"left_z\":0.19},\"note\":\"The long pen is near the middle-right of the table, with its separate cap to the left. I’m bringing the right gripper above the pen, angled along its length so the jaws can pinch across it.\"}",
  "call_id": "call_tUHOr68hV1WoqFBleWo1vjDS",
  "id": "fc_0ccb37c1594e58e4016ab467e7f6fc87d09c8412b934f9d8b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tUHOr68hV1WoqFBleWo1vjDS",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8051, 0.6067, -0.4313, -0.02, -0.0261, 0.9997, 0.5652, 1.6173, 0.8864, 0.0929, -0.1795, -0.1169, 0.9992]\nstate[eef_state]: left_x=0.2887 left_y=0.0013 left_z=0.1678 left_yaw=0.0008 left_pitch=-0.058 left_roll=0.0006 left_gripper=0.9997 right_x=0.3619 right_y=0.2711 right_z=0.1117 right_yaw=0.7682 right_pitch=-0.0663 right_roll=0.0095 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.6615, 10.1812, 1.7998, -0.0855, -0.0562, -0.0171, 0.6222, -7.5829, 8.4171, 2.044, -0.1538, -0.0024, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf648eed80e6fd91e80efebb8afac0e892226d8153bcf41d73d8012ae4a47d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c9c2419f7735d0a2eb8736d9687a91bc1346bfebddecfef88ecc7b436e7363",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69221e35f696081e7df68ed1773ea1cd7f0c7eb1c8dac59e0c6be0929045c58e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.523 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, 0.794, 0.6025, -0.3801, -0.0196, -0.0254, 0.9997, -0.0154, 0.7921, 0.6098, -0.3779, -0.0235, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9997 right_x=0.2956 right_y=0.0032 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -1.4974, 10.441, 1.79, -0.0611, 0.1245, -0.0415, -0.8957, -1.347, 9.8393, 1.8095, -0.0269, -0.022, -0.0904]",
      "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]: [-0.02, 0.8051, 0.6067, -0.4313, -0.02, -0.0261, 0.9997, 0.5652, 1.6173, 0.8864, 0.0929, -0.1795, -0.1169, 0.9992]\nstate[eef_state]: left_x=0.2887 left_y=0.0013 left_z=0.1678 left_yaw=0.0008 left_pitch=-0.058 left_roll=0.0006 left_gripper=0.9997 right_x=0.3619 right_y=0.2711 right_z=0.1117 right_yaw=0.7682 right_pitch=-0.0663 right_roll=0.0095 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.6615, 10.1812, 1.7998, -0.0855, -0.0562, -0.0171, 0.6222, -7.5829, 8.4171, 2.044, -0.1538, -0.0024, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf648eed80e6fd91e80efebb8afac0e892226d8153bcf41d73d8012ae4a47d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c9c2419f7735d0a2eb8736d9687a91bc1346bfebddecfef88ecc7b436e7363",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69221e35f696081e7df68ed1773ea1cd7f0c7eb1c8dac59e0c6be0929045c58e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfz6zPPXwQEx5lcVtYwgKSxJD4Hm5wNfWugn9CJnaRawI29moEZ3JcLLiSDz7ALqLghSeNJCR6MPd5NQ_GQ2p-WCmIxjB1uewLo8CfAl5pMq5XCvVlsXci1ZyYJf5ruwfxBhyOMY6Zisg4VmjFN6AU7ckpSNTGRocxZD9B85yoNDAovmjtlFMe9tEoY9EZEfPr-JjkLfzIuzbQJXrLPOrSDEa9W-QSpObUX37QJ-43SvRW9kPRr4tU7iQ_44b7rpvaPGZ_99yOzsdzl9vxOBGQk2MzUEOHENgNyZVTD8h8ZNF8SGXwtvBm0Ier5J_BmKUhRBRhv4mpU_W2EHv_MZQeTtvmYAV4Hab7nKmVSzlpQDWPCPz2VejtNHvvXFtJdqTXB0ECVf-T1ipRtLtsERfO8bFzYyDeJq5ZmwfhXlZ4SRACISGJNQACxyL2R5Bq0ok5fjwFuxaWdT9gUoXlR8qoSzMf59H1-QphHLmBRXXmXBZmE3-0tLK6TAtm-6xCztzsOD-1IzaMzAMFHz5AGNZNtCfyOrKB58S540AiAJkZHzCjLtujss4byISCqXEoldm2xuQrFG6ddYGdpVpdIzRams2K444bmnQ_HgnlYsvzI8sUMb0DAZZPHQVRX4Od1tFCgcncrFlDgf8QMuYSGjQQ9gc_7U4avYmh1gLfhHEhb91xsKfQP6nyYABnbVB05qSbsondZqkKjMtOS_VS7ofDd_cUNhuMqR8g3N93m0UjFS1kiO7Jk_Q9lkYBCpxLz4na3owkm--fZm9s2DDW-TfL6aXH9DWqycreKVWXvNyfM6KVy7M7nx7fKCYbw4tZ04aBiWgzIZK8_zkSKyeuPqGV1KM7IFS985D2uSrKd6sD_79tgMaFlEJkG8dYN8qJwYZsknpy8ixAGIAWjCaGpWS0sQOzZv_Y-QhumsZKXXDgrNic3z6bErhOqxPl7-opk6bFOyMszJimOlxfMdBBKQmLgDhH7IUe965NSdCh2nE-xm0VBGiPz-v2ARudkjE_OJhfTAG8SVfdTtquKwsm9rRRdg1T9fnCi3i4vw7dqPPLsOf7eOpmPIX__fTLkRncjA4Ve5tBsJeN00ud0-zUTOsJRncr92lx8LB7N_FkwIxUJDRrwX5LY0c1ltgE26Ik-9YfOJM06DSsjwpT0srNFXTSD_n8pPPs-l2ikpviI4ebS9vaRQuL9J5__mZzxSXu02DBq2FQvmoVOpdA5MX7-iRBSgwtpj79nXpvGOqIZxOoDFyDteytOIqX1nalzxHbK6Jzz9tGAcRFTEId3mEAE7KDEgm8iBMcD5HRQ6DJCbb-qrSyOJVhu3oKbKOHAa-gfWMKFMfwbzXlDBDhPrecu4YGrlyhinBERtG2c2HzasZx6_kImf309Pkvwbxw6Jq625JUbbQXJmvHa0QV48qdl3PmFr8vYUls-n-OIOyblGsXrtsDskT-ihcfALsK4Ib6QC6DjDgY-LE1q3Bc6s0BzmtX_GAJvd-RndUhrRXOCM0CJ5wTGcqfWINgj9SAo_bpwDYrhtYxX08aM-d3LzJPmVsYTWgQ5XjD4sLd5zu8szf7gYQsPFI6HMknkfAlTPc5DHZrFqWUDL6UdlYaY7aabJbo7VexmGNIvr_30catqLHEyDlFwPxujWZjD9N9ucNqc_k_-m1LSaHBjsGHul31BBA3Qd1YZ-fqPul6ctCp-wWa9EUJ1ATFQ1j-DtVVRBoBQghf_Mz9JKImoNkUrhgCEKwZx1atjmt6gHeJ7Ex4I8aJejcZ2Cyst-TbuXAie7zrhIlZgR4Sr_TdAeNp1UF1R2NrmYyRPogYsc2XGwJ56nw8mCdIghGi2Zv0J7zlMED9JbSsNv3TpKdytZmWVGxCMceBV4p383B5xYTjzixI_TDEKD53U8UNVdMAHpQpul_kdsVmA8C-K_OaVTSjcZnnrteHfV7eK3odXhyEG0txyTX_70_AUM4IYDBRCv_hz21KQP4mPtOas6LZ_iaCEZVejtiY6zZjaCrwl_hGwnOkz7UiXFAF-QL8SeoACrrcjghBl7gRQOV1922c2oD4SQV1K3AXmalLRvV0kLpVzCJYx-V6uQz-MShSTqVpNOndAT39mA8p-f0Ffw06UHi15U24dP6DWg9rHtbaGL0-R7k0OIOJAlpHyGuJT5_ZZtTaOiDWN8vSkt1fNjEb6lDlbCE7qUjlB61-7IK8XPQM8kMl1f3Gh6p7uDDBbp0DQmfPXfPG01oPnIu5rI2BhJ2w0KERuFJem-gxmIEAJ1JZ93MYiC86Ty8Ct4NWAMLywsI1xhq05wRtsUNZqVA1yyVsNr8ShAi7DPr3I_GOxPGwBkVh8uMG5vJyNurYmRTcIfd3bumr0-HSwZWP5XdeB1NU_mjuO_hz61TIWf5vaN9mK6l6gew8t-8aw8HsO1iSJEdRljeaf_pshkXLyAl4BxDJVaysVqYmixmq5-DZYmo4qnszlBPEhv4gnUiWuSJLvsA8R9cs-8R5X",
  "id": "rs_0ccb37c1594e58e4016ab467ed1b8487d08cc3c02ce6bdb630",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.273,\"right_z\":0.005,\"right_yaw\":0.65},\"note\":\"The pen runs nearly along the right wrist view, slightly to the right of the jaw center, with its writing tip pointing away. I’m making a small sideways correction and lowering to grasp the barrel near its rear.\"}",
  "call_id": "call_Q8zmyZZ0Ap5ScDMr0waEnMHt",
  "id": "fc_0ccb37c1594e58e4016ab467f1f85c87d09bbe05476b7d4312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q8zmyZZ0Ap5ScDMr0waEnMHt",
  "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]: [-0.02, 0.8066, 0.6064, -0.4366, -0.02, -0.0261, 0.9997, 0.5938, 1.9285, 0.7639, 0.4877, -0.0803, -0.0559, 0.9991]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9997 right_x=0.3683 right_y=0.27 right_z=0.0039 right_yaw=0.6808 right_pitch=-0.1144 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4154, 7.0359, 1.6923, -0.0659, -0.022, -0.0171, 0.4308, -7.9932, 4.4376, 1.1062, -0.2125, 0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a93d49bb1014218dc7751b64a8496b5eb43febc0d2042ecdfc37b5ad1839e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b059d85c2ae05f2500b8dd8a191f6b04731654aadec9b8d8626f408354ac48d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2424cc4191606cabe063e3ce77a4c54936dfe6f13ee5521e3110a598aa7d176",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 5.866 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]: [-0.02, 0.8051, 0.6067, -0.4313, -0.02, -0.0261, 0.9997, 0.5652, 1.6173, 0.8864, 0.0929, -0.1795, -0.1169, 0.9992]\nstate[eef_state]: left_x=0.2887 left_y=0.0013 left_z=0.1678 left_yaw=0.0008 left_pitch=-0.058 left_roll=0.0006 left_gripper=0.9997 right_x=0.3619 right_y=0.2711 right_z=0.1117 right_yaw=0.7682 right_pitch=-0.0663 right_roll=0.0095 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.6615, 10.1812, 1.7998, -0.0855, -0.0562, -0.0171, 0.6222, -7.5829, 8.4171, 2.044, -0.1538, -0.0024, -0.0904]",
      "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]: [-0.02, 0.8066, 0.6064, -0.4366, -0.02, -0.0261, 0.9997, 0.5938, 1.9285, 0.7639, 0.4877, -0.0803, -0.0559, 0.9991]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9997 right_x=0.3683 right_y=0.27 right_z=0.0039 right_yaw=0.6808 right_pitch=-0.1144 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4154, 7.0359, 1.6923, -0.0659, -0.022, -0.0171, 0.4308, -7.9932, 4.4376, 1.1062, -0.2125, 0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a93d49bb1014218dc7751b64a8496b5eb43febc0d2042ecdfc37b5ad1839e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b059d85c2ae05f2500b8dd8a191f6b04731654aadec9b8d8626f408354ac48d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2424cc4191606cabe063e3ce77a4c54936dfe6f13ee5521e3110a598aa7d176",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGf5lC7vvOix6VGn-InImtWHNvnZ2j6Ug2pQdWPcMtAU04U4OblIvuSIA-qSrr_Je2ymEfMj1bFmKtN54YlDJqBlEzG5XWAB1lGmnyndScKCwtzbl8NHu9phKOLDpAf2dMIQMtNAUhoSS6FUZVbuDx7BxZb-7OASaF6SbQDFewmMC0i2Tdqx84ACn5GrGwQh7qxRoSVhczOMXV2YiK-AnaiYqPgA2cnKkIgvP9UMm62M0On6NGNTJhLnN9Pr6fV-_wG4-vRGkB1QvVB3be_wapeQnwE1zvKVLHBLjssd5_2NFKv1hBSmAwf8lwlqG1jAAvzqyIaI61WGzu_qDtOc4fDT5gQ2UAXmKAHy9baRgOgNwc2UZhzFawvnvgt4HNjd-s3fbDfF2De0w7omn1eXJpvlwZWyd0miFk6jy9g9ycsr9lqH3e0Wmk8gxpvjkKBPRBI2p9pSoG8d4CX9u0dY_h9gCkJXREr1NG0pYjYVOxCMETCHMBP3Vy3zQTqVoylnOOQc6TaBKx0ALxEuVtXB7yk79PQHccDUtos9lUxb6ZIwsQgE8LaJOhvB7LRGmjiz6BvI_OOnerg_S7DyBzssxbVEPZm6iL3y-_djLEZbHbgYWDgx-zhhdXSP90VZA8NX-RdsIRSNiq8COQ7qI7n-UY5ROODGi2S9YQZ8mIv-y2riU74cLo_iWlT8DtaDNt8h74SIY0E4Cplr3SaUryYBo3Q8It32CxWtWjaSj0RtbrzQD19rgMS5wetPfxWZcWnJ31PMbu524XtDkwiTp6oiX8-MX91eZVUZJan4oUKcyQFbxlcj3hWtqjqtaOq-KDgoYS9OmuZnplAl7Re37gJVTfg-jsnZfqsKBa1jXjqjjdQItDgG1_zXCiCo17awPMojDyIo0_tz0OHMhO6ms2x5ixChZKbswcyaA4o3gHNyF_YlXgqwbd6lX_3cS5jJ8RoY8XmB0xf0lFhM0VLFCzBPSe2Rd--wKkemudOIohGlevBHbXnH7Gb0dp7wCauEm4LA4m_Msg_Uutwpawxf0-UagOX2rxOUfibZth7LA3Boa6UTtboFrEs6vds1ZbAyY4KmZiCm5teqMgt06FPrdJjsMlmae5UY4hKG--Qgk88S4379-ET4TEZheaaD3E5U7aatk7Im_RgYC84d4lK-y8Eq24eXdP-Oj86Bx_msl7FaNseeWTJwLfFLrSLO8dCjQL8a12rUb_vv-gUBBYZooDZeL8H7lSJYyRB7-lPb0BxneCean-T3rl1h2ToUqmx5NR6MpOa_fxxz9GIYWjVDXTWGILKDKB1P4B7mtzQsnKvjzwTB_5rbh6f8YFbA41t2SOfUvPZ0j8ozOXcFn5HGWXSh_NBdzJp7Lm8NmNoVBRoOIk9gYJBkvOqmr0WglmPwsWFgDdrPWBomGorKaDnNPIUrbyWHENSW7guUXS7sLh9v4k0eEiOSxHmCr6iZZmFqYDMzZ_lGwwC-DSlFLNeOYi5Lt1t7ntA3_OBELamq1AUrVONt8OseVOOFu519DvjhGHH0-aVn5t3fklEwxRHVjWTTpvrbx-xezG8444T7YTTpmiJRPkkwmPzIHuk9MALh8yyQaZOMzCVGhRE457pahAn-ownQyg1YJ5HFsihvZGC80SixW8hoM9NXFw0GaIiYMsBzqo23E0r9G-xBrUOhtz3YpBt3WXLIF1RPtRunQ0W8Py8r5Wh1W5KcJcgJ97H2KSFf-RbDintvdfe-gh-4W2hdTFDf9_T9U6ba9ompPZZm5lgBP81YLUNfNUOEsjGbMojQOrGT5m0bHv9q7pXxLT15UFn-ITVRPgFn8iqK3Fra1h9q9Cz2dEAfx_gDnQkl9__jY3rAG9n3Pc_F0ETP-I8UiasXv7vsuzo1kk4kyC0eu8J-TE_5j4ROgTgwDof91sxCGUIQJThSH-sVbctAxEmS9c_bEvoduBE6e8qrvyBhqtcrihgBWTV_QkAsQ0fXS2Jj0Hf4lGr256E6zjeCUsUv943X-A==",
  "id": "rs_0ccb37c1594e58e4016ab467f5186087d09f33cdbcd017ed99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.249,\"right_z\":0.025,\"right_yaw\":0.8},\"note\":\"At table height the pen is still on the right side of the open jaws rather than centered. I’m shifting the gripper about three centimeters toward it and lifting slightly to avoid dragging a finger across the barrel.\"}",
  "call_id": "call_NkpyMdFmWL14otFKmUAhBwVJ",
  "id": "fc_0ccb37c1594e58e4016ab467f8579887d0bfd5612b56fee67a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NkpyMdFmWL14otFKmUAhBwVJ",
  "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]: [-0.02, 0.8066, 0.606, -0.4385, -0.02, -0.0261, 0.9997, 0.5282, 1.9388, 0.8055, 0.4587, -0.1703, -0.1268, 0.9991]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0675 left_roll=0.0008 left_gripper=0.9997 right_x=0.3838 right_y=0.2627 right_z=0.0094 right_yaw=0.7294 right_pitch=-0.1032 right_roll=0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.6825, -0.0708, -0.0513, -0.0171, -2.1675, -11.8769, 6.5299, 1.6288, -0.1245, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0fb23312c8e71686bd22280ef857c5e6111918c6fa2293a5dab635ece250fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9224d3b66166191ea846ce80c83d9c3bd1d6aa390cce43d431af04d640264a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63d7d7501a5121f48899df799501cd0e9719b3fd4e90c4b5e98e3f99ed03500",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.82 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, 0.794, 0.6025, -0.3801, -0.0196, -0.0254, 0.9997, -0.0154, 0.7921, 0.6098, -0.3779, -0.0235, -0.0128, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9997 right_x=0.2956 right_y=0.0032 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -1.4974, 10.441, 1.79, -0.0611, 0.1245, -0.0415, -0.8957, -1.347, 9.8393, 1.8095, -0.0269, -0.022, -0.0904]",
      "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]: [-0.02, 0.8066, 0.6064, -0.4366, -0.02, -0.0261, 0.9997, 0.5938, 1.9285, 0.7639, 0.4877, -0.0803, -0.0559, 0.9991]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9997 right_x=0.3683 right_y=0.27 right_z=0.0039 right_yaw=0.6808 right_pitch=-0.1144 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4154, 7.0359, 1.6923, -0.0659, -0.022, -0.0171, 0.4308, -7.9932, 4.4376, 1.1062, -0.2125, 0.2466, -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]: [-0.02, 0.8066, 0.606, -0.4385, -0.02, -0.0261, 0.9997, 0.5282, 1.9388, 0.8055, 0.4587, -0.1703, -0.1268, 0.9991]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0675 left_roll=0.0008 left_gripper=0.9997 right_x=0.3838 right_y=0.2627 right_z=0.0094 right_yaw=0.7294 right_pitch=-0.1032 right_roll=0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.6825, -0.0708, -0.0513, -0.0171, -2.1675, -11.8769, 6.5299, 1.6288, -0.1245, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0fb23312c8e71686bd22280ef857c5e6111918c6fa2293a5dab635ece250fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9224d3b66166191ea846ce80c83d9c3bd1d6aa390cce43d431af04d640264a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63d7d7501a5121f48899df799501cd0e9719b3fd4e90c4b5e98e3f99ed03500",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGf_hm3pvAnS16_31qfH98KVhdOGHkopIJHcAFvvqzhpUBepuDmWxB4e3ZXZM596ZJuyPhfoDbfiD18xmXrV7_wctcq-aHezMXzDi8HcK2hTsD4DLTqhmZ9KE2SZTaz3hGgUnSyk7L5nkYsHryfh6pEcePckNgHkRrDX5eLYJhJwCepkNTEaVQKp7zzVPtHdmtWEMe2VZll4kLkJy9b5HLWlMiGaHEkQhdWjzwJNbOYucYPDUUdEwk4edMzWSaOPDaqtafyUYJ21dFH5IaQTjsRbP7uJI0SGcyy4xAJW_QJoZvgyyxeT1OAy3xjzc5DpIyWnqy8WxapDhg3Mak-7x_HQcRKsV4KZ4JxqvTZ4CkqWFi9xSvTmxj1w4tc48NjZhTvqvrNbmuEBtCGQmVX4DIipTyOJqMAhqlAgVXtfV_TD0rxqGFzCuTIQ6rUXisFs28xV3_j5zfI3qSbGLb19Y_YGcQCeebnyBz2TGMmV3fzp-0KJRMyMH2ohqZ6gsaN99zweRM6lINmJgVegRlOCr99nzumVZNAm-1QFkxw6IgoNScGyVTH_UHANn1sS_CA1hA1fNZIZ6tMS7rnNqqMyPg1DgHC0Gw3tkNK_0t9pZK_l02O5l0fWhknHIZPdAkxH1ySoLbORo4dLnA7lHnW36h1m4kCuqE5t869KQfJKr14g7Z53Q9AKHqnQJnfJj3z-8Oq-hzFo15MiGxxmEF9ODdWI_NAbuSP__GwLCHPgwYliNieuSVCPeMfWPlKZ1Oa-yE6mPZsFMF0GBrDN5PaK8zjkynk5pFl_8dx7YeFfZ2W3OBnSl7xcqA4IhSGFQBuVI6svdscUKOJuzlFxWXXoUJRW68zC_otgg7TKLqwGI_5zpN6z556MCdTeRxlZhjG6yNVuzbidU9Vf0JqRHoORXSyG4aRA2V1DuWeghSnD49S_UIu7CfuZKWAkya6s2a_FeQGjGBvdwVbZuZvLUF_eTWZUFf0QuaR0Iyu07aHwcQ4wSIavLdCYSgx7Lqf7zUgkGsPJASGt6GYuJVAWjNtsKzzgFXRJkRWI09AVMZsWrSrGatm5XlpQYRoDZxMQqMBXpauqFNyaFkT-MJKtLmdL-sviyVVcMFI3tl3LATUhzP66z3vjOJ1rwfCM7JC1FrXWCUyme2JRBCU9zqeBSO_HkJNfU02YrF6lRyaKWT44caweanIuMXLIfjWvJcanDz62tJeCGjc2OXxGKz06zhZUPMFRcb8G61A8E5IZixNz4jQIz2wVuQ83c-WPpvYhrA09H1F6bBahSM0JXLSNy4cED1tpeG2AX41dy6WwTAUcn_48IeVcr4LosTBEE2E8Y9ozvxB1ML7VJqMxTZfSpyB4oXINyriCRRhaFy8PaOljbznvVljCXUYlhAWF4mcg_omw0XcYJPPZH3ZABd0TLLfDzUHyv1z-KALOUq1rxuVb3PYLZkTORaIeFmbDp_4Rj7eQYfih5toIheLReikz5GvuwKget26TCririOXVDnKLXHB0gXIyacnpoUbXVIMhHlb8YxpaA2h3yfDIMoEmpV9pWApDQXHy8I4GfmTJz4eDBuQ2An61RZ3y5OK7eTwETcLU8rhAvclBmW8TXar-IoEREj4D7877zROcCUg6O8qqepRgu9fwdQzymARsMuJ2jStKIhk6hp5UObib0CNF5KtbcJHdfQ6PfJ0neft-JCHVMRDpyKiHmb770eUI61QF8i6rJl4uMxQ1zMeTIGA6zFFUttsQ4_ki8FP2yCnFubitRKhCnxR0fS_KJ4PAkqVOupyONff4vJUIPNTL5yhbtAegpvZhcauVHT_FtIMYHjakCx-mvsK2rlB-smfTYCADsxbwXwUCq4Z6NOSz1HHHsjWZhxifmj0oY-Wn4ZuY9RsnDNp6GVujMyeASsh_PXPlIwRVv2CZ-gMS_OgYrteD3pEAe_LVGvt94RntnAysXDBrnYI8CC50qIuRyxB7wKB2YxUrwDh94Z7EOCy7VL5YEu0nnp7WkVnntZ6hU0yzE-U1Sp-uz7WrsImbT4x8zOlV-cioKYwTlJAsSQ5NTcN5Ofv1A-nlBfAvnO8m1p4kOWF8RfxWfoI=",
  "id": "rs_0ccb37c1594e58e4016ab467fabc8087d0a50fa16d5afc3d4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.219,\"right_z\":0.003,\"right_yaw\":0.8},\"note\":\"The pen remains right of the jaw center, and the previous small command was only partly reached. I’m making a clearer lateral correction while keeping the fingertips at the pen’s height.\"}",
  "call_id": "call_zstfl89ysnStu17y3ooYv1xa",
  "id": "fc_0ccb37c1594e58e4016ab467fe2e0487d09d7e03a13562481f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zstfl89ysnStu17y3ooYv1xa",
  "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]: [-0.02, 0.8108, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9198, 0.7925, 0.4202, -0.2287, -0.1799, 0.9991]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1633 left_yaw=0.0005 left_pitch=-0.0744 left_roll=0.0007 left_gripper=0.9997 right_x=0.3797 right_y=0.2524 right_z=0.0074 right_yaw=0.7704 right_pitch=-0.1251 right_roll=0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.2137, 1.7314, -0.0366, -0.0757, -0.0122, -0.0479, -7.159, 4.9436, 1.9414, 0.0122, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66558fecbf2cd77449a792742ce0593f83a23e4152ef44a789bbcd851d563e95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3dc4fcc700a105fe3a4ddb86d89a17b610a7335a0285c83fc85efb5428976e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b332a84b8a33ace6dd59d5f3330cc663a415f775d0ebfd4ac235e68cd06d8972",
      "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 · 4.771 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]: [-0.02, 0.8051, 0.6067, -0.4313, -0.02, -0.0261, 0.9997, 0.5652, 1.6173, 0.8864, 0.0929, -0.1795, -0.1169, 0.9992]\nstate[eef_state]: left_x=0.2887 left_y=0.0013 left_z=0.1678 left_yaw=0.0008 left_pitch=-0.058 left_roll=0.0006 left_gripper=0.9997 right_x=0.3619 right_y=0.2711 right_z=0.1117 right_yaw=0.7682 right_pitch=-0.0663 right_roll=0.0095 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -1.6615, 10.1812, 1.7998, -0.0855, -0.0562, -0.0171, 0.6222, -7.5829, 8.4171, 2.044, -0.1538, -0.0024, -0.0904]",
      "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]: [-0.02, 0.8066, 0.606, -0.4385, -0.02, -0.0261, 0.9997, 0.5282, 1.9388, 0.8055, 0.4587, -0.1703, -0.1268, 0.9991]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0675 left_roll=0.0008 left_gripper=0.9997 right_x=0.3838 right_y=0.2627 right_z=0.0094 right_yaw=0.7294 right_pitch=-0.1032 right_roll=0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.6825, -0.0708, -0.0513, -0.0171, -2.1675, -11.8769, 6.5299, 1.6288, -0.1245, 0.0415, -0.0073]",
      "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]: [-0.02, 0.8108, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9198, 0.7925, 0.4202, -0.2287, -0.1799, 0.9991]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1633 left_yaw=0.0005 left_pitch=-0.0744 left_roll=0.0007 left_gripper=0.9997 right_x=0.3797 right_y=0.2524 right_z=0.0074 right_yaw=0.7704 right_pitch=-0.1251 right_roll=0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.2137, 1.7314, -0.0366, -0.0757, -0.0122, -0.0479, -7.159, 4.9436, 1.9414, 0.0122, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66558fecbf2cd77449a792742ce0593f83a23e4152ef44a789bbcd851d563e95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3dc4fcc700a105fe3a4ddb86d89a17b610a7335a0285c83fc85efb5428976e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b332a84b8a33ace6dd59d5f3330cc663a415f775d0ebfd4ac235e68cd06d8972",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgDCJl1_dabANPeqa6bQBje-sMExTMtbTnx68Zu_HqcTUeSDCkraYWuMzY4ySrDxfsiYCTnOW5-oJ_izESYe56_aKIpC6NxDtEc8pHa8JmZaQjfToaXSp1gZGHrWHWQYH9SGiVONlDH5l207YI1muSSgD5zKSzzH7g5OouBUcXd9dTKddkkc64AmuZBC8-Jp2N4HlCoELi3xrnNExG1XYPDYhXIsm62mnHWEeoH7vl7_Sy6uRvrVe6VAN7SyrxF56D6b86teaGLXHnKbXfJNMATRMvq5M-feE3U6e7Xth0NpoydtYy4Zdg1SJlQljIsqppGzgn6Iu2YHUSxq1Zbt-NBZTp7TNOBtJHMftfxE2EK7CnjSICMpfy878zasLcngjbnHpcHD7r06sME7_ZRH-VykiScsLLGxXbeg_B1IWSGw6NGAhW2jOOd8benqMrpyo2eyuzV6HyoU7GjBPVuVU_mE5ey2q0S9BSt5Q0SLXwypFCaq7ztTtNwhnYGFC_4rD1CPWl4btJWtM73Zbrqb4m7hYSUuyWojG4qT02kf0SWd1dPSUYdX3NEHp0gZ0f2MK6AbVtEq3YB1Oj7CF3jjoIaOxo0py0gk5k6Njvik8mfX9KrBkFvPTMtaoKDY9CLLby3qvP9bAxr3VdvVExjx9tm4sqIx03L45O8FHsu9XlbNsRU76VT106zR99lcU4Zg8SF9reMR4GxtutTupWqWfrI_N_1qewTdTntcOeUSFYlbxmwnVDG1p7qNJPM0x4adVMJRYZqEi50A_QxW0mWa4kM-BSHz6BYdt2-TyltWVwn07FjcurCbluwD0Og2--JkwrnJk_OOSlWotDkHgLRi2jwDBy3aQoWFMTeAIPtYOqYnmhnOAgTnbdzHjzPwON5u0_DMLRu13HvlZIHptQtn8_PX28_VzVhTY5rwYunlcbPPW5C0hpKMIUGDdXp0LxbdAhhcFRyXYKkmedWegZbSGg3d6y6DJPTcWvIJjOZ8S1bjg9yiSxmtfGA8GD2TgvNk54mWLDBKeDW15KJqS3WkMZiPr0oV_ccM-3QiVe1M7ZKxPjaMU0h4Tw1THjP6VUi8p9Zo-uyiKfXxmgh9ihtFdyHHHFWoR7G2ANxAlrVdvchiq5LakYloRjAmWrk65lfVj0mM4nr82tupo8wmX0iT4eKPkZSMolrWcPucUvhG3gLI4k2-dDLa2XJqkZ-pqONAWd8KhwF3UGnQ7SV-KCjdSnX6QrNfvm5x6bKxOueUpzdyu1TbQXsNcIQSyVwnD_11Su6qdU5VP3PWOI7Hh3uUqVDep1MKvDe94mVIkCp4TFlYmaQ_KMrhWcbOZl8HmDtfZgJRJSSedsNflen_fYT3E8oyWymtilFJIuq70EF835mXC0fjtCxa68cWovO_fmKOgR4PQH--T1-823LyuYtODBViZGVLkI5J_Vw18dV3ynO8dctp8jEbJabcy1TpHePQDyy4OJfmbZF1RsVmZ9nwJFxmsaxEFvYK-GVa5YbbiEc2DzB3p3sczwbkWmPrknQppNSrcHV7GquO9ITJYPyxeG0whkCb5ATlKP5144h-D_yFucSipoX3VwXyKy3bWzCf0QjrytsaoJgw7u83-FU3inpBiOQ9Y-FkI7QJYZptuVTR5xD3zVDVfRGCIKI7t_XoUTXeiHLbu0GWOAmUUbpMWZu5g==",
  "id": "rs_0ccb37c1594e58e4016ab46800eba887d0b90460174697da5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is now between the open fingertips, with its rear barrel inside the jaw span. I’m closing the right gripper, then I’ll check the opening and lift to test whether it is secure.\"}",
  "call_id": "call_ZfnV0uJMy3gPy1NspwPvVDGu",
  "id": "fc_0ccb37c1594e58e4016ab468028f7887d09475de8ab7319500",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZfnV0uJMy3gPy1NspwPvVDGu",
  "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]: [-0.02, 0.8112, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9156, 0.7967, 0.4397, -0.2295, -0.1761, 0.0122]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1632 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9997 right_x=0.3839 right_y=0.2548 right_z=0.0143 right_yaw=0.7682 right_pitch=-0.0982 right_roll=0.0017 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -0.8957, 6.9949, 1.6532, -0.0611, -0.0562, -0.0122, -0.0615, -8.4444, 5.1077, 1.3455, 0.0122, -0.0659, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:749fb9921d6942034e5fc4c5498866b8ba40b19af8be7a02eed2d127f69a9996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba22a1fce6c8be84568f976d0089fc11bb6600bf377259404a7708daca7cfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b96f373958bcc872c0c1748cf214c18671295411e21d9ef830c260eeee44e2",
      "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 · 5.215 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]: [-0.02, 0.8066, 0.6064, -0.4366, -0.02, -0.0261, 0.9997, 0.5938, 1.9285, 0.7639, 0.4877, -0.0803, -0.0559, 0.9991]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1661 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9997 right_x=0.3683 right_y=0.27 right_z=0.0039 right_yaw=0.6808 right_pitch=-0.1144 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.4154, 7.0359, 1.6923, -0.0659, -0.022, -0.0171, 0.4308, -7.9932, 4.4376, 1.1062, -0.2125, 0.2466, -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]: [-0.02, 0.8108, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9198, 0.7925, 0.4202, -0.2287, -0.1799, 0.9991]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1633 left_yaw=0.0005 left_pitch=-0.0744 left_roll=0.0007 left_gripper=0.9997 right_x=0.3797 right_y=0.2524 right_z=0.0074 right_yaw=0.7704 right_pitch=-0.1251 right_roll=0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.2137, 1.7314, -0.0366, -0.0757, -0.0122, -0.0479, -7.159, 4.9436, 1.9414, 0.0122, 0.149, -0.0073]",
      "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]: [-0.02, 0.8112, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9156, 0.7967, 0.4397, -0.2295, -0.1761, 0.0122]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1632 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9997 right_x=0.3839 right_y=0.2548 right_z=0.0143 right_yaw=0.7682 right_pitch=-0.0982 right_roll=0.0017 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -0.8957, 6.9949, 1.6532, -0.0611, -0.0562, -0.0122, -0.0615, -8.4444, 5.1077, 1.3455, 0.0122, -0.0659, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:749fb9921d6942034e5fc4c5498866b8ba40b19af8be7a02eed2d127f69a9996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba22a1fce6c8be84568f976d0089fc11bb6600bf377259404a7708daca7cfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b96f373958bcc872c0c1748cf214c18671295411e21d9ef830c260eeee44e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgJ1BU8I-HipDA_RivD89yCfNuLwIMqIsD2oJeWqQD_TdkvHBgUawAPKhVnzsJmNUrMyoY4uxMw-KYDwosGATOP99Af7IiJS-kP7j-ouX7LvdHGUUfANgNTz-OXBwvQeUkoTfL3Tr63hIHGqzdBKPwPvrXKlPY4WHNyHMNAxZfgban5c-Y7Nkf6J7ZIVAYI5AzmFl8-1s_tZpkB49k8FPl-UpyZsfl2sXq2ppuT-EVnDX7wOrBrKwFwpnpR1ed7uDnADhOZN6E1ehINaQhdbv1msVUYoYgOrFoIsbdAPSd6Qmir4Gk_C-DGoro7-TV-ZhYje4iFemiEZFwgXz0YY4O2zAdjRVMqpcyODOG_U2TMuHWCSNX4RqX_HK5QSrxlPh4AqctENLaTpczaB-AohiyyGbOsPx7pWVX7vxWFjclbXFCZdaGLuQ-I2coK6iodn3JjNDiZZlpnBoWu1oNRNxeRhkH0Z0KZkUCGIhXlZGHRsLLiTD599ohjMcPGL6YdJM-O7JNE5I16zqTk_VusxkSo9KGBLkjHCSlWEKN-YoEpQ8JSOHc8tX9-bzOpDlAnXuC1W5jnqQc-0fA3uBRBm99LI5p6crI4G9UX0GN7oywn_SVaSDwhHI5mpKep8lKGARX8EUpkTIAY6uvnT1L5svmdoEl1ZNc8oT6O3tVBGq5GAdKtNF8irMLQT8ireXtRwYlYcN7tl79tQV27V4qNQtrf9BqPSBWdCHqZPDXEyiSjDAxTjrrZ6B-dBQLrJOe2u1Nc6JGX09jRQ5CPrdRI5uNZjwB9S_2OCtbBTpwpAH-woIl4YaNJLBUByy3hDH7_bgwN-nuDIxUzaqsjl3CEcOaqM65utt8Mi2YOjQhR9vzuuJGor0g3olY7pUAmOzQa-jFggo_kQ6btZJf0s2jA6LkB4Fk9rMSQfG3OHlvFLKZ7KaQH7LhcRbTThQtbXvhvMNWeWI9OgDJ1r5DunU4EY2un66ZH4_KkZRugE4gaLuL80dX62VXnjpiNE9rhB9X__Rn6H_i3CQHywkcLRjdGQZF1zqjARoK3TsIqXftPIexSshCrEciii779Gu5XoI9TdYJADfSk4R7RUfkOSyWll2Iv83_PYGchQk-HOhKduSdm74ppL9OMYY9oRS_qh6nLcL6cUYzqu3l0bQldaBPAyEyMXDq3bDXTTQoPX6Kvq7hlEHit_YHNuETLGOV-jvbMuyi8EFQ0P_5nVigvc0TCY305Y_ISLZ_dq215upi41dUGzF3_5h021cICwZ4BxtjfU5nbowLeSMSA1Qb-4rgeH5Ab2JnMl3FCuQC5mTN5ZKegQ0-6qLjuGfrnzRgklCf82C37Rc-yudfW0fpOBDConLBvQtU8EByudyLvUzWBnTCl2Z9z8Qs-u6upRscYrpaW8U6pz7rQiQbFuBnooL5PiiGbtN1K4h_n1zE8tAkL7yACB0LeuO1yDCyqNi6TO9LzinEDbyHMWxMbflGiLuAbZwth2-thjDpJX1w1jrq0J2W6aBZoxauTMta-eMFm5rFxtP8wRjuOgJ6uQIYbWIfzlCINyclR-umKmSG2go2h4_C2I1M1Kw0Oa8o2KYVS5Q0i0qE2RWWyWepdb0F26OQ3yQc5sQPbsk6Sq-XpxgilU-CTD41jJXqKqNXMo8YwP3yfrzA9z5SYJUtv3-3u8J7jauBb5uaOf4LyGFahsgnhZN8nYDLPRjMlB0ohIXzC4qci1BrB",
  "id": "rs_0ccb37c1594e58e4016ab46805d4ec87d0ab0ec3f5126f5a49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.6,\"right_x\":0.4,\"right_y\":0.267,\"right_z\":-0.012},\"note\":\"The gripper closed almost completely, so that attempt did not securely catch the thin barrel. The pen is now aligned with the jaws; I’m reopening, moving slightly farther along it, and lowering for one retry.\"}",
  "call_id": "call_UI7RtvtXVi9PZPUU4GCW4CDo",
  "id": "fc_0ccb37c1594e58e4016ab46807f2e887d0a9e8c6777814ddde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UI7RtvtXVi9PZPUU4GCW4CDo",
  "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]: [-0.02, 0.8127, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.498, 2.0232, 0.8555, 0.5304, -0.2371, -0.1852, 0.5948]\nstate[eef_state]: left_x=0.2875 left_y=0.0013 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.0763 left_roll=0.0007 left_gripper=0.9997 right_x=0.4012 right_y=0.2694 right_z=0.0039 right_yaw=0.7858 right_pitch=-0.0566 right_roll=-0.0129 right_gripper=0.5948\nstate[joint_eff]: [-0.1983, -1.4291, 6.9675, 1.6825, -0.0562, -0.0659, -0.0171, 0.0342, -7.2, 5.6821, 1.2479, 0.0171, 0.1148, -0.2076]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6f82e9a0f4ef2d1f24d07b2f4e59a8a3a74601e1648d9463d3952f4d004b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27478670b368d707981bd45fe9a5b03bd843199a915947b7fc2ca8d5ea2b60fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22ab9ac71108afe88485596f62db1b0c010f1f5bef2524a5f08216a12d292bf",
      "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 · 3.449 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]: [-0.02, 0.8066, 0.606, -0.4385, -0.02, -0.0261, 0.9997, 0.5282, 1.9388, 0.8055, 0.4587, -0.1703, -0.1268, 0.9991]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0675 left_roll=0.0008 left_gripper=0.9997 right_x=0.3838 right_y=0.2627 right_z=0.0094 right_yaw=0.7294 right_pitch=-0.1032 right_roll=0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2513, 7.0085, 1.6825, -0.0708, -0.0513, -0.0171, -2.1675, -11.8769, 6.5299, 1.6288, -0.1245, 0.0415, -0.0073]",
      "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]: [-0.02, 0.8112, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9156, 0.7967, 0.4397, -0.2295, -0.1761, 0.0122]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1632 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9997 right_x=0.3839 right_y=0.2548 right_z=0.0143 right_yaw=0.7682 right_pitch=-0.0982 right_roll=0.0017 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -0.8957, 6.9949, 1.6532, -0.0611, -0.0562, -0.0122, -0.0615, -8.4444, 5.1077, 1.3455, 0.0122, -0.0659, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8127, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.498, 2.0232, 0.8555, 0.5304, -0.2371, -0.1852, 0.5948]\nstate[eef_state]: left_x=0.2875 left_y=0.0013 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.0763 left_roll=0.0007 left_gripper=0.9997 right_x=0.4012 right_y=0.2694 right_z=0.0039 right_yaw=0.7858 right_pitch=-0.0566 right_roll=-0.0129 right_gripper=0.5948\nstate[joint_eff]: [-0.1983, -1.4291, 6.9675, 1.6825, -0.0562, -0.0659, -0.0171, 0.0342, -7.2, 5.6821, 1.2479, 0.0171, 0.1148, -0.2076]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6f82e9a0f4ef2d1f24d07b2f4e59a8a3a74601e1648d9463d3952f4d004b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27478670b368d707981bd45fe9a5b03bd843199a915947b7fc2ca8d5ea2b60fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22ab9ac71108afe88485596f62db1b0c010f1f5bef2524a5f08216a12d292bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgOobYcDhFUba7CYQQWMBo-XMG3PF7s3c3hxuUeZyQoWiq014v8Dg5CfQokvTI2sRD5llZZXXFRfD3MEJJcLTZXaxGsWN4MivjKa4_10hwJf82cs1daP5R5CAUZLd3Fr8CwCXynkhEN1vLf_fYuwwfjp_NoUKtoeiC74NzYikF04OIJ-JSUOlv0CGr5RxxvutoHf7Ut073JuNnobal3dN2MjarbZbNkT9z7N5wZMSaV_E1_Si0QFi2juA0uTP4SK1UdVelTvW88TdoeANBzpJQOU6J-jKa0PAjsrCLVVgvBMSnBs-WzG-OFWNXwLdjqhhpBvM4ddzNDmUP6Fy2T8KdwG83OcE8pRtmXsK8n-s2ueOZcAqPxFPIB6Udv6Whn1u_wI4kMmIKoh8Cy0vxZnUQ_igIK2mIm0gg7B-GTipjqVzgp9Lwj1EYv2fzeoGVanIkbdKrDJ_P3Djt5sOHR6CqwEMGT0IbEAwbCbJ6hxxnmZ4f2dvMKPTfUaOdKVeq1KSCLkpvgbtjV6QqRfb50VsWPgbWcsJOrlcwxGuiQpuXgdDnGl3knTOkmlTru5_DEhiC8hqHyvrc7dvmqyAg_oYL0m9P86LFRChtqYCfvU3bOLfb5Jeuli1C8mwmEwl2tBfLrhcQvC-mcJ_Zj8CElk_gFotZlzQKMpwpQfbzBQ8VjlPHYxv99NEZA_0sqnZcnLBF50j0ZfkbPvw4x8VjSjmvu0JgGMTH7YOqcvmyIKs1bh3i5_efCOfaX4HvNHIghTbyMPYGn6BZ0yeBpJDS8Mk7_Tz6VYaRZYpXw2HFYY0MroW_wF03cWkuR700IabZtv-QDcAyE6Rp_0HVZJVqw0828JdE6uH6dpvaIeZoPLoiK5APgmVDs_Vz1kP1dfTN6LBDTgv5gyfPhDmm8tuX72yYtgdbTqPKtEN8RLEmmbscnmh-VfOIMr8OtGWgEp6eHa5wF5tlfPf9C3aYHEG5Br5iUOnv1liweDZXKOKXedAdTzmEPgkouMlAaK2TUeeI2ftm5dIuThgb_Gjb2SkROSA1fqlB5cl8KXoAqdJbH76g8k3E93_R_bJ3L2VUwr34w-7HoCnyOxntJAN1lzqyHTZ2kaNHQqOiHQ-dbXPa0nLxXDtmNTJzh17hzST2WnDaznzX7E4HjZLEYcJPEbAgIGcFVIyZRb3k1ZJdmzpFjjXKdibZDqHT7SE33qjf_7kszVzgm6f92zrvotqI9LF4j1-i6tGn0ONzvnFDRayQ5Jc_4pDN2EO0ZSDkjQnkQ-19bn4m2JxzMYvnyyLUNJWJB-yqA_cqfQtjkfYsn_H56CTnnW52vQGbcUT_EVjhVX3FAaLXqktqdKvJCJg8HHR3zm-DW9Vn2W16RMS4PHyDA209FhOhtpMqEO9v8flc2pNgAK7I4kFycpzQkjo3XriFqIVDEJj6eztLLm0Or4fbqn_FpB1drNiPGme3XNVgOc06mSNIfg5cK7mAiRO0ME2t6p0XHd7AaJlAnAKYJwX0RQlpzy1LhSyP3OE-KtfHwjaGTp19bLUIHc-buVPd4DHHKDoA1KhgiUfvj02TVmJbxlTZtO5h1xvph95ITEAi0EfLlJFWiTxmrBTsy3YuXeaMHDi3yBKOJsrNZHmS63aBoiIAYdIegayajOG06CxEX-Sv5y9cG0ciYb_eXY2qNCCjWbCOcrKSi90KnLH-xPkzqanAhsXBOza0eCQ7RX6dB5d2Bgm_tst81GLLmtP6Xsc78yAjG3pNMHAOT4lmqjDBcO-JWa2T2xPDi4eqQeOpXN4VZS72Wm9feJpKPoLjQV-ehGGFYtVGwq3d-Q5JRRFdQqHwVe_UdV2Y573rau_EmQJ3-Kfdyc5vK-uuahLzwXmFk05SlELHoaapoMAQ-dPaEOh5qKANsgvgk60kn69ryJU1KN6OdbXQNbku3w3twZhoX9b6ynhRoWZMnlaG-rwsAp0p5EjXQCqOGo6E0z7R4phV57-cjYfcSxyKT2RqhbFoeuZNuoA==",
  "id": "rs_0ccb37c1594e58e4016ab4680b0bbc87d0974f702622673191",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.366,\"right_y\":0.308,\"right_z\":0.055,\"right_gripper\":0.8},\"note\":\"The pen slid to the left as the fingers came down, so it is no longer inside the jaw opening. I’m lifting clear and recentering over its new position before another descent.\"}",
  "call_id": "call_qHxsm4ZXUeiNBlNBY0BeIcmT",
  "id": "fc_0ccb37c1594e58e4016ab4680dbf6887d08d363f08ba67c7c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qHxsm4ZXUeiNBlNBY0BeIcmT",
  "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]: [-0.02, 0.8139, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6388, 1.8809, 0.8539, 0.4061, -0.1535, -0.1284, 0.7973]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1625 left_yaw=0.0009 left_pitch=-0.0774 left_roll=0.001 left_gripper=0.9997 right_x=0.3653 right_y=0.3094 right_z=0.0426 right_yaw=0.8259 right_pitch=-0.0523 right_roll=-0.0181 right_gripper=0.7973\nstate[joint_eff]: [-0.1026, -0.841, 7.1453, 1.6825, -0.0855, -0.0806, -0.0171, -0.4581, -10.359, 6.612, 1.5653, 0.0904, 0.1832, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6d74d0e963bc8e1908e58114431a0f4641e4b9fe2ff7e99fed49b517929d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff100afaf3605f7ca8f1eb71851532d6b0f4bfc16926d772e8566ac2ba5043e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61a9ef30ff3e357d5bba035f0bf3f16958f62c801b2ee0363c2867572bce3bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.853 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]: [-0.02, 0.8108, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9198, 0.7925, 0.4202, -0.2287, -0.1799, 0.9991]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1633 left_yaw=0.0005 left_pitch=-0.0744 left_roll=0.0007 left_gripper=0.9997 right_x=0.3797 right_y=0.2524 right_z=0.0074 right_yaw=0.7704 right_pitch=-0.1251 right_roll=0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.2137, 1.7314, -0.0366, -0.0757, -0.0122, -0.0479, -7.159, 4.9436, 1.9414, 0.0122, 0.149, -0.0073]",
      "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]: [-0.02, 0.8127, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.498, 2.0232, 0.8555, 0.5304, -0.2371, -0.1852, 0.5948]\nstate[eef_state]: left_x=0.2875 left_y=0.0013 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.0763 left_roll=0.0007 left_gripper=0.9997 right_x=0.4012 right_y=0.2694 right_z=0.0039 right_yaw=0.7858 right_pitch=-0.0566 right_roll=-0.0129 right_gripper=0.5948\nstate[joint_eff]: [-0.1983, -1.4291, 6.9675, 1.6825, -0.0562, -0.0659, -0.0171, 0.0342, -7.2, 5.6821, 1.2479, 0.0171, 0.1148, -0.2076]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8139, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6388, 1.8809, 0.8539, 0.4061, -0.1535, -0.1284, 0.7973]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1625 left_yaw=0.0009 left_pitch=-0.0774 left_roll=0.001 left_gripper=0.9997 right_x=0.3653 right_y=0.3094 right_z=0.0426 right_yaw=0.8259 right_pitch=-0.0523 right_roll=-0.0181 right_gripper=0.7973\nstate[joint_eff]: [-0.1026, -0.841, 7.1453, 1.6825, -0.0855, -0.0806, -0.0171, -0.4581, -10.359, 6.612, 1.5653, 0.0904, 0.1832, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6d74d0e963bc8e1908e58114431a0f4641e4b9fe2ff7e99fed49b517929d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff100afaf3605f7ca8f1eb71851532d6b0f4bfc16926d772e8566ac2ba5043e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61a9ef30ff3e357d5bba035f0bf3f16958f62c801b2ee0363c2867572bce3bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgSRgGZWtze9hzVuWsC--0eDQEbWtcjUJd8ovhliyHDRWPfsu0CpFw63SR5Sveqj9cBN83VaPeC2eLfaqWee2eF7ScZM7csy1_puRpQDLxwv-HHea3R_y207j9DR3ZBxrT4QEsyqeJSgyr4MLRaYwV1tlu0tahpzIrYQd0eE1m2Vg0zyOm7Z5hgUlKk_4h7XWsWcjiSiluuXzwHDmDc8HkLEdk0rbNyDxjf52O_VlhlWEycKGd3oYLRUgTkDWCODRLNUq05M4OP4I63Xr9ZKX3JZlMBkNK-3J2fAtUD6sJJ0_1OG5C0OULqS3HXuYm_ABBbEsR8r8RwMqwJK7-cvDNFiTQvEIWy-7aEZAKIZrlr3y2zqYHps2T1SnoGQ5K9adjiIloJeHduakSnKDKblUT2ubgXM7VjUjQo_M_TPLQKCZ1I0fhyVUqUJPfLKp1lVkdjv6aosT-bpgHPkc9HlWAE8vMLc-o-bnzz4F5ECALxrhLCvT-aaSR12RQ7Wmynu0ClpBNYf_laPqwnnY07kmVbugZAuHbzcDvo8B1L90jsjJoRRqWICj6_mNAB82hcyQc2fOKzrHe5tN5qy7a7KBvtAOKUqHc8bEp8moPS5QaeM_35AeO4q1TJCDjXV4NrLQVZPu_zV8O2Qshv3GUeD8OnPQaw_-836_gVSlsXXxyWx4lxvfRuXOHOHLDuC4dc53uny9pZ14SA2UB3SEkW_6QhMn2O4P_IeXNmnMCmjgkwRB7L0P-KNqDYOXBQy4HyF5NwUT3gvJqQVB3aQgLoK1nDE1abHUFe3Rm7eqv4ebcb1pLg3xqoLsD0j9-DBfZwJl7UtU7MMGxhXG90AvLm2VpV4KgbPMa4f2aQBZxZhekFN6CZQL78Mjta7MOouKM50u_HZcN_crhytQdMxzyNYuDOG5gFiTucXZOPigZDzV8Rs8kZXyyoaIuXObcUYtjlHahsIk_xygwrSrZgAbfrxz2WNg-HfklK-L41qYZrJVOo3waPUCAc0QMeD1gq148mN0fGOtO-A78Fo6IRy4VcbwcmnZmbL-lCFyc7tnLCvbhTtnx6M-UOIyOjzRFRYgsSCkIwkh5Bo0Oq7gPvFXPo-FIQGUqEmQBI08rmndqqtUmECQCuAdPX5ZyxfZD-J2beqpBSf5DQFWtmGY8jqbjDmoBt3rfGi4qFoTO3o7nlmNtRiQZdBOffgriiTdvM5HrpIsqk32G5-CfViIYbMlMBLtORY2U7xrXH19QME3ITMIsuN2aSPo5VsUEy1568mxlzlEiLq6skgQy9isiE6m0ze2JHGmokbHjao727Wxea563QA5WJzNeTL0N1bKljmQzVVraBjDGhhUv_KqSQeXpFK21RnD1Wr5A3tgktzMnI6x8ZrfbMaWIZKi_eVw61SIe6V80424OUXS1d1fJwtMLawLZaZSJBylRl4cmc0qeV19PxDBZkaNyBoXbAYUKy_IOC4gjCrpDBmMCrsWni0sIEGBmjmZMr5fdp74VVTEKWlxkGMpgD4sWXXib1ULT4Ecat1H6xfoLXYmYh2ix8O3x5TIrX5w==",
  "id": "rs_0ccb37c1594e58e4016ab46810bc2087d08a1096748a0c6518",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.01},\"note\":\"The pen is centered between the open jaws in the wrist view. I’m lowering straight down without any sideways motion so the fingertips straddle the barrel.\"}",
  "call_id": "call_oBWOahtiqOakuSdZP6jJROaO",
  "id": "fc_0ccb37c1594e58e4016ab46811fab487d08234f74c63aaeedc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oBWOahtiqOakuSdZP6jJROaO",
  "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]: [-0.02, 0.8162, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6418, 2.0186, 0.8253, 0.5781, -0.1444, -0.1349, 0.7977]\nstate[eef_state]: left_x=0.2877 left_y=0.0014 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0797 left_roll=0.001 left_gripper=0.9997 right_x=0.3675 right_y=0.3109 right_z=0.0032 right_yaw=0.8246 right_pitch=-0.0477 right_roll=-0.0297 right_gripper=0.7977\nstate[joint_eff]: [-0.2393, -1.5795, 6.9675, 1.663, -0.0269, -0.0513, -0.0171, -0.3761, -7.2274, 3.7675, 1.1111, -0.1685, 0.1734, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65ea1adc4ccee3c50e45d55e84fb2cf127615f2154f1106811b1c1464182ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb4d802327301b31820c82bd557a51bff6d78901492c3828883c8bb63deeca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5c30ece37488fccd276428b7ae29606c8fb4ce066fb7543378b5c46ec4af39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.1 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]: [-0.02, 0.8112, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.4908, 1.9156, 0.7967, 0.4397, -0.2295, -0.1761, 0.0122]\nstate[eef_state]: left_x=0.2874 left_y=0.0013 left_z=0.1632 left_yaw=0.0005 left_pitch=-0.0748 left_roll=0.0007 left_gripper=0.9997 right_x=0.3839 right_y=0.2548 right_z=0.0143 right_yaw=0.7682 right_pitch=-0.0982 right_roll=0.0017 right_gripper=0.0122\nstate[joint_eff]: [-0.1846, -0.8957, 6.9949, 1.6532, -0.0611, -0.0562, -0.0122, -0.0615, -8.4444, 5.1077, 1.3455, 0.0122, -0.0659, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8139, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6388, 1.8809, 0.8539, 0.4061, -0.1535, -0.1284, 0.7973]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1625 left_yaw=0.0009 left_pitch=-0.0774 left_roll=0.001 left_gripper=0.9997 right_x=0.3653 right_y=0.3094 right_z=0.0426 right_yaw=0.8259 right_pitch=-0.0523 right_roll=-0.0181 right_gripper=0.7973\nstate[joint_eff]: [-0.1026, -0.841, 7.1453, 1.6825, -0.0855, -0.0806, -0.0171, -0.4581, -10.359, 6.612, 1.5653, 0.0904, 0.1832, -0.149]",
      "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]: [-0.02, 0.8162, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6418, 2.0186, 0.8253, 0.5781, -0.1444, -0.1349, 0.7977]\nstate[eef_state]: left_x=0.2877 left_y=0.0014 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0797 left_roll=0.001 left_gripper=0.9997 right_x=0.3675 right_y=0.3109 right_z=0.0032 right_yaw=0.8246 right_pitch=-0.0477 right_roll=-0.0297 right_gripper=0.7977\nstate[joint_eff]: [-0.2393, -1.5795, 6.9675, 1.663, -0.0269, -0.0513, -0.0171, -0.3761, -7.2274, 3.7675, 1.1111, -0.1685, 0.1734, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65ea1adc4ccee3c50e45d55e84fb2cf127615f2154f1106811b1c1464182ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb4d802327301b31820c82bd557a51bff6d78901492c3828883c8bb63deeca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5c30ece37488fccd276428b7ae29606c8fb4ce066fb7543378b5c46ec4af39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel remains centered and the fingertips have reached table level. I’m closing around it now.\"}",
  "call_id": "call_DqnDnh0kztxMwNqlwzNynFhC",
  "id": "fc_0ccb37c1594e58e4016ab4681541d487d0abc4c2357e33c490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DqnDnh0kztxMwNqlwzNynFhC",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4385, -0.0196, -0.0261, 0.9996, 0.6418, 2.0312, 0.8223, 0.617, -0.1505, -0.139, 0.0504]\nstate[eef_state]: left_x=0.2879 left_y=0.0013 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0816 left_roll=0.0008 left_gripper=0.9996 right_x=0.3692 right_y=0.3135 right_z=0.0043 right_yaw=0.8318 right_pitch=-0.0242 right_roll=-0.0341 right_gripper=0.0504\nstate[joint_eff]: [-0.1026, -1.4974, 7.2274, 1.7021, -0.0611, -0.0562, -0.0122, 0.0068, -10.5504, 5.4906, 1.3504, 0.0269, 0.0366, 1.3358]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a3da967865dcfb8c4ee2a27d5032b142c3dd7487277dbf464ff0ca7c2a7e02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb954a5e5126d12bdc70f21471bd2f345967009545a66c0242344b497fe32ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e856ee0a7c4b5b9d117667621a1cb0bde20816ee7c8cd2c5bd7301d621942ba7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 9.918 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 37 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]: [-0.02, 0.8127, 0.6037, -0.4389, -0.0196, -0.0261, 0.9997, 0.498, 2.0232, 0.8555, 0.5304, -0.2371, -0.1852, 0.5948]\nstate[eef_state]: left_x=0.2875 left_y=0.0013 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.0763 left_roll=0.0007 left_gripper=0.9997 right_x=0.4012 right_y=0.2694 right_z=0.0039 right_yaw=0.7858 right_pitch=-0.0566 right_roll=-0.0129 right_gripper=0.5948\nstate[joint_eff]: [-0.1983, -1.4291, 6.9675, 1.6825, -0.0562, -0.0659, -0.0171, 0.0342, -7.2, 5.6821, 1.2479, 0.0171, 0.1148, -0.2076]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.02, 0.8162, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6418, 2.0186, 0.8253, 0.5781, -0.1444, -0.1349, 0.7977]\nstate[eef_state]: left_x=0.2877 left_y=0.0014 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0797 left_roll=0.001 left_gripper=0.9997 right_x=0.3675 right_y=0.3109 right_z=0.0032 right_yaw=0.8246 right_pitch=-0.0477 right_roll=-0.0297 right_gripper=0.7977\nstate[joint_eff]: [-0.2393, -1.5795, 6.9675, 1.663, -0.0269, -0.0513, -0.0171, -0.3761, -7.2274, 3.7675, 1.1111, -0.1685, 0.1734, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4385, -0.0196, -0.0261, 0.9996, 0.6418, 2.0312, 0.8223, 0.617, -0.1505, -0.139, 0.0504]\nstate[eef_state]: left_x=0.2879 left_y=0.0013 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0816 left_roll=0.0008 left_gripper=0.9996 right_x=0.3692 right_y=0.3135 right_z=0.0043 right_yaw=0.8318 right_pitch=-0.0242 right_roll=-0.0341 right_gripper=0.0504\nstate[joint_eff]: [-0.1026, -1.4974, 7.2274, 1.7021, -0.0611, -0.0562, -0.0122, 0.0068, -10.5504, 5.4906, 1.3504, 0.0269, 0.0366, 1.3358]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a3da967865dcfb8c4ee2a27d5032b142c3dd7487277dbf464ff0ca7c2a7e02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb954a5e5126d12bdc70f21471bd2f345967009545a66c0242344b497fe32ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e856ee0a7c4b5b9d117667621a1cb0bde20816ee7c8cd2c5bd7301d621942ba7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The closed opening is about five millimeters, consistent with the pen barrel rather than an empty close. I’m lifting a few centimeters to confirm that the pen follows the gripper.\"}",
  "call_id": "call_NN3VhkHvAzOOt7paNhjyM8TI",
  "id": "fc_0ccb37c1594e58e4016ab46817f63087d0bbe20400d242e6da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NN3VhkHvAzOOt7paNhjyM8TI",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.4389, -0.02, -0.0257, 0.9997, 0.6418, 1.8545, 0.8677, 0.3824, -0.1539, -0.1394, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1609 left_yaw=0.0007 left_pitch=-0.0835 left_roll=0.0014 left_gripper=0.9997 right_x=0.3665 right_y=0.3122 right_z=0.0552 right_yaw=0.835 right_pitch=-0.0362 right_roll=-0.0301 right_gripper=0.0557\nstate[joint_eff]: [-0.3214, -1.4701, 7.2, 1.6484, -0.0611, -0.0366, -0.0073, -0.3487, -10.988, 7.788, 1.6581, -0.0708, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e699dd2fbe866cf93394d076789e53e5801a06e5427d16874a3cc75894cd0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c0988184c45f8c10491b7082a034864d99d30828620eb6fe5f97148f7876d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d2341fb7163084f36a19d1b265eda27c26df71244a1cd0e37decd40f1c8641",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.145 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 37 changed as sent

message 40 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]: [-0.02, 0.8139, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6388, 1.8809, 0.8539, 0.4061, -0.1535, -0.1284, 0.7973]\nstate[eef_state]: left_x=0.2876 left_y=0.0014 left_z=0.1625 left_yaw=0.0009 left_pitch=-0.0774 left_roll=0.001 left_gripper=0.9997 right_x=0.3653 right_y=0.3094 right_z=0.0426 right_yaw=0.8259 right_pitch=-0.0523 right_roll=-0.0181 right_gripper=0.7973\nstate[joint_eff]: [-0.1026, -0.841, 7.1453, 1.6825, -0.0855, -0.0806, -0.0171, -0.4581, -10.359, 6.612, 1.5653, 0.0904, 0.1832, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4385, -0.0196, -0.0261, 0.9996, 0.6418, 2.0312, 0.8223, 0.617, -0.1505, -0.139, 0.0504]\nstate[eef_state]: left_x=0.2879 left_y=0.0013 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0816 left_roll=0.0008 left_gripper=0.9996 right_x=0.3692 right_y=0.3135 right_z=0.0043 right_yaw=0.8318 right_pitch=-0.0242 right_roll=-0.0341 right_gripper=0.0504\nstate[joint_eff]: [-0.1026, -1.4974, 7.2274, 1.7021, -0.0611, -0.0562, -0.0122, 0.0068, -10.5504, 5.4906, 1.3504, 0.0269, 0.0366, 1.3358]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.4389, -0.02, -0.0257, 0.9997, 0.6418, 1.8545, 0.8677, 0.3824, -0.1539, -0.1394, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1609 left_yaw=0.0007 left_pitch=-0.0835 left_roll=0.0014 left_gripper=0.9997 right_x=0.3665 right_y=0.3122 right_z=0.0552 right_yaw=0.835 right_pitch=-0.0362 right_roll=-0.0301 right_gripper=0.0557\nstate[joint_eff]: [-0.3214, -1.4701, 7.2, 1.6484, -0.0611, -0.0366, -0.0073, -0.3487, -10.988, 7.788, 1.6581, -0.0708, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e699dd2fbe866cf93394d076789e53e5801a06e5427d16874a3cc75894cd0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c0988184c45f8c10491b7082a034864d99d30828620eb6fe5f97148f7876d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d2341fb7163084f36a19d1b265eda27c26df71244a1cd0e37decd40f1c8641",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgjHWW928CmEku20vPv_JJbU6fwMXd_QrY4AlWSeRGAFlndVT9Ll1MIZFbzx730zjpcm5ksTbSuv-OO3up-mm22VneD1czQ3lwmBbUSJC4SOG8QogCDsf0JcCUwQTBd94Zua8DAJ3K8mfP_5FsPkA7SoErgPO28rRlKiCidTw5vgs0j9ovmOK6a6vBXZqqMFlkFzls7hTvWKL7lCK95Ml8c3U6EOYyK6HP9VfnDKHiX3LOwC4S3KEZsLCoyFBplQIKMQT6HJx7acZYsYOHcwwtJwYwp-ylay3jdurVh73L93toWmkEbh7-3YX1RGuhsVfiCsj7Qt9v8csEDMMgJq_xyiI1LxTMPXdXPTSnrUi7UUzRkV636DSJcmigcRh_0kHMipbNCOPqYcY49lxOadyURl7M8Bt_MsZI4F6o1YKAQ2BfVGx_YKx00XmrrH7sRsQ32Vo4ZBCJEvIcoOWD9WEu20_1AAQv0RrTC8XvHxMOWLB5CGmOS0iomzt1_3_cQ9hZNmX6t7emXQ8eVXUDHdZYfzGZD359ofMCRqSFBb90dqmsOFUMcgDaNbBhDs33lxVcTgxdcE8pCcDR9UXYpC2BsHlimLTIAKmE6F3idbLE1zYWTK_BX6syNfqhI5hcY3CJXQMhsrPDdIfY4TORNOB-E_p64cpyW6x9yLNgyoq42umCR5by-ezaRqyd12F1MjfNzRicNhiOmOCCAEgRdot5lEcA9fCuFWGm_IPMObjm6mvuLWZTAb6ijOVB_WAIS_kS_mkTytJc7RKBdKdl0mfrL1dHb-qV6ceZyeEaAjroCTwVQeykFAld70T51cIw8g66RwKQNKCkNn7Y73wZC8EpoE_hTWvsRy3-4asYbvsjJWSsMUbErGIPOarzxAZ-fYIysl703aFqsSzD_kMbraf06HKXnmHHdK6alAbfs_J7Fr98cfcV3Aq5frIfJf80O7vxsM3sxztQAbdbr5Tko4TLqOW0Tp5xQkQqlrkU8FmGlN7Ah93uIcf09p0_ubdpOuVSQWKbPwjzRsMsR12uNQxNDb61CT8iFItUrmXq99vPDTOYThr-pq63o5s0CgBTNtZseAuSVVQlciEJg45jzbBadeW72lAS4rzKnuiZpWwfxoJEOlwUcBQSxvQjYTNalvEmLrmyQyaHYj_yGtJYQVQGLHE4Uoblz9foxo0PgaI97z7tvBczs0m3_riWsTNcGtyQzFLpWs0UWMO28vII5BdlH_6JrQbPXoAdwjA37iabtNdUz7GR2iU0gjV05fBPjmuazaZyJTcIVnXqToAKbwo6OwBzV17TyfMWQAEg1gYQQvxd7Dpj67JPUiI0ziw12dc0LnfaDM8hohpNt4tNANOkKRAFt6JsjmosSIuszDLqGyeoGd_JzAwjtDxA7bc9Ysj6iqMXPrklMdPzZ6pjKUI8w7xFOLhUZxeswPntg5K4LCD1X2viOqgoSz4ard5dvPBNt97hVpQsp7pXSF0ggjuWprkwb7xTGQkH0BsriQnuaLKGyqEwL8IWb7BmnrToORv_ULPIbz1hEb_nx1addBSx1ivpuuSAteMGsIzhlcFwB0U6UHJxuTCGWO8s3rfpq9paFSeuFCmJF4m9aaF0MtyvcNBpvqMV7VYpJN6rnrJ3cua_IBtzspWCcJKYz9UKEa7nKzSS4Kw-KfyWarahAhf46UsZDCAYh8kCqnt0hTBPJzTkycckjnxFOQv4XHrfCd7yj5cjHHXH4GhkRhjKzgXzoP89LvSSmZ-XKTCrVFsS_Ky15_8VHTIgboo7Ebbn1oSwLsz_X-XOLoaNippo43tDyjb6Od0DdDr9trBPDXXyqRlAR6zRmBDcb9t6Nlj1LoMZtjghc_6Np6wN1cg8gh8vUVgcLPP6iR4qyUJAZNH5ibvGRGkerZV11XzMMhVViaEzEagd-JJ9pG0xHmKOWlSf_esA3rM9W6OmyAI6duUIY70Zvjtz6ghu7yn7xPTxH9eucN-jIRAsCijGEkGKQZe36Kahgq_rdbFJb7epH44EV6zXKFdZUFzAci-AhLOuuGMmf-LTLGyz0EOsG3ANTsKSI-wcCHIvYlafmTW3LMNQfDngH28BAyd8yvyP2H_LnO8segxhJMH0oWgaM0hs0SzbRWTuzvCyuX11QgQmEBkZl8W3ofhKia5FptuPf1TZrB8--tyJtZcHKLCUw34ATSc-YmLx5jjqLL03kD8FserNucIXeHtOxUb-FEEwYLRE0wAACCi_T4iS3rhX9sum4sHDJuHZCL56YMw1Gz4coE7FI0TPcUPdi_hrdb380kz4S82ELS0HmVTRC_NtKHQHcYmaAz1KbiP9RS2ew5rPfN95ITivyd8frAyiQM6olb_eRFr8xxXLoApYNbz-lAoiqysXQu9h7MHE5VgorUQW1NdoCGCqy_WhleglWQP5hnd9DAZu2ijo6Gqkb7fCyjp4iqSuVx5sOAVQQUmYrEh_SWL5CE5LEI6sJCFL5TzBIOXVNi9fpAauDlaRsVWAQQ7YSFTOJ9d0bucUeiMUf9syxFCYMoiihj1dIBFWRcAV91msgsYYIZaymGLyQvoPcoe0JZs7jQdRUZsrejWl6VpOUFg5KHpFLEw6ywSYELrCf9yOmXHGjQ0UH4M3DkTRKE2GglbN9rPJbX3kL9qY_-qbrzAqOUA4OlHlgQCR6q-4mc2OSbhb-h_wj0SQW6tf5JwDB-SNIG039mgQF4oThOZk3upUXKWpFGwUEUlgEL9jOMEPtawQ1jY0WB1cvL0zfcxdTOl1NLen70MWdffxFdxII7605r3TxCUJ_H2LdRpo9LE5X07eLAg07Qc6yxwLUJ45smecHWZb4jmXWUdoPhwvEwEG-HmXVWT2v1S9Wk150NfYtJmaFrQH5bj7MXcea1kBHdLl0MjZiZ1oxKvD7wfhRemOF1f9hWzgV2s9VSxonoOB6CFL-9V_7r7GYj4PvG8nz9JuNkE4JwQ4XrX3x1SEFCy9XtEHLBUkpBjz4XMClnRrEbDjfAG7YVS4vZs9-9dl2kgwrhtI2b6U4U1uvQEH2I8CgzgP5PMgiMVuvHKU6ZE9wQA7R61Z5j8kjCKxb7Xm41I8Z7J1R7j_YVmfeDeUasF2PjOUNst4ayG1KnV0mORd04zpGuuPxnQLZu7UwpVWdAbGnaKtzTMS_9dkJLqOGjWqfJJDfH9VoxS-AnzP-VoHLfd5Ow59goMgrNpH9ZMviggniSBNQvLoHXqPl2vRAVc5VNHz5RFsrtYGhOI_u9xNdoWFnwNpex3PS7UXuQA9XI_cSy8Lv1xflYJI3v1Tja2Til33Bb_SZqH6NgORVj-KZHdV8Z2yJsyR-UU-VWdZ_IkWMl0KHNtR_Aq1iqykOsVs2loj423nhzppSXaH2ZtehC2nrTW16lEU46LNlRcGotjJO7c7cWY2xs17KG8kcHl6YBCql2Ip7pykV9iv1WkQ5FHzj",
  "id": "rs_0ccb37c1594e58e4016ab4681a7d6887d0ab64048d4375d830",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.18,\"right_z\":0.18,\"right_yaw\":0.8},\"note\":\"The pen has risen with the right gripper and stays fixed relative to its fingertips. I’m moving it to a clear holding position so the left arm can pick up the cap without crowding it.\"}",
  "call_id": "call_5nFbuct1RPd5R4RdXDlZZpmj",
  "id": "fc_0ccb37c1594e58e4016ab468218e0887d0a6c80b724b69e9e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5nFbuct1RPd5R4RdXDlZZpmj",
  "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]: [-0.02, 0.8204, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.3336, 1.235, 0.7761, -0.1925, -0.3481, -0.2897, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1608 left_yaw=0.0009 left_pitch=-0.0839 left_roll=0.0011 left_gripper=0.9997 right_x=0.326 right_y=0.1805 right_z=0.1635 right_yaw=0.7692 right_pitch=-0.0463 right_roll=-0.0312 right_gripper=0.0557\nstate[joint_eff]: [-0.2667, -1.1419, 7.0359, 1.7509, -0.0757, -0.0317, -0.0171, -0.2803, -5.5863, 10.3726, 1.7314, -0.2418, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858b49d795a747deeb6a3d89e0d5346da131ae080c93d7c6799b28079a27b8a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3a14b5b5639f4bf4c60eaa224617c00cc4fd568891633ef3194e86593190f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a93b7868c94d44f6332afbada0db4e2a8e5ccbcf54b53bcd826af7a813972cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 6.289 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 40 changed as sent

message 44 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]: [-0.02, 0.8162, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.6418, 2.0186, 0.8253, 0.5781, -0.1444, -0.1349, 0.7977]\nstate[eef_state]: left_x=0.2877 left_y=0.0014 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0797 left_roll=0.001 left_gripper=0.9997 right_x=0.3675 right_y=0.3109 right_z=0.0032 right_yaw=0.8246 right_pitch=-0.0477 right_roll=-0.0297 right_gripper=0.7977\nstate[joint_eff]: [-0.2393, -1.5795, 6.9675, 1.663, -0.0269, -0.0513, -0.0171, -0.3761, -7.2274, 3.7675, 1.1111, -0.1685, 0.1734, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.4389, -0.02, -0.0257, 0.9997, 0.6418, 1.8545, 0.8677, 0.3824, -0.1539, -0.1394, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1609 left_yaw=0.0007 left_pitch=-0.0835 left_roll=0.0014 left_gripper=0.9997 right_x=0.3665 right_y=0.3122 right_z=0.0552 right_yaw=0.835 right_pitch=-0.0362 right_roll=-0.0301 right_gripper=0.0557\nstate[joint_eff]: [-0.3214, -1.4701, 7.2, 1.6484, -0.0611, -0.0366, -0.0073, -0.3487, -10.988, 7.788, 1.6581, -0.0708, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.3336, 1.235, 0.7761, -0.1925, -0.3481, -0.2897, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1608 left_yaw=0.0009 left_pitch=-0.0839 left_roll=0.0011 left_gripper=0.9997 right_x=0.326 right_y=0.1805 right_z=0.1635 right_yaw=0.7692 right_pitch=-0.0463 right_roll=-0.0312 right_gripper=0.0557\nstate[joint_eff]: [-0.2667, -1.1419, 7.0359, 1.7509, -0.0757, -0.0317, -0.0171, -0.2803, -5.5863, 10.3726, 1.7314, -0.2418, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858b49d795a747deeb6a3d89e0d5346da131ae080c93d7c6799b28079a27b8a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3a14b5b5639f4bf4c60eaa224617c00cc4fd568891633ef3194e86593190f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a93b7868c94d44f6332afbada0db4e2a8e5ccbcf54b53bcd826af7a813972cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.414,\"left_y\":-0.215,\"left_z\":0.115,\"left_yaw\":-0.75,\"left_gripper\":0.8},\"note\":\"The cap is still alone on the left half of the table. I’m approaching it with the left gripper aligned along its diagonal length, while the right arm holds the pen clear.\"}",
  "call_id": "call_EHaBACUMgrKigON03uJqLI8n",
  "id": "fc_0ccb37c1594e58e4016ab46826239887d0b48b9b8be16a4b81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EHaBACUMgrKigON03uJqLI8n",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.676, 0.9588, -0.0536, 0.2447, 0.178, 0.8007, 0.3294, 1.2373, 0.7765, -0.2111, -0.3523, -0.3035, 0.0557]\nstate[eef_state]: left_x=0.4002 left_y=-0.1987 left_z=0.0907 left_yaw=-0.689 left_pitch=-0.1709 left_roll=-0.031 left_gripper=0.8007 right_x=0.324 right_y=0.179 right_z=0.1596 right_yaw=0.7763 right_pitch=-0.0639 right_roll=-0.0313 right_gripper=0.0557\nstate[joint_eff]: [-0.3624, -8.1436, 9.1966, 1.9805, 0.4567, 0.1636, -0.0122, 0.2393, -4.6701, 6.8444, 1.8046, -0.1392, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41c47e28d867a08b29ad5372ed69d8a8ea472d67a77f416c3d5c7cffc6fa3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3559dad1c543866ca505e3be29c118bee258ae86d7614183055c1c9806872735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c364a80f8a51709a7290de3a559de4235c03206623af38588ecf5d97147b409c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 4.945 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 47 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4385, -0.0196, -0.0261, 0.9996, 0.6418, 2.0312, 0.8223, 0.617, -0.1505, -0.139, 0.0504]\nstate[eef_state]: left_x=0.2879 left_y=0.0013 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0816 left_roll=0.0008 left_gripper=0.9996 right_x=0.3692 right_y=0.3135 right_z=0.0043 right_yaw=0.8318 right_pitch=-0.0242 right_roll=-0.0341 right_gripper=0.0504\nstate[joint_eff]: [-0.1026, -1.4974, 7.2274, 1.7021, -0.0611, -0.0562, -0.0122, 0.0068, -10.5504, 5.4906, 1.3504, 0.0269, 0.0366, 1.3358]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.3336, 1.235, 0.7761, -0.1925, -0.3481, -0.2897, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1608 left_yaw=0.0009 left_pitch=-0.0839 left_roll=0.0011 left_gripper=0.9997 right_x=0.326 right_y=0.1805 right_z=0.1635 right_yaw=0.7692 right_pitch=-0.0463 right_roll=-0.0312 right_gripper=0.0557\nstate[joint_eff]: [-0.2667, -1.1419, 7.0359, 1.7509, -0.0757, -0.0317, -0.0171, -0.2803, -5.5863, 10.3726, 1.7314, -0.2418, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.676, 0.9588, -0.0536, 0.2447, 0.178, 0.8007, 0.3294, 1.2373, 0.7765, -0.2111, -0.3523, -0.3035, 0.0557]\nstate[eef_state]: left_x=0.4002 left_y=-0.1987 left_z=0.0907 left_yaw=-0.689 left_pitch=-0.1709 left_roll=-0.031 left_gripper=0.8007 right_x=0.324 right_y=0.179 right_z=0.1596 right_yaw=0.7763 right_pitch=-0.0639 right_roll=-0.0313 right_gripper=0.0557\nstate[joint_eff]: [-0.3624, -8.1436, 9.1966, 1.9805, 0.4567, 0.1636, -0.0122, 0.2393, -4.6701, 6.8444, 1.8046, -0.1392, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41c47e28d867a08b29ad5372ed69d8a8ea472d67a77f416c3d5c7cffc6fa3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3559dad1c543866ca505e3be29c118bee258ae86d7614183055c1c9806872735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c364a80f8a51709a7290de3a559de4235c03206623af38588ecf5d97147b409c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgvU3sJfMHuRiSzs2Gu2djjX_-7a0-Duy-pEpi0i5UDFOvZq8xINAp5EIyX-tl3_mZ68-xwk6Jlnv4R23uCewudKsbnCGU_GvvTGjDU1W2bra1b6BQrD39KTqzleElpWqGuu06iCT23nmM69AkwV00edPF9p8lNgX94WRYNqT8se34qZ4odQAyF1UEWe98nemqQg_7OvK-Zh7R10NBI78prRnm8CYTir9g2Zi7s4QnrGHy2hVth8c4BFc9Lz7Od0tTiLG4uiGz2vk4s0sL93-j4DuiI04YyOCx5Xc_jWrBN-Y3HpfTPTYv_5BQjcfFyUaYu6jmHsReaa4luqzChEbzAYcY-BTKX6bLTApdgaIsziUL9LaLZxFZZGvmO8qgXHLEuSHRGEIvcp3VeBgMyPELyqEgXk8lU_Gx_8ycTmvbtzR33af_-4N4MD6JngnJSf9HVhxngqy6GYyADitC1ZFk7Rugd6kxfu6VKza-RgqAwP2KIoA_Y7StVrJMVdDyjyKTlnjc4w1d2faInNlJQ2s9ecPmOEoDzHxJt5vcqHQPXIFAdlk90BRg3ZNKe-M2O0wnSC_sN9cht-RBwEwxagODBXn4Inc-uxxoOtG5kbJ36nxLvsqG2FJ7E1r19z6Z6nDN2dtV0WB7E-EB6U5M7yAUKT7T-WCT-Ad_gGBdij0UpLEbhxw-XWexkxEKLpytcDmRz-WVZiL49_WFZx1EGWV9usXzZ4NMnJiqGfCbq89VujdZhq3vQv8hstlzu4MqSrhfOm_zMervaxulhxJpRer4J9NJYJVB2kb4j1uRzpXB-RgyfwMV-r1TEHi7m9MrEjBWelcAOjwwj4G3GfgHMKK581oVrdMyME5J6E9iZP-dbvk_EVnYlS2St_OXaPz_Js3F5pDL7u5DLShE8jPUJc-8yl4Btuo53BqadENxmTrBuwhf6vqvuoJ_8V4e4KW1lo4rJuBIk-OfoJr3uBLlPbsuTa2sVYs6ZtUHR8kw5T_S1GfkuGpNwgcVdRPtHZRIs5NEVYuGR0fO7OoHL1OVGuv5YfW5P3e_vJ2j6KcjVCX2xhShdnW7Adycmpt5Zq-csW9fa_RqVYXbDQPIJ5qKXDDnKAe4t2tOP17ID6MK--qe48xROK5HxeVg00eELO2m3OdNC6l_uWKKZv2mHYYbbKmzkGyvMYrFlGF8Jl4PC3CAQL-rttgPYZ8Hiter4seNm4PexxVR-DijrAc5CZzXBOZXjsygu6kflM7eOjSTZUaCuEyZoPVHA9Lea9YROa54OfSYvTgB4k-d2UlzpVa5gh4dSm3P5q5V0DntryDMj1L4k9GeWpKetYj-CkgKQjpRboCekDBZTBwFCpGF69YpvdDj2D0C5bNII38gbjvswjqZtzIzHBEWTAy4G4tYCzmoIV06MylULEhNP6086Shap7OjwuM2xJ_VeezBgHvaK2XQZxWY8LLxF6p22bSldCy0CKHi9rYehowtZBKiHV__QCNG7pAEahTne1k2gynlcuZz14Ds7w9wnNGqDz58CJUYi62ZMV11-WpsrSw8tpTTIYJFvM_Lw6eApfWfqeFGkKqGyLe1HnfJ2981zwcQNJmTd0GpHno2l6CPjNlBYAXhzDRscLIB2A3j62ukCWELPX5eoa_tJPfP7mIWzY0RIyjy23m9n9SOXWTP_UQKwtP6lWExu5Fwy-N0S3eZm5kg1KqcfH11ExUO_Eq7FbTI0U4p9oe6vHnLFYLnmsI0M_DPnSMRCsWVWdsygvpmYxJ27haYEPmyjUliW0yS7zbIrpVLA2DZcUCQ8zVP6ToCfx6GSu2h51PZKLCadNvDNtnX3rE-IaBsj62VH5UHgdSIOpxuD0_I_isSLJQsNVPtaXKl90_l7CIxkT3VoQyNWpXgkVQ9fdaqjcPVnGyBioTOWtUoJDo-oN0HcVWKeamRIDDgKr6-DVlKM8hlrsNnWutz2SR9rGx_Qf1TfDu7DkvFV7VL5k6dUZKYF80NwrDBGu0LZ6ItEOpgA4gpj1p8r5Z1CTRWwxz4UQNPDDpegy7xVqr4xrkmVgFU-xSwCvgistI8Q49Z2-LGTj1nXrzG91eAocNAr7UZEvLXJcTkrowjrJdYXQWRRm02SbPo2lzNwkRK39bBtnynWAkmsxtAtAybKMPS1tlI=",
  "id": "rs_0ccb37c1594e58e4016ab4682ad5c487d0bc1c2c1fb9fb7383",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.427,\"left_y\":-0.195,\"left_z\":0.004,\"left_yaw\":-0.75},\"note\":\"The cap is visible near the left side of the left jaw opening. I’m correcting toward it and descending to table level, aiming to pinch its wider body rather than its narrow end.\"}",
  "call_id": "call_VKkpt5rxAO12DUd8LOoz4SP7",
  "id": "fc_0ccb37c1594e58e4016ab4682e472887d098afe17ad696f03a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VKkpt5rxAO12DUd8LOoz4SP7",
  "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]: [-0.3199, 1.9453, 0.9279, 0.1799, 0.2955, 0.239, 0.8006, 0.3294, 1.2373, 0.7765, -0.2249, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4183 left_y=-0.189 left_z=0.0033 left_yaw=-0.7163 left_pitch=-0.2197 left_roll=-0.0448 left_gripper=0.8006 right_x=0.3221 right_y=0.1782 right_z=0.157 right_yaw=0.7768 right_pitch=-0.0764 right_roll=-0.0262 right_gripper=0.0557\nstate[joint_eff]: [0.5675, -7.2547, 6.6393, 1.2723, 0.3004, 0.1343, -0.0269, -0.1983, -4.506, 6.9265, 1.8193, -0.1685, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e19828db24248277e79f255eaa514d470b8e8a1c77393529eb0c7684712806b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:896a76e5740eb6986c81172331957a641d3442a05a7e8213913a54bf9c65164b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da3401233feee3cd6b15f129bee33192c2d58a1363e836d2d0a74fd2ddbc7d1",
      "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 · 5.617 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 47 changed as sent

message 51 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.82, 0.6037, -0.4389, -0.02, -0.0257, 0.9997, 0.6418, 1.8545, 0.8677, 0.3824, -0.1539, -0.1394, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1609 left_yaw=0.0007 left_pitch=-0.0835 left_roll=0.0014 left_gripper=0.9997 right_x=0.3665 right_y=0.3122 right_z=0.0552 right_yaw=0.835 right_pitch=-0.0362 right_roll=-0.0301 right_gripper=0.0557\nstate[joint_eff]: [-0.3214, -1.4701, 7.2, 1.6484, -0.0611, -0.0366, -0.0073, -0.3487, -10.988, 7.788, 1.6581, -0.0708, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.676, 0.9588, -0.0536, 0.2447, 0.178, 0.8007, 0.3294, 1.2373, 0.7765, -0.2111, -0.3523, -0.3035, 0.0557]\nstate[eef_state]: left_x=0.4002 left_y=-0.1987 left_z=0.0907 left_yaw=-0.689 left_pitch=-0.1709 left_roll=-0.031 left_gripper=0.8007 right_x=0.324 right_y=0.179 right_z=0.1596 right_yaw=0.7763 right_pitch=-0.0639 right_roll=-0.0313 right_gripper=0.0557\nstate[joint_eff]: [-0.3624, -8.1436, 9.1966, 1.9805, 0.4567, 0.1636, -0.0122, 0.2393, -4.6701, 6.8444, 1.8046, -0.1392, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3199, 1.9453, 0.9279, 0.1799, 0.2955, 0.239, 0.8006, 0.3294, 1.2373, 0.7765, -0.2249, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4183 left_y=-0.189 left_z=0.0033 left_yaw=-0.7163 left_pitch=-0.2197 left_roll=-0.0448 left_gripper=0.8006 right_x=0.3221 right_y=0.1782 right_z=0.157 right_yaw=0.7768 right_pitch=-0.0764 right_roll=-0.0262 right_gripper=0.0557\nstate[joint_eff]: [0.5675, -7.2547, 6.6393, 1.2723, 0.3004, 0.1343, -0.0269, -0.1983, -4.506, 6.9265, 1.8193, -0.1685, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e19828db24248277e79f255eaa514d470b8e8a1c77393529eb0c7684712806b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:896a76e5740eb6986c81172331957a641d3442a05a7e8213913a54bf9c65164b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da3401233feee3cd6b15f129bee33192c2d58a1363e836d2d0a74fd2ddbc7d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGg1VVciheIe0Nl7Honef0SGvy5NI4ZSuiglXHemFced-Ats3O-N2_EXfjpkeBrN8Q_OU4lmpAh9_B1T_--Kel-PuNOgbVvk5qKJbpUw8cViC_Yvq2EpV9GHbNe527IiXEXcCbNM6m0g8pWOr6Z25QPIKOvWQ3ShH5h7yVjGBdmBgOTaT15gLupmyI4TNaiidUA0i8LhenW1ISLi51ruTqjfqmqdXTYBj6SbzST-K_a4zTCZP2kNHIDS4ZjDt8-x_Ysk1AxOL7hrSU4KNi4XwO9lafFieBGXfVwhJvGWVr4je-fLUO-XXcF0taIUHoVLLJ-xxIWMJIX51NjxSG-b-IBHrdopXGn3tlCu95MRDecZitjNygZ95AzFr6BfzZggfupbd3FqSUoeVf6RwiNXLnbLXJXFw6ioljuKSz4KtYtdzYTx9n1I5_lCOqM4VnDjwtDcmrRypwLXHrpa0ahZkamfNrPJN_GkS1JVaU5Hp1o3_VGiG0NvGqg1aFdfqO5PpvFM8jbZwiXcihjk5pomwbAw_-g7Bf_9s8W6CgLxaIRgvToOxr1uk0kapcKSmGUuZic4OqbCkkhSVIXem12zZ1hV2Ywp4_uvcMpCVCUlFH9_2uWXgJVde4TL8GWOLAOX6mCyz1vnVK6hXpx0dEU2oPyvFLbtQlFKGmQqDp0HU1T1EsNo7xSZDUbWka4cWTvQhVuKsozCaBHOVS30JITruuBFO59TlZAnJJKoSBvkr_snI5Z4Op-BJ1QkrqIVb4HozkIoDiA4-_GCTx0R7dgtXczeULZ5QEccQW08DzbNkyCTB8rutyVfPU2gjK5FBwaPFC6nGCyvqLxHg-C51671JkJzeck0r_67b-7SiY54YgoG5gEOf5pdSttqz0t3Oqv9BjrddPga9emXV2wlEhRQZ64XjLWvt-_XV4BFswblcyrJJ9NAHgnDeTHtGuAdIZWPY-42fHNZQgaq35SF0WzsNFYho0-rhbcP_XpjsceO0YfYc8sZAduSH4zq2RysLcxaXSU0N5Yv4gcWj6-T9GArfXQQpdFpYz6vH_JExbvsu56y1QXeOxfnAvl0prkkzUlm81IceywJ1ZB0BB6F20zwNxFTd1jHCxUVFhVwRkdVcqBqUfW4e3yNbnPVDV5ZPsGZnT10XmtvgHjP2FSu6Mh8QfVEs9Nz6wYL5gpLVakMX3WW0z9gAtqeiSRZVJaL_LfC767vF-BJ0XemT4OzBSLDJzdi9TKf-s9kWdxTPO3SpKMY6KKMYQDXabQHxnsG9xXtJQ-bdPpZB2DxIxVSMLAoryS-fMPMPNdm4qgmgb-LqM98l5Yz13RkRboXY8cg6PN-HdGbC7i1kOLHXrc0CpocxAz11B9MelhSEQD7MXn58JNaLlyr9gS_l1MSQn-3s4Q85aQ7eC7mFoIJGR1RpnZAQG9qK5rrZdfQqgIdxB15W2Tj1eQonQUHg6nsugW7IG2gtJZcdHQ_rqZ8A79tGxiElR7fheL7QG43NV_WQg_1k2crNTpah6qoT3ysZNGk3y0qDaf_LBD2fzBkaQAFR3Q1ELkCY31_zL17f-KGzjm1MOFG_QLyAk9pgSdv-Sw9OKcXxm33nqYp2jk45spvcg8pKDpsHw==",
  "id": "rs_0ccb37c1594e58e4016ab4683226c087d0852bb824db1a6408",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":-0.008},\"note\":\"The cap is now on the jaw centerline at the bottom of the wrist image. I’m settling the fingertips at table level and closing around it.\"}",
  "call_id": "call_AbJSwAaGSsoAbbPJPBhCkOAH",
  "id": "fc_0ccb37c1594e58e4016ab46833ab0487d0acbe84c30a4ff67b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AbJSwAaGSsoAbbPJPBhCkOAH",
  "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]: [-0.3145, 1.9652, 0.9249, 0.2291, 0.2924, 0.2367, 0.0078, 0.3294, 1.2373, 0.7765, -0.2306, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4247 left_y=-0.1879 left_z=0.0014 left_yaw=-0.705 left_pitch=-0.1963 left_roll=-0.0341 left_gripper=0.0078 right_x=0.3212 right_y=0.178 right_z=0.156 right_yaw=0.777 right_pitch=-0.0816 right_roll=-0.0237 right_gripper=0.0557\nstate[joint_eff]: [-0.6632, -8.4171, 4.6291, 1.5067, 0.149, 0.0366, 0.6569, -0.1299, -4.3829, 6.8171, 1.6337, -0.188, -0.0366, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2088f7f8968d6bae8117301eabbcf44bbc8bd1aa5e348523564ab2363648ae9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aff286f951dbddb282e0c5145db8eabb6ec180b989152e71fd2cafee0078d43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dee40af5f3e75a3eebbaa7d1174226baaa8357d58fd5a3f97aca0a49a790be3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.783 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 51 changed as sent

message 55 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8204, 0.6037, -0.4389, -0.02, -0.0261, 0.9997, 0.3336, 1.235, 0.7761, -0.1925, -0.3481, -0.2897, 0.0557]\nstate[eef_state]: left_x=0.2879 left_y=0.0014 left_z=0.1608 left_yaw=0.0009 left_pitch=-0.0839 left_roll=0.0011 left_gripper=0.9997 right_x=0.326 right_y=0.1805 right_z=0.1635 right_yaw=0.7692 right_pitch=-0.0463 right_roll=-0.0312 right_gripper=0.0557\nstate[joint_eff]: [-0.2667, -1.1419, 7.0359, 1.7509, -0.0757, -0.0317, -0.0171, -0.2803, -5.5863, 10.3726, 1.7314, -0.2418, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3199, 1.9453, 0.9279, 0.1799, 0.2955, 0.239, 0.8006, 0.3294, 1.2373, 0.7765, -0.2249, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4183 left_y=-0.189 left_z=0.0033 left_yaw=-0.7163 left_pitch=-0.2197 left_roll=-0.0448 left_gripper=0.8006 right_x=0.3221 right_y=0.1782 right_z=0.157 right_yaw=0.7768 right_pitch=-0.0764 right_roll=-0.0262 right_gripper=0.0557\nstate[joint_eff]: [0.5675, -7.2547, 6.6393, 1.2723, 0.3004, 0.1343, -0.0269, -0.1983, -4.506, 6.9265, 1.8193, -0.1685, -0.0024, 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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.9652, 0.9249, 0.2291, 0.2924, 0.2367, 0.0078, 0.3294, 1.2373, 0.7765, -0.2306, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4247 left_y=-0.1879 left_z=0.0014 left_yaw=-0.705 left_pitch=-0.1963 left_roll=-0.0341 left_gripper=0.0078 right_x=0.3212 right_y=0.178 right_z=0.156 right_yaw=0.777 right_pitch=-0.0816 right_roll=-0.0237 right_gripper=0.0557\nstate[joint_eff]: [-0.6632, -8.4171, 4.6291, 1.5067, 0.149, 0.0366, 0.6569, -0.1299, -4.3829, 6.8171, 1.6337, -0.188, -0.0366, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2088f7f8968d6bae8117301eabbcf44bbc8bd1aa5e348523564ab2363648ae9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aff286f951dbddb282e0c5145db8eabb6ec180b989152e71fd2cafee0078d43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dee40af5f3e75a3eebbaa7d1174226baaa8357d58fd5a3f97aca0a49a790be3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGg7nAkSCEEHFsM2yWEZxKXrJFO-STq5HaNc8GSEL_JcZskDMRevEoEuxabpFnLHM42GiUG46ilLlX3itXszNlOOsJVzcctD15GN9UriPfN7wlXDzIGfHrw2s6lU7qxrf2X3cRW4Vn7NjM7OikzE1y5sH-pIfn6NPomzyffSr-2BQVXcynTgtFmc75-E5KQr1stsEeO2Mj6BMv2ZKQAy50d7WBh0jY2M8HdrCcHGxjF_LGrPGgikGSfzLGqQKgSA1gW-1fsXe477SQeRxuM0uzd4iVwBDbtdsShvNzV9FPPS0ttLa4NITIksKZsrVbHsB0X_2xXzsd7RMTSdz95mSQyBSDAdcfbdOK8t9btZjioHDzX9ZsJmJvQqxg2egjJ0mbvRdSUMKuozInuML1uzHW_iWQFK9c1j9hLi0nVe4vjPw42iKREb3NbjBku-UiOfXfVd5Ro6Bq_CQIVJw-Je49zqUXkfEt_clwgn3ayCMSMM5bKSGkJUaqB9vGtIe7IkYUZzPJPOrK3xKALK_Hvd60u88B_BEjmlRrMgRc2MVmAe4GHq4dGW95V3lQ4MbWJzh6fip3N2QmOAG6YKRkLKFlXRr6MPoAMbnDV-VRpK7UipDlaGhE0gEUTAVex2O5h9igVrp4Y5hiAwwJyNBpcZ521EaMQfcQlBWIsZVcu5hpJUrgWMhJqzuegyPIpyEV8Wk7q1umdyeb3Ekxgso3W-20CnIctNHQRQRNWhKEYAU7nr3h83F2ZikLG-Ol5pjDu547LLgXpaGtXhLjbZtOYn5bznrawARUiWPh0DJvmU-3voA-hW2wvf5EZhLX9K79bVpNyVbmEeXJiJULSIj-eF-iEp4xU0z9cRKEqfv7bISqkNScB4-wiMySzB-OmBvzwuFTxy4vM0OJO_0KEkMyAA8vwSjsB9abVgUjP39x_7h8so1B1dCE_RKdIdNnIYuCBikuU2VPBpEKZaHhCKKnZ4nmLixZP2ylFU-AwikstXK0Ztk12DmuWmdYk2Qb8LukKVbD0syzNWUydnRh6h2ff4etrzo2VySJfJU4vCTrZu-_ATftTJ1b7EXjF8ULbyjcPOPklexD7mHbjLMdtKDPzF5XcK45O-wfVxbupSRpKeiWusSuIwOJRLCYqhv_VcJTEX3owUU0R9ynItwnElK5_PcsYoQYxqNDhdBqx4AeYlqfFiNoeq0okWE6n-C4hUf3UqxxV1vUEuBP4zubWaYzn1CPCCHOVsvw5uQD8OkI6_eT9Mfm5ReyDI3C5Rj0gHsJt_9EcabiRzO-Vokok8Wtp7-MOXcVMICMxQZA-2I06yrrSob8ggyOsiJLLxXV4XeUVb0XouY4SwoO19OD1V7gDVTUm_y2H9nlKKt07BbWgVz-xxHCSEbjf5A8V8U6t2-QBYNt1A3DVO5dKqaWcfVAAl1MnGdLvy1Kd98tROZY9Fr_GhMEZDg6NgqtVgLS37hprKPAtwtvtoywPBySxwU3RgXTG_73USCx-SFJnec4f_KbUI8T-Pfw9OOgNCnsv6rkRkoA37n7rkV4sn7q4QcBY8g43TQWss0aWrmqfLZMuzlPdat1QI2CUPcGOu0c8nBjBUwPg3nUfhXGDnEKkztk6N1pavdtbBUhcCk5XZ9GVn4gMnalzq9DX-Fix3l0I1LkZOr8XNhz81wHrHvwH63dPgC9sRpsdERHwk3u2F42_Q0WIVYUo1Qze-iKS--xpvJjw5_598xreaYynbTItLoledxkldNa0UPEwMVFCVT2vhJHbVzQRah3mxoh4TIM1ggYJ9kDouUgHiHUpjJYJfRKjIqmC5ZPy-wuuuQOY8kac8AZIDxdF4SE38YS5VvCZrncq3oQyfNDiIugFwNcgcOvdwVnlfn4HFeuVVAQrSmvJ3nRDd8afWTGyLMfRMcUZORdJNwEjkbDQ-NNNPavjyaUvGaJbzctJ4eIMfejH1GzebYEdVev0=",
  "id": "rs_0ccb37c1594e58e4016ab468382c4487d080d1a982e4c4a047",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.443,\"left_y\":-0.205,\"left_z\":0.035,\"left_gripper\":0.65,\"left_pitch\":0.15},\"note\":\"The left gripper closed empty, so the cap was not between the contact pads. I’m reopening and moving two centimeters along its length, with a slight lift and tilt correction before the retry.\"}",
  "call_id": "call_dhg4Ee6zcc6RJSG2z9t9kVnZ",
  "id": "fc_0ccb37c1594e58e4016ab4683a2e3887d09ff1e15e17ae5455",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dhg4Ee6zcc6RJSG2z9t9kVnZ",
  "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]: [-0.3134, 2.0098, 0.7956, 0.6964, 0.3534, 0.136, 0.6472, 0.3294, 1.2373, 0.7765, -0.2337, -0.3523, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4379 left_y=-0.2024 left_z=0.0258 left_yaw=-0.6932 left_pitch=0.0882 left_roll=-0.0408 left_gripper=0.6472 right_x=0.3208 right_y=0.1779 right_z=0.1554 right_yaw=0.7774 right_pitch=-0.0842 right_roll=-0.0221 right_gripper=0.0557\nstate[joint_eff]: [0.3897, -8.0205, 4.6154, 1.9609, 0.2759, 0.0317, -0.1148, -0.0205, -4.3419, 6.8991, 1.5995, -0.1832, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03da9cefc27d83f2f67cc89c2e038d8a772538443b8c780cb7a701537b7d394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a976a96afc57334e17be0d0eb3192bd140adbdab04cf73942716d8124a1554d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c5bb46b425d7763e73d4a17fec6f8fdd308ca58663f8646ef0c3031b3f2881",
      "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 · 2.88 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.676, 0.9588, -0.0536, 0.2447, 0.178, 0.8007, 0.3294, 1.2373, 0.7765, -0.2111, -0.3523, -0.3035, 0.0557]\nstate[eef_state]: left_x=0.4002 left_y=-0.1987 left_z=0.0907 left_yaw=-0.689 left_pitch=-0.1709 left_roll=-0.031 left_gripper=0.8007 right_x=0.324 right_y=0.179 right_z=0.1596 right_yaw=0.7763 right_pitch=-0.0639 right_roll=-0.0313 right_gripper=0.0557\nstate[joint_eff]: [-0.3624, -8.1436, 9.1966, 1.9805, 0.4567, 0.1636, -0.0122, 0.2393, -4.6701, 6.8444, 1.8046, -0.1392, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.9652, 0.9249, 0.2291, 0.2924, 0.2367, 0.0078, 0.3294, 1.2373, 0.7765, -0.2306, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4247 left_y=-0.1879 left_z=0.0014 left_yaw=-0.705 left_pitch=-0.1963 left_roll=-0.0341 left_gripper=0.0078 right_x=0.3212 right_y=0.178 right_z=0.156 right_yaw=0.777 right_pitch=-0.0816 right_roll=-0.0237 right_gripper=0.0557\nstate[joint_eff]: [-0.6632, -8.4171, 4.6291, 1.5067, 0.149, 0.0366, 0.6569, -0.1299, -4.3829, 6.8171, 1.6337, -0.188, -0.0366, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3134, 2.0098, 0.7956, 0.6964, 0.3534, 0.136, 0.6472, 0.3294, 1.2373, 0.7765, -0.2337, -0.3523, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4379 left_y=-0.2024 left_z=0.0258 left_yaw=-0.6932 left_pitch=0.0882 left_roll=-0.0408 left_gripper=0.6472 right_x=0.3208 right_y=0.1779 right_z=0.1554 right_yaw=0.7774 right_pitch=-0.0842 right_roll=-0.0221 right_gripper=0.0557\nstate[joint_eff]: [0.3897, -8.0205, 4.6154, 1.9609, 0.2759, 0.0317, -0.1148, -0.0205, -4.3419, 6.8991, 1.5995, -0.1832, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03da9cefc27d83f2f67cc89c2e038d8a772538443b8c780cb7a701537b7d394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a976a96afc57334e17be0d0eb3192bd140adbdab04cf73942716d8124a1554d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c5bb46b425d7763e73d4a17fec6f8fdd308ca58663f8646ef0c3031b3f2881",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGg_u1EyhX9DApaw9MR0xifgodllXkE2m0Ghl2iN3xEdDSUpB71F0y5D8XOaStvSFJ3NpQgclt2OKqPVqBaejJMlA8LX7jkub-rey28i4tSN0nHt_Oh1iCoEeb5oPzkUuxe84_Ej0rh67h5bTytrDfLQyF6CQACTd8yM6Cu_4MpJ_6N_nhUbtqd1K5uYimZuuXjNltGbZZ_TW-xpeUe8OxRYWIRNd3dvQM4aKQjrfu8F5tIhC4i1N9sM54O5qu9tyJBfoGnXAgff-csLebSq5xqUdIMfBB4YUpn9RiE69bY8bidYEbMxBms9Wb4GE86vYbi2YaHcJ9dF0lKi-GDimCBOPQDETxK_pzmTqZayj9D1bAjqbtFTPAVs4v7y7bZjk7TeWoLCAAatRVKTtqTcddlT5GpIGiPes-wS-sTSTKS50UF5VLkU3NrI0Me5o6wWX_Et17NhAiBe56atMo03GDNVJT1CQw0E9LF_5rRAqJ34Du9cbV4zpkLQl2gH4bjczmDkgRHqt27L6t_z7UDugZ7pXt98XExBqmskT4f5I4hafH2WGbRtu-vSQhPegMnfdu29BrI4H2rMwrzPTy-CFJwvDbiryO41IehNJCFjfVA9AIZXBRpkihI1_CMYfoxOrycKtlC3Qs7ajJBvEbFXYbQDK6RZtCXsmEqIBSPVJYaVllBw2wCt6-ifx0cuImYlB8VYVPvzXyBTqWYD7apnlYXXMLVlQKuc1zolArhahGUuJYum2bXWxH7JCxTcvVjvuSWY2pWkk18v-Ba_4HsgTZAqUudx1SPDmVBjgO92vPOTfNSjWyTn5rgJHnUWSMcN4ONLbPShZHcVXf2vC8-1qMVTVBvFINBGym1Rj7ZIGSr4nIa6jaXEnhMq14UPwM80Xhg-YGacHnGZuQNBmnd4uW-gEGbqPlZHrpqsI5V3nG6Ab_dSlmK1HnhSruYQjEVYem6KNRSpZyKQWfi_zWZ2SiGZE3PIwnZj3DQu3bAhB2xKFdRFlDzcF35tQNyn4HxNO3EQVo1WXiCDFOy5qG7rJktTUnbS6QA4FLZGnHz9aFcLNLaU7qH2xuMPbxXiWUs5I7x4oR1Ckvq8fw0056Zy5BXUPqTDkb0nWoKYfifsz5HZ8uRNM2tE7wSox1c6O-Mnd6licVTHZ7nkZyzK1bBk_grXBMDURpfmwyWNpRSHjkK47GImnqIm9sze9vANhVgYjJJG_OR-fA6OZoYNjLc8ei_oOifouTsJ3_IrA5lqxiFVE2A7Zy1IscWbQJ7mPL9UPULfXVcKy_n4vaxJtFgziqTojMNDwLRYkw5m915ARt1V-wxdXlYQuNJy_NqN1TUgbkXV",
  "id": "rs_0ccb37c1594e58e4016ab4683de6bc87d09f23dda915b48100",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.009},\"note\":\"The cap is now under the fingertip area and obscured from the wrist camera. I’m lowering vertically for the second grasp attempt without sweeping across the table.\"}",
  "call_id": "call_gDZ9Zdn1cQy1GZJBoA4wV6Dn",
  "id": "fc_0ccb37c1594e58e4016ab4683e8e9887d0bb63f067c7672959",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gDZ9Zdn1cQy1GZJBoA4wV6Dn",
  "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]: [-0.3145, 2.1166, 0.7902, 0.8314, 0.3515, 0.139, 0.648, 0.3294, 1.2373, 0.7765, -0.2352, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.441 left_y=-0.2037 left_z=0.0026 left_yaw=-0.6953 left_pitch=0.1091 left_roll=-0.0286 left_gripper=0.648 right_x=0.3206 right_y=0.1777 right_z=0.1552 right_yaw=0.7771 right_pitch=-0.0857 right_roll=-0.0217 right_gripper=0.0557\nstate[joint_eff]: [-0.1573, -8.2667, 4.1231, 0.7302, 0.0562, -0.1734, 0.0464, -0.0479, -4.3419, 7.0085, 1.5995, -0.149, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3d80e0cc842000502d6f8dd13bc9b033a93d023ed1ab40e6b2dd95ba900e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bdae61d355b2470108f680d00bbac455b74df2267ddf5cdd0ec08b8fe3cb88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29ba392e6b1578e4fa4b1a28fb915dd7e2a880642b5e5da198d475fdffdd5c3",
      "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 · 3.271 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3199, 1.9453, 0.9279, 0.1799, 0.2955, 0.239, 0.8006, 0.3294, 1.2373, 0.7765, -0.2249, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4183 left_y=-0.189 left_z=0.0033 left_yaw=-0.7163 left_pitch=-0.2197 left_roll=-0.0448 left_gripper=0.8006 right_x=0.3221 right_y=0.1782 right_z=0.157 right_yaw=0.7768 right_pitch=-0.0764 right_roll=-0.0262 right_gripper=0.0557\nstate[joint_eff]: [0.5675, -7.2547, 6.6393, 1.2723, 0.3004, 0.1343, -0.0269, -0.1983, -4.506, 6.9265, 1.8193, -0.1685, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3134, 2.0098, 0.7956, 0.6964, 0.3534, 0.136, 0.6472, 0.3294, 1.2373, 0.7765, -0.2337, -0.3523, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4379 left_y=-0.2024 left_z=0.0258 left_yaw=-0.6932 left_pitch=0.0882 left_roll=-0.0408 left_gripper=0.6472 right_x=0.3208 right_y=0.1779 right_z=0.1554 right_yaw=0.7774 right_pitch=-0.0842 right_roll=-0.0221 right_gripper=0.0557\nstate[joint_eff]: [0.3897, -8.0205, 4.6154, 1.9609, 0.2759, 0.0317, -0.1148, -0.0205, -4.3419, 6.8991, 1.5995, -0.1832, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 2.1166, 0.7902, 0.8314, 0.3515, 0.139, 0.648, 0.3294, 1.2373, 0.7765, -0.2352, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.441 left_y=-0.2037 left_z=0.0026 left_yaw=-0.6953 left_pitch=0.1091 left_roll=-0.0286 left_gripper=0.648 right_x=0.3206 right_y=0.1777 right_z=0.1552 right_yaw=0.7771 right_pitch=-0.0857 right_roll=-0.0217 right_gripper=0.0557\nstate[joint_eff]: [-0.1573, -8.2667, 4.1231, 0.7302, 0.0562, -0.1734, 0.0464, -0.0479, -4.3419, 7.0085, 1.5995, -0.149, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3d80e0cc842000502d6f8dd13bc9b033a93d023ed1ab40e6b2dd95ba900e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bdae61d355b2470108f680d00bbac455b74df2267ddf5cdd0ec08b8fe3cb88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29ba392e6b1578e4fa4b1a28fb915dd7e2a880642b5e5da198d475fdffdd5c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are at table level around the cap’s estimated position. I’m closing and checking whether the opening indicates that the cap was captured.\"}",
  "call_id": "call_Gx2ckkeFB75vpFxieTmTO9f1",
  "id": "fc_0ccb37c1594e58e4016ab468415a3487d0a1f03cec06548310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Gx2ckkeFB75vpFxieTmTO9f1",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3141, 2.1277, 0.7898, 0.8566, 0.3489, 0.1329, 0.0089, 0.3294, 1.2373, 0.7765, -0.2371, -0.3523, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.4427 left_y=-0.2036 left_z=0.0025 left_yaw=-0.69 left_pitch=0.1213 left_roll=-0.0279 left_gripper=0.0089 right_x=0.3203 right_y=0.1777 right_z=0.1548 right_yaw=0.7777 right_pitch=-0.0873 right_roll=-0.021 right_gripper=0.0557\nstate[joint_eff]: [0.0479, -8.5538, 3.9863, 1.5751, 0.1294, 0.0171, 0.652, -0.0068, -4.5333, 6.8308, 1.5751, -0.1929, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75137634bf9a8fd999426abe3cf39ba98fb649768fb93e658ed1f9fdffac8f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf09779d849daa97536f76131fd8d649f28ab7501f5156ee6ec911ebe07211c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a904cbd11c82dd4a5d5e238a343b5fb42748f6575d295d97ace3657c3b6a4c6",
      "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 · 9.785 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 66 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.9652, 0.9249, 0.2291, 0.2924, 0.2367, 0.0078, 0.3294, 1.2373, 0.7765, -0.2306, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4247 left_y=-0.1879 left_z=0.0014 left_yaw=-0.705 left_pitch=-0.1963 left_roll=-0.0341 left_gripper=0.0078 right_x=0.3212 right_y=0.178 right_z=0.156 right_yaw=0.777 right_pitch=-0.0816 right_roll=-0.0237 right_gripper=0.0557\nstate[joint_eff]: [-0.6632, -8.4171, 4.6291, 1.5067, 0.149, 0.0366, 0.6569, -0.1299, -4.3829, 6.8171, 1.6337, -0.188, -0.0366, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 2.1166, 0.7902, 0.8314, 0.3515, 0.139, 0.648, 0.3294, 1.2373, 0.7765, -0.2352, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.441 left_y=-0.2037 left_z=0.0026 left_yaw=-0.6953 left_pitch=0.1091 left_roll=-0.0286 left_gripper=0.648 right_x=0.3206 right_y=0.1777 right_z=0.1552 right_yaw=0.7771 right_pitch=-0.0857 right_roll=-0.0217 right_gripper=0.0557\nstate[joint_eff]: [-0.1573, -8.2667, 4.1231, 0.7302, 0.0562, -0.1734, 0.0464, -0.0479, -4.3419, 7.0085, 1.5995, -0.149, -0.0513, 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 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]: [-0.3141, 2.1277, 0.7898, 0.8566, 0.3489, 0.1329, 0.0089, 0.3294, 1.2373, 0.7765, -0.2371, -0.3523, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.4427 left_y=-0.2036 left_z=0.0025 left_yaw=-0.69 left_pitch=0.1213 left_roll=-0.0279 left_gripper=0.0089 right_x=0.3203 right_y=0.1777 right_z=0.1548 right_yaw=0.7777 right_pitch=-0.0873 right_roll=-0.021 right_gripper=0.0557\nstate[joint_eff]: [0.0479, -8.5538, 3.9863, 1.5751, 0.1294, 0.0171, 0.652, -0.0068, -4.5333, 6.8308, 1.5751, -0.1929, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75137634bf9a8fd999426abe3cf39ba98fb649768fb93e658ed1f9fdffac8f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf09779d849daa97536f76131fd8d649f28ab7501f5156ee6ec911ebe07211c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a904cbd11c82dd4a5d5e238a343b5fb42748f6575d295d97ace3657c3b6a4c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhGdDVP-H6LbRzniie26Hiw3pgZ4cOXo6kL43Zt_KcCB90vd6A4NXZR5KLN47dKk3upNsd9IK6hnUm6l2UVRA4edxKe7mbRSI4fwJqqIkNOuqXapGnm2bmmgnUTYbqDIdtlWWSA5CQvqZG14ys5QvQM0Af6HFfgb6YkbLrNsrkBR6RkuP4fWHws7VYbxpYBEcWYpp5UdO2KN3l_QByiS_YqFN4gD9y-HBDVA4aWSfcBRFIp715C8n9PBFkLAYRSduPQXIMJyac7mpT6osyla2UPO3vBDSKxili37PAFFKs-_K9c_WjD0CF78NRtc4rRxdiZ4TQwOOnGruhldyk8bRFoqafW9BUE0DCi5x1B3g4rBjEKTLynRI92YyrjHmQt4VHkJTxbctKYz1oHabockT5PBrk2vjqb5mb635_rHm5D4RJ8dHC5HDrXs6XBbZRVOjFyx5UieaPf4i3wBseBOm3NFjtiHA3hUTe9VIh_F_vPRYyFqH4FtJCi4rV-E5DNDQOBG6vuWiUgx6vju13dE2_Di4dDsYR9OCBsfRvMmjKCq9o15PEo9znAcGzy8TDImEosakoQ2BRIEjFV4qtdbqdoaKlkh7vawvBBTH2U20lMmEmdmc4URR9Zq_0NMq_jB50s7JAD7a2mLQu61sUlYEBE5chVrJ_tsCFBVdx2rvuo08Sy1w2HjBdK0iVPdB0aUIe5o83sWsigj3K5pO033tyu_e71tmbhdcOeyJigkndwZuOt8CC0vG31AtKUBZQQoZJzP7flGYcga0G_UFU7aqpuFMSmC61_UGANr238nr4MoBYMhQd402JPRRqQqXKb0-LQ4NgRz6KW21JqNcdMcPdlbn0AF8nDrf5HTa20FTeCZZrFw6ZEXvrQpxf2c00V2aYM5ubD3bwmxPR-V-oJe5lO8wOVDqFIe1Gtu9ftRcsG0olDb4qhk-SeuW0Kb4PU-OyJ4rWZTcFQW3XEdoIlaJtkkzYdPX07XilIarEVzKNL7FaFwbnDrrcZp6YkAmXBJQndF6i28cgPdlY4AR4DTIlGYgDnpo6pss2cTeZkj-zezg0vZqns_aEokc-5bLpkl-ehqaeLCXnazM68h3MYLd3o1BRF1FBBin-fJK4MFs3QUiPR6fmSXHMA0SGb_XZnO-wbRmbs53VHqhLz4eZjHf9h9j7mm9pQk06pXc4SNJDMRGsRKTLKakf2EkJ9ILVUl0OQqI_bHpzLeblXEJ0wq96xgZfZEQBuMXYyZLwz5pIJt3Ty7owyYaOJIS6Sq0qSYxqt",
  "id": "rs_0ccb37c1594e58e4016ab46844aa0c87d0b01b0ae125fd0282",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.04,\"left_z\":0.18,\"left_gripper\":0.8,\"left_pitch\":0,\"left_yaw\":0},\"note\":\"The second cap attempt also closed empty. I’m moving the left arm out of the way to locate the cap clearly from above rather than repeating the same estimate.\"}",
  "call_id": "call_4J905ByBQ6K2D7fdYOsQtv6O",
  "id": "fc_0ccb37c1594e58e4016ab46845321087d08d60dca0e3df4727",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4J905ByBQ6K2D7fdYOsQtv6O",
  "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]: [-0.2741, 0.8734, 0.5758, -0.242, -0.1699, -0.1593, 0.797, 0.3294, 1.2392, 0.7757, -0.2546, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3093 left_y=-0.0522 left_z=0.1746 left_yaw=-0.0553 left_pitch=0.0402 left_roll=-0.0394 left_gripper=0.797 right_x=0.3177 right_y=0.1767 right_z=0.1507 right_yaw=0.7783 right_pitch=-0.1056 right_roll=-0.0124 right_gripper=0.0557\nstate[joint_eff]: [0.7043, -1.7299, 9.7846, 1.7118, -0.1099, -0.1099, -0.1294, -0.1299, -4.4923, 6.8581, 1.8193, -0.1587, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a8b214227cebeea40dd0417fda281db70e61fdea818c14ad12627c1fb6f43f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0641259efbac1b87b44b0a20b07c15068435ea442f1ecbe6e6992dbd053b2da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb9d00e944e0e7e8196ad6fb4c48b1670ef3d93814b12f3612308cf8447f921",
      "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 · 4.091 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 66 changed as sent

message 70 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3134, 2.0098, 0.7956, 0.6964, 0.3534, 0.136, 0.6472, 0.3294, 1.2373, 0.7765, -0.2337, -0.3523, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.4379 left_y=-0.2024 left_z=0.0258 left_yaw=-0.6932 left_pitch=0.0882 left_roll=-0.0408 left_gripper=0.6472 right_x=0.3208 right_y=0.1779 right_z=0.1554 right_yaw=0.7774 right_pitch=-0.0842 right_roll=-0.0221 right_gripper=0.0557\nstate[joint_eff]: [0.3897, -8.0205, 4.6154, 1.9609, 0.2759, 0.0317, -0.1148, -0.0205, -4.3419, 6.8991, 1.5995, -0.1832, -0.0366, 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]: [-0.3141, 2.1277, 0.7898, 0.8566, 0.3489, 0.1329, 0.0089, 0.3294, 1.2373, 0.7765, -0.2371, -0.3523, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.4427 left_y=-0.2036 left_z=0.0025 left_yaw=-0.69 left_pitch=0.1213 left_roll=-0.0279 left_gripper=0.0089 right_x=0.3203 right_y=0.1777 right_z=0.1548 right_yaw=0.7777 right_pitch=-0.0873 right_roll=-0.021 right_gripper=0.0557\nstate[joint_eff]: [0.0479, -8.5538, 3.9863, 1.5751, 0.1294, 0.0171, 0.652, -0.0068, -4.5333, 6.8308, 1.5751, -0.1929, -0.0562, 1.033]",
      "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]: [-0.2741, 0.8734, 0.5758, -0.242, -0.1699, -0.1593, 0.797, 0.3294, 1.2392, 0.7757, -0.2546, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3093 left_y=-0.0522 left_z=0.1746 left_yaw=-0.0553 left_pitch=0.0402 left_roll=-0.0394 left_gripper=0.797 right_x=0.3177 right_y=0.1767 right_z=0.1507 right_yaw=0.7783 right_pitch=-0.1056 right_roll=-0.0124 right_gripper=0.0557\nstate[joint_eff]: [0.7043, -1.7299, 9.7846, 1.7118, -0.1099, -0.1099, -0.1294, -0.1299, -4.4923, 6.8581, 1.8193, -0.1587, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a8b214227cebeea40dd0417fda281db70e61fdea818c14ad12627c1fb6f43f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0641259efbac1b87b44b0a20b07c15068435ea442f1ecbe6e6992dbd053b2da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb9d00e944e0e7e8196ad6fb4c48b1670ef3d93814b12f3612308cf8447f921",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhR-9tjkn6XZgcA0H1gKLWLwUwOwVSrnKmlG15hgPFrU9NiTG9MXskmHDubV8HicEn6bzeZFTWoiTlnhj6eIDC1TET-AV2qo_5Ji7hXfxQcMoG-K_ZyhfQ3OdgjJ7cbCoJbT6Du3eB8ZO2UEOCGC4pFhZ7NTN_42mACaJ9i0XBq2pOEzwrmhc-OwPxkA0s6hlUavIDjZLlADoulhbN8h64D1Iu6f7hh1A87w_UHtyr-ED75BGgWQWGLLw2ntXp0QJs3HgDXm_LJ_X2NWYQkksDixrwWkptFR6ZoOhDSDATE1JtpxABMGoH8HiFJzV8Bs14lfowg0tkpDVtGTrCrd7Ey3vVsbre1j2kX5DeGc30Q0U-bErnRKwJBvG33iFnfxxqRcWCKqdJltm-VYfrlu5knE6C_N0YC7Fv2GJMTtgH-Sv_5tgZ6TisiOvSVoJKyFe2u7jk-n2ZPmH1AdAcv8xzey575YzGvoNNXCkFNi4zvqIaK8qXKLXJ8vW17AvVfSanWE8KGQf20DX2VFyJtJmq3j7Spz_iLcEzRpKNcLCgC2kA9Qu9U0WT-Nr49tAaqyfsrNJrFvqUf7Re-Y29owWyM0uduqXRxCEnU3ejFc6dBsMzWHFK1Q_beo03cG_QGhzRT5YpKYCNEwEhK6MwVTiCLXWCwTtLaO3mqAiYCTvZjNHmmtLjHus2DUNaDuFaugg0rAk2hAGdBTuyBHJoew9RJqhIj5tnL18j9Wtl3LNH-5UEmSlzMzXLvKljk-s1J5fUGTd62RjZE5qj4e8Iz-Dtr7wMYZb52lF-lSRYGj8Ikhqb1AugqlZrZajaqevR4rniv0f_816pY4QPyYxDpiYDP2pgTJfPVpyXdywWIeeq5dm4TYz5k_pI2YS0y5tIKx95oXN3vgkpzpj4VPODOcwLRxQwzZqfd_TIbWUZT3GkMTiPLjl5VOgUBNeI61sMUIgyI_O_mJcy-8yBl5KQZT0M7FGF_nvwKGwu6ROgu7XZ9IZWMeUq_7zYryJrBvK0cXBgX1qh2GChEbI9iMloNvKJbbk6p1Fu6Oxegu5UNvEAVTl8oL5aOv2SLAQ5vs3mJvXCVmj0FsraNa3zlkPx9RWNxph0vnuB4yDWDK4jDjywiHERJyQ2p15l7OsJsx2ZqeQup1T5AIRMJlUdovKc3y9f9bRJeWtiGP0sX9tAi3oKdXlPEXgMKnMXR4EjClB2M_hm-uIMGbQC8VNmu9pxrhMA8ONN1sxJVB6gKt0hfRv5pejcucOsmKO-_klOfvb_Z9kr0QBww10IbIast88ps0mt_AJduMAqbJS7lopoAr-6XlNmGCSQ0mUWLo8AVHSSVqT7IFxzsTI1gDxf2mUDQVX2lHZAmHUKbyRPp0UmOUQLhF2BP0ULnrBLUebjxdwzXCiRUrU0KnajfVK1tCeywh6AsiGqE9FgMd-1KaLwGYWPDzfQW6w2enRGJPWRFnnibYQl_LyiTowxQa90B87wVV4us6rmuboHFBaGzgcxtUY3yxaEU_XAt-8ngQ8wqhA3ETq6QIYUVZ_MXgnFgkNZvQADVZafRp2FZ8l1pmAC7GUlVgqseafUDGFEMx_L3accTPgGZc57IoZpy_SKbA9uy9lPLpjHyw4WOW-UJ06gZNWibtPP25fixZZWXCgNXzylMJfY3GHkB-P-fQaJ3Am3nmF_Fqc5PM9TMF7LQPTLKJP_LKCqm-P7894G77yHwESitv_khE1G3yjeNIrVwX3nvuve18ol3QQX_fdfsrW7-Jnh9ce_x8-e2wHH4Wzl5L3w_beul3SCIW8pYkukevtQi3KSnkY70hW9P9LLAu9-xczbJvAcj5M1spCnvB7-0aSNmQ1AbFmDzOC88aBEaAfxAn2SfWuyrkmuSCH1LGT7b0y5ZRVqOkn2WJJnIJ-KGVGgYhaeGQwXHaR1jaGIt2rIJ1uh08VGKKXR-_EqoBUQMOjCdsuLd0G7fzLgbxuuSIAdgsJ4WlRMemIeVkugVYPPSiLrELmVoX2sOrDjkLOEIxC4SnsUbZZ2e3YV3wTkZaLHgg79vQT4qSs6j50KGipu5WbKI5hwBLzo-a2VSm6ruBosH_1SwzWT9N-2H3gvCmDD5clrX3xFXCuj4cyi0C5K6n7f23dGVemlp3qyx1MhEx2GspeZXdoe188CfNubV9iTsAaGwvS1CnIUAABtlG7su6-c6H0TOkqTpuTWrGWnsPUOIfNGetHiiHwDTLhSZ-HRxiFziVr3pq9GUpW0kFiEAoAApM4PUuhf3hIhsh8Ygn_dnimEMOGuMS9ugSKO2mCn5hpBJd-hO4ctXe0BWx97YpUioDroDyd69RQmHNBIH_wM5y4ESgSLuMKcIXYhJ88qUZKrO6iao3LuHIt4R8gnYGtKLVWiNMomei0EIqKqd4FArSTsipyfGDt_PQuvSpPL_PBpZhtngbxOjacsRVW6ZPrBDks2_hh-3EBPB-UiTx4YQXUQtmeWptiO_xeveZ0yTdrsVYOsDfEnqof1B6eHS0CcTqtd-l9zfBQ7Qaga4gzlSZFNYk8dAqVr5G2mrklGVdCTwOTckl8lx4Ps8xrA-ut4Cx9u7dcOJ_nDDtvfmoYKw0Bs6OxQaioo9Ng5L7JH3YpHYGmzmoF_VZsccHHK3Wo_yw_biZiXzkmeGGj9PBHaKGtDuCkUlxLjXlE8rdRyDlldTPtC568xSPAIPSpzza9dnpMzsiHRR8myYSGf4J5lFo6xpYf8JEwMrFOQxeMVdHNkBzYM2Hh6VNAvf7FPUCbB09BpchBqXOz1EmEQcFsWG8PdLZuaUEw4DjikkWO6Uct8bvVBE3jwg2dGXjE1a95aN3WCHpMhsGO-FWEkP9vUeFY_UCKc-XOrojDBGXzcvnzT5AZPDb0WRJAAJGB78NwVjx_65yq3BmQJpt-E4qy9sMMWVIzC_hwhE3LChr_yACOCG7gxILpNN30YrzSMUq4FpoueZIRXNmhzvo_lCOVaC9sOP7TW0LcKZIMqK_eSNuRuyVG9pzvC_i14a6zlnzJyM33AI34QoRTc-Gv6LLe7xfKr_MyeuU8CC5boA3LZJh4CfO3XDU5dcPbBF5uwx0qj5CPzF0BaCUWKx1hMYF907MCDy5RmnnGbV4BuuZIQ6p9NzZ9nnFN-ez7x1ryUf135X7FQ_9DQHei7VYL2JuGqF13FM6dFBoiZVFnb8KMCg7SI6B04zxs_it7XKvxnUtJJ8hTr1IyQiA6BU_-YOSZEnHSiK9gu7TKFEqYaoCK5iqDciRIVCfU3hdMRlL-AsJm53cBC7ldA84y5wt7L_CThaGPRceV813fGsHGs5Uk-FnpM7IbuaeNYgbs1bNk4Xea7z8XCymNwsxHvl6M4c_YbFXbCgEcJcnK3XluIB1PK8MUBs-IbKExNEFMO7Qf3C0Xv_qVjCSwqeJTlpoyPREhm_6SX34yqVwTdHwNLrtsGviulSFigVWDqGP6CFKLw3GKZTeR-WYMx6jnhInzDjPKSPs8gqRv39Fk1DQMoZhbMRsISbR7dqhuCYxMS3fgWIyf3Zu3FOt4Y5OB5aek5TmERH5iQ=",
  "id": "rs_0ccb37c1594e58e4016ab46849236487d0a11175d6a035b050",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.18,\"left_z\":0.085,\"left_yaw\":0.65,\"left_gripper\":0.7},\"note\":\"The cap is visible again, now closer to the bases and rotated after sliding. I’m approaching this new position from above, matching its new diagonal orientation.\"}",
  "call_id": "call_KgUgLZ4IcteoBAMduKwsyu5A",
  "id": "fc_0ccb37c1594e58e4016ab46850818487d0a07b603ee3dd9b8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KgUgLZ4IcteoBAMduKwsyu5A",
  "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]: [-0.9554, 1.887, 1.1416, -0.7307, -0.9974, -1.4891, 0.7009, 0.3294, 1.2392, 0.7757, -0.2607, -0.3515, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3194 left_y=-0.1885 left_z=0.0758 left_yaw=0.5609 left_pitch=0.001 left_roll=-0.0155 left_gripper=0.7009 right_x=0.3168 right_y=0.1764 right_z=0.1496 right_yaw=0.7782 right_pitch=-0.1112 right_roll=-0.0099 right_gripper=0.0557\nstate[joint_eff]: [-0.294, -9.9077, 6.4479, -0.0513, -0.9011, -0.0562, 0.0317, -0.0752, -4.465, 6.8034, 1.6142, -0.1587, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af891bb41d83ef526a29a92c65d2b18596f6f5e8bb633483d9e501c3d5a8d773",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe735a0e30965fee806ee88a50adf270252c44611d457591875936969e71920",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c4acd80ad188fa3337faffd6d3e57fa39148ab59eedc7ac047dbfa9f321e22",
      "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 · 4.226 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 70 changed as sent

message 74 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 2.1166, 0.7902, 0.8314, 0.3515, 0.139, 0.648, 0.3294, 1.2373, 0.7765, -0.2352, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.441 left_y=-0.2037 left_z=0.0026 left_yaw=-0.6953 left_pitch=0.1091 left_roll=-0.0286 left_gripper=0.648 right_x=0.3206 right_y=0.1777 right_z=0.1552 right_yaw=0.7771 right_pitch=-0.0857 right_roll=-0.0217 right_gripper=0.0557\nstate[joint_eff]: [-0.1573, -8.2667, 4.1231, 0.7302, 0.0562, -0.1734, 0.0464, -0.0479, -4.3419, 7.0085, 1.5995, -0.149, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2741, 0.8734, 0.5758, -0.242, -0.1699, -0.1593, 0.797, 0.3294, 1.2392, 0.7757, -0.2546, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3093 left_y=-0.0522 left_z=0.1746 left_yaw=-0.0553 left_pitch=0.0402 left_roll=-0.0394 left_gripper=0.797 right_x=0.3177 right_y=0.1767 right_z=0.1507 right_yaw=0.7783 right_pitch=-0.1056 right_roll=-0.0124 right_gripper=0.0557\nstate[joint_eff]: [0.7043, -1.7299, 9.7846, 1.7118, -0.1099, -0.1099, -0.1294, -0.1299, -4.4923, 6.8581, 1.8193, -0.1587, -0.0464, 1.033]",
      "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]: [-0.9554, 1.887, 1.1416, -0.7307, -0.9974, -1.4891, 0.7009, 0.3294, 1.2392, 0.7757, -0.2607, -0.3515, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3194 left_y=-0.1885 left_z=0.0758 left_yaw=0.5609 left_pitch=0.001 left_roll=-0.0155 left_gripper=0.7009 right_x=0.3168 right_y=0.1764 right_z=0.1496 right_yaw=0.7782 right_pitch=-0.1112 right_roll=-0.0099 right_gripper=0.0557\nstate[joint_eff]: [-0.294, -9.9077, 6.4479, -0.0513, -0.9011, -0.0562, 0.0317, -0.0752, -4.465, 6.8034, 1.6142, -0.1587, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af891bb41d83ef526a29a92c65d2b18596f6f5e8bb633483d9e501c3d5a8d773",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe735a0e30965fee806ee88a50adf270252c44611d457591875936969e71920",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c4acd80ad188fa3337faffd6d3e57fa39148ab59eedc7ac047dbfa9f321e22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhWU75hVydHm7Jz6ZPebPxtNGkerosMbuNQsWUclG5yum1isax0g_2iVDRxgsTfEKnqzF3SKy0Wk9Oz7umD_zXOLjm4YEKTm2aj9iN95UM8FB-Dqd8JFzQinJqFFJvy8R88XYCdsYCHkbwMHn4_1i98lgggBm7SJ9O3v1SlQhP60P-JzdTLls4lNEHrhxgT5kD-gjGsc5TY9RyQWOnsJhJPi5MRImfcwfSscopN-hWjBWLGAcnZW67KUGBJExzofQ4XTrNuuAVijh0JykrbKTVY5TQIyRNxq_ooGLIotz7JElcPK0hYTEUbKTbtfw0KxM2OQoW2ffTKLoFwNSU_azIZvaz7Ifb-vsuLOqOQZc8MDiCIXwXMK7Qd0YAidua98UW9I7ud-AHTTfX54SCKuXeviMmnbuBMI3yyixsdsObcF4VdOlH6jsoGAK7HLkb8QGrLchj3RGYmFsBCe6LX1It3xw_NwdfGEDwwTG78WMW34Iyah9XgYy7VfWNaeyJ20gM5dr8q0d44YJd2P32Zo8H09RW7wM-BcGDjrWo43jKgpX-FTb4jsTNoIm4wJIdTaC_vFMRAr7KECGCNsxzKAmuw-1fs8pjmu3chldYNEMHkk1MvLlg763DFUGCw2Owvc8fBSkGg_ySyZ5E4xbo7ZSTpDM3SuBOViwXKJNinFcVEOkQv0FbTtrljIhON9pQR7m1RNo_ViM5jAP9Wcy5o63kE0OxdjTpUOu404LUtDK7Om-WS_aNpkjhXXhamQ3cJmiib_Z_rmHJSYTeZ-IjVYTxk867q6x1-6GomgHBf2pB8j1iUxCwpuGXYKCxbrhtRubnUYVDSXcHt9eDrmDX5XdniTMtTG5XlyXJkS9zW4NhztqRIeA2v9brTR7B3vt3W4HdO9WQ3tN1WJW7ZrVFdJIs-bJ2D-SgwWLckGh_NVwhtQHczQAIka3GKHpDPDpESrY0wdhiFBePDPem4v_sVF9-ki8e948BPQg3vP4ASEKhb8dj2gnQHraQsNcbhifCoRae-Hi-Ot1rAlKszDeO-0N74Zgl3Eed6EVXCStI0LH0fKdRVNrmTC8rWp1OqVIvj0h-7FUaAt4bm_Fypu77WXLBp0vLsO5tacNFxxI8WpmhDDcyYgsVyU9mHlOOAyhf_Z2dmOTAqp1sdLL4jQjO6HYixaIHTk8stJDkenhI2iqm0xKRtfghS4wKlhMvxMHGoQbPIPznl_Tc67VPPLQ4vYsDWFj83wYq-jIeK3XHOczl8_SXQYT0DXTkWwd-Y__LhDKly0Sq1f0X9fxKk_Enp6npI1HKbLCx5N0aZOMr68iB5qoDl9qnRAEQfRZzA0xJuT5Cck5SWjcI32SsZz_-Zgp2aG57x8Pp7bPI3ZjeQQWRFQjG8YLJevNSa-DNzXgP93RFaqXC5ufDzQrktXvubm6pta6UXHV4pghzJFT1Doj6BjMrwGFSATypl75lEiSYYC_nLVK28QAHjyu6UJdNxqdP0ianq7elZ-NRu_9-9jJVg7gtobSN5eHra5d2adGaP0wcK4cS0MY7hZUgqb6Yu8FPAfcRh4LWEWtkDu-rqRQMeGWI=",
  "id": "rs_0ccb37c1594e58e4016ab46854087c87d096e00a1814db1fd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.334,\"left_y\":-0.172,\"left_z\":-0.006,\"left_yaw\":0.65},\"note\":\"The cap is fully visible just left of the jaw center, with space below it. I’m advancing slightly along it, correcting the lateral offset, and lowering onto its wider section.\"}",
  "call_id": "call_h1E34Z46JfY5D6y1tmls3jok",
  "id": "fc_0ccb37c1594e58e4016ab468558d7087d0b75f1a8200843928",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h1E34Z46JfY5D6y1tmls3jok",
  "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]: [-0.8989, 2.0933, 1.0927, -0.5426, -0.9962, -1.5425, 0.7007, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3298 left_y=-0.1707 left_z=0.0011 left_yaw=0.6463 left_pitch=-0.0029 left_roll=0.0067 left_gripper=0.7007 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1135 right_roll=-0.0085 right_gripper=0.0557\nstate[joint_eff]: [0.4034, -9.0051, 4.041, 0.3199, -0.0562, 0.1636, -0.022, -0.1162, -4.4786, 7.0085, 1.5653, -0.1929, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96efaca7714f6f4c7e32c60a2c35857d20a21e2c11b0f10b28488322c08f5472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338b6efc27501fa63c0a8e7ebed5bc5aef0564afcca0b02737de05589cb94f39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd74add06e07c4dbccf32e4e6f5eb00976e05cc8b67660b49260492051d724f5",
      "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 · 5.65 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]: [-0.3141, 2.1277, 0.7898, 0.8566, 0.3489, 0.1329, 0.0089, 0.3294, 1.2373, 0.7765, -0.2371, -0.3523, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.4427 left_y=-0.2036 left_z=0.0025 left_yaw=-0.69 left_pitch=0.1213 left_roll=-0.0279 left_gripper=0.0089 right_x=0.3203 right_y=0.1777 right_z=0.1548 right_yaw=0.7777 right_pitch=-0.0873 right_roll=-0.021 right_gripper=0.0557\nstate[joint_eff]: [0.0479, -8.5538, 3.9863, 1.5751, 0.1294, 0.0171, 0.652, -0.0068, -4.5333, 6.8308, 1.5751, -0.1929, -0.0562, 1.033]",
      "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]: [-0.9554, 1.887, 1.1416, -0.7307, -0.9974, -1.4891, 0.7009, 0.3294, 1.2392, 0.7757, -0.2607, -0.3515, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3194 left_y=-0.1885 left_z=0.0758 left_yaw=0.5609 left_pitch=0.001 left_roll=-0.0155 left_gripper=0.7009 right_x=0.3168 right_y=0.1764 right_z=0.1496 right_yaw=0.7782 right_pitch=-0.1112 right_roll=-0.0099 right_gripper=0.0557\nstate[joint_eff]: [-0.294, -9.9077, 6.4479, -0.0513, -0.9011, -0.0562, 0.0317, -0.0752, -4.465, 6.8034, 1.6142, -0.1587, -0.0415, 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 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]: [-0.8989, 2.0933, 1.0927, -0.5426, -0.9962, -1.5425, 0.7007, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3298 left_y=-0.1707 left_z=0.0011 left_yaw=0.6463 left_pitch=-0.0029 left_roll=0.0067 left_gripper=0.7007 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1135 right_roll=-0.0085 right_gripper=0.0557\nstate[joint_eff]: [0.4034, -9.0051, 4.041, 0.3199, -0.0562, 0.1636, -0.022, -0.1162, -4.4786, 7.0085, 1.5653, -0.1929, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96efaca7714f6f4c7e32c60a2c35857d20a21e2c11b0f10b28488322c08f5472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338b6efc27501fa63c0a8e7ebed5bc5aef0564afcca0b02737de05589cb94f39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd74add06e07c4dbccf32e4e6f5eb00976e05cc8b67660b49260492051d724f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhbCip6djt0Lm5CD-FeTj-WDmlrqcQ4LaohTCf1tyefhEi_z2GGCI0av3wqOiLCWJmO2G-ZXs6Hq-aw-B3iI9CUr7yRpCf1gwyHIya8j2M_yQ0vQ9FMzYeuGmrFPVTWEOkNA1ewJ9E29pEtCrFAxbNkItnoggOQ19eosU0W4ooIpEoYcS_3n_JUV5HgTvUB2N1Cy8-P8ncCH9z9wd44bXg3ABKOl-2w76moBTgkiVu05Mb7lBZpmzxhV6oTVpQ_ZQjA1dqwqlGJdwJdCwuvLkFN0GDAHni2WewwPScR88hrY21WYdIpQJyD7CqcVqlEsCid3lv9ZjCTp8PYiJP-yzuoi0W9IuIs-CnjpLUXcfwXXUwG6nHeBO_SrCwXfLTiJvu9QSeonMMb3HTecYTiUIQMUqxl3wYyhsYNCQI1QduFtOZA7ZEwS7-d4WyLyKQ7i67mEbsTa5mgllWjN2L7TF4YpD6hvY3pDwg21SOJgzBfgINXLh4iHPDTG3ahQu9mpUc-z7A8k8dWXIc_IwhcSa_Lk2Prci3uJwvwi6WS0zH5eoyj0_zqSsQxV1kxhATU0iRj5CpM1Hs2K2dlqL530PM22ys4VrQ4McBWQTvjTHrR-fsrIX89UN4LWpXy9qokWOEGIG8NYmUcSlMKBxSqMwOM_6m8N1LEhjBl4DXGCFI2rVey78Ff1cLYzHjkWhMSkaZt2ioN9RaVLZlCi-79Ws2neh7ZQRCaCY-Gp51L-m8NIxWEhforKUJbfV32o6fahkuyhd4SsOykBKE-vKC--5hM0vuQ2WQSfsqgrds-VLFketAoQPlVyr0PikYLydbBvDF_jSvBdXd-5OQjjQ417VghJEQTubA0iHYGWOn39N5jt1Xubd1ojjQQu8nwPCD4-NyvviLLUGYcESIA8mIIbolyCma_lJw-5b5dN6A979WKy6FuDuU2TzsCDmmoOD-t2gm-dCyDNRQurJW-xf3JOoTu3ZvtXALUFJ60rzo8ZSr3k5uv3qRwH2c87fHY6S4pPINIUZ-C2kN5VItvgo9NHdbCcJatEj8tGy-iHk3riDGGj4gwaOIeIm6-6svzTmTQxZK83t2s_F1-qGAMEXjOJI-8MrZODqryoGzIDbWh7vNTGMvSd_9BEFqNfk64A_sUIX63Lum9-VAqe-vx3BwaVsxAoG2J9z4cMbctuM1oYqt4lQqVSeHRWLJp3uhWvgN_2K6cgshvyozZSk1mynnTBLc6vLQ43XdmfeGKvc5wLMMNb4HHbVFBDUakbvTudlpG3rPSv2tavSsPoQ7hHErtb9C4NfrRsN8IkYMdsu6ZeKFaWpt-9yQEna1sHvBTJs-rMc8eNJH_l_PFMUlSbEEoH5GX1aR_EvU1V_KNSHK_O9pAz_hooOJr9vbqGcOXlIDw8kdDU-G30mBgzNi0bD_mVRmLpUMqqud287dgM2sOQFOC7yEmUXiZQDhajLbtBJfgGNRWdNK5U2G3CBFw4uo4oPpHVU5miXU7n63uZYVERWi7ZqBrtUNYksFQKWtL5TA935xmbDMAkqS2KwGlUK3pQ-n3V68cuyGsBpPvU4_AAV3xDYrWhbjVcWoviRur89WUA8EzN0BwiYRi5KuK7afZa5PGwQQGrn-q0I6qDXScgBiCqvgBsQo0jYB0LmCDB5OjG8PtC97t_rItUKhOur1Gb9_x2g==",
  "id": "rs_0ccb37c1594e58e4016ab468589c8487d0aef0ed7c2eb1cd85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.149,\"left_z\":0.001},\"note\":\"At table height the cap’s wider end is still just ahead of the gripping pads and slightly left of center. I’m making a small final alignment so that wider end enters the gap before closing.\"}",
  "call_id": "call_dgU46oR1TBLchaJWfPluzodk",
  "id": "fc_0ccb37c1594e58e4016ab4685a942c87d0a7d15f98641ffdac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dgU46oR1TBLchaJWfPluzodk",
  "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]: [-0.8642, 2.0827, 1.0573, -0.453, -1.0119, -1.4818, 0.7008, 0.3294, 1.2392, 0.7757, -0.2638, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3391 left_y=-0.161 left_z=0.001 left_yaw=0.6495 left_pitch=0.0153 left_roll=-0.0062 left_gripper=0.7008 right_x=0.3163 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1139 right_roll=-0.0084 right_gripper=0.0557\nstate[joint_eff]: [1.9214, -10.5094, 3.6855, 0.4664, -0.315, 0.1832, -0.0073, -0.0342, -4.4786, 6.8034, 1.5556, -0.1636, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15620f228e5ee2b88737f2e89fa5d79db6532ecd357925c26c042cb5f5e6293b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b0b31297e9668616c5c0935a1248874e84d7c865887225404b3fae5ff1b270",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692f292ab0ddc3eaf7b7c0ac7ee7f822d64e6c5891e2d9cb4fe474e192b230e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.409 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]: [-0.2741, 0.8734, 0.5758, -0.242, -0.1699, -0.1593, 0.797, 0.3294, 1.2392, 0.7757, -0.2546, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3093 left_y=-0.0522 left_z=0.1746 left_yaw=-0.0553 left_pitch=0.0402 left_roll=-0.0394 left_gripper=0.797 right_x=0.3177 right_y=0.1767 right_z=0.1507 right_yaw=0.7783 right_pitch=-0.1056 right_roll=-0.0124 right_gripper=0.0557\nstate[joint_eff]: [0.7043, -1.7299, 9.7846, 1.7118, -0.1099, -0.1099, -0.1294, -0.1299, -4.4923, 6.8581, 1.8193, -0.1587, -0.0464, 1.033]",
      "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]: [-0.8989, 2.0933, 1.0927, -0.5426, -0.9962, -1.5425, 0.7007, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3298 left_y=-0.1707 left_z=0.0011 left_yaw=0.6463 left_pitch=-0.0029 left_roll=0.0067 left_gripper=0.7007 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1135 right_roll=-0.0085 right_gripper=0.0557\nstate[joint_eff]: [0.4034, -9.0051, 4.041, 0.3199, -0.0562, 0.1636, -0.022, -0.1162, -4.4786, 7.0085, 1.5653, -0.1929, -0.0464, 1.0232]",
      "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]: [-0.8642, 2.0827, 1.0573, -0.453, -1.0119, -1.4818, 0.7008, 0.3294, 1.2392, 0.7757, -0.2638, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3391 left_y=-0.161 left_z=0.001 left_yaw=0.6495 left_pitch=0.0153 left_roll=-0.0062 left_gripper=0.7008 right_x=0.3163 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1139 right_roll=-0.0084 right_gripper=0.0557\nstate[joint_eff]: [1.9214, -10.5094, 3.6855, 0.4664, -0.315, 0.1832, -0.0073, -0.0342, -4.4786, 6.8034, 1.5556, -0.1636, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15620f228e5ee2b88737f2e89fa5d79db6532ecd357925c26c042cb5f5e6293b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b0b31297e9668616c5c0935a1248874e84d7c865887225404b3fae5ff1b270",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692f292ab0ddc3eaf7b7c0ac7ee7f822d64e6c5891e2d9cb4fe474e192b230e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhhCbJFZAMm_TmzBSr_7ZLEAxX4QiEaNaxSodSi7EaorsibXMadwTwYdDNjFlOzWvB_YirceS7AKyas7zf0dqqconwKdmLOp6Xhp2VY18_VevxKoFqOzSy-luRQuOouS8M72v54bchcMR8c3Cxu5_J9HSOfREQpTb3x6mS6xaMtqEjfqo00mvaIsPiJtjH7nETUsxvYk7ms7pAK3dnjuuTysPv2iUpLDBVRxuKbDI0axDYgxq0qu8MIbacTYUhp66491Pp75PjeaK0-HB1ZHZnrrxD2WFnCeMweN4Qwif7RMK9qtKeg4DIy_qxMUXyg5DuNnnNOFM9UM0vCBj3gHOW94bONzmspGHGYBQUbDIs0W3VSkwTXxqeWKiX5e9PUjQfYrwsybmnZxRCvmVIh_ePxcAGby4BRpUAaAY-QUkoJp2UuN1QmpkVr0LuV5tGuvsz6YQLxzB21vAKNdctIwHc4swWKQavxSm0N0lMRMXEnlM8ZhDyuXsTVOXImfEyzgsrVE5Rn8V5X_koewf3BYOa_ijEB4b7ldX7MKK6jXCelXoQycjQ0OSY_jpFJhN3VBKM-Ev1JOsRj9Isp3GHzwNeKHfDHtJJfdsNyslzuOXQDZ9kQKuwdtZxfiqLJdIVN1NUXhhDlVmwLlerElBnqcdPRSdsfLldLDXUh9jENCvj6u_az3oXC7qqgXIQ_q-Y8ngYsMv8w3Ql8I6sR1BG_0WXCxvya9h5to8CvJbf_Od1qYi63ggRiyPLPgBhkVYrpIbfOIkrkPt1prNMh7FgjIEk9kSsZXlOkd54r3z16dSJ-D8IZCa7zz5UWlPmij6SrollET4dkxsrUuONMy3dO30apIZC3pgZdujRiFsXtnWS02S04_ydQS2jTM95p1NUok4IKPQhjfc70YCcJxmI4-i-QZ1BXdURZOeNxuR_CKFTK-Anf8mSPuP0HQFRgpotxIF90WhxmTFfrgZSBdNY54YB3Q06DJrH_l6f3XS-tWOahziEvky4RUs6C_uAbXJJeccgPi5m9oMNLJvjn_DFqcmtcI6MYkPXmQRsXoBbs5gdakmax3Un2nilx8mQ4fhZzg8P8WOnNNeiYp4Ys3rvI3DyC-AHxGZgZ0EBot39BxlF7gSUi7WnI8_DOumrRuKY94n5VHp32kzwjiJ0S1jdSAb8Wjfl1U_QljRizvJ3kWPbZcs9FwmIuqXDD9fGwOU_aQQRfiM_91WsSIpljtIG_SqTx2wafG6kf4KMI30AGCbTXS9nV2LPA-15TB8a8WAEb5laj4wXOiRD7HyHAXRknXNblQ1hZN6A2-5pJSu_UzgS3qugLw_7DtrIMNobLUuKMBtOO-u0IukFmBUfamM-zv5LyCiDxS1Wwy5Qdr1TaLq6k3fJCZwZZlzmCilg0wanukqqbPK32Md4_uhbwED_fBwvHWIgoPMStWK_LlGMqegllvUjF1M8TV_qQVSOXF5LrscoxYS3hjD5VYGp8SfUvg4rtyphSgMGrcsz_OcREpzNiFIMcgWXZljfW9NYfVEAwQ4WUV7sZM5XfMFdRPav1mDakcf3vAWP5VNrmM2ftwDKIjjcahJB1VtnAQVIAP9TxnR-AUqtxIfmPdpDAOqC09OZ-yMwdJfRrQw-85EV8cW9K1WYe096cCPiPpVl8o8j3w337B9BeFYKhPk_Azt8gkNRtfvml-9zn-8McHLYNjoceNA3g_6uEEexIUwLPXKa1KkWnlAX9Qrg1xyNOv6PNUs2FRyK797O9qrxlIAkxP5dwB1n3uo54ueV5mtxuXKq5SPF7vPZvGRESYPzmDR9v45hjK4YU4swwaBMgWerdfnOD3TUZRntgbaSedIIKVAu6Mfa2AxDemJRMKco2LADT2IEiURRxWXk-Nu7cIn3ugcZxnYjZsohl_E4b_TP-bZRiaROeQEtb2LXx2HjhFPtS-Qf3zBxPIzDWQugHIOrnPaed0oja6IZIA2EO0qOjMJUYd5Y0JyL-dvAf7mpLdt76FVrbvMRU2q_Q_RBXnxGuQ0JgCP3GuzGTY6xsDyDDFcWlVoisE26UUKrDlXTWUhhywWbT2oxwQBBm8sDMuadxM5NZGxk4jB70nzYNa9v5-kRtpy-Egs8zAEhN99Y4y7mvT7iFOp3xHhntzsUamgvVaB4nyLpB2XzH-2UNJUYWyAOhHg2G9C9NmQVUIpIZeAFLdh0qsWLNCi6w-jQ7gkHjl7MARNE=",
  "id": "rs_0ccb37c1594e58e4016ab4685d094c87d0aaa6ac1ea1aafe59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s wider body is inside the open jaw span at table height. I’m closing the left gripper to capture it.\"}",
  "call_id": "call_c6iyvAjey4Le5Tz68PwpwqMS",
  "id": "fc_0ccb37c1594e58e4016ab4686091ec87d0b1c652edf44b1020",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c6iyvAjey4Le5Tz68PwpwqMS",
  "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]: [-0.8684, 2.0747, 1.0405, -0.445, -1.0222, -1.483, 0.0449, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.159 left_z=0.002 left_yaw=0.6469 left_pitch=0.0255 left_roll=-0.0059 left_gripper=0.0449 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7785 right_pitch=-0.1135 right_roll=-0.0082 right_gripper=0.0557\nstate[joint_eff]: [0.253, -8.8137, 6.0923, 0.3199, -0.4567, -0.0171, 1.1795, -0.0479, -4.3556, 6.9128, 1.5849, -0.1538, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb37c17bd7dcc7e556f8d0b0963ad940731c700a9882958c662d5c7d4abb5029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45862be301b022756333363608143d08720c5bb569209f7c9967d9da8a377ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b8024c2b29f82e5615d34bd686ab3ed6bdcc68e1efff5251597cd81a29e483",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 21.2 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]: [-0.9554, 1.887, 1.1416, -0.7307, -0.9974, -1.4891, 0.7009, 0.3294, 1.2392, 0.7757, -0.2607, -0.3515, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3194 left_y=-0.1885 left_z=0.0758 left_yaw=0.5609 left_pitch=0.001 left_roll=-0.0155 left_gripper=0.7009 right_x=0.3168 right_y=0.1764 right_z=0.1496 right_yaw=0.7782 right_pitch=-0.1112 right_roll=-0.0099 right_gripper=0.0557\nstate[joint_eff]: [-0.294, -9.9077, 6.4479, -0.0513, -0.9011, -0.0562, 0.0317, -0.0752, -4.465, 6.8034, 1.6142, -0.1587, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8642, 2.0827, 1.0573, -0.453, -1.0119, -1.4818, 0.7008, 0.3294, 1.2392, 0.7757, -0.2638, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3391 left_y=-0.161 left_z=0.001 left_yaw=0.6495 left_pitch=0.0153 left_roll=-0.0062 left_gripper=0.7008 right_x=0.3163 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1139 right_roll=-0.0084 right_gripper=0.0557\nstate[joint_eff]: [1.9214, -10.5094, 3.6855, 0.4664, -0.315, 0.1832, -0.0073, -0.0342, -4.4786, 6.8034, 1.5556, -0.1636, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 2.0747, 1.0405, -0.445, -1.0222, -1.483, 0.0449, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.159 left_z=0.002 left_yaw=0.6469 left_pitch=0.0255 left_roll=-0.0059 left_gripper=0.0449 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7785 right_pitch=-0.1135 right_roll=-0.0082 right_gripper=0.0557\nstate[joint_eff]: [0.253, -8.8137, 6.0923, 0.3199, -0.4567, -0.0171, 1.1795, -0.0479, -4.3556, 6.9128, 1.5849, -0.1538, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb37c17bd7dcc7e556f8d0b0963ad940731c700a9882958c662d5c7d4abb5029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45862be301b022756333363608143d08720c5bb569209f7c9967d9da8a377ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b8024c2b29f82e5615d34bd686ab3ed6bdcc68e1efff5251597cd81a29e483",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhlJUaXNsr_j-h3DKljM6fPUnzS6fUEUYHAVr6lL2TBT9uZEVonPs0a4CVgXRY-Kap50RWq_maZeVBWRjwbtSI7FpaMso5Tbkd1EfS4o_uDb-6kIaSzVXCg-9_r22sr_Jj-9NHcY6GS0P_bGPRwCWinTUEh9jfQ6ZA2OPNIQ24d_HSaLzyH66SCQExkMD0E7qjr9U-pS7XksCjyFvc6mjX4GXwUjLkJD1J5XgP8D2Q7_yBaNDc5B4hmBbXcPyZVLkFy-wLyQVM9WQJ-YxblZvEOJoFD45Ruts7aVdTRgNSdXRaJ1PNatPMVaooxEv4jxTT_y4_LLaGmulrkbg_egW-FU7BOY8bQyi_zXmUPWa-1BztqrQklG_5nMglrt0cvPGT5ud1Q9dzaFSYJn9U7QeO4-Au4wQII-dBWYAMNGNCjCOBx_5bm6NpNu8tRBPgNUE7YOTr172IARMqV2Ic1l9f5Si8VN0QxaNpGisgRMQH_3HTmlUKnR3JvEHm1SEUjoFHv0TaqGGaMuYE5XC9vqQQ-1xYwnsk1DWenKr9uBL9AjYirUVD5bbpBRcaQXgHo42Sphx8lcc0ChJyHMesTAeSiFuhAKDAIS9PfpKMX2-bYtpD7IRF_5gn0rmDhXU_GNeqnFpw2yLYvSnXECFGRlgqdDdOPg25MLjf4jBPKJb9ygilZeLivo-Ymy1KI3RX3jRJbOChc8XDizbMaQm_xrI6v8xtprJAr_euSfeRpx1hhp3F-y_MHNwM9No0bcBuq7ZyZUm2PMmZBEztkCnaR8eZ8IGOdWK8dAymTIutPcnINGKJ_lB2h0Zo85cWBhMXTIB2KOxeLnpgyI70I7qA_xbqKbPg0DnITQ_0ShaXY4C3Wq38-LTY2DGTBbBrNFn1-Vx8SDjHPqGMoUx8i1jT3xwMCwFe3fLxlnRh1qETjvi6uZuUbsOMXnikpK7KWT1VtXbUDglqe3qCIYvfWFL51Byjy3rQnt-OiS1Xf_hD6_0rcRk-YNazXm4OxP053uyEvVWs5D4zBOsZWbb6ZT4FSSI9dcuHwmex_n88h6tO0_sFW9jFh0IzRWp5tHqcGpbcUtEHEFt6B_5z_7mYjzvYuWapUkUCdJvUR85IZvW4p_SV8s6gek64wioRTvyh3l7BdJ0VLB9ZTQ8i85hzhs8ot-AfoKPpHc7I-yadOJKKIGTClwtueWiaQxPf_sASwSHmgNFgQ8l5c5RPFCoy7JCx-l8yC7AVVnLioDuPgGmh8PdYtg2gVz6GRwZdfeIeJ3z1074U5HgtgDGORmpBoBrpyQEW_txuyh0Cy1nvetjTMBjyPGEMAzGufDRTzJMbX5BBg5cXvkD9OWHINVAzJPmIx5rZLGNtx4kADJzXM-hpJ-anXCEGNdopcq_B25nnLlrgUVY4LlBvy5V9P6VVAQF5vtXElBWZIGAGWQolLSFOENRaPhnrnnNtb62Lfa28lxK0CVkncu65XnhwcnmBfwqI7LDS-CA==",
  "id": "rs_0ccb37c1594e58e4016ab468639e8c87d0a6ca4c4d7c3d3034",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The left gripper stopped at a small but nonempty opening. I’m lifting the cap to verify that it is held before bringing it toward the pen.\"}",
  "call_id": "call_7JXyIZ4DnvmCN3TOmozNpBms",
  "id": "fc_0ccb37c1594e58e4016ab46864981087d0b7198574be12e7b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7JXyIZ4DnvmCN3TOmozNpBms",
  "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]: [-0.8684, 1.9373, 1.1091, -0.6472, -1.0142, -1.4841, 0.049, 0.3294, 1.2392, 0.7757, -0.2646, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.1602 left_z=0.0561 left_yaw=0.6468 left_pitch=0.0177 left_roll=-0.0111 left_gripper=0.049 right_x=0.3162 right_y=0.1762 right_z=0.1489 right_yaw=0.7787 right_pitch=-0.1146 right_roll=-0.008 right_gripper=0.0557\nstate[joint_eff]: [-0.335, -10.7692, 6.9265, 0.2515, -0.6471, 0.0073, 1.033, -0.0889, -4.4786, 6.8308, 1.6337, -0.1636, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8887d705e6db7b3dcd83a320cbe4e1f72f09f21600ac833ed98ba6daa3595add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce661168d1b41f10a6dc3e0b6b96b397258aad6ea8f435116bef8be060e8108",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71436a342bb5894b4dc5d2bcad722ee29ab5a438a470cb710084bb130ae2fe87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.204 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]: [-0.8989, 2.0933, 1.0927, -0.5426, -0.9962, -1.5425, 0.7007, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3298 left_y=-0.1707 left_z=0.0011 left_yaw=0.6463 left_pitch=-0.0029 left_roll=0.0067 left_gripper=0.7007 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1135 right_roll=-0.0085 right_gripper=0.0557\nstate[joint_eff]: [0.4034, -9.0051, 4.041, 0.3199, -0.0562, 0.1636, -0.022, -0.1162, -4.4786, 7.0085, 1.5653, -0.1929, -0.0464, 1.0232]",
      "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]: [-0.8684, 2.0747, 1.0405, -0.445, -1.0222, -1.483, 0.0449, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.159 left_z=0.002 left_yaw=0.6469 left_pitch=0.0255 left_roll=-0.0059 left_gripper=0.0449 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7785 right_pitch=-0.1135 right_roll=-0.0082 right_gripper=0.0557\nstate[joint_eff]: [0.253, -8.8137, 6.0923, 0.3199, -0.4567, -0.0171, 1.1795, -0.0479, -4.3556, 6.9128, 1.5849, -0.1538, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 1.9373, 1.1091, -0.6472, -1.0142, -1.4841, 0.049, 0.3294, 1.2392, 0.7757, -0.2646, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.1602 left_z=0.0561 left_yaw=0.6468 left_pitch=0.0177 left_roll=-0.0111 left_gripper=0.049 right_x=0.3162 right_y=0.1762 right_z=0.1489 right_yaw=0.7787 right_pitch=-0.1146 right_roll=-0.008 right_gripper=0.0557\nstate[joint_eff]: [-0.335, -10.7692, 6.9265, 0.2515, -0.6471, 0.0073, 1.033, -0.0889, -4.4786, 6.8308, 1.6337, -0.1636, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8887d705e6db7b3dcd83a320cbe4e1f72f09f21600ac833ed98ba6daa3595add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce661168d1b41f10a6dc3e0b6b96b397258aad6ea8f435116bef8be060e8108",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71436a342bb5894b4dc5d2bcad722ee29ab5a438a470cb710084bb130ae2fe87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGh7CEAFxnSYzky0gBt2dAsi9HN7oQHjrf_at1UIBo4ZJoGlSNzgAi71I8rBqYVffkynuiOI_2aqvqOLNFITx7SyM_L6iVfLQ3sIKZ0BoWNO5C04e8PLI8SaCvbwXLCeVV0okXaXZWzGc4hN4ZrIzWR43ln2BlCNfCO9wXP1IGZLCPhKztHcv_oxlsSGg2iTKf_TDyGvthxda9fogKpPWnn8gUYgQGJ11T5Qxw8Ji8WRRVqDBofm62rDG2ZCHRPYlaW-7DijOd3z4X_sgexB_GKfuGIZNkLtldD17o-7pXnbCk-FhPtmHXGOtJE78R6N2wqREF9l655OHPuoqBLizumbNJb70z04MZvuz6E4epn8ehcWJlBi1MmP9GTu7GUpbcr6HOlj2jjVCnLbST3g-rOuHNsAUNLBpcuMb_dVAhU31jxHZuNLTRfAYanszw4s580o9_ijoH4JLNuAVn1HJeSkYiyv5gY2UAQYmWWYz7QkpcwD31A5mqkurHXsTloAkRHwzMBEmk2JpETrS8g3jQ5rKPrVUAsW895555KihVkZ8jSA79dtvecjO81FeoHyh5sAcjx8Zfz7s50d24WW7dpBPXKopGllRdwatmSDUEbbhTDHHTPaQx9KvxMNJDNfYhitVwm2np5cf3MDkBv7je8uatrVPKpEA6yD4RXFlgxZZmLQMTuCktcXIhDbU2qrqre7F5QdpMA88pyC4vx3mYBTp1B_6xq2gZmVufY7VH7ofhxXKQad4Y3hKHaU4Y01EJm8K0pkXgTtp9XbEF6k6lvROLvNIretF-V6QN7C39CEzUeoxYIj7S8ftYHt53TT-2R6_KkEu8m-FZT2Mra01gSB9Ka_cW7sTX262qOOeTSb2yCW-RlJ_Oo3qmb3gf_pKDVRfqOgXY39Amwd85oB8nHUYJ0jc67NLyFTPedt8mKuD9MkWSCkl9X4LsoHIbqpdl1OftwLTCy750wiJIQ4X9PlUb9gWbi4oJBdFalXZrgalJFJWfgetGvdZE75Z5fa6frVT--0pIbCCrro0AjWgLMH5mhnNDtZklITQmUdbCkNkogj9AMufIQAfHMy2_LV-t6CxO_bcxXlbuLcAYy8hMdgQNLKi7AJIWJyACiOwtbB7kHvTOWWUr_F-9KMValwa2ZxMSPn54IzjixwsjJMM6uvDbj2dDbvvBywdfxezgYvAXQUpIqGyFQBg_sB4uxsWQIgvKucxT7Of69nejl5TOCKVvfX7sRONs-9SkAGJ0o4MjEzW4A4WoasEBgD6cVKTPkH-Y78n7AwYfvVsAz0DVtM-nAv0A_1D-rToM9UEvC9an2_CNwTNO929jgQh57pIHfwfA1G66jVvxiL-vNKgA2L7R5NP7fc1tG2DwH4O6wgp18pz4uQaz2qpU0JMji61XR7JS7seS1q5ZkRs9e3OMhWMUMix4312KpY5FuLbA8zcUCSHgoGcAEHMiqdzosIPzgmd_7XMKKzi0TB4H_NqaHbzuP8ed5tm-sZUK9lnunkVKH7-G5c5hGFGQLmZMfbjt1J9i1p-yMW2jfePwjFhYE4BXSrinL-yLhh3gwJjTzPk_D7gNvjXFFKWQDX7pOxcY-CozMykuvRBw1iw3tNVuYPXaSVSlAv6E9rA8SI2xARaRyrSSANFSLe0FYrYzapQ4ILmL1KM62xubdVId46O1DzIGvjgeLQ8TqGqjvM2Mu5w7ufGN9H78lKKFTmbScIjENmrPJdZAfdzAzVBNF15cBIYoDxP31pWuL6Bf_7ZfGXTxOk5_-HoCjagL0uZ0mLGg2EfAJMgU4zpC0lJFU-R29NCCdzDf_MTLO_1gKt6lOwjCjRX8mxQ4UlcgqwlUAXd-uMqSgip2ZeFm7d03UG5W2q7GqiiG6uWIJPwFzx4loxPbGRf9vXvFCkguIVVt1t79QbzxChe0R1SRmTIfDM08Rtf3c9dXps-PuZwXbTXs2EJAde4Z27lVYnWNLNeB0KMgcQW-0AZXh9KTQ30OxRIK-GJ83uiQGNDV2WPPl1binsb79fc7adomZhaFv4liZl9alzAWnyi2ZB8Lu_M4FuiYVOhQsK-MKC10zhtex0osFQphxJHx7PmT09lRfBtq6vJal1A8sPfJUXB1LuJdPsVLE-KgSguOi7BgNWUGZkmJvRHXT7t2XqPiXDAen5cTzHDzh1I2EOWKYx8NNqrngMU8h3hIjKbHoJmWUpT2qbPixlgrw7F8zt2wWzcXkUqe-ljTRw-4Kd5T-rcapKxGYYIJP1_d0YrRFMq1EF4UT7OdPCuMWYkfvtZyH5jYfxoykT8h8PMN7YWkmdRX54kGQ5Gj9q-sqgXGVXfU9nDD64Z5aA5N-UQvAMSgy5DbO7md9fohzbVowSxELiQ0CoyfI3uoybnPlxIry07c3cvz7yz7mg6dH1axlW4oxKgaw37NJS6mt47ArYDUXh7uZvf_uhCIp_ENgY2ZgeTx3tWAI83bgZe1HML3ifzK9OvI2FT2tjLn8FxquXG2U7FvunxIWSFgbssjdBT8QHt9gV7tun_xnnhI753MhpYeDYgnxXqtfHbfuQCpNTciXT07YrW2JTyHPg6h6YYToMWQPPkjURJIVfqc_F1XNOgC9oF7CwDtYPlReIEBpgh00rPNYq_MECvNLkyI2YTRasiyf7o5cdHF4wkDS208gokdHFiyfaqQzRW3U0FfHxRhOyYGtJo_7FoVsCajOtw2Un51CnsvmADchDgEhjTObFClA7hlTqyE3guT9TN1UOogv0HVfdX4Lbb1xxsxW9AOkGX9yCRYijCsAzCSBbE3g7Dc8FOAkB0_ss2ZR51GXauwE3hsybcaUSGQy2qroCu76blz5porSvNxsvbmxnFl1f-sfkcyR6OD3GChWqx65BC3OgboWHAaeQ7dwfpbhES8Gr8QCVBJcNrSCJVGr_StN0ZhyV1ZJD5952AYxlYeNSanHYcTxSH0j__ThUC5qn_ozQqfnGzHuYp6KNIAmNAlHbTaIQiTLjrDOUWWV_EMeNU1QOSKJkhM7xslC9hQbOdEPooWbyA3kcUeCHbPTharBulS3CPoEkYMKjVoGfdy6WNUMTXV1o3IUtZkCrzKKvA3B82w7esY83hv9jy7cnS81GQ3LELh0K_DFDQIEzolRn7CQ02YE7waYED3se9T5-5_wuHl-ww5B8_o-RIOe_32SjCoEn7gHG0_jBwsr2zsEOvk4v_DnmXJfX35oQFlFewPRlGB-ytAxsaHQUGjR2-7SWn71xkb3FPCSPemHeD_rHCFEB_DnaVhyuiguk76DfjCDKCP56KOQfYEUxFA2DwuFChO7nvR71ECh0hDjZDv-2ZBR4BmB5fcvnV-FrqMoFaKBM7ROukk-wiUyp4PpEZY6gIflfAaj5Kch4w9AX3N8TccSdNyOE5imRVXtslzVTGCRTEfrPj38h90vVbZ-Ra26CRBrJbClyZs_WtdcRzNv0EFCP26KBkkBYPM7uzcqT8aGJeFJu8XNOjaOrAC6iuuSXJzUFRbnNhbscwQFLIai3oC2luYv1keNzPR24ab-Dik5pkIT2qJcsUh1tU0jypkUx9T3opkAfdrU5md6M7CsxGTYqOUAfeZVGSDbDpq9yXQEBun8cKBAOjP3g8CfZ5FyGFp8Tu9H1HniTL77vZyXKydzNTltDPxbxfRZWqnbGq-1wqsDT3JzFXqM9MYkqkRwWsL9T5fRpgwWeugUNE2fzPIkKhEjI_AtcDOm0B68ft9r7Pk5P5-6TJlDBic-vIn8JAF-Xm_oitQMx8GwiNR5LfLdoBZB9aSRFFB-tkOIuJoGr1SxZrbDAIeZsxrxRoY7pceJEKykhHP8y_0WK-SYKj4fjAYJFkvo9OyCV8as-4f1DQgJoNXazXMPegRFjnl6BMxlDgypwhl2TjUGbrmTTPjYFslMh3PDhrwQLvnGy0DAdHqHCi-F26JDpmY3krrUCuGEXazVAiERicWTV",
  "id": "rs_0ccb37c1594e58e4016ab468672af487d091849bf31be9f5de",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGh7SInNPUP8qnbZWAjljevsQ-i8MZLNhZqQVzvQtSVoY29hfPl1BIySPYQu-frv9J5PlMI8aAhWCXqBBo6alsPe0wBUfKRg-7f4lMDQKUCzZodtyyMCeIm5SKb_4hORcMVnuiqg7OaPvHD5PD_Auoy765Vd90o-rkg0ks3Nydhx9IT_Q8Kq-YlfXvJDDLhyW0cR1GHEYO5zTMuiO0y03ZcqufcU_RwsipjVpt8qOopylx7ogzZxuXOECHmGqLHJKcUstENBZ98O0j3g3nXtxC4ixueJYTF6GM3P8M32DaDwdZWiAuEycF5tDBt0O0A8W7tbxKsJwzq9Z3gZhXTPlJbydJmDDEJybHfvZoi9BH2Hf8VU-ccbLBzq2Xkr3EZ8y-wTLAUM8rZuYSp_y2v-JdQewfnZd5Zmlmx9KGx3ap4prG5rIomsCCLgp80p9oRiP_udyKyGuLad_IP2AX3a2qZwKKJTN0646CChXcOj2b6FedENTcX6kpU4P8AKY3jKMlCi0aIlPjWCZ724qQhbDk_75vuiKw8loZY_PELB0u4EJQuiG4yh-BkVYTDLwrezZb5IXZkijSuc8Viw3JRyDFmimyQAuiF3-C4g9MxmrIeuO2q06v2F48bsAROdx0_IkCuUXNHh4ru5JpyW_Ge9gviFjecWajhLopNEhoDk4S-J2joC6kUKwKw6Uu7Ir6D_2rPD6iztDkbgaw8ZdUMSC-Uy-hh8Vs2b4ErSdXeE2TLf84GpdZ0pCp6ptZ9nYRPO-rgcpOePiBBVHpgpzvpgNV5wAhbPzqwfmua5NB7avoig1gcloQTveSJgLbj361cnsWgJZUOOoWmx2HLxYoGQbtcHZ2b_Dk1RDfHPaYjlcNku9V3DftUq5EgwWK16Kk8cB8ShM4s06C4bdxRd5bMaUivUsm4v6xFQ2Uy7EAGGKHwuGto8-j36ZCtHWZPbSvbN89DHkrjdi5bA_NBP2_KEcok6sanURhs3pe9onSt-K7PB4gBCBxsm5P4MaMNoiWdINcl74zHdP2IuLVf8fKIvTDk6HZsTuGuJETIgJr137xUbVYn36NIRcW4EQvZGtVGxeZzM5wvoFoU9VLMNpjFXb28-alMcEyaqteyoMqlAi5jB3nqEM6mkh5dlHc-ucDYxNvKxY80iGsty1-DJxryYNmjObfVcnLHi3ChP7CFft56vZ4zP4mOUQJdUsjfoOIYaEhhe7KrE2Bcf65hbKDMD_UWhX7QhRCmwKXyF6-sDGIQNTG21SFYvVzaQjIMpgE3zc8esrnEZ3xED-RdC6B_VrvjEY9Dco1pZa7O6vBRU_p9RO5e9XQUTNMyHZ10Sp53_1jWPJ6RJ9n0yjxlYEON4262Jqb5x1tMHctKTteKI3J5-AZZWSCdGJlKRVgsymTUUBTWiXySQDVSl16Y-LHrftMTQ2e3qPJsoYssEr18IOVuCKrBjhBPevp-h1gHShHnyV96cvuyIwMfIeq65IQu28HJ4HxfvjpABkCNGyDXR2_QtRVQNGQpRfVcg-i1wl0LPGmlrLRCkSGVAvCXqCpLN0eIBsSp5tYU7HABT1WLZv7bolp8c-3IsT-GWOrc5V8-su9eD6-qvMoevwEu9uOj4hov74mZx0yWHD16HvwzPP-KbYLVkqZahBrsBJ2qucWHSiB_tYWrVshM1SUBEhimauzASwiLtGNfPm00A0xs2GZinPFrVveIXwdQQ27oD5sNNzWL5_A4bR2TtR3b7kr9ya6L0CZXeQwTaBpVBArPNBXhSgPld8M5xi0KFPRnZFDMOLBueY1hgRWXHaczd8B9yKSvOeMmbD-ioqTy3Wdl5S63FDl_Pk0HpRY1gfPG_W1ez7obNDD4BmPExsXv9sO3STTOJgG2_-Iib2xgmXAyQucC2kk7rzzZhpTduPoCYGFRq7eE6k6CFVou6D6E6GWkrVMYKNpziX0qbheN0UDjMfGg7VZVzDZ8DRN5yT9VoWg14--KJ1CMhVIZtpYL1DuPKWAaZcFnzcRwplNV7U6hQCUxeBpqFiCm1p3qpRvd9xa9eN5Kgw53Evk1N1J8nifGjM12HyUkGm21XwvejNXnm2WK5drs6h5YAFeKCU1ZG0-AjfPnGwf9TdM7khtfYIGMKEchPdCYq3Qvq6mgS_RkfGKTPHmonx3_sfVCM5vib00mgvqIK89H48GKoK1OFN_z_wUTSGEOs4nZnIm-nu8Ot0G9inQ4ILajZFXVmmumSa8kU9F6wHID-oNtUTIL1O0CY9mhnFE6JtbhDDQ7xAO_h7bN4ayrGEUqiDaJxkcnTvkAr75MrT2RXO4g_3zlJzYSXunXPLuzV7DpIepAQsh8fwJYaSI2w5SUULKqcFXRB34Y9UoQ4fwKFWUk-oLiAk19N4uFB4g1gYG25UBLGlbcdPu3GUjp49mz0D4ghb78RF8RzzfngaGggu908CkIgv0_D3VZw5-Nmfvm80yMskARykfRm49ZqACC11BLx8MebALLa4rsJ9cd3nYXT1zKHyuR8J8DigZFxUYeQhMXbWq1_y5jiZKvrbNJEj-ZgW9TXXbEHgdrWq-HEVsdbMI5ZPUhUJaCR20o45Lf4GFegrCf0gpAK4p5FF9R_Jty_dV5ixh3HBwdrxLIsVzR5w7BhzM14DM4x-YIorwfU_ukFUASPTrVM4sIXtn0mDA0j37iSvS6aoXACfab2kG7ZpunmBWv0lomI2cf_TgjG4VMj9GYaMTtdoJhX-MTPWHrHqm5GqwM8A3UF2svh6Vv3OuczpA-yh2um2-eY2Kvi29r-eKG2P7WFeQ9_jVAXLjKS8Sveu1vgl4CVkvfoSaXBCs9gcNc16hcv6Y44S1KqLu_AWE_rGXgosmfK0M7ybXefiw98o5r_ey6NgRkoupDN1f-idNGHD-8iQUuTd4Z6qEez7efpQ1CAa-m64Jb5YoeL6fs8ZsSUBIWQ1mdgYjr4AWKHAOGHbrnRej9jeqE_m_GqT9rTNAIWWcZ17cIE7XmKp8-p-YtNUdhtGUO0KpFevfOevazQuUWWJGOWiIHHCrj8MWo5-KVmJwgCq9fkAlHRHrHgAfyiJJMXNV1LOVfkmAF_6rITlxUXFdwoIkWsl__ew25Tbf9YjrSl8NAKChWLgb3cRymgrm9x-s7vpscUD5Mb6G0eigNFNTOQg0qSY66pkbGXtKHRfXhP_zxkXvpfON9tj5vqwbBZEcVs5arkbSqKYeYx5VqSDHLvSOdChSiIL_B8j7PwZq4mCpAnHaEe-FEuETQfQeuV6r-o6cqkjkAJQF4U1Eh6fQaLP7XCaYXOt_mKqYnNlCcFMKkEY7IMte3URkQLReMq8ZD2ZS69SeC1ZTDneSk82XrDEo21IL5g-FVfPAaBdmg829uEcKBLXfYvJ5hWBzmhiuHhRUZEweJk77DK1pOSrCbT5tjdP6lfPIxNlZ8-7B1_bGu9rs9F95DTwHLcw3rbfYQo6tTo9y4CmP6Qonw-5X4ht86qqboqulnm4KJXkS7Y-QKLROg_juDABmYc9fOnWmDEUUqfnLbTRjDAR_3gqSSIe4f-3zcmFFH5NHcp5heDJaY5hEH8DQAxBRxd4Z8Sw3Lga8c57m0GqP9csfI1xdGMU9iqEZvORxc72g4htQMoCktVLfVcHy-P9rdqIJrBzZdy0dlzbcYUdIQdk_eQeaiWc6H9eaubjMYLekjMELz7xTvizhqt3l4CUNbK5LO-_UN1vcu6htDukT9nphb1vkvmK6DpKKaGhAAFwZitZeZ9ICprgWyevG6sKYOwIXdw",
  "id": "rs_0ccb37c1594e58e4016ab46870ff8887d0a2db758af786d4a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.26,\"left_z\":0.19,\"left_yaw\":0.8},\"note\":\"The cap has lifted with the left gripper, so both pieces are now held. I’m raising the cap to a clear assembly height and turning its axis to match the pen, keeping the grippers well separated.\"}",
  "call_id": "call_6yFCPrcWaYzAhVo1DJQjramL",
  "id": "fc_0ccb37c1594e58e4016ab46879cf8087d0affa2c3527627fa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6yFCPrcWaYzAhVo1DJQjramL",
  "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]: [-0.8421, 2.4157, 2.2875, -1.5047, -0.9878, -1.7012, 0.0547, 0.3271, 1.2388, 0.7757, -0.26, -0.342, -0.3008, 0.0557]\nstate[eef_state]: left_x=0.4173 left_y=-0.2407 left_z=0.1486 left_yaw=0.7897 left_pitch=-0.0105 left_roll=-0.0364 left_gripper=0.0547 right_x=0.3182 right_y=0.1743 right_z=0.1495 right_yaw=0.7661 right_pitch=-0.1129 right_roll=-0.0132 right_gripper=0.0557\nstate[joint_eff]: [0.5949, -13.4769, 8.4991, 0.0757, -0.7985, 0.1343, 1.0281, 0.3487, -4.465, 6.8444, 1.5214, -0.2955, -0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165a62180bb279ce2b7922d5698b091cdcf5fd2a478942e0643d9ee37841f962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390468812894e4e5e16a305a933759bf8a1095bd8ee35f0bd15929ebd5673820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1daa09d82401116db07d6795645d866a82378b789557c53526a3f3010f8a83b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 12.37 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 95 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8642, 2.0827, 1.0573, -0.453, -1.0119, -1.4818, 0.7008, 0.3294, 1.2392, 0.7757, -0.2638, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3391 left_y=-0.161 left_z=0.001 left_yaw=0.6495 left_pitch=0.0153 left_roll=-0.0062 left_gripper=0.7008 right_x=0.3163 right_y=0.1763 right_z=0.1491 right_yaw=0.7787 right_pitch=-0.1139 right_roll=-0.0084 right_gripper=0.0557\nstate[joint_eff]: [1.9214, -10.5094, 3.6855, 0.4664, -0.315, 0.1832, -0.0073, -0.0342, -4.4786, 6.8034, 1.5556, -0.1636, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 1.9373, 1.1091, -0.6472, -1.0142, -1.4841, 0.049, 0.3294, 1.2392, 0.7757, -0.2646, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.1602 left_z=0.0561 left_yaw=0.6468 left_pitch=0.0177 left_roll=-0.0111 left_gripper=0.049 right_x=0.3162 right_y=0.1762 right_z=0.1489 right_yaw=0.7787 right_pitch=-0.1146 right_roll=-0.008 right_gripper=0.0557\nstate[joint_eff]: [-0.335, -10.7692, 6.9265, 0.2515, -0.6471, 0.0073, 1.033, -0.0889, -4.4786, 6.8308, 1.6337, -0.1636, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8421, 2.4157, 2.2875, -1.5047, -0.9878, -1.7012, 0.0547, 0.3271, 1.2388, 0.7757, -0.26, -0.342, -0.3008, 0.0557]\nstate[eef_state]: left_x=0.4173 left_y=-0.2407 left_z=0.1486 left_yaw=0.7897 left_pitch=-0.0105 left_roll=-0.0364 left_gripper=0.0547 right_x=0.3182 right_y=0.1743 right_z=0.1495 right_yaw=0.7661 right_pitch=-0.1129 right_roll=-0.0132 right_gripper=0.0557\nstate[joint_eff]: [0.5949, -13.4769, 8.4991, 0.0757, -0.7985, 0.1343, 1.0281, 0.3487, -4.465, 6.8444, 1.5214, -0.2955, -0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165a62180bb279ce2b7922d5698b091cdcf5fd2a478942e0643d9ee37841f962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390468812894e4e5e16a305a933759bf8a1095bd8ee35f0bd15929ebd5673820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1daa09d82401116db07d6795645d866a82378b789557c53526a3f3010f8a83b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGiAjfHWv9pu3q3BzD8jcgLofdPYbQxeDgyk7-iMTVB_zEG1KYH4pkZN4_9ANogpA2UIJ9MwDOpf1xT4hG36SlPzebNQ9cbA-gDxMmpt7i5_cf6jZqVCnhyWz3Z2ktCn-SMJsFYqavVCoHEGbro1XT4FijX1Q92MaQu4tDJ-ExSYjWKugLeZEVNmm0HTRE91IhyLsXKjzAqkiWsCd78sLN-O8ZYNTgOeKhZ0-jtIoVmW1axnbVeQSoXDUszsV5wp8-gZAt6GoPb2a5E8S4MksWoREk40RPz-92316hYdS7Ru3v-V7-4QMGiqFOy5UdAfu1_USY_eQk7Sr1_GNgmZv-6oaTggPbaR5UCSwaKWVX6nel5m0ET-xgLSJxT9VSbjtxIg3MO_oeD670QorrGjKNQgqFJxcfI9rH7HS2nkOHDHCewsUzXyqvcqSD5ur4N7KSJJjJ74PVBIRTHJ3JDoBFQkrKdOeBnrOmmLMtZDhdWpoxJyfqmZ3zBM1EfBSB1D2AH5hDpqrTJ9vqieQtcml3IeQmWbxeAR4c0j4WVd1-LTfRoZtLOL9JqDyS6pV_VrzmNry2EZXwf1b4hikMqu2SQfO_VGEZGgRBEPsPgs9Ekp0ELhOb9bmT0OysU2yPE05ObiUv1RT2ufBXjCKWHrpxNl5iCGY22xaKEXnKnvTq7IV538DcJwCnC1LGMSxcDLWzsNkUj0EEYhCbPIEdDI-exgsdcCLJDSgzkWNZFQ_CODW8-bYe46gvcHKqsc4y2aR-Z9zHzifW4pEAc7T5wI5Flo3tlRZZKM3PgWNj7ZKjE8UvGqk9d3zFatpwvvxxQankzPD5raqDfHy5VyEEeQhTi_3UXaMUhXgU1VnGzUlRLxk3dUkkbWbnfosz0yOmNbgxcJj8MpVik5fknK_8IWbDQd4C0P4J8Wq-sr3o-v35VKwjtkrn6WL9v09KCQ2_xu9BGuF8nvSkrd_gwI2nmOAZWpfwRkdsL7D-vEcFlgWWthxlFmM1KVBE2WSEj-x7V3oaH-Jup5k7mz3vk6j5VlIhFiPu8J8YceYBpAaM__u2rDw87ACIcjICuagwG1DE25JU60Ym2djZDkZpuHHC-YwwrPwLyfLw3ouyodMiwENxPJy8yOou9-BUHEsdLQfbjyT_id93in_ZID--1j0LxIZYNB9r0k9kMPoelnxenGzqVNRGDjwD8H6Iinen8MgZUmAJ486RbZDEcsZ5cg6mcN_kRqGZjq_q1GrmFQT5xUMmNRgOf-XV2b91bHCfuQD5XVBtUHecbCAzGqwFauV4KrzLLtj_J8vA6zpPcGH-KQBJSrUKR0d3MEw_ZteJRCGM6pRqLoIc810BCQ2aMyMM45iyYDem1jr7YBWVJWvpF-TZsWTTDKVVIxjyyOxETs9R98URPh4zOFw2DGx5ImdbCzr19d4w8yAQorLGSJ0t21dHsSTEY0kk-NQSddPLaD6g3I7MWKAR9WrquVh4qQGJR24-ci2zMmzsGy7LUNRrkoB73i665amhneW4KClV3C5R9LDQ_zh5INOBvK3UO7vK9awHHxJMYLqk7OE_YG6TpeWUx2leLqJ1r2wSuPovIoryJ1jK2zMpL-YyN2K7UMrgmmmuFoUQ==",
  "id": "rs_0ccb37c1594e58e4016ab4687d54c487d0ac2d23d06d813a43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.265,\"right_z\":0.175,\"right_pitch\":0.08,\"right_yaw\":0.8},\"note\":\"The cap is held above and forward of the pen, and their long axes are nearly parallel. I’m bringing the pen inward toward the cap’s line while leaving a clear gap between the two grippers.\"}",
  "call_id": "call_kATNPEMX07MKULybLs77gBdE",
  "id": "fc_0ccb37c1594e58e4016ab4687efb6487d0a5a60b3e23a3eafb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kATNPEMX07MKULybLs77gBdE",
  "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]: [-0.7834, 2.4172, 2.2879, -1.5318, -0.9764, -1.7016, 0.0547, 0.5476, 1.3151, 0.7589, -0.0536, -0.1318, -0.0868, 0.0557]\nstate[eef_state]: left_x=0.4267 left_y=-0.2134 left_z=0.1467 left_yaw=0.85 left_pitch=-0.0201 left_roll=-0.0079 left_gripper=0.0547 right_x=0.3225 right_y=0.2281 right_z=0.1488 right_yaw=0.6942 right_pitch=-0.0437 right_roll=0.0018 right_gripper=0.0557\nstate[joint_eff]: [-4.8479, -13.053, 5.5179, 0.4029, -0.6374, -0.0464, 1.0281, 4.3692, -3.3436, 8.1983, 2.5714, -0.8474, -0.4957, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fcb5a425ee66d0877eae070be6952f2f83c5908ea7447198a4ad26398402f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e1da400473d74dbf0a2569d2df3b8fc400dded53b5a8377a81ee33924c5933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95bf1d59155fb4ed41dce0f12330650bd7a3228b2ed4d4ec919861df6f65dfb8",
      "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 · 13.08 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 95 changed as sent

message 99 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 2.0747, 1.0405, -0.445, -1.0222, -1.483, 0.0449, 0.3294, 1.2392, 0.7757, -0.2634, -0.3519, -0.3042, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.159 left_z=0.002 left_yaw=0.6469 left_pitch=0.0255 left_roll=-0.0059 left_gripper=0.0449 right_x=0.3164 right_y=0.1763 right_z=0.1491 right_yaw=0.7785 right_pitch=-0.1135 right_roll=-0.0082 right_gripper=0.0557\nstate[joint_eff]: [0.253, -8.8137, 6.0923, 0.3199, -0.4567, -0.0171, 1.1795, -0.0479, -4.3556, 6.9128, 1.5849, -0.1538, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8421, 2.4157, 2.2875, -1.5047, -0.9878, -1.7012, 0.0547, 0.3271, 1.2388, 0.7757, -0.26, -0.342, -0.3008, 0.0557]\nstate[eef_state]: left_x=0.4173 left_y=-0.2407 left_z=0.1486 left_yaw=0.7897 left_pitch=-0.0105 left_roll=-0.0364 left_gripper=0.0547 right_x=0.3182 right_y=0.1743 right_z=0.1495 right_yaw=0.7661 right_pitch=-0.1129 right_roll=-0.0132 right_gripper=0.0557\nstate[joint_eff]: [0.5949, -13.4769, 8.4991, 0.0757, -0.7985, 0.1343, 1.0281, 0.3487, -4.465, 6.8444, 1.5214, -0.2955, -0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7834, 2.4172, 2.2879, -1.5318, -0.9764, -1.7016, 0.0547, 0.5476, 1.3151, 0.7589, -0.0536, -0.1318, -0.0868, 0.0557]\nstate[eef_state]: left_x=0.4267 left_y=-0.2134 left_z=0.1467 left_yaw=0.85 left_pitch=-0.0201 left_roll=-0.0079 left_gripper=0.0547 right_x=0.3225 right_y=0.2281 right_z=0.1488 right_yaw=0.6942 right_pitch=-0.0437 right_roll=0.0018 right_gripper=0.0557\nstate[joint_eff]: [-4.8479, -13.053, 5.5179, 0.4029, -0.6374, -0.0464, 1.0281, 4.3692, -3.3436, 8.1983, 2.5714, -0.8474, -0.4957, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fcb5a425ee66d0877eae070be6952f2f83c5908ea7447198a4ad26398402f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e1da400473d74dbf0a2569d2df3b8fc400dded53b5a8377a81ee33924c5933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95bf1d59155fb4ed41dce0f12330650bd7a3228b2ed4d4ec919861df6f65dfb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGiMNaMKXLN2KLHYvmMSfPo_mWBCPN43VKyRP-6GhtLlwcI0h9fqDqZsu3jQyXV3CUC9zvGuT4R-cAIYb3c94h56X9ctWvohkGcDW0-2vZOzRioWwxnvRmr6830tFArOFuv3gVgRS8KqqAvKExVh2vCFGaK3L8RZZGsgJFFdwsaoFTJmu8qHPwG37Cr1XBj_s-WH3TD3ESOy6397pS5aa9cswFODQSEuDxtVWvXfwzQ_M2xlMAlPRmLALPVswVjtygPj4oj7Do-23L4e3sj9YuOfUsXwiPty8Z_aQtDAZEC5Co3ji5n2yXBznsGhn9VB4x_xRDmtGroP9LApS5gIDFPk7UzlNBjGnbh3XhbhhJ8dLP4CrmkTTD7dudQ-W4Uu9cS_oXbySTCAkohuqo9PrZck0kKk9nRlqkE0e5A9Zs_NSzoPgo8mcsT2X08U2ZjLLRXd45Vg2BfXsPWZQaYjoiX2JP-pTcjR9vTVXWIuVRQc2ZN87J8Kw_Y8_vTRjqp3g4b83PCZ9gf3fqglotNS8lQzmVTLf9V_H8gL4Xlebc_U3jo4FaFyMPl6HdSdY-i-38K1xXq4XuaxXKhMLLt_3PHjhRCfCVGk1SUUdPA5g0WG7J7tXYSPLELUDZWT-Svu1EYpcU7Bzm10EOh3WEF55PgViuqaKRdx558XN-zhRVUcO0PsSuKdUixkt4HjymqZMC4uUiIEsOmC-kKMBQoNSdgTyQpr5YMfw_nCUYeEagBOw-qTvWIn8hpHy1BhB9ldiLwQbHH_-u55vx83xD2ISQRzew0E44m_WggGLr0RE79eBC7EB6a9EHRuzhzbUK5J_RSrws1q9r8OKJ_uDOGrqUAoKd23a7V0rvTmZgHSKd5XtJFLhYIgEPzr-yHtxkVsbZBfUv7Xx0XoHe7rl8fRov83OhpDWlgrSRnovutFcFxTPgt3XXThIuYqGj6Dlt4xx4g6p5dh4vnIrMkj6NyqpyAKmsfkSTLqNZ1ou8ZeXIXNcMlUIn5ulTthG3hHxaorDJwhNZF-eV-_h_BXW61-WdAnP5kMaC96w8Nc8A_ewNZY3VjlhkpeK8N7tUjEnyphsj2i4Us6coCvwXjHecWYUM_Zuq6gZ7knl7PHOSwp9BixPxwMt1ETlf-OBtWhvP-jBixVygcuewuUHNW3GQ29GroMh67QLgCJAGZZhgscx8xOcZCTQl3VHgjIO4MFyBnx1GKdYtqYjMs1KeCSrFAmxPqzRDuVjEuzWNJKB-YBKvoQ_6XFeDBTNmeA6Mme1SSCC2aPqUP5taRsUX4Mr_Ck-k4bzfyYowDSzi5IY68vRIiG4s6ttRDSfQMC0VNlEC64LyPIFaL1aPRNg5uhv-qHDga9qXN2rAtNCRhDXLrVZZ1RZ8mFFPcCj8T29spmS8LagJhjXKDhmcZoaSl5dPCuaFNO7qge8XXjRlx2AxBuXpTWffdC_CJpQy4AxnMnGn-N95ydzFu12miDfIo8w6gMvhCe6HLx-8vkMUz3HFxyqNEUYIk458fJ3_PZeeJOADaajJO6bHgUuG-0uxa4i5g-l6BmLb0GWl-u4Ffp-ilQzWylpbw8b2F93yk1YBcAMIqHW12P7qzVpcxr2s1DGPuw48tRpJ_9iVlTxEoRyGcO1Z_CM9qS-xUwj1aeePPxOUPlz57SDioZLWJ6eCtSd7Qg5bRpoC0KR4jrH4CwK45D07TYl4b4dgD_QuDO3ZWlvOMd0C7b1sMn1wcw9hbyfEIAzTRPtazTDwFIWHUScPE6ufSIvBYR7u3_8anPfA1H1hu4mnb5cOOdGrY_O_upZ72a_Tj29B0AgM6DaYa7IuI3SW-RgBk40uct0SVveFsGSndGf8djT9XRDN7dKJzDr4qTR2UGvfGFm_zXtLyu3wfql26KEXvjH6JqftVXIfmQ4CrZovjJZ3GEonISEUoj2b1pe4XnZ0S29g6zxxJEhVfBydPa-fBIEecvt4M4BeLnrS8B3Ug9-IzjrOaoVMYiybHrxwgxuP84ZlzKA1pNaKvU6zKlLGjttSchTBxgBt58WqLwgLXKn_EqHnabznh3xSmNetC9veI02iULwTfqKxdMT2pLR8YBVrLr4iGIg8QXmze2aCruHTt9VeaGBsILnWz5J0CFCaz8lUGfEPV81NS2GlU1Hu79xVq0yMXtkNPZZ-E9-_J_cO6Aa0k83JLXf5WBQfwWJibT5lRrTcJgalBuziDB3a4EA8lg7WTo88rI5k6Xy3vn0xVmlsNNWStztYbYboNV2oLr0Ft94ychT-3LTSciTOBO32JL-xmdJd02-11EeuiiTvpAy7_UMIXogmQGIySeIB48xO9_l0QUnOM3B-2quUAafabup3hv3PK3cPUZOPKH0JHJCIkzCE7skiheWYyXQ1cb56SjQVYA6rHXYnJuM4U38Y833Ao3G7JaklaKDZ_bIlWkr9YXtgMcPx72J7XFJsfTQoGzlyRCNCxdSRbZu6E0IGAH777KAIgIY5MDNb4BJ_QCUMkH2S9SonJzo9fWVXMu_HQYPgFcg1XUXTfx8uTrmmmsekv-1s3Kc5Nat9IrfSn3NOZkWXIB71sF97EsXVHOy66EwpdU1RlNbLvxQ0makdqXjshj36lkGIaT6xyQxWBq13D0PQfEwGYWyHa-cuCf2Yr371jlMUvsEKGBFa4rIJlHtpKlM5QAEpN5XxMXYpTdFHMwQNbA0Oz_KDIW2b9ytvlm6zunCTEhNNUdWYmFIbv30J5iPePHX1aiz1z7jeAWE6fPVMHH8mBtu3Fz9ek5bZXwkGKpcxqMxMElkXsntu8ggIgwJ6MnISMGyNfWqgUFrzxsR8BYM6kwGSvkteMTIpBRvYuwLdqJpvaa5T4tD7AQy4jAGhbCdFz1vVfMo2BtQUN0m5TvLz2Si1IlyFZA7xO9K_lIvGFdXAo1eMiH6Zf3FfmJENYzUonUeQIM5Vwm2lFYeYk6kSc7m6Bctm1YC0wmMqOs2vhpDhiaNefR_ojUj_DCx5ui8veioN8gNd_aFVfmbuVhhOe7qtNqr_IE5IdXpENgcrRTxuIMV_N8t_1mBG3f3GcGTYTKOdETRgZRa6apyi6MN6GwfzBsi7-LMlxCcT_cw27zqmbsBsMBmOKOdlcfeKXhBunnzr5DvKu-6As3JWf-4nGW6ru54vXTqfo8fdMLgAXnawBLXclOTAR3SRyNyggBLz6PCI65phWUCetesvuDoMYhlmDkCMmj60yhw5SEN7v48de7mLry5EKwghSL_5Qbs2n9btGGuOKvPhOpHXKZHjkrYhxr1CCeo7IkHcZynOW-8MXwLGo6SmwERjA7B2kRj8AM64rE3zaA1pMP6F3t7LFQy2spcd9FvpfC_qCNwp5WdJc4sGrqU5Nhw_3i25GW2unbGkHUPu8q3RmNvaF-aJigCFTiwJezWq8p6n4RTGEqLmV8YW5uzGe7CAk-Fpod7oOfYJSIHxArEzYu9eDUeJB_FXuaSEx8oW85XkSyj8Q8_ihetfiHhkfWc2FPk7ChtFogMcRCbacgAVScgtsh61t8fqocAeLANCzPXEt4mrjPD3WLMoDTfnaujWOYqplbfEr-2fw2f4fsSYDNbLRZo8HnHBPS9jBtFhW5GwkQ2FRU07cWG-3-gLeeRKTuEE_g4ei_LpK4E1y80IR0NtAwuEoatzru97qYMZ8685ZMdh7Znce6Wi4zLMOOFImBJecr1KcGfrF3DZ8Lw0nFGjJwcALLFl12Ek-TFlOd5E1hBe6MmXf5-E0=",
  "id": "rs_0ccb37c1594e58e4016ab4688270e887d095ba8ad1785f5239",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.16,\"right_z\":0.22},\"note\":\"The arm bodies crowded each other before the pen reached the cap, and the position readings show resistance. I’m backing the pen away immediately to restore clearance before changing the approach.\"}",
  "call_id": "call_d7licHYJ2Dk02nUqYgI9tMhw",
  "id": "fc_0ccb37c1594e58e4016ab4688ba6fc87d09244f2d037aaa4b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d7licHYJ2Dk02nUqYgI9tMhw",
  "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]: [-0.7822, 2.4172, 2.2883, -1.5295, -0.9615, -1.7042, 0.0547, 0.35, 1.0542, 0.8413, -0.4107, -0.2615, -0.1879, 0.0607]\nstate[eef_state]: left_x=0.4261 left_y=-0.2141 left_z=0.1446 left_yaw=0.8539 left_pitch=-0.0351 left_roll=-0.0118 left_gripper=0.0547 right_x=0.3 right_y=0.1619 right_z=0.208 right_yaw=0.6594 right_pitch=-0.0392 right_roll=-0.0054 right_gripper=0.0607\nstate[joint_eff]: [-0.212, -12.9983, 5.7231, 0.1441, -0.6764, -0.0513, 1.0281, -0.253, -3.7265, 9.6205, 1.6484, -0.1734, -0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1392eeba15fa26fcce2e0d9adf3ce29733b6a6ae1f5600999916b03c878016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98512f4fe29acdc868ba8fd8e5b80e79c10d6e6c4359e8bfd96864a6f43bc8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f84c7f0531f7e263112876aa02f0232823da2c7f6a8c288dd75d1a55bc99d16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.164 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8684, 1.9373, 1.1091, -0.6472, -1.0142, -1.4841, 0.049, 0.3294, 1.2392, 0.7757, -0.2646, -0.3519, -0.3046, 0.0557]\nstate[eef_state]: left_x=0.3368 left_y=-0.1602 left_z=0.0561 left_yaw=0.6468 left_pitch=0.0177 left_roll=-0.0111 left_gripper=0.049 right_x=0.3162 right_y=0.1762 right_z=0.1489 right_yaw=0.7787 right_pitch=-0.1146 right_roll=-0.008 right_gripper=0.0557\nstate[joint_eff]: [-0.335, -10.7692, 6.9265, 0.2515, -0.6471, 0.0073, 1.033, -0.0889, -4.4786, 6.8308, 1.6337, -0.1636, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7834, 2.4172, 2.2879, -1.5318, -0.9764, -1.7016, 0.0547, 0.5476, 1.3151, 0.7589, -0.0536, -0.1318, -0.0868, 0.0557]\nstate[eef_state]: left_x=0.4267 left_y=-0.2134 left_z=0.1467 left_yaw=0.85 left_pitch=-0.0201 left_roll=-0.0079 left_gripper=0.0547 right_x=0.3225 right_y=0.2281 right_z=0.1488 right_yaw=0.6942 right_pitch=-0.0437 right_roll=0.0018 right_gripper=0.0557\nstate[joint_eff]: [-4.8479, -13.053, 5.5179, 0.4029, -0.6374, -0.0464, 1.0281, 4.3692, -3.3436, 8.1983, 2.5714, -0.8474, -0.4957, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7822, 2.4172, 2.2883, -1.5295, -0.9615, -1.7042, 0.0547, 0.35, 1.0542, 0.8413, -0.4107, -0.2615, -0.1879, 0.0607]\nstate[eef_state]: left_x=0.4261 left_y=-0.2141 left_z=0.1446 left_yaw=0.8539 left_pitch=-0.0351 left_roll=-0.0118 left_gripper=0.0547 right_x=0.3 right_y=0.1619 right_z=0.208 right_yaw=0.6594 right_pitch=-0.0392 right_roll=-0.0054 right_gripper=0.0607\nstate[joint_eff]: [-0.212, -12.9983, 5.7231, 0.1441, -0.6764, -0.0513, 1.0281, -0.253, -3.7265, 9.6205, 1.6484, -0.1734, -0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1392eeba15fa26fcce2e0d9adf3ce29733b6a6ae1f5600999916b03c878016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98512f4fe29acdc868ba8fd8e5b80e79c10d6e6c4359e8bfd96864a6f43bc8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f84c7f0531f7e263112876aa02f0232823da2c7f6a8c288dd75d1a55bc99d16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiaEPcbuN0R7mSL4AJJwQTRv5ql_V2mea-G-DdBWsSRWTLWhg-JsVqBnrUaWm2Ekwh-wW4ZCsgkcKhvey33c5Byi0sy6Lx9G0g3mrrFQAo_NqN1mJP80eVhmrC4rdRfj4YkkL-WsrYIR0Sf7HsV2PhwwQKUgQJTFf8RseuLemOXsRDTAL3vVtd7qfHuGaHpzGjjFxKo3F93N2RBEyhAaCEZlo8Go1S-5uN3WdIzxdSoUaMYnZLVRTjmz6BKkJfI77-eNZqh62NxO2GGu-dmv_HZ7Z5tRMHFoP-Fq3eapFxRjVLc5Bsnfa4XotKzhHQknxEYSa4yUd5uq5xK9xGTyq6CGfOQdGHV4QMRLsj1yMsWMTYRDMl_nay0ha37oiXtEorlChl3hlx-XZ4M3BJuhbTZA17cNHsd7PzKfFLtsL1Q1zSZ0DRv8RECpgiEjmIYb_dBX6P_j5YctdAdbXXXtoo05yuHocb5erL4ppDQ7jYC1Dz2NDLVuWow0OoLVD1N_s3fgA6bZ6sOaRP3_zzuaq-fFnUYQKVwZjlKXNvS8zr2K64TE28bXnZCTjh72U4dzYq5Jg2yNQUNP5S2S2kBIwO3IZjmsfixv_cp56246OvW8tr75eyEYV-hRxGkQzDVvvd-O6APm_VX77pPTiYdMbMn1b_8MYmOZ_oJHHSUlc7Qd2HquBOhc8CrFR1ZQOA9gMm6GaM7QPV-1mUjWflHhV1T3TQGx3b9nydabDfyCpNL5T676LrYZZEbYWxn4mima7Zgi4qnRlijZwGRTUv-61Th-kMNdEw98mwjHVD9B-VMhh5KbopkwHp9-LlV-3ksYesfnEyh3UcJWzty_PMjzEm2CmMZnMHqXJRYVg4VNFC0ffqm69Hton1QrGzVkEJEsy32-9N855Hhfokv_Ozg9AgIE-dg-9Jl9Uv1EGWdqYG5MlKzZXHJGzPKhgAKPI_vUc9ZcNGVdzVX_L_6_O-PchQG3Z4h7cpaUNdPlkAnsFyrNZtbqetd3wXvQ1bh50BCeJF_Rc2pl54sAdmMqO67HRZ-ADIrDfO7uvhhD_R107NZoCDuNhwMZUttWxmKDgdCdYOaWYbxt0DFYPT0fXozv1NG5ZcKqBbRaRVoW4vxcN--rgacwKPX0cRtAJpo6nCqHYevfby6IxXP4KgoHIPIhWR_XPvXsBUSLGcYxaV-aWwfbYQuUEzqp10QC9KzF2s2dFFr1ZQs7Y8dSa_31Bo0f1xUuZL2cfevjBRjVoASQDVWZAZKpKFLOXYgV4IQdBtkigwc9hChXxwl6BgupE78F_k-A39j3UHdrjBOKjL9Sbxi0oK2dTLvuKSltHnIsw3f_RwokqH_huAk7twj--qpabo_fjeN2X6D3ZBqWrRAk-GHH8Hpoi6d8hMDj4kFTFh1sURAocsCZvIc2Q9epe7zlFcxdqXY2gH332iTvqbNnmoH81nzNkT7JMPSmc92BSMVk7T3ib0-S1jHgIcOKmwLblSH0--F7Le2zzPeGqVVBzV6GZHOPcot7tBShNSGdrzvAMP-dpTbPWrFUUoUsQHhRrqd7qQ2sI0_jZQIvAnlamVEucMWyCd2WJPjkrUo3ktxj3Irrjp13pvJZi0LHRLAnc-8gJfwEZTzFe-hTfZIxnnDt2rcHPNiclhgU9rJs8iTw4Wykyn8U24PAspL8RidA5hZGlKi2NKBq4pG2F-0UzPlD6PhgduHIcAwPZNiGbB_1oRRV5C-haPQvgQT3jhOW_8Hppk_9wMXcza42a9xlyxWInadqmM5keU14QO9F-83WpVQF_3R4qVaccjq7569U82mpRzV-IhBHGyii4rVPFBBzntk9UzVpmASPyfg2KnJq2u0zOnIZYvOU5ixr6_Bpyey5uFvFM9C6lbiqbx5v5I9Vw5s_qVmHcPuBtj6KOqgY99NpLhMrzxdhCS6o5I5zgVnYZ3W2Uw-L475-zGsyYC-JnmUV0Q-UNSvjUkeFnuPhPltnLJPZdIJOWmwAc-hs2f_5KmMcgQRhl6WN-KsOsITPtg0FlnLKElVRds1pS-oj-XKId7XktMHkAwCRHPxvQoE7gIUjJ7OQPaCHeoVDFzrlB1M4S5l1q7arRl7_uAx0Qh4uWW7a2UA30ikwmQxcV4hJ-xe-gLNgvoMoeHT4aBl7zAYG4MDoUVjGUcvBeWQwVFnUOjnsC2FOvS1TsgA2vHxjnsWPqF295QA332O6GONQ_Pzg5HZJoBzIFOm_LexZ_Q70rcEAwTytrC0z3wpq-soij9LX6UUOGEvjTZYRUP0uV12Gj4wq40ZpW1QLnqECevcxAiIh0IlWMMGqqWbCE1QkYAxP_n5R66fE4XRQKTTyV1JIVDXM2YIWo7OuWvtgHqPn1W-r9-a-SgiKR41yZRHYM3sT73ENYCbKRl8kbY4KBTHHDGgwFoPZ5cPOwHuLniBqAvLh5-bC4ARH23XUJb84tW5t1ftcHD9JBxiWmsYGLtkh6efcDf_i_GbOXuEQuiVjyc3b5SIsUxkuV3uga161nFrQpq2CRpW3Xe_dka2OkknB_sHc6EfC1wOtuWobMtIsmeWl_5Ftf5UUM2N9S1AEFyIe70G3B8ei_dV4f7INjmm_ichmAJzVyY5ILp8zxm1QUmkMHbHcMZp0Lhxw9dWAy-7Mp-7fVM3xha1kn7s7MJHCkvYnmZQQMAaC4C-nEwJR2YkIZ0cdg0Exa9laIZ16W-f4lKn4kwhR_Cmo-z_UxiocNss0ItNLuJIDmaOUIaQO5WGHsTNKbAmhGiaMKR7tiMDQLO7Go-J81Ow9i-7bpgFdWQ2eUBO6VTky1SOqhUzcH649UHNUtawF7BjyIlg2_vNr5r16xhL_cJ6DmGnSsRmw8pbh6VPESUcmXzccLS8G0knpZVSN92ixQR6g3w326ajQ63Hzj1mUtMr7-zYTe5I3gHleBS3yL9PLWm6YlH_vepgPB_1XnFjYHqqSy3fALdbEMPS67vl4a3MW1AtMMNjgnx1FnnOimVrXDozFQrW1C95hMfJE3faoc2-Y_8xUwnl-77kt1FQa3YNFBDrt0jNVlmyegW6TtRpiH9ExpbCLxe2jfHM6WHZUq99L_O36eoA6gwrbB9PkH5815cr1Bpo9goZyL33fi7Aooe-rMnzY9_pR9mtbKFxIx-WPQVi1iik86AeXt82NrL9oxBvJVdi3j8FgfCVqqw0XWr-fsUifn2RG9US75SkDQ2dHEo8UfJ9A5rHZoJSgcUnkBktbWTPIyC5wdjRDMycX8GUPyZQXqZIzRFrFBcx3-1XW5ZaZFULL7Co7hLhOeZj4osjt4HCrk_VQNzacw7SE4BlkbJJUWn1MgRdXbwY3xiiJ_fuxxXzI5GwNnQCMR75jZGs4-09SkzD43UeXOz6L1OSpvqIwG72kwImppD8Ia6gNy4NEHEmbhqBYDaHSX5FZHPoV14t2BMKPi6bvxssxKP8ETz7uZ1wFsPN42p_Nlp3As93V4diqY5BJOGtWjFchBUzwG1UHW50vOJvmNVlBj7OukQZRxx4taRk27ZdXbB6CdPg2YSV7uH3OCvH4ToMpdr8avFDQ1bT7Lqm88VDJPNGebgNzBJJJmiShnGwdQh6PHOPqCLf-KcIQIRMo6EHMGCJd4_r3EQYPJoiS_NJDZDYv2U3unMRQIZ7Axj_TdCLyiyVhAbJVv2bePUa_G3fv7nMGb7PsM3HRvPcjgYIk3YpkhfA1nSPbK0CFtN4yIpTXc1YiGu7UUGA26fnwpJs-1whQlzUk9Do5RrPNZXGDMY3CkhbS1CWnzpZ7gAClzvI-SF16-i3usYSGm0PXGE_3AmflYb_uc3alcEpxJDyI6Z-97xKkV1Su4J3MuYvGNW0r2zQc0vOq2Z-GGlR-qRcszsFA-fu2OIiR3BtZj2cAou15rU2kKogI43aQZmgewkn2Aptf4mdRAYJ4r23bSGfmiVDkTBAIUoR0TFcq1FsNB_MOiPK70F1ICnUTtzb2-BvOnFOig==",
  "id": "rs_0ccb37c1594e58e4016ab4688fe44487d0bd18bd434a0d74b9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiaJ4aCJkmN9MVI4rUslR0nvZs-_iMIXOX6OIiYYhNWQghP0CLZwzVva3Zb5Y79JQg4vnj-Y0sHkuSbxj2yHIJNbaYUYjBeOgqxlI2WlothUYWX-0ulbzXf5cesrtXNQfWGAcPiATRllD9iEyJOcoooWPEOl_Shrj4BJiCIsVEPSHYlbROBkSy-krBHABRDCt4ENhcrTuXNIkwA5bCQHI58yDNqH1ZMFkH5qCimeQKiJgtNV_RNmY_Y-Pz4b3Yh_mATibz85JCn122SrnZgEjUCm7meCLr3BsC1FCtD5Eh4iOOuMlEBhZ6IcO7HW30Omrnl6ysA3w3bm-1HJlecLTWPArBLNRPbqWIMGGvfPPwpFJVf29yxYSA5VERST_2mrqLediIkXSWKK9n38kv3oMUbtBG8b3eBcHLHn0jEyldYY9Q-BQDWZd_z_vyKcQOMW2RP_qsAGcivh_U5dPWTHX5ORE_aNqpl0SIY3z1PvebhlpxyiOFf4Itv7A7zNxOVOJerIgLTTD8TWBut9W0XQ6HukrC_2tpKVmwN00VYFic4fjTezj7SlQ0ifgeOQ8NR-qtLxH3CkS2VU9du3aAFpWEX6carS8JrfNRfPJwBXBJVZ0dj4-8Iz71LhruNyNy_mnXtiN9r1meV4r8_kKqmCdgmsSzlLMaPCalWrIx6GKthTWJywhJ43MGdEosQjPyKM61wAqLr2ymxnaUEHIF9A2e9bwS46V-VbMNgVS4j0aEG0_9FwEfSZXVCK9TsZNm2VfCHHatQ4uwfhH_qeS2Zr2qkEENOu8dIGcrQ3llJvev2ufghjOa1HbTa-3PD6syNzkyL7IF5999APT9MyKZquB1RIOS3VoQKzdvjcoGrVKDRbcbO10VOjQpoo_rSvZYC-ySCDxPu4CzOVR146wuJBLjDR4ZU6vSts4AK8KUGty-fAUxVRkTshwz8ULROSDScJf6SZKGejzJ0fP3e0TqJGKOEYSLynPwD3t0bnFXfRMW6LtfbCbyJMaZS_nBQOl7p5RZ_FWfELEYuGysSPHX9CcR6Vm0iafT8F0m1YGmta648WXGi1lx4im1HfocyYE4w3slyYi7CUhiztdxcWxRoCLi8WjSAt6gyrXAa9u93bEWjK60_yHhKst1GVuFWq6o5Hqc-2JgY0wl54t3FyVvrv9XY9rC_0Q967avIAMALFZda9O3QYnOm6E_HMU1N4S48iqsKhy8VrdWzTvhZLA2W-uzrRyE5zHLsgxPYzz_hr38rXak91lodPpriJINKxY-M1QlyioAYCXUxysFBjDIKdLIhXQeFE_6C9KdzhRmyoNtCw_zRjSMGwAp1EHkja6SUVPxl",
  "id": "rs_0ccb37c1594e58e4016ab46898ece887d0a09fc31353c3f74a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.21,\"left_z\":0.2,\"left_roll\":1.0,\"left_yaw\":0.75},\"note\":\"The pen is clear again. I’m drawing the cap back to a less extended position and rolling its gripper sideways so the bulky wrist will stay out of the pen’s approach path.\"}",
  "call_id": "call_2kyOIknjwcJBeXXrUeuElq9t",
  "id": "fc_0ccb37c1594e58e4016ab468997cd887d090341223dd319ab3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2kyOIknjwcJBeXXrUeuElq9t",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6243, 2.3066, 1.7126, -1.5581, -1.0859, -1.1831, 0.0547, 0.3473, 1.058, 0.8425, -0.4343, -0.2668, -0.2058, 0.0607]\nstate[eef_state]: left_x=0.3772 left_y=-0.0747 left_z=0.0933 left_yaw=0.7396 left_pitch=-0.0778 left_roll=0.9205 left_gripper=0.0547 right_x=0.2972 right_y=0.1609 right_z=0.2029 right_yaw=0.6711 right_pitch=-0.0631 right_roll=-0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.294, -15.2, 5.053, -0.6911, -0.7985, 0.1148, 1.0281, 0.1299, -3.2068, 6.9675, 1.9121, -0.0708, 0.1587, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5948670b21fb37e965ed94a5de5545e095322ae824e8630dd6c65c4d0f70f6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf52294b98fe2cca1e0dcb1e170a2a882170bc38019c557c21cb19002236d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d880f114a61c378b7ff208cb4259b0c3ac8db33a68420e3b3a1b27c45b54127d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 11.78 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 108 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8421, 2.4157, 2.2875, -1.5047, -0.9878, -1.7012, 0.0547, 0.3271, 1.2388, 0.7757, -0.26, -0.342, -0.3008, 0.0557]\nstate[eef_state]: left_x=0.4173 left_y=-0.2407 left_z=0.1486 left_yaw=0.7897 left_pitch=-0.0105 left_roll=-0.0364 left_gripper=0.0547 right_x=0.3182 right_y=0.1743 right_z=0.1495 right_yaw=0.7661 right_pitch=-0.1129 right_roll=-0.0132 right_gripper=0.0557\nstate[joint_eff]: [0.5949, -13.4769, 8.4991, 0.0757, -0.7985, 0.1343, 1.0281, 0.3487, -4.465, 6.8444, 1.5214, -0.2955, -0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7822, 2.4172, 2.2883, -1.5295, -0.9615, -1.7042, 0.0547, 0.35, 1.0542, 0.8413, -0.4107, -0.2615, -0.1879, 0.0607]\nstate[eef_state]: left_x=0.4261 left_y=-0.2141 left_z=0.1446 left_yaw=0.8539 left_pitch=-0.0351 left_roll=-0.0118 left_gripper=0.0547 right_x=0.3 right_y=0.1619 right_z=0.208 right_yaw=0.6594 right_pitch=-0.0392 right_roll=-0.0054 right_gripper=0.0607\nstate[joint_eff]: [-0.212, -12.9983, 5.7231, 0.1441, -0.6764, -0.0513, 1.0281, -0.253, -3.7265, 9.6205, 1.6484, -0.1734, -0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6243, 2.3066, 1.7126, -1.5581, -1.0859, -1.1831, 0.0547, 0.3473, 1.058, 0.8425, -0.4343, -0.2668, -0.2058, 0.0607]\nstate[eef_state]: left_x=0.3772 left_y=-0.0747 left_z=0.0933 left_yaw=0.7396 left_pitch=-0.0778 left_roll=0.9205 left_gripper=0.0547 right_x=0.2972 right_y=0.1609 right_z=0.2029 right_yaw=0.6711 right_pitch=-0.0631 right_roll=-0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.294, -15.2, 5.053, -0.6911, -0.7985, 0.1148, 1.0281, 0.1299, -3.2068, 6.9675, 1.9121, -0.0708, 0.1587, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5948670b21fb37e965ed94a5de5545e095322ae824e8630dd6c65c4d0f70f6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf52294b98fe2cca1e0dcb1e170a2a882170bc38019c557c21cb19002236d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d880f114a61c378b7ff208cb4259b0c3ac8db33a68420e3b3a1b27c45b54127d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGiiAQ0YvHDJTihCd2GWw-Izcmzgf-47_UqHzpKMh9E6ugtwJ6ZnSQ0uF2WuAxfVjirSC1qeBHZSfxSsRibPXyxnva_U6Da-M6Ua7KAuT0vGr37JHeZYzGystfmlzHjRYwdIE6Ep6nSzLTqnCOUDFfHrtinmS9fTRc7yG0Z6TYZlgojALAz3j4TU7e4WCtzgQKtRRG-yJfRLpjSiP67_0Sd2CixWeJEtVEyof2yIRc21YGdaoGsGbSMnYtVjNLvnTeKzuOQOTah2eWa57dzZ6aH_B81u7CimPyTrd-Uood0JPpkWOlRj6rY-iSVe52v7Mi1i-df-0Pl9aWgDQMclORbuoE5tPsItlLp7_I0_9PsK_SXEq_gYcBusMdt0Lm9ZkoyEDRqZm9ovuiWzPdAgQSlH9BlulxY7Tw6sv5dNUB9-h--SKeLhZ7ts2is-JRzV9RqORAscylMgomnO3my61qRGezx3ePB_ODwwv4O_pEBl_Fz1evgFSROG97npbrm82qTnd5nAsf_tiZtWN1F0HpjAb_bHdwX8JlwXz3jmrHBpBJrvbdxFoLFg7zp6xNuv8_aBatM35Rdfog-Mre1S_wUb8g3X32dYW3A2idiVg4WNcBVeaxNkfgst4-Ox2UkTUYYQuTJMoRlEL1q-e6qKWUHEYHo4KBQeCkfHhpTp6sqAzcrWHMrb3cCn1-hxwRv_epsP25KSJ0J4wY1zUPY5ZD2_CjN575NaVfAyfK56yJERz-PIqzm4jKogb4qQzOCznkTaCVE8E4llrqV17V80p_51TVo_l48eK5O9E8qqtxcqklbBGj5iyyTclNFj6SynLxlj3rEpxtl_xhB5Drz_LqaYE7XD-C0WvGvEg69g-N_lOCwkFnw__WdKUAivCd0WGsKJtjAMzpDdcVmGo26Dy8JD3Ph5ZfQZRRVI0P1tVG38rMHw769M_2CGqMu9sg3nM09tBs19n1dGj1H5zbKOB9Pt4Fs8LKujGJZGTIT877GcG3OtWPCVnuS-MoIgM_acr75kfH03GH1cvkjsJW3vvVid1SaG8ntQGIwItbTH5bXqUzFB5F9obZV7h0duJHyyuSTAwgf1Byj_9mp5C6lxco7odymP292z-k_zuhr2QWBxn6C6x9m2VjR8l-5_UmPRuG1pa-1yACfiWfRIC1saDcFAZ1Vw8bg9Q2_8m3tiRQWUEun1dcfoX7WouvFBuzv60RlzadXRJdh3ImVVCWKx4kW2BLcuXauGhowS6zX8EgMXSdTH5VpbPP9wW4a-WdyKK7ZR7HaYif2yYIPh8CHYTzVkXUXAi25oHLhZeUsUjZneb5gnXrTU3pUP2nw3klNw7iCYCC5vsTL4gyKyuLFrpCsUgPdqk3iKwHOKu8BjwZYff6qZ2JMrWw7U9cA5INXYlyEpNCr_pHCI7BF6MkZGIleJGoO2mN3E3lHVcj8EyFbPriZF_OS4TB0xnS6K4gsjzacz5MTu-H8NTzEBbnP4A9A-s-jx4a0hKpiGEKzqy_OhftW4AKY0r9NQilH8yJ38ep3Dkt9-ic5rR0kZmkzVtTtIjKKVUYh02-EWekBfcGk60DRN43VMHoGxGwwShqVRs27Zc4FsnwVpeQ0BPYUo_PjQbgEH4lgR4lArMEcQFvNUCAwl3pkupw6C0JKrKixKwiOxfLomC6nY7CvYDnt4InF0KvbvxnKNcSYY8eZn5yxHxoxI9JgSuYUibHaoq77flnqlMaEDvoy880-uyjdYRrezpEEyvYzrbob0ofRPWduOB7qsOjTp_Jc474PLjVMKT64RBbMwcj3Kal8ZMccL1NIQdG1GZpNGfTSTP-q2kwHl1cNFNZxA5PfJBRAtN7b-NnrUfcUxU9TSNYP8FJT6RpvUhBc728hy--NS6BhTxn5JwFYoE6pK99_hn_bVGUD7wE8rLaTeeWSaRwOYQNSjqt43-zeNM0gikUwAgldU0vtxjHxMlpym0m3Gqj4XBY2mfjPRcZD6laLG8KXp4ti2pWZPSeIu0cwA-1Afpk-oi-76eKO2SQD66D7CxGRyx4HxrRxlX76qZmEzXzgjbuPlkOgeC6DPue5bYCIik6ExZCPQSBZ0rSf4tp9YKYfvu0EZ2XIG0gJLj6TizMjbxg_SzMUFOWUPoSS_E3J80WSzVrR8lyQPJ0LTbX7YJuCfkPSz93hqgX2FzRs0KfRMx751tUk9k1NesoPZU4Ei9lARB8nVHRGNgNN2ZZVVLN_YIJZCWzRzKf3NrH6S5LEh68lB3Jy1pIjOa5exV7jKC3v0xn2Gg6M=",
  "id": "rs_0ccb37c1594e58e4016ab4689dc71487d0ae3a78cdb2e9a910",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.2,\"left_z\":0.18,\"left_roll\":0,\"left_yaw\":-0.75},\"note\":\"The sideways wrist pose could not track the requested position, so it is not a usable assembly configuration. I’m returning the cap to a more natural, downward-facing grasp with the arm clear of the pen.\"}",
  "call_id": "call_8yf4sU1Xrzv7kAq7p7ItjMwg",
  "id": "fc_0ccb37c1594e58e4016ab468a0d53c87d0ace73e80800d0657",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8yf4sU1Xrzv7kAq7p7ItjMwg",
  "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]: [-0.4198, 1.3823, 0.9306, -0.2779, 0.0463, 0.1196, 0.0596, 0.3473, 1.0653, 0.8421, -0.4419, -0.2668, -0.2073, 0.0607]\nstate[eef_state]: left_x=0.3643 left_y=-0.1677 left_z=0.1542 left_yaw=-0.535 left_pitch=-0.159 left_roll=0.0679 left_gripper=0.0596 right_x=0.2967 right_y=0.1608 right_z=0.199 right_yaw=0.6723 right_pitch=-0.0776 right_roll=-0.0052 right_gripper=0.0607\nstate[joint_eff]: [0.1709, -5.3812, 9.7162, 1.5946, 0.2369, 0.2711, 1.033, -0.1026, -3.7402, 7.0085, 1.6923, -0.1294, -0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe46780a9e4d195ad1a670a50c489fe448ce27a16b03b20171540c222d16cc94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c636f1a8fe63fa88cc3c9b818aa362609f296eb769cb42f42d1aed312fce71f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9828cd4d60c0ea1b2588106191b32a08e1f898f37f4639a8d45b4f06bf34cc60",
      "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 · 2.182 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 108 changed as sent

message 112 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7834, 2.4172, 2.2879, -1.5318, -0.9764, -1.7016, 0.0547, 0.5476, 1.3151, 0.7589, -0.0536, -0.1318, -0.0868, 0.0557]\nstate[eef_state]: left_x=0.4267 left_y=-0.2134 left_z=0.1467 left_yaw=0.85 left_pitch=-0.0201 left_roll=-0.0079 left_gripper=0.0547 right_x=0.3225 right_y=0.2281 right_z=0.1488 right_yaw=0.6942 right_pitch=-0.0437 right_roll=0.0018 right_gripper=0.0557\nstate[joint_eff]: [-4.8479, -13.053, 5.5179, 0.4029, -0.6374, -0.0464, 1.0281, 4.3692, -3.3436, 8.1983, 2.5714, -0.8474, -0.4957, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6243, 2.3066, 1.7126, -1.5581, -1.0859, -1.1831, 0.0547, 0.3473, 1.058, 0.8425, -0.4343, -0.2668, -0.2058, 0.0607]\nstate[eef_state]: left_x=0.3772 left_y=-0.0747 left_z=0.0933 left_yaw=0.7396 left_pitch=-0.0778 left_roll=0.9205 left_gripper=0.0547 right_x=0.2972 right_y=0.1609 right_z=0.2029 right_yaw=0.6711 right_pitch=-0.0631 right_roll=-0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.294, -15.2, 5.053, -0.6911, -0.7985, 0.1148, 1.0281, 0.1299, -3.2068, 6.9675, 1.9121, -0.0708, 0.1587, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4198, 1.3823, 0.9306, -0.2779, 0.0463, 0.1196, 0.0596, 0.3473, 1.0653, 0.8421, -0.4419, -0.2668, -0.2073, 0.0607]\nstate[eef_state]: left_x=0.3643 left_y=-0.1677 left_z=0.1542 left_yaw=-0.535 left_pitch=-0.159 left_roll=0.0679 left_gripper=0.0596 right_x=0.2967 right_y=0.1608 right_z=0.199 right_yaw=0.6723 right_pitch=-0.0776 right_roll=-0.0052 right_gripper=0.0607\nstate[joint_eff]: [0.1709, -5.3812, 9.7162, 1.5946, 0.2369, 0.2711, 1.033, -0.1026, -3.7402, 7.0085, 1.6923, -0.1294, -0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe46780a9e4d195ad1a670a50c489fe448ce27a16b03b20171540c222d16cc94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c636f1a8fe63fa88cc3c9b818aa362609f296eb769cb42f42d1aed312fce71f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9828cd4d60c0ea1b2588106191b32a08e1f898f37f4639a8d45b4f06bf34cc60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGivfYDcDJw_Nn0t1gvqQJxSirI5RtxgxRnPTDXFhILe5zEu_7E5MTJv7CRYNhSQwTdWzbpjqOjigimtrYd0HUU5EhOpWOKgosffYpvN43GabQU4v5vzTgwtP7yB5ORH5VegCQE135msBdzeqc7IxBvnWIxQUULuWOZ3YQmTBK9Mlq9I48plvJii61XcSh-h8KIh5c0cNmzTYId_AFPr40Yn3oJrAwdoqByVQEwkQz5vI6kD5LTFCf-dFQA0p8ZKCMulNLXVhAxjSHM4Z83Hu6dztWYnirIGFC_FT39jcy9Msun1AcJqP87sdUKGWQHRGNwIw0_-pqaQdKYOvCL0u96V5qJQDHkSTR7X98ZE_JpwEIuSQwJOHPyJ85qYjzNdNl9nVlnjcJtQd-GSo9vkHeIZiEDOzVV3zuKBXTnV9BctG6h6-oeXayfJoflT6S4_ee6TTzCATUrnMnxE_GE9iLVfK32EuAKzE13hYiU8qE6y7a2zYLuPjzPEZt0zf2IMZjGRa_dxDIHWcwG_pOSZbmVT3aeqWyzXobRNyhvmOB2YbBfm6KIoImfs8FgnWE_DROTH12Gs_G1JpXvyddqKwhIojVIT5mg0Kgq4tsMkbZB9XF5jnDA7wLU748aK6Nnn90Dm8PXxngWfbxUyKOsjyINFpW9N86xbUtvoxib5ND4j7u1db_EF7NZrZD_l8UJQ5qp2PLGsk87Y8wAr7x5SCleK0Colcov8TycautcbiM1beTL9hhRXLaCoYZGI_g2DblTeipxjRYT4d3pmfvqRL53cKcDJjhCdSpgjZ-ot8oev2N8HQBWpUvKMf5mcxcmhtxt-i1DxcRwoDk0G2HleOcUOUZ_tVi2a9U-zj55tsk9_5OqlTNLJyxFIEqjeve5CuzaLebMmvLFYq9KyI7Q_BEorWaOlnvZJA9hwvdxyDjQQRADpGvb_hRVkcSEf1vD_BnlinU4EvabW2prx5f-X4_IPcaEkhlCvbnXAa3I4tjNE6dE-EyLg1cyJENzlXmJcMyjnMmxNI8s03u4kcz8h0VCVv-cb0mQ9nMbSxM2nTkYBA3VbFz-aJAI-XIHZg5t5WMStrpnEGPVFTYZm_4tzOTZJr7XgwtOH1m-1aJFFF70NMcmefQQc5-itL5cF61lt0OIJKuaNvgSFzUIeVow6xllqGhZri-mq8SVkSlm2wxytbQdwiFNkpsYCRSwEiYrCd2B6Vcm0cvXA16SejOi7m_cX1YBOMe4P6INPNjSppKgPibOPZ5bWaVbhPTlN2yu6JIU4JjriigvjA0BFal9Mqbk1sPK_PhF4nUGl9wD97SODJEhHCOoKHgnqVaKjz5vCEvaRrGRoYpz0DAgWpPAl5CWS3oVdlW-Or9Cu0FkkM6aM3QTzpNOoRCLGN0MfACs0IjTZ26nh3xjA64RseCYPyrlxBBPL6XQpvb2qwlz3dFvvo349nJhaOQmPEjcTm86kAtp6_gjklGnfoNapvJCMaYBzVKj6on7kLIqvDFF_ZLo9aRE-N7v2jnEt5AUgSFOjcFySestRS5BhNyYJAvMnpPGZs4EAJb3DGKTf-AGXOvKREXzUtXqxaWdPd0xEgjvTCpyoSJAQHV4UHMMkjaoesk03-khUhtvy0tHoj2nY8BJfkUfV5X-ffTK-68-nIhFCNaQ2r8F7hjocRaoAVUYcEa1omA4Ud_mBvBnZWhmGD98Ojh3WKnT4L_m5C1zYwLMQshhjX83wnhfrUfCvFlRwX2b2CI_qtngs49XJkr1COVBILbr_WIE0N7qyPQJBVe_-BSfbZbomhG5GSEyyddaYWsElMt2nI2-eiu1nEISP0lNPUkNY0pFYNCYtGUJpbohaN0ZYM12MhPZ4N1P2BhbXeRS7tOt6cKijVGqDVaM3r1Bt9ploP5UlhYmCHztxn8-1EQ9goxzet1xWTtV5xLXNzv_7FwY3yX-r9oWX9igt_9HydRYItdwfDXoJfJnmzlMhQZYD0Tv2omvZ9mRLwet484Yj4JxOqjj0avmCE65uEjuJn01iHF5HVVtq59Gg-lVwZr339FN3vugB83c2FfQB4AGf2Dc_8ZurrEw-aG9DDL-DdwcoRkgReybc-AK9FcVDWcPgw6wghiRXuy7RSQ34AGggMTMnD4v2edWenccpJrY4H8KYR5mlyocynBMESyNHW9cb33Y8a3GXtM0W2pEXlF_Hj6XFmXC2txQhJgvt6PJF-O44wB28iRznK9nTooeBMvHJEWKy6Sjr41lQTddMdSEPdt6L_vAzo3UGu5EaxPB-IZFog36DCBw3LOEpiBP_vUk5ZciZ80EwePlwZm8jkUmC4d7g-0xYvvP-qMb54PJc9UROAt3j5AUp0ko3x2_0T4nNza8eARK9bOh9uYQKvDMECtnWNNFV40wEKN9U3iaLsSu9z-uikE0cWgV6_yygCZ2N4XfbRYEGoDMv58-p7-USqzqrtJTDlrEb-mw5-d1eMl_zXNHJXBe5lV-TfhcAmO4kwSSyTihVe7Srq69geHuL-KYKzW_J9ZV8z-Asuxt7jiis3NhZ8V0SSTV3EUYbFR6aB12Ue_ygTJGou9T0kaAj17yQcw7gNSAdrm0gDJXBg0TCTJzmxOiUZJhCQSpMaOXlZ2CZDVfpgZ2FXkEDhCk_KYIP2MfjdyAq6tgmroOyqQVylCTSRAcQLQzsR7xyhQl31cSPW-RjZlRVoj_Xf_JgAtYYaBWSSzgwA4QAjV5ki6L-tystIwvxk9VpVzHz2R9QPX31Dfb2pnBkd4LXkM_sv4mWVZFLgTRIZ_OAa1QCnDcS1WfVB6cQiMnTIzYj_PRA2Cr16Pi2iHJ4UGHmqKfSzQcKaVM77w0PI9BIrafYvtzivfXuWP86SHznktzaks-sYfIcgV_26pLt5v3yH6e1H5jMvAiImuh_-K4prnr-0j8A4O3cWfEBwdDp2M8iRdtN3K5HUJYNHFSobEicR_mbQpT8yFt9l0a4c5A-Wfb2V8WblNdcIHjlDtdpTxOLTX0gkIt0mL8zB6BEIgRDh5ymJYmWC6N6lTQny3WtjBxyN_dHsxDqy66eQx2M07-KCG3WT1ACeiTnoUA8-KXFtX8tJAEl_7K-62fF6LhGFOgwuMDLaXluv-nS--wm-2zAh8ILmGnGqlI46HenYaiLlV3AAIX0hP7AaW7rOmohahAVQzG4p3UyKDCHUaBZy1YprAffVuFrk0np-AjNuOHi4hgmy0bj38r8_L0KGK4jpEFJ61BE6hqHiYSKJpqi6Q1Fbr9zd1QphvX-k7DLBBnnzuImo0OvY2yXI-A_MDjAg75H4NCYxIQBf7soG-1itf6TOsMwO6CYd3cS_qwF7WSSUSMXFev6foBo0_EbZamjnNo8EoKZGX66wQvVViljrUjAMR16pthrQMf2Ut-7-xAQPr1Ejzf-ahgRnR0Q2IRzc8APY0kQFoGMMNlu6qiDxV9EP1nEuY6U5asikseIh49BnitfwOg4WuTcRJcA48mUs4OTDUy2gvTGktxRt8Tp1UvXA4LidUCt4Z5AtEPTYdi7yi89uCVK65U1ufV1T9QbQ_IEuoEORzDHtxr19LVrajRwD_OvO5uipD7EGM9GC9HezklTGEdvuoewJDF0_fQq7zHAXTEpqVDkYSuCt2r73x3Gv1LnYqHdtKblDpmIWMiOgoEPZK49aKU_4LeQm8ZK0_sEmZ3lgAxYa88QVjuhP81V24HQiechnaJ46368lTCBBZzcNYzPS4ENJDAgdeysn_CXw-3cKcaFRHVi9OAcws2M4-jJSQByz_SvOlCSi12jF1rNicLod8JymyCdNKv9I3TRVrURZxwGHMO4DfZhyCuiMdZn8pIGi4CZbKRskEHOqTUULLgvEZr0QsO4IqAN8mnymQs=",
  "id": "rs_0ccb37c1594e58e4016ab468a4f6d487d0a1295143bd49f516",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.008,\"left_yaw\":-0.535,\"left_pitch\":0.08},\"note\":\"Both pieces were picked up, but I cannot bring their ends together safely: the wrists interfere and the alternative cap pose does not track reliably. I’m lowering the cap to leave it safely on the table rather than forcing the assembly.\"}",
  "call_id": "call_eVjGZxw13AOlYJZSM5UTlzeb",
  "id": "fc_0ccb37c1594e58e4016ab468ad81f087d0afc5a5f3e489c590",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eVjGZxw13AOlYJZSM5UTlzeb",
  "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]: [-0.4397, 1.813, 0.3782, 0.8562, 0.0505, 0.0948, 0.0633, 0.3473, 1.0668, 0.8421, -0.4431, -0.2668, -0.2108, 0.0607]\nstate[eef_state]: left_x=0.3439 left_y=-0.1676 left_z=-0.0009 left_yaw=-0.5436 left_pitch=-0.0076 left_roll=0.0622 left_gripper=0.0633 right_x=0.2967 right_y=0.1607 right_z=0.1983 right_yaw=0.6742 right_pitch=-0.0801 right_roll=-0.0072 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.106, 2.5915, 0.4762, -0.0659, -0.0513, 1.0232, -0.0342, -3.1795, 6.9675, 1.6239, -0.1392, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e48c46008619859dce501aa4820c5cfb1c2664365a92d9207c0b0fabc38fd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314912efc94eb160f4f5c9bf1bdaf471f6530b41ec56e88f35d42492d4d626fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e0e448f4dd9c292c89e456d28a21be18c9644cd662d5a2809525784e5fbe04",
      "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 · 3.366 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 112 changed as sent

message 116 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7822, 2.4172, 2.2883, -1.5295, -0.9615, -1.7042, 0.0547, 0.35, 1.0542, 0.8413, -0.4107, -0.2615, -0.1879, 0.0607]\nstate[eef_state]: left_x=0.4261 left_y=-0.2141 left_z=0.1446 left_yaw=0.8539 left_pitch=-0.0351 left_roll=-0.0118 left_gripper=0.0547 right_x=0.3 right_y=0.1619 right_z=0.208 right_yaw=0.6594 right_pitch=-0.0392 right_roll=-0.0054 right_gripper=0.0607\nstate[joint_eff]: [-0.212, -12.9983, 5.7231, 0.1441, -0.6764, -0.0513, 1.0281, -0.253, -3.7265, 9.6205, 1.6484, -0.1734, -0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4198, 1.3823, 0.9306, -0.2779, 0.0463, 0.1196, 0.0596, 0.3473, 1.0653, 0.8421, -0.4419, -0.2668, -0.2073, 0.0607]\nstate[eef_state]: left_x=0.3643 left_y=-0.1677 left_z=0.1542 left_yaw=-0.535 left_pitch=-0.159 left_roll=0.0679 left_gripper=0.0596 right_x=0.2967 right_y=0.1608 right_z=0.199 right_yaw=0.6723 right_pitch=-0.0776 right_roll=-0.0052 right_gripper=0.0607\nstate[joint_eff]: [0.1709, -5.3812, 9.7162, 1.5946, 0.2369, 0.2711, 1.033, -0.1026, -3.7402, 7.0085, 1.6923, -0.1294, -0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4397, 1.813, 0.3782, 0.8562, 0.0505, 0.0948, 0.0633, 0.3473, 1.0668, 0.8421, -0.4431, -0.2668, -0.2108, 0.0607]\nstate[eef_state]: left_x=0.3439 left_y=-0.1676 left_z=-0.0009 left_yaw=-0.5436 left_pitch=-0.0076 left_roll=0.0622 left_gripper=0.0633 right_x=0.2967 right_y=0.1607 right_z=0.1983 right_yaw=0.6742 right_pitch=-0.0801 right_roll=-0.0072 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.106, 2.5915, 0.4762, -0.0659, -0.0513, 1.0232, -0.0342, -3.1795, 6.9675, 1.6239, -0.1392, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e48c46008619859dce501aa4820c5cfb1c2664365a92d9207c0b0fabc38fd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314912efc94eb160f4f5c9bf1bdaf471f6530b41ec56e88f35d42492d4d626fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e0e448f4dd9c292c89e456d28a21be18c9644cd662d5a2809525784e5fbe04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The cap has reached the tabletop. I’m opening the left gripper to set it down gently.\"}",
  "call_id": "call_vIWKLV9z4dJUJUYB0LJBnAnP",
  "id": "fc_0ccb37c1594e58e4016ab468b170b087d0980bf9e340e1ddcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vIWKLV9z4dJUJUYB0LJBnAnP",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4393, 1.8259, 0.366, 0.8959, 0.0521, 0.0872, 0.6454, 0.3473, 1.0679, 0.8421, -0.4419, -0.2668, -0.2142, 0.0607]\nstate[eef_state]: left_x=0.3432 left_y=-0.1675 left_z=-0.001 left_yaw=-0.5403 left_pitch=0.0071 left_roll=0.0565 left_gripper=0.6454 right_x=0.2969 right_y=0.1608 right_z=0.1982 right_yaw=0.676 right_pitch=-0.08 right_roll=-0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -7.5282, 4.4786, 1.3553, -0.0562, 0.0073, 0.0024, -0.0479, -3.3299, 7.0222, 1.6239, -0.1441, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14bd1d441fb698c90021e1ac36fa065b4d1ce502e3aec6abd8c703b701a0552f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90dfd4df9dca37d562b3509d22077dc49ecb59d1cc9a0689dc3f7b78e772b3fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:effde8afdc8fb99ad4e7c1460775859c6c28f6eb82e72d78c6913d3b5ffa3058",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.924 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 119 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6243, 2.3066, 1.7126, -1.5581, -1.0859, -1.1831, 0.0547, 0.3473, 1.058, 0.8425, -0.4343, -0.2668, -0.2058, 0.0607]\nstate[eef_state]: left_x=0.3772 left_y=-0.0747 left_z=0.0933 left_yaw=0.7396 left_pitch=-0.0778 left_roll=0.9205 left_gripper=0.0547 right_x=0.2972 right_y=0.1609 right_z=0.2029 right_yaw=0.6711 right_pitch=-0.0631 right_roll=-0.0089 right_gripper=0.0607\nstate[joint_eff]: [0.294, -15.2, 5.053, -0.6911, -0.7985, 0.1148, 1.0281, 0.1299, -3.2068, 6.9675, 1.9121, -0.0708, 0.1587, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4397, 1.813, 0.3782, 0.8562, 0.0505, 0.0948, 0.0633, 0.3473, 1.0668, 0.8421, -0.4431, -0.2668, -0.2108, 0.0607]\nstate[eef_state]: left_x=0.3439 left_y=-0.1676 left_z=-0.0009 left_yaw=-0.5436 left_pitch=-0.0076 left_roll=0.0622 left_gripper=0.0633 right_x=0.2967 right_y=0.1607 right_z=0.1983 right_yaw=0.6742 right_pitch=-0.0801 right_roll=-0.0072 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.106, 2.5915, 0.4762, -0.0659, -0.0513, 1.0232, -0.0342, -3.1795, 6.9675, 1.6239, -0.1392, -0.022, 1.0379]\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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4393, 1.8259, 0.366, 0.8959, 0.0521, 0.0872, 0.6454, 0.3473, 1.0679, 0.8421, -0.4419, -0.2668, -0.2142, 0.0607]\nstate[eef_state]: left_x=0.3432 left_y=-0.1675 left_z=-0.001 left_yaw=-0.5403 left_pitch=0.0071 left_roll=0.0565 left_gripper=0.6454 right_x=0.2969 right_y=0.1608 right_z=0.1982 right_yaw=0.676 right_pitch=-0.08 right_roll=-0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -7.5282, 4.4786, 1.3553, -0.0562, 0.0073, 0.0024, -0.0479, -3.3299, 7.0222, 1.6239, -0.1441, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14bd1d441fb698c90021e1ac36fa065b4d1ce502e3aec6abd8c703b701a0552f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90dfd4df9dca37d562b3509d22077dc49ecb59d1cc9a0689dc3f7b78e772b3fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:effde8afdc8fb99ad4e7c1460775859c6c28f6eb82e72d78c6913d3b5ffa3058",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGi2b6yh2heVbN6ZCMSJnhBiurC5mlpG78JbCPNNOdY-Y9R0e1KqvwmH3sR7pU-nm4M00iK2oSFsWaBLIIinFtMqMVemh5xpOvim2myNX1LrTeNQeJ7EQNM1TzFWXTQQ0IHTmRlTL1ymQd4qQAqp3Z6nC25wzihoATQJq8Li0JRWkJ0lampvkYb0cB4HNKmfwpBxPUHpWQ1Xfbfx9F4Klb3bkIUsZSNq652pGWEzBQeKROsvIPYVeTavhyEFKlmkbz7-wonD7ry7cAwXj2wrbLETz4oLkLHUuTY9h8tKSBaRBB-OJ7H1i8Ij-iDu6h5bFVBdinTDUXpqmN_tdjev9LKOgb77-87O5tR-S2cuScZ9t5-ZbqUmP48J_jwuKXnGljEEPXA6Rhp-aUMvMUPOKgQsrRrXdosP86a7hcb4LBwOepz2WO0w4rzt6KC5tuXcYGUO1OQBqlb7LB4x2wPaAWLUDMB_sh60xoitlDspaQZx_ckwYvE6NNJxIOYNXDAa7rSg84eMDh9TSn68vjF3fbqKQlqTixsVbbLdZv6PcDNBA0Zyr_fP0EcP07MFaS7QFhOUVbuZGMAMZ2-S8yBn0ac14t5Fyxyd2CGBFecZAXsop1wjSiDtNsQpiG1YQuTKtwMIkBWH7JuOgK78YFKxDmV5vxNkwO6McevRMsrfu6s70bndCJ8MwNSDfRaLVnvdRYAYBeUckGvVvRnfk7ZHqdcHX8NPfJd2yFVg_gngWo3HH2514BOKLuH2JtMAfufhfCPERkC7C7MEm8LPwEWR6fDVKDeVDSrD9JM7ln1UKWPXr-t0bY2lP0Jy5GL5J5CHAYL_NaAVixOtGRj7Xn12iTCZiwGCoDj_WdlEh_heeMRI8N6HBBpJv3w2AaFcSZEIFCbOl0NZJ4A3NPB5owQb1py5weYiVXlRzIN_oBNBQM4fYU9MSIwB2tj-6KDQ01Zw8dfsqax8QxQ8WPt9ct8qlZGDKnvX7R1K3d8_Pga3REEqvjBMyRT2Ylp1efdQBaiSEYTQPbpUIz3DaCosvQDyrZtP0sgHSGutbzxMx5QZJYagOqrpFIyzx96g9XwsEav2UyB5uXqGUkfYhb9-1VYiAWq_y0NdWKYKW_iYdO5SdU_BFJODwSgH4UlfB2iGoQwULGVlHgp7AMtFgSto7Ws_fr67XFolOkLi-7oAnE-HwE9HgX3Wx69XbnqjO-QzZ3eVrJHBdICwq1PZmJPer9MGdsPVyGL2qkMrGfmrcePTSJ88dTOICOtqCSOk9SFs6c7AUtcD1mH1PwKvUpmvIRdJP_LUD_iRz5uairbTuD33ZtR_gx8P84lqIDJ4CBKLHsWe7oXvTimtJuDTp_hRlollHHkfsJUQmbpEq41Q2-WBXDji9UY=",
  "id": "rs_0ccb37c1594e58e4016ab468b43de487d0bae3fb7f522c6708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The cap is released on the table. I’m withdrawing the left arm to its home area so it will not obstruct setting down the pen.\"}",
  "call_id": "call_mEMziVz1xojJDCCgEWeEaV1I",
  "id": "fc_0ccb37c1594e58e4016ab468b4c5ec87d0afde3f72ba3c505a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mEMziVz1xojJDCCgEWeEaV1I",
  "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]: [-0.0803, 0.8169, 0.5938, -0.3443, -0.0807, -0.0013, 0.6458, 0.3473, 1.0737, 0.8421, -0.4568, -0.2668, -0.2146, 0.0607]\nstate[eef_state]: left_x=0.2997 left_y=-0.0062 left_z=0.1766 left_yaw=-0.0219 left_pitch=0.0051 left_roll=0.0528 left_gripper=0.6458 right_x=0.2952 right_y=0.1602 right_z=0.1936 right_yaw=0.6768 right_pitch=-0.0995 right_roll=-0.0035 right_gripper=0.0607\nstate[joint_eff]: [0.2393, -2.2222, 9.894, 1.6288, -0.1001, -0.0513, 0.0269, -0.0479, -3.6308, 7.0222, 1.7998, -0.1197, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58d32abb0da179b0985869d5744620310264da659357dc82133fce470b01cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd545e96e09a60264269a31e538a3c2d878f31271ea7776350ad1be27458f83b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950362ccfb69faabd3f791900fde9310598b1c21a9acc36aeefdda9b6a5a38cf",
      "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 · 2.292 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 119 changed as sent

message 123 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4198, 1.3823, 0.9306, -0.2779, 0.0463, 0.1196, 0.0596, 0.3473, 1.0653, 0.8421, -0.4419, -0.2668, -0.2073, 0.0607]\nstate[eef_state]: left_x=0.3643 left_y=-0.1677 left_z=0.1542 left_yaw=-0.535 left_pitch=-0.159 left_roll=0.0679 left_gripper=0.0596 right_x=0.2967 right_y=0.1608 right_z=0.199 right_yaw=0.6723 right_pitch=-0.0776 right_roll=-0.0052 right_gripper=0.0607\nstate[joint_eff]: [0.1709, -5.3812, 9.7162, 1.5946, 0.2369, 0.2711, 1.033, -0.1026, -3.7402, 7.0085, 1.6923, -0.1294, -0.0171, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4393, 1.8259, 0.366, 0.8959, 0.0521, 0.0872, 0.6454, 0.3473, 1.0679, 0.8421, -0.4419, -0.2668, -0.2142, 0.0607]\nstate[eef_state]: left_x=0.3432 left_y=-0.1675 left_z=-0.001 left_yaw=-0.5403 left_pitch=0.0071 left_roll=0.0565 left_gripper=0.6454 right_x=0.2969 right_y=0.1608 right_z=0.1982 right_yaw=0.676 right_pitch=-0.08 right_roll=-0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -7.5282, 4.4786, 1.3553, -0.0562, 0.0073, 0.0024, -0.0479, -3.3299, 7.0222, 1.6239, -0.1441, -0.0317, 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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0803, 0.8169, 0.5938, -0.3443, -0.0807, -0.0013, 0.6458, 0.3473, 1.0737, 0.8421, -0.4568, -0.2668, -0.2146, 0.0607]\nstate[eef_state]: left_x=0.2997 left_y=-0.0062 left_z=0.1766 left_yaw=-0.0219 left_pitch=0.0051 left_roll=0.0528 left_gripper=0.6458 right_x=0.2952 right_y=0.1602 right_z=0.1936 right_yaw=0.6768 right_pitch=-0.0995 right_roll=-0.0035 right_gripper=0.0607\nstate[joint_eff]: [0.2393, -2.2222, 9.894, 1.6288, -0.1001, -0.0513, 0.0269, -0.0479, -3.6308, 7.0222, 1.7998, -0.1197, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58d32abb0da179b0985869d5744620310264da659357dc82133fce470b01cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd545e96e09a60264269a31e538a3c2d878f31271ea7776350ad1be27458f83b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950362ccfb69faabd3f791900fde9310598b1c21a9acc36aeefdda9b6a5a38cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.16,\"right_z\":0.008,\"right_yaw\":0.675,\"right_pitch\":0.08},\"note\":\"The cap is resting separately on the left. I’m lowering the pen onto a clear area on the right, away from the cap and the parked arm.\"}",
  "call_id": "call_59Z4JIgXFHVNdXhXQNzqjb4w",
  "id": "fc_0ccb37c1594e58e4016ab468ba686887d097c910c6c160eb3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_59Z4JIgXFHVNdXhXQNzqjb4w",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0792, 0.8219, 0.5922, -0.3714, -0.0795, -0.0006, 0.6458, 0.3199, 1.7111, 0.1982, 0.9108, -0.3355, -0.1921, 0.0607]\nstate[eef_state]: left_x=0.2961 left_y=-0.0058 left_z=0.169 left_yaw=-0.0221 left_pitch=-0.0285 left_roll=0.0547 left_gripper=0.6458 right_x=0.2904 right_y=0.1612 right_z=-0.0017 right_yaw=0.6927 right_pitch=-0.0048 right_roll=0.0241 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -1.5932, 7.2274, 1.9658, -0.0952, 0.0122, -0.0073, -1.0598, -4.6701, 1.7709, 0.5397, 0.1001, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34cd20e8aecbf595b56f60ec473f07b64bbbe2e09447d2d0d6306e6597f5467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66932fcca05f1737e71fda2a3fff1d30f746b21a6190abcba3177d46b35cb195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7f6153b449a8066e6b0592e58c670afa7ca2f9b04fc4be08f213a8d8c82f48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.892 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 123 changed as sent

message 126 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4397, 1.813, 0.3782, 0.8562, 0.0505, 0.0948, 0.0633, 0.3473, 1.0668, 0.8421, -0.4431, -0.2668, -0.2108, 0.0607]\nstate[eef_state]: left_x=0.3439 left_y=-0.1676 left_z=-0.0009 left_yaw=-0.5436 left_pitch=-0.0076 left_roll=0.0622 left_gripper=0.0633 right_x=0.2967 right_y=0.1607 right_z=0.1983 right_yaw=0.6742 right_pitch=-0.0801 right_roll=-0.0072 right_gripper=0.0607\nstate[joint_eff]: [-0.3624, -6.106, 2.5915, 0.4762, -0.0659, -0.0513, 1.0232, -0.0342, -3.1795, 6.9675, 1.6239, -0.1392, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0803, 0.8169, 0.5938, -0.3443, -0.0807, -0.0013, 0.6458, 0.3473, 1.0737, 0.8421, -0.4568, -0.2668, -0.2146, 0.0607]\nstate[eef_state]: left_x=0.2997 left_y=-0.0062 left_z=0.1766 left_yaw=-0.0219 left_pitch=0.0051 left_roll=0.0528 left_gripper=0.6458 right_x=0.2952 right_y=0.1602 right_z=0.1936 right_yaw=0.6768 right_pitch=-0.0995 right_roll=-0.0035 right_gripper=0.0607\nstate[joint_eff]: [0.2393, -2.2222, 9.894, 1.6288, -0.1001, -0.0513, 0.0269, -0.0479, -3.6308, 7.0222, 1.7998, -0.1197, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0792, 0.8219, 0.5922, -0.3714, -0.0795, -0.0006, 0.6458, 0.3199, 1.7111, 0.1982, 0.9108, -0.3355, -0.1921, 0.0607]\nstate[eef_state]: left_x=0.2961 left_y=-0.0058 left_z=0.169 left_yaw=-0.0221 left_pitch=-0.0285 left_roll=0.0547 left_gripper=0.6458 right_x=0.2904 right_y=0.1612 right_z=-0.0017 right_yaw=0.6927 right_pitch=-0.0048 right_roll=0.0241 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -1.5932, 7.2274, 1.9658, -0.0952, 0.0122, -0.0073, -1.0598, -4.6701, 1.7709, 0.5397, 0.1001, 0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34cd20e8aecbf595b56f60ec473f07b64bbbe2e09447d2d0d6306e6597f5467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66932fcca05f1737e71fda2a3fff1d30f746b21a6190abcba3177d46b35cb195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7f6153b449a8066e6b0592e58c670afa7ca2f9b04fc4be08f213a8d8c82f48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The pen is supported by the tabletop. I’m opening the right gripper to release it without sliding it.\"}",
  "call_id": "call_n61CWg9N47irjGauQTt34xgy",
  "id": "fc_0ccb37c1594e58e4016ab468be3e5087d0a53b8b5018fae8cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n61CWg9N47irjGauQTt34xgy",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0792, 0.8261, 0.5896, -0.3798, -0.0792, -0.0006, 0.6458, 0.3164, 1.7199, 0.1913, 0.9401, -0.342, -0.194, 0.6449]\nstate[eef_state]: left_x=0.2948 left_y=-0.0058 left_z=0.1649 left_yaw=-0.0224 left_pitch=-0.0438 left_roll=0.0554 left_gripper=0.6458 right_x=0.2906 right_y=0.1613 right_z=-0.0003 right_yaw=0.6957 right_pitch=0.0094 right_roll=0.0208 right_gripper=0.6449\nstate[joint_eff]: [-0.0889, -1.7026, 7.2274, 1.7949, -0.0855, -0.0659, -0.0122, 0.1846, -5.7504, 3.6171, 1.4579, -0.0513, 0.0562, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf1eed904772b484a55be8ba8fdee08b8891f62b3f98e0b0210d6fa8c23b53a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20efee08b8519904c6e7c259608cd6441ab09599c67c5b7b01509e9926eaf0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5338dcabd9a832487e657586d84e528ea132a3f88c5e4bf9799570403c89162",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.71 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 126 changed as sent

message 129 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4393, 1.8259, 0.366, 0.8959, 0.0521, 0.0872, 0.6454, 0.3473, 1.0679, 0.8421, -0.4419, -0.2668, -0.2142, 0.0607]\nstate[eef_state]: left_x=0.3432 left_y=-0.1675 left_z=-0.001 left_yaw=-0.5403 left_pitch=0.0071 left_roll=0.0565 left_gripper=0.6454 right_x=0.2969 right_y=0.1608 right_z=0.1982 right_yaw=0.676 right_pitch=-0.08 right_roll=-0.0099 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -7.5282, 4.4786, 1.3553, -0.0562, 0.0073, 0.0024, -0.0479, -3.3299, 7.0222, 1.6239, -0.1441, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0792, 0.8219, 0.5922, -0.3714, -0.0795, -0.0006, 0.6458, 0.3199, 1.7111, 0.1982, 0.9108, -0.3355, -0.1921, 0.0607]\nstate[eef_state]: left_x=0.2961 left_y=-0.0058 left_z=0.169 left_yaw=-0.0221 left_pitch=-0.0285 left_roll=0.0547 left_gripper=0.6458 right_x=0.2904 right_y=0.1612 right_z=-0.0017 right_yaw=0.6927 right_pitch=-0.0048 right_roll=0.0241 right_gripper=0.0607\nstate[joint_eff]: [-0.1983, -1.5932, 7.2274, 1.9658, -0.0952, 0.0122, -0.0073, -1.0598, -4.6701, 1.7709, 0.5397, 0.1001, 0.0415, 1.0379]",
      "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]: [-0.0792, 0.8261, 0.5896, -0.3798, -0.0792, -0.0006, 0.6458, 0.3164, 1.7199, 0.1913, 0.9401, -0.342, -0.194, 0.6449]\nstate[eef_state]: left_x=0.2948 left_y=-0.0058 left_z=0.1649 left_yaw=-0.0224 left_pitch=-0.0438 left_roll=0.0554 left_gripper=0.6458 right_x=0.2906 right_y=0.1613 right_z=-0.0003 right_yaw=0.6957 right_pitch=0.0094 right_roll=0.0208 right_gripper=0.6449\nstate[joint_eff]: [-0.0889, -1.7026, 7.2274, 1.7949, -0.0855, -0.0659, -0.0122, 0.1846, -5.7504, 3.6171, 1.4579, -0.0513, 0.0562, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf1eed904772b484a55be8ba8fdee08b8891f62b3f98e0b0210d6fa8c23b53a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20efee08b8519904c6e7c259608cd6441ab09599c67c5b7b01509e9926eaf0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5338dcabd9a832487e657586d84e528ea132a3f88c5e4bf9799570403c89162",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"The pen has been released. I’m lifting the right arm back to its home area and keeping the left arm parked, leaving both pieces accessible on the table.\"}",
  "call_id": "call_KwiZeGX1ljq9SOY592Hq9Nik",
  "id": "fc_0ccb37c1594e58e4016ab468c1201487d0b5e8ee0af811e7ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KwiZeGX1ljq9SOY592Hq9Nik",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0452, 0.8333, 0.651, -0.4732, -0.0708, 0.001, 0.6458, -0.0364, 0.7994, 0.5877, -0.3523, -0.0971, -0.0463, 0.6461]\nstate[eef_state]: left_x=0.2901 left_y=0.003 left_z=0.172 left_yaw=0.0038 left_pitch=-0.0833 left_roll=0.0537 left_gripper=0.6458 right_x=0.2966 right_y=0.0099 right_z=0.1772 right_yaw=0.0592 right_pitch=-0.0012 right_roll=0.011 right_gripper=0.6461\nstate[joint_eff]: [0.5812, -1.4838, 10.6188, 1.7118, 0.1392, 0.1832, -0.0122, -0.4718, -1.8393, 9.347, 1.7705, 0.0904, 0.2564, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0e4dc67bde72a9227dd52bfa4721f9e9a048379d256fa82911037fdbafd2c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6587df6e057094720645afa272c108f60870ea38160c603e71c68daed859cde1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6df511d78e2f968580b0d8295103eec56af9ea07fe84dbbb96d55daf1ca960",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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