adhoc

completed
2026-09-23T23:10:58.635376+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
146.6 s
total steps
225
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 cap is left of the pen near the middle of the table. I’m moving the left gripper above the cap while keeping the right arm parked clear.
move_to
left_x0.3600left_y-0.2000left_z0.1200left_gripper1.0000right_x0.2950right_y0.0000right_z0.1850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3805, -0.0216, -0.0246, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.2667, -1.4564, 10.5094, 1.8144, -0.0366, 0.0904, -0.0855, -0.7863, -1.1829, 9.894, 1.79, -0.0122, -0.022, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.2,"left_z":0.12,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.185},"note":"The cap is left of the pen near the middle of the table. I’m moving the left gripper above the cap while keeping the right arm parked clear."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is centered between the fingers in the wrist view, but still slightly ahead of the grasp point. I’m advancing a little, turning across its narrow body, and lowering to grasp it.
move_to
left_x0.3800left_y-0.2000left_z0.0080left_yaw-0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7624, 1.5333, 0.7963, -0.0608, -0.6041, -0.4896, 0.9993, -0.025, 0.7956, 0.6132, -0.3916, -0.028, -0.0128, 0.9994] state[eef_state]: left_x=0.3483 left_y=-0.1889 left_z=0.1015 left_yaw=-0.0147 left_pitch=-0.0597 left_roll=0.0389 left_gripper=0.9993 right_x=0.2945 right_y=0.0012 right_z=0.1814 right_yaw=0.0002 right_pitch=-0.0144 right_roll=0.0041 right_gripper=0.9994 state[joint_eff]: [-0.4308, -7.0359, 8.9368, 1.7021, -0.4957, 0.1245, -0.0855, -0.5675, -1.7846, 7.0906, 1.7607, -0.0708, -0.0904, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.2,"left_z":0.008,"left_yaw":-0.9},"note":"The cap is centered between the fingers in the wrist view, but still slightly ahead of the grasp point. I’m advancing a little, turning across its narrow body, and lowering to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe cap’s body now lies in the finger-closing region at table height. I’m closing the left gripper before a short test lift.
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]: [-0.3393, 1.8469, 0.6594, 0.4591, 0.2398, 0.2283, 0.9993, -0.0257, 0.7994, 0.6132, -0.3962, -0.0277, -0.0128, 0.9994] state[eef_state]: left_x=0.383 left_y=-0.1759 left_z=0.0005 left_yaw=-0.6781 left_pitch=-0.1324 left_roll=0.0226 left_gripper=0.9993 right_x=0.2941 right_y=0.0009 right_z=0.1794 right_yaw=-0.0009 right_pitch=-0.0228 right_roll=0.0041 right_gripper=0.9994 state[joint_eff]: [0.1162, -7.2137, 5.6684, 1.2234, 0.4029, 0.0708, -0.0171, 0.0068, -1.4974, 7.1043, 1.8388, -0.0269, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap’s body now lies in the finger-closing region at table height. I’m closing the left gripper before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper closed almost completely, so that attempt was empty. I’m reopening, shifting outward about a centimeter, and lowering slightly for one corrected grasp.
move_to
left_x0.4020left_y-0.1900left_z-0.0100left_yaw-0.6800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3428, 1.8587, 0.6579, 0.5266, 0.2424, 0.218, 0.0107, -0.0261, 0.8005, 0.6132, -0.3969, -0.028, -0.0124, 0.9994] state[eef_state]: left_x=0.3903 left_y=-0.1805 left_z=0.0077 left_yaw=-0.6762 left_pitch=-0.0805 left_roll=0.0308 left_gripper=0.0107 right_x=0.2941 right_y=0.0009 right_z=0.1789 right_yaw=-0.0012 right_pitch=-0.0247 right_roll=0.0047 right_gripper=0.9994 state[joint_eff]: [-0.1846, -7.4735, 3.9179, 0.9499, 0.2027, 0.0122, 0.2027, -0.0752, -1.388, 7.0906, 1.7558, -0.0122, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.402,"left_y":-0.19,"left_z":-0.01,"left_yaw":-0.68,"left_gripper":1},"note":"The gripper closed almost completely, so that attempt was empty. I’m reopening, shifting outward about a centimeter, and lowering slightly for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe corrected position puts the cap underneath the fingertips, out of the wrist camera’s view. I’m closing again and will check the jaw spacing before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3515, 1.9392, 0.6865, 0.6121, 0.2379, 0.2092, 0.9948, -0.0261, 0.8017, 0.6132, -0.3985, -0.028, -0.0124, 0.9994] state[eef_state]: left_x=0.4025 left_y=-0.1881 left_z=-0.0 left_yaw=-0.6757 left_pitch=-0.0494 left_roll=0.0373 left_gripper=0.9948 right_x=0.2939 right_y=0.0009 right_z=0.1783 right_yaw=-0.0012 right_pitch=-0.0274 right_roll=0.0047 right_gripper=0.9994 state[joint_eff]: [-0.4444, -6.0513, 6.4068, 1.3455, -0.022, -0.0562, -0.1636, -0.1709, -1.3744, 7.0222, 1.7705, -0.0122, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The corrected position puts the cap underneath the fingertips, out of the wrist camera’s view. I’m closing again and will check the jaw spacing before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe second close was also empty. I’m lifting and moving aside so the overhead view can reveal the cap’s actual position rather than making another blind adjustment.
move_to
left_x0.3000left_y-0.0400left_z0.1600left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3531, 1.9461, 0.691, 0.6224, 0.2352, 0.207, 0.009, -0.0261, 0.8017, 0.6132, -0.3988, -0.0277, -0.0124, 0.9994] state[eef_state]: left_x=0.4046 left_y=-0.1891 left_z=0.0005 left_yaw=-0.6737 left_pitch=-0.0423 left_roll=0.0395 left_gripper=0.009 right_x=0.2939 right_y=0.0008 right_z=0.1782 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.9994 state[joint_eff]: [0.1299, -9.1282, 4.1231, 1.5458, 0.1343, -0.0171, 0.6911, -0.2393, -1.2786, 7.241, 1.7118, -0.0122, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.04,"left_z":0.16,"left_yaw":0,"left_gripper":1},"note":"The second close was also empty. I’m lifting and moving aside so the overhead view can reveal the cap’s actual position rather than making another blind adjustment."})
tool
executing move_to over 14 steps (1.4s)
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 pen remains clearly visible, but the cap is no longer at its original spot. I’m parking the left arm farther back and bringing the right wrist above the pen to inspect the work area and prepare its grasp.
move_to
left_x0.1900left_y0.0000left_z0.2700left_yaw0.0000right_x0.3850right_y0.2900right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3069, 0.9142, 0.5461, -0.2466, -0.2256, -0.1314, 0.9965, -0.0257, 0.8055, 0.6132, -0.4118, -0.028, -0.0124, 0.9994] state[eef_state]: left_x=0.3057 left_y=-0.0517 left_z=0.1494 left_yaw=-0.058 left_pitch=-0.0263 left_roll=0.0296 left_gripper=0.9965 right_x=0.2923 right_y=0.001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0445 right_roll=0.0052 right_gripper=0.9994 state[joint_eff]: [0.5538, -2.1675, 10.1675, 1.7656, -0.149, 0.0806, -0.022, -0.1299, -1.0598, 7.0085, 1.8632, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.19,"left_y":0,"left_z":0.27,"left_yaw":0,"right_x":0.385,"right_y":0.29,"right_z":0.14,"right_gripper":1},"note":"The pen remains clearly visible, but the cap is no longer at its original spot. I’m parking the left arm farther back and bringing the right wrist above the pen to inspect the work area and prepare its grasp."})
tool
executing move_to over 25 steps (2.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe pen appears just right of the wrist’s centerline, with its tip toward the upper left. I’m centering over the barrel and turning the jaws to grip across it.
move_to
right_x0.4050right_y0.2650right_z0.0450right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.173, 0.5419, 0.955, -1.0412, -0.1741, -0.1062, 0.9974, 0.8604, 1.8084, 1.2335, -0.2726, 0.6361, 0.5556, 0.9994] state[eef_state]: left_x=0.1948 left_y=0.0007 left_z=0.2582 left_yaw=0.0194 left_pitch=-0.0464 left_roll=0.024 left_gripper=0.9974 right_x=0.3774 right_y=0.2833 right_z=0.1268 right_yaw=0.0345 right_pitch=-0.0881 right_roll=-0.0301 right_gripper=0.9994 state[joint_eff]: [0.2667, 1.2103, 8.3214, 1.7411, 0.0024, 0.0855, 0.0757, 0.6496, -9.0872, 8.7179, 1.5165, 0.6178, 0.2662, -0.0806] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.265,"right_z":0.045,"right_yaw":0.7},"note":"The pen appears just right of the wrist’s centerline, with its tip toward the upper left. I’m centering over the barrel and turning the jaws to grip across it."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe pen is now aligned lengthwise with the wrist view, and its barrel extends into the jaw region. I’m lowering the remaining few centimeters and moving slightly forward to seat the fingers around the barrel.
move_to
right_x0.4200right_y0.2520right_z-0.0080right_yaw0.5300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1707, 0.5385, 0.9524, -1.063, -0.1684, -0.107, 0.9974, 0.5484, 1.8595, 0.9157, 0.2226, 0.033, -0.0036, 0.9994] state[eef_state]: left_x=0.1911 left_y=0.0007 left_z=0.2534 left_yaw=0.0176 left_pitch=-0.0676 left_roll=0.024 left_gripper=0.9974 right_x=0.4047 right_y=0.2446 right_z=0.0392 right_yaw=0.5165 right_pitch=-0.1615 right_roll=-0.026 right_gripper=0.9994 state[joint_eff]: [-0.212, 2.0581, 5.8598, 1.8291, -0.149, -0.0317, -0.0073, -0.4171, -8.1436, 5.2171, 1.7802, -0.1636, -0.0855, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.252,"right_z":-0.008,"right_yaw":0.53},"note":"The pen is now aligned lengthwise with the wrist view, and its barrel extends into the jaw region. I’m lowering the remaining few centimeters and moving slightly forward to seat the fingers around the barrel."})
tool
executing move_to over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe right fingertips are at table level with the pen barrel between them. I’m closing the gripper to secure the pen.
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]: [-0.1707, 0.5385, 0.9504, -1.0679, -0.168, -0.1074, 0.9974, 0.5373, 2.009, 0.9295, 0.3737, -0.0078, -0.046, 0.9994] state[eef_state]: left_x=0.1904 left_y=0.0008 left_z=0.2517 left_yaw=0.0176 left_pitch=-0.0744 left_roll=0.0247 left_gripper=0.9974 right_x=0.417 right_y=0.2542 right_z=0.0034 right_yaw=0.5632 right_pitch=-0.1467 right_roll=-0.0313 right_gripper=0.9994 state[joint_eff]: [-0.2256, 1.6889, 5.8325, 1.7851, -0.1001, -0.0708, -0.0122, -0.1436, -7.5009, 6.065, 1.16, 0.1001, 0.1783, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are at table level with the pen barrel between them. I’m closing the gripper to secure the pen."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe right jaws stopped at a small but nonzero opening, and the pen tip is centered above them. I’m making a short test lift to confirm the pen is held.
move_to
right_x0.4230right_y0.2550right_z0.0700right_yaw0.5450left_x0.1900left_y0.0000left_z0.2700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1707, 0.5385, 0.947, -1.0756, -0.1684, -0.1074, 0.9974, 0.5373, 2.0247, 0.9367, 0.4065, 0.0032, -0.0288, 0.0489] state[eef_state]: left_x=0.1893 left_y=0.0011 left_z=0.2488 left_yaw=0.018 left_pitch=-0.0852 left_roll=0.027 left_gripper=0.9974 right_x=0.4232 right_y=0.2556 right_z=0.0049 right_yaw=0.5445 right_pitch=-0.1223 right_roll=-0.0256 right_gripper=0.0489 state[joint_eff]: [-0.3077, 2.1265, 5.9282, 1.7607, -0.0806, -0.0708, -0.0122, -0.2256, -8.253, 5.5316, 1.5116, 0.1783, 0.0513, 1.1893] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.423,"right_y":0.255,"right_z":0.07,"right_yaw":0.545,"left_x":0.19,"left_y":0,"left_z":0.27},"note":"The right jaws stopped at a small but nonzero opening, and the pen tip is centered above them. I’m making a short test lift to confirm the pen is held."})
tool
executing move_to over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe pen moved with the right gripper during the test lift. I’m carrying it clear and using the left wrist view to locate the cap again near the earlier grasp area.
move_to
right_x0.3300right_y0.1200right_z0.1900right_yaw0.5500left_x0.3800left_y-0.1700left_z0.1400left_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]: [-0.1822, 0.5907, 1.0061, -1.1252, -0.1761, -0.115, 0.9974, 0.5369, 1.8957, 0.9852, 0.1986, -0.0006, -0.0341, 0.0541] state[eef_state]: left_x=0.189 left_y=0.0003 left_z=0.254 left_yaw=0.018 left_pitch=-0.126 left_roll=0.0341 left_gripper=0.9974 right_x=0.4181 right_y=0.2532 right_z=0.0444 right_yaw=0.5503 right_pitch=-0.1528 right_roll=-0.0269 right_gripper=0.0541 state[joint_eff]: [-0.5675, 1.853, 8.4855, 1.7216, -0.1245, -0.105, -0.0171, -0.4171, -11.7538, 8.3077, 1.6679, 0.0171, 0.0269, 1.0379] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.12,"right_z":0.19,"right_yaw":0.55,"left_x":0.38,"left_y":-0.17,"left_z":0.14,"left_yaw":0},"note":"The pen moved with the right gripper during the test lift. I’m carrying it clear and using the left wrist view to locate the cap again near the earlier grasp area."})
tool
executing move_to over 16 steps (1.6s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe original cap location is empty in the left wrist view. I’m checking a little nearer the base, where the cap may have shifted during the unsuccessful closes, while keeping the pen secure.
move_to
left_x0.2700left_y-0.1400left_z0.1200left_yaw0.0000left_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]: [-0.6266, 1.5173, 0.9585, -0.3592, -0.4736, -0.4294, 0.9974, 0.231, 1.2011, 0.8814, -0.4324, -0.2081, -0.2184, 0.059] state[eef_state]: left_x=0.36 left_y=-0.1567 left_z=0.1162 left_yaw=0.0027 left_pitch=-0.2173 left_roll=0.085 left_gripper=0.9974 right_x=0.335 right_y=0.12 right_z=0.1723 right_yaw=0.5218 right_pitch=-0.1728 right_roll=-0.022 right_gripper=0.059 state[joint_eff]: [-0.3214, -7.6239, 9.5248, 1.5116, -0.3736, -0.022, -0.0122, -0.2803, -5.3402, 9.5795, 1.663, -0.2466, -0.1538, 1.033] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.14,"left_z":0.12,"left_yaw":0,"left_pitch":0.15},"note":"The original cap location is empty in the left wrist view. I’m checking a little nearer the base, where the cap may have shifted during the unsuccessful closes, while keeping the pen secure."})
tool
executing move_to over 13 steps (1.3s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe nearby tabletop is clear; the only remaining small dark item is toward the far edge. I’m moving to a safe forward viewing position to determine whether that is the cap and whether it is reachable.
move_to
left_x0.4900left_y-0.3100left_z0.1600left_pitch0.1500left_yaw0.0000right_x0.3300right_y0.1200right_z0.1900right_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]: [-0.947, 1.1397, 0.429, -0.0368, -0.8284, -0.4881, 0.9974, 0.2249, 1.2037, 0.8776, -0.4545, -0.2176, -0.2352, 0.0631] state[eef_state]: left_x=0.2684 left_y=-0.1439 left_z=0.1088 left_yaw=-0.0402 left_pitch=0.0894 left_roll=0.1091 left_gripper=0.9974 right_x=0.3309 right_y=0.1185 right_z=0.1662 right_yaw=0.5344 right_pitch=-0.1983 right_roll=-0.0195 right_gripper=0.0631 state[joint_eff]: [-0.2667, -3.5761, 6.5299, 1.6874, -0.4176, -0.022, -0.0122, 0.1299, -3.9316, 7.4188, 1.7802, -0.0611, 0.1099, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.31,"left_z":0.16,"left_pitch":0.15,"left_yaw":0,"right_x":0.33,"right_y":0.12,"right_z":0.19,"right_pitch":0},"note":"The nearby tabletop is clear; the only remaining small dark item is toward the far edge. I’m moving to a safe forward viewing position to determine whether that is the cap and whether it is reachable."})
tool
executing move_to over 18 steps (1.8s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe cap is near the far table edge, beyond this arm’s table-contact reach. I can’t safely bring the pieces together, so I’m returning the held pen to an accessible part of the table.
move_to
left_x0.2950left_y0.0000left_z0.1900left_yaw0.0000left_pitch0.0000right_x0.4150right_y0.2500right_z0.0250right_yaw0.5500right_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]: [-0.7853, 2.1033, 1.5505, -0.062, -0.77, -0.3565, 0.9974, 0.2089, 1.1023, 0.7567, -0.2955, -0.2657, -0.2142, 0.0631] state[eef_state]: left_x=0.482 left_y=-0.3029 left_z=0.1485 left_yaw=0.0192 left_pitch=0.1406 left_roll=0.1029 left_gripper=0.9974 right_x=0.3267 right_y=0.1203 right_z=0.1773 right_yaw=0.5418 right_pitch=-0.0558 right_roll=-0.0176 right_gripper=0.0631 state[joint_eff]: [0.3761, -12.0957, 8.8, 1.5018, -0.1148, 0.2564, -0.0122, -0.6085, -4.9436, 6.735, 2.0781, -0.1832, 0.1099, 1.0281] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [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,"right_x":0.415,"right_y":0.25,"right_z":0.025,"right_yaw":0.55,"right_pitch":0},"note":"The cap is near the far table edge, beyond this arm’s table-contact reach. I can’t safely bring the pieces together, so I’m returning the held pen to an accessible part of the table."})
tool
executing move_to over 27 steps (2.7s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe pen is now just above the tabletop. I’m opening the right gripper to set it down before withdrawing the arm.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.123, 0.8238, 0.6487, -0.3828, -0.2108, -0.0326, 0.9974, 0.5247, 1.9453, 0.7803, 0.5419, -0.0315, -0.0521, 0.0631] state[eef_state]: left_x=0.3012 left_y=0.0036 left_z=0.1937 left_yaw=0.0601 left_pitch=0.0237 left_roll=0.0925 left_gripper=0.9974 right_x=0.4012 right_y=0.2428 right_z=0.0125 right_yaw=0.5737 right_pitch=-0.0635 right_roll=-0.0246 right_gripper=0.0631 state[joint_eff]: [0.1846, -1.7436, 6.8855, 1.8095, 0.0415, 0.1245, -0.0122, 0.5265, -8.212, 6.9675, 2.1368, 0.188, 0.1783, 1.0281] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pen is now just above the tabletop. I’m opening the right gripper to set it down before withdrawing the arm."})
tool
executing move_to over 10 steps (1.0s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe pen has been released onto the table. I’m retracting the right arm to leave both objects unobstructed and the robot safely parked.
move_to
right_x0.2950right_y0.0000right_z0.1900right_yaw0.0000left_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]: [-0.1234, 0.8295, 0.6422, -0.4084, -0.2058, -0.028, 0.9974, 0.5251, 1.961, 0.7803, 0.5354, -0.0299, -0.0574, 0.9955] state[eef_state]: left_x=0.2976 left_y=0.0031 left_z=0.1839 left_yaw=0.0531 left_pitch=-0.0142 left_roll=0.1004 left_gripper=0.9974 right_x=0.399 right_y=0.2414 right_z=0.0042 right_yaw=0.5758 right_pitch=-0.0857 right_roll=-0.0288 right_gripper=0.9955 state[joint_eff]: [-0.0342, -1.9077, 7.5282, 1.9365, -0.1587, -0.0757, -0.0171, -0.2803, -10.3043, 4.8068, 1.8242, -0.0464, 0.0513, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19,"right_yaw":0,"left_x":0.295,"left_y":0,"left_z":0.19},"note":"The pen has been released onto the table. I’m retracting the right arm to leave both objects unobstructed and the robot safely parked."})
tool
executing move_to over 21 steps (2.1s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteI picked up the pen and safely set it back down, but the cap is near the far edge of the table, beyond the arms’ table-contact reach. Please move the cap closer to the pen so I can complete the task.
give_up
hindsightThe cap is the small dark object near top-camera pixel (127, 24), at the far table edge, not the nearby dark shape initially mistaken for it. Check object identity against the arm cables before grasping. The pen was successfully grasped with the right arm near x=0.42, y=0.255, z=0, yaw=0.55; its held gripper reading was about 0.05–0.06.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.141, 0.831, 0.6422, -0.4389, -0.2104, -0.0284, 0.9974, 0.0071, 0.8757, 0.6827, -0.4629, 0.0174, -0.0242, 0.9963] state[eef_state]: left_x=0.2934 left_y=-0.0008 left_z=0.1775 left_yaw=0.0398 left_pitch=-0.0452 left_roll=0.1084 left_gripper=0.9974 right_x=0.2985 right_y=0.0026 right_z=0.1763 right_yaw=-0.0002 right_pitch=-0.0967 right_roll=-0.0308 right_gripper=0.9963 state[joint_eff]: [-0.335, -2.2222, 8.841, 1.6777, -0.2515, -0.1441, -0.0122, -0.3624, -2.4137, 9.6889, 1.7656, -0.1734, -0.0611, 0.0757] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up the pen and safely set it back down, but the cap is near the far edge of the table, beyond the arms’ table-contact reach. Please move the cap closer to the pen so I can complete the task.","hindsight":"The cap is the small dark object near top-camera pixel (127, 24), at the far table edge, not the nearby dark shape initially mistaken for it. Check object identity against the arm cables before grasping. The pen was successfully grasped with the right arm near x=0.42, y=0.255, z=0, yaw=0.55; its held gripper reading was about 0.05–0.06."})
tool
give_up: I picked up the pen and safely set it back down, but the cap is near the far edge of the table, beyond the arms’ table-contact reach. Please move the cap closer to the pen so I can complete the task.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.331 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3805, -0.0216, -0.0246, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.4564, 10.5094, 1.8144, -0.0366, 0.0904, -0.0855, -0.7863, -1.1829, 9.894, 1.79, -0.0122, -0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b8aa4267dae5d098c6c0efad57685a294bbbc451fdc4e03d3714f444c7ca74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a83e43c5e1d26f1e79f3137a7a0af476bfa5e5a226561b4c186188cae0adc44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2987a0addb0bb6d12c4226fdc4df257b7533eff50b2a834bdda2b73771a3ad59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 26b8aa4267da
wire blob 3a83e43c5e1d
wire blob 2987a0addb0b
call 1 attempt 0 · /responses · status 200 · 12.59 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyWCv7hsb9xM2JGG93x606P-VspVdJOUpH7IaAoCRMbihzkT3IMquVC27usseQKOsimmVJzmSAEHacf-NHffz4xSG-d0wFYJ6gAKD-H47fSpxqsCQaW3powRh7eBQU0CkIPpCGJCguTG-Z2Cl34AIkqEbnBit6UT5P2wY3toiN43_QXmMY2xTyrB0GXacGUOHNT_Jq6H8iGs_a5PDxScNVpvjKRgzaXuP6AIjRJth3P-Pyj_j3MGDxZWoEEwzUmWWs_wRWzBEURE9R4BfEejfuYAxX3oVfAnfHUbMWq_QJwg3_jsT7lCdAp7xnc59-3D_EA7CDs4DWXUuh7gcU3Ge8FsXaTZh9uAL9SwNQVxLhIJM0v3zKG1HK_tAWXCpVe4DwRMH2dAmVv8JACGog61RiLeRn30ceKI7u6wA-nMpxAdBVdCQmoXnDGVL-y6sF1c8-i2gFfB40_UdVoIv6giB-GGbKBqvn41MI4dUdrspsf4Ex9xaKlehMIHfGJ4FA-LY7bkLXQ2Bbf_9xmzzfGl01clNrBhxZvbWVUUhwkCBRZ7Bv6yPaen4KZQAUdFSpouSwd6J5EtU97K87XoWcGpovYLcfSWQghrFgz-TeWQ1ROZ691QCBHxwZ_GO1qfyUFj7swplqCH1ocZDMQfons0gPJIci60DueqMmY6cpK1uwOPEoIjdxWBjUK66u2G2kuAZ_1eMpi-IkOcyBKY_1fci2v0vCXnk-ohV-rlZ1B-niZo9GJHcKoPR0FknYtI9I4m_EzHeOFonq0ZmsWoHmztjeAwkBZKHIqStXehZBZsguyV9m02IDGLUk2k-jgxhDiIm4b6Xjmy6IUtFsJaf8jQPldrVu_Dz6l-cRbRSBa9rNmtWL_js55S1e2J5rXso-JaSaefDfJKXRVbhtDelQUc73DfiB4onAHXu9OgwoFodCQ7zIs1nzxac5cEwEwceLk6yWAjViDtgxG5E5_2hdWwJZDV7W2BH3M-rdKeWfb87SCmfelz93yhE-7E7LKVzpCQkEIcNXqetqd_g5IxJvhNo7LXnRmxqquR9LGRHwJpHDNpEJkanIEF2oyHWcxLLb3kpuyx2aQZQ8TShPnm7sYBK81jtyTFxfJk7TN6QfqDdDCPDFN-hRrUV3WkKbEoxtZqz49_0MGzq0rGC6Itrml-TBE5zlZcOpPjwwLd8WRtxFvA3lnKkyNpVFp-1FbXwzMzxwqKTZ03fcS8CB37oAXUGTQhTS8ShdN0iFDi2HuUKE9AqSQn1SxrzPzoRep5-ZAkC8-wH9rHP9RR-XzLmNpweCNhpS-XISO6uvWawtJtQ1QmlkT_qqTbRLXWOIhT6UadlSrQhPmCJH11MCy4lbHAS9XT2LN6f17_NOKI6JyJmziTKcthcLdooC4WuYIt0ijo71-lU415JVbYThm3-6e4xR-4m8_fdNznQyd_tMIZR5sRaN-3GvjE4vS1IVIW0FOWtKGr3YYSJB-9flBATr12zSSjeX3gVII-8keEHbF3niDMeSScorQ35s1pO3rBLaX4wI64mXisiFIhb4fjnQjLWkMFQ12K1YX_BDXxgGCmiOW5I7UwOW-eOEMmT2Yrcz36uFpIf3BTc1BGiYdv_C6cD_W7XontqEDCDaEvvL-f8aOVX_npJ2-QE-MZ-jn0jc4a2f5VJdcPkQebmlxNcE-Ir-AagY9akvn5Xd9oZDErybG4uP8L4Aq0lNEmEOYuFdu4aRbWQsxWO_UHxDWNHymjd-mxEatsu7yVmFlMlxLFAd-wbbPvhlYwTZsXtLvBFHNVxxo6ONUjA_kTTZ45S7C4grmRfvzqNkW_HX3ypJ5MNvogAogh4jza4C0_6r2FpBewWXVHQpdpst2F9S7FRdyP25vOFu1ySAbMtUrjD6wN9se2BHABqg0uIIL2ny7C0CNWPdc_RH5Sn-u52ICNdJ8lHTA6sCDuM6fHfjE-hX45HrGEzpmvfCKcp71CYzwg9WTEbCrPuPP0OTX0FbsJliaWQOX6ijpvl5rWXYXHmIUt6_uhFOgNWRxOwSeXJ6F_yjRCPyzK87mqKamQlk_4XNsP8Df0dUQwSlPEM4u7hUcbiT2bzo7pG7YFMhzHMuQaCr_jI3IVJ6VnaWl1YoiivCEWWkSF29WPZ4SJ9KOqTXWnA8jzhRaxN-J9hrt0HKNOwJeN42l-thKcaoVCxEO9yggNLHFKjOeOoCDQJxnQCPqMC2WERiJpp71UEVwySc0arOROi65bXecLlqJETvNMD9I8TFiQ40uk3oPb195Hrr-g8E04Yo=",
  "id": "rs_07bb5bc94a4279ae016ab45c90c88487d0b7679451f2189d4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.2,\"left_z\":0.12,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185},\"note\":\"The cap is left of the pen near the middle of the table. I’m moving the left gripper above the cap while keeping the right arm parked clear.\"}",
  "call_id": "call_AjzzHUKxptPYWoYjFAILeXgK",
  "id": "fc_07bb5bc94a4279ae016ab45c95ef8087d08bcf9ecc1761f07e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AjzzHUKxptPYWoYjFAILeXgK",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7624, 1.5333, 0.7963, -0.0608, -0.6041, -0.4896, 0.9993, -0.025, 0.7956, 0.6132, -0.3916, -0.028, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3483 left_y=-0.1889 left_z=0.1015 left_yaw=-0.0147 left_pitch=-0.0597 left_roll=0.0389 left_gripper=0.9993 right_x=0.2945 right_y=0.0012 right_z=0.1814 right_yaw=0.0002 right_pitch=-0.0144 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -7.0359, 8.9368, 1.7021, -0.4957, 0.1245, -0.0855, -0.5675, -1.7846, 7.0906, 1.7607, -0.0708, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff2f1aa5632150950a75710e8cab53b6e4a5365d230942f374b049af38d234d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894d89bada8810753d812d560429c5a0c6b1425326570ddbf262acc66c5d6dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98da4d5c121cd38565c4b7b2a3982815fb033bfe4930d6dfc365b98a539bc428",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 6ff2f1aa5632
wire blob 894d89bada88
wire blob 98da4d5c121c
call 2 attempt 0 · /responses · status 200 · 3.116 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3805, -0.0216, -0.0246, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.4564, 10.5094, 1.8144, -0.0366, 0.0904, -0.0855, -0.7863, -1.1829, 9.894, 1.79, -0.0122, -0.022, -0.0757]",
      "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]: [-0.7624, 1.5333, 0.7963, -0.0608, -0.6041, -0.4896, 0.9993, -0.025, 0.7956, 0.6132, -0.3916, -0.028, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3483 left_y=-0.1889 left_z=0.1015 left_yaw=-0.0147 left_pitch=-0.0597 left_roll=0.0389 left_gripper=0.9993 right_x=0.2945 right_y=0.0012 right_z=0.1814 right_yaw=0.0002 right_pitch=-0.0144 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -7.0359, 8.9368, 1.7021, -0.4957, 0.1245, -0.0855, -0.5675, -1.7846, 7.0906, 1.7607, -0.0708, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff2f1aa5632150950a75710e8cab53b6e4a5365d230942f374b049af38d234d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894d89bada8810753d812d560429c5a0c6b1425326570ddbf262acc66c5d6dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98da4d5c121cd38565c4b7b2a3982815fb033bfe4930d6dfc365b98a539bc428",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 6ff2f1aa5632]
[blob 894d89bada88]
[blob 98da4d5c121c]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyl1RHIpEUI3Iej25sWrwnvimwNt5tDsDj9b_g7U3gBJ2FDfJO5BMPc0edqlkGlSu1eTDouOTdJYCj4IXjSxEG-9EX5tjFuCtpmnhGwCZgDRgw0MsKekm9x6V3xjEHXS8UmT6Zx1Nqoo5-qpVgxpECODtlls6nvsjYdWd8ef5HzvPy88qAqpKLNpoicyDTsW4d0W6sIL636DUQ8lfCDNzvwzfP3TkmvjWcgqbHf_qLOOSNNtTp4j0vN4fMFwV9DdFUW3dsZ5o1_4LfNxnPKFLpSqyClDm7NkVV0AypO52I5olTMgTqRS5Snsk2wJdehMRZqpuQ2tXgG-uvC5rbslaugilacy7Rr6F0VHHbNCXEHbYcBxtarp5h6mRH6KR541TyzCB-1lXGln-puwPuZ-rQcGXaOG64Pq3_esJop32FOCT2fOYyMSLAGDnEIzKulGog8EpohzwUEZdp2-wECURsCZ3PeMs_WVyqsxKR-ojZIsHv8OVirWs2IC7wNXImYFu92iIV-RT0jzmWCwGxexJ63qTc7QglNBQoVNbFrIx1xtrWov6LYyte2nz769-nqMzHYZz8nG9-645C6XiLLyEl6PiiDDQnzAtF4dxNQXjXAc7__lndVB2U2cIU0uPO7r4_gibOy1jPDmB2IR4TPto9gCX7FDPDi-3c4caru13yx7xDc0TjaNKiKtAC2c2qE7mOrTNptS_MR1YRBZur92C8I1jcNtwu7s1k5UDjxystC6an5bwcf016ZvluLps72qnmfO48gMmV0L8c4PGw163sIO92gy9RdSaypxpmBwcimo6h91vBjpaPOS7gNteVK2LuioqGU27C3hh1s7oJ4z6ZnlPHeLEj-OkEUQKiEF2DxxaDezjzsyNfumcIEE54HrRQvC4nJ-WLJk-Qxwx4WeQwHFL1nMn8T_iJkOsXj2QwuBdhO0hwIcp8_EY42IYA-3sHRR7FEmsembKE3MVICtXB1BqrQ3co4D1LoGtuCiso_fn0SVTFM7iWKeaZd1NBEwKKuiWhcjWhqDzCm--IN-aXp75r_VKImt9uqgmHQgvSObNeTkpckc8re3P6J2kQNOcHB6gPXaNqm3obgA7WEQE8QNkJzp1UvDHJln9uJ9DJlnVHWOerVGXAiEbK8pWIn2Oh5Lf6L7cw_BKHWquL5BdOLUMtsrwUrYoURD31cFw3gkgqdpTk2P3fksGk2hixvdTAirZVOOlknsHjf9bDITGpDEYDV2b1TMW2FQTvpDkS0bHGek2q5bFyj3xw2Uw5X3V1h5tYi5BAWpJhzjDL653JOOTopW4-WrlXkhQkLsMOStbxkdO4zO4ghaUV3lJeHfRNDIyMyHxH_RN-a33V4wsRQLilUaRRghul9siHcunuSTogOhx258rr3-4w_pApr0_FaJ-9SRfyGlr0pDZ-CQUwfBKAkG3BfM23JaO6-hZ5wSd59tDL4XAV5vdTAwPnCO9Lts1UhM7VTyr3upXqQFCnS7cniaz7K1thvESN5lT4FV48Bdx9tFDnjZ1jjp9DeNyZL3qiEiNvGv6ZVv8LZhwL3rkTbo69sPg-zFYXPePIvJ6zjRMszVHiu6ZUwnnwyKTXWT4cifzKRIOWbwTKMYB8OiX1WHGUBZsefXx3eYarNFKpMivUeymsIZTNgwHxZyGxs68-PBJY4livn45s1OgmqdYIIwkb85bO75yz0w1Ane43VwnW_2j4QMYzj3RlI0ZwoYpAtT8j1ykfT1Q9PGbnDuRW74rQ03KnrlEzTdLfpkoCXOcFOkByNFFO82CQyLhVsigPOFf6fAia84Pb5001DmVu_8AlB_HnkQm_C43nU-b5C4s439W99yagHlx4HE1iUtNRzC2Aedc6Cr3sQIYFW314kLUvHZKmt1V4VhjGnw_9MOtSe5XYY0gc2AMvstCLWOv14TMVMnFLGyVxpDtEfvIBFSv1hh1MlC2_EPMfpFDYQ30AhE9ZrU1TmVAzN6l8J-F0PK0_ycm8NiwAAFSqNHUXlq0E_E8_p9kYhMJKiicNgcnJScsGsDOhZVG36RQ2z6p-KTfdlr05XO-CAZq-afDVWhkG5ERfm_O1MNJyvokO01Q-Db8OZHZEwnYbbaGnIFw7d7Pg0YH5tDGU7OLtUgvvIM2IWBOaK8yV3F7F1sJgw0ZfqBX5HzZGyoG3Ag13amV_I9SGLoE1EEV3hBqWBYj79I65bBJbpiQ6beCXMjjKY9mnWy3c3ifLmrQxdowRLk4cfpUgTETRdirr_CQYml__K--Cy6kJ5g_P6e-T8YQnhzkENE2nuotYSu4XAoArTI0jchRdB3QLgZx3IAnYrKQID3hoaNjb0GaMksp5bY8_zp8C6LnZuAdvinpcV4-mgnCvmjExYXIEMWM3-xM65fsJK2PIRTbjeJXytsePG1LIE8tbKaZGTAF-fU5hcX4Sz1QgpzB4rEJRgvrln7iuaabyly_-3nUTKrJU45iafKREmeqpI5tn6X-Khfrvo1l9FvmargWLxi93V5ADKOLD7O3v2nfM2ZHgoVQONvRl3gAIIqWFrYOIawrfqHgvuMuwkzF8-GA9sbdRFoJDR63p6hs124Kf2Inv2QvLrPXG4tsP7K-OjvPama0Zn8l24QKBx4o51vxgiGOv2UrcbYwBExbPoOI4Rcs1gED3rXa45rePYoVhVYaPR2ndiw7I3mz3WJqFOlmRa_gm2INRaeGxcDX0Jn_mKNx6v7WzCWFnrYPkCb72jM9JsdT-gyVKkFc1UGXEDkoTX293LSQxiwcFMfnf-4Ds2TRvF09kb093JZLok2fu1_wWqMGc-seg1U8XgzD3cQHjcHjocpKx5MEkC85p8UEFUX1gw-h5OgyHjQM0EAjEeP4kx07PrrkoPQ652Bdgreu-FFEZs1W2XGYy06fosJc7OHayktE44zr0vztR14P4-1QaGQRZHNGJ7Qz7FSQFHi_SgwGqDX0p3qvybbflj4aTBpBYpu5wzU-Dt-IHiS31SzQW8RM6N7Y7Z7V1DWcI_9_F3EM1xt7v0rU8otsB_H7rvwgMR97k-27xmYn-cR-dPAqejkZLCgrWh0N1BmiOv8NMqTaUAotkbm7ePJIx8z1Yy_bzhYZdA7dWmx4P_9YeMokNbTEqWwkvn3WacwCHIp2swojoNmJjOr9OC4eyKZV8ZqcLnV-AbkspNBctVgUFv2gPxyFMbmuMIa0t4uoVqqVkxOXaSTetA5FYEmLzmafsempSyupVpJu93mhTm4paQwVHDc7EB3D2bKL2nq1yC6naEnQZc35ahxe8H6Oku4q27eL20TK-cSPO5aAlsS4KxObSWELfjZVpKmINg",
  "id": "rs_07bb5bc94a4279ae016ab45c99fbd487d091044e0307c3e1d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.2,\"left_z\":0.008,\"left_yaw\":-0.9},\"note\":\"The cap is centered between the fingers in the wrist view, but still slightly ahead of the grasp point. I’m advancing a little, turning across its narrow body, and lowering to grasp it.\"}",
  "call_id": "call_I0LwwypWiEDSdVEtZ21QWQYq",
  "id": "fc_07bb5bc94a4279ae016ab45ca149c087d086a85aaccd26f322",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I0LwwypWiEDSdVEtZ21QWQYq",
  "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]: [-0.3393, 1.8469, 0.6594, 0.4591, 0.2398, 0.2283, 0.9993, -0.0257, 0.7994, 0.6132, -0.3962, -0.0277, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.383 left_y=-0.1759 left_z=0.0005 left_yaw=-0.6781 left_pitch=-0.1324 left_roll=0.0226 left_gripper=0.9993 right_x=0.2941 right_y=0.0009 right_z=0.1794 right_yaw=-0.0009 right_pitch=-0.0228 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -7.2137, 5.6684, 1.2234, 0.4029, 0.0708, -0.0171, 0.0068, -1.4974, 7.1043, 1.8388, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a20a10a18ab114069fa19b8c843b8db8c99385995653d437c178e28145bdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78f19bc4696c787df3856e6cee5125ee12b4bf0bbcf675b412894276874bf790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a05337b7d89fb8390d8810a566efc6ee30214133c7d833dd6832ce290534e56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 15a20a10a18a
wire blob 78f19bc4696c
wire blob 4a05337b7d89
call 3 attempt 0 · /responses · status 200 · 5.553 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]: [-0.7624, 1.5333, 0.7963, -0.0608, -0.6041, -0.4896, 0.9993, -0.025, 0.7956, 0.6132, -0.3916, -0.028, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3483 left_y=-0.1889 left_z=0.1015 left_yaw=-0.0147 left_pitch=-0.0597 left_roll=0.0389 left_gripper=0.9993 right_x=0.2945 right_y=0.0012 right_z=0.1814 right_yaw=0.0002 right_pitch=-0.0144 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -7.0359, 8.9368, 1.7021, -0.4957, 0.1245, -0.0855, -0.5675, -1.7846, 7.0906, 1.7607, -0.0708, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3393, 1.8469, 0.6594, 0.4591, 0.2398, 0.2283, 0.9993, -0.0257, 0.7994, 0.6132, -0.3962, -0.0277, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.383 left_y=-0.1759 left_z=0.0005 left_yaw=-0.6781 left_pitch=-0.1324 left_roll=0.0226 left_gripper=0.9993 right_x=0.2941 right_y=0.0009 right_z=0.1794 right_yaw=-0.0009 right_pitch=-0.0228 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -7.2137, 5.6684, 1.2234, 0.4029, 0.0708, -0.0171, 0.0068, -1.4974, 7.1043, 1.8388, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a20a10a18ab114069fa19b8c843b8db8c99385995653d437c178e28145bdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78f19bc4696c787df3856e6cee5125ee12b4bf0bbcf675b412894276874bf790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a05337b7d89fb8390d8810a566efc6ee30214133c7d833dd6832ce290534e56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 15a20a10a18a]
[blob 78f19bc4696c]
[blob 4a05337b7d89]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFypU6LXDKkZevKr2j6v4fuq-MdAj4PFE4me9zi8T5et_aVCvr6J8FEakcX7XgcpfKNh4_O6VzO6ZaLrFqzBqUeGQI6C-9AFLcDdt2ttysL9S4nF0DaqT3CpAMZomJZPzSdufa1CYcc-BCzVKx5nYT21MkcAU3fehno5shztAsSJ7kfKUmdrAaaaChohvsZrgIAcbrk4mmyoLaOA8L46qURRrCoGk9aqhbgaPP9ri7P_4htgLrQcwRIqZtSbnpQRAouF_-hu9uJufAShoE8gu4gNQJK1LQEchmAI-rdupsN2u2psmgK7pbBJSImnN_fNV5cvdIpL2VTHRkFH6AsujWvuwnT8r1eCAb3zCkvW0jNY37g7JTLCg3WCVvbU6WOhP7qToWllCWYL10ExR3GS87mDWuPDN3LIafj-qyntQrZFBih-KCtRJK89pfXde4Lo9WZ984yUmpjulSKAqP48gWmbpBpyMIARrNwgooKIoLXXPyF7VfM8YQnvWpWiswLCJO0gduyG61qOOqoy-CV-iLQjRMzPAQMhGb3Zto48uXyphPAUeSZ_tqWz0kS5t2MNI-ozfNb0Pvb6C1DBb6UNkI32Yx2c591RxFsyGWyyYe98pule3ksLFFyoy1Sv0yWw4-7ncFWy3VO192RxAQgz-4C9t1fatdpDfzDRdyoApqR7nPaw5BAJqNMFq_ohV69ZswxrvHJ0TjiKUsqHo4rFINi-D5t1gC8QUIh12T2X55Tm78x9oECKAKIMG_c_FVZ8AzhPAfEe6KEFmwRNTkJdHt6VVT7R3oTHLpXa1sgOH5BnzpgFu7K2RQO1rXNFfn1qUMi7nM-GHVTB6OjwUfME9mq2piMWh_TzEpeQ9MNIEIgn9OsA5QEG7y0PnJmwp8RpMg4lXI9sSJgfFr9ls55u56zzOdO9TDKzw--95xgHylDN6o7sruDrknb7tO7mkqqBhQIUAbA_BDrtEibu3-vyiO-Y2JyTQn6J7_Pv9Wa4MSTOa7aX3EJUSZD6Qv_2FLqXMG5Hp1Jk3M68ydxzvk3gEQ63jmB86EeRPmePtF9lGJJX29VLkf9A5-LF421ZOLT9daoCMVUGgHSKDSqTLf6MlKaW3S5HskMg8KzmDmfMimgh82NnNEkxWoWcIi5tv2DYsuDGOx1dDu5CR9qJ9WWbu9AAABjECcKsQ4EDp7CgHOWbhVVbODKI62spOQkmuHQRSXJ9u0WAJJvUjJQVPRyb4RNC_vQz4ez2SpWo3vx-C8TjL5RtCw2RUB-1d03HVvwO4KeYdEreDjEx279G2k_yFWTRNFzauFx63pyhvAFLNqmv-dbrdGLUrdBVBFTu3UrcLvxa1l8ptltFYjkNLmJWvUS7vJJzZ0nbCNpfFkxSJ_Y7r25IMZS6BpDUevjfrrbg2twv",
  "id": "rs_07bb5bc94a4279ae016ab45ca739bc87d089f5afda3e6b3eb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s body now lies in the finger-closing region at table height. I’m closing the left gripper before a short test lift.\"}",
  "call_id": "call_C3Sqyx68m9137jc2rWJLQtJ7",
  "id": "fc_07bb5bc94a4279ae016ab45ca80ae487d0a2cb951f35d0e995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C3Sqyx68m9137jc2rWJLQtJ7",
  "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]: [-0.3428, 1.8587, 0.6579, 0.5266, 0.2424, 0.218, 0.0107, -0.0261, 0.8005, 0.6132, -0.3969, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.1805 left_z=0.0077 left_yaw=-0.6762 left_pitch=-0.0805 left_roll=0.0308 left_gripper=0.0107 right_x=0.2941 right_y=0.0009 right_z=0.1789 right_yaw=-0.0012 right_pitch=-0.0247 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -7.4735, 3.9179, 0.9499, 0.2027, 0.0122, 0.2027, -0.0752, -1.388, 7.0906, 1.7558, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e660900c84d9d0ef09665b1e62b3fafce7a17c59090a24c9c93bcf50ace80063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32259ce87f36cf09c486b32ae1896b0534af0db5f3e6a8efd3c6e5bc7daefca9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5cc3b14fae6abdf46b76dc389eca25520f8d06cb0850da9fc6a223d7d779d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob e660900c84d9
wire blob 32259ce87f36
wire blob 8e5cc3b14fae
call 4 attempt 0 · /responses · status 200 · 2.549 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3805, -0.0216, -0.0246, 0.9993, -0.0185, 0.791, 0.6086, -0.3771, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2943 left_y=0.0015 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.0017 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.4564, 10.5094, 1.8144, -0.0366, 0.0904, -0.0855, -0.7863, -1.1829, 9.894, 1.79, -0.0122, -0.022, -0.0757]",
      "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]: [-0.3393, 1.8469, 0.6594, 0.4591, 0.2398, 0.2283, 0.9993, -0.0257, 0.7994, 0.6132, -0.3962, -0.0277, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.383 left_y=-0.1759 left_z=0.0005 left_yaw=-0.6781 left_pitch=-0.1324 left_roll=0.0226 left_gripper=0.9993 right_x=0.2941 right_y=0.0009 right_z=0.1794 right_yaw=-0.0009 right_pitch=-0.0228 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -7.2137, 5.6684, 1.2234, 0.4029, 0.0708, -0.0171, 0.0068, -1.4974, 7.1043, 1.8388, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3428, 1.8587, 0.6579, 0.5266, 0.2424, 0.218, 0.0107, -0.0261, 0.8005, 0.6132, -0.3969, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.1805 left_z=0.0077 left_yaw=-0.6762 left_pitch=-0.0805 left_roll=0.0308 left_gripper=0.0107 right_x=0.2941 right_y=0.0009 right_z=0.1789 right_yaw=-0.0012 right_pitch=-0.0247 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -7.4735, 3.9179, 0.9499, 0.2027, 0.0122, 0.2027, -0.0752, -1.388, 7.0906, 1.7558, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e660900c84d9d0ef09665b1e62b3fafce7a17c59090a24c9c93bcf50ace80063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32259ce87f36cf09c486b32ae1896b0534af0db5f3e6a8efd3c6e5bc7daefca9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5cc3b14fae6abdf46b76dc389eca25520f8d06cb0850da9fc6a223d7d779d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob e660900c84d9]
[blob 32259ce87f36]
[blob 8e5cc3b14fae]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyvepaj7mwQUVxrHyp0hEJu4fXF9x-AHQ1jTdlChZh9Ih_yzkYtBJcuUun_uWANkX1nrVlMgamNPUfPmWIBrljO_hW0vcSJNjIqdnCliITSkgMwyv7n-D12E96x4VYeRHby1Sgk641oYscNRRHXjZ9RmLl667fZoYW-OTf7CxGVWAfS3VeWmc3rnHXuMiiFkeuSXUI87MIiYnH4sk9REHEwbbg0jwDhWUCsaROTXWwWQNx7y1-60eFANV4OxHLKBX3M1c4IE79RXU1VBDtYY6f5R1RQtlTkWrOgkL5CakIHz2sg_iz-_9u6DlaSKUBa7izOwZtDE-1VZmlJgAkMKcVVOo9RpmiHK3gWDzBS19ncixHsaunAbqExoQvkAI1aep0HTOYqlkifsalgduYbKI74YFgX_wjamkXD3J9oxCLvtV54sTd6PSAf8jIzW7nyeRYgu_XR5bvZ-wXDM_SQCDwLjhp47rhV8YLG8jSk3r253fPLRNqdRUhmfbWgS-6qbh9XTft0_4j0r4ejKiDtnOYIPx2dGVRHlYYzJp2VbjhNep5YvEB-taJule8I-5jIyiYGq1CyphwHSO2Z4pJ1wbPAWfur4D15O0HwpExpzPpaFajOh7GUeJ6Rv4JZ-Et9-RYBD1KthsIqdBZJSzhkm6A1_c5N3xLjSPkHRb5dtgy4UplCmtO9KXmtBnjN6Ik3rATJN1GGuvxHKa-8ZKOaSzFNEwD9bjeei5nj8jRVPFn1xm5jcmY6E9Fe7zKwsA53o4tJMayHC8UCuw71i9-hYW3MYqqmGp1zMQ5_dgVOacIGqs-2aQydGrjEOmJbddJg8Cy8v1ajJfyiqXfizyWXTUxP9nPMEd7kd89YPH1QePeDJFigUBoigCOd4SzHEw0V89Rp85FJJ66rruZ0rwa2hbRKSvxB8NAMCWjJGxwRdGikGP5sHdRTb89jaYLVUvB41BDKpcTaJfrWGExgO6fTneL-BtMfGBDnCO2e8KJ9Ga9RH199Te-_BlUSMuFaGjWQpzc9U-Fyq7XXlzqS8lCa-BkJyRrLCrx47Z9D9Mv8NTGq7KCKhKBlAviZEf7j7rsbONbQtIG2rTKit22NiDhkoCEclvLZ2-eHDzkPENNMjjAluBENLpGXl6rBWxP-Kpoq7QbNpzJayvFRfnmDHQHBrEPOrs6xIwPdAW3VagR4DC_vI96X_EiYvSEoGd_I9sEqnNIA7H_Ze7X2xRbFhVDP_C3Wz84CJLf7AsqzNyZr41Mldsey5IRBWjSWqF5Dfa9VlOxGpLAoyJL5-vN_4WTvOmMgbVO6EeTJHHpMEHqlCunFn1k6rqii2KriopQxOhdxzHmDdJ741AFJCRZ0yPnKjtUMHDC3dBf_XW36MLayfVkd6pp6f6aqH1P4g6PekgME07I9k1GeoLo-qKs11I7wdWgsQ2CbB2Z1atjmg4iv-7wEtLkrHtdGjh05alFNLBZ5Sd6LbinRFYXL5XJUbFmpVvxH-6nSITQwwuHL9KC7htxh7YBc5q96FA1s527ofhavHFla8OPDD9qhJw5DQc8dgd2K6gwqBDyBsf15Idj-zAJir3H5Nd2uiVBmLrZbXexvW_pA1boE3jDs1IWSjS38LSHLf2-rvF6NGclkbLcY-qVhEXuN7lxfYPhQHQ2xsLgVIl6k0NEkkzXf2t5_O9waFmA0VWkMvTEJpuSeAyPT5omaKvCu-rNjwGc6u3Uc0KD5z9zbkmMhGedF1JvWQq9_CO_1gyNv2s-nTo65iAngvFpy5KqZZpiUt19zQkpNTDPPkG--bEcwKEHHUOz_5jP8tj1lQgoPlI25_HAlm1Qc-TXIMrXQYTZABfXpZr9BGwdzcsGCLr4fHpT9DWx-Y-DheEmdDF6-kQg_FYvwM6f8Rhwzd-8XYV7SNBvcXAqKmyWrqgAuFm7r1TL_pLEJPWIE5JUazZaa80GHG4_pVVGijhsYRIBRCQEoxTtEuMYDATrdiDidLnr4_4MNMXA7kr_TxuymZg==",
  "id": "rs_07bb5bc94a4279ae016ab45cab5d6887d094b7085b60fc5b3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.402,\"left_y\":-0.19,\"left_z\":-0.01,\"left_yaw\":-0.68,\"left_gripper\":1},\"note\":\"The gripper closed almost completely, so that attempt was empty. I’m reopening, shifting outward about a centimeter, and lowering slightly for one corrected grasp.\"}",
  "call_id": "call_HAtLMoGwhIBFTS2DVJ1YJa67",
  "id": "fc_07bb5bc94a4279ae016ab45cae13b887d0bdffef2916c9ede1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HAtLMoGwhIBFTS2DVJ1YJa67",
  "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]: [-0.3515, 1.9392, 0.6865, 0.6121, 0.2379, 0.2092, 0.9948, -0.0261, 0.8017, 0.6132, -0.3985, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4025 left_y=-0.1881 left_z=-0.0 left_yaw=-0.6757 left_pitch=-0.0494 left_roll=0.0373 left_gripper=0.9948 right_x=0.2939 right_y=0.0009 right_z=0.1783 right_yaw=-0.0012 right_pitch=-0.0274 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -6.0513, 6.4068, 1.3455, -0.022, -0.0562, -0.1636, -0.1709, -1.3744, 7.0222, 1.7705, -0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d6397733887f598e22221ffbce4c4947ba5499de351699b53eefad3fd89836",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb962edcb7cd3f711f6a3c703e43c7116d503b343305b19cf9608b0e24c7e26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1250b2aaddd30dc8dd318eb183e365ca02352cd4a72de3f5b08045da33f06ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob e6d639773388
wire blob dcb962edcb7c
wire blob d1250b2aaddd
call 5 attempt 0 · /responses · status 200 · 2.736 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]: [-0.7624, 1.5333, 0.7963, -0.0608, -0.6041, -0.4896, 0.9993, -0.025, 0.7956, 0.6132, -0.3916, -0.028, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.3483 left_y=-0.1889 left_z=0.1015 left_yaw=-0.0147 left_pitch=-0.0597 left_roll=0.0389 left_gripper=0.9993 right_x=0.2945 right_y=0.0012 right_z=0.1814 right_yaw=0.0002 right_pitch=-0.0144 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -7.0359, 8.9368, 1.7021, -0.4957, 0.1245, -0.0855, -0.5675, -1.7846, 7.0906, 1.7607, -0.0708, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3428, 1.8587, 0.6579, 0.5266, 0.2424, 0.218, 0.0107, -0.0261, 0.8005, 0.6132, -0.3969, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.1805 left_z=0.0077 left_yaw=-0.6762 left_pitch=-0.0805 left_roll=0.0308 left_gripper=0.0107 right_x=0.2941 right_y=0.0009 right_z=0.1789 right_yaw=-0.0012 right_pitch=-0.0247 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -7.4735, 3.9179, 0.9499, 0.2027, 0.0122, 0.2027, -0.0752, -1.388, 7.0906, 1.7558, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3515, 1.9392, 0.6865, 0.6121, 0.2379, 0.2092, 0.9948, -0.0261, 0.8017, 0.6132, -0.3985, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4025 left_y=-0.1881 left_z=-0.0 left_yaw=-0.6757 left_pitch=-0.0494 left_roll=0.0373 left_gripper=0.9948 right_x=0.2939 right_y=0.0009 right_z=0.1783 right_yaw=-0.0012 right_pitch=-0.0274 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -6.0513, 6.4068, 1.3455, -0.022, -0.0562, -0.1636, -0.1709, -1.3744, 7.0222, 1.7705, -0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d6397733887f598e22221ffbce4c4947ba5499de351699b53eefad3fd89836",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb962edcb7cd3f711f6a3c703e43c7116d503b343305b19cf9608b0e24c7e26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1250b2aaddd30dc8dd318eb183e365ca02352cd4a72de3f5b08045da33f06ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob e6d639773388]
[blob dcb962edcb7c]
[blob d1250b2aaddd]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyzp7q9JxqqzIH-vylP6tdp6I6QPOZGm-C75MSEsIfYOZmg2FWKSqtOlwVJaEDCgCuN4yNh4bktocnFRA0HBaCNBkeZwBWXudsLr6y7VdZO8K0iaW9ESy2jueE0wrry2avB1-4OAKNtKfACOWBT9qYgR2FoojVsbuZxRFfrHkF9HV4sPW1G_dekSW30a8DTEH4yk4i9iSNvkCsKvSehzC0clOC8TXWuiIV_FQ034U5LeKbjro29ye8vS9FeISm3j9kKSYDiiSdiEMEEbiv8Vzv0xM3YXJtQPpgCLC3cNpIbzr9vTBSeIhlAhnZPbrO92soChlTNj4sd3lp4zS4WKWo7gFxImu0GqVHjHD5peBgOs0Kg0tQGIIWu1NUIB12Fe6EKv1XvKwcUY4-aBD4Vn92HpHySFcEFJi_XgYm1dCN6ScBurVypb0Lvn1XWdXc3E8y_yZlzB5Dag7mO-OOmnZ_pmDonqLPdN7xgQkbj2LZg8KAO-Q_UNVJ-cq0pwkrz4r2jta7tUM4v0oS8ONAjpYeJc3TaxAVDfRUQv-CZITbd0QWS9VSOyYqxDWmun7Bv9-BkZTq7K6AqL38Sr_k1Ap0tRUWSOgcv6tTjYJgvBgL1KFB15VKiUKMxEQAHYnFKbISyNMhUi2BKE4ljdwtPYhhpsJxP5-cYq6dcAJ3Y27pzTbt9bT6yKFaSv6rcVQGHZaN4kYhpUYq7YNad1AD_lSgnXQJG18fvM2R-w8gxCPONbT32LrW8OLvYLRutJh6xT8Juv7Z6OJmpFnr6h5iPGQ2FCEzH5Z-mCBmPJr8gwu3GbaYWTPTIYL7REla3Jn_5cws4rI5DPPlGCshNGman-0XOwJkwUINqv1oHNXy-Yox5VUyvymqOkEeZ-kvu7qyoG7nsf3XESvvatEktCUbqX89iwAe3Cvn096Z1CN2I0-Q3fXNH_kIIQoXFU8wbMcBrqVIgN8L9gbI-CuWbpf6yCZ-QXE9umZVOA3BjhIGuDR_AXqU-59etkxCy7sxRwgKQAJrOSYMEk9ZZEPSWpcp0BSb1NLNbvYElCfm6Ba7qPbwxUp1BTkJ20WBF5jVAdRE0ypIkVVa2Zvuk5wKTqTvSRJTgqpUYpEJdeoLWZgY2q6JmauYZgN3ZjOM4_D9N9V66FAxpzdlT1vr-V9-6fIIpcTosqEEG9oG7qe24HAco3-87voHJJoPp-iLHCg6hSxB7qSoi8SCTm_ie-xP9GIUDlmC7Q_KGqqcJ3fzYYEf49ARvYdoTEtnHHjw3vWdW5xPbcAxZ",
  "id": "rs_07bb5bc94a4279ae016ab45cb1c38887d08f65aa3cdd44ae93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The corrected position puts the cap underneath the fingertips, out of the wrist camera’s view. I’m closing again and will check the jaw spacing before lifting.\"}",
  "call_id": "call_xRCmR2PQei3HKokncTelNo1Q",
  "id": "fc_07bb5bc94a4279ae016ab45cb2037c87d0ac08ad8a3c53887d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xRCmR2PQei3HKokncTelNo1Q",
  "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]: [-0.3531, 1.9461, 0.691, 0.6224, 0.2352, 0.207, 0.009, -0.0261, 0.8017, 0.6132, -0.3988, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4046 left_y=-0.1891 left_z=0.0005 left_yaw=-0.6737 left_pitch=-0.0423 left_roll=0.0395 left_gripper=0.009 right_x=0.2939 right_y=0.0008 right_z=0.1782 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.1282, 4.1231, 1.5458, 0.1343, -0.0171, 0.6911, -0.2393, -1.2786, 7.241, 1.7118, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36f37645104cfb713f6a5e956968339d64da4f0e8e9bd5a50972a26ee7f534d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e7bae1d5cb129e40f8a26d0d9d007d66d48cbb6fab15aaba0e82d81c56d409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7557a13a8094fe993e3bec2751cc13edc9a81687a2e5fa18f4eddba0ffea32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob b36f37645104
wire blob d4e7bae1d5cb
wire blob 9f7557a13a80
call 6 attempt 0 · /responses · status 200 · 6.594 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]: [-0.3393, 1.8469, 0.6594, 0.4591, 0.2398, 0.2283, 0.9993, -0.0257, 0.7994, 0.6132, -0.3962, -0.0277, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.383 left_y=-0.1759 left_z=0.0005 left_yaw=-0.6781 left_pitch=-0.1324 left_roll=0.0226 left_gripper=0.9993 right_x=0.2941 right_y=0.0009 right_z=0.1794 right_yaw=-0.0009 right_pitch=-0.0228 right_roll=0.0041 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -7.2137, 5.6684, 1.2234, 0.4029, 0.0708, -0.0171, 0.0068, -1.4974, 7.1043, 1.8388, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3515, 1.9392, 0.6865, 0.6121, 0.2379, 0.2092, 0.9948, -0.0261, 0.8017, 0.6132, -0.3985, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4025 left_y=-0.1881 left_z=-0.0 left_yaw=-0.6757 left_pitch=-0.0494 left_roll=0.0373 left_gripper=0.9948 right_x=0.2939 right_y=0.0009 right_z=0.1783 right_yaw=-0.0012 right_pitch=-0.0274 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -6.0513, 6.4068, 1.3455, -0.022, -0.0562, -0.1636, -0.1709, -1.3744, 7.0222, 1.7705, -0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3531, 1.9461, 0.691, 0.6224, 0.2352, 0.207, 0.009, -0.0261, 0.8017, 0.6132, -0.3988, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4046 left_y=-0.1891 left_z=0.0005 left_yaw=-0.6737 left_pitch=-0.0423 left_roll=0.0395 left_gripper=0.009 right_x=0.2939 right_y=0.0008 right_z=0.1782 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.1282, 4.1231, 1.5458, 0.1343, -0.0171, 0.6911, -0.2393, -1.2786, 7.241, 1.7118, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36f37645104cfb713f6a5e956968339d64da4f0e8e9bd5a50972a26ee7f534d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e7bae1d5cb129e40f8a26d0d9d007d66d48cbb6fab15aaba0e82d81c56d409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7557a13a8094fe993e3bec2751cc13edc9a81687a2e5fa18f4eddba0ffea32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob b36f37645104]
[blob d4e7bae1d5cb]
[blob 9f7557a13a80]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFy2icFCFrM7wZrqDHOreVZD-SV5XXYdTR6sydffOKUL6-RVAMVwdvvGULatFCxujZ1OTtCbIHRn6v4UKK96OBHjVNCo9lLE7W9EJX-EEfiKdiS9-tstj90OONLntbm8WZtordVj9iUjea0Tki7vn_vM16J7mdxwHpREjGIvFqB1t8uzmYqWZNVBEaiFLrLdpM-GlZZhjvXhA42uJTFeK3jX07cTswsQ-1ZlD_EQyfhEBUUTo5WDEgAU2SSQD80aiD3Cq5fW6BaNY-qNt-8OeuVA292-GFHEG3ftch7udyvdqlOaThJa8vcOcnIDjO2Rz5Tpm3JdvbkhEBYoLCL9Zyvi_KX1iK504wMCZ2nbI387tQZQqe_eciUb6qwE7CAuTUdecKvt8-XHk7923hIK7jm1bZyV4pfiSZ5c67y8OBtRc3F7YaG0j8G_QDJTKUZJRhBvPS9QQEgJ9h93K5ouPQ3EoGIOtpPWqhz9jS_DUQbFakN2vYhmiRHTUclxeudztrDC9lXzyQHu3jydisPN44iqfdNbA0zDGVrpS9e-KLkm2RsNdqsbNXTF8ekqPF85pfcHACRS8bF8lQ2N_bl1uy1qw0EKV8dNqTDOaW3dxebi4LvrKeX65MCrfWcc43OoEsrLPq43JiFP58xNesnnEUX2KTyBVZXdognqMwAZxZTzr0kIpMpHgARQZ_AADWV8twNAcQVHbc7wD0D8RR2zBnAt33KXAGrLP7130XU80_dy3fYCIu57pBpufrc5uVam1DveNsW4LgescxEna-oyGwaNjHYlTmq7oo8p3C6H_WsKXb4_mCqkBd8RNDO8eDd99pPOi1Rxs9i9UdCdPeOvHp546J-y7f53TDccvjLa--Yx3i5m6nBzOBh52w87mDyWnt2CBLkgQkLA8ZEQniloU1F33UfwFGgozpd6tx-FGjEb_uxyJLkrJAzbw25inrBmeuVnR4rfz3EhUltNjJkNO9I_ijCmSXTScnG9AqWAb1HSOB6-Oec9x_nljSG_XWMMGnUpUutzKatbGIf9H-SVjOnjUhpB3n87ZF4fF3SpXDH7_eERuxV3xV-pnTBbNkoKOhZt3kmm2TgjCReUsEeEYod9ZlezOfuUL9SV-YllzRKqVHtiJroR0y8a5zMWZQfjBJpFF7nRuBKKX-9oL2aKdeC47nz35uSl0eWvwP6NWFZmzc0B5tkAOZDO0fE_13HuY1TQGeYvmm8LSifcIkAdfuVuxTS-60uMxJRysJT-oo8XposDvztgZZtPSzSbYBm4g4-DsQVy-FtiSOuWNBeJWtVRUA==",
  "id": "rs_07bb5bc94a4279ae016ab45cb54b9887d09eb94e02b82a2ec9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.04,\"left_z\":0.16,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The second close was also empty. I’m lifting and moving aside so the overhead view can reveal the cap’s actual position rather than making another blind adjustment.\"}",
  "call_id": "call_9LfxLIEjWC2FvNpaguFzGtCw",
  "id": "fc_07bb5bc94a4279ae016ab45cb5b79087d0b4d8200d5e6d9dd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9LfxLIEjWC2FvNpaguFzGtCw",
  "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]: [-0.3069, 0.9142, 0.5461, -0.2466, -0.2256, -0.1314, 0.9965, -0.0257, 0.8055, 0.6132, -0.4118, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3057 left_y=-0.0517 left_z=0.1494 left_yaw=-0.058 left_pitch=-0.0263 left_roll=0.0296 left_gripper=0.9965 right_x=0.2923 right_y=0.001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0445 right_roll=0.0052 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -2.1675, 10.1675, 1.7656, -0.149, 0.0806, -0.022, -0.1299, -1.0598, 7.0085, 1.8632, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48786674bc789cfd788ef2c480d1b6db684899581dca9827a8e9364d2d97d5e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06ef4f06eaa008475372d4fe5dd7fe48b84675a3e8f21985d3d780ecf53277cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b1780021cc1a815023d6f845a87bd5787897092f36b1f558f6aaa4630d495b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 12.06 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]: [-0.3428, 1.8587, 0.6579, 0.5266, 0.2424, 0.218, 0.0107, -0.0261, 0.8005, 0.6132, -0.3969, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3903 left_y=-0.1805 left_z=0.0077 left_yaw=-0.6762 left_pitch=-0.0805 left_roll=0.0308 left_gripper=0.0107 right_x=0.2941 right_y=0.0009 right_z=0.1789 right_yaw=-0.0012 right_pitch=-0.0247 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -7.4735, 3.9179, 0.9499, 0.2027, 0.0122, 0.2027, -0.0752, -1.388, 7.0906, 1.7558, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3531, 1.9461, 0.691, 0.6224, 0.2352, 0.207, 0.009, -0.0261, 0.8017, 0.6132, -0.3988, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4046 left_y=-0.1891 left_z=0.0005 left_yaw=-0.6737 left_pitch=-0.0423 left_roll=0.0395 left_gripper=0.009 right_x=0.2939 right_y=0.0008 right_z=0.1782 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.1282, 4.1231, 1.5458, 0.1343, -0.0171, 0.6911, -0.2393, -1.2786, 7.241, 1.7118, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3069, 0.9142, 0.5461, -0.2466, -0.2256, -0.1314, 0.9965, -0.0257, 0.8055, 0.6132, -0.4118, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3057 left_y=-0.0517 left_z=0.1494 left_yaw=-0.058 left_pitch=-0.0263 left_roll=0.0296 left_gripper=0.9965 right_x=0.2923 right_y=0.001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0445 right_roll=0.0052 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -2.1675, 10.1675, 1.7656, -0.149, 0.0806, -0.022, -0.1299, -1.0598, 7.0085, 1.8632, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48786674bc789cfd788ef2c480d1b6db684899581dca9827a8e9364d2d97d5e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06ef4f06eaa008475372d4fe5dd7fe48b84675a3e8f21985d3d780ecf53277cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b1780021cc1a815023d6f845a87bd5787897092f36b1f558f6aaa4630d495b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFy-5OxRc9Nam-DrgUyFFIKJvV-bs72BqHFMxP0SEge39vGss0WTRD3dKE03z58Aj2ovq4FdwQcFnKoEsWcXbWEgFAbCfe4qX7c-Pr7SSEwnp1_XNd_Sk0SFvoRucH3271XORaJxtx4WC2QRVWDYViSO_CS8JmKTnGN856mqqWR3LZh046Rx4vLVS2D5hRuJBkDDvseE_T8ubDO9OgsHxxU3QQ6XwQyhkZ4Cd9RSIGZxBCUdxQgF_fcwzhlsUZPkic7nhmAbq36aPsXVMWDgDuiYzrhMrRXrevKWr-ekCqjWd9fqm9c8vPRhSZs8p0IcspP8QCdyLlfOz5RtIeqLRL6Qstipu7h7DFby8DRPU8_aVTwZ2ndoMs335MD1SaKVA4AMIjizCVP-bZCUro25CBbqHrsll9DoHaiYjiRb-fPSIN2NqC3UzdC5TMtFZXRoi7xf3olhxOf0PDmrQNiQPCmubzixceDJK_dVbzDS38BjVPjIIaKT2c5P3zyVb5TPW9ibbyLG7ypPWgi7trMgPHD1qkc1t0-t4SG-t-Gcw8_mvdI1te-r-pcpqGz-f1DHjlxAhes51HxfI6VQFFIA3VeQOAa0Ol9DJ-F23pilwfFH10p5q11dWJ2qYC8OiJgQQUJJ78Zkytho4DxvbUbayRGTLuyBn7uuNEKKRD0XWiU4UBgR897dXT1tKJykTXX8GsNn-QRLfmfO-A17Y6YWnA1vy_rSJrRIt9TakMkTTlcjuEkXb0MdtPpWnnuBRoxPFG6FrkkOiszOS2HNTmN4FoTM15E-3sfPiQVAfxaoHmTLA_baGpNTr2XnCLcNh2r5FBrH7m-CMNgA99lUqzCahkCGzcu0d2Sq56qkszeQyVpZJEw7UAQyhREyvCBPa9408wneBJgXo26RBQJyvtK4sqEOYNo7YxoeNCO6Su8qgnyOt6l3-URr4IvKCdprtXUPgw4u6EjtVP7GzZWqS2PD4Zt_9Wq3ZzMkPh6Ln6b4jSiugBZXIZOgz40esHr1BaLVAeE1bD3w2DJd3PpYf-n25GQzEEcXj1h3guILg55fXwqxLrJ3pzyhNk3MajiiGUYaGbK608WHxqLVKysvGsvURdH82IeibNhulQLBJLnb1zQSrpbnPUlU1guzo9PdbSylrJ_5l48nasri6ae4k8RSA4s7xXfcz4ag0STOQTnPuV0GHrEYTNczqy5haHAXSN77XimpFHQVAzK_bKLZUYEo-Y3vSmpkA8aUHvAXZ5c9M3sSV1YdqLGmnRsAie8VH3_fSc2TrVU_jOhmk2kumDrycMev55ufLOmV5n4mB9aA4X5muU9rXYbk3rteiWm2Gji2FQ1pLUWAamXbAz7Z5aC3PKLFLoypCsRLTBbOTaa8joZaRPfoPLUzHw47bLi78J5bi8bx77YySJ-DcoABcZl2kWGsglUawC-8oR1_Js_c5qiz85HII-fjF0I6Dbf98IMPiN5r16TJ6QkDx82-qz3pZ-fnMMU6Gn-nUMloNXARmIkHf-BWYLj35X8gbk2Pjs_pDMS6B_cnUnlmC4WDYvaZumakkxL3H8mihbnrPQwagpmXRdTNnuk5y4qSHeHEU2uDHJUlp8x5WgRBCQlbFIrPQipPwPWdl2dfgamHdF0fNPF1ku53MJfPXDvW2Yvj2J3jayoqExHLOvjC2uMrcJ4d_QnB9XDzWg2xIgqq7HLDBtz-xZzazjMFLygeVXZTQbClnene8665u-QIgyutXlP2O2804d0WnqqW9AueX838TcIq4PjGZ61a8uogKjhDEfXtYXFKJtJul8PISGwkRDQ71TvPxDlYXZWQNe7n4fXTjNjLAVzohpCbdDRhB22s-WpQ0UZB-170rFr-Rb4_dyaBsaTgYgAnha5oZguyanpeu83IBCsnlb467rCuw6N9VmnMqtA-0Mm29T7zGubVCeo8jjQ0NjPNR-WV2rGqRS3cg2Bx5mlKdUQ0vIxHLO7cTRicxznPrgHQC2GQ57ahdzdTOX6IDXGejfeUlsB432r88NDkKSc0A06ytNVG3OPr3xt0pbtSXfgizRCi3KfrCozCL30mkZV9Mq0-m5FpG4G4B85YPehUPy8C3-24UuZHTkM0FNB1MPyGE4We_-QBEglHsHgm7d7jDxlkREFHEdnC2uFkTDfDHVOrxravAZJScznZipWJOWzkHCL4Ns_ujwVpfgtRXYGxVinJWJIVW8G8n8KitxNHXmP9tIGX5qMqP0jkkenSu5uSKsAgy4ZAEWFmrC2JPM9Oew0SX5Y4stXQ0S9F6p465jLTIwTtb9nCNhahz80SOSmWiFWcpD4r-bZcwnlssqhxwcEzXHjANzKpG7ZnooMvXP_alCqaTtvQ44A0G7oRskbPGUl4X9oet0z_-yRXeTmQ6UurTDPLw01RJoxtEMg_acAgCaxEJN-TiZAnfXl4Q-5zi8tvWdy80kzeazb1RWapqlzB0FCqQdRvOFWGQkVjr_YCaR3jHHNMK__zXpKd_SKWYIQjJarwtQD_0nC12mJmnQ10vXYxWQNzGNP4nRQMKOxiNwP5TsiGMKc9z_YFgHQhpA-E8u3cQFwWbZv_hw6A-FdzrajEbnyNxCJchPMFNGV7HB3G-ft83Fjo2lGCmJFIOhgkKi_qjM7CuDZcom4uMR7Zcx0DVJbFfiRlITr6AMo__N7GeTY3yCxmTupn",
  "id": "rs_07bb5bc94a4279ae016ab45cb94e2487d0b428901bb29ae8a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.19,\"left_y\":0,\"left_z\":0.27,\"left_yaw\":0,\"right_x\":0.385,\"right_y\":0.29,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The pen remains clearly visible, but the cap is no longer at its original spot. I’m parking the left arm farther back and bringing the right wrist above the pen to inspect the work area and prepare its grasp.\"}",
  "call_id": "call_98YIjdLlkqWaTcOUGJwze3vL",
  "id": "fc_07bb5bc94a4279ae016ab45cbd585c87d08bb7cbedf7075dca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_98YIjdLlkqWaTcOUGJwze3vL",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.173, 0.5419, 0.955, -1.0412, -0.1741, -0.1062, 0.9974, 0.8604, 1.8084, 1.2335, -0.2726, 0.6361, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.1948 left_y=0.0007 left_z=0.2582 left_yaw=0.0194 left_pitch=-0.0464 left_roll=0.024 left_gripper=0.9974 right_x=0.3774 right_y=0.2833 right_z=0.1268 right_yaw=0.0345 right_pitch=-0.0881 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 1.2103, 8.3214, 1.7411, 0.0024, 0.0855, 0.0757, 0.6496, -9.0872, 8.7179, 1.5165, 0.6178, 0.2662, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a84e26c05f3ee4dabdb7b396e340549bb14fb2849cda1adc8523bb58b19aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ff361810920ffc7ee79a6195acccbc75fe78f64ea96d609efd2a49fc9e1fc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f310ed26dd2d101ee1ec8edbd3f283f8be4137a2c3cfc49983e7405bfa34e5d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.271 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]: [-0.3515, 1.9392, 0.6865, 0.6121, 0.2379, 0.2092, 0.9948, -0.0261, 0.8017, 0.6132, -0.3985, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4025 left_y=-0.1881 left_z=-0.0 left_yaw=-0.6757 left_pitch=-0.0494 left_roll=0.0373 left_gripper=0.9948 right_x=0.2939 right_y=0.0009 right_z=0.1783 right_yaw=-0.0012 right_pitch=-0.0274 right_roll=0.0047 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -6.0513, 6.4068, 1.3455, -0.022, -0.0562, -0.1636, -0.1709, -1.3744, 7.0222, 1.7705, -0.0122, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3069, 0.9142, 0.5461, -0.2466, -0.2256, -0.1314, 0.9965, -0.0257, 0.8055, 0.6132, -0.4118, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3057 left_y=-0.0517 left_z=0.1494 left_yaw=-0.058 left_pitch=-0.0263 left_roll=0.0296 left_gripper=0.9965 right_x=0.2923 right_y=0.001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0445 right_roll=0.0052 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -2.1675, 10.1675, 1.7656, -0.149, 0.0806, -0.022, -0.1299, -1.0598, 7.0085, 1.8632, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.173, 0.5419, 0.955, -1.0412, -0.1741, -0.1062, 0.9974, 0.8604, 1.8084, 1.2335, -0.2726, 0.6361, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.1948 left_y=0.0007 left_z=0.2582 left_yaw=0.0194 left_pitch=-0.0464 left_roll=0.024 left_gripper=0.9974 right_x=0.3774 right_y=0.2833 right_z=0.1268 right_yaw=0.0345 right_pitch=-0.0881 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 1.2103, 8.3214, 1.7411, 0.0024, 0.0855, 0.0757, 0.6496, -9.0872, 8.7179, 1.5165, 0.6178, 0.2662, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a84e26c05f3ee4dabdb7b396e340549bb14fb2849cda1adc8523bb58b19aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ff361810920ffc7ee79a6195acccbc75fe78f64ea96d609efd2a49fc9e1fc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f310ed26dd2d101ee1ec8edbd3f283f8be4137a2c3cfc49983e7405bfa34e5d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzNZh81S7bIwlTDVoou8J6tMmRgqn9tZLHk3F7lIWWc2cioabd0tAlvXSWeX8u_3rd-TLNCyv4fUhs_nNQI9IobAw3L-ztygB7EIu9KU60hfvuy3urwuAZkh0YoGe5H3yLkoQKMW_Y4L8gQ_z135pjaskXc8KybLE1qzrY0BhxbDFkv4077yWnvd-oNRq987CzqggvmQHtktgk-Cn9ikasbs3-fbEZjZXVbhBDJToADdbbkzQVQR4KVdLk105OjL05hO6TQOJF_vYzjrs23DBOoQrnPGSX3rTU6zmdJVvMKgEPLSyAwiGEAgAfFO0qs-UDJ16rI69J1_hCz-yFs_IvfzFepla5eqwpk45anPkE_pJEm4sH8md5QsAqbM7RJyoExNb4FGfea2WZ3_tXjos7a2JbkFIMwDtQvps9YV1SczDYB6L-c5TldImQhwwPi_X70t29xrXdvtbKHNkf1xnjrD-2mOUlBKGIlCCFwFCs9F2Ip_cYs8OV-_x-9Y9jIjGvIu9PHUa_mkOU3lCezL845GT1iYuAdFNGsB-XHMkvvS8vNCOPWUUB2wLmRddnTHlCbu3uMf045WVnIIJMTwghI24bDp6zeF5AMogxkdhxD1aq2RuBAmMbXCTIIRq-yUWoFHgAXcVyAFeRTCX4YgvJSl9eAavsj2s-bBlDiLI_SeGc5VgRp2bRR_aib7yyOGli4UiY8Ug3XU_rfS9BTg4mFpeAsuEC47MDnMywu3cve6Nn2c34hT4C39NEvyzrNgJHRIgGg1f4g05MjVA0wtibl94eslCGD9pxSaJLYBQDjnPbNUilEBouaTHpzH49wzWIIX4GG6bQR8OEOCGf9uKL5USKFVcFIWV_q9fLhUSCE0GSt3vNhqhoI4XCE8S8EWP67_fp7p9tVYlM1JJppQo226-5TQBTUoqiXdS_1CzMa0dVGPiZDHk1Y9I-oQTmtZ3sc8Lohuf2iFy4DV6fa_HY33CNjFtqhmH_Nys_x91QU5qy6KxBvXtu2h7VX-Z3YcZ0tZMdleXYv3rZCV5VhucYbi1oeCV1T6pBs0FGohFH48zKEHWdaLbwkXdJ_XNZnGw5ANIEopNyNLUdqmGzAcpQdqd2cRN21qOu82YDXH5_WABVt3EcdhD29xEltk2j1s6nud1MAUKz7uXgK_OAg4tJLsxl6SUqqnGNhnjWRpSAoP4Xz9i5uFzyEKNBTU_dDYLPGfyRVWA-YgpJ5_uSSCmAWO2FFAHEjbhMzBqSWS5lR965H2waTITRwOMn8t_HOvtsQw4m1qalRNxsoj0UFxyatRZg7KDXwgK--KYKB_RVteBo9qleI1W2Wz1upl65oSuQDMhn7r7kpKnNwEGdfrlzfVE6nljM066n0uyERvMKjXGIVhtgjK_dnLVbH3__6zdPmDjwWQBhIj1NsUMNRm9T8Ba8AqGMAwGB2g_xknv2TCsIUBT_RRklILfR_yxVtNtR_a2mEVJxmG9k-RDjZDDeJJM7o5SQrm7ZA2mTIUlgEzPuearY3ULa4m3x-v5M6wedzk_LjLE2DM4NfqPS7-k0J24T4H3T1MAw7gu1eSPt_l-vWI8uCUuZ1TcT6wwl5JQYdMJOnPtbfN0nNCfX7864dJCrR0T3zMCA3A2eGwDdCHHMh_ncCbKj7gTAIYCnFMq8EfmF9U6sDUC5GXRVQZXcw7Dy2ePkDLxp5ocIV0EMYLmqrKWdvZJ9gyU0tbE4A94m4_JJRQlDTx5W-X7OUL6MPGK1Oh1yqc3C7Gm9IVRVClQZNjIwM3dP8QxCewaSm7aoOl785UK8Bh1JfBvSX5efUJeDX5TlqtXL47LVyBw2uaIVOxGEExXMer1qI2SPLMtnXhF-8V9yOetgnTyp5rZycdQzxHd9KNaC6t7eAd-FkG3mz8N_s0ugAeZ9n1jlNKuVmIp4gd-KZReQD9c3pJYrPvsWLLO34cNc8ij0Ts5Ovvx8sw_XcHVnawDG2t_4n_jUastR6N5PsrUTVns_FMJkY88tGhrLeU2wO1q2AT4W1r3sU8S6wW2zxtNBxrTxgKAsMiKS5ViBZf3gtDTJksNnj0WWXJyRIihRBhBoHChPFszOIu3NhVxP2rIsD1JdYvv3PnWgZKv5aoHUNmoCf5U-RQvIOEh8hDG9kEbcxEzdTevxprzMu5F-hqIOLLGL06WJuzME6q0Ey-gI0w2MAl0aSk7zsL3_ElgR9jwY-RIp5wizN4U6DvMJWHDdA8XXvHr8EjYkShnMFPAc_CFGg9MzDGr31AibVPHvKqys5Ru0vAP8rGbabcFLTNgnhyhi2ixd-cAJhR3X_0PsFWgdcQqqRddCPt8ifbK5hh4xD4ITWxx81XNgtGB-AH_42q62PI7rtU-Q3qNnrd_JCkhyJvTe5Q_7qhD6VbNgf8uwbLYBlpUwALDr76vLgGZk18b8xd6VMFfdck79xv8R5L_5caY0v9ZwcQ6_khpWRdljuWBVm6wiHcJUUXVcHXK_dLU7nPxX7IaWKazkMhaisvzsQO97A4SzzXi0p4eU4Yi8PLYat7_cVPQl86RsGTm3Ctns1BQOX_5F4Vo1mboekXD2yQMTuYUrsk5wa_EWvQJkFURdf9Qf0S3YvSr041JK00r8BgaFEXCE7Mj1-wZdkGGcnLAfNwM8VOvyC_3Gfby9WBnqCydfI5Rld84xyttGUgUfWQxuSMCCWCJI_ZAHzQWFKAcW-MGo4O2c6JYAWu1JaiLr4tMhvBZUUo2VnJllFv2ueZ-ZXE11e0RX-bVccbsiNqvWCJPhNQttI-PUXJSdXW1J8gKu232kJFTRtkcFQkmZI7JFG9AIGrqEPoxO3CQPZI1vHfMmc-tnoJRYve_y5fVrOhBV2ICdDlWJkuOdjD5jsCBir3PiC41Jmw_ngaAjqOASH39cI6j8N2RPxyA0A-Xpj0qMtcf4Qt3tCg800KJx70WJ8vUqNfCGQHyB5JP2CguYrMEUHnEwEV2T2bceSmd7J4uQHU57bTb2NKdaB9a4SJjmUaQO6HG9V6BlN1s6HiQ1sijBVSAICf3y0hc2vrUneev-ve0VK9aDlVcyG81g6z5q5MS8FLYnSJNjUyqmQyhXAQOFt6wXE1ZwI51h2YxdEohCJEXDZH_xd75cRSl4g3wiRXVFQlr2AWWqyWbXp-K2VNJ2vaTg61x3vCPCg06gzUm9ov4viPydL7blftCaq8NIlhFchLa9NdHKtiKQDc4wsjhs26GOGKRCwxvjyFdmIAGb3KoucOylAPuuxQiVvbm2uQNRzAdn-uNwZFWv8h7sA3Otwh2soP89N2ZVa_o8Fl8qsZgvsbndhZMAkx2waYDXlOggQV-S-6jGiGsLlVv4hiDC4KKZPgbiRlLDUA7mmxkEqcAW1nHbuH8_VjyJL7BVCfK3y9o2DPUQcxmXSinP2lhziREeq1pFNot0a4CFdmQgFt8iZqJuMostfpfx9itjhwwm5_zBCjOD8kNaUp7ij-wHVvasadwAhBsvo75kimb5Jpx44DJ_VlZewVbTLd0JXk6FtPWvU7HQR5mP9OOdW8TDf_5wUshcW5zz7PmN0EykR4-z4JWH14UVNGx4r9QM41_GqWPxm6Huw4QAsI5QQUlfPEQI-6Pn8e6TrSTJmzXIY4S_I-nNZgaj0RXxPpi6ZWwPcBjqE2Oq1Y2kQd0Hd1G_k7zmJ95JlWbd_vS5sNe0C8lTBNi3dIf62ZxadH09fB1fgXSXHK-srrA6b0fp4FCgAOWewclAT8rRuOwJyHzt9NgFyCblaLpca_xGKsTO-ita8t-EBlo-aEQL_6vta_UAFmZ1JH6Mdt_L5trKB3rbmB4Y-l-8goqmZyEau2TfUFPnNKsnMBgpoDlMI04zblrTGNnP1Mqkt1JsxzqgJZLqrJiHkx0wonNC6Mig2do8Xt4gQ5xZwjO-1PETmYxm1yzJ7897TiUmtNePUnfBUudeaxSrgvP34zP4rwRmLWfas2ZMuLoexagCmTd5B9-w7Yfl_ssWRSLvL-Njb7YC4bFY=",
  "id": "rs_07bb5bc94a4279ae016ab45cc239a887d0af9463135d28702c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzN3JrTD_tryHAB_gYk6vx6Dat_Kii7vGBwtv_ylNxBwLDGZZg_0K2laataYLm68K6oQWAoTIdpMpwhdR-IVPyblv1swVNM1VvUhkWmZmPM20ksU9H2Q3Ve-CPm2RzHWuDMNDojS0RPZM3HcxNhtUr6cna4x1vxPvQ0vX4QANRc23Uh6dum_5EBmi1Km4EgI4ReRrpreBvYKLp1GuNaBOP1pvnCqTrLXoK0j1_rSkSvtaKTqnKcn1NIxV__0A7DLoYk4DiKdaaBmzVePByGNaRyHQk0Vdxvbm0PuQn7TTZG_PSm47xliOwZZ6sXu-GBwTS-V_FrhM422PC9_gTBOdpmCoqgHygAnpQ4-GlXqXS6V_pRn2uYeLaBVR1rjm4Zv3tQNMPNinfHa52t3_Dv3Tp5-ytOqyGtHEgxFf0a5smehsmz-KxWw5XO88AXeTWfyFYP4fBmkcpXztCFbg-n-IFdDgEO8pyhXDqsFjJnmMAYP47Pg7407AcpoD89hxzxgO8jNi366eaqLfKLmZhIX0iu7PDSJgp--Z_Tz1k4wbQNaBYjTYokQ0vkVomPtYfEMVzH6lntTxlnB7th6IzEUHut88lhhJLNv_mXVnerNNIF4dvnF4DYLxjQrHH4irZzx1LknMOT2Cgn9bCm4HASn0j14CPnRxhjarvyS5JoV5rncV9NdPIUdzt7gQaDrlW9oN7IgWTtV40-ArEqDpTOWQDVm1nWfXwdyeduKrqdhQGpGNOBgjDDRtEbsO2gX69Iy8FwAT_Jm0f0pI6IiMhKhXDkVj84DzYVBGbhgBw5HRFqks9MKo-El6dS_70ov0QAr2SYhnpzgeOxy9-iy79Dp0oM3-IkMrAQSXaz69f1wQT02kmhcF8mG2zjRR9qGj5HhhKaxVhesPiTSwfckMbho3AoWebaemyCOwnPhCgTwfJ2mQkj_nnkRAN_y0aid2Ae5d1274jDh-SyB32wm-EcRZXZevd2cFT3wcyeEmRo3o3Y-kgHdg_YBkaZjxaydjYh1nU1a9yTClGWtCQjN639PJD9RhlCLJKAAtJPHrc5s_CU-FVNlRvFJGH6hf0Nu4_MW8u5z4ol0LJPRVNCKQ_ARzzjhkYWiRhkFtrYc4MVOyQwA8dTIQBtGVSKbKerNfIbI7UOz5QP3pdUItqUPB7I9RfUWU_PX4QOjfVJgkGE0b1Vd3sNLsWPAkHK63t759-f5opyK3RQ1RSgpWF6bx0n071Y86hwynAQ4aCR5VBnLxnk2Y28VLbVYNDxQOzNRTkTp6or_RsO8lx27tnCDvvxwfJKnem5MYxg8-eZ25anTqONGzleOeMdbf-hpkZsAdQOxAMLqsx57JVRXv71VgQjHSKyCoartwue6k_FwasvQaAyIwvyAm-dILy7tqlpjIWdd_-a6aALZJf47EySGGkSt1HmHW4Y_I3nekNzKWi-FR8sx1zR0hyCuOL7DgFOLyBIz0vaD7-LN-sYSH9o5RlwzU0FkeliHXBLpMqggVoAvrE1Ornyz4i712lLEXqkg8c4Db2MaR_vdwP20gORUSeCQ2O37-aNKL-Jtw9YCTaBy13njH-UH3nh_lliFGUxMbp4puzq-IINQabaSsCijJvstkkzVbthmCuoKG0jKl6azZfqygS-ThP_2bjA4SsLRdSk754q6Irsg0aaaPoPk1CGwSouIjm6hkDzin9jd5NhoQpdO38=",
  "id": "rs_07bb5bc94a4279ae016ab45cc9ebec87d09f55d2483d38c30b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.265,\"right_z\":0.045,\"right_yaw\":0.7},\"note\":\"The pen appears just right of the wrist’s centerline, with its tip toward the upper left. I’m centering over the barrel and turning the jaws to grip across it.\"}",
  "call_id": "call_EQ1NLGxfLl15xA6sfC1f4Mu4",
  "id": "fc_07bb5bc94a4279ae016ab45ccc015887d0b7a34f89d5d3d981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EQ1NLGxfLl15xA6sfC1f4Mu4",
  "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]: [-0.1707, 0.5385, 0.9524, -1.063, -0.1684, -0.107, 0.9974, 0.5484, 1.8595, 0.9157, 0.2226, 0.033, -0.0036, 0.9994]\nstate[eef_state]: left_x=0.1911 left_y=0.0007 left_z=0.2534 left_yaw=0.0176 left_pitch=-0.0676 left_roll=0.024 left_gripper=0.9974 right_x=0.4047 right_y=0.2446 right_z=0.0392 right_yaw=0.5165 right_pitch=-0.1615 right_roll=-0.026 right_gripper=0.9994\nstate[joint_eff]: [-0.212, 2.0581, 5.8598, 1.8291, -0.149, -0.0317, -0.0073, -0.4171, -8.1436, 5.2171, 1.7802, -0.1636, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f28dfdff0e723af58923f6a0193c6d862dd7a67807024939a727dfa9b051384",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980a4d8c2600f67738742cf3cff3d313871f6410a65da0fb57a19a21e74fcb81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36cc00e7a31d3322093019abe8dc67d0e5d10f6facf0331f944b3ca032f458b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.675 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 35 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]: [-0.3531, 1.9461, 0.691, 0.6224, 0.2352, 0.207, 0.009, -0.0261, 0.8017, 0.6132, -0.3988, -0.0277, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4046 left_y=-0.1891 left_z=0.0005 left_yaw=-0.6737 left_pitch=-0.0423 left_roll=0.0395 left_gripper=0.009 right_x=0.2939 right_y=0.0008 right_z=0.1782 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -9.1282, 4.1231, 1.5458, 0.1343, -0.0171, 0.6911, -0.2393, -1.2786, 7.241, 1.7118, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.173, 0.5419, 0.955, -1.0412, -0.1741, -0.1062, 0.9974, 0.8604, 1.8084, 1.2335, -0.2726, 0.6361, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.1948 left_y=0.0007 left_z=0.2582 left_yaw=0.0194 left_pitch=-0.0464 left_roll=0.024 left_gripper=0.9974 right_x=0.3774 right_y=0.2833 right_z=0.1268 right_yaw=0.0345 right_pitch=-0.0881 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 1.2103, 8.3214, 1.7411, 0.0024, 0.0855, 0.0757, 0.6496, -9.0872, 8.7179, 1.5165, 0.6178, 0.2662, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.9524, -1.063, -0.1684, -0.107, 0.9974, 0.5484, 1.8595, 0.9157, 0.2226, 0.033, -0.0036, 0.9994]\nstate[eef_state]: left_x=0.1911 left_y=0.0007 left_z=0.2534 left_yaw=0.0176 left_pitch=-0.0676 left_roll=0.024 left_gripper=0.9974 right_x=0.4047 right_y=0.2446 right_z=0.0392 right_yaw=0.5165 right_pitch=-0.1615 right_roll=-0.026 right_gripper=0.9994\nstate[joint_eff]: [-0.212, 2.0581, 5.8598, 1.8291, -0.149, -0.0317, -0.0073, -0.4171, -8.1436, 5.2171, 1.7802, -0.1636, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f28dfdff0e723af58923f6a0193c6d862dd7a67807024939a727dfa9b051384",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980a4d8c2600f67738742cf3cff3d313871f6410a65da0fb57a19a21e74fcb81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36cc00e7a31d3322093019abe8dc67d0e5d10f6facf0331f944b3ca032f458b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzUz5V9wC5gFt1rmKWSdEkMjtfOAzTbwjjI9vjI_xtXJwFcsr92g4nnH49edVgIJbfp-KBPeaxAvs2LQ8AzSq24grPYc4pqb3XQ-xZj5v29oRqousvLozQ6FrpgM4mepeklCIBLbSCslaAtsJei_tjQrhcEyvI6ee6YYnEnNaUclZ8KXlNAmrzVZ410CmZMM_NGanneS7ZHX1kyzWMa_1KR10mK214bfTnKJ5AwMFEy6D_6srvok7aXHxT9DkTOAiWPFvBkjXjh_x8d-eeFieifnf_9hdIGgyPQ54Vc39x9AjNOpKQJ0RmM-8_j2i5AX9VjSg0pXI2AWN8x_cORJX0afrnaIeVhG0ceGwbdit3VXG-Hm-v_lS0zArAa9AyLMpgdqx5jc7WvdQkEec4wbitqVn9ky46myB6MVGeL269_9VSFlbTX1un_O0Z_tAWAzrxmiVoF1oMidXdji4vNlwKXko_NiJOGkTtJ3MFP_DWj3uVCV2s_o_2F1FpzMMRB4GuQBLjG17m3zmgQfYPXcgFFFNVAxXi07rcSn3RiyGsdqVKKaCAVFPAqg7ZZ-oyVNLI8RUG3T8rMba_8vuhGCym3d4NGRH1k82G6Cw67auUnxtiwe77gb-YrLyURSrFgKjDiAj5IK2vA0gwUMAPvmhVzUorDGoPg70qWtrTxK7Ppg3dQCcX34fq23ohKOlgAqHuLoC5LBsVA3LHgYr9jkF2zZEjlk_SH0tIbzpGGc3yHPLSXEMEpaoC4klUdzdCOyh42dygHmJ-pm14WNxHcwpvACx3YSmv5K_kpaCDCGgCAfRYp4REEQ2qGiKqn855vQvgq8T_LzlZiNpClOe-cDvPXCjIYb_Ttyvdg3HRc6JyJL6mwEuLBx3Bo122I6k023cgi1AyQPQYcAVoQzBuQA2JXvnEwgftVX2s42SKh8fOQdk_ebGvfUwAssJHphbQg3NMpfQ3ByKm6Cn_kOgQdlmtdm1YfrbRR-jYY5KuarFTNyVabeytJyGLaclc_nDS5TUhAp7PAsP2jxFfcpbB9AVhFiQj1Wdp3MuOuvJ_TF5O2jCkcY4VT1L0OcaXEDfknNiTcFdssFYQ7hLGhMq0yK6VzszJkCO0wfB-SdjezxUhhVxFZUjmuXWm9MkFDxUz01urHcd2esDII8drYG1m73UxEO2uDEbR_3XK6hphv39w-a8Etj-5qJXebDsSrEwvV6ENkbKcJQGRn8x9noC0AyDI7xGw7AsjYH3Mq6mktlf5YEvwGkujqcnon8jdyG7e6kS-IAFUe5HmNJCtw8oXP0xiPFpXtX0Y2kCmFBNfgr-RRtC3smuh3c8oFHShiUZpEFsEHmpSsou78S_YIVA7OUltX8avXJg4YlCPRx1QeycfCUFacTghU3osweOrRIYkNoowulbuUCcoxNI2ZeNcZ65NHwmldvHLwkAO6v-Q6co0U1Xj0HqHftAKhl2LBwQN8xEWSHKKFBBdBFFWUI8mFdBjaIQk8QiHZzQoS1XCteq_oCobYraSkkrkM-lK26aEj_Lvpwctss_NUPRmaN3LKSNfBQq4Mcv9XmAlCoByzLHCGLiwwrk85t7u8Ah24_aBwuELMSfhykh0VZwWUOZhXGXsId6DnIfyJwKLiYKtO5_KK-d1S0ZArQ2EkhZikypfgoobd3-kPZQo10ucPRLAyTPHter5H_lKbBDIGZSy5FTn_IQqn0Uz97cKKtVwiXwJvjzGi0_RpajErouCrO99JkmHy0D6DDNz7Or_O0uyNoB77rh__7BmLq0aJUmi-kmlpHqY7x0tgDfZzuI6paiSQQfnKpDS6hRUb3pkB8TYm4wQ33jG-G8PVcB9z9MQ46xfXHoSZqtgZuN-Biwohv2wir1jqQMLLW8GKjMAGZNDGjEFeDmDhciuoW57CFgQ2IQdYpmCkNsyjPQSq59YFMCMwCRT7uZqQo6deYdpEOWYQbMVtOdo4ehNIkS5SOaSNcXK2g13L1MGSzvbo4ASgKIoBYy8Ob45ZbhnVDkfG0VsYFokISzxOK_WlMhytDUbRxVtHaT391C_JbEDwMP5GwiBDH5v8hNL_BONO3pdE4yRtifIXfepeD5diZJs6BOqDwCeCkcp2mnih_3MaABj_ODGVQGt5r2RtxMqfHUFGjbojy5ErimEWRD5pewFNeFa1WJhV66aor3jS4IEo9t4wVDKeOFaPpXzLhYFwytJgEAiQLq_WEi0hfYX8kmOcpgE2rRReFX9hqUfDrB_ajA5ZyqCAQm2NR65WjBx9YEOqbctxXOyshKXF-GOqYShlC2DYhC06BINjwUGQBzAnkFjcaNS3S7MKydXpC8zSWbO0CsQNdpGMJudwnLQzpheNGdkmUFzJDfSPvhhu8TydZwhCg5HYuV_VWZI73HTwlz1wbYU9JqawrQM0vEE5bPByD8jJDaZAXLg0staZx3JmtG0AAYwmXvtWtlfyUZboXj9yaE6iJKHRvXkGJmeuBFh4sKh9qasBPPfn6vj0Al7U0nH8VrRkKjWZXCUwPhTVERsDsfHHm2Gc8e0inYS3kQx9HR2czHSWKHhF0VNmzOHbgB7uVwnUaBY2w2W_yuapmHnwwCx147mRujQq6MAt-kGfkcAuh8iLVA-alsBp5IF1kt56hfSUojIo6Q==",
  "id": "rs_07bb5bc94a4279ae016ab45ccf1c8087d0a01b435b036daf70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.252,\"right_z\":-0.008,\"right_yaw\":0.53},\"note\":\"The pen is now aligned lengthwise with the wrist view, and its barrel extends into the jaw region. I’m lowering the remaining few centimeters and moving slightly forward to seat the fingers around the barrel.\"}",
  "call_id": "call_p3GI1wkbSf366MjumOezuCaO",
  "id": "fc_07bb5bc94a4279ae016ab45cd3b91887d082d1ea89277dbffb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p3GI1wkbSf366MjumOezuCaO",
  "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]: [-0.1707, 0.5385, 0.9504, -1.0679, -0.168, -0.1074, 0.9974, 0.5373, 2.009, 0.9295, 0.3737, -0.0078, -0.046, 0.9994]\nstate[eef_state]: left_x=0.1904 left_y=0.0008 left_z=0.2517 left_yaw=0.0176 left_pitch=-0.0744 left_roll=0.0247 left_gripper=0.9974 right_x=0.417 right_y=0.2542 right_z=0.0034 right_yaw=0.5632 right_pitch=-0.1467 right_roll=-0.0313 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, 1.6889, 5.8325, 1.7851, -0.1001, -0.0708, -0.0122, -0.1436, -7.5009, 6.065, 1.16, 0.1001, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a784b27b950ec1f1d28313d03b8c94f068528d94dbb3c9167b0ed6b443d58e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31153ef7ace154e38bc716ca71596da5ba43365a441cf9ef84c5da2a5e22b035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36351258055ca31c117bc94cdf6486aea0aca347798335ba1649f6d1e08fdab1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.061 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 35 changed as sent

message 39 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]: [-0.3069, 0.9142, 0.5461, -0.2466, -0.2256, -0.1314, 0.9965, -0.0257, 0.8055, 0.6132, -0.4118, -0.028, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3057 left_y=-0.0517 left_z=0.1494 left_yaw=-0.058 left_pitch=-0.0263 left_roll=0.0296 left_gripper=0.9965 right_x=0.2923 right_y=0.001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0445 right_roll=0.0052 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -2.1675, 10.1675, 1.7656, -0.149, 0.0806, -0.022, -0.1299, -1.0598, 7.0085, 1.8632, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.9524, -1.063, -0.1684, -0.107, 0.9974, 0.5484, 1.8595, 0.9157, 0.2226, 0.033, -0.0036, 0.9994]\nstate[eef_state]: left_x=0.1911 left_y=0.0007 left_z=0.2534 left_yaw=0.0176 left_pitch=-0.0676 left_roll=0.024 left_gripper=0.9974 right_x=0.4047 right_y=0.2446 right_z=0.0392 right_yaw=0.5165 right_pitch=-0.1615 right_roll=-0.026 right_gripper=0.9994\nstate[joint_eff]: [-0.212, 2.0581, 5.8598, 1.8291, -0.149, -0.0317, -0.0073, -0.4171, -8.1436, 5.2171, 1.7802, -0.1636, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.9504, -1.0679, -0.168, -0.1074, 0.9974, 0.5373, 2.009, 0.9295, 0.3737, -0.0078, -0.046, 0.9994]\nstate[eef_state]: left_x=0.1904 left_y=0.0008 left_z=0.2517 left_yaw=0.0176 left_pitch=-0.0744 left_roll=0.0247 left_gripper=0.9974 right_x=0.417 right_y=0.2542 right_z=0.0034 right_yaw=0.5632 right_pitch=-0.1467 right_roll=-0.0313 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, 1.6889, 5.8325, 1.7851, -0.1001, -0.0708, -0.0122, -0.1436, -7.5009, 6.065, 1.16, 0.1001, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a784b27b950ec1f1d28313d03b8c94f068528d94dbb3c9167b0ed6b443d58e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31153ef7ace154e38bc716ca71596da5ba43365a441cf9ef84c5da2a5e22b035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36351258055ca31c117bc94cdf6486aea0aca347798335ba1649f6d1e08fdab1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzXBsdRPqAQaaZlgfcUQOxCFWh2FjQjErKWPU08RgKmZexQD902Xt0y4tS-50OFp4_Wak0JW26pxNmPCNfws6KL0qmXtPGQtvmS8C7N2TWxjtbFQA9PzJaJCiWagvx8pBkHHknL6mc87_VJRB_eAaFLoYJNmnslVOZ9wjwppb9X1ZgYeXUmyQqPxsLQCxSG4nt08uTcFZkuYmC29R4f-gAQTyoipEg1kJwR3TPFlKuoDrZDK0OtVQYaL87EUdlDidZqdqHt1e14Un9pFtBlU1ZYym4Imgr7SbNIFuRpsi0BA5WT9gdXj6xPHeVQoX1PRtDASh9S91670cXBIkzJh4ySa19FhRvCcPMx-ppPe6ow8G3BbjMgCZKiy2pQPplYdoy9nFljeYzXvq-JXKRncSeWYIHAr3jWcMVVaILMwxBDRjmFUc1ikC2NgT6cWT6NtdYtP4YnHDC4uHoCPNO72l_C2BjbGosB2rVs5PiI63NwDz5X7hTEvViRribyVak31OyoRoOFx-wwFNYB4iU2biBe0vUF1D5EmIoND_Cbuugkon5pDbVMbnLy1U3Xzm6b1JAVFoNtAJinSR9wdd7XVKZ2AHwvsHNLCHi2_QXw66ZEP_U5rG9-0yb6_G3CuMAzQgwMn3Tzrkve2C4AXiomiVTJVakSTZObKLhE9ZpcwCgZVMMplVoKMuXFPFwkbiruUblKs9_0I4RSKueMbkSPD2e8Iv0ODJuHLylm__Z79zzY3RPvWzQKqmHXqN8Ym0jPn1A2dAkMcKU4rkAqOOLl0_z00aohn-62wlkDbv08Ho3KtonkBfJ-yl_Mo8h2qsQ__4aHgAl4jXhcVdVQACOQdGOl0H2sCZiPsS9xyOBq5sMX0gwmh0XJobPJwH7Y5Lsgj4Zlg8YobCR69h_FntUs4FM8LljRqehmPIqFmM2krNIiMy6x-FgmsLYTTFgJIi5c1qGtqmKXwZm5MryNk_dbLoHsH7RwOuF-KReb6rgwr2UT0DCe1win4UGrd5zSLRLR7ESBrLDGrzA7b1G8KRfqFMSHDwcNLLwgYjP8TfYAxI3Gtkd0Zw9Kx6zhce3v1D6g6yLZyvBJ4iouSQlh2IxkIgP3fCqMeBT5veKjH2UzfCJRR9FJPmVi4iDxrIka65jSlokqJ2Q3di1-z34Nw2K-bLiu1dHKhfb3CO43kIGD3gLSn-EMJQJeLC8ATbw3HG8ykITVfLTivFQ9XXBOdIJN-bgR6w==",
  "id": "rs_07bb5bc94a4279ae016ab45cd66b4887d0bd7d46d83194af13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at table level with the pen barrel between them. I’m closing the gripper to secure the pen.\"}",
  "call_id": "call_gb1c9zcyaUdwrwY66JLVO19C",
  "id": "fc_07bb5bc94a4279ae016ab45cd6b8c487d0ba2a052f9b17bd40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gb1c9zcyaUdwrwY66JLVO19C",
  "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]: [-0.1707, 0.5385, 0.947, -1.0756, -0.1684, -0.1074, 0.9974, 0.5373, 2.0247, 0.9367, 0.4065, 0.0032, -0.0288, 0.0489]\nstate[eef_state]: left_x=0.1893 left_y=0.0011 left_z=0.2488 left_yaw=0.018 left_pitch=-0.0852 left_roll=0.027 left_gripper=0.9974 right_x=0.4232 right_y=0.2556 right_z=0.0049 right_yaw=0.5445 right_pitch=-0.1223 right_roll=-0.0256 right_gripper=0.0489\nstate[joint_eff]: [-0.3077, 2.1265, 5.9282, 1.7607, -0.0806, -0.0708, -0.0122, -0.2256, -8.253, 5.5316, 1.5116, 0.1783, 0.0513, 1.1893]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981e2df76eb1de56178dc15e8287c4465accc85774f3aca2410b16bec27b00da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191969eea6a61e767df4e1d4246e4e36fe5fe4d32193ee7ee4926be1530bd666",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9e2b0b436cd3678114a396d06f929165bb6403c0fcbc83ffe134992e9d4e1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 13.14 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 39 changed as sent

message 43 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]: [-0.173, 0.5419, 0.955, -1.0412, -0.1741, -0.1062, 0.9974, 0.8604, 1.8084, 1.2335, -0.2726, 0.6361, 0.5556, 0.9994]\nstate[eef_state]: left_x=0.1948 left_y=0.0007 left_z=0.2582 left_yaw=0.0194 left_pitch=-0.0464 left_roll=0.024 left_gripper=0.9974 right_x=0.3774 right_y=0.2833 right_z=0.1268 right_yaw=0.0345 right_pitch=-0.0881 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.2667, 1.2103, 8.3214, 1.7411, 0.0024, 0.0855, 0.0757, 0.6496, -9.0872, 8.7179, 1.5165, 0.6178, 0.2662, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.9504, -1.0679, -0.168, -0.1074, 0.9974, 0.5373, 2.009, 0.9295, 0.3737, -0.0078, -0.046, 0.9994]\nstate[eef_state]: left_x=0.1904 left_y=0.0008 left_z=0.2517 left_yaw=0.0176 left_pitch=-0.0744 left_roll=0.0247 left_gripper=0.9974 right_x=0.417 right_y=0.2542 right_z=0.0034 right_yaw=0.5632 right_pitch=-0.1467 right_roll=-0.0313 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, 1.6889, 5.8325, 1.7851, -0.1001, -0.0708, -0.0122, -0.1436, -7.5009, 6.065, 1.16, 0.1001, 0.1783, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.947, -1.0756, -0.1684, -0.1074, 0.9974, 0.5373, 2.0247, 0.9367, 0.4065, 0.0032, -0.0288, 0.0489]\nstate[eef_state]: left_x=0.1893 left_y=0.0011 left_z=0.2488 left_yaw=0.018 left_pitch=-0.0852 left_roll=0.027 left_gripper=0.9974 right_x=0.4232 right_y=0.2556 right_z=0.0049 right_yaw=0.5445 right_pitch=-0.1223 right_roll=-0.0256 right_gripper=0.0489\nstate[joint_eff]: [-0.3077, 2.1265, 5.9282, 1.7607, -0.0806, -0.0708, -0.0122, -0.2256, -8.253, 5.5316, 1.5116, 0.1783, 0.0513, 1.1893]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981e2df76eb1de56178dc15e8287c4465accc85774f3aca2410b16bec27b00da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191969eea6a61e767df4e1d4246e4e36fe5fe4d32193ee7ee4926be1530bd666",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9e2b0b436cd3678114a396d06f929165bb6403c0fcbc83ffe134992e9d4e1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzb-RQrsC1Bu4lB9GqpizMv9abbEJNK6W50cuQuLB3wx_HE4ddE_qVuCt0fOB8Az68d7zE_kIWZwAJtZelW6cTNigWRuWFzshZFNrvUV1zBiC_1J4u12DM3N9qsxA9iDUFxbn_DNWnFpWORdWki92vXEwSM0kVh1txvEiKqqSzLVfEpFLcJYeza7k3BEECgS-O6mNfM0gRbdSvt5R2ITn1Ws2rzkRgVXwjDUaIdwbPdQMFv4dw6cyCi3sOcMhC4DimHaDgxTlP1fvAyGTCdTdEH0RifsxaU_UzcVKpyZetj2-sbyrrBGgmjKgalxipptOeRBlqE9w_mO1DNGPuNTK2aguppqC0Rgl2Sal-6H5dthSH92D3CL32y88vJjHXwixNYH-5AtSmwkMUiPY4l1hxqbz2hZOdzEdLG6VvTwzu4HkbOCm3pLhDTTSUOmIrcfP11xHoMYOkfe3oc7UFEt1UoP3uMV9UWZL2P4XjIhKadvo25HaqigeRdBhKncV4OG_sAPiD5ZNJ1En3jr8yPFpgnKqwOK0AFtrSU5_GXwRYfF_QG_zMzcfW3j48hk-SoJ_q8ZNxrJvdqReQreRUPhfBpolS8NDDJ5e8CE5B9SamTsIRnM0n2cami47fE6y0gch-P7KlGTf_xx0ouz_wpSiX4k-JKNRgZNt7uCN4ea8GO2iVZiG5-QzvL0Sm3tw-5IxqgaQp3b0wL3mL20R5YE0BvJ9uXgSy508Xw_GZg6ZB5oPLG_gtdFJJNElJVfX8mTZDSR4Y1fO1uEltF9fWGLQWpPjv2dspFn6cWm7RZoLQnNP59YkSdtfEnSfPaCDm4PWmjhdg5RKbf_jbhJGxOsNmtsoeEX6uuudgFemIkEQYlExKHB3sR9OjV-jKlT_6_bTCTitCeXG1R3TbT66uHvbsaCijktIpt14wFN3X8QrbGpkJ-gzHglpioeAKqgu4m2QV7mxTlWnG_HlOcPeW1DYWPDPg_vQ-UBe8w_KvAETUsitwv_3dMFskPYXIzlh5ZNeNNR0wAT8BeaRmgHRFhxDA85CGmxiB91NhYiSkwOcsGHOIwXRw-rL2mwI7wDMld_8wIgoEn2CueFn9dBlw1VR9pWcnD4u3zL1FB8c-wmKFgPLOhRwwXoPZpze3fztsrHU82R-3IyFNEsm9X43QNAhTmaVg7AYh0j8j1utqcHULMhimRcLmBXv-A0bI4ry9L3zOvbxsvaMFWmW_tW2ehkdXSY132GUrkIyB4WxfwuH0vmhHYdNiZjlqXm9Ry3ZriVn6O7TLz8mgcax4pffOPMYMgJQ==",
  "id": "rs_07bb5bc94a4279ae016ab45cda0f4c87d0b5bcc2778d39f63d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.423,\"right_y\":0.255,\"right_z\":0.07,\"right_yaw\":0.545,\"left_x\":0.19,\"left_y\":0,\"left_z\":0.27},\"note\":\"The right jaws stopped at a small but nonzero opening, and the pen tip is centered above them. I’m making a short test lift to confirm the pen is held.\"}",
  "call_id": "call_9xEmtmlyXVWJAN5uTbnRuiWO",
  "id": "fc_07bb5bc94a4279ae016ab45cda6e5c87d0868f1979d93bdc42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9xEmtmlyXVWJAN5uTbnRuiWO",
  "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]: [-0.1822, 0.5907, 1.0061, -1.1252, -0.1761, -0.115, 0.9974, 0.5369, 1.8957, 0.9852, 0.1986, -0.0006, -0.0341, 0.0541]\nstate[eef_state]: left_x=0.189 left_y=0.0003 left_z=0.254 left_yaw=0.018 left_pitch=-0.126 left_roll=0.0341 left_gripper=0.9974 right_x=0.4181 right_y=0.2532 right_z=0.0444 right_yaw=0.5503 right_pitch=-0.1528 right_roll=-0.0269 right_gripper=0.0541\nstate[joint_eff]: [-0.5675, 1.853, 8.4855, 1.7216, -0.1245, -0.105, -0.0171, -0.4171, -11.7538, 8.3077, 1.6679, 0.0171, 0.0269, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ecbbe793e8c59b7ba35aabc8d17295139d1f8e49ccb51cab68d884d9042434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a7c69797e2d81495c6a33b1904d1b2c67aefa9468aefa82881a3f0a16188ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06e4d9a2c596a24f1b1f729163fbb453b4649980610553e817a3f755c7e1691",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 9.079 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.9524, -1.063, -0.1684, -0.107, 0.9974, 0.5484, 1.8595, 0.9157, 0.2226, 0.033, -0.0036, 0.9994]\nstate[eef_state]: left_x=0.1911 left_y=0.0007 left_z=0.2534 left_yaw=0.0176 left_pitch=-0.0676 left_roll=0.024 left_gripper=0.9974 right_x=0.4047 right_y=0.2446 right_z=0.0392 right_yaw=0.5165 right_pitch=-0.1615 right_roll=-0.026 right_gripper=0.9994\nstate[joint_eff]: [-0.212, 2.0581, 5.8598, 1.8291, -0.149, -0.0317, -0.0073, -0.4171, -8.1436, 5.2171, 1.7802, -0.1636, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.947, -1.0756, -0.1684, -0.1074, 0.9974, 0.5373, 2.0247, 0.9367, 0.4065, 0.0032, -0.0288, 0.0489]\nstate[eef_state]: left_x=0.1893 left_y=0.0011 left_z=0.2488 left_yaw=0.018 left_pitch=-0.0852 left_roll=0.027 left_gripper=0.9974 right_x=0.4232 right_y=0.2556 right_z=0.0049 right_yaw=0.5445 right_pitch=-0.1223 right_roll=-0.0256 right_gripper=0.0489\nstate[joint_eff]: [-0.3077, 2.1265, 5.9282, 1.7607, -0.0806, -0.0708, -0.0122, -0.2256, -8.253, 5.5316, 1.5116, 0.1783, 0.0513, 1.1893]",
      "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]: [-0.1822, 0.5907, 1.0061, -1.1252, -0.1761, -0.115, 0.9974, 0.5369, 1.8957, 0.9852, 0.1986, -0.0006, -0.0341, 0.0541]\nstate[eef_state]: left_x=0.189 left_y=0.0003 left_z=0.254 left_yaw=0.018 left_pitch=-0.126 left_roll=0.0341 left_gripper=0.9974 right_x=0.4181 right_y=0.2532 right_z=0.0444 right_yaw=0.5503 right_pitch=-0.1528 right_roll=-0.0269 right_gripper=0.0541\nstate[joint_eff]: [-0.5675, 1.853, 8.4855, 1.7216, -0.1245, -0.105, -0.0171, -0.4171, -11.7538, 8.3077, 1.6679, 0.0171, 0.0269, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ecbbe793e8c59b7ba35aabc8d17295139d1f8e49ccb51cab68d884d9042434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a7c69797e2d81495c6a33b1904d1b2c67aefa9468aefa82881a3f0a16188ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06e4d9a2c596a24f1b1f729163fbb453b4649980610553e817a3f755c7e1691",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzpdk2R8mXISj4oATNRyfOH3kbeCVMyTJMd0NCA7yLaenn_C7ZVImsgfQur0IAxiGowvV_vXsL7HMl46q07xZFPq-SfAHwcdbeIGTMGS1Ra8lbqONsqL57KnSemhBxyfD50ybg9JSAnuCjpDXc3EOslFXa12K9Kre9XQngSaRVdB_yiqIZf9g-n6G0qmz8bUkGWB6O_CLDIHFo_SkJN2Q9rVnWqsVNKZYVZRcxmxlan_esEzJzbUjZXGZBGJ-3-y-U7M4nQ1PrQKGBWWCRoTqobFANRDfq-2Df0mkQHylphtlAhj8zSf-95xqVxjCvSOVQhDHsOs1QHYUvtwnkv2mgd2raRhVnKBKLPbf_ntNBsSsafNBGrUnkOAbO3P8u9XAaq5SulzMiTu65iCMssf2RvFETGnNqaGD0vi9F2OgccRpYqWU4RD20pJJDmD0LqOL0iDnensV4Jja5xfmSW3ecpRemXkGaOZtAPtl97mYlarVoVPzLG3f1P3UHBFTTP1ZWMLmKC3CpEGDjV1Kter_Px9ZYvaMEx4fvsWsWwggbG0PypALvJFJhaSGFry_u5vXAVhX6SEZM_TmsqyuDDSBjt76duxnDZDExd3TDxNnaNqmEOI27mSokigqP9ZN2aqSTSKtR0wwPAJy9UwmXTWohqCU0kbQffGmonSo3oCKaVMAB0eo3_U0gdeI3UjJZfr6oyvaUSWwIwRUqSXevKcw80vOst9anO0tbb3No11g9YGCKiKEhtW13mEW9e7vIbn8iwjrhwJRjX_AfC-inttYu8yr8LL4va8TiGmIlYttmS24lxqhgpM333X8PHrew07XnjtdRyNAmvkitqfXjzuPCwH6zl-AyQJe9OUeb7XoXFxeOEO1PCI1mEEUXUt0XFL19Fu1mBd3vLtudKCbpVFbK0HXst87QbqWimKONgtOnT35dOGGbuh1g1-HOLouo-Pj4RWdYz3vv9YwUTV5RDanh-S8jKCAcPYjPeyz9_BeJV-kpITbz_Z8ydKsSOSCleVuJC5rFAePXLxgWCZlAk8yuFwxml7L7HfSbkaitfpYQwF-oUD9IFN_PihxKkvjQ7pgB6yEt5I-Bo7aNlIE2Fpd99KPaujItPyJZYgCVb1tASRZKR3kYVRsI2W8JVzGOt46cbVZ9ZGwjyKzPvuo_il9tddgMWA7Y2TrxtmLJ2I08RBB1KA1EuADHsJ7FUMen5g3ic1eLI7wovmAfYyP6pixcyLdQJU6GA-fu7Dv3NL0VW_8BYYviZ4xqvREC7nH_iT6Ai4l8BYX_J6vpUbuxiFxPrEZDDA-bIqmPov6zTyHD3y9kOkbzNA5e0QAMB3mw7f_QPQeUF4-IGMTGIYhSZVeM2QzcI60H3NnmUSJYVtkqikD1cQlOqY-v2I4-HooWEeUA6CIgTp2IpPP8Jq0XZjgcEJEmpoYSlTUADd4j25F4HFt-ioiFJEeJ8zg_GrPX4nB1-SDv__vwfEpBP-Ebp3yu5_SfIdLu_Z-PITB347CpIJBOj8q0HttsH6Cc3GGXjbFoDpxiS7m88vaXR76HRlk0tM1ZX_uKh7kqMSzeoRYmUjPIN_l_M11Jmtg6WHoAlikqG8Gz2AgkmWthVdyZDIQ2fW0qLOhMMuh1nXseUUfxhvT598rCQ8UzsXUvbGCkEpVeoZ7h0iDC34JcscZa1knlBGjQ8BYSOsZV_PrBLmM6tqR73ap0uKahY8pDepNSB4YmrwIBlJLkJeQvtJu23x9Ecnm4XbfdGujdwjDa1vwliR2ciNYe3CfvS31XjA6edLOnhygEO5vsoeyH5rj-RkCNsRoafPb8XgYKS9GKMYWqXaGZy20uCMZ8IMh-iIELYNw1ypGZeQgzQUXu_yxQeNElx1tOwGL6VTrQrikKIF5R-SfuPh1IM4iE__elwXbV8W-hgb6qDynZNEBfXtqR2sv3dzvidEd4vCAU7qV0wc8U2w1nz4ptnwy0KE5Tfe8gWSCyxorYy-AdG-CrX5y8FqagFxtfHTUMfLc5nC7EdTl4qeHUIxtfkIrtGz-U5RlPy8ZganymBmthPQhnVQo1kQVyeGU0Pi7TdtzAR3YP4f2-r3ue_YOMiAM3TbBgL5rleQx724ziEFxnI6qLGW4k5Spur96gDi2Ofdi-V9JDGa-91dZ0vi7n5POXwawR5XQjp_UoNQbbUgalrybpA7yxA62PmV542Cs4pMO6PYNHLqBFWu6Ft-MNQd7_PVECSYK22Miv1v1XNxlA9o8rLhHKqxkwI1lOMctWimKDTyv9oDeiYS1CZHCt1fj7ywVNZrw9p-zHbUBhlQyU1vHUNNydjD0O9V2vs9T1hsa9W0zLs9REo0RHJ-ZUkHkFgWWAaksYQjjuYZUqE5qqjNLrmXgU4faJ72Bktl6alr_4UIDeFSwuCr-CplFYLedtrgdVNWEdX5miqdAChwXegY5XibFNA7J0vzrgxwFn91K1jE0efrQMFMKWfj-cK3cVuPaptdjBqVKCQDDV0ZHPBpQTKE0EDl0c6k0tHtr8ypAS-vO2qn0OAAU1U7OYCI1W21sYqgxppYoldLJqzmECmSSKD-iJgsJMr3_RkIV4-wkUapvrRtSCGRdmZmn6MXhID29Fzl-y19PMjT46QOCcYcg3xdPTaII8AmLvBbO_pFTEYkbCuJ5SHaPLr7YRGgV696pqZjfXGbaue4YuWZtyuQGL20mJ0M4HXanMawnjhVhfhp6ZUCzYhToCYlmJAKMIsYDgV0jcj8gWdPGZaCuAxQNKBnkc1Uun1IdE6c50qupYcnoBJ1gx0QNPifPptOjmQP7kcEvSA1nsJn_8Dj6C6VCQRsQS0GaYneFcIUr8kwJ-RPaHZoBAhgc2aQE_gkDPlfiNdPt9ngeKU-eh-wYm2n3yopF2Xsfdk_cebbukDFcBGdHpQ53_8FHiERPjwIVgGQSk5yum5QdjaKA-NEt1bg1uiPF3Au4AFhHt6tDQ7Pt-BMtBYZLXv3xIRE47oc8xJH7nfUdnsw15t2zY7SSA4ap7mTdSfjZLh-2sEPb8D4fwOHcmeZzCVSlKyAmJyWI0yYFnx7gv9Ct37ADWStLastasGVAT1YvsHi6wyp3vBmfRV30jroOzYz8nlqTkXaikFw2z-O7heAcBGGg9TSVy4_R83dicNJXOgl3jNY3bgH1MZPN8u7VmH5QOOha2myhgeQ_-GIs-KCqRaOquYDiaarJbTMjPsLmtXp-hOqZ19yZ0u6RZhKMD3_-H6UyOcdVzQcArj_RNDOQXqtgC8MI9nX5UoYRwlk6lKo1esE9Y2G3iEqoK8qLKzm83fR7gqUnSeo0CqH0xOYXWmqf7lq-cTBET2IwvRT3gmVtcTnr2-4BhwJ4j52ONGsFeGDSvSeeNznFAJTDKxWXKI8UyfGaZ998bfnTSHjzTzK7KdC_wavaeowOt25-Fx1pf_Y1riYZeyDGKFTWGXmSuSL8RO3A0ca-UtOI9dueDRTQ-1Raaw6PVp7GZ7xo5BXQCHntX7gz4o0fcz0OKEQXY2vAj1WY6kj14QGvTqFdqI85L2Pm6MI7Tx6rEhKlEzw2-UosAArFTv0relWJB-ABFwQJg1k8U06DrWAYpmGw-HdeG4E3syTFu8MFAJ1Z2vqnm8mEYP-8r4GFfhPYxWwfV6cWlwV-32OeArylDhthu2sMXL7RJlvxooinH38APzDMrL0qjCse3lAJ0Pbx-11QhftSfMxSWJLHX9bgoQRBszwoTMczWTiR5RyTpKs9ejRHmdGpVvvTU8epKkyZ1hwNReeebO-RWQJKTqgE4nUOMzOI81dGQsb7XiWvnSRcnONYU8n5r7Sdrbl42SnKHPSdY5NjPFOi7D8Q31MLCSA0oU1NBA5Ma6wwNcfasHraVBRqqswhBJ8iT-w1NxwjpU4TDujtrchPodVP87NmKcoBGHwugQ5Tbr1DgXc44Rfr3zFgWuX_rtQw-C_UtqyU8a9ZOaN6nar9FAs3zUTgs7AVsCNWqPHkk-1o-ZS3y_uMslu21OMDzn0u110JZSe8VZIxlVb6GUWSxtJc1D9L9WAf-cCaAs5G4CWC1hY7NEQMd_WylWOnxQb4DZs-DbBPiOS8Hj_rWxBhvuYMeLmm5RJHncVGJM5YSXXnh8jt6YexwOINj6O5UcxJoXe3bqhhvEVmgYfozpz-M_FavMO8TsL-LkfHxrrel3beDzl9wAaZncnetJdrsjHtAkzqdeMMFm_Lak",
  "id": "rs_07bb5bc94a4279ae016ab45cde31e487d089667ddee6fd031e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.12,\"right_z\":0.19,\"right_yaw\":0.55,\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.14,\"left_yaw\":0},\"note\":\"The pen moved with the right gripper during the test lift. I’m carrying it clear and using the left wrist view to locate the cap again near the earlier grasp area.\"}",
  "call_id": "call_WanohC9jhNYxDsrDoHHXBlBf",
  "id": "fc_07bb5bc94a4279ae016ab45ce7ce8c87d096c8edb20a7cf078",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WanohC9jhNYxDsrDoHHXBlBf",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6266, 1.5173, 0.9585, -0.3592, -0.4736, -0.4294, 0.9974, 0.231, 1.2011, 0.8814, -0.4324, -0.2081, -0.2184, 0.059]\nstate[eef_state]: left_x=0.36 left_y=-0.1567 left_z=0.1162 left_yaw=0.0027 left_pitch=-0.2173 left_roll=0.085 left_gripper=0.9974 right_x=0.335 right_y=0.12 right_z=0.1723 right_yaw=0.5218 right_pitch=-0.1728 right_roll=-0.022 right_gripper=0.059\nstate[joint_eff]: [-0.3214, -7.6239, 9.5248, 1.5116, -0.3736, -0.022, -0.0122, -0.2803, -5.3402, 9.5795, 1.663, -0.2466, -0.1538, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e29c90deb4f54dfb699d144b6ca4d3c8573efeb607efb1b713f6fa3689334f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76ec94bfd321c1b538f4f78589f082a5684f39a305ba5a2175d8a2005bc5f65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8b0e3a3936233c469980bdb2096f5b391a6519c894dbe253c056f94c7f3832",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 8.945 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.9504, -1.0679, -0.168, -0.1074, 0.9974, 0.5373, 2.009, 0.9295, 0.3737, -0.0078, -0.046, 0.9994]\nstate[eef_state]: left_x=0.1904 left_y=0.0008 left_z=0.2517 left_yaw=0.0176 left_pitch=-0.0744 left_roll=0.0247 left_gripper=0.9974 right_x=0.417 right_y=0.2542 right_z=0.0034 right_yaw=0.5632 right_pitch=-0.1467 right_roll=-0.0313 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, 1.6889, 5.8325, 1.7851, -0.1001, -0.0708, -0.0122, -0.1436, -7.5009, 6.065, 1.16, 0.1001, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1822, 0.5907, 1.0061, -1.1252, -0.1761, -0.115, 0.9974, 0.5369, 1.8957, 0.9852, 0.1986, -0.0006, -0.0341, 0.0541]\nstate[eef_state]: left_x=0.189 left_y=0.0003 left_z=0.254 left_yaw=0.018 left_pitch=-0.126 left_roll=0.0341 left_gripper=0.9974 right_x=0.4181 right_y=0.2532 right_z=0.0444 right_yaw=0.5503 right_pitch=-0.1528 right_roll=-0.0269 right_gripper=0.0541\nstate[joint_eff]: [-0.5675, 1.853, 8.4855, 1.7216, -0.1245, -0.105, -0.0171, -0.4171, -11.7538, 8.3077, 1.6679, 0.0171, 0.0269, 1.0379]",
      "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]: [-0.6266, 1.5173, 0.9585, -0.3592, -0.4736, -0.4294, 0.9974, 0.231, 1.2011, 0.8814, -0.4324, -0.2081, -0.2184, 0.059]\nstate[eef_state]: left_x=0.36 left_y=-0.1567 left_z=0.1162 left_yaw=0.0027 left_pitch=-0.2173 left_roll=0.085 left_gripper=0.9974 right_x=0.335 right_y=0.12 right_z=0.1723 right_yaw=0.5218 right_pitch=-0.1728 right_roll=-0.022 right_gripper=0.059\nstate[joint_eff]: [-0.3214, -7.6239, 9.5248, 1.5116, -0.3736, -0.022, -0.0122, -0.2803, -5.3402, 9.5795, 1.663, -0.2466, -0.1538, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e29c90deb4f54dfb699d144b6ca4d3c8573efeb607efb1b713f6fa3689334f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76ec94bfd321c1b538f4f78589f082a5684f39a305ba5a2175d8a2005bc5f65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8b0e3a3936233c469980bdb2096f5b391a6519c894dbe253c056f94c7f3832",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFz0x5w0zjAzheQInbVD4HK_5o0vVoCZrhV41GlCgFkH1uC3FF75jLpgL7avBaBM4-SetHFAkZ-AxZ1FLyTTg5newmlZubYLByifz7FuVMFwMFpzwnb7CNMy67yL6WhjR3vYgsfXTsHtnuzmZJqMIXHP3JeYDPs3uCCYsVLQ4EiMAo9HI5bkbeqEv3uXsrI2V-x_E6Ddl-ZyNWon0y_BTLJLqsBMakCsuBOEuKEDY3qYfx-Azw0n4NLjNd3lRfLKaSpbVi6XzIRT9g3_uFEYKbLybYCJXr0iSlOzKBchHlk4SBfdCN9eJBHawHqpaL51Z_O4awHqeXafBEk2GntGDg0s7XfcQNO5QL25jvPKV3Ih6qi_MMWhYnR0wsU4cACt09oPqkyVzmX0orFv5g1s28Uju8Q8IEwyaFCY08vhnRjBp6z6ezVFYbCbmtye311XeKmxDd9u0EaItNuNzIJJoa0MliBAH1hDwQyXSDnNm1vs15mCPjAFZ_JjteyNu039XOFoiRpGcJ2uwvy9HfLSoXynOCYMEn9MlVBNVIPP8-gubWU3B8psNZ9JMwikqXtZ0d8JRJIld9fXmNGdvqv416B5Zpj0JqOfzuOkzrOh1lXx56bOmqxHvYwuu1dpucy56DJ0L-liE6eAoKAUAgZ_-sut2PMGKmCt_nbGUqRQoSV0sx6vbdk30eFLjZ2oKcpaJdvaDHV7tz4qAtQomvExjQiTW3FiCdSeCrbjxUwIG42-TsuaVX26bB8DakJnirsR2ZvVgqp39oBp14zCqDQ_bHN-OaGfWjqijNDehEUrrnTY438H6OVqbzsc0dWWKbbTc_buDpyPkVUeWTCOk35OFWeobauJbw-Ub84Aeg8NgcWCnI5-guvFG2NwNixxPFNYhpSRUQBz3fs5EHTyoFq5U_ObTjLowBM7Vmrj8jT-O-emGUVTK6D3ekybV-82hfJcvG4nvwuBCFp67Zu4sXqjJofJXapVnMQgwYQkZsjCcFwL7lCIi06hN_HpR_6KrXnjT5dKgWJcCxt_oxllHYRt_NOjvY2opm5hagdhpIyQzw4ik0M7IgC4fLzLHYjteXq-Kw6bcIgeDNhYtZ4L937cs2Hh6Uy7X5YbnYcPGeWqC_50Pgy6t6lpKI6TwO0akzwZmeKn_4TIHmceMNk7PbCoPmLcNeDLn1duHt7NoCFGqDg1irXX1sz3w-35Khfg4tDsOz9ApD3OoXhOJhCWngQ-84pADpBnXM5G-yuqLm-nuyGP-GXHWDCQcbCDOsGonbtP9fO6axwapjPOekNpTsKkRyOH0JLdt8Ib1iShZd6pPENsytt5IY3wHUD8MwF-nnHiT9vknipt2GVpdicU6UDmutwixaacLMUHX4anenT851RIIN5fVCC_IUrfssaIpe8GnySR3mDd-OYCqjqDNIpspbm4GBrLt-Xhr4fFATNpw5ICvhs8bFD3AAFjoioGgqfZTGNal-uMfxTKnuAB9ihmOF9ZqW8SZv12BChopVbl-kZrmLpe6WXkXsauyX-RTP4j2p5zgvD58wnvFkKr1avmJAodU4xT4LUZYGkrBAi86EOiBWu4GWRQ3aNMw-esnsnPtVb5lnv0sMdSe8zREkU93jwU24M6y3H_Py2CsyU_or9zAxwkEv3DR3PoQz4P9O194NnT8i6iuBMZZxX8Tp4vPFngmERFQl8fREohtnj3zEWifRcnu23wKy3pTon4-sww9nEjyRxT2h4iPvNIIqdCYKGlvIh-ix-sPgYIIWS129O4c9d29TOeSvefZiD9ks3EBSdbR87rnkAD64GHutLsMlU4PTAnRDnevGQwIc4Oj50MOIeqwiNaLG4EWTTzYxQO0bcIjjHltugPjP45e5zV-J-Be9Z0-3tZVCKFmhsp01oGZl9UC0SH1ve_kf9J9rn2e48N-kCgynHbhmhbz6rBqDhj1sFHdBS4Qx4bpf5xj5-0oBSQz7EWajjD6zXliyi_nwulVVJt0EWRn5rfvI8raPOhWaLcaR1QuXSK9Gxw9ual6f15aQLCoA9z_aWeHhsfD0KN5UZOSDZskFETJH0OaMBvIbxFFyrh_W3upPLub3EDg4KEPHRZmvWPmSUWPVSAn1jW-znvspRRZ-E8Fx0rfKJYGx0IYep_Uj7uc9mhLGaj-UxTZVDA__gQjRG3_eKER6syiXUEt7RyIZY65LCbmtNqq6FwQJ_zoA1q0keGWNNfE6iaJJV-9621NXJUlwumNlyBV3B0p-I-qlt6XDcqIYOylAuYZlWHoID09zj5Q3vIk6rX4P01A2v6FnIajqklvDB_4NHSasUHCmR5mPFnJfsBlLTm-6LCSwsTgNxNofDNF1JQCCjZrghYDWtBZo-kxpWf3Tyu7abdEKGcMu0HFJQUgVfJuvv9H5EzJ8eM12v2t15NtL1S4YkDj4bXtaB0kqKyx9Q_5blWjneNjA2PIArILFtFph5eZXc02IMoE8GEjHxbDYLgq7hkN5zx0dYoegEvxaMGH7UD3J3_JDx5G7iJZQZ716cMKJZ3DWM921x7uQncxmoZ9KzkfN-wuZ1fHC6_zBt0__vs6b-dLW-j3wgDFoTTNfDQQjm4eaP6v7HqjdI3He-eyBGIAeGF6_A94ko7_5PzwkcMg-F3hum8YAiwcb6Wo0T00V7ZKyIEqXqCkgVFZcDCZxJENy23UkO7EtvHFO9jpJngcui7S33USiXMIqrUHPSumEEF46rhm13wNfnKZW4cMI8tPxMUcSENrRnoCDTCumfGZzn8Evrtgt4gzq9u-33OnwphM1_9YibkWtrpL0zrNth5FCHgiEDzh6mIpfvONY8rCOaraT5dsd9aOR7bfemBP0lqyOYOYwLkIU-Lbgstiggk2E_RxnUoNsHP8tL6CsRDCMtQiqXQDosy_Yxxo-a0tkf12sB5pcPVMJmBgzm-dUyDFKb2KgQl7cRh7gvLwZHuFF49RwG2Q7IX8XZkV2lJqXKytjbaGyCcLsHlUHGiTGhfbcvOQ6LePpIjrqYAbcskCT7rtUSYXqVx7VNfMNmDJwwmzNemWIpdNC-YpzzAqbh93vbQb_v5Dv8XU03tVNg_F4cqa5yk_LwZahJpk5yCgGb2kyoelSZP8buLsGUrO3nufN7zpNWiqepOVzpaOzgHFCIPshAVBk4_5dziJYrSnJQZv_Be2kF6BTATuvF9ZxYl_JiskqTdbQ2MxOEzeLjoOnJtMHnYIrZPe3ll4ax5n45mDQBssiCn-NSnJZyK2i-ZEmwmKtsaQS92O3lOz51qcHuhI_KS33X36y-ydCD4DLLcZnvDeJRL88K8j9FWTsQbNT6cgctUQFpgPzsb78m-B457mqmeHHpaOR7xH46wq8pMq_8ZNnK9hWaBCZqMwhiSDeEJPxZsMWGdaWXbP7DA169VmA6apmNv0aUrD3hEo0x21orPhCltY3OZp0M26Hbo3ReemSGwM7JVtEiZyKQvV3AaUVY-6Cooww==",
  "id": "rs_07bb5bc94a4279ae016ab45cec437487d0b7d454b63f7dd0e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.14,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0.15},\"note\":\"The original cap location is empty in the left wrist view. I’m checking a little nearer the base, where the cap may have shifted during the unsuccessful closes, while keeping the pen secure.\"}",
  "call_id": "call_HZZQTFVx0cYlCKt6yJlQRi39",
  "id": "fc_07bb5bc94a4279ae016ab45cf2e06487d0870ffa7aa31f9246",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HZZQTFVx0cYlCKt6yJlQRi39",
  "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]: [-0.947, 1.1397, 0.429, -0.0368, -0.8284, -0.4881, 0.9974, 0.2249, 1.2037, 0.8776, -0.4545, -0.2176, -0.2352, 0.0631]\nstate[eef_state]: left_x=0.2684 left_y=-0.1439 left_z=0.1088 left_yaw=-0.0402 left_pitch=0.0894 left_roll=0.1091 left_gripper=0.9974 right_x=0.3309 right_y=0.1185 right_z=0.1662 right_yaw=0.5344 right_pitch=-0.1983 right_roll=-0.0195 right_gripper=0.0631\nstate[joint_eff]: [-0.2667, -3.5761, 6.5299, 1.6874, -0.4176, -0.022, -0.0122, 0.1299, -3.9316, 7.4188, 1.7802, -0.0611, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bbda37588a00695066c4ce0d7c47d29f2f4b23157e9517cca7d72217bbbd28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3658969b381b70f8b52adeff5c58edc952a63bfa0c7484fa386849ec3222e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1ba4f7f1d50bd039132d45e290373bc182724472ff66e363d9902918a635e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 9.959 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1707, 0.5385, 0.947, -1.0756, -0.1684, -0.1074, 0.9974, 0.5373, 2.0247, 0.9367, 0.4065, 0.0032, -0.0288, 0.0489]\nstate[eef_state]: left_x=0.1893 left_y=0.0011 left_z=0.2488 left_yaw=0.018 left_pitch=-0.0852 left_roll=0.027 left_gripper=0.9974 right_x=0.4232 right_y=0.2556 right_z=0.0049 right_yaw=0.5445 right_pitch=-0.1223 right_roll=-0.0256 right_gripper=0.0489\nstate[joint_eff]: [-0.3077, 2.1265, 5.9282, 1.7607, -0.0806, -0.0708, -0.0122, -0.2256, -8.253, 5.5316, 1.5116, 0.1783, 0.0513, 1.1893]",
      "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]: [-0.6266, 1.5173, 0.9585, -0.3592, -0.4736, -0.4294, 0.9974, 0.231, 1.2011, 0.8814, -0.4324, -0.2081, -0.2184, 0.059]\nstate[eef_state]: left_x=0.36 left_y=-0.1567 left_z=0.1162 left_yaw=0.0027 left_pitch=-0.2173 left_roll=0.085 left_gripper=0.9974 right_x=0.335 right_y=0.12 right_z=0.1723 right_yaw=0.5218 right_pitch=-0.1728 right_roll=-0.022 right_gripper=0.059\nstate[joint_eff]: [-0.3214, -7.6239, 9.5248, 1.5116, -0.3736, -0.022, -0.0122, -0.2803, -5.3402, 9.5795, 1.663, -0.2466, -0.1538, 1.033]",
      "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]: [-0.947, 1.1397, 0.429, -0.0368, -0.8284, -0.4881, 0.9974, 0.2249, 1.2037, 0.8776, -0.4545, -0.2176, -0.2352, 0.0631]\nstate[eef_state]: left_x=0.2684 left_y=-0.1439 left_z=0.1088 left_yaw=-0.0402 left_pitch=0.0894 left_roll=0.1091 left_gripper=0.9974 right_x=0.3309 right_y=0.1185 right_z=0.1662 right_yaw=0.5344 right_pitch=-0.1983 right_roll=-0.0195 right_gripper=0.0631\nstate[joint_eff]: [-0.2667, -3.5761, 6.5299, 1.6874, -0.4176, -0.022, -0.0122, 0.1299, -3.9316, 7.4188, 1.7802, -0.0611, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bbda37588a00695066c4ce0d7c47d29f2f4b23157e9517cca7d72217bbbd28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3658969b381b70f8b52adeff5c58edc952a63bfa0c7484fa386849ec3222e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1ba4f7f1d50bd039132d45e290373bc182724472ff66e363d9902918a635e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFz-hnkGIPEazG01qLL-0sGWJYcH8PHcQOzNeFSV4hjhZ6vEu2aRQnoSVKZnwci7LVHL1_-oNQqmgtjRtECPfIAYLZUyEVTshslO6tdJP7Ez5HxFQOSg9Mv5vgRfTiHlZDIn44O4khqk4QqoXLySNQUd7aDi-aqYKbNuShds-Pz9NQ5tAjheZ-1O1QvDW9CpQJaNtSYiOUqhNUTMUaAqBRR2js7mQmT0MOYV1Vu2hmg6cfp9UlLBIRNAY3I8gl4bI5xZ8J-4e6L5PwaDP3xCSv_fiFMeB224ZaS3kvyn7wiD5PAwG_8y6dAvj00oc7O7-Bl1ys-PVu9BvQrbtap9ZIC9iJchDYBmArnKWA3TueJVU7HbINy-fwR7JczEWz8abLgZLCyJVbcmB6WHNclvlrH6ToDA5NUT2CQb2F7B44J16fOBPvHID0_8o5PSde7b-q40xmcSzXHbbHsAjyG94mnmXm_QbrwWc1opSW7mgH-UZHpGD6K5nQOgsLGlQ_a6sV1LGbqQXvQIC963YGqVDR_7I17tMNSsYjcya7_l1aNMHyK1jVKqVRh5S8fz75u5NzAivbmtI2vJeqdFCUJ3LXZ9oWIxzJ7ua1KGUx-CruSDFXa-wE92cFn_Tel_P07rAEqeQ-EBSp8jV-a6FCda1vVNDpj1-3A8pySg8B4q-ruut4yMCMbe9DaBAIlKwCe8tUnLuWHRZY7jpNRj1KXLc9u5P_xiuFZ4g0k4vLI2MWkRtzw4uTi-HcnbjIqwcfy2me4HK_CCeHKCGYFf1piO97fhsrBOdubBCM2WfXeWLM1y3j8ybtKdJyk4wVxKky4RKt6OSUjBj4SKHKeM8v_imwgwqu6HgVfMMssu3eQgX_dgyps34jpSsZVlAjZaQ9fSIZHh1OBRbmrw8b8dbwzP2Hr4Sfzysu3RbSr_AzUP8BsYcCVCzGrj1gWqaqUTAIe8_9YoX_VC_p-5XMVmpH_e-_WdJsup6Z5UB1rEXHw1H1dBafxxnpXIWl2gBQDJLmBBCTbiPQ-Ox86bhUc-NqN-50ZQuOXkNWAdsayd2DwiQlN1OecP_Unyne5t1c85zz46gB5BolfrUmhAo8nDR3pnsixwzlyAdSzl5WkrXOzDBFgsUGdG0_k6zG1yyOnmIdHKDwCTaCp-_u836HH_369zcvqIhuADOkfb3vWzNTDwPonMlxbTMG3A416jWQNfowSYZWHUdJXoHVVD4YI5n1FIYGXUjqn9jDN8p34svKaBU98-wAVjpQ3J1guZBW38TIGQkt1C0ICZWXdGxpYnKPSKeVGr8MsyhwTaQ51pEm-JRrDjhvy5GVUxY3s9NMokDBp5u_iFMndSNNh2mY-UYEYlMXahxL6Asf-sEttXhhlysjS8F39lpWpEEnOnitjGlcXyj2gmhqt64FGmVkpwuR_J2MCOnNIEV2ItcSjbKNDB9V5expcqhmKWgFJfZ_zPvenlMFPqL7ZZygTTTC47aaxn83kdMVfX_JvreMli0i9IPwvwFkdONx3H06ER4sqgUS-aeoTSUp81XSWDb8auwXyQ8zvOyJi5h-esG_UaqIAU2IxaPeKh1t4mPDCH6NXicpsNxk9udoFPdwHb4CVIaVJ86m8LfALiB7ch6LOJwX5_Ack4GL6BQ4uah97qogCgj58vaIErTStO7o9XvPnSH5TW6mrDnZv2Cxfoxi4-zNmfxDqYx_qei_pPQKqtICeXN_4oWekWY23pCxaxn-hfJ6OV0-o7MfuBBM0y5BBuU0NVvqRt8SNu9_kg06RfKw3hpIVawoz1oALfBgKRAuNv1tN6ENXg-xFrnLUH_mvUhDxM7GL0uYYOGLW1boajdB4Sz2rYm7rn_EtoCT2J0xMA3fbRmBREV0aH1_yOdBNJPc418ZkARlTAbkWXLNoRdPGNmbq_f-vZZ0F9MZ64EvfxdUgtosFSRWf-m71MyNKWDqLecnzRXJbBVNI9--_VeAWFe90ng_sPSxzhEhZoaV45X5SxKPxvUtChb2MPdZryC9sdOe5iyzedSiNkvn-pBOJsRbM9Xwbz698vC3L12-Qlox5ey_MrgBvAe1o8QB3immdAifm_XM75E07ianpso0GxeJSLl559KP-57TLvLs0TsIqvm3lcGFmXNAka6J5pO-cS2eAeJVw0eukwKkGVBzFAKWt2YXBhyUKNA2tc41JTLTaAkYheqT5RE-4gdzfrCvV5zePY9HpyzOdOZus053dqgivFG8TgSVuQo6Swta088lY6O3BfbICU2q1OevSXMQINsRpGz-OTiw8q3f4eKZRq_y5wap9chaNhHnMtwRH6eBDbr8ELx5Ai3TpcHCgnkXEgiiEiUzI_pnf--dTJNBVpk1vqJYu1EHzeMLAoErArK4liD_gtLaaYNZtSmNRW3iJDGUGZ7THA80YLpksj5gvt9gyLAS_vb04n922RZ4A59BvvYJiPP6Dc4BcyIZHshqR-6GSuTmm9AQ_b0DbuVuoBcveCgAq1-d1dNiGF2z-C48FEZEcM7imVlXJVkyRk3xLRHhoSE8V3cKP-WNrvgu8454-pjTL1MDC8ArFRdKrPCkjBUFRin52imedlixSpq69aB2J3S5ZRP2UibHbdmyJ0R-qbLGLqg5goEd3exCF0GRL6tp24CKpjRWVzvJPAMVhZcqG9-IwmvYGd9l_PNxkC6-n8cQuIWMNb3HP3IZosUzKHRyTqjyLc4ZtFP99z1I68KaSUHM1k5ZWcYISIbAC7EPLyN9Vj9iIl9N_-02jmqga_xRWOSWWpiqlxsyAbVfXo_xrK8WHZuBUmQqW8KQ2B1OZI0MHsL2UmV4xMpZjzYf5yqczQ8LoxAUF_oNhqKHFGrIgsGbKXU0Mi3rx9vLYaUV7Lwjq8SxSuOGl2XnLoXiY9e3yhYzB_IU6ozTNTJPYpcLaryed0eW2xvmz8E4cix83a6_v0U552HU2qttXa90PlYVUQnOG0Y8Z4Ogw_lPts1H_qy1kasYkdXJmzK_84HVFR_KR2WsDIzYZt_L1-wqQc5UC-7bb6IfNZqvCGu7X-QWA_thiAYqSYCs0ZZBjt2N3fUaj_E9MlzMFKYijrpC6dbVMg09eJx1qF8AAQyAKeUzH0X_1SMLWCjx-OLav6KBd2ym4WLOSRbSC2gEE1l7LZrQsFqycy1SCvZqCzz-6cc3mnWQArJX_lBhWIWiH-T5V2455RaYN0czHDnUZ7_c2YSlG3NgW9NFJaoXJcagXjuIkYy6om2WnMHSffknT7g0vnxOFrbZIp-VJsUoqqmMFxR_RdAcnwhhoE09AZ4LkV-iaBUH-Vp34BUr8XryVr4AA6Jzqguwf06TE8k7wAnD4BzytlQQ==",
  "id": "rs_07bb5bc94a4279ae016ab45cf6e6c087d0a791c053cdcdef25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.31,\"left_z\":0.16,\"left_pitch\":0.15,\"left_yaw\":0,\"right_x\":0.33,\"right_y\":0.12,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The nearby tabletop is clear; the only remaining small dark item is toward the far edge. I’m moving to a safe forward viewing position to determine whether that is the cap and whether it is reachable.\"}",
  "call_id": "call_xT37bIZpUFkXZd3pXf8mONaE",
  "id": "fc_07bb5bc94a4279ae016ab45cfcbc1c87d0a01bac4c85435448",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xT37bIZpUFkXZd3pXf8mONaE",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7853, 2.1033, 1.5505, -0.062, -0.77, -0.3565, 0.9974, 0.2089, 1.1023, 0.7567, -0.2955, -0.2657, -0.2142, 0.0631]\nstate[eef_state]: left_x=0.482 left_y=-0.3029 left_z=0.1485 left_yaw=0.0192 left_pitch=0.1406 left_roll=0.1029 left_gripper=0.9974 right_x=0.3267 right_y=0.1203 right_z=0.1773 right_yaw=0.5418 right_pitch=-0.0558 right_roll=-0.0176 right_gripper=0.0631\nstate[joint_eff]: [0.3761, -12.0957, 8.8, 1.5018, -0.1148, 0.2564, -0.0122, -0.6085, -4.9436, 6.735, 2.0781, -0.1832, 0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a31505f99f876e0bef0ff0a5e9f87c1f1282501cae21ae85ac540c57918f317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a6ed5d608e110cc4cd97b2d757cbe0a6840b4d381fa727457c1e49f8445557",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c04b3bec7e3d08e04f6e13b792e5728a33498f93219492e5f90faaee070a08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.919 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]: [-0.1822, 0.5907, 1.0061, -1.1252, -0.1761, -0.115, 0.9974, 0.5369, 1.8957, 0.9852, 0.1986, -0.0006, -0.0341, 0.0541]\nstate[eef_state]: left_x=0.189 left_y=0.0003 left_z=0.254 left_yaw=0.018 left_pitch=-0.126 left_roll=0.0341 left_gripper=0.9974 right_x=0.4181 right_y=0.2532 right_z=0.0444 right_yaw=0.5503 right_pitch=-0.1528 right_roll=-0.0269 right_gripper=0.0541\nstate[joint_eff]: [-0.5675, 1.853, 8.4855, 1.7216, -0.1245, -0.105, -0.0171, -0.4171, -11.7538, 8.3077, 1.6679, 0.0171, 0.0269, 1.0379]",
      "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]: [-0.947, 1.1397, 0.429, -0.0368, -0.8284, -0.4881, 0.9974, 0.2249, 1.2037, 0.8776, -0.4545, -0.2176, -0.2352, 0.0631]\nstate[eef_state]: left_x=0.2684 left_y=-0.1439 left_z=0.1088 left_yaw=-0.0402 left_pitch=0.0894 left_roll=0.1091 left_gripper=0.9974 right_x=0.3309 right_y=0.1185 right_z=0.1662 right_yaw=0.5344 right_pitch=-0.1983 right_roll=-0.0195 right_gripper=0.0631\nstate[joint_eff]: [-0.2667, -3.5761, 6.5299, 1.6874, -0.4176, -0.022, -0.0122, 0.1299, -3.9316, 7.4188, 1.7802, -0.0611, 0.1099, 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 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]: [-0.7853, 2.1033, 1.5505, -0.062, -0.77, -0.3565, 0.9974, 0.2089, 1.1023, 0.7567, -0.2955, -0.2657, -0.2142, 0.0631]\nstate[eef_state]: left_x=0.482 left_y=-0.3029 left_z=0.1485 left_yaw=0.0192 left_pitch=0.1406 left_roll=0.1029 left_gripper=0.9974 right_x=0.3267 right_y=0.1203 right_z=0.1773 right_yaw=0.5418 right_pitch=-0.0558 right_roll=-0.0176 right_gripper=0.0631\nstate[joint_eff]: [0.3761, -12.0957, 8.8, 1.5018, -0.1148, 0.2564, -0.0122, -0.6085, -4.9436, 6.735, 2.0781, -0.1832, 0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a31505f99f876e0bef0ff0a5e9f87c1f1282501cae21ae85ac540c57918f317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a6ed5d608e110cc4cd97b2d757cbe0a6840b4d381fa727457c1e49f8445557",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c04b3bec7e3d08e04f6e13b792e5728a33498f93219492e5f90faaee070a08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0J2AOdrU35QyZbUg9uwKT34RRe7Nqb_i-EigcTWOwzPflffyb6pU_ePBovBARsmS_zPoBqnm3kbBDFzjy1Pyv-aAzDBryYIDwe94vl87b1TWZbwYP1gX5xvstGihGoErU8D6IGVKGaCEBbLu4ET4W7qrfUW4M1FHqCcd3bHhy0ZRa4XObZM6Vn0Qs9Kij9lrnlfScP7nmbKbVPh4ZAiDvNmYZVrnhXoQHy_R66Scs3s0jzFeBFWLGjM10wVPm6rDqDNMujoLcGWz1cMqPIq4gB1nbwqvvuViW0krU7jl8EOvCoOscThlDs4aqW8fDKlkcCgblJxGohNUFIlRhE62JJlZrc99UrjXUFW2G2ywFFzznkdUi5jwPNGbaoHNR1eDVxFTh3w5SecfBl2peiEBsFpn8ccH2KUbX03TkCs1lCby_OVS0q_WfJzx-I7fhmE1VmUfTBLTtrMYo7Fz2KBFre12ZHIEj1wickS-cGIo1CuEPb7Jm_fL-BJfWp7Md-y_c4t4NT5wdeW6UaBQxnBZu89ZerGi69MCtegI62TqMCKs41Fe3-DGdocthUi9n2CpwAGA6JTv3HdawqN7jxdRRvoSsORW2XOx3IVS-NB3pUXu0xKzTFByhuTvluzjbcrgujm38aeLAp2vHmHHgWohsaVfvZlOCx4HbxHnNuN3oXk1_k7G8VyUy1e-OgIWyoXr1cV4G7FzTqKn_ECk8051FKiu661Qh6gpwasNt6yphPwKKHSc8VA9ol5R7nIenTxu5qrw2vgOVkr46WndfStzi6_hHy2YFgresn9MDX5DRVPZYGDtJT5aOKS6rsMb42TwHbut9AtUcBZ79Jk8ydG1qvOVjPnBVaLPlC1ASCpdaIPydhQpqhs9J3gv2yHzxmpc-jP14kA09aB3zIBwBPXkigFXqFwXm0hJLhtvTUwC7hKyYNVXnxlCyz6tG1lKuBVjQzde9aSKe5m9zqcjnX-fbBZ-BK8AQlnyZg1s1Z1ouj_xFOd5Q1pbkD8MOZ4h0pA8FHcjv45G_GSKd8vO4iDKSxbtKcsF7Gr5qcFWdItd-aCUN22287HmGCcvp_u1SX5eWZIW07yzUZFkW7tgO2DcrrcZNdJ1UCSfw6VqwCXvkghSBlDKwjQV8qqdQmMaJ_CiTWMYOdvjE0LMvX9ZPOSZaMC7B-BlX6YcXHkbXpi1_g9RbBpihyyQaDXO5HCTRlKzud51n4_i6vJZl-JBHhtI873VjyBKs09NFZlGCfxommMSKjkCso1OtJhAhBxkobyiDfUSW17DePPAcf-CRgIO-MoQ5hT8RRGwcFCzFp9cW8EXSCDZTCo1iQrxffE53javUy_8lVIDgySUczHEgB827t5gnfSjKdGtXYQxkamxEAnmEfvgAiTHb0YXKaFbwIfmhQT7xALbqRQINB1hrKKPfACi6QyGRyMz5C3N8JtnH-ugNmAcohArcmRJ0Iu84HIFWq2RTsfA3xYj9owDoGyElDFz6GUk41hhvJuMkcZtMF_bjkhTlTiu6GEpKSXNFrWidcTL0kqI_izQ6GjijNfy4vq8x53sfW587tRk9ZmzIhf_LDW4POG0Pcp_TbIw7_PZxLsnE_iGoGqzvdH2PRcB1BLtkVCesGZU4cBtVfDF2ZvwhbOQNthO6TQEltzlvoiRqsWFy5cZE9blPrsRa9Tscw1N_YS8kEP6sCaXS3XykR9e-k9212dR8-Gi6q0yf7nLfncWKr7gW883iMYt4nma7ajQteLKmfopMbh88Lvk5rcumy4AGoqEBeOGSDxmSU5qkYBFoklX_H9OEnNEfweWUfrCiqGVuD4RDpu6ItdiBWbwCi5OqHhTY46VXve83SPEGtnh-iTkYUN2cpQMzi5C_2QI6df5yXqyYpSsEHMmqs9Lnt8tG2jK2UlDJukX1-rp49pdCpobYN2ABDMWN7Q7PVqVCSTdJD2rRk1npAowucn2rF5DMYCA_dWJ-ndXLezMpfa3dv4MBYnBmv3Lt2yT5KkhCsfkrGZfvuUgVWWz6cY1fTFUEG0XJfzRGDQ18BG9wWIPV-e6vJTLIVmpSjbijm1CrzwvNKGf2-fSmKfvVA1Axmp8abeeY6cOyEspNZDlZOkigNBv6C4pxStsquKEAZohhNTEScFUEs0yApCm3Pod3Lx2N5Sx0bFvghq8riEmzu4xOE_r5WB1AAHIepWSDzO3B1_cv9JJRTgsbRE6eXtMaKe6hYxrLNAsE2rmVGCF42xMYXEbrSO5myl6K9HFMCeVXaA1iDxj0u8YuSy9t2OLgGsQpmKrOp5q_pnLSSYDiGDhZfgsGnMhRl-UkVGjirEagHB3PoTxNKncPXHx5G6N9foG7VMLdAKPjU-CNvQgPrnn0pasCdPOWxXBaaISLf0ddzdoUFnlaYTOVImBuHZq3d2RPT5C_zdY5NcMXxk5yuFsVG_ndINif1uWWzNPk72b5V4O_gzZattGrrPs0egxFLi1FfaFTE1GqMR54S620dgsRY7xDxZVOWF1thZaQmyvpTmWaQuw8p3Fey1_2wBdT16-P0rO0t4V_1Y_f742rq9XeoKLBCgDct1jmgr_2BQHn3sK7X41m6D1iBsU_4mptWCJ6TExRMr_IXixsUs7zchjxRGDiChRh67RSqeVtrdDz0FNyd1Eoh7T_SZJ8EPvcpk0u36bpvLuZCP4WtalH8lYMVyJYsLsX_OB7gu-gnCQfLNztd3YbWvC8sdgwr8d8k1U5wFGkAYdlKDkLtK8GdAdURq0_20LXg-Fuv9b9bnnCCe9efOzsGydCPpvihybpVzCA5uZOnHcOMbHykM3c3180rdcSGAzt8F7JjrOU47PHUZWtznxxNUQm33X-DRUZHrmZuUI7nz0Cqwn5eJdYrgA-6JKrP43pWWaWuR7razkvLJwsl9NGYUtBgd2NtWpYK_jCDMFerPBZ3w2RynYqAsf7heXx_HSigXeNQrw-38_kcEw26vHOKUatp8cpLoC1D__ntr5y8P44_5w7GTeSpDaIop4U5EWzz0pMX-bw7Zb_22RTouN_y1e3pWfA7i3PnCjIq5N4sfuNHENy2bMSh3pYavLAbGdK5UbFuwWwznhvIf1oU_UWBsN7ji8-4U0bS-sf_sCHJ3A0r3cJOaSzJ-jTg5nMZ39cV5s0WwVcWHpQBrt1136Ol-egX4Trne-1hRTO7pmegTyQv0eYo7QMSJg2G1Mdp74QXLLTTMexJgWAoJPwwt_geR-2TTIPhQ0kS3nEdLrb34H--h7Dss1Ti0VYgodGnmZ01OjG3hVxK7zuY0hUVj22xakkNc0h63owIqyOvTyYGepANySgND40wvm_7gxvMXPH_vUWo0BESti2jNOMvFRGUTaU20amIhVB4YbmcxGRz0cgD_ML1u7ncoADL7fm6cD7GDS14STBBY7cGYEDw8JJd_DD3m_VkVywqHi_ZXw7QMaDgpWeuooj7Q1lyMlpQoUqOJ1c8fqITX3U8EndcDbDNp2qDDZxbdbX0a1vPJ22wbA_WIv6qI3xkfsGnPMnAVisnFyGASqP1HBPxVEH3AeYChs_GFuJAWdl98xmjO81-62XKn7ioXTfgbjPI0XG5zFNHy-0ZXXzjSw==",
  "id": "rs_07bb5bc94a4279ae016ab45d014c6087d092896c6dfad1e4b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.415,\"right_y\":0.25,\"right_z\":0.025,\"right_yaw\":0.55,\"right_pitch\":0},\"note\":\"The cap is near the far table edge, beyond this arm’s table-contact reach. I can’t safely bring the pieces together, so I’m returning the held pen to an accessible part of the table.\"}",
  "call_id": "call_jIBYF4RLJbCui8ItwCnamCgc",
  "id": "fc_07bb5bc94a4279ae016ab45d0858d087d08cd9c9bacfc4584e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jIBYF4RLJbCui8ItwCnamCgc",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.123, 0.8238, 0.6487, -0.3828, -0.2108, -0.0326, 0.9974, 0.5247, 1.9453, 0.7803, 0.5419, -0.0315, -0.0521, 0.0631]\nstate[eef_state]: left_x=0.3012 left_y=0.0036 left_z=0.1937 left_yaw=0.0601 left_pitch=0.0237 left_roll=0.0925 left_gripper=0.9974 right_x=0.4012 right_y=0.2428 right_z=0.0125 right_yaw=0.5737 right_pitch=-0.0635 right_roll=-0.0246 right_gripper=0.0631\nstate[joint_eff]: [0.1846, -1.7436, 6.8855, 1.8095, 0.0415, 0.1245, -0.0122, 0.5265, -8.212, 6.9675, 2.1368, 0.188, 0.1783, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685c91b51978c57d579abfaf382ccc64b6c468896b5ed3b89a6c4012f12b0aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455f44dccfc42f4234593a80b437ba4af27c920bb73367363b39baf0aaa4e422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb5ebdc4a211c30253e2f3f223ad3096aa8c8a78ea7f192cd20f9b82974d73a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 2.709 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]: [-0.6266, 1.5173, 0.9585, -0.3592, -0.4736, -0.4294, 0.9974, 0.231, 1.2011, 0.8814, -0.4324, -0.2081, -0.2184, 0.059]\nstate[eef_state]: left_x=0.36 left_y=-0.1567 left_z=0.1162 left_yaw=0.0027 left_pitch=-0.2173 left_roll=0.085 left_gripper=0.9974 right_x=0.335 right_y=0.12 right_z=0.1723 right_yaw=0.5218 right_pitch=-0.1728 right_roll=-0.022 right_gripper=0.059\nstate[joint_eff]: [-0.3214, -7.6239, 9.5248, 1.5116, -0.3736, -0.022, -0.0122, -0.2803, -5.3402, 9.5795, 1.663, -0.2466, -0.1538, 1.033]",
      "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]: [-0.7853, 2.1033, 1.5505, -0.062, -0.77, -0.3565, 0.9974, 0.2089, 1.1023, 0.7567, -0.2955, -0.2657, -0.2142, 0.0631]\nstate[eef_state]: left_x=0.482 left_y=-0.3029 left_z=0.1485 left_yaw=0.0192 left_pitch=0.1406 left_roll=0.1029 left_gripper=0.9974 right_x=0.3267 right_y=0.1203 right_z=0.1773 right_yaw=0.5418 right_pitch=-0.0558 right_roll=-0.0176 right_gripper=0.0631\nstate[joint_eff]: [0.3761, -12.0957, 8.8, 1.5018, -0.1148, 0.2564, -0.0122, -0.6085, -4.9436, 6.735, 2.0781, -0.1832, 0.1099, 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]: [-0.123, 0.8238, 0.6487, -0.3828, -0.2108, -0.0326, 0.9974, 0.5247, 1.9453, 0.7803, 0.5419, -0.0315, -0.0521, 0.0631]\nstate[eef_state]: left_x=0.3012 left_y=0.0036 left_z=0.1937 left_yaw=0.0601 left_pitch=0.0237 left_roll=0.0925 left_gripper=0.9974 right_x=0.4012 right_y=0.2428 right_z=0.0125 right_yaw=0.5737 right_pitch=-0.0635 right_roll=-0.0246 right_gripper=0.0631\nstate[joint_eff]: [0.1846, -1.7436, 6.8855, 1.8095, 0.0415, 0.1245, -0.0122, 0.5265, -8.212, 6.9675, 2.1368, 0.188, 0.1783, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685c91b51978c57d579abfaf382ccc64b6c468896b5ed3b89a6c4012f12b0aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455f44dccfc42f4234593a80b437ba4af27c920bb73367363b39baf0aaa4e422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb5ebdc4a211c30253e2f3f223ad3096aa8c8a78ea7f192cd20f9b82974d73a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0PGiScXVfwCUWURBxBbXi2Ge92YFvHnVt0a0Z7rlhg6CHsVBayp4X5j13kUX2FWfziTh4LiUJWowbbIV5ridiH2_5rcWt7G9ZakNgJUdp0i8y1-js2DuYTjsU71hDU0dYxfa0xtuFXKQL1DQjfLfNlwUpx9ycaznZlKOf3Xvs1gSvoq08BPtHELrl_DwFEZJ9zkGF8WmSkSkO03DDDrcVsALCJm9m4xAVvdT_klztk04XLNZBlI2wp0oyTzFxPDM87Do-yrNYGcg_U8qLEb-3GvU1JIbnOMhavM6HpQm0Kamr0SQL5W6gWW6W5Rj0f_7U0dLemU95--xVvHmbZ3TRXjvqbBgccw1DL0SfFak_eOIJk4KI0kTGIIq8m-mTUBy5c8cdAs-fhDr2Qi3lncI20bIYSyIgmg5_0_Qpz1rlmwbJawOPfx6fhVhXMR9unIZ1BS8zdof_2tLE1YhJXxVawGh4ScBvjp6zJ4IJslE4lJJlFqNsi5jOujNnVz4l5mKMvyTpSk-ymEWk1gLPK38Hg953X9Mw8QACFqRpgd7bQqJcBOnlCg7pfyCKHhBxJqXUwv48rwy2t20nBHA8w7nA4kKjCWDUkYOxufTO-S1r53wAMtZ5oAAPDbr2x-PwhvIirna_n4pwhMFP_oCgJbcjhXWypVSC9t_blyfV4TwJ2mZ_QSlzRC0v706KGPJfeZulyDdj1NLZgCVNx4f81jDK_hq79HU0kTkcPbks9g0soZYVW9CwOamMlTI6K7Wp0xsSKLaHzac92ic7vhexZI6QwuKAhzmgdwqEk5j32Azu-jGO2YrZDQVYKVY0_97u432S1fpGu8oGyRYuGGFHLGq6GzvjbKj87hkwXlwIjiPeWjigS4YOW3Nb9xTxInwZubx5_oqYkCQB3tikNjx32nOCAtQ89mWK4l2-NZX9H9VTVnb59OnplcEOIwtEIN5Pt-J-1PPU4nKE_chm-I25HLBs2PUU9ame979cvACVmKN-g0zl3Dqm9IaXSUDYwcZ7KvShuoHxrDtpoGDFSq2m7PGiQHosnSTwysSLi5S112f1h7OUDjgedTIYJlAJaEfbsnfHfoLQAzaWAuE3j0_ncO0lHReRe7Tyq0nzliikHA9pv8S2w0eexeJ7f5h2NyQlsxYjq1pMwpE706aW2mkH4ZvuwD7g-wrc_9ekkGZs7bpdvm8PUxynwEPaRITzOemU9DbGL3cE48D5opZ7Ab75EsrPeZ136icoJbXNrmy0yra2TKRh2eQ6zCH7FNaqiBhJbNRs5g3LtnKuG4r_iXMd5KqIalvp_qxE7MKJ_6c1-Jdu1t5NhBkeSc4hlgwRVtc1IQBAc",
  "id": "rs_07bb5bc94a4279ae016ab45d0e095487d0935b2c7e9751ec72",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen is now just above the tabletop. I’m opening the right gripper to set it down before withdrawing the arm.\"}",
  "call_id": "call_BbJRvaYGJ3Tx2XQ16NK7Yrfo",
  "id": "fc_07bb5bc94a4279ae016ab45d0eae5887d082c0436c37080ea7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BbJRvaYGJ3Tx2XQ16NK7Yrfo",
  "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]: [-0.1234, 0.8295, 0.6422, -0.4084, -0.2058, -0.028, 0.9974, 0.5251, 1.961, 0.7803, 0.5354, -0.0299, -0.0574, 0.9955]\nstate[eef_state]: left_x=0.2976 left_y=0.0031 left_z=0.1839 left_yaw=0.0531 left_pitch=-0.0142 left_roll=0.1004 left_gripper=0.9974 right_x=0.399 right_y=0.2414 right_z=0.0042 right_yaw=0.5758 right_pitch=-0.0857 right_roll=-0.0288 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.9077, 7.5282, 1.9365, -0.1587, -0.0757, -0.0171, -0.2803, -10.3043, 4.8068, 1.8242, -0.0464, 0.0513, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b607af4ae76efab11bdcde62ac2503cd78df75d142204223c41bcab71b5370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:198b145a29b2bcdb959ea3b84f6d32d0972f37fe559d40516cda499830cef41e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3aaa4d0587fff40818144aa9a15aef013fe211ca6a8a02d25c5379af85bbbe8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.078 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 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]: [-0.947, 1.1397, 0.429, -0.0368, -0.8284, -0.4881, 0.9974, 0.2249, 1.2037, 0.8776, -0.4545, -0.2176, -0.2352, 0.0631]\nstate[eef_state]: left_x=0.2684 left_y=-0.1439 left_z=0.1088 left_yaw=-0.0402 left_pitch=0.0894 left_roll=0.1091 left_gripper=0.9974 right_x=0.3309 right_y=0.1185 right_z=0.1662 right_yaw=0.5344 right_pitch=-0.1983 right_roll=-0.0195 right_gripper=0.0631\nstate[joint_eff]: [-0.2667, -3.5761, 6.5299, 1.6874, -0.4176, -0.022, -0.0122, 0.1299, -3.9316, 7.4188, 1.7802, -0.0611, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.123, 0.8238, 0.6487, -0.3828, -0.2108, -0.0326, 0.9974, 0.5247, 1.9453, 0.7803, 0.5419, -0.0315, -0.0521, 0.0631]\nstate[eef_state]: left_x=0.3012 left_y=0.0036 left_z=0.1937 left_yaw=0.0601 left_pitch=0.0237 left_roll=0.0925 left_gripper=0.9974 right_x=0.4012 right_y=0.2428 right_z=0.0125 right_yaw=0.5737 right_pitch=-0.0635 right_roll=-0.0246 right_gripper=0.0631\nstate[joint_eff]: [0.1846, -1.7436, 6.8855, 1.8095, 0.0415, 0.1245, -0.0122, 0.5265, -8.212, 6.9675, 2.1368, 0.188, 0.1783, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1234, 0.8295, 0.6422, -0.4084, -0.2058, -0.028, 0.9974, 0.5251, 1.961, 0.7803, 0.5354, -0.0299, -0.0574, 0.9955]\nstate[eef_state]: left_x=0.2976 left_y=0.0031 left_z=0.1839 left_yaw=0.0531 left_pitch=-0.0142 left_roll=0.1004 left_gripper=0.9974 right_x=0.399 right_y=0.2414 right_z=0.0042 right_yaw=0.5758 right_pitch=-0.0857 right_roll=-0.0288 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.9077, 7.5282, 1.9365, -0.1587, -0.0757, -0.0171, -0.2803, -10.3043, 4.8068, 1.8242, -0.0464, 0.0513, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b607af4ae76efab11bdcde62ac2503cd78df75d142204223c41bcab71b5370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:198b145a29b2bcdb959ea3b84f6d32d0972f37fe559d40516cda499830cef41e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3aaa4d0587fff40818144aa9a15aef013fe211ca6a8a02d25c5379af85bbbe8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"The pen has been released onto the table. I’m retracting the right arm to leave both objects unobstructed and the robot safely parked.\"}",
  "call_id": "call_O8khR6H21UJqUnhi0tuI3rRD",
  "id": "fc_07bb5bc94a4279ae016ab45d11ccb087d0a770f84ce215f82d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O8khR6H21UJqUnhi0tuI3rRD",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.141, 0.831, 0.6422, -0.4389, -0.2104, -0.0284, 0.9974, 0.0071, 0.8757, 0.6827, -0.4629, 0.0174, -0.0242, 0.9963]\nstate[eef_state]: left_x=0.2934 left_y=-0.0008 left_z=0.1775 left_yaw=0.0398 left_pitch=-0.0452 left_roll=0.1084 left_gripper=0.9974 right_x=0.2985 right_y=0.0026 right_z=0.1763 right_yaw=-0.0002 right_pitch=-0.0967 right_roll=-0.0308 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -2.2222, 8.841, 1.6777, -0.2515, -0.1441, -0.0122, -0.3624, -2.4137, 9.6889, 1.7656, -0.1734, -0.0611, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c32ad34b1bbee9966b93b40ee583d2384b778d8ee406d925fd8e2dec8731b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715556ffe8e03e1b932b07ea4792244abc30b965737ebf57ccc4d4db0d046ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cbf1e4582ecc659b936f42b760e01846fc6e1b72a10fdd61ecb0193eb7f5ad",
      "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]