adhoc

completed
2026-09-24T00:28:54.328590+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
216.5 s
total steps
270
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of the longer diagonal pen near the table centre. I’ll approach the cap with the left gripper while keeping the right arm parked.
move_to
left_x0.4300left_y-0.2300left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3798, -0.0227, -0.0113, 0.9993, -0.0181, 0.791, 0.609, -0.3786, -0.0235, -0.0147, 0.9992] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0024 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5128, -1.4564, 10.4957, 1.7314, -0.0171, -0.0513, -0.0904, -0.4718, -1.265, 9.8393, 1.8535, -0.0415, -0.0073, -0.0952] 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":0.43,"left_y":-0.23,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The short cap is left of the longer diagonal pen near the table centre. I’ll approach the cap with the left gripper while keeping the right arm parked."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’ll centre the jaws over it, turn across its length, and lower close to the table.
move_to
left_x0.4210left_y-0.2120left_z0.0350left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6891, 1.7515, 1.1446, -0.1448, -0.5541, -0.4263, 0.9993, -0.0269, 0.7994, 0.6426, -0.4519, -0.0364, -0.0307, 0.9991] state[eef_state]: left_x=0.4195 left_y=-0.2205 left_z=0.131 left_yaw=-0.0078 left_pitch=-0.05 left_roll=0.0221 left_gripper=0.9993 right_x=0.2899 right_y=0.0022 right_z=0.1814 right_yaw=0.0108 right_pitch=-0.0477 right_roll=-0.0049 right_gripper=0.9991 state[joint_eff]: [-0.5949, -8.9504, 9.4701, 1.5897, -0.486, 0.105, -0.0855, -0.9778, -1.2103, 10.2632, 1.8877, -0.0464, 0.0024, -0.022] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.421,"left_y":-0.212,"left_z":0.035,"left_yaw":-0.55},"note":"The cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’ll centre the jaws over it, turn across its length, and lower close to the table."})
tool
executing move_to over 7 steps (0.7s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe cap’s thicker body is just left of the jaw column, with its clip pointing forward. I’ll make a small alignment correction and lower the open fingers to grasp the body.
move_to
left_x0.4120left_y-0.1860left_z-0.0060left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4667, 1.8603, 0.8215, 0.3378, -0.0612, -0.0219, 0.9993, -0.0303, 0.8005, 0.6411, -0.4629, -0.0376, -0.0334, 0.9991] state[eef_state]: left_x=0.4171 left_y=-0.194 left_z=0.0256 left_yaw=-0.4076 left_pitch=-0.1297 left_roll=0.0195 left_gripper=0.9993 right_x=0.2883 right_y=0.0015 right_z=0.1782 right_yaw=0.0098 right_pitch=-0.0614 right_roll=-0.0059 right_gripper=0.9991 state[joint_eff]: [0.3077, -8.5675, 5.3538, 2.0049, 0.3492, 0.0952, -0.0171, 0.1573, -1.306, 7.2137, 1.7705, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.412,"left_y":-0.186,"left_z":-0.006,"left_yaw":-0.7},"note":"The cap’s thicker body is just left of the jaw column, with its clip pointing forward. I’ll make a small alignment correction and lower the open fingers to grasp the body."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe cap’s body is now between the open fingers at table height. I’ll close the left gripper and check the resulting jaw spacing.
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]: [-0.3538, 1.935, 0.791, 0.4313, 0.1646, 0.1673, 0.9991, -0.0307, 0.8017, 0.6411, -0.4644, -0.038, -0.0338, 0.9991] state[eef_state]: left_x=0.4181 left_y=-0.1814 left_z=0.0009 left_yaw=-0.5892 left_pitch=-0.1314 left_roll=0.0171 left_gripper=0.9991 right_x=0.2881 right_y=0.0014 right_z=0.1776 right_yaw=0.0099 right_pitch=-0.0641 right_roll=-0.0058 right_gripper=0.9991 state[joint_eff]: [0.0479, -7.8974, 5.053, 0.6422, 0.0171, -0.1294, -0.0269, -0.1983, -1.3197, 6.9812, 1.7265, -0.0513, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap’s body is now between the open fingers at table height. I’ll close the left gripper and check the resulting jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe left jaws closed almost completely, so the grasp is uncertain. I’ll lift a few centimetres to see whether the cap rises with them.
move_to
left_z0.0750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3275, 1.9438, 0.7898, 0.4721, 0.2539, 0.2462, 0.0372, -0.0311, 0.8017, 0.6411, -0.4644, -0.0376, -0.0338, 0.9991] state[eef_state]: left_x=0.4201 left_y=-0.1858 left_z=0.0063 left_yaw=-0.6793 left_pitch=-0.0868 left_roll=0.0327 left_gripper=0.0372 right_x=0.2881 right_y=0.0013 right_z=0.1776 right_yaw=0.0092 right_pitch=-0.0641 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.3214, -7.7744, 5.1897, 0.9744, 0.1441, 0.2564, 0.5836, -0.3077, -1.2513, 7.1863, 1.663, -0.0415, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.075},"note":"The left jaws closed almost completely, so the grasp is uncertain. I’ll lift a few centimetres to see whether the cap rises with them."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe cap is no longer visible in the wrist view, but the overhead view is still obscured by the arm. I’ll move the left hand aside and higher to check whether the cap remains on the table.
move_to
left_x0.3800left_y-0.1000left_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3275, 1.7771, 0.841, 0.2325, 0.2588, 0.2451, 0.0359, -0.0311, 0.8043, 0.6399, -0.4648, -0.0376, -0.0341, 0.9991] state[eef_state]: left_x=0.414 left_y=-0.1846 left_z=0.053 left_yaw=-0.6835 left_pitch=-0.1061 left_roll=0.0212 left_gripper=0.0359 right_x=0.2881 right_y=0.0013 right_z=0.1763 right_yaw=0.0094 right_pitch=-0.0683 right_roll=-0.0062 right_gripper=0.9991 state[joint_eff]: [-0.2667, -9.894, 8.8, 1.7411, 0.0464, -0.022, -0.149, -0.1846, -1.1009, 7.241, 1.6825, -0.0611, -0.0757, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.1,"left_z":0.17},"note":"The cap is no longer visible in the wrist view, but the overhead view is still obscured by the arm. I’ll move the left hand aside and higher to check whether the cap remains on the table."})
tool
executing move_to over 8 steps (0.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe cap is still on the table, so the first close was empty and appears to have turned it. I’ll retry farther forward and toward the centre, with the jaws aligned to its new direction.
move_to
left_x0.4430left_y-0.2300left_z0.0700left_yaw0.5500left_gripper1.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0841, 1.4235, 0.9318, -0.2718, 0.403, 0.3847, 0.0359, -0.0311, 0.8055, 0.6373, -0.4648, -0.0376, -0.0338, 0.9991] state[eef_state]: left_x=0.3867 left_y=-0.0985 left_z=0.1497 left_yaw=-0.636 left_pitch=-0.1197 left_roll=0.0165 left_gripper=0.0359 right_x=0.2878 right_y=0.0013 right_z=0.1748 right_yaw=0.0092 right_pitch=-0.0721 right_roll=-0.0057 right_gripper=0.9991 state[joint_eff]: [0.253, -7.5692, 9.894, 1.4628, 0.4567, 0.1294, -0.022, 0.0479, -1.1145, 7.2, 1.7216, -0.0317, 0.0073, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.443,"left_y":-0.23,"left_z":0.07,"left_yaw":0.55,"left_gripper":1,"right_z":0.2},"note":"The cap is still on the table, so the first close was empty and appears to have turned it. I’ll retry farther forward and toward the centre, with the jaws aligned to its new direction."})
tool
executing move_to over 12 steps (1.2s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe cap has disappeared beneath the wrist camera, and the overhead hand position is slightly right of its last location. I’ll shift the open gripper left and lower carefully before closing.
move_to
left_x0.4400left_y-0.1950left_z0.0200left_yaw0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7448, 2.2078, 1.6447, -0.5816, -0.7631, -0.9855, 0.9964, -0.0315, 0.823, 0.6994, -0.5625, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.4513 left_y=-0.2451 left_z=0.0643 left_yaw=0.4109 left_pitch=-0.1482 left_roll=-0.0004 left_gripper=0.9964 right_x=0.2821 right_y=0.0013 right_z=0.1788 right_yaw=0.0111 right_pitch=-0.1251 right_roll=-0.0066 right_gripper=0.9991 state[joint_eff]: [-0.3624, -13.5863, 6.4479, 0.2222, -0.652, 0.0366, -0.0562, -0.253, -1.347, 10.5094, 1.9609, -0.0269, -0.0073, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.195,"left_z":0.02,"left_yaw":0.55},"note":"The cap has disappeared beneath the wrist camera, and the overhead hand position is slightly right of its last location. I’ll shift the open gripper left and lower carefully before closing."})
tool
executing move_to over 5 steps (0.5s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe cap’s clip and body are visible left of the jaw centre in the close wrist view. I’ll shift along the gripper’s sideways direction to centre the body between the fingers.
move_to
left_x0.4230left_y-0.1710left_z-0.0060
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6922, 2.2261, 1.475, -0.5205, -0.7788, -1.0836, 0.9973, -0.0315, 0.8246, 0.701, -0.5701, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.4345 left_y=-0.1943 left_z=0.011 left_yaw=0.5433 left_pitch=-0.1794 left_roll=0.0511 left_gripper=0.9973 right_x=0.2812 right_y=0.0014 right_z=0.1777 right_yaw=0.0111 right_pitch=-0.1327 right_roll=-0.0062 right_gripper=0.9991 state[joint_eff]: [-0.1709, -13.4769, 5.3675, 0.8913, -0.6325, -0.1392, 0.0806, -0.3487, -0.8274, 6.8171, 1.6874, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.423,"left_y":-0.171,"left_z":-0.006},"note":"The cap’s clip and body are visible left of the jaw centre in the close wrist view. I’ll shift along the gripper’s sideways direction to centre the body between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe hand did not follow the sideways correction at table height, indicating contact or an awkward pose. I’ll lift clear while making the correction rather than drag the fingers across the table.
move_to
left_x0.4230left_y-0.1710left_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0981, 0.9974, -0.0311, 0.8288, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5516 left_pitch=-0.1714 left_roll=0.0167 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1755 right_yaw=0.0116 right_pitch=-0.1392 right_roll=-0.006 right_gripper=0.9991 state[joint_eff]: [-0.3077, -13.4769, 5.4359, 0.862, -0.5983, 0.022, -0.0024, -0.0479, -1.4701, 7.0906, 1.6044, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.423,"left_y":-0.171,"left_z":0.06},"note":"The hand did not follow the sideways correction at table height, indicating contact or an awkward pose. I’ll lift clear while making the correction rather than drag the fingers across the table."})
tool
executing move_to over 4 steps (0.4s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe left arm is still not tracking, even on the lift, so this rotated pose is likely at a kinematic limit. I’ll shorten the reach and return the wrist toward its starting orientation to free it.
move_to
left_x0.3800left_y-0.1700left_z0.1500left_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]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0985, 0.9974, -0.0311, 0.8295, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5518 left_pitch=-0.1714 left_roll=0.0164 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1753 right_yaw=0.0116 right_pitch=-0.1399 right_roll=-0.0059 right_gripper=0.9991 state[joint_eff]: [-0.5538, -13.2991, 5.4222, 0.8767, -0.6227, -0.0122, -0.0073, -0.212, -1.3607, 6.9128, 1.6288, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.15,"left_yaw":0},"note":"The left arm is still not tracking, even on the lift, so this rotated pose is likely at a kinematic limit. I’ll shorten the reach and return the wrist toward its starting orientation to free it."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe cap is clearly visible again, almost centred and a few centimetres ahead of the fingertips. I’ll approach its thicker end with the wrist unrotated, avoiding the pose that stalled.
move_to
left_x0.4240left_y-0.1750left_z0.0080left_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]: [-0.6235, 1.5764, 1.0809, -0.3786, -0.5064, -0.5365, 0.9974, -0.0311, 0.8356, 0.6971, -0.5709, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.3847 left_y=-0.1667 left_z=0.1402 left_yaw=0.0905 left_pitch=-0.1652 left_roll=-0.0119 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1729 right_yaw=0.0116 right_pitch=-0.1483 right_roll=-0.0056 right_gripper=0.9991 state[joint_eff]: [0.253, -9.1145, 7.0085, 1.5751, -0.1783, 0.2027, -0.0073, -0.0752, -1.2786, 6.9538, 1.7167, -0.0269, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.424,"left_y":-0.175,"left_z":0.008,"left_yaw":0},"note":"The cap is clearly visible again, almost centred and a few centimetres ahead of the fingertips. I’ll approach its thicker end with the wrist unrotated, avoiding the pose that stalled."})
tool
executing move_to over 9 steps (0.9s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe cap’s body is now at the bottom-right of the wrist image, just off the jaw centre. I’ll shift the open fingers about two centimetres right to grasp the body rather than the clip.
move_to
left_x0.4240left_y-0.1950left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5549, 1.9293, 0.9127, 0.131, -0.4187, -0.4389, 0.9974, -0.0315, 0.8391, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.4129 left_y=-0.1672 left_z=0.0034 left_yaw=0.0406 left_pitch=-0.216 left_roll=0.0126 left_gripper=0.9974 right_x=0.2812 right_y=0.0014 right_z=0.1718 right_yaw=0.0113 right_pitch=-0.1533 right_roll=-0.0053 right_gripper=0.9991 state[joint_eff]: [0.4581, -9.4291, 5.4906, 0.9646, -0.0562, 0.6667, -0.0122, -0.3077, -1.6342, 6.8581, 1.5946, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.424,"left_y":-0.195,"left_z":0.005},"note":"The cap’s body is now at the bottom-right of the wrist image, just off the jaw centre. I’ll shift the open fingers about two centimetres right to grasp the body rather than the clip."})
tool
executing move_to over 3 steps (0.3s)
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 cap’s thicker end is centred beneath the fingertips. I’ll close the jaws for the second grasp attempt.
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]: [-0.593, 1.9831, 0.9905, 0.1108, -0.4381, -0.4698, 0.9974, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.4222 left_y=-0.1898 left_z=0.0041 left_yaw=0.034 left_pitch=-0.204 left_roll=0.0005 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991 state[joint_eff]: [-0.3487, -9.0735, 7.2684, 1.1941, -0.3639, -0.0513, -0.0122, -0.212, -1.4427, 6.9538, 1.5702, -0.0562, -0.0562, -0.0122] 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":{"left_gripper":0},"note":"The cap’s thicker end is centred beneath the fingertips. I’ll close the jaws for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe second cap grasp was also empty. I’ll clear the left arm for a fresh overhead view and approach the longer pen with the right arm instead.
move_to
left_x0.2950left_y0.0000left_z0.2000right_x0.3800right_y0.2800right_z0.1500right_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]: [-0.5957, 1.9846, 0.9977, 0.1345, -0.4515, -0.4805, 0.0104, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991] state[eef_state]: left_x=0.4277 left_y=-0.1925 left_z=0.0101 left_yaw=0.044 left_pitch=-0.1743 left_roll=-0.0167 left_gripper=0.0104 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991 state[joint_eff]: [-0.1573, -9.2239, 5.2581, 1.0769, -0.1099, 0.105, 0.5104, -0.0615, -1.2923, 6.8718, 1.5849, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"right_x":0.38,"right_y":0.28,"right_z":0.15,"right_gripper":1},"note":"The second cap grasp was also empty. I’ll clear the left arm for a fresh overhead view and approach the longer pen with the right arm instead."})
tool
executing move_to over 24 steps (2.4s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe pen is visible diagonally in the right wrist camera, with its blunt end down and right. I’ll align the jaws across that end, leaving the writing tip exposed for the cap.
move_to
right_x0.3500right_y0.2450right_z0.0250right_yaw0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0696, 0.9611, 0.8227, -0.625, -0.1101, -0.1284, 0.0129, 0.8276, 1.7859, 1.322, -0.4797, 0.5465, 0.5671, 0.9991] state[eef_state]: left_x=0.2982 left_y=0.0023 left_z=0.1843 left_yaw=0.0903 left_pitch=-0.1878 left_roll=-0.0211 left_gripper=0.0129 right_x=0.3708 right_y=0.2731 right_z=0.1352 right_yaw=0.0444 right_pitch=-0.2037 right_roll=-0.0425 right_gripper=0.9991 state[joint_eff]: [0.2667, -2.7282, 10.2359, 1.4676, 0.0562, 0.105, 0.2466, 0.7316, -9.306, 8.9094, 1.3504, 0.5934, 0.2857, -0.1001] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.245,"right_z":0.025,"right_yaw":0.45},"note":"The pen is visible diagonally in the right wrist camera, with its blunt end down and right. I’ll align the jaws across that end, leaving the writing tip exposed for the cap."})
tool
executing move_to over 8 steps (0.8s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe pen is beside the right-hand fingers, with its tip pointing away from the hand. I’ll make a small sideways correction and turn the wrist a little farther to grip near the blunt end.
move_to
right_x0.3500right_y0.2130right_z0.0060right_yaw0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 0.9638, 0.8261, -0.643, -0.1001, -0.1295, 0.0142, 0.6861, 1.7542, 0.7734, 0.1116, 0.2325, 0.1841, 0.9991] state[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1818 left_yaw=0.0849 left_pitch=-0.2059 left_roll=-0.0262 left_gripper=0.0142 right_x=0.3412 right_y=0.2314 right_z=0.0167 right_yaw=0.3699 right_pitch=-0.2782 right_roll=-0.0599 right_gripper=0.9991 state[joint_eff]: [-0.3214, -2.4684, 6.5299, 1.6825, -0.1636, -0.0366, 0.1294, -0.335, -6.7487, 6.0239, 1.7998, 0.0415, -0.0952, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.213,"right_z":0.006,"right_yaw":0.75},"note":"The pen is beside the right-hand fingers, with its tip pointing away from the hand. I’ll make a small sideways correction and turn the wrist a little farther to grip near the blunt end."})
tool
executing move_to over 3 steps (0.3s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe pen’s lower barrel now crosses the space between the fingers. I’ll close the right gripper around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 0.9653, 0.8253, -0.6445, -0.0994, -0.1295, 0.0155, 0.5011, 1.763, 0.7303, 0.1875, -0.0277, -0.1074, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1807 left_yaw=0.0844 left_pitch=-0.2097 left_roll=-0.0262 left_gripper=0.0155 right_x=0.3566 right_y=0.205 right_z=0.0071 right_yaw=0.575 right_pitch=-0.2849 right_roll=-0.0555 right_gripper=0.9991 state[joint_eff]: [-0.212, -1.7983, 6.8718, 1.5116, -0.0904, -0.0464, 0.1197, 0.5265, -6.8718, 5.2855, 1.5946, -0.3053, -0.105, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen’s lower barrel now crosses the space between the fingers. I’ll close the right gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe jaws closed empty, and the pen remains visible just ahead of them. I’ll open and advance about two centimetres along the pen before trying again.
move_to
right_x0.3770right_y0.2330right_z-0.0080right_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]: [-0.0677, 0.9688, 0.8246, -0.6476, -0.0975, -0.1303, 0.0157, 0.4671, 1.7645, 0.7315, 0.1951, -0.1616, -0.2707, 0.0135] state[eef_state]: left_x=0.2951 left_y=0.0008 left_z=0.1789 left_yaw=0.0834 left_pitch=-0.2171 left_roll=-0.027 left_gripper=0.0157 right_x=0.3529 right_y=0.2138 right_z=0.0098 right_yaw=0.7478 right_pitch=-0.2642 right_roll=-0.0686 right_gripper=0.0135 state[joint_eff]: [-0.1026, -2.0991, 6.9949, 1.5214, -0.0659, -0.0317, 0.0073, -0.0068, -7.4051, 5.5726, 1.409, -0.1587, 0.0024, 1.2234] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.377,"right_y":0.233,"right_z":-0.008,"right_gripper":1},"note":"The jaws closed empty, and the pen remains visible just ahead of them. I’ll open and advance about two centimetres along the pen before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteOpening and advancing nudged the pen sideways, so it is no longer centred. I’ll lift slightly and realign above the barrel without sweeping it along the table.
move_to
right_x0.3800right_y0.2750right_z0.0450right_yaw0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 0.9699, 0.8246, -0.6525, -0.0975, -0.1322, 0.0157, 0.4805, 1.8877, 0.8295, 0.2569, -0.1623, -0.2588, 0.9951] state[eef_state]: left_x=0.2943 left_y=0.0009 left_z=0.1778 left_yaw=0.0846 left_pitch=-0.2231 left_roll=-0.0274 left_gripper=0.0157 right_x=0.3796 right_y=0.2341 right_z=0.0034 right_yaw=0.7528 right_pitch=-0.2284 right_roll=-0.0699 right_gripper=0.9951 state[joint_eff]: [-0.1573, -2.3453, 6.8034, 1.5556, -0.1148, -0.0513, -0.0122, 0.6496, -6.6256, 5.9556, 1.2576, 0.0855, 0.0024, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.275,"right_z":0.045,"right_yaw":0.15},"note":"Opening and advancing nudged the pen sideways, so it is no longer centred. I’ll lift slightly and realign above the barrel without sweeping it along the table."})
tool
executing move_to over 4 steps (0.4s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe pen is now alongside the left finger, with the barrel extending toward the bottom of the wrist view. I’ll centre the fingers over that barrel and lower for the retry.
move_to
right_x0.3660right_y0.3280right_z-0.0080right_yaw0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 0.9703, 0.8246, -0.6563, -0.0975, -0.1322, 0.0157, 0.7746, 1.9053, 1.0565, 0.0193, 0.2588, 0.2031, 0.996] state[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.177 left_yaw=0.0848 left_pitch=-0.2273 left_roll=-0.0268 left_gripper=0.0157 right_x=0.3695 right_y=0.3034 right_z=0.0396 right_yaw=0.429 right_pitch=-0.2338 right_roll=-0.0524 right_gripper=0.996 state[joint_eff]: [-0.1299, -2.3179, 6.8581, 1.5116, -0.1197, -0.0024, -0.0073, -1.9624, -9.0872, 6.3111, 1.2576, 0.5983, 0.1929, 0.0806] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.366,"right_y":0.328,"right_z":-0.008,"right_yaw":0.15},"note":"The pen is now alongside the left finger, with the barrel extending toward the bottom of the wrist view. I’ll centre the fingers over that barrel and lower for the retry."})
tool
executing move_to over 4 steps (0.4s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe barrel is still overlapping the left finger rather than lying between the jaws. I’ll lift away and shift left once more, keeping the wrist angle fixed to avoid pushing it during alignment.
move_to
right_x0.3600right_y0.3600right_z0.0800left_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 0.9768, 0.8207, -0.667, -0.0971, -0.1322, 0.0157, 0.8852, 2.0914, 1.1854, -0.0078, 0.4698, 0.4736, 0.9961] state[eef_state]: left_x=0.2916 left_y=0.001 left_z=0.1718 left_yaw=0.0852 left_pitch=-0.2481 left_roll=-0.0238 left_gripper=0.0157 right_x=0.3685 right_y=0.3299 right_z=0.0051 right_yaw=0.213 right_pitch=-0.2237 right_roll=-0.0437 right_gripper=0.9961 state[joint_eff]: [-0.1436, -2.8103, 7.241, 1.6532, -0.0464, -0.0611, -0.0073, 0.3624, -8.8957, 5.6274, 0.9402, 0.2222, 0.0806, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.36,"right_z":0.08,"left_z":0.2},"note":"The barrel is still overlapping the left finger rather than lying between the jaws. I’ll lift away and shift left once more, keeping the wrist angle fixed to avoid pushing it during alignment."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe right arm also stopped tracking near its reach limit. I’ll shorten the reach and lift with a modest forward tilt, clearing the objects so I can reassess their positions.
move_to
right_x0.3300right_y0.3000right_z0.1600right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 0.9905, 0.8951, -0.7506, -0.0975, -0.1326, 0.0157, 0.9047, 2.1124, 1.2037, -0.0002, 0.4973, 0.5365, 0.9961] state[eef_state]: left_x=0.2887 left_y=0.0012 left_z=0.1853 left_yaw=0.0867 left_pitch=-0.2706 left_roll=-0.0201 left_gripper=0.0157 right_x=0.3678 right_y=0.3374 right_z=0.0043 right_yaw=0.1785 right_pitch=-0.2056 right_roll=-0.0114 right_gripper=0.9961 state[joint_eff]: [-0.0752, -2.1265, 9.7983, 1.3944, -0.1148, -0.0366, -0.0122, -0.5128, -9.1829, 6.0786, 0.9988, 0.3492, 0.0464, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.3,"right_z":0.16,"right_pitch":0.3},"note":"The right arm also stopped tracking near its reach limit. I’ll shorten the reach and lift with a modest forward tilt, clearing the objects so I can reassess their positions."})
tool
executing move_to over 17 steps (1.7s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe cleared view shows that the pen has shifted left, beside the cap. I’ll approach the pen’s rear barrel from above at this new location, using the forward tilt that restored motion.
move_to
right_x0.3000right_y0.3950right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0677, 0.9951, 0.8974, -0.7704, -0.0971, -0.1326, 0.0158, 1.0069, 1.692, 0.8154, 0.4068, 0.767, 0.2974, 0.9962] state[eef_state]: left_x=0.2857 left_y=0.0014 left_z=0.1818 left_yaw=0.0874 left_pitch=-0.2925 left_roll=-0.0169 left_gripper=0.0158 right_x=0.3309 right_y=0.3006 right_z=0.135 right_yaw=0.1954 right_pitch=0.2283 right_roll=-0.038 right_gripper=0.9962 state[joint_eff]: [-0.212, -2.6872, 6.5162, 1.6386, -0.1099, -0.0659, -0.0073, 0.8821, -9.812, 5.9556, 2.0244, 0.4176, -0.1441, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.395,"right_z":0.025,"right_pitch":0.3},"note":"The cleared view shows that the pen has shifted left, beside the cap. I’ll approach the pen’s rear barrel from above at this new location, using the forward tilt that restored motion."})
tool
executing move_to over 8 steps (0.8s)
step 203
assistant
agent noteThe pen is now beyond the right hand’s useful sideways reach. I’ll park that arm and make a final approach from the left, with a forward wrist tilt for better clearance.
move_to
right_x0.2950right_y0.0000right_z0.2000left_x0.4000left_y-0.2300left_z0.0900left_pitch0.3000left_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]: [-0.0677, 0.9997, 0.8974, -0.7761, -0.0971, -0.1326, 0.0158, 1.1946, 2.2322, 0.9989, 0.7128, 0.9321, 0.3481, 0.9961] state[eef_state]: left_x=0.2849 left_y=0.0014 left_z=0.1797 left_yaw=0.0878 left_pitch=-0.3027 left_roll=-0.0152 left_gripper=0.0158 right_x=0.3021 right_y=0.3884 right_z=0.022 right_yaw=0.2319 right_pitch=0.2584 right_roll=-0.0797 right_gripper=0.9961 state[joint_eff]: [-0.0205, -2.7145, 6.8718, 1.5116, -0.0757, -0.0415, -0.0171, 0.9641, -10.865, 5.1487, 1.7216, 0.6178, 0.1441, -0.0122] 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":0.2,"left_x":0.4,"left_y":-0.23,"left_z":0.09,"left_pitch":0.3,"left_gripper":1},"note":"The pen is now beyond the right hand’s useful sideways reach. I’ll park that arm and make a final approach from the left, with a forward wrist tilt for better clearance."})
tool
executing move_to over 33 steps (3.3s)
step 236
assistant
agent noteThe pen and cap are close together in the left wrist view, just left of the jaw centre. I’ll centre the lower barrel and descend with the jaws open.
move_to
left_x0.3800left_y-0.2000left_z-0.0080left_yaw-0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8188, 1.9045, 0.7658, 0.6182, -0.8478, -0.3798, 0.998, -0.2398, 0.6788, 0.3874, -0.0566, -0.3447, -0.1974, 0.9962] state[eef_state]: left_x=0.3903 left_y=-0.2181 left_z=0.0713 left_yaw=0.0792 left_pitch=0.2344 left_roll=0.0238 left_gripper=0.998 right_x=0.2956 right_y=-0.0071 right_z=0.1844 right_yaw=0.1564 right_pitch=0.2328 right_roll=-0.0712 right_gripper=0.9962 state[joint_eff]: [-0.3897, -8.5128, 7.5966, 1.7265, -0.3053, 0.2613, -0.0611, -0.1983, -0.253, 9.894, 1.7021, -0.2906, -0.0806, -0.0073] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.2,"left_z":-0.008,"left_yaw":-0.25},"note":"The pen and cap are close together in the left wrist view, just left of the jaw centre. I’ll centre the lower barrel and descend with the jaws open."})
tool
executing move_to over 6 steps (0.6s)
step 242
assistant
agent noteThe pen barrel is now centred between the fingers at table level, with the cap lying alongside it. I’ll close the left gripper and check whether it has secured the barrel.
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]: [-0.6716, 2.1551, 0.5285, 1.2373, -0.5056, -0.1905, 0.998, -0.2417, 0.6853, 0.3885, -0.0746, -0.3588, -0.2142, 0.9961] state[eef_state]: left_x=0.3842 left_y=-0.1915 left_z=-0.0008 left_yaw=-0.1403 left_pitch=0.2315 left_roll=0.0038 left_gripper=0.998 right_x=0.2944 right_y=-0.005 right_z=0.1796 right_yaw=0.1737 right_pitch=0.2129 right_roll=-0.0733 right_gripper=0.9961 state[joint_eff]: [0.5402, -6.8034, 1.6342, 0.7497, 0.0513, 0.3199, -0.0122, -0.212, -1.1556, 7.0769, 1.9609, 0.0464, 0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The pen barrel is now centred between the fingers at table level, with the cap lying alongside it. I’ll close the left gripper and check whether it has secured the barrel."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent noteThe left jaws again read empty, and the cap has moved away from the pen. I have not established a reliable grasp, so I’ll withdraw both arms rather than continue nudging these small parts.
move_to
left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_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]: [-0.6682, 2.1605, 0.5262, 1.2896, -0.5182, -0.1844, 0.0089, -0.2417, 0.6857, 0.3843, -0.0753, -0.3569, -0.2142, 0.9962] state[eef_state]: left_x=0.3875 left_y=-0.1898 left_z=0.0078 left_yaw=-0.1237 left_pitch=0.2721 left_roll=-0.0098 left_gripper=0.0089 right_x=0.294 right_y=-0.0052 right_z=0.1773 right_yaw=0.1716 right_pitch=0.2077 right_roll=-0.0718 right_gripper=0.9962 state[joint_eff]: [-0.3624, -8.8547, 2.8239, 1.3309, 0.0317, -0.0513, 0.6764, -0.212, -0.4171, 7.4735, 1.7851, -0.1294, -0.0073, -0.0073] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0},"note":"The left jaws again read empty, and the cap has moved away from the pen. I have not established a reliable grasp, so I’ll withdraw both arms rather than continue nudging these small parts."})
tool
executing move_to over 17 steps (1.7s)
step 269
assistant
agent noteI could not establish a reliable grasp of either small part. Both remain separate on the table, and both arms are withdrawn; the pen has not been capped.
give_up
hindsightDuring these attempts, low grasps commanded near z=-0.008 often rose to an actual z of about +0.008 to +0.010 on closing and remained empty. Confirm fingertip height through the close, not only before it. Rotated poses near 0.5 m radial reach sometimes stopped tracking even lift commands; shortening the reach and reducing yaw or adding modest forward pitch restored motion. Low open-finger repositioning repeatedly displaced the thin parts, so lift clear before lateral corrections.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0509, 0.8192, 0.6319, -0.3542, -0.0856, -0.0704, 0.0107, 0.0067, 0.7959, 0.6346, -0.4255, 0.0051, -0.0891, 0.9961] state[eef_state]: left_x=0.3032 left_y=0.0033 left_z=0.1915 left_yaw=0.0544 left_pitch=0.0307 left_roll=-0.0189 left_gripper=0.0107 right_x=0.2923 right_y=0.0046 right_z=0.184 right_yaw=0.0401 right_pitch=-0.0276 right_roll=-0.0773 right_gripper=0.9961 state[joint_eff]: [0.2256, -2.3043, 9.8393, 1.7411, 0.1685, 0.1538, 0.1685, 0.1846, -1.0735, 10.1949, 1.7656, 0.1587, 0.1392, -0.0171] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish a reliable grasp of either small part. Both remain separate on the table, and both arms are withdrawn; the pen has not been capped.","hindsight":"During these attempts, low grasps commanded near z=-0.008 often rose to an actual z of about +0.008 to +0.010 on closing and remained empty. Confirm fingertip height through the close, not only before it. Rotated poses near 0.5 m radial reach sometimes stopped tracking even lift commands; shortening the reach and reducing yaw or adding modest forward pitch restored motion. Low open-finger repositioning repeatedly displaced the thin parts, so lift clear before lateral corrections."})
tool
give_up: I could not establish a reliable grasp of either small part. Both remain separate on the table, and both arms are withdrawn; the pen has not been capped.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.272 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3798, -0.0227, -0.0113, 0.9993, -0.0181, 0.791, 0.609, -0.3786, -0.0235, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0024 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -1.4564, 10.4957, 1.7314, -0.0171, -0.0513, -0.0904, -0.4718, -1.265, 9.8393, 1.8535, -0.0415, -0.0073, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f82db12ee2e05c92cba7bdf573954cbc4fe31f00d6cf89a5d544b389e2732df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09db51d8fd6f2b6c060101dce18d3c808f86420fdcb463966df5fc8c482a9cba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a21494b75d4fafb25408f38c4d33be298b8a492b92dfed8d32024e97e213337",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 9.457 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7ZQQP4MLmg8w9Zm2xCxgE6ESS9si0UouGO8_NR_ck7q6BKSOgWua9l4pWpiK9AiqqLw3b7wSZ7WvuJlD6NPRrid7jKFyxurbIa5JZYhl5iCZdcxoAI1rFmwdDUJHjAybLS9n3qDq2hpZfdOOgn227ycV2eGU8jHBXTQriFV44qZJ6xM7dFrIdHcIfDN2n0W8LddX-CknAojMeJOVFDHz4R3n8X5FZWvswr1VOzP2F2ZsrszI6kahmfMgpJVRts6VWgYs3jE00U1Wv9G9dr4D0VZuaT1XjSFYEdKlk78onRwdrpewwj5k-3-tns6ZUhqaoyj2MKl0jv1G7XysMdaHyctw8L6HWQUK4mHj-dcEVYmGG03LVVzDEOgmIrMoT1BZIRpIp3CCu2-7WPd0GX9WtIleSxIgI79msANd1toPOq98aiS4ZLF_YIpEqWVZeFENZBpo19XSzlj1qPdnDYe_8cT9kfFkQi6cUG__lkonhRiqLGbZbE7cRprdUPna4nFCCpgG-2xK_cx9f6YriWwGc5mupN7cJ1_9IYMGplqQI3AdyyKimaDNvJOaI69Wp9XLyd13yQGCR8cQRtuGiD_AhShLAd7C9DAmHWgXMdWK-XdzSMt90R3I5-ktDWAaZRcYvHbLbxcMfK2HOM_65fsL6SsshiVX0XzqeNuJU5Ih05KFH4eVdl_7VEzhRA3IG2Viy5N33KA1_3biAeo1oM0jJ_0NRSGruXzcp7XybGBcttgQXRpABry301N3KYLgr0NwOhQqEnGlrm_Aji-YB8hlNmC4Y09n5P75MMMeFBH170nrRgqsoolE5nzdLLjNX35VI9SPkCLRwRliSGQUk74JryHmnDFYPXrTeVP5LqLkPB-7he2k3S7TXvh7LCJ_HLCcSuzB_q3PqK23pgNy8Xey9KjqWJxFo4nIXjSk4SrilHAWUFhtEuxmrS0PCFOof00Gj2TOXKyp-EB8PkSeQywS3lucFxJwGzBrL_DkpqViVFtl4CDOIbHS03Wq3JNuM4Xt-qQ1KsRCxYZzlqEcH_EnIZi-SLk9NLPqV2moyKJNNqw9S_zTUwxZd_QqlhzRQezVnzcbSiVrHOmYIAYEP7A3AV2Okm5kdSMPPIYLyMbM7eUb5FBM-kgByKazRThsTSHtirHc0vLGrVJcwAdajw-mbxOCfVr48-I5FDO4EeFBp6FaGBFiPVS9UmdE9-M5s21khylLK27EFHeoKvnYwwSwW9lLMeuf6-VLs0aGYd4mOriNqkNA_SUPkUyuaCao1fpapoX1asrbFivJ1Ng6zHy4I7Beu9-93av0NPmtJbI9lH7RIi1n2VveQq9tiOBTKg5Me1LiGh-8WsYDzwbWe_z9BQ9YkL9ai52cdQqrYbi2H--TbZvVPsf0h7j5mwrqn1r7uxjxCrZZlGEu4SLedej1MaMwTe8lpEgdqGzvbIhZfomgoEbCnhFWOggl7dLzhtOAm1G23AJGc68BCfjrMRIvQWD73B_Q5DAZXfxqiZHAtsrTuIwiSh0hGIWCKOw52BUyQpBg0E-iuDlbEIynKNEDKfE6def3YPCOvxkoINt6yrVWzgN2J035eBG3_0_ma-AhiVZ7j_eKdOTGG_9wSZA5KAHTkggKq66yvZfwrK8S0aaMVBB9bOD-3mvBI34jfvCFc5LW2EMtuZsvLI8m6-g88GPn2WdoCphqseERmsv7DN0LtQ7kvRcW3G3wK5OYV7jJDxwaJX-StpexBBGLQwRSHwlIfB-4zV1EP8GNUGwThY3VM-Q5uEtLAEyQpXnGnKyYfPv8pxTWMcaMtt-ODTEHSMA6ez59_MfTt6jHEOCwukw0lyt1dlZDhrYgRpSPofBK_JcvuRk361aPvq72zA6gEwUMrgvGIloDTs0YiV66Vq6oZzO9lcvSu8exyAzm5M46eZg_yuQ7pLF_aj4C-12G4LXNAN0apUl6U2AoR-A8hePtc8USSjhQPbb89NYumbrGU_7Lxot5Pq66WDHXmL-0uAnH-lqJexzjJfP7fEBTlOR4CrmlKD3W4BGFfiicEcQjz827NaRYAw96Iko6jZQ7fQGcsoK8Xyiqdc21KGmcFTwNzhHbJbYnXSYKb41R7KzRZTKbJZZmYQgHMEDgdHFW9EteM4zBkLFGqCYlFzZdGbA-pqdm5hvzWGhLUkMVRDyKoixXIrVnrjXy6yvw3EC8p36qZhKTql9gwpEdGLAiYMD-kKxIa6s_b0a1niFYuefaurEFJCaMJ9OpyV_7e6rZusPxjbKbVuTulrJprDM7ROVMzEH1zswPueZLeN0gYYFYNV",
  "id": "rs_004e9afce35eba71016ab46ed4788887d089ff1e05507be4dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.23,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The short cap is left of the longer diagonal pen near the table centre. I’ll approach the cap with the left gripper while keeping the right arm parked.\"}",
  "call_id": "call_djt1ZAn3RWA0oVMGKGG09PiD",
  "id": "fc_004e9afce35eba71016ab46ed8db0887d0ba59bfd053ad1a1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_djt1ZAn3RWA0oVMGKGG09PiD",
  "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]: [-0.6891, 1.7515, 1.1446, -0.1448, -0.5541, -0.4263, 0.9993, -0.0269, 0.7994, 0.6426, -0.4519, -0.0364, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.4195 left_y=-0.2205 left_z=0.131 left_yaw=-0.0078 left_pitch=-0.05 left_roll=0.0221 left_gripper=0.9993 right_x=0.2899 right_y=0.0022 right_z=0.1814 right_yaw=0.0108 right_pitch=-0.0477 right_roll=-0.0049 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.9504, 9.4701, 1.5897, -0.486, 0.105, -0.0855, -0.9778, -1.2103, 10.2632, 1.8877, -0.0464, 0.0024, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3179bacdb09493d460b9beee15eb63c0717c20af93fe976fb71de36cf55bc7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5b1d159e1c3ba71cb12947a12b89218aaf38ed3c75b314b895857887aee8da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c36e531397ecfa61d361e6fe1edc4396453fb24fc41dc32e30805e54132aa02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 8.249 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3798, -0.0227, -0.0113, 0.9993, -0.0181, 0.791, 0.609, -0.3786, -0.0235, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0024 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -1.4564, 10.4957, 1.7314, -0.0171, -0.0513, -0.0904, -0.4718, -1.265, 9.8393, 1.8535, -0.0415, -0.0073, -0.0952]",
      "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]: [-0.6891, 1.7515, 1.1446, -0.1448, -0.5541, -0.4263, 0.9993, -0.0269, 0.7994, 0.6426, -0.4519, -0.0364, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.4195 left_y=-0.2205 left_z=0.131 left_yaw=-0.0078 left_pitch=-0.05 left_roll=0.0221 left_gripper=0.9993 right_x=0.2899 right_y=0.0022 right_z=0.1814 right_yaw=0.0108 right_pitch=-0.0477 right_roll=-0.0049 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.9504, 9.4701, 1.5897, -0.486, 0.105, -0.0855, -0.9778, -1.2103, 10.2632, 1.8877, -0.0464, 0.0024, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3179bacdb09493d460b9beee15eb63c0717c20af93fe976fb71de36cf55bc7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5b1d159e1c3ba71cb12947a12b89218aaf38ed3c75b314b895857887aee8da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c36e531397ecfa61d361e6fe1edc4396453fb24fc41dc32e30805e54132aa02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_004e9afce35eba71016ab46edcf68887d080fb2a71b4ac7f10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.421,\"left_y\":-0.212,\"left_z\":0.035,\"left_yaw\":-0.55},\"note\":\"The cap is near the bottom of the left wrist view, slightly left of the jaw centre. I’ll centre the jaws over it, turn across its length, and lower close to the table.\"}",
  "call_id": "call_0Vfys8yj6SftdbBzan2s65KL",
  "id": "fc_004e9afce35eba71016ab46ee40dfc87d0a1ffa14f858a6e37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Vfys8yj6SftdbBzan2s65KL",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4667, 1.8603, 0.8215, 0.3378, -0.0612, -0.0219, 0.9993, -0.0303, 0.8005, 0.6411, -0.4629, -0.0376, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.194 left_z=0.0256 left_yaw=-0.4076 left_pitch=-0.1297 left_roll=0.0195 left_gripper=0.9993 right_x=0.2883 right_y=0.0015 right_z=0.1782 right_yaw=0.0098 right_pitch=-0.0614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -8.5675, 5.3538, 2.0049, 0.3492, 0.0952, -0.0171, 0.1573, -1.306, 7.2137, 1.7705, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c200fbe7ffd010f11062dbe8a3acaf3f07865d4071f0e0752b5d3c885c5887eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f4dec460139df39cfbcbd59728194ee61e0b052c37d29d3dd8e8a1a4bef367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9dcc5461ac855d71f4546c28ec59143a1ac9a4a228c4d41101987cdf119c7f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.608 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]: [-0.6891, 1.7515, 1.1446, -0.1448, -0.5541, -0.4263, 0.9993, -0.0269, 0.7994, 0.6426, -0.4519, -0.0364, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.4195 left_y=-0.2205 left_z=0.131 left_yaw=-0.0078 left_pitch=-0.05 left_roll=0.0221 left_gripper=0.9993 right_x=0.2899 right_y=0.0022 right_z=0.1814 right_yaw=0.0108 right_pitch=-0.0477 right_roll=-0.0049 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.9504, 9.4701, 1.5897, -0.486, 0.105, -0.0855, -0.9778, -1.2103, 10.2632, 1.8877, -0.0464, 0.0024, -0.022]",
      "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]: [-0.4667, 1.8603, 0.8215, 0.3378, -0.0612, -0.0219, 0.9993, -0.0303, 0.8005, 0.6411, -0.4629, -0.0376, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.194 left_z=0.0256 left_yaw=-0.4076 left_pitch=-0.1297 left_roll=0.0195 left_gripper=0.9993 right_x=0.2883 right_y=0.0015 right_z=0.1782 right_yaw=0.0098 right_pitch=-0.0614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -8.5675, 5.3538, 2.0049, 0.3492, 0.0952, -0.0171, 0.1573, -1.306, 7.2137, 1.7705, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c200fbe7ffd010f11062dbe8a3acaf3f07865d4071f0e0752b5d3c885c5887eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f4dec460139df39cfbcbd59728194ee61e0b052c37d29d3dd8e8a1a4bef367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9dcc5461ac855d71f4546c28ec59143a1ac9a4a228c4d41101987cdf119c7f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7tFBOFhBRQXeMSzyTou7S55eZ2SzAKWZGSZUbWccqHst9TQIXT_K908Fm9EFsohVUBbkeZMvdoGDmEYJDtzbEEKtq3rtwW2lJTQAUzBIwU_kShI9aR_1x0FBk70Yz35AaXgBV4RxdUgpekmPckvVomup2ACEMHFWgYXpo0XBmsO5czBBLSPqDLjfcS49M2j5ff5lZCFkQynWSnFSA-9UxTfsSZkHoB-8dG9sQi7aYSpPqUsSczU2iKk6ryg0CZCzXLNQFdb8mmhXJrQAgxOOoCsi7a9vJkmPN8uOw8Ij0hZV2AGWz074zunXYBnZEsNO3AUcX0-kvv3-WwKfNMYYl8ZqHmHPt5wG7uI7DYCwgH0F94GV7m9_ezGYsbBhp-thLY3lfI2vUfWTH8MXZZCE2uMDFT9nKLjxD7gxUJJ2gem30jyAA2hox8TSP4oz2IN0Ugc1VgyjZ7lbDvvumTwu-0nkHpV4gF7H5B42iPVJKsoI3YcZo9LrjmVzjDpP1lt_ITV2LlaEH-fZzUWrY6PlxwiJlIoAAEA4JTqZ1Ppq8x_U-Uec-_-0vZ8fZVAT62kQwAhc5J6Vh0cRbUA992ZjB3nbLQ7M6xwm7Ed5GlTBva_c2NO_sTZ-CaGJLpVo8WQLdM_Var_NnQm8bdNNuiz_JjBCj7PYXN7HjDNhB6vNtiFdAOzrjhkSX4kHhMi4l9paX3FN9njPgWHjLbLWlED5iosKYOJMKMbFDigGYcuKBxKZmXXUusN0Gh4Sn6uGJDLEIoSXAlUsA5LExDlqbkoBlPYkak631ikszaofsCyyDmcVjbmjgCeWSixU7WRgJ8TmEwxKHGQzXX-XST635VsgSWZjbyk1KYsl0ftZ-xUk-kZ8VRrCFzsTV2uYVSHKv2ypViPU-hFOPYpQ574LNHlD0rsO_-xDuYUXKTNMble6GDk9bvWyMTo409K7qayw_06a4umhaXyYpQDq_Tq9whEDc44rSlr5FPWyLv2s3_rV3hCc02WjyCRO2hIfklVf1i7jqQ_6rT1ePSdcZn4PEFS2qHhvdGil1oB6uhGPVG-E0xOF2lmvWjMJE-GXjfPEsW2To9sRdWCcJufH9Dt7h2xBfw9cQdHIkGESt9CAB3C12WfKqEVhE4dNuZBM0XhDRav_9ojE0Pv2B_cAbEX7M84ARjF2Jn08H-wrV7do1rU6BFnY6CtQ0v2fXDoPVaWozxGRmegD8NrsaGi4YFvaUuPhp4XZsRyOq97vArkeTk2_ZeEY_pibvkauzGL6fC3MmjPLpPqWHmphd2DALcn-z3ncNoeVlqysHZcoqCCHVHLSGi8ybGGqmhSaQtb_B9OjFDA5vL5mxbVyo_SJx3Yfw1RuJdhoX53N5Nmuw-A37lsfhUrqZmU3VU5oMYveKwkoE03rCTj1rFohVRXrkp-34jY1zmPcRyES8EN9q5gXa7tsUWgvrDxnv4elFWdRkVf6N6NjAkuUc720etGLh7aLccGpdsovGQkzqXKFhcpSt8KnxlemcuRhc6CmZM0olfFAgcjTHx32VrMGYRbFaMH8NZwYV5pojs1HfZykQeNgBz7E38yRcBR5WMY5G45OnRKmN8bgb-LvUItjO1EOYCPM6U283OQAWndg_Ar5z-DWpbZVzWxVkh_1LZOg_V2CwCBugIiRGVQitXSBUC6OqZ_KTdWrqba1Vn1Tktn0DVaA1SLyarsJVC1Ys2gcFaVHSdMUCxV-UsBu30V36cx9HpRPayB_M4h59fEOOuZB0_u9DMb5vOkXGTWORz0AOGtmaOoklvtNPZC_uU1NVFi3NnkeO3MP33Qv-j3jLkmNdn0s3r6v_s-T_iAFGRoF1fs0DZVzYqqeyEIjH-BQHlJKJtzqufyE7KtxX4cksndZ6vHtWbtmfmGKTYlgUOF4w9rtHOWo3Ms4bxLxfUTa-ukyWAhY9ETe3cZCOp7gO1KbO2WzHBZhPFi1dmdrHp_7Mh2nZGwhuNb5ogHlceSHC4bs_aJABzkQIEfzkh0SiOV_XW7rHsn19jKUIvGj-PLue61SqfQ2oNVPK7rmFwUvnIkE7PBWmDCytGXVpOJqz2j-2samV6qtNTRmR18jpV2IAYAUIEDHfCde0IPtmact-X3QuC7OWp7oxK1TdE0hWu9qH5n_TPtb4ritSsL0MiliuOI6PixQvjQSyz6vMDce0uoBmeutJ-7DBimVje2qkqQ5qJ1U_xYuVlGp3uGdjdZBwBlfS4JcWS4ui4I8kM_-C6xIGL7JBY2qGp-FnePpF1Iyb2U1b-hgCZdmV59fjkthIHeIlzaFJr05aThHxhdHjkH7ifBzqEABFIfpVlaQshaLcBUQVo7FVCM_OFqU9si42P_a3FyWzGxcaOhkuPnhH2_7Blw-ihT_m9CZamLz9O7IlCbs2BTQQ9xUSrp7gz_pyWWHwrJOyS7JbvRZAK8YGbVvc_mcZFieHzOyOsMGUw7unmabgaIWDRt2Lv8DmnCDkof6ltz_TM7BcwH1WyXGXliJPvqVtYqN8m6SpFCSSjVtPyyt3Qi2pIUQo-70jmd9xWqgf84LMDop-rQ1AS7I3dyvIm5nl_Fb8ojSB3TLCdCf1Le5gE_0XqJcQlC-RN2U2HELzgtLvqXMcMjIm_mRPPRNw9s6u6Lj_OfLMJxzTdqwmvFEKqv00SeYfAQ4GD5NK1n9OVCXYCfR2-COYl3I4ZIWdLfwZjAb6FdWe21F5Cy006UXr3Cf9LwQbL19CQBV0lo5CbsKtvX1gt",
  "id": "rs_004e9afce35eba71016ab46ee700e487d08cfd969c38628906",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.186,\"left_z\":-0.006,\"left_yaw\":-0.7},\"note\":\"The cap’s thicker body is just left of the jaw column, with its clip pointing forward. I’ll make a small alignment correction and lower the open fingers to grasp the body.\"}",
  "call_id": "call_KgADk988v653KJZ4fMK3KyRt",
  "id": "fc_004e9afce35eba71016ab46eecb37487d081922b748c9f1433",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KgADk988v653KJZ4fMK3KyRt",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.935, 0.791, 0.4313, 0.1646, 0.1673, 0.9991, -0.0307, 0.8017, 0.6411, -0.4644, -0.038, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.1814 left_z=0.0009 left_yaw=-0.5892 left_pitch=-0.1314 left_roll=0.0171 left_gripper=0.9991 right_x=0.2881 right_y=0.0014 right_z=0.1776 right_yaw=0.0099 right_pitch=-0.0641 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.8974, 5.053, 0.6422, 0.0171, -0.1294, -0.0269, -0.1983, -1.3197, 6.9812, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e49cd3e233a1f0db3addf17a752fd7d2a99f2cd237e1cb725d1201afebbd8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86acabb5f781585791694f3e6d6b53530e2d55f49230d3794256ba868a0cb15b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dae30315de4cff28aefc2089f42b0b3f314febba24671b237a719fe2c3b7383",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.812 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3798, -0.0227, -0.0113, 0.9993, -0.0181, 0.791, 0.609, -0.3786, -0.0235, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2954 right_y=0.0024 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -1.4564, 10.4957, 1.7314, -0.0171, -0.0513, -0.0904, -0.4718, -1.265, 9.8393, 1.8535, -0.0415, -0.0073, -0.0952]",
      "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]: [-0.4667, 1.8603, 0.8215, 0.3378, -0.0612, -0.0219, 0.9993, -0.0303, 0.8005, 0.6411, -0.4629, -0.0376, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.194 left_z=0.0256 left_yaw=-0.4076 left_pitch=-0.1297 left_roll=0.0195 left_gripper=0.9993 right_x=0.2883 right_y=0.0015 right_z=0.1782 right_yaw=0.0098 right_pitch=-0.0614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -8.5675, 5.3538, 2.0049, 0.3492, 0.0952, -0.0171, 0.1573, -1.306, 7.2137, 1.7705, -0.0366, -0.0415, -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]: [-0.3538, 1.935, 0.791, 0.4313, 0.1646, 0.1673, 0.9991, -0.0307, 0.8017, 0.6411, -0.4644, -0.038, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.1814 left_z=0.0009 left_yaw=-0.5892 left_pitch=-0.1314 left_roll=0.0171 left_gripper=0.9991 right_x=0.2881 right_y=0.0014 right_z=0.1776 right_yaw=0.0099 right_pitch=-0.0641 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.8974, 5.053, 0.6422, 0.0171, -0.1294, -0.0269, -0.1983, -1.3197, 6.9812, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e49cd3e233a1f0db3addf17a752fd7d2a99f2cd237e1cb725d1201afebbd8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86acabb5f781585791694f3e6d6b53530e2d55f49230d3794256ba868a0cb15b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dae30315de4cff28aefc2089f42b0b3f314febba24671b237a719fe2c3b7383",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7wx6CuwZ1s-US54d0TIztditme_hO1nWuakzrWzZYg70DKGYn6b8q4y6Ebl9NT-t0tHspdmeYVPKQnz4Zpfpe94yXfLI6ijN4-Tlv3_dijQE_vJTyxoG15CK_lFBs7N4ltRRhPXQY2lfGXG3exLPw1JwuOb7CGTgjwCb6oIZXY_YF1YutW_ZPlPmTvo8B5Xkf-tUPNQuCus5Ef_YKpSJANa1sH9TFwVUtE9KE88bE-hSMsfzHQopWb_5hsiPalhnCbeKz2lR-2CaNxqysgsegvTsQDsSQ4R-cFkFaFrzFycXvu5rHdGBi8bbjCuKMm4VAab4mTLbewYvPnn6AoGqiVGqG1qrCtm4VhZ4wozn5aGCIau9LhkqSMAduvS6y61Ydrjwwssm9oBzwkbGqVEyO4mjCbfvlS3OoftZYAu5eZ4o67mRLtL4t-4ecxxp11S7WOENe3-Kj79ajMlkV20n-20sa6QHyHHpL-3-YRk1ktbkUQnHPgoSBteRu2xiBGwLTFdamRkRf2r6WQDdgnOD5ic0qf-Z33FyFhCrMGXWzdtDRC5tLegL2b2zGsV9vDSQb8YIAWthYPeqNBxJZQ3er74eZh3hTJVnXwqsazkk74IL_oXzuQLR_9-n5DaQRVBLCpZZAD8jtPFHTsaegwtpiF8D8LzVtKemIFtRWDgx9cPlOYSNRDeMdhMGlOLNK1gXvvAxC5FzxZSONwcHt47u02gcYFtJU3e_vonZFLQv9olZCqo6d6cPAUh40_XI06ALtkANHhd1Cz54mkvDxmZ63hqtqhVz6ppzEK8Tap8qBH47hK5BbGELjj_1iMjDfOKNNtiLlRrLy8AMsID7ovmBDJjoX67vcV2Wn-FbNQ9jk9-hDbgcT9MsJvRS845OjdeCNapwSJhmNGt0SwYN3jQ9me_03nQut20U59Byq8YdZ2XJtA3DVrQzZyYpZc-byG18DPz1mnmbWeGBq7g8xLxpXbLsF8J9_-jyfo7jwsUP8foIK7vRrovQfLJLJN8S8ndJMjhWq3A-oiD3WC9vXTVF3Zs9mAZIWfYWgJG_f4v_ZtZF4iMd6VzFfq5k52j5fMZ5fmnNszTbPBO-aw2w8upHo5yHE4627gzg4HNRbB307WWRh-WlBXLD87RkNNfKPfrD4nLyZ52giZCAGWqg88TmCAcAv3HwnifspP7lLZ4XnhOJ7sEunI3nuxAyHesfkGox48v8BIvz9lJE4I3yjia8ltxKzCEPestgpCyaWCKkSyk7CCnLJZoc7yOUv5cgFYaJ1O",
  "id": "rs_004e9afce35eba71016ab46eefa1c087d09cf120705da8eb2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s body is now between the open fingers at table height. I’ll close the left gripper and check the resulting jaw spacing.\"}",
  "call_id": "call_58YpxK7jxBtzXoShUoatQjaa",
  "id": "fc_004e9afce35eba71016ab46eefef5487d083dca0d544fd991a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_58YpxK7jxBtzXoShUoatQjaa",
  "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]: [-0.3275, 1.9438, 0.7898, 0.4721, 0.2539, 0.2462, 0.0372, -0.0311, 0.8017, 0.6411, -0.4644, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4201 left_y=-0.1858 left_z=0.0063 left_yaw=-0.6793 left_pitch=-0.0868 left_roll=0.0327 left_gripper=0.0372 right_x=0.2881 right_y=0.0013 right_z=0.1776 right_yaw=0.0092 right_pitch=-0.0641 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -7.7744, 5.1897, 0.9744, 0.1441, 0.2564, 0.5836, -0.3077, -1.2513, 7.1863, 1.663, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8ade7c3530373cdfef4a50a5bd99c4efd1c5978c6c8e938a70ecb2916b9e65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a28fac7465fe3a3c3c9257c284173db16bd4037aca721a2a81fe35385290aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78d94e4deaa9f35226b1bc3fa0aab4f1741baefcbac73169a04998d34e3188a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.558 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]: [-0.6891, 1.7515, 1.1446, -0.1448, -0.5541, -0.4263, 0.9993, -0.0269, 0.7994, 0.6426, -0.4519, -0.0364, -0.0307, 0.9991]\nstate[eef_state]: left_x=0.4195 left_y=-0.2205 left_z=0.131 left_yaw=-0.0078 left_pitch=-0.05 left_roll=0.0221 left_gripper=0.9993 right_x=0.2899 right_y=0.0022 right_z=0.1814 right_yaw=0.0108 right_pitch=-0.0477 right_roll=-0.0049 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.9504, 9.4701, 1.5897, -0.486, 0.105, -0.0855, -0.9778, -1.2103, 10.2632, 1.8877, -0.0464, 0.0024, -0.022]",
      "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]: [-0.3538, 1.935, 0.791, 0.4313, 0.1646, 0.1673, 0.9991, -0.0307, 0.8017, 0.6411, -0.4644, -0.038, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.1814 left_z=0.0009 left_yaw=-0.5892 left_pitch=-0.1314 left_roll=0.0171 left_gripper=0.9991 right_x=0.2881 right_y=0.0014 right_z=0.1776 right_yaw=0.0099 right_pitch=-0.0641 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.8974, 5.053, 0.6422, 0.0171, -0.1294, -0.0269, -0.1983, -1.3197, 6.9812, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3275, 1.9438, 0.7898, 0.4721, 0.2539, 0.2462, 0.0372, -0.0311, 0.8017, 0.6411, -0.4644, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4201 left_y=-0.1858 left_z=0.0063 left_yaw=-0.6793 left_pitch=-0.0868 left_roll=0.0327 left_gripper=0.0372 right_x=0.2881 right_y=0.0013 right_z=0.1776 right_yaw=0.0092 right_pitch=-0.0641 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -7.7744, 5.1897, 0.9744, 0.1441, 0.2564, 0.5836, -0.3077, -1.2513, 7.1863, 1.663, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8ade7c3530373cdfef4a50a5bd99c4efd1c5978c6c8e938a70ecb2916b9e65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a28fac7465fe3a3c3c9257c284173db16bd4037aca721a2a81fe35385290aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78d94e4deaa9f35226b1bc3fa0aab4f1741baefcbac73169a04998d34e3188a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG70FsSMCZD3M8Bge70CQKj0JeBSWQNpocwRFYj2ccRPizGXO1irPiShF3u3hlmarZ5YkBCV54Y5B2hp_8qDofuyWZxqKGiMDG8sGeCZFph99tbouSRCLC_MSX5_Rq3jZnOsq0fqzVFkIeOcMYKVrEeBLu2f0cUYEldiGCO553mtlZsQ9ipC3zTCOu_Xp0CFxsy7k6fCldZ2Yy1iw_h4THxMbwWvg52by6TRYmKxEf8Epg-tpQOfDe9MQdzkQpoaMmMs6Hsj9wKwrldszfGNw4cjcB17VmO-mGpDl9wxdOACiChfHWWzCCdfRYnlreFUmr_rh6iN9Qr8qLDkWJdz_9cx9GFOTLNwyOdXhmr3jycHYq8Ws6obc0GySl0Ihgxc5gr7mH_wtnnONIUWIvF_bEY_fqcDVSF8Gu6jVrDcxZpsQEHYGOqDcFMy2puPwz_jc7qJ6sK2xikrQGivBDhEBdftIc7hiwMXXOv3_f3it6OGcy44VxlB8FCc2-EarE05ho-SV6p79Q0Qgf4GpdZ8w8aj8zHBSZvdAs6q39EEHA3naPYAE3z5IcalTn0l2Nq7FCVXzlbE9GjkriHFCoLNDLiAeDiSrSuXeG7z6C663S4PTzUkHTk1oIiIyrgAiuboamRUt_Gj_baThau35nngFQMvBnrelOK7Xqbq31EcsG5N1umF2tqyOyQQQPXQ5TQPreWfqy65tYxfpItsIPopFY8eP93zEaceTr0EH8_w8eUz4efk_X7Ja-9pvaXlJIPGZUVy01n7gQsDuktcr3e6D9AXcTmTtmtuD5leX2ZRBeYxsZtTUbFyyqzM20z-abb2fF2YYQxqbEIpLsyc7O2XzZuXm0DJPMJRZssdHcjuagtUpb2k1bio_uQk8FWepxmEuARbqPRl_FEArlqkR66DsysBDcyug8axXmATUmYQhzUQ-cKmLfVhivG1e6k9I0tNFgmtQRBScLlYIccY2k_xBRpkjXqsu-PV5NCIHx-GQDAAI3mnAXIfx2WMs6IG4-eUoXGcSU6jtkCX69zTX6m8pCLZ62EMGp74q0-q12ddsBBEbsTa2SVCD_H9XBF6hcVEBMINU0UjMxaO2cp2I2ZduWKNw8-xNf6PhgA2FjyI0zxq2qv9F_N2JC6dACfjhcA8DclGckWtZNulp9Wzu6LffbHvCBXKHbxy89z1kcdGqrTY0ZDAXqedKS0g56aaTi2TVlOGOp6tjnabg5mmXuyT49wDxXZavv25bhfB4r2ABh0E0OzKscem4kkmxPcHQVgdcN9n4Qu4DikUF4TIpu6VhOL3Ww==",
  "id": "rs_004e9afce35eba71016ab46ef334f487d0be48e835ff3b390b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The left jaws closed almost completely, so the grasp is uncertain. I’ll lift a few centimetres to see whether the cap rises with them.\"}",
  "call_id": "call_y5odAsqPQxxrZXBFPVJjrrWo",
  "id": "fc_004e9afce35eba71016ab46ef3b1a887d08d848870d8d7a9bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y5odAsqPQxxrZXBFPVJjrrWo",
  "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]: [-0.3275, 1.7771, 0.841, 0.2325, 0.2588, 0.2451, 0.0359, -0.0311, 0.8043, 0.6399, -0.4648, -0.0376, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.414 left_y=-0.1846 left_z=0.053 left_yaw=-0.6835 left_pitch=-0.1061 left_roll=0.0212 left_gripper=0.0359 right_x=0.2881 right_y=0.0013 right_z=0.1763 right_yaw=0.0094 right_pitch=-0.0683 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -9.894, 8.8, 1.7411, 0.0464, -0.022, -0.149, -0.1846, -1.1009, 7.241, 1.6825, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8b79285d7c330bb0da641d0e3be464eabee4da565aaa39d5c267b15cdad930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a662976cc36e4cb5f066145ba133d5b49fa97993250571c3ea423bf3e6aeece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96f4a260dd843577ecb112df23a7957a73b8ce88ffe3713e84d72e4c2bb9d27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 6.65 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]: [-0.4667, 1.8603, 0.8215, 0.3378, -0.0612, -0.0219, 0.9993, -0.0303, 0.8005, 0.6411, -0.4629, -0.0376, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.194 left_z=0.0256 left_yaw=-0.4076 left_pitch=-0.1297 left_roll=0.0195 left_gripper=0.9993 right_x=0.2883 right_y=0.0015 right_z=0.1782 right_yaw=0.0098 right_pitch=-0.0614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -8.5675, 5.3538, 2.0049, 0.3492, 0.0952, -0.0171, 0.1573, -1.306, 7.2137, 1.7705, -0.0366, -0.0415, -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]: [-0.3275, 1.9438, 0.7898, 0.4721, 0.2539, 0.2462, 0.0372, -0.0311, 0.8017, 0.6411, -0.4644, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4201 left_y=-0.1858 left_z=0.0063 left_yaw=-0.6793 left_pitch=-0.0868 left_roll=0.0327 left_gripper=0.0372 right_x=0.2881 right_y=0.0013 right_z=0.1776 right_yaw=0.0092 right_pitch=-0.0641 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -7.7744, 5.1897, 0.9744, 0.1441, 0.2564, 0.5836, -0.3077, -1.2513, 7.1863, 1.663, -0.0415, -0.0366, -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 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]: [-0.3275, 1.7771, 0.841, 0.2325, 0.2588, 0.2451, 0.0359, -0.0311, 0.8043, 0.6399, -0.4648, -0.0376, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.414 left_y=-0.1846 left_z=0.053 left_yaw=-0.6835 left_pitch=-0.1061 left_roll=0.0212 left_gripper=0.0359 right_x=0.2881 right_y=0.0013 right_z=0.1763 right_yaw=0.0094 right_pitch=-0.0683 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -9.894, 8.8, 1.7411, 0.0464, -0.022, -0.149, -0.1846, -1.1009, 7.241, 1.6825, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8b79285d7c330bb0da641d0e3be464eabee4da565aaa39d5c267b15cdad930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a662976cc36e4cb5f066145ba133d5b49fa97993250571c3ea423bf3e6aeece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96f4a260dd843577ecb112df23a7957a73b8ce88ffe3713e84d72e4c2bb9d27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG75vnuQDex7-vXg3cQ4RO1ETD2Pd14T3Y2Ff0DbGJOHhh6ZQZDZQ-N3sEtGyeyiK0CLoXnsPTscbJCteJjfmYbaTlnt1vvtqby2s3saF2ffWd3aM-rCNHV84jFtHYBiMfSolx0LBGAEfg6YIQrGnEO50yeWFJ5u9PIu7iU2cSqE-lC4vRlwrao62n8kNKTLzusk5_9hb1-n35bnWbIPuqQpqdFRxMC2nsI3coguObDPun_6Ao3Y_g3R0y7xKvUmQF6IAwEbinYNkIE5fgzs46R3hW0Kg2gKCVY16n8vJYRjYDscHF040Yj5HtDizt2DrzFlB3bZRFRxnSO5ewAdixxURrfX14EPssqOOm6-1CZ_BgWAHxG974raRnwOQPBHfCc3C3bQBvtN3zVhrb0647uwxjRjTF5MSjU47FcaM-OhX3BavpBD_ahnHYnnjxdqMNg_jKn8cmwRQgunCcCFhstBn7V3L667PSqLgy0lKtea1vUAxs8HQTVlXbEM-Lh1z1sicX3pzSYd3A9F6ZZqWVLIeKsuaXAir8wEmexC1wXsT6XjhTt97GEGKf3jGsr7gzF12WSTw_BcgYOAZzuz3qz3xgrCJvo61Gk6pvSAcyybgwcjLvZkrF1BCprim23xjW-dxGGPQ7KlVSLxIDK5JiWCR_XO_9brVK1NbwfiL3yaF_xug42zKn-Il4or1id0-kUEPaz7SXDPMx21PpFAXGdgatUfUgvZ2rGepRDtyt4IQryZJ2bA4Q3Ic44uZDJEio_1tzyFbDn9P-K0gVpKyxfJy-p2bbLI5bbX7V-jVZfNiiwVsenf2o9L8rud6Si5EuWXNQrEHXF9P9RRi70jd5sAYvATK_qck-Q95eNt6mEozmOWE-8mQfV3bT6fBSl9naL4Yi8Fl4kJ8XIeMQel_qE6mm6nOdICpnO9riXObF5h7OUmrQ0QSvQBWTs6UvZa7g24a2BCtq6IjaA5Z-Y3LjHKWCNb-tFhsjp4OfmXDkX7TV0_T-xZWi79CuApbqeiAoyJtVwI-6uz7SXkmr9yhEGbEqsm1VWQmGy2161ucOYkGFdRUasRrUq-PztMuovhnHSj-y5t57W4ERXuUM-cV0jJfBx_R6TeAo7P8-w73vUNcurEApAyRoOgLqC3f5R2XIiixvCVMXx7a7kzzWQLXywazAnr1nY36rBgEOrcrICqbHOfjLJWK4yhUSpyxLrpOQM4lA5QGd-XPDutevF6yogHVKA7ZdsUwQI8sRkl5TeP_H6xbCW2i3Je-LrmzEj4ejNJOg6r4c8I1hgVl3JRHT4WrpwRWVNi8YYtt7RH7qEj_u7rEFtJcE1uj11XuMtKhrYIVUGglFT4tPttkC9WIgHXOVKz3TcynK3x81PbboF9XO-ixbdLVw11SK3zLt2VZpj1MBQ5qXEG3OIarQW4U2whZ9pe8m2zIFYgjtPuSytACmaT44HY3IyMjjoGgqfmSE3_8cU2BG9W8tXqfJcAa38FjSu5pAbeyxhOTUeO4nOmJ_MVOZpwnAlcBzxhoWh4hrHSHRfGkXshaLKWinrYdfGNUt71xf257U93G8Qcwm_jMttAzfII2qAwNW8EKokkxZAinoJc8Gfql2j0osflTyzNQEouzGIF80YquZntxXef3bpq6jLGZht9enLiF90iUqmvizaCBeDL9RVImOUC3gRj9tSbn6FXioJ-W3vljFsFYPhSX1ummjjkpo8Mfgchd68GUE2l_6BquUy1R1324LpsASZ93lm55szACBV3h6CBe0s9dm3kfnaHWjviclJ9fo7Pc2IcOvSDLgJldbmMSi6UaRHSZno73nTnzBEJ57dRqc_WTGJ8YRNJhJg9N1QF2KIEl0zgrt_Hs_DeljQnjU9BCU2mqbiPMtkjTVf4nvZPzR4=",
  "id": "rs_004e9afce35eba71016ab46ef63e1887d0a2ac7696d5defc61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.1,\"left_z\":0.17},\"note\":\"The cap is no longer visible in the wrist view, but the overhead view is still obscured by the arm. I’ll move the left hand aside and higher to check whether the cap remains on the table.\"}",
  "call_id": "call_euTocQnBGMLijMasgDbkh07r",
  "id": "fc_004e9afce35eba71016ab46ef87d3c87d0b8ce0d1bd85226a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_euTocQnBGMLijMasgDbkh07r",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0841, 1.4235, 0.9318, -0.2718, 0.403, 0.3847, 0.0359, -0.0311, 0.8055, 0.6373, -0.4648, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.0985 left_z=0.1497 left_yaw=-0.636 left_pitch=-0.1197 left_roll=0.0165 left_gripper=0.0359 right_x=0.2878 right_y=0.0013 right_z=0.1748 right_yaw=0.0092 right_pitch=-0.0721 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.5692, 9.894, 1.4628, 0.4567, 0.1294, -0.022, 0.0479, -1.1145, 7.2, 1.7216, -0.0317, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a885d42ee1be9337914723aa10faa2dfcafdb1a0d147553de3393b9456c7e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace72af74238c9ed3e33dfb960f312f9ba97978a50a06b151462e2bfbd1d30e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2843d1090430e9d204a5a8b062f6e683c2971340c2200f9834c67dd3e7045496",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 7.323 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]: [-0.3538, 1.935, 0.791, 0.4313, 0.1646, 0.1673, 0.9991, -0.0307, 0.8017, 0.6411, -0.4644, -0.038, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4181 left_y=-0.1814 left_z=0.0009 left_yaw=-0.5892 left_pitch=-0.1314 left_roll=0.0171 left_gripper=0.9991 right_x=0.2881 right_y=0.0014 right_z=0.1776 right_yaw=0.0099 right_pitch=-0.0641 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [0.0479, -7.8974, 5.053, 0.6422, 0.0171, -0.1294, -0.0269, -0.1983, -1.3197, 6.9812, 1.7265, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3275, 1.7771, 0.841, 0.2325, 0.2588, 0.2451, 0.0359, -0.0311, 0.8043, 0.6399, -0.4648, -0.0376, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.414 left_y=-0.1846 left_z=0.053 left_yaw=-0.6835 left_pitch=-0.1061 left_roll=0.0212 left_gripper=0.0359 right_x=0.2881 right_y=0.0013 right_z=0.1763 right_yaw=0.0094 right_pitch=-0.0683 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -9.894, 8.8, 1.7411, 0.0464, -0.022, -0.149, -0.1846, -1.1009, 7.241, 1.6825, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.0841, 1.4235, 0.9318, -0.2718, 0.403, 0.3847, 0.0359, -0.0311, 0.8055, 0.6373, -0.4648, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.0985 left_z=0.1497 left_yaw=-0.636 left_pitch=-0.1197 left_roll=0.0165 left_gripper=0.0359 right_x=0.2878 right_y=0.0013 right_z=0.1748 right_yaw=0.0092 right_pitch=-0.0721 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.5692, 9.894, 1.4628, 0.4567, 0.1294, -0.022, 0.0479, -1.1145, 7.2, 1.7216, -0.0317, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a885d42ee1be9337914723aa10faa2dfcafdb1a0d147553de3393b9456c7e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace72af74238c9ed3e33dfb960f312f9ba97978a50a06b151462e2bfbd1d30e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2843d1090430e9d204a5a8b062f6e683c2971340c2200f9834c67dd3e7045496",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8A0jzcRZY48SpZnQywIn9b3ViJ6UWF-e2T98-2lfn167BF542_RNbEhx8e7Q9N7HOEDyBYHZPEgxMWANQSBvJe91YE-WS0LraElHNP9lyzSfhdZawp-n41QH1QZtff6vr81aRzZatnrBXKDrKP4qCeUNx0OBA1wHXYlJ5ZjFud30ede50GodzwuP2q4jPqVMPbyhmDec8bssvApH9kuNMY4G4GEjktsKWvo2fkp-3C5QTKL0VTTXOc08aFac-cxcn-PWIQbQX3oqWc09MdK8Nn3H_sa45ntAuCGxWEuPmXjrhxn87fQsvPivoKEaWIuCLdDDr5HdjdYM4StMldvxxmgrfOasx91n5n4t6Q4LnAJZbCsyZKmoeZFQazPxop6ej7P9T9GqfKCIDIyKKt5HfnuCaU454GSFZ1Pzfgqr_diPp1i52qeGqN74_OGhOwLCN5mTXwkWRf2AgsuOxTF4fY-TjNoYI9mlDzsVdnbA2kQoB4BTxtnaWnWIYCq123geslLSx5JppDhy7vuKcc2NXQu5lKm-isrZgIbEQqiWQKwsY1m_VhdTs2_wg_fNp-JRS9KYupeuxzSnaueA5oztLp0Tcl5wdZ0eRDvc0EgxbTHa1TpuLJ2vfGxTf8fsaml-0kKmHCYCvDovkl71XsrOQw3olBkeJrr6LyPD5eCX9TBFKjPXWgj9ySkYY_brFifd0C63HbAZJ_smN3RIi0o4-jDuCvfhWAdAyCxTmsqygxdsVxHV7bJuOWm1DRDHJIVJ0d3UJTuvwQ_BHWmij50BZKop_tdlRpgxcSc3MV-sW1O_2Oly0lIEc_Mv6ARv1w-oy2amUlVAEB6QjEbAqTwyiBgBGeTxJU-XN3RTwLJXo454309l3diwLOJ5r0YzOp59IQQbc_tevulwf-j4gr2Yp449W8Rt0-8Kp1hJgWgeUVRzf8ZZdn9CME4zXY4or7xqjZ2wrlgKTKTBvS2oYk0zXPnPUYP9sJgueIENG8_rQK6anfC62Yf7Y26ckdJ205YVYOAxznntH9qFmjaANVV_chetX3sYb3pPrqD_Y32PnwiXQ4399PDn4SozCVy5MxDY03qDq7chxuHln97aXYtumFH9vzxag_8Tk9RbhcwzixkFQd96i_evxazYU2HnGmx5Wgs127R5cBQdHzieb1QANepgA1HOvJaYY2kUK_FRD4mAF-ZQQPYHl7ZO0CQdDzH0u6gYzAFYamCzvPKU8halp3PR8KEpX1dD4rFPIwLckH87OOj3AmpEOlB6hGQwUqtsd7oHYsAm3p3wBY_gyHUwPse7cLaMlYl-oMun7IoRCJeBZwtlDcOtnX52lC5-DrY7QcR9b9idzIW7Ok6woJpncE0OztwNDTAnkTMOBbUZyCBkylS-nndTO3_NKUUFNou_FEIW4y4BHcwVCprlzC5014xL4ZgoUcWLFeuws2v6kl5LSRxcVLyT2j_ltl099ow3WgrL8RafZuAxGqSza47HFlHGSi4MdHp-4zXZwlshreE-13dWo-vT1Y-5I8Y78arhjqkBNzGR23vILVAXQVnI5U1GuBgsBbodwrK5x4dUN5ejtu1GDhwSB-FmLTTehVh-W1PXQ6TPfljFLftDOjUjberj_jhg13Eho_9oBgzhUIOTv_pKO4vkjCDaWmVQeW2oFT79_MHAnEZt4pj6SL08O1EACYO43wu7bmHxlFJKGOkiq66hUnjTa1XyyPNBHRVmRLT74wi8pttWhmoBDUEWvnP9_iV__b7aqWOF1f9Rsa605n-howy9e20SaGvaRAGWXedvCjK_VfPMwBv9L6Zf7p57lfGuU-N9NUybOJoUc-14ulxNb1dr8V_GsDxaOuaO3DEqHiLRZ61aqLDuujvuMS-ziKVb_c5y8KzAWF0HjOAqxVAREmOflRX17xyegDzjpR_fb_niMM0HmjKQqqA9OrdcFZpBIsLsd3e7VMqFacERCvOqd9xA_mAxgW_wDTJJAH1_2CFQ1x0TgsWR_kIPeXjP9I9pPRVtvsatcJf5yP8UcE-imt5b6-PLdmChCnRQl_aL87Kb8_XjfiEKSWCiduris8kr-dMH5Mf-sefM46tDIwet6gBLDZ_AXtH0tou1oePVoUrSLzNpvQNZsVI0LhUG2sfZsS-ra0SJX3wTE2PGszq_dFNeY4xOPyWnVTEKcJilpxt3CG4Ln2lfCmmP0ylZ-3_L3T2AngC9VhAjXhCgA=",
  "id": "rs_004e9afce35eba71016ab46efba08487d0adf7237b94cecae6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.443,\"left_y\":-0.23,\"left_z\":0.07,\"left_yaw\":0.55,\"left_gripper\":1,\"right_z\":0.2},\"note\":\"The cap is still on the table, so the first close was empty and appears to have turned it. I’ll retry farther forward and toward the centre, with the jaws aligned to its new direction.\"}",
  "call_id": "call_VbwpCdjpKu4nske0DqaATIt2",
  "id": "fc_004e9afce35eba71016ab46eff94e487d09ebe7ca444bb219b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VbwpCdjpKu4nske0DqaATIt2",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7448, 2.2078, 1.6447, -0.5816, -0.7631, -0.9855, 0.9964, -0.0315, 0.823, 0.6994, -0.5625, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4513 left_y=-0.2451 left_z=0.0643 left_yaw=0.4109 left_pitch=-0.1482 left_roll=-0.0004 left_gripper=0.9964 right_x=0.2821 right_y=0.0013 right_z=0.1788 right_yaw=0.0111 right_pitch=-0.1251 right_roll=-0.0066 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -13.5863, 6.4479, 0.2222, -0.652, 0.0366, -0.0562, -0.253, -1.347, 10.5094, 1.9609, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f187b34906a659c62e1553d0310f3c4fbc013ff6368769a75d2c6211ed42cdb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7108056d817a192fe464ea3b3fbe641f5229d1f20d1c38433c6738c51685f948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebfa0d58cf260e80ff4ffc5447bec5e7b3b0e282070e6bb14989c11165835e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.574 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]: [-0.3275, 1.9438, 0.7898, 0.4721, 0.2539, 0.2462, 0.0372, -0.0311, 0.8017, 0.6411, -0.4644, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.4201 left_y=-0.1858 left_z=0.0063 left_yaw=-0.6793 left_pitch=-0.0868 left_roll=0.0327 left_gripper=0.0372 right_x=0.2881 right_y=0.0013 right_z=0.1776 right_yaw=0.0092 right_pitch=-0.0641 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -7.7744, 5.1897, 0.9744, 0.1441, 0.2564, 0.5836, -0.3077, -1.2513, 7.1863, 1.663, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0841, 1.4235, 0.9318, -0.2718, 0.403, 0.3847, 0.0359, -0.0311, 0.8055, 0.6373, -0.4648, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.0985 left_z=0.1497 left_yaw=-0.636 left_pitch=-0.1197 left_roll=0.0165 left_gripper=0.0359 right_x=0.2878 right_y=0.0013 right_z=0.1748 right_yaw=0.0092 right_pitch=-0.0721 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.5692, 9.894, 1.4628, 0.4567, 0.1294, -0.022, 0.0479, -1.1145, 7.2, 1.7216, -0.0317, 0.0073, -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]: [-0.7448, 2.2078, 1.6447, -0.5816, -0.7631, -0.9855, 0.9964, -0.0315, 0.823, 0.6994, -0.5625, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4513 left_y=-0.2451 left_z=0.0643 left_yaw=0.4109 left_pitch=-0.1482 left_roll=-0.0004 left_gripper=0.9964 right_x=0.2821 right_y=0.0013 right_z=0.1788 right_yaw=0.0111 right_pitch=-0.1251 right_roll=-0.0066 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -13.5863, 6.4479, 0.2222, -0.652, 0.0366, -0.0562, -0.253, -1.347, 10.5094, 1.9609, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f187b34906a659c62e1553d0310f3c4fbc013ff6368769a75d2c6211ed42cdb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7108056d817a192fe464ea3b3fbe641f5229d1f20d1c38433c6738c51685f948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebfa0d58cf260e80ff4ffc5447bec5e7b3b0e282070e6bb14989c11165835e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8JgUPU2EBHm1pMBH_3R3bELNf1s7RgszcwpUtu9RknyGWoGNi5dMpxAOnC8DwlW4yOe9RIga1qybngTqZHhMHR6uZPdjxQKPCDlb6dMdBz5iWiIEne00x46dGYEn_2U9OsA2zfAbp5xEDrmgyURO88BEvmEb2g1bVDQyGeLnTSQvVfIzrnFPnrzIE2OTKmDYjOi1eBp1oOkjNquzgDyXmRNLmFfVHwaGIRlxN3CClNun71MMMvScDVmyiRZb8TCuvnhaSqSc7rg7Kgogn-xlm28K_v4WjsLrstVsROwqtafzrB3uWijUYdz2PCtE50aqi4mzsYnzQVnqjB2HDWrcB8uhhboofGAPh4AH7Pr2_j6PH2SWCyqK7_VdQ31VDi9ONr1aR92PPy_H9N4gHmUtPod7UO1wq776dqwoduF0OnaD2e-_SdturJbIFkiJ1WGR8-8Xm10OBybNq8TRU4xQa_COl-XBqPyQIZxYfwcdx-E38t05f0fAgeh9TfCLNp4YkkRYIfwjTWLvkSjXp1HS_jzadKDiFCfnjDlYjtwb2SzkI6TWrLVRJWAiumupzZyJcr3m8Hw4K9pPxLZXtmBxtMT1X6j_vE2Hj2L4vb5VTpmQsS-HsDjOoJWy901xncJY9eBCIgota0CXAYaXnGaRg6qjmqGwjkkZzJJbMuJaPF7myb_nGiu-pfCz8zVpMlMe65bjy0a8qAFEXrIXqYDpGKqQmALTb_nhAcsCqmDm5iRBbQuid6X2Tl2d_dh9xnW6GpW_eZ6q-UpITNoMM3VuTxxcJ5QuL0zId2TEmunpjVuROUeIp9TVdinCpsEmnKfr_z0dP_HQfd7X8lD4K1a2XFPc5dPmFy6YsZkQZMLTnhZkoABzS6VpIDalSg81w5i3BU9eqlcoKLf6nAfVzusQQd_91vSkiKR24PRW8okh6G6lNnK_nZO8zS61epWuv0uOc-b_QYFb9SJdLZNhz1gNyuf7hFXg3-U1lv5BV7Xxr-t2tW89da79PI1XdAGbU075e-o0hQZu-iyqZxJj6wqAx4sUWCCJ18oXyfn2ul7weNsSgZHnAD_s86xxGEgTc4K1WaO38H9lyM3Q2Xv2zcTUHV7jQYE7YePEMBH_2fN9OgWL9Bk0eqrQ7X_40jS6L_KWB4_E9kPiWluSv8QW0ccm-xcYTHJz5g2nE6WMYnz05jt-VAodLRQnYiem7dJWw8TbKWoeeYN4b07hFoOoKTStodf8ohjFL5IZhNKEXEfAXl63T6s3cdbQTtHKNJ5q3X90jDQWPsHnN_LxtEKTxJRo3BpQ86tBGuovRMUmqEjUB0mtgLvnxFeWAoNtH13rSo34j9JdJohYOkfKetj9viwEoNDM-jSN6C7am4FMu1bC0cdoOPlGwbvJVJa8W0iiFzcKBJ3KQYkmRDMOHZKbhbf7bG49OzjRKutrIC7Qv1rNU4CAf0OgbNXpXfNeW1mZYV5Z6kqiKvaIov3ibVtdKb0zQoezuxn6mScCL-3hveRUztcK7SM9fvKAdpqvc1nD0Wme0JOcTRNGlPCHIRgv5PFBf1CkK-FPfQkjcihMOWhHWoR_IBIEnxvzUrEf9WzMzHQLaoO5uETHaEQf-BouRwiPwJNaGVPiuL0NV91uXy4Cap5gM2bR0hOtRGJ2V2oAn82RS3NbRpfxGbOYxjy1--_Ad3q5xPGz53WqxIgSBm-Hmqc1SRxzJDv_G_oZbk4ZxHp8iNqud0jkH062jBQ-goBm0X12r73LsVW6gJ8cCY1fEHr5e06YDy8jFhH4QxD4qvWiaOXnuleVkBbeOmIUFLXsz3Ka5gzISKObike-FrXtIqELgAyNOtRhN_fVRlCARKr7aJhgRa0OrcwWEoktMzwLa8-aJzwtyVMNRJthET1_wMzxEyK7p_JSCONXSByr1DcKuL2UbANCPT-ehzEc0kdKkrK500wJuYFaEfcYxKjFUhZKCDIlFVRKkAVzWw-yCh1UYBaIDrCqrR3Gg8fJxoR0TVTgZt77wjYQZNCA3mdUTyopoRTtjf9MQ9Zmqgoqk_DnQluRC22CxNWiDS8r-1Q45n6EEvoWjrnmrBLutLnKmyhkxHsSRAjvfiyRSFBJu-09v4EIzZIG2iO-uCJ659khrj_AHxgKeEqUOFlE79lOxc-5sLzPkabPjq69GMCP30dKgQAYGbXLm7fkxGsnXMxArNeOhOmgQdoAm7gTRiUQsoMhv2n5JvR6TNnfw-OhHatbCIftfLcftXUxEvuUKGBpwfSg==",
  "id": "rs_004e9afce35eba71016ab46f03760c87d0af99c8fccfbb4a67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.195,\"left_z\":0.02,\"left_yaw\":0.55},\"note\":\"The cap has disappeared beneath the wrist camera, and the overhead hand position is slightly right of its last location. I’ll shift the open gripper left and lower carefully before closing.\"}",
  "call_id": "call_KGWKfzoRiQ1zq9mSZFFNAgC4",
  "id": "fc_004e9afce35eba71016ab46f07c6c887d0ababb24a522d4b1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KGWKfzoRiQ1zq9mSZFFNAgC4",
  "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]: [-0.6922, 2.2261, 1.475, -0.5205, -0.7788, -1.0836, 0.9973, -0.0315, 0.8246, 0.701, -0.5701, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4345 left_y=-0.1943 left_z=0.011 left_yaw=0.5433 left_pitch=-0.1794 left_roll=0.0511 left_gripper=0.9973 right_x=0.2812 right_y=0.0014 right_z=0.1777 right_yaw=0.0111 right_pitch=-0.1327 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -13.4769, 5.3675, 0.8913, -0.6325, -0.1392, 0.0806, -0.3487, -0.8274, 6.8171, 1.6874, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1fad03595b8166f798be7573d56dd50e518b264fd69c18ece9fe2247335168b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e5d61e9e26a2eda8a40bfb6677b6de90e87dde2a35630474e77af8ba6cdea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c73cc91ee21f7e449f587bd3891424408569f7ec6e2eccfeb633cbee71512d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 6.415 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.7771, 0.841, 0.2325, 0.2588, 0.2451, 0.0359, -0.0311, 0.8043, 0.6399, -0.4648, -0.0376, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.414 left_y=-0.1846 left_z=0.053 left_yaw=-0.6835 left_pitch=-0.1061 left_roll=0.0212 left_gripper=0.0359 right_x=0.2881 right_y=0.0013 right_z=0.1763 right_yaw=0.0094 right_pitch=-0.0683 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -9.894, 8.8, 1.7411, 0.0464, -0.022, -0.149, -0.1846, -1.1009, 7.241, 1.6825, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.7448, 2.2078, 1.6447, -0.5816, -0.7631, -0.9855, 0.9964, -0.0315, 0.823, 0.6994, -0.5625, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4513 left_y=-0.2451 left_z=0.0643 left_yaw=0.4109 left_pitch=-0.1482 left_roll=-0.0004 left_gripper=0.9964 right_x=0.2821 right_y=0.0013 right_z=0.1788 right_yaw=0.0111 right_pitch=-0.1251 right_roll=-0.0066 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -13.5863, 6.4479, 0.2222, -0.652, 0.0366, -0.0562, -0.253, -1.347, 10.5094, 1.9609, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6922, 2.2261, 1.475, -0.5205, -0.7788, -1.0836, 0.9973, -0.0315, 0.8246, 0.701, -0.5701, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4345 left_y=-0.1943 left_z=0.011 left_yaw=0.5433 left_pitch=-0.1794 left_roll=0.0511 left_gripper=0.9973 right_x=0.2812 right_y=0.0014 right_z=0.1777 right_yaw=0.0111 right_pitch=-0.1327 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -13.4769, 5.3675, 0.8913, -0.6325, -0.1392, 0.0806, -0.3487, -0.8274, 6.8171, 1.6874, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1fad03595b8166f798be7573d56dd50e518b264fd69c18ece9fe2247335168b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e5d61e9e26a2eda8a40bfb6677b6de90e87dde2a35630474e77af8ba6cdea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c73cc91ee21f7e449f587bd3891424408569f7ec6e2eccfeb633cbee71512d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8PWQR6lF7ZiG-b2_o45NMDlz3XNJask4XuSFMJkdh_35S82lkSFsbe7FmX3biKE7-tktGHyJSXeTyprI-7g2QsFbGk7oMiCyl_bQiIbXJqLIFMW_QlOl-Ds-5MU7QsPyjsbWY6zGMdc-6F8TeGpzg92n7MAqIAMEWxRJcasolcXTQK2WUrYIG3qK0jYRnFT5pTuRkXHinjEos_FHWeCgWK2jJgN9zfqJSX_tGKTKBFQ4plR2Tp9hDkCwnQlOqREwCl22IVvAme5j_ZzgxIqQWX3JbC-fAmcgR-sADf30Ir3pPF31tNBWTaKTMtf8-m8KvqC5AR1tliIb4eVl8pDhI_GNo8WyF_Iw2fL31RHpO5WTWFHbR0o_mcu95H4p5SjRkUiJ6Pr-abqGz3cddDXKaQzhmrhhmSZRKrFXWr3rEtxwVpjdGdkP0BlNmBmKgZapUI37a2YJ5IdvnHGMPLBNPk7Mys-GQTN9WVe1-AuwFmO8t5E_3KaR7ViRaiWS7mLpkAY2zggbR6gv0ik_x6D9q8GNJ54XgZpdHZosnmeFs-sOaC1WA6yuw17BbBADz9Uy3UFgX5uF_e9Go1lfZZcpk4aXD-gMglkZl7rb0lOmIBHKSKJnw0DIPtLXzyffEIOIQ2ttsClmMoE9MGjU3-42mVGd6u7QMrO4qh1oIBC4LCZ8kxJ30so40U3XgfQ7PlIvCXlVXVxUAb-Det4caOAqccp0QxUM8WxveOtqB1mM1lpOeYNm9K3C1L_ITMfeYFMW5QNCQnVV_Fett1K160rdLqHvsTP2pVH5hIh5yNUiBAQfxvqS_SRp5l_k_Yq56raCd9IDNfZEIiYMHdyoaRF_eQtxYSnLYINqlDTx6S9PvkXOpWV6kwB7e7gllO6DU1-x78AgUJrY0naHqLNyOvzU3F-almEYWjQVcyN0AtZjHO0f0DhvTwdxbxc6x92X5K56wVVSs8yG5Og-50YePH273AdF1Lzt3dO7EAv8qpkj_-xTkzjbEasUb2YoL4J9egOh0YdQrw_C59d8UFjoh_MmfXsy-xjvc_3R4I1QG_0fZJRq9LLNnRcSXldI_SaqP-J7_Yt9hzl3JKmGWHydWvz8NBiS7y_jnUWDC-dvXgRcMQmCDN4Ef0EY7ZiMiAYq-4Qn5--ElWaeB7993NZyE6mw0DSipLk3ppXcwR1pz1Mymd0KVGkZfigCfgNs6AuYMhFcIqAWIW2obW127XS7flgvjRfgIjypJwxNdLbszFX4aWQVbp2163bzgpBJOWbPyJjoJzKvixnDmTQ4tZM6SV0akIqLBMp4H3EUpCHZENHMTgC8OLs9YjoYYp-xhya9xGdMc9YexsH9u3C7t1x7wf_1TANBCwtkUtoNE55zCL7cYyrxsl_m7EVZF134BXAJswo24NXdIdy_5lTEcbH8vxDcLES_1BIrpDD4Kf6TMJjxlOQerLacVhOxbPUWe3BUr49YDmP6uC3qBmxNe8N6_jbpsRHK2edf7EYERKzF-JesRgG8gce5A7OrufSPk_9VXHhMpiOUN-uloMNq6Mojf23eFGqBWM1p-YncZ9Ppkwwb9b-6tbrWtRv2XeF5F7zDUgBwlnR-Q2PQ1Xc2-B6-ACm2bV9D1pa_fbY-XnxNsfxPZoe78VhVwk6h3kftIwSwxZTx0mQr_I9WsfrxvJyr7DpSHgn9kHRHUqW3aI_86sYMar2AVooaM0F6OG9CwavhxjPPfaHQ4kbCzBImNpX3eIq3W5kvwoA08eaysnJK8X-ZoNricsJmJ_98PvThtloLMmqD3omPDBi_MUGNTmiyNbd2JyR-XMOZexEhlXwZt51xdm3XVCmZWvjchj_GbSSe3pA1u_fmvEqjhxetgrdKoAQXca8VbHnXuyE17Dk47u5ogPAnUdfLgkPkVG6Xlg1a7f9XOaRPau1uIe3ZQjnwxyydDhg17EDHH1-ZWeN7jOD4XUFMJ6GJYienz_td4i4QpmTk93",
  "id": "rs_004e9afce35eba71016ab46f0b23f087d09321446868802e7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.171,\"left_z\":-0.006},\"note\":\"The cap’s clip and body are visible left of the jaw centre in the close wrist view. I’ll shift along the gripper’s sideways direction to centre the body between the fingers.\"}",
  "call_id": "call_vYMdzEx7PoQl89oJnIlU3mt9",
  "id": "fc_004e9afce35eba71016ab46f0e671487d0873a1eacb6df9562",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vYMdzEx7PoQl89oJnIlU3mt9",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0981, 0.9974, -0.0311, 0.8288, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5516 left_pitch=-0.1714 left_roll=0.0167 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1755 right_yaw=0.0116 right_pitch=-0.1392 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -13.4769, 5.4359, 0.862, -0.5983, 0.022, -0.0024, -0.0479, -1.4701, 7.0906, 1.6044, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae77e8e2b924d63cad83a513244b5e96e43ff9e9a967af98e61ec98b31518410",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4046a6eaf79f4256d001d5e349712038ae8c88bbd2a1a59426fe422c0bcd1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f5f041da468b20329c07eabeca17659f4432aea27dc1f47a42930e085a3861d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.602 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0841, 1.4235, 0.9318, -0.2718, 0.403, 0.3847, 0.0359, -0.0311, 0.8055, 0.6373, -0.4648, -0.0376, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.0985 left_z=0.1497 left_yaw=-0.636 left_pitch=-0.1197 left_roll=0.0165 left_gripper=0.0359 right_x=0.2878 right_y=0.0013 right_z=0.1748 right_yaw=0.0092 right_pitch=-0.0721 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.5692, 9.894, 1.4628, 0.4567, 0.1294, -0.022, 0.0479, -1.1145, 7.2, 1.7216, -0.0317, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6922, 2.2261, 1.475, -0.5205, -0.7788, -1.0836, 0.9973, -0.0315, 0.8246, 0.701, -0.5701, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4345 left_y=-0.1943 left_z=0.011 left_yaw=0.5433 left_pitch=-0.1794 left_roll=0.0511 left_gripper=0.9973 right_x=0.2812 right_y=0.0014 right_z=0.1777 right_yaw=0.0111 right_pitch=-0.1327 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -13.4769, 5.3675, 0.8913, -0.6325, -0.1392, 0.0806, -0.3487, -0.8274, 6.8171, 1.6874, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0981, 0.9974, -0.0311, 0.8288, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5516 left_pitch=-0.1714 left_roll=0.0167 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1755 right_yaw=0.0116 right_pitch=-0.1392 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -13.4769, 5.4359, 0.862, -0.5983, 0.022, -0.0024, -0.0479, -1.4701, 7.0906, 1.6044, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae77e8e2b924d63cad83a513244b5e96e43ff9e9a967af98e61ec98b31518410",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4046a6eaf79f4256d001d5e349712038ae8c88bbd2a1a59426fe422c0bcd1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f5f041da468b20329c07eabeca17659f4432aea27dc1f47a42930e085a3861d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8Vryv3AorYC3vNn8Qy1lPiNDCwiCeYxlkuBzXmwH3gRBLqyPlhwnxbDsQAMkPDaYYoaat46Hz7SR9PaaKPsc99mGd2LAMY4ZpZbY5g77M7--QObNO57blFq9QScje7Z3JWItgt5IZyFIG2qVOYzWJQsQ-Sl1sbPRTO7TStqzlpCdxHmxQZ0VLRCnbFJVVxuMeM7qRjlnP53Y2ovPcRWlex2qTupR7HNLLBCjnyyMtItIroDEdI-VFRcIykj9j212x2kSE3Bj0Q2v_eFfJQagy77F8sdCoJydGSzQ2gLwNDcbHzICiapRYPWwcAJmzGftp183SzqNhDOD14QNWMKDW-rpDhW-6rf-F830dx9CYTT-yWWw6UFLdEdACRNTIdfN0vrGb8Pdtcd9woiq06kKfpC3r81BOWADNlqOgYbbtOpnBNmm__XtVX1yX8Nz2-zODfZb7EHcxo7vCnB_2rkXmOKMpn4TM8NHCaiqynBDalwMzkzPGBIHobYQQObrRlW0Z_aa6swTJs2c2PBpM3_5BumSB6WxAUYsFMIgv6v8vnSh9sQA6c_1Q_MSwRkFWdnHwYSMsa-GJcRz2kJcOjZOkiuD99bZBuDfGmqcQ_4GXtX_aWyS_KzB5CbMgwo-3yp8m0rYHQTwLqVIA5vdwBcN69wNUz1vcBBAXWtPv6GjbAJmy5YjrQUCSerVXadoTDVWER0evj5SIVoszchnJX3quWl3hNp6OTFTPOcHbfCGoa0YR6FgIvyGSd2kG1-ymjis73suTQTlvJqVrRDmIkDBhc9h-H2Hk9f-nspCyRmdkLD8sAUWjwa3AqL-uWkc67INBcnxM_5eoSze8sYYaMLqMdiMPiCIQlrKXVeJWEcpnntW1o_1yIE_qEVhMKxsHClxxuVyIhX4gT_CR_zff5RZ589DQUbzx6TfxsEhhg0qmvpEWua1jccB0pn-vFYrIqGvrd5oUIvt42lNSUSsujIK7UIb7ssesZ7ZsHdGMqjDhiVYYfDib27FxOFIz5W-cpGaWZiIVKCk9rqFBMZiu5gVrjiuDaNg6emSofg2yaO1S7nF6mQa2WFoxBeGNib7MkAdjJ1r75xoePGd_v1MhvVKITBq_QeDuB8GAiJpNYz92XItX2P6dS24h6R3Rpazt3muvbLM0RSthoMv7QBGE08znE6JXj-qrSxv2nnAIAOXAeNp5t3hPs83age5YXVaJLUeHgUv4fdkEUvaj_Q5pjlfxrFB4kIzvcupfakYS4HDBsbH9zw6FzT3El0JofZhg5luyFeK3GMi0BWvA6YrIUFlkhpxXjhWQdRCvZnA4StBnbOmich3JEnMpisSX8R8_-8O_x1ZrODAIkMGTrw8Qq992uVLOgXkQbJqXmAKKhlcYeWbY=",
  "id": "rs_004e9afce35eba71016ab46f14450087d0b8b392ff8b0ad0d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.171,\"left_z\":0.06},\"note\":\"The hand did not follow the sideways correction at table height, indicating contact or an awkward pose. I’ll lift clear while making the correction rather than drag the fingers across the table.\"}",
  "call_id": "call_2FpoHxdsprKqKTtZF80GZU5h",
  "id": "fc_004e9afce35eba71016ab46f151fe887d0aa8f73d7136ea95c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2FpoHxdsprKqKTtZF80GZU5h",
  "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]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0985, 0.9974, -0.0311, 0.8295, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5518 left_pitch=-0.1714 left_roll=0.0164 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1753 right_yaw=0.0116 right_pitch=-0.1399 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -13.2991, 5.4222, 0.8767, -0.6227, -0.0122, -0.0073, -0.212, -1.3607, 6.9128, 1.6288, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51a91ed270e395d97c8b1043a83595b65b987b500b2d771242fe57e534b6ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0f1dd80e29be773ea6fb5a5e67314e8e21f93b0ed44e79525dd8c522b0d739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939c069e9f98a025b696774db72cc7e7311f94fe8fa5a1f7d96238c8c43a6c8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 6.184 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7448, 2.2078, 1.6447, -0.5816, -0.7631, -0.9855, 0.9964, -0.0315, 0.823, 0.6994, -0.5625, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4513 left_y=-0.2451 left_z=0.0643 left_yaw=0.4109 left_pitch=-0.1482 left_roll=-0.0004 left_gripper=0.9964 right_x=0.2821 right_y=0.0013 right_z=0.1788 right_yaw=0.0111 right_pitch=-0.1251 right_roll=-0.0066 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -13.5863, 6.4479, 0.2222, -0.652, 0.0366, -0.0562, -0.253, -1.347, 10.5094, 1.9609, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0981, 0.9974, -0.0311, 0.8288, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5516 left_pitch=-0.1714 left_roll=0.0167 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1755 right_yaw=0.0116 right_pitch=-0.1392 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -13.4769, 5.4359, 0.862, -0.5983, 0.022, -0.0024, -0.0479, -1.4701, 7.0906, 1.6044, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0985, 0.9974, -0.0311, 0.8295, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5518 left_pitch=-0.1714 left_roll=0.0164 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1753 right_yaw=0.0116 right_pitch=-0.1399 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -13.2991, 5.4222, 0.8767, -0.6227, -0.0122, -0.0073, -0.212, -1.3607, 6.9128, 1.6288, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51a91ed270e395d97c8b1043a83595b65b987b500b2d771242fe57e534b6ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0f1dd80e29be773ea6fb5a5e67314e8e21f93b0ed44e79525dd8c522b0d739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939c069e9f98a025b696774db72cc7e7311f94fe8fa5a1f7d96238c8c43a6c8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8Zc6O8DAb4NShye41MSeZet_hvx5nBKc1aTm0Lm-NZQOSCOm_kIHg690-Gv3Uw5ZACUN4LnMYOsbYLxaM1DMCpiEBo0q1uokKO82UmYS2j6-5K8H0p8w6SJK7UvqgRAYaDddAkgwzaedTZ7Lrk0244a_SujEM8Z4nBp5KCzeM0WFfgdRYVmPPNqj_5RFrFeOXTNn6EYy-PXioyCo5uYNaMnIKptP6z8rDXk6ToB-FNHGfTiQuv6Dhl0q7otfBeyCkzrmvK8z2zlKAtPsOnka98WOEFKUDdTYo5G9VTJ9ky0zZ4Gzg1Gg8FKhu6b-lITAV7N38x9-dTMgXR4fXm490d43D3-KkQj2nTfjuDmo__BAs22gsFtuZcQbHPBJwYZ5iqTGdRazXZ9clnZU-isv91CMRoRwPdm0XTR6RuqH7wYj_1Hhyh2HucCYMnmg4D06jCoU0CmKLGVaVhk7swzn_HS7NeS4rL6BRqoHlIiCpcp0S2jcYf_OHIiBRst6KmkhjBRY13Effryb6H3889--FwymOE94Ioy7J715k6o5d02gqMWCof9sAXUOr8zA9zRfH0WixsXFvgMhmlaVIuQ_PMZbnX48zfWQKaC48DwDJs2AgEOF1tjQQPEjbgRRTo3XwRC7FAlHJDiGMy43GAFIN6OiFuuWIXOh3UQjykfR3tR2RPnmMJFTA6HQcRmrK-1p7LyqZyO72vUrjmd8OCLFWytXyDTawAUHR9PPDXRVmmfNIgtjfQ3Zz0h9o2bd59g6Vyt2bzRbwQlFnmpImz-4gKnyvWp9gZP3t1G4rxJGmFROnCYVa_EzVPxC5ggt1nNCT2rxT9ztPbXv9VyaMPZBNAcN4XFxVjedRV7fy4TLYbOuUFvlV270LtU6C5yRooTo8wXsJJ22Nt1v2PMP1Zad6DPzKGJGCDzrDq_nQOAnCi5fzLMHNLdUymw7-4j4KQ0k3T-c7Cg1dbzzXqHzl7NnX4WMK3gW63q26pzNCJqZj9nJHCP-HL9aT4XkWWMWKLcrnUNWR4DN92sUn-g38X8HZ9VQ3ktrYUJbMd3LxXPpEG5fmZAiRUyCWSFVEjg37DutWP2CA4UmWTDU_RHyCvjubRd2MycqUiBTesTSyIwdVn3RnpWXjsoqnkSC9XmChZtJS7p_t3Y-skRM-Q_B-0-cz1CKqK5yiUhiNFrYifgCQvGm4xbQuCXFRqdpvAtjbpeppNqtqOEq5HcKHhLLlivXEZaS-yYvs5N_DCb_Xh5YWgyqmTBQwUKOP5KkNxtOUGFsJTDCVFPKVyA3DInbhJiV_7WZYvRMvoJI1KSvA3v377-9-9cWXozx6bNztFMvgfaLrSIJ51TP3ma05R9uM5x6TocA==",
  "id": "rs_004e9afce35eba71016ab46f17ee4c87d089014b1376178be9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.15,\"left_yaw\":0},\"note\":\"The left arm is still not tracking, even on the lift, so this rotated pose is likely at a kinematic limit. I’ll shorten the reach and return the wrist toward its starting orientation to free it.\"}",
  "call_id": "call_2AF2wvHJaWDgSByqHgt3Pi7N",
  "id": "fc_004e9afce35eba71016ab46f18af8087d081a5e98b7d3b215e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2AF2wvHJaWDgSByqHgt3Pi7N",
  "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]: [-0.6235, 1.5764, 1.0809, -0.3786, -0.5064, -0.5365, 0.9974, -0.0311, 0.8356, 0.6971, -0.5709, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.1667 left_z=0.1402 left_yaw=0.0905 left_pitch=-0.1652 left_roll=-0.0119 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1729 right_yaw=0.0116 right_pitch=-0.1483 right_roll=-0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1145, 7.0085, 1.5751, -0.1783, 0.2027, -0.0073, -0.0752, -1.2786, 6.9538, 1.7167, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1012238c5a22a829070a70defd8b4107fbc7017483238e81e8828437625d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42e05ba6f671f30b8a91fbedf9a87b48e024929033cd16c78c402b63e088fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f82c20b0d062367a94d061898745bb430d1cc259567f369c578753a85d496cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.581 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6922, 2.2261, 1.475, -0.5205, -0.7788, -1.0836, 0.9973, -0.0315, 0.8246, 0.701, -0.5701, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4345 left_y=-0.1943 left_z=0.011 left_yaw=0.5433 left_pitch=-0.1794 left_roll=0.0511 left_gripper=0.9973 right_x=0.2812 right_y=0.0014 right_z=0.1777 right_yaw=0.0111 right_pitch=-0.1327 right_roll=-0.0062 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -13.4769, 5.3675, 0.8913, -0.6325, -0.1392, 0.0806, -0.3487, -0.8274, 6.8171, 1.6874, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0985, 0.9974, -0.0311, 0.8295, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5518 left_pitch=-0.1714 left_roll=0.0164 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1753 right_yaw=0.0116 right_pitch=-0.1399 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -13.2991, 5.4222, 0.8767, -0.6227, -0.0122, -0.0073, -0.212, -1.3607, 6.9128, 1.6288, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6235, 1.5764, 1.0809, -0.3786, -0.5064, -0.5365, 0.9974, -0.0311, 0.8356, 0.6971, -0.5709, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.1667 left_z=0.1402 left_yaw=0.0905 left_pitch=-0.1652 left_roll=-0.0119 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1729 right_yaw=0.0116 right_pitch=-0.1483 right_roll=-0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1145, 7.0085, 1.5751, -0.1783, 0.2027, -0.0073, -0.0752, -1.2786, 6.9538, 1.7167, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1012238c5a22a829070a70defd8b4107fbc7017483238e81e8828437625d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42e05ba6f671f30b8a91fbedf9a87b48e024929033cd16c78c402b63e088fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f82c20b0d062367a94d061898745bb430d1cc259567f369c578753a85d496cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8h5d6mGSOPiimDRp6no6aTu7TGHxAfn9O55FO7Qh6U_rXuPPI_3Wb4_dBFtyZn0bXKNuwgbFjkzMIXigAnQ95XvfSqoH87hSIQkRaGmbD1XAZBUrCamj3fUmRKmsOwVPrm9AZC4DDRePeFS2lfh2UF_4iqTKAG2QJOpKwa-oDOzfit7T5CFKvtyjSqnGcCMV-TTroST196qsftzQcYI76ilk4r79JmnH0-iMk8D6_tCl-6s76ICuUBeWNQ4MLE2Ee6iZyvuoRhAELShbJKrXjCUPrh9uF14YTx-JHluG8nEWcHY0z4poA2eKozp_9tar7Pr668tZmo745yk-qB8sbmst3EJ4YezdR-uLcEdW-lxkkJhjS9A-DB9hjINGlgxNS_wX3-8q2iYQJM8N0LLVdlH2ZbT0qDe28Aw0RCT_NZeGL77DvPjvE7knp7WbO9KwyWRulNRIiHntBfcb1-6raSNjdra6cUpAY2Z_TnJBrT-Mrp1NMsmmF7L_jKoSDf1El9Thfro93-70xRoSWs7tuHnLWqvTzDRVRHPuE5POAbBYwbupyXsvWGBr9Z1lV-2mebgWui34xfBJQOfgJgK3kSyV_uLtqD1O9tAtsvf_W_CYFhxnBh0N-j_yJzfF4t_yCbkOvW0JaPoquqZhQEu3oRzbPQ05gG7H4x1w2opRjY2GBpdqMZIUiaYfuW13X2H0WmSGrYcWCJTSkLKXGqODBvjVR3gOKBAUXN__gL0wgondbP_BbvYn2lHWj3ZGUdUmIMqlzwnj46n5g-KQ9xQfFgvMofjW5QiSbfzQvch-9CtUR2FhqmNTYM6GY90b9UN1NDZAjpEcUntxqJqq5eB7zfAWCZB_flzGCTSRKkPxNyWgOtH3fIVp6ktJ1eMCciCHJoOVqwhih0c93rlMSiAUYKuHJ23XYrNc-66qlO3YTr5DKc77fjio-VgH1oVDNSV5L2CJF_G9KT0qlcx5WEnJRzFuqYoa8xNMIGMpNQaQ3rYzlTet5SVf_bJQ07iUInU7EhKQIuPIM1oQ4Cd3Fu6_bHTA_q12fYMDOlTNNAE9gsHouE4zdOlnxxpkb5h0NtfOqcpxUOQBpybEZ7HUXbH4nPXHJrPSpMff-NVIX83L4unsGDsWafTRJrH1f-is_A2FxsgWmfrwNUt5GAp2MbHu5SGEEKE0eQ4OBqk-n3OuXOWI_aEAhQHPGfk3AeCjrDL4qjVnH57_JQgMnOEoos3_aD0pg746kt7sQNofM0J4X1gMtQ2s9vsmbP87hXMMBZxjAlWT6s60E1UKejbPGlh-lfMUGn27zdkfee8SS7_tPD0gjzrRolcB8ZIXQskK6R9-H4N-dxdLxj4yglG1z5hcln2krmwBEpzrnzHedSZL9o47714SvVWBDREyTVciJNW6jeJdo5VFGqh66d9-72pdb44oYxkXTZgRpS-Lkbs-yyjmHU2oskV4pXKZ1PBy-IqWBQxBqE248pm2TeOejPYftLH1rfBe7CQp84llVndp8-U9cLY4uy4rttdbKrit8twK8EdyyI_uYZtfs3aywrdYkVwsJCtGbLCNfQPpJWw8N1gh-QPIQxNyt8YO7wX8aKdbhW2428kMmPT1H0Mrj5J-D7wvb_BbJc58QR5zeV4IycrJhZUGAdSJ7IzE-Q0Bz630_0qqF_k_52aAH4yNgz3v3uPkfA7gFWFkyrfmkVN_qO2VN4461ZNZuqmiATpiotG0CJ1qkmGsFGAUxJNmb7_64dE2W2VSNgDw0BT6QlhsRpzxuhWvR86xRGYdvo4KVHnwv877hvUD29_-YfsjlyGPk6BUQsiTrYIYZKM2VV_hrI5UOEJ--vJP8QSoFp0ZHqeaHfc6E3Qs3sQLbIFQtvtnRMOkCeAespwpCvGfSQc4Q73at20PZCf8Q208FnIb2G661Vd9D6L06Lgktb2vWr8etG4ciUxUDBgNV4CEJMJVnI8UXXQTJst7wqofMrhTOUY_4FoeWhnjSFh0j-43D0n9hwBnpS7bebGwP8-XLRrCx0Su737zjhp9xME-KLwT-t48iB6rRx_UcKc2VSGmodNlGAYz5UmGM0AfWKioKXvWBpEQpPOCH7_Ft_OT7dDoM8gQbWD8AmO4W2AbxljGg1OGsOkDqZdI2wh0b__zwSeqt7s9t308a9uyxAFCgDlBjVZV9Xj4zmUt60HpKGaeYSjuntSw==",
  "id": "rs_004e9afce35eba71016ab46f1c7d1c87d0b323a7c73a4f24be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.424,\"left_y\":-0.175,\"left_z\":0.008,\"left_yaw\":0},\"note\":\"The cap is clearly visible again, almost centred and a few centimetres ahead of the fingertips. I’ll approach its thicker end with the wrist unrotated, avoiding the pose that stalled.\"}",
  "call_id": "call_cK7GhZtbsPZmTZQq6YQITqKH",
  "id": "fc_004e9afce35eba71016ab46f1ff9fc87d08d05b1b19223f9c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cK7GhZtbsPZmTZQq6YQITqKH",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.9293, 0.9127, 0.131, -0.4187, -0.4389, 0.9974, -0.0315, 0.8391, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1672 left_z=0.0034 left_yaw=0.0406 left_pitch=-0.216 left_roll=0.0126 left_gripper=0.9974 right_x=0.2812 right_y=0.0014 right_z=0.1718 right_yaw=0.0113 right_pitch=-0.1533 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -9.4291, 5.4906, 0.9646, -0.0562, 0.6667, -0.0122, -0.3077, -1.6342, 6.8581, 1.5946, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cddce62fd9883c029e5bc377e2bc12297954506212273ab5fa0d4bb644b38ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430cc612bf4c544c279473a6c99aba4eae57806a60a7435f022e21848af14bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b6e77ed25ee54484e1511be9dcb0f16f40ee458e95f6461c3ef875a112eeec",
      "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 · 2.069 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0981, 0.9974, -0.0311, 0.8288, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5516 left_pitch=-0.1714 left_roll=0.0167 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1755 right_yaw=0.0116 right_pitch=-0.1392 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -13.4769, 5.4359, 0.862, -0.5983, 0.022, -0.0024, -0.0479, -1.4701, 7.0906, 1.6044, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6235, 1.5764, 1.0809, -0.3786, -0.5064, -0.5365, 0.9974, -0.0311, 0.8356, 0.6971, -0.5709, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.1667 left_z=0.1402 left_yaw=0.0905 left_pitch=-0.1652 left_roll=-0.0119 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1729 right_yaw=0.0116 right_pitch=-0.1483 right_roll=-0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1145, 7.0085, 1.5751, -0.1783, 0.2027, -0.0073, -0.0752, -1.2786, 6.9538, 1.7167, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.9293, 0.9127, 0.131, -0.4187, -0.4389, 0.9974, -0.0315, 0.8391, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1672 left_z=0.0034 left_yaw=0.0406 left_pitch=-0.216 left_roll=0.0126 left_gripper=0.9974 right_x=0.2812 right_y=0.0014 right_z=0.1718 right_yaw=0.0113 right_pitch=-0.1533 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -9.4291, 5.4906, 0.9646, -0.0562, 0.6667, -0.0122, -0.3077, -1.6342, 6.8581, 1.5946, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cddce62fd9883c029e5bc377e2bc12297954506212273ab5fa0d4bb644b38ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430cc612bf4c544c279473a6c99aba4eae57806a60a7435f022e21848af14bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b6e77ed25ee54484e1511be9dcb0f16f40ee458e95f6461c3ef875a112eeec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8mMIhZYetD9juWmWpxg3kQ8u-sqEfaAPBcdbAytZxC_CpD-_Kziqje_OKmZF44Bg6RmyxToif4LgkywMB9NDhkumlNfJNZZDm8TVj4lfXaJxiKhzSKfLxiuPIkgMxrd3ex4IGpCTrskgRPCX-pSgJkYdXpk9SYbKA94N0ma8vLVjciVFxW9_xlTBDeKuLm2knn_s6QK6IhyclNXzidPo2E_mKnh4fLCMDrm9e5Xym7ofVS7wwhxgCXhiNg8RYJ8P7hCEwMLM_KLdhOUSi32QYW5o85DY-HpRERjjYEEEx0IWtNBj9jyMXvTT-loRbw0BpxRA5Zpjvnd2Q5_RWJlXJJAXY9ZOoxFwxOBVZEcMNlA0YlkUUDMAYgdaUOAoD_wMpJlU4sR__I3KGOFbdeS8l9M04JLMGNS7rFe7gH1Pp2S0lQTXs-M4-rqi2yImf-6fDshzehO-6yZRtpMUhzBnJWjPJDwfR_FOdbbwHmNvD9AQy3z_rPppqtbNGCOs_9_Z1CLj3MH4bWmj83rbdrZq39WVan13hPIMh3YpCYBCVGpXetvw00MZCPVBbXDGyHB3cUzQYIfWR7KUJs_RJRfXd5ynf247Nl7kfgluWl7PW9sMhfg8HzzmtrNsmMJqS1bF8GPQzgmImylK4aL9Uj-UM_E3DYXCXBznGa3LL8bCuInEe3JILEh--U3GgMbMrr9O3PVdJegMhuPX__XrRq_4Kxl5Ru7nFrzksXV35JweMO3sOxFQ-bvUyciUf-UdFcV1VxkEQenb3kVZe9F0ZxNnPRofUrY0ICbbjDcnLnXkM6UQiFmkClAoIYS6onaSMHDMlQ8ZzZPxvEywL9PUTV_dq5GtHx5pPum1ql6-xaMlIEEc8W8C3vvZygJ-ykwnNSLFEzwChtQ-X26Me5ZeUNEdYS-gzVIcpRLCu1QOcQJEmiwsseI8OliN0d5rxS_M7epO4H81Q1JgpJF5fmQbK9kicw9zn_NvAkuavgD3jLnzdQpmEhwe-pE6QUTWnqBn7d-9ls6KAupqa5E87ROLLQM0Y46rZg40Z3fThN4J9EklW7aMSLOd6CLTC3wAOG5H_C0xtmOrrmxHQargHq58vIMcHFbPmqBX3qBBkx3Bd3QNcQ21pIM4-SbgIbTp7X2nzEhUTt7M1AOFchwbWa27ADCX3LtErPzFgW4fJorQhlQdm78JIHtZlAY6b8p5EvtILgUxNSeDBErgFSnM3QP3M2lPVYu5IdTcI1irGsD5xehPRcVtul1V9PHRvpCk09vSwbUzUmyFbTxIn54WnSvXUJ1jJXrg7HA2zFHPMXjwSqSbg_tB2fpMpW4cTARf79Gj-sK5AuD9p8ja4JNbu3yuVcVRqNhoRNiXYG4p0W9APuGAfAjmOwrS3qD0pMxmbgK_o3hpi05HFAgMAdR59AEmqAOD8n9wzmIUpJ-yIXPtlztf7xzjN7tLjznlwsca27gCzVznVssGvV_0M1VDpJG0QUMQZRlbtTQ624AAZ-w8dKkELnjTtkOya7PpHtjI8YfkKklZuir46YXPNLiyS2uw6PIGDRwDQ1H7d6FHSdsboqgbnSi5ajSstCZMUvnW4uUUajBab_QVriJXkida53E6vsD9KvNg==",
  "id": "rs_004e9afce35eba71016ab46f23470c87d0aef6e549231a0145",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.424,\"left_y\":-0.195,\"left_z\":0.005},\"note\":\"The cap’s body is now at the bottom-right of the wrist image, just off the jaw centre. I’ll shift the open fingers about two centimetres right to grasp the body rather than the clip.\"}",
  "call_id": "call_gUxgXuQN4CRSFhubwpPLchqH",
  "id": "fc_004e9afce35eba71016ab46f25579c87d09d83a056ee52d838",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gUxgXuQN4CRSFhubwpPLchqH",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.9831, 0.9905, 0.1108, -0.4381, -0.4698, 0.9974, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4222 left_y=-0.1898 left_z=0.0041 left_yaw=0.034 left_pitch=-0.204 left_roll=0.0005 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -9.0735, 7.2684, 1.1941, -0.3639, -0.0513, -0.0122, -0.212, -1.4427, 6.9538, 1.5702, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fa61e8dabcf0fd5a38ad8fd931f0330767906b384f7144476a21571069ff0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794ead242b6e0aa5b58d524c32ee45c78ef9a09f2fa940d5dce727af75732ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3de1e85d3586dc32cf94b9c10c58ac3c02ad1821df5d73b2a52d8694434729",
      "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 · 3.951 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6876, 2.2261, 1.4609, -0.482, -0.7784, -1.0985, 0.9974, -0.0311, 0.8295, 0.6983, -0.5697, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4375 left_y=-0.1942 left_z=0.0093 left_yaw=0.5518 left_pitch=-0.1714 left_roll=0.0164 left_gripper=0.9974 right_x=0.2812 right_y=0.0015 right_z=0.1753 right_yaw=0.0116 right_pitch=-0.1399 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -13.2991, 5.4222, 0.8767, -0.6227, -0.0122, -0.0073, -0.212, -1.3607, 6.9128, 1.6288, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.9293, 0.9127, 0.131, -0.4187, -0.4389, 0.9974, -0.0315, 0.8391, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1672 left_z=0.0034 left_yaw=0.0406 left_pitch=-0.216 left_roll=0.0126 left_gripper=0.9974 right_x=0.2812 right_y=0.0014 right_z=0.1718 right_yaw=0.0113 right_pitch=-0.1533 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -9.4291, 5.4906, 0.9646, -0.0562, 0.6667, -0.0122, -0.3077, -1.6342, 6.8581, 1.5946, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.9831, 0.9905, 0.1108, -0.4381, -0.4698, 0.9974, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4222 left_y=-0.1898 left_z=0.0041 left_yaw=0.034 left_pitch=-0.204 left_roll=0.0005 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -9.0735, 7.2684, 1.1941, -0.3639, -0.0513, -0.0122, -0.212, -1.4427, 6.9538, 1.5702, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fa61e8dabcf0fd5a38ad8fd931f0330767906b384f7144476a21571069ff0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794ead242b6e0aa5b58d524c32ee45c78ef9a09f2fa940d5dce727af75732ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3de1e85d3586dc32cf94b9c10c58ac3c02ad1821df5d73b2a52d8694434729",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8oDogahSbrNcEqIQtL8pMTIcOlmmgUpwEyX_UZs3b2eOM4BFi8bXa8LVGQZ_f0Cp2o7tEjOi2in4r2ELnMpnX93JjH5O7g47Za6hOw_1bKRHwb-ozB0lKHletQrZXlnqS_Krg2MaAxizd1xHTm_nNui60rNO_GUUEJ4nPxG8KrQrtIxacKaPW5Mdxm1UiTVAxhFI9nk96rKe8yv4QmrazHScrPnkebBRLa5EpcdVTs-_-yoiWLT7oGxX2fQkwmLFkSfCdZDOSdTx4zQfpu83gr2akw5z7eOCnxtaiuX4V6GTM5dKLkW74jiA2McAuxHwNZuUNNskwSzt3tH8-wL_oWXSutxsvCqAxcw0V3nyyuMbYCXhxmI69dK2ioVy0TFDAfUxmdkW_VaWBx5t0ZRrJdRQBAExdL9FsHKm0hc7-XRI-lsURrBXLMW7ySCydZKA2nUxMAtz-a_DNYxQ0DYrHzE5iY_4-l-4pjpEB37QV6T6flg2YBcQx8HtoB8unSPCV4zWLU4qxrGF_mvCT29JIbguIU1q-iXGbfgSUkb0NUFT5aTVzRScpVbGShIYyAxWd_PyeDTd4MZ_He5bmuYVWqbWKvuKc56piv20CjGLEys0cR-27bF7uHeRDB6PHdnjWvoF4hKCu1Nz5Q2jikZ7g2nlLig5pK5Mu_RKx8d4dL3lY3c6_hRHQl-azIGSEVb2sZLHnzInJzHZ8tV3A4oUgog7XOIzrrs1ZGFbKUB8PDYKfIHJ7shWYmBx7pcJuMzbSnXQO_7JPQJC3VoCaJ2uRMMvjReuHFLC71gHancbaPRYe8VdywTg58ndkE0PltAHXEuq4193hEmDhXxRwaEbqmmedY4aAx7WCK0l5c5Lr0ZYvzDEjREHtxy8XEQ1RF3J7Scen4HnVPedD7oibtEVq_7YStuO0BATgI-9-U2Vyp8GUImogcG-B68ZC-xs-rKmaSei8EFph3pWcgYs4jKg1wZqA8zA1_WuJeswuWr2Ey4uSosRnGWE-gUXyq94fhl3sfKc3Gpr0cxTIgebSevhS7iziRPupe16n4pj55bL_MncagAZiRPyzSMexlpa1zqUhtt5qPusoWVVo9gy8_BWfukyhykkjlrncDRRaO7I0NV8EH-AdNlRW8aHhrkL2eZy_Ntvv-pDqZG6xGrtWCkrZGczFYTFJ2MA2BLVtPfcu3p-6Js9Uw2lFGgb_B_KnozhB7Cu-W7XX7-YGdDKsJkq4EXV43QJT-AtVXkHbdFTGKZjY=",
  "id": "rs_004e9afce35eba71016ab46f28007087d087c461dd4cd7250d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thicker end is centred beneath the fingertips. I’ll close the jaws for the second grasp attempt.\"}",
  "call_id": "call_ppIPIXUDu1EQX1LwTJDU9ggr",
  "id": "fc_004e9afce35eba71016ab46f28257887d0b0569f8c2a03bb28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ppIPIXUDu1EQX1LwTJDU9ggr",
  "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]: [-0.5957, 1.9846, 0.9977, 0.1345, -0.4515, -0.4805, 0.0104, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4277 left_y=-0.1925 left_z=0.0101 left_yaw=0.044 left_pitch=-0.1743 left_roll=-0.0167 left_gripper=0.0104 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2239, 5.2581, 1.0769, -0.1099, 0.105, 0.5104, -0.0615, -1.2923, 6.8718, 1.5849, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aecc75d849ab6283cf385f26ce4105ce0528da1fafdf29c62eb5994fde6c266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2182c23be3e587e62bd88ce7d3e5b869c93784f0038cc82a2b4ae2d3d26e375",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3447d257fe462a68b92e03ee3e942b60ef2f0882e4cd9e88f57e246359ddbb42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 12.49 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6235, 1.5764, 1.0809, -0.3786, -0.5064, -0.5365, 0.9974, -0.0311, 0.8356, 0.6971, -0.5709, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.1667 left_z=0.1402 left_yaw=0.0905 left_pitch=-0.1652 left_roll=-0.0119 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1729 right_yaw=0.0116 right_pitch=-0.1483 right_roll=-0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.253, -9.1145, 7.0085, 1.5751, -0.1783, 0.2027, -0.0073, -0.0752, -1.2786, 6.9538, 1.7167, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.9831, 0.9905, 0.1108, -0.4381, -0.4698, 0.9974, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4222 left_y=-0.1898 left_z=0.0041 left_yaw=0.034 left_pitch=-0.204 left_roll=0.0005 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -9.0735, 7.2684, 1.1941, -0.3639, -0.0513, -0.0122, -0.212, -1.4427, 6.9538, 1.5702, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5957, 1.9846, 0.9977, 0.1345, -0.4515, -0.4805, 0.0104, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4277 left_y=-0.1925 left_z=0.0101 left_yaw=0.044 left_pitch=-0.1743 left_roll=-0.0167 left_gripper=0.0104 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2239, 5.2581, 1.0769, -0.1099, 0.105, 0.5104, -0.0615, -1.2923, 6.8718, 1.5849, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aecc75d849ab6283cf385f26ce4105ce0528da1fafdf29c62eb5994fde6c266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2182c23be3e587e62bd88ce7d3e5b869c93784f0038cc82a2b4ae2d3d26e375",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3447d257fe462a68b92e03ee3e942b60ef2f0882e4cd9e88f57e246359ddbb42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8t-WXmzkI6DweNilPtRTaAPJ2w5kfqHbuXYzAN5HhIBucC4hykGaSa4gFyobndhvhBTkvw9j64BtZHvCc0F5Ratpko42d_wIB11O8b8SPulhtGY6SAJ6TP_Z744qazQVOdCZ7PLOPplHchM0lpFhsBZmwxHOi8P8NdQvL6LoqWfxgLFzOIRUP1WjKu57mpa_G9reZeVoRpc8cAaNlEQKJiunaPeJG7vR1ZXBCn4K63fo1O30hxxcoA7gT5gA1rkcNXYqsydDfL0by7zdOUtTwe2STrLMJ5VI_5tRS8TblRVfxWIywMULX6x_uMwUbPH0CGyVD84wD6zUJ-99m-Q2sKK8IlZIEaABLR97KRB9s3Eq2MooZNoz6mtjd32uymPj4wAUp8AhwMXOPtNS8ioguPck5Olbk50XAEb04MaTPNh9BZ1cIRwKsjVZIfSyUSkUc0WHgaY4azkJbR4S40iHIlBu2t9C3LbPF7vyy_jxnqvMZikylIP98_KH1RCqXvu3YUGSs4U3hkCVeJ4YtfLAP1nc7eGhh8kpbiOL558yy__GughSRrLE3DZdFcddFNfwH_AlxQcWokgLBTNqR_yqJgU3AwRk-yK8gyW05lTmJlmpHx8Q-dnf8CmZuttGGYOakCTAY6ntehBChnAnvxwSbW3SPq90DlZS0KMxsbabSUGoZ6rvFNK2NLm4_AqgG1WrYaicN0Tw7whNb0lMBoqOoTqBCg-CmfFKvpc20Q9o9J16-kF8lJ47ws3UytqrFNF0K-7xZKuzfeonv041Wt0vpqbm7JhQ3rOwVCqipGhNH22vtnILMDsnjfkQF-WoascFzp3NqDkmt9Qak4GFQOr2zyGNlwijI-2_oXEOr2k83TDGFxWc-NgFWc-Z4EG3irs8AA3hWDPOlB7Mu32lHTA71WnwdawuT0I-qowx0xErMUgwhQ1niPdXEu94cqA_hyr7uc3s6Hk_vphrlN07gnHHm-B1WoDnEB_RbH2yfiY1aNo6qYaBmx3dtngc_aH68Ua_0h850f6mM03pMWMMzrV8ABxuw2sGd_rogjKj9OtJkLKERstL0eCgmItFTEfb65u9wWEGZcmWH6ms00LshpD5reHJpuV0icdzIWPXbzkNGn1sn6Z_MlLCJKU9PqGJwaRpKJJTSwx7jyZuUNQV6kr2xVTVsDAVVh3fgxvwXubzXcQ7jflKfxA0fDK0Jn5b2xR_K6DIr3mhcva34tZpimy-I-a7PzWajIYhSuZdXvxuwE6GjV3fGlfoDlDJkAuSMjC0fJ84b4UNqbT8y2tvArds1hhhzqXo7L9Lf1q3leJ6YJrPIeW5gKhbX7LmfOZarW8UT9r1GrypQ7Sx1zfp9Yn9gInmW-Bd7uq9PR2dODTB-V7N7G8p_wzdqyr3pOrEHYTq-yj-HTdHE4NXcV_8UbXrnfti6SGHivGhhJRpp4satG8QwdP0jm8M64qX67NXp_HYEKyuUcN8VoSWuAjF6maKAhSmd3EFOkVRo5FFRikEoeF63OWE9o5BYU43br-nRzR9ccpDZJXZ5NFQ0qa-OlUrcFVCUBijiN8VELNL--C5qBQkS5A9vmqllZ3z-oOUnqZy7I0T3_b9muYUwB9tRdduku55ZH2TLbLoVvA91fBTAJq-HE5nX98a0bwiaASSpDk-LEdKR8DtQf1XjeJHLOwO8BGx3UpdcE79XXQERmQu9QvTY=",
  "id": "rs_004e9afce35eba71016ab46f2af2e487d09f5367c1909f5be9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.38,\"right_y\":0.28,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The second cap grasp was also empty. I’ll clear the left arm for a fresh overhead view and approach the longer pen with the right arm instead.\"}",
  "call_id": "call_Gf9ApQkaFy8NfbcV3Vo1JJ0h",
  "id": "fc_004e9afce35eba71016ab46f2c85f087d0b7a387f472d2418b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Gf9ApQkaFy8NfbcV3Vo1JJ0h",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0696, 0.9611, 0.8227, -0.625, -0.1101, -0.1284, 0.0129, 0.8276, 1.7859, 1.322, -0.4797, 0.5465, 0.5671, 0.9991]\nstate[eef_state]: left_x=0.2982 left_y=0.0023 left_z=0.1843 left_yaw=0.0903 left_pitch=-0.1878 left_roll=-0.0211 left_gripper=0.0129 right_x=0.3708 right_y=0.2731 right_z=0.1352 right_yaw=0.0444 right_pitch=-0.2037 right_roll=-0.0425 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -2.7282, 10.2359, 1.4676, 0.0562, 0.105, 0.2466, 0.7316, -9.306, 8.9094, 1.3504, 0.5934, 0.2857, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69447d8f7964648d2d49cb8bdd008da38fde4d906b97db47ba9b0d52645b6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c77988e88f2d449f050e43ca240d4a1ab161af5e38f07150a27099fcc96ab16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbdb2cf66f3481d5e29e0569cab5f4d6b30623355c3fc15ddcaed1236d6ce568",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.701 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5549, 1.9293, 0.9127, 0.131, -0.4187, -0.4389, 0.9974, -0.0315, 0.8391, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4129 left_y=-0.1672 left_z=0.0034 left_yaw=0.0406 left_pitch=-0.216 left_roll=0.0126 left_gripper=0.9974 right_x=0.2812 right_y=0.0014 right_z=0.1718 right_yaw=0.0113 right_pitch=-0.1533 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -9.4291, 5.4906, 0.9646, -0.0562, 0.6667, -0.0122, -0.3077, -1.6342, 6.8581, 1.5946, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5957, 1.9846, 0.9977, 0.1345, -0.4515, -0.4805, 0.0104, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4277 left_y=-0.1925 left_z=0.0101 left_yaw=0.044 left_pitch=-0.1743 left_roll=-0.0167 left_gripper=0.0104 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2239, 5.2581, 1.0769, -0.1099, 0.105, 0.5104, -0.0615, -1.2923, 6.8718, 1.5849, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0696, 0.9611, 0.8227, -0.625, -0.1101, -0.1284, 0.0129, 0.8276, 1.7859, 1.322, -0.4797, 0.5465, 0.5671, 0.9991]\nstate[eef_state]: left_x=0.2982 left_y=0.0023 left_z=0.1843 left_yaw=0.0903 left_pitch=-0.1878 left_roll=-0.0211 left_gripper=0.0129 right_x=0.3708 right_y=0.2731 right_z=0.1352 right_yaw=0.0444 right_pitch=-0.2037 right_roll=-0.0425 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -2.7282, 10.2359, 1.4676, 0.0562, 0.105, 0.2466, 0.7316, -9.306, 8.9094, 1.3504, 0.5934, 0.2857, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69447d8f7964648d2d49cb8bdd008da38fde4d906b97db47ba9b0d52645b6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c77988e88f2d449f050e43ca240d4a1ab161af5e38f07150a27099fcc96ab16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbdb2cf66f3481d5e29e0569cab5f4d6b30623355c3fc15ddcaed1236d6ce568",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG882r-mMG4sq-plHpcZ4J33aCXSh681n3PZr5knHdQgqDr4WmiwfILDBvgX8_yIJGIkazN8ikiHgrA848t27p5vJfwcMg-Qx2g4OLJ75CY__rSx6mufmzjS7G32FpDiczEaI5aWzBZdMjmx0PWZhXR5a4iPe-0ej8zLxaatcqHNKye53Or9GF4fmynHrhysZw9w79J6IUO5r1Oy2NvIN2RjyeRh-HSUnKLImHiPXJjRWHZ6dm-PFOuZ_ooWeAnBz71ZFak3UZhGvpoE_2I0x4iDFUyAMrxqFywcsXsEWVikpW75Q73rqao8XViRYTOohh0Nrk6aejd38JA5o5xQj3N61qS3z3s_imPZlIViUlT5rgPARQ28h-NbZ6XHbbz0HBtxOEbKKVbxYcM49Up8v9xmJMEQ5C3i9A4scAVmHOEjc1HQurNZ-n7bcHHf_lvlrTX9gk2jftaR-2_uY6b2nmt6Aq6W0_lhykh6VS0XOQC6MdIfJYE9-bcEh-38zfpEpXuyxuSMPVjZiFkHMSuMv4hsMLqDYUOXBQBt4DvFJyUjPzFMVhzvH6xhBizVV9abyXH8fCdynkr_mu4xSzfCC00MGBUV0_eCosRxH4Wr18YqDmQhSPCsNaJdjcYHz09KgguQcjwxNCOvBQcZmZU-2ECGE30d0bXhob9blSjUpa061StoToUEUMMzqhcgC2JCdmrT1sOZaOs8HrEXN1bv9lPj_HTnaU9tXV9exsTqSO--hQTI1Gb7iTYloWtPuz2VpjpcC-HeoN87OUHrtnU8_aTxrzxPHpsUteZ0ZrhrYe0uuQPa3FsBlDjvk22ERY44AzjCJ1RscpG95eOmfNXytAfi6vrzJ-yDKP_4XqgFl-5wPjRk9IwFQLSa3ba3K2HASiyEp6K9S_RjVfCYJ4EGlXI9FJs1NaU5pvAC7Bz9QiysFDN5wocKecq2WLkEHF-J0Ow1ZLcdpu7pKNjzhJG_3ejYe3sIFeTuoBPW518KJjdW_4Jo2Q_Rn-OZJutiEwjX8rxczxQ6CXQ_wt65hNot5gWWv1xJi7ZkmyQ06fIBnZaFg0POx-rC1GB_Yk3C4_AZC5aRv5xGG-xI6IXhOdlwSOftgQZrqSnEG_mxBJ62F2MuJ7_yUeZdEqkbX2TVG2osWzCzslIyW-hgIr60HRvMqpU3X1lx6jb3I5_IVqcPObBnAiTXDd3s4v9RyhGMCFfvaiz4EGcog6XXTtAROSP2cl04MXzGl2264_Iq7N3qd5aMQdZDdJaN2_KJrGUMb7jfkFpKmrmXQwK60HQl9OOnxxkNCCwdn3Ir7WgmMIzJ-WGhRz9zj29lT9LAAIhqwS_J4HEO_mTwnfswQQVmFkq4GRqe1rlZXAAzXgDU6hfEPTdq74uHTZD1ZmtLWrw7FVsI6VpBuxRnaj7pknvj73NUQ0yOn4hO3aVqA9_g6YDT9ZHwDGzN4WSIYsZfI_ztKZmmPtN79MiEK_rVdVjVJkpWO5-6BMPVNuknZbX-P3Q1hjyf1cxgzGFDeCDMA56I7cpH6qkC0ZUGnz5cIzN82E_n8fL67IcnoI7J_wXgs78XeNgK9_dnFkag0xqwl7AzmH_w7LGmp0haJZ0oZrghNpYSLjm2GZVECMDKGo3FBWVfYCj5vpyeos-kiQYQfP4V8TsiLMNkCeasSk7gyBwmWwIji-eha2h5Q8ou2zFpci8Ro6upYP1M1_n76stBaeqTsPrZkYNFzjQSb1dyiM2WYi4NS-lRXI_Tm-06Otg_wGnJb0RzIJEJw4ZU_t54CYfNjnfA0ZZuUu7HpyOqCExmvCm5lnQ70nQO39FKOhaw381knuK46FnK9iaaK50DrdshaApRtADRr822GFiiXGtrKnykwDevwpXnop5VT7z9Q8I8ZKQtgVfwp_mBEt4b4fRqCwHNwVVUIJDnbx2v6D26qftS0dV9Vga2oz5zFxou-Keido1voZUnv96p9J4rxpetmZYCaLlkquNGZyGmeyD6k33ovOitUWjR3ztKeTHSXLL5IFfa0V02zLd48vCONYkzmuWixJgj-oDMtv68417bAFEU9fyMBl0JK8ufGWJ_ApTgkHqT70dohtGYWG_tbcaPJ9n370CiBPgSfgljKczGui4Pbt9jy6ryvev_VXCnlJRGICbA9IQDOZZb2pfyqJlaPiMV33tEpG6Wp4mAql_TP1UFUiV09WjNr57Lz_uCZfAvVmNJNvEb0noNGPqs47nJYBFkB8EeAbiAMFOfO8ktK904vun7hT0qfPQR8D5tL3gQAv1AJitQwOhUrh9ydWLlm_ux5udvgEaniTsp_BWs0yEEmZRfSwuFMLS2B10JLSd7-KiFv92W5_RA0oysJoQeFFoi0h9qbnjjdlk2CSe91gO7YCT45_Fjh8KSQJfAmluKb5BYzzV3vcA6M5ro71GyliIdqPbWJ-LtYsIYeu5Y_jk43gEqof6m7zp2ObnDVIUWguK5p52FrDnT7h-0tBhfy5j7D68Kh9ROEi2Asn2YVM5MMrbAtYTaijik4JdYQjyxWzcu7qkDz6oFz2PPlssxwioKfPyEjkPk0pCZylmi8J9f4E5pla1G3xCWDO5r7O9C01ebv2UdfYqkoQG8rU8ZVGXqafWtuffRFgDmDsm30icb9Th8YmYORMunEjD6EekJi7bmkYtaY9fr9UWZrOlEfiUi1chajp5m5-tGWoDefEm62g-Ym8N018xIacegxGXQtK7G6g5kp4Ms8OVTdxMjqW1yVa5q17GZlXUu6lbrATw5SXLMvvQ0WggXm-FzhjASa6k6MBxMAe3JkmAF15nYeuWZhmjRiv8yL9pcWAHlenptzc85cFxQS-CPg1I_Z4SI8cliCofPW3ZJB0nCb-RYwGepdw3vIUOWuWn7wMG-mDrS0u9o7Y0G2TzHN9kfGngbHCaiPbzSxLrjZEFJC2XRMOFHSIG8wPUBXcmpftZbwwQ8Gg2xupmX_GCpMbIEKQ1Waz95k2PW9JB0Y346JesC4-ngyCAxM0ccAvW3VsiWnWbKMlixI89O0M3X-OXB-Uwl961RtxHS9zsiT4Me2BfKCOOwezbJxO9rK00Vlv-PE_5cPGJNe6e9iyASGSPR0TD62JRnjSxkCaQ-ET9p-7_fvUMuYtynUF3bOswauYOfXfReHdtXJWHza8mD3NzGIzYhSL_jRkQwiVZYDdZHOQ3xXgyWXusBm7zSgfiTrMomB__aXEruxIcKFTcQNNpUgBJDaJ_-KvhvbVPuBBd75HHfAh7xx7vHYQPZJkre_wkvacwuP8Lfd_6NlPqX23AKac4TiPhpcPBhEd2BPgY80n5FkbzR20TklyrlwH_y8wFLwJbH-B-7l9cVj9Qzy4R0VbAbw4oWCKjD_YZdgMnaA_MrEyDmMQU8ccbM7lRKzKz5u5a-OndJz8-P7DuiAq5UvrrOM76LQ_fe7MDwiX6pXHQS4OYdBu3svjqjrH42_KI4Br29euZVJRA7pGQlqcZcQ_xjyTtOpy0Tpjz0H6cukJdarElb0eUWavRMwg136fPoKjoQ1ZilyWnvhcVVcGujJjVAmrEBLjfLHgZcJtupOq1ddwZNukyG_9DdnWdytejmRIlXyFjYUeRBZ_imkfB6f-P7lf98VdZxWaarNbdxI1W34F-wNP_kfc1_WGVTKFXM8AHH2I5IEea4M5lkvd7Ta-5IV4i0Nxt2H_SF68jAx_oVPE1YHppkIeB9_hgC1xhYxD0KsyB75YjGqADjjA4g4SsJTbz2_dFmK3WJSlIXBOzPpWX1TdSqLgbWRizPuO4y86DWCni8mKfPbXS5pjwnQ0QjBmCChNu1TfSLBtVNqjX4qrwpmgllF7tqP0V72pcQhxuHIMxjf9UHxa5LsGUj0ZlpEuGlvHSqnDoFftSD12GVajaYRH6v_DVI-Pl2l2ztMerE7rcxyA==",
  "id": "rs_004e9afce35eba71016ab46f3157dc87d09e9a68fa38174c9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.245,\"right_z\":0.025,\"right_yaw\":0.45},\"note\":\"The pen is visible diagonally in the right wrist camera, with its blunt end down and right. I’ll align the jaws across that end, leaving the writing tip exposed for the cap.\"}",
  "call_id": "call_mbMTafzKVuvvAf2IGV98y3LJ",
  "id": "fc_004e9afce35eba71016ab46f3b68ac87d091fbb8a6aa4b39ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mbMTafzKVuvvAf2IGV98y3LJ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9638, 0.8261, -0.643, -0.1001, -0.1295, 0.0142, 0.6861, 1.7542, 0.7734, 0.1116, 0.2325, 0.1841, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1818 left_yaw=0.0849 left_pitch=-0.2059 left_roll=-0.0262 left_gripper=0.0142 right_x=0.3412 right_y=0.2314 right_z=0.0167 right_yaw=0.3699 right_pitch=-0.2782 right_roll=-0.0599 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.4684, 6.5299, 1.6825, -0.1636, -0.0366, 0.1294, -0.335, -6.7487, 6.0239, 1.7998, 0.0415, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d9c7f05e39e82fa030d150d46ceb8e073bb1565b762c5f287be9f256082d19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56fb34f5c4acc8ab62f74ea5353e3de19c63bb07f4971ceff2fa4d0626843b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a8e8f82a49a40b1591f704900075cd8629f1cc76b4d44118853e46685b7ef3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.972 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.593, 1.9831, 0.9905, 0.1108, -0.4381, -0.4698, 0.9974, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4222 left_y=-0.1898 left_z=0.0041 left_yaw=0.034 left_pitch=-0.204 left_roll=0.0005 left_gripper=0.9974 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -9.0735, 7.2684, 1.1941, -0.3639, -0.0513, -0.0122, -0.212, -1.4427, 6.9538, 1.5702, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0696, 0.9611, 0.8227, -0.625, -0.1101, -0.1284, 0.0129, 0.8276, 1.7859, 1.322, -0.4797, 0.5465, 0.5671, 0.9991]\nstate[eef_state]: left_x=0.2982 left_y=0.0023 left_z=0.1843 left_yaw=0.0903 left_pitch=-0.1878 left_roll=-0.0211 left_gripper=0.0129 right_x=0.3708 right_y=0.2731 right_z=0.1352 right_yaw=0.0444 right_pitch=-0.2037 right_roll=-0.0425 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -2.7282, 10.2359, 1.4676, 0.0562, 0.105, 0.2466, 0.7316, -9.306, 8.9094, 1.3504, 0.5934, 0.2857, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9638, 0.8261, -0.643, -0.1001, -0.1295, 0.0142, 0.6861, 1.7542, 0.7734, 0.1116, 0.2325, 0.1841, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1818 left_yaw=0.0849 left_pitch=-0.2059 left_roll=-0.0262 left_gripper=0.0142 right_x=0.3412 right_y=0.2314 right_z=0.0167 right_yaw=0.3699 right_pitch=-0.2782 right_roll=-0.0599 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.4684, 6.5299, 1.6825, -0.1636, -0.0366, 0.1294, -0.335, -6.7487, 6.0239, 1.7998, 0.0415, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d9c7f05e39e82fa030d150d46ceb8e073bb1565b762c5f287be9f256082d19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56fb34f5c4acc8ab62f74ea5353e3de19c63bb07f4971ceff2fa4d0626843b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a8e8f82a49a40b1591f704900075cd8629f1cc76b4d44118853e46685b7ef3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9CcZuVniXhFZhzOZJeeezlUUggE_clXRualGuqIsupyxVwdg1MSBx3cbOOtR9T2wiL_je7bBpLqLSKxt_7_3lQ6GRpcdjRjKb1xvgVI935I3zIMKMjFdglVSRDinJ3-CNhkxqfdtKYxJvjri-c3M0S4tXDblfF0olP94dQb0TQTnu41YhlYv0m3WytpwqQlW5E2fKI2Ow_DACmR_X7Z2ZExisAfC-UalZVZyustkTeNt8B53LdeXap_QztYtCrgzJpeg8xRXzNJU0VYX8tjeMz2WqzBM7UT9BEFTrxsNLB7acopB1S8cbBpLShqkd0SVfOyuJaSc2nuChR4vhjh6UMiJSMOCu9K-OQbRVNVlhj0Xyd9oMrrfr4KleNEU9SNcCvjqaPTKaHaz8O7cBN8uoax6GudLLczy7U-Li6o-6RLtPvQO_W37JbWYMOeNCrdd_S68A68Lw_YwXpRfCDSIv1zxu7MEE7pIY7QY33tu4eViCfWFhW_TAeIwnMaxDGtj_BYC8zJeydsmKYZZIv6yFwb7zQr_Btxf3gZ4hVwi_hQg5ZQIyjIiHhqcvYKTC213cGBd7bKOJK2HmintErkEx1nUuGBEw4_2G11JBOoesIAy7-NqMFBzHRTT0r2m84WGEwjsp6tYitA-cY3B6f-pDpHZ4bMgKh2Y4D0bWWxgn3VHoEBc3L9SUiy3Nbh6V2avlbksuR3SWt1vjkMVpe5153_MKQiYu_Af6tcYcAesgW99sOQ1zVD1nVE3owpqzS3uUbAyEi9vvQr-oYrb_pa5TJMmOOyC55uk-ddyk3Ns9LQv5pHD9ZugmRRwHFbv9RHh9kDa1dzxMoMarUYMtHb2SRA0gZxz0vs0YqUGZsOtlWRiP0Wi48DXfrh9N7ZV-wDRxSktzX6ULx7manJAVkhDJk4qc9qKpHW9jmOJqhXpi6ehmV1pXhP7BK8qVw-HEu1gvIAAor9Ld1myYCpVQ_iRg4om6mXHo3vKh9nJCCoSCXnMQ2unlrGBHAKfah7ZI3RCAGYYx-pdpBo_pJRxXXMiKLpABDCqbX-YdDQqb3jGHJpyMr80HrG05-CV2GbDsbE5WvuC6j2F3kCAlNFCN50nFlybAPcZZP75JS4lcCxPaeNEVfMEoFOmcleZSHI2gg75vxIXC-Zp-ShyLaOerG5I64s2ftJcmbDGygC19zGCKrirZmjgbLOLm2Mc4MhisWNkvK65HrGGWwhQlPscxzsE_gupeHm7Yt5Iu8IjvVDbytMuiR77lbXPIwsZ60ZLJKWcfNKYkQdy0IM5u925Alf1_jFFnK16wFP8ElMT5bNvB0zsEtUHd7oS6NVr1OkwSP-6mxuUFfV-W8a7R2w_WU6xr8CQxy8tAQcgoZlqmBAvapwW6cI2f_N0xT5R1zAUGbvPndW6u7FRxDTwwEBds0DmQGaz7eKdnCGk8cGP9H0_b7e0ImgdOa-pthhvegWCHOzGM5OZAM5iBPTeFpeYH8pvHo4PfBbK5wFYrMUZ_nYOTPnVGBTQkL9AgEGYSm8jF-duWWRrYWm3ZJsuCA4wZ0p3-qVj-YD3ySV4jJmkIzN5CxaxzhV3d3I4oYqXzklo0BA9N9pwezeeTD3iPCrEg1jZkHc-X0w-ds1hQvMBKtOFneIeUX_cWXv2XTQo5PBHWHcp4S5BO833LYWqEehoKqIVilhWCrW9z5hTb29l4uqQdaCqJD_rllk4UDNhRgM88IsoPLvcrlzK9q2gGpuFtJiL1J-wirgmIXb3FjUcCAuOr5HJa0-ntLYdaRERrCg7ZlVUgNSIXneQJ5ENpCq0lcp7MkvdapW4iuR48bWCy1QVa0lHbdOT_U6PqLc5Qzt5PSDsKy6LiGm4FeXPJOOdFh6v9py8wEQZj7oqzNVSLnGEjvxsWTaLouQNloXJVxsp6Sb9COLED1DoPeU0ZL6bGrH2VQ5JNHnOHByonr7-jETHzVL1HXiQhDy3lwPTupIGnNscakbd_3qGeMSZ5yx-Ey9j6ELKDEZUe08kchIUPeIQNX1rbzzxaFZaxXLS85m65mR8Pm8Fjxwhk6kWIOPmnWzXLBPrvZsuMvNaHkF9TcS6EqRio=",
  "id": "rs_004e9afce35eba71016ab46f3e72fc87d0bca6eeb00b6c0c0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.213,\"right_z\":0.006,\"right_yaw\":0.75},\"note\":\"The pen is beside the right-hand fingers, with its tip pointing away from the hand. I’ll make a small sideways correction and turn the wrist a little farther to grip near the blunt end.\"}",
  "call_id": "call_P6s3AqUES7okaUBGyOgL3VPN",
  "id": "fc_004e9afce35eba71016ab46f41703487d09fc377e627d10866",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P6s3AqUES7okaUBGyOgL3VPN",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9653, 0.8253, -0.6445, -0.0994, -0.1295, 0.0155, 0.5011, 1.763, 0.7303, 0.1875, -0.0277, -0.1074, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1807 left_yaw=0.0844 left_pitch=-0.2097 left_roll=-0.0262 left_gripper=0.0155 right_x=0.3566 right_y=0.205 right_z=0.0071 right_yaw=0.575 right_pitch=-0.2849 right_roll=-0.0555 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.7983, 6.8718, 1.5116, -0.0904, -0.0464, 0.1197, 0.5265, -6.8718, 5.2855, 1.5946, -0.3053, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0867dda0f672efa4077e52c3d5a2558ec4b7a7e4cb37a42424a43566edf707",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856c46e595f3faf75065b081df24f8c0f1596d7b111ac415287fa2fb18702a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e2e4237539d717e67cf6c6f24348c4f680953b8ec15cfe1f7d1214f37259ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 5.301 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5957, 1.9846, 0.9977, 0.1345, -0.4515, -0.4805, 0.0104, -0.0311, 0.8398, 0.6971, -0.5724, -0.0376, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.4277 left_y=-0.1925 left_z=0.0101 left_yaw=0.044 left_pitch=-0.1743 left_roll=-0.0167 left_gripper=0.0104 right_x=0.2813 right_y=0.0015 right_z=0.1716 right_yaw=0.0117 right_pitch=-0.154 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2239, 5.2581, 1.0769, -0.1099, 0.105, 0.5104, -0.0615, -1.2923, 6.8718, 1.5849, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9638, 0.8261, -0.643, -0.1001, -0.1295, 0.0142, 0.6861, 1.7542, 0.7734, 0.1116, 0.2325, 0.1841, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1818 left_yaw=0.0849 left_pitch=-0.2059 left_roll=-0.0262 left_gripper=0.0142 right_x=0.3412 right_y=0.2314 right_z=0.0167 right_yaw=0.3699 right_pitch=-0.2782 right_roll=-0.0599 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.4684, 6.5299, 1.6825, -0.1636, -0.0366, 0.1294, -0.335, -6.7487, 6.0239, 1.7998, 0.0415, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9653, 0.8253, -0.6445, -0.0994, -0.1295, 0.0155, 0.5011, 1.763, 0.7303, 0.1875, -0.0277, -0.1074, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1807 left_yaw=0.0844 left_pitch=-0.2097 left_roll=-0.0262 left_gripper=0.0155 right_x=0.3566 right_y=0.205 right_z=0.0071 right_yaw=0.575 right_pitch=-0.2849 right_roll=-0.0555 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.7983, 6.8718, 1.5116, -0.0904, -0.0464, 0.1197, 0.5265, -6.8718, 5.2855, 1.5946, -0.3053, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0867dda0f672efa4077e52c3d5a2558ec4b7a7e4cb37a42424a43566edf707",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856c46e595f3faf75065b081df24f8c0f1596d7b111ac415287fa2fb18702a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e2e4237539d717e67cf6c6f24348c4f680953b8ec15cfe1f7d1214f37259ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9H804-NZLGsqM3zb_iFQ6s9vzh4ygGu6l9ztpkzymwo4TBow_y63CHSNjScQCggl-Z9b5uSMpSJpgFGt_uOUKgLT8NQhD8jjXstmlyZyiLtzZFsN0lHgUMI0vX6NiFKDY_h6acJcpOhkX3VC-xJmgkVmhIC94ejTRWVyWB71xONTHtZG-7ZlgTqRbW09BRRhIJkdZMgRhSPsmHpFIx2skJuwpoVG9vWT20j5wySSRs5nNSFcPq_kN1crwh3mMMsLvPsvy0N14rtLs6WuZiZxd4l8EWsLVJlHt5k4xArUeWUUJ_4E3zkDAv9pTUeDHEAUcpffduaIkG2rr3YNb1rtMS--nhjJnOssRylzQadLt8ejKNOXnJapBsrSbc16AXJLCznAe4k3bKPGAdigu32ltM2HxZBBFJA6Z6JWQMzBPOMBlnXj8llhqwBPRDJu-716CXx2dD2Zr_Q6ipqmcpcZVEb8Zi6Z7CctNTdKM-KoSM7vd3XrGa625abcsBwRdCPq2dwfy8ZglWOkZpw9QN4TdZBxVxGIsY-ZvRjrSUpvUWuhVpylX70kLQuf8qpJ4YQRJTlE4n9UP0zwCHJ3KAEWfrlwWOPsrLYXMMNCkb-jjA5VWEk5m8914JRXIj_PPO5tXQraYM6MtJpBY5BhdBrJmdCt-aG9uX5-702ubIJMMWT-7q0SRs2mpm_BPc9IE4q6q1STx5Va2WWiyjOv0X45M978_BIK73SacOQC7SuenwncNZQz9TokD0UlyNFhk5GRg4W9NnY6rnC73sMLUC7InmWMjPsauEL_QxoFv6CaQ0E0hBzEFEK8iO9K08sAG1fqMM9S25m6mNmLsFfeqETLiOjZsfsiMUNiRSyfWLue9s61OyeVu3Y1Y1jGrcCzNCpkY5js7oZxrdq29iyTO4X9Bq2IJiMKe2yn4mfvrO57ZWOfp3Uwj6YcEmO_9JVj5_InTWon7Yb41qyh_F0_gTph_r4GipUsswSk6T1yYdKniUAitYBIijccyvbpz1Uj42i3gd4c_fyuDcUUxnSMubF5oGiGC0pu5isLJRg58p3k_fAa40NhtnuKIb81f9dEqwPmHftLYVNmBQnNXtGvVPszhDRIfayu8tNrn46wCmCvoJfAWXjuKEEje-batmvtufj4ldWxcqZ__O3ypjk1iqLgbqnNyuDMooK3G5UEGz36aGA9KlFQonRun_OTqv-amrPtjyWD8VlZrw0BtI-viZ1Jwqmm0snAKeDeCvIPusn_15wsRBlvMufbJrxCIbGHd6NA4Q",
  "id": "rs_004e9afce35eba71016ab46f449c0887d0915192e3e0e7942e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s lower barrel now crosses the space between the fingers. I’ll close the right gripper around it.\"}",
  "call_id": "call_P6QWy7jVvpbRCfVf3gz0X5Cp",
  "id": "fc_004e9afce35eba71016ab46f46756087d09114f8f567a87322",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P6QWy7jVvpbRCfVf3gz0X5Cp",
  "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]: [-0.0677, 0.9688, 0.8246, -0.6476, -0.0975, -0.1303, 0.0157, 0.4671, 1.7645, 0.7315, 0.1951, -0.1616, -0.2707, 0.0135]\nstate[eef_state]: left_x=0.2951 left_y=0.0008 left_z=0.1789 left_yaw=0.0834 left_pitch=-0.2171 left_roll=-0.027 left_gripper=0.0157 right_x=0.3529 right_y=0.2138 right_z=0.0098 right_yaw=0.7478 right_pitch=-0.2642 right_roll=-0.0686 right_gripper=0.0135\nstate[joint_eff]: [-0.1026, -2.0991, 6.9949, 1.5214, -0.0659, -0.0317, 0.0073, -0.0068, -7.4051, 5.5726, 1.409, -0.1587, 0.0024, 1.2234]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408a09a813f6474fc08f464ef27f53b7b1a7a14fb169507d1d2f1d7666686af1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ccc3fb96493634a5a87e0404000d90e43f858c576da19c793b67a295763c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5a703db1e092cd323e232f742a810ce74317f8a742d17c1226e68dd1403c84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.571 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0696, 0.9611, 0.8227, -0.625, -0.1101, -0.1284, 0.0129, 0.8276, 1.7859, 1.322, -0.4797, 0.5465, 0.5671, 0.9991]\nstate[eef_state]: left_x=0.2982 left_y=0.0023 left_z=0.1843 left_yaw=0.0903 left_pitch=-0.1878 left_roll=-0.0211 left_gripper=0.0129 right_x=0.3708 right_y=0.2731 right_z=0.1352 right_yaw=0.0444 right_pitch=-0.2037 right_roll=-0.0425 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -2.7282, 10.2359, 1.4676, 0.0562, 0.105, 0.2466, 0.7316, -9.306, 8.9094, 1.3504, 0.5934, 0.2857, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9653, 0.8253, -0.6445, -0.0994, -0.1295, 0.0155, 0.5011, 1.763, 0.7303, 0.1875, -0.0277, -0.1074, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1807 left_yaw=0.0844 left_pitch=-0.2097 left_roll=-0.0262 left_gripper=0.0155 right_x=0.3566 right_y=0.205 right_z=0.0071 right_yaw=0.575 right_pitch=-0.2849 right_roll=-0.0555 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.7983, 6.8718, 1.5116, -0.0904, -0.0464, 0.1197, 0.5265, -6.8718, 5.2855, 1.5946, -0.3053, -0.105, -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 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9688, 0.8246, -0.6476, -0.0975, -0.1303, 0.0157, 0.4671, 1.7645, 0.7315, 0.1951, -0.1616, -0.2707, 0.0135]\nstate[eef_state]: left_x=0.2951 left_y=0.0008 left_z=0.1789 left_yaw=0.0834 left_pitch=-0.2171 left_roll=-0.027 left_gripper=0.0157 right_x=0.3529 right_y=0.2138 right_z=0.0098 right_yaw=0.7478 right_pitch=-0.2642 right_roll=-0.0686 right_gripper=0.0135\nstate[joint_eff]: [-0.1026, -2.0991, 6.9949, 1.5214, -0.0659, -0.0317, 0.0073, -0.0068, -7.4051, 5.5726, 1.409, -0.1587, 0.0024, 1.2234]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408a09a813f6474fc08f464ef27f53b7b1a7a14fb169507d1d2f1d7666686af1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ccc3fb96493634a5a87e0404000d90e43f858c576da19c793b67a295763c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5a703db1e092cd323e232f742a810ce74317f8a742d17c1226e68dd1403c84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9N3-mbkXpv6MKJe5i0Tcg8Ce5UsePNT7k1OfHcoJCv1u-v3gFjwqOoEVdSJHmoYPJIHJdHS_RQrzj_wLIRizTokS2HwWpu_ckpgZyGLAqxNaryIcw_eRY4Yupu_DCsjMoTE-dtMhyXdHYj22p7V5MA3CRnsjbwLRyozVqcRuUeCq4KrtqZBYKeNhHme_LOhX2r6VSTVIvmvxDROY3v5DnA0LIHCQvXvvlnQm7W1mu50XwHNPOWNeA3MTeLMfpc2u_A9ps4zBIBKbKmog7CMM6SryXQeivGRSxV_9a-pYitHA-5IouGETF7oqm5dryo8Ew_al6KPh5N3W0Dbi4AcXItZN_6tIol_lhd2cbYaR7NxvD5okI05HRQNM144m87_99MdkEgc9W1ILjhGTJsI66i27K9l6G-ADwcPwiwY2hY8mHH7DQO45Aub83b24t2xncGu144QHJX8su-F-dK6qDKrvKnXo1wkaav10v7LRnAL2wS-aaM7FXvjxV8ueSrGNQKoYge60FI_6gGlBnxC16G3eEDgbsQqebfwXZAiX6dBPR-Uf3AktQHFLGN7KcA9aakjQaTvFg38xqLw0cngL038VHPg9kfafS0QDFwpC31kpZxzoeOZokKmucifAhdbOVZnVLdy1flAnLn_Qdeccv84-FN4RRmpKB5o1taCStZgI1wDu6lI11YqpWG3EMY20Zh4tcL9YUxNe7pH3zVTa_bjidZVJQx1jjR7wn5E2jc-MCKEHGRzaDoBX4HymBIfe0vhqxdViR7jMzSU1wwxocLhuykrQkzREKYskPLjppFh_Dl5O7yB8se5gmi6HTR2-G09jWgw5ASctwbAffECT-8i7qKQ1d2J1LyEOh1SvAb-vIp4w86AzROKFtp5vRO8012gV-yBnMebDi1-tvpd5mLu15vPofMfs5EYw762OHZSbNAFfTEyNMG91d7c-v2WK4kNylm2uRLDZ3_aaeFNdiYCRE0X0l4rKSY9yG2IjDFPukBY-FDFILmqfhVhSeHji-YVDb_rfGj-y5w6Fksim-K9nCUrB-TdfNARZcz8IMIglFn6EREj4otQyP5qD9BIaMBZ0wqBamKesQfIyxkiPBqTcR1QYvCDcL7fEEzI_aYtdqRnJe49fRamgX8CD-Ld9U_4prIDuvQduv-aZm7fRQilOOasn9NEFlCPU6Fs5jvJJg8fUUdg7H-7LebTtTIDr1uHKivoXTuTKWGwVk3zsUjfMr9w7HnwqOj6MXOeEtQ4kodtoPyEzMN_4XxfMe8wNzegldhBVbPxFFNsQH8lmyV-oEnAM8NMtXvwhP2uyrGJCHWyk8uzGmuT-T3ig6dq-NkX063p482B8VRvJGQdUQh16D0V2XA4M11qnfPkDCyJCLGjtSFcZs8INlx73yo7JtSzjg20UEseKmsQic5x42YjZfq-cfkPR3IUoCUZJsCyknicYVxUNBJGXWfOXJ8gMLB0zAtwD97Q2bfcXcB6xDkCye3cbJB9R0e0-pNXvOtz5Jzk_IFB2bm-UbxegPr8YpABYODOOX54QInQO3VlFPq-V9SeoqbUPd936DzyYJ8AKiCl7tVaEfH1sBQAEPx8xrSYfQvEEIr31B4Cb0hWhcADBgb185Btj__j6bzlVcMOWjavIDmIdYHTggDgm6fFjLeRWWphH51mTFyKWIdu4OMiMlMIfHP1zYzqP72SXm8E7fLxcXt0Y5PSzIeXs3_3Wve14WbzOz5p8tu3Kf34ha0xqlguHz8Xkk7FFI6N67jLjBV-Q2zJBtKqHWj1xHxNm5yw7k_qacWTG23KFhuoWxD0DgPLA05gyRgmJ5m8784-FT9FeorkNi9I07Azd55jPtPBRceQDFZQTwNrLhKuw_66c5Bls4JGKOODe8Se-g28I2wWnEmyplRk8uRrHsLBGyp",
  "id": "rs_004e9afce35eba71016ab46f49c0e487d0968a55ec16732790",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.377,\"right_y\":0.233,\"right_z\":-0.008,\"right_gripper\":1},\"note\":\"The jaws closed empty, and the pen remains visible just ahead of them. I’ll open and advance about two centimetres along the pen before trying again.\"}",
  "call_id": "call_BmEeWxNkYBZY63GgkwUizgj4",
  "id": "fc_004e9afce35eba71016ab46f4c456087d0a4884de6276a400c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BmEeWxNkYBZY63GgkwUizgj4",
  "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]: [-0.0677, 0.9699, 0.8246, -0.6525, -0.0975, -0.1322, 0.0157, 0.4805, 1.8877, 0.8295, 0.2569, -0.1623, -0.2588, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0009 left_z=0.1778 left_yaw=0.0846 left_pitch=-0.2231 left_roll=-0.0274 left_gripper=0.0157 right_x=0.3796 right_y=0.2341 right_z=0.0034 right_yaw=0.7528 right_pitch=-0.2284 right_roll=-0.0699 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -2.3453, 6.8034, 1.5556, -0.1148, -0.0513, -0.0122, 0.6496, -6.6256, 5.9556, 1.2576, 0.0855, 0.0024, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953fc4936bd3d38a69b75445bfae9fe9227dbbf9535da3607d47feff1921bf97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87674e414658af1f11e5a2c3fa6306096dfc7b0cd88bde983872866708dc2fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1949df039708b9de508a03c0490d4730a39c4cad04df54b692a4835ec3f5872b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 6.239 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9638, 0.8261, -0.643, -0.1001, -0.1295, 0.0142, 0.6861, 1.7542, 0.7734, 0.1116, 0.2325, 0.1841, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1818 left_yaw=0.0849 left_pitch=-0.2059 left_roll=-0.0262 left_gripper=0.0142 right_x=0.3412 right_y=0.2314 right_z=0.0167 right_yaw=0.3699 right_pitch=-0.2782 right_roll=-0.0599 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.4684, 6.5299, 1.6825, -0.1636, -0.0366, 0.1294, -0.335, -6.7487, 6.0239, 1.7998, 0.0415, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9688, 0.8246, -0.6476, -0.0975, -0.1303, 0.0157, 0.4671, 1.7645, 0.7315, 0.1951, -0.1616, -0.2707, 0.0135]\nstate[eef_state]: left_x=0.2951 left_y=0.0008 left_z=0.1789 left_yaw=0.0834 left_pitch=-0.2171 left_roll=-0.027 left_gripper=0.0157 right_x=0.3529 right_y=0.2138 right_z=0.0098 right_yaw=0.7478 right_pitch=-0.2642 right_roll=-0.0686 right_gripper=0.0135\nstate[joint_eff]: [-0.1026, -2.0991, 6.9949, 1.5214, -0.0659, -0.0317, 0.0073, -0.0068, -7.4051, 5.5726, 1.409, -0.1587, 0.0024, 1.2234]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9699, 0.8246, -0.6525, -0.0975, -0.1322, 0.0157, 0.4805, 1.8877, 0.8295, 0.2569, -0.1623, -0.2588, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0009 left_z=0.1778 left_yaw=0.0846 left_pitch=-0.2231 left_roll=-0.0274 left_gripper=0.0157 right_x=0.3796 right_y=0.2341 right_z=0.0034 right_yaw=0.7528 right_pitch=-0.2284 right_roll=-0.0699 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -2.3453, 6.8034, 1.5556, -0.1148, -0.0513, -0.0122, 0.6496, -6.6256, 5.9556, 1.2576, 0.0855, 0.0024, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953fc4936bd3d38a69b75445bfae9fe9227dbbf9535da3607d47feff1921bf97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87674e414658af1f11e5a2c3fa6306096dfc7b0cd88bde983872866708dc2fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1949df039708b9de508a03c0490d4730a39c4cad04df54b692a4835ec3f5872b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9XXJcuQdi5ANbNUYbXZPPB46IdpbdHXrggroOfPP2-ms71R2gJ5oGhWkMG-QKTzaNrjL65_thEtqK-3IuInOQD-H_LOlAWsIUaUsFiITFXdoONNC__oh942Kc4BQ88LjweoGgRrIgH2QDISHSgf1fEiGDUDcnmx5iGfgZazcS5HWPGNlsVrBaSlw4qK-tWd8c1EkLyJB-hhyWRvS15uL3Is3XSM_lASqHe-AozHgSLWqrZjG7YS0wZ9JhM6Zph8ecRt-aS-go7ZBpBrGcjt49gzJxDYQn6ZF9dq48e7qyBGWsW9PYk8Tw4hzXdDDHPNR-HYMxVur0G0YTPo4tM_kJCoh6eDQz3PqIK1m9uDcCfZqTsBIIR-uUrEYFLMgXaObdNpTKUqxubwdbWEOZXc_K34jYZfdfbPrAnGz6jjEtBVbjyH5r6S2JqEHj3KvMSyKag9v_msN8UeRQB32uNO3r6Nfbi0Vp_F3iUbSSgjk9tjoLiIGFIyQZtSzCNv0iPUJpXl_RYDlFvLPhShcI0P-mVvnoDiYYCsYgL_VCbRVR2PZ4o3nb6qf84_wyvvSRscVz7lzRjTv3MzHvqieOdQ652Yk8RvHI19FOhUU-ONsOpEt1qEIgp-Z1NgYaswuRoM8WEyh0bzbvmlLnjJm8-ooHarBTWuCXszkWySdU3KssdK3HyJ9pPzdUQ6Cdyb33E8wfp5H9f-C-Xhtmhg0BZHW9uBKUE6UDLiV0je6KGAEJ0r7EJLc4oV43a8ixhUnAWl9u_ebl6PrD9Ylu4puKABpsNcfhpkr6T1oaNWMAFFauQbH5yRzSy1_M8xaiqV8hp9kxCU6-LaBO6h0UkrIm4NkK3R43WHsa7fx0l6WMD3gGIT8-_q2BsHV5NemOr6jv0N1YsZSFWYYgakEBvYNp2TfeJPNZsYrXvWH15EQwWEeIWFqrWVIukrG4OA3oWZsflilowCNfb-n50CB0DR9hpT9eBwFEthRPxor722uaSq8Dpw-O8yyHyuIlfDmqDC3dUfjI08l9a5WdedSRaUVnE76wFSRAAzN7QerJZjiO7hjfuW_uXOwey-l3OXY_wwtz6-Mn3Lq7QYnW5MKCf_6UjuGpcXSJgD04B8iIHFjqbLids1AbXEQ7sCOLzTjs0l3Trm2mc2APSUdSnTyXIxPGjxG5N0KARRnP8dV98ReS5A0FTsW9MaGCMoW9ml3m6J0elHzMel4uVevDDZFkGwr8cc46Cqx673U5sL3EKMeYx6zFWM5WjJUouv4OQKQVkRKAeNpHkjOZXfwlAvNjS2j-7BH8BKQwM7rUo_f-1icmCJl5ExttxVI1yDA9hgk2T4gOf1Tcpn3y9mfd1BJjgRdk20Svk3WSDKzrOHkSeDX2dlncUSF4E38dEXBHiBfQxgpw4WHgyaW_ppcV9nZrIrt7FEB33bZCbEy9wIz70Ykbf1F0FgcNEGRcqMliaWEI1vMSFegeDm3f_ZlDjBK7NLSS6hUITYdG8uRtTBA6yaIiilwh7RQ-vxteGAef2GeJmkafpDupGHEuxgu8nW385ipGy4Zek4BM2R2EtJC9Z6ZEu6P2vP3nXusONTQRYkgRU0hTrY-REEB8IiG7Kq6PTJJWQvamteRrQzDRnd8AnyC6LNGxq9cPUgtPxRs74ZDvbt5Iso09fpf1IMEmqM9zB-iri8GrzJD-4m_hLKIS9UyWm3uYdllShcWuWLmE0BiuC-efz7yj5edxYo8kz0lja9A-Gwbz8Rfba3gevhzlytH8k8SNolHjJuWzkm6ON186ajfVClsmCzBLHa3LQB8iA4roL6-uFDfxbmMykwPA_Y9Ubn0A6QVXoWi_oN00zN35au3ACRVVjnVfXmH-N0wlg-cbQtRt1mex9mjPwiLDjf8kN34gDXHjzgr1BNznWYpyCKhVlDkx01CZz9w4Y9QzYDXowz4nkgoQxNzewX6RfWYjnXjhCruonpOoi5oBB8m6KdiuGg07Nuju_kedifnSffsWqM6dbAE2HVH78SV3zr2jsk3wFWzCb37tkOGmoa-z8iuTGJCE7tKSnY12Gl7SbmqDr2tY3dVcTUCkI8HCULR2bYiLQFTP1AlI3faVU_BKLa8gi2U0VfkfLEEstHUHnqEWvBDcskhe7UeHxV1IFR0YRUU8P2SEkILpQ_8-0yU-0MyZuU4Fr4BRoGU12SfplpufUjWottYCncDllrz8j6uLkceF3j09-zMX9-JYFxZbDjofM4auFbOCcWE1fyoBQ1VFgP4dzl2rCtxRkSGTDPRzj10KGXLx2ZwU05pNIM9zJUjrJXQYqwt5oXYzHCiqpL95PbPYN6qCxtclL0_PoIyi036DR-RKZlJ6nGUG6mP9xH_2OpOJwSRDJikh-W9jkzYQb9E51FHBUhJqzYQQcgcLnk499ZWjDp964q06ook9yILeYj7j0mCwfMa0EatZYWPzp70yt8kdjzbRFetBA3Oq34CpePnsXujW6MNAdZA0hCPriNNR3WM8hMFhOjLCuYH9wiyC63y7P3KHB6Kkmw2Az391x48nLrCTjjZu0wRfeVU4GvFWw-_FS-9Y7kd6qnM8xa6EAnXzvmWKbvjPvXBJnWduvaS4CrxTaOThOT_dDKKLgEfEIV4D5-2bcfV1mmxD7UKLuLGc9mZ8o67qIUJ26G7OwQHTzw54QQrXkPRJyfJGVLNfKSV_wIrZy9mDqkuLB_FYNSj3lt3LEYMttekUjAEiSrvrYqJINcpEPnXMGSUSDp8NxCcSLRR5bzZuINKn-wGNxm7LYI2fYMegO3M8Ffd_dHGrlmfgcfEo4Q1mnCBaEJTbECGGlnvCM7JGB-pMvsi21xaJv_eHF-xocB7qCXGw5wqDHo6yTv9QZfSoOHmbv5M286udlEe4cxaU2xh_5O6Ndx621HypcNhzA_PQjzTAkpVzT7xhckL9qeNiXjmPMX7e0",
  "id": "rs_004e9afce35eba71016ab46f50815887d0a6a12b3fb3e4546b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.275,\"right_z\":0.045,\"right_yaw\":0.15},\"note\":\"Opening and advancing nudged the pen sideways, so it is no longer centred. I’ll lift slightly and realign above the barrel without sweeping it along the table.\"}",
  "call_id": "call_WM9xvMc7o4tdQ5a4XNJgSbIo",
  "id": "fc_004e9afce35eba71016ab46f56970c87d08fe0b0ca2ba21186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WM9xvMc7o4tdQ5a4XNJgSbIo",
  "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]: [-0.0677, 0.9703, 0.8246, -0.6563, -0.0975, -0.1322, 0.0157, 0.7746, 1.9053, 1.0565, 0.0193, 0.2588, 0.2031, 0.996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.177 left_yaw=0.0848 left_pitch=-0.2273 left_roll=-0.0268 left_gripper=0.0157 right_x=0.3695 right_y=0.3034 right_z=0.0396 right_yaw=0.429 right_pitch=-0.2338 right_roll=-0.0524 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -2.3179, 6.8581, 1.5116, -0.1197, -0.0024, -0.0073, -1.9624, -9.0872, 6.3111, 1.2576, 0.5983, 0.1929, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39f171dcb7ae5914e24f80541ed2513b4164549ee2cadd713ca2ff09e02f62d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf60ccddbee2763a54988c9b7a9aa5858d145d5f86cff0fa865dceafaca65f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9dc28dbcb5c4a175e649cb58288a06447771de50db87bbd15a76343c2f47c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 8.493 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9653, 0.8253, -0.6445, -0.0994, -0.1295, 0.0155, 0.5011, 1.763, 0.7303, 0.1875, -0.0277, -0.1074, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1807 left_yaw=0.0844 left_pitch=-0.2097 left_roll=-0.0262 left_gripper=0.0155 right_x=0.3566 right_y=0.205 right_z=0.0071 right_yaw=0.575 right_pitch=-0.2849 right_roll=-0.0555 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.7983, 6.8718, 1.5116, -0.0904, -0.0464, 0.1197, 0.5265, -6.8718, 5.2855, 1.5946, -0.3053, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9699, 0.8246, -0.6525, -0.0975, -0.1322, 0.0157, 0.4805, 1.8877, 0.8295, 0.2569, -0.1623, -0.2588, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0009 left_z=0.1778 left_yaw=0.0846 left_pitch=-0.2231 left_roll=-0.0274 left_gripper=0.0157 right_x=0.3796 right_y=0.2341 right_z=0.0034 right_yaw=0.7528 right_pitch=-0.2284 right_roll=-0.0699 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -2.3453, 6.8034, 1.5556, -0.1148, -0.0513, -0.0122, 0.6496, -6.6256, 5.9556, 1.2576, 0.0855, 0.0024, -0.1587]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9703, 0.8246, -0.6563, -0.0975, -0.1322, 0.0157, 0.7746, 1.9053, 1.0565, 0.0193, 0.2588, 0.2031, 0.996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.177 left_yaw=0.0848 left_pitch=-0.2273 left_roll=-0.0268 left_gripper=0.0157 right_x=0.3695 right_y=0.3034 right_z=0.0396 right_yaw=0.429 right_pitch=-0.2338 right_roll=-0.0524 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -2.3179, 6.8581, 1.5116, -0.1197, -0.0024, -0.0073, -1.9624, -9.0872, 6.3111, 1.2576, 0.5983, 0.1929, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39f171dcb7ae5914e24f80541ed2513b4164549ee2cadd713ca2ff09e02f62d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf60ccddbee2763a54988c9b7a9aa5858d145d5f86cff0fa865dceafaca65f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9dc28dbcb5c4a175e649cb58288a06447771de50db87bbd15a76343c2f47c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9egvSTpZXMBELLDJRCvU4F5UUM5CQufDrZ6BWl34Tncu6ow-Ou7Pzl_QMYYYPV3KANvvcn0eKJ3j5aJZGlD-jvkEy2UPRCpbtmc_CAv41y99Oy_OifkgHqUOniv1L1SGVTrPOugWm3Xxb845U9Tg0_HiMjrXoOo7WnbpuPt_UyboZJpWoUfO5-wt0vw7eAzqRk4xKNM4UUSH8qltU8kpBobwLQTJq3C9WlXfxXG1v8AUHyrU2AA2utIai5QMZ15hDBJ1ZjO3QpsdXuLGxn1KfF-VuUeWZuHfTlqVEV6JOVXy2Rmgl6TJweyD696dfQagPGndkJ6IEPVHz0-rIMtKVukI6UzPpxaiTL7X6aJeHjXODF2igRkgU-6QxkQchVM7s8ZG8zDRY1pwBHNsMDIMM5VBEcfB5jaBFKAs8fRLTlN62SUazwUxPkz7rXzHYfDTlff3ivKCPkoZqVUwikzPC8z2m-hDC1SsYrEWQRB7xeYqrMGc2ZWfnplmheS5FG9UYSXNuNkS7Ei2wIbbqKDb_T_ui1WdE_UADki_OuMxDzsDTLEd7DNpUozeF_uxgDTfgoj_Y_sl-hx3RdJPWSnuKqfDtVM90dUJiyxfpDb6R9jorJMrIwQHkMZuwj1PdHO2WXGw1FoQ9pwSm1fpUh5t5pUk3BFz2wLDr63akj4XjASbFOnFYgSNFxzkU1cnkszZpPcRWsV-w9XST4PWYxI32smsDhaZMiDo_9rd3GGCFGOPcNTGTeuMkYkWfhURSwYufwSWZTE5kyhYlHZm_hMbr8V1RE21ev5f-9GWT28Dpz9r5WvkZssj_r1Y2ETj90cLyLQR8D3xys4Kirw5m6MUFri-32Hr0h0l9zzjEYy-Cn-FCWCD4ymjsk3uo7VnASN2ozFXyylFIDJTqIEOrGV5pYJuw6tu-ECq-dMyH7amc9mLV4F0Jb_WnX5Zw4D9L-dV8L0eaM4R_vcfe1VvPyJQQ9Bgt4xK6-wCbHa-qOwTweXvGQO5f2xxtt9dhE6aZo6tmISUJt5Rz51N-p2VcLX6MXhbGMJ4a-uDew4yDNeEa4v491FNChKSU_0fvHDk4KphmjQhP5E9uKr6lsAqxZIi6YML28NBL-Qk-YqygJV09osiDD5EQBp69bHO8LwYhFMJ_6KK_4Nshtrt4tkh9frB5DamlA9B8mDbl4_tzO98oVsPEAFOZc2-HtgNPRWpnNTk8I8C9J8eMJM428bi81HpHFEzjGnimPsBNbh5UaJYnx7lEgqojigbHxIXI9NWqXpE54xL-2FIgeS-CFGF6Z3l7aiAvOczuwwmBm-VCLHF8Chmp89x3tl_Xzjr_TTytIIIJdABxO7FAg4MNsQuz_KcZ21Gyy7EdQtASGo2JuI0aHzSdWUuJ_XtMvICHEL_GnBbXy9T-OWAs3kl7XRH5ne6ByEmNV7mJEGoccRZOWoPDQ7Lc8TODXLivC6uKn1OIKaXttChUpJWLP8E6cdRxNxkReAInHQwvwMs5jNmHcJH9-yWvxfvvWBYn7CKnnEfzh1BEx99hVJyX55JSWJo8RGnuoDwMrOiA5N-XX1IzUs1XZAwSk0HKG5XqIrx_oi408zTq7QufwW2oVhiu2O56mG9i7XArmiCSt8K3rzIlkfWA_lgKk_n0DmEwwWCmudAbNHbl9Ojvdx-SoXHR4oAXKhkNORy8OBXQ_d6SMBdtzDXz82PNpmaNHkcNophNhtc3m_mkIROGIYIIkqt-BIdSVJMNoPQsWB8LgSC-E6j5JgrSuY1r1jHYPzRPJzY6Zn69jm3sXvbiXl_D99_eViiMdKvNbpEL_ioaSh0nq_koZnWqIoDslHIcp57IaJ_hSnEebsXjhTfduhH0zXPMt8ThyAs93Wxg4CpGjhCdGA5lW8bEky33YrAG70Z2_sv3G2SyU4pE-TvokG7NXo6mLMG8UndKVALYdyZ0Fdm0J15S9HBFMyYZ1KNMkhqCOtcmToZj7UaXvGZYE8PsNDlP8Gkw9Lau4kc15F4NETRN3jexHY4wVxjskEFntcObe1JGtAZESgje8O61VcBwpf5A64YSrMrdMCsDBrJZESQLQ0s7H-gmmkBjEa8S9sPeKNGWTjvx4KM-B-pb1pbjI9JfspUQMslz0jDsK6qJ-KmOAlwIgN2KQJpv9mUOJEK08TuQKfSsk2q44CeHAglkXTEswtgNu_BT6jLD09wZMHnVfYPjWydWPjkDhuIYxCtBxUyWZTz5cDkzyirWguwMaQV_JR1k9TXWNaYA0Nx59iFnIQGmnNuj9mV1NiLgIijlD6u_b9rZWXIrZ2HczwOEr8_CSeXxMgIz_HIYEuUfyeS188aJ5544HgMdwaE2SrE3jUnE0B3hNUDX6",
  "id": "rs_004e9afce35eba71016ab46f596d9487d0b5bc8153e4845961",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.366,\"right_y\":0.328,\"right_z\":-0.008,\"right_yaw\":0.15},\"note\":\"The pen is now alongside the left finger, with the barrel extending toward the bottom of the wrist view. I’ll centre the fingers over that barrel and lower for the retry.\"}",
  "call_id": "call_KG6yXbT1pAALls8b8XZFDFp3",
  "id": "fc_004e9afce35eba71016ab46f5d2e2c87d0aa6ca9275536025e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KG6yXbT1pAALls8b8XZFDFp3",
  "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]: [-0.0677, 0.9768, 0.8207, -0.667, -0.0971, -0.1322, 0.0157, 0.8852, 2.0914, 1.1854, -0.0078, 0.4698, 0.4736, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.001 left_z=0.1718 left_yaw=0.0852 left_pitch=-0.2481 left_roll=-0.0238 left_gripper=0.0157 right_x=0.3685 right_y=0.3299 right_z=0.0051 right_yaw=0.213 right_pitch=-0.2237 right_roll=-0.0437 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8103, 7.241, 1.6532, -0.0464, -0.0611, -0.0073, 0.3624, -8.8957, 5.6274, 0.9402, 0.2222, 0.0806, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0e8d16de2ba7f6602bbffd57a2635497ef185a51cda784a5cc22dcfe7520cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf81434a6dd6b748fd13db9c03e8d512199ceb7e93b182513aead18f1f81d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1bb3df585529535534f7dea31443237f6b01b371ed920bdad90415d04efedfe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.142 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9688, 0.8246, -0.6476, -0.0975, -0.1303, 0.0157, 0.4671, 1.7645, 0.7315, 0.1951, -0.1616, -0.2707, 0.0135]\nstate[eef_state]: left_x=0.2951 left_y=0.0008 left_z=0.1789 left_yaw=0.0834 left_pitch=-0.2171 left_roll=-0.027 left_gripper=0.0157 right_x=0.3529 right_y=0.2138 right_z=0.0098 right_yaw=0.7478 right_pitch=-0.2642 right_roll=-0.0686 right_gripper=0.0135\nstate[joint_eff]: [-0.1026, -2.0991, 6.9949, 1.5214, -0.0659, -0.0317, 0.0073, -0.0068, -7.4051, 5.5726, 1.409, -0.1587, 0.0024, 1.2234]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9703, 0.8246, -0.6563, -0.0975, -0.1322, 0.0157, 0.7746, 1.9053, 1.0565, 0.0193, 0.2588, 0.2031, 0.996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.177 left_yaw=0.0848 left_pitch=-0.2273 left_roll=-0.0268 left_gripper=0.0157 right_x=0.3695 right_y=0.3034 right_z=0.0396 right_yaw=0.429 right_pitch=-0.2338 right_roll=-0.0524 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -2.3179, 6.8581, 1.5116, -0.1197, -0.0024, -0.0073, -1.9624, -9.0872, 6.3111, 1.2576, 0.5983, 0.1929, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9768, 0.8207, -0.667, -0.0971, -0.1322, 0.0157, 0.8852, 2.0914, 1.1854, -0.0078, 0.4698, 0.4736, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.001 left_z=0.1718 left_yaw=0.0852 left_pitch=-0.2481 left_roll=-0.0238 left_gripper=0.0157 right_x=0.3685 right_y=0.3299 right_z=0.0051 right_yaw=0.213 right_pitch=-0.2237 right_roll=-0.0437 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8103, 7.241, 1.6532, -0.0464, -0.0611, -0.0073, 0.3624, -8.8957, 5.6274, 0.9402, 0.2222, 0.0806, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0e8d16de2ba7f6602bbffd57a2635497ef185a51cda784a5cc22dcfe7520cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf81434a6dd6b748fd13db9c03e8d512199ceb7e93b182513aead18f1f81d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1bb3df585529535534f7dea31443237f6b01b371ed920bdad90415d04efedfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9naTQsXAC6fGpRLjE56RrhATZcRaYlpFO8kHBqLT5C6NJxmUtrudZ5XOnC0NRwwVMhBOcipBtU7UJF9aefiZvgRHfqNPPpokcF4Fn8JUtDK4a7_JspStkQCvODW3lsKV1zQXtxUDg9lWs6vsg8OP_uVBiExmAGIesR_g0DxFWrCD1taiA-vzf3sTcCsi_HMyjC18FWN1KftR5WdLdVWlTLStYG5eUvh68YdF3kks33eOfaa7chBbeMJgP0n8rdTcO6oB5aOJCmKazdhcP_HN4ZZNjYFfaVv7ryV1Bnvf8d1pun_Q3kBDtoEHqzna1JoHqTtZe_BmC8f3KfPDS0U2MaBiWeYXtbxqQKv1n45eD2zMmx-PCACA0i5VrX9AK1PT3WgVZJF6e-t6cjaExY-35tV1DiKs59c2e9fTKeeKg683aB4f3EsxbqeIxk6u6tTEwy-TIof2b7jPpBEKlbwofdpXUPZViN0ac5xYtAaxLMgArEhqao-gLieQoToNGLVFX9TRBjiyOyaq1m8xMsHSY18FlnxaPyOsZfC80kdvjeOcDUR9_Gb0cmim2Dm4re4jTQ_Yo3S-Q63NFSrJjbrlsvN9WEDoGu11nirTBfBzuBCodMtbOIMTmSOzt5ZLlGdAfmUEPS0skoOL38ELOjG35xXsJ_dCQbwOLrm3z9DZsu-nPM4bOprQrIV5ncb-0ILYggDCKUgE_ZlA1AaxcAjTetJ7oMTR1G7FxMTIbAX2fAwvegaxSI6Xt2ofl6Uru5VvyGCe7z4BplBwU7oaetTJswprahsCW3E_NMo3eYt7IaN3_s7VoTtVHCwSQcpY7OmLk8cVdV50H8otAEnEfUcWYJrhUi9H5tnBpIdeimCaCKR_yldcumMrDtXe1_P8LQCDSgos4oLBRdi8o8MVhUqPfBDt_GlnLKnhhaQQh-QKqlcJCEZE13eD0szm8lKmN31aEiNeL_u3SxtQTkH7CjUeNVDS8NY9DUGeZS7UKSwOtKEQTgtiwuL8cHirPm8aVUc8Y1s2OUWqMQEoPDdVU_PoRGprSl1WxqXhhTKlyQLwFOrLw65Lp3AwLk5L4oe7MEmgJey9ckbTxKUvlki3Ip9076rZeutdPUO-wJ4b0SGpcgemkW1cElmL0ODZayPO74nUrzbT9TZ5YBaqSeiIAPfb63Jj0RgzyE0ZlRF-Zp6zixVI3JBImDoU30gCQj1950p03hA6EhYPLP-fHpEEcXsVA1lLjzAot22iItuAYUbrMJAKMCHKGbz4F7jXCykPmMop-ggOpUpXt9XpxAK5T8NhTJhCa98a7-ja04XdIsKgS1ItIUEww7QX_Y2ixhA3DPkjZtVIH1QyQmVnl6FQCI5nuhEeEgU41ZWxlpbJqeBCBEZ02Hg_iLqaYtvUc1TRH5xrL55nf33520sXvXBwzqa5JG-WbGvufKodEcwwfCDjgJqaGlCmMK1h6y_jxaDsjKMcdAqpXnks0umg3c3C6PkY7wTi7A1S9AmGgeamKGnZofzxV_WQOtRFCzx-GTNq5cYXGo1Xzw7JcF-ClRmzxRp5CcFUEdv2P3XBKApv03CjKEFhWxg8EIC52Gk8KJhT-aMTImPYhDc1gLL1ZwLySbG-jmyol_fSirXvaRFzdIemr7fzrj4AsHacaytuTYrbpY4GPIbNaqXgQ4Gc6wmv08wJtUcxjFwGdJQHQwoIqh05UB6GopxQa1pv0s5_MpfDFt-p3UxRi47CWybddK9QIjMRI-UGsyAiH_PZYzj5o1U0lgOML3275okeBxom10DeZotHsVGPlAgqPfOdkRS0DO5eObBkm5SgPF8K9c8er8BRl8OCAplQW4XVbseU8XMQMiSOWj1pfGlSLpAZgFQE6FrPvRWEoI7c4jZ8f6k5uXrYyM2SzuAmHvn-u0K5oCbxVLSypxO6hvXR1k987iluLvx0pAQHwhyW0VLPwQLp58tOwP2j10Gck5ofiYcTD6OydpSMicLNmc-hdk5gvRB1643jv9YYnZ49AwAidIBmslspK8lMLbXz5q-P7DZvg4-gavOeLlLCoXiLgDhEtjy2j61SMyYpdrt8Z-sWv3gm2UiYtSJVB5oOlYIoKNRSQByMK6C3covpss_yZxG-Lamy7tGisqe484ysvQWoRSW2hLKLpW4ZN7yaeY9XvZx5tOE46Dh3-BXlTH5nYDWTCX6iTVa7k8d_H0opr9w2oxKXHR_qYNA6sTTTu_pA9r1S8gv7reZtFiO2guw5ZPB3Cs4R-ez3b36dzcV7DM-JItvDJaw1oYv_UHVyF7bwdFotYpD4Or1DFpqVQEYQcX7BT7nNDvZ_XKU3To6VqFl-88pBmGrpDiiXRVy_SG2l28HBbRMJQH_031nGavvUR9x9mdyTuoA69kgw8uElOwtOy226VPh-tUvGEls_dr_jAVXGwN8mdOaE4vsNmteXmXmDbF02UTcwVz3hgxFZv5LrrJ4HLYHzStjDoBOEblSXxsyJyqT-dYJWzcr_20l_mMYpjuCzLO5sKu3u7jrvERfs-pkQCwxGejdG54MQq7rzrZpf5nLAwsXtV8hhUMqfCT1TgZZX4S_q2PPw9poqKf6yriU11zDC8mSXbKlUqqWPfuQVyNOf0UTLXrVNC0nwCU70Q9AoPIQjwEmZ19aH6c4KeXO64QWKtNZDy8ysjMvLv7y4BU3KLPDeVXr8-tEstXKZ4Xv0xc74Ef4YfrFwIit7lXMn7AKkxJzHPrI9VLoOx053m2kUd-ho-pkGQzfRgNOeq0YQgXtE6Kr-E_PWWCoAw22kKHzZPg44uHF35nCYhqX4ODevLoEC4jompz4gyw2s5oXiLFb_chr9Fx03AFejZOZnhj3pDUr6w=",
  "id": "rs_004e9afce35eba71016ab46f60b23487d0b16d9a70639f6078",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.36,\"right_z\":0.08,\"left_z\":0.2},\"note\":\"The barrel is still overlapping the left finger rather than lying between the jaws. I’ll lift away and shift left once more, keeping the wrist angle fixed to avoid pushing it during alignment.\"}",
  "call_id": "call_33z7s4xWV4uTYCZ0nVluMykM",
  "id": "fc_004e9afce35eba71016ab46f65c69887d0af5da51eeb81802e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_33z7s4xWV4uTYCZ0nVluMykM",
  "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]: [-0.0677, 0.9905, 0.8951, -0.7506, -0.0975, -0.1326, 0.0157, 0.9047, 2.1124, 1.2037, -0.0002, 0.4973, 0.5365, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0012 left_z=0.1853 left_yaw=0.0867 left_pitch=-0.2706 left_roll=-0.0201 left_gripper=0.0157 right_x=0.3678 right_y=0.3374 right_z=0.0043 right_yaw=0.1785 right_pitch=-0.2056 right_roll=-0.0114 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.1265, 9.7983, 1.3944, -0.1148, -0.0366, -0.0122, -0.5128, -9.1829, 6.0786, 0.9988, 0.3492, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b4c787ce457d72c25bd0a9b2a162ae8b52bf3d0a7ad7b7d8339c2a2db8578c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203fffe651ae728a3c44f2fa3f003a7a71f0673f4990bd9974fdf87461394807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a504203bf40b89f2a18e90d75f8ce40dbf3a6c7afb502f2c1c84b95bf0eb10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 10.79 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9699, 0.8246, -0.6525, -0.0975, -0.1322, 0.0157, 0.4805, 1.8877, 0.8295, 0.2569, -0.1623, -0.2588, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0009 left_z=0.1778 left_yaw=0.0846 left_pitch=-0.2231 left_roll=-0.0274 left_gripper=0.0157 right_x=0.3796 right_y=0.2341 right_z=0.0034 right_yaw=0.7528 right_pitch=-0.2284 right_roll=-0.0699 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -2.3453, 6.8034, 1.5556, -0.1148, -0.0513, -0.0122, 0.6496, -6.6256, 5.9556, 1.2576, 0.0855, 0.0024, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9768, 0.8207, -0.667, -0.0971, -0.1322, 0.0157, 0.8852, 2.0914, 1.1854, -0.0078, 0.4698, 0.4736, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.001 left_z=0.1718 left_yaw=0.0852 left_pitch=-0.2481 left_roll=-0.0238 left_gripper=0.0157 right_x=0.3685 right_y=0.3299 right_z=0.0051 right_yaw=0.213 right_pitch=-0.2237 right_roll=-0.0437 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8103, 7.241, 1.6532, -0.0464, -0.0611, -0.0073, 0.3624, -8.8957, 5.6274, 0.9402, 0.2222, 0.0806, 0.0024]\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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9905, 0.8951, -0.7506, -0.0975, -0.1326, 0.0157, 0.9047, 2.1124, 1.2037, -0.0002, 0.4973, 0.5365, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0012 left_z=0.1853 left_yaw=0.0867 left_pitch=-0.2706 left_roll=-0.0201 left_gripper=0.0157 right_x=0.3678 right_y=0.3374 right_z=0.0043 right_yaw=0.1785 right_pitch=-0.2056 right_roll=-0.0114 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.1265, 9.7983, 1.3944, -0.1148, -0.0366, -0.0122, -0.5128, -9.1829, 6.0786, 0.9988, 0.3492, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b4c787ce457d72c25bd0a9b2a162ae8b52bf3d0a7ad7b7d8339c2a2db8578c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203fffe651ae728a3c44f2fa3f003a7a71f0673f4990bd9974fdf87461394807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a504203bf40b89f2a18e90d75f8ce40dbf3a6c7afb502f2c1c84b95bf0eb10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9rSp07O9L8Qm4KUnRQYSurIVnLKtYTd3s5CRUmK8ZxcXH0cB6c6JTbzLmSX5HtMmldaqO6WN8PTXRfvTZNvMPE2h_5jwgN06XaaAnxCwKP4NBbOb2CK2VDvuMWy9eL-Jk3UB2OWMxZ7Mw5qusMoDqg5Cci7BB0q-Rep-gBw1KZNLF1h24wPTnGaBP30oZggpiu69dNtyiDcuJltNXzWFO8z92oFp86bxSJYpnq0NE_rpT2zw6hMLxCl5hpoue1cBgYC00D98EQlpuRG7TX6Ykk0FIxZzwg0poxlpiC02EttQP5fIT8CX_AO5oyB5WDpkvDaKBhMWSxVLEL2RfFAT_h8HQwbPodMBEBNsBtLAFwa9LP7Vm3oLeB975WK4zo8CI0iFLQPLsCd8idKFE4G66_0rCvPzLUho76QT5plbJq_YUuAMU7PIaN-VrcUB-k28QnoSyKPbApTu5AhhtINb3YWg9O7upUMiBe_KCQJXHkhl2rzeEAtj5LjyTH33rPP5ZIYQ2z6KocuMy4doz_AOwkaB1pbFPEoVueOcwBXQk0a1WqADIAVQ_4RnBM7ztZwQZ9R2UMhoNY0Xgj5AXIdX05rPzDujSLT_yT-x1I8YEo--sorQkgmM95eZAyOyswywjnI6hrNaEgqueP97nlUY0sU8H8lkh5Jb32Yq1_Af3xbNQ1IpdRHAeEJVIu4JU5HYm7WATDyOBH8h94szaNWmsGFReLYT6h_y2ZQtUtO36SbXbYZ74QZSJDcoxMzVqutSJt7xVyye5ZXjcYZVrD2B2FCVRKjkrYFx1tjTLU8RJyDpcLrvRqDlNrRVr2iqtnbYAZyIfaNW1yD4V3sf3DzThMwDI4CeT1tr3NvIbjpynYIX0u2p-RbuSgEESLUZRvM3PtTSfbMUxX4GV_OccQ39KkpeljUKfCJV7C4ni1kKKBfe6cetzgGH_6opnyUnefB9U5jnfemuE1Uh32VZIniHk3-CaM4dMJ6o4x5ES36X2r19ZOdnOyLg2EOTIBEfIIm9PYi304tDRsN9NpYD3wR4b9av1ePf_YQ6ttvEFhOS0xFNrdTOti_SHt02XukaMLC6DAEFes4gtiEbcWVWqZTqhrxTgsSfVXQrF8xq65OIfu6A5S_bETWTFb0ITPmK7GZJhsAdn_y6pS_zf1KATmTN0WRDyOmjk2gxYmdyAIbm5NUJtT6lQbgYZKCU5xoJej3QzNvVyjmLgVEoY3vkSrtYuheqz13VM8_JVh9pUESjIh8hLP4XWmjZikrp1Jo0RYCTmtxSRSfs8F1kVdDFMYL98cF5TRs85Kr7LPccncBZTMZpYqvbXoapm4AC5q3655zAMlat_4VXXjKim24NiC-83X3EeuJdou7-S0T8UIHkOsAPbp4xTKU2gvrpCa3L7xcR0ietRd84TMLiPVVBv4-NxiMg-jJGTyZYaoQtm9vY35HSlgbvCJbSVZuz_VBNQZdmejLerwxF6go4o-QZp1v7YKANAoVF7-BKUXsxiiOLBO0BILjci4beJRn1GxPCp20xSzLSO0hCLKdO9pRAuX1cy6yUYioCrKazDxMHjXJZofocSUplmYLd_BQfuu_R6g2_4Bn70uPTv6lpKL-XzoV7xN1ooJrEnR6H96KkddsVoKgQGlZAVFhWdnznERWgFiLtOMu0znJVpofMLKlxUgAQxdkOuVaM8wzzHMYa5uousiObZXoon4UHDyT9c-z4LQBbp8",
  "id": "rs_004e9afce35eba71016ab46f68da9087d0beb409edb451826e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.3,\"right_z\":0.16,\"right_pitch\":0.3},\"note\":\"The right arm also stopped tracking near its reach limit. I’ll shorten the reach and lift with a modest forward tilt, clearing the objects so I can reassess their positions.\"}",
  "call_id": "call_FZo7ZTRVFp3mxrMUrgEMOuOP",
  "id": "fc_004e9afce35eba71016ab46f6a96b487d0a296146348c0c699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FZo7ZTRVFp3mxrMUrgEMOuOP",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9951, 0.8974, -0.7704, -0.0971, -0.1326, 0.0158, 1.0069, 1.692, 0.8154, 0.4068, 0.767, 0.2974, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0014 left_z=0.1818 left_yaw=0.0874 left_pitch=-0.2925 left_roll=-0.0169 left_gripper=0.0158 right_x=0.3309 right_y=0.3006 right_z=0.135 right_yaw=0.1954 right_pitch=0.2283 right_roll=-0.038 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.6872, 6.5162, 1.6386, -0.1099, -0.0659, -0.0073, 0.8821, -9.812, 5.9556, 2.0244, 0.4176, -0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1d431de6ab332c52981954372ded50642ad4900febb3ee06f10fdc353efe2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482820c6c77e78c08432c41bd9a83eb07aa59ff753fa0d348a1f011e4fca2d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18089881587f8a870f3c0613c1c06a5b29967442b6d8d7daf1a7af985940e221",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 8.61 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9703, 0.8246, -0.6563, -0.0975, -0.1322, 0.0157, 0.7746, 1.9053, 1.0565, 0.0193, 0.2588, 0.2031, 0.996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.177 left_yaw=0.0848 left_pitch=-0.2273 left_roll=-0.0268 left_gripper=0.0157 right_x=0.3695 right_y=0.3034 right_z=0.0396 right_yaw=0.429 right_pitch=-0.2338 right_roll=-0.0524 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -2.3179, 6.8581, 1.5116, -0.1197, -0.0024, -0.0073, -1.9624, -9.0872, 6.3111, 1.2576, 0.5983, 0.1929, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9905, 0.8951, -0.7506, -0.0975, -0.1326, 0.0157, 0.9047, 2.1124, 1.2037, -0.0002, 0.4973, 0.5365, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0012 left_z=0.1853 left_yaw=0.0867 left_pitch=-0.2706 left_roll=-0.0201 left_gripper=0.0157 right_x=0.3678 right_y=0.3374 right_z=0.0043 right_yaw=0.1785 right_pitch=-0.2056 right_roll=-0.0114 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.1265, 9.7983, 1.3944, -0.1148, -0.0366, -0.0122, -0.5128, -9.1829, 6.0786, 0.9988, 0.3492, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9951, 0.8974, -0.7704, -0.0971, -0.1326, 0.0158, 1.0069, 1.692, 0.8154, 0.4068, 0.767, 0.2974, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0014 left_z=0.1818 left_yaw=0.0874 left_pitch=-0.2925 left_roll=-0.0169 left_gripper=0.0158 right_x=0.3309 right_y=0.3006 right_z=0.135 right_yaw=0.1954 right_pitch=0.2283 right_roll=-0.038 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.6872, 6.5162, 1.6386, -0.1099, -0.0659, -0.0073, 0.8821, -9.812, 5.9556, 2.0244, 0.4176, -0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1d431de6ab332c52981954372ded50642ad4900febb3ee06f10fdc353efe2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482820c6c77e78c08432c41bd9a83eb07aa59ff753fa0d348a1f011e4fca2d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18089881587f8a870f3c0613c1c06a5b29967442b6d8d7daf1a7af985940e221",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_004e9afce35eba71016ab46f6edba887d0919c31b3ee84ed21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.395,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The cleared view shows that the pen has shifted left, beside the cap. I’ll approach the pen’s rear barrel from above at this new location, using the forward tilt that restored motion.\"}",
  "call_id": "call_teZghgsy1TFDlnpySSRRoGvL",
  "id": "fc_004e9afce35eba71016ab46f76d6dc87d0bc0597b3c7f5b448",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_teZghgsy1TFDlnpySSRRoGvL",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9997, 0.8974, -0.7761, -0.0971, -0.1326, 0.0158, 1.1946, 2.2322, 0.9989, 0.7128, 0.9321, 0.3481, 0.9961]\nstate[eef_state]: left_x=0.2849 left_y=0.0014 left_z=0.1797 left_yaw=0.0878 left_pitch=-0.3027 left_roll=-0.0152 left_gripper=0.0158 right_x=0.3021 right_y=0.3884 right_z=0.022 right_yaw=0.2319 right_pitch=0.2584 right_roll=-0.0797 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -2.7145, 6.8718, 1.5116, -0.0757, -0.0415, -0.0171, 0.9641, -10.865, 5.1487, 1.7216, 0.6178, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776f3c0d4c8799896d66c4e2a71b095c82c1621251f1a3035d0cfb513369dd2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1030a76480cea84327fc399ea0a67ad35cf7d775397ad68fafb0b78779df63a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2734d1e216cc61f98d8f524b2856cdea25d0ff7960da3149749ec08dc7521231",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 7.314 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9768, 0.8207, -0.667, -0.0971, -0.1322, 0.0157, 0.8852, 2.0914, 1.1854, -0.0078, 0.4698, 0.4736, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.001 left_z=0.1718 left_yaw=0.0852 left_pitch=-0.2481 left_roll=-0.0238 left_gripper=0.0157 right_x=0.3685 right_y=0.3299 right_z=0.0051 right_yaw=0.213 right_pitch=-0.2237 right_roll=-0.0437 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8103, 7.241, 1.6532, -0.0464, -0.0611, -0.0073, 0.3624, -8.8957, 5.6274, 0.9402, 0.2222, 0.0806, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9951, 0.8974, -0.7704, -0.0971, -0.1326, 0.0158, 1.0069, 1.692, 0.8154, 0.4068, 0.767, 0.2974, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0014 left_z=0.1818 left_yaw=0.0874 left_pitch=-0.2925 left_roll=-0.0169 left_gripper=0.0158 right_x=0.3309 right_y=0.3006 right_z=0.135 right_yaw=0.1954 right_pitch=0.2283 right_roll=-0.038 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.6872, 6.5162, 1.6386, -0.1099, -0.0659, -0.0073, 0.8821, -9.812, 5.9556, 2.0244, 0.4176, -0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9997, 0.8974, -0.7761, -0.0971, -0.1326, 0.0158, 1.1946, 2.2322, 0.9989, 0.7128, 0.9321, 0.3481, 0.9961]\nstate[eef_state]: left_x=0.2849 left_y=0.0014 left_z=0.1797 left_yaw=0.0878 left_pitch=-0.3027 left_roll=-0.0152 left_gripper=0.0158 right_x=0.3021 right_y=0.3884 right_z=0.022 right_yaw=0.2319 right_pitch=0.2584 right_roll=-0.0797 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -2.7145, 6.8718, 1.5116, -0.0757, -0.0415, -0.0171, 0.9641, -10.865, 5.1487, 1.7216, 0.6178, 0.1441, -0.0122]\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,$blob:776f3c0d4c8799896d66c4e2a71b095c82c1621251f1a3035d0cfb513369dd2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1030a76480cea84327fc399ea0a67ad35cf7d775397ad68fafb0b78779df63a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2734d1e216cc61f98d8f524b2856cdea25d0ff7960da3149749ec08dc7521231",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG-B-w5qfomtBJ-ILfTPHe7uqp8jznOmrAb9JWsTD2EHeaM_GTz3bIsG-Z7xeeEM08TMTROZv9cW9IUuRK_qZ_sxcA1LVxAtrixjY_rWOrpcJViAZXpWNqCREWLsxK913eIfW1r4bGnG2cPM-uQqzOk_B-raJnM8nsU9WWlC3ptdKyQaBLJc-WloOd3T2wFxL65sdoWc2B4TEcnc9AMT8lCrTgZaBS3ppNHK2mpIw3CboswizWGMGVIrQBPRZb468H20r7pNtw0QdGqynwNOB46Dto2sV8hjTmJZDL8BC8havv7GdYb5jQhNWuz6p6Qo6DQqMKg-Me1IyU1tVs0IdjiOigKMeLjczMDeODjYRJcDs_rCkLhEf17tgzG1nM-dFS3YHPRA47CW46Aw_Kigu9fkPcdz3EqcCspgygo7DfOjNQRTzTeOmOS5aq-dJO7vpXWT48kPy3Klom09P7vzVw5RLksqwqE6i4D9WufR_uwxRtYoX4m0ayRJ8w2DtVlWc42X0_Opz7KRUwoHGqiGK3ujl5gvkW77bITfuEULV2gTFahhjkuunEFM5x5PiXyXCW89BdoRPYIC0seSp-_VZ1H6kOW53rPCKxcUiKNTryk3i47cQQbl2cpcYE825JkGhaCfYfI3T-aoV0PCyacctaCqp2GH8Xid92l0x_GC8VDyiyMc4bmgA4mqvM1xi8ZjWGjXNscNgu3PHHwF2hlQge9cVfbvrvryIQg9E8AiSeNkcnhg60HdZzusAPWSjnhwTE7MacjO8rzNupwB8V3b37fM18C5tYXl-M5XE8sdmzm8nFViJFwKtxw_TkNSqrH7epbAuHB_s4UJ-TYFbRlWHFOTzX9raXijHK54RfcHZRALMEOPZSrF5HlgfOG_Ea9BGK6HWUAXO6o_AHsnK2bEdm8P9x6Oleeyj4-ImAv2SaDnGNJu48Vtf3eMstLL3B2oylmrYTIjMOQMUVGCSpN7BQKgHvgVkZ2QJC-mCBRF-HHdSVcSKHaGILf82IbEzkYUBC2iPDUMxJni57qXVwD_nmmlceilMIdsD-uJKmjz8i-cg-D1Xh92gSAU7ljK8OW71i0Jmi6YktEF8MuMWo_YU7fVhTy4JJEcE41uF4XAbOh0rojSCrbY1YAjsjOBiuSPLxA8KarDmDJFH4Ny3VVxly8EpgaBZvghNv6ePmUj00sfMaNzk85G4eVHoGJZTKHNVgyaVprNdLe2kbXsuKGKCkLQr4Gm66mLTfeqdS1T9kQoylnvHqN8abJGC5N946DHvNgmv7svQuC6a_UOOCbuIbr1EtAK58ToMT3qombAkW0fHSyIqfXNYmyKtI6-6M4JPtH-6quDrn35pyULAVtHW2YoMGhrwEd78ESuX_KsjQUlHZMFAWcrGczpzy8ZVg7tUa3A9Wr2cqI4bcOGy6kFqoZPPizdnJrRvmswB3dONvH1YlzsBqMaJjjRJ4Ngorqu_84PnWIDCZfla1SfQdRBivCmi-M-V0t1zduE4Vc3mvjePw2NLrElkVMMtkFlFcC9GuPzSezc4hlGcKxm8deLAFtsbFubG9kRrjHaUtkhX9VP4Cq-brUvAR2Foui8DbQyh4wYfB_yfHQJQ9e3QVY_c2bijmkAe3pevUFTEWz_85UoeGXRjUg_p7izsNtWU79xj166dy5Qpai_07xBBvgjSqNAkxHHyq16qlco5rjNzitnrDziQjIWJZVmlaBj8X9SWZF1yIvYYtWvFGt_KKT2Djqext7uMDBXVyXe7_6cY2Y2xXUu_ppnoYPp9K8T7HNrMpYxVDg-DXscqitwT35RYYAxi4E2t7xknP1yEL7IB18cgG11rNyPT9apetwq3yI7thn4-gYkXj43jMOgrnTVwe8bWozWN2wjmlY-CKRVJR5BlvFcYmhaknyCVNHh0k1nrCUZDiRR2SSfkzvEjsyflyFfhVQE9LFuYaaNq54_7gE2DcC-CQ6rHAzsGn7eW6DqvNXRE6XAPQtLDhhLjp70J9cYQv3aGqgaEv6xuy5qEnEJgalmFumpjRDcfY8xo5b0L_GULJiE-ZaVszsjuNCqaDAfdU28FtdfJvJNtimcrEkLGxzB_xeAk9GaYAr1dx1ApX3cd4bJ9_Gw2Yt1Y_rgHFkfg6F1b9UiE8BkJ9CO5VVyI6vacAoz5bhBx0-SVWnHUvvbt5RbGugP8n1EbZUPYWcigebamfrRZIff0EsNkikDvvt8WP0GTWCAh12mHEGNseUBnzFIrx-x-z4-ZXlETbo4SM17txf9CLEnGGxdqUbWrSpsdJJ8ZwL-FMHjc9UcBz6SUGs9PkzAWn6A4lDFG22VMadaYi9dazKlwl2m-9MBHTTxEHV66cA0in8UjUFRaJJEQ5OI7iduQUk_5eu-ybC_Z6PwbxH3AX8nE3O-oLDvkf7DfcP_va0JphodHLogIN1V-JnI-fvD5cNoaupsY_EXsi085IG6LEQeqJDHc4KIbdV9etHIBxqB1BNmMeHPWUrWVhyFEAgm9-7SfPNlzN0pWBFHHQPFc39mZSdYO5mtnPvBUxDxHWEJJ5vFhhi0933adRnMAoKMPziLrQ7nXLHLLSSMvgCoZZwA3fcEMG7gJRraMw1nMXyle1ejeVMRTZkjKs_tXK3oAnUDsc9oU0oNIUISKvEiP8eQ44q4OQQhUb86HiLQTxnPW40uuyckzcIw-wizB5-HhrH0npwCgqBQ1XLT8K47rtO9hQNvXVwoqnGpcLSUhRAfHL9udKVMXs-_NLg85Hml2zQQdCmmE_YPjR25sEm2DvfPwxpO36FM0mLmjaF2GtP9saNyq2maJz_PKOMRm5Wq0kTwL0Vu5yFzw5-7wQVlfM-SFF4iLDHLSxlxeldUif_tTzXzqmy7VVEV",
  "id": "rs_004e9afce35eba71016ab46f7a79c087d0b7a7d8b75609309f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.4,\"left_y\":-0.23,\"left_z\":0.09,\"left_pitch\":0.3,\"left_gripper\":1},\"note\":\"The pen is now beyond the right hand’s useful sideways reach. I’ll park that arm and make a final approach from the left, with a forward wrist tilt for better clearance.\"}",
  "call_id": "call_Fppf5IVdnaMhqKUwqk55BK9b",
  "id": "fc_004e9afce35eba71016ab46f803b2087d0b2071c7cfefcb9d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fppf5IVdnaMhqKUwqk55BK9b",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-0.8188, 1.9045, 0.7658, 0.6182, -0.8478, -0.3798, 0.998, -0.2398, 0.6788, 0.3874, -0.0566, -0.3447, -0.1974, 0.9962]\nstate[eef_state]: left_x=0.3903 left_y=-0.2181 left_z=0.0713 left_yaw=0.0792 left_pitch=0.2344 left_roll=0.0238 left_gripper=0.998 right_x=0.2956 right_y=-0.0071 right_z=0.1844 right_yaw=0.1564 right_pitch=0.2328 right_roll=-0.0712 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.5128, 7.5966, 1.7265, -0.3053, 0.2613, -0.0611, -0.1983, -0.253, 9.894, 1.7021, -0.2906, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61eb16a2d03c11fb07d788fda0aecc57400714a8491ffb592b46a3f66c855369",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885ef2b4e4af0f89a30fe78532c849cb2977ba3f69275949043d64f7c9fc1457",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a01cd2deafc48addaad9cb89a9b28599751884e81007e2b2b47b3e06f533af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.787 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9905, 0.8951, -0.7506, -0.0975, -0.1326, 0.0157, 0.9047, 2.1124, 1.2037, -0.0002, 0.4973, 0.5365, 0.9961]\nstate[eef_state]: left_x=0.2887 left_y=0.0012 left_z=0.1853 left_yaw=0.0867 left_pitch=-0.2706 left_roll=-0.0201 left_gripper=0.0157 right_x=0.3678 right_y=0.3374 right_z=0.0043 right_yaw=0.1785 right_pitch=-0.2056 right_roll=-0.0114 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -2.1265, 9.7983, 1.3944, -0.1148, -0.0366, -0.0122, -0.5128, -9.1829, 6.0786, 0.9988, 0.3492, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9997, 0.8974, -0.7761, -0.0971, -0.1326, 0.0158, 1.1946, 2.2322, 0.9989, 0.7128, 0.9321, 0.3481, 0.9961]\nstate[eef_state]: left_x=0.2849 left_y=0.0014 left_z=0.1797 left_yaw=0.0878 left_pitch=-0.3027 left_roll=-0.0152 left_gripper=0.0158 right_x=0.3021 right_y=0.3884 right_z=0.022 right_yaw=0.2319 right_pitch=0.2584 right_roll=-0.0797 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -2.7145, 6.8718, 1.5116, -0.0757, -0.0415, -0.0171, 0.9641, -10.865, 5.1487, 1.7216, 0.6178, 0.1441, -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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8188, 1.9045, 0.7658, 0.6182, -0.8478, -0.3798, 0.998, -0.2398, 0.6788, 0.3874, -0.0566, -0.3447, -0.1974, 0.9962]\nstate[eef_state]: left_x=0.3903 left_y=-0.2181 left_z=0.0713 left_yaw=0.0792 left_pitch=0.2344 left_roll=0.0238 left_gripper=0.998 right_x=0.2956 right_y=-0.0071 right_z=0.1844 right_yaw=0.1564 right_pitch=0.2328 right_roll=-0.0712 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.5128, 7.5966, 1.7265, -0.3053, 0.2613, -0.0611, -0.1983, -0.253, 9.894, 1.7021, -0.2906, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61eb16a2d03c11fb07d788fda0aecc57400714a8491ffb592b46a3f66c855369",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885ef2b4e4af0f89a30fe78532c849cb2977ba3f69275949043d64f7c9fc1457",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a01cd2deafc48addaad9cb89a9b28599751884e81007e2b2b47b3e06f533af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-Mh6_xFLkEr2nAm7YxRWmpW9UWBmACMCnYPAzKUXp1iDM2YipqXtmE2B9L-tPcvkI0pgq5Fbm3v-eoJ4Jt-mvzg_dSnjmL9XFZptW2xJNtUKztC7nb6O5vPHgl-b87GkUuHSRZ4q3I1cKthVfIvQ-APZiCOb6ETMdajG6nlVvA3WiWwoplvw1rgSR1rgyx6gkM5a7vg0sfBQiT4WjLx1TTdkC5EtPKIGBue8H1wZ1TavQKwwncGWp6F0CEwy-R8t-Bt3NrOIRY4g9NOZVrElFn92Rd3MU25boE38SRVVRVTdpfNBXEMG3eYND6VlzUfG5dw-6pYz0fuGCmUCkU6EBJd8z9HB5_CNhCLq3nwyDX1HzI8rvGjYkXTdAxLcSOAq1jmPLmh5zcJ-tskkI-nQ5tfNu0lw30pv1z418iYB7hKpAPkIHbUmnLMioAotw9G3oWu_7xW13FKgo9lucoxZlr6ruvFgu3gNvZ46ktS4GrU1zxKMmoMo63tY58HGqHd2rY3YlGHuztWXoa77C_09xtzbmEMoI_htu4hx0oFpH6NG6X3JC0IfPLU5C8cGvzM8vu1YQatRO2j10euN3ObI1UCq4y6euvQuZn5wVjOfQy3dmYc3IZeZdoz3Fz7kS7kAnlsWdmmuVWyRX0nEA4ydz6ZhV4y4C808-gFRmMNhFCFdiiK1c-wgC3wHPC_LFS730a8dswRU81TokDpy04PDacTHMGwKodIoCAC8-ENOmEhcveJXOfSPIa0hgZbdGufL5_rIbB5F1V4CfaEseUnG3TAPU-hBNu5qQ3dthDRPkTCD1N8pmnwWAdSC6pcq0AI3Bzl-veYpyzpwWDq8X7teWVHOM6Fq1yR1LH56C-YyFITuyN--ZeXGClfHZ3bboBi2I6hOn0S6XLEAtnHWWSIrvRaq2cbr-4FxkXxjTYmbUZsj2lQuMl3ivnFhmaFmfTmBVcF-9EGjFtCS9VctUsGKFna5VcrRwp7Ctvoo19hN7zroBjmM6MW19zkZRhTf03uIDc2k7K-VDcJhljh06ET_pLojEUhS7iqWQJTmTzhnZTGpOmQO06WV1JE5BSen6AF9rDqkxQF0iizjiwbmXwMnyCQ_7dcjbzBd8xWno-RQaOAMwME4U3kxnX6wnWh5FdHkutR7d3z9SUbyCpmiuXcbEP13zQbyGszUAQyldDeOZ-jRpmHujAdfkEnsFdmq4Hvx1SfL10xaNk5s09KBSsKM1R2pfu7_slxQ57h0DpmY8EuOYr0iajs46m5T1plru-ZOl_8o13wgXcvgyq5LVuvnAhy5_1AVMwbBPAmRd2JXX5EuBWVN_-3IDDI37X4O3bVsUoZTsBoddW_cWOvY-LkmbiJh3MfP5xIdDRscD_Ahsxt5b0qQP2Jem1UqrRR82KtbLNP3i9gTJxD28lofOivIvHIWkz6nU5wNTpjtfR3CrP7mAvfxZSG5Qe0g883I5XctzkcKPox7fLmRtjRBVjjBdTHeu276ryHVKioprtKq5-ABtWH50wmqQoMsnF5Tq9K9Vf_3VEaN0y3t_e2M5KRLAe2qclBmpJdYc4VALRaat6QBsJ8Mc08085AcyjWYHCSr8Z8gkSGNnJANAz5ddjcS-Pz_h_p0z3HSBSUvbwLe50gl_DQ8ZKbXP6DJ4XiTdtgD3WI8294ncPo5fmUMzIE0iodjVFf-IXFKT44qhqdKgbnGbUTuwFmeno3yuGnJCn9-jSjTdBqsUqtpkmwl7--_GOQU-HhePzY-YWJWyHukGZw3GMj2YJhzCxeMffn_92yPPsALqBXJRg63TK0e5rSL9sj-2DYH6hAH4kXaOBarbtr8wpNBnons-sq9OAmVSSvSRDcFWjeWRGHxy7c8fLg7QCT82Vo6Cdv58hcZjRy4F_RRLe63o7YHn78R1x6u_cWNuEWpDHb9F3hZj-IHLmJmxBk6BaSgIVwjLkU9NFOCQJ1hk6wwsB-0ByaVmRwcZjt9zpfDRmDLiE2GFM0sOegwtlyEwAKcULrCIEeDaHKE7hL0pESUgwjGeSfkbYJ4w4ecKhv2L5zBQXyyl_Y49ZL8Y643rrkEmu3iTeYGRhMiNn0SSVZk72OYhnDxz-T7GPQIG6ajMa-Bbb1vgxtAavzk8mpghf8F0uH57e0RTT1DnORbZ4fklGN22M2Awnto31M3CL0FPpnj2P8yjVDyETJprAs8HNeYc-QSjTin2BMiQkhQimxtYx1RFTEhwj2thc-aOb7uNy5rdRczk9fiE3ENLwNwNP3y-HKb7P2htZXWt29eh1JMoUxK-2WT4J6plmKzQev-0wOI79u2a9UaG2Md7CL0B35L6O_fsuFsQ_hNaV8zNXH1w-efQNfyJKpa4HPdL7",
  "id": "rs_004e9afce35eba71016ab46f865f6c87d08411a64012f0aa2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.2,\"left_z\":-0.008,\"left_yaw\":-0.25},\"note\":\"The pen and cap are close together in the left wrist view, just left of the jaw centre. I’ll centre the lower barrel and descend with the jaws open.\"}",
  "call_id": "call_24rOUgEnVBRs3GOHfntCrv1I",
  "id": "fc_004e9afce35eba71016ab46f8a26bc87d0bf65d3ff7aad50a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_24rOUgEnVBRs3GOHfntCrv1I",
  "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]: [-0.6716, 2.1551, 0.5285, 1.2373, -0.5056, -0.1905, 0.998, -0.2417, 0.6853, 0.3885, -0.0746, -0.3588, -0.2142, 0.9961]\nstate[eef_state]: left_x=0.3842 left_y=-0.1915 left_z=-0.0008 left_yaw=-0.1403 left_pitch=0.2315 left_roll=0.0038 left_gripper=0.998 right_x=0.2944 right_y=-0.005 right_z=0.1796 right_yaw=0.1737 right_pitch=0.2129 right_roll=-0.0733 right_gripper=0.9961\nstate[joint_eff]: [0.5402, -6.8034, 1.6342, 0.7497, 0.0513, 0.3199, -0.0122, -0.212, -1.1556, 7.0769, 1.9609, 0.0464, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54592b595b3384153a9114472665711eecfa2508047fcbecc9204d0dd0090218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ffae453b32e7f81294d68ac6afd0a4c6d1d8613deb4121291ca9d5005215ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2eef2548756d89f4ab9669e14ca0258559b72635554d347e43cd5474ed7eeb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 11.57 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9951, 0.8974, -0.7704, -0.0971, -0.1326, 0.0158, 1.0069, 1.692, 0.8154, 0.4068, 0.767, 0.2974, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0014 left_z=0.1818 left_yaw=0.0874 left_pitch=-0.2925 left_roll=-0.0169 left_gripper=0.0158 right_x=0.3309 right_y=0.3006 right_z=0.135 right_yaw=0.1954 right_pitch=0.2283 right_roll=-0.038 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.6872, 6.5162, 1.6386, -0.1099, -0.0659, -0.0073, 0.8821, -9.812, 5.9556, 2.0244, 0.4176, -0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8188, 1.9045, 0.7658, 0.6182, -0.8478, -0.3798, 0.998, -0.2398, 0.6788, 0.3874, -0.0566, -0.3447, -0.1974, 0.9962]\nstate[eef_state]: left_x=0.3903 left_y=-0.2181 left_z=0.0713 left_yaw=0.0792 left_pitch=0.2344 left_roll=0.0238 left_gripper=0.998 right_x=0.2956 right_y=-0.0071 right_z=0.1844 right_yaw=0.1564 right_pitch=0.2328 right_roll=-0.0712 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.5128, 7.5966, 1.7265, -0.3053, 0.2613, -0.0611, -0.1983, -0.253, 9.894, 1.7021, -0.2906, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6716, 2.1551, 0.5285, 1.2373, -0.5056, -0.1905, 0.998, -0.2417, 0.6853, 0.3885, -0.0746, -0.3588, -0.2142, 0.9961]\nstate[eef_state]: left_x=0.3842 left_y=-0.1915 left_z=-0.0008 left_yaw=-0.1403 left_pitch=0.2315 left_roll=0.0038 left_gripper=0.998 right_x=0.2944 right_y=-0.005 right_z=0.1796 right_yaw=0.1737 right_pitch=0.2129 right_roll=-0.0733 right_gripper=0.9961\nstate[joint_eff]: [0.5402, -6.8034, 1.6342, 0.7497, 0.0513, 0.3199, -0.0122, -0.212, -1.1556, 7.0769, 1.9609, 0.0464, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54592b595b3384153a9114472665711eecfa2508047fcbecc9204d0dd0090218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ffae453b32e7f81294d68ac6afd0a4c6d1d8613deb4121291ca9d5005215ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2eef2548756d89f4ab9669e14ca0258559b72635554d347e43cd5474ed7eeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-R2jxr834IS9k2Y2_7O-iXRbCdxshb_pUJ61q0Is8JPNt7R_-ySjNF4PcuACMfRQYq9NpJD-qGyQEeeY98A5MlFTaMQimG0j5p8NV4VvAaCa7SkoQU4EaVFuqxdmh5N7VHTNlGx5OytHCxl-4fwZCvriP2NHPYkNpHDswk_SN-d78iV6cEt7YDtP1S468fLJqX6QnFjFO8RKddWvj2Uzsu9Ifw_QXKhBZY4jvqOIJv3aTkBc_KOlbn3-K6K_cy0XBxFXnx7zdELuZ3kSkz-0TopI-QfurUIPyrWVm-subr8eWnBdIDYg3sJSm4L7SWAFpXR2gzz-NLtBbXDuz0MbAEFTHzuh43z3mmvCjo5Pt8cRBOYG1qEqveVDsEnGkrzWEHv3IVAe3Vq39Pp0VWLkV0EcVdRos6Ov7Lh-ak1pv06BVlCBOFh86IAlfDf4UM97R2M1EMNcBG17G7XyRZspJdrY8bEsBnD5ZAQ5EP7aTdVE3k_n07BYzdz1E3UPuv3hAxSwUX2hcakivCUBQsZh_aaqV-MgDlvpeFoxZitYcG7SXgAzlKyYO9gRXf1yLMuS5zuDxcknc4lDwV_FljTupopbXFzhD3Sx0_adpioASDw9F1Fzd0Zpwna7hZu2VqN_UwYRSEu96J4E5EuZwTT5u7hszhh3Cj_vhF1RGU-wKrwfE2pT_PqhE30nUkqPFjtX1RG4r7R7scsMptQsbTEWfLRCl82TEqaxFRe6vlyOdgr-rJFoVKgdiP7xxglFHM3hUzr6qCdrXO2fBn408LLdiM7Sub09xA6MYeQRqlgmwB8Vay1obnRaIr_c_6owIsl0N_XZzyhlkdWin36e3xfdChj1QzZ1w4Fru0iVUFOYBta8AmeAs2-nGU54nflmqvqmSQdvO2Hb-LFvME1GCqwA_3dpiomLwXQIr_i72DbL0PayRBoXpEYzkv0ZXIxUv66pr0jGJJBa4P_OaOeXmXoU3EJHkkm-d-5AoKIQMkUhhRh2f7kW8ASrFgJcz16ahrhXjVQnlqKPH0PLytbY9TvaW_c1nCgQj1S_oP4sjbs1uJBvOmgflGKInByYFAEcWotGJSXf8IliOHNlTeoaWUtfDPMq6HlAzhVtgK1_oFRKbyiUagUX4kN-dCfkHr7AFwLkJRabKQaoF5BZ52FqMMZNzaP-BEBVBwvFsOS2dibWVL4Wk56Egjx4i2slG0auZRCErs6y2hYe85DaNo9b3QqpMKFzR3pYht1_Jb_kEbRqsfvQDr36QW-eCe94ZqfeWrpRpqGm4xe0Z2FZYnRKD5PSs7oESIXWuDr7SVxfG_p6aZg7y5d3cuN7wbqVFHvMKumGdq9EIBqjLKM0PMZTUiN6erIp3jz2iqOceey0MLGyOxEBsVMqdy8O2lnWKl8MDhU5ST1xG_nMlOkvs83Sl_x9rTVjxJbshA1ULeo8ekGjjIVEaiHY7K4L6LDYMUmneI2Yn4gZu9kX0j1oRuOWuiVH69Lfq-TlpStaWCK4SqFbi0OEnzfprPmVXVRF3CcWoxUdP14HXIzvkkDyFQH8OcD43uuWik0k3QLNmWxfa4SN1NBCXEbg6J6xZvMtczghvlgjj6Odn-Q9Qy5SEP_bx8OS-9Ew==",
  "id": "rs_004e9afce35eba71016ab46f8e593087d0a82bbb580f203f31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The pen barrel is now centred between the fingers at table level, with the cap lying alongside it. I’ll close the left gripper and check whether it has secured the barrel.\"}",
  "call_id": "call_FaJ1iypdrqw9hNXJC3UmXMdd",
  "id": "fc_004e9afce35eba71016ab46f900a7c87d08219915a1c41a905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FaJ1iypdrqw9hNXJC3UmXMdd",
  "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]: [-0.6682, 2.1605, 0.5262, 1.2896, -0.5182, -0.1844, 0.0089, -0.2417, 0.6857, 0.3843, -0.0753, -0.3569, -0.2142, 0.9962]\nstate[eef_state]: left_x=0.3875 left_y=-0.1898 left_z=0.0078 left_yaw=-0.1237 left_pitch=0.2721 left_roll=-0.0098 left_gripper=0.0089 right_x=0.294 right_y=-0.0052 right_z=0.1773 right_yaw=0.1716 right_pitch=0.2077 right_roll=-0.0718 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -8.8547, 2.8239, 1.3309, 0.0317, -0.0513, 0.6764, -0.212, -0.4171, 7.4735, 1.7851, -0.1294, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50e1bcc45cda6abad45b6e386fe59fb84e510f98a20bc9a1c5715e3d182ac9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c1cb8d17f63ad77bad2e856ffb41a296634cdd41255a057c8d18e9e2d14fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366b1357d5033984d6efa5cbf44ea5b922521ad2524f07a8c6e045201b91479f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.278 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0677, 0.9997, 0.8974, -0.7761, -0.0971, -0.1326, 0.0158, 1.1946, 2.2322, 0.9989, 0.7128, 0.9321, 0.3481, 0.9961]\nstate[eef_state]: left_x=0.2849 left_y=0.0014 left_z=0.1797 left_yaw=0.0878 left_pitch=-0.3027 left_roll=-0.0152 left_gripper=0.0158 right_x=0.3021 right_y=0.3884 right_z=0.022 right_yaw=0.2319 right_pitch=0.2584 right_roll=-0.0797 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -2.7145, 6.8718, 1.5116, -0.0757, -0.0415, -0.0171, 0.9641, -10.865, 5.1487, 1.7216, 0.6178, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6716, 2.1551, 0.5285, 1.2373, -0.5056, -0.1905, 0.998, -0.2417, 0.6853, 0.3885, -0.0746, -0.3588, -0.2142, 0.9961]\nstate[eef_state]: left_x=0.3842 left_y=-0.1915 left_z=-0.0008 left_yaw=-0.1403 left_pitch=0.2315 left_roll=0.0038 left_gripper=0.998 right_x=0.2944 right_y=-0.005 right_z=0.1796 right_yaw=0.1737 right_pitch=0.2129 right_roll=-0.0733 right_gripper=0.9961\nstate[joint_eff]: [0.5402, -6.8034, 1.6342, 0.7497, 0.0513, 0.3199, -0.0122, -0.212, -1.1556, 7.0769, 1.9609, 0.0464, 0.0855, -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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6682, 2.1605, 0.5262, 1.2896, -0.5182, -0.1844, 0.0089, -0.2417, 0.6857, 0.3843, -0.0753, -0.3569, -0.2142, 0.9962]\nstate[eef_state]: left_x=0.3875 left_y=-0.1898 left_z=0.0078 left_yaw=-0.1237 left_pitch=0.2721 left_roll=-0.0098 left_gripper=0.0089 right_x=0.294 right_y=-0.0052 right_z=0.1773 right_yaw=0.1716 right_pitch=0.2077 right_roll=-0.0718 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -8.8547, 2.8239, 1.3309, 0.0317, -0.0513, 0.6764, -0.212, -0.4171, 7.4735, 1.7851, -0.1294, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50e1bcc45cda6abad45b6e386fe59fb84e510f98a20bc9a1c5715e3d182ac9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c1cb8d17f63ad77bad2e856ffb41a296634cdd41255a057c8d18e9e2d14fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366b1357d5033984d6efa5cbf44ea5b922521ad2524f07a8c6e045201b91479f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-dvlmGXm1DBNJ8A-_BxNifLURqyTTWn372YEzPYFntl482rhIKs6EkSLx_zyqbMxkMQHfTd-8CS60Y7zktogQzs-m0ME6M1CU_zufuRQXXnB84p255PVH_QJ1oO4fT1fKGq9eazrjfcpeNzz2_YBY_LlV5LNZN41sokRBSTzGePJe_RoPbCmncZ8-5eCLd5Y_PAxIL74R2kSUK5wvp16btO75arz9Vy4fbeL9i_5GIFQjMivioTHqhhjP5E4W5niLP9T5fhtLOueS_nB6VrEwQahkkClXw54-oRhF3aczEH9GW_VcfSS7Rg6KMuSx15Miih34uzey21Dm3Mtmnho2bczVGTQLAdJqdy1yP_RodEkbg-gIQb2E426lhe-1TuVE42EMz8AKOmMqAoAceyGFMR3MLt0tJTsqQwlNqExrqMEn9KuG1N-_OE3ffGHWybSSb8zylIW1FquY8tF95Lf9Hky-4FKuEQ12c6vCBIL5uVNbroL-o0rmH4ePjBkL55sTtPKwGnEg8TT7r0GKIiEeyRBRxW941TnIKcaQ_w6RtvBf7_8E4QT0hR0ZGXgkML7HiYMGuFdHW0VRXvxipwnNIxuHgOYYw4vug6_zH39Kd5evfalOQdE6UdHBdVsdyjGHtsISh35xao-4CEx0ivfDwln38cpevDwqQkeWqds-B5h-SlFtN7ncrt1nljFGaDe-U44tVNxK87f0D9DpKBXALz_b5D9VklS2yq3Qav4KIU32TasBB8Y8VdS-QgBkUG9cXR4fqNSyo1xxiNZ_nNBhq2MhPxSlzVnnw9xZmXytcllMEgBYcFVq85D6UEXjncY06xrsNn6nUHJnN8xeE9a97BF4jMl1QjrynniOAemgMN8ijNtcyLOoJuQgORWqpU6JUIqIC4sn1a4opWUSM8JAwdVnxp5LyALPKs99orsJSG_8Z6CAySLsYHV1U4yVfEoBvbwTRpMYca0QUJhA_jBs8OBtaHP2F97LEU468HRzkJlUDoCCIBjPXVzrcfasOJSXYf8kh_99N6jfdDVpXPkP_53enfYsTGAHPOHHftLHnWkKozXJQkYxc05f0P_xPfigU0UA4RbSpyOhmf-v3Cqsn9WM73rorfezZZfo2WVmJcQexzsRIAjTT55RC-u3tfo1-0spmApkt-AQwY0U5q_URNQA8Xe1rpyw4GB5FpEtsTvjXN_RaHcIVxRCUr70pfI-Mc6mYJdfjF5wxjQSq3tzmuI-b1_OjVgcQR6RA3g00Z-RN_abBsG0mY1KbKzAEhshCu6Q97SUZgsmCyxMQZWPmd2PmZ3x23WenQobU9ST5fI_CV-W37xfIq_OMR6V8kMMazRVJWfiqbngGliTF7-JwQxjxpIunkX51XXl8AevJAOmzIiSQQUOu9qAlt-YXn1DYc39mWffLLl_fLDEhCNmM2kMfQzuojeayLeMs8UGmGcwXhRMaBa82wDnzR7nq5n3vd7HtA1y4EeYLoXOWl4ITW_q8SEty6Jyd6POGBULrGrw1oOsoQZfD-8UcX-ViIOw97u1IbF1r7wwMC6UpNxEdslssVO06DCAlswf1IvR1vgqm-V6fyfLecKWsEJIFE8ekynxYyC9EqRe7RB6A0sYNcInmy92Fg3VHXYu9OmYr7wfbpCABVp7z61I3IX6XgE9YaBQeTB6TaVLoqpGeo6lp6kNikBzhHFHxDrLdPluB4IAQ5NWBOuuTEhO5QH_U9yLguJYF6KvJZYqcNXgaFQR3mGCyFQkKF7Dlnb0wQRDz1KHoJhw_S3Rc6FLriS6yrYjOXT23YmPMn0RfZ-nqhuvXY8qo-mnm3GXWdTlTaT21sZ92xQNWIDbeMUfUtel7QKpqewayOl6ahDCzgmKx8qqUu66ffaynwCryUZ2S5V_xpCBp3kWGfkVvifDLvyMOguWqB70RamhVPjty6nwy-_zXihqR3pKJrKS_bu239vP0ObNo8cEaqDfc7B6zGEn0P7YGOlca4hVQTlxkUb6e5FH81FV1SxCJl3z4WmiZ0pF_Bo4mkLXIVShtOOVOfAawNC5e7F97EDJ311nEjvM8Les7R1IXSW83nVXeU4AFmIPa5z8ouFhZvCm1UVcIUyNVHdbjM12l8p-zopbA0E7AkmU0Mz545r0jlE1kaXA99xwpULq8-Ch2RowzqW9rjVSvYF85eYSCP92vHnzW9o93rHvTsmYaEWsek-DEcKrAxf5RECbYTom3HoIWJIJXkgniFzVibPbGZoFkHztI7Zejgmjm8tO-3vSLo03W_sIqwyNcDDWuSNdJhxJYcs5HFZC7OBJemMVFt6Z2V0nnVROuz-3CPjy4Z9vpPhbHaa2k6qD6cD9s3X0uAtplv1qmDWuxAMwOxUGTuKSvM7TCmJksJ7hUKUU5IY-ha0jDisJW6PVrQDtW4gLUbs3rZCsO_YK17AC6J9kNfs3NRm3ChPTUULk-9FGveCcAbVm0Qz4ivsY9hYcskzL2w7sBUaCgCz-pV2t127RqeynVxOgKx00bwojtbl9PUWBcgGegLOZFqy9vHbmBpjjruoNN2Pyy3xkQVrO7tcCDzYCWdsoQZgiHuiQMhOf6ul8wAo4liq_2XjTVlZgaMxUdopjACQgObHToniDv7EymWZN8r9Am2PQNRBpuLypZK0hGB7z2dz0m8KJFDLX9iB2ttjkM8cld7UOWbT_5A-MsrF1fT0YfjXMn-yTPAFzG9iPrUWCfvI0dL9XWp4KHQUvZVTjR1AAZTYyY54Yozl-suDYA8WnMNB17tScn8gtZVSRzRRwPA63CDRCOecgQKiKJ1Jq-2kkSBbqII_MRZojlvrdHBSD_GIBKBXThGH1DlrmDfIqC3YD_Z96vdOVNwHwi8-xQD0ky2fYrniqSSmZF-7yDnqemsrMnPCuh4G8y_IiemFtljnsNPfxtGBolADVEZSAusXvMuMtH_Mw_yGaKtTrmV0klGxYCWtSBo4LHG_kw2W1I5xGhIlPk_MKOLCYvWjYe4XxrbsXddbYK9FnsXUz85fH5Q4Dz2oBoqOcnUeg0WWw0C5UwJI0rQlhwMDXBngKP5VXWfTP0s85mgY6QAOx_sOYPcm5DHfVNn-_xwHjrz5BUzPIxsq16VNixAzuaI0ruouJQEtIzC0XjCJbsDuk2Ln5ZClI8y3slISUCnTYLMBstPWIYm5MqYPZjWUAGq3YxukF-kxvwbl44jdszB7_fE7Rqx9OLA2zoYeIoANo2NQx0D7BFVhIeqXf6ipdqAe-jCvQzpAqmEdR-0T0WtsBO4gDPm5OdxrTq33PdBtiQkR6jA5PfLbGGw2tLlWhflewKLJbufyFY1zRhz-0hl7gTySiXY-5oY35DhrpwS4ZtJ7k3cHuipb_omsT_XUZZG-bUBgn7Q_gg9Fg3njdDm_ZEVPIFoHEi4KqOvlaiOtb-BGN4fINUBSVt4Uy0JrId57JV_UgKpjicrAVUynLuv4Fb0khpn5hcUaUv4L02JEmU717l8HNvpHoPa1qsiAO1Val4idRxos9ozeF8EDF-tL5vRo8w2o79bD83b2SstemQKDKtS4JAAvLCrmnTV4mCeTmxACEcU0wbPjNZ0v2ofqoZjmdMoH6Mv_Zp7hdhLPVt7Raq8SGt0QD3uvBonVHTcD8bWPn_5VipMFyzyLtvJqpdVRHdDXp0zR7AUV5yRqpdakQW36fXhCeB08wtkashV2_xEobP-y3ctjRB9YYyfIW7y3eLwn_2TCe0-GXXAKW123LxQOP4ThGBZds=",
  "id": "rs_004e9afce35eba71016ab46f93b65c87d0961c7c0b5b215733",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The left jaws again read empty, and the cap has moved away from the pen. I have not established a reliable grasp, so I’ll withdraw both arms rather than continue nudging these small parts.\"}",
  "call_id": "call_LD6Q1v15lmkfdqGRfeQXNoYV",
  "id": "fc_004e9afce35eba71016ab46f9baef887d0a00ab33e0cf42366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LD6Q1v15lmkfdqGRfeQXNoYV",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0509, 0.8192, 0.6319, -0.3542, -0.0856, -0.0704, 0.0107, 0.0067, 0.7959, 0.6346, -0.4255, 0.0051, -0.0891, 0.9961]\nstate[eef_state]: left_x=0.3032 left_y=0.0033 left_z=0.1915 left_yaw=0.0544 left_pitch=0.0307 left_roll=-0.0189 left_gripper=0.0107 right_x=0.2923 right_y=0.0046 right_z=0.184 right_yaw=0.0401 right_pitch=-0.0276 right_roll=-0.0773 right_gripper=0.9961\nstate[joint_eff]: [0.2256, -2.3043, 9.8393, 1.7411, 0.1685, 0.1538, 0.1685, 0.1846, -1.0735, 10.1949, 1.7656, 0.1587, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eccbb9137c87033734ff0d81cc9f4b7cfc6747d3a4df9341d5811437393a52b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7450c2f5e9f038f215a58c7fcafa6fec9fd297926167925c3f259051b31d9a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40591382e6047b16b3f38b77032208e46fa27e5492d7425b9fdcaf154e158e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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