adhoc

completed
2026-09-23T23:26:48.330390+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
296.6 s
total steps
350
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 lies left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap, angled along its length, while keeping the right arm parked.
move_to
left_x0.3900left_y-0.1800left_z0.1300left_yaw-0.6500left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3805, -0.0219, -0.0246, 0.9994, -0.0193, 0.7918, 0.6094, -0.3775, -0.0231, -0.0147, 0.999] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.002 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.6632, -1.5111, 10.5368, 1.7607, -0.0611, 0.1001, -0.0708, -0.6769, -1.306, 9.8256, 1.7998, -0.0073, -0.0171, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":0.13,"left_yaw":-0.65,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"The short cap lies left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap, angled along its length, while keeping the right arm parked."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe cap is nearly aligned with the left gripper’s central column at the bottom of the wrist view. I’m lowering the open jaws to table level to straddle it.
move_to
left_x0.3900left_y-0.1850left_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]: [-0.3302, 1.4872, 0.757, 0.0433, 0.2173, 0.1196, 0.9994, -0.0265, 0.7959, 0.6132, -0.4122, -0.0303, -0.0151, 0.999] state[eef_state]: left_x=0.375 left_y=-0.165 left_z=0.1027 left_yaw=-0.5896 left_pitch=-0.0965 left_roll=-0.0359 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.035 right_roll=0.0044 right_gripper=0.999 state[joint_eff]: [-0.4034, -6.653, 9.4974, 2.0391, 0.1929, 0.3248, -0.0757, -0.5402, -1.5795, 9.0598, 1.7705, -0.0952, -0.0952, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.185,"left_z":0.005},"note":"The cap is nearly aligned with the left gripper’s central column at the bottom of the wrist view. I’m lowering the open jaws to table level to straddle it."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe cap remains just to the right of the jaw centre in the close-up. I’m making a small lateral correction and closing the left gripper around it.
move_to
left_x0.3840left_y-0.1930left_z0.0000left_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]: [-0.3721, 1.8355, 0.6674, 0.4397, 0.181, 0.0956, 0.9994, -0.0265, 0.7979, 0.6132, -0.4129, -0.0299, -0.0147, 0.999] state[eef_state]: left_x=0.3832 left_y=-0.1798 left_z=0.0027 left_yaw=-0.5893 left_pitch=-0.1428 left_roll=-0.0414 left_gripper=0.9994 right_x=0.2917 right_y=0.0011 right_z=0.1764 right_yaw=-0.0014 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.999 state[joint_eff]: [-0.7043, -6.7897, 5.1487, 1.0965, 0.0708, -0.0562, -0.0171, -0.1026, -1.3197, 7.0359, 1.707, -0.022, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.384,"left_y":-0.193,"left_z":0,"left_gripper":0},"note":"The cap remains just to the right of the jaw centre in the close-up. I’m making a small lateral correction and closing the left gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gripper closed almost completely, so it missed the cap. I’m reopening and advancing two centimetres along the cap’s axis for one corrected attempt.
move_to
left_gripper1.0000left_x0.4020left_y-0.2050left_z0.0020
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4068, 1.8534, 0.667, 0.4683, 0.1539, 0.0689, 0.0088, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999] state[eef_state]: left_x=0.3814 left_y=-0.1899 left_z=0.0001 left_yaw=-0.5864 left_pitch=-0.1367 left_roll=-0.042 left_gripper=0.0088 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999 state[joint_eff]: [-0.7726, -7.3094, 6.7624, 1.453, 0.0269, -0.0562, 0.5739, -0.1162, -1.265, 6.9949, 1.6923, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.402,"left_y":-0.205,"left_z":0.002},"note":"The gripper closed almost completely, so it missed the cap. I’m reopening and advancing two centimetres along the cap’s axis for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe jaws are open at the corrected table-level position. I’m closing again to check whether the cap is now between them.
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]: [-0.4198, 1.8996, 0.7494, 0.4454, 0.1337, 0.0525, 0.9948, -0.0265, 0.7979, 0.6132, -0.4126, -0.0303, -0.0147, 0.999] state[eef_state]: left_x=0.4 left_y=-0.2004 left_z=0.004 left_yaw=-0.5731 left_pitch=-0.126 left_roll=-0.0393 left_gripper=0.9948 right_x=0.2917 right_y=0.0012 right_z=0.1765 right_yaw=-0.0011 right_pitch=-0.0373 right_roll=0.0048 right_gripper=0.999 state[joint_eff]: [-0.7316, -6.9812, 7.1453, 1.3602, 0.1148, 0.0611, 0.0269, -0.3214, -0.9094, 7.1726, 1.7363, -0.0611, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are open at the corrected table-level position. I’m closing again to check whether the cap is now between them."})
tool
executing move_to over 10 steps (1.0s)
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 second close is also empty. I’m lifting and moving the left arm aside so the overhead camera can reveal the cap’s actual position before another approach.
move_to
left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4213, 1.9011, 0.7506, 0.4355, 0.1295, 0.0509, 0.0083, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999] state[eef_state]: left_x=0.3988 left_y=-0.1998 left_z=0.0019 left_yaw=-0.5704 left_pitch=-0.1366 left_roll=-0.0393 left_gripper=0.0083 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999 state[joint_eff]: [0.1162, -8.7316, 4.7932, 1.6874, 0.1245, -0.0122, 0.5836, -0.1573, -1.2513, 7.3504, 1.7118, -0.0562, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":0.29,"left_y":0,"left_z":0.18,"left_yaw":0,"left_gripper":1},"note":"The second close is also empty. I’m lifting and moving the left arm aside so the overhead camera can reveal the cap’s actual position before another approach."})
tool
executing move_to over 18 steps (1.8s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe cap is still on the table, and the cleared overhead view shows my earlier attempts were too far forward. I’m approaching about ten centimetres closer to the base, directly over its visible location.
move_to
left_x0.3000left_y-0.2000left_z0.0700left_yaw-0.6500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0196, 0.8959, 0.6918, -0.4995, 0.0071, -0.0669, 0.9969, -0.0265, 0.8017, 0.6132, -0.4129, -0.0303, -0.0147, 0.999] state[eef_state]: left_x=0.2953 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0006 left_pitch=-0.1327 left_roll=-0.0488 left_gripper=0.9969 right_x=0.2919 right_y=0.0012 right_z=0.1753 right_yaw=-0.0011 right_pitch=-0.0415 right_roll=0.0049 right_gripper=0.999 state[joint_eff]: [0.1573, -2.2085, 10.0855, 1.5458, 0.0464, 0.1197, -0.0806, -0.335, -1.0872, 7.0085, 1.7118, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.20,"left_z":0.07,"left_yaw":-0.65,"left_pitch":0,"left_roll":0},"note":"The cap is still on the table, and the cleared overhead view shows my earlier attempts were too far forward. I’m approaching about ten centimetres closer to the base, directly over its visible location."})
tool
executing move_to over 18 steps (1.8s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe cap is now clearly visible just ahead of the fingertips. I’m moving forward three centimetres and lowering to bring its body into the open jaws.
move_to
left_x0.3330left_y-0.2000left_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]: [-0.5568, 1.3418, 0.3946, 0.2871, 0.038, 0.0025, 0.9975, -0.0265, 0.8047, 0.6132, -0.4137, -0.0299, -0.0147, 0.999] state[eef_state]: left_x=0.2927 left_y=-0.1859 left_z=0.0542 left_yaw=-0.6016 left_pitch=-0.0881 left_roll=-0.0136 left_gripper=0.9975 right_x=0.292 right_y=0.0011 right_z=0.1744 right_yaw=-0.0014 right_pitch=-0.0453 right_roll=0.0048 right_gripper=0.999 state[joint_eff]: [-0.2667, -4.9299, 5.8872, 2.1172, 0.2515, 0.2515, 0.0562, -0.1162, -1.4427, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.333,"left_y":-0.2,"left_z":0.005},"note":"The cap is now clearly visible just ahead of the fingertips. I’m moving forward three centimetres and lowering to bring its body into the open jaws."})
tool
executing move_to over 4 steps (0.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe cap shifted slightly during the descent and is left of the gripper centre in the wrist view. I’m sliding the open jaws toward it rather than closing off-centre.
move_to
left_x0.3470left_y-0.1770left_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]: [-0.5236, 1.6989, 0.4442, 0.5476, 0.0406, 0.0208, 0.9976, -0.0261, 0.8078, 0.6132, -0.4141, -0.0303, -0.0147, 0.999] state[eef_state]: left_x=0.3225 left_y=-0.1903 left_z=-0.0004 left_yaw=-0.5809 left_pitch=-0.1349 left_roll=-0.0034 left_gripper=0.9976 right_x=0.2921 right_y=0.0013 right_z=0.1734 right_yaw=-0.0007 right_pitch=-0.0487 right_roll=0.0051 right_gripper=0.999 state[joint_eff]: [0.4991, -5.6137, 5.4359, 1.1795, 0.3297, -0.0513, -0.0073, 0.0205, -1.4154, 7.0085, 1.7216, -0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.347,"left_y":-0.177,"left_z":0.005},"note":"The cap shifted slightly during the descent and is left of the gripper centre in the wrist view. I’m sliding the open jaws toward it rather than closing off-centre."})
tool
executing move_to over 2 steps (0.2s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe cap is now alongside the jaw opening and extends into the grasp region. I’m shifting about a centimetre toward it and closing gently around its body.
move_to
left_x0.3500left_y-0.1670left_z0.0000left_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]: [-0.4698, 1.7287, 0.4801, 0.5507, 0.0689, 0.041, 0.9976, -0.0265, 0.8093, 0.6132, -0.4137, -0.0303, -0.0147, 0.999] state[eef_state]: left_x=0.3393 left_y=-0.1818 left_z=0.0012 left_yaw=-0.5619 left_pitch=-0.1244 left_roll=-0.0055 left_gripper=0.9976 right_x=0.2923 right_y=0.0012 right_z=0.1731 right_yaw=-0.0011 right_pitch=-0.0499 right_roll=0.0051 right_gripper=0.999 state[joint_eff]: [0.4581, -7.1179, 6.653, 1.58, 0.2808, 0.2173, -0.0122, -0.2667, -1.4154, 7.0769, 1.6728, -0.0659, -0.0269, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.167,"left_z":0,"left_gripper":0},"note":"The cap is now alongside the jaw opening and extends into the grasp region. I’m shifting about a centimetre toward it and closing gently around its body."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe gripper stopped slightly open, and a narrow black piece is centred between the jaws. I’m lifting a few centimetres to check that the cap comes off the table.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4057, 1.7329, 0.4866, 0.5442, 0.1062, 0.0719, 0.0442, -0.0265, 0.8108, 0.6132, -0.4164, -0.0299, -0.0147, 0.999] state[eef_state]: left_x=0.348 left_y=-0.166 left_z=0.0009 left_yaw=-0.5464 left_pitch=-0.1258 left_roll=-0.0062 left_gripper=0.0442 right_x=0.292 right_y=0.0011 right_z=0.1722 right_yaw=-0.0014 right_pitch=-0.0541 right_roll=0.005 right_gripper=0.999 state[joint_eff]: [0.6632, -5.6957, 5.2171, 1.6435, 0.1734, 0.1685, 1.1795, -0.0205, -1.306, 7.0496, 1.746, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.07},"note":"The gripper stopped slightly open, and a narrow black piece is centred between the jaws. I’m lifting a few centimetres to check that the cap comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe cap stayed fixed in the left jaws during the lift, confirming a grasp. I’m holding it clear of the table and bringing the right gripper above the pen, aligned with the pen’s length.
move_to
left_x0.3000left_y-0.1400left_z0.1900right_x0.3400right_y0.3000right_z0.0800right_yaw0.6500right_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]: [-0.4042, 1.4975, 0.5617, 0.2333, 0.1043, 0.0689, 0.0475, -0.0265, 0.8139, 0.6132, -0.4191, -0.0299, -0.0147, 0.999] state[eef_state]: left_x=0.3454 left_y=-0.1638 left_z=0.055 left_yaw=-0.5416 left_pitch=-0.1264 left_roll=-0.0073 left_gripper=0.0475 right_x=0.2918 right_y=0.0011 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0598 right_roll=0.0051 right_gripper=0.999 state[joint_eff]: [-0.3624, -6.7761, 8.759, 1.7509, 0.0171, -0.0024, 1.0281, -0.1299, -1.0462, 7.1316, 1.7363, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.14,"left_z":0.19,"right_x":0.34,"right_y":0.3,"right_z":0.08,"right_yaw":0.65,"right_gripper":1},"note":"The cap stayed fixed in the left jaws during the lift, confirming a grasp. I’m holding it clear of the table and bringing the right gripper above the pen, aligned with the pen’s length."})
tool
executing move_to over 25 steps (2.5s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe pen is to the right of the jaw centre in the wrist view. I’m shifting across and lowering around the rear part of its barrel, leaving the writing tip exposed for capping.
move_to
right_x0.3280right_y0.2460right_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]: [-0.3885, 1.0805, 0.7986, -0.4816, 0.1062, 0.0692, 0.0524, 0.7292, 1.6722, 0.7719, 0.2161, 0.0727, 0.0593, 0.999] state[eef_state]: left_x=0.2953 left_y=-0.1373 left_z=0.1646 left_yaw=-0.5291 left_pitch=-0.1867 left_roll=-0.0169 left_gripper=0.0524 right_x=0.332 right_y=0.2842 right_z=0.0645 right_yaw=0.6273 right_pitch=-0.1224 right_roll=-0.0007 right_gripper=0.999 state[joint_eff]: [0.335, -4.4513, 10.4957, 1.8339, 0.1538, 0.0806, 1.033, 0.6769, -7.5009, 8.2393, 1.79, -0.0317, -0.0562, -0.1099] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.328,"right_y":0.246,"right_z":0.005},"note":"The pen is to the right of the jaw centre in the wrist view. I’m shifting across and lowering around the rear part of its barrel, leaving the writing tip exposed for capping."})
tool
executing move_to over 4 steps (0.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe pen barrel is still outside the right jaw, so I have not closed. I’m correcting the lateral offset and matching its diagonal more closely before grasping.
move_to
right_x0.3460right_y0.2000right_z0.0050right_yaw0.9000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3866, 1.0843, 0.7994, -0.4969, 0.1081, 0.0692, 0.0524, 0.6437, 1.7725, 0.5846, 0.4522, 0.0284, 0.0105, 0.9989] state[eef_state]: left_x=0.2933 left_y=-0.1361 left_z=0.1611 left_yaw=-0.5293 left_pitch=-0.2046 left_roll=-0.0209 left_gripper=0.0524 right_x=0.3232 right_y=0.2408 right_z=0.0004 right_yaw=0.6054 right_pitch=-0.1756 right_roll=-0.0127 right_gripper=0.9989 state[joint_eff]: [-0.4581, -3.5487, 6.8171, 1.6435, 0.0024, -0.0464, 1.0281, -0.335, -6.3248, 5.2855, 0.7057, -0.2759, 0.1148, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.346,"right_y":0.2,"right_z":0.005,"right_yaw":0.9},"note":"The pen barrel is still outside the right jaw, so I have not closed. I’m correcting the lateral offset and matching its diagonal more closely before grasping."})
tool
executing move_to over 4 steps (0.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe pen rolled away from a jaw and changed angle on the table. I’m lifting before repositioning over its barrel so the next descent does not push it sideways again.
move_to
right_x0.3800right_y0.2100right_z0.0650right_yaw1.3000left_x0.3000left_y-0.1400left_z0.1900left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3866, 1.0866, 0.7994, -0.498, 0.1047, 0.0692, 0.0524, 0.3622, 1.7782, 0.6224, 0.3805, -0.2771, -0.2863, 0.9989] state[eef_state]: left_x=0.2935 left_y=-0.1356 left_z=0.1602 left_yaw=-0.5265 left_pitch=-0.2083 left_roll=-0.0189 left_gripper=0.0524 right_x=0.3552 right_y=0.1901 right_z=0.0025 right_yaw=0.7461 right_pitch=-0.1789 right_roll=-0.0195 right_gripper=0.9989 state[joint_eff]: [-0.253, -3.2479, 6.8991, 1.5018, 0.0269, -0.0513, 1.0379, 0.1026, -6.9675, 6.5162, 1.5604, -0.4029, -0.0708, -0.0073] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.21,"right_z":0.065,"right_yaw":1.3,"left_x":0.3,"left_y":-0.14,"left_z":0.19,"left_pitch":0.15},"note":"The pen rolled away from a jaw and changed angle on the table. I’m lifting before repositioning over its barrel so the next descent does not push it sideways again."})
tool
executing move_to over 12 steps (1.2s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe right arm did not rise to the requested pose, so I’m not repeating that target. I’m pulling slightly back and using a smaller rotation to lift clear of the table first.
move_to
right_x0.3250right_y0.1900right_z0.1200right_yaw0.8000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9176, 0.5579, -0.1379, 0.136, 0.0422, 0.0524, 0.3428, 1.7782, 0.638, 0.3347, -0.3336, -0.3489, 0.9989] state[eef_state]: left_x=0.2957 left_y=-0.1377 left_z=0.1748 left_yaw=-0.5221 left_pitch=0.0789 left_roll=-0.018 left_gripper=0.0524 right_x=0.3518 right_y=0.1907 right_z=0.002 right_yaw=0.8094 right_pitch=-0.19 right_roll=-0.0165 right_gripper=0.9989 state[joint_eff]: [0.4171, -2.8923, 7.4051, 1.9658, 0.0904, -0.1294, 1.033, 0.0342, -7.706, 5.9556, 1.4383, -0.0708, 0.0904, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.19,"right_z":0.12,"right_yaw":0.8,"right_pitch":0.1},"note":"The right arm did not rise to the requested pose, so I’m not repeating that target. I’m pulling slightly back and using a smaller rotation to lift clear of the table first."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe arm is clear, and the pen’s rear barrel is visible to the right of the fingertips. I’m moving over that rear section and descending with a more suitable wrist angle.
move_to
right_x0.3800right_y0.1800right_z0.0250right_yaw1.2000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.923, 0.551, -0.1444, 0.1352, 0.0345, 0.0524, 0.3332, 1.3464, 0.5137, 0.2993, -0.4026, -0.2653, 0.9989] state[eef_state]: left_x=0.2944 left_y=-0.137 left_z=0.1685 left_yaw=-0.5172 left_pitch=0.0603 left_roll=-0.0271 left_gripper=0.0524 right_x=0.3267 right_y=0.1901 right_z=0.1104 right_yaw=0.8046 right_pitch=0.0727 right_roll=-0.0328 right_gripper=0.9989 state[joint_eff]: [-0.0889, -2.0171, 7.5966, 1.9707, 0.0073, 0.0073, 1.0379, -0.6222, -5.5453, 5.9556, 1.8291, -0.3101, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.18,"right_z":0.025,"right_yaw":1.2,"right_pitch":0.15},"note":"The arm is clear, and the pen’s rear barrel is visible to the right of the fingertips. I’m moving over that rear section and descending with a more suitable wrist angle."})
tool
executing move_to over 6 steps (0.6s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe barrel reaches the open jaw region but is still off-centre. I’m making a final small sideways correction at table level before closing.
move_to
right_x0.4140right_y0.1610right_z0.0020
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9298, 0.5484, -0.1467, 0.1352, 0.0341, 0.0524, 0.0994, 1.9606, 0.7429, 0.4419, -0.8471, -0.6079, 0.9989] state[eef_state]: left_x=0.2941 left_y=-0.1369 left_z=0.1647 left_yaw=-0.5169 left_pitch=0.0485 left_roll=-0.0291 left_gripper=0.0524 right_x=0.3795 right_y=0.1745 right_z=0.0162 right_yaw=1.0854 right_pitch=0.0771 right_roll=0.0239 right_gripper=0.9989 state[joint_eff]: [0.0889, -2.6735, 7.3094, 1.746, 0.0171, -0.0464, 1.0379, -0.7863, -8.8547, 4.5197, 1.4432, -0.8327, -0.0855, -0.0073] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.414,"right_y":0.161,"right_z":0.002},"note":"The barrel reaches the open jaw region but is still off-centre. I’m making a final small sideways correction at table level before closing."})
tool
executing move_to over 3 steps (0.3s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe sideways-oriented wrist is limiting the arm’s travel. I’m reducing the yaw so it can reach the barrel without forcing the stalled pose.
move_to
right_x0.4100right_y0.1550right_z0.0050right_yaw0.7500right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4416, -0.8909, -0.6506, 0.9989] state[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3843 right_y=0.1722 right_z=0.015 right_yaw=1.118 right_pitch=0.1003 right_roll=0.0079 right_gripper=0.9989 state[joint_eff]: [-0.1026, -2.0991, 7.2, 1.7167, -0.0366, -0.0757, 1.033, -0.0752, -7.4872, 5.4632, 1.4725, -0.2662, 0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.155,"right_z":0.005,"right_yaw":0.75,"right_pitch":0.1},"note":"The sideways-oriented wrist is limiting the arm’s travel. I’m reducing the yaw so it can reach the barrel without forcing the stalled pose."})
tool
executing move_to over 3 steps (0.3s)
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 gripper remains in contact near the table and is barely translating. I’m lifting straight clear again before completing the lateral alignment.
move_to
right_x0.3800right_y0.1700right_z0.1000right_yaw0.8000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4412, -0.8715, -0.6327, 0.9989] state[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3863 right_y=0.1702 right_z=0.0131 right_yaw=1.0953 right_pitch=0.0881 right_roll=0.0172 right_gripper=0.9989 state[joint_eff]: [-0.1436, -2.2222, 7.2, 1.7607, -0.0073, -0.0708, 1.033, -0.2393, -7.5009, 5.4769, 1.5018, -0.359, 0.1343, -0.0073] 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":0.38,"right_y":0.17,"right_z":0.10,"right_yaw":0.8,"right_pitch":0.1},"note":"The right gripper remains in contact near the table and is barely translating. I’m lifting straight clear again before completing the lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe lift also failed to track, indicating a difficult arm configuration rather than a grasp. I’m returning toward a compact, neutral wrist pose to recover motion safely.
move_to
right_x0.3000right_y0.1500right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0538, 0.0799, 1.9949, 0.7708, 0.4412, -0.8711, -0.6327, 0.9989] state[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0538 right_x=0.3863 right_y=0.1701 right_z=0.013 right_yaw=1.095 right_pitch=0.0879 right_roll=0.017 right_gripper=0.9989 state[joint_eff]: [-0.1983, -2.1949, 7.0769, 1.7705, -0.022, -0.0415, 1.0281, -0.2393, -7.4735, 5.7778, 1.4628, -0.3199, 0.0904, -0.0122] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.15,"right_z":0.15,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The lift also failed to track, indicating a difficult arm configuration rather than a grasp. I’m returning toward a compact, neutral wrist pose to recover motion safely."})
tool
executing move_to over 9 steps (0.9s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteMotion has recovered, and the pen is still lying just ahead of the right gripper. I’m reaching its rear barrel with a forward-tilted wrist to avoid the previous low-reaching limit.
move_to
right_x0.4250right_y0.1800right_z0.0650right_yaw0.7000right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9379, 0.543, -0.1455, 0.1349, 0.0341, 0.0538, 0.7288, 1.1793, 0.6033, -0.0387, 0.3969, 0.2844, 0.9989] state[eef_state]: left_x=0.2938 left_y=-0.1367 left_z=0.1601 left_yaw=-0.5165 left_pitch=0.0364 left_roll=-0.0306 left_gripper=0.0538 right_x=0.3026 right_y=0.1834 right_z=0.1387 right_yaw=0.2371 right_pitch=-0.0014 right_roll=0.0154 right_gripper=0.9989 state[joint_eff]: [-0.0889, -2.8103, 7.3778, 1.8095, -0.0269, -0.0562, 1.0037, 0.1573, -5.4632, 8.1573, 1.6093, 0.2857, 0.1587, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.18,"right_z":0.065,"right_yaw":0.7,"right_pitch":0.4},"note":"Motion has recovered, and the pen is still lying just ahead of the right gripper. I’m reaching its rear barrel with a forward-tilted wrist to avoid the previous low-reaching limit."})
tool
executing move_to over 14 steps (1.4s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe rear barrel now extends into the fingertip region, slightly left of centre. I’m centring it and lowering the last few centimetres for the grasp.
move_to
right_x0.4100right_y0.1950right_z0.0030
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9436, 0.5407, -0.1467, 0.1349, 0.0341, 0.0538, 0.2218, 2.046, 0.5758, 1.1786, -0.4263, -0.0734, 0.9989] state[eef_state]: left_x=0.2936 left_y=-0.1366 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4187 right_y=0.173 right_z=0.0428 right_yaw=0.6284 right_pitch=0.2937 right_roll=0.0531 right_gripper=0.9989 state[joint_eff]: [-0.2256, -2.6735, 7.3641, 1.7216, -0.0171, -0.0611, 1.0037, -0.5402, -8.6632, 4.465, 2.3028, -0.3394, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.195,"right_z":0.003},"note":"The rear barrel now extends into the fingertip region, slightly left of centre. I’m centring it and lowering the last few centimetres for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
assistant
agent noteThe barrel crosses the centre of the open fingertips. I’m closing the right gripper while the left continues holding the cap.
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]: [-0.3733, 0.944, 0.5407, -0.1455, 0.1349, 0.0341, 0.0538, 0.2855, 2.2169, 0.5861, 1.3529, -0.3904, -0.0826, 0.9988] state[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.1572 left_yaw=-0.5164 left_pitch=0.0281 left_roll=-0.0318 left_gripper=0.0538 right_x=0.4108 right_y=0.1944 right_z=0.0108 right_yaw=0.6672 right_pitch=0.3028 right_roll=0.0286 right_gripper=0.9988 state[joint_eff]: [-0.1299, -2.3043, 7.0496, 1.7509, -0.022, -0.022, 1.0037, 0.1709, -9.306, 3.1111, 0.5641, -0.5055, 1.2234, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The barrel crosses the centre of the open fingertips. I’m closing the right gripper while the left continues holding the cap."})
tool
executing move_to over 10 steps (1.0s)
step 220
assistant
agent noteThe close was empty; the pen is still just ahead of the fingertips. I’m reopening, advancing two centimetres, and lowering the grasp point to the thin barrel’s height.
move_to
right_gripper1.0000right_x0.4250right_y0.2100right_z-0.0100right_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]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3073, 2.2303, 0.5854, 1.3819, -0.3553, -0.0559, 0.0091] state[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4105 right_y=0.1985 right_z=0.0108 right_yaw=0.6448 right_pitch=0.3127 right_roll=0.0411 right_gripper=0.0091 state[joint_eff]: [-0.0889, -2.3179, 7.0496, 1.746, -0.0122, -0.0317, 1.0037, -0.4034, -7.6923, 2.8103, 1.8388, 0.0317, 0.0513, 0.7253] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.425,"right_y":0.21,"right_z":-0.01,"right_pitch":0.3},"note":"The close was empty; the pen is still just ahead of the fingertips. I’m reopening, advancing two centimetres, and lowering the grasp point to the thin barrel’s height."})
tool
executing move_to over 10 steps (1.0s)
step 230
assistant
agent noteThe barrel is now within the jaw opening but a little left of centre. I’m making a small correction and reducing the wrist tilt as I close, to bring the fingertips down around it.
move_to
right_x0.4200right_y0.2200right_gripper0.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1463, 0.1352, 0.0341, 0.0538, 0.3256, 2.2974, 0.6724, 1.4227, -0.3504, -0.0689, 0.9947] state[eef_state]: left_x=0.2936 left_y=-0.1367 left_z=0.1569 left_yaw=-0.5167 left_pitch=0.027 left_roll=-0.0322 left_gripper=0.0538 right_x=0.428 right_y=0.2123 right_z=0.0142 right_yaw=0.6732 right_pitch=0.3697 right_roll=0.0049 right_gripper=0.9947 state[joint_eff]: [-0.0889, -2.1402, 7.0769, 1.746, -0.022, -0.0513, 1.0037, 0.3487, -6.5573, 3.3162, 1.5067, 0.0952, 0.1538, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.22,"right_gripper":0,"right_pitch":0.1},"note":"The barrel is now within the jaw opening but a little left of centre. I’m making a small correction and reducing the wrist tilt as I close, to bring the fingertips down around it."})
tool
executing move_to over 10 steps (1.0s)
step 240
assistant
agent noteThe pen is now centred between the closed fingertips, although the opening is very small. I’m lifting to determine whether it is actually held and refreshing the cap’s holding height.
move_to
right_x0.3900right_y0.2100right_z0.1000left_x0.3000left_y-0.1400left_z0.1900left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3676, 2.072, 0.701, 0.9295, -0.3069, -0.136, 0.0347] state[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4182 right_y=0.2221 right_z=0.0136 right_yaw=0.6934 right_pitch=0.14 right_roll=0.0067 right_gripper=0.0347 state[joint_eff]: [-0.1299, -2.1538, 7.0359, 1.7802, -0.0073, -0.0562, 1.0037, 0.5402, -9.4291, 4.7248, 1.5458, 0.105, 0.0415, 0.2271] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.21,"right_z":0.1,"left_x":0.3,"left_y":-0.14,"left_z":0.19,"left_pitch":0.15},"note":"The pen is now centred between the closed fingertips, although the opening is very small. I’m lifting to determine whether it is actually held and refreshing the cap’s holding height."})
tool
executing move_to over 6 steps (0.6s)
step 246
assistant
agent noteThe pen rose with the right gripper, so both parts are now held. I’m turning them to point forward and positioning the cap ahead of the pen, with room between the grippers for alignment.
move_to
left_x0.4300left_y-0.2700left_z0.1900left_yaw0.0000left_pitch0.1500right_x0.2800right_y0.3100right_z0.1900right_yaw0.0000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3733, 0.9188, 0.5407, -0.1184, 0.1356, 0.0231, 0.0538, 0.3664, 1.6943, 0.6476, 0.6315, -0.3115, -0.1402, 0.0342] state[eef_state]: left_x=0.2955 left_y=-0.1375 left_z=0.1706 left_yaw=-0.5115 left_pitch=0.0798 left_roll=-0.0345 left_gripper=0.0538 right_x=0.395 right_y=0.2134 right_z=0.096 right_yaw=0.6997 right_pitch=0.1656 right_roll=-0.004 right_gripper=0.0342 state[joint_eff]: [0.0479, -3.3162, 7.9111, 2.0928, 0.0855, -0.0415, 0.9988, -0.5538, -8.4581, 5.7231, 1.7118, -0.0757, -0.0269, -0.0562] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.27,"left_z":0.19,"left_yaw":0,"left_pitch":0.15,"right_x":0.28,"right_y":0.31,"right_z":0.19,"right_yaw":0,"right_pitch":0.15},"note":"The pen rose with the right gripper, so both parts are now held. I’m turning them to point forward and positioning the cap ahead of the pen, with room between the grippers for alignment."})
tool
executing move_to over 12 steps (1.2s)
step 258
assistant
agent noteThe pen did not stay aligned with the right jaws during the turn, so its grasp is not secure. I’m separating the arms to check whether it slipped back onto the table before attempting any insertion.
move_to
right_x0.3000right_y0.0600right_z0.2000right_yaw0.0000left_x0.3900left_y-0.1600left_z0.2000left_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]: [-0.7265, 1.7313, 1.1786, -0.0486, -0.6319, -0.4042, 0.0578, 1.0706, 1.6093, 1.0477, -0.2729, 1.0008, 0.6998, 0.0341] state[eef_state]: left_x=0.4287 left_y=-0.2366 left_z=0.1749 left_yaw=-0.0015 left_pitch=0.0974 left_roll=-0.0071 left_gripper=0.0578 right_x=0.3099 right_y=0.2644 right_z=0.1737 right_yaw=-0.0757 right_pitch=0.1481 right_roll=-0.0438 right_gripper=0.0341 state[joint_eff]: [-6.2154, -6.065, 11.0154, 1.9951, -0.4713, 0.0855, 0.696, 9.1556, -4.9299, 12.506, 2.2198, -0.7399, -1.199, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.06,"right_z":0.2,"right_yaw":0,"left_x":0.39,"left_y":-0.16,"left_z":0.2,"left_yaw":0},"note":"The pen did not stay aligned with the right jaws during the turn, so its grasp is not secure. I’m separating the arms to check whether it slipped back onto the table before attempting any insertion."})
tool
executing move_to over 18 steps (1.8s)
step 276
assistant
agent noteThe pen is visible on the table again, slightly farther forward than before. I’m approaching its middle rather than its extreme rear end, prioritizing a secure grasp.
move_to
right_x0.4450right_y0.2550right_z0.0650right_yaw0.6500right_pitch0.0000right_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]: [-0.6209, 1.4376, 0.9554, -0.0906, -0.556, -0.3546, 0.0599, 0.4309, 0.8227, 0.5579, -0.1947, 0.4515, 0.1692, 0.0341] state[eef_state]: left_x=0.3938 left_y=-0.1626 left_z=0.1941 left_yaw=0.0188 left_pitch=0.0931 left_roll=-0.0137 left_gripper=0.0599 right_x=0.3015 right_y=0.0577 right_z=0.1979 right_yaw=-0.0499 right_pitch=0.149 right_roll=-0.0389 right_gripper=0.0341 state[joint_eff]: [0.6222, -8.0889, 6.6803, 1.5458, -0.0855, 0.1832, 0.8376, -0.3214, -1.853, 7.2957, 1.7607, 0.0952, -0.0611, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.255,"right_z":0.065,"right_yaw":0.65,"right_pitch":0,"right_gripper":1},"note":"The pen is visible on the table again, slightly farther forward than before. I’m approaching its middle rather than its extreme rear end, prioritizing a secure grasp."})
tool
executing move_to over 17 steps (1.7s)
step 293
assistant
agent noteThe pen now lies directly on the jaw centreline. I’m descending straight down with a nearly vertical tool so the thin barrel cannot pass underneath the fingertips.
move_to
right_x0.4450right_y0.2550right_z-0.0080right_pitch-0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5465, -0.3576, 0.0595, 0.4603, 1.9079, 0.9482, 0.35, -0.1074, -0.1169, 0.9969] state[eef_state]: left_x=0.3932 left_y=-0.1626 left_z=0.1901 left_yaw=0.0151 left_pitch=0.0836 left_roll=-0.0159 left_gripper=0.0595 right_x=0.4367 right_y=0.2416 right_z=0.0543 right_yaw=0.6053 right_pitch=-0.0462 right_roll=-0.0349 right_gripper=0.9969 state[joint_eff]: [-0.2256, -6.4479, 7.3915, 1.6386, -0.3101, -0.0171, 0.8571, 0.5402, -9.7436, 7.0632, 1.9951, -0.0659, 0.0415, -0.1245] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.255,"right_z":-0.008,"right_pitch":-0.1},"note":"The pen now lies directly on the jaw centreline. I’m descending straight down with a nearly vertical tool so the thin barrel cannot pass underneath the fingertips."})
tool
executing move_to over 5 steps (0.5s)
step 298
assistant
agent noteThe pen is inside the jaw opening, with only a small lateral offset. I’m correcting that offset and closing around the middle of the barrel.
move_to
right_x0.4510right_y0.2470right_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]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.3576, 0.0595, 0.4793, 2.0792, 0.9833, 0.4492, -0.102, -0.1238, 0.998] state[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0145 left_pitch=0.0833 left_roll=-0.0162 left_gripper=0.0595 right_x=0.4427 right_y=0.2544 right_z=0.0042 right_yaw=0.6239 right_pitch=-0.0834 right_roll=-0.0382 right_gripper=0.998 state[joint_eff]: [-0.0068, -6.2974, 6.8991, 1.6142, -0.2418, -0.0415, 0.9597, 0.3077, -7.6923, 6.2564, 1.3895, 0.105, 0.1197, 0.105] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.451,"right_y":0.247,"right_gripper":0},"note":"The pen is inside the jaw opening, with only a small lateral offset. I’m correcting that offset and closing around the middle of the barrel."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThis close stopped at a measurable barrel thickness and centred the pen in the jaws. I’m lifting to verify the grasp before trying to align it with the cap.
move_to
right_x0.4150right_y0.2400right_z0.0900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.358, 0.0626, 0.4805, 2.0903, 0.9901, 0.4751, -0.1024, -0.1162, 0.0433] state[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0147 left_pitch=0.0833 left_roll=-0.0166 left_gripper=0.0626 right_x=0.4468 right_y=0.2573 right_z=0.0063 right_yaw=0.6211 right_pitch=-0.0617 right_roll=-0.0349 right_gripper=0.0433 state[joint_eff]: [-0.0889, -6.3248, 7.0085, 1.6239, -0.2466, -0.0464, 0.7692, 0.253, -8.1436, 6.1333, 1.4676, 0.1685, 0.0659, 1.0574] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.24,"right_z":0.09},"note":"This close stopped at a measurable barrel thickness and centred the pen in the jaws. I’m lifting to verify the grasp before trying to align it with the cap."})
tool
executing move_to over 6 steps (0.6s)
step 314
assistant
agent noteThe pen is securely lifted now, and the cap’s open end appears to project beyond the left fingertips. I’m turning the two exposed ends toward each other while keeping them separated.
move_to
left_x0.3400left_y-0.2300left_z0.2000left_yaw-1.5500left_pitch0.0000right_x0.3400right_y0.2300right_z0.2000right_yaw1.5500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6182, 1.4391, 0.947, -0.0895, -0.5449, -0.3576, 0.0624, 0.4793, 1.8, 0.9382, 0.2474, -0.1059, -0.1177, 0.0456] state[eef_state]: left_x=0.393 left_y=-0.1627 left_z=0.1895 left_yaw=0.0139 left_pitch=0.0825 left_roll=-0.0161 left_gripper=0.0624 right_x=0.4209 right_y=0.2439 right_z=0.0807 right_yaw=0.6235 right_pitch=-0.0509 right_roll=-0.0357 right_gripper=0.0456 state[joint_eff]: [-0.1846, -6.3521, 7.1043, 1.6777, -0.1978, -0.0415, 0.7985, -0.2803, -10.5504, 5.8872, 1.7998, -0.0171, -0.0464, 1.033] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.23,"left_z":0.2,"left_yaw":-1.55,"left_pitch":0,"right_x":0.34,"right_y":0.23,"right_z":0.2,"right_yaw":1.55,"right_pitch":0,"right_roll":0},"note":"The pen is securely lifted now, and the cap’s open end appears to project beyond the left fingertips. I’m turning the two exposed ends toward each other while keeping them separated."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe cap and pen tip are facing one another with a visible gap; the pen is slightly higher. I’m correcting the height and angular mismatch while closing most of that gap.
move_to
left_x0.3650left_y-0.2500left_z0.2000left_yaw-1.7500right_x0.3650right_y0.2550right_z0.1880right_yaw1.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2474, 1.7264, 1.3922, -0.6815, 0.8139, 0.7986, 0.0653, 0.2298, 1.7382, 1.4311, -0.7109, -0.8772, -0.9771, 0.0503] state[eef_state]: left_x=0.3698 left_y=-0.2221 left_z=0.1866 left_yaw=-1.3319 left_pitch=-0.0521 left_roll=-0.0453 left_gripper=0.0653 right_x=0.3692 right_y=0.2296 right_z=0.1998 right_yaw=1.4247 right_pitch=-0.0166 right_roll=-0.0692 right_gripper=0.0503 state[joint_eff]: [-0.212, -9.7436, 7.9932, 0.8327, 0.6325, 0.2418, 0.7302, -0.6632, -7.3231, 6.7761, 0.6716, -0.7302, -0.0562, 1.0281] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.25,"left_z":0.2,"left_yaw":-1.75,"right_x":0.365,"right_y":0.255,"right_z":0.188,"right_yaw":1.7},"note":"The cap and pen tip are facing one another with a visible gap; the pen is slightly higher. I’m correcting the height and angular mismatch while closing most of that gap."})
tool
executing move_to over 3 steps (0.3s)
step 327
assistant
agent noteThe wrist views show the pen tip about two centimetres off the cap’s axis, with only a small gap remaining. I’m correcting the forward offset and bringing the ends close without pushing yet.
move_to
left_x0.3470left_y-0.2620left_z0.2000left_yaw-1.7000right_y0.2600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2687, 2.0403, 1.8603, -1.0962, 0.9165, 1.1999, 0.068, 0.2562, 1.9373, 1.6772, -0.9657, -0.9466, -1.2472, 0.0503] state[eef_state]: left_x=0.3905 left_y=-0.2492 left_z=0.1928 left_yaw=-1.6287 left_pitch=-0.0502 left_roll=0.0037 left_gripper=0.068 right_x=0.3742 right_y=0.2499 right_z=0.1905 right_yaw=1.6295 right_pitch=-0.024 right_roll=-0.0779 right_gripper=0.0503 state[joint_eff]: [-0.6769, -12.0, 5.9282, -0.149, 0.5348, 0.1343, 0.7253, 0.4718, -10.5231, 6.8718, 0.022, -0.7888, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.347,"left_y":-0.262,"left_z":0.2,"left_yaw":-1.7,"right_y":0.26},"note":"The wrist views show the pen tip about two centimetres off the cap’s axis, with only a small gap remaining. I’m correcting the forward offset and bringing the ends close without pushing yet."})
tool
executing move_to over 4 steps (0.4s)
step 331
assistant
agent noteThe pen tip and cap opening are almost centred in both wrist views. I’m straightening their axes and advancing about a centimetre toward contact, while compensating for the arms’ height sag.
move_to
left_x0.3430left_y-0.2750left_z0.2150left_yaw-1.6000right_y0.2670right_z0.2030right_yaw1.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2783, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0673, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503] state[eef_state]: left_x=0.3722 left_y=-0.2485 left_z=0.1738 left_yaw=-1.7353 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0673 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503 state[joint_eff]: [-0.253, -12.6838, 8.1846, 0.4078, 0.6569, 0.1001, 0.5495, 0.0205, -11.3846, 7.6376, 0.5055, -0.7595, -0.0366, 1.0379] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.343,"left_y":-0.275,"left_z":0.215,"left_yaw":-1.6,"right_y":0.267,"right_z":0.203,"right_yaw":1.6},"note":"The pen tip and cap opening are almost centred in both wrist views. I’m straightening their axes and advancing about a centimetre toward contact, while compensating for the arms’ height sag."})
tool
executing move_to over 3 steps (0.3s)
step 334
assistant
agent noteNeither arm followed the last fine alignment command, so I won’t force the insertion. I’m trying a lower, slightly farther-forward pose with less wrist rotation to recover controlled motion while keeping the parts separated.
move_to
left_x0.4000left_y-0.2650left_z0.1400left_yaw-1.5000left_pitch0.2500right_x0.4000right_y0.2650right_z0.1400right_yaw1.5000right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2787, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0697, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503] state[eef_state]: left_x=0.3721 left_y=-0.2486 left_z=0.1738 left_yaw=-1.7356 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0697 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503 state[joint_eff]: [-0.3214, -12.5744, 8.253, 0.4078, 0.6813, 0.1294, 0.5299, 0.1026, -11.3846, 7.6239, 0.5201, -0.779, -0.0855, 1.0379] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.265,"left_z":0.14,"left_yaw":-1.5,"left_pitch":0.25,"right_x":0.4,"right_y":0.265,"right_z":0.14,"right_yaw":1.5,"right_pitch":0.25},"note":"Neither arm followed the last fine alignment command, so I won’t force the insertion. I’m trying a lower, slightly farther-forward pose with less wrist rotation to recover controlled motion while keeping the parts separated."})
tool
executing move_to over 11 steps (1.1s)
step 345
assistant
agent noteMotion has recovered, and the pen tip is immediately opposite the cap opening, but the cap is slightly low. I’m raising the cap and making a short, careful insertion motion with the pen.
move_to
left_z0.1600left_yaw-1.5700right_y0.2850right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.255, 2.0369, 1.3476, -0.3641, 1.0954, 0.8268, 0.0717, 0.2424, 1.9686, 1.2678, -0.2153, -1.0832, -0.8677, 0.0539] state[eef_state]: left_x=0.3875 left_y=-0.2596 left_z=0.1073 left_yaw=-1.4926 left_pitch=0.1565 left_roll=-0.1514 left_gripper=0.0717 right_x=0.3901 right_y=0.2609 right_z=0.1222 right_yaw=1.4993 right_pitch=0.1789 right_roll=-0.0099 right_gripper=0.0539 state[joint_eff]: [-0.0615, -14.147, 6.2974, 1.2674, 0.7106, -0.0806, 0.6911, -0.4444, -10.8786, 6.147, 1.3748, -0.735, 0.1294, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_yaw":-1.57,"right_y":0.285,"right_yaw":1.57},"note":"Motion has recovered, and the pen tip is immediately opposite the cap opening, but the cap is slightly low. I’m raising the cap and making a short, careful insertion motion with the pen."})
tool
executing move_to over 4 steps (0.4s)
step 349
assistant
agent noteI picked up both parts, but could not reliably seat the cap on the pen. The final wrist views still show an alignment mismatch and an exposed pen tip, so I cannot confirm successful capping. Both parts remain held in the grippers.
give_up
hindsightOn this trial the cap was securely grasped near left (0.348, -0.166, 0.001), yaw about -0.55; the pen was securely grasped near right (0.447, 0.257, 0.006), yaw about 0.62. The first pen close at a 0.034 gripper reading was not secure; a subsequent 0.045–0.054 reading held it. At opposing yaws near ±1.7, both arms stalled around x 0.37, z 0.175; moving forward to x 0.40, lowering to z 0.14, and adding pitch 0.25 recovered motion. Fine height commands can overshoot relative to a previous sagged pose: a 2 cm commanded cap raise produced nearly 4 cm actual rise. Recheck actual height and both wrist views before insertion.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2546, 2.0483, 1.5478, -0.6395, 1.1046, 0.9203, 0.0724, 0.281, 2.0159, 1.3407, -0.2379, -1.0851, -0.8803, 0.0539] state[eef_state]: left_x=0.3942 left_y=-0.2619 left_z=0.1458 left_yaw=-1.5342 left_pitch=0.1448 left_roll=-0.1511 left_gripper=0.0724 right_x=0.3935 right_y=0.2799 right_z=0.1234 right_yaw=1.5462 right_pitch=0.1813 right_roll=-0.0242 right_gripper=0.0539 state[joint_eff]: [0.3214, -10.7009, 8.4308, 0.9011, 0.6716, 0.1099, 0.6227, 0.4308, -9.4974, 7.8701, 0.9499, -0.5885, -0.149, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both parts, but could not reliably seat the cap on the pen. The final wrist views still show an alignment mismatch and an exposed pen tip, so I cannot confirm successful capping. Both parts remain held in the grippers.","hindsight":"On this trial the cap was securely grasped near left (0.348, -0.166, 0.001), yaw about -0.55; the pen was securely grasped near right (0.447, 0.257, 0.006), yaw about 0.62. The first pen close at a 0.034 gripper reading was not secure; a subsequent 0.045–0.054 reading held it. At opposing yaws near ±1.7, both arms stalled around x 0.37, z 0.175; moving forward to x 0.40, lowering to z 0.14, and adding pitch 0.25 recovered motion. Fine height commands can overshoot relative to a previous sagged pose: a 2 cm commanded cap raise produced nearly 4 cm actual rise. Recheck actual height and both wrist views before insertion."})
tool
give_up: I picked up both parts, but could not reliably seat the cap on the pen. The final wrist views still show an alignment mismatch and an exposed pen tip, so I cannot confirm successful capping. Both parts remain held in the grippers.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.232 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3805, -0.0219, -0.0246, 0.9994, -0.0193, 0.7918, 0.6094, -0.3775, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.002 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6632, -1.5111, 10.5368, 1.7607, -0.0611, 0.1001, -0.0708, -0.6769, -1.306, 9.8256, 1.7998, -0.0073, -0.0171, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d693dc5b2848945fe0a2ef1dcc824e777c3fcf916c000d24361a447bb3aa19c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7f357771ba9a85c7a1a66d76efd08b28bb9ac198a6d327deb4ba78bdb47502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d592644d50d97ffbacac73b901ccf8265b1c7e2b54bdb1291996b8cf77c02f8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.714 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBOHNTrIGqh6JEMNl0zrnZA7JqmJGhvjYGK9Jn7Vaskyy6SZUdFfwcnwvrR9Rf-btZy6gtk-0HYbJ_cIihFMi54ftFgDfYlqJyawXcucrOgn5VhW-gfp5KPeuHZjzqxhCo9kXyplLRZKDCohXMuwDB35yyO0vkhYqe8F7lMbQApcobJDGtHqWjW9Dowi3-UwzJ-8ZHhIA8ODbjZ6DW1My4RYFOAv4pPP15GNsEsLyYeK3EBZNa6uzvoijhWT7abmUB__DVL9fF3g911cd1euJScI2CBjIrI-fJKaYAIbPvWLm2OxidLnA74WquBEko2DKxZCXPIrhw2_Rv0C0K7R4fQlmHcm61ocFkp_wVUE0wnf4Yspa4jQNVdL_iBA7TtBH-26SOPhpV2j-w1HsWD8FW7CZ62JcOtoNvcAqhb1S5BfnGDBPIqWuaSiU8l4F-9JHF5ko4OmwpWpEFosGd3xJMvOnyzFVa-Z_08WK1RXWf1ejK2nB9jSJ5XkmLNxGPPwfOCKxUNvkxx4jZB7OOZwrYvlQ2Oxq_D66z8cTH3P1VqlmhZjh4dmB1plooomBkON_LBSnVnG82TLK9g6VHa-NDM3ib5TAq1dVBl2mh1CeUhESoSqaWgNwT4Zc3NzJZGjDZqtpMDtOY1p2Dk2SKQIy23EHwe1LwDgMo6Fx7ARrYSmNW-RbMUi0oRzYPyptLAxuwa9aHkz4J0YptS162FG97xjZfadrTt6AsqXIb_Oos8pK1UjNv0O5xFXK0nZej7R5Ro_I0zIaLF_x4cVvA4hzar40DxwKyd1p3LmgMVj6Cftg4TaZhNQLUIXKiDk_mKTiXemyW5HLOh7Rgi-YKfQJ8ZUwPKctnfnAWtVmaVNmcgYJTvy2NcHQuxLBqcGg_Zt80Hh5S_MooeUi8KxQGm-zY57OCKhjb1Y2GXFaIaxRiVwhPLlauEWqQ3dfFAL4uepUyNctbifY8ClOGCkmS9HITAly9JHR1jvey1MXwr_HheAzAxKRo0ZRey7AUzijj3NUx2YWNqVc34PrQWOet41v8f0jRjzS4NhZnpOvEXQ_6dxvVt351q6hjinHZyCmu6ZOiMZzBSh7Yid_z9wIhov26JcyObz7jvc5Qb_J914-YbOHUuMgydBwjicJrujtAQVB7Y6CSOhcjsxu9fRmpqsGRHamqHD66PMUubdqo1YQk9y4R3v76Mng8RZTIlKh0Ql24CceOHV8ebIzh2FW1rHCEPqeX1U-a7fQJ7J0qZv6AYCtgebc0yhvL9hl-2ch2_XIXuEz0Tf5NP91MPqbqLlvp8j2UO29vbpK47vhhx0aeN9SaRv11l8GXakaRAhxSsRsKi79u84nUdORwm7eMXC02fmwM-6AB0qN0SK7VgzHoTgm_9HZ5ycjGGBhsGwfI4-fHoatx64JgsCT_n53fG54NAQOGgj1ijlohxP7hLql55iaIimHA4mcbDEtcUEhP2OxhxsPaRgivvIP_phghofq-iy3RiFZqe-wlwRiYc8gztfZpvzB1MbbjDcLgaOCdpWeZ4SwPeRer8SBZhWdSkegfert4LUAKy0_eH_cw8SxI0CRE0kEvJjpd2Bv9UcYybaXt0wTg_0xpH0_IOX5XhlwG1PGk1YyviOMcy-sxbLn9d62BhS0t-7CJd--B7ixOvB8rPvQ7mvfPJpQGbQ8_SEXg-kV8H6jqQbwTkMzDf-SAZgrjebtnV6cI-RkIML4Nu-8iYTx54bdR2f7jFqdeLVTaaH69ozcmOj1A9b0PC3IcijDAQcztT-PHQ2mVP9vDN24xS0UB_tixrGzB5NZWH_Cl7VD6EJm0kHMdh_4VHNJV_m27NU41a4ZrXzL40ev10XCeoxDtijsqv1tJq5nqDq0YSop75VLDNDU_FYBm_7Pb3-pHawsdGExzzxREg2fLGO4-kNApilv2p4cDZ69i-jEhgpE8qc1UYwzyQK3nWn09xqDjX8uszcQNKfpF2OAa80lwWWn2Fjpf6W0gGF8sHqPoDvDpN0wCoReyK5R2iv21IDvikUC_AGoXtaxHvxtJ4ncVZHj9y4NR1dcQSVdMWBX67rpXNAz_uxglB5IVjuUcIKoqW_C5QV8J1BkrmzzPAFfYSAu6vmsC5NpfDsKeSettl_XV1LOPo5nfkweUzV0dMNMuIHxYvjgJNC_RTC6zn1_lbGP9GnDQDNJgbXfZ1PzLlJcHirXEGWM9lEE9_tgbdJAscI905Av7ztIpff7uV5jLSyEl68YhR5GW540scPF2RE4B5pPIPIo8OoOuotueGAkp-QC9hplq86Cwp5J2_rRDB9M8p06iX5SAybG_f5iIv2yxK3QHyoCeOPAZ3BkUrkUcAYBhkI6rCIX-hX9mRVtepjKsT-HZIEoHh7x6fI4EbDrAEFy9wts0z-yvCu6owpe-3ht0Ynp6SfHHO4vG4_L3zyta4mAXokXcgzL2kfIPxBtydNd82kDBCtVU1EyJZWfugPZjjWt_EUQCMk2_UMOIy",
  "id": "rs_01722e41e16eee17016ab460471b8887d0af9e12152e74f15d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.13,\"left_yaw\":-0.65,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"The short cap lies left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap, angled along its length, while keeping the right arm parked.\"}",
  "call_id": "call_8OyWF5biRV1pxD0bGnH1AagP",
  "id": "fc_01722e41e16eee17016ab4604c456887d0abe0ca7aedffab5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8OyWF5biRV1pxD0bGnH1AagP",
  "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]: [-0.3302, 1.4872, 0.757, 0.0433, 0.2173, 0.1196, 0.9994, -0.0265, 0.7959, 0.6132, -0.4122, -0.0303, -0.0151, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.165 left_z=0.1027 left_yaw=-0.5896 left_pitch=-0.0965 left_roll=-0.0359 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.035 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -6.653, 9.4974, 2.0391, 0.1929, 0.3248, -0.0757, -0.5402, -1.5795, 9.0598, 1.7705, -0.0952, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571236a7140b22ede48195af21913d9563aa323fee615140250a170862cb1752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9918ec087a4f171dd01f44351ed4f18745ffa49d51132ed468393cc336e562",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb7a4ad1706ee884446087c83052ff56332743bec8a1694e86b6954a521b452",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.953 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3805, -0.0219, -0.0246, 0.9994, -0.0193, 0.7918, 0.6094, -0.3775, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.002 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6632, -1.5111, 10.5368, 1.7607, -0.0611, 0.1001, -0.0708, -0.6769, -1.306, 9.8256, 1.7998, -0.0073, -0.0171, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3302, 1.4872, 0.757, 0.0433, 0.2173, 0.1196, 0.9994, -0.0265, 0.7959, 0.6132, -0.4122, -0.0303, -0.0151, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.165 left_z=0.1027 left_yaw=-0.5896 left_pitch=-0.0965 left_roll=-0.0359 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.035 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -6.653, 9.4974, 2.0391, 0.1929, 0.3248, -0.0757, -0.5402, -1.5795, 9.0598, 1.7705, -0.0952, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571236a7140b22ede48195af21913d9563aa323fee615140250a170862cb1752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9918ec087a4f171dd01f44351ed4f18745ffa49d51132ed468393cc336e562",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb7a4ad1706ee884446087c83052ff56332743bec8a1694e86b6954a521b452",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBTl4DoY-CIe7rbm_BL1lrliyPYlx1EhxMFyns1LfduCw3eitRc1dv92TDy5qAGc7Y4NiuGbTA-E40ES02rcn1-Ru7qQ68HHR6HBeKwDOVAeMUFvvQ5770by1XPtZMsfCR4EZ5BqqEES55LZ8KEUTRCIgwBonahYQaSldYkRRPkP3SdpqnnMUdG4gVUdgzMRsRem6aYjhsDRh2QgVd-45fk__x71vWE6e1DoiBAssD14U51ODGciaMILQWo69XlkOTjAcGnd0XBkvMIjlvmYKueCKKAMjKpdHWNqJ9OhhO9pees0miYDmZ7Fb4U67tDf-vc_KwpB_grDJLfMAt7wQQQ8RkE1kzo2Dz13o8_LAlHwujTncWsfykBDxKo-4k7A-UrbBpD8I9svsskJJWo5J8eNEyVTqg9pgCedhbAw3ECZ5YSUm_FLl-PtEbZIXXQgnGu-Z7xuJ06evzW8krqbutBiR-mnoS8DiNACHYr4TDJ0AgZPAjo8lzyRL70Lc079BvGDHQYuouLr1KeRpP-Vd28R-rahBZ8uE0K2XRQPRZ100EcaVR3IpAp_b2-Z9lNtmm8tgUWDLfQHAqTfB9ZSwJEP7IvgCAa6IRVetIPxUCKsFGQMQByx6mt6MhhIvZMBGfFn9l9kWZBxSOYuU4p8h7tnraAe3U7ktFYN-masT_71g8N4zD-asAfoJKLcMbikjUz7K3wz7_djQKqNEfJ5Dp56a01zk-64HJJVJ5IzOj-8cvwSaqn4tg3rbNVF30Aa-Qfc8eeZOgRU3oWHA-jpFtqEeAkolxUQgdPzWMdm2EwsyUmCeoLNUWh_FoOXbItVImyYfz7nPZnfxANXyPJSXpvQ28E1QLtqb00HLc2ZW78H7JK8QRh1jVFxJGy1CqIiGcjpbOYijSkrT_uxahCjc-2JKVgf8E6qkFNyF7OsIG13gteemKElTZiiezoGfLjNmIbqvHqAYYN0s0rwiPINY-OcOwDrAFDSWySLp1qHKakfJw92z7Jsb8fYUnOTepzayDxM2tHs2dXf1C2eoYlfiH_oNrfwzO0M0hUMUM90rAqYFhRKg3rYg_vAFOzTpx7r8DCPx0c6-MSblTfe9JylShTzE-nlylgb5hUeqYgoIwKgsxKo6YHYx7KOmBvZySdJA9R6T_4C-9MeVjnnoWUPm1mO1xbHWPZy45Jyscud36lpE_TGV4aMldjJYJ4gM58VpDpZJSYQYSCCAje_1V_vc-14HqyhWn1U0wU5q5KvADlDi-AEN9tTi38ON5ZcqkfjmLo1Srrhk7Kvl_uvP_wXVTZxbNzevWgfP8XTbSCaiEwkfcPyE4zaZu91Rc_SyZ1GBhyVnQjvl3KSBd8I4m00nrFahF1dD9nV8ZX05OCLJ_nEyV9UH77n8gMi0G6-7cq8ZTo4AaFraNZY8Nlu9ACI6bsdGrs4cjxuri3FunTHB3Td8-cJ10SBkQ8i8GtewckJififYdaljVP0ma8bDsPfVN0F4iL5zX7eORg_tf6Y4lzVC6xC8PAjtUycwTKdDtgEIW3WSET1v0GZARavOCgLk3ZMewec0ox--QA3zuabAV-UXYRC8yrmDCOhozTTs-Abs4CDrBdNmVPhbSUwZ4mo87wzTxpzVd5DIxxxPKFE7vD6AM=",
  "id": "rs_01722e41e16eee17016ab460513be087d0bc57ba39ee526f9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.185,\"left_z\":0.005},\"note\":\"The cap is nearly aligned with the left gripper’s central column at the bottom of the wrist view. I’m lowering the open jaws to table level to straddle it.\"}",
  "call_id": "call_l5zdsoQfFlgkI9NGGu7kKLdu",
  "id": "fc_01722e41e16eee17016ab46052d15487d09a10d4b0ed29c8e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l5zdsoQfFlgkI9NGGu7kKLdu",
  "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]: [-0.3721, 1.8355, 0.6674, 0.4397, 0.181, 0.0956, 0.9994, -0.0265, 0.7979, 0.6132, -0.4129, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1798 left_z=0.0027 left_yaw=-0.5893 left_pitch=-0.1428 left_roll=-0.0414 left_gripper=0.9994 right_x=0.2917 right_y=0.0011 right_z=0.1764 right_yaw=-0.0014 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -6.7897, 5.1487, 1.0965, 0.0708, -0.0562, -0.0171, -0.1026, -1.3197, 7.0359, 1.707, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75312925bb058880b7a61bab84e72da9b94ad5566e3e7e73050ef1c45d512988",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341900f4099f60e7b5e2d8ad2db2dedaafe952710d50858c959862901946c615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8eedcbfe5756ac1e7bbc58b6033e4e00eb56946b908e173acbc23b1eb84cbc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.918 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]: [-0.3302, 1.4872, 0.757, 0.0433, 0.2173, 0.1196, 0.9994, -0.0265, 0.7959, 0.6132, -0.4122, -0.0303, -0.0151, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.165 left_z=0.1027 left_yaw=-0.5896 left_pitch=-0.0965 left_roll=-0.0359 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.035 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -6.653, 9.4974, 2.0391, 0.1929, 0.3248, -0.0757, -0.5402, -1.5795, 9.0598, 1.7705, -0.0952, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3721, 1.8355, 0.6674, 0.4397, 0.181, 0.0956, 0.9994, -0.0265, 0.7979, 0.6132, -0.4129, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1798 left_z=0.0027 left_yaw=-0.5893 left_pitch=-0.1428 left_roll=-0.0414 left_gripper=0.9994 right_x=0.2917 right_y=0.0011 right_z=0.1764 right_yaw=-0.0014 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -6.7897, 5.1487, 1.0965, 0.0708, -0.0562, -0.0171, -0.1026, -1.3197, 7.0359, 1.707, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75312925bb058880b7a61bab84e72da9b94ad5566e3e7e73050ef1c45d512988",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341900f4099f60e7b5e2d8ad2db2dedaafe952710d50858c959862901946c615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8eedcbfe5756ac1e7bbc58b6033e4e00eb56946b908e173acbc23b1eb84cbc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGBZwELXd9afU0l0tRSl9gH83n2b7zZwUSPgqulzMkvaeGhvlFg659nG3q7eDsI6LkWVray0HOiu22NY8tACUgbccFY0AOUO0FZohduZ1Lm1BSMSpWjSX_ZTn91zdKDu7J0FxqKVuNnj2K6bo6XBAkPGLo5Vt6EqPIUMhux3uzIyf0vm9tiElUiGeL2ve6XT6L0CA1hG9RuEfRRMQC6qWaM40uYUenwOzXh_4ZfU7egLTeTPIIXZzN471cM3r_mYaFNf1Wd9ujW0FgZuxqXt2z_k_OyvJRGgu-L4we-8gqi3j9i9_PBTQZEVjsT3lX7Ru9Hp-4_LiXkZz8HtcfKXzjkDXJgoSNKrjqs-UgXT85CuvzJHC6Egmv0LaP5o9vjFutZlgX-e3kP2EbPq7VwJNdALB040as2ne1GTlag1xQRLbuGkmtliFDk-kt01CqfmaLEYPEB-OqeTfhVXjD5nTeFJz-Pot23dwGlbRegAn-KLIh76fnw0Czk17nqSe9XC1s6TXPPdlwktoktz4zzKMeo6ZPYXO7fpDyT5cLFIcKx_bBAL09Ba8aEelSFqA1PeKXCv0EmkjgeRthmiYb58zUojmAsbzJ85jToDRGqM9z3xTv3z6bS0tExETIduwJuCC5DcUSmT0OCyW8dQSLe1P2k2i3vY0VRmPCT8XEUTohiRW9rzjCVbmtsgYRxkkHNkhmE9ssIXYaxUAXJbkcdCZG6dmWzJQIVSWE5m_S59saCtVL1fGI3L9POeSBKdrwY0dfKCP8SJUsRtt2AmkI0jPv_oYrPIyhKIIHSYfq90j2ucTk2Z-XT3WsAO0qGv2UI-EUGauomOtxQJKJUfBMaVXeBlg_fUh00oqliz8oLef5y5OKhPjy51PKKQNbUkx8GZVjat5NSUCI0vFDQ8jyvI1dptaf9jJk8IAJZ3y5oH3ck9h5-6afP8kd5WxnU0u2VUL6oc910bvxT3IrKnfQsp98UA1NZeoJsiHp_alyNuQsFrbJTB6K-R9zXhyc1cmk2HOq1s1aQ4f-JsmbTBYDtvbQdy44fa-hDXT5JUtODwBN6QAE0CKsb12nJQmFqwNN1HCvfceKmkrG3lZtvPGlbKB4lOYa19tGkKpMXs8GVTuFcaomdl8h4D1D0WVgF70u-uVj9qGJ9AUil9_rns3YVAH2wH09yaBUzwT0OQwXBZXpSPLgb4MPfQQ5_LNzaiEl6-o0-jFwjRvBbKpWYjl9iepE9QBWj6-DesDNBxx0yhb96dG-G-XSvZ1OmABlky9mlCWuKSwEbw7Vv5-FhmoqysQOq9WNd2Oe5R1K2nhmliqFE35efMLtxtsvXpcCRkoySDva5fe7SM7YFuPUL13mDtjb0_r-HY_9yRuXkq-ICWcRL2BNYNQyLw6L9snHC25IfKzpuGO9E8z54xuVBdsvum0NBGlIyUfutWkAUnM29TMZMWmtIe8w5hYgIU0NW_lkcIBngFJyyRjkcepmsT8a8gb0AxDeMYZ4ltnqYFPNtVNH1juhSUFVOGyZbj-z9IdpiDNaMUjHS7ZRG-sWjEBwh9296u4MnolUkhqIf0cq33ZQwz6qENG78LD5YQEsjFjADqSAZnnnE5V-2l_0W1pPElXajk51_mon6hWtux_j177I7sbSDra8gzFkM_G7wb1Bkn2061c8t4g0DdcHBFSkocDJJIs0EYb73MFpV38qfRyQjO5u2KVLQYgm8s2TY-TD-VwjyyZy58RpuHksDt4RqV9Mu2PyUHJbj3nxpoVn5DfvV6M6pyWa1G4_R6moijH4Cokj8MgMnYVxA7URKOjl6eBpTa9qEiaf28B3Isl5E_KexPy9Q=",
  "id": "rs_01722e41e16eee17016ab46055a70c87d0ad099082db5e4538",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.384,\"left_y\":-0.193,\"left_z\":0,\"left_gripper\":0},\"note\":\"The cap remains just to the right of the jaw centre in the close-up. I’m making a small lateral correction and closing the left gripper around it.\"}",
  "call_id": "call_49NfjQmOguMG8nMlieliIZkn",
  "id": "fc_01722e41e16eee17016ab46058464487d08511486d7f000f87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_49NfjQmOguMG8nMlieliIZkn",
  "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]: [-0.4068, 1.8534, 0.667, 0.4683, 0.1539, 0.0689, 0.0088, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1899 left_z=0.0001 left_yaw=-0.5864 left_pitch=-0.1367 left_roll=-0.042 left_gripper=0.0088 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7726, -7.3094, 6.7624, 1.453, 0.0269, -0.0562, 0.5739, -0.1162, -1.265, 6.9949, 1.6923, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02257df9298fcae1a608c5162f572da1606b78e2fd26a31a5c608fa3dbffefb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d2ddec98a245b6c9852d1662143bff68f74dd05753b57e18cc59ad945c6ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fddef7e2a0c7acd3126afbba7e10bcb1fcaedcf5d6166cb30b581093cca3e10f",
      "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 · 1.857 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7937, 0.6022, -0.3805, -0.0219, -0.0246, 0.9994, -0.0193, 0.7918, 0.6094, -0.3775, -0.0231, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.002 right_z=0.1836 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6632, -1.5111, 10.5368, 1.7607, -0.0611, 0.1001, -0.0708, -0.6769, -1.306, 9.8256, 1.7998, -0.0073, -0.0171, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3721, 1.8355, 0.6674, 0.4397, 0.181, 0.0956, 0.9994, -0.0265, 0.7979, 0.6132, -0.4129, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1798 left_z=0.0027 left_yaw=-0.5893 left_pitch=-0.1428 left_roll=-0.0414 left_gripper=0.9994 right_x=0.2917 right_y=0.0011 right_z=0.1764 right_yaw=-0.0014 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -6.7897, 5.1487, 1.0965, 0.0708, -0.0562, -0.0171, -0.1026, -1.3197, 7.0359, 1.707, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4068, 1.8534, 0.667, 0.4683, 0.1539, 0.0689, 0.0088, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1899 left_z=0.0001 left_yaw=-0.5864 left_pitch=-0.1367 left_roll=-0.042 left_gripper=0.0088 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7726, -7.3094, 6.7624, 1.453, 0.0269, -0.0562, 0.5739, -0.1162, -1.265, 6.9949, 1.6923, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02257df9298fcae1a608c5162f572da1606b78e2fd26a31a5c608fa3dbffefb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d2ddec98a245b6c9852d1662143bff68f74dd05753b57e18cc59ad945c6ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fddef7e2a0c7acd3126afbba7e10bcb1fcaedcf5d6166cb30b581093cca3e10f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBd-lFIkSytWn0CPE4FNbr_zf-Qd83nXzBk-QK6Y2dy19imkOkEeRnH2AT8JdaDr8QzMkJE0gNSBRZ4dZDSv-WvTKrJThgm4toXayTrPOajZdBGQcSKpudCXdqY_EN0GtNKNES5asxxKCkji2yerRLlxQb0gCqPdMKUBj9SSe3A-4WEnTSqDZJkjndLVCSLSLN1sRiqp53hhg0f5X3dYPyuCCNrV4NvE4xscqLbL90gBHgQeQE7ukpn3gCx64aj8zx9ZQQJburaVY5Zgp4OTVoAikclcnas0sf1VqrepsS8Jzahq5V--yU2IQ4nuCwVj_yI7Lorn1xX0sCXXd0F47XEtSJxGMj2SweOT7qOOJj3ZQOBvvC_zZ3BpKxkBk4u0j0BHBrElksnQ2isLyl-IMqR7yuDiINFAVk7P74FGpVApL4CyX5bgKs0sFGOP0dxJk3mXHRSuS8H92GJy30I9Wl3V_518TDDOoybGmqTnZY-RPK_IMegI7pC09Fve95vj49ryJ45D1adEBuJybsgfpEB8D9M7Si2Z5MCa3CUANKDRkLLeMgQAXhZbt6nBC42HlTajj6CctRBlgRoMS9kG8q02IxxqIUPL8yLGZ2m5PHNHcgUW6sBPdHt3ZrD-fX1p4_NsqgCYG6iVhdbQx1EkynVpSPoKuteqvq4_D_1VTIiP_PKT9JSDpwaiejlqj_msLzCe1-PCg8Oqi028ActuS6GTuncxkwInbzTu1MiXBybeotLnJDS0AS4LxHytp-_elGgQUkCAdDKfv5Lzh_LUEef9cv6T9UJLHVn_qr9tn3WAhi351fIdxwOZV7Gi_OtKMh2efYM0TEPZCsAaXgu9iUNkAQfg03nxDo9ZxejmBn_bPWqQqWvz7LpE1sL5avTQumd179RQAgdVZQM-uBrTgwR2BDCrV4qilGf8_VBW9aBtrnmFUp3KefnSJ9luvCD9TtDmBkDGbrMBXnvNOApHj9uAsTXOSiJKfxBP238qdwGDRU-3pfkyD5f_TML7_mv_VuVdDBzme5D79xEfZzSMBubLspVGcz3bLGaxLJn456lzdQc375JQclA-emoKcqLVUf4z598-m3XE43bXCpW8h0YCob__WNU8IeUc6j1aSxTIumi-uh0NN_gbXwAkyMIsf0VI2vERlg43lcSUaEt2cAbNwRpRO4iV5Oaipp3T7aCKGe9OOEWufl00pQo7SYh2bKtVVEaq4_LOml6IMPPTl0E5eIFA7TIVFw4BSFcBQvhotQ=",
  "id": "rs_01722e41e16eee17016ab4605bbcb087d0a06191195cffd7df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.402,\"left_y\":-0.205,\"left_z\":0.002},\"note\":\"The gripper closed almost completely, so it missed the cap. I’m reopening and advancing two centimetres along the cap’s axis for one corrected attempt.\"}",
  "call_id": "call_bVV1PZDsub06OM3dnqqBbk7M",
  "id": "fc_01722e41e16eee17016ab4605c1d8487d0b7afe188b915eeba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bVV1PZDsub06OM3dnqqBbk7M",
  "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]: [-0.4198, 1.8996, 0.7494, 0.4454, 0.1337, 0.0525, 0.9948, -0.0265, 0.7979, 0.6132, -0.4126, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.2004 left_z=0.004 left_yaw=-0.5731 left_pitch=-0.126 left_roll=-0.0393 left_gripper=0.9948 right_x=0.2917 right_y=0.0012 right_z=0.1765 right_yaw=-0.0011 right_pitch=-0.0373 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -6.9812, 7.1453, 1.3602, 0.1148, 0.0611, 0.0269, -0.3214, -0.9094, 7.1726, 1.7363, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77641c69b3ec98794ed5162a5c8665d2ec0eba4e330314d1781bef6a6bc2160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df3d1f982553902503e123827e299346aaacbaa2a6bec2eacf1fee8310d681e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e52b21450b3497af2e3c720aed3c8aada216569e33e730a4dfbfadf4f88f853",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.353 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]: [-0.3302, 1.4872, 0.757, 0.0433, 0.2173, 0.1196, 0.9994, -0.0265, 0.7959, 0.6132, -0.4122, -0.0303, -0.0151, 0.999]\nstate[eef_state]: left_x=0.375 left_y=-0.165 left_z=0.1027 left_yaw=-0.5896 left_pitch=-0.0965 left_roll=-0.0359 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.035 right_roll=0.0044 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -6.653, 9.4974, 2.0391, 0.1929, 0.3248, -0.0757, -0.5402, -1.5795, 9.0598, 1.7705, -0.0952, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4068, 1.8534, 0.667, 0.4683, 0.1539, 0.0689, 0.0088, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1899 left_z=0.0001 left_yaw=-0.5864 left_pitch=-0.1367 left_roll=-0.042 left_gripper=0.0088 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7726, -7.3094, 6.7624, 1.453, 0.0269, -0.0562, 0.5739, -0.1162, -1.265, 6.9949, 1.6923, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.4198, 1.8996, 0.7494, 0.4454, 0.1337, 0.0525, 0.9948, -0.0265, 0.7979, 0.6132, -0.4126, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.2004 left_z=0.004 left_yaw=-0.5731 left_pitch=-0.126 left_roll=-0.0393 left_gripper=0.9948 right_x=0.2917 right_y=0.0012 right_z=0.1765 right_yaw=-0.0011 right_pitch=-0.0373 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -6.9812, 7.1453, 1.3602, 0.1148, 0.0611, 0.0269, -0.3214, -0.9094, 7.1726, 1.7363, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77641c69b3ec98794ed5162a5c8665d2ec0eba4e330314d1781bef6a6bc2160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df3d1f982553902503e123827e299346aaacbaa2a6bec2eacf1fee8310d681e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e52b21450b3497af2e3c720aed3c8aada216569e33e730a4dfbfadf4f88f853",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are open at the corrected table-level position. I’m closing again to check whether the cap is now between them.\"}",
  "call_id": "call_B3XNr1bLCKfpktR2XuPNG7YM",
  "id": "fc_01722e41e16eee17016ab4605f83c087d0a2006537aef483ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B3XNr1bLCKfpktR2XuPNG7YM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4213, 1.9011, 0.7506, 0.4355, 0.1295, 0.0509, 0.0083, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3988 left_y=-0.1998 left_z=0.0019 left_yaw=-0.5704 left_pitch=-0.1366 left_roll=-0.0393 left_gripper=0.0083 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.7316, 4.7932, 1.6874, 0.1245, -0.0122, 0.5836, -0.1573, -1.2513, 7.3504, 1.7118, -0.0562, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8da5be305d06a570a27bab618e3eeebea3a724d53479f29e5a85be5546dcd350",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04cfae89fd5e59b6e4be3a1f151aaf94934c333acf5f26bffde215577c38a484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ae9c19eef5f0766cfe463a8c7b1507ca20d75a74030d63e38fd9f3dbf74867",
      "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 · 9.809 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 21 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]: [-0.3721, 1.8355, 0.6674, 0.4397, 0.181, 0.0956, 0.9994, -0.0265, 0.7979, 0.6132, -0.4129, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1798 left_z=0.0027 left_yaw=-0.5893 left_pitch=-0.1428 left_roll=-0.0414 left_gripper=0.9994 right_x=0.2917 right_y=0.0011 right_z=0.1764 right_yaw=-0.0014 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.999\nstate[joint_eff]: [-0.7043, -6.7897, 5.1487, 1.0965, 0.0708, -0.0562, -0.0171, -0.1026, -1.3197, 7.0359, 1.707, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4198, 1.8996, 0.7494, 0.4454, 0.1337, 0.0525, 0.9948, -0.0265, 0.7979, 0.6132, -0.4126, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.2004 left_z=0.004 left_yaw=-0.5731 left_pitch=-0.126 left_roll=-0.0393 left_gripper=0.9948 right_x=0.2917 right_y=0.0012 right_z=0.1765 right_yaw=-0.0011 right_pitch=-0.0373 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -6.9812, 7.1453, 1.3602, 0.1148, 0.0611, 0.0269, -0.3214, -0.9094, 7.1726, 1.7363, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4213, 1.9011, 0.7506, 0.4355, 0.1295, 0.0509, 0.0083, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3988 left_y=-0.1998 left_z=0.0019 left_yaw=-0.5704 left_pitch=-0.1366 left_roll=-0.0393 left_gripper=0.0083 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.7316, 4.7932, 1.6874, 0.1245, -0.0122, 0.5836, -0.1573, -1.2513, 7.3504, 1.7118, -0.0562, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8da5be305d06a570a27bab618e3eeebea3a724d53479f29e5a85be5546dcd350",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04cfae89fd5e59b6e4be3a1f151aaf94934c333acf5f26bffde215577c38a484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ae9c19eef5f0766cfe463a8c7b1507ca20d75a74030d63e38fd9f3dbf74867",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGBkbd_XqnojtF19poTltxaNXgfBo32djP4gIwPeyKSgaxCskQMSHPmL_qW_oskkuabWnCJpldX2ghNap_SODLsbT76_frz5I8AzuMOtoqFDM2kNPnoGBDXHh6m-2PrIqWsQU_BIT_beWGgFsadqvoM3hleiFlfO41RVBvo8RZMCOgrFhke2Vo3a6Z0G7Wm_UGF7JimJ7kbm78KH79C4JT4Tr0wM5wl3HphxLrmLnmicLWbxgfz2Og7YeQBfkLho_UH2qYzdbzaW09q23rU2xf8iTp7cTBLD3pPA6etYEUwrFtVjYWfBtVaMYx5yP2M61sPH4BA6fMesIGY-mfTygzl-bg5JGAZb1vFt1x_4w3HlfQgmJGq-mPAUrnekf5zg9tc4aw1wmlX550uv2732yDekdCmfaQlD-VnYbNULwrGpjAAxj2ypEeCcz65LTWtmw0KgB4T2SARIdjPlWwv36Q-UcBrqYYloZCy251dgy7unHV1GKIYOm96EiNMbFyP-X8OEbjaQqRpPZWdP29KvYW5xoCwR20dnzhXUJJG8btGqzzl2RBuWiZWtyZpFv78HLHmYJoHBa1O5J8ZL42YcwS1MUaNZPc_E_NPzYAvGGhKj_9jssVAp0HbKhIVeUw6n7-tJ3dkHaKADbPLBUQFv2ALFxBxu4jQLYockoODCjfuEGUT_DkUe6TxkH4A4EsnzyeHko81jznE621J8zqAiwcFHWc8TX4C3CFf8vZrl2IWn5tvj8x3DW21XfbD_Dsud-_eW7TAnm9ZKPDNAZRwPdPpiuv4EgGv_jKZjvXYkaP60LtoqGKPB6Cr539zwQdDsjeeMijplbfyP5Iz9N2Ev1mee0LlMRI2mRtOr0MMEIPvqkOt5ojp9UulmKG15IqWEV7xfJ10OAQIl2Ie2W8xYMVbBJm02tfZx_pf0y7VgPXedn5709OTOJyejGMYEYv8JOYPKUU597RzJ1FczNIQ3i1c9R5A_cRBtHZab-a-wgRWXCIi29bdryK_rGMlh7KJmAOcm5iphF6NBzBNA02CbQf4AYTlIhLKHQn-DqhVSpc_nDEY5YqmGSxbBJw465l6tBaG8X6GkW9EpVnxKZ9NGux80MOu7jS2dUBk4BqHiyK-E4FsU9Io__aT4j0dW6QL4XmyvJ07AKljzGncrcSMnARexA4sgZQIBl-KrpgCyYN0DR7xrCas6htusS90pwb2vVRIzj03aV1c4ti9fblH4iAFE9MVBgam1CX2LCta80RVFPsAl8BdEX4V8O5VKO5KWqbkjVmtBM34h_XwnUyNCfs7HzabS4kofyHXuZi17PpcfWqBKyL6BX4NQcZ-3cYEg3U2TC9-V8pnvmNlg7KyelSbNWtX3y49ewyD6poJ_sZAB28OOGS8z82R2Xaoi6WSyoWkT",
  "id": "rs_01722e41e16eee17016ab46062a2c487d0962f213dcfa51d4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The second close is also empty. I’m lifting and moving the left arm aside so the overhead camera can reveal the cap’s actual position before another approach.\"}",
  "call_id": "call_70IIvRvL4aoak1B2jpSxaa2p",
  "id": "fc_01722e41e16eee17016ab4606359dc87d0922b4a1642e16706",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_70IIvRvL4aoak1B2jpSxaa2p",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8959, 0.6918, -0.4995, 0.0071, -0.0669, 0.9969, -0.0265, 0.8017, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0006 left_pitch=-0.1327 left_roll=-0.0488 left_gripper=0.9969 right_x=0.2919 right_y=0.0012 right_z=0.1753 right_yaw=-0.0011 right_pitch=-0.0415 right_roll=0.0049 right_gripper=0.999\nstate[joint_eff]: [0.1573, -2.2085, 10.0855, 1.5458, 0.0464, 0.1197, -0.0806, -0.335, -1.0872, 7.0085, 1.7118, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57029e8cc94cec00970069d65a850723e27b3fb7a9935fde220848f7c47778cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30053b75ae716a1bfb18c79f45072ca4481ed70984dc8b1e5d793fe2edb1c7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc40b05dcdb4f59fb223683aa90d018618505ac0e0148b7ee32b3f6c0c42cc4",
      "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 · 7.003 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 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]: [-0.4068, 1.8534, 0.667, 0.4683, 0.1539, 0.0689, 0.0088, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3814 left_y=-0.1899 left_z=0.0001 left_yaw=-0.5864 left_pitch=-0.1367 left_roll=-0.042 left_gripper=0.0088 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7726, -7.3094, 6.7624, 1.453, 0.0269, -0.0562, 0.5739, -0.1162, -1.265, 6.9949, 1.6923, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4213, 1.9011, 0.7506, 0.4355, 0.1295, 0.0509, 0.0083, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3988 left_y=-0.1998 left_z=0.0019 left_yaw=-0.5704 left_pitch=-0.1366 left_roll=-0.0393 left_gripper=0.0083 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.7316, 4.7932, 1.6874, 0.1245, -0.0122, 0.5836, -0.1573, -1.2513, 7.3504, 1.7118, -0.0562, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8959, 0.6918, -0.4995, 0.0071, -0.0669, 0.9969, -0.0265, 0.8017, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0006 left_pitch=-0.1327 left_roll=-0.0488 left_gripper=0.9969 right_x=0.2919 right_y=0.0012 right_z=0.1753 right_yaw=-0.0011 right_pitch=-0.0415 right_roll=0.0049 right_gripper=0.999\nstate[joint_eff]: [0.1573, -2.2085, 10.0855, 1.5458, 0.0464, 0.1197, -0.0806, -0.335, -1.0872, 7.0085, 1.7118, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57029e8cc94cec00970069d65a850723e27b3fb7a9935fde220848f7c47778cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30053b75ae716a1bfb18c79f45072ca4481ed70984dc8b1e5d793fe2edb1c7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc40b05dcdb4f59fb223683aa90d018618505ac0e0148b7ee32b3f6c0c42cc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBvHGqMU_wQpd0FFRAZ6QmcM8I0v9hfT_PzkppQ1C4N7cBL4uYmkcz9kM4-YWghbJwS77DU4ELeN3u3k4TftQ7gNMCgi0-5E6kM7F8qd9tJ8yyUJTuJ_3YFIrNJoLv_yvshIDYly8eqjguMP3p_lDHXAZHbgZmRSHBr7M4VPtxv8Y7YTjWP7zzMV6WuP0IwET2zrvHN2_EVoWOd34PZ44vAnEUw2PMogDIyn5_2a1znnEEecMh-TBfovORF7BXSj6_xW6xs5UTMRzRGA38_EdFwBHfP59I5cBG5KYhU-5b-ebKjriqnwKVCYYTu6ubwewjVBRFZITtIiTf1qg5mB-3XsZSONfWTHAOeWQfjkkaqRtjL7A1FDnayVxNZwio6HyatnVa_V_O4fjG0VEPV9-H6zSjXlYTLoNrbpdJ3yO3bIwCftA0JuAP8QqWXkXxlZcmYv0C5ORp9523N8mVb612wqydj0qBC5N1mFq7fX8uF7YDxxyi0khSZeXz8acVivrLw3KX-asr-FDiyU-uu2_iVnV_TIZpAB8R34Vz_gOF8gXMyJcYJWjXf5-Ob1CuguriROCDFuClUdIYjZuRtIplcFzkWwZNIbaHfG-fDCF32_FNDWsF-qKNXf5Pu_Q-llDBC1XfcqrWqDByOqeYC9LJtTQTP8ZoYsd0fFEHIYkFwF8jdChNql6VJHPwgCHILCy9lrb-FrVZYCwfAOIhtsytnKfKF_A1FTLlTpnWhJECrjkCcOIlfsD0CvUQmpNPh45cL18sjsX4Dn284EqiwC2-xuaDuwvVcYgSTexh_3AblI47J17M7DhgN8pt1PsaU45HZUqzSwruRhiwbDJQusY0Kz1cijAIUM_8vWfoe6odOjzMWgb1ggWfZn4Zn-s47YmfLeiUGhGX0CzePWkuvRQfivMyCljM4o1vYBSkQbVPEL9atI29cnGYjQ4FudVHix35YYTzz4zRwDUkUc6PGd2rbcTg530_CJjCalgHO01bjSPgkV6BxEXr7ZR5lwL7Yq_8XoljQM3xfO5ujNDfykb2t8kceFWeODALSy8KFJLACCtKx7Dv7sux5yaOJl5KYzlvReoEx7BzxIBMZJvVzcCKLTIAI_M439bCUoWyB5SbDVAc-OD3-foRzvpqQPysozRbDD980T4XxsqwAYf9pprQpdGQRA_yM6PKB8Syn89zUgF46t31StNETchjadCjPnxglDr3bjZXmRsG6XGhfj9rSuYCtgRLLGkFVYvAEpeguGrQhbDZduagYl_7NbuLUbu-UUcf0nKKI0Z_DTkMRBw5q8QdfF3iIkNJqRu7zgKUZlCWixaAfdq36vyxkGTJEpwHNm62qcblUqm3FFXYWgXzvezHMKLwdfneuIV0BWITveyAicXQfuHQuF-UsiLFP2v4pvgZ-Uc_tRain68-0XJupblvp-hThFoOXhNzlgEeRd2TPMV2piORVxvc3gwvOrh8BEadrQBK69AzkKsZiSPBMPIXZMFTncQpGY4qXZMfHuR90bYIWn6vlfA3QEaslAIMp9yx37agi6j5zRaA1SEOT0ZvdPl1xcGr9gMU2DhZPZ10wxBBWBdJZ3cA7srDfmQ0FwjCF-fXJ7KLgqTjXgHo5vDFbRabVnRg6V6xqmPTHjEcvzK_a7sKycoapl2-d-UOrchTRoDWz4pFl9bownklTRe2mjI5SaLVtkxNYz0AWdKue5gQYK7MlfyoUTA5qJC5oJ2BFStcm9E2_7-FOnWfmGw9aeJAhWZzyrg051D3TcDDMcqbmPAJESgY0acc4Qaa0DJ4dXKBIX7g3w6JANf2h3icr3tVg1AM_UwNFMSTHWxUvoQLCx9hbvZ0wleeTbWS6JHZF7Y-I6xZ_C_lE6UFAGrvoGm2fag4iLuxq2kAe0Bh3eLULsUEg5U4uK_r-eIxwbMKlEMwXhfE7J2nPma91s67tpQE8R_ZcnjiEL7ryXaeK1_yySkOmDnhbDzV00vagOBBrXew7EswAWFNAUSdPOvrnorK61URDw6dkL-DwtnbyZ5XeZYLh_5xjMfOEei56nZHYKXLJM7SwQzCNHzTm-W4tzlCpIOiUZ-OyerTptjug1hqvSGUwNJIM6Xdsqwy1ZGalpdQ6id_Meox3pKipLKp5dtspV-NnLIN_PvpoWeXw2K5SiIhCPJr-u8SUCCL4gWy62mypXoaXNL4WX1MHjZ80ZSMuYEfACyNUb4NW4Z7xEkbVD6JQFoxw9FazMxLZhqxCV8lJCTgCGT0LN9meUQ8SnRMCHkQvP0hZY0Fy38Vhsy4MQOKNghWZS7bScbldzI7MWTJ_irw1N6CIV1Vt9tForwf-sXiGrax_PFqfnVDqVNPAI6HA6IZP2StucrgJPRf3aainHC2eDLamSriMJyCeosgG2tgjkmp_uMcKdR-Q7ro7aEthoqrw7YTrLsI4v3By3mdAGos1bo049s0fw58lSgrp9drxLv7sCxOa_TDeATkCt4IhgQ7kZQwCKdsKCn4Wd_Rv5_gfzLxzr0A01W1ZwPiIWZFRL-Ewi3If0oPhksJbalKY7h9A8ZSTGanAwqDhiC0OxuAw3MwPL8ZXXSfsjtd4RDCav9AM7yYN6IW8pP7jKK5BeJtu2LKpKyfKjfArDIc73Mj1Td-F6sosY6ZHBn-AcmYOGHGYE8I9Hy_P11CrMCp68Ao-pRe7PCijPKbocV_0K0ijCWL_rG3uRC9TAYMBr0viy_TJezBOc8NW9qI46QaZlyC8RGgmI3jveWzS8dmhKx3U7QYQFiz7nCC4KPVgA_IlDuOqO6pWUPnyFk7xTHQ6aVkEUN82bTDB76ElUuAgbDAfwxvdLrhOf7fTIpm3So-wIIdYjQ-i_L0f7DvdC6V42xL03viA2biCSxv0fXRh2ab6ALnmL8r-14oc57w0RpPAYMszDnxc5nhwKi7ZQNtJ6Wj9SghhSsz-ATJFr_6SxkQgusFwy-0DK_1JLpmb26mkW1ynzeOswoMDGvaFQiH5a4ac13vF5c-lYQhb5lgslJm0SyxXWxQnDw==",
  "id": "rs_01722e41e16eee17016ab460681fd487d0b553efd823ac416c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.20,\"left_z\":0.07,\"left_yaw\":-0.65,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The cap is still on the table, and the cleared overhead view shows my earlier attempts were too far forward. I’m approaching about ten centimetres closer to the base, directly over its visible location.\"}",
  "call_id": "call_8MreSHWLULrDbfk4lVb9JTB1",
  "id": "fc_01722e41e16eee17016ab4606e97b887d0bba2d4e8590d7456",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8MreSHWLULrDbfk4lVb9JTB1",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5568, 1.3418, 0.3946, 0.2871, 0.038, 0.0025, 0.9975, -0.0265, 0.8047, 0.6132, -0.4137, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=-0.1859 left_z=0.0542 left_yaw=-0.6016 left_pitch=-0.0881 left_roll=-0.0136 left_gripper=0.9975 right_x=0.292 right_y=0.0011 right_z=0.1744 right_yaw=-0.0014 right_pitch=-0.0453 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.9299, 5.8872, 2.1172, 0.2515, 0.2515, 0.0562, -0.1162, -1.4427, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f94aaf9be3c48221e923362edc136d70fd6cd2c3579eed561b3c71a00334cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012d203d4344d4a9e8fbdd70161e78a75e66b4c4a1cd32c93e0f3c5be688b076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6754b92b3841b43f2dd492836ca4ce22645cb8e04aca12a225bad986feb7a85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.465 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 29 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]: [-0.4198, 1.8996, 0.7494, 0.4454, 0.1337, 0.0525, 0.9948, -0.0265, 0.7979, 0.6132, -0.4126, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.4 left_y=-0.2004 left_z=0.004 left_yaw=-0.5731 left_pitch=-0.126 left_roll=-0.0393 left_gripper=0.9948 right_x=0.2917 right_y=0.0012 right_z=0.1765 right_yaw=-0.0011 right_pitch=-0.0373 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -6.9812, 7.1453, 1.3602, 0.1148, 0.0611, 0.0269, -0.3214, -0.9094, 7.1726, 1.7363, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8959, 0.6918, -0.4995, 0.0071, -0.0669, 0.9969, -0.0265, 0.8017, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0006 left_pitch=-0.1327 left_roll=-0.0488 left_gripper=0.9969 right_x=0.2919 right_y=0.0012 right_z=0.1753 right_yaw=-0.0011 right_pitch=-0.0415 right_roll=0.0049 right_gripper=0.999\nstate[joint_eff]: [0.1573, -2.2085, 10.0855, 1.5458, 0.0464, 0.1197, -0.0806, -0.335, -1.0872, 7.0085, 1.7118, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5568, 1.3418, 0.3946, 0.2871, 0.038, 0.0025, 0.9975, -0.0265, 0.8047, 0.6132, -0.4137, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=-0.1859 left_z=0.0542 left_yaw=-0.6016 left_pitch=-0.0881 left_roll=-0.0136 left_gripper=0.9975 right_x=0.292 right_y=0.0011 right_z=0.1744 right_yaw=-0.0014 right_pitch=-0.0453 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.9299, 5.8872, 2.1172, 0.2515, 0.2515, 0.0562, -0.1162, -1.4427, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f94aaf9be3c48221e923362edc136d70fd6cd2c3579eed561b3c71a00334cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012d203d4344d4a9e8fbdd70161e78a75e66b4c4a1cd32c93e0f3c5be688b076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6754b92b3841b43f2dd492836ca4ce22645cb8e04aca12a225bad986feb7a85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGB4pSIphoj5dPcNpMNWpuweid-V1DZNRXkM8iP0n6KGSCZKt0BBRpEl6YX6thF2Ic-pvvz5lfXmzF81Fa3Kxd5XkJgtw6YGeVaIL-3r_WVAdgC9Y-1gls7dDcQV9YlqS84dV84FWnY35Juu07Cmdk3rJPbfm-wurN6RbcmwSwYTEV3JUgs4s9MGkikd2Z1mjGR35dAXG99FxLXx1p4pZ20QWqjMfl22l8rwoFsuLhSZuiLhxqq6wUjTqOdzPVpG82pF7TiDzDGlnPH_gehMQlM9yxXgnbwPmUF90jJlmDh47qno2yuZ_KeT4BdtPlu11ZMLeYfSCzy7kpEHD9nSoqC61unzWyOrd7Byx4oSLdSM3tQF8SxygSW9PwL1oNnSOT2TxFXbuJYfiNVJYGo7VuCpmvdEr_QI2WMiAmAbrs0xttci2hTXDq26-MkFFdRh1-tDGceuIcAmCxdBy5ZSBPX8LJ1e71MIrzGcqXpL_hnqJRf8J68rLA7kHgIELEHzaSyih0BthDt6fsIv0NzEr_CQ_VxzMlkrlC0_dBbfsjNCQPA3Z7_0BBZtUpGnLQivwx8E_c9ELMCxtuqnwBSCnhPuBxsDKXzfjSC9SqejTRjDcois0-VAvGLiyNBs4mliQVExIKUTV6-iJSfNqXQamYggxpON9AoW5bfctxr0qgHjJHJ-fHlqyuWzY5R9U-lKsnjWzQB6iieCp2iPFSRAUEBpC7Da2Qva7CV4eej_zfPKSz1MgyCTFb1LN54B6NI0BUnjudihfHfY1lisN4tTnr0D4AqATZpJMRZIeC5soV6aYeTCBJp--zqC9_JDd_8qai05a_ITBnm-rTSy5UwhCtazyG_eaM6fWbi51AH-IjWkEYhwXRZWcJRQdB2r9HUF6XrS-82PmfcViUKcAZcwi6DPNqqnWFBPr0YQm6gR5KNhPdI9dZG7tcUqqUYHj6YVRvK_e867C9EiHywKXSW_J-EsQRqeXcjJeyNx81d5cPHDZL0UO8b2I49yTD_s78lKCyHxbE_FwwFRpBtWhoVKIKhLq9UHQi5ON4W7WtMO_yo2S2JErgvYLkakV77xkH9GnHCVQTbohIss03x8WsM4JuUDfWE0nZ3Dy2DV2WndWUG8ULuSJfw0YuNgd85NOTq18inUKH2Uq3Zl-MrqvHo0WSDq0GaOgA9v30zb-XVcZm74ibGqbLwgJcZAup33PFCW1xkzj109KoP2gAKVjOmaKGX6bwRrR_pZiTfaUQAN6HfGKGfMqv282HrBRMsU4OtpWoxtTMCzOSABYIcCcAfC21l9z67MW56AGemGIp1cQw9ARNFLJ07letiZQ3M7RRxdXqiQqrtULeDCREPbeZJSQg362SiUJLNBvznINHUYeG2lWlhtIh7JKGbbwpvaiXZ6Ddpdn1BB7SU9cRNRDln1thW-8T4IpxBlUVSH5mbIt47Q1LZalLzMbOkfuNG7eiwGCkJtDIjMHyesPbtNdXX0ykXuZOt1R3VXDiLUA3s_tilcuWZ_vPKQ1SD3iIoyLotXgSz_Sjf1tLBU0v7Y7QK90A9VavlmrfBDzE7MNPSXHCaFUtty0TRVrlPF_WMrbVzJnf4SzcOlL3pmDcKaLTquayIGfnY3lwGOBI9q1KePgqCCimvtWheRDK2DyLTki2LB9uknMq4tVx9og84H2GNGa-pS5y2i5qq2NDdcEewDcUYBwNZTMyqFx6ODd7a97DVkatUkH305vjrXAKLpe5ZwoGsJFLGX0TNX5sQoZstyXwO3VuvZLUrKWnVhQk1aLXoSu3YveLxyrcDZ_M8-74c7--4dT3nJNFdX9KeL2TRcFTVh89j5u9H0iwf4Ij6pseX0LyqpN0XcpACjGd56BUtwrDLqkjlhxzKBtPKRhvQeETxa8V4aghPfgZry3Fh_44x2u7RGgfVgsJmnR6wXuLZPwxTesRWWI85SRPV10Lwky2mWxsvUKRvCY0HGGZJWdlS5nExqIYf61WiOqvD4Q2HBhBqsVH5TUj2cPqJAnD9AbwIKbppRt55k3dENYx_l8ArEtdT3Y-OuGQ78f1d2AygJi8iXg0RMyA8Hb2Ebs09SVmR-5-CjVBjUAE_jxtg-PVHcqrOKnGP9OXqRrlZzOyzVOTA_wSWHvwOLbFH0S1ka8jqsNOIJYfnUqx1EMGG6EwY6aun8Sxph3blt8aQVnGq4GRabQnANhvGts5qrFuzXpF_q3KD0Pewv0zr_1pO62Q4t0cC2MSmvu5Gl6b4Env1qhDLFvNhwCh3VqlFLiS-rUXCvF5iPynkK79p-QnFC0E1nkF2PddjI60bkEzcTbw6ja0YAnFb2yv1_VfZ0fUs5iy8YwJmKOGo5HuIhx8z6UdJhkCG4RkCNDjof6yqxgONP0_99hJTYpxvsj76pcM4kiM_V5oHvl-RhQjIu41bBYhCOUee3EROX5OSXTA1UXjhYPlswQtgO70ZkNeQyDcQCC3ieAVd_DOVjvkb38yUQf4mr2CP9XsQnjeF0rnuUhXnVu_uLVqn3iJjsGXu0DmjKpMmirEiZcfYT6_jzHWas8c_kkv96",
  "id": "rs_01722e41e16eee17016ab46072e39c87d09aff2e4800a46b16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.333,\"left_y\":-0.2,\"left_z\":0.005},\"note\":\"The cap is now clearly visible just ahead of the fingertips. I’m moving forward three centimetres and lowering to bring its body into the open jaws.\"}",
  "call_id": "call_kdpE1P9tKIMu3hN3EpNiVRTW",
  "id": "fc_01722e41e16eee17016ab46077950887d09053d9c3246cbac0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kdpE1P9tKIMu3hN3EpNiVRTW",
  "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]: [-0.5236, 1.6989, 0.4442, 0.5476, 0.0406, 0.0208, 0.9976, -0.0261, 0.8078, 0.6132, -0.4141, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3225 left_y=-0.1903 left_z=-0.0004 left_yaw=-0.5809 left_pitch=-0.1349 left_roll=-0.0034 left_gripper=0.9976 right_x=0.2921 right_y=0.0013 right_z=0.1734 right_yaw=-0.0007 right_pitch=-0.0487 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4991, -5.6137, 5.4359, 1.1795, 0.3297, -0.0513, -0.0073, 0.0205, -1.4154, 7.0085, 1.7216, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9916561f8dac73a3f2fef6c1168c59802320ae1d71489348bc1978c926a74158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc92839f34d83d78c2e533bb33c1f9311b369c86e866d25c5aa10bb6082a51c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35326bee6dc9b2bc7d4f8db227a1f638a6ef4e444cc2aeb5a527e084c5e29939",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.513 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4213, 1.9011, 0.7506, 0.4355, 0.1295, 0.0509, 0.0083, -0.0265, 0.7979, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3988 left_y=-0.1998 left_z=0.0019 left_yaw=-0.5704 left_pitch=-0.1366 left_roll=-0.0393 left_gripper=0.0083 right_x=0.2917 right_y=0.0012 right_z=0.1764 right_yaw=-0.0011 right_pitch=-0.0377 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [0.1162, -8.7316, 4.7932, 1.6874, 0.1245, -0.0122, 0.5836, -0.1573, -1.2513, 7.3504, 1.7118, -0.0562, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5568, 1.3418, 0.3946, 0.2871, 0.038, 0.0025, 0.9975, -0.0265, 0.8047, 0.6132, -0.4137, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=-0.1859 left_z=0.0542 left_yaw=-0.6016 left_pitch=-0.0881 left_roll=-0.0136 left_gripper=0.9975 right_x=0.292 right_y=0.0011 right_z=0.1744 right_yaw=-0.0014 right_pitch=-0.0453 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.9299, 5.8872, 2.1172, 0.2515, 0.2515, 0.0562, -0.1162, -1.4427, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5236, 1.6989, 0.4442, 0.5476, 0.0406, 0.0208, 0.9976, -0.0261, 0.8078, 0.6132, -0.4141, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3225 left_y=-0.1903 left_z=-0.0004 left_yaw=-0.5809 left_pitch=-0.1349 left_roll=-0.0034 left_gripper=0.9976 right_x=0.2921 right_y=0.0013 right_z=0.1734 right_yaw=-0.0007 right_pitch=-0.0487 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4991, -5.6137, 5.4359, 1.1795, 0.3297, -0.0513, -0.0073, 0.0205, -1.4154, 7.0085, 1.7216, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9916561f8dac73a3f2fef6c1168c59802320ae1d71489348bc1978c926a74158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc92839f34d83d78c2e533bb33c1f9311b369c86e866d25c5aa10bb6082a51c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35326bee6dc9b2bc7d4f8db227a1f638a6ef4e444cc2aeb5a527e084c5e29939",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGB-hLFVw4kdSEsZ_pLVqfjuj5LOGKIbsWeAImYVKFabpCWrfolePA9tKnSrqppi7wN5gVymqI7OS9OHaQHaj8-0eS4EFV2HewW2GaF9jO_RcXsBQdMDd3ANWPX85bu_X6kNW7hAfGjjuK0WEkwWpb7_x-wJT_PKykfh8Ui5xhDbvylWvBTAau_q5nNM2HoI4zuFBWf-aw5AtjdoA7fjBWw0VJjj7wTypLq9AQCz2FjI0q6LJNID2hkpWeF4nkK7d6YwyKgY50gJSAHIo6Cu0IAq6eZMBdOx44kbD9Dhb0y_SYv8mOfpCEhDserR0FuesHQ-nzzxTvHnP6YOSjih_1eNAtSbmXc0xg1BNz2ma4e13MJzCUOJCsnVhHoWsUuMZG90-eeJdqxtNg9I4b2kVzq9G24ziy6IWnYnUj5IoQPjfl2m3r7pYqFCY0H1oYXY7ux8yDrZD3m1Cec4dfIVcos2cSL0QBbW-sbEjDHgIa0-qJ4t8Bc1CAn9TnJJfXkO2hxWZ44J1l1JhJRMSsdDP3LDBycpc-v-zmE1F0KG8TC5vKCWnXvYsAEoAumZp5Qa2h8RIB8kPGKeDxBJlVAkfoT-3ufkkuAhfsTvLJEXLMaf6kyxDfIUxG3Geh3wT9Cvm0bc97Sr5Y50GPjqfBwcSi9myaZNYQptgNqONdKkeYo71Fy98LpdOYNMbEIOEp-qX__L8glR6Rk544fFDvGITiUpqZDTR0abjdYlAkAMT2lh912v1GyiPNjkCUy8oJooEXLMuPv7732P5kVFjsyjYlDS89FgxhsXDN0SNRSSitR4NHtsMm-Pen0X0lCI_e58hG1IqbbpzAOOPUt7OWONtiJW4suLZqj0SwU4lFtew_qe9mtzIlNC6QDJjRGFbCh4S1ArX2LM4b9__9Zy_dgjCTCoYPSLl_-qc8JcB4gZMxlXXoYqf1EtahuU3S3KyNn0fOHVM96RO3T-f-vmNCXYTITXxWmgr8iFnMxRtUmz8KkzFI5SgJFIova0LL03nH5McBYmdJ0vE8rDxg1X5hxbsQvBrLY2h3XRcoHSfa_aSuqQEN0r3w7e3bBMUE9bYQE7QzjlxonCtqw164DL04emdPiDk2ETdkBiCldTYwyqRBHV_vwcRwhn6eaXSRN2rH-0-_J3PGsRqxUFHWEkv8rNTUBFqwKxEkJ4C3v5MOBLmAlT6HkqOiNdVIrj4sSZOAoaG2mNH8oon0_WRye3iQmDsj-JCmuO1Hob-3YZb5wp6XIW4C5TO4k2knoNXz4A6TS4Z7u5_7heicoWQEBT2KhKzIbN_iDZAqnXm46xXIa0PGCSJYXAtf3IAo0ZWvqr1ACfKAncKqmMus3UKQzKqh4JOUtWQALBwAwJd1HAlN9EkEA1SYw8WTdNqqikTPkdsaD_6oHaQjwOvinwjhTpPwKFeX2XRoo619arDgrMECV9YA5zyWtPnQ34o7CCaT961r0XV8M75Mw2St_axMM_GwE6xOQ5I1TUVT5YyPAkyK-yp1WdMA2iAdtbnG6GN6Egtp7CODVHNUY3NktIIA6m6y5B4czfa-I5dgst2-8nv7LBjpDdcSJA-WmmLm32UAplA7uSszd-7xRVoTkouhmKdf6moIjg34Ih0C3Cgva1WycXkkpzBLWJBqOA8bb-gfJ0IClbQ4pE0sGK1oEGdwiG-zgwws44nLaX_KW160LXLwm14sFiBn1J93UWuF6YnCJkSR6pbK4l9vnht6K5rMCQ7u4f4bxKUNVLhV1UQ2paJSCs5ArCv6QRzulHodfFc7VzW0sx64fjVw8tk-MST5WL6Bow97CfuohbE-1qGJ5lbzox4om8Re35CmkhuJXN6GMaPmlFIlcSQuJ-TPFFoUBr8Kz4O61wghyMfZavfA4Hr_5NDL4tMqiBZrN6ALPVRMEKLZNbMCJkZ72YktZyomPFluBy10oH6kcEWbaq4PZUYvP40Z_h_auJjlC3eaRu3C2huCYf6lJD_ptrtjpYjdwrnRBMep2c-jt7ItCDliRSy3U7gmYkIlegZoqSPSNAVZ5NqGPJB-kcONGpNNUN0WVGeNNnGSlpaCZdmjdohZo4rjQaCN-8tHBqQ_OAg2x9H1crtPblzAT6RzoScE8__-wb0kJvboVyIuq0AwfkNPIPLlLqfnpsOyA=",
  "id": "rs_01722e41e16eee17016ab4607a776c87d0833b43dc50d048af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.347,\"left_y\":-0.177,\"left_z\":0.005},\"note\":\"The cap shifted slightly during the descent and is left of the gripper centre in the wrist view. I’m sliding the open jaws toward it rather than closing off-centre.\"}",
  "call_id": "call_e3LfByGby7tD0KhynTxseJ87",
  "id": "fc_01722e41e16eee17016ab4607d3a4887d0a18b190eb502a219",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e3LfByGby7tD0KhynTxseJ87",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4698, 1.7287, 0.4801, 0.5507, 0.0689, 0.041, 0.9976, -0.0265, 0.8093, 0.6132, -0.4137, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3393 left_y=-0.1818 left_z=0.0012 left_yaw=-0.5619 left_pitch=-0.1244 left_roll=-0.0055 left_gripper=0.9976 right_x=0.2923 right_y=0.0012 right_z=0.1731 right_yaw=-0.0011 right_pitch=-0.0499 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4581, -7.1179, 6.653, 1.58, 0.2808, 0.2173, -0.0122, -0.2667, -1.4154, 7.0769, 1.6728, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f15783ebf3f5af3047d97f9e78a4b0509a1e8025d919ff2ed85ddd0eed37df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384bfb42b9ece8b6dd80aa5900e64d747ade81fb60e167729b028d1bf09fe486",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86055f889ec46acbf7bde4146cf2018e7fb40327eb4237cd451969b447f2bff4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.287 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0196, 0.8959, 0.6918, -0.4995, 0.0071, -0.0669, 0.9969, -0.0265, 0.8017, 0.6132, -0.4129, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0006 left_pitch=-0.1327 left_roll=-0.0488 left_gripper=0.9969 right_x=0.2919 right_y=0.0012 right_z=0.1753 right_yaw=-0.0011 right_pitch=-0.0415 right_roll=0.0049 right_gripper=0.999\nstate[joint_eff]: [0.1573, -2.2085, 10.0855, 1.5458, 0.0464, 0.1197, -0.0806, -0.335, -1.0872, 7.0085, 1.7118, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5236, 1.6989, 0.4442, 0.5476, 0.0406, 0.0208, 0.9976, -0.0261, 0.8078, 0.6132, -0.4141, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3225 left_y=-0.1903 left_z=-0.0004 left_yaw=-0.5809 left_pitch=-0.1349 left_roll=-0.0034 left_gripper=0.9976 right_x=0.2921 right_y=0.0013 right_z=0.1734 right_yaw=-0.0007 right_pitch=-0.0487 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4991, -5.6137, 5.4359, 1.1795, 0.3297, -0.0513, -0.0073, 0.0205, -1.4154, 7.0085, 1.7216, -0.0513, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4698, 1.7287, 0.4801, 0.5507, 0.0689, 0.041, 0.9976, -0.0265, 0.8093, 0.6132, -0.4137, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3393 left_y=-0.1818 left_z=0.0012 left_yaw=-0.5619 left_pitch=-0.1244 left_roll=-0.0055 left_gripper=0.9976 right_x=0.2923 right_y=0.0012 right_z=0.1731 right_yaw=-0.0011 right_pitch=-0.0499 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4581, -7.1179, 6.653, 1.58, 0.2808, 0.2173, -0.0122, -0.2667, -1.4154, 7.0769, 1.6728, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f15783ebf3f5af3047d97f9e78a4b0509a1e8025d919ff2ed85ddd0eed37df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384bfb42b9ece8b6dd80aa5900e64d747ade81fb60e167729b028d1bf09fe486",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86055f889ec46acbf7bde4146cf2018e7fb40327eb4237cd451969b447f2bff4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCCulX1UUIT5eEpKI3T9GSDMJuhJ4Yqs8VQNZ8BqAOa_I-VFmtoiteClGhdySHjLJSs9rLzMkqpnc2JPi2nnuWd2Snuiu4nwozF47FmnAxlBcnefgOVLMfolr8yhibHjHjqTcU3bEIhOzGGbaK6OSDS9qUVcrrTSr3q8zBF28bfKhM3qn8K5vq6w_GOQxvWdY3FL3jZvulCiy3xteC282NLMzEOohKISF_tYDO9s9ZzJkD7YJ4DWbqADJCzACuLqjgFXVmuNuhCgUx4uKe4BC7lT0PBJGH16wJpZCTkc9ZDBV1IbURKarQNIfcmmvQzazvK8ird2z3WcY1iLO-koXKNFaq6q6w_hIxcrqRdItfC7qjZD-lK5Irek_6qi2byt1k0ai8VCT9zU0jWyDmcaVPmdZ6vzde8Ehy6Oeml3_QvNtcbjZ2yZ64UJYphK6RMsx2RqVvjddaw7FOQ5XuTooWyzjdeviG-sbuhJcrvVU84KrV3u_-SdOrdiUoh0j0EsGsRJVO2bqwwEmuGtowvtK4BIZKnOxBJhfGaOrnnm-GmOIskCh4elM5vn9SkI3PB1kY3a7e8sD0eCQkXJrrSdnmqynrbZXJkyjnQa9xQyxnUaBbydiVWroi5OVS1y3XVkiA7xf2xpyq2gmppfJasACRvbDjymXWboGvh3Gj99jzL5yI_8auiv2XTzCyHmma_DbuAZ_DXG4ZrFgD2rTHSe4vithmDFBc4JhyI90pzFKalYob2T8_7ZoZjiS0-9-cNtMnYBRMbguhmuSwbITUi_2Ee7lg-sv9Zx4_U5VpniEcDI8ZPbcJ8OHYXux88-tjYQBpvAr6yp7SfeuUe4kuEoulEo0WWhzU5XGJtILA9duNRitOJihQvCV687pYkIrFLRSJ5zTUFv-rEaPRuAelRnryngo1iz_bXRY24j9wzAzkVyzaE4MopwncBKJdmxdCr2c5ZSfj-eXgrtEQPWlHDqmIZ1yOwPCmXIUP31Bc_Kx07oQccoDUi1Z7YYzcfNZ4iu6o_UwxxdvsMGZOhOG5xQAZWIoVkgFvy2RZlh2jfHoeqY_O_cos7DsjhUeS-PT6Qm-8Jw0BFcEVgEFQYPgPViG1DsKH2w-hhXLsqm9f6z1E4HcTzj4aYhTTc9PxditXhAgErrOPI4gzgdUelnWsJHQB3R8lzWjOI-9D1zA7bXFESlwe3i8g4jAbtRcXAqW79ucERsefT3gWmfFcDt-Dv_Chfn0_AkiQ8e4GrcAAkDv7AXKRV38muk3_au9p98NbhhUOXC9_LGTVi68VknU721KHIb0EZ_qSiaujaTUlcc1ZXq6psnyhrUckw4nqQSiRosjGoVLy_MnmvxkmIRLirK5BjOYvVabEwnZnn8KZLF857ztAJ-jl4O4ekFgBQOPvV7TNKP3VecEYyDvhahQOlJisnYkHUkZyHF2t3MpFU5lXUr4Zy9C1e7C8N1eRlX4M7YlVY",
  "id": "rs_01722e41e16eee17016ab4607fce0487d09733a90fe7fde18c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.167,\"left_z\":0,\"left_gripper\":0},\"note\":\"The cap is now alongside the jaw opening and extends into the grasp region. I’m shifting about a centimetre toward it and closing gently around its body.\"}",
  "call_id": "call_3nXCoGUeAvQ5QHX0c4JtJCIC",
  "id": "fc_01722e41e16eee17016ab460810be087d08e45c30230c834d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3nXCoGUeAvQ5QHX0c4JtJCIC",
  "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]: [-0.4057, 1.7329, 0.4866, 0.5442, 0.1062, 0.0719, 0.0442, -0.0265, 0.8108, 0.6132, -0.4164, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.348 left_y=-0.166 left_z=0.0009 left_yaw=-0.5464 left_pitch=-0.1258 left_roll=-0.0062 left_gripper=0.0442 right_x=0.292 right_y=0.0011 right_z=0.1722 right_yaw=-0.0014 right_pitch=-0.0541 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.6632, -5.6957, 5.2171, 1.6435, 0.1734, 0.1685, 1.1795, -0.0205, -1.306, 7.0496, 1.746, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf0524e719e4eb0f41eeacb6ffe6ccc7197a493a5ab235eada945c41c42c9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e1353ac53ce3f789d7d7cb0a901b3827d4ff879464112f4199e85b82394302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9192a59648c8ad0314faaa80f2acbacba7e00c424b2b22a380e4356ebfb7c65a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 12.62 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5568, 1.3418, 0.3946, 0.2871, 0.038, 0.0025, 0.9975, -0.0265, 0.8047, 0.6132, -0.4137, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=-0.1859 left_z=0.0542 left_yaw=-0.6016 left_pitch=-0.0881 left_roll=-0.0136 left_gripper=0.9975 right_x=0.292 right_y=0.0011 right_z=0.1744 right_yaw=-0.0014 right_pitch=-0.0453 right_roll=0.0048 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.9299, 5.8872, 2.1172, 0.2515, 0.2515, 0.0562, -0.1162, -1.4427, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4698, 1.7287, 0.4801, 0.5507, 0.0689, 0.041, 0.9976, -0.0265, 0.8093, 0.6132, -0.4137, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3393 left_y=-0.1818 left_z=0.0012 left_yaw=-0.5619 left_pitch=-0.1244 left_roll=-0.0055 left_gripper=0.9976 right_x=0.2923 right_y=0.0012 right_z=0.1731 right_yaw=-0.0011 right_pitch=-0.0499 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4581, -7.1179, 6.653, 1.58, 0.2808, 0.2173, -0.0122, -0.2667, -1.4154, 7.0769, 1.6728, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4057, 1.7329, 0.4866, 0.5442, 0.1062, 0.0719, 0.0442, -0.0265, 0.8108, 0.6132, -0.4164, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.348 left_y=-0.166 left_z=0.0009 left_yaw=-0.5464 left_pitch=-0.1258 left_roll=-0.0062 left_gripper=0.0442 right_x=0.292 right_y=0.0011 right_z=0.1722 right_yaw=-0.0014 right_pitch=-0.0541 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.6632, -5.6957, 5.2171, 1.6435, 0.1734, 0.1685, 1.1795, -0.0205, -1.306, 7.0496, 1.746, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf0524e719e4eb0f41eeacb6ffe6ccc7197a493a5ab235eada945c41c42c9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e1353ac53ce3f789d7d7cb0a901b3827d4ff879464112f4199e85b82394302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9192a59648c8ad0314faaa80f2acbacba7e00c424b2b22a380e4356ebfb7c65a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCGb4hJnB_nriirlUGVpqY34TMCAl4SaYX8GhE_tzqBeoL0ara-FzQc7ivMvz8nfxCLGnKy6r0AwvhVRi_TNmF-o_-R9KlIW7_4eARgKdJV3e2DtYyvQ1z5emBul8Ak_wrM1o06y-Vqbz_gR_HbgOLv1GLza-mpjYhuXHiwQmfLQ9gKNRy6LqBGaXeI4JcwLlbGiAWSEZYjXs2idiEEkdI7oM3S3zvvW2T9FZJsLPp3v25O0vyB8nj2HxkugGdTt0YpKudTO129Jgpxg-XM6h0HA0HQIiprVL8udzoaqZZlTt6rXThcWaEjFXOj7PcSY6H_6ZU7mtvYof4hc6GGlMesJKFplHC6IO_cUmBWI6TPKO9NATT1A5xf_b8TTHV4rPVAyfLiMJDzOGas0n0CJlSHkqXXL3FZtzabQKYOTZoxWd6BdEQPPph_BYzBJvr5eEngmPdmceoF6rvstfh9QXZYjEuk-k525SeW6Zmz_zynzq-t7d8a3lGCPboBU6IS4g1XMURmsWr5ZJnYocq6TFazm3j0FE7_EyOtGJGQpDbQJfNyrlA_6EDkmLZ9il6QIKTOd-8dnPfqLbCLPB72H_rDX0TArxwDR4QHRhS35xUACPqO_gb-CPr27guHbS2-t8vKLH270pP9n49GUVBuaxDMUp9_CTSwZIt8jZ2UJ0Um5xixDO3JNyFcwdy60mkJI80PRBlsLwJIXmvW3-gtm7HaoeVCAI-J_uLUFYKaRVnHBiWDj9kV-WmrlRADFj09trHWFK_pmDhli6tN-ju7hn8w8hkqdAXZzH10Iokfwinuz2wvyzGJbmEWa3c9dPc5-dF9eK-mLT4km_F81mh96CMm0WAg5xLs45N5ukk_KmamSDhgxsTXylZdou9eElUuZ_knhh5V-9GfucoJxwe2HQPIGDWJx-Bmiv29-DcQYl8c0s3e2lTAlW5YxFyt7N0znZcjmJWElFZ55N7XSjuknywkRJDRgvvnva36GG7ZygtVrcMyr3L7fMgraD7L4e4JZEhiMTEdisNAWl3DTxj1HHne_NmoesJSt12lisplqkhSz072dWKx4wp0tEjcB-jNzk2t9g0Stk3uHZFOjt_55IIpfhpZr0o7ObBxbIO3uyHjqqodqh1geZqEwjnRxL9EdZAZl6hre_j7h6zJPobu4arP_3BNNU7NRyiS4_pTNdjwQ-guFEAXaThd6JFLABzXfZUgsZOBzo43v5otr2gs0CgPo3qJTVfAQoPXTVMu_b1UmrZKMMijBmz0guLvOjZ7HV54QUBCY9ahdn_u1TbG5uMO4w==",
  "id": "rs_01722e41e16eee17016ab46084694087d0abe80977032c93e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The gripper stopped slightly open, and a narrow black piece is centred between the jaws. I’m lifting a few centimetres to check that the cap comes off the table.\"}",
  "call_id": "call_YYRFxrU6wGvKADhOfjHFzpD6",
  "id": "fc_01722e41e16eee17016ab4608516d887d0aaab93383ec82b5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YYRFxrU6wGvKADhOfjHFzpD6",
  "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]: [-0.4042, 1.4975, 0.5617, 0.2333, 0.1043, 0.0689, 0.0475, -0.0265, 0.8139, 0.6132, -0.4191, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3454 left_y=-0.1638 left_z=0.055 left_yaw=-0.5416 left_pitch=-0.1264 left_roll=-0.0073 left_gripper=0.0475 right_x=0.2918 right_y=0.0011 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0598 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.7761, 8.759, 1.7509, 0.0171, -0.0024, 1.0281, -0.1299, -1.0462, 7.1316, 1.7363, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ec919ecfbd9878d565c550406f87ab5bcf46c9b278df6d148a7efb60d67b16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14869f75e914ccf445bd132c6cb315dcc3784472e006154c988865b490c9d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b8b153f1766e949fff5764319f4c4230ddab67db1f79b28e63be0258a90964",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 5.135 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5236, 1.6989, 0.4442, 0.5476, 0.0406, 0.0208, 0.9976, -0.0261, 0.8078, 0.6132, -0.4141, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3225 left_y=-0.1903 left_z=-0.0004 left_yaw=-0.5809 left_pitch=-0.1349 left_roll=-0.0034 left_gripper=0.9976 right_x=0.2921 right_y=0.0013 right_z=0.1734 right_yaw=-0.0007 right_pitch=-0.0487 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4991, -5.6137, 5.4359, 1.1795, 0.3297, -0.0513, -0.0073, 0.0205, -1.4154, 7.0085, 1.7216, -0.0513, -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 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4057, 1.7329, 0.4866, 0.5442, 0.1062, 0.0719, 0.0442, -0.0265, 0.8108, 0.6132, -0.4164, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.348 left_y=-0.166 left_z=0.0009 left_yaw=-0.5464 left_pitch=-0.1258 left_roll=-0.0062 left_gripper=0.0442 right_x=0.292 right_y=0.0011 right_z=0.1722 right_yaw=-0.0014 right_pitch=-0.0541 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.6632, -5.6957, 5.2171, 1.6435, 0.1734, 0.1685, 1.1795, -0.0205, -1.306, 7.0496, 1.746, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4042, 1.4975, 0.5617, 0.2333, 0.1043, 0.0689, 0.0475, -0.0265, 0.8139, 0.6132, -0.4191, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3454 left_y=-0.1638 left_z=0.055 left_yaw=-0.5416 left_pitch=-0.1264 left_roll=-0.0073 left_gripper=0.0475 right_x=0.2918 right_y=0.0011 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0598 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.7761, 8.759, 1.7509, 0.0171, -0.0024, 1.0281, -0.1299, -1.0462, 7.1316, 1.7363, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ec919ecfbd9878d565c550406f87ab5bcf46c9b278df6d148a7efb60d67b16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14869f75e914ccf445bd132c6cb315dcc3784472e006154c988865b490c9d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b8b153f1766e949fff5764319f4c4230ddab67db1f79b28e63be0258a90964",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCTxeibI1OEQsSgp6hA3c4-d6ZBPCVWEDg3zuURJxLcqCzQ2OxhC_gKlxdWcrm2SQSPG2iAZJTwtIanEiM5BxIvIgOHQuY5PbIrJrsyVsXTqAPJSVt-HXFQ1X-q9Wb-HebbWklA97o__hE913ifaUVgVq6JdNFlVsTA-SywJ-GHyWCrElJDtlXtZz5_8g8ODO21GcRfAYAecefwyGj-4SCfheePgFgDo1qNcua8P1ShHtHjMwh_RAhWTfyt9crnmDTK_1PETDMdYR40-jxGWMphQwDoEHmDshVQG4PcWwp_kNBv27fP5ntvOsLKnk8k3C7fEz9H7MtP9oHyOu4iRM5dk-EUAwG7X3f3pgULJbRqjPFXJFJ9d2k7y5Ktl96oOwnfygl6fmPgFc7HLm0acCsoS2HVizQIl9UOqnFJT-ASo3VnlnhnCIdNwjmlZg9DKxSNwS_INQanLn90chir6fNQLQ2uoG5MKoVAzPu1iueGEVvgP5QP9gsY0Xzmz7UG3WoBNp9SQ0OKYB5HJZ_dJsxLm2Dbt-83eFDyf5gDueLBSjO0ubEW9qVn3dU8BVbgoc_UeUusnzNsJFt6Hr4wDEMyypIphb9tlrcUx5yKe56wkrGs-Ul7Pjy1JaN1SVWrUG5Ul3zKi6SS2IgRIEtPzDMlNYaGOseVxD2aEk9eC7lGeOqkB668u1fKXdUMIvLTtjhHruK4BjsYI-nZ6z0q2Lt6yHQuI04H29JAFEne0zQweNRXNmRKJ4d-fgpDhNZE_GHscUQwns2CkzfFnSMPbRGsP8h50Hxb7iFpvW1XvAJUa8lUI2A92f6NoHrRvC12yZniDXRBks3--QdLppG8Av2dTQnaQtnjr89HznSHNnEFiZgklKBLX7fuJpL7gQgaxgPJac1J8pXAf5OfOhkTuA-iMDF_owzevvHcBi9K5VOZ5OXdRZaIN5S4clxGsSwbcxKFkLz7jc13YZtPIXgwQ7cFKBYHwiqhT74mJPBkKmIDdiHaII3LCemDV3soTZ0OplGpWttct9P2kmPjRKDmlymTfOzWB6QPOHQANYEL7v4G8Wc33T1rYXnCjx8JGG3ZwNLSpaAtHxY78oMQ-Z7IcMB5Rjm0L4VYlpqnblYzeH_ideH3r4QsSOSNJVjw4KGGRD2jIVkyQRkkFSmZDU1dTs6zJDJ7u2P-PN6a47Vku6Zwuz-tITiHzgtBTXgPYXZpQieYp6Fz3TB27hrVxs9Xr1tQlmEpoHfo4kp2LY34zcGymeNA31h9olvZbB03iScY8Nl7pcf70EQ1au0nUVifKwrRyMPpU8j19y-eNcO7Hds4Dq_vfFzdx0r4DDGQySYUVnPCaE57WdDgXhZq507FPmptDggYmMXS3mEVU_M2CyhZR7QZeI0BCBVXI_tsbpI_dnnz7Q7jkwXwn-La0auWRp7CRYcpuir1RM5_qrr10S5tvsVBPd_GwflDVHOsBk8A5HN85q6M_MdimSSjM1TkZMPsLLitqbuIDH_CRMyTRuL0btfvAkzsaccGSlv6g1HTJN5v9F8jELuuYilYCBPfDUFHSvLAOCwZCq2qstT8HEev_LPfWCHHTmy-2HfFZFud9HCuqtNwyJs8ODVYIwwJnN_cHC-6nDRnsiKyk3QiY5nnwLA_YC0HoLRPb5UJ3PKcoNzPmEUOrXURuRBr6RgStfjJ2TUUq2T-bi3kFuOEkG3VbuRRntXJPYJ1qpIoWBM5GUGQ97jXdkDlQryGqJxlVDxUnrrnAGK6hR-caC8whE9ALLc7YzKXHXmooNzScJXs9zgWT8hpAkHQEeujv-lL7TSylJL5TVfjDskqheCkahLKwpFTIspg1DQKFHBqoY4VLd7soMo4-APWOvv7_O3cX1I3V0017TnKjErg-ZM8dfyaH84a92U7_b1n79z05uGdQ3FkeN29LSn0a72ECuiWlij4EezwgMP_rABVd_kOls6D2WhG7jZXldCjWI7ZvXJT5WfHTPGKF_XIELIcc4cMg_KgSnSrjFcTol9xMtZzWGTUZzmRoHqS2H1YVD1hYjvEsK9ScQUo2V7YSNkLiztlSoD-U5_NOC906iA7_5vWkDxJ2hO4Dj37VoZNREDOlMQQolDBlZkolO4BG6-u4Ux-rygS09VZNmzAyLn1FufMkt7GezGx-gYsphjxp7A14B8vYoCIQlpW-FRXRKp81I1TiGQyrfwCwPIy3LjvmV0EhfzpZjl1IyEldWCrFxonGLX-NkyErHPRAo9akTTkmgdAA8qdcGT-1utitEFww6RGxcnNj3MZmHZollts45NiVelwSkXMPwma68pq3K-Kgv-aHj0e_UcvZzQfjYWeYkB8piSv9kCRbob6-MsR8r89UxUuGp2GcGTmg9MhA6vaNDuaygk2mkV5RZtaT3XBoyMrKOJWZa_6ksZknB0Val_06YFbL8oTQPKKIqLnMOUU37IL0ZnI9x2A6E5TzmbZdmUZ0rtr_jpvytZu8AF4eTsEn3Hkscd6cgRQ61SjpnA-guFC5uA9m178gw7v0mTAps_9fUfVsxnOVME5I5cPVCT-XIJo14I7YuqaQkkuWxu6kYpNDZvPyQvvuPaKw6wMqitvlm86NjlbwyzBaW3O1s05SwJIQSXqe5NCnpbP72H2lMIMGCAI3gNGnKehGBnYbKeZvVWkNUTWzeb3AfMjpC3tfMTpDKctd6qpPeODBtePwN613RTlTPrWcc-7K7-cuMbLYgiEzc5hmuBBmP9Nk1BoziEx0tfYOzhnULnbADcshrPwXjfRIGR9x0nOEGOmn88ptwix21mCkt9enJZHQ0lgs36p44t6hJq5N2mbwVGzItW051RUXSjOE_lK2oCs6MMT8Qnz01NU4-EGLlSXzBaJIe_JDh7UkIYVkw4mtmZUYt0fbcjRG6FYRKc56RdEV_o7XkrBEQEEl1VZB2UOyfQcHFMHb6q--DWYFFKdB-X6VrUcu9M9z6rkoLB7yApizTA8RR8Uei9cpzmBslZUUrax61HtmYChMuuGr_mNXr6yd-No6ms6sgi5D9kFtLUyKKLcT1dyYtcQBheipF8qVlRwYE_zuuy3w13hfFxyTdBdXh1GztfsGusrUzQJ0oSM0JurZHFILaXPa6WS6szdnJF2UPHBdN_4XZbvEtRL-5KPxdL9KZTr6jW7OuhNZ-5sNWuJZOd2Cfwuel2icClB7RmwQvVYguWYexSb-HTCoo6lLY8oYB4ycAJc5NF3ikNYQvZIsFaIU-a6gQHw2cH8XHMSKcxQ9--iypisSHIo3K_jy0kKctQSNKAyelOf83JBk6cFLx-EOA8lRJhLjM0BIgV3hyfyuM0SGU1Ult9hUeytb6LK9YJxhyW6VZ_H-8_eIYZB8vdyI84uSyPumz2PwlngijhvrK2enoZxhyVwMv1pwN1RvNIoedV0YYIwjSVXWDfcsFBTAXow-KWML6kCmGeMV9-LAyHfYJwGHA6JJDfeSPA9sJPt5vJB_uH6p3o-02LhDchYq_GtUvcWUWGZDB2aWOCPlneVi9_zj0ksoGCALZML4xFZo1JzyV6tAM3QtPJxbYflA3Vz5ZhLY8QNQO2z1yMT4_VT4ySzE0fKcaXfpmxPq4PB2mJXzM0ZDMFJ0Xt9i8LazCQ=",
  "id": "rs_01722e41e16eee17016ab46089d19c87d08c5c9344541e7413",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.14,\"left_z\":0.19,\"right_x\":0.34,\"right_y\":0.3,\"right_z\":0.08,\"right_yaw\":0.65,\"right_gripper\":1},\"note\":\"The cap stayed fixed in the left jaws during the lift, confirming a grasp. I’m holding it clear of the table and bringing the right gripper above the pen, aligned with the pen’s length.\"}",
  "call_id": "call_Qn9X897eotDgQMkzhbEQxkmc",
  "id": "fc_01722e41e16eee17016ab46091c0c887d099a9d0d49476a7c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qn9X897eotDgQMkzhbEQxkmc",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3885, 1.0805, 0.7986, -0.4816, 0.1062, 0.0692, 0.0524, 0.7292, 1.6722, 0.7719, 0.2161, 0.0727, 0.0593, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.1373 left_z=0.1646 left_yaw=-0.5291 left_pitch=-0.1867 left_roll=-0.0169 left_gripper=0.0524 right_x=0.332 right_y=0.2842 right_z=0.0645 right_yaw=0.6273 right_pitch=-0.1224 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.335, -4.4513, 10.4957, 1.8339, 0.1538, 0.0806, 1.033, 0.6769, -7.5009, 8.2393, 1.79, -0.0317, -0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd64a2bd42b6da0aff3b09275f0f9a83848901e07817255406e6e295e6eb06be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978c808520d7a81e5f1ae4c36254c3526b2a1f34933032696fc9a435fcde6992",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cccb9ec6f0b54ec23ed7d7b399b62fda5f2b2489697b777b11104f75745dbbc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.052 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4698, 1.7287, 0.4801, 0.5507, 0.0689, 0.041, 0.9976, -0.0265, 0.8093, 0.6132, -0.4137, -0.0303, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3393 left_y=-0.1818 left_z=0.0012 left_yaw=-0.5619 left_pitch=-0.1244 left_roll=-0.0055 left_gripper=0.9976 right_x=0.2923 right_y=0.0012 right_z=0.1731 right_yaw=-0.0011 right_pitch=-0.0499 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [0.4581, -7.1179, 6.653, 1.58, 0.2808, 0.2173, -0.0122, -0.2667, -1.4154, 7.0769, 1.6728, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4042, 1.4975, 0.5617, 0.2333, 0.1043, 0.0689, 0.0475, -0.0265, 0.8139, 0.6132, -0.4191, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3454 left_y=-0.1638 left_z=0.055 left_yaw=-0.5416 left_pitch=-0.1264 left_roll=-0.0073 left_gripper=0.0475 right_x=0.2918 right_y=0.0011 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0598 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.7761, 8.759, 1.7509, 0.0171, -0.0024, 1.0281, -0.1299, -1.0462, 7.1316, 1.7363, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3885, 1.0805, 0.7986, -0.4816, 0.1062, 0.0692, 0.0524, 0.7292, 1.6722, 0.7719, 0.2161, 0.0727, 0.0593, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.1373 left_z=0.1646 left_yaw=-0.5291 left_pitch=-0.1867 left_roll=-0.0169 left_gripper=0.0524 right_x=0.332 right_y=0.2842 right_z=0.0645 right_yaw=0.6273 right_pitch=-0.1224 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.335, -4.4513, 10.4957, 1.8339, 0.1538, 0.0806, 1.033, 0.6769, -7.5009, 8.2393, 1.79, -0.0317, -0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd64a2bd42b6da0aff3b09275f0f9a83848901e07817255406e6e295e6eb06be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978c808520d7a81e5f1ae4c36254c3526b2a1f34933032696fc9a435fcde6992",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cccb9ec6f0b54ec23ed7d7b399b62fda5f2b2489697b777b11104f75745dbbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCaANJcdB3ESpBvfyMBoULoK9NVLqnLS52jtFwiVstsjO-dPNf_kgK7IDF0IydhWDdedVjX5ELdk-tKjb2-EnJTLTslYC771bPAfJqLOgay-q02EGUxdhB4kXA-94m5cKD4hlaF_I869kXDI22mhcDsutij5fECLh1BTiz1Em-7tJcjnKD6xIHXpWpwW0PBaXiEjOrHstxsnlYvkOwE_mwWaveoADwk9PMcmk_lw57DFN7sWSNQrAocXttVPmYXfbWqq4b881YxmOhd0R6stpvMd0FfYAmj1VpWdbGegUonKma9jXGEnX7j7yqopqFldG4qox1qcEbW87vwF5mm4ojp5yKXBGPvszEJDFYMRYCGOO8NrgljrwE2jNcOBMKnKNrezsb1CbqKK5WMqgepZKNtPL0G1CWrrXjypcy6hlHG5J8uJoeSnNUWf2uB2-Wjz1ayXLEc7UvB2broKyRTjzHTcvNOXJYZZ6UBBx2ylnO0gXuKxf_5HT5fDhFZuakXYhHkFCEArCe-T1oc5-CfzKNVWlAEssjFG653ILnr7uKN8PEf5mooiKn19dU9Fw5lrK7T2oovN1rNZqSEDx3fTHwXxrCzPyMzO34NzKAarxaEwZq6PLZWF3MO8XAGt556-hs5og-6jh63fHLMVFXhqeeMk1oBQK9TKz2sGXpCexGrmTXwgsIvqxW7J2bbrY2tmd2qZlyYNFAZ_7HFCVTdiblMbYkfh4BR3E4E5W7wIs-ixDUBRS229Pk-0AvWt-Wj1sLjdtLxWLphx41L0288J25B6J6onVJULxmvH7lmHm9HiCiWvDbmEXltWu_bBUeTmRKP1gH_gA745bC0tTWAml8uzFBp09ifLhzqz8uSGzksvVHY8iHiMeK_0ECm8e947xdu6I-3ZmJxhzaGa3bSwVRA15-U5XYglADYX3z6oQSSIKyYUM2pNW8B8hT5AaUO8CoEp2MseqfbRyzjxIgm2qFG606PKxcKUCeoYE03VKozzlvXnQQIaiStyYeK5Z0-06xJEtVBPYzyMF4Td5tyY_ST64FK0WvDb3PktaMpRWEipirGugnsgtOH9RvLrbRZ7CqAwQJ3-3q_p5mU7hNxlM0hYSSy3DyMyyQjP4stw4VD4FOJs3y2dpGGiYvhwfzavCPQ09yEl1H8-rGaPPPqA28M_iCWluwWq9kmCRbZiNLRZvHAuZF0FZqn_0SFSxOwTRq0p5vUOD14ju9aTT1Eb9lTpW-5UdTR4IDGga248Nm-T-WKtUGxw-IVYr9juhbn4D2Tjhs4UledMWGbUj1eCWfdeqdXpIQcnvabiX2WaI9bCrDl003YdyLK8gKvg80lvZOmUsO43cgZCCuy67_0o4NRzN34TAlxVIEJ9hYehQUzXrMAekh3YuYQ342C8M_CsbGsxBqKbztmLNk8mW6MaOEsUkcGB9CQUj21Px3_hsO1vdVspqv2mMQCmCMsY6PyhKOLkiTjGPp1Vz6pZuMolmKzZP1aoOijLGKQW1SqfA_kCMxh87f2Lpp6xEniLVYlB4frqWThxfa1t9su3-h9Dx8TYESF7xEd2W35ZD2aG6pHK_rbTg7zgggtvic3CinQlqEmBCrrmcb_TJlxXEfo-SkHsyztke26WZ78cWK2rVgccY5a1lU_z_Gvb3l3vYVKVPoO8T8YMzXsrVQZby6SoObtGhbQ1B-nvFFOEXxXI_V3nGSwA0jt803bSUksBVVV3zfqZkU9c9sItGiMKqG_xx9P88tTTIvI1qlF6xR0s182aik_GXjwnoy_wE98KaA_VelNXJH7NorplpklSy-rOJQAv_iZGOhWT2Py9LA5m0Cdsk1gtxAZ-wbM2Kxx32V05uWquiIbLfSPc6dMUYo7IA9zfhjp5yWO9aQrtYXmuOH6Ul1n6CMy9m2BWaUplRPrhx1wx4doTxwnO9rbwItVkyaaMrfw2wfyaXfBcd_qEnWazsbYMc570bkauPgIISgMLq7pdn0D0ZjjxUak02AN7gBZlmSq2gLCvcEfajAFHeZje6AxD7HEP4rsfKwePJFd5bVN-FkX86bEBcEGJgodTmdSNg==",
  "id": "rs_01722e41e16eee17016ab4609718e487d0ac9e801d4c9c0551",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.328,\"right_y\":0.246,\"right_z\":0.005},\"note\":\"The pen is to the right of the jaw centre in the wrist view. I’m shifting across and lowering around the rear part of its barrel, leaving the writing tip exposed for capping.\"}",
  "call_id": "call_hbDgPdqEeCbdZsOMD0aFOb1w",
  "id": "fc_01722e41e16eee17016ab46099e33887d09456302484c060c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hbDgPdqEeCbdZsOMD0aFOb1w",
  "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]: [-0.3866, 1.0843, 0.7994, -0.4969, 0.1081, 0.0692, 0.0524, 0.6437, 1.7725, 0.5846, 0.4522, 0.0284, 0.0105, 0.9989]\nstate[eef_state]: left_x=0.2933 left_y=-0.1361 left_z=0.1611 left_yaw=-0.5293 left_pitch=-0.2046 left_roll=-0.0209 left_gripper=0.0524 right_x=0.3232 right_y=0.2408 right_z=0.0004 right_yaw=0.6054 right_pitch=-0.1756 right_roll=-0.0127 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.5487, 6.8171, 1.6435, 0.0024, -0.0464, 1.0281, -0.335, -6.3248, 5.2855, 0.7057, -0.2759, 0.1148, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44cd3f716776fed6a8fdb0dd2168be2613b25269a3f766d863ab5cfa1d1f309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c5682736cdca1e9a8d560ca21ec487e63220a033554e2c2505b5cb18546118",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabd6d474f1cb1a22a7fbf8286ac364b32661645fe1fead01c844db15750befe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 8.747 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4057, 1.7329, 0.4866, 0.5442, 0.1062, 0.0719, 0.0442, -0.0265, 0.8108, 0.6132, -0.4164, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.348 left_y=-0.166 left_z=0.0009 left_yaw=-0.5464 left_pitch=-0.1258 left_roll=-0.0062 left_gripper=0.0442 right_x=0.292 right_y=0.0011 right_z=0.1722 right_yaw=-0.0014 right_pitch=-0.0541 right_roll=0.005 right_gripper=0.999\nstate[joint_eff]: [0.6632, -5.6957, 5.2171, 1.6435, 0.1734, 0.1685, 1.1795, -0.0205, -1.306, 7.0496, 1.746, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3885, 1.0805, 0.7986, -0.4816, 0.1062, 0.0692, 0.0524, 0.7292, 1.6722, 0.7719, 0.2161, 0.0727, 0.0593, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.1373 left_z=0.1646 left_yaw=-0.5291 left_pitch=-0.1867 left_roll=-0.0169 left_gripper=0.0524 right_x=0.332 right_y=0.2842 right_z=0.0645 right_yaw=0.6273 right_pitch=-0.1224 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.335, -4.4513, 10.4957, 1.8339, 0.1538, 0.0806, 1.033, 0.6769, -7.5009, 8.2393, 1.79, -0.0317, -0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3866, 1.0843, 0.7994, -0.4969, 0.1081, 0.0692, 0.0524, 0.6437, 1.7725, 0.5846, 0.4522, 0.0284, 0.0105, 0.9989]\nstate[eef_state]: left_x=0.2933 left_y=-0.1361 left_z=0.1611 left_yaw=-0.5293 left_pitch=-0.2046 left_roll=-0.0209 left_gripper=0.0524 right_x=0.3232 right_y=0.2408 right_z=0.0004 right_yaw=0.6054 right_pitch=-0.1756 right_roll=-0.0127 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.5487, 6.8171, 1.6435, 0.0024, -0.0464, 1.0281, -0.335, -6.3248, 5.2855, 0.7057, -0.2759, 0.1148, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44cd3f716776fed6a8fdb0dd2168be2613b25269a3f766d863ab5cfa1d1f309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c5682736cdca1e9a8d560ca21ec487e63220a033554e2c2505b5cb18546118",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabd6d474f1cb1a22a7fbf8286ac364b32661645fe1fead01c844db15750befe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCh5Y6tWt1XykGc_RUrIuyX4cXq6kF226Qt4t-bDc8i98LDvpYilzWplqFAPC1IgiE-eQHlicAco37CCkxaK0HI7xbXML1KwcApnUwCKHRlnBjWmvJ8KFFybc6N2nAoqwGeUFQ-SGOcepDevSt9ubytMicSfzts6k_Up4RTtd_dglCSk9pVRjW-QCwqtIpFEU9E3TDJwjdfrbTYngozSdm_yrvWgoRap0Exh7XCHZNRwawmm8bK3cqUKqlJjbq31T3zerqxp1KmlCDK7tG2wE4tEMZhh0PBThy7uolYltZQvvbRQFTMrLf1wuVki1HYugwmuRfhjc7HDPG85g54W418d4zNs0r4xO_QZRXGkyQLUkjCpEFwm3DXQHEyVkncTOW2KALtVtQ6GK1kShYWrm4QydW0SS4u8nPHzzpHg5DYFkq5nGpVgWqKijseZ3EdgjbUBnMyXoTUe3paQaDnChC4jCF3legyBKG79z2W6T3KLbRLuyHCTt54wvcU7_prWilK-uUathbuVMNz-OOwf3qk3vwMqIozgJ3BLIr5SFCbcVqkK4gQfs4Xxnev4ImKls6KMNYtI5Ggs8-WMHa_L-mmjwETn5KsN2pjc8PZNPgSqZWuK7SGncorwklpvVDIkJU79w6bc9CDbM2CpgrLWcSLOscGM88V_r5EoexMo6BL60HkDe0i5DMsmLQswFbj4VSnsIrp_PlUE8x6RIhsVAUKo6enfkp0hIklD66ij5nJ5Z-v_dw2JwRFcGWgULIu6W2Bgya7bb7xok4iWWo1QNIp2OhtrvjzN5CWRxiDOsyVLkeBY5bJZCFVtq_lw1s5-Aqazqa5SDoZYQG6hnB_H9Y5wQqWboXuVQb06KPcDhNHaPQUP4qL5QyfsThMLuWtNZmJnl8Q5eQS31Cn4lX1z0NiDU54VpYw4NMNU2-1ajzBF7OY3uDLjDWYemY357ZKJj5czcqWvl-yCeLhF7aWCAF8g8tEPo0TnJO7TCvcSXwd_95DbRfzpgSQHuc5byqHurCWx94PhJa1XQE7noe0A8SGzdisw3Jt2piHh1WhT4Mh2IIMeREOIi-cSwOrQjxZ0aiklJxS-7PpeFPduU9w13cU274APAUVtGCnMsEUxPx7cr3HYZVQCmOYwFRsh6XrKaanxrKYwfPOH7BXCAtZz6IxMPTTDhjDFd5DhH54bMT2YXgAiSSYC0uGycCL98SvAoFkScRP9TVZ2Faj2CHlQl87vfli9gGJbIJZy2XzeqWMeEbDLnJVnolQxH_4x8_W5gHOr9rdopSX8jjRrAJvkLLZZjARYIAeZFaW4hQyHpA8a3bKCxqkReF2VrYxoCoTJ6fsJOhMHquegv1QOn67B38HpAFUS5tudiJrczJd4WisEFJv24C1d9lJJ_IGSozke_fNiYOR1EzzTnD7g26RGnDQjz3Pisvi6SL9awqxPHAWyMLWd3A3eX-tPWbwnT00P15cyB4VyRD4ZP4jZUkQk4wGfYuY6yPDNphA0pMj8ZFZTUgyTgDkis21f9C9q2RdhCQeL2aPzwsi61RuQIvBf1Q6jP6MEWt19z_Gfwqs448BbCp9oIRwaLuN3Z1Sx-x2h1MXs0xK9soFDBKaMAfRbDAVgAEqzPvn0_sxxnSa_D2qaGYM4nx5lwRKQna6-btox7RarbSt2qL9astLgBCfSXn2PP6Zs_YFUzw3m8-y42yRKlR-82EwecL0Vh86J0zGAIhlfslCwuBC61qyN10IOTn9KQSojgraZWi7W7lE7BGhipePb-W2bxbL-MVmlUJUfb7Cg4_lOsXKcV-umw6XQ41Y3ZKThOy9SrSyuW6iJNTo9dkl6PdzoFHAv5qNnODwB7xt9uTOsoJEtVQV1oB5YzYfdaaOeGdjwfv2OE2xOMlMbbvfWpyIeDCi9GY2ZhnGT6KvZhIl4hw5jBOqdl_AkicViAtQWA7tkgkasKM4UpsA51iQkbOzAIvLrzjvzxRmbUaCRD-TkP8JH_kV7yD0SWbWh2jQz5iomVOcJMsDDUwI7w_Ie-eMqFpTpI5Y_ehS6veayXDBiN48-h5Xdz3rNjXP1KGfKQnV_zQmZyLn6ZzUpiOdYYgUlCaWOTFDSuYzkKDB",
  "id": "rs_01722e41e16eee17016ab4609c9b1c87d0ade00cbaf34d4984",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.346,\"right_y\":0.2,\"right_z\":0.005,\"right_yaw\":0.9},\"note\":\"The pen barrel is still outside the right jaw, so I have not closed. I’m correcting the lateral offset and matching its diagonal more closely before grasping.\"}",
  "call_id": "call_8yKV7Wy4wVkU3SiJkwEfbl9p",
  "id": "fc_01722e41e16eee17016ab460a02a4c87d0a4ce2a0c6473c73d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8yKV7Wy4wVkU3SiJkwEfbl9p",
  "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]: [-0.3866, 1.0866, 0.7994, -0.498, 0.1047, 0.0692, 0.0524, 0.3622, 1.7782, 0.6224, 0.3805, -0.2771, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2935 left_y=-0.1356 left_z=0.1602 left_yaw=-0.5265 left_pitch=-0.2083 left_roll=-0.0189 left_gripper=0.0524 right_x=0.3552 right_y=0.1901 right_z=0.0025 right_yaw=0.7461 right_pitch=-0.1789 right_roll=-0.0195 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.2479, 6.8991, 1.5018, 0.0269, -0.0513, 1.0379, 0.1026, -6.9675, 6.5162, 1.5604, -0.4029, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2259e0a6a19bbfc536a056b5405ee2e4d4ac3c590edc072f5759093610936dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0cdf83511369016a5dea67134df0d35640e6060a15c7c6488acfc4123219cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04777a614d23c6d4968fea8c51a59a272000efa4c27cb816d8b3c9735f2b6ca1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 4.09 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4042, 1.4975, 0.5617, 0.2333, 0.1043, 0.0689, 0.0475, -0.0265, 0.8139, 0.6132, -0.4191, -0.0299, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3454 left_y=-0.1638 left_z=0.055 left_yaw=-0.5416 left_pitch=-0.1264 left_roll=-0.0073 left_gripper=0.0475 right_x=0.2918 right_y=0.0011 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0598 right_roll=0.0051 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -6.7761, 8.759, 1.7509, 0.0171, -0.0024, 1.0281, -0.1299, -1.0462, 7.1316, 1.7363, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3866, 1.0843, 0.7994, -0.4969, 0.1081, 0.0692, 0.0524, 0.6437, 1.7725, 0.5846, 0.4522, 0.0284, 0.0105, 0.9989]\nstate[eef_state]: left_x=0.2933 left_y=-0.1361 left_z=0.1611 left_yaw=-0.5293 left_pitch=-0.2046 left_roll=-0.0209 left_gripper=0.0524 right_x=0.3232 right_y=0.2408 right_z=0.0004 right_yaw=0.6054 right_pitch=-0.1756 right_roll=-0.0127 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.5487, 6.8171, 1.6435, 0.0024, -0.0464, 1.0281, -0.335, -6.3248, 5.2855, 0.7057, -0.2759, 0.1148, -0.0269]\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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3866, 1.0866, 0.7994, -0.498, 0.1047, 0.0692, 0.0524, 0.3622, 1.7782, 0.6224, 0.3805, -0.2771, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2935 left_y=-0.1356 left_z=0.1602 left_yaw=-0.5265 left_pitch=-0.2083 left_roll=-0.0189 left_gripper=0.0524 right_x=0.3552 right_y=0.1901 right_z=0.0025 right_yaw=0.7461 right_pitch=-0.1789 right_roll=-0.0195 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.2479, 6.8991, 1.5018, 0.0269, -0.0513, 1.0379, 0.1026, -6.9675, 6.5162, 1.5604, -0.4029, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2259e0a6a19bbfc536a056b5405ee2e4d4ac3c590edc072f5759093610936dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0cdf83511369016a5dea67134df0d35640e6060a15c7c6488acfc4123219cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04777a614d23c6d4968fea8c51a59a272000efa4c27cb816d8b3c9735f2b6ca1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCqWPFMeOYDN-DXXXYZYPw_6eh9Wwnws2m3gfhfKoXEd1_Yb2SAXZZF0Zxp5t66-0O6tCz1cyvcW7Em9zUW6x19-l4OHfdpJDK9EOCMUlntpn23VzZel34kfRWYFxY1nm-1Giw4kbp0yKtkQ9Fzl8Q3kT31JwlA9Mm4FdelsJetdsem3_G4VnrbkaFz_9yYN3avEsIvtNclBeb7NShNoS4Wc-kTeVzBrBZgyZWw8HsMfnQZiwhc5YssyDMW7z-HWH1S-DCOr7W0Npby09qRCZNcdWb7tjL6XsngD9ZcrSjWPDpIE39PBjlJ_8vqzbGhoYtgzBXWGLzq5hAXPnQs2GHyn9XOQ4F6BzjExo9x8RYFlntLNBNRGNCpc95KH2zyGjLpSQZl8zD0-54ZyGQukffogiP23EE8KXcJg7xr-i0MCq2qT0BP5EN60L5Ftj7P64eHamZ2k0NnIJNAIGcn_s-5aFUkcs4GJQvBZTfV4KCUjihUtoBhUGcTFXt-awGe8dsNqoKarXwv5voP4OMk17AL4EjmKfIqHd18_gGzBAdS70FaV9FT15ZsL9PJBcv_omMokG-ZZbM2Jdrj4ElxS0T8ByWcbrb69eewesQ3rUKYXebvUgYXXzo8R76eXLuLtXnik5AGD9FFYP94s-22jhntJECVQ9mvsvhXGRLQSbREZofnhW8wcYunBXvd-bigbsJp2S7_X0Rlljnab_dhmCsQ_iil-du3r29uqI-778I8owimspcvcSPnMQVFhwMHBD_q25MlU3HGOUqj4H8-Yq2odLELk30UqHpYZCKyZEI9mgrmT8_2d86wclPz7hYrNB88HoHszCrVOdjTDSIY8Y76L2Uu9zaxvg62kXwlloNgQDQz0IdT9iych3JfmpYozODFBk0V7vP0cj8_06rbyDhE4lrOM0zOhzxZKdx4Imo8RzuK5n3vKHNcseEvVPQYZbGfWTNrfJ6zmzMbiwzalvKRomNNkTmyYMDNUNP-94PXMBfOzW4Fs4xtdC9lJuDGl547CWzZR3BnV9ZqNc2i1b1eMotKani-sKLh1Ji678TGVKN_EeimVBuVaF5gCBUPzeUw10JXNdzvrmJt_ariL4J3CkM5pV0z3MP0Nmbpiczy4i6zVR3Q5Vuya72XZZJaGMHg-e9xo3fihoNAEFvawPIjdqtBO4cw8Hjf0vluMjVjI-XKsVeqaIVejUBRiDuQ7niWudG9CFQbEgGMmF0Esjm70rA5j7x3yuz5xNm0lKOcsjR5llEoOOR6lrhdYeVsJbY6rxGvN8LfywoP9QMkhwMnG76QKC1eUKZgCcVeoNLJLKivyIXzR-kYi1yjjpfz1IKXhteD1y1j1nuv6C6GpIOXNjDOh6Fzj8hxo9sTv6up1ZPH3Q_PgN87wAyOkdyEOhnGgFyBld6MeMkHz46f8cpdaYGY4ttyReSwrlFPMxStqjCIXoMpzj-pJlWErSR1630qYcvJBe5YtI1lHeX63H7Scnq-to0rbYFR6yOtvkjOQa8iMdDOBYISHF0imQc62wvsFtVl0xurCw8IitqIQVuLT7Zcl1fMAOfLjPAhPRi6l7O6sKZmKW3Jbt938DtV9AeABQhBJo7LmuBGvJdc9lwqv7HmZH3mfx4yqk6AtV7YGLeTYp6XV6-iu1HBCQB1slAEy0QPQNzbYDjiT9a9dBEWsOB2wQdPKKP6pHIsONrVuVGiaXAtjIoFMJ2F0QO_CaYNWEw_2mW0f4j1Mwv1bpeTyUb79R2XjRVGVObQmRLRzerO2LqPQ-9XoVuEwwyrmDivvsxzdqOWlIx2xWVU997RW8hJZVP9spnAD2vuvZcvwX7R-2rY9W07wKDUPJzPQNJ8oEIOY_hGk6MV2hfEMMX9ozCWNmGXSArSYy4rExlki7DJpY18FO0Ry-GUht8rcs4cvHgU3yIZiCynT2J99R22Xb3qX-bX7vlyYrPIpvY_toJsFgxzwhljh22bNpbi50EXlQR68AApPCOoxiYLlxnTyQxr4N5FrL31N32uAPO0mth4M4G3d5aWOjtAElv1xJPChE7J9XGg62x9D5EGgBvpB6xkATdgHsKDaNTkxfmdFHB25TNRbj3nqEfYWDDIgUl-wS3A_XVMdPQ0ulY5cGNroDJDrMkQmI3KL_JF6EzKsl0XB_Fm9ihsEzTTJu30HUPASpOeCCR97WlswxtT3Ah7WL1tOnB18bQ5QHiBW5o82X-HhlWkTsWwiQugNFRXdw-gbYJDAqA0mPOTk_9OUWPXY8SX6fHmLhTxp0-AjefgwNiEac9_hSnEBkYjQpXsaLXbds5kIhufv5VgLM8A5rItVdHV-Z1ibNGgs347K7mujWAMlXJ8MjabVf0idpsQh_hcuepjlgRP-qRkjmkU0NygxghL33q5wB2KODntcpE0sjk=",
  "id": "rs_01722e41e16eee17016ab460a4b61887d0bdcc3caea4f50711",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.21,\"right_z\":0.065,\"right_yaw\":1.3,\"left_x\":0.3,\"left_y\":-0.14,\"left_z\":0.19,\"left_pitch\":0.15},\"note\":\"The pen rolled away from a jaw and changed angle on the table. I’m lifting before repositioning over its barrel so the next descent does not push it sideways again.\"}",
  "call_id": "call_PrymuItle2prJsvzV0dmXLI4",
  "id": "fc_01722e41e16eee17016ab460a8d4f087d0899ef7b9cb24e882",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PrymuItle2prJsvzV0dmXLI4",
  "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]: [-0.3733, 0.9176, 0.5579, -0.1379, 0.136, 0.0422, 0.0524, 0.3428, 1.7782, 0.638, 0.3347, -0.3336, -0.3489, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=-0.1377 left_z=0.1748 left_yaw=-0.5221 left_pitch=0.0789 left_roll=-0.018 left_gripper=0.0524 right_x=0.3518 right_y=0.1907 right_z=0.002 right_yaw=0.8094 right_pitch=-0.19 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -2.8923, 7.4051, 1.9658, 0.0904, -0.1294, 1.033, 0.0342, -7.706, 5.9556, 1.4383, -0.0708, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf0c43deff1816d71320f8f0b10f5f1038af5c86461a7c7d21654ac0d1018e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b8c3c35ceb4100ffec40bf3c6878036879cdf3ff14c74396463e099db6615c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0136daa795b2fb110050a4c57439ee6ca9398fae61cf49af257a3fc1c85a33b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 8.742 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3885, 1.0805, 0.7986, -0.4816, 0.1062, 0.0692, 0.0524, 0.7292, 1.6722, 0.7719, 0.2161, 0.0727, 0.0593, 0.999]\nstate[eef_state]: left_x=0.2953 left_y=-0.1373 left_z=0.1646 left_yaw=-0.5291 left_pitch=-0.1867 left_roll=-0.0169 left_gripper=0.0524 right_x=0.332 right_y=0.2842 right_z=0.0645 right_yaw=0.6273 right_pitch=-0.1224 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [0.335, -4.4513, 10.4957, 1.8339, 0.1538, 0.0806, 1.033, 0.6769, -7.5009, 8.2393, 1.79, -0.0317, -0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3866, 1.0866, 0.7994, -0.498, 0.1047, 0.0692, 0.0524, 0.3622, 1.7782, 0.6224, 0.3805, -0.2771, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2935 left_y=-0.1356 left_z=0.1602 left_yaw=-0.5265 left_pitch=-0.2083 left_roll=-0.0189 left_gripper=0.0524 right_x=0.3552 right_y=0.1901 right_z=0.0025 right_yaw=0.7461 right_pitch=-0.1789 right_roll=-0.0195 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.2479, 6.8991, 1.5018, 0.0269, -0.0513, 1.0379, 0.1026, -6.9675, 6.5162, 1.5604, -0.4029, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9176, 0.5579, -0.1379, 0.136, 0.0422, 0.0524, 0.3428, 1.7782, 0.638, 0.3347, -0.3336, -0.3489, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=-0.1377 left_z=0.1748 left_yaw=-0.5221 left_pitch=0.0789 left_roll=-0.018 left_gripper=0.0524 right_x=0.3518 right_y=0.1907 right_z=0.002 right_yaw=0.8094 right_pitch=-0.19 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -2.8923, 7.4051, 1.9658, 0.0904, -0.1294, 1.033, 0.0342, -7.706, 5.9556, 1.4383, -0.0708, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf0c43deff1816d71320f8f0b10f5f1038af5c86461a7c7d21654ac0d1018e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b8c3c35ceb4100ffec40bf3c6878036879cdf3ff14c74396463e099db6615c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0136daa795b2fb110050a4c57439ee6ca9398fae61cf49af257a3fc1c85a33b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCvLPFehsdlNMQR-JVdkfpis_XREM0mzjDDhW_mUGsxIq55UMbLIFX2rHeJTDelP4zrMgQrOdN1Z0dC4yrJKsreH5lYCYp77BDNjEBZid_sH-yoXPoGlUOcN180sHbQR2HY4ZwzmhTcF7hbdjCVQiBL9CrQfeeLFzsvMH2VVfuF2HQVeCo4bG86Wn9q6hjdJC2ejpF22jr6KyLWfgm-9FWYZDeWdlOTL2M4HFFC_-QfNPf3VV5SrT5JYapbLlf7Phb8qdZ4d6oV-zrbWFLmc_ycpcWNZwd3ohy4ECxYhiqFrDEbuZaaolfJLfGM7wIMMlEdCClQGkM_TY-5RVZn1j2GKbuHfydov2JAZ_75imhFzgblzFAHCmjz0-Nr4YdvFlyN5IOLAmInxgfMU_kDwNvvTtrcIZelu3nTzIfDmuYQN-CHtW5t1VpXO3uCpRVGu0JF3cD7WBC0Ym72dxALfEAdFfdfojYiYS9Uw9IjACcbjRxfbsLcPNSVqcs1N3BPoQ4bZDT6A9MvCrJnZ_MrlDmRlMONs0jfTXCzgtBng1p4Yg3tBnqzSR1bXYwuEq_PF7V7uDcwCu8RMn7mz7Knjgmn5KXnGDwTTZSxHm7j6DDhhmJyX_bb6SJeLdyIsSyw3KPsrsylAZOysnSVmm7sUlVFDYAsagaLSe8vqPQvwkUiGsdPAAeA4HafCfx5Ob1AfoTBthHllHqBkZ6GS2_UPuNiMl-qoOdVOyHWUzhnisry58JNS4_F10zKML1wJmuJEJM0arMgHkQZzf-8_w3qSpPLuP7O9HvToB-EQ4LB2iI5MuXoSe8oj6KA72jAnESjGBK7T5K01fHRnctsgOj5WUsUYsQKILCazvoUyVnQSOu-Yv4Xp_GEAc4-Dy7IbcQ-x0wXObWuzR7NnciHs5d_0yo32ctPz-KEYj7Co6bQd2a9WZ3D7oz3_6bwEAuMzgGrHnhDCiJdhlnWDcdcIrE28ugH1GPKo9DEitKX6RZu_KgBhf5cQeQfgdIH8jfKHMITQsQPKs5F1HutBJPcniegISHpU0yYMBl7BhmsUKiExzjiFfMZ758vg-jxRXiaSjTooLjLSQ4DhySiueUu2XEhqRnAGtsnh3lwZ2oThUGFqWvMk1vwo6xvr-yKFwz77uCE0d8d0Zibda3vJtQouHdokssuj695EeCM-hyTcSPwyG3XcrQ3VwBdcDB1fUz0oi7xzL-VUNG9WT6PfSQ3z-sUppFvXOV6yX61rh9hQoWwJFgcWWzCsnmdNKl491jpjb8gXeprtfCb77NEDgMN7O-_rdd5CQKzAF2FjRTyVw4ujd_hnQNhJ_9b19ZTLMGIST8B8qJ3UGe6gYCDb83pvmcNk7Y3JVz-SUejr64lMqK2ejDHIDLqK-ANT7xNK5sS8ou0q0iQtaLewU9g2oneqlPoxPULZpCm6QoNc_Wdndr9v7pAWHjHOXZaGckmM2zN1gyPRbBpZRJYj24gf9sVkKcibcaXZ-93VsxuxW2JPevCHw8lpHJgNoV8wjV5z_xuKO2AEcczzETICSn-SYL7Xb77RN4ByA==",
  "id": "rs_01722e41e16eee17016ab460ace37887d0aba3b8ee85e4bebc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.19,\"right_z\":0.12,\"right_yaw\":0.8,\"right_pitch\":0.1},\"note\":\"The right arm did not rise to the requested pose, so I’m not repeating that target. I’m pulling slightly back and using a smaller rotation to lift clear of the table first.\"}",
  "call_id": "call_vNGJeNrXzbR8AjR64iWCPvU6",
  "id": "fc_01722e41e16eee17016ab460adf5d887d0958be1507a9147a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vNGJeNrXzbR8AjR64iWCPvU6",
  "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]: [-0.3733, 0.923, 0.551, -0.1444, 0.1352, 0.0345, 0.0524, 0.3332, 1.3464, 0.5137, 0.2993, -0.4026, -0.2653, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=-0.137 left_z=0.1685 left_yaw=-0.5172 left_pitch=0.0603 left_roll=-0.0271 left_gripper=0.0524 right_x=0.3267 right_y=0.1901 right_z=0.1104 right_yaw=0.8046 right_pitch=0.0727 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.0171, 7.5966, 1.9707, 0.0073, 0.0073, 1.0379, -0.6222, -5.5453, 5.9556, 1.8291, -0.3101, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1ca40afbf2f87dc25025d4241c128d0d3a823ba69c36d1344e1c6775df2d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8edfee0212fd7e1c50e9661b5609526bef366aa0a56b6c032f1d0bdb0dcbe46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf447c8e8b686d9df08396e0e2a96bc8635154ac1d6e50eaefc3795ecf23b803",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 7.109 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3866, 1.0843, 0.7994, -0.4969, 0.1081, 0.0692, 0.0524, 0.6437, 1.7725, 0.5846, 0.4522, 0.0284, 0.0105, 0.9989]\nstate[eef_state]: left_x=0.2933 left_y=-0.1361 left_z=0.1611 left_yaw=-0.5293 left_pitch=-0.2046 left_roll=-0.0209 left_gripper=0.0524 right_x=0.3232 right_y=0.2408 right_z=0.0004 right_yaw=0.6054 right_pitch=-0.1756 right_roll=-0.0127 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -3.5487, 6.8171, 1.6435, 0.0024, -0.0464, 1.0281, -0.335, -6.3248, 5.2855, 0.7057, -0.2759, 0.1148, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9176, 0.5579, -0.1379, 0.136, 0.0422, 0.0524, 0.3428, 1.7782, 0.638, 0.3347, -0.3336, -0.3489, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=-0.1377 left_z=0.1748 left_yaw=-0.5221 left_pitch=0.0789 left_roll=-0.018 left_gripper=0.0524 right_x=0.3518 right_y=0.1907 right_z=0.002 right_yaw=0.8094 right_pitch=-0.19 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -2.8923, 7.4051, 1.9658, 0.0904, -0.1294, 1.033, 0.0342, -7.706, 5.9556, 1.4383, -0.0708, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.923, 0.551, -0.1444, 0.1352, 0.0345, 0.0524, 0.3332, 1.3464, 0.5137, 0.2993, -0.4026, -0.2653, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=-0.137 left_z=0.1685 left_yaw=-0.5172 left_pitch=0.0603 left_roll=-0.0271 left_gripper=0.0524 right_x=0.3267 right_y=0.1901 right_z=0.1104 right_yaw=0.8046 right_pitch=0.0727 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.0171, 7.5966, 1.9707, 0.0073, 0.0073, 1.0379, -0.6222, -5.5453, 5.9556, 1.8291, -0.3101, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1ca40afbf2f87dc25025d4241c128d0d3a823ba69c36d1344e1c6775df2d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8edfee0212fd7e1c50e9661b5609526bef366aa0a56b6c032f1d0bdb0dcbe46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf447c8e8b686d9df08396e0e2a96bc8635154ac1d6e50eaefc3795ecf23b803",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_01722e41e16eee17016ab460b1f99887d09afcb2d41ad48bf0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.025,\"right_yaw\":1.2,\"right_pitch\":0.15},\"note\":\"The arm is clear, and the pen’s rear barrel is visible to the right of the fingertips. I’m moving over that rear section and descending with a more suitable wrist angle.\"}",
  "call_id": "call_M1EI1FgmAdOIsgxLvua28KIY",
  "id": "fc_01722e41e16eee17016ab460b80c4487d09eabdc9727338828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M1EI1FgmAdOIsgxLvua28KIY",
  "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]: [-0.3733, 0.9298, 0.5484, -0.1467, 0.1352, 0.0341, 0.0524, 0.0994, 1.9606, 0.7429, 0.4419, -0.8471, -0.6079, 0.9989]\nstate[eef_state]: left_x=0.2941 left_y=-0.1369 left_z=0.1647 left_yaw=-0.5169 left_pitch=0.0485 left_roll=-0.0291 left_gripper=0.0524 right_x=0.3795 right_y=0.1745 right_z=0.0162 right_yaw=1.0854 right_pitch=0.0771 right_roll=0.0239 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -2.6735, 7.3094, 1.746, 0.0171, -0.0464, 1.0379, -0.7863, -8.8547, 4.5197, 1.4432, -0.8327, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4642f0d07c140a9fa9376ced1f5c9bc01b3dde04b7338a786d2808ec8a58164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e4400380c866afad91957afde1619a0266633b52bdbebc76f9ff2df71f79c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe0938193551f66ca7815784d94bd704b09c998d4b2a56ac3391b9a8b6073c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 5.451 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3866, 1.0866, 0.7994, -0.498, 0.1047, 0.0692, 0.0524, 0.3622, 1.7782, 0.6224, 0.3805, -0.2771, -0.2863, 0.9989]\nstate[eef_state]: left_x=0.2935 left_y=-0.1356 left_z=0.1602 left_yaw=-0.5265 left_pitch=-0.2083 left_roll=-0.0189 left_gripper=0.0524 right_x=0.3552 right_y=0.1901 right_z=0.0025 right_yaw=0.7461 right_pitch=-0.1789 right_roll=-0.0195 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.2479, 6.8991, 1.5018, 0.0269, -0.0513, 1.0379, 0.1026, -6.9675, 6.5162, 1.5604, -0.4029, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.923, 0.551, -0.1444, 0.1352, 0.0345, 0.0524, 0.3332, 1.3464, 0.5137, 0.2993, -0.4026, -0.2653, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=-0.137 left_z=0.1685 left_yaw=-0.5172 left_pitch=0.0603 left_roll=-0.0271 left_gripper=0.0524 right_x=0.3267 right_y=0.1901 right_z=0.1104 right_yaw=0.8046 right_pitch=0.0727 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.0171, 7.5966, 1.9707, 0.0073, 0.0073, 1.0379, -0.6222, -5.5453, 5.9556, 1.8291, -0.3101, 0.0952, -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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9298, 0.5484, -0.1467, 0.1352, 0.0341, 0.0524, 0.0994, 1.9606, 0.7429, 0.4419, -0.8471, -0.6079, 0.9989]\nstate[eef_state]: left_x=0.2941 left_y=-0.1369 left_z=0.1647 left_yaw=-0.5169 left_pitch=0.0485 left_roll=-0.0291 left_gripper=0.0524 right_x=0.3795 right_y=0.1745 right_z=0.0162 right_yaw=1.0854 right_pitch=0.0771 right_roll=0.0239 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -2.6735, 7.3094, 1.746, 0.0171, -0.0464, 1.0379, -0.7863, -8.8547, 4.5197, 1.4432, -0.8327, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4642f0d07c140a9fa9376ced1f5c9bc01b3dde04b7338a786d2808ec8a58164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e4400380c866afad91957afde1619a0266633b52bdbebc76f9ff2df71f79c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe0938193551f66ca7815784d94bd704b09c998d4b2a56ac3391b9a8b6073c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDAdjAqX2PLGPfTAgNJYp33WL-FApmtl80fa293pL6SImCymgfl9W02wfVaVmMymWwC-D9g0wZhMJcL9NZRz8DZ5wK_EbpOwVbj-Ydh2SJg8lMH6Eg1YfH7z6gMjubM75P44mX-bvdgOqfj4SrrKYf5i4L0LGl62Kga-N623prP_0EZA0MMQXLKyOif1JnWYCP588k63fIfD2AMS_qB64yW03v0mqVUJpFeLdlCNoqOxZk86o1GgTyz_Vt61fYS76cSXuM_R_V73BY-NF6I64tMR7cl0SXNNBgA_R0RON4Qt_GmHR6GaHJiv_jY8et6Tv1kfigJAQRJ6bS-VAL8H1RactSHFEtPNdBqNxf5NJYLou0uXWQmwQ_K2i672xxQ93DGAOJPMEHbCtYQI-IRPyn52t6RqzXrEmLIKmsCgFOJj1pzeztBV7_YRVXWcLjp_EQlakgUALSoYAzllkhm3sEOoDp0n5CNE708AujugaD6TqBETc1r3wd-2q91uSQsnM6Ln2YXVuu6zSwWhIy_4a_aZ9P_nxT5KfrAXpBr7UXnINy-BN-w3WZRcOrkSG4XV3EkcQQBEwyS0Wv7UxzCMCSXPodCVe_I6ff16W-3p5pyKoorsQ3988CldS-rxLE7eYX1ImTRc8vkXJ85n0Y20gVn-b_0v1AphXqhUV6adjXiru-UgpyqxTp1657GHPqnwDw1alqxQCMgCwCYDusYF5m4xQip9jgM2LvWGfjsuCik2mLgVvzy0rIiycZUgDc8WKzpUZKwaREItYPaObA4RvUtbaP5sUMDDlxMXhz7RDbE7ijMIniTUXSR_V0KNE-6Tzq3iIcULRS9o3kXQTZi9Dts-5XQE48iozsvaGL334VA02yFIYqEaHEpEpNZWvKlVcc-bSOYTN8RyCjOoAQMIqGpdKDNoHkhZF-K-GkP2VFUG9akhcz5vCiKEH4zN4T54pHWmTDyAgwE-g7EScNudt3FPZrPxdA1R4VyQRyeWqz_MXEV8vEFI9iMonaGOjUeZuESzOjt7MwooYR1wpbrXHR03hkS16nl-3IZ6VRMu3xKXsT-NCUiIjOo98ntKjucpZGGv_gNe2-sLWD-ID8y1lgIhCZFewgmd7xdDozMbjMsEwjV81hRbMW1-nO6jchsdtAi_3mHvWkYnAAGtU3a_A_vu4u7giyWMJqyhfabLjpg2G_NeJVS0ZZxpWso4wTC_HjyxJkA7ArmP1r5ChINmmAjClzi6kGtOjQwHbUM04DLuA5HrCIgx4dpGT-EpYMIhThGrb1hiufXnovc3-7jj-5BcOPCprhLCFeTaAOLQ-2POZ81Ca4QcKdPDYZupgY317VRkEt0tU5SsTkKlrmGUWy0ZtPQLENcHmrGaHJo4AmakImekdhOemL0A6KUL2jy67xK3R9y1Qz9WVg8x3C8jMTzoX585S5N-I7RAPe_HVSuj75ZBuft0d_T0aFRQR17yf4afijQYPehtOZji5UgAIfIY_L9xrtvoAt8IaOrg9QXCQuae9JRB62YQdl-Il0lwVLTdYC7nXUBJG2Op6mPVsO1i782GXYeMwDBhAxUXkf88pjLaOTb8qhuWJQZHdzK1Zi8npwu0AnRxv6K7HV0_VmY1DWGsXqsUgVVuo5RFWdLSnbSUwcDqbMNxbjBGfPjwu6M4othHffKDbEu3ZuiPNQBC87r-YOhRUaZkj1ziQIIlkrllrd1xiHqUw2V_ZqqKpNelUU5KGS1wJn4XZDmeh5uip1nIKuP2xwxQlBZY_dTwDirvu9DURrpaWDeit9BNkZ-77XhcS0D9VOFZ275JUlyzUL0DKrsWvjTGIc3r1-kBrkdT2Dg3OamkR4SGDdvYDehyCh-wvUF6eXkqNZkffMS54kt1RdHCQ0U3NZZwnZ6CBurinFaW8xc5Z1ZRsOM_tESsfsPoh_hbk3SP5p3gq5KBKqddon5pAd99H65QKRqYpL5TeI7d1ILcIMPoVFND9riQwX06YCbbEhWEXBLWYOgngJcBKTv8-AfjoEIm4voVu9lPmQP_Qc2NrK_2diXIgN-1xVZs9Wd_EVkZZGk1woE6q1qD803xsoaA88iYravDitnaDZ43e1i1_UqkYt04GOgBtXQrvIc_S97YFgy5lfmBwMXJyMrpoCjUfviiEYY40ydplEYq9UIRfdD-NVxXByNFGLI59oeFxr5JCR24Jy6AkxZKh_54-KtxiJMeFdf0mNAIltLQzJTtTOncduwGMSB3xhz5D3VzqC1EKGNAaS2StNDgu23_-PjM7JxZRe5kFyftXxoesCMkLIcP7j13K1Q78FK-WtukIhWtJfHExfVA3kTV0aGhG6HJ15MrnL55CWVWIQXnSEyIvuoQ4zj46E4BlhjI4yCzRo_Rj23UtIVGBHSWHCEA-_slTe6REMMffnSQ9vgVjyxUpFeInXVDJFFHQLMXS3IG8HQigRFuZWYOGQIVnmcbi5pZbMAYebUiS3evu3p011xc79tAj4HCUw0bSShqDU17D1T9Ym9jzXDv90M5nwAAypxkgAJfVTu4FfBCUtFhgEkOoBaZEC5OqWgpMSM6ZNoMlwuVgERbkCu2DOdX7jL9ioCUsnsgAV9-W1K3KgCvvN-8ZzGRgMtaFydHKxtq2b3X4rINRjE1sX6WZKyCVEzJ5206HCQ7iHVVgDDgbv20k51LvRrXYZOnrxbFkTrW1gbLrRfVEk0318Yr33cwXA1FPj0FbKMTqGe9LraDG-umqLZmZrxYxuLmUfiANnAFIf20usfNRMXVDQ9FA==",
  "id": "rs_01722e41e16eee17016ab460bb032087d0a758ae6b6afebd75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.414,\"right_y\":0.161,\"right_z\":0.002},\"note\":\"The barrel reaches the open jaw region but is still off-centre. I’m making a final small sideways correction at table level before closing.\"}",
  "call_id": "call_qm4hGb3eAUw7anHXn0u17OSX",
  "id": "fc_01722e41e16eee17016ab460bff53487d08842fa313dc7fdb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qm4hGb3eAUw7anHXn0u17OSX",
  "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]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4416, -0.8909, -0.6506, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3843 right_y=0.1722 right_z=0.015 right_yaw=1.118 right_pitch=0.1003 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.0991, 7.2, 1.7167, -0.0366, -0.0757, 1.033, -0.0752, -7.4872, 5.4632, 1.4725, -0.2662, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7006e22eb84757282586159cf5638eadd3f45be6e7cd85652ac55b5f7f10af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e746c5acf33a0577a926ba42028cf626718c46bf789eb6ec732b43aade93fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87703fe2a71f3fe8e6879f84527910100c7f210e6c4a0043533695e4bdda0e6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.569 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9176, 0.5579, -0.1379, 0.136, 0.0422, 0.0524, 0.3428, 1.7782, 0.638, 0.3347, -0.3336, -0.3489, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=-0.1377 left_z=0.1748 left_yaw=-0.5221 left_pitch=0.0789 left_roll=-0.018 left_gripper=0.0524 right_x=0.3518 right_y=0.1907 right_z=0.002 right_yaw=0.8094 right_pitch=-0.19 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -2.8923, 7.4051, 1.9658, 0.0904, -0.1294, 1.033, 0.0342, -7.706, 5.9556, 1.4383, -0.0708, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9298, 0.5484, -0.1467, 0.1352, 0.0341, 0.0524, 0.0994, 1.9606, 0.7429, 0.4419, -0.8471, -0.6079, 0.9989]\nstate[eef_state]: left_x=0.2941 left_y=-0.1369 left_z=0.1647 left_yaw=-0.5169 left_pitch=0.0485 left_roll=-0.0291 left_gripper=0.0524 right_x=0.3795 right_y=0.1745 right_z=0.0162 right_yaw=1.0854 right_pitch=0.0771 right_roll=0.0239 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -2.6735, 7.3094, 1.746, 0.0171, -0.0464, 1.0379, -0.7863, -8.8547, 4.5197, 1.4432, -0.8327, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4416, -0.8909, -0.6506, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3843 right_y=0.1722 right_z=0.015 right_yaw=1.118 right_pitch=0.1003 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.0991, 7.2, 1.7167, -0.0366, -0.0757, 1.033, -0.0752, -7.4872, 5.4632, 1.4725, -0.2662, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7006e22eb84757282586159cf5638eadd3f45be6e7cd85652ac55b5f7f10af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e746c5acf33a0577a926ba42028cf626718c46bf789eb6ec732b43aade93fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87703fe2a71f3fe8e6879f84527910100c7f210e6c4a0043533695e4bdda0e6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDGmPx6fsSFdafFbwdxZXRFhm5MhQhX8rth5Ksipnm-2GoFyfGPgUEIcMFa2n5ZCdkxug5sEE_vBs1kxZFFMkcnzbJT0dIhL0OD52ytcKKGPFouib7EjKxgjJU50YmwD66OaEhkeUqGhccAgbvWskOvVI8vMb9wO9JdYtiXz3Es41GGFNYUvIHmHByB-l8BEof-raawEV0lQz38sdMM1KHxy3cJjJ4wzKDcdi0OsRt9W-ku8Rm63lf7vtSY0hjBZ-OcKSni78yfyyyp14q-V9gtAzTJDhIc0_mjNppK4uux3cvVDzIrQrVfHo9I6DseC9sV-I2WnGE0w51N-wBypKL3xvfBQ0Dkm2cf1XHkF3J4iorWqmf2N_Dbp2jXikRMk_5a7VsBIBcm5CD0rw7chOArRT4eVmRa74j9E8E4z6XjHnfCrfzj4HG3E9cdVGSipChqABrLBbTvXF-9VtD-bmewEwducwkcTL0ja40s1Zl5n7C2ulWAoiAb0kJu3u3hjU2vZzovX_dXFTAwGnnUB9_JlsJ10Z1zsnK9ThZcZxYI6BZhmuzeCVLnM1Q9PTQHZPmrTkd5jzYPtLzG5zkpKxp4t-92eTJif8xKEgDlJf-OGQEtWi_FJD-WQ2hTcSzbKKtkPiT4Ow2Dt_9izekk-3xFI0X531lWIZ5V4YRTXWREGu7tSASIT9VRgXYgQEnQyo9XzOQDUqoDmUUTDjDgCCMu23xfZ5xSOOzTMSj95KHSHC1iTF9odl_EpU_Gb6W1-7O-qX-IbO0qONgeNGtiIzwoPlmrdb3l55USUOENqSz7FGtXlUlBrfYlR6qqhhM03G1iLZfYTBwbqmFE2-pU2KsjsPpu5QjKTifVDOcvg91H0kGX_4si2H-fHq0KocpdKVuLguQWARXGhJS79AfRiDcjk7pVYK9n_agYJevnIy3njZ1CCTW6r-WfLVf6IyjQuZsB0zz6OTcUBWVj59wgJMDfHUYv_k4oS9oYq01TreeDkMJqymmaqM3sPUYq9jA6ns2BUMT2JlIJNhjuh8I5dcJfxyzhwy-248xw6Y-OQ_V3KjiiPBqXiXB3j3krP5b3kbwDlK1oVIxT2raDWwesahEHzASOtlEpfK9PT4S-o5u-wiw24TnzXzBZ45rY0YtTbavPu70j11a86hHZot5g1p6PatXx_c8veqjn1fM6TkjV1VL4X3ChIKlYQyzM3VuJsegZNBbnq_RRBy1IS17pq-HSgSzNrdhwKRhR8G4iapi7W7Y82haJmyov_VGnbNFj61xR56Hp25vikiVfqp9AeNIJEd-bSXlVcHVoWL-Dso2Bka8vIb40QUWrm5Rzww6ZoLosOzRybv1XIpWMVUkwTotWJTrpjniOfD8RccFMu4Ug7vQJzSpF_FauFPZ0u4ImSAtUz8ATS3OTUo9QYS1uTVvlyQBITIgzQkkKug-3PtODyd_eUQ35ysRx-iMvwWFvDyEn5acEbhkitOj6xxlfGaMV34CP7zOBLXI-_LkMxlKWUh4yMQbHu3gzSPCKeerv_4aw6LNZqGVaIXHhcmeyOkFY8XDGX6YN09lZYzhmXDRG7T88mUa3dBWbLu2U08fVHw7gouJ-SmzypAzCKuEtRX7QTmSbJ7fakNGblU6os24naTQVk_AhpoWDRV7DV_WXNu-9iyAOV6O7gFSHJ1Qc92rWzmSi7fkZrYuGjaWUblOnsHmeYISe_Esc62mYRcjML4LHwjrxzJXHvqaWSqAQp6E3MgmZBCBLhQphRXQQwtwkuNAnMALqtoBucCA5ltYbFnGcZ-np16km4z-enf6msV9JXiO9U41OulC9tveOMQ7wfcUuf1vaGhMyy10hU26gwiJe2UbhZgnT81v8Hcv-bVWQjq454GPa3i4G_8L_ZX54HN9KQBkpHAkKp_LHdx2Hnooy5pLHDVbeoURzVjbGAsYBxPOi4PgduAhpwnLSNzR87T-k7VmiSd2xFpWx3mk67GO2dkwFsPqz-r06Rzz1mboP_g==",
  "id": "rs_01722e41e16eee17016ab460c25c1087d0a423ed2d7ecb1c65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.155,\"right_z\":0.005,\"right_yaw\":0.75,\"right_pitch\":0.1},\"note\":\"The sideways-oriented wrist is limiting the arm’s travel. I’m reducing the yaw so it can reach the barrel without forcing the stalled pose.\"}",
  "call_id": "call_U74aX2UJDny5GJuEl2wjarRK",
  "id": "fc_01722e41e16eee17016ab460c54a4887d08d4492b969d6acbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U74aX2UJDny5GJuEl2wjarRK",
  "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]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4412, -0.8715, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3863 right_y=0.1702 right_z=0.0131 right_yaw=1.0953 right_pitch=0.0881 right_roll=0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.2222, 7.2, 1.7607, -0.0073, -0.0708, 1.033, -0.2393, -7.5009, 5.4769, 1.5018, -0.359, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343c135d475d3818c149adafc7b27f4fd810b2e4f852ebdf1980f3f62f642e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81ba0ebd77ff73ed5031f3d6da1e05585b0a102aa324fb6415edceb244e6d98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aeff398b1de43346542df5200ca1bb4d821dbe8dd9a8eadcc24fc7157d697f8",
      "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 20 attempt 0 · /responses · status 200 · 3.083 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.923, 0.551, -0.1444, 0.1352, 0.0345, 0.0524, 0.3332, 1.3464, 0.5137, 0.2993, -0.4026, -0.2653, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=-0.137 left_z=0.1685 left_yaw=-0.5172 left_pitch=0.0603 left_roll=-0.0271 left_gripper=0.0524 right_x=0.3267 right_y=0.1901 right_z=0.1104 right_yaw=0.8046 right_pitch=0.0727 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.0171, 7.5966, 1.9707, 0.0073, 0.0073, 1.0379, -0.6222, -5.5453, 5.9556, 1.8291, -0.3101, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4416, -0.8909, -0.6506, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3843 right_y=0.1722 right_z=0.015 right_yaw=1.118 right_pitch=0.1003 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.0991, 7.2, 1.7167, -0.0366, -0.0757, 1.033, -0.0752, -7.4872, 5.4632, 1.4725, -0.2662, 0.1343, -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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4412, -0.8715, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3863 right_y=0.1702 right_z=0.0131 right_yaw=1.0953 right_pitch=0.0881 right_roll=0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.2222, 7.2, 1.7607, -0.0073, -0.0708, 1.033, -0.2393, -7.5009, 5.4769, 1.5018, -0.359, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343c135d475d3818c149adafc7b27f4fd810b2e4f852ebdf1980f3f62f642e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81ba0ebd77ff73ed5031f3d6da1e05585b0a102aa324fb6415edceb244e6d98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aeff398b1de43346542df5200ca1bb4d821dbe8dd9a8eadcc24fc7157d697f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDKivcz0fI3ozDnNvgRFk-1cWbXSShE2dfUgF6-WfYzTcrVbpTiRl4rGVLaLAT28pMMACjS2XQKCC6NVznoE5ueyqcJ4kGkmLzR2sKDiZNT9d05_hVWPo6DKqVu42jMMAaVI1naa1MeQN7JdEa6NaZ3S-x7GM2-hMeacTgY7kgn9GBgIMgKH6DQiJsvWibHOh-dIGQFQI6QRA2BlPqvtcortip96bXoEu1v37jpnSQ2blNsiK5ZakANwyi1c-lSHkTHiP6cNgJigWaKH9ZRQtyvgVKJ7NOcGeAEDjqIw4I8L10_p2L2r60MSsn99uBK8ipE6OYyoerqzq6PFSFhywPS2srShrKIp9QC6YsFf5L5PyFk-MGvB7_mHajEFaA9HrU0c8PZrWGbBd_5QgEhofm5QXo1zAKthzZdr4J8FjDVtDDOy0QNv2LasDgayzJBSfir-DFcnD5xXlApSfzJRq7f_63LTr2oBxmYcRLaSBSJHxhfm8lbo7ZE9rt1dFdbbRYGMzcBkcmIAcfbRNkirVW3i-ZgJtRa7-u63AxO_JBJYK5r_10stmBc7vbCkIBVYmr02fiNIravaJtFwbysRsGC383SLHSQB4XgzmjHxGpYHt9QLVEwiX9ay15m8ZZeoXpZGnxQ24sMtzfKn9kBt0mBA2fKi0vj4p-2UuxUGPOPf-6WQ5yv_IiIoR2YZF41PzIsCcJWUSIi-5j3tSbeJadn5oydQUqcY9m-F18vMBHW_HoISO9kppBjPO_PCzBP_g8a8hgUH2h127YEmOWZ54O7naA1rEaT6Ufg-8IgRKSKYrv31WqgJ9wPffLm420pDyZvVMFyKDS_nCWRSFNa3y0N1VvnLKRJGG1lIulIuOTC0zZhkRUgw05moYPeVv34ulGbGH_lE7oYMw5Wtj_bG2wgorYjGDUErwhuWsAGL610W-QnIgHMf2qJV5xiOtO1AwGfUtvzWayYE00LgSupfxfFo2Or16xRQBMm1mxdeYmtyqSXRV6vRuxEWaGtoMlmcUGqqaO65fDP6cR9GiaaWU1_ExKlqH8oe8-UI3j6atsBNgr6QLE7jMD2eEaJSJSN8_5OCww5dWW5ierTYnllMZrsKOlBRCVHZCo9GoQYzMj44j-dAwrNqvvQeyn2HF9RNuYvvB20Z9PmP-L_aPXk46ZoPcjAskUJCoBINAn95vYers8ttwwU-bWakBF0b0cy5EZrGSscvzGP5S7KBuSvyP8xehKSf_-flnlIV0EZUmSCN6ZqqkwhCxK6tmfQjT4YTXyCpNhkvLFdS7gaywWedn6M_pzTf8RqBi4C5wCvD_sQRUnyC4p5YwNgksKoxWCKSzpzj__f1VS8ObZcSE9qQz84Tw5ABlNG1jwF1fOy2tPWpi6dB3m6aRr4bDq9re1kfUhEFVt0yE9O-8G2B-0GP9SRtTs_N778_TRS9U874s2Wy3joXYzw-0fMhPxVGE9hfY5ktxx2EAgx8RbONWKW7svndFc9Krs4b83TdePLuXKEeyTdZYOK4BBlUQC8FwCpuKfZieEPJrOtXRNK-SZ1eW7AE0NhsUOJjcp5PbisWyfz74c5pBYVe8DqTvpI5jXE9DYw",
  "id": "rs_01722e41e16eee17016ab460c81c6887d09c36fb607085e892",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.17,\"right_z\":0.10,\"right_yaw\":0.8,\"right_pitch\":0.1},\"note\":\"The right gripper remains in contact near the table and is barely translating. I’m lifting straight clear again before completing the lateral alignment.\"}",
  "call_id": "call_rqbHQ5d0XBmOy6X4E5xR5wAx",
  "id": "fc_01722e41e16eee17016ab460c93bcc87d08c14ff3f61d1e969",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rqbHQ5d0XBmOy6X4E5xR5wAx",
  "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]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0538, 0.0799, 1.9949, 0.7708, 0.4412, -0.8711, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0538 right_x=0.3863 right_y=0.1701 right_z=0.013 right_yaw=1.095 right_pitch=0.0879 right_roll=0.017 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.1949, 7.0769, 1.7705, -0.022, -0.0415, 1.0281, -0.2393, -7.4735, 5.7778, 1.4628, -0.3199, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2d3c1589c05d764f30d0601784834814a0a03170da6b7a0b474d94679d9f48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6668a0e3385660c57c4b12321061e4288308720573d19baf05bcd5b1e53b57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472f669b0ebfe359728992cb8509cd6568560e3cdea9f872323999bfad3128ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 9.297 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9298, 0.5484, -0.1467, 0.1352, 0.0341, 0.0524, 0.0994, 1.9606, 0.7429, 0.4419, -0.8471, -0.6079, 0.9989]\nstate[eef_state]: left_x=0.2941 left_y=-0.1369 left_z=0.1647 left_yaw=-0.5169 left_pitch=0.0485 left_roll=-0.0291 left_gripper=0.0524 right_x=0.3795 right_y=0.1745 right_z=0.0162 right_yaw=1.0854 right_pitch=0.0771 right_roll=0.0239 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -2.6735, 7.3094, 1.746, 0.0171, -0.0464, 1.0379, -0.7863, -8.8547, 4.5197, 1.4432, -0.8327, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4412, -0.8715, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3863 right_y=0.1702 right_z=0.0131 right_yaw=1.0953 right_pitch=0.0881 right_roll=0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.2222, 7.2, 1.7607, -0.0073, -0.0708, 1.033, -0.2393, -7.5009, 5.4769, 1.5018, -0.359, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0538, 0.0799, 1.9949, 0.7708, 0.4412, -0.8711, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0538 right_x=0.3863 right_y=0.1701 right_z=0.013 right_yaw=1.095 right_pitch=0.0879 right_roll=0.017 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.1949, 7.0769, 1.7705, -0.022, -0.0415, 1.0281, -0.2393, -7.4735, 5.7778, 1.4628, -0.3199, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2d3c1589c05d764f30d0601784834814a0a03170da6b7a0b474d94679d9f48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6668a0e3385660c57c4b12321061e4288308720573d19baf05bcd5b1e53b57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472f669b0ebfe359728992cb8509cd6568560e3cdea9f872323999bfad3128ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDNQIC7CDHR_oPR-w_5ty8mTCwz2K257sTqBWhlk_nMzaviFR-w80A1JLH4NaY9SkRnK_C_BaZrqUdgVteq53hALyZCApXCwA3x07oCDB1bTmB0O-H561MqmkTUQxEPDLZm8BkE6kubny8UBorAKYOja3PqgK_jKlJKC7bl17K0fF26QlSGAhC_HHsyuq1rh1ZHDZgie7Y1rYDXubMaHv_dPgBkoUjQdYyVRILOPPSZtsIeDBnT5wvf5TLm68ygMHgVBe1Fz3313HYYcxAnNSQXcFavc3a0cmgFRNx_ZxcTZYJqcm-Bp02BSIs3c0sYmKj7U9tg-8BugQRjRmsSL5CQ904x9zcwv3upSuh9qLnEcLg3GLyZFo6qiNVcKR_QAD-Ruo47bt_MIdFYgdTPPvLCqVWKTIntHFX_LpC2U7NnmxpHcuZcA_VnJjxFt2yGFADqx33gktlj8yx6bYcGQ1ThRhJpiMoICDq2iVGiw8IAqKc-4EMFKj2pvD2f3MhK5ITFZkDBm5IYDvZHSoU9ApVvvEQhOBkBwJmXVQ9OugvS52ivhdqeMh00qeHL3l6D1Nt-Lbm-duwvadL0elN2mVGecW0ofSgpu2UnV69txgMXI_qsPz3YifAKxizMX7kC0S5GJie3W9RUg5nMlI2AluE4F0axPsEd12WIxs2MuT4mA1ou_WWIsPsxxkDhj1V3DU5qZjh636ehwEZErON0hGth3uGEX1dKsbChvn1eWab-1QKdXQvf47LbEs1YIo7ST53jN5vAlYU0HoBFNoh1Oe68X2CJls35dxBqxJL92O9IakZHWEbZbUBQJbsnuLqqR99Z7xU_JHV3NfZRKeMiEjWy9XZiRYCiVgLUpESzmReLsPiZbLcE0Ss0a1NEAc5cv71Eg2-_m-VIhPUdLlRhDJJp1m5fCKWTH8v3i-BGtCwH-9ZON8vL8gQwOFWWPu1RWnSP9ly8SWNIEB5kYRxt-YRYT8YWDDph6QWPuu4XJWWtu5AMiFnPz54TbYfZvEnZDF-TejbXP2c1UajAWtQVG6tyq3x-BD3clWGVt7cVamyJtVf4upcOapyr1_RQ5tIcsVumPwOYzCFjhcD3o-aWf5pW5sudPpdFalWtI9o70i-ObYBZT-ejm-BdpdHCeLggfw1fVFbhK9G96J7vHThGF4jGjifa4npxO3gUIRWtgwWFkcYgI1CeG9vtJYtiJrLtpG3DbOBvjFX3OThpqgGu22poCM3DffBPdB0cR3WAZHJq-C5H5_IOx68oKU6rIG4iZFqbCmfIPE0eNaDx-unPY7xvSixTJsFWpAMxd3O0rrJsBioDk_vjxGjU5_h_9i4W3Ju_HsN-u0_6TGeWwZgid9irUg==",
  "id": "rs_01722e41e16eee17016ab460cc27a887d088e1c3fc2a4d6d2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.15,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The lift also failed to track, indicating a difficult arm configuration rather than a grasp. I’m returning toward a compact, neutral wrist pose to recover motion safely.\"}",
  "call_id": "call_cUHLFvxc7hGkYf8s8e3e4DOE",
  "id": "fc_01722e41e16eee17016ab460cccf0087d0ad4dffe40cce8745",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cUHLFvxc7hGkYf8s8e3e4DOE",
  "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]: [-0.3733, 0.9379, 0.543, -0.1455, 0.1349, 0.0341, 0.0538, 0.7288, 1.1793, 0.6033, -0.0387, 0.3969, 0.2844, 0.9989]\nstate[eef_state]: left_x=0.2938 left_y=-0.1367 left_z=0.1601 left_yaw=-0.5165 left_pitch=0.0364 left_roll=-0.0306 left_gripper=0.0538 right_x=0.3026 right_y=0.1834 right_z=0.1387 right_yaw=0.2371 right_pitch=-0.0014 right_roll=0.0154 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.8103, 7.3778, 1.8095, -0.0269, -0.0562, 1.0037, 0.1573, -5.4632, 8.1573, 1.6093, 0.2857, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b3d2ce3bdf97d3a61fd0bdfab7701ca58692f6cae7a36a51c8aa5b672b820d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1810454b3c6e23af0ef8bb2687350b6996bba6d988e9432ad4fa0f6687768889",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d7300aecd9da549b67f62eec0046b36801763c9f42d222f4f78653949f197a",
      "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 · 4.482 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4416, -0.8909, -0.6506, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3843 right_y=0.1722 right_z=0.015 right_yaw=1.118 right_pitch=0.1003 right_roll=0.0079 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.0991, 7.2, 1.7167, -0.0366, -0.0757, 1.033, -0.0752, -7.4872, 5.4632, 1.4725, -0.2662, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0538, 0.0799, 1.9949, 0.7708, 0.4412, -0.8711, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0538 right_x=0.3863 right_y=0.1701 right_z=0.013 right_yaw=1.095 right_pitch=0.0879 right_roll=0.017 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.1949, 7.0769, 1.7705, -0.022, -0.0415, 1.0281, -0.2393, -7.4735, 5.7778, 1.4628, -0.3199, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9379, 0.543, -0.1455, 0.1349, 0.0341, 0.0538, 0.7288, 1.1793, 0.6033, -0.0387, 0.3969, 0.2844, 0.9989]\nstate[eef_state]: left_x=0.2938 left_y=-0.1367 left_z=0.1601 left_yaw=-0.5165 left_pitch=0.0364 left_roll=-0.0306 left_gripper=0.0538 right_x=0.3026 right_y=0.1834 right_z=0.1387 right_yaw=0.2371 right_pitch=-0.0014 right_roll=0.0154 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.8103, 7.3778, 1.8095, -0.0269, -0.0562, 1.0037, 0.1573, -5.4632, 8.1573, 1.6093, 0.2857, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b3d2ce3bdf97d3a61fd0bdfab7701ca58692f6cae7a36a51c8aa5b672b820d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1810454b3c6e23af0ef8bb2687350b6996bba6d988e9432ad4fa0f6687768889",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d7300aecd9da549b67f62eec0046b36801763c9f42d222f4f78653949f197a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDYexFmWaV70SndcKYcxNZOEMIIaZkc-trP0frD_ygkuPW4SL3h30tiIeusWe9bbW8L3yPWJMe_bkh31AkccRqXH7dYrsF9ZXw_6VhT3427eqM4fiRcG1RDQYkhJoPEEG3qAUBTi1frpoQcTMMOob-R7sqU0aUTnBw14YE99l1DqDL-02x-hVfpWZx_F5WbZ_-vnDYuhTzSf6aGf-_oVEugRdCVkUxBvTosehaPz5jCiDfML7GGGbkzp3by6jLOyHnliNnvYS2LeHcA5d9DL4DFYn06lwr8nDdsjL_dPDGzfQTuciLRvp5l78XSYjNFi9xKE5zvi5mkpFXa6wdcxW01SFGRuZ-TSw5Zb0Gr0g3PpTp-t6OpO3Bv0HL2XHMHngELMU1GBPCMBi3z5ygo2BWg5mk9S4nlmldWCIeES_yCx6HBNyt3Z8aSqmqy24HPsQ9a6wqB61zkSfXzlfyB9UccxYlc3bRorGmB5n1tckXaS4a6QJAyEZqKK0Bj0UdB2tOtnkFytNEJorBpDAOCJpFN8lIql1ivAmAI3vdxjm1sOqBJsBAjSm6DXF1yyLo867slSJBmS1otDxEz_v2htc3a4VrTPFsoFyCrsLF3wOG8HY2h01nOq4kF734yKZve8obTZf7ojEsCX9DbtYb0H2bBcx5-LhenpmO6A-9pNt4poRqAaBf58IXYOSN-p98uGxhrjLd-lFtx7SfUPCRtLsI0DoZmLlI_vzUy3pZ5WPJH5kR9niUWd4odK9YwzoVvmHnPX7gQ8Ue9jHK2O3e1NjMsi1_3Fklu4Ttw5ucRGtEkQa66GthBwtD7yyFBfbEBXU1NNdfmkTSGNIXfjPKBMiLl-FhKHURmrWHVW1q_oUzqhRE9baXeuDI2_rOEBjEmnUuwlX18A14OFlQTRQ-8ePuSTf__iLhSki80ynAzPDXyGD1yajznYewtbouzczLQ8eVH2PsYZTxzpCYdbRvw72f5ysZa67jkIzKP-OLk5_B3Al0X98H489PWguWTibSI678iiBxqJGoFn-8KOFdwF8sEuaA_bytP77nU_kktSqa0bkvljF67XK95u3wUQ4Syrlotpf9K1MjcpEjn9UE7maSnOyYYirIG8CFsd8BQqWjEvrvbyAYAP6BZBTqr1yuBGjsqngecFBl5XvlZThv9VupNR0Dlyn14eCUIfflF3HcXuVqMiPjF_bUFnRe68DkmhET8-OIL2oRYmkXXpiNwkQzGOFgx6aEI3b9ev9AL6Ck0LXUFnoy0QuPZLfcXYBlxyQuSmDUHh-Y0sN6jLTjzzRDa6XFyFvCcg6j7krxXO-0pQhn5Y43KU14ta_4mDd1JKaaD-dPzZGP-R2oqmrvE08nnK98aGAgiekEHcPNnHe0f8zJpjWk153jBSHW9kJk2zE4jXHjFjaiYm4oKkDq2F5yJw2ggS5h0W0eCFb4LZNLq_Us3UB_u8lfFwyKsqiqsJpBXDPcIJ4YNBIEe5FG5WdNq_pEUIBWHJ7nXNBdi3-jiIKAVZQv1MT5i77u2Zpd2JhebylQ-0eK7EGKub8kzp-XIIQhmrrlml2joTAhxu8nzZgFcOnBKskgOY9XRpqo4GiJgJL1Us2fuQY9wrbCE_4sP5DJVUWh6C3o2ckRmvG_J3cNHBsbUroneFVpDai_UzYeRg1gH2pRAeA0x2YfN0qd7e6pR7lTO-W7a899V3FCwgNvUwjNxcuD5aolSjDi07bp617dEuhnh59HB5gmSfd3E1cSvK0Ucxksf0iNjr3iB8MTwCgczA6vbyF59Pxz2OfEFra2_4amN7MA44RqxeZMoixt4wD7yqXC6I6ujvuUTKIAtUmmP4fUhBnwA7fT4ZsF_K2_W6mniy_G5WXTcmCPLujnvsdNuhu17aGrBz6AJG46fLR7uRCXPcnAcWJXn1c5LzX98jj8dgOJpuMrUe2BwgPE6MLzwuBMOKb-3115h5KJSxE7cnWU03QR5-9ekLtYKPf6P9pVzLzv0k8-6wGIffEvcYTR0e9vB-rE-2tlDJZ89sZSmoufekVB80RAwFfCxRaOvQiq5GfB_MtA5mYWNW674T3XdAEgzuJQs94UpSa215PGd7gtHibsvGNGC4dVVaiOx-XhhTEkuVkKc_CAtRvH30vPVPOpZa85RRFLNLZEWEFiypLECLhZGY5uCZjb6H8ShRfOKTk2FJxYfxmxg5CgxeatULp_Ajw9FunYlj4eaOygQK3TNbdTS1cqMAp5QLIuVPDU2KnR5cqEFP1W9jQcCnaWMSOJRALAqDLNP-hh2wcSm7X-0dqHvus5Cqw52x0iaNCIVD3mueSzk-Np9e1h71GGt1dtR_r1vFc844yC-0Bktug5VHlbpdr44mK9FWKXdaLGOYkjA4vwY6XMyynLgc7he87SHZpxIT7IkeXsdXXFQc1qR_4bil3Cz7SzCuTQ2BxVMo76HlSwHdZKt9OKDJnDbd6AgtrKKNvDstFUWXWd_k47Ef7li7CESH2cPnlkoRhYWXmOCAmTXHZ68-wxKyOj_hpTeJUFKuSPiUi93wei-RN7zIayJ4WaevG5jhHHXljQjn8mK2AD1s1Yr0QwKXa9fPd-MxD6eEPNn35EWLAjh6uFflm4MyVQAycZv13QBcQ2LncdCGBmkVU7LIUN-JOVTJCwL76GoFrx4qDwLp2eyzs71USfrfPpceu8aER6ClK3AO0Rrqo43bMsIuL5cgXVebZeshnYkg7STst-YssobWDkInvsHD3w7khWxScgkbnmX2yuMExPbXlyoTQTGljSuVy-6EMlaiLkCZkZk44YzN7HViupLE1YUyIyF36b8-Tntq-gGi1Hr0Yik2ufJ98jdVVu_lbx6NHrOirMUZKVL62wyka_ciulir1FgH4oHq2uCx4S7uDJFymPNpuDcdehhW3vqQ8xO1sxKu9RDo17fpB0EPb_CTX0tcIDtwRuVxYsMmST7fNSpZsQ8xr7El_Fj_oPYi7esGnVC6kAEAZ1GTcuqhgtqJo-qXHXVOFIO6wddoh4wWHUZH3QZaORLwcNJKwEKs-DQk0W1LWCSMs-nWis23TVUch6GSASuNqbzIah_HxizXp079hQqTN30U0Ckcq1m-WrJT9NL1own-vsf7qXHcW1uN5xqveq5PQTzhJqcE0r89QNjg1rUdDWpwnJQmOpSgTM4v-1_yJyvMW33uWO1jn7rT12oV1SQ_DTodE2mIwwGkWt3b4pnZi7TRG92VcA77drSon4Sx8hD0aVv-eox_l7E06cAxVyZwzr3DhmMm3llISYfWocoM_66EuSdpoYO-T6OPtIPdB57cekQydju4nUPHzdIwXoTGNZReL3H9TW3-BeOtS0s3TvcXA0TIhJMIHfqJYqR64AjmCiFoHFR27jIoXXm7euXml7n72wK6bNfQ564UD6ymQ==",
  "id": "rs_01722e41e16eee17016ab460d0002c87d090bb16d0272650de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.065,\"right_yaw\":0.7,\"right_pitch\":0.4},\"note\":\"Motion has recovered, and the pen is still lying just ahead of the right gripper. I’m reaching its rear barrel with a forward-tilted wrist to avoid the previous low-reaching limit.\"}",
  "call_id": "call_lR39lNfqhoHm7hK8eKD1fvCv",
  "id": "fc_01722e41e16eee17016ab460d6d78c87d08716806e388e4f07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lR39lNfqhoHm7hK8eKD1fvCv",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9436, 0.5407, -0.1467, 0.1349, 0.0341, 0.0538, 0.2218, 2.046, 0.5758, 1.1786, -0.4263, -0.0734, 0.9989]\nstate[eef_state]: left_x=0.2936 left_y=-0.1366 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4187 right_y=0.173 right_z=0.0428 right_yaw=0.6284 right_pitch=0.2937 right_roll=0.0531 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -2.6735, 7.3641, 1.7216, -0.0171, -0.0611, 1.0037, -0.5402, -8.6632, 4.465, 2.3028, -0.3394, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9f73cfb1fe76caa87a2dd2e597802d406ec281a4f0296b526dfd66be34fcce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa74c908f3538620be3b3d61e246b30452abfd8bcc0d6c653f8201cd929d841",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf9adf545b54e5896128c97e74c790de5c305a449026390b1edbcfbeec45295",
      "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 · 3.631 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0524, 0.0799, 1.9949, 0.7708, 0.4412, -0.8715, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0524 right_x=0.3863 right_y=0.1702 right_z=0.0131 right_yaw=1.0953 right_pitch=0.0881 right_roll=0.0172 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.2222, 7.2, 1.7607, -0.0073, -0.0708, 1.033, -0.2393, -7.5009, 5.4769, 1.5018, -0.359, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9379, 0.543, -0.1455, 0.1349, 0.0341, 0.0538, 0.7288, 1.1793, 0.6033, -0.0387, 0.3969, 0.2844, 0.9989]\nstate[eef_state]: left_x=0.2938 left_y=-0.1367 left_z=0.1601 left_yaw=-0.5165 left_pitch=0.0364 left_roll=-0.0306 left_gripper=0.0538 right_x=0.3026 right_y=0.1834 right_z=0.1387 right_yaw=0.2371 right_pitch=-0.0014 right_roll=0.0154 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.8103, 7.3778, 1.8095, -0.0269, -0.0562, 1.0037, 0.1573, -5.4632, 8.1573, 1.6093, 0.2857, 0.1587, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9436, 0.5407, -0.1467, 0.1349, 0.0341, 0.0538, 0.2218, 2.046, 0.5758, 1.1786, -0.4263, -0.0734, 0.9989]\nstate[eef_state]: left_x=0.2936 left_y=-0.1366 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4187 right_y=0.173 right_z=0.0428 right_yaw=0.6284 right_pitch=0.2937 right_roll=0.0531 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -2.6735, 7.3641, 1.7216, -0.0171, -0.0611, 1.0037, -0.5402, -8.6632, 4.465, 2.3028, -0.3394, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9f73cfb1fe76caa87a2dd2e597802d406ec281a4f0296b526dfd66be34fcce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa74c908f3538620be3b3d61e246b30452abfd8bcc0d6c653f8201cd929d841",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf9adf545b54e5896128c97e74c790de5c305a449026390b1edbcfbeec45295",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDdyxhXWXhJR-94H2D4SRhaoCynH8TY8qfunlTqWL5SRRNcA_EVXRw4BzqgnEU3tTOoX5zF3kzA_2KNo9Oep08AHmzV8nGbKBBhgJCtMWIVACCMU5Gqf2iQiGgxON5ahPc-PQvH4NnJKoqhvwpT-IbTFhjZyPJ7PbonDtjoGaWhLX0lEgUaFIdZAKjUu5kcrpHngi4mLWjSDR4G8h53m9cvM2rJNplG1OHHH4rOFOlpg8fXO2yHXQffi0T_iddXvzn0gNDtrtP48cZYIgF45FQSC5EzW8LONOH__vzm1StkaY3V7b9ooOX9G-zYPl3y8fW9B77x6hEQQTm3rOGpqkGhCOCYXst7SrvJWM_7frAAh42Wzdz2IiFlvT_bPMMLg8Cg8NDfECE5kqIxos47d-mBk7MA8G0BKeg84Q077D9caDmC5wisBSPm_EDpYykrxQw7CHQCDbRZnAlTk-QCi2bHgz4XWA-c4k7pzfhOC90szgsevr-P1rJGze44UixKQ-go64mAJUBO9VGs0lYPazVUq8Tzybh3B-F4arkbYJqEUxHkK3mHHKVGgFq2e92Hxqy1kGXplK-8Y_slYAoYdBwt4aTCSIPzxZdicfTeufDjg8FJlfavpW9SeMZbWgUrqxE34FxredpURtPmOhTTc-nLSE9865JbUgzy0j3sa-0U6cEWaZcXDDh6l2ejc4NIeb2hbTBEQzCYc2mHiavYQl81hHQRzjYqc4ZS-UblLvtdERNWU4_ztk7I5pOEM5W-0J5l2e5pgl9nqBTF2sUQnYnjtrHr414BQlWE-ow64G8ogPMhSjTjVfTrEjT9DSIAgRvCzS_l9g5eoZvlTiVkYO1keJUSaxgoKKLp7_ZCK0FLTLll6NgTTZqLrfRiSiSgxUoiIjqZtHwp_HWwcn_XLz3qYY5pX7l4knBOiWz1b8wBeIaZ2qlZR1GbVlYVqWFp-vwQCmHcmpNQjhmO6mPj7H2xqVKe3e0CoA3T44ceoMR3236SWKs6KpabxTAyCZQ7IRi-Jajt7xrMMTXOBPlnC5AdC17IL3zKpttalVfh-W0ldWdghvUlluDDVNWVnZk-gE_ixUpgqwk8QWvYk81L_9dFzyuRW_adNHlXEHxB11cZJYBa-shRhQUKyhSFokfkytRZpdV_HOCQIr_4XT30Z59atIXzrl9oJLBNW5p--UQbztfRHrbWewJ40YkNz4-_hFQfotOq-cme0owi0sPchQrs5kCrM3k1kUqSHqhIPK70m7IlO_BYYBHaJuu2ng7JtADEJTPTnVAZAE7drIqkWmSnchvNGaRwinAxAyrXpTfLILKEYHpWn_ds3lAVQsQwNRxLM1WqUY2DJ3hm7wXlWh8i-A0hx0JT8NvOTky5xlUm3ly9xH5nFXz7OXWrK_qFXY4hGJ0Y_rPGwYTx3wsrPQoeumI0J5_0vN397haOJBJkjCiPlUdBlv3x2LfN3l96HM002KJj5UQduJUVu304FrukPlL-FEFjYX-s4yA2Ymx7IEQ=",
  "id": "rs_01722e41e16eee17016ab460db4bec87d09f74ca204b023733",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.195,\"right_z\":0.003},\"note\":\"The rear barrel now extends into the fingertip region, slightly left of centre. I’m centring it and lowering the last few centimetres for the grasp.\"}",
  "call_id": "call_xBLqMw53j1v84Rhvqs973Wa6",
  "id": "fc_01722e41e16eee17016ab460dcd4ac87d0a0d18754f69990c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xBLqMw53j1v84Rhvqs973Wa6",
  "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]: [-0.3733, 0.944, 0.5407, -0.1455, 0.1349, 0.0341, 0.0538, 0.2855, 2.2169, 0.5861, 1.3529, -0.3904, -0.0826, 0.9988]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.1572 left_yaw=-0.5164 left_pitch=0.0281 left_roll=-0.0318 left_gripper=0.0538 right_x=0.4108 right_y=0.1944 right_z=0.0108 right_yaw=0.6672 right_pitch=0.3028 right_roll=0.0286 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -2.3043, 7.0496, 1.7509, -0.022, -0.022, 1.0037, 0.1709, -9.306, 3.1111, 0.5641, -0.5055, 1.2234, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99425a7fe67702f1856a125e4204ba9031c77b7a0a1f014e42b77bc11d411339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f114787e0f1aaf61faabe3d6270a06d1d35098f18ccd1be1d218a82b7d1f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff09f6178d40a8281112f399b5c2da36e0f99bee2d5e1466006550d99acec2e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 4.722 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9306, 0.5468, -0.1459, 0.1352, 0.0341, 0.0538, 0.0799, 1.9949, 0.7708, 0.4412, -0.8711, -0.6327, 0.9989]\nstate[eef_state]: left_x=0.294 left_y=-0.1369 left_z=0.164 left_yaw=-0.5169 left_pitch=0.047 left_roll=-0.0293 left_gripper=0.0538 right_x=0.3863 right_y=0.1701 right_z=0.013 right_yaw=1.095 right_pitch=0.0879 right_roll=0.017 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.1949, 7.0769, 1.7705, -0.022, -0.0415, 1.0281, -0.2393, -7.4735, 5.7778, 1.4628, -0.3199, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9436, 0.5407, -0.1467, 0.1349, 0.0341, 0.0538, 0.2218, 2.046, 0.5758, 1.1786, -0.4263, -0.0734, 0.9989]\nstate[eef_state]: left_x=0.2936 left_y=-0.1366 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4187 right_y=0.173 right_z=0.0428 right_yaw=0.6284 right_pitch=0.2937 right_roll=0.0531 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -2.6735, 7.3641, 1.7216, -0.0171, -0.0611, 1.0037, -0.5402, -8.6632, 4.465, 2.3028, -0.3394, -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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.944, 0.5407, -0.1455, 0.1349, 0.0341, 0.0538, 0.2855, 2.2169, 0.5861, 1.3529, -0.3904, -0.0826, 0.9988]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.1572 left_yaw=-0.5164 left_pitch=0.0281 left_roll=-0.0318 left_gripper=0.0538 right_x=0.4108 right_y=0.1944 right_z=0.0108 right_yaw=0.6672 right_pitch=0.3028 right_roll=0.0286 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -2.3043, 7.0496, 1.7509, -0.022, -0.022, 1.0037, 0.1709, -9.306, 3.1111, 0.5641, -0.5055, 1.2234, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99425a7fe67702f1856a125e4204ba9031c77b7a0a1f014e42b77bc11d411339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f114787e0f1aaf61faabe3d6270a06d1d35098f18ccd1be1d218a82b7d1f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff09f6178d40a8281112f399b5c2da36e0f99bee2d5e1466006550d99acec2e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDhCgsWwV16026h4i8KFVhw-YKS35VusHmpvzpuQbgfKfu3p6I_Vvf5QZMVWyF4Lz5dO-tIBuylWd4mxUm67PtttSm0DmyGA3K7jITHofFjifyrUMs_9wW0-wXhX4XpRKqRHPAyKdaBkZCyoAJJzaY6kgsRAvzewEw1xAWFCMG-rkeQj6flGw1DBcCOnqpwTcn0kSjkMbXwG5WW3FmncihjEOX7qmUMdCwe0k-pvth8D1E4XEzvL4z_adrOmnwPFGE7zRZjbu4ZrPso3RHQ_weUvRyZ1g7QyMGzERupmEg7pq4bq0EKLo9A6qcErGQxY3QFzEq63Hwxe_ge41KS_K5u9-sIiz0m8ug-JS8o7WYgMkxB2zp_xZaqCpmlaMHRj1w-2cVm0Pa0zl7beUaYo0X-oI8cuictYDU_tfH69cE81qhFiln3UG0SkVJd3rGyxHM8Z6nncgX6srB06F0cmwcCb35oUcUljajN-7RIFyJFxolw6Fv81hR-ksj9fLjG-1ITfEKssIbwmebbEWeCkBgdzwm_Wg632RQupdz59Vt2zRH-BPsnpCNvkkx5aMimDw0obXKYUoGYjQz49Ag-e97DzY00jHTPEjk617yE06PFElbbU5nUSd-hb6sPM11FhmExHh23K5dYCKpk0iE1qFSyJQSe3AxiH5nR990xFwIo6NH4_ietD9Q6GrrepUjv-VxD6YAS0inXBsbLDIcMuecKJIbR3TnyC-cEEx25mLrvWMbh2CZNPtle-ezS5AUBTLOHw8hpFIIrb2_oaCY4sqo0fy5Blo66zkngQ5t8d1SvqRP-m0yYsT5AMMb56UNmFvvZgt--fuevA6g1OL4NEMH79uc2cKCTMqygNh6gFAASVddUkHI2Nxk7ZZS-af60sbt00q4Vis9birZ5BMJMw7jONVWIEIyj2Iv5JolLAmGWv_duDSzkRSFTa6OUp1e0i4EFhHlpjnJ5N-j1Idug4HNYkPhSbvSZV9F-VE9nhtRjtNk4hC7Jrh67-uKSv9Y7LAgvQ6Q29LTOfHcni9MWwiUQxK26autYuZ6hpmrq6cL-VcOGA8g31Y3BcelISMe801p2gG116-KB3auClimybCwYPOJk1G8yZ6bCPIiJfIcMNqd85wUdhc2Evt-ODKEzkTu_qcXiaUr7hfqX9YESLqshNHPB9WXbLs8-euwcO5IyAgOpmbOEofsocaVGYqhR_2OGYRoAFx_V_MFjNSPgeFVphxieZCsFIw9gBAGk-UxTa5-JlwYk2qqcaIs0wyyfOfod",
  "id": "rs_01722e41e16eee17016ab460e01e8487d0861918cc950a5f63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel crosses the centre of the open fingertips. I’m closing the right gripper while the left continues holding the cap.\"}",
  "call_id": "call_YuWHpZvmRDOI06KScpDXotFw",
  "id": "fc_01722e41e16eee17016ab460e1382c87d096f3d25efab98f1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YuWHpZvmRDOI06KScpDXotFw",
  "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]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3073, 2.2303, 0.5854, 1.3819, -0.3553, -0.0559, 0.0091]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4105 right_y=0.1985 right_z=0.0108 right_yaw=0.6448 right_pitch=0.3127 right_roll=0.0411 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -2.3179, 7.0496, 1.746, -0.0122, -0.0317, 1.0037, -0.4034, -7.6923, 2.8103, 1.8388, 0.0317, 0.0513, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40e3d867392dd357f16e314b070e84297706001398cabf013e9af6dc4fb97de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a3853c2f174f700fec5094a4b96c3007f379c143c1dbb7261ba96627bf2d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5392f46a1447d22b4e3c736b2616c87d0b9d48492ec6f8f51a785e06955315",
      "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 25 attempt 0 · /responses · status 200 · 5.601 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9379, 0.543, -0.1455, 0.1349, 0.0341, 0.0538, 0.7288, 1.1793, 0.6033, -0.0387, 0.3969, 0.2844, 0.9989]\nstate[eef_state]: left_x=0.2938 left_y=-0.1367 left_z=0.1601 left_yaw=-0.5165 left_pitch=0.0364 left_roll=-0.0306 left_gripper=0.0538 right_x=0.3026 right_y=0.1834 right_z=0.1387 right_yaw=0.2371 right_pitch=-0.0014 right_roll=0.0154 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -2.8103, 7.3778, 1.8095, -0.0269, -0.0562, 1.0037, 0.1573, -5.4632, 8.1573, 1.6093, 0.2857, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.944, 0.5407, -0.1455, 0.1349, 0.0341, 0.0538, 0.2855, 2.2169, 0.5861, 1.3529, -0.3904, -0.0826, 0.9988]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.1572 left_yaw=-0.5164 left_pitch=0.0281 left_roll=-0.0318 left_gripper=0.0538 right_x=0.4108 right_y=0.1944 right_z=0.0108 right_yaw=0.6672 right_pitch=0.3028 right_roll=0.0286 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -2.3043, 7.0496, 1.7509, -0.022, -0.022, 1.0037, 0.1709, -9.306, 3.1111, 0.5641, -0.5055, 1.2234, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3073, 2.2303, 0.5854, 1.3819, -0.3553, -0.0559, 0.0091]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4105 right_y=0.1985 right_z=0.0108 right_yaw=0.6448 right_pitch=0.3127 right_roll=0.0411 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -2.3179, 7.0496, 1.746, -0.0122, -0.0317, 1.0037, -0.4034, -7.6923, 2.8103, 1.8388, 0.0317, 0.0513, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40e3d867392dd357f16e314b070e84297706001398cabf013e9af6dc4fb97de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a3853c2f174f700fec5094a4b96c3007f379c143c1dbb7261ba96627bf2d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5392f46a1447d22b4e3c736b2616c87d0b9d48492ec6f8f51a785e06955315",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDnLLpWeFUBffoq5rk1BqJ0RpwjKa4LUuj_wmKGRM_3tHoQ8U9Z3yisx8R4Zh9XRHRmMqZYtexZ6xXgnB9p6n87lcYU0KksqbPPYl-Zlr_gP62DHx9wwigmswWIU5mMQtbfxEHGc39XnSRkwdDXyRLCVtY2divVYi2HCHqN1RdPHBFht7kF5aCSN66KFMaMMlAPwlYhmgq7jCsHckOZ6HXU7OeBKUJhR6Xg991xOCu3aH89Ct4EcpEBfQFA0TUMZfQ0OC0FnZ1PhpDVw6G74VGjN3YAochUq9XrTRrLRKfjL6Qk7J-mF4CI51gXLHFL0jJla07tYx_SkYVdFyDT4o6IJgUukUwyPwfiUKtSixbdxoWQlUnrWYzPW1CnrBR2NaAKeNHqn-N7Lvcc0-8lJZvcdgnIR3d3vGVlkdS3ZU2zn9orWD1nKhxsK0rhFcrzPnrbjzrvWEkVw16uqpC-s7V066tkm_cI5O7Rt6xTxGg2RjN3bMP0vt0vSOvd_Z2LSSGf9oYsspbA-nFcIfgY3XDxCpOXkeSMqmqSnbD4kVIY7MsSH6LTk6pB4nk662M7JluoT5KX3_irr5XoGjP7y1SJnCFzhxd9HDrABmDfcHuDcoZbJ4pG5euzWvmpjJGgCrrYKO0HaAs_uhEs6gyzb7MGrRWLpKU5HwzOLj-6szOaEca6IeIkcqduFK8SDjn2xfGFyO9uWPaw1OJA9XHNAGX5LzHgF9ZQtXSc7KSmr8zM_Tz21OwEuUUMjE3lCugWkL8boQQ0gRBhbXgPNNNuSEaoxLDd4VQtli04l_nhEsr5xOh4h0BdIJhQVJs0ambS5iPtb8P9-e0BDCmUKGv4Ply8_krTlKmMrkGj5EzmvKUJZQ32dq-mIy3k6UHuz2cvvEI7VODvIfDgAytpFALBV1c_71tubS-5zcyojP9QGjXIzNrJO35d0Z5a1O9ke5Itshy9iwQ0rvQ7dohY1jLLT-2e4Dv9K9N-KK6kVAyCk8yEGCmtIYoG1JyR2lx6S1zyePR-TPVP4Fzw5JypcoiE90Fn4qiYHqA_egJLSKchk9V5tN9OO1N2hqtIvOysthSLYaA5d3pfC_kZRT54rjHnGrShexGdiD9mkw3BakXDzKpLhNWtTofO9KKSqTZI2sXQCIa0nOjeoWDXKiXwsDrlowArCqimjeT5y7iXmaODiZS6yMF88zOoY5od7S4zU3Ja7qERBGfW1CGnKnSeSafHGQQtifgTq92IvycYJuuy7EWYB3IDXZbNbagHZhcGvhL4CPwwOhh_hXnMzI7glQwx-KkLWcVc66f2vGIStXnGcDvcWGcJF3JIzU7GfVWpyOalHpbKxS6x_FCXDwZPhyS4z5fM8FipNqmSXaKgQvuH5PRtW83nQoQ9kt38RKLYafsJ-Ak4TqDQ5OOzYXbjpn1Zj1NnWhCzORRROaHf9an8aMAGLez5zn4jqnHjcuKubD_UkAuZf1OuYRxxEYgPFRUGzhFY4_7SgbbH_BxWJpAWh9wqELLrfS-72KKDvtB9diN3KDXwvpX0D34C1dteQ-wWvwWTjja4EfdbuRm_K0wOTLuwCnY9FGuutd-SwfMMqO0RbCy8Bq9mBHSmUrV0t26gg1f81u6Pv9oKYvcYUYlBpzQvJ04K0jIWDJQTYEU1ecqekjyxWCRNuFevvQjCXW9kG0I1hEE_TrZpsBt8fEAtWrB4flbIO3wus6w-J8bfJUCBhUeiAOK229ykcKb463nhdSU6M4EpyD86p8SjSI4GhqdBXdzOcHHbs1fzY6-svmod2BrT",
  "id": "rs_01722e41e16eee17016ab460e4182887d0aabf3f9645a0c59a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.425,\"right_y\":0.21,\"right_z\":-0.01,\"right_pitch\":0.3},\"note\":\"The close was empty; the pen is still just ahead of the fingertips. I’m reopening, advancing two centimetres, and lowering the grasp point to the thin barrel’s height.\"}",
  "call_id": "call_C36nCXjwl2Z1wg7fj3VTN9BO",
  "id": "fc_01722e41e16eee17016ab460e640bc87d0ababfb7260678c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C36nCXjwl2Z1wg7fj3VTN9BO",
  "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]: [-0.3733, 0.9443, 0.5407, -0.1463, 0.1352, 0.0341, 0.0538, 0.3256, 2.2974, 0.6724, 1.4227, -0.3504, -0.0689, 0.9947]\nstate[eef_state]: left_x=0.2936 left_y=-0.1367 left_z=0.1569 left_yaw=-0.5167 left_pitch=0.027 left_roll=-0.0322 left_gripper=0.0538 right_x=0.428 right_y=0.2123 right_z=0.0142 right_yaw=0.6732 right_pitch=0.3697 right_roll=0.0049 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -2.1402, 7.0769, 1.746, -0.022, -0.0513, 1.0037, 0.3487, -6.5573, 3.3162, 1.5067, 0.0952, 0.1538, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22003b00ee5ed37e20b6396547fdcd4ed0f472a8a2b29de9a2e9bdb3452ca230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12a5c7fe36155ca38b3e4a33df9f184b5757fb8cb1a91bbe81df84555ef49980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f31bcedb753e8a3c6044892a3f07c79ab049804d25c0f643f063a240755181",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 3.209 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9436, 0.5407, -0.1467, 0.1349, 0.0341, 0.0538, 0.2218, 2.046, 0.5758, 1.1786, -0.4263, -0.0734, 0.9989]\nstate[eef_state]: left_x=0.2936 left_y=-0.1366 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4187 right_y=0.173 right_z=0.0428 right_yaw=0.6284 right_pitch=0.2937 right_roll=0.0531 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -2.6735, 7.3641, 1.7216, -0.0171, -0.0611, 1.0037, -0.5402, -8.6632, 4.465, 2.3028, -0.3394, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3073, 2.2303, 0.5854, 1.3819, -0.3553, -0.0559, 0.0091]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4105 right_y=0.1985 right_z=0.0108 right_yaw=0.6448 right_pitch=0.3127 right_roll=0.0411 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -2.3179, 7.0496, 1.746, -0.0122, -0.0317, 1.0037, -0.4034, -7.6923, 2.8103, 1.8388, 0.0317, 0.0513, 0.7253]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1463, 0.1352, 0.0341, 0.0538, 0.3256, 2.2974, 0.6724, 1.4227, -0.3504, -0.0689, 0.9947]\nstate[eef_state]: left_x=0.2936 left_y=-0.1367 left_z=0.1569 left_yaw=-0.5167 left_pitch=0.027 left_roll=-0.0322 left_gripper=0.0538 right_x=0.428 right_y=0.2123 right_z=0.0142 right_yaw=0.6732 right_pitch=0.3697 right_roll=0.0049 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -2.1402, 7.0769, 1.746, -0.022, -0.0513, 1.0037, 0.3487, -6.5573, 3.3162, 1.5067, 0.0952, 0.1538, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22003b00ee5ed37e20b6396547fdcd4ed0f472a8a2b29de9a2e9bdb3452ca230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12a5c7fe36155ca38b3e4a33df9f184b5757fb8cb1a91bbe81df84555ef49980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f31bcedb753e8a3c6044892a3f07c79ab049804d25c0f643f063a240755181",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDtVpD-HhC16QG-FnigiPuJZSxM4f-fe77N7crh9ikkTC5jcVNlF84XVgjUvXqk5YQkKCFPZgYLstoM1C5Z_zZ5Zu9lSkX5EDny6isuIJdmuEnA8Ga6w2gvaBbwcz9hhCVJ_BmZ_MfHM9wKiLlar73qjuhyxjUq3BShdD-hbszMKGrdKv8pbrfBNgO4AAe2jmzj5vw-45YtaXFiGVaoS9ZONWT4mj2-BR07aSM_UHNTnP6PXX7n2MEtlhduJZQ-_SK1xcZJm6WHXj9ARDuayRzOrnasuwGbVymdHwb5njWzEzul1bZKiUChsV652r2tpJF3DekyXeomyTwNBztjryOWF0v5tQ6LMvPVeoecetmiB73XDJDjYJJfS1kIeLfuogsVYTl8eu-1NxdDhpxDTxjOsVBqLV5L3BpGLRd-4xG3fsggy656I-oBWFltdaupDdc7sSQ0VrC07RD5KfNrWqnIzPDntyiAsFy6QB5gKR1sCxKMLq3vcEc7TYzA2TBzIqAlhtSmHueLKPQtX02vvNjN6ykypQFhqIKSExyxMaTgHVyK20aGtDTnrFC7Ac_69-8f3KmN80LeeBDqMVDWXb8clmepVpgLC1tWGWbdREGZ1eYq_JpTromajRBZ_zCPjjIDAtTV9VA1U9c8NFqPgPQ0wxm29EJNBT-xMzW7Zny6vZXG7E66L8jHuit7BN1dUkf9E5768m_Z1AKjxEr6Fn6rImDK6uYyp6xQtEpLJ0gG7Wv7sKynXW5n9BffGlfsrR-XFcfb_3wvuPX8zXi0gcnwEsXT9EaOu2ywHOhkJFsUl8xrPKcHea_MM0haTa-kb7c4P2U9zFQjFp2raN76GE9X24Ap5dhqCr6xD6A2uUfoRu_FwmrEvEeWLk-mS1Lssux46SF6-eONB-uG1ygWvPYtpS6c1ejwMOmZBkE9AdX7aQu-CQnAd778qecqduExOGhDQ9zersPw2m8fkXVFVmmUVsfDnaom5KIoNcItEBXmn-uUBFD6eJE3ZJE2VmCMGoirtQ0EqYFXQj3G-K6dbhIO9Z5eZpCR6x768f1SPF40Z2zwwm80w2ua9wsHPTbH8TEP0sB_bdHb70sgAs9E_SqbfAVRG7v4IPlCxNs6tqgwjJ_bRmej6XDAIDsn5l4sdzZpuKW4jRsLQ1vwKuaJ0mHeOkZX1PBdN7QZgKGDmgYd1faxYUGkqGnzlKPHAJnHXatq6Nc7lgK2Rsja8r_EoJfsQFpG3N9rE61RWhKHJ7wXku2-7qjOy5VKC-dCvlFFhQlSZueR6qZY6bMHUZ--BniK-wGva5QMkk7CgWa6gBZohJRJV8qQdf7M-Zc3TjJjaNgYMMhNmStP_pbZJPtEuv9B-_9_fyN_u3nUAEj_nnlAwbsdOBc0eqriOIsx9nHR2IYe_ZBT5INfNIBHoHlim6TS0Fc9GRldE83RDjyvF68mZtnSA3ki9E6lhZOIZaUNeUhxmjgfW3bZzaYM9LS6FQESSviKhpdN5mn6qcbbNkSz5U5bn0_8F2ZzfD6yjpInRNsaqVHLoUd-B35TJgxGUUx5t4hKdumGqD5aPVeteTScFrbLYI4dc3GWF0tKsMsHMi6pf-tiii--n-JoaoNDSLWUIuqkk5swF71uuG57P5CPSietLLJ0idyXggIP04Ggtm5V1R-v9eGUEzAcquiUT2zvs_ZUOWnVE4fbWdZUuI3h0xncH8NHAg6b_y0sG6ih681qlsnh9iDUOu5Q6aZIP0Fyiwfd7WF__0D2-pWxc07XFnUwSZlKHDnUVhIl_22oU_SQ3Q8lSvnOFOnIesLM1bOv1nNXrJZUiJCiD33sJhPAtFrhzKAI3dMDOszMrf6ZRm-iitJtb05qBgLib0T7mot0KSLNne9OnrUpqlVs4Gx_K3kHHlVPNlGghDgO6FwH9AMvJexVyB1MHwFlI6u2Oq5dH280sWuRUjbeOhpbLeiz3GQcVUF2HA0BpSw9juILaU1x3YdWX25i9xSC5AyVNw6wxcsKdeSk9DPjScwoc6-IWNtOwp8ohX5gDJXE2Nl7QcfJH03Btfzc0QZGreokgXG-lbXd6QWGUROD5BwQFFOc0gofhG2dDcAQjV65k59im0VlNqcaTNBoKw2B8t-affOTH2NGhYpHg3BADKKN-E8lFl971IQ0DeOx0MXGq0dSrvFpnP6WQ5IuBq_bIv4X-Z9GvJW8mVQCOev_Ksv9qlxoczU=",
  "id": "rs_01722e41e16eee17016ab460e99a2487d0a9e262428f1bb042",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.22,\"right_gripper\":0,\"right_pitch\":0.1},\"note\":\"The barrel is now within the jaw opening but a little left of centre. I’m making a small correction and reducing the wrist tilt as I close, to bring the fingertips down around it.\"}",
  "call_id": "call_YDVlFo3P0YLpxhraY8Vnvwz1",
  "id": "fc_01722e41e16eee17016ab460ecd6dc87d083d26eca6632a429",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YDVlFo3P0YLpxhraY8Vnvwz1",
  "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]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3676, 2.072, 0.701, 0.9295, -0.3069, -0.136, 0.0347]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4182 right_y=0.2221 right_z=0.0136 right_yaw=0.6934 right_pitch=0.14 right_roll=0.0067 right_gripper=0.0347\nstate[joint_eff]: [-0.1299, -2.1538, 7.0359, 1.7802, -0.0073, -0.0562, 1.0037, 0.5402, -9.4291, 4.7248, 1.5458, 0.105, 0.0415, 0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8350885bc189556ebcd51fafb955b41d50c068fa51bb22099f5e68145b457b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8002da27aca4fe5ba16cfca14ced8c7c3b0cfc711876cf2b51cdf315e7118769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a0a7568b5eefb2140a9c180d83686f0b5b7afaaf3aefd7a590cbab0e0a0128",
      "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 · 12.81 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.944, 0.5407, -0.1455, 0.1349, 0.0341, 0.0538, 0.2855, 2.2169, 0.5861, 1.3529, -0.3904, -0.0826, 0.9988]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.1572 left_yaw=-0.5164 left_pitch=0.0281 left_roll=-0.0318 left_gripper=0.0538 right_x=0.4108 right_y=0.1944 right_z=0.0108 right_yaw=0.6672 right_pitch=0.3028 right_roll=0.0286 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -2.3043, 7.0496, 1.7509, -0.022, -0.022, 1.0037, 0.1709, -9.306, 3.1111, 0.5641, -0.5055, 1.2234, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1463, 0.1352, 0.0341, 0.0538, 0.3256, 2.2974, 0.6724, 1.4227, -0.3504, -0.0689, 0.9947]\nstate[eef_state]: left_x=0.2936 left_y=-0.1367 left_z=0.1569 left_yaw=-0.5167 left_pitch=0.027 left_roll=-0.0322 left_gripper=0.0538 right_x=0.428 right_y=0.2123 right_z=0.0142 right_yaw=0.6732 right_pitch=0.3697 right_roll=0.0049 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -2.1402, 7.0769, 1.746, -0.022, -0.0513, 1.0037, 0.3487, -6.5573, 3.3162, 1.5067, 0.0952, 0.1538, -0.1783]\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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3676, 2.072, 0.701, 0.9295, -0.3069, -0.136, 0.0347]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4182 right_y=0.2221 right_z=0.0136 right_yaw=0.6934 right_pitch=0.14 right_roll=0.0067 right_gripper=0.0347\nstate[joint_eff]: [-0.1299, -2.1538, 7.0359, 1.7802, -0.0073, -0.0562, 1.0037, 0.5402, -9.4291, 4.7248, 1.5458, 0.105, 0.0415, 0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8350885bc189556ebcd51fafb955b41d50c068fa51bb22099f5e68145b457b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8002da27aca4fe5ba16cfca14ced8c7c3b0cfc711876cf2b51cdf315e7118769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a0a7568b5eefb2140a9c180d83686f0b5b7afaaf3aefd7a590cbab0e0a0128",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_01722e41e16eee17016ab460f043bc87d085c732114030101f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.21,\"right_z\":0.1,\"left_x\":0.3,\"left_y\":-0.14,\"left_z\":0.19,\"left_pitch\":0.15},\"note\":\"The pen is now centred between the closed fingertips, although the opening is very small. I’m lifting to determine whether it is actually held and refreshing the cap’s holding height.\"}",
  "call_id": "call_QeNx3NfCBMlur1NQcjcSPxoe",
  "id": "fc_01722e41e16eee17016ab460f0bf3887d0af00da0afbf184c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QeNx3NfCBMlur1NQcjcSPxoe",
  "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]: [-0.3733, 0.9188, 0.5407, -0.1184, 0.1356, 0.0231, 0.0538, 0.3664, 1.6943, 0.6476, 0.6315, -0.3115, -0.1402, 0.0342]\nstate[eef_state]: left_x=0.2955 left_y=-0.1375 left_z=0.1706 left_yaw=-0.5115 left_pitch=0.0798 left_roll=-0.0345 left_gripper=0.0538 right_x=0.395 right_y=0.2134 right_z=0.096 right_yaw=0.6997 right_pitch=0.1656 right_roll=-0.004 right_gripper=0.0342\nstate[joint_eff]: [0.0479, -3.3162, 7.9111, 2.0928, 0.0855, -0.0415, 0.9988, -0.5538, -8.4581, 5.7231, 1.7118, -0.0757, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063bf5306f9f2e863eb6b6caafa4784bea05be279ed18d35d2b690c55a49e1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73082cf94d582606fafa06836cba2ba57ccda8f11cd5ba55cd2044ce6a2129e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc88ed8c797c4edb072c64bc05b004542aa758d46cbe9465b1f5be27f8a978b5",
      "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 · 10.71 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3073, 2.2303, 0.5854, 1.3819, -0.3553, -0.0559, 0.0091]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4105 right_y=0.1985 right_z=0.0108 right_yaw=0.6448 right_pitch=0.3127 right_roll=0.0411 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -2.3179, 7.0496, 1.746, -0.0122, -0.0317, 1.0037, -0.4034, -7.6923, 2.8103, 1.8388, 0.0317, 0.0513, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3676, 2.072, 0.701, 0.9295, -0.3069, -0.136, 0.0347]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4182 right_y=0.2221 right_z=0.0136 right_yaw=0.6934 right_pitch=0.14 right_roll=0.0067 right_gripper=0.0347\nstate[joint_eff]: [-0.1299, -2.1538, 7.0359, 1.7802, -0.0073, -0.0562, 1.0037, 0.5402, -9.4291, 4.7248, 1.5458, 0.105, 0.0415, 0.2271]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9188, 0.5407, -0.1184, 0.1356, 0.0231, 0.0538, 0.3664, 1.6943, 0.6476, 0.6315, -0.3115, -0.1402, 0.0342]\nstate[eef_state]: left_x=0.2955 left_y=-0.1375 left_z=0.1706 left_yaw=-0.5115 left_pitch=0.0798 left_roll=-0.0345 left_gripper=0.0538 right_x=0.395 right_y=0.2134 right_z=0.096 right_yaw=0.6997 right_pitch=0.1656 right_roll=-0.004 right_gripper=0.0342\nstate[joint_eff]: [0.0479, -3.3162, 7.9111, 2.0928, 0.0855, -0.0415, 0.9988, -0.5538, -8.4581, 5.7231, 1.7118, -0.0757, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063bf5306f9f2e863eb6b6caafa4784bea05be279ed18d35d2b690c55a49e1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73082cf94d582606fafa06836cba2ba57ccda8f11cd5ba55cd2044ce6a2129e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc88ed8c797c4edb072c64bc05b004542aa758d46cbe9465b1f5be27f8a978b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGD_jqiZE0EkeEtJ-GXgC5B4Y1nhxzZ3optivNu-caQTeFJiNfGz7bFODqhTyeuOP4uH62MXttnPqFjwBnQBjz0xwSxSVeOQZ2zXWumbIjDbvEgASXWs0NrTIBGNd0Aa1ZrYPOoH2oB199VnXLQ4uVBgpSkZpBXq5eyVoklCO5pHr-3N7_pEj2dW4PEBwqmaVuDchgICUfEqx_HExteTr5ZIUVr7ToRpcxkJfNz4CXw9KqAW4lnOPBREEV2y9VQEzoigENrLg1IR8GwFLqQXGfQ07R5gGxsNHYHi6c2-pfGc_iuNggsdUAPr1Dm-cLuoYqbbRWrXdUtQY20O6hACsghn-lAIYe0RHj6Cm1NEAhllB5tjC4GwokJWCkhZEQF-14YkAO4SfkmVqCJUSaof5uaB4OKB_OYP4dFUdZ3QmgCisyarkBVhhIVKQZtFBPD5fTIEEe_CGipLlm9k88azk_s5jrLJNsQdGtbFGU829a0bGIbX5cCj74glVRgkdCicukQOACjQG8Um-pUksJ1-Ufz10uVmRgBMq9MfrK9b7iWZflktxjVacWygsZU1jfIZz4_fjoCqDys0UbJuHVYDa2C7FbSMnUrAbBD12IBKfNE0Qe6vN4nUOS35sb5XS894jaG3Gsq33sBMKAKRxJG_WiZmbUMy7VFlkpLtFbpy46iqVC5j9lUPfaWQdKV6lmS2pQ78l3bS6tmiDrwkwKMorZVMpLzKw1mAxPjrGmj2fWnil5F22uNjaUWBce2skbOHsyVyRvUbWRteFdqOcYcXagQpiim2yc9Z1B8ORG-L4hdAhVZfmgguefyPle5ulqU1-ukohvb9sQ82SojjtKn1GplcLSaF4kP4Nq2sWZCiP28D2kwdAtmVgqBy7Y_8vwsgQQ-HcLb5wq3Uu160fUG0kqJhD_qyHvevgYQUAxfWI-o-PU6Ylx2DJy5ePygJSCBQ3Pu2pQ4_6DuS16h_FDFn8K2qhqPfTaFaRF6yN539VK9QkC17BU10PtC5dTDWXnGm2y11jeVV21FerhsmL5s3LsWJO8wXA7_g2L_-plE0DqxAPitjBwPfYwpauHw_deDYQ85R4GXtUBQlfkbEbj_1UYin2dEbDHjNFNcCb9O38S_ACZkq3AZoq9yVDCE23qqwa0uQjHtO8ieSKAZFX0wkCzPg_H1MqiF4QTF_lHG-ivF2oPnIQ3Ane2OKl1992LyCLhOkFUBSxe4zvhjJbXCJqNeq1o4AoE9R9pGzVoFo-CXJl8ElRIRc8DecQNniLe2wQq8sTHIyW5MzZWxCbMcK5u6SOTXFapleurWAHsPQJVROBfz9UVcdvcijyCy96D-jVvTctCzxVeuZqMB4trkveR5Qaphs9Y7fXzin2Naf6hK-tCiaFKZ3Z4GHGD1_FGW337FMndhHQbHRtXoehxbhvANZyz9BZBcH5YZaie-lvJskSG37eAEUw4jR-9aeaEP36DENCEYlrIVjZMqCn7iDoEQlr7Wh5pq79fgAuHW6KTJACMnPymWauvBwtTAj6hwYLwDEDd8h6iP_V5qDGjT-TvxdQ79220gVlb0NJxO3zdBBnORCi89JgghYgB86thkxLEbRmh4VM_mUMiwI7naimrEZNAQ2S5oj06SVU4Pd53MyZFwezZTJ92ifp5V0VKgKL8fZdo3ztJX5eftRJhlHV3ngkGJ6-EWeHdVh5r17dHij-bJBWtDr42IE8e71gRtGH6L5LQx39I-bOy_Z5TC1_dJT9ceSG31SMwf2UCHd8dg0W459Hu8fLelSpOBApIMLDLsbviPUG020XIZUjHrNDXH5Zdtg5T_5cwwtrRYL58RX7AOMA3nH_o0Gn1dWvayS4zoovLMx_VeXjJIdSgfSU8dX6_z8uscRe2MHtdoawsxWqXb-t6u25_N1qnWOpAEuCxGM_yRjxPXK-Ju_BlSYlDllfa5OsVDttBQHOEzjGC4igbVZJrf3glorxzdLILLii39NDJdPDdJ0XTaaHEfhXzlKKXnfMi1lRQEtbP0V1f6kMBpz9t8bloh9ekp79QgYIBCgWlTFox1u3Me127VbaQU5Gm6bvdti3eL7mShmv0_0D1Jb-PflC9eSGL-krAsYNut1hTCPdj0TrnKEpwm8qT5TECM1kaFG-IZWu4RAVjW2ixVq0bIdjmJ3I6I0iNSFsdt8vaqyafbc9lTw8g5tkGy9TJoKcuoHMgj4mUWp_PyLUpsd2oPpxQsKgtRwytFu8dzql0mNyo79u62U_31rmJsbRayCaUujIH1ZGZD1tg3B300b2HTLNlAPeQXM1EjYhJDBGgu2ztUHJKfEFqtdg1foe5TsK0o_XPzrGDxZYFP8nWQBrawQOtP0xudoxFkOFQhuZNSNps1YJFBtGswfv38GuHIM_upJOzgu63szzyGCs4UMEFy6gWtpdcCGXwws190lR_ETlhXnXzT-UR78uFVE-fpZ_NKgcJDHR3S56_XTTecP1VIf01jue8nKfp_Dq6Gw2uHMt3mrgaaWMWXyUbKHXZasSktKgS8P-WEasccXiCQZapFmHy9So4EstRo-wGFaUoiU9jhNbvK-66gkboL5Jz441T5wNGqp2E-YY_xC88HlplV95VQyoQeOO42JTOH26mXfaieAK1DP6aG5Nk8goladaEQje0-llKbvdyNJg4Yr9dXYcoMr8B394A2ABjb4OVHbCMZld_4wKih9HqJTuo8dKFTZR8WqrRz0e3VRUpCWiiZZsrALeOudTYOpBZKq4q-MCkGMn-gm_EbxDzX2IbUrMnr5E1AnK8cX2I45qjIR9HzR_95PGg4wxVopwzRY6HaWIX6U_ZUw5mIvHq9hfSANPr2m_FkHl6dHgqqbWFiM1ltM-uAr3oRV3g3PsG3Xm4QKvkcexPDwvQpjtpbEWI9kNsuW5agAQmiUp0niJvJy8BSafVpYh2IuO29H0ukycfst_CV3U1TcAXO2SJrmmnXHlbCZKqcYCvzFQnZeaz9QTqrVMY5n_7nMFWAZoKaBKa52NTPOEOBvpa6vrJU2iadK-KnGGflmwoPEdpBDgkbFPpWGF4ivkbx2Yv1xDQDgLaFQGMCOgq4JiuOo8ydCIWrCI7a9LsnJ0SzMgPHUQlfdjo8VCD5nHN_6POz0eTqnf3gZx1lSufDYOyqxiuUElMavwkIi5SH7znkZvrmC9ExJ73PW-nqJqvYBO0TBAy2zLc5JkAkCOrfTCUTIjLpHPzGUrNUbZQaIhc7RJUNQXnLo42Dnc6XUNfiAC-kuMPAt9MpskcR4VJJrQqgVNOLlrC0mUxRv1CA7-dKCql7eRLjJv_CUl4e8vqy3UFKHfcK60UOzL9HOAUEtpnrOdHGs9fMJf0gqOvi7i0ostSlc9M_477GwTWWw9ei1-30ZYVVMuOEULWkJfdKV_bII6uaOuEU06tTiAEfgquilvUlHftet3YQM54WdOM87-i4ppUo_oxRvLigUmfHOrFspV8Imlwxxb3Iq9DtNwmtAVQAvwjDhXy0mdfMgR04hQJkc12OAs98XnUW6TZN6V_7mjav7PiAdJOmo8YBa27jetU6d2hSeXAhaIrH7TEhZy34N6nYPKH2lqKSyKe3BemCf2SVGeyygMV_9YrDn3qBAog54xpIzsP8bS4CKtvwkZBE-4f-8_3YzpxnS7TmLWHEk_2Q-xQ==",
  "id": "rs_01722e41e16eee17016ab460f4055c87d0bca3f90128d94a8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.27,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0.15,\"right_x\":0.28,\"right_y\":0.31,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0.15},\"note\":\"The pen rose with the right gripper, so both parts are now held. I’m turning them to point forward and positioning the cap ahead of the pen, with room between the grippers for alignment.\"}",
  "call_id": "call_vp24DHzapGkmEnWC4JwxVTFT",
  "id": "fc_01722e41e16eee17016ab460fd5a6087d0a8dcd968d3236b47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vp24DHzapGkmEnWC4JwxVTFT",
  "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]: [-0.7265, 1.7313, 1.1786, -0.0486, -0.6319, -0.4042, 0.0578, 1.0706, 1.6093, 1.0477, -0.2729, 1.0008, 0.6998, 0.0341]\nstate[eef_state]: left_x=0.4287 left_y=-0.2366 left_z=0.1749 left_yaw=-0.0015 left_pitch=0.0974 left_roll=-0.0071 left_gripper=0.0578 right_x=0.3099 right_y=0.2644 right_z=0.1737 right_yaw=-0.0757 right_pitch=0.1481 right_roll=-0.0438 right_gripper=0.0341\nstate[joint_eff]: [-6.2154, -6.065, 11.0154, 1.9951, -0.4713, 0.0855, 0.696, 9.1556, -4.9299, 12.506, 2.2198, -0.7399, -1.199, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117e1c939ec8d82aebc52253b761731cdf87007d4c8be3e48a28f5e119826c0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1d03aa3f2a35229ad711df97fdc26010f3843a5832d8f4dbbc0a1d003f6f61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a51cf648d2de5fae9eb722271fa4e30abeae4894709bb569d4db3fa73e60ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 7.355 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1463, 0.1352, 0.0341, 0.0538, 0.3256, 2.2974, 0.6724, 1.4227, -0.3504, -0.0689, 0.9947]\nstate[eef_state]: left_x=0.2936 left_y=-0.1367 left_z=0.1569 left_yaw=-0.5167 left_pitch=0.027 left_roll=-0.0322 left_gripper=0.0538 right_x=0.428 right_y=0.2123 right_z=0.0142 right_yaw=0.6732 right_pitch=0.3697 right_roll=0.0049 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -2.1402, 7.0769, 1.746, -0.022, -0.0513, 1.0037, 0.3487, -6.5573, 3.3162, 1.5067, 0.0952, 0.1538, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9188, 0.5407, -0.1184, 0.1356, 0.0231, 0.0538, 0.3664, 1.6943, 0.6476, 0.6315, -0.3115, -0.1402, 0.0342]\nstate[eef_state]: left_x=0.2955 left_y=-0.1375 left_z=0.1706 left_yaw=-0.5115 left_pitch=0.0798 left_roll=-0.0345 left_gripper=0.0538 right_x=0.395 right_y=0.2134 right_z=0.096 right_yaw=0.6997 right_pitch=0.1656 right_roll=-0.004 right_gripper=0.0342\nstate[joint_eff]: [0.0479, -3.3162, 7.9111, 2.0928, 0.0855, -0.0415, 0.9988, -0.5538, -8.4581, 5.7231, 1.7118, -0.0757, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7265, 1.7313, 1.1786, -0.0486, -0.6319, -0.4042, 0.0578, 1.0706, 1.6093, 1.0477, -0.2729, 1.0008, 0.6998, 0.0341]\nstate[eef_state]: left_x=0.4287 left_y=-0.2366 left_z=0.1749 left_yaw=-0.0015 left_pitch=0.0974 left_roll=-0.0071 left_gripper=0.0578 right_x=0.3099 right_y=0.2644 right_z=0.1737 right_yaw=-0.0757 right_pitch=0.1481 right_roll=-0.0438 right_gripper=0.0341\nstate[joint_eff]: [-6.2154, -6.065, 11.0154, 1.9951, -0.4713, 0.0855, 0.696, 9.1556, -4.9299, 12.506, 2.2198, -0.7399, -1.199, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117e1c939ec8d82aebc52253b761731cdf87007d4c8be3e48a28f5e119826c0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1d03aa3f2a35229ad711df97fdc26010f3843a5832d8f4dbbc0a1d003f6f61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a51cf648d2de5fae9eb722271fa4e30abeae4894709bb569d4db3fa73e60ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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  "content": [],
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  "id": "rs_01722e41e16eee17016ab46101d7f487d09b9a4076f268ab2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.06,\"right_z\":0.2,\"right_yaw\":0,\"left_x\":0.39,\"left_y\":-0.16,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The pen did not stay aligned with the right jaws during the turn, so its grasp is not secure. I’m separating the arms to check whether it slipped back onto the table before attempting any insertion.\"}",
  "call_id": "call_r4BTQRjp3vXckeiFeXi9Pdy7",
  "id": "fc_01722e41e16eee17016ab46109ce6c87d0a94a3e69fe76e4a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r4BTQRjp3vXckeiFeXi9Pdy7",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6209, 1.4376, 0.9554, -0.0906, -0.556, -0.3546, 0.0599, 0.4309, 0.8227, 0.5579, -0.1947, 0.4515, 0.1692, 0.0341]\nstate[eef_state]: left_x=0.3938 left_y=-0.1626 left_z=0.1941 left_yaw=0.0188 left_pitch=0.0931 left_roll=-0.0137 left_gripper=0.0599 right_x=0.3015 right_y=0.0577 right_z=0.1979 right_yaw=-0.0499 right_pitch=0.149 right_roll=-0.0389 right_gripper=0.0341\nstate[joint_eff]: [0.6222, -8.0889, 6.6803, 1.5458, -0.0855, 0.1832, 0.8376, -0.3214, -1.853, 7.2957, 1.7607, 0.0952, -0.0611, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a871c7cd5a83f437625ea4e7a43c85c89bb9703dc41fc221a5425258714ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f558d11e63d346e191d186a1934e51167a3a670210d6f6dfb2a84ad873bf266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de36ff21cae2a779db9361b758e2c3184b30fcdccca18cd43c4d7d6743238750",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.743 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9443, 0.5407, -0.1459, 0.1349, 0.0341, 0.0538, 0.3676, 2.072, 0.701, 0.9295, -0.3069, -0.136, 0.0347]\nstate[eef_state]: left_x=0.2937 left_y=-0.1367 left_z=0.157 left_yaw=-0.5164 left_pitch=0.0274 left_roll=-0.032 left_gripper=0.0538 right_x=0.4182 right_y=0.2221 right_z=0.0136 right_yaw=0.6934 right_pitch=0.14 right_roll=0.0067 right_gripper=0.0347\nstate[joint_eff]: [-0.1299, -2.1538, 7.0359, 1.7802, -0.0073, -0.0562, 1.0037, 0.5402, -9.4291, 4.7248, 1.5458, 0.105, 0.0415, 0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7265, 1.7313, 1.1786, -0.0486, -0.6319, -0.4042, 0.0578, 1.0706, 1.6093, 1.0477, -0.2729, 1.0008, 0.6998, 0.0341]\nstate[eef_state]: left_x=0.4287 left_y=-0.2366 left_z=0.1749 left_yaw=-0.0015 left_pitch=0.0974 left_roll=-0.0071 left_gripper=0.0578 right_x=0.3099 right_y=0.2644 right_z=0.1737 right_yaw=-0.0757 right_pitch=0.1481 right_roll=-0.0438 right_gripper=0.0341\nstate[joint_eff]: [-6.2154, -6.065, 11.0154, 1.9951, -0.4713, 0.0855, 0.696, 9.1556, -4.9299, 12.506, 2.2198, -0.7399, -1.199, -0.0269]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6209, 1.4376, 0.9554, -0.0906, -0.556, -0.3546, 0.0599, 0.4309, 0.8227, 0.5579, -0.1947, 0.4515, 0.1692, 0.0341]\nstate[eef_state]: left_x=0.3938 left_y=-0.1626 left_z=0.1941 left_yaw=0.0188 left_pitch=0.0931 left_roll=-0.0137 left_gripper=0.0599 right_x=0.3015 right_y=0.0577 right_z=0.1979 right_yaw=-0.0499 right_pitch=0.149 right_roll=-0.0389 right_gripper=0.0341\nstate[joint_eff]: [0.6222, -8.0889, 6.6803, 1.5458, -0.0855, 0.1832, 0.8376, -0.3214, -1.853, 7.2957, 1.7607, 0.0952, -0.0611, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a871c7cd5a83f437625ea4e7a43c85c89bb9703dc41fc221a5425258714ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f558d11e63d346e191d186a1934e51167a3a670210d6f6dfb2a84ad873bf266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de36ff21cae2a779db9361b758e2c3184b30fcdccca18cd43c4d7d6743238750",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGEUnL6qFiHFVWwox1cw_UTcPzDd19kvtuhjzhhirooVqcz2ulPe1DCpCBTq7ezW8VyemRnB2LpQZDYiAy-hkCcz0eAFqlOnliPzmdeD40NeUkxT2ATKjbRf0Mn-TJOfKMkTD9OAN018bEltGLdoiFd1tNQ7bLJEAFtpuYzsxHzkHA0tiKJTTmq0mng0Dp1y-UlW7EtrAI0NT1N90WI1tpvn7fUw8-c1njl5A0PV5nGSTbeMdkSqLOHZfEtcOmi6IqUGGRP34jgAdcy83ErS8YxxoUgcYYhP1cZKJkrzppkeHEVtTIQwMLu559EvbuPtlBs-JnnVJVhSAxAlaBy7qHJK-o6JG6nTqN1PxO1uDCl78K3mohEQEC_yz5QXFinx612zHlpyknF6Bp0QgqoiBFXCBcD5tKhCe-lcTA0xe7BfcUwd2HH996fWsV4TRrVgk2jWy3fZmEqMtxx4CuDQmJvz3qjKCTH-TBcGU_ZoHNRJgouVtBKCg8JfW_Ne2K1wykmWwG9sGzerIM_UAWtZOnHrwGwsAvYnm1uOjc19_esYJ5zFP_5DgmZvD1id1o5mR4dTOVcqJweAHwYLU2X0jPVpMT7CtrNCICO2SHPhVKWqAyQrNCqBnKpt0YBi4g0gs2gLvaOwEMD20Ts6Wyb1qn8PIXgDlsR6ovrBGEoKFXO1MTe0mJ9Zsgqaw77cYA_4aM4ol3y-uyN8M3ZhfVJXcbiYozkrl9Hpc5qhlZca0wmodj4OHst1XYuUUR_EqHO8IlvsO3N37po9JLxcooh5OIZEWrqlfHlYPPG7gURFIdrnnsPe1PHykR3BW_nbKCCmcP4pP28iyIz57GC_KYALpFkDAJ9KCkM32xGklS8NHOSSMld2fTr9-pAmTpJB7kIx2X5268xb5Pq7LBEHObT4WTVJMk7iC1fYw6WZWhVDejcctyO-KAqSOokwgiwYd46PNklIleA2YNqg-U28b0vWgi3flOjDkqKOEoUEM4njeudOhj4dltE_XOqmwPNCtGBxZ90rpAUDQZjzFSDrzQHRsdd-m6L5zjicNt3szTaV4JH9viRj4xGTJPAPfQR_MOAEqJW0AgoWRaoIOrJrLnO95nzJ-UottDbI7btlxFnkgc07rQcBP4xFlYH9NxYBzopjUncdv0b9DYIPndC_mamheU7W0b4gz4dgag0YRQh0T8P-FtC79CEvYCGtNsRpTD-oLq2-Sdxiy-51S0Y9_QY9gdHTik1Gbvr46q9zMuA--hFGLsJU42KRJUKr7hYEr_l65KNWQp54_FR1hrekldFwDe22kjGiAvFEunmPSCP6Pk9gY_hI-pDFPpCa2iz44ps08I5IHScpMiAqIDqXN6rQepKAZrffzSqqgmo7tYAZL0jMJmHM72XKDq_Td3VaC4-S7GbWD7usbNwA18dXCi2WKWMnV2j6w9V1DyqRvh1EWWkQwbUR8ppQZtILcZlV1m7lhY_rRKJ8RcEtT_gFmThFDLhMYXQGu0oRG9YP0aOjznhZ_UzBnAmV8ZJWOUg-Aclel3KnFvhziQs6eOZUPxXSf6FSsGSO9T1br1jotC3slW6Mga7uyCalx57DSglipEDoOMvqe4WvvWoNQlcBCODN0qkb4neUZabIoIEggwsIP0y0VcPf3aacCu6R_7ajJQ8M1fVaGF7Zc8HI3jpzdB7Yk7jZIhZbpNY4yBSBSwyiUuMPLWPBzT4Lvjt30fI3q9k8MoD7iCngQT5H8zKnDx9uC2iu2LLVHHjLHP-INtMT9tovq5Y3ODcD5HfY9fWokd2wYIkBsxLdeUE3PV43Ijv3wadiE6i17u0OqhH4X8JpCXbJyJsQtq0dhtKTFGtipbQ7LajBFacMdVnPAAnwxw8lnZ62C16WDrYC9diuoJ5EM9RwHJgaanolKqY4tcwsItjGKeKcvQr3zqJqlieFye6KweZ8k8DDhBZjQ7osjqm8DkIdWuk7A2sh7gsVI2zOclySM1E9Brz6IwAOqAjXKyHJb3-znIavvS0eodQXIiBPN0kE91FGkMBY8rSSAOFNu2sptpfwaqHfu7eb2j8oMPC5U57JfmKBw8eSgwgT0p76GlWLTCzSFQsm3Df01eBZDj7FwybLnRpTmGPc3WvI8LEImKQZYb0ST32xtQ3cbJgts4SW6Sj-Z_UAFFiQ4ieSXD-DZUMbZnJno5an8psTk02SrPjhGLw_bf5ldXObJOKsbr7d1ygsc9Rmptpocia4GpH5Whmt5DmhjoUPhliBKxQf2_5LsRtrROL_LVGf3igczPSwVC_HQysYQvGpbxIAn1CTJdvPTct8q1KXu1IF_2ZT57kqoyah_vKLxfWISXgJVSAOdj1VMcDd6zmD62roET4kk0PSVHbRrdbmBjjVuE1UYQoH2AcjFR_s75fxe1iO7NtFqWDRCu7vh_4cdv0khdbwl8f1ex7cGX53zJxWjPSKZ3n7fp5I3mSS8jcsYEAliPRF9elOTSYvPSX6MEKWnSsWDmdePtNuyl4SGA88vlltXJqcYQ==",
  "id": "rs_01722e41e16eee17016ab4610ea5ec87d0a4aa13bd8a6e0d57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.255,\"right_z\":0.065,\"right_yaw\":0.65,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The pen is visible on the table again, slightly farther forward than before. I’m approaching its middle rather than its extreme rear end, prioritizing a secure grasp.\"}",
  "call_id": "call_L2yT9Mjo15e47HRhjncotekq",
  "id": "fc_01722e41e16eee17016ab46112ffc087d0aad68c2f6f08e67a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L2yT9Mjo15e47HRhjncotekq",
  "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]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5465, -0.3576, 0.0595, 0.4603, 1.9079, 0.9482, 0.35, -0.1074, -0.1169, 0.9969]\nstate[eef_state]: left_x=0.3932 left_y=-0.1626 left_z=0.1901 left_yaw=0.0151 left_pitch=0.0836 left_roll=-0.0159 left_gripper=0.0595 right_x=0.4367 right_y=0.2416 right_z=0.0543 right_yaw=0.6053 right_pitch=-0.0462 right_roll=-0.0349 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -6.4479, 7.3915, 1.6386, -0.3101, -0.0171, 0.8571, 0.5402, -9.7436, 7.0632, 1.9951, -0.0659, 0.0415, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2af83e75bf30734a5f2c88d44108ab39385dbec88971a99da031601d5140cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07416327ce9ace28a3ad1946f81fa4c45122bd230d6b772e61c3451cce3f53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b8cc13fe6a972a9d0e238aadb2a8c1b6a51b2b2ac0d40a52e86e6521b9d116",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 2.751 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3733, 0.9188, 0.5407, -0.1184, 0.1356, 0.0231, 0.0538, 0.3664, 1.6943, 0.6476, 0.6315, -0.3115, -0.1402, 0.0342]\nstate[eef_state]: left_x=0.2955 left_y=-0.1375 left_z=0.1706 left_yaw=-0.5115 left_pitch=0.0798 left_roll=-0.0345 left_gripper=0.0538 right_x=0.395 right_y=0.2134 right_z=0.096 right_yaw=0.6997 right_pitch=0.1656 right_roll=-0.004 right_gripper=0.0342\nstate[joint_eff]: [0.0479, -3.3162, 7.9111, 2.0928, 0.0855, -0.0415, 0.9988, -0.5538, -8.4581, 5.7231, 1.7118, -0.0757, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6209, 1.4376, 0.9554, -0.0906, -0.556, -0.3546, 0.0599, 0.4309, 0.8227, 0.5579, -0.1947, 0.4515, 0.1692, 0.0341]\nstate[eef_state]: left_x=0.3938 left_y=-0.1626 left_z=0.1941 left_yaw=0.0188 left_pitch=0.0931 left_roll=-0.0137 left_gripper=0.0599 right_x=0.3015 right_y=0.0577 right_z=0.1979 right_yaw=-0.0499 right_pitch=0.149 right_roll=-0.0389 right_gripper=0.0341\nstate[joint_eff]: [0.6222, -8.0889, 6.6803, 1.5458, -0.0855, 0.1832, 0.8376, -0.3214, -1.853, 7.2957, 1.7607, 0.0952, -0.0611, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5465, -0.3576, 0.0595, 0.4603, 1.9079, 0.9482, 0.35, -0.1074, -0.1169, 0.9969]\nstate[eef_state]: left_x=0.3932 left_y=-0.1626 left_z=0.1901 left_yaw=0.0151 left_pitch=0.0836 left_roll=-0.0159 left_gripper=0.0595 right_x=0.4367 right_y=0.2416 right_z=0.0543 right_yaw=0.6053 right_pitch=-0.0462 right_roll=-0.0349 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -6.4479, 7.3915, 1.6386, -0.3101, -0.0171, 0.8571, 0.5402, -9.7436, 7.0632, 1.9951, -0.0659, 0.0415, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2af83e75bf30734a5f2c88d44108ab39385dbec88971a99da031601d5140cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07416327ce9ace28a3ad1946f81fa4c45122bd230d6b772e61c3451cce3f53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b8cc13fe6a972a9d0e238aadb2a8c1b6a51b2b2ac0d40a52e86e6521b9d116",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEZYkqERm_QmwNIzfNUWgX-T9B12cVhMgkdSwgHl_o2om5G0_bQ4-62esHnzGaRaGUs9OSesppUGP0Qdg4GkE-UhCZHF2CtPcV-QfrXLpyzNsmnfw4ji8Oqffk-6we-B-iw2QYZmByy-_F7IeEmD8EG9chtw_rIJkP7uyUXqvMMlBuaBVmsgXbCPLjB67GHYbcQs0kD0Ky3K4gpd4Ql2IuH8hXMau9h5lPD0Q4_a0Ejd1Xveiip4nX40K-nMJwYxZbF9higepgC0pcR4WRBz1Jt1y5mjTe3phOnmrIXIOo1tGfozGV8NFfT483SKgiSsQtpVAQLjbwsQLkgBxbiqU_5B0f08Njb-f1jhirV2Dhi3P1J-ButxeahJTwzxhgUp_n2dRTN18akpcQJfDPlTrYmG-QmkcF0Gu7wUbd-vDZkXti3MSXihR5kNpNq_ihJuFzylIQmR-r1WSzHZ420Oja-LQPgWtZNVDvkgJjZNLpPs-mCwqnqOyGQKHjtL8ixflv-D6G24vNRT7kQuQ-rxwOGDTn2e7i_DUJ_gbHk9OoGAApJSA2bWtjaanGHFYSeE19TJPqwfluuaUVQ2HKLhuHpOEiJE-PuNUMFYaau3OKEnJ88zlGpZwcIJI7TqYEtoyDJFwROjqaiVyzYAfN61Mm2C8WUcBl6XijsNk0-DUMV56wvwAO3qReh9w3wwyxJMFxQirdNz0FXLW181WtPcmSO2irK0n1Kg3vKp4b7gR5Om1N284E93zqdaNxIUSFctFJdCHRdmx7WvfsrQcyWlqFfvd_ty_fLPIYMqt_HomZbOtklS2D1oeHjTeG3ppYDq_OILLQK3idf1bTVsvhI9bkZKkqIvIyRr3-FMYNwkTfnKdrNX1cDBo0myvrpzdJB6JrJ_tIOxpQ4OuiJ_sF0Jz37Q7Y4waxSA9fe_b2qYafx7m3AIBPglENlHthljQUNoxnt07Yr7-8qR_sQWgZAc5OMHcg8633c-_OK90o-CFxLxKs7cFrP5aWwDTMq9rxn8LRcijplENvZufSpR_vPc3M_i-3SueVhI-4EF_Ac5YdwyM6kygLn5pQeKe23_d-AWm3nI6jppiXNaUCUpquywIHaPUmelitHfEKuB0KefOFahDXJrE9pNVrrX7IwdtzhG4EyspkBqYKla0OOwGG6sODtgIfr2XLa2ixlGZhjsM9qiTXskoQ55T88j5nQly_DY_sVCCIef8VqsjzSGRSpSGIJwGYiu6cGTLyBxFNTWr3zUzMeaVYyyFIWQ4XLMXinP-m92u06wotlEgQt6Ivdqp3fezeDfGRX0CH0WPIeMsDAnu9FOQQelqPxjTFc2FS-tGaHYxYQl1R3TFPbSp61vEDPdw==",
  "id": "rs_01722e41e16eee17016ab46117cf9087d0b91ffbde49a0ba6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.255,\"right_z\":-0.008,\"right_pitch\":-0.1},\"note\":\"The pen now lies directly on the jaw centreline. I’m descending straight down with a nearly vertical tool so the thin barrel cannot pass underneath the fingertips.\"}",
  "call_id": "call_Rj9A68K9CLJjXvLP3xrrVzyO",
  "id": "fc_01722e41e16eee17016ab461184b8087d097b8eec3d1bc9992",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rj9A68K9CLJjXvLP3xrrVzyO",
  "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]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.3576, 0.0595, 0.4793, 2.0792, 0.9833, 0.4492, -0.102, -0.1238, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0145 left_pitch=0.0833 left_roll=-0.0162 left_gripper=0.0595 right_x=0.4427 right_y=0.2544 right_z=0.0042 right_yaw=0.6239 right_pitch=-0.0834 right_roll=-0.0382 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -6.2974, 6.8991, 1.6142, -0.2418, -0.0415, 0.9597, 0.3077, -7.6923, 6.2564, 1.3895, 0.105, 0.1197, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33327e72a109daf16f0d26a9fbb1641ccd07c118585c9486987e3f32dd6a383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8d6e8a4b446686e6fcb0934569906d6eb61208852ff681818a12f238b82614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e987c4b5084297cdb5e0274363a0d5c14820da8d6116ce263fa6903057af1fa2",
      "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 32 attempt 0 · /responses · status 200 · 2.667 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7265, 1.7313, 1.1786, -0.0486, -0.6319, -0.4042, 0.0578, 1.0706, 1.6093, 1.0477, -0.2729, 1.0008, 0.6998, 0.0341]\nstate[eef_state]: left_x=0.4287 left_y=-0.2366 left_z=0.1749 left_yaw=-0.0015 left_pitch=0.0974 left_roll=-0.0071 left_gripper=0.0578 right_x=0.3099 right_y=0.2644 right_z=0.1737 right_yaw=-0.0757 right_pitch=0.1481 right_roll=-0.0438 right_gripper=0.0341\nstate[joint_eff]: [-6.2154, -6.065, 11.0154, 1.9951, -0.4713, 0.0855, 0.696, 9.1556, -4.9299, 12.506, 2.2198, -0.7399, -1.199, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5465, -0.3576, 0.0595, 0.4603, 1.9079, 0.9482, 0.35, -0.1074, -0.1169, 0.9969]\nstate[eef_state]: left_x=0.3932 left_y=-0.1626 left_z=0.1901 left_yaw=0.0151 left_pitch=0.0836 left_roll=-0.0159 left_gripper=0.0595 right_x=0.4367 right_y=0.2416 right_z=0.0543 right_yaw=0.6053 right_pitch=-0.0462 right_roll=-0.0349 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -6.4479, 7.3915, 1.6386, -0.3101, -0.0171, 0.8571, 0.5402, -9.7436, 7.0632, 1.9951, -0.0659, 0.0415, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.3576, 0.0595, 0.4793, 2.0792, 0.9833, 0.4492, -0.102, -0.1238, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0145 left_pitch=0.0833 left_roll=-0.0162 left_gripper=0.0595 right_x=0.4427 right_y=0.2544 right_z=0.0042 right_yaw=0.6239 right_pitch=-0.0834 right_roll=-0.0382 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -6.2974, 6.8991, 1.6142, -0.2418, -0.0415, 0.9597, 0.3077, -7.6923, 6.2564, 1.3895, 0.105, 0.1197, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33327e72a109daf16f0d26a9fbb1641ccd07c118585c9486987e3f32dd6a383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8d6e8a4b446686e6fcb0934569906d6eb61208852ff681818a12f238b82614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e987c4b5084297cdb5e0274363a0d5c14820da8d6116ce263fa6903057af1fa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEcItgWNuUUv86_fRC6xeMo62vu3k7wn9a6nebzS3dwYKtN900UI7odfKktYQDlYy0OdzeQbMAQFdtIWhVzWEekP1n2qQ4X7j-MPAUffvcrA0KSCF4fyrUsGV9rCAtEJSB9BxxFMgDb_L8skKwh_F8A_2hw2QYjJ0ijleUO5rqK_R5dMOvbp7BOl7fkhHt2dq2tdfuSPHazNDWGeC8rjecDRB2dh5dHjRJDr59kXcePcuvUWZaq_8AN8lHDH0gqKQOAoS5F95TRj4NpHTWAomkH4d1DVl3MDoJfAS8tOrWH5zPFmT-0XlR4Gl34MFL-KwzByqd-apG6KiuqDixExqT5wc38m6tU2qxGyjDw5Me01LqfzhMM9HZ6BeuV_LLTZSxuSkhevyWwps3ET_QPSjzsJFmE5vsNek8oMYTqPe3b_PWLU9mgpWqpzLnt_rGGEXKMWwTaI4aKQH5CncmgXFJbnYUBv9nQfC9OmjSJ0wPRkyAdzEJBupv55dQ8OktlFbL2cIT5CIhCU9d0D72m56Gghg_8vDRc2_o-Tm6t2ZYggJ3EI3HWmvZDz9m-kFWrgYMxoALfwVzMIdxLEqSB7sUNl_Bapbhe9o2J0TIatQJfBSWhFI4JtBRB7JxqhVqnMJlXUABT05rfeVZq-bfTCgq3NWK3Cfq0YhtDknmTu7N3kJKst7JywEvivlOO9XQoh-iWUgItJHObJ_mFQ9kn1PQ610CTDaqRwV_8vfJkHtczWfTlGjA8es0Muk9pesMHCfLgqZFiJ7b9-LzKw-XFD27xlm7AJhjhvqHfx3yGw1J8eiZgxVndfmlQhk82GkIl9tmVWgRxoNSV7PZxL4rb2UtC0jZHZmOIluWCB1iiexB5CKOo9XzcWNTynCXRXEl4owOP-Q5xuiosWjPrS8A-gg3zpB2qvIfoeLCFham6hEty2qlrPEuYjVIlgYn6N3iND5wG2EtsBRklrH82GLUeyDVKSK1yW6wdVm80TeBBlYpKmf_zJCCeoIWYZWDEs2ofWiczKOAgoO1Ub5B3wV_iU6n5qJTzm0JWU1XR_ay5YRroukakWENTS9tp-HSZMyhBc17KnRL9g_qIsRerUDrYhWkzkENnKn4l90TPiMt9sgYLoCV3UmhFc1PjPzjDOqjrHkDnodttlpterPrBOIGhJismzSvV8rxnQvJhj6yXLVeu64s20X4DJWAyGqQ_AKx7XNq_ObjDFFhEAY-OWX4dRbmMFyc_UTWsIJd03s5yS2HSa8G8gYwQgGFydC1YZjXDEIpSRjJUsbmSB7NR9a0lwD_H6g==",
  "id": "rs_01722e41e16eee17016ab4611b7e9c87d08963af608cb13061",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.451,\"right_y\":0.247,\"right_gripper\":0},\"note\":\"The pen is inside the jaw opening, with only a small lateral offset. I’m correcting that offset and closing around the middle of the barrel.\"}",
  "call_id": "call_NIXmerWEKc3MZ9DpGxDXBnBF",
  "id": "fc_01722e41e16eee17016ab4611c076087d0aa9cce7bbda58e77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NIXmerWEKc3MZ9DpGxDXBnBF",
  "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]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.358, 0.0626, 0.4805, 2.0903, 0.9901, 0.4751, -0.1024, -0.1162, 0.0433]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0147 left_pitch=0.0833 left_roll=-0.0166 left_gripper=0.0626 right_x=0.4468 right_y=0.2573 right_z=0.0063 right_yaw=0.6211 right_pitch=-0.0617 right_roll=-0.0349 right_gripper=0.0433\nstate[joint_eff]: [-0.0889, -6.3248, 7.0085, 1.6239, -0.2466, -0.0464, 0.7692, 0.253, -8.1436, 6.1333, 1.4676, 0.1685, 0.0659, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54e076be23777095f6900c01e3b9f24d7177d844745e4d2c3b590e446ed9ba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a76f55d28f24cc1fc2eac68f837895d901d0b64c08f3dda4ef6986e1afc9be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa121a46b8aebb27f0fd8affb74ae469b930fd088160e694bb966ca32b9456ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 9.996 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6209, 1.4376, 0.9554, -0.0906, -0.556, -0.3546, 0.0599, 0.4309, 0.8227, 0.5579, -0.1947, 0.4515, 0.1692, 0.0341]\nstate[eef_state]: left_x=0.3938 left_y=-0.1626 left_z=0.1941 left_yaw=0.0188 left_pitch=0.0931 left_roll=-0.0137 left_gripper=0.0599 right_x=0.3015 right_y=0.0577 right_z=0.1979 right_yaw=-0.0499 right_pitch=0.149 right_roll=-0.0389 right_gripper=0.0341\nstate[joint_eff]: [0.6222, -8.0889, 6.6803, 1.5458, -0.0855, 0.1832, 0.8376, -0.3214, -1.853, 7.2957, 1.7607, 0.0952, -0.0611, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.3576, 0.0595, 0.4793, 2.0792, 0.9833, 0.4492, -0.102, -0.1238, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0145 left_pitch=0.0833 left_roll=-0.0162 left_gripper=0.0595 right_x=0.4427 right_y=0.2544 right_z=0.0042 right_yaw=0.6239 right_pitch=-0.0834 right_roll=-0.0382 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -6.2974, 6.8991, 1.6142, -0.2418, -0.0415, 0.9597, 0.3077, -7.6923, 6.2564, 1.3895, 0.105, 0.1197, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.358, 0.0626, 0.4805, 2.0903, 0.9901, 0.4751, -0.1024, -0.1162, 0.0433]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0147 left_pitch=0.0833 left_roll=-0.0166 left_gripper=0.0626 right_x=0.4468 right_y=0.2573 right_z=0.0063 right_yaw=0.6211 right_pitch=-0.0617 right_roll=-0.0349 right_gripper=0.0433\nstate[joint_eff]: [-0.0889, -6.3248, 7.0085, 1.6239, -0.2466, -0.0464, 0.7692, 0.253, -8.1436, 6.1333, 1.4676, 0.1685, 0.0659, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54e076be23777095f6900c01e3b9f24d7177d844745e4d2c3b590e446ed9ba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a76f55d28f24cc1fc2eac68f837895d901d0b64c08f3dda4ef6986e1afc9be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa121a46b8aebb27f0fd8affb74ae469b930fd088160e694bb966ca32b9456ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEgm_eLoJCTOwZzphmvMFMkmRhn6nZ0pFpcnV876mqo2wzgGvM9ZGqurVeXo2QnRmodrPvXIxGPJaFJtJBsX2KZTSUsMYWCgUSB3dCTQJuoP7pbymXPp91q7oRgXV9QrQ4-nSJTMLngoieevJKCsGBtya-0-bkUdlhKTQbLLYC5wxwi3RUwOZafNMXhaZeYTsI0Gt20EAKltx6RhoUsqfmHqvTt196HkDznx-N_az7ibzDSsakl8Shsz4JA-c_u3_TREXITjQiRfX8BMqUYAPvupI5qaZzkowBrzkB9LizTGUizY7Ip--0w29dfuvmznxSh-hwZa_7isZZexTQOsKAms3xRIrQ42FG6z1HCAoF1AfwiQUEw_Huba7IBjXbz9E4N04DnHvgJ4WqljsxbDL8KPrPrq7qutQdMRnZoKDqm6wmYGT6Xkel45tmcL_cTIlrVkHuC31fMC1__QjOFP63cupxF4oCNRbdG-EaWrLl85aeCBZF1THLBrqsjKpRQUbieorbXFLfsXJCumbA7rwjT7aBsMEBtLvwHLPxEqD2sVCZhJQiaJ5NlQ4yefZaudGf1cCWrLrQYn5uGEq_GEBOlxixoGWQZaykPBk3mH5If9C2FzKrCNfOH1g74cv77bvWL3IbqOop6hK7H1vsrTBy01PuY5iJDmLMEdkCDQ-JgnrBlbEMzwQ0b03y4FNvZjrO78AavQISG5xIgnEOGyOpDrheZ8HvCJ4w7M3uqcRJqS1pisqXIZ1qiYY9f7mXf2xy6M28PAd04XWShqGEKnxAoU_4JRd9b7UfHTlUqC3YMdnP_aPKlB1aTqBssYZLJ_ZEr6QNhmJ35FGM_90U0qTinJd8lMj--iqJt-HAtZd30VcRDSrx21ikRDFke5MFPZt2QzuR4_pwQiVusUkp_cBxjZUWvb-iqpLJN8_bkv0Ckq5hrFJctENtrmhiYIWt0dpz4oQ9JVs-tArt_1GwMwcE0Bl30jhCIqG2AWMTOwx0s0QzhL34aUdXleS5JZj6eviOxLuZt_riDgtTjksb1y77r7iq-xvE6W2aB7x_n12eYOxnHfVJX_uE9LGjtM3-_h7lrKcBkcI8-kqZV3Rq7Os4aVMVZi9l1kWXbVjDVdtbmPi7EYB99P0UKYawX15SPUF9mFSozmLvCa_24LrU-PUNRBvZn8DpX_QGkp_q4kCKzi6L3iTP72StP5bCloPv8hWhposz1Au9THZR7WRXq2t9SkffG4cXMcF6GihLg66qWuXI=",
  "id": "rs_01722e41e16eee17016ab4611f261487d09405925652672c2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.24,\"right_z\":0.09},\"note\":\"This close stopped at a measurable barrel thickness and centred the pen in the jaws. I’m lifting to verify the grasp before trying to align it with the cap.\"}",
  "call_id": "call_B16Glx17LdxTQZ6uPSp0vgKF",
  "id": "fc_01722e41e16eee17016ab4611f7e2c87d0ba5b343b08e3b887",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B16Glx17LdxTQZ6uPSp0vgKF",
  "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]: [-0.6182, 1.4391, 0.947, -0.0895, -0.5449, -0.3576, 0.0624, 0.4793, 1.8, 0.9382, 0.2474, -0.1059, -0.1177, 0.0456]\nstate[eef_state]: left_x=0.393 left_y=-0.1627 left_z=0.1895 left_yaw=0.0139 left_pitch=0.0825 left_roll=-0.0161 left_gripper=0.0624 right_x=0.4209 right_y=0.2439 right_z=0.0807 right_yaw=0.6235 right_pitch=-0.0509 right_roll=-0.0357 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.3521, 7.1043, 1.6777, -0.1978, -0.0415, 0.7985, -0.2803, -10.5504, 5.8872, 1.7998, -0.0171, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac81b1d489b59ddb24cdef19271d1b65cf0841f826d41e85b150d8fadf702260",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3be95ebabe1bd6d6ab2cd2229daeefe55942fe2b1798300256eb649b4843c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75691309bfa70700d2a557990b17ccd9aaed62fc962ba6a20a95baf559992aba",
      "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 34 attempt 0 · /responses · status 200 · 9.199 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5465, -0.3576, 0.0595, 0.4603, 1.9079, 0.9482, 0.35, -0.1074, -0.1169, 0.9969]\nstate[eef_state]: left_x=0.3932 left_y=-0.1626 left_z=0.1901 left_yaw=0.0151 left_pitch=0.0836 left_roll=-0.0159 left_gripper=0.0595 right_x=0.4367 right_y=0.2416 right_z=0.0543 right_yaw=0.6053 right_pitch=-0.0462 right_roll=-0.0349 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -6.4479, 7.3915, 1.6386, -0.3101, -0.0171, 0.8571, 0.5402, -9.7436, 7.0632, 1.9951, -0.0659, 0.0415, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.358, 0.0626, 0.4805, 2.0903, 0.9901, 0.4751, -0.1024, -0.1162, 0.0433]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0147 left_pitch=0.0833 left_roll=-0.0166 left_gripper=0.0626 right_x=0.4468 right_y=0.2573 right_z=0.0063 right_yaw=0.6211 right_pitch=-0.0617 right_roll=-0.0349 right_gripper=0.0433\nstate[joint_eff]: [-0.0889, -6.3248, 7.0085, 1.6239, -0.2466, -0.0464, 0.7692, 0.253, -8.1436, 6.1333, 1.4676, 0.1685, 0.0659, 1.0574]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.947, -0.0895, -0.5449, -0.3576, 0.0624, 0.4793, 1.8, 0.9382, 0.2474, -0.1059, -0.1177, 0.0456]\nstate[eef_state]: left_x=0.393 left_y=-0.1627 left_z=0.1895 left_yaw=0.0139 left_pitch=0.0825 left_roll=-0.0161 left_gripper=0.0624 right_x=0.4209 right_y=0.2439 right_z=0.0807 right_yaw=0.6235 right_pitch=-0.0509 right_roll=-0.0357 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.3521, 7.1043, 1.6777, -0.1978, -0.0415, 0.7985, -0.2803, -10.5504, 5.8872, 1.7998, -0.0171, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac81b1d489b59ddb24cdef19271d1b65cf0841f826d41e85b150d8fadf702260",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3be95ebabe1bd6d6ab2cd2229daeefe55942fe2b1798300256eb649b4843c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75691309bfa70700d2a557990b17ccd9aaed62fc962ba6a20a95baf559992aba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEq2wVUM5NyAxSapNf494siudLnIEcTlIzDc03RCt9neozfBCvBaAKIck5wnVaAGGFzM5N3z9B0vTGWt97BU-BN0-zjFwlF1RJrTASFbh25NjfRX94NOZgaIy7ktLs91tNmDgScNutKH86OhaBohkmHR5rj-SC7caM_-gWfVi3zV6KwkKs4xSO7jhFNL9e-nShI1XGATF6XGltPuVuLBrDJyyGtI6HsiKfLniT3KcnyeoIAI_hw_4YzapsI8ncnKm1g5JmqujzkqU5bl4-UhDwymJA4gioHwsN-BrMocbUK8-0hwVPmldY0vjKvmN62aNEd-ujBSlK05paf1pJOdz-s5NqF4DVJzkPmWB-r-kIpclJsoZZkyLXEt0j9UkD8pJ_oDIH-1_DnNOPGTGWWXhyeFRlF2QDL6zzwkcCdKRqbwJeYS6aCrgglliJcQRd7DmY_BzQxfVuGX7mUX72-sVjaLNyF4i0tPMdRTJgQEwHJ6tTYiawGf0FTnXq27TOZRrkabM3QyMbopBF6-0UuYSr4ifx4PkoriqCnKIpDRhWe9m0oD2kvg75MwKqMj6QeP01dxMBUbnucWEgpHsVnD38AXQkeIH1oxjQ_IK-kYdh084HLU1lcnlsk9W-iYNX2c7fcJsNmlWmhdp8qZWJomQqTQFKualHkoYKtZrCwBbfTeQn35navTOTsoJZxAvWxpF-zZuH_5tAanAtOlDJvHg_5K5XjbfbUYFNh70TgGGXgkuEBC1feL0GcbbScyFBnV_Tdr8hCLK2-9CMXXtulaY5uaZpGPvPHUoKOJNVrQJtA2LpGG9YJgLk__agvaDu1UpOUF6RHjnnzxCw9phzS6tNsR4rRzWBq72DEEsCijTeEW6hR1FcrKMTeNUcNSMx-QgLl3pakFV1tk9oySAKMXOheGZMaBI6d2OaNlM3wxLoic8riRFPffseHyij4aK3EahrdqM4oqScch3MOA_ACM_nEtuXClptAssPVAShaatppGRjgZzByst1V2qc9AktKpDRBUoI7VrYcd1iASRj_7QQjB6ek9lH4pXuY2O72bvcBCI8OjJKieysFuSoOFoI4xETes1jThv-lsmgluWQAEaMMabjwAjTKn9-DFwFF22s7BBNZesI51-tB6lmZGHHfJAxGiWNNZUdfKuIkTiKM9WSe1nf5kLPQ3GeZeIteA4N-xI4dsUW3_hzmqPD57i2VvV8aRGzHd_o8Yq52BC9VCNqJ-wrvb_6YJxUkyef1HLjaPHQw32F3iXGsKFznuKzXp5ktkW0ZaXe3nknfon6hDElQ_MKdO91GjIEafXX2AwTk3YcHd_TVLfuSzJBu6YNgUpMMdg3kgl3GR0D-P5LdvE2cszVWpmS5-xJ5kGl366FsMum3Bx_EFdPelYkutQikhjDdA6Ic9_I9HVJCoRAXsvUGzHsG-wfpAZP5U9gKzy-3yjciTYG4N2daR8tsuefImJhD4iqhzwZj5QQwtoYdSogLcK9BpEUS8xyJXzYxttYEaNUfi-LXvMWr48u5FX0NWnNsVQdDR08Dk9QqwrdutsVpaMy7FLJh1aHGZ7ljWS_KT7WnILYaYaoycj59arxjBlh_kIjnIcK8clsQPbL5Ez96LEezohybE076sh6T4tmIgeeWa4i-dkXNP-suz95rixvyxhUw8d3-MWgPt2maPn4lPlCPX0E22A4LGMjy9mVZaS9n0fIAwbk-QGXFCyT4rCMaQGrGs1sHcFwH1gI2Wfv-S852aFKs76PsNv5pPRdikqwQfiAKNgTEVUAGsKxcnweZYiWJdpTCBym-pQ_QXPn_mUac6uNbDfmj-d6HabUr7-LHeB72VaY2AQclogfVXu-BQc58X6TmZB1vlrYfg4C9xSrj8cITMKR5kO4Aog82ut200doFueswcbE_PVPY3_x_pmFpAwLvPAOvC23II1PRoY8ieF5GxF_2CVth-Q2K7ZrXBBZG7PbeWCG_Hpn0RcaTwU1LYn7_9PZZchBvFnOAk-j8X43ICAcisYeWZm7NQjlwLfccFCCJocPo4lEzS-LmOwt_4Zn5-FU1A6IgRKeRYPme5FFOBKiFypQUfQEX5MsYlsL9R9l9U_5kbG1GfI_FPwyCA0Xrh22sL-x0HWias3qC5nuuBBWEGrzT9XimU91w5_zb_ZBgvxS0XCzhEGA2w3WAHpnGv_xNoSySOcO0MzOyK6GGwge1ua4aVYl7MV1wLmHNMQI70O-3U82i_wQ7ZSf4dHYdtkd2dfjT29mUO49J6IyP1Z52CkG7c6SRGaZFxkklLiz7a69MFSo__wAoMKHzkAP2TI7nM0HYj3MOtYcah4P1JF5nSD8D-sTikKLxKnqVs0kItZlp0KNJuKZ8ke3wa6GuW8pewnrB46BtBww1pL3YdueL2oyxNgncMi8swqAczakZf0cuQs6gCgH2FBS_L0Clstg7sn6pwyYrAZ9DaNKpHCq77p5wnsIQgqBEkJRIqMxRja-WGN-i8-ivtTmLJqUNqYoXIpltwIfDfEgUYvMejlMRjIzOOyGSGgNipZEml0glNqPvHV_WhzkC-O0lyR5qLeI3owlX9yHFBO0ekutFZzWiPjly6VA9U_aejC4HF0SdEZ4BhsAYeBQSb6wrkKzlT6BpBgtM1wclkbCMUGEYBdHh5nKQYIeDvyxGeTg4XtHO30SU-NdvIRJ-vLkvzX5iDlkHLs8xh_w8qJ6347_sY87ZMnTpRZO7rVGPBuhAcg0nH4k7OkZ1CVNgPqJacWUdAFZsOdZqK6f9beqZ1meUuTwQ0NKzHKEhvrzImFgSiwgpxAYnwizex5XHA5vnUGrH-1Iv7zQ1_b1B3aQKJoUkulOT_k8scXXVVH5ABIk63uHwFj0h9UDUR0lgPAFyJSjkAtkuc85tTk_C0x6Jk5bducuyrPz8WeZHB24p9JfMuab6Wkxk4yOrHA58jZU1169kKMm60OEc-heDxg==",
  "id": "rs_01722e41e16eee17016ab46122553887d090bf77d0c95a1b21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.2,\"left_yaw\":-1.55,\"left_pitch\":0,\"right_x\":0.34,\"right_y\":0.23,\"right_z\":0.2,\"right_yaw\":1.55,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pen is securely lifted now, and the cap’s open end appears to project beyond the left fingertips. I’m turning the two exposed ends toward each other while keeping them separated.\"}",
  "call_id": "call_UAfh5mjTtT93L2MBebLuFUUn",
  "id": "fc_01722e41e16eee17016ab46128938887d0879e092df3f1e620",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UAfh5mjTtT93L2MBebLuFUUn",
  "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]: [-0.2474, 1.7264, 1.3922, -0.6815, 0.8139, 0.7986, 0.0653, 0.2298, 1.7382, 1.4311, -0.7109, -0.8772, -0.9771, 0.0503]\nstate[eef_state]: left_x=0.3698 left_y=-0.2221 left_z=0.1866 left_yaw=-1.3319 left_pitch=-0.0521 left_roll=-0.0453 left_gripper=0.0653 right_x=0.3692 right_y=0.2296 right_z=0.1998 right_yaw=1.4247 right_pitch=-0.0166 right_roll=-0.0692 right_gripper=0.0503\nstate[joint_eff]: [-0.212, -9.7436, 7.9932, 0.8327, 0.6325, 0.2418, 0.7302, -0.6632, -7.3231, 6.7761, 0.6716, -0.7302, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9a3168a0eb6cd699961f67d9e050f4fbcd33a5c0d0ef7ae2dbb26ccb4fa61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b524adc072d69a6ccdca844ddb0e80c3a354ee6349abacf29fe1e35fd1befa7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e70b654c47c8147119b741729fdcc3589d37ef0a20c92b264fba2a4def8cb9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 7.032 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.3576, 0.0595, 0.4793, 2.0792, 0.9833, 0.4492, -0.102, -0.1238, 0.998]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0145 left_pitch=0.0833 left_roll=-0.0162 left_gripper=0.0595 right_x=0.4427 right_y=0.2544 right_z=0.0042 right_yaw=0.6239 right_pitch=-0.0834 right_roll=-0.0382 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -6.2974, 6.8991, 1.6142, -0.2418, -0.0415, 0.9597, 0.3077, -7.6923, 6.2564, 1.3895, 0.105, 0.1197, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.947, -0.0895, -0.5449, -0.3576, 0.0624, 0.4793, 1.8, 0.9382, 0.2474, -0.1059, -0.1177, 0.0456]\nstate[eef_state]: left_x=0.393 left_y=-0.1627 left_z=0.1895 left_yaw=0.0139 left_pitch=0.0825 left_roll=-0.0161 left_gripper=0.0624 right_x=0.4209 right_y=0.2439 right_z=0.0807 right_yaw=0.6235 right_pitch=-0.0509 right_roll=-0.0357 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.3521, 7.1043, 1.6777, -0.1978, -0.0415, 0.7985, -0.2803, -10.5504, 5.8872, 1.7998, -0.0171, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.7264, 1.3922, -0.6815, 0.8139, 0.7986, 0.0653, 0.2298, 1.7382, 1.4311, -0.7109, -0.8772, -0.9771, 0.0503]\nstate[eef_state]: left_x=0.3698 left_y=-0.2221 left_z=0.1866 left_yaw=-1.3319 left_pitch=-0.0521 left_roll=-0.0453 left_gripper=0.0653 right_x=0.3692 right_y=0.2296 right_z=0.1998 right_yaw=1.4247 right_pitch=-0.0166 right_roll=-0.0692 right_gripper=0.0503\nstate[joint_eff]: [-0.212, -9.7436, 7.9932, 0.8327, 0.6325, 0.2418, 0.7302, -0.6632, -7.3231, 6.7761, 0.6716, -0.7302, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9a3168a0eb6cd699961f67d9e050f4fbcd33a5c0d0ef7ae2dbb26ccb4fa61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b524adc072d69a6ccdca844ddb0e80c3a354ee6349abacf29fe1e35fd1befa7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e70b654c47c8147119b741729fdcc3589d37ef0a20c92b264fba2a4def8cb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_01722e41e16eee17016ab4612d916c87d0be189ba32808824f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.25,\"left_z\":0.2,\"left_yaw\":-1.75,\"right_x\":0.365,\"right_y\":0.255,\"right_z\":0.188,\"right_yaw\":1.7},\"note\":\"The cap and pen tip are facing one another with a visible gap; the pen is slightly higher. I’m correcting the height and angular mismatch while closing most of that gap.\"}",
  "call_id": "call_FSHlzU3g1GUe9G6moK32YqQE",
  "id": "fc_01722e41e16eee17016ab46133967c87d09569fbe3c50709af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FSHlzU3g1GUe9G6moK32YqQE",
  "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]: [-0.2687, 2.0403, 1.8603, -1.0962, 0.9165, 1.1999, 0.068, 0.2562, 1.9373, 1.6772, -0.9657, -0.9466, -1.2472, 0.0503]\nstate[eef_state]: left_x=0.3905 left_y=-0.2492 left_z=0.1928 left_yaw=-1.6287 left_pitch=-0.0502 left_roll=0.0037 left_gripper=0.068 right_x=0.3742 right_y=0.2499 right_z=0.1905 right_yaw=1.6295 right_pitch=-0.024 right_roll=-0.0779 right_gripper=0.0503\nstate[joint_eff]: [-0.6769, -12.0, 5.9282, -0.149, 0.5348, 0.1343, 0.7253, 0.4718, -10.5231, 6.8718, 0.022, -0.7888, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9766a3bfa87033c8c1d91aaedbb39c850ba3b8673932d6ad6c01fe4693088e4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8072d04469db64c72285cb8ddcfcdfa58bb66002280b233e33043b58e2466f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f26ce9acb67c690ab845bd864572a58d70fc612d3b90f91a281c7c2eb009ef3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 7.519 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.9485, -0.0902, -0.5457, -0.358, 0.0626, 0.4805, 2.0903, 0.9901, 0.4751, -0.1024, -0.1162, 0.0433]\nstate[eef_state]: left_x=0.3931 left_y=-0.1627 left_z=0.1901 left_yaw=0.0147 left_pitch=0.0833 left_roll=-0.0166 left_gripper=0.0626 right_x=0.4468 right_y=0.2573 right_z=0.0063 right_yaw=0.6211 right_pitch=-0.0617 right_roll=-0.0349 right_gripper=0.0433\nstate[joint_eff]: [-0.0889, -6.3248, 7.0085, 1.6239, -0.2466, -0.0464, 0.7692, 0.253, -8.1436, 6.1333, 1.4676, 0.1685, 0.0659, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.7264, 1.3922, -0.6815, 0.8139, 0.7986, 0.0653, 0.2298, 1.7382, 1.4311, -0.7109, -0.8772, -0.9771, 0.0503]\nstate[eef_state]: left_x=0.3698 left_y=-0.2221 left_z=0.1866 left_yaw=-1.3319 left_pitch=-0.0521 left_roll=-0.0453 left_gripper=0.0653 right_x=0.3692 right_y=0.2296 right_z=0.1998 right_yaw=1.4247 right_pitch=-0.0166 right_roll=-0.0692 right_gripper=0.0503\nstate[joint_eff]: [-0.212, -9.7436, 7.9932, 0.8327, 0.6325, 0.2418, 0.7302, -0.6632, -7.3231, 6.7761, 0.6716, -0.7302, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2687, 2.0403, 1.8603, -1.0962, 0.9165, 1.1999, 0.068, 0.2562, 1.9373, 1.6772, -0.9657, -0.9466, -1.2472, 0.0503]\nstate[eef_state]: left_x=0.3905 left_y=-0.2492 left_z=0.1928 left_yaw=-1.6287 left_pitch=-0.0502 left_roll=0.0037 left_gripper=0.068 right_x=0.3742 right_y=0.2499 right_z=0.1905 right_yaw=1.6295 right_pitch=-0.024 right_roll=-0.0779 right_gripper=0.0503\nstate[joint_eff]: [-0.6769, -12.0, 5.9282, -0.149, 0.5348, 0.1343, 0.7253, 0.4718, -10.5231, 6.8718, 0.022, -0.7888, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9766a3bfa87033c8c1d91aaedbb39c850ba3b8673932d6ad6c01fe4693088e4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8072d04469db64c72285cb8ddcfcdfa58bb66002280b233e33043b58e2466f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f26ce9acb67c690ab845bd864572a58d70fc612d3b90f91a281c7c2eb009ef3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01722e41e16eee17016ab461374bc087d0aae45d329a36fa33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.347,\"left_y\":-0.262,\"left_z\":0.2,\"left_yaw\":-1.7,\"right_y\":0.26},\"note\":\"The wrist views show the pen tip about two centimetres off the cap’s axis, with only a small gap remaining. I’m correcting the forward offset and bringing the ends close without pushing yet.\"}",
  "call_id": "call_eUbhwPZRJkjcAUrnHe0E1km0",
  "id": "fc_01722e41e16eee17016ab4613adeec87d0b3f6e994e45c6b00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eUbhwPZRJkjcAUrnHe0E1km0",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2783, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0673, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503]\nstate[eef_state]: left_x=0.3722 left_y=-0.2485 left_z=0.1738 left_yaw=-1.7353 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0673 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503\nstate[joint_eff]: [-0.253, -12.6838, 8.1846, 0.4078, 0.6569, 0.1001, 0.5495, 0.0205, -11.3846, 7.6376, 0.5055, -0.7595, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd86b1537620f3104da036ff164baec1ad779867ac0601a82aefe26d6bf3092",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4beb7cd8caa889534440d87a3d97bbcae5056d538b036f390d11a9c7509232f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ad5ca6ff963d6bef6d30a511c7ea852a706c6483a405a3a36ea9b868732501",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 12.38 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6182, 1.4391, 0.947, -0.0895, -0.5449, -0.3576, 0.0624, 0.4793, 1.8, 0.9382, 0.2474, -0.1059, -0.1177, 0.0456]\nstate[eef_state]: left_x=0.393 left_y=-0.1627 left_z=0.1895 left_yaw=0.0139 left_pitch=0.0825 left_roll=-0.0161 left_gripper=0.0624 right_x=0.4209 right_y=0.2439 right_z=0.0807 right_yaw=0.6235 right_pitch=-0.0509 right_roll=-0.0357 right_gripper=0.0456\nstate[joint_eff]: [-0.1846, -6.3521, 7.1043, 1.6777, -0.1978, -0.0415, 0.7985, -0.2803, -10.5504, 5.8872, 1.7998, -0.0171, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2687, 2.0403, 1.8603, -1.0962, 0.9165, 1.1999, 0.068, 0.2562, 1.9373, 1.6772, -0.9657, -0.9466, -1.2472, 0.0503]\nstate[eef_state]: left_x=0.3905 left_y=-0.2492 left_z=0.1928 left_yaw=-1.6287 left_pitch=-0.0502 left_roll=0.0037 left_gripper=0.068 right_x=0.3742 right_y=0.2499 right_z=0.1905 right_yaw=1.6295 right_pitch=-0.024 right_roll=-0.0779 right_gripper=0.0503\nstate[joint_eff]: [-0.6769, -12.0, 5.9282, -0.149, 0.5348, 0.1343, 0.7253, 0.4718, -10.5231, 6.8718, 0.022, -0.7888, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2783, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0673, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503]\nstate[eef_state]: left_x=0.3722 left_y=-0.2485 left_z=0.1738 left_yaw=-1.7353 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0673 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503\nstate[joint_eff]: [-0.253, -12.6838, 8.1846, 0.4078, 0.6569, 0.1001, 0.5495, 0.0205, -11.3846, 7.6376, 0.5055, -0.7595, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd86b1537620f3104da036ff164baec1ad779867ac0601a82aefe26d6bf3092",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4beb7cd8caa889534440d87a3d97bbcae5056d538b036f390d11a9c7509232f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ad5ca6ff963d6bef6d30a511c7ea852a706c6483a405a3a36ea9b868732501",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGFEBA2e9PSkMMVGsEgvEXn4RwPZi_viqixUwYJHiSZAg4kVf3ZcqwOS64N9WMK91R_XYlMJLwM_BDB2yIiy6N348UputqdOq0NTJaMApeou86x8-weZ6UWBOMw8wfhkGXmYailPVY5PGDbQZYVoQlDjqI65qATqx9mmF7tjiN-_3nhIHaDg1u0LgO-juCBFEKWBWMP9GzwkesT8Uqy17u76gN_yRMr2UGLZiZx4T28UuoTw1nOdbryl62IjBqr3b9DXAF6VVLF6Z6_M6wNBFTC1HlCffU0mmgslhXF1WLlqoDLvXYfv45BWYzxQhwzCUFcb788kfrIuAwXf5-RMtoi9UKT-cHfWYHz_Xf7PN_A_FVPbtIkVhJcibMGbqO-nkVCPaTV7MlgMUyQ4Zor1PIXY4ORoUdArZ2b6Uo7TgcVbav5vAMjcOx2WY1qDpPrAe5Ic0o1I5AFkHH5eQnERnlu8FfDaXVUJsMXxvSp0lZ0pLZe01rjrET80arE_sTKkmTNzYXPEEvVydbmRxJIDJG-rSRowSXM4EDPPdP24nA8-h5_dz4cvdMGlNJlJdhXbShxJCZAapDrvHt2hvwdvaBtzLweDFP7zE2JAhkJ3ZyScAFU7h1XdH1jKjMo78zt1I6vnifJcVp-0l0o2kfrhuhX2H8E4osKTQ4MrYM9E6yc5Wllypvd7SVjpaBNC405AA0WktiKaPDGhtZ27lMC72whQ59R4r3DDO1FAZy8wzITrJgkBJamhgBfEJdjDgull7WZS6Y5ur-GFCHdPhkEo3mOlk0jNdibXHclCMXnhwSYvyzfBUPgDaQ4LSt54b8z0y_WQUzDT43XRN7ToWAQN7waPHtRIaHqxDJToG1rwCJYxolBh8uRHa_Nhe7ZcRThXlNUG4W4Xsu71WyKUt5EW2ns-ISDl677v7l8IM3fgn7TTks7OnC2oF-lVxx3C6n23ZqPG58AY2EroI5iisHFtyvw4ku6wKSeQfRT7RwK0jZRuvmHLvKDP7OOYBdL1_IPwU-MDYBuoD8_jCXU-Lc8dj0pDHhKYv1QAXk6EJiIc-IT9okdhdbF9g71rHy8S4Ga7j4wtU9jajQNi2JICzp5z8T0a4V9tPtRNjHWTX3zKksvgv-seTOqGcLu4SB4t4ERsXEQWoNfJzcUuVZ8uZsCKoC_SUHD5G0O_S-r8_gtK_fe2AFYKU5_avDPFI57i4ad5s94XKHt7xuoGI7-3plnUTNuOWHNnrDv42pVFV2woIW6mumuuWgcFg5YfaPPyUOOKms4lSKGoffgD0W9EP6I_Z13vXOm7IPJK5-TwKEHn69FkGtLQ22TGwOV23bNmGGijpDV_BignOJy_3o-VQRxfuLFV4uxyst7rmpJpDkHNfLlqMa6Fa19jHcX9W2KTq8ahnbHflmmcfi_FqSSYdBkydG0Fhrrwoc_RGSrGu2mUmuDs2LZtp0vIC4T61CIwlQ1XgaaSvRxoaDMBH_lfiEatLZwuW3SdX3qB1Coyn3MmoLWt48HcYieY89vOnYjJwlxqJtyaoU1vvNYE9mm-vZeWNZldLd7l9MERNy2S_oVxklyT1oqEMPumo_1Yppn2WriDHljVy8TJgICwIOAStDYwLZXSV-3pgpDqXjvRZz3MXV1jgvkbBdGiS8u5W_cKNYMEf401rZMzXCDMUC7ViJ8lLaPQeHtGIsWeIhDGm1wKnW2Ac9bUzhzcONkfuoToQDcqkdohbTq3P-2uOxs7pAGeGiG8FziIGAHT-50KLws0VquCkq7zFpoTWSLR_lrwXIhviuLxkKaSwRt9eXwCVacbrvzPKNJTqJ6nckQBr3Gf7ac6XNvnuPFJq6Bj5y3Q-emUPKUu3nqUqkxCn0j5ADHSGtfse1O0s604GIIqWCwvfDSk_6bYZ8LnsEnfJC4QbfogQgG-NOhZJor1FnvOhwDAIBqvqW2-RnlOkI4jlocXxJW3Xb0KANnjD7KQ11UqbJDIEro1bb2fhmMOeLLyPhpYGG8UWgrpEzCoYuqkGdYZzXgYu5XONDZixxo2nXWdYG9PH5pxZKWfbtRLZoaQeihzZaZ6_fNI2uU0TaMkkEWOTDztfwNS57mCZQFsu1B_vDoI6dYJbMoEkDt6qkLeauLTsK7k5OkbVdwbMBodKM9yqiYzAJeBmqjP2d2wXamAWuofU2XMX7D7IV7jOGwhm0JUuu6UVp9KuZam6gpyPVCjtFLRTCHmQT-UzzNEZeY3uKSdx2ZQOdUf-ZQyTk9U_SRG_pmjh3em7tXgz3eYBFsAXPKj0MjEM05KCbayQ1ckH289FaVuzZQwoX5mxZMZuAXAJDkPoBkS1M6gQHrR1kgWpJ9x2ZVyW44uu3mAOqL6ntYfCHVFQZ7PA_49kgRKmGkaaATYJonqTcVtweBD4c4XPsRcJ8beYSm7wsV0XQXOme-gDOjpMA1a0_pY_A45ll2pZXV9iSVhCR6yYUzal_mkm21IAyWYDId51FbnUAmk5rruy9-DqT3hI9iynVySPTC_5-t4JtX8ltwLdOH9wURNfqZnIH9gRTsLt9LhdszP5ijZnisqXnsg2TkRwgMkSn5OI3M1dvbv3f8ZyrtVXAoK0Kyh0L4myxEmX6_dXU9Mr6SbAl4I9I4FuoBpKoeJoaUYJjRzzQ==",
  "id": "rs_01722e41e16eee17016ab4613e498087d09f2d038724ca106d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.343,\"left_y\":-0.275,\"left_z\":0.215,\"left_yaw\":-1.6,\"right_y\":0.267,\"right_z\":0.203,\"right_yaw\":1.6},\"note\":\"The pen tip and cap opening are almost centred in both wrist views. I’m straightening their axes and advancing about a centimetre toward contact, while compensating for the arms’ height sag.\"}",
  "call_id": "call_S6TcpA3wvARhNue3mJR6iJVv",
  "id": "fc_01722e41e16eee17016ab46142f7f087d0ace5556bea5fcf32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S6TcpA3wvARhNue3mJR6iJVv",
  "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]: [-0.2787, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0697, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503]\nstate[eef_state]: left_x=0.3721 left_y=-0.2486 left_z=0.1738 left_yaw=-1.7356 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0697 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503\nstate[joint_eff]: [-0.3214, -12.5744, 8.253, 0.4078, 0.6813, 0.1294, 0.5299, 0.1026, -11.3846, 7.6239, 0.5201, -0.779, -0.0855, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb8d639f7a44aab29641f32bc0fb06bd68c1d8c56bd170b7df3bacd5990ad43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f1afcafc7e35d5d7bd4b0cdba4e7c345c0263a50a3b6598bcf9c9e29e9042a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eadd9b6e256389f55602cdb0b8b755981d36df7d987806803c148891e1c06b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 11.34 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.7264, 1.3922, -0.6815, 0.8139, 0.7986, 0.0653, 0.2298, 1.7382, 1.4311, -0.7109, -0.8772, -0.9771, 0.0503]\nstate[eef_state]: left_x=0.3698 left_y=-0.2221 left_z=0.1866 left_yaw=-1.3319 left_pitch=-0.0521 left_roll=-0.0453 left_gripper=0.0653 right_x=0.3692 right_y=0.2296 right_z=0.1998 right_yaw=1.4247 right_pitch=-0.0166 right_roll=-0.0692 right_gripper=0.0503\nstate[joint_eff]: [-0.212, -9.7436, 7.9932, 0.8327, 0.6325, 0.2418, 0.7302, -0.6632, -7.3231, 6.7761, 0.6716, -0.7302, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2783, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0673, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503]\nstate[eef_state]: left_x=0.3722 left_y=-0.2485 left_z=0.1738 left_yaw=-1.7353 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0673 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503\nstate[joint_eff]: [-0.253, -12.6838, 8.1846, 0.4078, 0.6569, 0.1001, 0.5495, 0.0205, -11.3846, 7.6376, 0.5055, -0.7595, -0.0366, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2787, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0697, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503]\nstate[eef_state]: left_x=0.3721 left_y=-0.2486 left_z=0.1738 left_yaw=-1.7356 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0697 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503\nstate[joint_eff]: [-0.3214, -12.5744, 8.253, 0.4078, 0.6813, 0.1294, 0.5299, 0.1026, -11.3846, 7.6239, 0.5201, -0.779, -0.0855, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb8d639f7a44aab29641f32bc0fb06bd68c1d8c56bd170b7df3bacd5990ad43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f1afcafc7e35d5d7bd4b0cdba4e7c345c0263a50a3b6598bcf9c9e29e9042a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eadd9b6e256389f55602cdb0b8b755981d36df7d987806803c148891e1c06b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGFQeScVxzIhv9YVZ5K-1u88zwgtw6IzLN71KtBfD51KwFh7OJ4KhvotjY4l-0iULykdOY-MF4OLoGeXpXznY8wFtqhTHU3tgPzC3OkeamFnMALpjyZ7xOZocmIi_wNKnAHjPP_g5DKPjFyfz7YEd7I5oNocqPb4oUpxDOESaFmDh801ndGdmp1s5oxQBPa4DVQTh7xy4uw3TTIxp1FqBsAGlgENJ-hYml5idYN-ifH6fQfQVZiRng4jxmGcKD4QAhsxNQcVuqHUtIV5cYJRrOg6KbbGImaPANHS4Yc1kbAehdi4g47HAxbTkCyGMx2j8xI2gD2b3_uvmmqgDRlVYzys1_1AckdOJPB7DzzKUJ8teJZXeyQrDok_K9YPePtiHqer0ejkKutKPBAFJ7yPIqiR7ortG4uEz6JNIjpvgEWCEblp_GDpj5AfQBte0DzTcOyIm15TwH3gU9PSwBLYGHEEXdihVPEINhU93yTgQn3XXWg29STJcS_ej1NsQwVY92o7ZUiX3rra1WyGOLPsu3rU9nTWrjgtc4mQrfcxN3HhJR_gWwBL38LLc5J2qVZwqP_qC_XuIAZHGQYPWNfgof6JqfLcyQnfKvlyButvZOVdstA48lPlJ0LyTFa0RtK7Cy4JSa6iG8SwpEOEdWURv81y3OBT_whSr_iYAxkGkrJWGp1CL0CqRFze_LQSAVcJ0tThNjntPdCq7lzMjmNU3m_z3mh5_LcwMWf9tuObijZmNrFrSrNNWU6o3QcDiNTCI4UERcvmbapQ8OoZNq5vTY2Vkqiz0wueHQaZIyLL_UsNYAqJv6CzNl9lermn0NDazj7E3sKud9qinYVGq2lFvYB4lpucTtruABshfXoS3MbYknjUgLgZePcmEyQA4JhRHx7v0qI3RLlsydjyJzF3tQw9pBrJJuBpziXbHEak_HQ2-zaoO3Xk4zdU9n81ZUMNI1jdM-tFhPsNQKKIynfrLgvl1XO3UAMEOsnZi-jOdwvRtC0Gox3rUrpYLHRr94xN3KIEK2BJm-tt-WZAkdsUx5ay2A8mnTS_cyGdAJ8i3koo5CLu9E8dZThD58X8Yzb8d_1DTDSxZMfgK827d1KY6m2CRUhdRY_mnqRWDRJxOfbCBlE4AZo5cSyWdhu0zvEE5dtvVE5QW9gs1W83q9UBHe5ZDON88xP0YVtIxj7Gwu1zxTiEWsHI9HsJsi0FflIxE25HmS2bbdZ1YfRRdOD_2N_MFhhW4QXMNDOAfvM1Hzxkj5wFGt2oxHULzfv9c_LrqA18F6uqPwMyjjB_xHQP9szXQ44kpRbNtTCaSdxsDiaRxDCKS3ZIiH9TkD8HfYs-jFK1nPyFGCqglct7idWHOLkEjz4pTP30t7FnRze7biROVyaZ5_CyPZkm-xS37CXo5kg1ta-wG_ryjQK6yFeE7UwDu2qJ449FRNWx2k1G4mInkmV-9O65KCO5Mkc3GBXiygMp7NzROJuaxGXgMGQ5DHT17f5yQlGKuUNcs7TIaPi-eZhFfzrs1S_PWdZprvBN0zPsUwJkMOq-58IiFJn4znEG-R4FDEyfukj1MuCz_yh-69u9LMa9JNb3WRMOAoLrdjk2xSoh7XsFPBK_UY20wrEdXCKpE_dSq8U7MiCBOXWXm1ZDgzM9ydruxq4N19-qtwJ32Wv6ml0VfGdFfXY7qYl2vaYEhIUqDLp0FWq0yNRjXc6AyAfdKJqw45UPLPI80WWk9DRyfXTHodn5gxbuGd_AL0IUaeVs5K16bjQpsKNFfjbt0Swle1IsjRNNhgzvyaXZHACiQhq8pR0fOys2ROX0F32hmG5ES5WoScOlNFl8oKbL0TydruIuNCVz4gBeTMmw07dxm53YgiFvB8VQ_OvuK6hVLES8OgnGXmpPLyQssHRVy8DksQXLFUttlErGVVjAUmtca929sVvq1d7xB7ZstK3jPSvRE7UyaEJDGTV4qtYJT_c7yQVesKe3DmdgDET0g7lQA3EBqS01JUGLCdssmV8Pd1jzAZTYCZpO3g4Q3tQwvtjkFuvKqhFrjOz1WTOUlEw0W6bMebAYIttKBvfqOrtOeQPUahSDk1PiBHHhbu1whgRCs9yCvqB8deRFlADshoQrWaevBA1EiPy7Vmmr8ZevMDKd44ZE3xHuKdCm84NURAoMCR7gPvi9F-4MCfOwt0D4JQVKuTxzgBjSX9nt0qYW6iW0MTbST4l-43OW_4gqTTwCVFVndjLMx4ozSj2CWcEZIqyx-IGavxhFAAx2mwxwEJgTznFjuDVthXb4dbCaZrhFYed9m6R4M-1bBW35DWUM9jlcbkx95nWNm6heH68bksQKk5Uyf9PmpiHddPYdruURcSA86qG4AdwylpFGxMpmSkB51AWyrVAdY68loBto_Tmu3bkop4LhTSVgwuRBrJtSAPvhMzFtup1CnPeEls4WmlhtUecVJfc2Fkdp1D3Ijz0FwLThH-gjhKhux_zlipE9K6BZh9_mxKMzcw0bqlg2MhNQYcEWq_Bp6oSHAYAH6rFWzbbfiHWc80KujFcQT4hdWmoM9EACUWov2bTtbxL9SktNUVr0f9Jp3vSfibKvgYw7n1fsMGz57wnYLfTFBKXtyFnwd2b2kaop9WTr2XvDyTEzXSE5r_BRITmt9XE_XVIwucHN6wkZG4tRPfbIaWHttwJCJVWj2EpvyHdbLx7GNZi705AegEtq8vpHp3oMWTrqmCmqps0K85tKLCVtNZ4yKFE1pBlwyEFg-owImJtrbxhh9Qltv-K-iN4Ap8nsM7GXfqXlqdjGVJ2fvLMbVoRTcej4CjAAJzjhmHwJvxFzyJvHf_6O2PufHtG8A_yU9nxZyFe_mlMtJijklo2pLe653KFUHPlgjI4kVTYy9c-hKQOK1WuGLztOBnFExX6Og2-Re6cewefHsxo910-xr3IOiLHpin42v54ukScanHkeiKIr3ZWDbMQfiZcvGanhFoib2Yj587tC6YRY80TH-c7TKPpUb615j8ZNOkhlAdCmOQqP6_Nm11upZo-ajEgHEPg5jNRuqD5JLOtfmKyNe2D9w6t8BsN-T6cSvvU2p1PAOV2ldvzwUNZvVvo7ZyyKuHlXlaJ-Eh4YtNdQUpDe5szDwneM9Bkw32yjyMORAiM8jeFyKlrGPYhrrW9ERyvu8i6pS8kdttZxuBJfsRD_ydvpYC9D3Z8xp8riz_NrsIU8FariH4UJm-g-7GzhzRpm6pPK4WGMhpP9cXILSNxOe-NINQi5dUqCm_-sbY6cmmN4XAFS-qhuQ6DxFg9URSXWkZ8F0jDBx8Y4X36DVaQQMfVPeyoiBHGcgonNKKuYDds88Fs1MXg4Rc03yY_lZx0s2XlWjWId4fBLkZ6ybGEUjNIJuV2w_pKm8OsHXERlSIemTDq-XiZUUA2lkAf2vfmwL5ckoRiAwhQCdmV2RfqqCxKpTYVWAnNJ6SZ9L30Il16HOihsYRru1FddWqDh2ObkjDQ01iAez3ag0uxwOyOA702iQDEH19x3l6ii55yvzDjFTAdMyYSf1w9chSLkkWsqt_4Fkp4cQkXjjQomlhN_VKTzsn70P7AJg0zMxOQ2_RJuUKUlhKEYydG6YrU3Cy1D0GLJmtSHaTNN6XAkE339fZkin-X5FNbFop9Lq51OGH91DC8DKjZmmJRxZlZstBDqhgtbAxtJc5bfTplx0lKUVa5w38HYcoq0-Scfuxfqbp73IdzKTMBB-XvjXDD6vfaY-_6YGVhsV9dA-lPjOQF56v95XNgsFW3CDMtX9hy8xO_kPq8ISFzKKuClpiDAPYEr0p5BZruDFBDF-MsmzK586qbVgydmVQYQiA3s-gOkEnhRK3eJeCTFRgNeMrc8_YbfH79CHlHGAQAxN-puJLJsMinnI6HD-7DFyd4LgifM8HS0BNK4PUk2scVb5wY7rNwrAfaULLnL0NNROZtkfXEow-3E0MbmKgveGObhMN4n",
  "id": "rs_01722e41e16eee17016ab46145dbf887d08ced848d27d07c5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.265,\"left_z\":0.14,\"left_yaw\":-1.5,\"left_pitch\":0.25,\"right_x\":0.4,\"right_y\":0.265,\"right_z\":0.14,\"right_yaw\":1.5,\"right_pitch\":0.25},\"note\":\"Neither arm followed the last fine alignment command, so I won’t force the insertion. I’m trying a lower, slightly farther-forward pose with less wrist rotation to recover controlled motion while keeping the parts separated.\"}",
  "call_id": "call_VeXa7vvO9J2VYf5S9j78BAOq",
  "id": "fc_01722e41e16eee17016ab4614f2ea087d0b880bd921735faca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VeXa7vvO9J2VYf5S9j78BAOq",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.255, 2.0369, 1.3476, -0.3641, 1.0954, 0.8268, 0.0717, 0.2424, 1.9686, 1.2678, -0.2153, -1.0832, -0.8677, 0.0539]\nstate[eef_state]: left_x=0.3875 left_y=-0.2596 left_z=0.1073 left_yaw=-1.4926 left_pitch=0.1565 left_roll=-0.1514 left_gripper=0.0717 right_x=0.3901 right_y=0.2609 right_z=0.1222 right_yaw=1.4993 right_pitch=0.1789 right_roll=-0.0099 right_gripper=0.0539\nstate[joint_eff]: [-0.0615, -14.147, 6.2974, 1.2674, 0.7106, -0.0806, 0.6911, -0.4444, -10.8786, 6.147, 1.3748, -0.735, 0.1294, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e05ac559116fa59b40bb5e4d3d5d1641e557fb3aa9d1522836ff47836008278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240b694e2bd3c462e3c120c085dd06e3ae16f6907c2e4441c93217822ee2c55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43515e766d88b2b317a12807f6ad82c45ed7cd6ff349cf2c9a41cb8bc8447a12",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 8.327 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2687, 2.0403, 1.8603, -1.0962, 0.9165, 1.1999, 0.068, 0.2562, 1.9373, 1.6772, -0.9657, -0.9466, -1.2472, 0.0503]\nstate[eef_state]: left_x=0.3905 left_y=-0.2492 left_z=0.1928 left_yaw=-1.6287 left_pitch=-0.0502 left_roll=0.0037 left_gripper=0.068 right_x=0.3742 right_y=0.2499 right_z=0.1905 right_yaw=1.6295 right_pitch=-0.024 right_roll=-0.0779 right_gripper=0.0503\nstate[joint_eff]: [-0.6769, -12.0, 5.9282, -0.149, 0.5348, 0.1343, 0.7253, 0.4718, -10.5231, 6.8718, 0.022, -0.7888, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2787, 2.109, 1.9141, -1.2686, 0.9173, 1.356, 0.0697, 0.2642, 1.985, 1.7016, -1.0412, -0.9474, -1.3399, 0.0503]\nstate[eef_state]: left_x=0.3721 left_y=-0.2486 left_z=0.1738 left_yaw=-1.7356 left_pitch=-0.0784 left_roll=-0.056 left_gripper=0.0697 right_x=0.3674 right_y=0.2517 right_z=0.1749 right_yaw=1.6902 right_pitch=-0.0428 right_roll=-0.0572 right_gripper=0.0503\nstate[joint_eff]: [-0.3214, -12.5744, 8.253, 0.4078, 0.6813, 0.1294, 0.5299, 0.1026, -11.3846, 7.6239, 0.5201, -0.779, -0.0855, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.255, 2.0369, 1.3476, -0.3641, 1.0954, 0.8268, 0.0717, 0.2424, 1.9686, 1.2678, -0.2153, -1.0832, -0.8677, 0.0539]\nstate[eef_state]: left_x=0.3875 left_y=-0.2596 left_z=0.1073 left_yaw=-1.4926 left_pitch=0.1565 left_roll=-0.1514 left_gripper=0.0717 right_x=0.3901 right_y=0.2609 right_z=0.1222 right_yaw=1.4993 right_pitch=0.1789 right_roll=-0.0099 right_gripper=0.0539\nstate[joint_eff]: [-0.0615, -14.147, 6.2974, 1.2674, 0.7106, -0.0806, 0.6911, -0.4444, -10.8786, 6.147, 1.3748, -0.735, 0.1294, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e05ac559116fa59b40bb5e4d3d5d1641e557fb3aa9d1522836ff47836008278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240b694e2bd3c462e3c120c085dd06e3ae16f6907c2e4441c93217822ee2c55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43515e766d88b2b317a12807f6ad82c45ed7cd6ff349cf2c9a41cb8bc8447a12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGFd7kIhmMY5WLo38qFIMRexisgNE_qWvAHFF913l8v_e3VNdVfT4i8osHYChZlQSYkgeWgPh_CuYuVQUukhaDRdR5g_Qa0E_nMzocqBjDIMXpCxFZKtNlGNFwQt8fZjcNH7n7xiGkh0cEVvu4Ephp35P6-_eJ_ES0jxp46wUauH9kL-eOubTG6LoAtwM5mJvgZA55lZbS8zwXFzMvoc0e67Uqfei1KTfIKyOrd3zmaZLkUo_GYHhwkOlZcHyZTgFbaH_9MmQJoEu1eW3oI8wruaVGWABjvlT0tipBMeYknkdY2Cqyi5ca__Mrj_j8tgRADMc829RXMvDXdfBUvsEVZssgYjNcneXfeQpeeiGpktfKJhX-veqti0-_HZ_r1g1cupY5RJTlrzqZt0UJ-KftKQoTinzw-5pRodV93r3xZR9xYGOc2nwQAwJ69I-JVNdPC1n7ofFDxvSZr27mGYwYftmin-l48PnM5JKQJMYhpTM-P3Cx1idPpcL6TpTYLrAyF6_v9yGACtSvrIBhFZnwuqkYUTuxp649sagGJrxyU7lsnUrfK-jk7W4wNZbJNlhFZEr2GZM9685fePyuMrQt6p6O4bx6RVrADeUL4wd-pislEubMQdhkWnERNtLeFrJn8uF3s4xM7XYCEZoCR6KgYFUxcbLGnAhVIBc1snNqMXxViIylw0AMUAqUQA4HuNzd__LJAuM7HNZGpudSNzFY3jWu6yi0GuWicKvKvzJISVm-hdLfJO3bC5yIdkBRhTw_4VRlfxRphDnbjSYSUIXV99_8lHb_gqXynsnHHf-W2NBloa08o-fOJG1TkciDn5Yga4Nwnjgw_ls0fdAc7OklcWcLfigGSKizYcGjF1ZC1ohF4vFkyBBQwIn1hnEpetC--37IFpQIueCG-_BifEBWdJ7GTxRvayc04qPspVvLVSKmFD0RTjIrSamfw3cCYc7kQvzVk6uYPT9QdPBTGq9kCxAGUNbS4kfIzF9JEP4ESTIJWjAgj3MFx1ihTz69Sc3Lj5f3ypeUIaVmSITqT-clS8Sy2aInUpItCcyXfVA7uKKLtKUrBqJYqeWLJCMLwJy8_HC_SZaRLGbkWeGKfdmxj-WuJvxvlOXaUG3vLv8SwS_JC4knfOF6YP54pSQeE9tc856m4oFhjvs-m70Wy1LGYScfc56zYPJuXXZ8JjLzGcY3TM30wXBz3LqaTC036_zvuXwWO15odiMw26oDQJMCYvJR8kPOrN1kkHRObBs72MaDG_e5A8xJvaHxrMcY_KT8XqDpGtC29sdktE0cz4BB5_CWOYdZizBS8wawKxBqf4JE8eZUBJdXoF6nKqEREL28BbKWau8u4uQ4Uq7Iy7r6jN1TYi9ww_ntqGKEgDONnfCcJ3WP9jne8YV_u759e7ZLlt-q3QiMxmfykQVKmB_Z8dXagZ4wFJWFZaN_q8DLcKltbT0pPtgzA--TjjmgHN6X4uI-tffWNfn6baTDAQlRLIG4SHlErP1vh-K-Tmgq7VMVnlfMPAMt4lhOHKy3hcdPcuQOq3Sm9nNawhynZCwe4KpI9NaUhfUONk84-dI2pwtP2xBwZeyGRD0uRPIf7aw9rnmw42Bh3W1bhX2DB5ibqRW66jH9Y9Zjs18rmzfq16tzPyhkYNE9vc9itnf_1Me3sg10OHlbBugtzVtNIda_0O9ItNeu-zG1r7PhlS3udqnvQ_95D11immYIPqZWXpdtA8-Y7KE80CNHoaeUotGi__uBilw1IXBFn3dMeMQALQ1XFC6VF1GKyC3BY8mLaKb91C7bWpBlKfS-sKydnuR8sP02l-K6ks8GVCOzSrSqMpTGZfAfdZtnAQhtk9F8HRdc0Xlz_W9k8A4wm-vGJGP2nw_K1Wk88-w5L3lapbCQ94FtLqEoBvM26GOcHkctMcwRFqsVodd6gf2R2h2n3VX3iDe6pbkzy9zTBTyIOWuh2vyVXafSNN9Kbue5pQjMtrjDhSlwIrQbfcM9z344ofwOMuYWQqB9Vpee474ias6_tvcQg0qn5iSuzBzv2fXreGwMyrYo-h4KGba1nIyL9MwUlsBjVn9wNN8rfHb4lCXgUARb4jo585IdC0RquAkHa0Z95-5ov9UHMNG5DXvaZIMZBZkGsYiIQeA3eEboHedxFNaZeyIo2s6T3TaTqQ648UF0LIh2nWo6bNvzOUAI1zMbjxSRsKi4f4n9KFVxpfuz8HdLr8aaSkjvdCU6SeQrENaccO56SwX_2Fv-Qnnj84cZ6_ur41zE9hasv74bqE2kAp1diY4Rb3Vo0mmoAMQUEdFGbEZPoQNXxuJXHNFOHmvqfodRzp8bfsDonBsWm8TYXj3bkiRe15mcOAzQa24pgTlnWCawy7Xlld8WAZekxva2lk80bEAVhvntJrkAi_VJO6yiC9MLWIMNwq59QTlekd3frhzLUeId5SsVZOVlEts9TYAmZQuo0LO-Upzss6aTichP0bB_gaMlYDS9Upn0GmQtXnJ_AgQskIbYeDqCfKtbLuDaXXQY_YNaLePgn5agN2JvyBzZyoZBlIl95_-7xDqPGyqrAfJyI9hITZBQ5bZWaxnLZ0Asf0YOpkAk4mlXUfpbWQb7kDkPxuaQjOPR9T0nEceHk16L7-ikKX_EexTz7GQ0JfGJ09JtzaDYG-mJ-SRPRPPjENTPxd4UWSq3-hzmGJ6WshoPx_G8QN_dpGZu4bVUn42oCbO4CwkyNnc6UdmJdh0tsddteq7MW0YzHYNGMGR_cqUHPo778VO-lppCriqljYj-hGzcetWiw3-hHm_hcqkSesNXme_OXzIyElodjX0tUFEE52IR2dJBVJIOdBOsgnX-dFoDhocUTXstrW61swd2Q_ahYh5tvPPS6eL05iaV2TOQ4fB0m7TBUBpeviSlqSantHs7OcQpT65a_dRRlMQ3OZqCCdZHFq85g2m58z2U27Mm58onwCvAE9QAxeufqrBuv1TM4ZCSp3HZFaYc3Nf1DFhEgQMZxUZxkX55uU8dp3eJfn4OXFzdjlj4iu5g_tyrMJi1sNNlvKZZebqB_k6EftfHQMIZuIZQpw5zRNFffZyYX3ZEc80yNfv60belBeGRIVetUZp7UJ6uQt6Yl-aC3M4cx8iFionEPHTkzaco77h98YpkiI_EjWhSYinqUPaqNLhTLeSKZydc9KMoZE9EL1UBoCHPVwzCvUZvLtzjoeJ04bpgeL_-zQZbWFXydsJ8paqO93MHa8F0yx2iiXu6_vxn_AjptTG8GbhdsCB77GJh4hUOD0HZFYOFgnwMGCfwqrxOimRGcoap7p9iMKTUjfPWoQFKA344d_rKOrq1FJB53WC4rMGEcbpzOJ6emSc0XfhThArfoa0-7E1MDYH7cfUC8r7PByRPZMrjv9j0pjyhxl0yFAqWpoT2h1SU4nvsgrslhoMUknfeQZFX1iP4taMz26v5OdhRXDi1NRF6rbPg6NH3wTQr09-w6r0PdyGrysrJrqQvXbv-sYLHtIdhxCOZx5M1u17zcP7-lXR3QkwWhIjEP2W45cgY1Mj1Lo_LjD6NRAXT2o_jFzV75rHNDrKoCNXsenSDDYHl7qMjaB28BDZcBcUvTmjO_gTA==",
  "id": "rs_01722e41e16eee17016ab46153435887d0a89b9eb1e99839e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_yaw\":-1.57,\"right_y\":0.285,\"right_yaw\":1.57},\"note\":\"Motion has recovered, and the pen tip is immediately opposite the cap opening, but the cap is slightly low. I’m raising the cap and making a short, careful insertion motion with the pen.\"}",
  "call_id": "call_Dyj2CbIzQ8nndVG1jIj3WTz2",
  "id": "fc_01722e41e16eee17016ab4615beb3487d08f3d445e50c9b539",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dyj2CbIzQ8nndVG1jIj3WTz2",
  "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]: [-0.2546, 2.0483, 1.5478, -0.6395, 1.1046, 0.9203, 0.0724, 0.281, 2.0159, 1.3407, -0.2379, -1.0851, -0.8803, 0.0539]\nstate[eef_state]: left_x=0.3942 left_y=-0.2619 left_z=0.1458 left_yaw=-1.5342 left_pitch=0.1448 left_roll=-0.1511 left_gripper=0.0724 right_x=0.3935 right_y=0.2799 right_z=0.1234 right_yaw=1.5462 right_pitch=0.1813 right_roll=-0.0242 right_gripper=0.0539\nstate[joint_eff]: [0.3214, -10.7009, 8.4308, 0.9011, 0.6716, 0.1099, 0.6227, 0.4308, -9.4974, 7.8701, 0.9499, -0.5885, -0.149, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ed5d3f56c34c59d00b555791a5f6b32bcce89cf391b7a6a1f063a0554462a53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268c118b599d9e2d891a6c04314f8348c4275f3ae0e5c0e166414947c26d5bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51083a0d95b9056b9827e5c8805ec4f4db3e0032f0c03f127bb3004a51fa1fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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