adhoc

completed
2026-09-23T23:04:00.835162+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
278 s
total steps
326
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 will bring the left gripper above the cap, angled to grasp across its sides.
move_to
left_x0.4100left_y-0.2150left_z0.1400left_yaw-0.5000left_gripper1.0000right_x0.2960right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.794, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.02, 0.7929, 0.6102, -0.3767, -0.0231, -0.0151, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1838 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.4308, -1.5248, 10.5368, 1.7998, -0.0415, 0.1001, -0.0855, -0.6769, -1.3333, 9.853, 1.7509, -0.0464, -0.0073, -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":0.41,"left_y":-0.215,"left_z":0.14,"left_yaw":-0.5,"left_gripper":1,"right_x":0.296,"right_y":0.002,"right_z":0.185},"note":"The short cap lies left of the longer pen near the middle of the table. I will bring the left gripper above the cap, angled to grasp across its sides."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap is aligned with the left wrist camera’s jaw column and close to the fingertips. I will lower the open gripper to the cap’s height without moving toward the pen.
move_to
left_x0.3980left_y-0.2000left_z0.0200left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.482, 1.5761, 0.8776, 0.0353, -0.0216, -0.0399, 0.9993, -0.02, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3952 left_y=-0.1984 left_z=0.1127 left_yaw=-0.4539 left_pitch=-0.0911 left_roll=-0.0105 left_gripper=0.9993 right_x=0.2948 right_y=0.0017 right_z=0.181 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.4444, -7.2137, 9.9077, 2.0049, 0.0611, 0.2418, -0.0855, -0.1983, -1.5658, 7.2, 1.8388, -0.0366, -0.0122, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.398,"left_y":-0.2,"left_z":0.02,"left_yaw":-0.5},"note":"The cap is aligned with the left wrist camera’s jaw column and close to the fingertips. I will lower the open gripper to the cap’s height without moving toward the pen."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe cap remains centered between the open jaws at table level. I will close gently around its body with the fingertips lowered enough to catch the thin part.
move_to
left_z-0.0050left_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]: [-0.4648, 1.8229, 0.7273, 0.3489, 0.0101, -0.0177, 0.9993, -0.0193, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3874 left_y=-0.1922 left_z=0.0098 left_yaw=-0.4756 left_pitch=-0.1748 left_roll=-0.0134 left_gripper=0.9993 right_x=0.2946 right_y=0.0019 right_z=0.1807 right_yaw=0.0006 right_pitch=-0.0168 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [0.4718, -8.0889, 4.9573, 1.8779, 0.2222, 0.0806, -0.0122, -0.2667, -1.265, 7.0222, 1.7851, -0.0366, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.005,"left_gripper":0},"note":"The cap remains centered between the open jaws at table level. I will close gently around its body with the fingertips lowered enough to catch the thin part."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe jaws have stopped slightly apart, consistent with catching the narrow cap. I will lift a few centimeters to check whether it comes off the table.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4652, 1.8545, 0.7166, 0.4046, 0.0074, -0.0242, 0.0475, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3894 left_y=-0.1929 left_z=0.0032 left_yaw=-0.4702 left_pitch=-0.1615 left_roll=-0.0164 left_gripper=0.0475 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=0.0006 right_pitch=-0.0195 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.1709, -6.5026, 4.506, 1.7363, 0.0611, 0.2125, 1.4579, -0.3624, -1.2923, 7.0222, 1.7802, -0.0562, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The jaws have stopped slightly apart, consistent with catching the narrow cap. I will lift a few centimeters to check whether it comes off the table."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe cap-sized jaw gap persists after lifting. I will move it clear of its pickup spot so I can verify the table is empty there and give the right arm room to reach the pen.
move_to
left_x0.3000left_y-0.1200left_z0.1800left_yaw0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4652, 1.7027, 0.7689, 0.1909, 0.0071, -0.028, 0.0547, -0.0193, 0.7982, 0.6132, -0.395, -0.0223, -0.0147, 0.999] state[eef_state]: left_x=0.3858 left_y=-0.191 left_z=0.0457 left_yaw=-0.4677 left_pitch=-0.171 left_roll=-0.019 left_gripper=0.0547 right_x=0.2942 right_y=0.0019 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.1983, -8.6359, 8.6496, 1.5458, -0.0269, -0.0269, 1.033, -0.1299, -1.2786, 7.2, 1.7705, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.18,"left_yaw":0.3},"note":"The cap-sized jaw gap persists after lifting. I will move it clear of its pickup spot so I can verify the table is empty there and give the right arm room to reach the pen."})
tool
executing move_to over 9 steps (0.9s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe cap’s original spot is now clear, confirming it was picked up. I will approach the rear half of the pen with the right gripper, leaving its writing tip exposed for capping.
move_to
right_x0.3550right_y0.2550right_z0.1300right_yaw0.6500right_gripper1.0000left_x0.3120left_y-0.1440left_z0.1800left_yaw0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7349, 1.3216, 0.9806, -0.6327, -0.593, -0.7448, 0.0601, -0.0193, 0.8036, 0.6132, -0.4118, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3117 left_y=-0.1438 left_z=0.1635 left_yaw=0.1599 left_pitch=-0.184 left_roll=-0.0354 left_gripper=0.0601 right_x=0.2922 right_y=0.002 right_z=0.175 right_yaw=0.0006 right_pitch=-0.0427 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [-0.3214, -6.2427, 8.7726, 1.0379, -0.398, -0.0757, 1.0281, -0.2393, -1.5385, 7.1316, 1.8681, -0.0415, -0.0366, -0.0171] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.255,"right_z":0.13,"right_yaw":0.65,"right_gripper":1,"left_x":0.312,"left_y":-0.144,"left_z":0.18,"left_yaw":0.16},"note":"The cap’s original spot is now clear, confirming it was picked up. I will approach the rear half of the pen with the right gripper, leaving its writing tip exposed for capping."})
tool
executing move_to over 22 steps (2.2s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe pen’s pointed end is visible ahead of the right fingertips, with the barrel slightly to the right. I will refine the angle and lower around the rear barrel so the tip stays free.
move_to
right_x0.3630right_y0.2400right_z0.0200right_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]: [-0.7395, 1.3251, 1.0054, -0.6968, -0.5911, -0.7647, 0.0601, 0.5835, 1.4998, 0.8043, 0.0238, -0.0376, -0.0273, 0.9991] state[eef_state]: left_x=0.3061 left_y=-0.1412 left_z=0.1639 left_yaw=0.1718 left_pitch=-0.2119 left_roll=-0.0167 left_gripper=0.0601 right_x=0.3457 right_y=0.2405 right_z=0.1111 right_yaw=0.6228 right_pitch=-0.1118 right_roll=0.0019 right_gripper=0.9991 state[joint_eff]: [0.2803, -5.4769, 9.7162, 1.1258, -0.3443, 0.149, 1.033, 0.6222, -6.4479, 8.841, 1.9609, -0.0952, 0.0317, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.363,"right_y":0.24,"right_z":0.02,"right_yaw":0.9},"note":"The pen’s pointed end is visible ahead of the right fingertips, with the barrel slightly to the right. I will refine the angle and lower around the rear barrel so the tip stays free."})
tool
executing move_to over 6 steps (0.6s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe pen’s barrel runs between the jaw positions, with its narrow tip well clear. I will make a small centering correction and close at table level.
move_to
right_x0.3670right_y0.2340right_z-0.0050right_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]: [-0.7403, 1.3266, 1.005, -0.6998, -0.5907, -0.7681, 0.0601, 0.4404, 1.8103, 0.733, 0.2913, -0.2981, -0.2466, 0.999] state[eef_state]: left_x=0.3056 left_y=-0.1411 left_z=0.1629 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3567 right_y=0.2294 right_z=0.0122 right_yaw=0.822 right_pitch=-0.184 right_roll=0.0289 right_gripper=0.999 state[joint_eff]: [-0.0342, -5.0393, 6.5846, 1.1306, -0.3492, -0.022, 1.0281, -0.6222, -7.5419, 6.4342, 1.6093, -0.4274, -0.1929, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.367,"right_y":0.234,"right_z":-0.005,"right_gripper":0},"note":"The pen’s barrel runs between the jaw positions, with its narrow tip well clear. I will make a small centering correction and close at table level."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe right jaws have stopped at a small but nonzero gap around the pen. I will lift it slightly and check that the whole pen rises rather than slipping.
move_to
right_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]: [-0.7403, 1.327, 1.005, -0.6994, -0.5907, -0.7681, 0.0601, 0.4343, 1.8782, 0.7528, 0.3565, -0.3111, -0.2504, 0.0424] state[eef_state]: left_x=0.3057 left_y=-0.1411 left_z=0.1628 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3666 right_y=0.2336 right_z=0.0029 right_yaw=0.8275 right_pitch=-0.1646 right_roll=0.028 right_gripper=0.0424 state[joint_eff]: [-0.1983, -4.8068, 6.5299, 1.1453, -0.2808, -0.0269, 1.0281, 0.1709, -6.065, 6.1333, 1.5507, -0.0024, 0.0659, 1.1453] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The right jaws have stopped at a small but nonzero gap around the pen. I will lift it slightly and check that the whole pen rises rather than slipping."})
tool
executing move_to over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe pen rose with the right gripper, and the cap remains held in the left. I will raise both clear of the table and turn them to a common left–right axis while keeping the hands well separated.
move_to
right_x0.3600right_y0.1500right_z0.1900right_yaw1.5500left_x0.3600left_y-0.1200left_z0.1900left_yaw1.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7403, 1.3289, 1.0031, -0.6994, -0.5907, -0.7681, 0.0601, 0.4339, 1.721, 0.8272, 0.1238, -0.3111, -0.2512, 0.045] state[eef_state]: left_x=0.3054 left_y=-0.1409 left_z=0.1616 left_yaw=0.1742 left_pitch=-0.2176 left_roll=-0.0123 left_gripper=0.0601 right_x=0.3667 right_y=0.2335 right_z=0.0539 right_yaw=0.8276 right_pitch=-0.1657 right_roll=0.0279 right_gripper=0.045 state[joint_eff]: [-0.1162, -5.135, 6.7214, 1.1795, -0.2759, -0.0269, 1.0281, -0.3214, -9.6342, 7.6923, 1.4237, -0.1001, -0.0073, 1.0281] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.15,"right_z":0.19,"right_yaw":1.55,"left_x":0.36,"left_y":-0.12,"left_z":0.19,"left_yaw":1.55},"note":"The pen rose with the right gripper, and the cap remains held in the left. I will raise both clear of the table and turn them to a common left–right axis while keeping the hands well separated."})
tool
executing move_to over 9 steps (0.9s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteBoth objects are still held, but the arms stayed lower than requested during the turn. I will shorten their reach and raise them to a more comfortable pose before bringing the pen and cap together.
move_to
left_x0.3200left_y-0.1200left_z0.2400left_yaw1.5000left_pitch0.1500right_x0.3200right_y0.1600right_z0.2400right_yaw1.5000right_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]: [-0.4885, 2.0949, 1.7557, -1.5238, -0.7036, -2.009, 0.0644, 0.2699, 1.6741, 0.9874, -0.2565, -0.5621, -0.5774, 0.0499] state[eef_state]: left_x=0.359 left_y=-0.0573 left_z=0.1198 left_yaw=1.3992 left_pitch=-0.2468 left_roll=0.0037 left_gripper=0.0644 right_x=0.363 right_y=0.2018 right_z=0.0881 right_yaw=1.0526 right_pitch=-0.1961 right_roll=0.0411 right_gripper=0.0499 state[joint_eff]: [0.3214, -11.0701, 7.159, -0.5934, -0.4908, -0.0659, 1.033, 0.0068, -8.7863, 7.1863, 1.2625, -0.5153, -0.1392, 1.0281] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.24,"left_yaw":1.5,"left_pitch":0.15,"right_x":0.32,"right_y":0.16,"right_z":0.24,"right_yaw":1.5,"right_pitch":0.15},"note":"Both objects are still held, but the arms stayed lower than requested during the turn. I will shorten their reach and raise them to a more comfortable pose before bringing the pen and cap together."})
tool
executing move_to over 14 steps (1.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe left arm cannot comfortably hold the sideways alignment at this reach. I will instead point both parts forward and arrange the cap ahead of the pen, which avoids that wrist limit.
move_to
left_x0.3500left_y-0.2200left_z0.1900left_yaw0.0000left_pitch0.0000right_x0.2800right_y0.2000right_z0.1900right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3588, 2.0369, 1.5482, -1.5574, -0.9539, -2.0937, 0.0673, -0.0055, 1.6951, 1.4567, -1.1454, -1.0916, -1.3506, 0.0513] state[eef_state]: left_x=0.3365 left_y=0.0315 left_z=0.1329 left_yaw=1.4925 left_pitch=0.0307 left_roll=0.0434 left_gripper=0.0673 right_x=0.3339 right_y=0.1585 right_z=0.2257 right_yaw=1.4563 right_pitch=0.089 right_roll=0.0104 right_gripper=0.0513 state[joint_eff]: [-0.7043, -13.3128, 4.9299, -0.6276, -0.7155, -0.0464, 1.0085, -0.8684, -6.9402, 7.6103, 0.2369, -0.9206, -0.0757, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.22,"left_z":0.19,"left_yaw":0,"left_pitch":0,"right_x":0.28,"right_y":0.2,"right_z":0.19,"right_yaw":0,"right_pitch":0},"note":"The left arm cannot comfortably hold the sideways alignment at this reach. I will instead point both parts forward and arrange the cap ahead of the pen, which avoids that wrist limit."})
tool
executing move_to over 23 steps (2.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteBoth parts are now pointing forward. I will place the cap farther forward on the center line and bring the pen behind it, leaving a visible gap before attempting insertion.
move_to
left_x0.4300left_y-0.3000left_z0.1900left_yaw0.0000left_pitch0.0000right_x0.2800right_y0.3400right_z0.1750right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8486, 1.5269, 1.1091, -0.4858, -0.7475, -0.7444, 0.068, 0.9577, 1.2461, 0.8654, -0.4259, 0.6594, 0.5385, 0.0513] state[eef_state]: left_x=0.3442 left_y=-0.2036 left_z=0.1745 left_yaw=0.1394 left_pitch=-0.0421 left_roll=-0.0183 left_gripper=0.068 right_x=0.2759 right_y=0.2103 right_z=0.1756 right_yaw=0.1245 right_pitch=-0.048 right_roll=-0.0245 right_gripper=0.0513 state[joint_eff]: [-0.4171, -8.253, 6.5573, 1.4628, -0.359, 0.2808, 1.0281, 0.1846, -4.588, 9.1692, 1.3114, 0.5934, 0.1538, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.30,"left_z":0.19,"left_yaw":0,"left_pitch":0,"right_x":0.28,"right_y":0.34,"right_z":0.175,"right_yaw":0,"right_pitch":0},"note":"Both parts are now pointing forward. I will place the cap farther forward on the center line and bring the pen behind it, leaving a visible gap before attempting insertion."})
tool
executing move_to over 11 steps (1.1s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe arms stopped short laterally and their joint loads rose, indicating that the arm bodies are crowding each other. I will separate them and tilt the wrists outward before trying the alignment again.
move_to
left_x0.4150left_y-0.2000left_z0.2000left_yaw0.0000left_roll-0.6000right_x0.2800right_y0.2000right_z0.1850right_yaw0.0000right_roll0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.733, 1.8549, 1.4853, -0.5606, -0.7261, -0.5884, 0.068, 1.0756, 1.7638, 1.2934, -0.8104, 0.9409, 1.0683, 0.0513] state[eef_state]: left_x=0.4264 left_y=-0.2213 left_z=0.1709 left_yaw=0.1583 left_pitch=-0.0766 left_roll=0.1196 left_gripper=0.068 right_x=0.2963 right_y=0.2558 right_z=0.1468 right_yaw=-0.2181 right_pitch=-0.0445 right_roll=-0.1223 right_gripper=0.0513 state[joint_eff]: [-7.4598, -5.2991, 12.4376, 2.8889, 0.3297, 0.1099, 1.0281, 9.5795, -6.4205, 14.3248, 2.6496, 0.105, -2.2442, 1.0281] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.2,"left_z":0.2,"left_yaw":0,"left_roll":-0.6,"right_x":0.28,"right_y":0.2,"right_z":0.185,"right_yaw":0,"right_roll":0.6},"note":"The arms stopped short laterally and their joint loads rose, indicating that the arm bodies are crowding each other. I will separate them and tilt the wrists outward before trying the alignment again."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe arms are separated again and the pen and cap remain secure. I will bring them closer in stages, using outward wrist tilt to keep the bulky gripper bodies apart.
move_to
left_x0.4050left_y-0.2650left_z0.1850left_yaw0.0000left_pitch-0.1000left_roll-0.7000right_x0.2600right_y0.3000right_z0.1700right_yaw0.0000right_pitch-0.1000right_roll0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6605, 1.7115, 1.29, -0.3767, -0.5148, -0.6533, 0.068, 0.8291, 1.0855, 0.6724, -0.2272, 0.4808, 0.9264, 0.0513] state[eef_state]: left_x=0.4199 left_y=-0.2116 left_z=0.1677 left_yaw=0.1095 left_pitch=-0.1068 left_roll=-0.138 left_gripper=0.068 right_x=0.2787 right_y=0.1885 right_z=0.1668 right_yaw=-0.0566 right_pitch=-0.0797 right_roll=0.4969 right_gripper=0.0513 state[joint_eff]: [0.253, -10.7692, 6.8581, 1.7216, -0.0855, 0.0806, 1.0281, -0.294, -3.5624, 7.5145, 2.21, 0.1148, -0.0415, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.265,"left_z":0.185,"left_yaw":0,"left_pitch":-0.1,"left_roll":-0.7,"right_x":0.26,"right_y":0.3,"right_z":0.17,"right_yaw":0,"right_pitch":-0.1,"right_roll":0.7},"note":"The arms are separated again and the pen and cap remain secure. I will bring them closer in stages, using outward wrist tilt to keep the bulky gripper bodies apart."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe outward-tilted wrists are tracking well, and the pen points toward the cap with a small fore–aft gap. I will remove the remaining sideways offset while keeping that gap open.
move_to
left_x0.4050left_y-0.3000left_z0.1850right_x0.2600right_y0.3400right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6636, 1.6512, 1.1095, -0.1001, -0.2626, -0.9272, 0.068, 1.0847, 1.3655, 0.7956, -0.1314, 0.5579, 1.1645, 0.0513] state[eef_state]: left_x=0.4046 left_y=-0.2536 left_z=0.1563 left_yaw=0.027 left_pitch=-0.1529 left_roll=-0.5805 left_gripper=0.068 right_x=0.2537 right_y=0.2878 right_z=0.147 right_yaw=0.0226 right_pitch=-0.1419 right_roll=0.609 right_gripper=0.0513 state[joint_eff]: [-0.5402, -11.0017, 6.9265, 2.0049, -0.0757, -0.0464, 1.0281, 0.4718, -5.559, 9.4701, 1.8681, 0.5153, 0.1148, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.3,"left_z":0.185,"right_x":0.26,"right_y":0.34,"right_z":0.18},"note":"The outward-tilted wrists are tracking well, and the pen points toward the cap with a small fore–aft gap. I will remove the remaining sideways offset while keeping that gap open."})
tool
executing move_to over 5 steps (0.5s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe pen is just to the right of the cap’s axis in the wrist view. I will shift the pen sideways and slightly upward to line its tip up with the cap opening, without advancing it yet.
move_to
right_x0.2600right_y0.3780right_z0.1860right_yaw0.0000right_roll0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7395, 1.7222, 1.2724, -0.2348, -0.308, -0.9878, 0.068, 1.1275, 1.5074, 1.0176, -0.279, 0.6041, 1.2205, 0.0513] state[eef_state]: left_x=0.4015 left_y=-0.2889 left_z=0.1699 left_yaw=0.0233 left_pitch=-0.184 left_roll=-0.5768 left_gripper=0.068 right_x=0.2601 right_y=0.3222 right_z=0.1635 right_yaw=-0.0051 right_pitch=-0.162 right_roll=0.5778 right_gripper=0.0513 state[joint_eff]: [-1.935, -7.4051, 10.3316, 1.7851, -0.3541, -0.0171, 1.033, 1.1692, -5.2171, 10.2085, 2.0391, -0.1294, -0.3834, 1.0281] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.26,"right_y":0.378,"right_z":0.186,"right_yaw":0,"right_roll":0.75},"note":"The pen is just to the right of the cap’s axis in the wrist view. I will shift the pen sideways and slightly upward to line its tip up with the cap opening, without advancing it yet."})
tool
executing move_to over 5 steps (0.5s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe arm bodies are still touching before the part axes meet, so I will not force the approach. I will back the pen away and increase the outward wrist tilt to create more clearance.
move_to
left_x0.4050left_y-0.2900left_z0.2000left_roll-1.1000right_x0.2400right_y0.3000right_z0.2000right_roll1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7067, 1.729, 1.2732, -0.2527, -0.3035, -0.9939, 0.068, 1.1568, 1.6146, 1.1069, -0.3119, 0.6445, 1.3651, 0.0513] state[eef_state]: left_x=0.4087 left_y=-0.2748 left_z=0.1636 left_yaw=0.0583 left_pitch=-0.2052 left_roll=-0.5666 left_gripper=0.068 right_x=0.2625 right_y=0.3424 right_z=0.1548 right_yaw=-0.0783 right_pitch=-0.1987 right_roll=0.6301 right_gripper=0.0513 state[joint_eff]: [-2.6598, -9.347, 6.8034, 1.7265, -0.1392, 0.0464, 1.0281, 2.359, -6.5983, 11.6855, 2.1807, -0.1392, -0.5348, 1.0281] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.29,"left_z":0.2,"left_roll":-1.1,"right_x":0.24,"right_y":0.3,"right_z":0.2,"right_roll":1.1},"note":"The arm bodies are still touching before the part axes meet, so I will not force the approach. I will back the pen away and increase the outward wrist tilt to create more clearance."})
tool
executing move_to over 7 steps (0.7s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe lateral axes are now close, but the cap hand still blocks the pen hand. I will lift the cap forward and upward so the pen can approach from slightly below, with more clearance between the wrists.
move_to
left_x0.4400left_y-0.2900left_z0.2500left_pitch0.3000left_roll-1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6807, 1.652, 1.1145, 0.0376, -0.1917, -1.306, 0.068, 1.1805, 1.6321, 1.1259, -0.3004, 0.6014, 1.372, 0.0513] state[eef_state]: left_x=0.4092 left_y=-0.2835 left_z=0.1847 left_yaw=0.0749 left_pitch=-0.2157 left_roll=-0.9983 left_gripper=0.068 right_x=0.2523 right_y=0.36 right_z=0.1536 right_yaw=-0.023 right_pitch=-0.2258 right_roll=0.6588 right_gripper=0.0513 state[joint_eff]: [-1.0188, -10.2359, 5.9829, 1.7118, 0.0513, -0.0611, 1.0281, 0.3761, -7.6513, 10.5504, 2.0977, 0.3932, -0.2906, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.29,"left_z":0.25,"left_pitch":0.3,"left_roll":-1.0},"note":"The lateral axes are now close, but the cap hand still blocks the pen hand. I will lift the cap forward and upward so the pen can approach from slightly below, with more clearance between the wrists."})
tool
executing move_to over 18 steps (1.8s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe raised cap now leaves space in front of the pen hand. I will angle the pen upward to match the cap and approach to a short distance from its opening.
move_to
right_x0.3000right_y0.3630right_z0.2150right_yaw0.1200right_pitch0.3000right_roll0.9500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6788, 1.7035, 1.013, 0.5987, -0.2844, -1.0061, 0.068, 1.1713, 1.6321, 1.1179, -0.345, 0.5949, 1.3918, 0.0513] state[eef_state]: left_x=0.4388 left_y=-0.2857 left_z=0.2422 left_yaw=0.08 left_pitch=0.2381 left_roll=-1.0047 left_gripper=0.068 right_x=0.2514 right_y=0.3501 right_z=0.1435 right_yaw=-0.0481 right_pitch=-0.2552 right_roll=0.6245 right_gripper=0.0513 state[joint_eff]: [-0.8684, -6.694, 6.653, 2.293, -0.105, 0.2857, 1.0281, 0.5812, -7.8427, 7.2274, 1.7851, 0.3248, -0.2906, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.363,"right_z":0.215,"right_yaw":0.12,"right_pitch":0.3,"right_roll":0.95},"note":"The raised cap now leaves space in front of the pen hand. I will angle the pen upward to match the cap and approach to a short distance from its opening."})
tool
executing move_to over 19 steps (1.9s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe pen tip is now just below and behind the cap opening in the right wrist view. I will make a small angle correction and advance less than a centimeter to test the alignment.
move_to
right_x0.3080right_y0.3600right_z0.2240right_yaw0.0400right_pitch0.3200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6098, -0.2882, -1.0111, 0.068, 1.058, 1.6215, 0.7433, 0.6964, 0.4934, 0.9325, 0.0513] state[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.243 left_yaw=0.0864 left_pitch=0.2413 left_roll=-1.0141 left_gripper=0.068 right_x=0.2946 right_y=0.36 right_z=0.1849 right_yaw=0.1343 right_pitch=0.2086 right_roll=0.8591 right_gripper=0.0513 state[joint_eff]: [-0.2256, -8.8957, 6.735, 1.7802, -0.0366, 0.0269, 1.0281, -0.9641, -6.6393, 6.6803, 2.5372, 0.0855, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.308,"right_y":0.36,"right_z":0.224,"right_yaw":0.04,"right_pitch":0.32},"note":"The pen tip is now just below and behind the cap opening in the right wrist view. I will make a small angle correction and advance less than a centimeter to test the alignment."})
tool
executing move_to over 4 steps (0.4s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe tip and cap mouth appear nearly aligned, with no large increase in load. I will advance the pen by one centimeter, watching for the tip entering the cap rather than bending sideways.
move_to
right_x0.3180right_y0.3610right_z0.2260
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6102, -0.2882, -1.0115, 0.068, 1.0626, 1.6321, 0.7681, 0.6952, 0.5552, 0.8684, 0.0513] state[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.2431 left_yaw=0.0866 left_pitch=0.2414 left_roll=-1.0147 left_gripper=0.068 right_x=0.3012 right_y=0.3568 right_z=0.1914 right_yaw=0.1003 right_pitch=0.2503 right_roll=0.8038 right_gripper=0.0513 state[joint_eff]: [-0.3214, -8.5128, 6.7487, 1.873, -0.0708, -0.0269, 1.0281, 0.6496, -6.7214, 10.3863, 2.4444, 0.3639, -0.0757, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.318,"right_y":0.361,"right_z":0.226},"note":"The tip and cap mouth appear nearly aligned, with no large increase in load. I will advance the pen by one centimeter, watching for the tip entering the cap rather than bending sideways."})
tool
executing move_to over 3 steps (0.3s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe pen advanced only slightly, and the tip appears a little low and to one side of the opening. I will ease back a fraction and correct the height and sideways alignment rather than push harder.
move_to
right_x0.3160right_y0.3670right_z0.2350
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6758, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.0557, 1.6363, 0.7776, 0.6682, 0.5552, 0.8524, 0.0513] state[eef_state]: left_x=0.4404 left_y=-0.2841 left_z=0.2431 left_yaw=0.0898 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3041 right_y=0.3556 right_z=0.1877 right_yaw=0.1041 right_pitch=0.2439 right_roll=0.7704 right_gripper=0.0513 state[joint_eff]: [-0.0342, -8.4855, 6.7214, 1.8681, -0.0855, -0.0366, 1.033, -0.7316, -8.4171, 8.1299, 1.8193, 0.0317, 0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). 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":0.316,"right_y":0.367,"right_z":0.235},"note":"The pen advanced only slightly, and the tip appears a little low and to one side of the opening. I will ease back a fraction and correct the height and sideways alignment rather than push harder."})
tool
executing move_to over 4 steps (0.4s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThe right hand is no longer following the small alignment moves, and the gripper bodies appear to be touching. I will withdraw the pen and turn both wrists farther outward to clear that obstruction.
move_to
left_roll-1.4000right_x0.2900right_y0.3450right_z0.2100right_roll1.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6743, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.055, 1.6363, 0.7776, 0.6617, 0.5449, 0.8555, 0.0513] state[eef_state]: left_x=0.4408 left_y=-0.2834 left_z=0.2431 left_yaw=0.0913 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3034 right_y=0.3567 right_z=0.1861 right_yaw=0.1132 right_pitch=0.2374 right_roll=0.769 right_gripper=0.0513 state[joint_eff]: [-0.3214, -8.6496, 7.0496, 1.8339, -0.0855, -0.0366, 1.0379, -0.6085, -8.5538, 8.1299, 1.7998, 0.0317, -0.0513, 1.033] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":-1.4,"right_x":0.29,"right_y":0.345,"right_z":0.21,"right_roll":1.4},"note":"The right hand is no longer following the small alignment moves, and the gripper bodies appear to be touching. I will withdraw the pen and turn both wrists farther outward to clear that obstruction."})
tool
executing move_to over 9 steps (0.9s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
assistant
agent noteThe wrist bodies have separated, and the pen is still held. I will re-approach with the extra clearance, bringing its tip up toward the cap mouth in a small diagonal motion.
move_to
right_x0.3120right_y0.3700right_z0.2300right_pitch0.3000right_roll1.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6342, 1.7855, 0.9115, 0.9192, -0.1802, -1.2602, 0.068, 0.9894, 1.6798, 0.5678, 1.0592, 0.3477, 1.1816, 0.0527] state[eef_state]: left_x=0.4425 left_y=-0.2818 left_z=0.2319 left_yaw=0.0986 left_pitch=0.2112 left_roll=-1.3285 left_gripper=0.068 right_x=0.2929 right_y=0.3426 right_z=0.1692 right_yaw=0.1216 right_pitch=0.1619 right_roll=1.1964 right_gripper=0.0527 state[joint_eff]: [0.4308, -7.5419, 5.6547, 2.0781, 0.1734, -0.105, 1.033, -0.6769, -6.8171, 5.8325, 2.6252, -0.0171, 0.0904, 0.569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.312,"right_y":0.37,"right_z":0.23,"right_pitch":0.3,"right_roll":1.4},"note":"The wrist bodies have separated, and the pen is still held. I will re-approach with the extra clearance, bringing its tip up toward the cap mouth in a small diagonal motion."})
tool
executing move_to over 5 steps (0.5s)
step 248
assistant
agent noteThe pen and cap are close, and the wrists now have room to move. I will advance another two centimeters along the pen’s upward angle, with a slight sideways correction toward the cap.
move_to
right_x0.3320right_y0.3600right_z0.2420
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.635, 1.7863, 0.9085, 0.9508, -0.1787, -1.2747, 0.068, 0.9726, 1.7695, 0.6704, 1.1404, 0.2886, 1.2194, 0.055] state[eef_state]: left_x=0.4416 left_y=-0.2819 left_z=0.2379 left_yaw=0.1023 left_pitch=0.2243 left_roll=-1.3602 left_gripper=0.068 right_x=0.3069 right_y=0.3674 right_z=0.1901 right_yaw=0.1446 right_pitch=0.2049 right_roll=1.3016 right_gripper=0.055 state[joint_eff]: [-0.1026, -8.6222, 6.4205, 1.5653, -0.0611, 0.0806, 1.033, -1.0188, -7.8017, 7.8564, 2.6056, -0.0366, -0.0757, 0.862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.332,"right_y":0.36,"right_z":0.242},"note":"The pen and cap are close, and the wrists now have room to move. I will advance another two centimeters along the pen’s upward angle, with a slight sideways correction toward the cap."})
tool
executing move_to over 4 steps (0.4s)
step 252
assistant
agent noteThe pen has stopped advancing, and I cannot yet confirm that it entered the cap. I will lower both parts together over the table before checking whether the cap is actually attached.
move_to
left_x0.3600left_y-0.2810left_z0.1100right_x0.2280right_y0.3690right_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]: [-0.6334, 1.7855, 0.9085, 0.9352, -0.1791, -1.2793, 0.068, 0.968, 1.7721, 0.6823, 1.1404, 0.279, 1.2198, 0.0574] state[eef_state]: left_x=0.4422 left_y=-0.2812 left_z=0.2344 left_yaw=0.1025 left_pitch=0.2108 left_roll=-1.3539 left_gripper=0.068 right_x=0.3088 right_y=0.3692 right_z=0.1937 right_yaw=0.1482 right_pitch=0.2112 right_roll=1.3085 right_gripper=0.0574 state[joint_eff]: [-0.4718, -8.8137, 6.3932, 1.9951, -0.0659, 0.0171, 1.033, -0.6085, -7.9248, 7.9932, 2.7521, -0.0659, -0.0904, 0.6227] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.281,"left_z":0.11,"right_x":0.228,"right_y":0.369,"right_z":0.07},"note":"The pen has stopped advancing, and I cannot yet confirm that it entered the cap. I will lower both parts together over the table before checking whether the cap is actually attached."})
tool
executing move_to over 9 steps (0.9s)
step 261
assistant
agent noteBoth parts are now low over the table. I will loosen only the cap gripper so I can see whether the cap stays on the pen or separates.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7788, 2.0499, 0.5529, 1.5345, -0.3298, -1.2819, 0.0717, 1.1767, 2.0575, 0.5575, 1.3155, 0.4248, 1.2224, 0.0594] state[eef_state]: left_x=0.368 left_y=-0.2777 left_z=0.1156 left_yaw=0.106 left_pitch=0.19 left_roll=-1.3461 left_gripper=0.0717 right_x=0.236 right_y=0.3871 right_z=0.0631 right_yaw=0.2363 right_pitch=0.0677 right_roll=1.1223 right_gripper=0.0594 state[joint_eff]: [-0.3077, -9.6479, 5.9282, 2.2833, -0.1685, 0.0708, 0.7497, 0.3214, -10.8376, 5.094, 2.8107, 0.149, -0.0708, 0.5788] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.25},"note":"Both parts are now low over the table. I will loosen only the cap gripper so I can see whether the cap stays on the pen or separates."})
tool
executing move_to over 2 steps (0.2s)
step 263
assistant
agent noteThe left jaws are open. I will move that hand aside to uncover the pen and check whether the cap remained attached.
move_to
left_x0.3600left_y-0.1300left_z0.2000left_roll-0.7000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7849, 2.0716, 0.5449, 1.5673, -0.3515, -1.2827, 0.2423, 1.1912, 2.1181, 0.5495, 1.4227, 0.487, 1.2186, 0.0589] state[eef_state]: left_x=0.3664 left_y=-0.275 left_z=0.1114 left_yaw=0.1223 left_pitch=0.1909 left_roll=-1.3498 left_gripper=0.2423 right_x=0.2372 right_y=0.3812 right_z=0.0599 right_yaw=0.1881 right_pitch=0.0997 right_roll=1.1451 right_gripper=0.0589 state[joint_eff]: [0.5402, -10.0991, 3.8496, 1.8095, 0.1294, -0.0269, 0.0757, -0.7316, -10.8239, 3.5624, 1.9658, -0.1685, -0.2076, 0.6667] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.13,"left_z":0.2,"left_roll":-0.7,"left_pitch":0},"note":"The left jaws are open. I will move that hand aside to uncover the pen and check whether the cap remained attached."})
tool
executing move_to over 13 steps (1.3s)
step 276
assistant
agent noteThe cap fell onto the table, and the pen’s writing tip is still exposed, so the capping attempt did not succeed. I will move the pen clear of the cap and level it for a safe set-down.
move_to
right_x0.3000right_y0.2400right_z0.1500right_yaw0.1000right_pitch-0.1000right_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]: [-0.432, 1.1728, 0.6609, 0.1246, -0.1699, -0.9352, 0.2435, 1.1877, 2.1117, 0.5495, 1.4055, 0.4751, 1.2194, 0.0583] state[eef_state]: left_x=0.3654 left_y=-0.1316 left_z=0.1956 left_yaw=0.168 left_pitch=0.0205 left_roll=-0.7766 left_gripper=0.2435 right_x=0.2371 right_y=0.3817 right_z=0.0587 right_yaw=0.197 right_pitch=0.092 right_roll=1.1377 right_gripper=0.0583 state[joint_eff]: [0.212, -5.0393, 9.8256, 1.7314, 0.1148, 0.2857, 0.1148, 0.212, -7.9932, 3.0291, 1.9902, 0.1001, -0.0659, 0.6667] 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":0.3,"right_y":0.24,"right_z":0.15,"right_yaw":0.1,"right_pitch":-0.1,"right_roll":0},"note":"The cap fell onto the table, and the pen’s writing tip is still exposed, so the capping attempt did not succeed. I will move the pen clear of the cap and level it for a safe set-down."})
tool
executing move_to over 15 steps (1.5s)
step 291
assistant
agent noteThe pen is level and clear of the loose cap. I will lower it onto the table beside the cap without pressing the exposed tip into the surface.
move_to
right_x0.3000right_y0.2400right_z0.0050right_pitch-0.1600right_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]: [-0.4324, 1.1755, 0.6643, 0.1001, -0.1684, -0.9409, 0.2436, 0.9478, 1.4666, 0.9119, -0.2672, 0.5835, 0.6476, 0.0587] state[eef_state]: left_x=0.3639 left_y=-0.1314 left_z=0.1907 left_yaw=0.1683 left_pitch=-0.0015 left_roll=-0.7685 left_gripper=0.2436 right_x=0.2982 right_y=0.2544 right_z=0.1374 right_yaw=0.1107 right_pitch=-0.1017 right_roll=0.0895 right_gripper=0.0587 state[joint_eff]: [-0.1573, -4.3282, 7.1043, 2.044, -0.1343, 0.0122, -0.0073, -0.7863, -8.0615, 8.7453, 1.3504, 0.4029, -0.0904, 0.3004] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.24,"right_z":0.005,"right_pitch":-0.16,"right_roll":0},"note":"The pen is level and clear of the loose cap. I will lower it onto the table beside the cap without pressing the exposed tip into the surface."})
tool
executing move_to over 9 steps (0.9s)
step 300
assistant
agent noteThe pen is resting at table height next to the cap. I will release it before moving either arm away.
move_to
right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4324, 1.1755, 0.6643, 0.0929, -0.1677, -0.9413, 0.2436, 0.9222, 1.7607, 0.6746, 0.1413, 0.564, 0.606, 0.0584] state[eef_state]: left_x=0.3632 left_y=-0.1312 left_z=0.1891 left_yaw=0.1678 left_pitch=-0.0078 left_roll=-0.765 left_gripper=0.2436 right_x=0.2933 right_y=0.2365 right_z=0.0048 right_yaw=0.1078 right_pitch=-0.1951 right_roll=-0.0234 right_gripper=0.0584 state[joint_eff]: [-0.3077, -4.1368, 6.9675, 1.8926, -0.0611, -0.0317, -0.0122, -0.9094, -7.0906, 4.6701, 1.3993, 0.2662, -0.0904, 0.6471] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.5},"note":"The pen is resting at table height next to the cap. I will release it before moving either arm away."})
tool
executing move_to over 5 steps (0.5s)
step 305
assistant
agent noteThe pen and cap are both released on the table, still separate. I will park the arms clear of them so they are accessible for another attempt.
move_to
left_x0.2950left_y0.0020left_z0.1900left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2960right_y0.0020right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_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]: [-0.4324, 1.1755, 0.6643, 0.0925, -0.168, -0.9413, 0.2436, 0.9222, 1.7741, 0.6678, 0.1551, 0.5636, 0.5976, 0.4951] state[eef_state]: left_x=0.3632 left_y=-0.1311 left_z=0.189 left_yaw=0.1681 left_pitch=-0.0081 left_roll=-0.7647 left_gripper=0.2436 right_x=0.2923 right_y=0.2353 right_z=-0.0001 right_yaw=0.1117 right_pitch=-0.1999 right_roll=-0.0342 right_gripper=0.4951 state[joint_eff]: [0.0479, -4.1504, 6.9675, 1.8144, -0.0855, -0.0366, -0.0122, -0.335, -8.4171, 5.2855, 1.2088, 0.2076, 0.0464, -0.188] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.002,"left_z":0.19,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1,"right_x":0.296,"right_y":0.002,"right_z":0.19,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The pen and cap are both released on the table, still separate. I will park the arms clear of them so they are accessible for another attempt."})
tool
executing move_to over 20 steps (2.0s)
step 325
assistant
agent noteI picked up both parts but could not reliably align and insert the pen into the cap. The release check confirmed they were not attached. Both parts are now safely on the table, and the arms are parked clear.
give_up
hindsightFor this assembly, 14–16 cm between grasp points did not guarantee clearance: the gripper bodies contacted during a forward-axis approach near the center line. Outward wrist rolls around ±1.3 rad improved clearance, but introduced substantial height and orientation tracking errors. The left arm also tracked poorly at yaw +1.5 rad in this workspace. Plan the insertion pose and identify the cap mouth before pickup; do not infer successful insertion from a stalled advance. A release-and-retreat check exposed the failed engagement.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0284, 0.8169, 0.651, -0.4088, -0.0387, -0.1009, 0.998, 0.012, 0.8108, 0.5949, -0.3828, 0.0448, 0.0311, 0.9982] state[eef_state]: left_x=0.2982 left_y=0.002 left_z=0.1893 left_yaw=0.047 left_pitch=-0.003 left_roll=-0.0549 left_gripper=0.998 right_x=0.2941 right_y=-0.0008 right_z=0.1707 right_yaw=-0.0497 right_pitch=-0.0388 right_roll=0.0009 right_gripper=0.9982 state[joint_eff]: [0.2667, -2.1675, 6.7761, 1.8974, 0.149, 0.188, 0.0269, -0.3897, -2.2359, 9.5521, 1.8486, -0.0659, -0.1001, -0.0415] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both parts but could not reliably align and insert the pen into the cap. The release check confirmed they were not attached. Both parts are now safely on the table, and the arms are parked clear.","hindsight":"For this assembly, 14–16 cm between grasp points did not guarantee clearance: the gripper bodies contacted during a forward-axis approach near the center line. Outward wrist rolls around ±1.3 rad improved clearance, but introduced substantial height and orientation tracking errors. The left arm also tracked poorly at yaw +1.5 rad in this workspace. Plan the insertion pose and identify the cap mouth before pickup; do not infer successful insertion from a stalled advance. A release-and-retreat check exposed the failed engagement."})
tool
give_up: I picked up both parts but could not reliably align and insert the pen into the cap. The release check confirmed they were not attached. Both parts are now safely on the table, and the arms are parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.323 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, 0.794, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.02, 0.7929, 0.6102, -0.3767, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1838 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.5248, 10.5368, 1.7998, -0.0415, 0.1001, -0.0855, -0.6769, -1.3333, 9.853, 1.7509, -0.0464, -0.0073, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e570b8a9cba23713966e0c19e09b47ddb7f876e521fef0532049f7b4408f97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4163fa02b03b18161903f466892d823249577b9595470688846e762eb581805c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2609842d1a4f5a60572aadcfd0425be2ddf982cfb846a070fdd1eb2f17a1d086",
      "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 · 5.843 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFr1LHdlEbj2P4Gz0kJl70uUBnUUAkaxKX1D4c9cxP6BtI7KZ4OFGf8_iCrHeuhmOsIhv7Y12YzScTpbeMlVqNp_z9tvFw4-i1SvXqNh-pEp5JQwSVcsMRPrT32QFb52kUPWe4ngLiPB31fPZDge72-QOf0gYUWxNKalGYHCUpmQyMIgViQvsCMxSipqsUTZOwY3OT8bz_BjxMk1O-cInJotYF_IZMKA52aqJOv9faPBy_IkwVJPRE98y_wdWV-NySyrMIDmBLM6Yh9WuPCuo7Gn7YG2_ANfk7X4mRNWIsaILhAAIGJjCk48yMLahYZhLt8vCkE-N1vpt36rgneh1ekHJWoOV2pROAiJkWQFyXwvRVmglV1tlCmYMG4MBI79FZ_ks1XR-qbOHH1OhvIDq2b6jc_HfcLdyCflfbU6Cu1bsIesOhQWE853Ub3M3CC01PpLVI6xrR9eN6BorcDfldnEZlbfQyMmr5B0ScnuqDsMnhWJAvH4e1B1AnnB6FaZw96LosteJ4qK_dE9I4Zfu_sjuvLUpcP_R7AsrBEwSPVfksBI0ij2DwXp4UPDU8kALb3fUY3p49WKItxeLu9iRsl3JxYr4kw9THgRpdmtCpA0BiJRljN_5zz2X-3XQHeFkC95J94E_WmzcHjMziuuq4EeZBwDltB7NfwQEXBPflXQ7DFUN6AmEkRZJxG1RFZhuADRVKe04OULZn0z4c4eEWPkVBKXjSpHHLPgbOGmZsuB5DJJ3-t9g4RdUnEtM83kvmZTA9h_G4QASLfrbmYM7kh0MpCA-5NRhH-n-jRPRaNyJIIY3QSLhyyNosETwBTeRhkuyuKwTREHckQ20ZVSKQFA9Q257-QB0VwXdTB7xkubQEbx4ljpSYwTByqoGYbvWL3KD7BgN3Ss72xkewI4Ds4-Xro2D8rJiTKPMlia5GHegBj8q-TmztRROIP0jngraBNytHRBdQWye0rJOgBorRx_H3MFGypOVagCuECyqPKQVl3z9kaU1GfPRqsU6hSpEsROEAUMOLIXJmQhOad4bcIhhlVFhnEiUnCQaCt-DAmDF4k9Ebh8weXfdO6FIsGMccVtIz84RyD5c9hD8CghDxVfFnIWo3TSaU6SQ_pDgLbK988Ln_rdFB2YvlOmtLG6modS1SFSr0HsAWvtk2bSChCCoJnfsx7Cw_4G0zYywePFZ_cd1FmUioA_SqMfLKb93MPdVXJkkenXTNUAKGnGfWyOD_QTda7r8TdIjeDS2mKZt62fKmcI5G5qvaOOBuPHZA0MYFnIOfc2a5bgRQLVfVAEB_2qzxvtCOGKVKm-eBzrqUsjhHSo5qT_5TKlh3OoxBITV9UzlixmB6czKKDi3R_LrD7mqPNkQ4VePumexhYAdTYapBXT_XEAsa_SwEN6mZ5WQ5I3Yv9ORhuiZDxkiQ5I53Eq5LWb-ZWXRdrm9_ZXl8gLgF0HQgPBI5o36fxvU6hjGXSXuOT4xQTceWqeAQ13SACc1Sa_qJsmfvFmNaGavWsrrK_4D8IqIDqxabP-VqD8_EJw4YHldgygMkzazb4eKnt81GaPBru1oVt1mVIguyxXjkhBvktyHOVs4vJe9LcDCz-H4z_IU4uHq9YEqgO3mowAJidL7ePSqVqm5fIljw1q3EpgY9d6FBVAtviVZeBb6uxoSve0ZWIFqSQ1_ydaTNMgjVo3wZfLfLMHkW0wPa9XLRMslx2IFZc9HUlPFMLNNuwleUjaqYImFkq7BtvHl1kcYW0P2wpVZRlIUIUWE9bhnFvz2AkF83HfLtrkZ5qUwD_LGf7jpVSF2mvEJ4UWSxjnvYWfOqUI6dB3kxVrKZtT79X0Yi3KC5fPz_cBgofWeJYsKT_FwKlXEShYIyomLWoJJUsuxv7L-eF2ZrcgNNLGOlipDF8iY-Tw1YnMZvgFXlicFZw7ylFIoOwkrNDCt2EIUELeMzYJTWqiALMzwvlgO6JQXFPogntMuFusNNgZfbf3XVC-nWZ9f_e9u4hESp5oGNkX7KRxgqIiIDIT4UMoP1wYnEsilJPhfj9sa_8HQXi6O4kyA_bfdfjtJ66EMcZvpb6SKw5S8ZV8MxGg_Ht5l8ae617ixnT65vKP3mxdCrxYzbBNRjXdtCuUo0mfP1nQwD7xwwA1ozDP2mX5TSqrm6sYvi5Ue2HZqV-YEfjf7vKVQuGBpecmDZXjQ5hoHBu--3HkffnU8aRQIObWoP2ylVcqq4N4aki6MKhgne0Uq8PgulrONUxq_kF5eFxXnRbOS7O52C-H2APSYe2r4Ysb1nHdC1euFM02V2wz2LJdg56f3GPcU3b6sjVWlEDep8cIeLczyOmTXhRJjFJa3Rn_LbXZH-aqM-_0X5Rimi7PKsNmVq0fpjbiAwesSOCAePca5-9Xd_fHaYA5sEQJIiIrNGVaORk6Y-F1jM0khtIxSc4lzD-aFOTlzi74Ev7DEwlq0AzInNYRKVgTSXaCDSy3mNoUYijMTUZykvpdbMhA",
  "id": "rs_06d5d5d689f95720016ab45aef64a887d0ab1771f8de98b150",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.215,\"left_z\":0.14,\"left_yaw\":-0.5,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The short cap lies left of the longer pen near the middle of the table. I will bring the left gripper above the cap, angled to grasp across its sides.\"}",
  "call_id": "call_SZQpPviu3J0znCS01OFsHjS5",
  "id": "fc_06d5d5d689f95720016ab45af3dfec87d0853181d7e2e31445",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SZQpPviu3J0znCS01OFsHjS5",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.482, 1.5761, 0.8776, 0.0353, -0.0216, -0.0399, 0.9993, -0.02, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.1984 left_z=0.1127 left_yaw=-0.4539 left_pitch=-0.0911 left_roll=-0.0105 left_gripper=0.9993 right_x=0.2948 right_y=0.0017 right_z=0.181 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.2137, 9.9077, 2.0049, 0.0611, 0.2418, -0.0855, -0.1983, -1.5658, 7.2, 1.8388, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a526fb2f5b2f013fd0cdfc380d7659564c0402ac10154dd02abb21f61c290bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950d668db104dc898fda232c3bb2346c83ec3c9065078215f6f410f4547ef684",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951066a7204b09553a3a2fbe0a9daa46278492b7cd8661724168374bfe3bfd36",
      "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 · 3.681 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, 0.794, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.02, 0.7929, 0.6102, -0.3767, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1838 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.5248, 10.5368, 1.7998, -0.0415, 0.1001, -0.0855, -0.6769, -1.3333, 9.853, 1.7509, -0.0464, -0.0073, -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]: [-0.482, 1.5761, 0.8776, 0.0353, -0.0216, -0.0399, 0.9993, -0.02, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.1984 left_z=0.1127 left_yaw=-0.4539 left_pitch=-0.0911 left_roll=-0.0105 left_gripper=0.9993 right_x=0.2948 right_y=0.0017 right_z=0.181 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.2137, 9.9077, 2.0049, 0.0611, 0.2418, -0.0855, -0.1983, -1.5658, 7.2, 1.8388, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a526fb2f5b2f013fd0cdfc380d7659564c0402ac10154dd02abb21f61c290bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950d668db104dc898fda232c3bb2346c83ec3c9065078215f6f410f4547ef684",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951066a7204b09553a3a2fbe0a9daa46278492b7cd8661724168374bfe3bfd36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFr8C7BVITgRLCwQqgoevQKkx15p1wE_wM-cd7mK2qZSv-JiaRoSJxb-lhajWohAJbE3Oq7IVfM5Ym4jkWmVcin49B51WXqH6PM744c03OHQaV_vVqtFFn8i5GFbNJbc8-ThfvfilF7Oii_rYpDTWx5ZQ-CfCzi10U09Nk7Q-VJHJRKh_6Lq7KpClRjfobyin1Z8k2rD8wFd2E-YG5sSPCxIKRPo0t7tBaAWjeSPoz4lHbXbMN_6rN9V77IlqQ77tbZmebPCKYQ8ElHB1L_1GFzXuF4h7pEo2IHR2wMiCP6K9ED-660PFSVPq6CFiUJ_R40aSAiOrp-iI43sU_Una95IKyVD3KGs6p_RFasOJveAltL6ljRyFI--drAoLkKFNsQHor-pXAPzxXOf3eNnD1nhxcsk4y570-TSI_Up9pCETuEVrGFVWI8CbX8SHmdxCp37A2Js-FkY0cROVPDMLn7adhBsGqCN0kV8zDVidJ8pYhLtyq30YW-YRhFt4hjTbDpidOpafpg_JmEVVPz4X4XKX5B91CWu5qnimOzyqDytXzbSu365y6Fw3rKfio6WRdI2kbUThadEY3QAYE2T-ZdXxHIPPynlUJWTnMG7fArCN-mEkvi4YyDGImLQe_cEXtmsa_KRNXw2y1ehwyB_NGnWSZespgwOZz58AI5ThI2icBQYwGZLeuZWpbvrOFOxwtfl15ItCZTtxSTn1zSOU2Tb4I0BYUcn6ZQcEH2Qc_zdtN6GjGJJzaZ8mtiBRUBJbxLTPSQy32ntPgz7h7t8A7JTbCSZxrgqAFYUB5OnBSf6hzjWgiMIWjksNZqlyKh3tGq6dKbcRgR9apEsRqLPC3XMqjkgrVrA0JXcDC-vEx8Octi9nYdzdHAcFWtU1nL8GYL4BlZ_jjt4JGs0lEbSyY-xUgu3hYlwLifh0BJpb0ounNC7Owtp5xmBMgvFzXPdmd-gHUx07cHj4PDLqhGw9q8JpY97UNAWM-x5h3-m-UZxTuZtXkKKvuqWFomrYUeoSlT4kBvtSi2Q6Pl4kAc5RjiaojMg55ty3X63yjHBtZgPwgWBO1oW4XCsWmKTn8sEA6Ogd5vrmDPVkjE9x-WkoSVb0lHNPdd16suTf8uwygbw8zfCbwA8jtCPWV1eKUfPpSAEZ25tXv27uPAySBqNK7IzgzkLrzXLnJ2xPrUSi_tLWK3MBH2L5piCARbyqbyJA6JplxomjZMg0PnpL70g1Prvmsv55g1-XOn3GU9mnSs-3PeokFnWH1ivBJ7AVsF4Tl1oxYzxc59JRcEA581aj-ELn-zz92iDP7sE-4ruyBXZkvrul4xhOv1dV_pavEVLe7XRenz3Hdwf1CN_s6szQmmjcA2BYipDFa5uYGfUnH5uinHfxTK-_1H3uo8eYXIS2YdHcEpNPx2CTgVkjd4LNQs-fEgHivSelMeWNk7vmcK5ruKRpP-J8Um34weTbBQxpD4keNV2lJM1YavM-dYBs4bh6JHP9FK1Kiz88TZpnV67SCjwwsRfn0kVVqdwZl-3ez4uyUApaPTSijislyUvS4auzwCw5MwoZ0De5-xBg1xOX2Jcgp09uE4vUzopYKAXNYuOiYwWsDFKvNtkDczLN_RO6cXOym4tZtbMsRn8xCDaksRACcVutzmCrCLpeu5sDyVr5oDqClmAQ9KN-6CRT4-BVJ2xODuZfB1_AIG4qQtKfmMIc3LGwEc2EnulpIHn2khTc9h5ZimiABxgQTEVX7A5eMqHtVvDq_E53vgQuow_bMU09F-oEGyW1r8Ryvt058OASUQSpeBDmxLhixfJwe9yLA==",
  "id": "rs_06d5d5d689f95720016ab45af9883487d0b0add9602c6c5a84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":-0.2,\"left_z\":0.02,\"left_yaw\":-0.5},\"note\":\"The cap is aligned with the left wrist camera’s jaw column and close to the fingertips. I will lower the open gripper to the cap’s height without moving toward the pen.\"}",
  "call_id": "call_jn8iSWNpYM1vIz9QbskxBJJo",
  "id": "fc_06d5d5d689f95720016ab45afbcba887d0b5603cd052a045fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jn8iSWNpYM1vIz9QbskxBJJo",
  "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]: [-0.4648, 1.8229, 0.7273, 0.3489, 0.0101, -0.0177, 0.9993, -0.0193, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3874 left_y=-0.1922 left_z=0.0098 left_yaw=-0.4756 left_pitch=-0.1748 left_roll=-0.0134 left_gripper=0.9993 right_x=0.2946 right_y=0.0019 right_z=0.1807 right_yaw=0.0006 right_pitch=-0.0168 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.4718, -8.0889, 4.9573, 1.8779, 0.2222, 0.0806, -0.0122, -0.2667, -1.265, 7.0222, 1.7851, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184b5ecbf5e6c89b1427a8742152a583425a5214c5f3ab1c668ec8230d133940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73050dc672544a03180fe2d987f52ed4a4b020d6ee0adf955a736fed4b2ec13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5565724aaec3798b9b68b63471b76f37f6aaf24c938717144be563940e9f93f3",
      "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 · 2.536 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]: [-0.482, 1.5761, 0.8776, 0.0353, -0.0216, -0.0399, 0.9993, -0.02, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.1984 left_z=0.1127 left_yaw=-0.4539 left_pitch=-0.0911 left_roll=-0.0105 left_gripper=0.9993 right_x=0.2948 right_y=0.0017 right_z=0.181 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.2137, 9.9077, 2.0049, 0.0611, 0.2418, -0.0855, -0.1983, -1.5658, 7.2, 1.8388, -0.0366, -0.0122, -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]: [-0.4648, 1.8229, 0.7273, 0.3489, 0.0101, -0.0177, 0.9993, -0.0193, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3874 left_y=-0.1922 left_z=0.0098 left_yaw=-0.4756 left_pitch=-0.1748 left_roll=-0.0134 left_gripper=0.9993 right_x=0.2946 right_y=0.0019 right_z=0.1807 right_yaw=0.0006 right_pitch=-0.0168 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.4718, -8.0889, 4.9573, 1.8779, 0.2222, 0.0806, -0.0122, -0.2667, -1.265, 7.0222, 1.7851, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184b5ecbf5e6c89b1427a8742152a583425a5214c5f3ab1c668ec8230d133940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73050dc672544a03180fe2d987f52ed4a4b020d6ee0adf955a736fed4b2ec13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5565724aaec3798b9b68b63471b76f37f6aaf24c938717144be563940e9f93f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsBkbMQmC0QhZGiFFN46M5psFiCJH-xvnYVpCvzUyAV5_cJjp8SBb49qp8i-FmdvGYX2zHVagOYFbC6O5Tdv9hl4RY1DNohh_UvJ8gFMZMkrF1HQZH5XVDJCcRHvtQyQ1qzU8ST5zo5_dYQN6_J9cUi9U7mX6tJfhO_4brdxju-nUD2TqyeaWOGPPptLC9YjS641WdajNe5-hJVCYvjr3MH5-mxcY4iypAJhFths-99DjmP8ArNrHYjlum_3-9XZgSVtyIrkO-wG11KLzSNqBkGN3sb_fsrUR08-vBmsIdHbgURi5t9oJQp3mSDfx2qk4gwdMtzKga5aefK3dzGME_gERjkoLWz-N_LEDywtsxG280jLRDCRrQaQxLwBoum2NyeWASGUvL2frBRCmv_sRTWuYORtkXJhC5xRTuRgWZvY_R4_Qb-zX_yj7dB_1hDjOsbgBGivd57qPOl2pVvtXIZv8U_VOTguwnSfmSbb-piSbkmaCUYEOmN1RUzItVD_eWylLNeWVZ7pPQknBUQWImwuY3NrOMWP9BbsxWujfbLuWmSlG_FwJnuNoXCjNic44LVzTkY7CYMQqYKru2yEYa_YpUMvPETJpF0WmCcCNHPc7zIbvE5bjWcqQ4w2g_QyEdAiHKDq5C4QytAUeQLiiKncDCILOmq9WApSd5eY9mnVPokVGMgXOVGl-iVdd8-qVm4d9DDMBowFyl9S6z7XLxYXvrzK96Du29cx-fxNlx3PbaZ0Nlbil-rDUWGBcg1Mm_mbveE4WKHo6MuH_2_k09Oehy_8iaND3shmQHcupti-ANhXYDULSEjHdsOEr23wdBulVdX3Mw062ZFQiYQbShbjswOee0n2geodMljrheKFO863p5-mevBiiudD7UVSiuKvVgHe_Xu8H8KL8Ke3PxuAbO7kL46BZQOzNXa_c_lRTazkA-6IxFvBx-mcE498aUIdktrVu-VJpWdc0UWTbvSOiVs-yX7uKRkRXq5l9UNHj3MWf9HnzXH1y3Vd0gic05VCIrOGdp0aBdNvoPc9sqFzeqnlt_jeDT4YOwB2Jh_lLvR72T8NxJBAcJ7n6z8tKTZ1cFjb0y_8BR6GndhhttVZMl8NAhKX0oT9NzueJBOkOPpopVRj3rQAVq4GSViaRETyW93qgCnFCJZhkslWSmsMH2CopfO98K2VCE1ccdoxPvYe2xyVoDJX3uagyXnbZR978jJCq-gzGuqNBBc32FdZma72H_8Md0qVKWoHDRtll9B3Wz4_PpiLFj552wh2CqtViaKU-di1Dk6-OE2YQmkKopZ3MdbFBuArka2H_7qeTDK-bTfhuqUt7mLjvp76sSNKfHacNZAn9cWz3Ozi7LfridnhDXd5XmdJsxIUb8jNGkYQ7Tr7R6_UGpRR6aSPRx7JAY_rTrkeUIdHuenLKV4sjJHUL530txYmrqDcQWTt6M6RuxnzNmylvUCPMSRq_cLnSAYUzqK9PJFT_0i807oUurm4kZJBjeGYFmfT8mtOaIrsGqanG8y7NXuYXEf9YEjnwj1GggyLXbuGsOIrAhMNA==",
  "id": "rs_06d5d5d689f95720016ab45afed87487d08df4567c8a0173fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.005,\"left_gripper\":0},\"note\":\"The cap remains centered between the open jaws at table level. I will close gently around its body with the fingertips lowered enough to catch the thin part.\"}",
  "call_id": "call_hkx8KKBbV97YvXmdcW0EK9cz",
  "id": "fc_06d5d5d689f95720016ab45b00399487d09c45fcd111d1da6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hkx8KKBbV97YvXmdcW0EK9cz",
  "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]: [-0.4652, 1.8545, 0.7166, 0.4046, 0.0074, -0.0242, 0.0475, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1929 left_z=0.0032 left_yaw=-0.4702 left_pitch=-0.1615 left_roll=-0.0164 left_gripper=0.0475 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=0.0006 right_pitch=-0.0195 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -6.5026, 4.506, 1.7363, 0.0611, 0.2125, 1.4579, -0.3624, -1.2923, 7.0222, 1.7802, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1c764c19a08a6f39695ee2b778b2fe005810203721fbf07cd61c3e1a19d0b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fefde53380b97f8d71d9340d03c6f63f14e82c39d20c8ce988be18b90619d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8496b0bfb849d255fbd99c785effd2b0023d9b232e01fd330a4070784d455882",
      "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 4 attempt 0 · /responses · status 200 · 9.127 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, 0.794, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.02, 0.7929, 0.6102, -0.3767, -0.0231, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1838 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.5248, 10.5368, 1.7998, -0.0415, 0.1001, -0.0855, -0.6769, -1.3333, 9.853, 1.7509, -0.0464, -0.0073, -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]: [-0.4648, 1.8229, 0.7273, 0.3489, 0.0101, -0.0177, 0.9993, -0.0193, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3874 left_y=-0.1922 left_z=0.0098 left_yaw=-0.4756 left_pitch=-0.1748 left_roll=-0.0134 left_gripper=0.9993 right_x=0.2946 right_y=0.0019 right_z=0.1807 right_yaw=0.0006 right_pitch=-0.0168 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.4718, -8.0889, 4.9573, 1.8779, 0.2222, 0.0806, -0.0122, -0.2667, -1.265, 7.0222, 1.7851, -0.0366, -0.0269, -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]: [-0.4652, 1.8545, 0.7166, 0.4046, 0.0074, -0.0242, 0.0475, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1929 left_z=0.0032 left_yaw=-0.4702 left_pitch=-0.1615 left_roll=-0.0164 left_gripper=0.0475 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=0.0006 right_pitch=-0.0195 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -6.5026, 4.506, 1.7363, 0.0611, 0.2125, 1.4579, -0.3624, -1.2923, 7.0222, 1.7802, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1c764c19a08a6f39695ee2b778b2fe005810203721fbf07cd61c3e1a19d0b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fefde53380b97f8d71d9340d03c6f63f14e82c39d20c8ce988be18b90619d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8496b0bfb849d255fbd99c785effd2b0023d9b232e01fd330a4070784d455882",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsEeqPzi97a9icJI5eEX6exN1DY_Kk-ZHLzLrMZRj2oGeDUXbN99I9ng2x0oJFBl8F5z66qJLYyehMz0pR2z1XEdQ_211pgMR-s2XjkHQ9BGzTBvLOSY0fU2hwzNFptVXsrFoTfeZTcjV8CKTPXP-HgTq20dO1EbMX7St_9R_LxTH5itVMJXJUhz5VFEVxXowwWIQaMWHqLjKZO29R7AF9qgTCBZDgQ-jFv5EwRiw90D4XGEvHQOlgGo9GQYqAK7oRDIp7GtLKvdqbd9PjgckXgwQuvKgECDAScVS_43jsdl3-zkm6sQpLL3JlYek9b6xDndlRpLcjzPNsGyHHzf0LwnX4G21NUummgfPKPpd-S1OOM9-P3yBYjPyrjKZTsHjP79CpLDlPvzA9iNZxo1f1eXHy6uB2NNeZMzsKXrY4ZiHZFY4AO9EBtnn7_qOgtRAagudKZGCcBqeTxPhjmbqIRZPNzuiCzLhN41jXsRLqWfaqBX2a_LXnoAb92ErbdMefHMEmkqDVZ1qKKcxTda1HZ5DTQHKQvdQGibG_BGQq7XxQOoWp6tsSvTpfrXSaXNe_cS23u_yfrkqIU9F0bXSp55Sh5FeG-MdIMrvhJLWQAssYy29F468GQEf4YXpkElQ_R-HDyxEH9BwxDKlJ8GNCOU-72ivecM12HMQGBYcY9VzbaafUfBpWvKcK7KZk_4dsunXR8mW7FjJ6uQUJ4NuCbLkKNXjFBGzLNtPfY4rOqqIZ8_La67hRVkbPWJqfz56MUFo7M_wTt0o-dZUINcRogyNfh5y4EpCgI_VnrKVSRGa99kopYGo7Ize11ZSxyi2wdC_XjOa1e7mlAx05aGeNsCiyQ2IWSCJtxU5eVuMPTU4v5VnCjOiZP_ulrOQozzfipGsL8VBcwe-b_xf5sHwjXpxXbXdVsFO7FTWwGSeof2-kiq0mCuA2QUwOVwaGy7tOsuUhkE7TWbH7qxn3_3W_e5rryT9JgFxdC0bOa-dMR-RynnEVX-bUEsntu7o44fsqjUqLT40lG0KkqrfhvBPKq_W6moKWXRNdbnMDhHSV1YqfiKkQT2Yx8gdx8j1AphcqsSWQS2b5YoP0LjDZ3ho2Ag4FrF03UfB4LI8-bXyUbDmq55QBPlkZhFJi7vmhnykELbCpx5CtwVENKkgns1cDYA0OYLDiqL0vYnCitCH7sYbsjghDHrow5f6U-jPj43_hAVNKR5ein-bBC-fqv0yWJeDHWLQ-DaWHkfx7bPlzn7cV-T-B_qecMteVFC2XM8CDpCjdR1_8IpK3wAJRQgLa7UA==",
  "id": "rs_06d5d5d689f95720016ab45b034cb087d0a7405d8d311eb2ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The jaws have stopped slightly apart, consistent with catching the narrow cap. I will lift a few centimeters to check whether it comes off the table.\"}",
  "call_id": "call_lZMY7nWmu6UKFfJlXlHZlMVp",
  "id": "fc_06d5d5d689f95720016ab45b03c48087d085214ed0d7d317ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lZMY7nWmu6UKFfJlXlHZlMVp",
  "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]: [-0.4652, 1.7027, 0.7689, 0.1909, 0.0071, -0.028, 0.0547, -0.0193, 0.7982, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3858 left_y=-0.191 left_z=0.0457 left_yaw=-0.4677 left_pitch=-0.171 left_roll=-0.019 left_gripper=0.0547 right_x=0.2942 right_y=0.0019 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.6359, 8.6496, 1.5458, -0.0269, -0.0269, 1.033, -0.1299, -1.2786, 7.2, 1.7705, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120b0b1fec831bb184397021f2e7df35441ee01cd0c58560a6868b09963a1adf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ae31735cff29d6706cb80d7d7ee038ffdd846c82ed5bd5caf3753f2b114256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0e56ccfa47977c415cff4e5a035513838253b1b23c372214ddf0610a76fd0e",
      "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 · 3.912 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]: [-0.482, 1.5761, 0.8776, 0.0353, -0.0216, -0.0399, 0.9993, -0.02, 0.7979, 0.6132, -0.3904, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.1984 left_z=0.1127 left_yaw=-0.4539 left_pitch=-0.0911 left_roll=-0.0105 left_gripper=0.9993 right_x=0.2948 right_y=0.0017 right_z=0.181 right_yaw=-0.0002 right_pitch=-0.0156 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.2137, 9.9077, 2.0049, 0.0611, 0.2418, -0.0855, -0.1983, -1.5658, 7.2, 1.8388, -0.0366, -0.0122, -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]: [-0.4652, 1.8545, 0.7166, 0.4046, 0.0074, -0.0242, 0.0475, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1929 left_z=0.0032 left_yaw=-0.4702 left_pitch=-0.1615 left_roll=-0.0164 left_gripper=0.0475 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=0.0006 right_pitch=-0.0195 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -6.5026, 4.506, 1.7363, 0.0611, 0.2125, 1.4579, -0.3624, -1.2923, 7.0222, 1.7802, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4652, 1.7027, 0.7689, 0.1909, 0.0071, -0.028, 0.0547, -0.0193, 0.7982, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3858 left_y=-0.191 left_z=0.0457 left_yaw=-0.4677 left_pitch=-0.171 left_roll=-0.019 left_gripper=0.0547 right_x=0.2942 right_y=0.0019 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.6359, 8.6496, 1.5458, -0.0269, -0.0269, 1.033, -0.1299, -1.2786, 7.2, 1.7705, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120b0b1fec831bb184397021f2e7df35441ee01cd0c58560a6868b09963a1adf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ae31735cff29d6706cb80d7d7ee038ffdd846c82ed5bd5caf3753f2b114256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0e56ccfa47977c415cff4e5a035513838253b1b23c372214ddf0610a76fd0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsOwbX2hw7pQdX_wE7iNIUp5XWwmh8NTLVMJBRazhrjaiYzmvHan4X3auPJYDvdPxyt6p11ffAlJOEM4E0JAiFYU2BtkXRr4babIUaOfZ3cpQDf1CByg6iWhgDz-CiLZCxQIQ0YqgtC5THlV-2CUYgklQxheWmw_uFL_UQzFHTFkB5qDWHqurc3tqv8nrhjr5xsbp6gtwarAT-WovM0o5D-VYZ8C-GhdDSUFeuaRu7qlT_70g9tylLAEQdpH0f_6rI7e4gKnjhiqygiAmgaSUOsWTY9GIvZuRGRZuFnjs-OTiwHf1f30HUzku_xLg5bV5mnCNd3TiGx7bUGG2tcVGYWJ36K7DoZPohgIUuRmxBzwtJtuOQH9osZlwEFswMY8stXulHNqLzd-i3RrvTa64kshdlljqLIA8aRp9al61ryHD2uC53MSXY60wfIr4NtcW3S9iOvoBJNs-u285gz2A-Zlam0SCXACSyYzQaqzcSjTmOS_oW7FL3DavjNtduzg0lezaHAPU7HG1DZcGYcoSA-VQCYEZMpiL6bXCX690cVEbPUcRLOKVWnPO2nF2FnEJghu10F2KSw9dHmShivdYY2Ep-wuPnvuXtWUKl6nnRq9wWFsgOfLFoyZeKETWTS7Bsz67Wj3qLYsiGHEvkNvjaP44e1jkN4y1rkXOZJnJ_6O_K_CFYS_anc35EGOdDVTkdcin2OoWPiqR1dQOfp7citINLyHVzkJdoOqc8acwXRDwEVL6iddatTsv8C_qCRG5zCs_4jPlID2-1p6nIMb4KJlUpyUlx3pbaGyWmPkvP9nLaT_HUcgV59ApAF9sDqOuwYtdxNv0ZinxB366uFp18vgWCe_QBI_QLmvCdPutd2aVe2Cf6w9O2QOj6XvztOzZyW2ked0CGqvto3o7prl9j8Y1gpoClUubIjXTOGGC9LKpjI7Hq-a6ItxgTcNXkD3GeWm_rOxuzgSvCDe84oEPnyrfydVrDCdPnZJVxxg5d9qKU5w-WthKnLvxrQxDb496UJqBZfcOwKMS8d841XhqjUYpMnbp36SzFsrdYNTug4b37oPRApcQyNNoHMB0NmU1EXSXytkG3TAEEnNrTGHLjQLet1Y-xDAkilf7gX-oefxx1zk-B4eQXmnOOKTIUB5_a7iBNaFsz0mV0cK2FrZrJLRCV5RLbCEh-ye1x21dWVcZ7ahSt25YHUVr7lVMlZ9GjWHfnPMieISS9KVkqwydDpwinSyB1wnZV6J5IU_UQamnPJoeR_SauPA6e2Q306ZD7YU9K-6G_2p3lNly2_ST4Hk8Lrm4woWimcFu1PWgamw5BvPGj7oFPM3glSGvhI5Z8n_FJVKwd8K7KwSFwSTkhmG5_0wcBnNCRrolX811JZBrc3dH71B4z0YUqjsKOwxTa_Cqi6Ypq_L02L6Y0HDRpri4l2_Iko5K9_LDLZt2Q5NjSvZJIuKeLsCu4YMlBfaGM8-y0pQLfIwCIFev8qFeFopZPPF0AziJwFCGB3YeoNQVxYFLRpB6zZlmxlsD_ZefMhiAhAcPdvNSlV1Ftm_VpKLeUkI6-a3gEvD0FtWfXhxly-a-im6HbP3GUZ0PeIe1VQe1OmBL74OjQTg1rhfnPSb-wByyo5PwVjwP2KxogYxLxxAgI39-i8BnwChdjfv2oHZ78-TY-mZ3XWyDx-WWZi9A0_i7ofz13FlM6YdAScNme0E5qGNLB-XwFXXvNuk9hJ6KGK34AHAEPtXmyeIbSQ8zcYNvdol1m1_T9n9D7QyXbb2jszB8ZSzhW6DE8RTB0B06La9m6qsRSbkF7Zjdf4W-lrRla5uVZY5LqPPfOcZti4ouIoju-TgUt0YQpk1HHEtpG47mH1lYtTUaNMDz0WsBwzv-0XnmPrdk4JrModMOOREXFWqBAezM3Uea3L8WDkm0CGlgd80Z6Y9nVZ-g-Azz3OL857Euz4J3xB_H9QP2i0TMRNf69f7FvDqffA0DAuC_I2a4SYPbmpj9Vgk2LzKWbodYf0DMT-ZNWbuC2Y8b0BTiOACfMZibhmay34cymfBp-t6HkIBlWtGRoqxdLmJMHN3mEHSzu94fN0K7cg-i5GvRUTE_Z3OPPkHFTDWYiiM9aA03hXto0Xh4tD2IhBTPjJRNEBQmczSj-9--vTFYJowUdCdd5-TFjmi4zN-4e8ftpGRmjKtbt0EY0GXTwOS2vMnGO4_hjXvtYb9GmP3gS4Snt5EYdAWHsKY5PjtACmKNFBhQP7d_AZDKHCaqceqAuVSSAZDI8RikqXVIpVDNyXoocswrTHVYd3fTk4QTugSi2dKz4cxK6fnNgZi_en6w-YU_bRtl-XYY5f2sAr2LWXx79MgyzhTyRzSY5RA9rB-mhlHMXeitCZYJcY_4UK16NcXF2cE-A-DO5k8wEst8AsalOvAbM_rJwQjflz9NWqmXDj28lIZXurq7-amgtK4qLIf_pIANwkZRsCnluqUGsFuXyrTz1GkJccnS19amv9Vu-llVo2cmPDcIe3K6XnBevIuuP30tp3-N1dVB6F3eSkEijr0bhaaD07z7coZ2r7K5-h4-87XpTvVWHH6SA1jZHhf5mwQ8-PmSlAt0zTEKm9HPKdHdE9Sgl6lR-SFN1SalwQV95GPjRh-RSqXt9sqELtMnYfnRH5spvPPuMdazRkt9oiIUvAIFsaW-5--2MOsgHQ4srYzz7VL94TFUB2vMMZb6nOgfXn3HAn1JQlM9dR_i35OGHZwmtnvKHJ-qsFmFceA96ovGGglFViLUePK2h4eJ8GXi1jJ7y1e-xyKg53LKYYmnqHBnNPMUYQn0_FFI70MhjWgdqLw8099HGmACh7n-qTW491VPOPCYwb-pZfihGdWvvpERg9lyXh4ABGTkqnaODdwGAW08e50lfXfI9zC6ZOMnQjNr5G-bG3XCvTrFtVWXlQ0KqyrCj3mdpinUeD6_N-s0GibE9aCxHnBoU3y0MQTfKi7zE_pc_yC3-JoxrJ62-Jh7v34SOU8ynV2vndW8vmbtJq13LSZ0rMpwTaRaUJkabA6dGSIbjGMkUMo_6o-5e0aM6zOdqwBFFdMvcqNvfn-ykfJgFt18eu9A==",
  "id": "rs_06d5d5d689f95720016ab45b06760087d09e454c1a24c9f980",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.18,\"left_yaw\":0.3},\"note\":\"The cap-sized jaw gap persists after lifting. I will move it clear of its pickup spot so I can verify the table is empty there and give the right arm room to reach the pen.\"}",
  "call_id": "call_2YX8vnHlmj3zQ4xXWXnleq9o",
  "id": "fc_06d5d5d689f95720016ab45b0cb2f487d0835aebb76dfa98da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2YX8vnHlmj3zQ4xXWXnleq9o",
  "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]: [-0.7349, 1.3216, 0.9806, -0.6327, -0.593, -0.7448, 0.0601, -0.0193, 0.8036, 0.6132, -0.4118, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3117 left_y=-0.1438 left_z=0.1635 left_yaw=0.1599 left_pitch=-0.184 left_roll=-0.0354 left_gripper=0.0601 right_x=0.2922 right_y=0.002 right_z=0.175 right_yaw=0.0006 right_pitch=-0.0427 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.2427, 8.7726, 1.0379, -0.398, -0.0757, 1.0281, -0.2393, -1.5385, 7.1316, 1.8681, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f10105d6d0efe3be35b55670fd071aef4dd0acbb657f0ec10649306caa98590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80be117457c06fcce23b56340f82901c6cdf76cf23c60ba6a97ce8208a96a1ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03068dfc83f6efa0704a9652531710a1e56725e2731e314f4a90868722708115",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 6.039 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4648, 1.8229, 0.7273, 0.3489, 0.0101, -0.0177, 0.9993, -0.0193, 0.7979, 0.6132, -0.3916, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3874 left_y=-0.1922 left_z=0.0098 left_yaw=-0.4756 left_pitch=-0.1748 left_roll=-0.0134 left_gripper=0.9993 right_x=0.2946 right_y=0.0019 right_z=0.1807 right_yaw=0.0006 right_pitch=-0.0168 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.4718, -8.0889, 4.9573, 1.8779, 0.2222, 0.0806, -0.0122, -0.2667, -1.265, 7.0222, 1.7851, -0.0366, -0.0269, -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]: [-0.4652, 1.7027, 0.7689, 0.1909, 0.0071, -0.028, 0.0547, -0.0193, 0.7982, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3858 left_y=-0.191 left_z=0.0457 left_yaw=-0.4677 left_pitch=-0.171 left_roll=-0.019 left_gripper=0.0547 right_x=0.2942 right_y=0.0019 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.6359, 8.6496, 1.5458, -0.0269, -0.0269, 1.033, -0.1299, -1.2786, 7.2, 1.7705, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7349, 1.3216, 0.9806, -0.6327, -0.593, -0.7448, 0.0601, -0.0193, 0.8036, 0.6132, -0.4118, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3117 left_y=-0.1438 left_z=0.1635 left_yaw=0.1599 left_pitch=-0.184 left_roll=-0.0354 left_gripper=0.0601 right_x=0.2922 right_y=0.002 right_z=0.175 right_yaw=0.0006 right_pitch=-0.0427 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.2427, 8.7726, 1.0379, -0.398, -0.0757, 1.0281, -0.2393, -1.5385, 7.1316, 1.8681, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f10105d6d0efe3be35b55670fd071aef4dd0acbb657f0ec10649306caa98590",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80be117457c06fcce23b56340f82901c6cdf76cf23c60ba6a97ce8208a96a1ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03068dfc83f6efa0704a9652531710a1e56725e2731e314f4a90868722708115",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsSIQFep6XwQkxKQcHHsZ2OivQ9117WgLhwL9GTylSDNiTbOl1lzXWwidLhGA0v49NvxWtutrCWwfwtErNUuKdzpIaOtMTKAfKmEcTIkVcW2HhOt7geZBX9buOR2i1LhU_y7P-nbsRDy1TETHUDpIZvbiOLf4O4Rx-dc0iD0iyLNMPKMrYw2lED9ldOgdhFnFk3JlZ8jE8cGY31NuebN-Y-01UQGsn-20VctOJfLu4uhvXK9xcYFTbTSfP5QVr0gQ-ddjdacwohRADlaXlEJRz6FFeNbkp6m1vd2iaP3vIMOB1_CC65isrHoWwYDIdM0vZvB3frAlMmnBof7j21CBNyVEHyevJLS_7zfcW4w5kzyRpq2m70zywh0NZ8eQzcCHbnyfQBYCif1G_3c68vimojQj0_yvyEzD65u09Fwb6YJxYpvnKLCXgHEt5QU1o-Ux0IhCcbYLvFsMc-VICNkn7BY14D--IsnYPkJd8muO1clYSx27JJjwp9cM95yAa7-fW9B9rPWyb_oM7ZSl0y6g_sejTDi4crb0_9w1rUiCvRNLPPER_1drQGFDMHJqtysEAByTYVigmOIG9Txy3tsdSN3Obgsr60GfKQYKTNUA9aPuDRNjkDZ9ySvYG5u3QZDFoa4qGh3WO6K4mRM2LYCdZpQ9SuomYrRvcMKsM1gvcxeTAP9TTb3gJs5D_u1hKn8yo38XkkEIyZfGZxNdpuXE_q6qTMlvnvDzUiJ_-MU8vvDAMBwKYH1iU874zVw0cgb-yeJksVlf4G-Hj0u9ygEBT3WZq1iwa__hj_-FbIYEposJx1g3X3bqszWNc1Ljg1Edtd9JzPzonsrxXhCuO1yTquWDe6xOqZEu-TKXG37ATr6v_4VPRff6aNk7-Kao_H_mujiU_lsGYc61F9rhSO-fF3mSaMXzbr9VaOelcgPFBhshJTJnjxwTYteXlBu934fgJaExyci1o1hz5G2ZzqVMBV4FVGi9eXAHKgn8NLt9Tc0qkWhkrfNwQXmwHrd-xgV1TJu-N7KlfDTjkqTUCvUKu0Qr1k8c5US-R841bs5xMPuHLAcFAsW9Up4HPq2t_01mG5xo59lKG6IkD7oYx3nEEsXtdlkijSqEFgLAYUNnIGuMQVLwEeTDQpqC6X4PGvevbObNp8SJ7-pNqpNan5xY_BHiQI0wxfmZ43G2K9RGgpFtUf3uvemupKHqccWNHV16iqcF_yHoTt_QYo7D8SvT2UrSNCdLQg9Bp9pL-dnq-swjop1OKeMsPkLzs-UxNXhjslT0D6PaBzVAWKsohbEWgw061zo0J5dEONEpkPkaVZlv8D41l5kGctaoNs0e6CFcLvJl8TvrOYDTSppmnODuyYrq0_r4fSOEhmKVpdPlmRS_4W2mhGNJPSQMAU3knifYtcufh3zgzplpLQFeFeyd1QlxUkXgYNXbfOqy5uK4esUOQa0UD1qwE4-lWf4sCTwtO23JnBq-V1GDeafRT6SYsNntAdmAkYskKwEUs9rT--nENkU2t1ykRGHHxNKXxvwDag03U30QzM1MXrghIwwItK9u1RdrqV7mVAFAX5MjUn3w7PMqE3bQ8t6va4SQRB0xGQC7hPIpqq2lDEoHMkCZDIzNLxsAmGeBqTRJAuW61CV_IFc67SVDcvSKLeDo5OOCEb",
  "id": "rs_06d5d5d689f95720016ab45b10397487d09bbfa1881d072787",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.255,\"right_z\":0.13,\"right_yaw\":0.65,\"right_gripper\":1,\"left_x\":0.312,\"left_y\":-0.144,\"left_z\":0.18,\"left_yaw\":0.16},\"note\":\"The cap’s original spot is now clear, confirming it was picked up. I will approach the rear half of the pen with the right gripper, leaving its writing tip exposed for capping.\"}",
  "call_id": "call_noGQPXarYojBaB6bTdYf4roZ",
  "id": "fc_06d5d5d689f95720016ab45b118dc487d09c7f9c005dc70af5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_noGQPXarYojBaB6bTdYf4roZ",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.7395, 1.3251, 1.0054, -0.6968, -0.5911, -0.7647, 0.0601, 0.5835, 1.4998, 0.8043, 0.0238, -0.0376, -0.0273, 0.9991]\nstate[eef_state]: left_x=0.3061 left_y=-0.1412 left_z=0.1639 left_yaw=0.1718 left_pitch=-0.2119 left_roll=-0.0167 left_gripper=0.0601 right_x=0.3457 right_y=0.2405 right_z=0.1111 right_yaw=0.6228 right_pitch=-0.1118 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.4769, 9.7162, 1.1258, -0.3443, 0.149, 1.033, 0.6222, -6.4479, 8.841, 1.9609, -0.0952, 0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bd95d2ab660f7aa33c80dcd3a0054c0d8f07c92a7d75086225c4a8ab7c8ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45649349d4bef8399f409c10651e60e9e3eb77fe8990e057d5486e337e54b869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17aec2e425d87e37865d18fcc7a26d0b2e1b281e66caa190b17db1561d1e1132",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.245 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 1.8545, 0.7166, 0.4046, 0.0074, -0.0242, 0.0475, -0.0193, 0.7982, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3894 left_y=-0.1929 left_z=0.0032 left_yaw=-0.4702 left_pitch=-0.1615 left_roll=-0.0164 left_gripper=0.0475 right_x=0.2943 right_y=0.0019 right_z=0.1802 right_yaw=0.0006 right_pitch=-0.0195 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -6.5026, 4.506, 1.7363, 0.0611, 0.2125, 1.4579, -0.3624, -1.2923, 7.0222, 1.7802, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7349, 1.3216, 0.9806, -0.6327, -0.593, -0.7448, 0.0601, -0.0193, 0.8036, 0.6132, -0.4118, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3117 left_y=-0.1438 left_z=0.1635 left_yaw=0.1599 left_pitch=-0.184 left_roll=-0.0354 left_gripper=0.0601 right_x=0.2922 right_y=0.002 right_z=0.175 right_yaw=0.0006 right_pitch=-0.0427 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.2427, 8.7726, 1.0379, -0.398, -0.0757, 1.0281, -0.2393, -1.5385, 7.1316, 1.8681, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.3251, 1.0054, -0.6968, -0.5911, -0.7647, 0.0601, 0.5835, 1.4998, 0.8043, 0.0238, -0.0376, -0.0273, 0.9991]\nstate[eef_state]: left_x=0.3061 left_y=-0.1412 left_z=0.1639 left_yaw=0.1718 left_pitch=-0.2119 left_roll=-0.0167 left_gripper=0.0601 right_x=0.3457 right_y=0.2405 right_z=0.1111 right_yaw=0.6228 right_pitch=-0.1118 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.4769, 9.7162, 1.1258, -0.3443, 0.149, 1.033, 0.6222, -6.4479, 8.841, 1.9609, -0.0952, 0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bd95d2ab660f7aa33c80dcd3a0054c0d8f07c92a7d75086225c4a8ab7c8ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45649349d4bef8399f409c10651e60e9e3eb77fe8990e057d5486e337e54b869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17aec2e425d87e37865d18fcc7a26d0b2e1b281e66caa190b17db1561d1e1132",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsasBuZ3JNpxcz7GL0wS-1-BK3AhZ8ChCX9XjGN534DMRYxDSvMqnnkOkZBf3mbuXmzR3CO2nrsvAV5qWs0YBF3WF35L7r6E4TL3ugVzldXEDeruk1L9w15WGOxNwkimcym3giIqs3vZXpILqS0nEYetAkaT9P42keTODJlnFrJ8oWwtyjc99vqGtT7s31TyacbBwVQkZvTAfl8gzzIyD-1W6z4GcmY9CVOUel3bQK7zy3ED1ojFhtKQ4KxpCtvcLGp3XYeDRZqHypw7xMWVUFAEJmAEYtstogm7pXqrem4rO1YSJzFz0KprKsd_Lp7xbaNBfdr8UWB9p4Y8a7IXO9231IlAINAuT3fOhB6qWC7jsKWSlFlJKYl4HubnK0mzjA0-g40aTBYtx-Wgyfw6fEsKBCzdnRMJwl0V900IPUMYeiy4aQzR9_eIvJ4pUn5S9r2lDI70L70E66lkZFlDJsympfEF7gtKJJxyW2aalGB8ITHHdeeQO_MrXgAQZK9B1K8y5WPHGpmnuxhbX0ufq5L-pcGBRwrsgmC-LubUOqyf765nSAVJa0l0Ep2Kr1XNDTtXyaXC6BNlLJ53v6xjnDLQH-ZN2tPHkOweeHph27nS2yZo-ppimDkzeyP80ZJ3nfQbemumjzhUtTRYad3jBazdR2IW5csQDSdS2J-x6XycrFs8AvjDXVWnLoRmX0pcI0vQ6Su5-zqczsNXoPn5v0WVEgJqmbrqaZm02tMRNZ3fWq0ozoz_jQUHQXb6NNW4biR-_0xCTMdjMD95mLUAImATtM8KvkchMukdYNwhXJTt0CuDb5r01JYM-w3mWI41z7Asn_VVZqub8YYXFZVWUYjQRod5N-FG9mX34Edc38hybW9Zox7ndtj4hCb8n_HPwdIXxdBvgRJWEI2PUlgnZzbz0v0_AzMXmupVSdhbWUEUfr-RLT0qVqxCjHBGaUeAMlg2UJa1PW27lloOpHPyngsEOe4G--zLd0cX_s9i4f8ecuEvSrAO0oi1asWfuNk81sYfRKUeP5bLUj2JhI_6h4BNCJTinNihmgnJXPecq4M9TFWPdvtK0UXZfnKfsgwv7Ec0ErPhYkyuyXe32-XLhoz2lyWv9xBG-Bgp-X7XP_XoTxOjUWYopoAFC3BUK6RBG4wvoFjRAVaIQ4hdGqh6tPCCEgJd_KMn43ZwGwZ63V_J0phaBddYj1YB21BN5FzGV--P5X-R_g8nrzOZtk1kieqDzD6UL6eYvnCb4lda6CWcd0TNzffamgBUv3slFy-3oI7HFH1EezmMcQpBTPLWZEUC26_hZUB0ezKc2i3sqQGCw-BJyjmFV73UIc5rw4nN2MuSbUA6qDruZsOArWgJeZ8Ik4r1Ny0xTgzSrSpdeJqIyIcDoGioTwtXsa1wcpSGzHpY95v0Zy5L-R07K-YIztuJTXjITZYL35pFdYsotmbk-6Hm5BD6eWmNasxSRAIXL_Owml9OJ5f_ppdAOMs0DOxDur9CAzxxi4g9F0-jPYfmHHXprKdGoJ4U0nqz4YfoTr7zoFW3nQ6zJ5WjRaPppnbaFmu-TJQOcOstAY-4aP0BHD4nkxwjPaN9u5uQAIZNWxcJgGZKUaF3BIf_B8dP1Q681dhbR8Lh6I8LcUK6cH1VMICLzlkeTGDl0Y-17CGUnrLyoUhfXcXwbhFEZfu0YWeMmk24SySRjtAdCXZ2nQ1zZN6sYZNSfwyYMhJtwKW3m1svDFkWu4z92Iqy837__EjzJKmNEnqpXDKTFHYyvey8D7wL9cZJugVRWZcZ3amf_WknmVtvrzwJ02GC0WfRNx2df7aUv1xTHhLSVugkO1AAZutcta1-b3I0fNdA9wZFw--p9x3kIM9SkxNBPf-S0gt5Feq-gaJHVvYSEeMriGJJYpK4BkvopiJjb8RJUsT4pDTMBKTj_QCUvhmpJCafqghVZQqKgc0SGAjls-t3reBFp-tD0QlbWBgANMuAxZ5jzShm7tL5aJ7biYoo413LWUxrRmdWdyMA6d9pfIcAYdAEkqRucVRCL4iafgd4Au6jk2k5wR4j36FrJNm5FRC6qiD5MPu3B1GnBl6Z3ZPxJx4Z1HERslGR5xxxvzLfbTNXXEZBrIqeCWKf9jGAXLS9E8x-WWnVtSk_Ni34QPXEaSVD42RLMPT0pZC7BbnGBjssyRTia77j6MCfL8PEvRXAKEy0kT8gMOLwv2irCCqOMwwS-0=",
  "id": "rs_06d5d5d689f95720016ab45b163a4087d0aa3eeaac8b8486d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.363,\"right_y\":0.24,\"right_z\":0.02,\"right_yaw\":0.9},\"note\":\"The pen’s pointed end is visible ahead of the right fingertips, with the barrel slightly to the right. I will refine the angle and lower around the rear barrel so the tip stays free.\"}",
  "call_id": "call_giZGAowQ3MiRDejGKpIOFwoK",
  "id": "fc_06d5d5d689f95720016ab45b19cee087d0af7c85624e65a89f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_giZGAowQ3MiRDejGKpIOFwoK",
  "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]: [-0.7403, 1.3266, 1.005, -0.6998, -0.5907, -0.7681, 0.0601, 0.4404, 1.8103, 0.733, 0.2913, -0.2981, -0.2466, 0.999]\nstate[eef_state]: left_x=0.3056 left_y=-0.1411 left_z=0.1629 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3567 right_y=0.2294 right_z=0.0122 right_yaw=0.822 right_pitch=-0.184 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.0393, 6.5846, 1.1306, -0.3492, -0.022, 1.0281, -0.6222, -7.5419, 6.4342, 1.6093, -0.4274, -0.1929, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dd0b28046d05a80669e647f2adce1262b02a6835b67183cf7225a69e6c1f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6604103f5f299308826ab89a281e1ba7b321875fe4957f0e697dd6c5bb71b6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c923fb40334f5d84b862ffecd980848ba0632373f9cea0f666f828fa41410b8",
      "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 · 3.703 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4652, 1.7027, 0.7689, 0.1909, 0.0071, -0.028, 0.0547, -0.0193, 0.7982, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3858 left_y=-0.191 left_z=0.0457 left_yaw=-0.4677 left_pitch=-0.171 left_roll=-0.019 left_gripper=0.0547 right_x=0.2942 right_y=0.0019 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -8.6359, 8.6496, 1.5458, -0.0269, -0.0269, 1.033, -0.1299, -1.2786, 7.2, 1.7705, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.3251, 1.0054, -0.6968, -0.5911, -0.7647, 0.0601, 0.5835, 1.4998, 0.8043, 0.0238, -0.0376, -0.0273, 0.9991]\nstate[eef_state]: left_x=0.3061 left_y=-0.1412 left_z=0.1639 left_yaw=0.1718 left_pitch=-0.2119 left_roll=-0.0167 left_gripper=0.0601 right_x=0.3457 right_y=0.2405 right_z=0.1111 right_yaw=0.6228 right_pitch=-0.1118 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.4769, 9.7162, 1.1258, -0.3443, 0.149, 1.033, 0.6222, -6.4479, 8.841, 1.9609, -0.0952, 0.0317, -0.1148]\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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.3266, 1.005, -0.6998, -0.5907, -0.7681, 0.0601, 0.4404, 1.8103, 0.733, 0.2913, -0.2981, -0.2466, 0.999]\nstate[eef_state]: left_x=0.3056 left_y=-0.1411 left_z=0.1629 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3567 right_y=0.2294 right_z=0.0122 right_yaw=0.822 right_pitch=-0.184 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.0393, 6.5846, 1.1306, -0.3492, -0.022, 1.0281, -0.6222, -7.5419, 6.4342, 1.6093, -0.4274, -0.1929, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dd0b28046d05a80669e647f2adce1262b02a6835b67183cf7225a69e6c1f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6604103f5f299308826ab89a281e1ba7b321875fe4957f0e697dd6c5bb71b6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c923fb40334f5d84b862ffecd980848ba0632373f9cea0f666f828fa41410b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsfMesgdgekgAHwIDJeo_Rhd_YUzHrParDklK9J_YWVSDYYEcMcJcDWXt4IzSoHa8dESLDCci9sPa8A0Y6IKWSAcrMfG_47kzxmteT0gxJTMsaAfrkkb5-EzHTHlXxXi6LQh1fKb41YGx4cZhWETOlLhJrCIvdcbUiaDjAooePDjY4iANZhqk2offfs0cDwR2B6Bs9CgIAg8nbrZ4Yo0FxHsn9TYQhkbKn9NlUSuIWexMbLkVNWbhqGEabBojJaTXhokG39lTfuzBA09as1moIK5yFl-5xoAV4GCrdbS0JWNkbaRQexX5UqmVSCbSdPyDeMV30qq3YXgh9lq0Oyd4sAf07B_PD1Qbb72lLg7Tj1a7FOBukMgx40SzQXvH4Ker94S3c1eQDab1qMvxox1WmgbpIbJvlrL2EAey5MHtX8yTmEpxrCNxvcM_NRoxPf1dKEbSxJTouJLm-glivzlXM-k5LLl5CHVkd6eVBCmFzR-AMdIL2ijt8uDTp__YndR98Ww9ljLHCCbnKFX28i6X7Ii1fE1U0r5aLlBa9e1pK_bzxmZaLtb7Q2PuJsi3GEy2r5R9BjXbFc-A35Y4WtSIF1dJXGJa5h60gihL2QqupoBlNnrije61QtuaG-Fyhd_tEHP67vRuJxs31SwndQb-05WDpaEibB3I6YEaHGO2v19aZWifanWt9dYnECEibSWfOzsmo1T9d9FjWx5v9Qrq2qfaKe8iY30hQ5swxhG12z-lFGNDq5gZEbVzMabo_Nemx44Ppgqi5I8D_6Zb4ut13dX0IIqZVdyc-neCrf9fZozUn2JAsOhTUz2-NHwBD-ZJ7q_YGVhMxidZgaelU4flr4unsM8yZuCXdikS-yCSZsWEr0X2iTEtOPN1J5lziTJEWwRbCiCDVz6wTfakReS9g8yU7IXJt2dkI4YYvGefjgIU4mcHhAzWd503tUq4AwoRYKwMbgPyKV3s-Amb3prFNGkY_FIe19j5CConykfnWAd5x3Ju2yWvMNPLeZD_xahY2EoGniQofIjQ5k1XKlKElARCkQQMDiuTOGyKiyyLO-YnuYXgvJkluQz1zRmuPJDPyNaaSLsCpMbK15UwXHvurRD5a_bEz1UaDFucZc5al-wSUwcdtmQJyJVgLdyfS38HsNuse7MtDskZ0eRwcfGuoJhA8sQNDxBVPGtVlk8D0Dp_9CSdT1FG_nxq0Hjr6Pxpd8F5XHwTXVtwnBUIcCyl42mQtJXlA69m26rzyMysjIrLyfO7GAH2ISb17odjOjtU6yHUO9mooflxCqLakkSwqrE3fjXJDRVfkwKgFSV0MRqEg-S_gq3CJic4pX1uBBiXXIfHNv4lkMwJ4Pw3ll3NeSDhtKHSnXy83pMpKahDYpx79ht7GW4LOyDNQg3lnO1GFpU-4LnI-pzWNE0e_Cqhuesga3iVsOKm_j-jsiFVJCxciN0P7xT_TALZivX0xhmEynU71YGOa_t7do_aWPViACBoNHgjracg5BsjrHRlSUenq7Cj0HDNO-e6yaxz3rYShQANqySPOaGtqYXEEuCxJhlTfVnGd-sJdeVGOIJ1nNE65REA9dvjuOsxabnxKfO8DV7EJWErInOehlKpVygUFB3eOcLxavtuCAx_Jnpzl9XquS3dAtErfjyCEl8CBmKGtt",
  "id": "rs_06d5d5d689f95720016ab45b1cb47487d09f8e940104597c20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.367,\"right_y\":0.234,\"right_z\":-0.005,\"right_gripper\":0},\"note\":\"The pen’s barrel runs between the jaw positions, with its narrow tip well clear. I will make a small centering correction and close at table level.\"}",
  "call_id": "call_2TD4PkxMSJ3OjYTVsMZODxYA",
  "id": "fc_06d5d5d689f95720016ab45b1e9a0c87d095236cb780b946eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2TD4PkxMSJ3OjYTVsMZODxYA",
  "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]: [-0.7403, 1.327, 1.005, -0.6994, -0.5907, -0.7681, 0.0601, 0.4343, 1.8782, 0.7528, 0.3565, -0.3111, -0.2504, 0.0424]\nstate[eef_state]: left_x=0.3057 left_y=-0.1411 left_z=0.1628 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3666 right_y=0.2336 right_z=0.0029 right_yaw=0.8275 right_pitch=-0.1646 right_roll=0.028 right_gripper=0.0424\nstate[joint_eff]: [-0.1983, -4.8068, 6.5299, 1.1453, -0.2808, -0.0269, 1.0281, 0.1709, -6.065, 6.1333, 1.5507, -0.0024, 0.0659, 1.1453]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b18f5c26dcfe8b5a1d7dec08eb946306efb5f0a008657e88ecb6d3dafed92c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f58f8e2daf3bfadcb106fb4ee7e5446473f2235f2e0905923ed8b8781b89dac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e814376a097edbbfd6fad5f5a5dd97ea4ce1cc5ec9031cd68334cb9785e289e",
      "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 · 11.2 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7349, 1.3216, 0.9806, -0.6327, -0.593, -0.7448, 0.0601, -0.0193, 0.8036, 0.6132, -0.4118, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3117 left_y=-0.1438 left_z=0.1635 left_yaw=0.1599 left_pitch=-0.184 left_roll=-0.0354 left_gripper=0.0601 right_x=0.2922 right_y=0.002 right_z=0.175 right_yaw=0.0006 right_pitch=-0.0427 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -6.2427, 8.7726, 1.0379, -0.398, -0.0757, 1.0281, -0.2393, -1.5385, 7.1316, 1.8681, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.3266, 1.005, -0.6998, -0.5907, -0.7681, 0.0601, 0.4404, 1.8103, 0.733, 0.2913, -0.2981, -0.2466, 0.999]\nstate[eef_state]: left_x=0.3056 left_y=-0.1411 left_z=0.1629 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3567 right_y=0.2294 right_z=0.0122 right_yaw=0.822 right_pitch=-0.184 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.0393, 6.5846, 1.1306, -0.3492, -0.022, 1.0281, -0.6222, -7.5419, 6.4342, 1.6093, -0.4274, -0.1929, -0.022]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.327, 1.005, -0.6994, -0.5907, -0.7681, 0.0601, 0.4343, 1.8782, 0.7528, 0.3565, -0.3111, -0.2504, 0.0424]\nstate[eef_state]: left_x=0.3057 left_y=-0.1411 left_z=0.1628 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3666 right_y=0.2336 right_z=0.0029 right_yaw=0.8275 right_pitch=-0.1646 right_roll=0.028 right_gripper=0.0424\nstate[joint_eff]: [-0.1983, -4.8068, 6.5299, 1.1453, -0.2808, -0.0269, 1.0281, 0.1709, -6.065, 6.1333, 1.5507, -0.0024, 0.0659, 1.1453]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b18f5c26dcfe8b5a1d7dec08eb946306efb5f0a008657e88ecb6d3dafed92c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f58f8e2daf3bfadcb106fb4ee7e5446473f2235f2e0905923ed8b8781b89dac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e814376a097edbbfd6fad5f5a5dd97ea4ce1cc5ec9031cd68334cb9785e289e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFskHvtp5zrHxEo9xJcbtytTC5aWRp_tBpegw5XXEdpE7t-yUJcJ9_8jDTEeZhoz_JwEJoZcsdIkF1uJ9sgyyYDPB6dv0YEzOZbpY99OqCZJqxu82QFEEbv7gRi02pMUcdTLZ2X000Rvv_HnzRFg8IjeI9UUe-eqZq2c7m1yuEtjWOKpHhlXOxWqaVbp7BgyQYDi0X18KvmqQxgLM7cNuuhImoQqtW0g-bCssII4mk8MG1yrY8j5kXRJK8Qk7VGyJUi6ACYNVmKC2W7I-Bxoy0Y9EhOFIpl7BMmhUhcs1qQOyzVS0om4qIF_xSERz4vMuE7PlGNxg6bv-J0Vym_Yblm5RDSQytbR5eTvmW2-whTlRs_RxCOKemY6MXVdphCPyF8OFXVQ1-NzxpIZ4guq0QCWIz2Pvbkz_-cEcTx3IjVZA-379StLOY_RyBDBCWpNCL6UeVaf3hr60cp2bYTx51FK8njHX_hUifXZsgdkSkJFr1dETLtyUTX3lmR2cmHBWWxyYv7XSqKXliuhjH7bgtzlkvwi2ERmuA68NghtVHzW_Pf9xzc_GXnF6Xp-gqJHj6oE-53UfCqfaHJfCUsdGzICDk5NXKAqILsQbKD511luLmikaSvmculhR3NHLIWAZ66NIEWhA9p-LSafFpDQYgPuvsCA7XQ3PEBboJ0BpAxCro6YA2_MA-ryU3KcyzXs6UxuF6kEqxhExDEuXBbazkB1ykzXS3qYa_KES7CKpWy2UOK125gg5r3zpTm4WqGzNOFWfUveAqCVdUmQ0BvExaOMayTPBi5CLR6nLfxgGxWx4FEkQM6SB_gXeikX4ycf0syDVFgJOkugiZoDmIQHFw384NSmteyu7a3DktKd6jflEO0a5jxI-BJn1XvjSAfnhwyMispM1q92TYV1fkB9n2bvXTzWAMA2xr-EHT_3WNOrG2Qjaj-HevFgJDKteBCBxufrkHWdwP9X77pSYvZszCGPiVtcRn96bj2myuFIif0T_pO5NuiOl-TAXsymzuC72XLY4dM2mRDTTHvaMs4AScG8DeSLj_LqrG7MxPbxPbyCQJ3rtviLuEzhEOYlLr421fOghtrJCBVukQgQoQGpizxNvzZ0Zrvr9OHkxYDWME6cCzl-PbMu49_l_PMz-B_EOWXNIwnRzmNQHuRskRz9nMu-tIxoS8jGlIbnaq6YO_ktzgvkwMuwPAcVoxFbXts4v4Ra",
  "id": "rs_06d5d5d689f95720016ab45b21eab087d08c2969eb249c20a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The right jaws have stopped at a small but nonzero gap around the pen. I will lift it slightly and check that the whole pen rises rather than slipping.\"}",
  "call_id": "call_4RtwhZhskPCOM4AoVVwj9lo7",
  "id": "fc_06d5d5d689f95720016ab45b22272087d098694c50d1432c7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4RtwhZhskPCOM4AoVVwj9lo7",
  "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]: [-0.7403, 1.3289, 1.0031, -0.6994, -0.5907, -0.7681, 0.0601, 0.4339, 1.721, 0.8272, 0.1238, -0.3111, -0.2512, 0.045]\nstate[eef_state]: left_x=0.3054 left_y=-0.1409 left_z=0.1616 left_yaw=0.1742 left_pitch=-0.2176 left_roll=-0.0123 left_gripper=0.0601 right_x=0.3667 right_y=0.2335 right_z=0.0539 right_yaw=0.8276 right_pitch=-0.1657 right_roll=0.0279 right_gripper=0.045\nstate[joint_eff]: [-0.1162, -5.135, 6.7214, 1.1795, -0.2759, -0.0269, 1.0281, -0.3214, -9.6342, 7.6923, 1.4237, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ae5b78570ae8019dea78f4aba62a497870ebcf2f3b72451caa83b5d053a142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54367f3f4fb3bd417e61fb78fdc1e92a717d6553846af030f97b9d423511af82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfc1364c07cbcf2e9c3143fd76a2917b82948beb30be0b1a736548046d07e8a",
      "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 · 5.475 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.3251, 1.0054, -0.6968, -0.5911, -0.7647, 0.0601, 0.5835, 1.4998, 0.8043, 0.0238, -0.0376, -0.0273, 0.9991]\nstate[eef_state]: left_x=0.3061 left_y=-0.1412 left_z=0.1639 left_yaw=0.1718 left_pitch=-0.2119 left_roll=-0.0167 left_gripper=0.0601 right_x=0.3457 right_y=0.2405 right_z=0.1111 right_yaw=0.6228 right_pitch=-0.1118 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.4769, 9.7162, 1.1258, -0.3443, 0.149, 1.033, 0.6222, -6.4479, 8.841, 1.9609, -0.0952, 0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.327, 1.005, -0.6994, -0.5907, -0.7681, 0.0601, 0.4343, 1.8782, 0.7528, 0.3565, -0.3111, -0.2504, 0.0424]\nstate[eef_state]: left_x=0.3057 left_y=-0.1411 left_z=0.1628 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3666 right_y=0.2336 right_z=0.0029 right_yaw=0.8275 right_pitch=-0.1646 right_roll=0.028 right_gripper=0.0424\nstate[joint_eff]: [-0.1983, -4.8068, 6.5299, 1.1453, -0.2808, -0.0269, 1.0281, 0.1709, -6.065, 6.1333, 1.5507, -0.0024, 0.0659, 1.1453]\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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.3289, 1.0031, -0.6994, -0.5907, -0.7681, 0.0601, 0.4339, 1.721, 0.8272, 0.1238, -0.3111, -0.2512, 0.045]\nstate[eef_state]: left_x=0.3054 left_y=-0.1409 left_z=0.1616 left_yaw=0.1742 left_pitch=-0.2176 left_roll=-0.0123 left_gripper=0.0601 right_x=0.3667 right_y=0.2335 right_z=0.0539 right_yaw=0.8276 right_pitch=-0.1657 right_roll=0.0279 right_gripper=0.045\nstate[joint_eff]: [-0.1162, -5.135, 6.7214, 1.1795, -0.2759, -0.0269, 1.0281, -0.3214, -9.6342, 7.6923, 1.4237, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ae5b78570ae8019dea78f4aba62a497870ebcf2f3b72451caa83b5d053a142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54367f3f4fb3bd417e61fb78fdc1e92a717d6553846af030f97b9d423511af82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfc1364c07cbcf2e9c3143fd76a2917b82948beb30be0b1a736548046d07e8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_06d5d5d689f95720016ab45b2600a487d094eddd6ede2a8cad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.15,\"right_z\":0.19,\"right_yaw\":1.55,\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.19,\"left_yaw\":1.55},\"note\":\"The pen rose with the right gripper, and the cap remains held in the left. I will raise both clear of the table and turn them to a common left–right axis while keeping the hands well separated.\"}",
  "call_id": "call_IJ2HqgYbpEzC7qYDZElDKLqG",
  "id": "fc_06d5d5d689f95720016ab45b2e923087d083718e188fc837ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IJ2HqgYbpEzC7qYDZElDKLqG",
  "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]: [-0.4885, 2.0949, 1.7557, -1.5238, -0.7036, -2.009, 0.0644, 0.2699, 1.6741, 0.9874, -0.2565, -0.5621, -0.5774, 0.0499]\nstate[eef_state]: left_x=0.359 left_y=-0.0573 left_z=0.1198 left_yaw=1.3992 left_pitch=-0.2468 left_roll=0.0037 left_gripper=0.0644 right_x=0.363 right_y=0.2018 right_z=0.0881 right_yaw=1.0526 right_pitch=-0.1961 right_roll=0.0411 right_gripper=0.0499\nstate[joint_eff]: [0.3214, -11.0701, 7.159, -0.5934, -0.4908, -0.0659, 1.033, 0.0068, -8.7863, 7.1863, 1.2625, -0.5153, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fdd776e6e32ecfcc815c195bc6c239673c3d2e59da963420a3d945244867bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28acacdeeaed9b74a010262075a7265f88976fba411cef77956dfb1e80de54e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5f1914cee89873cca66a117c2fda28dff7b6a57933001bbc4f4ad6a11a2f18",
      "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 · 8.008 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.3266, 1.005, -0.6998, -0.5907, -0.7681, 0.0601, 0.4404, 1.8103, 0.733, 0.2913, -0.2981, -0.2466, 0.999]\nstate[eef_state]: left_x=0.3056 left_y=-0.1411 left_z=0.1629 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3567 right_y=0.2294 right_z=0.0122 right_yaw=0.822 right_pitch=-0.184 right_roll=0.0289 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.0393, 6.5846, 1.1306, -0.3492, -0.022, 1.0281, -0.6222, -7.5419, 6.4342, 1.6093, -0.4274, -0.1929, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.3289, 1.0031, -0.6994, -0.5907, -0.7681, 0.0601, 0.4339, 1.721, 0.8272, 0.1238, -0.3111, -0.2512, 0.045]\nstate[eef_state]: left_x=0.3054 left_y=-0.1409 left_z=0.1616 left_yaw=0.1742 left_pitch=-0.2176 left_roll=-0.0123 left_gripper=0.0601 right_x=0.3667 right_y=0.2335 right_z=0.0539 right_yaw=0.8276 right_pitch=-0.1657 right_roll=0.0279 right_gripper=0.045\nstate[joint_eff]: [-0.1162, -5.135, 6.7214, 1.1795, -0.2759, -0.0269, 1.0281, -0.3214, -9.6342, 7.6923, 1.4237, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4885, 2.0949, 1.7557, -1.5238, -0.7036, -2.009, 0.0644, 0.2699, 1.6741, 0.9874, -0.2565, -0.5621, -0.5774, 0.0499]\nstate[eef_state]: left_x=0.359 left_y=-0.0573 left_z=0.1198 left_yaw=1.3992 left_pitch=-0.2468 left_roll=0.0037 left_gripper=0.0644 right_x=0.363 right_y=0.2018 right_z=0.0881 right_yaw=1.0526 right_pitch=-0.1961 right_roll=0.0411 right_gripper=0.0499\nstate[joint_eff]: [0.3214, -11.0701, 7.159, -0.5934, -0.4908, -0.0659, 1.033, 0.0068, -8.7863, 7.1863, 1.2625, -0.5153, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fdd776e6e32ecfcc815c195bc6c239673c3d2e59da963420a3d945244867bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28acacdeeaed9b74a010262075a7265f88976fba411cef77956dfb1e80de54e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5f1914cee89873cca66a117c2fda28dff7b6a57933001bbc4f4ad6a11a2f18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFs2CM8J2mkhiCLsSsbNlYnusCCWBlQJwTyAF41bfjOAqQ7ssxuLGMRrSJODqsNIaUnr7_DV22wkBXpmtBT8-1Ggj0nSJTnu40q6xi6VV3YgZlX5kCnJMGlBu2WCw0Cm5fZYV5mGHhTorY4fqjD_jEQYZrMK5c3M5o65KttU_j3Ftjsz48ZKf2nlvR235U7ULDmkrlSV3Ot2MdSmCtvHmuZYmFpDD7S84ynVFx2A30qNkNksI8QHBiX8pOWd89K5xCA2ABGxmD0tBM3ah0iWHJJ28kgNuFVSb_vhPBftYRzBOCnBM-B-i3A9qOkEY-vBDzVCID6MDhVJwFlDy_VXibdaiY0_ei3P-bDVDVHiR-WQ3jCiQUPQHgWstYk9huOhXwGPpx4oSExEIlObZ3Kz1m4buAPS6MkUL1JQWQaRJKnFABmibagDdvVO6CDWzaWL8aTy4YpMSsEmubllwT1mOlG6QPOqyuuWjRZN7pqtRVJ1zSfUBVbfSvsV1FiA6weENzkYvaoV9ze8hRStaTia1Hpm8djKr1oZ4dUlGge0sty2_2lFnvk0dR6gpGIcsmEMb1KCAkQDl6gisJ3Vrfnlv97-fzcCljHlcuxUfuBaG6mR4LqLudxY-1PeunYTAQPtxitZ-hLXBJTAvtHjbYsQb0vWqd7VHBotxf8GfVXjBwuRje3WsKcRnxOAfYPyUe9YFgKj_GMylf_C7TZ-0_5QQRVrv28P4960Tmfefrblk4T94iMkroBeY4MrtteeLKf-ZZIxNcXC1p10hW0VVw1ic8Jt0n-sjSprv3lGhCyI7Liunk4ZnPv64VPk_LlW35dl-u4XN5fgHBlS750Vgk40CDO7GIJ0E5gC6cD6uNrjOv64Zp2THXBapBjC7TtiXX4hEwAzcoEJ_x2ekayCSTFsPc4hLjE8WHD81KurQGPXuhc-dPT2IcC03SunXdawLBBsJ7B3bHTSBzwuWk61x49L1VxYKIXoYTXXD0GI2KXuFWPlFiA2sO4DnGZnJKPmtQVMWdKfHLYnC2c7Lg1z0AywpPFWIKIJHDOaznnnlZcH5CC36glH80VKdhwnKQZYX4Iy-wA1TKQJNpmL0ltvFwottWwzAFv49Kx2J5oKghFvGVihQaCqGl4WP3zxs2XSO-SCzOMrmXezG63DZBwiiZKDeQxJkca0b-1CRnuckMllfQ5YWBA2jmurINTK9gfSXKOHFRffsmQtaQnszf6SLU_vbRn_3DnNHueftb8CCPrHpDdlo19YgL5VrX2MQ61sfz2C-37f7jUwQu49z1koj4G6W5qY8W5_C8OIIhr_67igjnNg0Zu0KM_qBhG5JT5Ei1uzATHfN91M5Lf3vIh38ppx8pnOWm2CMpBnbizTK6KvPvlWuwavY-SHzgm7d7RIkXvNLBE0VD2yq0xz5VOlCILPMYIowFSnet121NfhYvyXjfVFbw38s4PZjnEnEH7crV3CUohClRJihGgE24m0opLJS9qtwXuzocLnQklHvWo7eRfIG8pSN-FNGHegiUpqL8xoCaDmYtF0F0JdVCTuCc9TyNg3V71sWaDfhZka8bWTUnrsIf3jHq8jcBZbO1cEYKE2bUhHpAHTiEguxA8PhY6QxE9rNxKb88lmx-b5fMUv5MTFlZ34prAiOaa_ZsakfOsIYbVwPEvX2aKPA9r9OeLK4S-jw_OWr54iJZ9QKNk_NcuT8tlUd2VueP-uRpxjg2WiPGSzApZa39BrTs8SMWO53W7yllo6_D13bxebpJRvIyBW768-0cHDpokmjExuD0HO_j2B7CqS3R8SmRQeRvxG0y9TNVPxSqPRIRl9Qe-YX5bRQq0DeybfwCgrbs62U7AHbfe0slFTSs1KXNukwuvKSu3e5pf0fOPuwIsUjNDRR-yz6WtY2gv2n492PZiEbez_Z3teM6QVo5D1GgcgEWO0Tui3OBXt6I1hX6O3pjPohm2pS9k=",
  "id": "rs_06d5d5d689f95720016ab45b3212a487d0970a3a0eaace7518",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.24,\"left_yaw\":1.5,\"left_pitch\":0.15,\"right_x\":0.32,\"right_y\":0.16,\"right_z\":0.24,\"right_yaw\":1.5,\"right_pitch\":0.15},\"note\":\"Both objects are still held, but the arms stayed lower than requested during the turn. I will shorten their reach and raise them to a more comfortable pose before bringing the pen and cap together.\"}",
  "call_id": "call_YRxzIqGuJpBq39jKie0Gk7yX",
  "id": "fc_06d5d5d689f95720016ab45b34ee9887d0a26fc68e52c80f35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YRxzIqGuJpBq39jKie0Gk7yX",
  "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]: [-0.3588, 2.0369, 1.5482, -1.5574, -0.9539, -2.0937, 0.0673, -0.0055, 1.6951, 1.4567, -1.1454, -1.0916, -1.3506, 0.0513]\nstate[eef_state]: left_x=0.3365 left_y=0.0315 left_z=0.1329 left_yaw=1.4925 left_pitch=0.0307 left_roll=0.0434 left_gripper=0.0673 right_x=0.3339 right_y=0.1585 right_z=0.2257 right_yaw=1.4563 right_pitch=0.089 right_roll=0.0104 right_gripper=0.0513\nstate[joint_eff]: [-0.7043, -13.3128, 4.9299, -0.6276, -0.7155, -0.0464, 1.0085, -0.8684, -6.9402, 7.6103, 0.2369, -0.9206, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208b013bcdfd89aaba8631185d367336abbd6c37f85436d1af2eb3b7b168ddfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9cee740d6411b5a725e6d9ebc9c184807b92cfb2b4213769cc170e4b127516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a19a8ac21a28bb226ed027867f6cf355269dfb661b2a173033b5338ff60ae019",
      "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 · 7.639 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.327, 1.005, -0.6994, -0.5907, -0.7681, 0.0601, 0.4343, 1.8782, 0.7528, 0.3565, -0.3111, -0.2504, 0.0424]\nstate[eef_state]: left_x=0.3057 left_y=-0.1411 left_z=0.1628 left_yaw=0.1735 left_pitch=-0.2152 left_roll=-0.0154 left_gripper=0.0601 right_x=0.3666 right_y=0.2336 right_z=0.0029 right_yaw=0.8275 right_pitch=-0.1646 right_roll=0.028 right_gripper=0.0424\nstate[joint_eff]: [-0.1983, -4.8068, 6.5299, 1.1453, -0.2808, -0.0269, 1.0281, 0.1709, -6.065, 6.1333, 1.5507, -0.0024, 0.0659, 1.1453]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4885, 2.0949, 1.7557, -1.5238, -0.7036, -2.009, 0.0644, 0.2699, 1.6741, 0.9874, -0.2565, -0.5621, -0.5774, 0.0499]\nstate[eef_state]: left_x=0.359 left_y=-0.0573 left_z=0.1198 left_yaw=1.3992 left_pitch=-0.2468 left_roll=0.0037 left_gripper=0.0644 right_x=0.363 right_y=0.2018 right_z=0.0881 right_yaw=1.0526 right_pitch=-0.1961 right_roll=0.0411 right_gripper=0.0499\nstate[joint_eff]: [0.3214, -11.0701, 7.159, -0.5934, -0.4908, -0.0659, 1.033, 0.0068, -8.7863, 7.1863, 1.2625, -0.5153, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3588, 2.0369, 1.5482, -1.5574, -0.9539, -2.0937, 0.0673, -0.0055, 1.6951, 1.4567, -1.1454, -1.0916, -1.3506, 0.0513]\nstate[eef_state]: left_x=0.3365 left_y=0.0315 left_z=0.1329 left_yaw=1.4925 left_pitch=0.0307 left_roll=0.0434 left_gripper=0.0673 right_x=0.3339 right_y=0.1585 right_z=0.2257 right_yaw=1.4563 right_pitch=0.089 right_roll=0.0104 right_gripper=0.0513\nstate[joint_eff]: [-0.7043, -13.3128, 4.9299, -0.6276, -0.7155, -0.0464, 1.0085, -0.8684, -6.9402, 7.6103, 0.2369, -0.9206, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208b013bcdfd89aaba8631185d367336abbd6c37f85436d1af2eb3b7b168ddfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9cee740d6411b5a725e6d9ebc9c184807b92cfb2b4213769cc170e4b127516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a19a8ac21a28bb226ed027867f6cf355269dfb661b2a173033b5338ff60ae019",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFs_5l8VK3MkIVdNj9XkfhJEMGYLKk-5TLuh_HwkP4aAi7465Qh8269QpdVS7jWVZXV6214Gnf9Lcq0EOeNjC8Yyq69pT02RlEd7YTRnBtC2REDTVrOes5FT9cf_PDTDMLANoQtrFGNojIoNMvIfEkoMHr6mEEHt5VmvqvrZIfOR23_05n8zg700n74RG7q1k6FWlh95SC3isvSGEfOOhSAnt5OiyOhUzHPV0oDfYUZybqE6FqdMhKf86vwagbzTAgMCI8Da1_fgEVYuqTh08Gjvx47H9v2dRfk7tqewZKEg5W0FjIVQfTZqF2jQZ8ZcMmThXtdDfTPKmsiGmZv4kI65CPxgks2tcYJs9TdbC9pqDGmddXQwKGK63oqnyejDfTfAzSC_TNhHzjz6g4eqDnoagrWhd0xJmhtrcGtOecFonU6QBuU8UR6OLLQe4yGr3BRhbduJlvucHm605AZm970_cu8EGEQc4Ymo3SRGflFXcHe3KQhPk7K6VH4qY5w7aMiAEexRsfxDgsCXAXfNzEIQuJlhzKUQGR-KhyRk_LpJLFvsVzrZMJ9rk0WulGCBsmZjM8Y2bcNhrF7nyHJK0oOsoMJyhib0p_K8wPUgRg1aBiiwVwULW9Y82PYN4RGM-P5uMi5k2v4SdnHXm3FbmSRcR-hEb7KQKiU-Zamib0EeS5dxyzVP8eHNYDXj70zPutEJ7QplS1RgQfejlg3dKsxVTArgBgTowu5EY7BT5ilErUV-7MJkXocrx0FejrMENZOhYej8dhMlIynBpe8tei90AI4wFb6Do7tr9zhqrr48M-slVFARH0gYDAYvT4QRN7A8ODky5VzFKAYcDB6fh3e0C-4ogRvkyGIXagqYnGIVeqsJdqlwhET3pSEbGtqgvRHOMN08PCsMgywdQD7I4m5dVx-PaxW0C3V-J3NFMct1Gia0-KarpeTGt4LVzrrnAbMep36sz1XgdoL3z2GL2LcnYIOn3R49l5MOlnv87RSdfzU5wGV4m2qNyIIUpPs7rxSfz-x7B6kB14Uq2AUkD6WwaNVtgXbO8A32Jr6TNDdey6G5KQnc6t-hZnVq08zWxWrbCYjz0oqq4REfeXJoRDrCUMFnJWD5UjGLVCxnNtm5LIi1S5AIyB7V-Pp5RkSPsvlynI0x908rlaH2hd2G2g9R3mSekLQFwpM_O0XH4GeJCX-jmLriAY3NYTDd551XY2GJEwSO0sP12wh8QZWuNhSiT7u02I3Ym1crQR73zIX1P2DBeQZQzp6GX5PKi_AcMteD2t4xaMJNt3Ro-G-VskgqS28YXe6OORMg9A6V6ynSZZMRmVTW4I7IIPOjj4GZdCJO5VIiDAioryTNcUo3Tdq9iejxDMt1m6kFkKZenwnwphVI9HgwBiy9EXFutSRBOnPmLUNDqiMsr_R-EBRrtTXiApbTIn2CWlewY4WoBW--WIwv4XRcVdJAZuc2LRgcNH2W5aRfPW0xA6uTXoImJG0uPMogMtNbIdV7xEMfXCtqFeCp75bOQ5q6IZfVRcrU8xxNnckdREqs358MRP_GWjmqoNsEAuCkHxRx7Aa32THcwpEFFPzRXk8OYx3kaYcs8xun-SiEaiG0M4R9yHN8zrOHvkCj0OL6-fKuMag4ALQrMJdbP4WMt7iP_VORk3R7TdGtj2RAEr4L2eY7M1y0mmKxamJ1S8539cRSOK-qHUmtpB0wrVaVy5L3rhwgZPHDJGuMchnsxqQKwMkBxmzwr3-cmts_sVEkh306O6UzrikQPvGtBjYUuGY1jr67LOCyTUHJrAe2gw0cBTUJ-im0s1MDBpohTfrUoYZvvqecH8brFha5CgCKMZEB4ClF1G4UnLZ6mKVLaXHKsIaVF8vixiCE4LSKH-ET5FK9xGXhEt5wTWebt26tojD20UHsecZTpyoBCbE_UzMiymSk22Xecay5QJrCLd8rOsn0Sf4kuLO7ovN3y_noYGx6tE72M8CGn2LP09731aKpAblGcRXygRt__9HJe_3pFABE-1gae6IhIxCf0BxOAfMXBSQHqQA8lHKkOkaa5dpCSd6CovncDIlc33Szwwq6VDXw7SehuggzfM2bVdEA7R00a0FT_63NuJyu9ysWEY0NcvBJ1d07L0I0kNj8CjFEgO96ygVb25jYSz_UAqlu2X6bRWfLo4sXj-9j_GXgjY9djgEVgActJMLJYujmZoD73ndbGmKK2vSn6h5yvYtzgFKdDOlmZN_DpQMpI_jAXFdxoE76BTgN-hyBYld_bu5I0aGOM88Ji43PbypFdu9dXLyV4AmZ_DlVVEyi_GGRNf8hP8IfpJmoEUubPnfsWIIY7FcQZlXTwYHxqbaDBkLPwef5BYN1JDtNyZUqAS6lGF5KYQC1ZHQD2Qkd2Q_eCd405oDi94mzrsXEkf27ShNEc0KyvkO_0TKVrPXYhm6C0ABLd_Yvh6D18r8-EzdDkvwpMltDJMzaPLabo8A1AxfXURI0tXplTKdez_q1X8YOCtaK1-FMEAWvEHr3S3QTrrPZHPKmLoklFM-y_h95LtqpCt0qkg_H7TAazisiEY4yZtWmiO2cSo5tD7-CUZ3TtCNUBEGMg9GWgf0g9neuS-h1sWI4uliAtWTDMsF2kNXU2qNfJNJXb7AfFg6nMKamO34vxhu7teaKg1yJpIb4CUT1cKf25-PfZt_n2pzummn5-h7dUnaMCldEqwSLMoERRSOVzWaUQGu_rH5IXogjiaLoUC6cIzhkaqQDxsZ-Xrty8DhScPEpZgx2Aeo6CPMadPle4V6pLIsZeKnkJchQ2B7Oe5btQ_zlq2a5IU-zGVlgn5Iv-DAF0AAB3okLw1YZkSwxcR_cCWk2Z0IcS-VuS0a5Js1uVf5x1OJhvLcNbE7QbWEEre7HiH9IgstpYOt73l5mIDthI-HVDgr56JApZ0hfDHZx87C9jBaaN6SK",
  "id": "rs_06d5d5d689f95720016ab45b3912a487d0a8559340cb17d0aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.22,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.28,\"right_y\":0.2,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The left arm cannot comfortably hold the sideways alignment at this reach. I will instead point both parts forward and arrange the cap ahead of the pen, which avoids that wrist limit.\"}",
  "call_id": "call_XC3exmqvk83XAsHAAunuIh8w",
  "id": "fc_06d5d5d689f95720016ab45b3e41b087d09a268a27c7bc8ff7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XC3exmqvk83XAsHAAunuIh8w",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.8486, 1.5269, 1.1091, -0.4858, -0.7475, -0.7444, 0.068, 0.9577, 1.2461, 0.8654, -0.4259, 0.6594, 0.5385, 0.0513]\nstate[eef_state]: left_x=0.3442 left_y=-0.2036 left_z=0.1745 left_yaw=0.1394 left_pitch=-0.0421 left_roll=-0.0183 left_gripper=0.068 right_x=0.2759 right_y=0.2103 right_z=0.1756 right_yaw=0.1245 right_pitch=-0.048 right_roll=-0.0245 right_gripper=0.0513\nstate[joint_eff]: [-0.4171, -8.253, 6.5573, 1.4628, -0.359, 0.2808, 1.0281, 0.1846, -4.588, 9.1692, 1.3114, 0.5934, 0.1538, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ee3a71f9424edaf2697946b83bcbd2ea51dd895da623095830991c7c38aa0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df82c452d99532c8f1d77bdfb909fc0d49db10a209af9362badc2079c425696c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50280ed1737054291aff4e4ae52e200f0bda4353eadfbbc7160fe28eec42b31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 8.885 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7403, 1.3289, 1.0031, -0.6994, -0.5907, -0.7681, 0.0601, 0.4339, 1.721, 0.8272, 0.1238, -0.3111, -0.2512, 0.045]\nstate[eef_state]: left_x=0.3054 left_y=-0.1409 left_z=0.1616 left_yaw=0.1742 left_pitch=-0.2176 left_roll=-0.0123 left_gripper=0.0601 right_x=0.3667 right_y=0.2335 right_z=0.0539 right_yaw=0.8276 right_pitch=-0.1657 right_roll=0.0279 right_gripper=0.045\nstate[joint_eff]: [-0.1162, -5.135, 6.7214, 1.1795, -0.2759, -0.0269, 1.0281, -0.3214, -9.6342, 7.6923, 1.4237, -0.1001, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3588, 2.0369, 1.5482, -1.5574, -0.9539, -2.0937, 0.0673, -0.0055, 1.6951, 1.4567, -1.1454, -1.0916, -1.3506, 0.0513]\nstate[eef_state]: left_x=0.3365 left_y=0.0315 left_z=0.1329 left_yaw=1.4925 left_pitch=0.0307 left_roll=0.0434 left_gripper=0.0673 right_x=0.3339 right_y=0.1585 right_z=0.2257 right_yaw=1.4563 right_pitch=0.089 right_roll=0.0104 right_gripper=0.0513\nstate[joint_eff]: [-0.7043, -13.3128, 4.9299, -0.6276, -0.7155, -0.0464, 1.0085, -0.8684, -6.9402, 7.6103, 0.2369, -0.9206, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8486, 1.5269, 1.1091, -0.4858, -0.7475, -0.7444, 0.068, 0.9577, 1.2461, 0.8654, -0.4259, 0.6594, 0.5385, 0.0513]\nstate[eef_state]: left_x=0.3442 left_y=-0.2036 left_z=0.1745 left_yaw=0.1394 left_pitch=-0.0421 left_roll=-0.0183 left_gripper=0.068 right_x=0.2759 right_y=0.2103 right_z=0.1756 right_yaw=0.1245 right_pitch=-0.048 right_roll=-0.0245 right_gripper=0.0513\nstate[joint_eff]: [-0.4171, -8.253, 6.5573, 1.4628, -0.359, 0.2808, 1.0281, 0.1846, -4.588, 9.1692, 1.3114, 0.5934, 0.1538, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ee3a71f9424edaf2697946b83bcbd2ea51dd895da623095830991c7c38aa0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df82c452d99532c8f1d77bdfb909fc0d49db10a209af9362badc2079c425696c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50280ed1737054291aff4e4ae52e200f0bda4353eadfbbc7160fe28eec42b31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtJGPsWCZlLSfyjdFwnN6Vjj40zMDLwCOIxPk40-K7sMLfV2l6cLPECx9VO4Cmy2XEIQqGGhfaeB00_KDhTqAGjjaT_TSRZi3ack2i52JNTP-LRt8OJ0PwMBZd9nss9PKf3vWezQnbr-B91DnsxYRjQUk9wgdpfV40Lka5cfoLCJmf8S2RosARD52zuvjBrQRRu9NLolCGkmZKH5hpiQ8MWMgiOrTAy2o4An_gwa7VGgKp1fXHEm8wWl_YKzES6VYsMZlMvTyyLpRDYP55Xauaq3xeuXfGGVKeeXabKykUXXoMvzzcjBp1sx5A7NIqw8cAMD-Za0GqXNmOXBxg-unTqKyBrNTiSNo79gpScEuAWxrb0ytCQfr9kCNkbGQ_dzEPOnnrl9dwKNqtD40IuHJwmBj2YwQBv2d35sFWnaeGqrIVp6jIP5hZKAN2LF0ZO5MbgP-zYAcWdwYuwjnYsLmEkGYquyYYB1xgL_XIsvgS8rbFpAtXnTAzbNgaSe3SIu0Z2p0hU441lLkFWCG7UC09GzZjpDi7w7WD_kyZRzCwgj0dpw9ibdJqL7j1YS6FN_vb4yZKeT35UrbUVz0KbWctmzrBN9tSmKf10mTHmu-pa_LMpDrXOb6faKzxfqOVKumjfsJdQXnFcuDTuFdjo-QSzHjr7rTvA6p12oY8pTMdRYeRgdXon3NQ9M7hl6aWcJpRqrmZaYDAYNMfkp32YpXDfBo95_0N2SO-ldFXZlDvFLh2VtD-oXlwBa_LAb7mXS2_IJyCZRWHqNyuuVewUPTZjD4lXdFeJnxqZkakBIWMOU3c51KkDbM_l_Ot_9xYHT3wcRrgK72WaWIhehX21gJRVKbI9FfMJFqPt1k9BVNRfBA08WX6qkK2vsOHyWlIFghCoL3Z0wkjMi-92hAfSrZA60GRaEbA8oMc_7g3f-hPZEblVmYockzati3fMX7x05RaMTl5i-EcHZirliicsqHED2Q2WwTTJMtya8KZWOBG3W1vJKYzbZ-gW21EiaUlAF5F_n40rvBRWf5qTVEZirlO4oNA2RsRoypN6cLU_VjdfrU41McUk-Ut9wHVuO8s6x17G0Rnz2xu4lbmtA5teuiSl66ZcCB-rp7ZibDDGw6AqTDdhvkmIFaQ-XQhcATir7I1pecZwIpTvQueHhNM7hS19xC4L0GRXeEJis2J1EzC8swET2nrM6pVcsNZT9M4anOhIU5yTYTQrv5zg5diEPIHCTqeWV3rhKznMxWKRsHNQrtVn5WJxNBtA7zCRqZjUthTE35P7FB3hR3Ng5HNDsty_2C8-GbnB8KXfGaMHpIh8KbkDwKbnvqdaOfTQ3UXjDlsCHcpiQrnWFnZi6D9fjNAccgCkfA9_9SjZxd8C1P8mCxfRzVZbnjBXPa4J_QD6GsQlw3nhFK3H138jPZ0e2cl0-_wn4hY-mzeVXWH5mm2Z745K8mqiwtObnQqBBUIa9aKSV6li_Y_cLzZPWXdFQMpvYyRzv-gLknPm7N666rYuBWU9eK05eJqAnARXaZVy70U1_pnxMLVReRyKYtUvgVLa8ca14alWz8q8iLVrGfqFs7bd6Uc92pmziGkT7DFCsHHlXumzVU6deoKnfY9SJ2wgsQP03wJl9xtnKobibSjZsw3N72E8eWE5N-RGB57c6cLyAzdb-iEYDMKeZC-OKECJbdTKBpSM2HucRRy34hWHVHcbocsWnLB_7l22s5KIjeIWS5Z_oWE8AR7_OWHgC4q1zPBY5oPYG6sQbd-YO-dnLeUTU8mD_sb7Jj91do1iqEboYyq-U6NjopPujIaozURxNIG2PWXtiPMJzkkcuntLUMk5MfL5o6q3-aOH4tQczQesAzszG21jAhYD3X3N7a-FgF7oDa7cjwSRsHq9OfA6leLxdQ-J8ihsjfuUB5wLZGckFl-evSXE4IXBxXwIPxP72ViPToLpluwMCz6MRSVa4FZxOcYs1hNrL1JZ5trV7gYCwPI9-SHS2ZCXcfh7GQWt1IeuFDBhHrsBFxYIELyG75PS-8VgmYiQxGEOyhqCUa3HuVcBlK9mUYCDxBhLnCp8ndBeKDjhHL8OmhhyT83xnsjKia-MuX9UmYdt03GuCkM_915qbPj3fE2CHt3vmpWCwfeRjvw-zyLBKmy1y9fkG5eVOW0aXIpUYd7RWtvAB6ci71tqRc9cCuq78wcB3t1bGbuK_wgzU5jUHOrs_AHdoaactQo_SiRNyc45h6WNsILx20a-49xb0MNMyen8jfGAUMP5Q3j3js2gCVaBle-8sZUkAoyMJ08PmnECnUIb6H3XoepFkLvseDXDaaRGt1fbetW5muv861t4zt_WNzH2F7gjARkM79Wx-0f5ypyvG6UtJuhAAK5pB8uUansFMxsA9q47vFZ02iBIDWWdjNfFAviVs8_dbE3kR77dgk_NIdJHFa4W9dEmpmjmhrwzKeihDEEkl08yLlPgok-LbK8Mh738j50z5Sgz-h0rlv2lUHgf5j3qGQI2lxl7td29hDOE1KGTJUGVg525Ae-ZusHGjW_7_VgO5Lx8xzyc7cDqDN7RlQtOQOjvKk-OcUUSfsBaMAN6aZLc7pYySx-RDCqIu90vWDORAU_L6ar3HULiMX2butyGWBrW8UQBhyj-SNuADhGdEoPXHNXdcHbBpi7UG6qgvalBU6M2FVj3ggSRv_WSiDpbxpDeU0T5CJDdBvhokuHADcOo3AG6Xs0YtiSrTEyLZoZSQEoDgefoX9rQCnmNwXCbI8tS8fGTJ4GfO8r6_rQSAMWGG3ejh9efxvDqmkaGrSmK-7fdfVi8nrbL57KB",
  "id": "rs_06d5d5d689f95720016ab45b43218c87d088099700d6ee6685",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.30,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.28,\"right_y\":0.34,\"right_z\":0.175,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"Both parts are now pointing forward. I will place the cap farther forward on the center line and bring the pen behind it, leaving a visible gap before attempting insertion.\"}",
  "call_id": "call_hgpP1rofr1hW9MfQ8wcSquJ6",
  "id": "fc_06d5d5d689f95720016ab45b48583887d0b9a74596e47228bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hgpP1rofr1hW9MfQ8wcSquJ6",
  "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]: [-0.733, 1.8549, 1.4853, -0.5606, -0.7261, -0.5884, 0.068, 1.0756, 1.7638, 1.2934, -0.8104, 0.9409, 1.0683, 0.0513]\nstate[eef_state]: left_x=0.4264 left_y=-0.2213 left_z=0.1709 left_yaw=0.1583 left_pitch=-0.0766 left_roll=0.1196 left_gripper=0.068 right_x=0.2963 right_y=0.2558 right_z=0.1468 right_yaw=-0.2181 right_pitch=-0.0445 right_roll=-0.1223 right_gripper=0.0513\nstate[joint_eff]: [-7.4598, -5.2991, 12.4376, 2.8889, 0.3297, 0.1099, 1.0281, 9.5795, -6.4205, 14.3248, 2.6496, 0.105, -2.2442, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4c84310d353784cb0768d6a159971fedfff53e054d2a5b2d7026b4d8b15729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ad8e3139fadc1c11e4002d28603117cd69eca4e965c572faf7c798bd0cf591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d596c3fb857c1a01068daecd7d4c830406ac1e33cbcdb45030b9b20aa6f3bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.487 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4885, 2.0949, 1.7557, -1.5238, -0.7036, -2.009, 0.0644, 0.2699, 1.6741, 0.9874, -0.2565, -0.5621, -0.5774, 0.0499]\nstate[eef_state]: left_x=0.359 left_y=-0.0573 left_z=0.1198 left_yaw=1.3992 left_pitch=-0.2468 left_roll=0.0037 left_gripper=0.0644 right_x=0.363 right_y=0.2018 right_z=0.0881 right_yaw=1.0526 right_pitch=-0.1961 right_roll=0.0411 right_gripper=0.0499\nstate[joint_eff]: [0.3214, -11.0701, 7.159, -0.5934, -0.4908, -0.0659, 1.033, 0.0068, -8.7863, 7.1863, 1.2625, -0.5153, -0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8486, 1.5269, 1.1091, -0.4858, -0.7475, -0.7444, 0.068, 0.9577, 1.2461, 0.8654, -0.4259, 0.6594, 0.5385, 0.0513]\nstate[eef_state]: left_x=0.3442 left_y=-0.2036 left_z=0.1745 left_yaw=0.1394 left_pitch=-0.0421 left_roll=-0.0183 left_gripper=0.068 right_x=0.2759 right_y=0.2103 right_z=0.1756 right_yaw=0.1245 right_pitch=-0.048 right_roll=-0.0245 right_gripper=0.0513\nstate[joint_eff]: [-0.4171, -8.253, 6.5573, 1.4628, -0.359, 0.2808, 1.0281, 0.1846, -4.588, 9.1692, 1.3114, 0.5934, 0.1538, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.8549, 1.4853, -0.5606, -0.7261, -0.5884, 0.068, 1.0756, 1.7638, 1.2934, -0.8104, 0.9409, 1.0683, 0.0513]\nstate[eef_state]: left_x=0.4264 left_y=-0.2213 left_z=0.1709 left_yaw=0.1583 left_pitch=-0.0766 left_roll=0.1196 left_gripper=0.068 right_x=0.2963 right_y=0.2558 right_z=0.1468 right_yaw=-0.2181 right_pitch=-0.0445 right_roll=-0.1223 right_gripper=0.0513\nstate[joint_eff]: [-7.4598, -5.2991, 12.4376, 2.8889, 0.3297, 0.1099, 1.0281, 9.5795, -6.4205, 14.3248, 2.6496, 0.105, -2.2442, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4c84310d353784cb0768d6a159971fedfff53e054d2a5b2d7026b4d8b15729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ad8e3139fadc1c11e4002d28603117cd69eca4e965c572faf7c798bd0cf591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d596c3fb857c1a01068daecd7d4c830406ac1e33cbcdb45030b9b20aa6f3bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtTIRFfk3AN3AO6EYuxrU0EKoH75s-Q8ii0NPYluqXU4w8gcXZ0McpecT7qcKoRHgIfhZ5qTKrffL2GOWwi7KYjVkDwjbm0G_BIVFVyEaRrQFKMxv2wjUH0DbMvgwVyGoUfRIfc6esmwDTK8ArseWY11e56oQPgI3LSmMRc7e5Uk9xsXgukuezR7NDGOT861Nu2tw4RqIzivNM3meNPf7Zs2U8I6r6fHPPkmAlZCo7m-yVX-rQY8yYLELyMi5u4w58OP1UpTpVIQYKXhsAdd1OHbvpmSqZ2pR63SQNaif8awSuGx7ifp1xbBIkLmzTHHkqEN3NB-sEiBssloUd360z6tYyDbZ4aijP6Y8z6TkktgnXKlm1yZf_wMTWiO0l4vn0dmgXcSFxCMDT1lA-FmU7X5T_SwiKd4FjBrEmEFY22_T52-OOGccS3ypG3yNECJEt1g41cXAskEPhjFBfbgJNMgqeVNh2ldmNDWPB043xrTbArvo5Ww4WUIo3A22ZBSibmv7PnmpqjAqSsQjmBdQEqsZFZ4_X3J_GbzXRaF6KUoAHA_-12RReJoeNQeH19h_2dW7sAWZpCWptGTtj9ngLlAQf1cdA81vEY2MZIr4xi1bwfHxia6nbzPFx2Dlvq8_Tu2DGINShFeVNfkr2NsWtnZ1TyZBXM9lcICm90Jf-RZwGOx_B_5htW0MRBYppyp2RWG2zh22hX2-BSsvE9MbFEhPlhEon05KSPFqzcIV8oOs4zCbOos7VMVSrzUsPZ6uCkyzJXYkaq66wyZ1Qep99UB7DDq_PBEKhzEAg7vFYdLoXdbqXp7NXyz_tBvOXj8OAneu1r0RBPg1Jns2ZUaBflCCAQtwfyKE5BuNV_hG9yLqqnKG90SwYpBvCGmqciVcDW_tMpqqDQgF75vJVGdeKZBFGg0E5samghJrG8O82yzn-c9scMMtu0Fs1hx2TlFr64mo021ptrGtXTB3-4aA34mH2wdR3FXW4S9cJymrTQ0C3mg7I-yECQFijd81-2T0_dSCEV8rwM1cL3L8Yzjmj0LnHwrGxu6QJBHcoAJ-CvoWM34SB3OsgVT_N_dEf9qhpoXO5C0iX91nADJZwGxWmwIichM1SnkHz4VviBjwzlZmvNuSdQF3V8xofTjKIDSZeNHeDSO5yKRTBiq0bb4E8Byg_w6QXgqimmbQfo0P4aO9d--axRKAv2uy3_JuIfVYmfGu17JP5or4CK0OrzQTU2mB8Q4xVcwazAOrhjdPafOBn8thvYhpjCgd5Xs81SHQObBBBZ1Fn2FcU1ce0j9yHbmPPhUovi5hMFjMCl-7WPMYPNU2w36ELjTJTj9ur0qawXX0kHqWo7hxBExVq64iSM8myF6rWl9LHjxab-0ZN-B89khQBCjc82d2ED9fHvgqJXLoqidyzb8V0vKRWzhFfBiJCqlkmquHPvfYgPaOx6j1hC_0145gajgjNSpbAoDLNWkfaU_bMbmBeT8viGUrKDO0IjIzUBBNSA3jQhSvllrWgjUUxqxPHUSjxwlweg-6Oy5DyVcxHSvEOhSmsG16KVgdiIPyWr68UCADsELNjDpnrTwTa9IwVnw0Kf5VIQ7jq1tkYSol2omzuPpR90-Sm-Gqebv6Xt8hJIBy91zAtzqXFz4r0349CJTGUrtuTU9bwq9o0_OnzgHZkUAs7tj90E7EpRsJDO0ta3aNACqUvxsrXtLreV5LE03azw2vw8ap5EcajozxaqnenQnHFyrZ2pMGy1LzGbVk_lJlmkmcKoBUVuosPcldIkjW_-h_8DR7YtD2GguXCPVCMHF_V5BMQ5mYXvwr3oBwMAPTjn0Hw4FcMo-5bB9S0pWzsHaMoVh1mr-4ifs_b_8C5tTA2DsFRmML8McPw6mECPOq8yTI9cduUIYzGu30yHvSteW-TMQnawMKugOZxlpqi0Zcwd9MPUlfUcTpO_kAlN2IHOgf2YNfriT6IPRmBS11YOv7YAtry5hS27qAmAR8ekbB1wlTBP5SJrFyn8gaR8KwcM9sFRbb8MmMhgmh2G1PghyhbJUVKmaABUKAAt576apNhNMsGZTmCCJ2r7VT43mR28wtpUteTzal5Vyn-ptpmXEm_y5BDhiNEL8DQ3iRxRS9bCuOKT0wAeF_boAr2CQ1JoQEIBE3AFr3-qSJeDlD_ZCTHgGzt7Q98FIVVC2mPUe_cLFJJx48fI3fNpL5p8aWthh07gUjOWbFCRRu4inwAin-Z5CXyhaO_kBLkU0Eb7PotaVvAQz63YPtmIm2LN-VCoWkDD9oU9OJC9A-E8LD1H7jKC_NtKB2HcI2V-j_uXiQfc60vknupg_RoDgQLvunfCpO-67IQzctlFjtFrNaGt-QVr9GBf2wDS5W6BSBcT5jbPrr4f7RbJK47IPEOgNFxSFmwr-dtdlgqIHu0rOBi3nfvRjZpg_zQz5yMQM3n143V8VtP0rotKxvaqih2QELczVcuIW5U2g4cpD762q-_AEmDtGQZDHOdhNPVaxg7smV0uN1eJGiaeqpZM0wTKj5a80tcb40YOqVx134eMQMnS9-1sBkEDALYWgQABpqi-uWJ35mf1PosqxJvCHDy63IDprH805zNYtpdIVqWWm5vQ6pbqVLHU61Smg3ssrhws46bixzIwS7bEAPq4l2J3MzVJRj0g9MfNBBJS0h4R891n5_Kuyt7kUc1aI-KMT6_QN95MAJNqLoD9e6ZKOMMzkW8l8uWWd09cOFoRtTFXwkljTZTt0oo-vwnG1emKlc8UuuHuZD6yW4QsfxAMnxsadW7RZw4jU4WWvWQC5fqi8mfYIoI50QP10santSN5Kt6oIH9s795UjbUSaGP3-mkbfBBf9MFwMeosU4e9eNfbzb13ni8p3TsTIBHUxhkdqwEBEDuVhPvlNuAHvvT0wm039UFeBwY1Cvx5k3aINQKUnxdQ60HS0zHMECX8Cm0fu0hMcudKNs6I03_moVz1nRvOl7enRLwEnTQg5y-yMPfKHKzveQYqQqQL3_mPOMme1N1XRJVKvzialloxbmLDWmKyys20ZuMZsBiqYW-oTYPsA7mr5d1jiiHYnbJyxY23Yb2qN0paF0LU9ThUWGJ-yAbpfsIPWVeUNMCkOztW4sH7atmv2jv82QRvqcPgiVI8ovzW92Fpq-aNxbNxEMgRMqHnwcrWUM0lXaaRbrePgMB5V09H8EXrUutGkoQAr8Q-UaljaJIpl8Lx1PuqkPx_-C-7g8uciGRaz21i71a2rPnpOS2vpT5ybBWk27G0cgxbE3qJOEtiUYE1nnT_IgLHXEyLmyfouL04TiKoiJIhA-Ei9pXZG-INB9OHnf0Ckqx0c9b9T-bGnTtf5TunZgIB2VHs5VLTFbn2EpPKEjI4GH0774QBLjymAnbi",
  "id": "rs_06d5d5d689f95720016ab45b4be6c087d0ba4539b95526050b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.2,\"left_z\":0.2,\"left_yaw\":0,\"left_roll\":-0.6,\"right_x\":0.28,\"right_y\":0.2,\"right_z\":0.185,\"right_yaw\":0,\"right_roll\":0.6},\"note\":\"The arms stopped short laterally and their joint loads rose, indicating that the arm bodies are crowding each other. I will separate them and tilt the wrists outward before trying the alignment again.\"}",
  "call_id": "call_wHn4oU2f5Hn4tilub8cUt7qo",
  "id": "fc_06d5d5d689f95720016ab45b52237887d0af6ad96b25dcf470",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wHn4oU2f5Hn4tilub8cUt7qo",
  "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]: [-0.6605, 1.7115, 1.29, -0.3767, -0.5148, -0.6533, 0.068, 0.8291, 1.0855, 0.6724, -0.2272, 0.4808, 0.9264, 0.0513]\nstate[eef_state]: left_x=0.4199 left_y=-0.2116 left_z=0.1677 left_yaw=0.1095 left_pitch=-0.1068 left_roll=-0.138 left_gripper=0.068 right_x=0.2787 right_y=0.1885 right_z=0.1668 right_yaw=-0.0566 right_pitch=-0.0797 right_roll=0.4969 right_gripper=0.0513\nstate[joint_eff]: [0.253, -10.7692, 6.8581, 1.7216, -0.0855, 0.0806, 1.0281, -0.294, -3.5624, 7.5145, 2.21, 0.1148, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181b1cd1ad0ce37ed7ff81e95bf549ef7eee6b62d77b7f109b9faec4319db000",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483b0e38ed11d8cfa05926154c5471398be47a7005d55314a1b57f1cc63c450b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a26545cbb192223a7f26c2e809c303916ddca097fdbde0371aad228ea6b3c4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.001 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3588, 2.0369, 1.5482, -1.5574, -0.9539, -2.0937, 0.0673, -0.0055, 1.6951, 1.4567, -1.1454, -1.0916, -1.3506, 0.0513]\nstate[eef_state]: left_x=0.3365 left_y=0.0315 left_z=0.1329 left_yaw=1.4925 left_pitch=0.0307 left_roll=0.0434 left_gripper=0.0673 right_x=0.3339 right_y=0.1585 right_z=0.2257 right_yaw=1.4563 right_pitch=0.089 right_roll=0.0104 right_gripper=0.0513\nstate[joint_eff]: [-0.7043, -13.3128, 4.9299, -0.6276, -0.7155, -0.0464, 1.0085, -0.8684, -6.9402, 7.6103, 0.2369, -0.9206, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.8549, 1.4853, -0.5606, -0.7261, -0.5884, 0.068, 1.0756, 1.7638, 1.2934, -0.8104, 0.9409, 1.0683, 0.0513]\nstate[eef_state]: left_x=0.4264 left_y=-0.2213 left_z=0.1709 left_yaw=0.1583 left_pitch=-0.0766 left_roll=0.1196 left_gripper=0.068 right_x=0.2963 right_y=0.2558 right_z=0.1468 right_yaw=-0.2181 right_pitch=-0.0445 right_roll=-0.1223 right_gripper=0.0513\nstate[joint_eff]: [-7.4598, -5.2991, 12.4376, 2.8889, 0.3297, 0.1099, 1.0281, 9.5795, -6.4205, 14.3248, 2.6496, 0.105, -2.2442, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6605, 1.7115, 1.29, -0.3767, -0.5148, -0.6533, 0.068, 0.8291, 1.0855, 0.6724, -0.2272, 0.4808, 0.9264, 0.0513]\nstate[eef_state]: left_x=0.4199 left_y=-0.2116 left_z=0.1677 left_yaw=0.1095 left_pitch=-0.1068 left_roll=-0.138 left_gripper=0.068 right_x=0.2787 right_y=0.1885 right_z=0.1668 right_yaw=-0.0566 right_pitch=-0.0797 right_roll=0.4969 right_gripper=0.0513\nstate[joint_eff]: [0.253, -10.7692, 6.8581, 1.7216, -0.0855, 0.0806, 1.0281, -0.294, -3.5624, 7.5145, 2.21, 0.1148, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181b1cd1ad0ce37ed7ff81e95bf549ef7eee6b62d77b7f109b9faec4319db000",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483b0e38ed11d8cfa05926154c5471398be47a7005d55314a1b57f1cc63c450b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a26545cbb192223a7f26c2e809c303916ddca097fdbde0371aad228ea6b3c4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtZMrSmaN_HfIpiv5rc7D9rPP66uqRU_ZNX8Hvr1pzHm78hAOCU-_dnutrZLoaQ190MIWatgEnipayBctbbo2x9Ni3MXj6NfJ85ozSANvcygp882jAb_XnzZ45sdYCbcP1MYnQNsutPicuCN5pXz7L2TeLA_vCvvZ6_a-uI-8bwrrIxmKeu7p8801f5oITmHBJ3_fEz-tfybROfqzRfHaGGeA62Stn8wIeITjPAmpz0V4y5Ika4Un0ZIGpdKzUrJ8U7W_BkVH727TnnWBQVJuhBc3D4Ggfj-f0lK655MR1cPhWcH9dXmtP9ej-Rw-aUNbq_H066rQ5fLzojZCYkD8uO4bWpx72OoAXbzasToEsLpZST0zpgCU5ilZmQKhUp9OEgszuH10lagv0TvRJOvZ7PIUK6o860-2GKeRkzPO5ksXoJuqxq5JKOXV1myQwA8T7fDFO2qkSaCrxlcM1DvLLrfRC6GIVnUT-eCN5QJr-TgXKQNlBXDHvKwbw6WR64I5bTbHv9Az8Yfn8lEAcX6K08IvnuP8IAeS9ngMQvFWuWinPAgUugunoDg52ziwQkrhugEsYYu_610CNr7ZV-ID_dr_1RHBODUeHnqPszWRlNgrCRYRYBwBol1cQfdWGVmZ9Nx263WvPNLMuZ-i3iTLjw_1HnclEBVnF6lcPtWM1G1LFdKlc8JPTmwCSSC2kaewCWIshTh43mQcMRJg0xsK4kTP28wQvlC4GpR3p1N4n7lvAVIEEok2zJms2RTkU5GLE1QZ7rIGUdHJIViif4OIzvZcMfjUVPf5KWMm5wXd0Ap96sCQVKQ0fIOBrDftgkQMVbsNEmE7wm7xTHJ3it7dF-7rFABSZfJI5GZZZwTNlnmd7PMDDJVTTkA58YWS2Opdp2P1K4lBfmnTZrs32BIenqfnTU1NYEiFLsKUQAEtAcTbtSWFiUt82VM9fhJC0W-8HoffefKYFlMdWteo7wdWNDe0SbR28kXdR3fDyU3NJmKJizeTdd6Th5J-H3NO9VkbVo2PSRmic43q4VQfeJLAFsf2AYlTJ8iwWFnRdDnMsd8b219dmPnmMMv43nFCSB8CnR31G3X1WH1X8qUEIxeWhOzEgFp27mw5L_AxnURc5kL-Hpe1ejb5Ym95X0fzpLBW1nHN5c3WABqwv63cXP2DlHGNSMetLnWcGaEs50Immk2j3jENXcBFESl1TLPa06KlFq7maATw-LD1a4kdYyWchVK4OmjRQf-lTVWnYtwEgnj0jr7BiKDuV9-cLr-Vs4BX0YWBbAFQ8MyqHc6KDV_gv52LNfURBo3GzBHkZ9TBtKydOzYMjEsofGR2vQm1fqTgbqrvTHkqcBs18-ovGHNkb7WrNsX_eTCuco-Snj8xi0Lf5id4361DQg5Ab-vVeLd4ctbA3IsfGbTXdvT9-lEC1v2BcPCj8M8i96VPVTY8l7UbHvhLMejFhvCPJpseSzAGyGznDd941ZONLMr9VTIUy_d04PmS54hdouwwhdRDKtArAq4gIHplvAqQdMh45swEBeXTY2ewu_BDBDhosc6zzQwS6hrn1G7h5LaQtgAj5KgrlwRr3vZzyj3BEFJmPiefKhHms2NMeewAKrN7PU9qbF13bA27i2X3fi2k-63o8j59ypOcASrUpbfLOQemBhFGXdBSEPR7A5OfTv94KwCfBth7VLxj3_901ILS3cmDCLWKE1BEglRvXnRULkFhkTs-6xNFkJl221a0Ak7cP0Nt9pzVP6WHHeocGX5pVokkcnjlkVeMRPJLW47LBZkXw79vciCN4_VlHrzWAiACzoRM-TpuW0QeevDJyj9NbHp9imKQhYaaCxG-OAmJdddlb_83DH-1qdvFUyTnQKnLVXVfljnw78HPAJv_3wchQKpMvjODQcuwND7fbQcd_4WZ8aymE7XT1XmGTGh_knaHHFJ1Oq3A==",
  "id": "rs_06d5d5d689f95720016ab45b55c3a487d0b2985a672c76ddd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.265,\"left_z\":0.185,\"left_yaw\":0,\"left_pitch\":-0.1,\"left_roll\":-0.7,\"right_x\":0.26,\"right_y\":0.3,\"right_z\":0.17,\"right_yaw\":0,\"right_pitch\":-0.1,\"right_roll\":0.7},\"note\":\"The arms are separated again and the pen and cap remain secure. I will bring them closer in stages, using outward wrist tilt to keep the bulky gripper bodies apart.\"}",
  "call_id": "call_ZjGvlXioETjNuea0Qw3kIOWe",
  "id": "fc_06d5d5d689f95720016ab45b584a0487d0849de5cd55019a7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZjGvlXioETjNuea0Qw3kIOWe",
  "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]: [-0.6636, 1.6512, 1.1095, -0.1001, -0.2626, -0.9272, 0.068, 1.0847, 1.3655, 0.7956, -0.1314, 0.5579, 1.1645, 0.0513]\nstate[eef_state]: left_x=0.4046 left_y=-0.2536 left_z=0.1563 left_yaw=0.027 left_pitch=-0.1529 left_roll=-0.5805 left_gripper=0.068 right_x=0.2537 right_y=0.2878 right_z=0.147 right_yaw=0.0226 right_pitch=-0.1419 right_roll=0.609 right_gripper=0.0513\nstate[joint_eff]: [-0.5402, -11.0017, 6.9265, 2.0049, -0.0757, -0.0464, 1.0281, 0.4718, -5.559, 9.4701, 1.8681, 0.5153, 0.1148, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f7d38e24317a9ea7b4cfa89164ae8fff7f9f9479417d9db1b0d74c6c09016c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c62c22f45ba1b88b64260191b97060e27e1929866ed609f439cbb8c535c7892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752e4b98a7be25dab4b67bdd80d65d8a156b99e236da3017ffa5d09dfffa53cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 6.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8486, 1.5269, 1.1091, -0.4858, -0.7475, -0.7444, 0.068, 0.9577, 1.2461, 0.8654, -0.4259, 0.6594, 0.5385, 0.0513]\nstate[eef_state]: left_x=0.3442 left_y=-0.2036 left_z=0.1745 left_yaw=0.1394 left_pitch=-0.0421 left_roll=-0.0183 left_gripper=0.068 right_x=0.2759 right_y=0.2103 right_z=0.1756 right_yaw=0.1245 right_pitch=-0.048 right_roll=-0.0245 right_gripper=0.0513\nstate[joint_eff]: [-0.4171, -8.253, 6.5573, 1.4628, -0.359, 0.2808, 1.0281, 0.1846, -4.588, 9.1692, 1.3114, 0.5934, 0.1538, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6605, 1.7115, 1.29, -0.3767, -0.5148, -0.6533, 0.068, 0.8291, 1.0855, 0.6724, -0.2272, 0.4808, 0.9264, 0.0513]\nstate[eef_state]: left_x=0.4199 left_y=-0.2116 left_z=0.1677 left_yaw=0.1095 left_pitch=-0.1068 left_roll=-0.138 left_gripper=0.068 right_x=0.2787 right_y=0.1885 right_z=0.1668 right_yaw=-0.0566 right_pitch=-0.0797 right_roll=0.4969 right_gripper=0.0513\nstate[joint_eff]: [0.253, -10.7692, 6.8581, 1.7216, -0.0855, 0.0806, 1.0281, -0.294, -3.5624, 7.5145, 2.21, 0.1148, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.6512, 1.1095, -0.1001, -0.2626, -0.9272, 0.068, 1.0847, 1.3655, 0.7956, -0.1314, 0.5579, 1.1645, 0.0513]\nstate[eef_state]: left_x=0.4046 left_y=-0.2536 left_z=0.1563 left_yaw=0.027 left_pitch=-0.1529 left_roll=-0.5805 left_gripper=0.068 right_x=0.2537 right_y=0.2878 right_z=0.147 right_yaw=0.0226 right_pitch=-0.1419 right_roll=0.609 right_gripper=0.0513\nstate[joint_eff]: [-0.5402, -11.0017, 6.9265, 2.0049, -0.0757, -0.0464, 1.0281, 0.4718, -5.559, 9.4701, 1.8681, 0.5153, 0.1148, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f7d38e24317a9ea7b4cfa89164ae8fff7f9f9479417d9db1b0d74c6c09016c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c62c22f45ba1b88b64260191b97060e27e1929866ed609f439cbb8c535c7892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752e4b98a7be25dab4b67bdd80d65d8a156b99e236da3017ffa5d09dfffa53cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtgkdHF53chBlZVopINvUsgJg61FPNdCgzplBMQPECmgujbaR2DO-qgf-rtvsy3qkma2oNvg_nwS8LAWne2rF-fKzb8kvmxvsYb38JUF8Af4JhN7QBXz3F0NotfZsMNnU4YH4fKXhxvxcUVuI_dL_AjSayqcdVamo6gEk_ai4sC45ECU-u-ZPEbJ2iOKE-BzBFQlRbLkg_xxxX17wwg1p1wwUZ0u345k9atsddtqTiM_UqQcELNz96DEkwD3jF7C8zdIGtnKKm58KT-v767tcHTAP_M_pK_xkeb9D4PWMLpCwlYWTEpNN-so5dh5Lld2dWeMvF2vlOw8vbXyEyXB2ixoRygWP8qmbsb9uEyreBui1yg34CvNdbFJG8WLZi77-4W1Nmkw_rNZGXq3GBm2ZfrMXU_ojU0TvJfAyHYKcL9iXB1QcwNKf9yvrqzfmN5WcqYtXd8rU32CI-6bVXmpWxHJx2SUgf-o6doacXZKrJpnwbLj4OYaMLZScfn4X33pvZyHE_DMevUS-1a4oFJAaUPuRuNo7a0xHahEIAeRIspNnQNUkvWf51wIW6p8Wb3xXzEZ9aHwhxog_70gg-258B46ajbtE3R_J003X_cW93fvPQvV4dTefpaUZgUr1hx3eKUsz5nA2gNxHFHg4JyaEKJmIAl-w0ia31E2dwCKa8EnZJxqZEK9IZIeUrG8AwSeywLJ7eyNy6xj8L7-3O7dIPTxhjVEGQk7u3T4L8s1qRsjpoWI1bdM5QU85Uo1S4opGzJYWYm_RHqdh2N42EsQH-PphrVf9zLgWpgztGWC9HohgIIvciANHBtYx0lEbJaAb8DJprsQ8xAHnLpbUxn5TiqcngNE_fuSVgBKDX8GlYeDsYbZVqQYFQO40S6rDEWOo8jcO_LMhZrvxV5mAKdeUYpd9oQ_4yi7uU_dMdMFFoQ_p4HYXHejNcWKP27QwZQU72MJwqQdo_8caNJCNutkoDmxmOWeV6_ZtknTs8tBLJpeJ2Hw1r94keyvrA6f7i7uZnG9v1d1Vc3Pxttzzg1jw_jW3SZvpi8ApxgMz8I312z_dDhcOWcSMwqZeNZVejgE4sO1zOmP-2D0W6YsOP5u7HZNJvkvu-n0Mxel5XlkrkNqaIYNMqfZvHxR5oyR8nUe2wZ1gheNdbIYa684eVgYITLP6fe_hj8C9Q2bs4uSz65lA5bGBJdgI3d5iCGcw0LEnCggndU0vcW6YpGxsOhl95da638u1bZaBVRjmtcRDmY3fWbt7ioEQ4GK7A0_tlG3O0a5cC8SHirdEmRR-98-YnO0DL6XYMf15Gyswn_jEPd_jEzHoyFCrUlZ0ObXTQQ1H5EJJkzWQ-6XO6AaSlppH5_rRKoR6t7gAfH1sU_bLKoyYVXxRSCjNYm_GMhb6zYJv7rdJFIQQhnKbewDNuQyye5UE0HSdw2QQ1s4CfJ6U0UsBKzt95ev0YwtBBIOIM47F8Bmr8r89dd4PeQIdLASZ6R79pqjrc9LTh6j-CyRlfKb5nglHWnvlF63lflkXqsRXqAmhvIP5nSCr206oX2ZhSMYUITUx7LI-WvWHfQdn1_RGcYoBCWWXfCDWMnnKj9O2TzyWXIU5aROO5GZ18A8ceAGQSTUMZW14LTkP7sWSZBZk4FNLEd9l8vGQVZWon489qYN0b4XpFxPi2Wi3b9M-JI02ZLWqF7_pUAixSi5hYDdDSQ4tIjLzPjfVhO_jULDb736ZX51y6nuf-iDYX6_PcKbFktJ7r-Ji4juhG9d8rNQURiCBAtDH95JuavpxUe5daPwqNXDTb56ja1w20E8OlHToilhyXwJ1gV-9FA16M5a9GUBPQ9xnXD1VPbG34nPs8pa2vJPMVpcHUa3SJ1-SSZluAaQmSsyYrJEQIAsWsPlKG4qh1Id-jwN0wH7Wca9s4meRF1CtOcumGf6yQOHLVBoC7L5F4u5hvoND7fsYj95F0rl0KJNjKlQqTrk4droQzMjPPGKMOnN-Rkq1X0b2oeyTVFJ4UyarkKiT1FAC2qgrhGfd32IjBV-fi6zeKs-9zgkTPvFtBiMuS8R7pI_tJ8HU_SQMxHJrPwclySBGfNIl5DUiHzBGpLsZVlsww5BZpTMfsaM7-iwX_R7ASyPVxo8QYsYHxorMTKxCHy_ctMWRDqK-wCId4fEfV95U1Cv8MfXoSJ8aPXUkx4rw-odQnHsw==",
  "id": "rs_06d5d5d689f95720016ab45b5c259087d0a821aa389bb30085",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.3,\"left_z\":0.185,\"right_x\":0.26,\"right_y\":0.34,\"right_z\":0.18},\"note\":\"The outward-tilted wrists are tracking well, and the pen points toward the cap with a small fore–aft gap. I will remove the remaining sideways offset while keeping that gap open.\"}",
  "call_id": "call_scR62jeCmqC930fpNDwfuHpw",
  "id": "fc_06d5d5d689f95720016ab45b5f9b4087d0b50ac9fa6478fcd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_scR62jeCmqC930fpNDwfuHpw",
  "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]: [-0.7395, 1.7222, 1.2724, -0.2348, -0.308, -0.9878, 0.068, 1.1275, 1.5074, 1.0176, -0.279, 0.6041, 1.2205, 0.0513]\nstate[eef_state]: left_x=0.4015 left_y=-0.2889 left_z=0.1699 left_yaw=0.0233 left_pitch=-0.184 left_roll=-0.5768 left_gripper=0.068 right_x=0.2601 right_y=0.3222 right_z=0.1635 right_yaw=-0.0051 right_pitch=-0.162 right_roll=0.5778 right_gripper=0.0513\nstate[joint_eff]: [-1.935, -7.4051, 10.3316, 1.7851, -0.3541, -0.0171, 1.033, 1.1692, -5.2171, 10.2085, 2.0391, -0.1294, -0.3834, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3718e6c0663b86267071d56edfddf6b39d8345b2dba3fffecc3f77d441356293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6776d4161ef595e65c966eceb43b4921fe5bbff703110eb253c2fcba0f679208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5a47bbea46bdd4a780cc87fc7b4e034debf2860416947b9a6ac0a3086e99e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.727 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.8549, 1.4853, -0.5606, -0.7261, -0.5884, 0.068, 1.0756, 1.7638, 1.2934, -0.8104, 0.9409, 1.0683, 0.0513]\nstate[eef_state]: left_x=0.4264 left_y=-0.2213 left_z=0.1709 left_yaw=0.1583 left_pitch=-0.0766 left_roll=0.1196 left_gripper=0.068 right_x=0.2963 right_y=0.2558 right_z=0.1468 right_yaw=-0.2181 right_pitch=-0.0445 right_roll=-0.1223 right_gripper=0.0513\nstate[joint_eff]: [-7.4598, -5.2991, 12.4376, 2.8889, 0.3297, 0.1099, 1.0281, 9.5795, -6.4205, 14.3248, 2.6496, 0.105, -2.2442, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.6512, 1.1095, -0.1001, -0.2626, -0.9272, 0.068, 1.0847, 1.3655, 0.7956, -0.1314, 0.5579, 1.1645, 0.0513]\nstate[eef_state]: left_x=0.4046 left_y=-0.2536 left_z=0.1563 left_yaw=0.027 left_pitch=-0.1529 left_roll=-0.5805 left_gripper=0.068 right_x=0.2537 right_y=0.2878 right_z=0.147 right_yaw=0.0226 right_pitch=-0.1419 right_roll=0.609 right_gripper=0.0513\nstate[joint_eff]: [-0.5402, -11.0017, 6.9265, 2.0049, -0.0757, -0.0464, 1.0281, 0.4718, -5.559, 9.4701, 1.8681, 0.5153, 0.1148, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.7222, 1.2724, -0.2348, -0.308, -0.9878, 0.068, 1.1275, 1.5074, 1.0176, -0.279, 0.6041, 1.2205, 0.0513]\nstate[eef_state]: left_x=0.4015 left_y=-0.2889 left_z=0.1699 left_yaw=0.0233 left_pitch=-0.184 left_roll=-0.5768 left_gripper=0.068 right_x=0.2601 right_y=0.3222 right_z=0.1635 right_yaw=-0.0051 right_pitch=-0.162 right_roll=0.5778 right_gripper=0.0513\nstate[joint_eff]: [-1.935, -7.4051, 10.3316, 1.7851, -0.3541, -0.0171, 1.033, 1.1692, -5.2171, 10.2085, 2.0391, -0.1294, -0.3834, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3718e6c0663b86267071d56edfddf6b39d8345b2dba3fffecc3f77d441356293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6776d4161ef595e65c966eceb43b4921fe5bbff703110eb253c2fcba0f679208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5a47bbea46bdd4a780cc87fc7b4e034debf2860416947b9a6ac0a3086e99e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtnbmXH2DWEK6mARHaZzcusd_74XtzB-__foDqc-ygQtKr6d5C1Km5_4vHXFBsDxpZ9KhRexGEr1bNvdYG4GXAP0670-Q-9BVHut43LrkIO4DohZCwO-qO6abfYF94xSQStyCB9VAF9PGzORKbU6ii2dM9NIGc7-JM3spk_ceCcC7g9JmTl-dJq1OTUeX_IeUKA9tLHy6PuaUGqkpNY20RV0qHtX4xnrnriULzNyy6fCIMbvVAZXcrIAv4PIYL4io1T0Evbs9CxdoQeyDLy7MhYP52Uvw-F_e02vOylKLjQ0w_Q3oll8ezQQCCMQCcp3XHyAgQjzHcHanvVz2kxLslNMaAThu69D2RMniQ2E7crrIXwM0C8oos0__tDn0PjoM0kxNfXErZ-3NhplyUVSRtyV2WYacWgqe1936ttMbj8zIkESB0aFBJuW2gYc3pv6ilaJ6cyQCUj-aeRhhr0xv6hoPw5ayPpFQVlARJp0DECDxCr44ZM8NROKpysDJYltLMztDjOCQmT89bjILZGXLaNGWlI2UikHioyqP0t6AyWS-U9jFkwyEyr6ebawRVX8QxcG7GNjVLHXLGOG6AOOZf6G32tCK5YPj7IWJvs1Bpy0W3eYjJuB0YLt83vaJ-_LK0PI1IHWJzqM-Dhyd8CEpZA3Wgssg6L-07ldp1H_B8TrqXOBDhzn7Gd5vJWOhZFmSCfszIcr1HDSF7RjmkaMCY0db6prLe-T43GelEzacHX7OMLAbJpjSdcNqf3cOImYP2LjO4VFNRUnbrB9y_y6z0OZLbUEujOOpBO0wympxfYovVwlJWGwul3GBaBcaeLz7KeMcAm5E7Tjrp48YwrZ28uOHslxCbARfWVhTmyqq54vCalht762IIIfO9_l7GRuNcqGyWUZipHci0qf6OChODjl7xNMS-d7GDn3ir3Ddi04qM-255ypiBI7Kq_5ztiqxdC8sj3fIxhYsJ7nRWF3lyz4s72wO3_-A7khd4hZwMPk__Zuv3SpAp8ZjNsVvStbOpe2JuWl1KRKQxq21aO9-8tDCTfRiqpWLrhH1qomPVx5ENxEqskkNQxkCXZlo1kytZAPruJYCMHPU8IqWRa_hAANsBQ4jSdGiSabDLyDtZxLWVe5QnPXJjpmnZZqhepJkxruFB3DyHqiKi6Iibo82KogyMU9LdPJvHfEyoR6CvzJsB0_iQYcJRy5yjZJ7QyMYkQE66Vq0b3omEpAlaSRdOI7nmCp_uCDPvmWdLYK1r0HpK4HiXjkXnov8_3iEUqJEe6oiAdtjEXiAsG-PBIOcMNFQGcpqBnocVsljhKgyC6BqjA2GUz8RmP3yWYJ0jva7WxdSUBoUvDFINxqEtbzS3PwgpzROhPt_FSHFpwLs-F0-PrRp59SLFa1vuPoDTkBiKm7Ls262nVzYW1vV-tjifEhIuKBSYXyWrF0yxatnpao4qzw162dkWlKmOr68tRiIhKf1SjNcJNM8Acf5-crF89laG9HFckO6T04wBz3_qO96-M4rQtIYzw9aGkfQhodZ0Nl0WM_cv8HgnXxionxXVcROhtp354uC-oy2KwYeiC0CfEllHUm2aRvA5xB1knhXUSNzAoPReB86OnIw5PzZJd6AEx2KDNMv45hIi9VeaVVbBrPrx2EG4cHn9fpnOzBtM3PNS7Fh-lYcM-zaFxuK6jY1GQ1SgTyLblGCnsuCQPsjPbeixcWPYvdDUkZ4sSP7KWN4eM94BDuyR7GdzN4I6ee8SC87VLb9VK6jEvPZUN6VSbresVKUuwVsVEwF1HdMAXVUPTu_nNb1YX1ScDwkNY5AN6tSj3CfH2odydVkXe4cAKmvZMVMOCXMbBuYcGcqPBOauTdNr9b18AS-p61aRps6ZtiAU6Ou0B7Tmv4OQ5rqaCG54RSQC3Ldz1YbNpHZW9psNZ0u7pj6Czg5Omqyf6sl3ulWYNUIKwIzfmRuaPnH-_StjENcPEJTqhOYBLSvDAau3e0qTZ72QefCMniyusK92yBE5k3w1priyGGrIq1oRyNu_Ujp1_xFU--4kES4ADf-_FftcXla_b6cqHqSogBKFt0Hc6zpvlYR2YnaRzIk6NWm9oNoMEjGqItMjuk8z_BHSuIhR1o6gO4dMNbb7HAxkczv0RmUmKvdvj--knZ-987D2GShkFTuUwcWs6Tu-G2gcoj-1pqru4RBxca40fQvnJzgVOaFzRo-iXhhQBherSIMos_md0U2TBgzzppiBDd4PWZugv3k2Y4nKUqL0NFSaxmCYCUgoPSJuZgrRYTNy1OC5g9VnBhweKaxZ_wh_s1bDm7FEymZ7tbytWmjD1updq1Ab6J2XYyXPC3nQFUL4=",
  "id": "rs_06d5d5d689f95720016ab45b62e22887d0a348dc4aa1e82670",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.378,\"right_z\":0.186,\"right_yaw\":0,\"right_roll\":0.75},\"note\":\"The pen is just to the right of the cap’s axis in the wrist view. I will shift the pen sideways and slightly upward to line its tip up with the cap opening, without advancing it yet.\"}",
  "call_id": "call_bFDqFN3EO9UoMXfdyJ5xm1e0",
  "id": "fc_06d5d5d689f95720016ab45b66b1f887d088dd7915f5f555c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bFDqFN3EO9UoMXfdyJ5xm1e0",
  "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]: [-0.7067, 1.729, 1.2732, -0.2527, -0.3035, -0.9939, 0.068, 1.1568, 1.6146, 1.1069, -0.3119, 0.6445, 1.3651, 0.0513]\nstate[eef_state]: left_x=0.4087 left_y=-0.2748 left_z=0.1636 left_yaw=0.0583 left_pitch=-0.2052 left_roll=-0.5666 left_gripper=0.068 right_x=0.2625 right_y=0.3424 right_z=0.1548 right_yaw=-0.0783 right_pitch=-0.1987 right_roll=0.6301 right_gripper=0.0513\nstate[joint_eff]: [-2.6598, -9.347, 6.8034, 1.7265, -0.1392, 0.0464, 1.0281, 2.359, -6.5983, 11.6855, 2.1807, -0.1392, -0.5348, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff22cefcd31442d83ab8f346f765a407aca971ce95d628bb746531648495ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2456e18a94bb7faa40b4110e61aae212e44ed79b49a97dcbf0f6ca73755c7227",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2f626d1a76de2589947bfead6d081493d29e1c5580c658ed21b06646b7f737",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 9.541 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6605, 1.7115, 1.29, -0.3767, -0.5148, -0.6533, 0.068, 0.8291, 1.0855, 0.6724, -0.2272, 0.4808, 0.9264, 0.0513]\nstate[eef_state]: left_x=0.4199 left_y=-0.2116 left_z=0.1677 left_yaw=0.1095 left_pitch=-0.1068 left_roll=-0.138 left_gripper=0.068 right_x=0.2787 right_y=0.1885 right_z=0.1668 right_yaw=-0.0566 right_pitch=-0.0797 right_roll=0.4969 right_gripper=0.0513\nstate[joint_eff]: [0.253, -10.7692, 6.8581, 1.7216, -0.0855, 0.0806, 1.0281, -0.294, -3.5624, 7.5145, 2.21, 0.1148, -0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.7222, 1.2724, -0.2348, -0.308, -0.9878, 0.068, 1.1275, 1.5074, 1.0176, -0.279, 0.6041, 1.2205, 0.0513]\nstate[eef_state]: left_x=0.4015 left_y=-0.2889 left_z=0.1699 left_yaw=0.0233 left_pitch=-0.184 left_roll=-0.5768 left_gripper=0.068 right_x=0.2601 right_y=0.3222 right_z=0.1635 right_yaw=-0.0051 right_pitch=-0.162 right_roll=0.5778 right_gripper=0.0513\nstate[joint_eff]: [-1.935, -7.4051, 10.3316, 1.7851, -0.3541, -0.0171, 1.033, 1.1692, -5.2171, 10.2085, 2.0391, -0.1294, -0.3834, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7067, 1.729, 1.2732, -0.2527, -0.3035, -0.9939, 0.068, 1.1568, 1.6146, 1.1069, -0.3119, 0.6445, 1.3651, 0.0513]\nstate[eef_state]: left_x=0.4087 left_y=-0.2748 left_z=0.1636 left_yaw=0.0583 left_pitch=-0.2052 left_roll=-0.5666 left_gripper=0.068 right_x=0.2625 right_y=0.3424 right_z=0.1548 right_yaw=-0.0783 right_pitch=-0.1987 right_roll=0.6301 right_gripper=0.0513\nstate[joint_eff]: [-2.6598, -9.347, 6.8034, 1.7265, -0.1392, 0.0464, 1.0281, 2.359, -6.5983, 11.6855, 2.1807, -0.1392, -0.5348, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff22cefcd31442d83ab8f346f765a407aca971ce95d628bb746531648495ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2456e18a94bb7faa40b4110e61aae212e44ed79b49a97dcbf0f6ca73755c7227",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2f626d1a76de2589947bfead6d081493d29e1c5580c658ed21b06646b7f737",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtsAbaF2urr0IXFgSRRFvMAQZv1h1itjHtA8fvR2wvdVD8skptrSHGWCRNmj2NpGg6wIemE7mRahQnoGrLH6S6Hb7W4EhrqQwAzwf_C3pGEMTxfMkII_hfd_wvZXwly-kX6DYFI6h_45dFFM58jAshGnjw00DoMDjzMDI5fqRuTH-Dtc_lBGZsY8zjcXC2_DYU82G0dKxXtzDGf52sbOEt_eiwhM-72OiYNvkkk9xLhzUZ7UtuV3KkF5oOe29l0T2Yh7sr0M0TIros3QtaVRVJNQMrylKEWSDnpZq9atwP1HYxzU2zYpXcKP1WmbiOSfBEkn6c1McgSMFkfuAYs6okv-WqCueOdxKE6V-4uh8xBayHcfCJFamwLt_yBGwZCzt5ltr86yZijatvIQquuNE7owLXItib1fu4I_nTAfsug6CUjn8wir9svyknpu7xF3tWlYyrEMx844xU81pBM__swrAld5yfaMgXqQTRSZNGrjIvJDaUFgGnWxD2TKzM5LxhAowFQZ8-ZQbyOzSoOmH1wXO5OtSfGzQRAzseq66VKAkGKKElzC5Cyt5yZYzfYbZiyqoOMjpWdMlcngjfwDTO1dGEZUTX__NsyUNzofSztPXOHrUVvZv7v_ZzfWZosjUHSs3PNJdGUn8_UPz9aZN0C30ljM-VQdTVB_bY4Ncnp0SgSgQZ77ypuXh1Tln17X4LYyjtsvXw0dCtumADkcBbznZg8GmZNbEw_NLix2GuFpVNkDtvmdQpLdBx6oPdcRSxZorDXpFDQogokwve-4B54yqsfL6dmsBbpoICLQqPQNJpYv5MUndpBg7pSUW2buESxMIrnuz1l-B_bpV00MamkFuO1alzHviv1sHk37bvntoJtNZXELK592P_c7o-evWQAfVOm-JwMGxLcz6N9Mbh4lSU8BzHzsp9b8MSg1FPHzVAuC5cLp1G6Lr6ULNeBJ1gq7dQrGM32lhQZ2S3hP-AZo0gyb2Ijz3p_jS-GdtfUyd7C-iViTaOBXe0EmJlWsmkh7haS-bjawr2_pKgbxo0FxmVV07Gg0dTdun86DORJtmF3otIqAVFpQjH0pZAtOtjdgQQyr8mFBMVCfTIV6rs3BR-TQf2bDNPFpxoM7WX6_pUmegeDNhSFaS6SUki6UYbaDMS90rUL7-JU1PJ4qCWJ_kpimxX4TxmNBvMUvWFp8PSgkZqAy_MuZ2ufEFyd_4W7XEM0t1aDLUoRAm_WYHAMZrHMIpxWTcBKqkgNAwIcMUS5jegk6cRI4DMJIy8PaIRU3pfEmnkkjykRGLd7m-EdUWZvKLBHTgubFEtOCluMhYlhaRylhy_UKX7sNtcSN_HvMU4mDZaqPnXZVtsP4fIDL52QlZ-vz54rdOXK9ErX-GFHhp_1NzYjvUEugzwN41tl2ETrVxWW0THbW1YHDzCUg6vMyg5zOkhUGylLqBVqAvXXgtkICPDMK1ax2pa9MvHGkMSQ1gGBuztXZlyZbbPkMH3fuQjSzSDQ1o5JT9CR3i1oCwR_2fHc0o1cX2Ug1w7SiwZs03WVo7l7hVGxZij8JY-wH2gS2mnry2FubsQJu8sobHM9vAKfMdS1jWpDNGgTlZ4wpjfzC_dgT5DsiT-DBOR4l_fM6VimiRhfgB6OYEKft4YjhUGEcWofhwxF-ZLqNBe25VUoNZnzemBAXTz4l5x7Atjs0YiBvynTV6JkXvtMsFw6BGYgYEtgnR3DU0jy7rSdmIZigWd9cN0c-1eQERfj7aY3qJuW5A8Ub1-TDSI=",
  "id": "rs_06d5d5d689f95720016ab45b69baf087d080a3a22b4b358a4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.29,\"left_z\":0.2,\"left_roll\":-1.1,\"right_x\":0.24,\"right_y\":0.3,\"right_z\":0.2,\"right_roll\":1.1},\"note\":\"The arm bodies are still touching before the part axes meet, so I will not force the approach. I will back the pen away and increase the outward wrist tilt to create more clearance.\"}",
  "call_id": "call_tL66IYP3f8Y4ZyJgqp0jaBMQ",
  "id": "fc_06d5d5d689f95720016ab45b6bb66887d0a65a24eb84932d92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tL66IYP3f8Y4ZyJgqp0jaBMQ",
  "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]: [-0.6807, 1.652, 1.1145, 0.0376, -0.1917, -1.306, 0.068, 1.1805, 1.6321, 1.1259, -0.3004, 0.6014, 1.372, 0.0513]\nstate[eef_state]: left_x=0.4092 left_y=-0.2835 left_z=0.1847 left_yaw=0.0749 left_pitch=-0.2157 left_roll=-0.9983 left_gripper=0.068 right_x=0.2523 right_y=0.36 right_z=0.1536 right_yaw=-0.023 right_pitch=-0.2258 right_roll=0.6588 right_gripper=0.0513\nstate[joint_eff]: [-1.0188, -10.2359, 5.9829, 1.7118, 0.0513, -0.0611, 1.0281, 0.3761, -7.6513, 10.5504, 2.0977, 0.3932, -0.2906, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b6bcb9c21c0130ee8d6083dfc86c772cf31f2710ce0d9e82ece6e6db0b924f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa458f1c4b4fb132d304a48aac8d8d253f47dcde395798a0cd4da0c13e97a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2b863730b0232d8cbaa0aea35cc326ef0668edb852aaf72bfbfa601c31537c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 7.865 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.6512, 1.1095, -0.1001, -0.2626, -0.9272, 0.068, 1.0847, 1.3655, 0.7956, -0.1314, 0.5579, 1.1645, 0.0513]\nstate[eef_state]: left_x=0.4046 left_y=-0.2536 left_z=0.1563 left_yaw=0.027 left_pitch=-0.1529 left_roll=-0.5805 left_gripper=0.068 right_x=0.2537 right_y=0.2878 right_z=0.147 right_yaw=0.0226 right_pitch=-0.1419 right_roll=0.609 right_gripper=0.0513\nstate[joint_eff]: [-0.5402, -11.0017, 6.9265, 2.0049, -0.0757, -0.0464, 1.0281, 0.4718, -5.559, 9.4701, 1.8681, 0.5153, 0.1148, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7067, 1.729, 1.2732, -0.2527, -0.3035, -0.9939, 0.068, 1.1568, 1.6146, 1.1069, -0.3119, 0.6445, 1.3651, 0.0513]\nstate[eef_state]: left_x=0.4087 left_y=-0.2748 left_z=0.1636 left_yaw=0.0583 left_pitch=-0.2052 left_roll=-0.5666 left_gripper=0.068 right_x=0.2625 right_y=0.3424 right_z=0.1548 right_yaw=-0.0783 right_pitch=-0.1987 right_roll=0.6301 right_gripper=0.0513\nstate[joint_eff]: [-2.6598, -9.347, 6.8034, 1.7265, -0.1392, 0.0464, 1.0281, 2.359, -6.5983, 11.6855, 2.1807, -0.1392, -0.5348, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6807, 1.652, 1.1145, 0.0376, -0.1917, -1.306, 0.068, 1.1805, 1.6321, 1.1259, -0.3004, 0.6014, 1.372, 0.0513]\nstate[eef_state]: left_x=0.4092 left_y=-0.2835 left_z=0.1847 left_yaw=0.0749 left_pitch=-0.2157 left_roll=-0.9983 left_gripper=0.068 right_x=0.2523 right_y=0.36 right_z=0.1536 right_yaw=-0.023 right_pitch=-0.2258 right_roll=0.6588 right_gripper=0.0513\nstate[joint_eff]: [-1.0188, -10.2359, 5.9829, 1.7118, 0.0513, -0.0611, 1.0281, 0.3761, -7.6513, 10.5504, 2.0977, 0.3932, -0.2906, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b6bcb9c21c0130ee8d6083dfc86c772cf31f2710ce0d9e82ece6e6db0b924f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa458f1c4b4fb132d304a48aac8d8d253f47dcde395798a0cd4da0c13e97a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2b863730b0232d8cbaa0aea35cc326ef0668edb852aaf72bfbfa601c31537c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFt38KvL3ZZcu16hroQY3fOJeq5JPH_43v2tXLTqJImc3UJv51T6R7_AjisvrXfRDAR5aIfM9tFAWcDA8PKIaCfznIPTjXi3b1PJwYUY-ga4yckfglWSxZMIvqMFruNs8rhas2U6H_DK0-aXuHOPpc_8aOYH3JtkvqRJku2LRZrRT8uH7H7DrwUYYmF6HCkHSxD9CymtY_SDbawncTSNE1_dQKU_3aJ-p55jdvJsUmlUihnw4w6_kbSqFfjZXqAyJ7E_9XqFR3xPxz0AGTjwxAww3qXpsvVvzJB8-mVi5rjGdlzAX53j-0vNVYjJBQjrrHMNOfeZ0NThSyXljGgJLnuwVTxueNUOjzdc_qqggF8suwJrt_oUkhnmQC1GSkar1agNMTX6XnKEiWqGgZH92InOSVMNzDUgmFYXIogjWLBCIu8upasZYGYc5TWf4BetfhheGK4FriIAMUc5moKWffOBpVoAGDjEJiLHh5QIofg6VHAS9v9D_VMuTtbSfobSkyODxRrQOJeH2f4qvHNiDJfrsbWea4MoFNWxARfMMkX0vkzS2Q6kBjJSE4KRNUV8IqJi8mcICO8Ia73EBw3CQZSENQisRluhs1cSXMYtHEPiI942jrTvGyQdP890ypuButhhfimypbtZrPNwqC1fzVGw5h5Vf1QFfu049dN_xB9Ghjc9WOeESQ8hfK-bM4UZ0oq9MeCwhX0JvpX3XA9u_7okCoz0mN3YkanZOAFQb0rmuYIonZVrqs5bgC1SE28lSCU6oDlJNo5bxemczC3r_VILOrx08ukSFObl4Ax89po8XqjnvtmXXuIx9fDIqkOtoTC4VhalmKVWy5YA1vwWKIIptDFkUqvmcZOYURPNJOV18PPPJPOz5qUz3wNG23kJQp-jF4VhHkrv323JFUOSyiH8zs_a_dDQiyitrvkL5Y-LFb9h8j8fg55VEXg574hucIv1A_1T0XwlX5xet_EMNz7nnbWFpI2bw-mtuo_-zamNqOGzqHfk2iPAgxHTmGWuIjB5-b8L_-lYu2424M_dqw83goaJXPdydx4ntavUoVVwxebp59tyrn0o_hafOy_Mnc-SIntj5zWqP2ab48KszP4FB9oIDma5tvoMOZVgOPDQA9UIrG9QptdZxSYakv1Hz36SbnUzaf49BEaaIsZk0Lffaa0q3VY4x8xI_mgRRrBg0mnMhPwi_qa2n8OD70S0Zue_ogXZ3eS9YQxqs9awQ4xAVVnCSTZpCbZYbqXo8e7v9yEyz4niKzvJZh54mYyQ99DEr8FesupeQOrGKARAzeo99dXqsKH0yZS6R2uvrp9VIClxuSGkl1AuHrAZykPyzlbeQbDnEkP0dobu2iGe3ofvzYmIBE3KXVHhi2JJaHzb-4hgKKYNlGK9l3G-fEQsWRj7spJd5hW190n_9sEE9eIq4XnYzxOGvdmE0jAKTbTAM-3xgkNb0unGjCmrmD4JfqbBZQXE6AqQgS8mj0vdfgKifrDJgdhQeblqIddTGoLca3ekw5FMH-uPpRclYZlyfs6t7p4geaVpUBePU17sVvPrbBKxh6cIgH-j3q-NrIMaNFOMO-BcgO9gLq6nkifaN26pRiGR0LnitauKXma6G8rl8cX0LmrwX1cJ3jQnmAw5doPsWuSU8XE6KjsLqRni1X6VXZ2AkKseNyoCbf5fCxfdJvouS-b394uAzE01_JqaAMjlWctEpH5fb5gwmTiZ-aeo-uHwPzcf5szRqFrAz89WLF-1aD8hjjmvyuWbfTnKbb5WDwPbGce7wg4Kno8yoPx2WMoZ-IgAz2Gyxz_ASRv4Lr4s6_AIL460i7WuEt4V3nNorIFuY3T2GMP9owv_5bzqK_LnFur4hdrLailDFhTwNHbXs30zawdST9MSU2oW229Vfb8fUZJ0y8M_f6dzFToResXbzu6ymZcnO0vsvDNZz44Miu3_wH-46SItreb1X1TydW3VWyPmI7T8Rd482Fu3waBM-io4peOtHIioNPkunafna3KjPHxhcuvr13muXUJDvHyzmWJOTKU3LKH-hTAfQxB9B7mFjcDhNk6RW4F34LUaqI_gN5-zxnvzRtp607Wb_y1wumRjVe20K2n2inxCjYO1lcRBVqjZJ62qSnKAZNO4CZvoCxGvmaUNcigs3MOvt-L_ksrMD-x5A1MdAX6xokpmfUIJMlUJceyv640UJ6eCpezxJ2YGgPxnjuWOe5djQKJ0GdeWGalqBK58H4s8c1ZRe3fUekyQNHcbIIyjfjRvYX8IaeGfo8vhOJqpxqyHOocLiY9hqY-l06Sw8n8VnE6oOmd3tZ_4uc-KuWyjw_-eYo9o5Gc7GPOF1EAdzMCv3eF2QK8ye3P74NVFT4HCUkrPjK38UVDJ0EAahyoinagYkKBl7UXo6fQvqNvnyJuVG-dSnLQ2bY0pvvn9bjayx_r41JU1squPgw4MvTWQwH2LR5R2XWsovO7zxqAsS6YdrzeuBwGKB9vsNff_TGVMEhytt0k0nr7BR1VFYPFBj8CbUyTfv0xqJQFsajlEZfgZZ9IXGjFyZv-z7N39W8FA60Xgsb0ctwXw4f2fau5v1cSjxy3eIrEl6n4fcpwWzykivOnks_RXfhlz3S4VCks9vJg2yPtjOe9_TP35E6BS6fqZjcWxrNuvLd_LaNxwjeGvnAct9lFPtsr8Q8_5lDSng5QxTUxk5CgN78kMqr5_-zRaHO5Wx2prB31844DxeW661lyQ-b0cAIuh9w3mThvs8qfZqU5PbWVa2Vrr--auVTd4Z7CQsGTg1RhcU5UZy9XL6YisZd_OtOzMdWIyl_vtVC1FPOAyyfIm4o_k1Osav6z8cG3GhCMzwBozlErDvlzOXL98gOQEaoQVSPQEAXjdZsR7lGqKp14j_sGhg_BiFYfWprlfbNLJdGYBm1ZVKWBblhM_9W34EjShOwDlaw5sNr03BjGa2M7ALUUUbTTUaHFxmgUB7xCDMSJSXEu8cqIyXzo0E6f6gWJDec9XHnc9v1700chRn4PdoXQ0K17_zLjHdSbPNNALq9vhNDxXZ_ZRS4ww7Oqb3pnOG82zOn5uF9pFwll3jo1UJPc86U4-uO6oON-psvIsbOO1QCrjVzhRghcTPeYXCqhSfAy87Xi2yliyR_NgqrTpfnkV5jidcrUVn52YomjGjWk4WNlzj3m0wdCpZQMIMTiC5uf9gAHFmGwgUBtcp5hq0Kd7xc6_YvYsWvwSveQGiwr7G4wInnM9ZsZgNHXhRS5UG_Qe2g3D4slo3ypzjybsEQsXzONcqKisk_II8S9se87bb8V-GXcwcPxmfFRUW2bm1qZRoPmP",
  "id": "rs_06d5d5d689f95720016ab45b6f527887d080c21a24c9bc917f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.29,\"left_z\":0.25,\"left_pitch\":0.3,\"left_roll\":-1.0},\"note\":\"The lateral axes are now close, but the cap hand still blocks the pen hand. I will lift the cap forward and upward so the pen can approach from slightly below, with more clearance between the wrists.\"}",
  "call_id": "call_TlAnvgQgvVG4Pp5ihAXc4P5b",
  "id": "fc_06d5d5d689f95720016ab45b75f34087d0b693ce96031a9c37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TlAnvgQgvVG4Pp5ihAXc4P5b",
  "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]: [-0.6788, 1.7035, 1.013, 0.5987, -0.2844, -1.0061, 0.068, 1.1713, 1.6321, 1.1179, -0.345, 0.5949, 1.3918, 0.0513]\nstate[eef_state]: left_x=0.4388 left_y=-0.2857 left_z=0.2422 left_yaw=0.08 left_pitch=0.2381 left_roll=-1.0047 left_gripper=0.068 right_x=0.2514 right_y=0.3501 right_z=0.1435 right_yaw=-0.0481 right_pitch=-0.2552 right_roll=0.6245 right_gripper=0.0513\nstate[joint_eff]: [-0.8684, -6.694, 6.653, 2.293, -0.105, 0.2857, 1.0281, 0.5812, -7.8427, 7.2274, 1.7851, 0.3248, -0.2906, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a324ea60cf2886b0c5588ce84a92f72b9795d7a1805016f321d1f73b1476130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c852fb49440ffcf8a9f3e89528a3e7ba35f6ca31da9a038916740d6f1f79a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f408bc7a30863683c84460bdf91d0f416540b8723c04639f7075e2361de3d939",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 8.141 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.7222, 1.2724, -0.2348, -0.308, -0.9878, 0.068, 1.1275, 1.5074, 1.0176, -0.279, 0.6041, 1.2205, 0.0513]\nstate[eef_state]: left_x=0.4015 left_y=-0.2889 left_z=0.1699 left_yaw=0.0233 left_pitch=-0.184 left_roll=-0.5768 left_gripper=0.068 right_x=0.2601 right_y=0.3222 right_z=0.1635 right_yaw=-0.0051 right_pitch=-0.162 right_roll=0.5778 right_gripper=0.0513\nstate[joint_eff]: [-1.935, -7.4051, 10.3316, 1.7851, -0.3541, -0.0171, 1.033, 1.1692, -5.2171, 10.2085, 2.0391, -0.1294, -0.3834, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6807, 1.652, 1.1145, 0.0376, -0.1917, -1.306, 0.068, 1.1805, 1.6321, 1.1259, -0.3004, 0.6014, 1.372, 0.0513]\nstate[eef_state]: left_x=0.4092 left_y=-0.2835 left_z=0.1847 left_yaw=0.0749 left_pitch=-0.2157 left_roll=-0.9983 left_gripper=0.068 right_x=0.2523 right_y=0.36 right_z=0.1536 right_yaw=-0.023 right_pitch=-0.2258 right_roll=0.6588 right_gripper=0.0513\nstate[joint_eff]: [-1.0188, -10.2359, 5.9829, 1.7118, 0.0513, -0.0611, 1.0281, 0.3761, -7.6513, 10.5504, 2.0977, 0.3932, -0.2906, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7035, 1.013, 0.5987, -0.2844, -1.0061, 0.068, 1.1713, 1.6321, 1.1179, -0.345, 0.5949, 1.3918, 0.0513]\nstate[eef_state]: left_x=0.4388 left_y=-0.2857 left_z=0.2422 left_yaw=0.08 left_pitch=0.2381 left_roll=-1.0047 left_gripper=0.068 right_x=0.2514 right_y=0.3501 right_z=0.1435 right_yaw=-0.0481 right_pitch=-0.2552 right_roll=0.6245 right_gripper=0.0513\nstate[joint_eff]: [-0.8684, -6.694, 6.653, 2.293, -0.105, 0.2857, 1.0281, 0.5812, -7.8427, 7.2274, 1.7851, 0.3248, -0.2906, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a324ea60cf2886b0c5588ce84a92f72b9795d7a1805016f321d1f73b1476130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c852fb49440ffcf8a9f3e89528a3e7ba35f6ca31da9a038916740d6f1f79a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f408bc7a30863683c84460bdf91d0f416540b8723c04639f7075e2361de3d939",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFuARm7zfxMB_hsPUHzZDcJ-UnK2T9lhDc6ATcn91f7mQOqV_Rm3lHgFaZNhFo4774Vx3D9BReSfu_WVuyLZEadzpxaaA0fV7sFJv4-mWpei_2Axp-Yxf_qnqaecYJrkOWdH4A6pGUZ5B-Cp4Q-nOFB27Et-FIM5q2g6tAcC8_PbBUfB8Ii_QVkUM7hn9y6Cs0NzbJq6AmAFFUfDFfsWH-pNgDTO5mfsovdhomwirwWtqAB3FybJuM3axZyCD7YqEGR_a6HvMysDCZawmC7upVtd1e4TbsKCw1D69gDhK4z2OIM0JnK0km69cLgvY5J_VvwxCrYRNbd7pXGKtdhhD9x1kdCIoDMxwSA5wQY7HqqoYynQE_cwXnIAvr-Y0oAjecz3S-1f0ZzaVQ7b_zt7h5qjdaaJGQX3CrFU_oLMheHtQJse0VL9Bo5_N5Vxext0XeDZd7b__tTL1qEyhDrnkHlY-muGpZ1btA9uIQvSg-Mf-3C2E79P2RbN-mHj1tdH3Xqm3ClXVUgijon9qWk7JTowcVRim54MHR-Q3GF5Kk_3ZG875rmR2sDsUEuhcnE8lwu6MyOTRpSeJM6K24X3ZCcAzF0fwZ1-ElEPluMsPGRfYzlNKZExyp3xZh9WPXeu9YMsNDZ_A2kp5AlPfHJ7FKBY_ApoDFeOjayG6iJRztkdOTsSFcUEZSUpa_h3UlyYFgry1YxmpcI5-guofo2fn_1q-Z1cJLEQBMmAqsNYNyk1cc2WSbSjALiMHqdjoF7a8Bm8iCMC0sJAIsU202ShZnA3J2U4DHfJMMoiN7HHfBmtpbyrKPZAraDTn_1-Y8pwXh5a2fp4ObVJqTAyVF1PHKnGnFhmaP2Lc2jHztzgvcPJTtxTRLQRt-FPT0EMFs4WqEz9PQULA3LGy4iHsi8-5Hm5LrbJJ7wCngRGu4wPwgk3lObwW2tHxAWqvKNQ7KqO0xp8awtu_a2XqPev7IJ9hEObODIeOmy5M6QYepYba_r6hkhAzxbPzKaHAsm2PTfe_84PllsHsU2auDm_UJlVaB7516QTpTR-D3sZ-qAQamdsNRKvdaCmpb8VTUKk3gE13GYVqXSfAVL6pr10rgq5RzKO_fN7bDYU5fheq7M5v4i4LjS4JEmqxoYcb03mGouC3K5ONhvSsILUYPJMxm1FRCrQU60uiWpBH2qiUXAlDan7sdo5z2fLWmk0nRQBaHQLQDFdVn2k3wFCdanBJRmjmButqBRvAWNhPJQfYlS3zoOyugh_GAVoEu59x5B83ue6ToZ4vdEXkdGLJ7YpCItf9IpbmjbLVpeHQzSb4MMUJ62qRQTK1V1-FrL-7olEd0C-R_RumWl6lyFv5mEHjBKChg8sRyOIkd-LrkvAX7D8f8IDAvGZfBZscqTqzeY6REF__pxi2p52ZVPwiy5hFnTjaMeGRnnep6C_MA9a3Rj27c95G_XbVcEdJMWdy6qsEUh7CwJGqvSSjWruKBm1qThcgyViPqzzaobu2ptP5PMZJ1e5M3QxmcGqT5x_7GLl0kE9rAyWyevlzVHE_ZVKzgr6H1AGGJfccxO3Y5lklFp1yk5U7bymXlKNmBSO9gJs2lRFwyNAoDDXyTuIwnOf4oMgqDCYD2NAiBGoLU0zVaJPMMCsc3HZTUafCtJBf9Kc7V-PjHUi75627AEYT7upPidmhi_k07SJzuBj-u5hYWxJCBJeHgzOk8IWUg1TeKnO8-bP8N0YViMHESfM-QrVLCuZw_YbFLV-fu76Z20ROso7_HVI32KRF1pDnu42RXeumxJsDoB5LnKDENJ80HkMEP8hC0cqpFz742TMgfSnEDM0I73yyVRTKCYYbcIpoXTJDWLXQWE6-cqjSu9r4qDiSbZDcNtOLeCg2lASxkIEM-rgon3dV3yCEeAp4ch2wRXPLsX7a13_jF9sqz0ozQKWDdjXI6zA7Z-VjuPvUG2W0lin0MOt60uJVRJGEavzKcyj9JmaCKxfUnvGkVYl_c27Zw4opVbePJ403MlXE_1b41IPyTLwCr2RXm-nmAw76arIrguQjzrPxSpzIiJWK6qiq6QRDShXewChh48A7QV-2X8cR5C4XWujPml6PRCvG5ZKuXzUM6nu9qzqHnrDrnGIczR3_-cpxS5J-YP0KpvchqqqcwEyyJXEA54pmoqwvCQol5bALCity0f4SD1mDkoN7LezJBEewl5Y4NfFA5mOfyhAUJEJWslK9RCvmj3ojIsLmf8tbsCSjSnezJqVje5AUlx4fWRZn_NMscaE7elgHX4zRqTQPpu637vdOoh9G0PdRgWm5ZyvKEtxKvUyliFycEEahzHVdA2x9fNVrLV9NP-8aXCk6nSvpqmMEJIggPn_4EWMipOGoJqOqCMgehFzVNZ2HVu67p5E_xPwYczpEQ3FP73UGNMXgitCg6FZNqdEAbb1gKBS5V2s7IM7D0APbjtjmMdh7vWPAakEfMGNHTCLywezvFtNRscOlDvoMEZluIu1zPjgFyvGsmtBbE501q9hWbn81EBPjqzbdrkFNASEkBEBBgzbEiI6QvdPgp_I3ivcHlsq97JwPDR8EQ0hXuBwMvI0gQ3nBxXSxpaCluPjZbt-DV36R40upy407cjPgGPVOYjN3JlhDlr_csiJ-NY-JoWYC8nCzCxmtig-gAXJyq8MF-tdSmx2d36b_mlpyA_9nUhp8ngkQgsj9apncs35jq12JcIBfO0pu1dTfNzjIsuALwJyLoKpVbLdQfeipfy0wSV01i_37t55i3x4Qk-BFEDR23YbXQgySL8JB7rDFK4EV5_S6_E7P4aWq22u_TXl6pj2jU43ujtK9mjbOnqh8LIM709AOPRUEEwFea2we4FkLnnOreBod-07aDNP4QgWOVn_",
  "id": "rs_06d5d5d689f95720016ab45b7a6bb087d0ac47ab96b2e26be1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.363,\"right_z\":0.215,\"right_yaw\":0.12,\"right_pitch\":0.3,\"right_roll\":0.95},\"note\":\"The raised cap now leaves space in front of the pen hand. I will angle the pen upward to match the cap and approach to a short distance from its opening.\"}",
  "call_id": "call_nrlQ0MuRos26gW2G5kkuRJx8",
  "id": "fc_06d5d5d689f95720016ab45b7f2fdc87d0b87a5d1b58351d15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nrlQ0MuRos26gW2G5kkuRJx8",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.6788, 1.7065, 1.0122, 0.6098, -0.2882, -1.0111, 0.068, 1.058, 1.6215, 0.7433, 0.6964, 0.4934, 0.9325, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.243 left_yaw=0.0864 left_pitch=0.2413 left_roll=-1.0141 left_gripper=0.068 right_x=0.2946 right_y=0.36 right_z=0.1849 right_yaw=0.1343 right_pitch=0.2086 right_roll=0.8591 right_gripper=0.0513\nstate[joint_eff]: [-0.2256, -8.8957, 6.735, 1.7802, -0.0366, 0.0269, 1.0281, -0.9641, -6.6393, 6.6803, 2.5372, 0.0855, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cee5227814d884d2c88a1d5eb3df3f8eb466211ea290c73f9310fb234e00253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8485b568ba8dc8c2fa3ec74a14276783875a70ecd2552b315450cdd03e4fe168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb485ceaa1203ecd9dcff76a800fcf9f3660451777814d6b847cc7678d0e0eff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.623 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7067, 1.729, 1.2732, -0.2527, -0.3035, -0.9939, 0.068, 1.1568, 1.6146, 1.1069, -0.3119, 0.6445, 1.3651, 0.0513]\nstate[eef_state]: left_x=0.4087 left_y=-0.2748 left_z=0.1636 left_yaw=0.0583 left_pitch=-0.2052 left_roll=-0.5666 left_gripper=0.068 right_x=0.2625 right_y=0.3424 right_z=0.1548 right_yaw=-0.0783 right_pitch=-0.1987 right_roll=0.6301 right_gripper=0.0513\nstate[joint_eff]: [-2.6598, -9.347, 6.8034, 1.7265, -0.1392, 0.0464, 1.0281, 2.359, -6.5983, 11.6855, 2.1807, -0.1392, -0.5348, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7035, 1.013, 0.5987, -0.2844, -1.0061, 0.068, 1.1713, 1.6321, 1.1179, -0.345, 0.5949, 1.3918, 0.0513]\nstate[eef_state]: left_x=0.4388 left_y=-0.2857 left_z=0.2422 left_yaw=0.08 left_pitch=0.2381 left_roll=-1.0047 left_gripper=0.068 right_x=0.2514 right_y=0.3501 right_z=0.1435 right_yaw=-0.0481 right_pitch=-0.2552 right_roll=0.6245 right_gripper=0.0513\nstate[joint_eff]: [-0.8684, -6.694, 6.653, 2.293, -0.105, 0.2857, 1.0281, 0.5812, -7.8427, 7.2274, 1.7851, 0.3248, -0.2906, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6098, -0.2882, -1.0111, 0.068, 1.058, 1.6215, 0.7433, 0.6964, 0.4934, 0.9325, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.243 left_yaw=0.0864 left_pitch=0.2413 left_roll=-1.0141 left_gripper=0.068 right_x=0.2946 right_y=0.36 right_z=0.1849 right_yaw=0.1343 right_pitch=0.2086 right_roll=0.8591 right_gripper=0.0513\nstate[joint_eff]: [-0.2256, -8.8957, 6.735, 1.7802, -0.0366, 0.0269, 1.0281, -0.9641, -6.6393, 6.6803, 2.5372, 0.0855, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cee5227814d884d2c88a1d5eb3df3f8eb466211ea290c73f9310fb234e00253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8485b568ba8dc8c2fa3ec74a14276783875a70ecd2552b315450cdd03e4fe168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb485ceaa1203ecd9dcff76a800fcf9f3660451777814d6b847cc7678d0e0eff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuKMN8qcPpYQoEXuZAF1d7HyDCiN5XfT7_YMdoj9yEVSHGP80C8-Y-1l1KCz6pKA-o-JLpk8canseYbvt0w38aA-p0dwihzh_Z5zb3t8E_kk-O3wld0ihsaVWKQahtR5vyKiiBB2j_0131PEzRzpbZkcP0UnUkms0A1U9RkaGRB7cSJ9zERFJVJpbxcNnYb8qIvwBa9mEjfSEZPQ2yiCZbPXOtchhZ6gkQ1ll2a0zhUvXd5gzO8ZOW0blItjenaqGxjQG-jahFpNhNrUmLI2yLwSYE-9i9xOFUhvbOQ-dBKzUHckxunqOhu0gHnjst9g98S64YDCsz01wmRQAyCeqCniK-55O6nV6DH9sp4tQR6ocy9clF5al4Ifke4lo6NlgSLyCB3vGckKwBrGmqWJ51N1abUaC_ewWrFFFxVNQ9CK_1qYFGFvFsMw743Q1HpJVGDtAGWaSQ57PxjzrtKY7N3KsSR2erRKIL-KDnqHL4AVGNILjnCNxdtbTpEyLhN2B7LqvOWAZ1d_cVMbQBdOvK0khHcVFjZ-q4Mi04qEx7BRp1qJ7U8vgQFBDzsQf4Wj0pt-ox4SJuMQi50-npES2ZuudLND4YsfnFctSFlzPt3e3Raxt8_C73Q8nY8zCjSFzIpWSxq_VjTWILOhBZsgFMRR_-JjvI-q9UZ1KYevhYwHzI2qQeQpQq5e-dJAMl_-nEVasP_1XaaLdcw5_dSo9slzIsDMNq-Abk9e1H2Z_8qI7EvoWYFBgz7ZEqiidppVasfSRVL93Pn8hiU24XZJ0uVUg3Q5yeUa77ca_ncR7rd7yCtJweOwqG7dtZ2X_a3HUQjVum7159LMk_5nKPYpg2eKLu6HZD4bAGDEfU7b4Nv26XAV3KPGCkmuhIsSyOQsWRWZWcvir-cbturD8hLKVkdaWRkGs1V0SJrM1QvZLfcg3qagIbUuJ_-7-nLzzeMWf76fDB6xxDAr4x3wj5s9zaeb63ZjWevxtQ1LbJ9GPGinGnBiVppyh1DHmbQtVcj5inyuvvXApT4Z4pxI0r8NZropXzjDyHq62A8ssCCluA58EJ8wa288P8akFBfEtQNWC7yppbs4-5vmYdQ55bF9xc_eC3-HBJBDLTRidYMkW2aNFl1YIVXgZW_izKSCXq9HSbgJXkomOiPf6ufuN1PE3MHaZyiGNA5KEtxCQ8JeapHOWVRHXdukwgDrR9ZIstPfA9XbsxCOZEt1CG8eUUCgqLi9RcSyY5NLpxRQBc4OHZaIZJ-BlL8Pl_L3YDeGyHuRfT5wJeKwB09FBCqu6J2jy9LZ3QpNVxrQyo9Z8uMMcQixyL1mpShT_PN9brZsqixxmesruKPXpb-w_3-_FBFpfxarstcOi8DD0W7JV34ZZzxasnYlaRggjjCTIIpdYLt-BesPTqa9RzCZ0gws2E3FPiVBEhhE1X4SfOSQfRhafI0fo3KVGRnze8qId6gjrmuHgRdfduboaYXsGLru4TTcfoIPxYGw0DQMGsWwFYvym5RHo53RuKDlzqxqb2LNcitZl-ghM3SCGdizB9CNcF0K73KZOD5CpZOgkDPLlyY_vw1nhI7jQYoRqXPvDCQz-dHZr8lvCG16tw7rwjD9FMUaJ7aF8jMGo0hjxdtdpoGOQVyfCIZ2EbC0jjoIVdLUjm-R4Q9JYRKBR4PKvfIdaf6Eg7MgCDRDesDFLeL-wxU7qEPbeN_IAdVjyT4VLBdb4ECmK2BVPFGTrrszOKDc40CLUHy9S_loCUu2KkjFR6GutyPkeLp3BdjYUOddljfCmXHj-2lvAizMHyAb7E1sQYbLp3FW9wEsp3k7mKc9dyjkeUKNWJ5yYclBLA9DULwTVSOJd9VvrMlT2IvvoxJ9eWnmri4kcmBm9FM3gWCyM2Csjw9VzXafZiGA1IE63cprU6CzAIZYXaTCWq839-zMHdfvriJW9P3n6_4f1NqzFQfbIJM4SFEySLqNx5N2_4fz57_joJ0y6w256OvK9kLT-pLzvXnS0NqUTS4Cau_GcLNX8WKi_BF6jkfaTxNKv7amJhaHeGdojv-oqgKprQCPauGD90QEpQ-9w8el0ghgKOiO7jO5gLRXgMtdJJiAYTRXdvWa4fjkEKMRcWObGw0KJJKQXmmBdqkStNgbMcmbdvLzr1_i5__uHTWHvEU8LJS1GtZXwclNTjEYuYC8xxXpkcdGHPYP3Csub_YuhxXkL_ViR24WvhTP6A5eSlLg_xdKoThB5LHcPRPM3fjniB7XKihOhOaLRagELJ7QMV7SnJp4XdILpFXlPnoXl09qDAmzMLoWYCqDnUSlioWFd2RiDYP9TtARmgkI0WQhlXCt-rePXRI6plKD_nWOeyAb09NrKH9E2Ptn8tMW7R-ghnVfDI-JLBWb_1I07X_pOTy1dtHBEdGdiGC_Y9hoCo3mjf2Ul4C7mybW28vS3E2jdUqkbY8YwjYAMAZ_ueegWkmrnU4RrYz1Bsm-no6Exxf_CXY12i70xXSiXIsvBaSAouc4UTiCG9MrFKdG-xag9AUDJK0_Mbo2gTwZXs11jK6a2ta1uOVbnRi_D0rIJ7Asob4cR1tyU59qtngQlQwWXyg7v1_r_eZmr5CK1h4QVZ-xNHDWB2EI4x2XaBDPIf2zjf4L0EjcsHavD0CZwIpGV38B650z9zoNo9qrvouI-I2fCsQzYgw5D2ixJMS4K3F9WGN2eNeIe8j0Sb5D9e7lxCv7M6h6rTEFsIdoiCZl12fOvD4Lur2VEh_",
  "id": "rs_06d5d5d689f95720016ab45b83d95487d0809081b3ef83c9aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.308,\"right_y\":0.36,\"right_z\":0.224,\"right_yaw\":0.04,\"right_pitch\":0.32},\"note\":\"The pen tip is now just below and behind the cap opening in the right wrist view. I will make a small angle correction and advance less than a centimeter to test the alignment.\"}",
  "call_id": "call_7UAh0wTQVFgQtFCtfgfSWDLn",
  "id": "fc_06d5d5d689f95720016ab45b896d0487d098dd6744092d31ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7UAh0wTQVFgQtFCtfgfSWDLn",
  "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]: [-0.6788, 1.7065, 1.0122, 0.6102, -0.2882, -1.0115, 0.068, 1.0626, 1.6321, 0.7681, 0.6952, 0.5552, 0.8684, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.2431 left_yaw=0.0866 left_pitch=0.2414 left_roll=-1.0147 left_gripper=0.068 right_x=0.3012 right_y=0.3568 right_z=0.1914 right_yaw=0.1003 right_pitch=0.2503 right_roll=0.8038 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.5128, 6.7487, 1.873, -0.0708, -0.0269, 1.0281, 0.6496, -6.7214, 10.3863, 2.4444, 0.3639, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a62e0d74e284882734add2136c4210aaba800a492019c2e815fcdb154a3da41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a133d93d775ef6cb9bbd65ca783086882b21c969490651849adee355d36a66a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6fda60613b19ff95422871b39e28297585a5a2a54b309c48debb6fd0106ea39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 9.842 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6807, 1.652, 1.1145, 0.0376, -0.1917, -1.306, 0.068, 1.1805, 1.6321, 1.1259, -0.3004, 0.6014, 1.372, 0.0513]\nstate[eef_state]: left_x=0.4092 left_y=-0.2835 left_z=0.1847 left_yaw=0.0749 left_pitch=-0.2157 left_roll=-0.9983 left_gripper=0.068 right_x=0.2523 right_y=0.36 right_z=0.1536 right_yaw=-0.023 right_pitch=-0.2258 right_roll=0.6588 right_gripper=0.0513\nstate[joint_eff]: [-1.0188, -10.2359, 5.9829, 1.7118, 0.0513, -0.0611, 1.0281, 0.3761, -7.6513, 10.5504, 2.0977, 0.3932, -0.2906, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6098, -0.2882, -1.0111, 0.068, 1.058, 1.6215, 0.7433, 0.6964, 0.4934, 0.9325, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.243 left_yaw=0.0864 left_pitch=0.2413 left_roll=-1.0141 left_gripper=0.068 right_x=0.2946 right_y=0.36 right_z=0.1849 right_yaw=0.1343 right_pitch=0.2086 right_roll=0.8591 right_gripper=0.0513\nstate[joint_eff]: [-0.2256, -8.8957, 6.735, 1.7802, -0.0366, 0.0269, 1.0281, -0.9641, -6.6393, 6.6803, 2.5372, 0.0855, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6102, -0.2882, -1.0115, 0.068, 1.0626, 1.6321, 0.7681, 0.6952, 0.5552, 0.8684, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.2431 left_yaw=0.0866 left_pitch=0.2414 left_roll=-1.0147 left_gripper=0.068 right_x=0.3012 right_y=0.3568 right_z=0.1914 right_yaw=0.1003 right_pitch=0.2503 right_roll=0.8038 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.5128, 6.7487, 1.873, -0.0708, -0.0269, 1.0281, 0.6496, -6.7214, 10.3863, 2.4444, 0.3639, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a62e0d74e284882734add2136c4210aaba800a492019c2e815fcdb154a3da41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a133d93d775ef6cb9bbd65ca783086882b21c969490651849adee355d36a66a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6fda60613b19ff95422871b39e28297585a5a2a54b309c48debb6fd0106ea39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuQj05bG4Vq9bZcPHJfHU7QaeJXwu6aXVFpGW0qxEVUbvDm6bgc_OCvFv6fvjiyqwWIcgT4Y9BgruPq_1q3ziVWBAza0YbNbZ7pOsLI03rKq5WiinJVobwLH8-c6ui0C0H2Lq0zF8U1-vnv7dtY7xcnGOvXeppVG_JzUR35MUftCzr3KfooJX87EAFA9p9iVDv8CV_mnagphjLa-XAK83MrYNUY4o0GwPi3qLicFQMVQoUy0fAnUNR-xb5Il1CxvnP6eMqtNI6tlL9UNYSH7UdsKgtBD90AA_z6loBq9-sIESZPZMjkZtEfZQyEu1sV-DXMscyDI9y1jk7Gqn7_74L4bIncgmeyuuEzCFGk2rzxs3c5pjv-u-5oOWOglf2A2B4iCN6nAljFI2se0Zo5h77XXDfXfpAxxSSYOlZfyqBowPSd2JyOG_W5L8k4DisKR57DOASXnKftY_yZk81cnVxohvhNOSEJeRpEpAGCIp92Vhp4fv7fOrm7HV_6OTGVjw-0h9RihT87vLGOcDc68ivvsKty6F12_fVUaXNn8cNx0vv8yTFmWwPiBKBFV4kvZso6IBAr2-fyDTgGMDRT91oWUI-BiGBgXJpu69CuiQ8jLUwZtYeu52kzojMq-WehGmxHR1-ZbZtvLPxGqiwm1MQf7RMDsIU3bEHvIgu8aUiaYgRv_g6qGgCpRO2hwYaomrSODh_FlS6mlDm67WmK0XzZCXPgCWvt2mzGJXTjLauYkj_D8qJl-Y1j5bpghNbY_vUK-zzPFf6_11CvyxAwudlAELgX5zLqL8LFDoW7CPEciRASVajESI3tBrJvBEzDrQTMC1PhTHBIJeqDnzlUpTljgGRY2qk0K7D5w263HQ3c5mXafyyCmQ7fQHOVYpM6DZygRdMTQ1HUsPWAVzfB_DPQCx2Y6TdojZExQOG5BvxAdkcfcs60Yq8uU2t3t49iaS01KkYs7TsCX2ZjY83E8M5SytAEpZEbtClAhKrDcWHt4JEhnvZGAhrseOlRtJWINsYkVJQL6yEMTT3eYB1TEs8-Qb0qzPaG_w2vNNOCEzYBZNxWtzAX9v2ZvqX9e3EuM_54h8uAUTM4HpbRoX0uf-TT7hrnQVtyVZwGzDjO1y_FPcDIGc6SVSA6ZvrDvG_JpvajsHM3ZrgfyLZrzC7W_qmKaOp9aFajmVnak6_q_54HTzi54bxSk56wmpkZqjejbXupp1bcIIeZLwbzDawAdndD8yU3DXfejhG26rcEaTosoP1BmW2Fiit1wjDBjE72bv9XQ7rMvWCneGRd_-edQgfHpYATVJxeovhCRVEB44QUYUI1C_jvtNXjRavYboTuv8r-l8QUHzX6sMwigac-Z3tTj_fBZcxl6gFyFNqI76FMmeMkey7GCmtvx4CoBMxWHj3lnCTf0242_PhCRtad2TiT2_F3YrfgaCoxd33qwpwRHamVIiykdKcwO7wZ6WR7A4bBNLCOtgJrpHytn1G89ZZdTednVC0ioHSB7fMk-bFQkFfYbMcciv4L5CcjTyU220fLykjnSNtodDBeEPCsVdAo9v_KLX01q5f9FVxnfSNJM6sDREYZ0Zynds3Aimv0dFnyjcxv6JZGD8s4G4ltVnE0RyYPYtpzC_A8EpX2ucj_ANQmn3TwYKcBWU3_oDxNUFaNjNjdwpamdWHpQOPpVDB0V0b8Fg3Cv8pXusTb2XNB3-mNfsNG5EKTIWnIZ1sN4Bc3d6FE4wH-zEe82MdJzyYTqZy-WGLxFaQFoSiVOe_lBdqRmcG-uUEFeM0C3sHJ5jWrKL_ke2F9oANajsO7yX8GG2Jv73DATlD-RjTSMpgwJZc3y0My6J0S9U2yh16th1C1UsNqehkqf6d1S5-dXh47GaK-FPAC89S1UnQdJPVXZfuJ4W5uAuX0EPVyh0dK4Zf3jl4DtwJAaM824qRsvaAfIh_Eu3uY1yqxjgmdER-w5C1Gly8VZy1C1EuFUhI8rZ0FdIfuu-47lUClyrildexbQ9DJqpDDipYK0y3RdkeKsDAqTq37-h9aeRTuJTK4PguX",
  "id": "rs_06d5d5d689f95720016ab45b8ca3cc87d09f36674c64d5b4f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.318,\"right_y\":0.361,\"right_z\":0.226},\"note\":\"The tip and cap mouth appear nearly aligned, with no large increase in load. I will advance the pen by one centimeter, watching for the tip entering the cap rather than bending sideways.\"}",
  "call_id": "call_cVoiSzUECacolDFVPppPfgEq",
  "id": "fc_06d5d5d689f95720016ab45b8f655487d0bcfbbd580465876d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cVoiSzUECacolDFVPppPfgEq",
  "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]: [-0.6758, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.0557, 1.6363, 0.7776, 0.6682, 0.5552, 0.8524, 0.0513]\nstate[eef_state]: left_x=0.4404 left_y=-0.2841 left_z=0.2431 left_yaw=0.0898 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3041 right_y=0.3556 right_z=0.1877 right_yaw=0.1041 right_pitch=0.2439 right_roll=0.7704 right_gripper=0.0513\nstate[joint_eff]: [-0.0342, -8.4855, 6.7214, 1.8681, -0.0855, -0.0366, 1.033, -0.7316, -8.4171, 8.1299, 1.8193, 0.0317, 0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02043589e1c4675dd440c362fea72ccef7f0f527026ffe8bda8f2f93f2cf001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9c3821ccd453386626235e8977287ef507aaaf395f3e9f30706569ff6d4eb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee9d180458276222af6e3fa75dedf4c169019b72b43e635b1761f9b2ff8b291",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 8.022 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7035, 1.013, 0.5987, -0.2844, -1.0061, 0.068, 1.1713, 1.6321, 1.1179, -0.345, 0.5949, 1.3918, 0.0513]\nstate[eef_state]: left_x=0.4388 left_y=-0.2857 left_z=0.2422 left_yaw=0.08 left_pitch=0.2381 left_roll=-1.0047 left_gripper=0.068 right_x=0.2514 right_y=0.3501 right_z=0.1435 right_yaw=-0.0481 right_pitch=-0.2552 right_roll=0.6245 right_gripper=0.0513\nstate[joint_eff]: [-0.8684, -6.694, 6.653, 2.293, -0.105, 0.2857, 1.0281, 0.5812, -7.8427, 7.2274, 1.7851, 0.3248, -0.2906, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6102, -0.2882, -1.0115, 0.068, 1.0626, 1.6321, 0.7681, 0.6952, 0.5552, 0.8684, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.2431 left_yaw=0.0866 left_pitch=0.2414 left_roll=-1.0147 left_gripper=0.068 right_x=0.3012 right_y=0.3568 right_z=0.1914 right_yaw=0.1003 right_pitch=0.2503 right_roll=0.8038 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.5128, 6.7487, 1.873, -0.0708, -0.0269, 1.0281, 0.6496, -6.7214, 10.3863, 2.4444, 0.3639, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6758, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.0557, 1.6363, 0.7776, 0.6682, 0.5552, 0.8524, 0.0513]\nstate[eef_state]: left_x=0.4404 left_y=-0.2841 left_z=0.2431 left_yaw=0.0898 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3041 right_y=0.3556 right_z=0.1877 right_yaw=0.1041 right_pitch=0.2439 right_roll=0.7704 right_gripper=0.0513\nstate[joint_eff]: [-0.0342, -8.4855, 6.7214, 1.8681, -0.0855, -0.0366, 1.033, -0.7316, -8.4171, 8.1299, 1.8193, 0.0317, 0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02043589e1c4675dd440c362fea72ccef7f0f527026ffe8bda8f2f93f2cf001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9c3821ccd453386626235e8977287ef507aaaf395f3e9f30706569ff6d4eb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee9d180458276222af6e3fa75dedf4c169019b72b43e635b1761f9b2ff8b291",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFuac_R6BB3C8DxPLik1gC1aED2KeR1-5LeBGEvZZSHIrfo8gFHWTRKjJQS6iJx25Ep2xJkws4vOEAv-P62rOFHixpVUj-ql9yZymKZFgFdr2VF3ggBi0aboIbdwurAhYjH9lib3_4oK_xD3RsonLtvnAgGBz9uC6q9bK-tFr80XKcGyCQVRj6_5r7-ivepK1fapOO85fe4rOemqBOqjmoQ1ISDhRgyqmJXiZtMFAP8wmk561v4ZiHNVMks-mCOFkSHxbz9UPcioNXFK9albnMCm1FjoX5i1ueXEU6BZujEBSMQzoqbe8Jzw7ZkBC1pwUcwgACYtXgBqppxaXIGZp_jiDf6wx5Og8SANwJeO0t3BDsSasblHIn3v0LvQ5YXmXGktlLwDt_eFs0nOwDwqOIIeeBFPxO0yhN2sMtjW7ElqqZWmSnNEjth_61gG2Mwib6mW038LxY1MXTmu4ec0N0Sm0iaS92Ruk2e_mF1Jtev3_rd8poFnX_0QPKN_uMESuNgu9gQ1ffd0BZErEZAwbDpmH7RHKO3fDv2rufpDPbAD176r4LnF2sDA7Y6uoHxbuDuFhRHFnIVnTyP_KaRwOGBhsfs3q2ZDnX_RaqiIbTxes2nXkTQj4sIgkPcbI1kvCM40pEunZ14YWYkCwSWaPhWmPT7SP_leb0aXFyf4IHEeLf6i8RjDWOAVl3RT3kd2W_ePgtroDbocxkgAByOj2zXbdVoBO6-vYk1Rv_6bxHAz5G4fCwGTcH1pzIqtjqvgvJjTlIgni35JdFSlue7V_JU2JWOBmOpKwGYzmXboJZdLxpL9vy1nxg9Uqr_p9aIinRnM_AtYmkoZzF8xxmKr_9sQEydqgwHjS9WFT6pnfh-eyXCyJ8dazqX1-adQUdCBkB68XsekcNj1F1zJnk3mo2zPnKjy79t2Qo6-TNTtBXfHWk2owoQScubYvFezX1SIC_n_q-BPeJVGzScEVhy5qZC62JnyU-IHd3JWaTilwusID_QDXN2bVl6ypVt5Jli4FB7qe0COphUNIZtwDoqU7GPHL4PY-FdzwFY2b4a8Ri8Uvnjgt4KGNBTXaXK-YawZ9Gowkx-MsGXSega5qhpTB3ctvXyP9EqAR3LgkeN8cgAV5Z7aiSVMLh8O_yMYtW3KX8M3VRADYYGWmA7B36wJJ5JKVGQBU_eWtu1G6XJCXWPTYZdASui4gh7PULvmRdf6gFUKt6dOUheXan0f1QpbC2YDHlhwPhDcSmkgDF-kxI4hVqbmUpXD8GIv5LCtc5yy46uPZO8wBkFx7ZrM9lqZPU73xbz2c28oh8ZCl7CtNWMdU-KzcS_0mX9h9N2Q1JF8mq3WhWalb1ccSr0JxNUTROOGcc40aSG7OGL7f-KGRfmpdo6kb5-h8nZuiTTMA4vkhKGMJqrk9Ij4S-ldPOCFO0BQ0Kba3JUuXBoxJcY_kgHrv_W9vNS-R1hUG1pgwHL_9f5jNfYSrOiBKVGs1JGEmO_n-sTUneKbYSe2IEKOZOvv7DR_gO7Roz9Kj6Wuiy7EJkEj9MVr1dQtr1AaUG5PgLojYOU2pIYl0aN9x2VdXsUAFx8-wEhSWvxWdCGmmIQP3Z3Sl6ZM39ylx45n4U_8NWptGt6GE1C5qWq_K1Oaq6T4qXVSd1oJEAyotrQMcgzHGiEwHWKp85trN_shK10wdhPW7LBH_Ph5uk_6arOu0ZYFKN1EY5OhprXwGETG9-w9B24rUOhtqY-K6Hye9y4-7c80TUo7r2rnX3LNUTIJWwYUDQaaB0cFyOnRsYs1RRVnrbvRqqbI15TYDTWxZq2CQrpp5MhUd6ScLpOlV1FiCUrZD8JOXCQLi4EANH_WRElanosiJjFvmkn7WBDe2TlxccrfnDK6tmr1fSLX_hGekuCkOWqNYHWIDJjYzCMZZyOdrnPOp_L8eXWci5YsFzl0dCSVnYkLfc3rDzoOoZbduLcoxQf-0rqzmIKIKQhA3kpJds_5dEFfrnblP4TekG-naYgr8J8wZIIj08Lbmb1OLrLHbyOGO5VQ5oLm1A5fRsWl941GVxcJQJ6j2QheGqy952L5wiYcny0dejG86bhnRH-zCySml5i1ql_RZgv_SN7VKdcxNyIG36Vrgyay4pzvXG0OxDUzrnJkcjCwnoa1cITh61FaZTjCdCDqUnDoll0LsbaVx6Im_k43U1TqvrJJhYPyMJaeerS4-BTtdqnDJllHdM7usowuym-u1D72bovpFlehBkAj8j9BUzImZqgF4-454oKypToaQe2Ymu8lOu7KzuKNR3jskNuDLadNPkCng0JS37A-HcoXzJ3i4dgHY2oAhG6PcSUrmTQ3XA2EWTmsxoNTlR6OWudIQSC_GD5s_FsXXwpys9ACRG0ZgFBZtIH15AD_WwV6ipU4dE9THwhyPk1_RPwvPMrkVEGHSUCxGzNRSIvxDMBUGA-WP_OqcxKj3Cg8z2-tUKPiV17QjvHd6Ym8TSKWubMDXOsZgg-5VOxZ3nXdsV-GLginrti55Xk4lnIu4kw_zTcP6Iqt4vUu9jSiC3sSv1_hyGq0gv1RvsIBMoa2NLUfYD1AdX7RIwB9vncAbgWAp9ZZwKSxZJaXHWoejupW6O3bJ7uEHki2reMdz38qiq2JOGHE3GbiY0is0Fz21VJz_hQtORu5FiYQR-HVsvUEyhsI-uzGfc044d0A6SETLZiK1T_diZLpoTdXBDKxYtEEJKNHDBpX82iqjvR2eGjvjY3a0d0yyWaJSLl3SrCK7FyFLR2lwjSni9TGSXfipJbbU0kdUGx_TnE8V6bJAhbHgklM7xagcBVVP7irv34umbOa3a11Hf-DPYoSIrQ-6cyqJYBgyfAS7D_z7O8b_7b-RXy9Ncr_T41tRLozjKOpQFAVw2ZLXv423xkoaT_MgOy_G_f0roeQJ6z5C9zPqHzQf1ePn5HfZ0ltli1V2xjNnJNJzcnfo8rxl1zpca0nqJgt-wKRblM3xSjQBbOcKBX1P-GPAi5qG2GRjR7Taus5UUCsU-RNRK4VG-EltvVRSRUQgKmKN8PJCZ-A9FC4asdVRvSpvtcTRzV6jn0NoWWrOAfZ7rhps-IHDsBni-Fk6x7N8dS6jGxzfBmX1jo-SJJG69jb60waFlCWB0txbFHw909JlFHrOqaa1c8Q3tkD2lQQuHjmvdmVnLx6wy3vM2aT4aSY-0ZhoZ2mSJ9t3ggnTAmtOlmnoG22Nuppn2PAr8jpjuLWPNGxhTdER2MBYIDpo0YeNRj1CFXVWHpVRfUoKCRX2qnFejws9viLmzW7q2Y8Pzk5vOhwlH7YOL_gPJy-BxoiveEGsauIEjFjMbbL2DdyMb1VqTC4rifaFeEjPpVdmaihr4M4Un3lN1PnVqKXy4FMI5oP_OIzEE-OKbN0zh1DLmJiuON6PeJEqSyXqCQ252hU4EfW0z80a5RCXGLukNrlhaEXaiiQhOiW2ef2nDwWaoMiIe8fwWSvFg==",
  "id": "rs_06d5d5d689f95720016ab45b9284b487d08bcb1f228c21688a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.316,\"right_y\":0.367,\"right_z\":0.235},\"note\":\"The pen advanced only slightly, and the tip appears a little low and to one side of the opening. I will ease back a fraction and correct the height and sideways alignment rather than push harder.\"}",
  "call_id": "call_eS3CtvNVC2AaqA23WlkQnNDk",
  "id": "fc_06d5d5d689f95720016ab45b9966a087d097bd287e7a024477",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eS3CtvNVC2AaqA23WlkQnNDk",
  "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]: [-0.6743, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.055, 1.6363, 0.7776, 0.6617, 0.5449, 0.8555, 0.0513]\nstate[eef_state]: left_x=0.4408 left_y=-0.2834 left_z=0.2431 left_yaw=0.0913 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3034 right_y=0.3567 right_z=0.1861 right_yaw=0.1132 right_pitch=0.2374 right_roll=0.769 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.6496, 7.0496, 1.8339, -0.0855, -0.0366, 1.0379, -0.6085, -8.5538, 8.1299, 1.7998, 0.0317, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1099c80bda0cf4690a979cb48eaffb5c8e7f7cbe824815a4c4fb0903a0874e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9027ce7c557e89e0e29ed9b826dc9f39e031dbf7299956340706f954b80fc1f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5952236cab650810e571533328ea35947e66a0a2fa951df2c948a819b2edc575",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 10.93 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6098, -0.2882, -1.0111, 0.068, 1.058, 1.6215, 0.7433, 0.6964, 0.4934, 0.9325, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.243 left_yaw=0.0864 left_pitch=0.2413 left_roll=-1.0141 left_gripper=0.068 right_x=0.2946 right_y=0.36 right_z=0.1849 right_yaw=0.1343 right_pitch=0.2086 right_roll=0.8591 right_gripper=0.0513\nstate[joint_eff]: [-0.2256, -8.8957, 6.735, 1.7802, -0.0366, 0.0269, 1.0281, -0.9641, -6.6393, 6.6803, 2.5372, 0.0855, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6758, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.0557, 1.6363, 0.7776, 0.6682, 0.5552, 0.8524, 0.0513]\nstate[eef_state]: left_x=0.4404 left_y=-0.2841 left_z=0.2431 left_yaw=0.0898 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3041 right_y=0.3556 right_z=0.1877 right_yaw=0.1041 right_pitch=0.2439 right_roll=0.7704 right_gripper=0.0513\nstate[joint_eff]: [-0.0342, -8.4855, 6.7214, 1.8681, -0.0855, -0.0366, 1.033, -0.7316, -8.4171, 8.1299, 1.8193, 0.0317, 0.0366, 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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.055, 1.6363, 0.7776, 0.6617, 0.5449, 0.8555, 0.0513]\nstate[eef_state]: left_x=0.4408 left_y=-0.2834 left_z=0.2431 left_yaw=0.0913 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3034 right_y=0.3567 right_z=0.1861 right_yaw=0.1132 right_pitch=0.2374 right_roll=0.769 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.6496, 7.0496, 1.8339, -0.0855, -0.0366, 1.0379, -0.6085, -8.5538, 8.1299, 1.7998, 0.0317, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1099c80bda0cf4690a979cb48eaffb5c8e7f7cbe824815a4c4fb0903a0874e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9027ce7c557e89e0e29ed9b826dc9f39e031dbf7299956340706f954b80fc1f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5952236cab650810e571533328ea35947e66a0a2fa951df2c948a819b2edc575",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFujPwISZNsIsIK09CwZvX-KktN9dec_0txqXjNgh5Z4Y6cVTGAmrRJuzsG31Jk3lcJlwRfljiIHbhdyQ3PEtVGtnXQvoodS3jqaS5ZAiAzLqr_OF3qbNyHCR_V-6FpQbLb-VdDD1uFEv_Z3D4IeLwkY0-XyGf1mpfI-DrSZVMyVUipxDXktqlnW2saqcs_RTr1NQ8gjRxuR-dL2CMMnkkkZ8g-8qk95hu1N7QtdCToM0L-0XAOSkEEhdii9N7S5N52SbrUd5DQy4xg-iW1DLH1Cvkt215XX0C4Ys2ZpGgzXSe9Tv_p2Lg09ZnsFJMi0Z_3XRWECZQhsS8huI8YB1CWQL9JNn9TnZqkhW_DvHimCpyB2dDnlhiaCYmTS2uDINXeuj0laonvH6P8SAILHU3TauYCWUxZUZ886KoN7PJw6TKUDBZ4Ua6wt2408t7JYaGPUbTmNdXjNJ2Tn5AI0jM6GeA1EuWVos-QQmfCZsXC_emtgT5ZLcfJJ0ML5GshzCO5daznZHr76kpeaxIzWRxkDN2QER_RZYDhfapBVAx9pJuc-eASpnDtmkj2YT7zQOUFVrUDyG-0E6k4echDiKPql4l_J_LdDYItWqt30Q93wcVGchf0ySCwy0VSVrJaKrdBCmWhvjcLnSqZOR411Z_iGAWfMdhdG4HqW2ud8D8EmoJMIcX_SLTEq_nOAxrPps1NIGl6PI7otcEHC7hkoxjKLvFp_DTA4x4Uvh8tflIL_ZXbLNeM0pS2Z2OGA1AsYFLSRwaVCmgeUO-fsQp1DvDvBoWME9FMtTJqwfq4iH_nb1izs_3ON2xv1wYQ1UW7v_nWvrNVzIbMao8mmhxBQixXDY3R6_3yJvatJmr9U0nnrzyoLrUmlLtBmcL4HqR_pzFu7U0pgbSwC1QLi9AjBolL4irhDMTZ7Ig5cY05ca5dZGoVkXYW2CpwKm3U0YA1Sr4gki7kKrFNNeURXZ7B4vX7tUB2i2QiPaZR2IsuwddGKDgv-3qoNlkvhLwICf9lZD7NMbu4lm30enfByoeTv7DLsy0GMUHEoHH7kEkhlww1BowFb4GVuFNgGttbFsW4WOrrsF3KRi5v6gdu08HOi5z1Ece-nMn5R3kVVrt2k15S6J-2iIAFal826-uVupt1D7I7bCQ-VyL4a3QTd7_75BVJO8K6Dh3kObsYnZOLwH9MAFCzm5XGtekHn2SaZrX0jbjsy3evAGy89s3FpfrIg0dJw2s5MOyfWVKc11zQlC_if6RSQtF1SbraHtr-5f5yVckP9aS5JX9XQnlbxMCpXj3Ibn27Lp3q7exEjUn9qfUgLGPHcEbv4sQIuecbI-QrOiE0LhIsb7KUeabpBaVPXyGMVa5eUX6kKcbwyuHvFRuoOMjlyxmOzkC6MeYsXkqnbQRaTvTA0AuArpX2Ul6AoEC_uOyXinoHpartdwQMBqkxHgOnpp0aJXnADOTJj8AWT9X8jYLMsAgeaLMEMYqSD7M4w6cruSGSW67P6hTIML6OJ7qyXpHKVBp1dNXABiq9eGxO6JfpHnJp5aiW1wHb8lCAwUsiph0WIf_gWL1szrbEzY_ql5QroFlegeLA6iVLMfZaO3cPRyravZsgP90z-d8en51_5mSE-T1Rd8idX8YbkJYqS6JxwpvcOSiySQ23e0bRZrLzWJmXTzWGjOQtLnCJ0Mf7vLTp_oe9IDqza5_Zl-jAFDBlG-SmhXrsNmOIzbyNRXdG4g8bPklg3l5pprtwu3Q394a72hKQMqcu55WMAX3bIJEl7NSXfZKFgXkApXv43JstdWT2395lGm2tR-0Ci8ttAELag6Uu4YMbd86RaM49dxszH91thOrYFuHw1x17yNzWISD7EFe9SB8Q2NhTd9I_1wEdQuWvq35h9d05H8-J1v-8gGOgQxh-zovZI9jELQ8DTUOoqv5sVFwfcSvx1VHvlR5R3saxsuMP7Cmu4kGvC6ZxGgCcWbfWnsaY9jl5-6OmAP6gpsJJ4G4ESszolePzZR2Srz499PekM5KXT0q3QiGm4tn07EHxSERZU-m7zL3Ke482Vb-nr3XnQBv72O1BlN9br2ONv8zHq-5-F9WJz9ye4cZSNJSaewnv-pb15-rzZzh7FRcreTEBG6CsPEKIHcTZRProqGHYXvhmbOjpl86TuqlBuGkTSCt7nyEEtPWmIrqxaCUFaXjpWFa07TY5GatM2K5jEWx35PyDJ0Z1kbUh0yEmpk1OTQQq1Bv43gvGwFV3PRMOriGaHUUZq1ixfLLx1XsaM1uawVOr76X_vWN3aIVMZGjS77LjxLuX3-FoiYAKrrllU2hXtU-V8cn6tVk5QKJBSJAZJZgAQneVjJdV75mAQBEz_8NwGh83kGXgJUR9uL43lHsdEurl2nnyHz7jdrEdavhre4eA2pRTSvDibwe3Rq2ofOoQL4pElWqqqeSBPVyx79aJ-GHi-n9QycgUx8vPHfp16qqlPA8ucRAZLMqdVjZ730gTYBI5IhQuSJdhJQc1JFWFeHVAAX-BlPuPpkkKtVlyUB02r8Bdb5r9bGNVvQlKZ-r4b3FLAHHawuokxgWBzVmTtVFnPYMCRN7tmlWP5V3-85G_cYb7cXHIhFSgBdwmSmLViNy4s83iTzbxtYXlDnTDD4Mdp43t2RyHVoQL0U3QIqBqukpFjsT1pbA7lSs9iADMihSBdEylQ3O94R0ZiL01kGvx4jkcKFIRu8xKR5xQaBZPbm9xKkdHOvUrxS77T2YXSKlOy",
  "id": "rs_06d5d5d689f95720016ab45b9c7c9487d097e68cfbbb1652cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":-1.4,\"right_x\":0.29,\"right_y\":0.345,\"right_z\":0.21,\"right_roll\":1.4},\"note\":\"The right hand is no longer following the small alignment moves, and the gripper bodies appear to be touching. I will withdraw the pen and turn both wrists farther outward to clear that obstruction.\"}",
  "call_id": "call_DecEbG8cczx7HX2g0ablO2BZ",
  "id": "fc_06d5d5d689f95720016ab45ba1a99887d086232366da56ff12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DecEbG8cczx7HX2g0ablO2BZ",
  "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]: [-0.6342, 1.7855, 0.9115, 0.9192, -0.1802, -1.2602, 0.068, 0.9894, 1.6798, 0.5678, 1.0592, 0.3477, 1.1816, 0.0527]\nstate[eef_state]: left_x=0.4425 left_y=-0.2818 left_z=0.2319 left_yaw=0.0986 left_pitch=0.2112 left_roll=-1.3285 left_gripper=0.068 right_x=0.2929 right_y=0.3426 right_z=0.1692 right_yaw=0.1216 right_pitch=0.1619 right_roll=1.1964 right_gripper=0.0527\nstate[joint_eff]: [0.4308, -7.5419, 5.6547, 2.0781, 0.1734, -0.105, 1.033, -0.6769, -6.8171, 5.8325, 2.6252, -0.0171, 0.0904, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b95afb0fca325247e3cd96dcb63f3ba6ae3fe88ab6ce56010f60be0783420f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b04030b07d5de2409f969012face206a130a73d9772adf1046817627fb25ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2afd5b1f98cf8f5353802129dcee2ab508e1a991f107b8e54332843771b40d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 15.19 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6788, 1.7065, 1.0122, 0.6102, -0.2882, -1.0115, 0.068, 1.0626, 1.6321, 0.7681, 0.6952, 0.5552, 0.8684, 0.0513]\nstate[eef_state]: left_x=0.4395 left_y=-0.2854 left_z=0.2431 left_yaw=0.0866 left_pitch=0.2414 left_roll=-1.0147 left_gripper=0.068 right_x=0.3012 right_y=0.3568 right_z=0.1914 right_yaw=0.1003 right_pitch=0.2503 right_roll=0.8038 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.5128, 6.7487, 1.873, -0.0708, -0.0269, 1.0281, 0.6496, -6.7214, 10.3863, 2.4444, 0.3639, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.055, 1.6363, 0.7776, 0.6617, 0.5449, 0.8555, 0.0513]\nstate[eef_state]: left_x=0.4408 left_y=-0.2834 left_z=0.2431 left_yaw=0.0913 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3034 right_y=0.3567 right_z=0.1861 right_yaw=0.1132 right_pitch=0.2374 right_roll=0.769 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.6496, 7.0496, 1.8339, -0.0855, -0.0366, 1.0379, -0.6085, -8.5538, 8.1299, 1.7998, 0.0317, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6342, 1.7855, 0.9115, 0.9192, -0.1802, -1.2602, 0.068, 0.9894, 1.6798, 0.5678, 1.0592, 0.3477, 1.1816, 0.0527]\nstate[eef_state]: left_x=0.4425 left_y=-0.2818 left_z=0.2319 left_yaw=0.0986 left_pitch=0.2112 left_roll=-1.3285 left_gripper=0.068 right_x=0.2929 right_y=0.3426 right_z=0.1692 right_yaw=0.1216 right_pitch=0.1619 right_roll=1.1964 right_gripper=0.0527\nstate[joint_eff]: [0.4308, -7.5419, 5.6547, 2.0781, 0.1734, -0.105, 1.033, -0.6769, -6.8171, 5.8325, 2.6252, -0.0171, 0.0904, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b95afb0fca325247e3cd96dcb63f3ba6ae3fe88ab6ce56010f60be0783420f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b04030b07d5de2409f969012face206a130a73d9772adf1046817627fb25ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2afd5b1f98cf8f5353802129dcee2ab508e1a991f107b8e54332843771b40d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06d5d5d689f95720016ab45ba53bb487d0b66f8f646476a3ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.312,\"right_y\":0.37,\"right_z\":0.23,\"right_pitch\":0.3,\"right_roll\":1.4},\"note\":\"The wrist bodies have separated, and the pen is still held. I will re-approach with the extra clearance, bringing its tip up toward the cap mouth in a small diagonal motion.\"}",
  "call_id": "call_dZaF7v0ypwVrdDeCgLxSJMW1",
  "id": "fc_06d5d5d689f95720016ab45bad71e487d08aa633dd9495d28f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dZaF7v0ypwVrdDeCgLxSJMW1",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.635, 1.7863, 0.9085, 0.9508, -0.1787, -1.2747, 0.068, 0.9726, 1.7695, 0.6704, 1.1404, 0.2886, 1.2194, 0.055]\nstate[eef_state]: left_x=0.4416 left_y=-0.2819 left_z=0.2379 left_yaw=0.1023 left_pitch=0.2243 left_roll=-1.3602 left_gripper=0.068 right_x=0.3069 right_y=0.3674 right_z=0.1901 right_yaw=0.1446 right_pitch=0.2049 right_roll=1.3016 right_gripper=0.055\nstate[joint_eff]: [-0.1026, -8.6222, 6.4205, 1.5653, -0.0611, 0.0806, 1.033, -1.0188, -7.8017, 7.8564, 2.6056, -0.0366, -0.0757, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f189d75ea17cd251408bfad16c26b79457337d19ada09c9caf769badb869ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b725665e37301a5f3c2d65467900905db98d2fa720ecb5f5710be5f5d7e824",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855df625b2445076adfa00f7e2d82914a7149edbc53637c9cb46306b3f659c1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 21.34 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6758, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.0557, 1.6363, 0.7776, 0.6682, 0.5552, 0.8524, 0.0513]\nstate[eef_state]: left_x=0.4404 left_y=-0.2841 left_z=0.2431 left_yaw=0.0898 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3041 right_y=0.3556 right_z=0.1877 right_yaw=0.1041 right_pitch=0.2439 right_roll=0.7704 right_gripper=0.0513\nstate[joint_eff]: [-0.0342, -8.4855, 6.7214, 1.8681, -0.0855, -0.0366, 1.033, -0.7316, -8.4171, 8.1299, 1.8193, 0.0317, 0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6342, 1.7855, 0.9115, 0.9192, -0.1802, -1.2602, 0.068, 0.9894, 1.6798, 0.5678, 1.0592, 0.3477, 1.1816, 0.0527]\nstate[eef_state]: left_x=0.4425 left_y=-0.2818 left_z=0.2319 left_yaw=0.0986 left_pitch=0.2112 left_roll=-1.3285 left_gripper=0.068 right_x=0.2929 right_y=0.3426 right_z=0.1692 right_yaw=0.1216 right_pitch=0.1619 right_roll=1.1964 right_gripper=0.0527\nstate[joint_eff]: [0.4308, -7.5419, 5.6547, 2.0781, 0.1734, -0.105, 1.033, -0.6769, -6.8171, 5.8325, 2.6252, -0.0171, 0.0904, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.635, 1.7863, 0.9085, 0.9508, -0.1787, -1.2747, 0.068, 0.9726, 1.7695, 0.6704, 1.1404, 0.2886, 1.2194, 0.055]\nstate[eef_state]: left_x=0.4416 left_y=-0.2819 left_z=0.2379 left_yaw=0.1023 left_pitch=0.2243 left_roll=-1.3602 left_gripper=0.068 right_x=0.3069 right_y=0.3674 right_z=0.1901 right_yaw=0.1446 right_pitch=0.2049 right_roll=1.3016 right_gripper=0.055\nstate[joint_eff]: [-0.1026, -8.6222, 6.4205, 1.5653, -0.0611, 0.0806, 1.033, -1.0188, -7.8017, 7.8564, 2.6056, -0.0366, -0.0757, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f189d75ea17cd251408bfad16c26b79457337d19ada09c9caf769badb869ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b725665e37301a5f3c2d65467900905db98d2fa720ecb5f5710be5f5d7e824",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855df625b2445076adfa00f7e2d82914a7149edbc53637c9cb46306b3f659c1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06d5d5d689f95720016ab45bb0cfb087d0a94815f0ba6d1871",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFu-C2aXRLi1uGsxvobv8Eq7LAs-aT8XXhGcRtHVknHh3YrFrY0YY2L6mB-38m_WgicjCHerzQ-dxznOSUPPEnLz-8CU2GunNQ2OEIVQ6j5-fS2zttyKZBUpzjnOKV_pZdCPjKbqz9XNiviftpdZREcSlHfvWSF-Nep5Ro_eHxewsraZkSo4RoXHc-__kPjPb9G67dRKwapC1MHzprkVzvCxKodgDmIVsPihOxuQ89uwCvtAzSMbFQTMjfWzHIVBIChuQm55ZnwB79rsdW1qrTz5P8fkHjSba7iSZTKj0X7fmXcfyxYrwlFvnrHTKhurLRXMzjwQjD2dR0XdcaGAMLykhsMV1lyl91un-LINxIoThjMCdyrEWYufY_LivolE-tCeASLuRlIxdaVJGwQGr2CeGnMk3B9aHzhHazdJ-y-0wEtU0I9rrF3-J9p_2GHBm0n_toXsy7HAp-ylr89Tl6qKomUKunEWh9oZ2eJ60VeSf22Ctpt2GpgYHMc0MsQMGP_1WWfwduJ8459fvMiy5WxPHPlEjTbqmhoUTAqXHG_5qLOMbBkUVEEjSqCEfc0rvMafHjavjsq1_p0T7nZjaKgJAeERbxeo-WVSp7jOTdYVPlFKUWMJIXh9ah72iZrALpAITrG0l93wkYi9qzpXk_TGPIZ9Vd4UJG8ShwJ7W2RJi4SbaT9ewVMrb_cRQAKPaCUpuAOPDa5kATMQhe7NfxDFLv1T1vQbJ3Tq4FBi1D1N8B8M-kEZdV2SVSPI3aQejm8M7dJejq2tk2rHUMJufFI2YneOvuDsDY9abQFn0FguSIr2XJzigYSUwu7a-4jGoDURtKceSaQLI9rYrtTNTszM1wGexclIijtLylHDDo26ssH-o30hsgiB1Jst3GsWYGl0wEetbDnQ0Gxi2arKBWs-64NnZhNIVmaOMW6ibsQE-2dC8nFl9ucLapYJlUnEmMxV-u22QytnEhwnq7JvshGb1QrsNWxb12pwSw_NsODyKIXPvlmpanQDp11dBuynvGsDJ7DtcAPzWUsFeY1N5sdPd91E5QbWr9LiqHC9ydKTdgRc6CxLZ2CYp16B25rAl8ZofDJbQyodKyvaFrQoGtLbVo9rBvhxIM9XEcbFrqlSwigZZvIhgl9e0JZNcCtIYSR98dHcK8uCg-mhyuC4zzMQbnI_RfU8gl9Yk1U3Ta69aByoCwq8lG3wuaB2QcpfhSs-OSsK3n7fiya8XlCXq2MNMrbfQVTiFAdZU_aphswygB_U62pyfAQlK0S-vFKX5ITqNysk08pcJTNj1u8gUJBbaah1DfZrIBgwrm3RKqIaa0gBo_S8n7pxIw_F_EenJURfpAZtv4RGu8nvLqS5VcLIqErF8RmVaNDKk--IC7WgPOtZmeLGRTSfXUuvY8ni3-k5SCsV613ZoHkay5IeSHME0W342h03vBkwNESx-ugYuMAsDyu5PodUZPAIZsbo_74917UQi9lm09jCY-vM9eh3QlPrMngWDygbObZENKahIhpWd4hB_jrr-qRIidS_nsCtbvVX-22A07qfmquUmRI9VOKth7mVK_Ej71CwCX2kejOI79Tm2NJ8v-YjOYly05A03TBjYrhAR9tYFkj3WiYqoBVLUcZ2nboJVW2cc-w_xwgfQXCKu5uB4uC6uHO1j8lDtlt67a77ScBUfw8mrwAWWLL_07NeIoSLAetHqT1izBKpq0aPzJL30IvaeEGfIVpbajWo8NEjRUk7YkdtyvLFSJhLyLxwTMVBa8rOeyfnSJA7i32hw8Z1Mfo2yYd7ujayxsZ1V-7cOl0SXTAyikfl5nZuzmWB3g2KUB6isZdyZFdIMg1Y53bkVQo_0YEOtSy9KBDjhdDM01dNC2FRzvlvmk9E7gl_Rm7T12GBTRnvtTOhdmm89tlTzbPiL_R77uQCc2n6nnQmy3jB-Bs4l7FcqEQI3NiqUufiV6swzw98AmRb2LjOnVPx8fE9Yjc4v9rMy3ZLqvcHKUW29hcdZZukcrJsJTdgJpPD4wFDBTFhg3cFHCXgvyRNgF5Ga9KuPlJyH_sU63UnbOsSAriJIYE6MaksJsO9UDcfMiOmvR3GBlR1sCVrqCwM8sruIIX7zz5b",
  "id": "rs_06d5d5d689f95720016ab45bb9de7c87d08ff463617d014c43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.332,\"right_y\":0.36,\"right_z\":0.242},\"note\":\"The pen and cap are close, and the wrists now have room to move. I will advance another two centimeters along the pen’s upward angle, with a slight sideways correction toward the cap.\"}",
  "call_id": "call_oq6vhOqG4QK4t9wExBJuc7gI",
  "id": "fc_06d5d5d689f95720016ab45bbd72ac87d0833225999955b78c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oq6vhOqG4QK4t9wExBJuc7gI",
  "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]: [-0.6334, 1.7855, 0.9085, 0.9352, -0.1791, -1.2793, 0.068, 0.968, 1.7721, 0.6823, 1.1404, 0.279, 1.2198, 0.0574]\nstate[eef_state]: left_x=0.4422 left_y=-0.2812 left_z=0.2344 left_yaw=0.1025 left_pitch=0.2108 left_roll=-1.3539 left_gripper=0.068 right_x=0.3088 right_y=0.3692 right_z=0.1937 right_yaw=0.1482 right_pitch=0.2112 right_roll=1.3085 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -8.8137, 6.3932, 1.9951, -0.0659, 0.0171, 1.033, -0.6085, -7.9248, 7.9932, 2.7521, -0.0659, -0.0904, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e092a734e2ab47f4f15ba32f4a3670c21d0f66e434fe48a63b5587cd5bda9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca00f98fdbb009e42ef083a0afbb8b80e84bbc2edcbd7372c8c65fbbebfa8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26718a3359f8236edfc51e3e72b11d870b391d78fee58da9840959f0196fa33f",
      "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 · 4.861 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 107 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6743, 1.7065, 1.0122, 0.6102, -0.2882, -1.0119, 0.068, 1.055, 1.6363, 0.7776, 0.6617, 0.5449, 0.8555, 0.0513]\nstate[eef_state]: left_x=0.4408 left_y=-0.2834 left_z=0.2431 left_yaw=0.0913 left_pitch=0.2412 left_roll=-1.0151 left_gripper=0.068 right_x=0.3034 right_y=0.3567 right_z=0.1861 right_yaw=0.1132 right_pitch=0.2374 right_roll=0.769 right_gripper=0.0513\nstate[joint_eff]: [-0.3214, -8.6496, 7.0496, 1.8339, -0.0855, -0.0366, 1.0379, -0.6085, -8.5538, 8.1299, 1.7998, 0.0317, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.635, 1.7863, 0.9085, 0.9508, -0.1787, -1.2747, 0.068, 0.9726, 1.7695, 0.6704, 1.1404, 0.2886, 1.2194, 0.055]\nstate[eef_state]: left_x=0.4416 left_y=-0.2819 left_z=0.2379 left_yaw=0.1023 left_pitch=0.2243 left_roll=-1.3602 left_gripper=0.068 right_x=0.3069 right_y=0.3674 right_z=0.1901 right_yaw=0.1446 right_pitch=0.2049 right_roll=1.3016 right_gripper=0.055\nstate[joint_eff]: [-0.1026, -8.6222, 6.4205, 1.5653, -0.0611, 0.0806, 1.033, -1.0188, -7.8017, 7.8564, 2.6056, -0.0366, -0.0757, 0.862]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6334, 1.7855, 0.9085, 0.9352, -0.1791, -1.2793, 0.068, 0.968, 1.7721, 0.6823, 1.1404, 0.279, 1.2198, 0.0574]\nstate[eef_state]: left_x=0.4422 left_y=-0.2812 left_z=0.2344 left_yaw=0.1025 left_pitch=0.2108 left_roll=-1.3539 left_gripper=0.068 right_x=0.3088 right_y=0.3692 right_z=0.1937 right_yaw=0.1482 right_pitch=0.2112 right_roll=1.3085 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -8.8137, 6.3932, 1.9951, -0.0659, 0.0171, 1.033, -0.6085, -7.9248, 7.9932, 2.7521, -0.0659, -0.0904, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e092a734e2ab47f4f15ba32f4a3670c21d0f66e434fe48a63b5587cd5bda9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca00f98fdbb009e42ef083a0afbb8b80e84bbc2edcbd7372c8c65fbbebfa8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26718a3359f8236edfc51e3e72b11d870b391d78fee58da9840959f0196fa33f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06d5d5d689f95720016ab45bc0c38087d0a15a22ddc5b811f5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFvUMPF0v3ID4SaOt1euilK_vxovVmSUkVmdDHvKrs5-op0an3fU5F05uLB1tZ4LCbJ3LI1V_kn1mS2kmFO1ObhjBqcoBQNk0kgsJfeIcJp__qh6ndp2f33bgLCyPkCSjHtR-bCAZHHUBanjPkSav9kUMFHbUYWkXrb9gJAHL8uk4jeZ7_GQ_vjiVqO7jAtV8-xbN9NlUUZsPkbUhhLlLJZdT86iDI4DqKCjGtc2X8AqLAdHHtGSIeGCkvQ-Wr_P9ZtyCtcsoPgmgEDjh5Fm7KDEo0l0pwNjv2uQ4WsnVatFT5sYTiepXoGIzP_11wT2P6512thBA-bEbh-4CmfhZV8B9miCzLRyL0IQkjcOKbiSc-pZu8ylewiXwS51Y-uMGdS9Dw1Mf49wMY4EJHXql4adiv9BnPmnsALbHBRc6lywGPBoQbdJE4scX6u8VAxIw8jbuDOH3tT5qrr_jJTh1QW8x44bpLwQh4RK6AeqBHWxqAibOd-wdmcochRxyWuLj5xd_zSVB-91Fh4fw5AsLsfeUjuiTc9SF1baFxXh10EKNguGufrLW1RIKF6d9Ty1qM9aUjx5RUaLnnByoTqZgdYJIIWQAhvPIzLyO3e0wGagibinDfXZJVmcQvKe2CjSM5Z7jmC1-dpY5KA92x7grcGJ1QKPKi0mlBDY-MUhGF4PHw7uXNcdOSMYQYNiOq4L3onhac5EAaMhW1z5sn83PB1-6PHzwmwj7-sINcoElc2b8BB6M5n7I1sF70cAs5GY_KSqP1xlbsv4YOlwPw1nCmXO9BdgsysE76-nBqegvIBVnbf1FrO0Wv7g6ixdwqyKRe-TMukAIN2bui0pnKjswNz8uwbCtK0yS-6AFXDmdigGG92WUtfuE523-x3MFpMpcToEh_rGQ28a4trTcXHtVIg1Ok4uqeos5O1inVELzaX4qtGA2Q7F8eXnY216jRVAbHSTR2lUcejtikgmy8S2KO_pQagZ00dsWNMxcXchywTzMXgMpuDov8gIU-wDL5WUWmFrSRg2_6HE-iLjzjzhsZDFv4aX5qwuuE22zHkVG82xNgQSg6oyKvMbvmhKkWIaqlPsynAkl5v2q8TOl7D03Bu5eI0A-NNDjfnJy2UMvNY3pgc_1h7iG3UNgBGklfxrrcEWc27H-mWoP-6Qyp7Y0p6gejmRcxrOAC2zf3iTdWRUlrISWUTloEl84DyhIV4PE-0YRe5ZN8qLsB8M5z78iCe89JwvKngSycWFlYHEZ-MJfrAd_14iaCDUw6uZzJxYmoq4Lt0jtxmj65M4xw2mcPEbUAT_iBiNc5N9Oja1Olta9OCLeCTwddkYy9IMNf0S83Dtk0tiTGj15coGJrHQSdFSfrjf_E1Uu4XTzzlBftxOXRLw9qXD4uk0frSsiv9Lb5syHAEmhJPayytjyOQRqV8M2eQB7tCof1-YU36_IAbyQYBZpBVzj4qUYLl_SEtx1FK_diyZ_qAqBSpmIYC6vihnKxoV9T5dusO95LUMAuIDJQLdyXRJFsXBmnoolxXLyike4BLRqFsjOxPjdTn8Y-39UOQMgUttv3fLaT8Ks1o27yOTssMA6K8REgyB5KCiZyskQhscyxFyXCAEfYzov9oWNJbQVozdao563J9q8NBQLuXS_r6XZBd3_P8_anvTuyLfDgf4RdH6tOVwc1D-sv4M3CLgeaLNWpWO9oPn2tuz4NUf0xvGXAwa09lOZDRX0dZvK_JsrPeJpvzmFujf9ZjXJfn_vW5_w1Ec1h5aHf5Gg0fkW6rH3QT-k8L6f3_wmbVvA7dKK50qprZWUHhiUG9UWyk2Dh6HVZDFIEj3E9qvgXXPYPvQApLsS0AkfqHEtsyoUSQoDMbVkE0LX5kAhIKgQ0U2orVzbuHMGlyl-3g9PvotpmknL_ugB3o5hmayZghmiu198aYvB-okT-2wxcsPxTupBA7YNsNr557r85ljGqLTQPmAmmQp1MU0YDVDaeoEuuwB1Er7gL492I1mCIDFshVvrlfPAtw8Kkg7d1F9tcNXIgbr021315w-6-XyqTK4rP7dpIp2fwPhNxl4Xq0Z7gxEzGOsJBLuPsngi5vZfQ1ybpTBcgxkkjrSqp01fuLL-bT1FzItg-c_QRCJtnzmN91ZS_srzAs2TaAhk_kMZISfLGvO5zfYLmg8SORyz5K-fXEo5UGMzlFrccdWA60i5QKmPLeKgquZZJ1QtOYwSvuS7CFRxjolaH5vcnE-exEv9wGOdN9rGNAxZMKe8y6MPrwX-4-VvECxgaXxTP_HXTtiZNO_2_fxds6n2R3uH5LfuYNms7lQMeVcd-3cNfI4KzUAm_ukY9ZA9JLMUGhaNvDRVT4OLbiIQICrFEeyA-cKFlQm0IcdWvYVKbHnS2wo7jY724TZW-X0XuuOT9FUHIBJvYWt6yuxVuNB6TBtuHtMDhmHpMHqS6EaMNgOtaPY62F0plyacUiQZG5RmzJqp0yzMcN1ZGO57gRMAdWW9HG1cjRy6TP9CUhCkdJdQkJwixkX6vNaxNHw88vTeJM7Joxj6dh6rVKFphlIwdn1tAskH2HJm96qGXOQTMpTm3wM5ss_4pJhmj8qdKkOyC6c6xkfoMp_66mZfMqO1ubW_EzIiM-Ql92P_lEGktlLy1gY4OUft0h833ozorYm2upa_iCZ0OSnWrO8Dp-PC7_WjYVhV3cANtHv8u-KKsybBvtZVT3Bhie85FSe432opT0FTcUMReXFk55bJLv-LP9gxWIRMygQ6AynDC2RyqprUSJANFYMsY-NSjidAQGV0LchhVISnv1YlOf5VvyOMIfnDL33akch0dvIh_D2Zpl2xxImXpDOaAkDqH1MxjPGV2ysY8lwdf6ElyVIiVJzzYuSaROo9pPAL2-tlFFLORal16h1tnrTDxDatXWxZO8oG4YEe3pUlAgekibt7nvJKhYHPZXnjqGVzd9G-txxioyiu7vO90NC6uz85c-Lm7MMvB1CRTzBVyMJXTkk3Z3y8YJdXNn1bY9pnlbO5JWb06NHTSrdqB48umOcAyDXczOZhTGF4eG1TcOd7ez_182zSTD3AcnY9BBeUyeafryqqYmlcVHB0cWBj0rFq01s7siMqs_fEY1NoTnbhgsi64XN7km3mdj7xFoYQg0aGweiRclrMu1NF1hExaVNVCYn-3Ml0PdoOhWEk4-lm0vEtgCh1HF7p8fgFQ2Igg611Z-yfhcYLV2D8LdzFTKzOVekku9BSbRuPKhLtnKb8dkxIvyMGY67qXvXk3loPbuYpy5X0K3dm27qarZLibERNL2YwmzqFzCrlfDpt7aaRH7vQXlWRtF-iYIlUDWA-dv7Gb8owZ8bH7qgbPaxBBf4NfOR4Z6CWjH8dT2tMXhxnL8UP0WYruIOvgt6Gem9EzD56iIunTX8HvSTR3YmEvIEY63aFSE9NXw5TfJQEcoSiUGkZu3mBYHIQbHEbkgLqV52fGlu4MQ_CbUsBTM_Y0oO-TW9lnDFCBTgDPyCVkotIT2yteaFEA7txP-cWDnh8wvhbLk-0QLtO1_QD0HfRly6ZBfVeEmNa7hmlvZAe-0TCcWZIX-v_qp1BuulBs1cGIa92qFHiuF9PIZLLJICq28JpsMDtp9c9kUpGBCgSnVHmQUyQ8UY1BuTT-eePYxp4MoObr2R1BT6qiLjxkJaa4U6AzYXcHciSLwjDGIejhZZNrDOVzAWYkLn3CeOYUxxZn97nDxX6SyW-BCosAJUCYpsmL_FnMOmV4FU7Rhv84NJ4tthX723ZSzVvVUwJL8GrUcyDra9k6TJXEeFSlIaoPIrUD1jhHrJju5JTlFuvSPds-ifpgCPXs_aMunenhaHGk8rQkPiTlUJYJqTUdUBz2xqNiFX-iRXgZ2LVMIfAyKAHH3VlZGcwuFxyyP5qmgzqNGKBJolsgQOjAqXGgR8CbleGplRIRj1zxOPISdWOtQ1BxJAGjMm_-46BaUt8xWl_tCyg4uHhpvrADzwyg==",
  "id": "rs_06d5d5d689f95720016ab45bc9850c87d0a5a27b837c536190",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.281,\"left_z\":0.11,\"right_x\":0.228,\"right_y\":0.369,\"right_z\":0.07},\"note\":\"The pen has stopped advancing, and I cannot yet confirm that it entered the cap. I will lower both parts together over the table before checking whether the cap is actually attached.\"}",
  "call_id": "call_ciGoxuYcdhuU1L1VmqTS2XmK",
  "id": "fc_06d5d5d689f95720016ab45bd2ec7887d092ca2c5c08160445",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ciGoxuYcdhuU1L1VmqTS2XmK",
  "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]: [-0.7788, 2.0499, 0.5529, 1.5345, -0.3298, -1.2819, 0.0717, 1.1767, 2.0575, 0.5575, 1.3155, 0.4248, 1.2224, 0.0594]\nstate[eef_state]: left_x=0.368 left_y=-0.2777 left_z=0.1156 left_yaw=0.106 left_pitch=0.19 left_roll=-1.3461 left_gripper=0.0717 right_x=0.236 right_y=0.3871 right_z=0.0631 right_yaw=0.2363 right_pitch=0.0677 right_roll=1.1223 right_gripper=0.0594\nstate[joint_eff]: [-0.3077, -9.6479, 5.9282, 2.2833, -0.1685, 0.0708, 0.7497, 0.3214, -10.8376, 5.094, 2.8107, 0.149, -0.0708, 0.5788]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057057f51e320ee7ff306edfb3f3b3326ae94bdcca2bd0599fe31c5b32be5f35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314eb4d82777cf8b589256c5c42804c09d5db144030758c94e478b47f9bbbea0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4420bc094fb2b446d240b40fed23159b88c28035a6c615eac9fff9edfe0bf2fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.207 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 107 changed as sent

message 112 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6342, 1.7855, 0.9115, 0.9192, -0.1802, -1.2602, 0.068, 0.9894, 1.6798, 0.5678, 1.0592, 0.3477, 1.1816, 0.0527]\nstate[eef_state]: left_x=0.4425 left_y=-0.2818 left_z=0.2319 left_yaw=0.0986 left_pitch=0.2112 left_roll=-1.3285 left_gripper=0.068 right_x=0.2929 right_y=0.3426 right_z=0.1692 right_yaw=0.1216 right_pitch=0.1619 right_roll=1.1964 right_gripper=0.0527\nstate[joint_eff]: [0.4308, -7.5419, 5.6547, 2.0781, 0.1734, -0.105, 1.033, -0.6769, -6.8171, 5.8325, 2.6252, -0.0171, 0.0904, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6334, 1.7855, 0.9085, 0.9352, -0.1791, -1.2793, 0.068, 0.968, 1.7721, 0.6823, 1.1404, 0.279, 1.2198, 0.0574]\nstate[eef_state]: left_x=0.4422 left_y=-0.2812 left_z=0.2344 left_yaw=0.1025 left_pitch=0.2108 left_roll=-1.3539 left_gripper=0.068 right_x=0.3088 right_y=0.3692 right_z=0.1937 right_yaw=0.1482 right_pitch=0.2112 right_roll=1.3085 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -8.8137, 6.3932, 1.9951, -0.0659, 0.0171, 1.033, -0.6085, -7.9248, 7.9932, 2.7521, -0.0659, -0.0904, 0.6227]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7788, 2.0499, 0.5529, 1.5345, -0.3298, -1.2819, 0.0717, 1.1767, 2.0575, 0.5575, 1.3155, 0.4248, 1.2224, 0.0594]\nstate[eef_state]: left_x=0.368 left_y=-0.2777 left_z=0.1156 left_yaw=0.106 left_pitch=0.19 left_roll=-1.3461 left_gripper=0.0717 right_x=0.236 right_y=0.3871 right_z=0.0631 right_yaw=0.2363 right_pitch=0.0677 right_roll=1.1223 right_gripper=0.0594\nstate[joint_eff]: [-0.3077, -9.6479, 5.9282, 2.2833, -0.1685, 0.0708, 0.7497, 0.3214, -10.8376, 5.094, 2.8107, 0.149, -0.0708, 0.5788]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057057f51e320ee7ff306edfb3f3b3326ae94bdcca2bd0599fe31c5b32be5f35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314eb4d82777cf8b589256c5c42804c09d5db144030758c94e478b47f9bbbea0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4420bc094fb2b446d240b40fed23159b88c28035a6c615eac9fff9edfe0bf2fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFvZgvR7SX3mNrZHSuMRPC_bJbrdhMnDiUFK33TRRbz6KCDmEIb0i1Ext0clWzu27gByGwV-CXFKr0adsIIg0HxV9igZzo-OSzC98V6oiZODNQ0Br0W5ODo17NtB1yaOL5IZTHIsq9rZyOirJwLlby0dsS-qAUA3VNhQpRu299wLv6ke9y40gh6NzA-rlj3D-RFBeOV2011IXt9FXVCqENX963SR0_3dK99s7DMzlXvZqAka_XwNG0f35iYXvVHtNA3sVPheLOGiwlKs-Uh1b0cE1lTDe1kZ7Stxx2rptKSvTcZYYArhARU4nh_xQXFoBvCmpatuFlPF12BO7VZMAhbw05QEZlBOpEt475Mzn_WFfo1SzKbmGL7gD7ASNeNa2xJ96l1d0ekyh8eM1NxRyOKC2N63w6iC8VF5FgXUhGJyXiDVr6OnL-SMiDZVB6zrepcgMhHDnYFLrIBWoNlzAA7EobFrKd9TYQ4l48S7-qnpKuywni7ozAJINHgBDWkjSwWA15tAHGYNDhwzkj83OC32suZ5uLu3YuNPHSVP1lM3ONKLy7AI2fwwFIPP8zeFbMIUsNWzod7BGV18tKNX3qIfOkClX7epLzjFYy-f1CQLumamtl3FgXwnqjjPvPr_CSN3gAu879aKNsHkhYu3cETIOP8CqNhP_ohrV66hGdNSBkMrX_f8cbiH-mxAOLg9p3250-ojxJVE2QOoNEYS3E2UfRIukjKzdAZwQyOvRjgg7benHcnyQfCX-gKh1PcqSXEfZZqQeAzBfo7EgxPEN6iL_q_GA3tvPrc5vvOAaPwr8KUcwVqaWsbJ8iX0SO9VFj1RldnBvUCLZ4NRAD6WrUi4AtlEqj2MzAjvGjbcAsUkoG6f_ss-xOJzwfqAblpPHo4EgIGU2ZRUK5mKLD1XEnJU6U4T00B2Nn2BqzZhxiwAbEuH_A0O79WrI_UtVr6S48sTn308MIY2jR7QCJHymhEz-y7G8U6tnapxY9N-IjpwSHEnhvZsCMQWumEL0_gmC3vEfQZxYscdKjab6gfEM7MgMggI0D9ClaPjzt_UxA-ffFxUEVNNtULuzJnTdloyeUGSCBUQ-UmatI03PF7e9O4VY0W6Qv6g2VAHXZKla-46u7OMX0ZIWBSatmBVwCicMxDHAiUbZtav44weSfh4cVHsBDKsmwSN2VmNHfHZaa1UjFZsQcdbAnWNYSnbSpgnOwPnttFUPB38dxdFAnBkDa0Z2s3T6kDNuYbnEIyl-AwfT2ouSoScETXqhVtHoZDY_gYEIMhZ4QFbwHCsp5BbYiKMpqF6Uxyj1IRzED2i-gvNV9N6ln2eQwgljWGhgzX0OGbSjs2d9twDcjCSGgXKJUJYdBpdEwFacxJVnhlUUlevQ7xBpcov3GEjfJ911LdMHlkVQvGLiu_db1GwvkGaVrnu_K-M8cNZDVXnl1ufF12FRqbJNb2iR-Da6jVrRmqRl8BTZoAO-dGflUfI0pXh5bLVey25MFvqdFhlSEiWY_nFSi4l_vPEw-2P5KoT7opv9YJGIhgUPN4EN6Fcq4PoCZb-bWk5MAfpn3Xsl5HXt8ZV4uX8xzhuttMhxltstG-l3laHfvWyf3kc7NdI6k5-sY4efcdDd19rpZq69tQvvJTQz4qFTQo1SiDjjZ5zX5eppzhXmdLOWdZ1XxPHR5UsomlT-NoQiQzPnEPPHcNEWTYLXs-6Cgb0V6OrP99myNqpecJgGyWRkjILiyEvHvcyCRtjIy5QCh14tIyw3EHpmGnXjneTNuO6dCylDx7BWqXHnz9qHYwi5YamdJacBkyYtn6Smg==",
  "id": "rs_06d5d5d689f95720016ab45bd753d087d09ccf303df9de0601",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.25},\"note\":\"Both parts are now low over the table. I will loosen only the cap gripper so I can see whether the cap stays on the pen or separates.\"}",
  "call_id": "call_PNodgKSXUvAZXFRVAdjfAZcP",
  "id": "fc_06d5d5d689f95720016ab45bd916b887d09344bd1e07259d72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PNodgKSXUvAZXFRVAdjfAZcP",
  "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]: [-0.7849, 2.0716, 0.5449, 1.5673, -0.3515, -1.2827, 0.2423, 1.1912, 2.1181, 0.5495, 1.4227, 0.487, 1.2186, 0.0589]\nstate[eef_state]: left_x=0.3664 left_y=-0.275 left_z=0.1114 left_yaw=0.1223 left_pitch=0.1909 left_roll=-1.3498 left_gripper=0.2423 right_x=0.2372 right_y=0.3812 right_z=0.0599 right_yaw=0.1881 right_pitch=0.0997 right_roll=1.1451 right_gripper=0.0589\nstate[joint_eff]: [0.5402, -10.0991, 3.8496, 1.8095, 0.1294, -0.0269, 0.0757, -0.7316, -10.8239, 3.5624, 1.9658, -0.1685, -0.2076, 0.6667]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81097b0d903d9aab6daa36ae236c89cb587291ebb66cfa5f78ccea948a17a49c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e1503d789046bcd95bbd2aaa41de4b4109c0339928ce108572fa8dc053c7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b647116fb7d4a97147df7ffbf3ca0385879f44e38b16c4c3299ae393c85af4fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 11.09 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 112 changed as sent

message 116 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.635, 1.7863, 0.9085, 0.9508, -0.1787, -1.2747, 0.068, 0.9726, 1.7695, 0.6704, 1.1404, 0.2886, 1.2194, 0.055]\nstate[eef_state]: left_x=0.4416 left_y=-0.2819 left_z=0.2379 left_yaw=0.1023 left_pitch=0.2243 left_roll=-1.3602 left_gripper=0.068 right_x=0.3069 right_y=0.3674 right_z=0.1901 right_yaw=0.1446 right_pitch=0.2049 right_roll=1.3016 right_gripper=0.055\nstate[joint_eff]: [-0.1026, -8.6222, 6.4205, 1.5653, -0.0611, 0.0806, 1.033, -1.0188, -7.8017, 7.8564, 2.6056, -0.0366, -0.0757, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7788, 2.0499, 0.5529, 1.5345, -0.3298, -1.2819, 0.0717, 1.1767, 2.0575, 0.5575, 1.3155, 0.4248, 1.2224, 0.0594]\nstate[eef_state]: left_x=0.368 left_y=-0.2777 left_z=0.1156 left_yaw=0.106 left_pitch=0.19 left_roll=-1.3461 left_gripper=0.0717 right_x=0.236 right_y=0.3871 right_z=0.0631 right_yaw=0.2363 right_pitch=0.0677 right_roll=1.1223 right_gripper=0.0594\nstate[joint_eff]: [-0.3077, -9.6479, 5.9282, 2.2833, -0.1685, 0.0708, 0.7497, 0.3214, -10.8376, 5.094, 2.8107, 0.149, -0.0708, 0.5788]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7849, 2.0716, 0.5449, 1.5673, -0.3515, -1.2827, 0.2423, 1.1912, 2.1181, 0.5495, 1.4227, 0.487, 1.2186, 0.0589]\nstate[eef_state]: left_x=0.3664 left_y=-0.275 left_z=0.1114 left_yaw=0.1223 left_pitch=0.1909 left_roll=-1.3498 left_gripper=0.2423 right_x=0.2372 right_y=0.3812 right_z=0.0599 right_yaw=0.1881 right_pitch=0.0997 right_roll=1.1451 right_gripper=0.0589\nstate[joint_eff]: [0.5402, -10.0991, 3.8496, 1.8095, 0.1294, -0.0269, 0.0757, -0.7316, -10.8239, 3.5624, 1.9658, -0.1685, -0.2076, 0.6667]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81097b0d903d9aab6daa36ae236c89cb587291ebb66cfa5f78ccea948a17a49c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e1503d789046bcd95bbd2aaa41de4b4109c0339928ce108572fa8dc053c7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b647116fb7d4a97147df7ffbf3ca0385879f44e38b16c4c3299ae393c85af4fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFvd2c51lTBylIuAAwmmnkynBm1m1GqBLCJ3kdGG4vOFMscAYptOxuAfwANe3KeZ1a3-8DFWAxtgAo0fiAJiUYKynbc_H8PNiJJq-J8eGONmorK4LGp7Qshv_FQiNbBGngQfdD2tS2lGoW1OC4cQ1oSBQHiATuYQI5hbOxFECqj9l9IED7wkSlXDjGP8mVSuMPmZloJddqgEBlN5dwY9bJAXQc_z0jYeGKfDfnxvOzh3aYH1uk_H-c5J377bV0btGunuJmiHQh1FXYMi7MVdy6CBAK97Kkzo1jweHzkQ6GQ9AWTHqNXEb62X7M6Q8f0QPEu52Zi5kLDUIZ2-lwRtsl0vwXz47SSVvR0qvBLpLlAGaQtUFtlsMvmc2WRgN-jWyo4-HxV5SbTHj5IydMcZmEUUA__pJu9H2FZfSgC56Q1LVFnBgA9kHtyXI5aPQJgUqTuEYUeO_mOQf3irMw0NEwFzDECgazgX8y9HYRZaRb_oWtPtQk4aSM4nvi3lwEez4f1NPKfPwElnYs5X6PL0fEJbPN7N7c97YlLK-7GTetZ2g19NnfzoheyIMqdvLDiLkR5c-kLFN1ZfNmbHj6xkg64bYiRpOuJYVSCXcqU1Mh9zdMBciU8eV-3n8EpLfeGXPL7MrqY2qgoSrmDG48P8dIzDGUX-V234WKXPDNRN9W_cBWTARGZJ_HNGkcubV99NT9wkSVnDBf6ox-9Fwiz5m8JOR6ohPtcWdIFzaG7W57W72wkSMPe-cm2QfrFvzm50frFgj-Y60Sq7uJLRqmMi-BnB7hOXy_9USc1TVMZD7kcL_7xS98wSYqRjDDsIMwIGOozwGTT7kxo5QYaVUdL3oseZ-ykyiHA4875szakflPglh3YXWoAvHoLK55jyKD-0J7BhxYVvZKXl3DFpeZ0ffVld1Ij6OKwTIPZuYoNxxImq-PyoQa1SilcZmCUxL3poA7Ggxno-z4fm2n5nsUXAQRjkB7icM3OrVs7XHcwvJKFR2n59ufnxPWLfpfVyLlMUFNt40i6RegOzmRGw5rjlSVRsnS9tbtMmRYrFif2vmjuBaaEsBJsUMKStIIPCEtdUt7osT5h4ZFM4udMi0OloJvIRhxB1vSYzT0IdOK8Q6HyG4n3r0cjV-JINBTrVQed3OtiXyXSE7T3PGvUOYkn0V8EJfxShaAJPxoc2mbxMrhqAy_qqF-11c_CjrDSvcUeuqx2SUCyshWDh0ekzvk6KA2sEMLWNGlmIb7h6iBkIls2z3tSvGyGK0ykuqXrRWk2ipk4cZE9lG8femrGegU3UCoJ_MarptS6urNnqxDdMZRgjX_WTxzsRlmGNyaC93iKsocVU",
  "id": "rs_06d5d5d689f95720016ab45bdb52d887d0b470bbd612e51e6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.13,\"left_z\":0.2,\"left_roll\":-0.7,\"left_pitch\":0},\"note\":\"The left jaws are open. I will move that hand aside to uncover the pen and check whether the cap remained attached.\"}",
  "call_id": "call_MBQkFndn4yVdA64ntGBKDGq6",
  "id": "fc_06d5d5d689f95720016ab45bdc2f6487d0ba85b0efe6b6ffe9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MBQkFndn4yVdA64ntGBKDGq6",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.432, 1.1728, 0.6609, 0.1246, -0.1699, -0.9352, 0.2435, 1.1877, 2.1117, 0.5495, 1.4055, 0.4751, 1.2194, 0.0583]\nstate[eef_state]: left_x=0.3654 left_y=-0.1316 left_z=0.1956 left_yaw=0.168 left_pitch=0.0205 left_roll=-0.7766 left_gripper=0.2435 right_x=0.2371 right_y=0.3817 right_z=0.0587 right_yaw=0.197 right_pitch=0.092 right_roll=1.1377 right_gripper=0.0583\nstate[joint_eff]: [0.212, -5.0393, 9.8256, 1.7314, 0.1148, 0.2857, 0.1148, 0.212, -7.9932, 3.0291, 1.9902, 0.1001, -0.0659, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e099f39357169045ef340a5d599ad1dd5995657e1659b2f41fbb99f5843acc25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05b1ce9190d06b042bc6a8daee623316e162758c3413a2db2f8bd73896e3f92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d5734da46d875c910de0a5e957f899719795e9f314f578769d3535c47703db",
      "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 · 3.896 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6334, 1.7855, 0.9085, 0.9352, -0.1791, -1.2793, 0.068, 0.968, 1.7721, 0.6823, 1.1404, 0.279, 1.2198, 0.0574]\nstate[eef_state]: left_x=0.4422 left_y=-0.2812 left_z=0.2344 left_yaw=0.1025 left_pitch=0.2108 left_roll=-1.3539 left_gripper=0.068 right_x=0.3088 right_y=0.3692 right_z=0.1937 right_yaw=0.1482 right_pitch=0.2112 right_roll=1.3085 right_gripper=0.0574\nstate[joint_eff]: [-0.4718, -8.8137, 6.3932, 1.9951, -0.0659, 0.0171, 1.033, -0.6085, -7.9248, 7.9932, 2.7521, -0.0659, -0.0904, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7849, 2.0716, 0.5449, 1.5673, -0.3515, -1.2827, 0.2423, 1.1912, 2.1181, 0.5495, 1.4227, 0.487, 1.2186, 0.0589]\nstate[eef_state]: left_x=0.3664 left_y=-0.275 left_z=0.1114 left_yaw=0.1223 left_pitch=0.1909 left_roll=-1.3498 left_gripper=0.2423 right_x=0.2372 right_y=0.3812 right_z=0.0599 right_yaw=0.1881 right_pitch=0.0997 right_roll=1.1451 right_gripper=0.0589\nstate[joint_eff]: [0.5402, -10.0991, 3.8496, 1.8095, 0.1294, -0.0269, 0.0757, -0.7316, -10.8239, 3.5624, 1.9658, -0.1685, -0.2076, 0.6667]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.432, 1.1728, 0.6609, 0.1246, -0.1699, -0.9352, 0.2435, 1.1877, 2.1117, 0.5495, 1.4055, 0.4751, 1.2194, 0.0583]\nstate[eef_state]: left_x=0.3654 left_y=-0.1316 left_z=0.1956 left_yaw=0.168 left_pitch=0.0205 left_roll=-0.7766 left_gripper=0.2435 right_x=0.2371 right_y=0.3817 right_z=0.0587 right_yaw=0.197 right_pitch=0.092 right_roll=1.1377 right_gripper=0.0583\nstate[joint_eff]: [0.212, -5.0393, 9.8256, 1.7314, 0.1148, 0.2857, 0.1148, 0.212, -7.9932, 3.0291, 1.9902, 0.1001, -0.0659, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e099f39357169045ef340a5d599ad1dd5995657e1659b2f41fbb99f5843acc25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05b1ce9190d06b042bc6a8daee623316e162758c3413a2db2f8bd73896e3f92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d5734da46d875c910de0a5e957f899719795e9f314f578769d3535c47703db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFvpD2q_OFh-2iSpGyqkS8FIXZ2uRWAg9c0dqF-RJvPE9cjOS58OvEr5fYjYiXo_a3kEogd_fjI-shfm1AJubagL1RcIfjIRBqkKRxOkMwlNrfeTbACbPhguBr76kglhIon8tLRZYkEykX707FKDQw42QDJpFk9gn0rBXB9KxQHriPe4-MCdDNQNR4xgGkyivgc-SzGlnJsh6jTvDuj0XbxhOfbmQFuxhmleb90RM2CMZeWEJWdgVLYGNTit5n1YzZJq742DVJAF_7uxYjKRPxz2OUi3IimlP2RLFSuiWOmmlYMrG8JGq_LxU1aqLAnTmdDSl-1ZuADdcSWgBYkRZ6IGRF8h25XlAXUB4vLm5GNTBUrsDyojEjXGJGC4c4nBN1qJvfIjfHWkQHc_m-Q8lD77NMVSczk-hGfH-lw9SR3IsO2wiwPeeFZmhZ0dYE_jZTp05Vp5gtzgpnEMICAR1qa41qLKAnOg66m0ni6LEFYmyT2UkS2XY5X1eke0ftKYorFNilVyiJ4wTj1N1scmBtQDMCINeur3aQjtuyklaoAQzpNr7XSlDt0Zu4EaBdD8VT9ltWuDyc6HWyXdaWZp0DwtlnAs1OJBBA2-r6sIKBNlvSR7yvHytZ90RUq-A5Hufrt1izeqQYlGFeFmjqeQRtEZX3jF6EqV3EjZbbEOe6IXCW9B9G6kmryW5eYy4qmRPyBGprTZTdTCwFpinEztWOPgtMrHCPgOzcY2_lkPJv4MqpLdX5cbvqHYXhQSeiIzxQaIeh_4Nw7nYymwj12o6KSr6ckUh70ElMpJ1Yf4FmvgL3SLfNUNPcTko5zaREKhu0YlpZndizjJWlAzAozuF-sei_ZtWddNfUGSnz4zExfNqjZtFpgQs3wwvgjDaTqmSLzTFsUS66JwzN9zLNRmILiQkL9KKVwDpXMB6LkrrSKeOF_DZpJHn2esnFUyuSrFMH-UvzMru8JPp7uDsR6ZSO150uDUimeo5cpI1mAjOnLiJVQcEaK2bDcXrxJ6q6hDNnwg5qhLpHf9gaIPuVDpPHALEeK8GubUie6of74l-e7RVN9KaojbVTUIcdUvV35yk6b0Hi2ySv1dn8Tcogd9JXnp8zQjGOMeiP6Umnyrgpeap5s0FCnd03FyuzOkvkXUWRWddJ3_pOrMNA1e5cCVwWNoANlwbplaeRO_F3so4XEmX11QFDCD__C1lfU-Caz5CzqatKJsLLvAf5mNyAasfu6U7i6Pl9nd34MwON6ebpCx5wmQisIwUuCShbyNLj0RHFrr_BSE8S4Kz9_vwTBsCO3WSl0X8PgG-VscM9EUT_wFnjVH0xNPXVekYzgYPZIxtt0taz0TUq2V0vYffYq08e7e7p96uLRd8L7DuvJ7q-i0TM-rIBG_leAHMQlc6scoPZPf9jROf7fMGaHe6HXir53ntVk6XvrkFcQds5s_uXKkb9r5-8dnQ1ox9tmfXkhaRi-CWYbfVscm_c-1UTO4dFIscOZTxmSDCowTUDMh5IenccejSYD-n3ySEd6_JswAJUjLUV6-F8fHNatwRLeGsiZmgT24plhbM0GcEOnPmXjCAzPbB7eBHHbzA35ybqM6ktwXF1wO1BqjZfAJ-1dLrNhyf6Aaur2k5VRNXZ1LyKVeIPhSPICX3GFSk45o6ACLd-aOEJDk7E66nd10H0HPl2pGIKr_SuNmvK6NbYHGGjCoiXhe8BvmmuvKMTAhA3Rb1pY_ZHpRrgBFgwx86h9kM_oBzDTlMi-KLuTE0xTrOfoO1a-PA76yM4VIrnXuIrNw73F0246sWQFJO4pLKTuMKrJy89hLubpo_mP9ZBMHZvSSEgmNqvUMao-EtYtBQ3J9CPZbFVHh1BC-jB-PT9-SseUKU2QypEGEoM9cmQMQhfR9nceyv_gFG92v7OyU1Gv2HX3_TDCeUsj3agVJG1vHoSEjn6r6E4K3r21u_wXFfTg6lG3cqYKPvQNCtj6Ts67gsaMg0hPRSQ32UgvyTcOyD1m0ZCMkrOWYgVSAz5b4tE1amPrm_0Ib1NF2H4FFNDpzjdZvK1FchsK8-8DAKTg9x5ouS9DYxJsWWGZUKEHwbLg7GmtL2tNk4ecnlWUbc_BDPWWrGhIlXhkjyE6TsnOQpWZ6Xvtd-23UfkKL80p7GR6RMqetxgILlo-kHB1SzWVAbk3XR0Z1wYNOOPoozCK5QV4ITfb_cMYdKlg8Ki4rp3hTCRPiBuK_efz_4K0zzrj22ox3Bb4_L_PdGqqXAhHY3et89RbTOAyFlwkdynOgOq2CbEUz7kzv1Ge0SLwy6v5kpGe8RhzAF6ackpZdwnjJptAtUuFx8Me6h8PveyEVEhNXks0k2hzN_l0CuQlmnxZa2MKQoQAJ41ZehbBZYYHOskS-PFHV84hqUTK1WklZlJa0vLvb1EA2u0EugrMNv-4DR1mBJ5WhCWixw-1XImsV001NfLgntUMUmWasgEUXxofRddqO45K-7wKk6b9v1efNbFD_iw2mqHIRNe6w7uSCce94Su0wEsVWEYFA3JgfryLju9cLfZNmIsQSp_M1S_HwM3KLLAUcPb2lNv3WIjGRpg1jp2tXM6dXfyn6SzrFsoOBP2ZO71t-TrQ_cQEvDX5KvtsbpJUWNXTHhqHLRUDmRG2pKBgcV-asHZtaNVYz1W11V_wxLF9m5RCv3O4sLQ69eZeN7eakI1_Ld5roctNTAq3mPk4A3_WFM3vIDPEwTNSAclLYdQPEYKZYjWWVxf4yRFRDk0Ympz6YhGl9wBmdwhnQh2s9RedIx9jaqygUqVtjTK8e2x9GJPHiZbJUkGw8RA_VCfyasO-e9olFjf1Z-ZfbI1IfACqpRlpToT1XJunzlVoZf2buI3K3ApH7A3lQlyPW98uHH_aSqNf4PCfAkAzDe7FFLKw8To7g7Y7Nkk2WNJbc3vowrr7qNecOplniVwtzk4j55PN9AtK_WGhdShImUgLNkkP70Jtl7CmLtIRO80uQHhI2oTTzp_SHyHS4HwJUIZyZVjAzklpE0OLQRFii-uM414NrtDZIsWqUH_wAaCuME9zckx-A2H2tkc62wCTbkMe41jfYJHyA51YjIVsh9ny734B1rkJQcAAmsuCM-WQwCzT4deq29skqb0w6NJGuf6KJcaXzxmA72uXUaO3pU0prUhSzWaYZGfD-fSVrzYf4WoLDTME9EaNmC9EmFYuCDobu02mPjJSjil4yChbjRcvKZ78yENRd9-0wG6YDDt_hZwnhZCbW0t1_gzqTSPZ6ftfIgyn-8lMznRQLCJnNtcFwNLtKkReG6T-d9jTHBzw=",
  "id": "rs_06d5d5d689f95720016ab45be0034887d0be9491f9a9f49a68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.24,\"right_z\":0.15,\"right_yaw\":0.1,\"right_pitch\":-0.1,\"right_roll\":0},\"note\":\"The cap fell onto the table, and the pen’s writing tip is still exposed, so the capping attempt did not succeed. I will move the pen clear of the cap and level it for a safe set-down.\"}",
  "call_id": "call_acYWml3o8zCtb06q2eNU2LBj",
  "id": "fc_06d5d5d689f95720016ab45be5e21487d0977704f3415b5989",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_acYWml3o8zCtb06q2eNU2LBj",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.1755, 0.6643, 0.1001, -0.1684, -0.9409, 0.2436, 0.9478, 1.4666, 0.9119, -0.2672, 0.5835, 0.6476, 0.0587]\nstate[eef_state]: left_x=0.3639 left_y=-0.1314 left_z=0.1907 left_yaw=0.1683 left_pitch=-0.0015 left_roll=-0.7685 left_gripper=0.2436 right_x=0.2982 right_y=0.2544 right_z=0.1374 right_yaw=0.1107 right_pitch=-0.1017 right_roll=0.0895 right_gripper=0.0587\nstate[joint_eff]: [-0.1573, -4.3282, 7.1043, 2.044, -0.1343, 0.0122, -0.0073, -0.7863, -8.0615, 8.7453, 1.3504, 0.4029, -0.0904, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704026387d9fc2daef09209c5b239fe4dac9253c8d50a078a43edd16bfed5cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08acf596233ce4fdd9307dc0c7c32cc2e7009dff1c4b0807eb20b8276da7884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6b5f131679928daf57e942f97ac41457105c2241d2c75f62b870056d7f2987",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.392 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7788, 2.0499, 0.5529, 1.5345, -0.3298, -1.2819, 0.0717, 1.1767, 2.0575, 0.5575, 1.3155, 0.4248, 1.2224, 0.0594]\nstate[eef_state]: left_x=0.368 left_y=-0.2777 left_z=0.1156 left_yaw=0.106 left_pitch=0.19 left_roll=-1.3461 left_gripper=0.0717 right_x=0.236 right_y=0.3871 right_z=0.0631 right_yaw=0.2363 right_pitch=0.0677 right_roll=1.1223 right_gripper=0.0594\nstate[joint_eff]: [-0.3077, -9.6479, 5.9282, 2.2833, -0.1685, 0.0708, 0.7497, 0.3214, -10.8376, 5.094, 2.8107, 0.149, -0.0708, 0.5788]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.432, 1.1728, 0.6609, 0.1246, -0.1699, -0.9352, 0.2435, 1.1877, 2.1117, 0.5495, 1.4055, 0.4751, 1.2194, 0.0583]\nstate[eef_state]: left_x=0.3654 left_y=-0.1316 left_z=0.1956 left_yaw=0.168 left_pitch=0.0205 left_roll=-0.7766 left_gripper=0.2435 right_x=0.2371 right_y=0.3817 right_z=0.0587 right_yaw=0.197 right_pitch=0.092 right_roll=1.1377 right_gripper=0.0583\nstate[joint_eff]: [0.212, -5.0393, 9.8256, 1.7314, 0.1148, 0.2857, 0.1148, 0.212, -7.9932, 3.0291, 1.9902, 0.1001, -0.0659, 0.6667]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.1755, 0.6643, 0.1001, -0.1684, -0.9409, 0.2436, 0.9478, 1.4666, 0.9119, -0.2672, 0.5835, 0.6476, 0.0587]\nstate[eef_state]: left_x=0.3639 left_y=-0.1314 left_z=0.1907 left_yaw=0.1683 left_pitch=-0.0015 left_roll=-0.7685 left_gripper=0.2436 right_x=0.2982 right_y=0.2544 right_z=0.1374 right_yaw=0.1107 right_pitch=-0.1017 right_roll=0.0895 right_gripper=0.0587\nstate[joint_eff]: [-0.1573, -4.3282, 7.1043, 2.044, -0.1343, 0.0122, -0.0073, -0.7863, -8.0615, 8.7453, 1.3504, 0.4029, -0.0904, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704026387d9fc2daef09209c5b239fe4dac9253c8d50a078a43edd16bfed5cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08acf596233ce4fdd9307dc0c7c32cc2e7009dff1c4b0807eb20b8276da7884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6b5f131679928daf57e942f97ac41457105c2241d2c75f62b870056d7f2987",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFvu_0jMYI0-RK6JG8VvLusN-XGrPiDwGoGnMUDxC78T-LID4Ns77lkpvMsG99w13ag_WQE1X0EQmuIbLy0cAt6FWAofygqmP8kbAWr1ertbjnDtgwkTNp5npbTsG6K5xuXlbx5_eCvPFOYE17HtelcxptlQkesv57FChQeK96A5wA7V40RPGUrGNsZyxTUTTBJB0ffAVCD3lF43Jn-MtqGlpGQ-z21sfdQPdIyqLJSTmg3U6yc56XC_WIsYGQJ9bJKtzdCqfBeIlIkGqWkBgRSX_EFEAfs8zN5ypNPnEHpg5y7yEC9X5hha8srs_HkMS01KGsaifd3ZD32Nt8Pq5Fx4YrMJ7mKqUeJ4ztWgDV-RyxwBHVgGhxDu9QKSYchzUCyEceO8rDaJzNmLTlP9i7P5QIaLTqNG17EMRb0vtDsdO6T_wXRlU8MugYxk20Bnv65CXcEisSS0PS6hTqARdsDmD7rtNBFeDvL6XOAaSqO31qZYj7f6HpB4H6PROWtTrkoqoLu9VOI1vsZQbRzYbnBvCM1zb7xuwvh79gUEgasrwPAoO-KXxMmS1WbmVuBa8MmDPi2fzQifeg4-kb5P-OpVxnhdWtFcnFLYcEOjY5y6cFLRaqwZFoDApZmV6TX7IL2luO0c7NojqJAm4EPqBpp6nBQZYpdUzfFAe_chQM9gLXfMeaqmd4A0useGLaHcOgrpGyvARHp7a9-zosDE-jV4FbXrEimDwT_1rM8GgjXzoheHWigXe0VSEafaHe6SpWJTSp93HyV01geLjcKUJgfjh9C8pg95ySja_jTbmNI7jEIB-Vc8tbuJUrnQs_XG7BOCLzI-tyNfyewhHXlPOH7-WXsPHG_yFPSUcMyIs4Wv7grbZk1ZDO1gSHI6Gke74MhcTDcx2RyOguuA2YT7d84ZFC-WU-CwxJsvTiL7kW2cdqH6MSzsE962WROKGZ1CNgxwB0ZBQGKJhVmN-pjz-YPZGgf4U9Y3ySqNepHpxTQlhKav4JnMEyT_CidI65e9PfVOlcmxf56UxmjnOJvHnm1gbsmaGiFofz-wrWF6BdM_QUq1z_xMmJrh7VUTFymGtD6f_CA7LluG78fbh__jDzJ75TXnJ5fJmtaYpzdcjiwLgCgemWn5_YWcnuepW3KK_s1StXltGVU2E4I_cuNwITqNswOwrOLc-PGdcgpln6S7zRWtaB5ccY1IdQBqvzyMVKdzYe-DcAU5ZhSLVN3D8yvo9yZqkSuWH8c8w_LSHHrVegryJAt2BhWO3lA0PTqi5IriHoZfDCUg0ZaN3Ru30iD92NQPV0muJ69STK6musKxS6EWLD2XjEtiGXPCd1aUHRd9ZVhj_NVV5FZ6kIW1CUD2P7otrqSaM5orqrin5gobvvE12vKSpX1xijEGn590LZrPJvbJRJ0ETyjgmdO0AXBe6gCQ3qtvRpDLqTz336x5A0ZQiv4nduvxUTOieS6ed_Z3LXWOI4pJ6x6s2T-ZTl8DqZ3oV125qbsttykGLidnmRgBblowEJR2vflsOtkwEIbLOoQiyXK5_OkgC1cro06cY1ADK8rxmCLU2H84_HX3jYi1qjc_NRjgW74oeX6vgieEIPP3EkVuGR9mibiX4EsirBAV7HyIdwi3b8q_TkfomhwVaxkI0mXTLUwyC001Efi1",
  "id": "rs_06d5d5d689f95720016ab45bec616887d0ba2c8851ce26cd63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.24,\"right_z\":0.005,\"right_pitch\":-0.16,\"right_roll\":0},\"note\":\"The pen is level and clear of the loose cap. I will lower it onto the table beside the cap without pressing the exposed tip into the surface.\"}",
  "call_id": "call_mPgS9vzG0XPJCPArUm61QWf1",
  "id": "fc_06d5d5d689f95720016ab45bedd2ac87d09db7fc64f6a877ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mPgS9vzG0XPJCPArUm61QWf1",
  "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]: [-0.4324, 1.1755, 0.6643, 0.0929, -0.1677, -0.9413, 0.2436, 0.9222, 1.7607, 0.6746, 0.1413, 0.564, 0.606, 0.0584]\nstate[eef_state]: left_x=0.3632 left_y=-0.1312 left_z=0.1891 left_yaw=0.1678 left_pitch=-0.0078 left_roll=-0.765 left_gripper=0.2436 right_x=0.2933 right_y=0.2365 right_z=0.0048 right_yaw=0.1078 right_pitch=-0.1951 right_roll=-0.0234 right_gripper=0.0584\nstate[joint_eff]: [-0.3077, -4.1368, 6.9675, 1.8926, -0.0611, -0.0317, -0.0122, -0.9094, -7.0906, 4.6701, 1.3993, 0.2662, -0.0904, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f2ea64fbe5c116de4ff14940e848d96e56d69a37c603732705260cae1c64d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1171140484cecdd3f0089769c1c796be2415093f7e739dd885b4f9bf88951eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14645a47d32b13647bc17e8c6c8d70134e32683e444a24a3b7e3ee067911f3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.008 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7849, 2.0716, 0.5449, 1.5673, -0.3515, -1.2827, 0.2423, 1.1912, 2.1181, 0.5495, 1.4227, 0.487, 1.2186, 0.0589]\nstate[eef_state]: left_x=0.3664 left_y=-0.275 left_z=0.1114 left_yaw=0.1223 left_pitch=0.1909 left_roll=-1.3498 left_gripper=0.2423 right_x=0.2372 right_y=0.3812 right_z=0.0599 right_yaw=0.1881 right_pitch=0.0997 right_roll=1.1451 right_gripper=0.0589\nstate[joint_eff]: [0.5402, -10.0991, 3.8496, 1.8095, 0.1294, -0.0269, 0.0757, -0.7316, -10.8239, 3.5624, 1.9658, -0.1685, -0.2076, 0.6667]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.1755, 0.6643, 0.1001, -0.1684, -0.9409, 0.2436, 0.9478, 1.4666, 0.9119, -0.2672, 0.5835, 0.6476, 0.0587]\nstate[eef_state]: left_x=0.3639 left_y=-0.1314 left_z=0.1907 left_yaw=0.1683 left_pitch=-0.0015 left_roll=-0.7685 left_gripper=0.2436 right_x=0.2982 right_y=0.2544 right_z=0.1374 right_yaw=0.1107 right_pitch=-0.1017 right_roll=0.0895 right_gripper=0.0587\nstate[joint_eff]: [-0.1573, -4.3282, 7.1043, 2.044, -0.1343, 0.0122, -0.0073, -0.7863, -8.0615, 8.7453, 1.3504, 0.4029, -0.0904, 0.3004]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.1755, 0.6643, 0.0929, -0.1677, -0.9413, 0.2436, 0.9222, 1.7607, 0.6746, 0.1413, 0.564, 0.606, 0.0584]\nstate[eef_state]: left_x=0.3632 left_y=-0.1312 left_z=0.1891 left_yaw=0.1678 left_pitch=-0.0078 left_roll=-0.765 left_gripper=0.2436 right_x=0.2933 right_y=0.2365 right_z=0.0048 right_yaw=0.1078 right_pitch=-0.1951 right_roll=-0.0234 right_gripper=0.0584\nstate[joint_eff]: [-0.3077, -4.1368, 6.9675, 1.8926, -0.0611, -0.0317, -0.0122, -0.9094, -7.0906, 4.6701, 1.3993, 0.2662, -0.0904, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f2ea64fbe5c116de4ff14940e848d96e56d69a37c603732705260cae1c64d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1171140484cecdd3f0089769c1c796be2415093f7e739dd885b4f9bf88951eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14645a47d32b13647bc17e8c6c8d70134e32683e444a24a3b7e3ee067911f3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFvyLa6pfMKVjG3ZwxVeFUDFaGSAfuuZ0LFVyzDelIUR6Q46GZsYJmxfhHFofpfY9NkzG5vWSqvm39TmeSl1raDMHEFaPizsXls-LlA70ZLIky4SgwmQg3OFsH6etCA4rFapQzyftfvZgU8fNwXmL63GvRx6wPcCkmpbGljqEfwW4Cahibk3iBWsHt3cT2JfQGWclQDMyiwgOFJMTO2e46eoYAnLaG-PWvyLtLDS5s6jF4NEl0zZboPfOhGFD4_5FW0QjJlBVJFl6EMjk4FQoKMJ2NITvIYxkBmNQAfySX6n1wqz0UUoDsVoBmspPlJsWmYQRUxEh5pnRRVG2rLa_l00yQMcc0YP8omNrxpJsBhkObu7W2v9LgCykHGFmC0KQIlVPSnMZ8tiFZKkuvAAj2Lqqd8zxOaohOV7DlS-EQwRN1d97IdcOCIJpRVL5r1sIlsqTLN3g3Sqo9_sTbNa3ljSJnbZgdzdiJ9Hns2wTm4NVXRLb6TWWtq8JSB09DfZeiKVQ8BdoIb5wf11U2yeL4Ou9XpnBs3HcYPU-dSC8NA9XQASwiF34YogpHd2psT_zVJ8pdBeLQHvwFbF8_sTL6ddo6CKzaGiNOf20ehgHxjwbiw1Ni1muXtUJ4CMC4pft4HmepxkXRUz4lHRCnPHDatD8QXJslvhm-SMTljw1tah2tPzG1KkL62KDmmAhOBqSIBRjX_OS1XCtRcmP6JjhcDw_3lepnFd7mFiEBzIE9yLsTQcpFm5n9Qd1DyIUULTxLUM_U1_gwQlb3CI6hOYEFlF1VLCdM06vJehA5v6oOBqTRvICil1ur3EWXML2fl2K3klbuCLSJcER-klZ9gmwhTQo9taJz5jHMbSrtuhsq1qytFdX3ctu4Ns7RLNE7sL836SdbHUjtd6ekWDTpswBBoPWL5AEzMN4cf2GmIWtQJ-Y1jZwvNJc_6B5wyqh0rP68DuGsKLrHFPEKZwDxPD7Kqh7TGWN-p5tdpUVB5eiSVc3CPWUfgNtQT6MJqQ8oZuHRJ1vvIMtvsZkxzWgRxqdm4BBL8KgtPZ1uFVWQ9ztvlWn23TcyqL_ev9bRFXpQd2LjR7rYqx-E8VAeORPmntihA4dEXXLJmOdWDzaR9CNvWNeZTTfzsO_4fGyl_gYvxY273GXjWv5W5dgusU5VmfJe6fL2qIS5Dur5LZ5aRNHVjICC_Dp_VEpdD44LAu-ig8MoWW",
  "id": "rs_06d5d5d689f95720016ab45bf103d487d0804f121a69edff5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The pen is resting at table height next to the cap. I will release it before moving either arm away.\"}",
  "call_id": "call_3HPFOxHKEkuIp8rbJPv1v7Pz",
  "id": "fc_06d5d5d689f95720016ab45bf1312087d0bd5df36423ec6f52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3HPFOxHKEkuIp8rbJPv1v7Pz",
  "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]: [-0.4324, 1.1755, 0.6643, 0.0925, -0.168, -0.9413, 0.2436, 0.9222, 1.7741, 0.6678, 0.1551, 0.5636, 0.5976, 0.4951]\nstate[eef_state]: left_x=0.3632 left_y=-0.1311 left_z=0.189 left_yaw=0.1681 left_pitch=-0.0081 left_roll=-0.7647 left_gripper=0.2436 right_x=0.2923 right_y=0.2353 right_z=-0.0001 right_yaw=0.1117 right_pitch=-0.1999 right_roll=-0.0342 right_gripper=0.4951\nstate[joint_eff]: [0.0479, -4.1504, 6.9675, 1.8144, -0.0855, -0.0366, -0.0122, -0.335, -8.4171, 5.2855, 1.2088, 0.2076, 0.0464, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7922f17afa15708b5d5e8297e6295d472337458632c0a50511dcf4fcd51a47f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a39092072b338c8b5dbb07c5df4de28581abebc11c9d7533d98f877605073a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d4f41700feaa99e12e6143b821444317a2a2fe8c2fd32e5467eed45934db77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.444 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.432, 1.1728, 0.6609, 0.1246, -0.1699, -0.9352, 0.2435, 1.1877, 2.1117, 0.5495, 1.4055, 0.4751, 1.2194, 0.0583]\nstate[eef_state]: left_x=0.3654 left_y=-0.1316 left_z=0.1956 left_yaw=0.168 left_pitch=0.0205 left_roll=-0.7766 left_gripper=0.2435 right_x=0.2371 right_y=0.3817 right_z=0.0587 right_yaw=0.197 right_pitch=0.092 right_roll=1.1377 right_gripper=0.0583\nstate[joint_eff]: [0.212, -5.0393, 9.8256, 1.7314, 0.1148, 0.2857, 0.1148, 0.212, -7.9932, 3.0291, 1.9902, 0.1001, -0.0659, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.1755, 0.6643, 0.0929, -0.1677, -0.9413, 0.2436, 0.9222, 1.7607, 0.6746, 0.1413, 0.564, 0.606, 0.0584]\nstate[eef_state]: left_x=0.3632 left_y=-0.1312 left_z=0.1891 left_yaw=0.1678 left_pitch=-0.0078 left_roll=-0.765 left_gripper=0.2436 right_x=0.2933 right_y=0.2365 right_z=0.0048 right_yaw=0.1078 right_pitch=-0.1951 right_roll=-0.0234 right_gripper=0.0584\nstate[joint_eff]: [-0.3077, -4.1368, 6.9675, 1.8926, -0.0611, -0.0317, -0.0122, -0.9094, -7.0906, 4.6701, 1.3993, 0.2662, -0.0904, 0.6471]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4324, 1.1755, 0.6643, 0.0925, -0.168, -0.9413, 0.2436, 0.9222, 1.7741, 0.6678, 0.1551, 0.5636, 0.5976, 0.4951]\nstate[eef_state]: left_x=0.3632 left_y=-0.1311 left_z=0.189 left_yaw=0.1681 left_pitch=-0.0081 left_roll=-0.7647 left_gripper=0.2436 right_x=0.2923 right_y=0.2353 right_z=-0.0001 right_yaw=0.1117 right_pitch=-0.1999 right_roll=-0.0342 right_gripper=0.4951\nstate[joint_eff]: [0.0479, -4.1504, 6.9675, 1.8144, -0.0855, -0.0366, -0.0122, -0.335, -8.4171, 5.2855, 1.2088, 0.2076, 0.0464, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7922f17afa15708b5d5e8297e6295d472337458632c0a50511dcf4fcd51a47f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a39092072b338c8b5dbb07c5df4de28581abebc11c9d7533d98f877605073a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d4f41700feaa99e12e6143b821444317a2a2fe8c2fd32e5467eed45934db77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.002,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The pen and cap are both released on the table, still separate. I will park the arms clear of them so they are accessible for another attempt.\"}",
  "call_id": "call_YWtF8jvTzvtblBzCHEscJ1nL",
  "id": "fc_06d5d5d689f95720016ab45bf3f1d487d09c451a29b9863b51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YWtF8jvTzvtblBzCHEscJ1nL",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0284, 0.8169, 0.651, -0.4088, -0.0387, -0.1009, 0.998, 0.012, 0.8108, 0.5949, -0.3828, 0.0448, 0.0311, 0.9982]\nstate[eef_state]: left_x=0.2982 left_y=0.002 left_z=0.1893 left_yaw=0.047 left_pitch=-0.003 left_roll=-0.0549 left_gripper=0.998 right_x=0.2941 right_y=-0.0008 right_z=0.1707 right_yaw=-0.0497 right_pitch=-0.0388 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [0.2667, -2.1675, 6.7761, 1.8974, 0.149, 0.188, 0.0269, -0.3897, -2.2359, 9.5521, 1.8486, -0.0659, -0.1001, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d265405f3d2161af8f20f99c64da76ddd41b3b311c525b90a0b067e05879098",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d485102498400a1713a3e2112373072881b9b7aed5f7fcb469efd7743da2c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:530a62b188f03f32f1cc5f5432ac74214220096ac837f2cb498a9bbf45e5bfae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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