adhoc

completed
2026-09-23T23:41:22.862759+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
218.3 s
total steps
355
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of the longer diagonal pen near the middle of the table. I will bring the left gripper above the cap while keeping the right arm parked clear.
move_to
left_x0.4100left_y-0.2300left_z0.1300left_gripper1.0000right_x0.2960right_y0.0020right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3809, -0.0219, -0.025, 0.9994, -0.0185, 0.7906, 0.6086, -0.3759, -0.0208, -0.0147, 0.9994] state[eef_state]: left_x=0.2942 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.0018 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5128, -1.4427, 10.5231, 1.7607, -0.0317, 0.0611, -0.0757, -0.7863, -1.1556, 9.9487, 1.7753, -0.0269, -0.0073, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.23,"left_z":0.13,"left_gripper":1,"right_x":0.296,"right_y":0.002,"right_z":0.20},"note":"The short cap is left of the longer diagonal pen near the middle of the table. I will bring the left gripper above the cap while keeping the right arm parked clear."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe cap is now hidden beneath the left gripper and does not appear ahead in the wrist view. I will lower carefully, slightly nearer the base, to expose its alignment at grasping height.
move_to
left_x0.3850left_y-0.2300left_z0.0250
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7265, 1.7279, 1.0386, -0.0864, -0.5808, -0.4675, 0.9994, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0151, 0.9994] state[eef_state]: left_x=0.3987 left_y=-0.2198 left_z=0.1109 left_yaw=-0.0093 left_pitch=-0.0544 left_roll=0.0298 left_gripper=0.9994 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0005 right_pitch=-0.0488 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [-0.2667, -8.9231, 9.347, 1.619, -0.4322, 0.0757, -0.0757, -0.1846, -1.5932, 10.1128, 1.8486, -0.0024, -0.022, -0.022] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.23,"left_z":0.025},"note":"The cap is now hidden beneath the left gripper and does not appear ahead in the wrist view. I will lower carefully, slightly nearer the base, to expose its alignment at grasping height."})
tool
executing move_to over 6 steps (0.6s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe cap is visible near the lower-left edge of the wrist image, just left of the jaw centerline. I will shift left and turn the jaws across its narrow body before closing.
move_to
left_x0.3850left_y-0.2000left_z0.0180left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.77, 1.9091, 0.8902, 0.1593, -0.5987, -0.4992, 0.9993, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0147, 0.9994] state[eef_state]: left_x=0.3792 left_y=-0.224 left_z=0.0204 left_yaw=-0.018 left_pitch=-0.1069 left_roll=0.0707 left_gripper=0.9993 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9994 state[joint_eff]: [-0.5128, -9.0325, 5.0256, 1.58, -0.486, -0.1148, -0.0171, -0.0615, -1.2376, 7.0359, 1.7363, -0.0269, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.2,"left_z":0.018,"left_yaw":-0.55},"note":"The cap is visible near the lower-left edge of the wrist image, just left of the jaw centerline. I will shift left and turn the jaws across its narrow body before closing."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe turn moved the cap to the lower-right of the jaw column, and the measured pose overshot sideways. I will make a small correction back toward the cap at table level.
move_to
left_x0.3780left_y-0.2180left_z0.0050left_yaw-0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5034, 1.8324, 0.6868, 0.3965, -0.1913, -0.1055, 0.9991, -0.0193, 0.8051, 0.6392, -0.4454, -0.0208, -0.0147, 0.9994] state[eef_state]: left_x=0.388 left_y=-0.1712 left_z=0.0029 left_yaw=-0.295 left_pitch=-0.1624 left_roll=0.0596 left_gripper=0.9991 right_x=0.2908 right_y=0.0017 right_z=0.1796 right_yaw=-0.0007 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9994 state[joint_eff]: [-1.5521, -9.347, 4.9573, 1.746, 0.2711, 0.2955, -0.0415, -0.3624, -1.3744, 7.4598, 1.7949, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.378,"left_y":-0.218,"left_z":0.005,"left_yaw":-0.35},"note":"The turn moved the cap to the lower-right of the jaw column, and the measured pose overshot sideways. I will make a small correction back toward the cap at table level."})
tool
executing move_to over 5 steps (0.5s)
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 cap is now just left of the closing line, with its middle near the fingertip depth. I will shift about two centimeters left to center it between the jaws.
move_to
left_x0.3820left_y-0.1960left_z0.0030left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6216, 1.8542, 0.7246, 0.3763, -0.2127, -0.1333, 0.999, -0.0193, 0.8051, 0.6392, -0.4503, -0.0204, -0.0147, 0.9994] state[eef_state]: left_x=0.3733 left_y=-0.2171 left_z=0.0037 left_yaw=-0.3799 left_pitch=-0.1622 left_roll=0.054 left_gripper=0.999 right_x=0.2901 right_y=0.0016 right_z=0.1786 right_yaw=-0.0011 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9994 state[joint_eff]: [-0.3897, -7.0222, 7.1043, 1.326, -0.3004, -0.0952, -0.0171, -0.1436, -1.2786, 6.9812, 1.7949, -0.0269, -0.0464, -0.0122] 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_x":0.382,"left_y":-0.196,"left_z":0.003,"left_yaw":-0.4},"note":"The cap is now just left of the closing line, with its middle near the fingertip depth. I will shift about two centimeters left to center it between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe cap is at fingertip height, and the lateral correction is still settling. I will finish the small centering adjustment and close on the cap.
move_to
left_x0.3860left_y-0.1900left_z0.0020left_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]: [-0.585, 1.853, 0.7147, 0.3855, -0.1837, -0.1226, 0.999, -0.0193, 0.8051, 0.6392, -0.4576, -0.0208, -0.0147, 0.9994] state[eef_state]: left_x=0.3772 left_y=-0.2068 left_z=0.0017 left_yaw=-0.3735 left_pitch=-0.1666 left_roll=0.0423 left_gripper=0.999 right_x=0.2891 right_y=0.0017 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.9994 state[joint_eff]: [1.265, -8.8684, 4.3556, 1.3748, -0.1441, 0.2076, -0.0073, -0.212, -1.1282, 6.9675, 1.7558, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.386,"left_y":-0.19,"left_z":0.002,"left_gripper":0},"note":"The cap is at fingertip height, and the lateral correction is still settling. I will finish the small centering adjustment and close on the cap."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe gripper closed almost completely, so that grasp was empty. I will reopen, lift off the table, and move two centimeters forward for one corrected attempt.
move_to
left_x0.4030left_y-0.1900left_z0.0550left_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]: [-0.5831, 1.8523, 0.7048, 0.4004, -0.1799, -0.1215, 0.0098, -0.0193, 0.8074, 0.6353, -0.4641, -0.0208, -0.0147, 0.9994] state[eef_state]: left_x=0.3764 left_y=-0.2061 left_z=0.0013 left_yaw=-0.3756 left_pitch=-0.1616 left_roll=0.0394 left_gripper=0.0098 right_x=0.2878 right_y=0.0017 right_z=0.1735 right_yaw=-0.0007 right_pitch=-0.0782 right_roll=0.0015 right_gripper=0.9994 state[joint_eff]: [0.1709, -7.9658, 5.7778, 1.5018, -0.0366, 0.0317, 0.8132, -0.1436, -1.4564, 7.2547, 1.746, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.403,"left_y":-0.19,"left_z":0.055,"left_gripper":1},"note":"The gripper closed almost completely, so that grasp was empty. I will reopen, lift off the table, and move two centimeters forward for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe cap has slipped below the wrist camera’s view rather than lining up visibly. I will back the left gripper away for a clearer approach and bring the right gripper above the pen, keeping the arms separated.
move_to
left_x0.3400left_y-0.1850left_z0.0800left_pitch0.1500right_x0.4050right_y0.2350right_z0.1200right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.498, 1.7615, 0.8032, 0.1631, -0.1371, -0.0853, 0.9951, -0.0193, 0.8074, 0.6353, -0.4644, -0.0204, -0.0147, 0.9994] state[eef_state]: left_x=0.3925 left_y=-0.1818 left_z=0.0304 left_yaw=-0.3451 left_pitch=-0.2153 left_roll=0.0451 left_gripper=0.9951 right_x=0.2877 right_y=0.0017 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0786 right_roll=0.0012 right_gripper=0.9994 state[joint_eff]: [0.1436, -10.0034, 8.5402, 1.6337, 0.0317, 0.1245, -0.149, -0.212, -1.2513, 7.0085, 1.663, -0.0269, -0.0073, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.185,"left_z":0.08,"left_pitch":0.15,"right_x":0.405,"right_y":0.235,"right_z":0.12,"right_yaw":0.6},"note":"The cap has slipped below the wrist camera’s view rather than lining up visibly. I will back the left gripper away for a clearer approach and bring the right gripper above the pen, keeping the arms separated."})
tool
executing move_to over 20 steps (2.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe pen is nearly centered in the right wrist view, with its gold tip pointing away from the jaws. I will lower onto its barrel and move the left arm back enough to uncover the cap in the overhead view.
move_to
left_x0.2900left_y-0.2200left_z0.1200right_x0.3900right_y0.2250right_z0.0120right_pitch0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6384, 1.5333, 0.4076, 0.6209, -0.284, -0.0959, 0.9961, 0.474, 1.6417, 0.9352, -0.001, -0.0872, -0.0639, 0.9994] state[eef_state]: left_x=0.3365 left_y=-0.1836 left_z=0.0648 left_yaw=-0.3598 left_pitch=0.0871 left_roll=0.0615 left_gripper=0.9961 right_x=0.3927 right_y=0.2228 right_z=0.1022 right_yaw=0.5759 right_pitch=-0.1465 right_roll=0.0085 right_gripper=0.9994 state[joint_eff]: [-0.4718, -6.5983, 5.1077, 2.0733, -0.2125, -0.0904, 0.0855, 0.5265, -7.6376, 8.7726, 1.9267, -0.0659, -0.0904, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.22,"left_z":0.12,"right_x":0.39,"right_y":0.225,"right_z":0.012,"right_pitch":0.12},"note":"The pen is nearly centered in the right wrist view, with its gold tip pointing away from the jaws. I will lower onto its barrel and move the left arm back enough to uncover the cap in the overhead view."})
tool
executing move_to over 9 steps (0.9s)
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 pen barrel runs through the right jaw centerline at table level, so I will close on it. The cap is just entering the bottom of the left wrist view; I will lower that gripper without advancing farther.
move_to
right_gripper0.0000left_x0.2900left_y-0.2200left_z0.0350
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8852, 1.3006, 0.477, 0.2516, -0.4709, -0.2176, 0.9962, 0.4793, 1.9755, 0.5995, 0.8547, -0.1032, -0.0586, 0.9993] state[eef_state]: left_x=0.2874 left_y=-0.2191 left_z=0.1045 left_yaw=-0.3887 left_pitch=0.0662 left_roll=0.0684 left_gripper=0.9962 right_x=0.3835 right_y=0.2239 right_z=0.0037 right_yaw=0.591 right_pitch=0.0395 right_roll=0.0022 right_gripper=0.9993 state[joint_eff]: [-0.294, -5.4632, 9.2923, 1.7118, -0.3346, -0.0073, -0.0024, -0.6085, -7.3778, 3.3162, 1.3602, -0.0952, 0.3834, -0.0171] 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_gripper":0,"left_x":0.29,"left_y":-0.22,"left_z":0.035},"note":"The pen barrel runs through the right jaw centerline at table level, so I will close on it. The cap is just entering the bottom of the left wrist view; I will lower that gripper without advancing farther."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe right gripper retained about five millimeters of thickness, consistent with the pen. I will test it with a short lift while centering the now-visible cap under the left jaws.
move_to
right_z0.0700left_x0.2950left_y-0.2020left_z0.0040
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8837, 1.6115, 0.3546, 0.6331, -0.4709, -0.226, 0.9962, 0.4793, 1.9915, 0.5945, 0.8883, -0.1062, -0.0593, 0.0559] state[eef_state]: left_x=0.2856 left_y=-0.2161 left_z=0.0285 left_yaw=-0.3838 left_pitch=0.0211 left_roll=0.0859 left_gripper=0.9962 right_x=0.3837 right_y=0.2246 right_z=0.0025 right_yaw=0.594 right_pitch=0.0522 right_roll=0.0016 right_gripper=0.0559 state[joint_eff]: [0.3897, -5.5726, 3.959, 1.9902, -0.0952, 0.0904, -0.0073, -0.2393, -9.5111, 4.2462, 1.4921, -0.0415, 0.0464, 1.4921] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07,"left_x":0.295,"left_y":-0.202,"left_z":0.004},"note":"The right gripper retained about five millimeters of thickness, consistent with the pen. I will test it with a short lift while centering the now-visible cap under the left jaws."})
tool
executing move_to over 5 steps (0.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe pen rose with the right gripper and remains securely held. The cap is centered between the left jaws, so I will close on it and raise the pen to assembly height.
move_to
left_gripper0.0000right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8165, 1.7405, 0.3161, 0.7925, -0.4301, -0.2005, 0.9962, 0.4793, 1.7504, 0.6254, 0.6273, -0.1078, -0.0605, 0.0661] state[eef_state]: left_x=0.2931 left_y=-0.1992 left_z=0.0025 left_yaw=-0.3632 left_pitch=0.0016 left_roll=0.09 left_gripper=0.9962 right_x=0.3827 right_y=0.2244 right_z=0.0595 right_yaw=0.596 right_pitch=0.0633 right_roll=0.0 right_gripper=0.0661 state[joint_eff]: [0.4991, -4.9162, 3.1932, 1.5116, -0.022, 0.1929, -0.0171, -0.253, -8.9641, 7.5419, 1.7411, -0.0122, -0.0415, 1.033] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.16},"note":"The pen rose with the right gripper and remains securely held. The cap is centered between the left jaws, so I will close on it and raise the pen to assembly height."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe second cap closure was also empty, so I will stop guessing from the wrist view. I will move the left arm aside to locate the cap again in the overhead image while the right arm holds the pen.
move_to
left_x0.3000left_y-0.0200left_z0.1600left_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]: [-0.8116, 1.7508, 0.3126, 0.8513, -0.4149, -0.1818, 0.0097, 0.4793, 1.5059, 0.7963, 0.181, -0.1101, -0.0605, 0.0661] state[eef_state]: left_x=0.2967 left_y=-0.204 left_z=0.0087 left_yaw=-0.3803 left_pitch=0.0376 left_roll=0.0787 left_gripper=0.0097 right_x=0.3799 right_y=0.2234 right_z=0.1376 right_yaw=0.5978 right_pitch=0.0327 right_roll=0.0048 right_gripper=0.0661 state[joint_eff]: [0.0615, -5.4359, 3.8906, 1.5897, -0.1197, -0.0024, 0.7888, -0.0752, -8.7043, 9.0872, 1.6874, -0.0073, -0.0171, 1.0379] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.02,"left_z":0.16,"left_gripper":1},"note":"The second cap closure was also empty, so I will stop guessing from the wrist view. I will move the left arm aside to locate the cap again in the overhead image while the right arm holds the pen."})
tool
executing move_to over 17 steps (1.7s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe uncovered cap is lying nearly sideways, slightly left of its original position. The overhead view puts it between the two previous grasp locations; I will approach that midpoint with the jaws across the cap.
move_to
left_x0.3450left_y-0.1850left_z0.0450left_yaw1.4000left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1322, 0.8669, 0.4744, -0.1947, 0.3279, 0.2768, 0.9971, 0.4793, 1.507, 0.7929, 0.1642, -0.1097, -0.0605, 0.0723] state[eef_state]: left_x=0.3006 left_y=-0.0138 left_z=0.1436 left_yaw=-0.3031 left_pitch=0.0175 left_roll=0.0652 left_gripper=0.9971 right_x=0.3774 right_y=0.222 right_z=0.1321 right_yaw=0.5974 right_pitch=0.0115 right_roll=0.0071 right_gripper=0.0723 state[joint_eff]: [0.1709, -1.6068, 9.9077, 1.8193, 0.3004, 0.3101, 0.0757, -0.0205, -6.6393, 7.0222, 1.9023, -0.0806, -0.0513, 1.0281] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.185,"left_z":0.045,"left_yaw":1.4,"left_pitch":0.1},"note":"The uncovered cap is lying nearly sideways, slightly left of its original position. The overhead view puts it between the two previous grasp locations; I will approach that midpoint with the jaws across the cap."})
tool
executing move_to over 16 steps (1.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe large yaw change produced a substantial position error, so the left arm is not above the cap yet. I will lift and reduce the turn to a more comfortable pose, while restoring the pen’s carrying height.
move_to
left_x0.3400left_y-0.1800left_z0.1000left_yaw0.6500right_x0.3800right_y0.2250right_z0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5362, 2.4947, 1.9392, -1.4586, -0.9638, -2.0525, 0.9975, 0.474, 1.5139, 0.7849, 0.1448, -0.1024, -0.0574, 0.0723] state[eef_state]: left_x=0.4171 left_y=-0.0749 left_z=0.0389 left_yaw=1.2893 left_pitch=0.0292 left_roll=0.0458 left_gripper=0.9975 right_x=0.3753 right_y=0.2168 right_z=0.1217 right_yaw=0.5843 right_pitch=-0.0231 right_roll=0.0097 right_gripper=0.0723 state[joint_eff]: [-0.6359, -12.1504, 6.0923, -1.0379, -0.5348, -0.1294, 0.0415, 0.253, -7.1863, 7.1179, 1.9902, -0.022, -0.0659, 1.0281] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.18,"left_z":0.1,"left_yaw":0.65,"right_x":0.38,"right_y":0.225,"right_z":0.16},"note":"The large yaw change produced a substantial position error, so the left arm is not above the cap yet. I will lift and reduce the turn to a more comfortable pose, while restoring the pen’s carrying height."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe left arm is still far below and beside its requested pose, indicating an awkward configuration rather than fine alignment. I will return it toward a raised, untwisted posture before approaching again.
move_to
left_x0.3000left_y-0.0400left_z0.2200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6876, 2.5187, 1.9743, -1.5337, -0.9352, -2.0937, 0.9976, 0.4854, 1.5101, 0.8864, -0.0143, -0.0872, -0.0597, 0.0723] state[eef_state]: left_x=0.3937 left_y=-0.1348 left_z=0.0379 left_yaw=1.1713 left_pitch=0.0235 left_roll=0.0791 left_gripper=0.9976 right_x=0.3765 right_y=0.2201 right_z=0.1347 right_yaw=0.5843 right_pitch=-0.0775 right_roll=0.0048 right_gripper=0.0723 state[joint_eff]: [-0.3761, -14.612, 6.4342, -0.6667, -0.6325, -0.0269, -0.0024, 0.5265, -9.1419, 9.2103, 1.7558, -0.0855, 0.0806, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.04,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The left arm is still far below and beside its requested pose, indicating an awkward configuration rather than fine alignment. I will return it toward a raised, untwisted posture before approaching again."})
tool
executing move_to over 12 steps (1.2s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe left arm has recovered and the cap is clearly visible on the table. I will approach it again using a moderate turn in the opposite direction to avoid the previous awkward wrist configuration.
move_to
left_x0.3400left_y-0.1850left_z0.0600left_yaw-0.6500left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3317, 0.889, 0.762, -0.5083, -0.4286, -0.5617, 0.9976, 0.4866, 1.5169, 0.8825, -0.0216, -0.0872, -0.0601, 0.0723] state[eef_state]: left_x=0.2994 left_y=-0.0217 left_z=0.2087 left_yaw=0.3148 left_pitch=-0.012 left_roll=-0.2128 left_gripper=0.9976 right_x=0.3746 right_y=0.2196 right_z=0.1288 right_yaw=0.5858 right_pitch=-0.0953 right_roll=0.0062 right_gripper=0.0723 state[joint_eff]: [0.1026, 0.1436, 8.8274, 1.5263, -0.0415, 0.2173, -0.0122, -0.2393, -7.1863, 6.9949, 1.7656, -0.0855, -0.0513, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.185,"left_z":0.06,"left_yaw":-0.65,"left_pitch":0.1},"note":"The left arm has recovered and the cap is clearly visible on the table. I will approach it again using a moderate turn in the opposite direction to avoid the previous awkward wrist configuration."})
tool
executing move_to over 15 steps (1.5s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe left gripper is still short and left of the cap; the cap is visible ahead-right in its wrist view. I will complete the approach with a smaller jaw opening and a little more rotation across the cap.
move_to
left_x0.3480left_y-0.1980left_z0.0250left_yaw-1.0000left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3325, 1.2186, 0.4583, -0.1173, -0.1226, -0.271, 0.9976, 0.4858, 1.5177, 0.8818, -0.0273, -0.0872, -0.0601, 0.0723] state[eef_state]: left_x=0.2962 left_y=-0.0756 left_z=0.0458 left_yaw=-0.0838 left_pitch=-0.299 left_roll=-0.0788 left_gripper=0.9976 right_x=0.3738 right_y=0.2188 right_z=0.1271 right_yaw=0.5851 right_pitch=-0.1025 right_roll=0.007 right_gripper=0.0723 state[joint_eff]: [-0.1299, -9.853, 6.9538, 1.6581, -0.1978, 0.1538, -0.0122, -0.1983, -6.8855, 6.694, 1.7363, -0.1001, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.348,"left_y":-0.198,"left_z":0.025,"left_yaw":-1.0,"left_gripper":0.6},"note":"The left gripper is still short and left of the cap; the cap is visible ahead-right in its wrist view. I will complete the approach with a smaller jaw opening and a little more rotation across the cap."})
tool
executing move_to over 11 steps (1.1s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe left fingertips now straddle the cap’s overhead location at table level. I will close there and refresh the right arm’s height before checking whether the cap lifts.
move_to
left_gripper0.0000right_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3313, 1.747, 0.8154, -0.0971, 0.3687, 0.3614, 0.6021, 0.4858, 1.5234, 0.8764, -0.0444, -0.0868, -0.0601, 0.0723] state[eef_state]: left_x=0.3414 left_y=-0.181 left_z=0.01 left_yaw=-0.8844 left_pitch=-0.3584 left_roll=-0.1091 left_gripper=0.6021 right_x=0.3704 right_y=0.2169 right_z=0.1192 right_yaw=0.5851 right_pitch=-0.1306 right_roll=0.0095 right_gripper=0.0723 state[joint_eff]: [-0.5675, -8.2803, 8.0889, 1.1746, 0.3883, 0.2173, 0.0171, -0.1983, -7.3094, 7.0906, 1.7949, -0.0855, -0.0464, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.17},"note":"The left fingertips now straddle the cap’s overhead location at table level. I will close there and refresh the right arm’s height before checking whether the cap lifts."})
tool
executing move_to over 7 steps (0.7s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe cap remained beside the left jaw rather than between the jaws; closing revealed it clearly on the left of the wrist image. I will reopen and shift diagonally toward it while reducing the tool’s backward tilt.
move_to
left_x0.3650left_y-0.1550left_z0.0400left_pitch0.3500left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 1.766, 0.8177, -0.1162, 0.3664, 0.3595, 0.0099, 0.4858, 1.4948, 0.9936, -0.2363, -0.0872, -0.0608, 0.0723] state[eef_state]: left_x=0.3363 left_y=-0.18 left_z=0.0015 left_yaw=-0.8919 left_pitch=-0.39 left_roll=-0.1288 left_gripper=0.0099 right_x=0.3677 right_y=0.2156 right_z=0.1448 right_yaw=0.5866 right_pitch=-0.1765 right_roll=0.0139 right_gripper=0.0723 state[joint_eff]: [0.1573, -9.3333, 5.053, 1.3114, 0.232, 0.0269, 0.906, -0.2393, -8.9915, 9.7846, 1.5018, -0.0562, -0.0317, 1.0281] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.155,"left_z":0.04,"left_pitch":0.35,"left_gripper":0.6},"note":"The cap remained beside the left jaw rather than between the jaws; closing revealed it clearly on the left of the wrist image. I will reopen and shift diagonally toward it while reducing the tool’s backward tilt."})
tool
executing move_to over 25 steps (2.5s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe cap is now on the jaw centerline, but only its end is visible below the fingertips. I will move a couple of centimeters back along the cap and lower onto its body.
move_to
left_x0.3440left_y-0.1320left_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0711, 2.03, 0.4736, 1.1252, 0.8261, 0.1539, 0.5986, 0.4858, 1.4899, 0.9981, -0.2558, -0.0872, -0.0605, 0.0723] state[eef_state]: left_x=0.3632 left_y=-0.1525 left_z=0.0254 left_yaw=-0.8605 left_pitch=0.2782 left_roll=-0.1593 left_gripper=0.5986 right_x=0.3656 right_y=0.2145 right_z=0.1452 right_yaw=0.5866 right_pitch=-0.1864 right_roll=0.0152 right_gripper=0.0723 state[joint_eff]: [0.6496, -6.9538, 2.7145, 1.9853, 0.4078, -0.0904, -0.0366, -0.3624, -6.3385, 6.4342, 1.7509, -0.0855, -0.0513, 1.0281] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.344,"left_y":-0.132,"left_z":0.005},"note":"The cap is now on the jaw centerline, but only its end is visible below the fingertips. I will move a couple of centimeters back along the cap and lower onto its body."})
tool
executing move_to over 2 steps (0.2s)
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 cap remains aligned under the center of the left gripper. I will close at this corrected position and use the finger spacing to check for a real grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0277, 2.0773, 0.437, 1.2411, 0.8623, 0.1589, 0.5987, 0.4858, 1.4902, 0.9943, -0.2562, -0.0872, -0.0605, 0.0723] state[eef_state]: left_x=0.3578 left_y=-0.1405 left_z=0.0226 left_yaw=-0.857 left_pitch=0.3113 left_roll=-0.1406 left_gripper=0.5987 right_x=0.3648 right_y=0.2141 right_z=0.1434 right_yaw=0.5867 right_pitch=-0.191 right_roll=0.0156 right_gripper=0.0723 state[joint_eff]: [0.4718, -6.1744, 2.0991, 1.6728, 0.2613, 0.0464, -0.0024, -0.1573, -6.7761, 7.2137, 1.5849, -0.0757, -0.0611, 1.0281] 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":{"left_gripper":0},"note":"The cap remains aligned under the center of the left gripper. I will close at this corrected position and use the finger spacing to check for a real grasp."})
tool
executing move_to over 6 steps (0.6s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteThat closure was empty, and the measured fingertips stayed over a centimeter above the table. I will reopen and lower the grasp point to table contact so the jaws can reach the cap rather than pass over it.
move_to
left_x0.3420left_y-0.1300left_z-0.0120left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0277, 2.1048, 0.4255, 1.2446, 0.8612, 0.1577, 0.0099, 0.4858, 1.4902, 0.9943, -0.2569, -0.0872, -0.0601, 0.0723] state[eef_state]: left_x=0.3519 left_y=-0.1402 left_z=0.0114 left_yaw=-0.8473 left_pitch=0.2867 left_roll=-0.1687 left_gripper=0.0099 right_x=0.3647 right_y=0.214 right_z=0.1432 right_yaw=0.5865 right_pitch=-0.1917 right_roll=0.016 right_gripper=0.0723 state[joint_eff]: [0.0479, -9.7573, 3.1111, 1.5556, 0.2076, 0.0073, 0.823, -0.3761, -6.5162, 6.7761, 1.6288, -0.1197, -0.0366, 1.0281] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.342,"left_y":-0.13,"left_z":-0.012,"left_gripper":0.45},"note":"That closure was empty, and the measured fingertips stayed over a centimeter above the table. I will reopen and lower the grasp point to table contact so the jaws can reach the cap rather than pass over it."})
tool
executing move_to over 5 steps (0.5s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe cap is now visibly between the open fingertips, with the descent stopped at table contact. I will close gently at this position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0029, 2.1983, 0.4179, 1.4033, 0.8993, 0.1818, 0.4449, 0.4858, 1.4902, 0.9943, -0.263, -0.0872, -0.0605, 0.0723] state[eef_state]: left_x=0.3506 left_y=-0.1337 left_z=0.0075 left_yaw=-0.8762 left_pitch=0.3378 left_roll=-0.1093 left_gripper=0.4449 right_x=0.3638 right_y=0.2135 right_z=0.1422 right_yaw=0.5868 right_pitch=-0.1978 right_roll=0.0163 right_gripper=0.0723 state[joint_eff]: [0.7726, -4.9299, 0.8, 0.8327, 0.1197, -0.0659, -0.0708, -0.3214, -6.694, 7.0085, 1.6142, -0.0855, -0.0415, 1.0281] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is now visibly between the open fingertips, with the descent stopped at table contact. I will close gently at this position."})
tool
executing move_to over 5 steps (0.5s)
step 243
assistant
agent noteThe cap is just ahead of the closed fingertips, and the tilted tool is keeping the pinch point too high. I will level the jaws and shift forward along the cap before making another low grasp.
move_to
left_x0.3680left_y-0.1530left_z0.0250left_pitch0.0500left_roll0.1000left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0032, 2.2066, 0.416, 1.4288, 0.8982, 0.1841, 0.0097, 0.4858, 1.4902, 0.9943, -0.2634, -0.0872, -0.0605, 0.0723] state[eef_state]: left_x=0.351 left_y=-0.1335 left_z=0.0087 left_yaw=-0.8803 left_pitch=0.3473 left_roll=-0.0942 left_gripper=0.0097 right_x=0.3637 right_y=0.2135 right_z=0.1421 right_yaw=0.5868 right_pitch=-0.1982 right_roll=0.0164 right_gripper=0.0723 state[joint_eff]: [-0.1026, -8.3897, 1.8256, 1.3504, 0.1978, -0.0513, 0.8474, -0.335, -6.735, 6.7761, 1.5311, -0.1001, -0.0317, 1.0281] 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":{"left_x":0.368,"left_y":-0.153,"left_z":0.025,"left_pitch":0.05,"left_roll":0.1,"left_gripper":0.45},"note":"The cap is just ahead of the closed fingertips, and the tilted tool is keeping the pinch point too high. I will level the jaws and shift forward along the cap before making another low grasp."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteThe leveled fingertips now surround the cap’s body instead of its end. I will lower to the table with a final small forward correction.
move_to
left_z-0.0100left_x0.3700left_y-0.1600
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1619, 1.8267, 0.4923, 0.725, 0.5816, 0.4217, 0.4478, 0.4858, 1.4902, 0.9939, -0.2638, -0.0872, -0.0601, 0.0723] state[eef_state]: left_x=0.3611 left_y=-0.1537 left_z=0.0188 left_yaw=-0.8798 left_pitch=0.0714 left_roll=0.0589 left_gripper=0.4478 right_x=0.3636 right_y=0.2134 right_z=0.1419 right_yaw=0.5866 right_pitch=-0.1989 right_roll=0.0167 right_gripper=0.0723 state[joint_eff]: [-0.3624, -8.4581, 6.3111, 1.7265, 0.2027, 0.1148, -0.0464, -0.3487, -6.7487, 7.0222, 1.619, -0.1099, -0.022, 1.0281] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01,"left_x":0.37,"left_y":-0.16},"note":"The leveled fingertips now surround the cap’s body instead of its end. I will lower to the table with a final small forward correction."})
tool
executing move_to over 2 steps (0.2s)
step 255
assistant
agent noteThe left grasp point has reached table level and the cap lies between the fingertips. I will close and check the resulting jaw spacing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1745, 1.9221, 0.519, 0.7757, 0.5552, 0.4267, 0.4483, 0.4858, 1.4902, 0.9939, -0.2653, -0.0872, -0.0605, 0.0723] state[eef_state]: left_x=0.3678 left_y=-0.1558 left_z=-0.0008 left_yaw=-0.8736 left_pitch=0.0476 left_roll=0.0632 left_gripper=0.4483 right_x=0.3634 right_y=0.2133 right_z=0.1416 right_yaw=0.5868 right_pitch=-0.2004 right_roll=0.0166 right_gripper=0.0723 state[joint_eff]: [-0.4308, -7.6923, 3.4667, 1.5653, 0.2466, -0.1245, 0.0415, -0.3897, -6.7077, 6.7761, 1.5116, -0.0611, -0.0171, 1.033] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left grasp point has reached table level and the cap lies between the fingertips. I will close and check the resulting jaw spacing."})
tool
executing move_to over 5 steps (0.5s)
step 260
assistant
agent noteThe left jaws retained about a centimeter of thickness, which is consistent with the cap. I will lift it to verify the grasp and bring the pen back to a level assembly pose.
move_to
left_z0.0650right_x0.3800right_y0.2250right_z0.1700right_pitch0.2200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1772, 1.94, 0.5217, 0.8005, 0.5537, 0.4221, 0.1014, 0.4858, 1.4933, 0.9939, -0.2646, -0.0872, -0.0605, 0.0723] state[eef_state]: left_x=0.3696 left_y=-0.1569 left_z=-0.0023 left_yaw=-0.8729 left_pitch=0.0546 left_roll=0.066 left_gripper=0.1014 right_x=0.3636 right_y=0.2134 right_z=0.1405 right_yaw=0.5869 right_pitch=-0.2027 right_roll=0.0169 right_gripper=0.0723 state[joint_eff]: [0.1299, -9.0325, 3.5624, 1.4676, 0.2076, 0.0659, 0.5641, -0.3487, -6.8991, 7.1179, 1.5458, -0.1001, -0.0611, 1.0281] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065,"right_x":0.38,"right_y":0.225,"right_z":0.17,"right_pitch":0.22},"note":"The left jaws retained about a centimeter of thickness, which is consistent with the cap. I will lift it to verify the grasp and bring the pen back to a level assembly pose."})
tool
executing move_to over 15 steps (1.5s)
step 275
assistant
agent noteThe cap lifted with the left gripper, so both pieces are now held. I will raise the cap and begin turning it toward the pen’s exposed tip, keeping the grippers apart.
move_to
left_x0.4350left_y-0.3000left_z0.1800left_yaw0.0000left_pitch0.0500left_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]: [-0.1776, 1.6665, 0.5552, 0.4526, 0.5518, 0.421, 0.1041, 0.4858, 1.4597, 0.709, 0.3183, -0.1101, -0.0448, 0.0723] state[eef_state]: left_x=0.3604 left_y=-0.1551 left_z=0.047 left_yaw=-0.8702 left_pitch=0.0225 left_roll=0.0398 left_gripper=0.1041 right_x=0.3731 right_y=0.223 right_z=0.1484 right_yaw=0.5968 right_pitch=0.1281 right_roll=0.0077 right_gripper=0.0723 state[joint_eff]: [-0.1709, -8.1299, 8.0342, 1.6435, 0.1636, -0.0269, 0.2662, -0.7316, -6.5846, 6.8034, 2.3077, -0.0855, 0.1099, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.3,"left_z":0.18,"left_yaw":0,"left_pitch":0.05,"left_roll":0},"note":"The cap lifted with the left gripper, so both pieces are now held. I will raise the cap and begin turning it toward the pen’s exposed tip, keeping the grippers apart."})
tool
executing move_to over 13 steps (1.3s)
step 288
assistant
agent noteThe cap is above and to the left of the pen tip. I will turn it to match the pen’s diagonal direction and position its opening just beyond the tip, without pushing the pieces together yet.
move_to
left_x0.4850left_y-0.3600left_z0.1600left_yaw0.9000left_pitch0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8154, 1.9083, 1.4254, -0.1738, -0.6048, -0.4423, 0.1056, 0.4858, 1.4616, 0.7017, 0.3016, -0.1097, -0.041, 0.0723] state[eef_state]: left_x=0.4343 left_y=-0.3094 left_z=0.1691 left_yaw=-0.094 left_pitch=0.0453 left_roll=-0.0156 left_gripper=0.1056 right_x=0.3701 right_y=0.2214 right_z=0.1406 right_yaw=0.5942 right_pitch=0.1023 right_roll=0.0138 right_gripper=0.0723 state[joint_eff]: [-0.4171, -11.1111, 8.212, 1.2869, -0.4176, 0.0757, 0.149, -0.0615, -6.2701, 7.0496, 1.9902, -0.0855, -0.1148, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.36,"left_z":0.16,"left_yaw":0.9,"left_pitch":0.12},"note":"The cap is above and to the left of the pen tip. I will turn it to match the pen’s diagonal direction and position its opening just beyond the tip, without pushing the pieces together yet."})
tool
executing move_to over 7 steps (0.7s)
step 295
assistant
agent noteThe arms contacted during the turn: the right arm was displaced and its joint effort rose sharply. I will immediately separate them by lifting the left arm away; I will not attempt insertion from this unsafe alignment.
move_to
left_x0.3900left_y-0.1800left_z0.2600left_yaw0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8234, 2.6846, 2.5443, -1.2984, -1.05, -1.4929, 0.1075, 0.4026, 1.5219, 0.6468, 0.0994, 0.0658, 0.0746, 0.0766] state[eef_state]: left_x=0.4743 left_y=-0.2811 left_z=0.0972 left_yaw=0.7001 left_pitch=0.0551 left_roll=-0.0547 left_gripper=0.1075 right_x=0.3584 right_y=0.1439 right_z=0.0537 right_yaw=0.298 right_pitch=-0.2159 right_roll=0.0074 right_gripper=0.0766 state[joint_eff]: [1.5111, -13.4632, 7.2, 1.2527, -0.8913, -0.1245, 0.1832, 5.3538, -10.7692, 10.7282, 3.0891, -1.3895, -0.9646, 1.0281] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":0.26,"left_yaw":0,"left_pitch":0},"note":"The arms contacted during the turn: the right arm was displaced and its joint effort rose sharply. I will immediately separate them by lifting the left arm away; I will not attempt insertion from this unsafe alignment."})
tool
executing move_to over 11 steps (1.1s)
step 306
assistant
agent noteThe left arm has not followed the retreat target and remains in an awkward folded configuration. I will use the raised, near-home posture that previously recovered it, turning away from the right arm.
move_to
left_x0.3000left_y-0.0400left_z0.2200left_yaw-0.4000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8795, 2.7502, 2.7537, -1.4506, -1.0401, -1.5757, 0.109, 0.4049, 1.5234, 0.6098, 0.078, 0.0708, 0.0784, 0.08] state[eef_state]: left_x=0.457 left_y=-0.3076 left_z=0.1154 left_yaw=0.6871 left_pitch=0.0416 left_roll=-0.1184 left_gripper=0.109 right_x=0.3435 right_y=0.1375 right_z=0.0358 right_yaw=0.2923 right_pitch=-0.2751 right_roll=-0.0002 right_gripper=0.08 state[joint_eff]: [-1.265, -14.6803, 7.0632, 0.486, -0.7106, 0.2418, 0.149, -0.5675, -6.1333, 8.9504, 1.663, -0.0659, -0.0757, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.04,"left_z":0.22,"left_yaw":-0.4,"left_pitch":0,"left_roll":0},"note":"The left arm has not followed the retreat target and remains in an awkward folded configuration. I will use the raised, near-home posture that previously recovered it, turning away from the right arm."})
tool
executing move_to over 24 steps (2.4s)
step 330
assistant
agent noteThe arms are separated again and both objects remain held. Reliable cap-to-tip alignment was not achieved, so I will set the pieces down separately rather than risk another collision.
move_to
left_x0.3200left_y-0.1000left_z0.0030right_x0.3400right_y0.1400right_z0.0030right_pitch0.0500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0448, 0.918, 0.7712, -0.4751, 0.2485, 0.1429, 0.1097, 0.4053, 1.5291, 0.6075, 0.0753, 0.0696, 0.0784, 0.08] state[eef_state]: left_x=0.3085 left_y=-0.0261 left_z=0.2048 left_yaw=-0.2526 left_pitch=-0.0286 left_roll=-0.0174 left_gripper=0.1097 right_x=0.3418 right_y=0.1372 right_z=0.0326 right_yaw=0.2933 right_pitch=-0.2858 right_roll=-0.0006 right_gripper=0.08 state[joint_eff]: [0.1709, -2.9197, 10.5094, 1.7509, 0.2369, 0.1148, 0.0611, -0.2256, -6.4479, 5.8325, 1.4969, 0.0122, -0.0562, 1.0232] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.1,"left_z":0.003,"right_x":0.34,"right_y":0.14,"right_z":0.003,"right_pitch":0.05},"note":"The arms are separated again and both objects remain held. Reliable cap-to-tip alignment was not achieved, so I will set the pieces down separately rather than risk another collision."})
tool
executing move_to over 14 steps (1.4s)
step 344
assistant
agent noteBoth grasp points are at table level with the pieces supported. I will open both grippers to leave the pen and cap safely on the table.
move_to
left_gripper1.0000right_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]: [-0.3462, 1.5799, 0.2237, 0.691, -0.0574, -0.0677, 0.1098, 0.4297, 1.8053, 0.2955, 0.9592, 0.1127, 0.0734, 0.0826] state[eef_state]: left_x=0.3125 left_y=-0.0981 left_z=-0.0025 left_yaw=-0.2729 left_pitch=-0.0923 left_roll=-0.0099 left_gripper=0.1098 right_x=0.3392 right_y=0.1375 right_z=-0.0005 right_yaw=0.2884 right_pitch=0.011 right_roll=0.0054 right_gripper=0.0826 state[joint_eff]: [-0.3761, -3.8496, 2.9333, 0.7497, -0.1538, -0.0562, -0.0024, 0.6222, -5.012, 3.0154, 1.2723, 0.0269, -0.0806, 0.8376] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":1},"note":"Both grasp points are at table level with the pieces supported. I will open both grippers to leave the pen and cap safely on the table."})
tool
executing move_to over 10 steps (1.0s)
step 354
assistant
agent noteI picked up both the pen and cap, but could not safely align them for insertion. Turning the cap near the pen caused arm contact and displaced the right arm. I separated the arms and released both pieces onto the table; the pen remains uncapped.
give_up
hindsightFor this trial, successful cap pickup used left grasp point approximately (0.370, -0.157, -0.002) with yaw -0.87 and near-level pitch/roll; settled opening was about 0.10. Pen pickup succeeded near right (0.384, 0.225, 0.003), yaw 0.59, with opening 0.06–0.08. Cap grasps a centimeter above the table were empty. Positive left yaw near 0.7–1.3 produced large position errors and an awkward folded configuration; near the right arm it caused physical contact despite substantial grasp-point separation. A raised near-home left target (0.30, -0.04, 0.22), yaw -0.4, recovered the arm. Assembly needs clearance for the full wrists and camera housings, not just the fingertip points.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3515, 1.5845, 0.215, 0.7212, -0.0719, -0.07, 0.9951, 0.4316, 1.8133, 0.2935, 0.9787, 0.1085, 0.0677, 0.9951] state[eef_state]: left_x=0.3134 left_y=-0.0976 left_z=-0.0006 left_yaw=-0.2649 left_pitch=-0.0749 left_roll=-0.0043 left_gripper=0.9951 right_x=0.3394 right_y=0.1392 right_z=0.0003 right_yaw=0.2968 right_pitch=0.0202 right_roll=0.0039 right_gripper=0.9951 state[joint_eff]: [0.253, -5.094, 4.9983, 1.3553, 0.1001, 0.0171, 0.0073, -0.3624, -6.7487, 3.3299, 1.619, 0.0611, 0.0806, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both the pen and cap, but could not safely align them for insertion. Turning the cap near the pen caused arm contact and displaced the right arm. I separated the arms and released both pieces onto the table; the pen remains uncapped.","hindsight":"For this trial, successful cap pickup used left grasp point approximately (0.370, -0.157, -0.002) with yaw -0.87 and near-level pitch/roll; settled opening was about 0.10. Pen pickup succeeded near right (0.384, 0.225, 0.003), yaw 0.59, with opening 0.06–0.08. Cap grasps a centimeter above the table were empty. Positive left yaw near 0.7–1.3 produced large position errors and an awkward folded configuration; near the right arm it caused physical contact despite substantial grasp-point separation. A raised near-home left target (0.30, -0.04, 0.22), yaw -0.4, recovered the arm. Assembly needs clearance for the full wrists and camera housings, not just the fingertip points."})
tool
give_up: I picked up both the pen and cap, but could not safely align them for insertion. Turning the cap near the pen caused arm contact and displaced the right arm. I separated the arms and released both pieces onto the table; the pen remains uncapped.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.291 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3809, -0.0219, -0.025, 0.9994, -0.0185, 0.7906, 0.6086, -0.3759, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.0018 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.4427, 10.5231, 1.7607, -0.0317, 0.0611, -0.0757, -0.7863, -1.1556, 9.9487, 1.7753, -0.0269, -0.0073, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8ffad6dae6253c6daf4f89428365416cbd0840c66739199c296a9e05c692b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6065f32b52cba9c521478bd27a49c97647a84944285e08cb86794a591882553c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec215575b16bf13bc10ae6333a0b5229b7887d09757cc6058dee8dc0e8e93144",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 5.589 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGO36fa7Cqm5JpqF0EInQPbMMyGHADY30pOCYvb8yLGuKORh47crkM7ue0xRGWuXthtnbGIybmIOxZXi-8eQNW3W_YwN0nFroCUR2c1iE8TV6KwuSpRK5eZGiszyNComjHyFfvihtuudbeL3JYCuqSAsvsFqVdqGighSfUBashzunJ9rh9H0rghY17ho9eezjXgS1vNh01NYP3KrogIEyRuusRTBccdE4XozLJ-_tVgJdA-EhORR_80mBPb2j-UmUKO9RQvy1T1CwLseJvSioA6iYvBWTyFdMZDbwa-EusV1LwxOSHRObBe5M57CuyDXx3HBma7xcJLjPQBMx9sFL6wQ6R-Nt1WXKJQM8x5d0djI-yiaEx9rLck_5CAURcbr_hLJebRqZ4ZB1D3UlyaH7KgjASIsKqa2O5uaw7O1tM4WzZn9M0hSz4xUhHGfpCkfy-K0zncqgueCzTIjeuWugrcjVHh6zgoj2X142_scF_9BKWft7wP_FxYX3vkf5hQHmVTRnNEKcS5oY9T2XJ5dLShGS83NyYaAcudHAJBPm7RdN79CiRRPgzsVyXSpGar0fBZzUUes91HsJZYffZKHi888eswJiAYRcSsmGMh3c2Md3iasKnp1E8trkJPVaQB-iBaBlZlwtY9CAAKbt-WjoMN-JRGJ-zZfj-q1XWY5YeY9zH27IsOail9RwMmRTj8WzAdfJBfb0IWb9BvS6m6T9agK0RCDReBHjkQP_kPr2YvJiEnzRjM0CiJDbPcQS-dUc6_zw6MvWJJj98KYrZSkugq_JGkgwGhGJqKp7gvvWckwNJaVDIHvHNuqeGjDTqqk3-k631XdK35rBbcCXAAN7aaFJRP9R-EFF2o87kGKaMZ4m44G9e-K6fdfthHVSP_cud1SOviYDtgB72MJPebxwXdW1LzISQ2PuBkCFzxyGwsSU22CI7Yzqzp8wfJLeyKhV_w-0JcSI82wOhIxIZLX8MKY-L8Ifog0YXvfmSfWyEqSu8Tw9gXdTc6eAMdemEuT4bFLuvdRpWUqeQLqGIlhbWpNlcOg6gSjtqEddtNI_U9yL02FG9yZ3XxULUVjml9djmcgeXbx8ZrcFfyZiqanfzrc0WFiCKCKbzMMZShKfpJTjlcb2VVa78JEIopQxz-4Z2Rwadc5hMaM3kQLjrttaJYvR0cdRcmiv9TqEcqsGxiVvaRYdscqsgBfNgcK-WeqpSLTRcXJydxKq9FnkvrcFmLYUN_VuaUI8bDTBTeEiw1z0HbKAjP8A39CUoa8X0tj-0rgfZ8ChEWeBedc-cKOBXoav2uU4JEcb8zUcJFqFF3s7qqUJPciIdtZ9G6V1AoESEJR5N9gIRCNHn-OZy8zy18F2riG8MWNlJq7yyXox-xuI2Pjjxp1TS3yvuuQXlSswPxvvSWv7wnRnOj-Ul-lnsdpZGKhY_gEgEqmX-8NFA9M4CwS-2oaWhk5BAG6e2IyUIA0Mlmi6ACfLRhEUgXQ3Ib-VcTK8qlasD63LRG909F-OagWqQkLEVBHVbE11WDoGG7T3637t77gh1hnEwyQU6S5HXt9-KED9dbwJWPD3uL5VNJDdY3uuPRY2t42K4EHJr7ZEk7bpOU36Kybr-vCldUXWgMNMSO59G-8rsSxSVRz_FAq_iaBQ00R9T9e81iTEdWHO6Bz2HpYTN1pucpWpG0gdou1x0IgfZ9icM8IvhhfawA6S7O-oVFxnvF-P7ly6GV7iSz9h0MRHjz6aw3WlaSbtAinq2OIbhHerDlKN56OZbRVFA5p36yRq7ruvRBY6wuHdJbt7RzWdogkwYnu1B3PITHdvGZQ1HUcM8lt9InpoVqQptWbgni6ZmG7CxZbDUxPFmwWGxXfe62YNRVXNsTg5WZyu7ReNAmyIQFyHUeUpbeBoO1N6koqwy5UJr765xPxGd2wdL0DisZxDqcPdXgogRB8n9d76NW_of0j4c1ZOippleylCAi0WvL4IgS_LjDo8VLtC2RqEc20nHVz6AOp1twV0fnpiDbXiv55apDa0PdG18IyLn51n3nujTgua0OFRYWC-woB9wKN0efskzFs48_ofZa96_9WHfJAPaD-VrjvElkAYf3k_hkmnfs9HHknT0OF9XvkjO5bN1CPhiqubeKQl9m9oUigRsoRLarT5JVCoCrCjBhfIaI1-YoEhwWh5Bm4E7EyZFrJN1ibY9OhLTJoGEN1Z3Y70cos3Z9NjNy3y8ONCdSUCUv2-SLHeM6kaqjMjeBL8AC3zAlXlhlm5nMo47Dc5fLkwoI2TnEgjgtMfHqtfJWCno5ojH9brRZBalp_6RM37qXuOUYnKuLNXYnHK87i8wqSvxWZt7oRka_-oXi9KIwSDwiSNl5_ynEG4ZDYxm02bif_PEejGPx2NYR1tyXaGNsLAh3pKHAZ1Ws=",
  "id": "rs_04a6aef1fa8e0faf016ab463b120b087d0b69082514948748a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.23,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.20},\"note\":\"The short cap is left of the longer diagonal pen near the middle of the table. I will bring the left gripper above the cap while keeping the right arm parked clear.\"}",
  "call_id": "call_ydquS1beiPMyJhtY5OlcodIy",
  "id": "fc_04a6aef1fa8e0faf016ab463b5cb1087d0bf87e2e351f0a7ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ydquS1beiPMyJhtY5OlcodIy",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7265, 1.7279, 1.0386, -0.0864, -0.5808, -0.4675, 0.9994, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.3987 left_y=-0.2198 left_z=0.1109 left_yaw=-0.0093 left_pitch=-0.0544 left_roll=0.0298 left_gripper=0.9994 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0005 right_pitch=-0.0488 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.9231, 9.347, 1.619, -0.4322, 0.0757, -0.0757, -0.1846, -1.5932, 10.1128, 1.8486, -0.0024, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c101d6e68e730acb25ff282b3cda264d62e85a355e11866651f5a36edf1726c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54520e5fd337235157b9d9e3f522f0293ee876ce0064b13ed9f1727e184ca309",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dccca0a2a095444db2df1198a71c35a183aa2161ddfc0305c862f683309505",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 7.912 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3809, -0.0219, -0.025, 0.9994, -0.0185, 0.7906, 0.6086, -0.3759, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.0018 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.4427, 10.5231, 1.7607, -0.0317, 0.0611, -0.0757, -0.7863, -1.1556, 9.9487, 1.7753, -0.0269, -0.0073, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7265, 1.7279, 1.0386, -0.0864, -0.5808, -0.4675, 0.9994, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.3987 left_y=-0.2198 left_z=0.1109 left_yaw=-0.0093 left_pitch=-0.0544 left_roll=0.0298 left_gripper=0.9994 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0005 right_pitch=-0.0488 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.9231, 9.347, 1.619, -0.4322, 0.0757, -0.0757, -0.1846, -1.5932, 10.1128, 1.8486, -0.0024, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c101d6e68e730acb25ff282b3cda264d62e85a355e11866651f5a36edf1726c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54520e5fd337235157b9d9e3f522f0293ee876ce0064b13ed9f1727e184ca309",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dccca0a2a095444db2df1198a71c35a183aa2161ddfc0305c862f683309505",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGO-AMnxZE6Tqa0pYPspGkJ_tNvfD7BMSgesDIqvXFC0jxTUwu9N6gvTS8OYEwB1r3Q728pPlfWXRtEwWrz9KjltU7GbYiVKCxEOtpIxl4ST2hsF0xtHhuW0pZo7rXG1lf5bNcAEPZO2rnuc6aybmjtOooCx4EW_cqVwOi6OOEQb1AzZx939FWe_kn_G2XMoIhbHBWschNUQ64axPVdgjtvlepRApbw4BlA462oSZEf8HkqxRruPjzNsAT7F3Eo9Xy0MsguiXsOTLq6HrkjM_STIagnEArnkYIMy--2P2obr9AGo73xQHXIGdia_IF7WbAyxyeC6itf1apHCPAWLh110gFCNg498qeOoEfmQBp4bE9v9X5YKjyfiORSOWvWVw-E1eGDAwCYxlpwNSSPCZVT0ZxdD-7Ca7APYXuDgq9J91MSNqQtGq0Ih9JtZutfYobhdcobOvzsAVh5AlFsfEM8JXGY_iGFhbDGF8zoJzMwecVOgTI18P33jVxMldZ7LQFCXXhqkwdH-r0HxKOBd8YqpVi4GHLSoFtd-43Yh_EhdqWvtAPI0SmztBCZi_CTzLJdo1FjI1s3IeQcXjVMRLwfDjB1GClqT_1l5RSIQgwlqlSFfpZm_Uo3JGDHc3gvRJy_oXeryCSRcjtCGnCP8UcIYETJHi6Mdj2K5HAU_q9dY7St2wbJzXP1OWm4v87jimA00p6aJQToLQdfz1Q9qA7BRO1un-qLbCYIeZvTucuecTfDHRSbVX0KikZgQUgA9d0k1LytrdMA-4oHHk0ejQVbwLea5hppfYEa337KUnKOc6EO_coe1HZfgcrhkYifYxr2vTOBJ9PKLCxIEoF18a5VAZHAk7AFPRhWZd_s1-JXmx3SVk0MxO63VNoNolc10jgWWsryW06VW0Wklr90ybUTkTWQ1fe_cWW48Iwloqo_FMAGp7Fe7120Z97Bk-fYxlOrlAhqbvWGs5Cmat8b08X4ArtZGSXeVD71mz7CryR7eKyVh8aoaknFnFKoOeoXSYbTTH7zvf2zqEIXMULt8At8yRUQWJZCvk8sSe7NTdVnJLpPB8B8sLWGelrsYUUVOaHeQ39x0ORjZJI8xiPK2xksqdX_rmCNwlJD_CKWMc2-yF1GxJHxqHZQ2R7wc4rgPZwqsnP0iPA5oQqyJXTjh6C2AF7V8Y_vWdZ6Y0xbH80XJTGENKAq5QtlM48d9eIZhzkKKaNkLEIPF4m9b35K70b6DbbpflRzwEqnupP_PQIlnmFHE3O7FlkVMIvmr6O7pm7fyEiJxhbC2LO3h9MfhnH0kljr8ItQhf-RcQSE_6X7d6Lxi8ZiPR6BcbTqN_URMJ38Yhajy39shjZK2YZoOjcBVrGzP1-l9C46jazWQqPNTKVZcxKXC0OuvO92YDmnhWRDuMiTO1FwvcwTjL1HaXzOLLKJpMC631Vf_ZARjh2lxOK2FyZ4pzGBCZozKdK97z0qxxLHLGMSjFahZOinmLjdNrqPXSdimfd3CnzU80_WdAGonB8Fbj8FoMoWAz9WDiuAKhXSY6uh34I_TLKhitcq0ULPuUgDJ1EKRj4k_U04nR8XHSvbZLNe4V43T_8impk1FZCNLUe-a22JIO5cuaVtdYsvkp7lpXn4lY1ppwYlS0Im1lHuQGRv8WsIvOYd28Tt-z2fGMZ46J87p8F6S9SiFeNKIgl467l4NLB67mfviUtM6qaW-Xx07V1IYUTXjYDjtMbelruum19nOKeVxOyiz9CcrbSIEhBo9Zxz5wLhvX0JTf2uoHFMSDf1RRgiDIh0EgCrDjR65dLIt3jBRLRhC4LP_dUPINkhPx9ybQVGxDACaS66ai9eItTZiLZEQ6TuJdCnOhkrgCaJqrG2VwaZPBCtIWUQcxPlfkP0XoVjvVhHd6KFDMfLjow0E9LxxyLh44QqLaCOAdUm_mhDd3uBIW8AihW6rqYIy9OGfvCEsdcR5KSUf6qt41ZFU6vnuwyXTq5Owz0nbuVWfxixG0JJ3EmJ5YQMxRIA5Rmu9EayrKGa_1m7C4UIWAHXkKKDeGGbUp_MPmHtgMeW5XVjXEU38GNPjsQboM8M9KwZ-u3QMjbj1Lp90-_eT9unS7TR6Nbtu7Hs6wf691gfr3r7fQXjUuT8RRn8sqGD7Wm6t3Df0htQ=",
  "id": "rs_04a6aef1fa8e0faf016ab463ba941087d0ac0474522f913863",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.23,\"left_z\":0.025},\"note\":\"The cap is now hidden beneath the left gripper and does not appear ahead in the wrist view. I will lower carefully, slightly nearer the base, to expose its alignment at grasping height.\"}",
  "call_id": "call_fQz7FbUmgsBMVLs2J9cFTQC0",
  "id": "fc_04a6aef1fa8e0faf016ab463bda9c487d093bdb32c551f607e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fQz7FbUmgsBMVLs2J9cFTQC0",
  "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]: [-0.77, 1.9091, 0.8902, 0.1593, -0.5987, -0.4992, 0.9993, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3792 left_y=-0.224 left_z=0.0204 left_yaw=-0.018 left_pitch=-0.1069 left_roll=0.0707 left_gripper=0.9993 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -9.0325, 5.0256, 1.58, -0.486, -0.1148, -0.0171, -0.0615, -1.2376, 7.0359, 1.7363, -0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ab5831d1fc0f8974822297f49e3763be1712f75aecc405bec2ea672c6b68e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0567a130c9662f42e221c00be42140c4dfee494369d88a2e2fd908c0e81cc858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f20e34020e29d803b1821bc3e4abc8265a6ce271dc342381c4c6b992d09430",
      "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 3 attempt 0 · /responses · status 200 · 4.621 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]: [-0.7265, 1.7279, 1.0386, -0.0864, -0.5808, -0.4675, 0.9994, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.3987 left_y=-0.2198 left_z=0.1109 left_yaw=-0.0093 left_pitch=-0.0544 left_roll=0.0298 left_gripper=0.9994 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0005 right_pitch=-0.0488 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.9231, 9.347, 1.619, -0.4322, 0.0757, -0.0757, -0.1846, -1.5932, 10.1128, 1.8486, -0.0024, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.77, 1.9091, 0.8902, 0.1593, -0.5987, -0.4992, 0.9993, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3792 left_y=-0.224 left_z=0.0204 left_yaw=-0.018 left_pitch=-0.1069 left_roll=0.0707 left_gripper=0.9993 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -9.0325, 5.0256, 1.58, -0.486, -0.1148, -0.0171, -0.0615, -1.2376, 7.0359, 1.7363, -0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ab5831d1fc0f8974822297f49e3763be1712f75aecc405bec2ea672c6b68e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0567a130c9662f42e221c00be42140c4dfee494369d88a2e2fd908c0e81cc858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f20e34020e29d803b1821bc3e4abc8265a6ce271dc342381c4c6b992d09430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPHKGJS0f66qImvDZV1avdBJBPVP85919eU2ljKnOPoT14Pfr2Cd1H1PjVp1e3DDD3xvR-ngTPHZDkG5V4bTzIRMyC_SkdPwNGzhReZFwyRyJknX30lTDrr4YPYNgOJBUCvIIw5VsHqUAQbOvjEwxlSQmD2aRmqyct969jmRr20xP6J52OKFi6ZB4mQ49ieuIJFD92M11azbh55ajRMvq4gL62l2pdnJTnbhKdcK2d2Te2KokPELof0TB2Bc3wDvUI4mRP3gqRdlnsgQi1AtjMGQqohi0zigeq2XkNJJZz5MVVHFz4MA56ieRcBcB3gTHJrUm3ML9KK2HOXTo8O6Fm2JKWQMlSX2OpuWTdlGKqGlfnQnOmk0pOHbwzP8CiUJE8KF17Y4BLkjTvqgpmaDe-P51QiBfzOugrxSBzVf1x1XPlJJm2qf9jIHamRiQasdHpq0_nkk_JxhkFAcfBYxaReuVJXBnUfZw7OzKCCWnlCjztHh-RPFYpb1VI7bzt0QS2PBipOr0qgKYOGJs8WRX08ZAWivT3qwNkzzhO8E_EEpBO3RX005RU5UAnYzTrUPeU1XNSaSFg7EOfgU9jVJIFPuZsZtLBflaUl9JcVQ8S3qycvxTwaFp1ZU4NI-2DDTWld87qpbCztaLXyAFM6NW5o4xQ7e0iZlQ83nTTsca66YTbb_B5nOMz3msvRKfqteLv-5FtqyB5CFnXcWtKrLAEFRYCKHJpKDmk7X3oV6CTNXzMJcZ-JQ1TSdIaYO1BKHxm_UWAAhorCeWt1vd1TR3Da8I2DNoh5ElOoySjioS3NNtCXbWHUQkiX0nE10PNREITQYngHT9n_PYOFmFp9hPel5yVSjjlE-dqmJ2xCgrflTVEYgCifniaPB5Sl2c4qfCMFOXpB6wMmBzqtU3Scm-5PLSud1475JAHzHeLMNJInB9ki0uW_pyjpDj7lGL5J8qaRKrhWaZXWyAXPL1QPmX4JcWlvyQPavSjL1pIth06CpwviMftNoFNx5g2O3qQZ7csMCCVRrrjptIqMr36bvCZ-6hJtqsaD2-P4ctec5FNqV_3dSygW2fnDs2_5FsCt41kDzE99_MArjvkrnqv65UCe0O_028SIF7ld7C_ZNORGUVNpDADGJUgRVRoQraB_7EZ0bn8xxD14528QSoBcYwc5xLKRlziM35993jU9T4Me7xlG1OTYXHpMhvwusIrEoK7yRDue-Ntsz58KwM-757XMF-7hN0NqnOjrAp9UbDdrBgk2TB8Mh7-7NSqIIXRom5EcSyQMKH4JHORKQLJCAbPmg2cN3TBTFN0Wwo6vaT3zK6g6iJB7Zpa5Hu1jM-QCaoy8uxt1qOsy5c-8DhJrhAIFxAZOVBcwbebVTfCfBwp20kPI30NMTUwmz5UHi8t5d020r3Tej9Eu1REqy2OZ5L9cKy7V3RJPuh8av29pU6vC_WJTyJrQ41r6yKQgj748Pli3ThuHUKGkjI2n1Tkvl43sAT3QfnIvO3Hh-r5UTrJ3RMO3NVtfM3Dn4DQscOqOHGTIFh5PzhVfGyPGk8ZtkAM72uB9IS2kAF-u_i6PRYAQXOQVzkq-gRSOA4q-q0kLrJvB-ayanzBtpaXMHYBUTNENe8fYmckf3p_zu5SsVFwlgxPy5P1HbAbRDQn8xOzD58vInLYsBqgQlW3bvDG4TGGRFV9A0FDNHa5qCXYP8Z0mZGuyH0kKazv_k5TLfpF64kdr-KR7ddQcYzvZ_Ub3B5ixpkxnbhuiyKL_lDCFL9vsG5eSwbgbexQeGntCLmy5Moy9eVEzTXf0OxiHkXBdzGEugVw3mK4BjP6GHJPfHKgQzXn2p7ofYWkVXXjvuB87RQ8NTp_DUpeaAyfo6-j-zaYNbNzJtV9TaYwp9ripeHxKjuQz8XmYQ7Sf2AvTkcGsUj7Sk-HA3OcfZ1KnF8JG8IMkkRSlyRrWIkBaRGsU70toOAQug6D33D_uzlwVQvGe9J2B85qbhQlcTpkv9rYzb1PnYEoIMhmvaVEKXPNz7tK6kdYwLsUDPYMJzYUqiQWE-wtv_OfOn_5bViGI97yYqvOqcwK8LJM7YmS_GfOSbwt8USN4FRuYHmM5wTGyMLAT1YgRtGfhBgcwAElvF8NRHx6-3yw_uPdVLTIAJXFlM63mVWOQq12aOjBrfzpJ8q5STPiiJf_PZ6ZUEf6trxP13lvhxa0x4TJBYQT3ZsDssyICkAM0JKc2A4bRL3J63Aufn0P8lWYNLA6glxKLADRJio14DuWjINjh17yE1xY4bGBAR4V7tHnj8yiMvlZgxKOxFgGYxq6iwfrFy_Rnb9s_Qt4jlUR0U71v6TxVVV2w0ETgOYucoWuIpr87yKSwhXxOkTNa_7eMh-GjQ2l3f-vrvyoQnkU6ukUXOiu3L0m5JK_g5QBDMjx1xALDkH6E9IiDTjYcl3XoY1j02__hoN4TqMQDRaYSUcQGullR-h_PMucTXU_wagaQTCECOlu9DXE-FIsiQHypW_QZ3NiceCUvHoTG3Hp_dBEzkwENPdQN6zEjC0zZ86q6rh2Hz1W_xm__k_C_QIFxJLtIVB0aS-0tMxWWrLvlJNE9rHcG0MwWBQMLmx_oX-ZT3xUQ4G8e7DBnPhSRB0T5ZfG-tTwuaJP6T5w2psqBy6CJzO8RzRUMJvN1p-rGc5pUFSdwJu9_oILqlD3gZREJT6I98-Hbr2NCxfkQT8v12hzagMv7UxjbWUOs44k7894cWrQz7rHeDeRl0gu8",
  "id": "rs_04a6aef1fa8e0faf016ab463c1828887d0af86fc4b568ecee0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.2,\"left_z\":0.018,\"left_yaw\":-0.55},\"note\":\"The cap is visible near the lower-left edge of the wrist image, just left of the jaw centerline. I will shift left and turn the jaws across its narrow body before closing.\"}",
  "call_id": "call_weD5O6ZTMonYWrew9nXhTXgj",
  "id": "fc_04a6aef1fa8e0faf016ab463c5e9a487d08aebafddd6e80480",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_weD5O6ZTMonYWrew9nXhTXgj",
  "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]: [-0.5034, 1.8324, 0.6868, 0.3965, -0.1913, -0.1055, 0.9991, -0.0193, 0.8051, 0.6392, -0.4454, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.388 left_y=-0.1712 left_z=0.0029 left_yaw=-0.295 left_pitch=-0.1624 left_roll=0.0596 left_gripper=0.9991 right_x=0.2908 right_y=0.0017 right_z=0.1796 right_yaw=-0.0007 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.5521, -9.347, 4.9573, 1.746, 0.2711, 0.2955, -0.0415, -0.3624, -1.3744, 7.4598, 1.7949, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f41749743b82bea5a92834a95a8b6b592991cbb8e376586bd4650acee9371d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d81c00094270f6e0eff6912eef8b89f9edea85a9cf417967ddbef6f1709997e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d23b64eb8ca457143b41a3c638b2000fe27f2142e87406bc21b6fad95a32884",
      "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 · 4.443 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7921, 0.6014, -0.3809, -0.0219, -0.025, 0.9994, -0.0185, 0.7906, 0.6086, -0.3759, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2956 right_y=0.0018 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.4427, 10.5231, 1.7607, -0.0317, 0.0611, -0.0757, -0.7863, -1.1556, 9.9487, 1.7753, -0.0269, -0.0073, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.77, 1.9091, 0.8902, 0.1593, -0.5987, -0.4992, 0.9993, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3792 left_y=-0.224 left_z=0.0204 left_yaw=-0.018 left_pitch=-0.1069 left_roll=0.0707 left_gripper=0.9993 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -9.0325, 5.0256, 1.58, -0.486, -0.1148, -0.0171, -0.0615, -1.2376, 7.0359, 1.7363, -0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5034, 1.8324, 0.6868, 0.3965, -0.1913, -0.1055, 0.9991, -0.0193, 0.8051, 0.6392, -0.4454, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.388 left_y=-0.1712 left_z=0.0029 left_yaw=-0.295 left_pitch=-0.1624 left_roll=0.0596 left_gripper=0.9991 right_x=0.2908 right_y=0.0017 right_z=0.1796 right_yaw=-0.0007 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.5521, -9.347, 4.9573, 1.746, 0.2711, 0.2955, -0.0415, -0.3624, -1.3744, 7.4598, 1.7949, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f41749743b82bea5a92834a95a8b6b592991cbb8e376586bd4650acee9371d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d81c00094270f6e0eff6912eef8b89f9edea85a9cf417967ddbef6f1709997e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d23b64eb8ca457143b41a3c638b2000fe27f2142e87406bc21b6fad95a32884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPM__6hAv-CpalpPbqznR5nPyRT6HBiSk0gE6OTveCI8hChSuAy-i2OHSCOZkus_XPvjC0S0L6iMX2a_Gadf1ootQ78N98TOpoRybozfDbsFHEDiqp8Wrg47l6LQ0_y-hvrcTXlzoGB9-qs1u4ZUU9E9mWKWynQhO0nQVmabqwZGS3XoJXynzrE860wEVyGWFULR8RCThmbHtfXVI_nL_zeOrmVQTxyM_KKzfjhH0E0okTNVnIlFpwl5MhwJ14CMJJtS4JRjyu4DG9A9NWo9kgOH1GJVbod0LT9AWJ92Kyf9UjFa7wcUB9wTkLOdM9TL_e00R5rW0ksNHJzt8xXt4YgGheFNH1AEu8zu44ZVlJHdLqcJhSR1ZwtNIH-U0eY4wuWe2oUsX_X0Oj9C-DGZoHVjX6hpWG7SnsUxgMaKH8hzrlfR6EpovkcXaTspA0LFtyahzwI1KNrHMoc0arXz4NBebJoIFWB0P1YBCo0t9ucZCexPg01Wo8GZqrgRMj3sHP-8NXMPFKXRpiP2p80E6L_NuJKYbgkf-ivR5wA5srKIFjK9USMeMfSiNp67oYSJMDjwQx8uHgTXniHuUEqUr_YLA7_bCJ4Ck8Os6aisCwx0p7HiZ4RbVEEqYQCWg5iOEoQxB8ocVAEwk6akS6KJZansrjiPfC11QAD49zsYxBSBzBhhmrgnQwLgeVcKsTKWA6ucqoO39BfSWwp-cgxwMISG5KyyOlzkcqDfrNEAZVFuB6Z0TBsKw0MWsc9jVlmz9HRO_KdYR_ONbte1icxnLwioALsFvdqsf0Ll7qmt3zLBTMDEPGtQlMA0iA5VcPQGydHUwmHgcM8HbpETVdLh87Sq4yMUyaJLg0NKiyLuw9Y7sjtuAxZT7cZn0h0T7VExx_6iPMuO-IadGfXS462b36R_2j3QgeBcZB1NJE4qTyrO03KmQ_aNCES3MSGW4TskHlZVgRbJKOD7ieOJhq50cLb1IxTErJShzJHjjUU5Uzq4nTmYzZ7C8dDiKiHcgVVjbqybciWJrLhwE3gNQoE7nCg2cLC8taJ5pamYealS8SD6sDblmzFMsVyevHq2ep57LO0Vsrp6S-_iGXQFbieRXILOPtZ4B96LhPOK7JdhoNaG2zlwgL2O_hJPtYbXUuVdDMRlofeBhpPzwzwVfAH1JRdQlU7Vfn1Y0fiYGGcvjStfBs9_WpoGzjfrigdSdPagiM6IYyUJeTcopiK7mapoHzo6E_ZtY_HX9uZOvAWqOv2M26zP591GgqEPqzx9UfMEpDnMeFpAYx6FkDa-2qrm0Pg9L-mY6Id_9fJXzqT8dhziwqSjnPfjhHAckOIFsqxkmokvHJyyFu63J5oNpai4IGMUxAzvXCjpF_eewli-_e1yZo2AzR26QcPHsGEzKWhIU8r1tWqfGNgsWXkk-mR4ifkx1SqzkYzG_gIqqWUHvgmxsM612ca6SDbK6b13s4AfVl4xU_bFneg_LcFkUkExM453-euj8bfcYpqMjuep1pga4VxZ0hgZpI22eyXX4FojT2r4sHgF41lpw6RZB8_QnYM-JRwhFWfjHEJpv2Lwemg56UzssrO_MdwfHoInH-MO4HDJaaxBtLs71hAqCAv8Z_B0FTxK-N2bLroIJnE05oqGNqA4plOe16YccBdCPx9tUqhufmtQVAcBPVcmASqCpZsWBpmSExZc2xtzY2pkRM1TFDJ9B6T6PauDraRV9F_igtwCDA6agigV6wKnW7YlxuspU4pVsb61ki1dtx6G2VjvdiMKFewDEHWLjjpihPBxSWaHAnMaHCTyvYO418vDaqEm8xzcM8im0oXNVgdGarmWyTdJ6MhIKZHBE-E3m2r5zYvuV-js0SNbjCcuXPYpTwYWWTkmUH_tQnn06njRXbEEDC4XT3Te9Bizr7_8104cl0wLfSemOCk3HRk70KeG12j2Q==",
  "id": "rs_04a6aef1fa8e0faf016ab463c8ba3887d09638f602e1376be5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.378,\"left_y\":-0.218,\"left_z\":0.005,\"left_yaw\":-0.35},\"note\":\"The turn moved the cap to the lower-right of the jaw column, and the measured pose overshot sideways. I will make a small correction back toward the cap at table level.\"}",
  "call_id": "call_193vSomkoZLpcHAy0BtEneFS",
  "id": "fc_04a6aef1fa8e0faf016ab463cb06c887d092dc7ac9155982e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_193vSomkoZLpcHAy0BtEneFS",
  "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]: [-0.6216, 1.8542, 0.7246, 0.3763, -0.2127, -0.1333, 0.999, -0.0193, 0.8051, 0.6392, -0.4503, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3733 left_y=-0.2171 left_z=0.0037 left_yaw=-0.3799 left_pitch=-0.1622 left_roll=0.054 left_gripper=0.999 right_x=0.2901 right_y=0.0016 right_z=0.1786 right_yaw=-0.0011 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -7.0222, 7.1043, 1.326, -0.3004, -0.0952, -0.0171, -0.1436, -1.2786, 6.9812, 1.7949, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfa4a5a1453f300c36f5c8b77a0595c693b1c64a2020ed29761ce10203d89ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c019f2fb34e2eaba5026a6145551507920ba05cbe1d155f082229afbbb3c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c916eb103ba6e360de79b0e35aa499ee0efbe23060094404baee83c7977e7f02",
      "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 5 attempt 0 · /responses · status 200 · 3.541 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]: [-0.7265, 1.7279, 1.0386, -0.0864, -0.5808, -0.4675, 0.9994, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.3987 left_y=-0.2198 left_z=0.1109 left_yaw=-0.0093 left_pitch=-0.0544 left_roll=0.0298 left_gripper=0.9994 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0005 right_pitch=-0.0488 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.9231, 9.347, 1.619, -0.4322, 0.0757, -0.0757, -0.1846, -1.5932, 10.1128, 1.8486, -0.0024, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5034, 1.8324, 0.6868, 0.3965, -0.1913, -0.1055, 0.9991, -0.0193, 0.8051, 0.6392, -0.4454, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.388 left_y=-0.1712 left_z=0.0029 left_yaw=-0.295 left_pitch=-0.1624 left_roll=0.0596 left_gripper=0.9991 right_x=0.2908 right_y=0.0017 right_z=0.1796 right_yaw=-0.0007 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.5521, -9.347, 4.9573, 1.746, 0.2711, 0.2955, -0.0415, -0.3624, -1.3744, 7.4598, 1.7949, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6216, 1.8542, 0.7246, 0.3763, -0.2127, -0.1333, 0.999, -0.0193, 0.8051, 0.6392, -0.4503, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3733 left_y=-0.2171 left_z=0.0037 left_yaw=-0.3799 left_pitch=-0.1622 left_roll=0.054 left_gripper=0.999 right_x=0.2901 right_y=0.0016 right_z=0.1786 right_yaw=-0.0011 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -7.0222, 7.1043, 1.326, -0.3004, -0.0952, -0.0171, -0.1436, -1.2786, 6.9812, 1.7949, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfa4a5a1453f300c36f5c8b77a0595c693b1c64a2020ed29761ce10203d89ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c019f2fb34e2eaba5026a6145551507920ba05cbe1d155f082229afbbb3c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c916eb103ba6e360de79b0e35aa499ee0efbe23060094404baee83c7977e7f02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPQPpPJlHqLuRt8sTYjc6byejKWb0GQ-uRTPtNPMAiJKXm8PrpT9JBHwjPb5vPhBHPmDczGDCcQ0dzr7VDvJ0rOX_c9nlZE7lhRvyAjNDPlqBvC5FLvMCLN53QmdkEpnwPjEtKoCyE49w7ESWpQ9Qns71KSrcwvZiHJytxbGossM5ne3udRjp6Jj9-ozGo0VbuyhVryP5wz56GE6pvbyfJsSkqSnFQFMl0SJdmMtsVH2-3fNjuVLXi4gVjhZ6QzcsgMvWmcx4hNJ3ysrOcsbSwAxbO0Ld1NQkzQ8GG2qDhL2LKvJq9UJ-p_C6kWvJiQ9Cm9v-ham6ITbE5PQGwmfOkCPZ_IRQUEcfwuHHMoH3KKrR9zZNhhqmELMkKS4Q8QcI-6fxQ-Zx2Fng_xlCaE2YXtXhkzz6jK8cSkUQbQpw2gMg8dlSo2u9XfXDIEY5k-B-PhqXpe-pe8bPEVuXuNHyVULTwioyMsHZwFwAcqANAPRtFY7ZuIJ2zSepPF6jJFmS8DA_nzh3vO5dsGrdgdbFZH1ZKcgFaO1g7zvj2IdsqfYBEiY028uCqzpFkauXRX0MIBatYCD8qA0MbaJ8yfgJ8N9Khywi6sJR8KvN1C8stY957ugVQ1waA5gvTW33cImD0-IKZNcTmzaf5_6vB4G-ANJ8ULJrT6xP-WFsSlochIoZDDfEhn_Tbjbtd4ySXaH0iqB3Y4PqBkNEDlB0FE8z04XvMYd8lZhpk-X8ZgiuuAXerHarU_zcQAcZZ138O2eIXbSxTgBGIGb06oE-8oIwcTCUcZudJ8FBxnzQFoSXvxr4bk8MDMuvjZCkgCOW53TAk3cHUGFpNJGOd3gJY7kAJXZeyaB64vMYvLefjOhko_o70u8N6FUq4eXRAPyO9_KPZfFwHJ2UIMbHQ6Piv2G1_qnO9uIJnuIsbQsibT-BT47V6S96Ed7OodNLA9Yhl-b8kkDh8hhvvsgAMt3I8F4-Y4DMAOQe0igfEWnOguJR7TiJKB1R7QqhaQ2rMHtM95IqFZ1ET2qhQtV4T8_ODoQrSBq_iriRC07uVQZsPy0EUOAn7QBTL0R7SlnHwbL0HdvxLfWp2QFPIfuvX3pKojmDMZaNpeiC_lFxIULvlGyN5JbhQxzWETg8fk8qts_ZyFKSAXA0bthLE87VXYoZBDAt_A_bjNK5Pfc_pWHinD6yzJCNw4n6VpXYV-aUbBDEiBf2AXgcNOZRE5owfo8ksTZrh6mHh48xZzGmCeRu9F_2nINN9iFUcyy8KRTST6hW2NNw45bgUxGNaBzycrVcHfemeo-megxc11rvvrq-w4xEFf0DUr2ynq9_fGVJTQ8COSSmF3aoFLF-LQAg41yx_f4p0P_X64_UJXeuqTEy3_DKjudrVCCUrn3hQDecrYVHqVgvy-xopLRECwMeeKnTJmrdGK_zdUzPacHX9XGfNqRdRk4qPYVzS-tfFsbuYdbX0gQ3DqOHCLnqLqduViYZpUbBQys3wexD6IHOt5JM6M0N51mIGFZnFwR6P7PZGjUPmtfIC8WRw-0b1oJTafp3WbEMpJECTwWNUr4EKZRsfhZ5Fygv9UjSi7HYITTTFkbtIWRTgD8tI6oIuZ3Pk3sI84xBQk90fJOkUB1mnxLisHg7dbmoVCTeGehJ22Rp95TapBc-p72xKEYgcmTgq4j5zR-2Nl6FVfRzIxxmUXDSjxfpFRsmJ41f2_7cq_k7fbxZaIqpEY",
  "id": "rs_04a6aef1fa8e0faf016ab463cde73487d0816fd66f4b69154d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.196,\"left_z\":0.003,\"left_yaw\":-0.4},\"note\":\"The cap is now just left of the closing line, with its middle near the fingertip depth. I will shift about two centimeters left to center it between the jaws.\"}",
  "call_id": "call_XBdDiTXdjqzX1qQmVWxkyhyh",
  "id": "fc_04a6aef1fa8e0faf016ab463cfd98087d0b630a4e4027df4ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XBdDiTXdjqzX1qQmVWxkyhyh",
  "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]: [-0.585, 1.853, 0.7147, 0.3855, -0.1837, -0.1226, 0.999, -0.0193, 0.8051, 0.6392, -0.4576, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.2068 left_z=0.0017 left_yaw=-0.3735 left_pitch=-0.1666 left_roll=0.0423 left_gripper=0.999 right_x=0.2891 right_y=0.0017 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [1.265, -8.8684, 4.3556, 1.3748, -0.1441, 0.2076, -0.0073, -0.212, -1.1282, 6.9675, 1.7558, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b1010dc21bdb27b35c21645eb0b551ddb82732c7d036d06bab50d90f18b72e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9337828b54b1e760a22ab0863b9aba5bf39253d02290352ccb23512f0d8a6b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03635ed71f4b9b4f1437273d2608086ababb53c32f097378098d0242919ba83",
      "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 6 attempt 0 · /responses · status 200 · 2.902 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]: [-0.77, 1.9091, 0.8902, 0.1593, -0.5987, -0.4992, 0.9993, -0.0193, 0.8036, 0.6395, -0.4427, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3792 left_y=-0.224 left_z=0.0204 left_yaw=-0.018 left_pitch=-0.1069 left_roll=0.0707 left_gripper=0.9993 right_x=0.2911 right_y=0.0017 right_z=0.1807 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -9.0325, 5.0256, 1.58, -0.486, -0.1148, -0.0171, -0.0615, -1.2376, 7.0359, 1.7363, -0.0269, -0.0513, -0.0073]\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]: [-0.6216, 1.8542, 0.7246, 0.3763, -0.2127, -0.1333, 0.999, -0.0193, 0.8051, 0.6392, -0.4503, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3733 left_y=-0.2171 left_z=0.0037 left_yaw=-0.3799 left_pitch=-0.1622 left_roll=0.054 left_gripper=0.999 right_x=0.2901 right_y=0.0016 right_z=0.1786 right_yaw=-0.0011 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -7.0222, 7.1043, 1.326, -0.3004, -0.0952, -0.0171, -0.1436, -1.2786, 6.9812, 1.7949, -0.0269, -0.0464, -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]: [-0.585, 1.853, 0.7147, 0.3855, -0.1837, -0.1226, 0.999, -0.0193, 0.8051, 0.6392, -0.4576, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.2068 left_z=0.0017 left_yaw=-0.3735 left_pitch=-0.1666 left_roll=0.0423 left_gripper=0.999 right_x=0.2891 right_y=0.0017 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [1.265, -8.8684, 4.3556, 1.3748, -0.1441, 0.2076, -0.0073, -0.212, -1.1282, 6.9675, 1.7558, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b1010dc21bdb27b35c21645eb0b551ddb82732c7d036d06bab50d90f18b72e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9337828b54b1e760a22ab0863b9aba5bf39253d02290352ccb23512f0d8a6b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03635ed71f4b9b4f1437273d2608086ababb53c32f097378098d0242919ba83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPU5jhT-wWW-V91RGre_OLidBtNTwl1_LkmuamKphH16Uo-N6MTGqcZl7A9aue_dLUMqHdmV6RmOYjgN9hU_IGK_lDPeG_kr6MogX1oGgx0YVNrouKbVmzEtC36vOROjPQk1ufxf2LvYv7wNGaAd5lojrRgwaG1BijVi8bHhTHCDdUTEW_KFzkx3aLE8XhIkg0QalPL7pCyJnnh3u2fi6RIER7IQfC3lgIJl2YkYXOhxhxiyNhnnZuEm2gHQK6K1X99wbiThCgTBLrsMlOP7m0fILBTOwjHImByhh39OfOzZEztDtvItK3kj9P3JU5q8Zm68RvPgcLFQULzqe7QTXf6d4rwrKckn9JXJiAKf0GKRdm4cYwwG3rGMozGaslSejiJeNJmeK2xqv2Kw21wVa3AHDZ3CGcsdrotDIMA8b60YFfWxuyA6lqEUHcEuco9kzeKM_ydGQTSPOo01RbeLP-otsKzQRV_3rMHGB8mqcRiq0fu2mp5pefpR1Gq_vhjniNLJIhcw2o388efVdmXcifixQolcSV1QY3-mwHCOkRrdQe7FUR0BsWMbEXPC3N7QCKpSyuobb9OYVWITC02hWWJV3iDMB4EMYuFQtlwUqhw25OERJjDrSkEozH00ywm-EDDx0XbFw4SMM2Wfx_lKJK3RoH8N_eDa8U2OMMdY-qwnTDvNITdsye1zdlQnUbR1XlmN3V0YHWCB4gCCcNTLo51ogD-VKkMmBt7Afle_sBcPSwHbqEwPyKFLwfhjYyJ0u30dUYKzp1stpqLmgy0m5NQ_eBfuyoidaLu8_bruuD40Iz3bTLkqpJgcgppGjAKLr5ib4cBdooEd_uy2hipoM61_wOlWF6xiVfOgco-X4MEnRJkVpXhcqRMNWkoy6WfNs2HzzuMyixMp6AyKHAh8r9rEBfHoNSLg-sjD9iMa8OhSVUwAxjwKY9yRl6yCwkuHVRv_gAbw3NRzRJ9mX3dQefCIOKozMvP3-mfCZUD4WPJ6J9s9qQsUhM8PPVAKg0mB9AcLxcyio6EbDSAbrxuXKnlpuRK8MGHxZXahz5yImoPkSf2N66YcFHqnBAELW_YIz_RhZsX_bkNp4egCDfl0bxdMF9XHYBKIOer4T6rAjV_3G9t2JRgYIRsnzD87PAZudGBcfFlpXTvkzSZZAbdLuMtUC-GUmCvLdMgXeF5nbfZEcsJ7TJ5dTWSVKVvVzP-R0CyHVHbQPOGKJkmU__x5WAEKPqK2KySEwBw0OefLuEYJcizhBSZ8iD66EF92NBJpulGcWlVoESKxRUNUIetO3oha9jmHPlGNlLk3UcULgPsTunXeixVp7kE89Yrq8hmPkAWqJDUeFnXbl9Ea0tQd4cGqwRaxcpY-ZBvjz8ahpasN1hlvf-paBQmpaPTuKxFuNGVeBE5K5N8CeTXZSyRSyfvCD7-lNovypy1m2HqAS7t9vo=",
  "id": "rs_04a6aef1fa8e0faf016ab463d2964887d0874b581a3325b4bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.386,\"left_y\":-0.19,\"left_z\":0.002,\"left_gripper\":0},\"note\":\"The cap is at fingertip height, and the lateral correction is still settling. I will finish the small centering adjustment and close on the cap.\"}",
  "call_id": "call_Tv2xEh3i51MeqdDcbYw5tlPW",
  "id": "fc_04a6aef1fa8e0faf016ab463d39b2c87d09ed02bb3a61a53fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tv2xEh3i51MeqdDcbYw5tlPW",
  "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]: [-0.5831, 1.8523, 0.7048, 0.4004, -0.1799, -0.1215, 0.0098, -0.0193, 0.8074, 0.6353, -0.4641, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3764 left_y=-0.2061 left_z=0.0013 left_yaw=-0.3756 left_pitch=-0.1616 left_roll=0.0394 left_gripper=0.0098 right_x=0.2878 right_y=0.0017 right_z=0.1735 right_yaw=-0.0007 right_pitch=-0.0782 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.9658, 5.7778, 1.5018, -0.0366, 0.0317, 0.8132, -0.1436, -1.4564, 7.2547, 1.746, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc74e53efd9a8807645431e19c18d4e447d8c36febb8d044b32f3e780f4469b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a0f338a4f43697bdf15d87bfe58942ff6208c128b853558fc9cbaf0ed9b662",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b35743c087188471fb9b4683704c35e4d5bc0a931e8563960d05f1aa0b897f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.365 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]: [-0.5034, 1.8324, 0.6868, 0.3965, -0.1913, -0.1055, 0.9991, -0.0193, 0.8051, 0.6392, -0.4454, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.388 left_y=-0.1712 left_z=0.0029 left_yaw=-0.295 left_pitch=-0.1624 left_roll=0.0596 left_gripper=0.9991 right_x=0.2908 right_y=0.0017 right_z=0.1796 right_yaw=-0.0007 right_pitch=-0.0534 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-1.5521, -9.347, 4.9573, 1.746, 0.2711, 0.2955, -0.0415, -0.3624, -1.3744, 7.4598, 1.7949, -0.0415, -0.0317, -0.0122]",
      "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]: [-0.585, 1.853, 0.7147, 0.3855, -0.1837, -0.1226, 0.999, -0.0193, 0.8051, 0.6392, -0.4576, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.2068 left_z=0.0017 left_yaw=-0.3735 left_pitch=-0.1666 left_roll=0.0423 left_gripper=0.999 right_x=0.2891 right_y=0.0017 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [1.265, -8.8684, 4.3556, 1.3748, -0.1441, 0.2076, -0.0073, -0.212, -1.1282, 6.9675, 1.7558, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5831, 1.8523, 0.7048, 0.4004, -0.1799, -0.1215, 0.0098, -0.0193, 0.8074, 0.6353, -0.4641, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3764 left_y=-0.2061 left_z=0.0013 left_yaw=-0.3756 left_pitch=-0.1616 left_roll=0.0394 left_gripper=0.0098 right_x=0.2878 right_y=0.0017 right_z=0.1735 right_yaw=-0.0007 right_pitch=-0.0782 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.9658, 5.7778, 1.5018, -0.0366, 0.0317, 0.8132, -0.1436, -1.4564, 7.2547, 1.746, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc74e53efd9a8807645431e19c18d4e447d8c36febb8d044b32f3e780f4469b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a0f338a4f43697bdf15d87bfe58942ff6208c128b853558fc9cbaf0ed9b662",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b35743c087188471fb9b4683704c35e4d5bc0a931e8563960d05f1aa0b897f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPYdl61lIUP2YJhmT-YNby0XHU6SAuwue3Re8PqAb39xzoIIigcW2KK37YBHPrjIVD-ZRLSu_8qRgqsNiPq7E7kAvu8_52a7usshbEfZjS5J-08OssDN8ag2Ks2K7AdVfnbGvsMhK11NllGTSfOwO0G_VZlwvVi_V2SFlv05ldSIEZ76EdwUnmkw2r2HCOYBOsy2SUPO-lhvqGiQ-Um0AeP0Lo2v363Z1CZp7Wnw8wtMJZVi8X6R7LuXEw4t2Tj0EAlEztDh06Sj19gZAjVlceVKDT-t7Kxdj4xqfyrHmqFrYq5UCtm-odTCIlhjtFdsrjoBCXx7TrO53sDFVWbsf7yamjVSmhp4mNNK940r5YeqM-K0lgX6tGlPPBUa4l_dwBRGfq2U-TIci7DG06M0lr6bwkGlKnSvzGf-ung-YqxTEhwguQxJ2VttpCWKpO_jOTTPLCXZMTszPf7r2MJh4_tVs8HAY0eroxDY2SC9hu_yO5EyBQW7vkdSfYsKhXVFwMXxhzZCIZLDlacz9fTrwvdaj3m8q1tOeUMkB1bp757Ij6Lkih7iDgMEryq7LAO_JMGjCbbV7ii8ogF-yUBeLqSR2x6FH63LmMYXjBgM-IGnWp5p1WoZkG0JDsToOm_7LvImoWq1OazASerbOXrMp2CJ0sz262t0iL7KqfMmBZqr3HpgwkpdNObl6vDrZx-Axp_4n6aXkhc-Kmf0pek_VMxD2LdOz3Ho0I320dHwsAPFTp2NleKk4MCb61VnZJuyX_53Ed1VwUXDQyN1ny4HjCBIPU02NeQOt1QtBkgKiY52SjGRoi2cWXd0KUZVntlUlUUu3qYZHNXqlCPdzUJybrhmm2PxkU_vLnS0u0wn_tA7IUFkk5tuJ_T8aM7S7FveoHmNmtSigfqsygJwyLnAtWXmJFQb3X8TMGkDUO54qoSWHr2grwTWLMgJDpxVC8j5sDp1EvBHZv6fA1WNvOqn3BheR7d4ixH1J1W68uokAqvNvcbeGpkFAvs6RiPt273suoRhFRFF0gqOwNuG4HWqTvapjzWSn5bYwjxYTHe2qY8M05xVrft9E5Mgw3IXaejuCGVAQUHuuItrcrlb4JBxyCMWORd2rMai9pBDVgCUAZiAox1PmTce7UWivmrvgBLvbUwUt5Y6XgcSoHbfTXadrAph3V5g6SUAtLa5GNKBG5e9NJtAEHfLJoWOxCRPkEHmOSiROl9lGldY6Y9LG1cu6Ertr3xC3g9GBe11YfsOIoYAcuiJTncy9AUzmvbxMrJK4aALFYMZaRkLfBEnsFWaln5LSPusq7DTb-50FgbdHvEjm3fXwwL_u9Hpl8A3Dhx660EW2YYWFT6vU4l7iWhPkqv1HBlSXMlwplNczcl_N_jNbAYDRvaeNnhs-2jJYe_6EcUtrh460-0LAz8xlmeakalOQ==",
  "id": "rs_04a6aef1fa8e0faf016ab463d6e44887d08ac838cb139e6a1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.403,\"left_y\":-0.19,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The gripper closed almost completely, so that grasp was empty. I will reopen, lift off the table, and move two centimeters forward for one corrected attempt.\"}",
  "call_id": "call_UR6Fsl0sQ3ziwdmNtIxcIXmN",
  "id": "fc_04a6aef1fa8e0faf016ab463d78d9087d09707987185a55a9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UR6Fsl0sQ3ziwdmNtIxcIXmN",
  "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]: [-0.498, 1.7615, 0.8032, 0.1631, -0.1371, -0.0853, 0.9951, -0.0193, 0.8074, 0.6353, -0.4644, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1818 left_z=0.0304 left_yaw=-0.3451 left_pitch=-0.2153 left_roll=0.0451 left_gripper=0.9951 right_x=0.2877 right_y=0.0017 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0786 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -10.0034, 8.5402, 1.6337, 0.0317, 0.1245, -0.149, -0.212, -1.2513, 7.0085, 1.663, -0.0269, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b7c629d3315f515b07f4643ec75a42ab9a43574cb47f9bf1564678c9dde69e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924005a10683d992f1d9db5ba12e8d098aa060d3b453f6a2c4110593c0283531",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304f5384ddbea172d26b4b1a76854810ec57b62d716016dec50d36defef2fe14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 8.772 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]: [-0.6216, 1.8542, 0.7246, 0.3763, -0.2127, -0.1333, 0.999, -0.0193, 0.8051, 0.6392, -0.4503, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3733 left_y=-0.2171 left_z=0.0037 left_yaw=-0.3799 left_pitch=-0.1622 left_roll=0.054 left_gripper=0.999 right_x=0.2901 right_y=0.0016 right_z=0.1786 right_yaw=-0.0011 right_pitch=-0.0584 right_roll=0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -7.0222, 7.1043, 1.326, -0.3004, -0.0952, -0.0171, -0.1436, -1.2786, 6.9812, 1.7949, -0.0269, -0.0464, -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]: [-0.5831, 1.8523, 0.7048, 0.4004, -0.1799, -0.1215, 0.0098, -0.0193, 0.8074, 0.6353, -0.4641, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3764 left_y=-0.2061 left_z=0.0013 left_yaw=-0.3756 left_pitch=-0.1616 left_roll=0.0394 left_gripper=0.0098 right_x=0.2878 right_y=0.0017 right_z=0.1735 right_yaw=-0.0007 right_pitch=-0.0782 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.9658, 5.7778, 1.5018, -0.0366, 0.0317, 0.8132, -0.1436, -1.4564, 7.2547, 1.746, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.498, 1.7615, 0.8032, 0.1631, -0.1371, -0.0853, 0.9951, -0.0193, 0.8074, 0.6353, -0.4644, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1818 left_z=0.0304 left_yaw=-0.3451 left_pitch=-0.2153 left_roll=0.0451 left_gripper=0.9951 right_x=0.2877 right_y=0.0017 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0786 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -10.0034, 8.5402, 1.6337, 0.0317, 0.1245, -0.149, -0.212, -1.2513, 7.0085, 1.663, -0.0269, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b7c629d3315f515b07f4643ec75a42ab9a43574cb47f9bf1564678c9dde69e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924005a10683d992f1d9db5ba12e8d098aa060d3b453f6a2c4110593c0283531",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304f5384ddbea172d26b4b1a76854810ec57b62d716016dec50d36defef2fe14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPeRxwK4paJJ5763hjrPDOpM3A1HGrOUb0dai10xWVN8wkfuDpB-ppqd5QEkF0enIdO6hOoKY_RpS2HcXNtLk162AHwIS3GJcsrEWpAx17uWl1g8ae1mRwWJaH3Fr3UgIZ-yZWyPsXQ2ZeMvOPGSsDgN5lIdjLcPJRKwbFzrqqV0J0TE3yP5mRMmuWVvAjQmoCs-DlBh9tzi2Wd2Im0zrSw3UCOTKTQM3fTMTPUM1klXWlPngwiND9p_U6JWE0FkE4BIa6hMfw__qacLOai-ZFgwWbz-e_ch01xDSEjstHBoh2eCbKEQj2BaMbljhNjIglkeaJlCSuP4YPmWr9IMd6AFFFmJm8Q_0AUHaznVn-7-eLlNsXdsYmNqQngGpMdLF69JtSNpWe1G6nd6MVty3gyTPGJ6DMvj7COMd-zgfg7RyR2DUdrxw4XFgPHnng6EjXdcmcqVrExv-OzF4SvrEBDhhYD7Js9C9izS6wy574zn_CDrMmcG0HtF9Ubj5wNJpZKB0yOSdJ1--la-FbXp7dHs64CLmSRUTV8exjYpTMDBgNIUbJxUtH0ZmXc3-GIN_DDeAu53SMvd7bGLEp76s65wlaZkPAHpJOgmTHAI0iohlWD7-iBKKDj5fCZsKofDMZQxYkb27DUOtZNVxfi23Sr_EzuVmE-Z4BQk0frEwHZLytiQbaTPnBB_MHbtxBg-ziAxgAmNnaL8GsN3Hy4gsYUSKSs32dGcRkmVxJdU61p5zBZ6YfOA5vNeFR0FZle2qWUHx6Ft4mnC7XTkc5STtpgqf9v93LyhTMEVY67oQTSOWBxyTNV2Bz9aHUR9qCdLResX0ELKqThL0hGao7zUIRB3W599S3J337Bh1N9TKHHPtIHd1mrdaVRde8LT8Nhk4Pxk65r3a3YMEUKoIMPClZiZdxaYJN1pWzo9bKdva03xMUTMxf3zxqHQ0D9Igr9pZ0gCCDJlTFxM8KNhEsSYf2fzluFUTP9rfL8FOJkFF7jAARN8_eZCh4-sP4JXDdnE9fuksBl5lvCY2CPPYjKE83nhPRMq3EnA1BYJjqYrpGcvEO7iX3T5O3taaX2HZWR648uzYyFKPw34GlL0kRZlIzeDes88ocbc1XYix8cot9wDR2n1wNRdeeUePewfJ8-HTrywldOx8iAkTCEN3vVWQGoOx-A3-OS-bDPQFSarjQTSLNfboTfI8MkFvkYNwX2wdGQ7mI0ivTAgmwPs--IV9Ng5GexJSDirIe5O2Eg5RXaDLbOjZBQV26PlNmPAGLfiyEo4wROdyzwiX77fp5Fm2rhlr73rS2Xk9iKAO_LXWo4XL81IK058Enyfp4ieVAnBEVwZvllDe6yui5jLer3fneIJpui_-ILdiPFBIVFPZBXPYE8R_cKgwvlvuy0FfOX8ORBlh_RHuevlsOmmnprYg0GIcC_Medqcpj7v7M1aZdL6cieBu9ABNrakVoUFFMzCoTDzNibo9CGSZ4kZ3OFmT5Qd8b8lubvSQnP2XiDyNkMuV7Dmn66WktY4o6xAvtlHmguvvyMEWxnmdhqlNGGIjuLa29RUuXKE5Nzurzk1E8mPtcL9pplZCTDoBrmvuBKx7G1Q_ODy53pKyoUC5C5aDnlAaxMM8Ix0KSZfwu_1fhHOYJNJlafaJ6xAe1ggGXpUHI3cbf9AoRsxUvir6CoXOQdr3H8xROeBvtWwKyYO1eEjHaVy76H4oah0f9BX-Ixlk1zyDVNeYrFKsyxuq35wUPY8OB2mndAtvDkmI8Idf-4xAhv7YoZ2tUFkzBFLQ4Vp4GvzjMwo6s50JMTnTQIcIjl6Y092tfI4LmyA0mchxxBjFHwFZMttDO8JABbwbZi0_s-QyFNunmxLlCVjUNwpZALbg5l-htqj3vul9mL2UsJEMDp-mhJCQYklR22TPwW7qmf4p75A6xSBAerD4NjOsFdJ6utLKqdmvEZylBmA6VGpYO7Br-9wPYYnd2a3P_vHcTYq622x20ae5VTws-r2rUdY3ZAo3McIk5J-ovLyK0aMnW2AIvgMImBBZ8isU_oCL84EGOK7T3_NKixezNj0gAkumoWCuXaEuj48ZvsoC3TQlk=",
  "id": "rs_04a6aef1fa8e0faf016ab463dac55c87d08b5d85487a52dadb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.185,\"left_z\":0.08,\"left_pitch\":0.15,\"right_x\":0.405,\"right_y\":0.235,\"right_z\":0.12,\"right_yaw\":0.6},\"note\":\"The cap has slipped below the wrist camera’s view rather than lining up visibly. I will back the left gripper away for a clearer approach and bring the right gripper above the pen, keeping the arms separated.\"}",
  "call_id": "call_HzwSuYLT7Q9ggIKjmYl6TYcy",
  "id": "fc_04a6aef1fa8e0faf016ab463dd6ec887d0aaff0b20bd21495e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HzwSuYLT7Q9ggIKjmYl6TYcy",
  "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]: [-0.6384, 1.5333, 0.4076, 0.6209, -0.284, -0.0959, 0.9961, 0.474, 1.6417, 0.9352, -0.001, -0.0872, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.3365 left_y=-0.1836 left_z=0.0648 left_yaw=-0.3598 left_pitch=0.0871 left_roll=0.0615 left_gripper=0.9961 right_x=0.3927 right_y=0.2228 right_z=0.1022 right_yaw=0.5759 right_pitch=-0.1465 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -6.5983, 5.1077, 2.0733, -0.2125, -0.0904, 0.0855, 0.5265, -7.6376, 8.7726, 1.9267, -0.0659, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612f3b1b97861aa3f1e2071ab78bb96955b0a255bdac6e6bd8e1947785659240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c42973bfea5c027691b181ff3aec3b7b539fdce7cd62fe8cfef261591e51d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc12811d52794b7ca6f9caed55d8d53a07e915d16d7a688f7f915851afc4ae2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.291 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]: [-0.585, 1.853, 0.7147, 0.3855, -0.1837, -0.1226, 0.999, -0.0193, 0.8051, 0.6392, -0.4576, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3772 left_y=-0.2068 left_z=0.0017 left_yaw=-0.3735 left_pitch=-0.1666 left_roll=0.0423 left_gripper=0.999 right_x=0.2891 right_y=0.0017 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0656 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [1.265, -8.8684, 4.3556, 1.3748, -0.1441, 0.2076, -0.0073, -0.212, -1.1282, 6.9675, 1.7558, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.498, 1.7615, 0.8032, 0.1631, -0.1371, -0.0853, 0.9951, -0.0193, 0.8074, 0.6353, -0.4644, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1818 left_z=0.0304 left_yaw=-0.3451 left_pitch=-0.2153 left_roll=0.0451 left_gripper=0.9951 right_x=0.2877 right_y=0.0017 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0786 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -10.0034, 8.5402, 1.6337, 0.0317, 0.1245, -0.149, -0.212, -1.2513, 7.0085, 1.663, -0.0269, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6384, 1.5333, 0.4076, 0.6209, -0.284, -0.0959, 0.9961, 0.474, 1.6417, 0.9352, -0.001, -0.0872, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.3365 left_y=-0.1836 left_z=0.0648 left_yaw=-0.3598 left_pitch=0.0871 left_roll=0.0615 left_gripper=0.9961 right_x=0.3927 right_y=0.2228 right_z=0.1022 right_yaw=0.5759 right_pitch=-0.1465 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -6.5983, 5.1077, 2.0733, -0.2125, -0.0904, 0.0855, 0.5265, -7.6376, 8.7726, 1.9267, -0.0659, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612f3b1b97861aa3f1e2071ab78bb96955b0a255bdac6e6bd8e1947785659240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c42973bfea5c027691b181ff3aec3b7b539fdce7cd62fe8cfef261591e51d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc12811d52794b7ca6f9caed55d8d53a07e915d16d7a688f7f915851afc4ae2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPpRq5zd3hIN3hv7Zk9x-tTlGO7lLSeZJsS2X1ldd0LGt8-iLKNEQvqEHx53lISdF6tlmyoSTEobITPYCqbbY200bKx4670r0HR3u7i1z-4yHMl0bBTnpUft3P8H9G5qBjjnrNXEfrt2x681mogTGet7ARQIMb9Gxz63xPIKV8l7ZF8NAALZPlC6js3jGP7FYsqJNsiFcTciX1IaJDTeItADR49oRL5tzzfbuTmFyy22OZ4p395I5pSx8nzETsufyvdAcQvOhn4mb4ss2XVkvnonBXZQ_lOzB8kp5W3TnBM0V-6UGI-2XWVONHA32IUpKv9tVLFar9UDeogY39Hr-yqCGkGKaAdFx0aNrg9MpgiK4r-rXBAp85_76LYe7DAbyC_f_DvFdTtUCt_tgshgN-mksjQElwsjVVsJl2k_na9BM4igCN1rFB43NM1priK68KuOhftkS6V6p0SFL71fnejTYGSnYa2uUoh6Amjm7tk0MKfXCd5zKQXoeomZGp5XmxHaA9NplCsOfHT3nyOjmA1l6D4vLpjhKPsxij-V3pU6fMgmxlRZNDAe2BFevM87ot0vPV2K_TUQ13z1rcCkRQNDF7bihGDna1_vqdn47fy4LsvNzio-OuaGuRPGrDIpTce9NI1GIYUvcrIhGyf6yPEfF-D8MGOW5oKV5WGJghtbj3UI_WByjwiZUZ-kCRokfV0QMxpLIPVCoHtC0nsQOISfqSkdFNUtqfBuIERZ4IAUb2cZjv5VcNHaGAcqG4hAUkqFgvHoeTYsx8XzqoPy3u65SMjXeSYDRGLsJ5BkS99QjTl1NdaFbHzoD4s8F4TJwOW6fx1U4uX71cO0J6vLWeDVXfqJu2D-bcPacucpF0uRrUFtQRhaAiMC2kfb6Wi9zI14jCg7jPSzHE5aOkk8--5Kic-WsN1QUPzaprEjTKt54__Z7XAxhn00WoITgRRtwRDh3VgfC96AjijluZh_u_UZAC-35gaNhLvDBfGuXp647ExEB5cICjSCm4DvO9x0o1kRwPfm-3QJ8IfS99zGj8rfhnGWxglRYoNl-84oVt6l9JvCWnrslJb1gD84iFmn_zLuCfOQSAU-K3DyRiPtFDn0JZWEIR5EDY0hyLdbV2FeW4L_FbVS3UYcXcz4_wwlvC5JqI1BpFHfXS9_FSvicId2RatlvvJwzdCuOAtLKU0elDwd3g6cV5yVrs2UvJ05mVXQuJ36sJhnXnYzSNXzz415i-rmxWKBzlK6mNsLkUcGV9hDaOd7Xl6y0gmH4MvchhAiR16v5emvI6PDg6xVRO5LMUcK1HU2xfRQYmaD3Ry1ErQK3DotwC20nrJdQwUzAdmSDWtLbanD7COh1_lFNB2nscWnYKA111qyyiMch5ntq_1GYYOX4yJnpqikMD2wjRLDd-qMnEsmGJ4QY7egvQplPSOL2RIJwJEU3GIlv2tQcJKq2fxWDLWl9KKhLw7ALqeQ_hnPsqIv1fbQOVZcHCde65Go6Ycn5CispuV3v8UsVBpMZ0Tyf4CnVJYnSaOaNqKyNGu_5dNZeJUTKNtQtN0TwVFhxV1f1pnGp0tAVKNihzJv1hsg6xLd0M0-esDInkDL4JTaVRIWYYl8qYMbk0gnyXCTtI3cJqd89i1a4FOOtgugz9W6-rzs_cEYUOC5LZyXMIBJLcgB5vKbZRFed4s9HnJeBtpMDMtnaw0Y4USLJ_q_FH7CNdCsY7zu2EfzfWYnGU1L3ysbdU2rKVOYHldH7Z7zskYHeJFeObZPFtu2NZlNum1YCJYTWgU6S4HF3oNwEQUTOhYQElh3DV72JmqkzJpIdiaIVcaOYtozlWxlOktcqvVaLld-yukaYuJXXhP3RYt_TbS0G5rU37SMLTRvjJFCqI8nWWT0XhxXkdRb75BPMd6DRJNID75NVuojU06aqEBupOP0WDi3wTKu6len3A71Z0d3Uezf-GbCzpeCyLbXCipPcfDswdob1t1FgBOibVml1EHrYV_hxv9Rfw6BUUL6jqSym0Ey4nrAoKvlLm7Y8eUuTARezpvRpNrtsaFHiOqd3Lrk8GrCi4lh1lwLWEAgwjweBM60vUwe5Nk6XtRgmNynkh2CxKwdhzf9AxTsQnC-d6zrmmroy-oiJ1NwQVKNmUFHU8Ra1OH2dAX1tNZX6-isl8Vrnemu8i1aEUA63To88URCm9ameJ13j405nN1tetHdcHQAall4Yyele28QL-tpvqAcj_noou-DWP6vEWNYctETRFy2KrDagzQ8X8NcaLNBu4364v4R_qJLBJ2nl3E-leIqC-DPbx6x8WNFAT6zqieRmC90yfvqs3yo9mVIa8vOVMhRJPvJQZ3DTToin84Fq8lwURcoiofrwFWyPez87H6aXV395zs2yNukErtcnQTR29F0qjdnrvRLQw9Yr-RcVbxtvQHuvbFad4t0EHPelD0kdo6UkfFrAlWsv3fyy_JlK1ZufaLhbIVuyx74D5HhiVwEHDjGgeE56e9DoaNFs7HYpg1RKghd79gcgthUjEJjk13bJAAaiN7I9nIk6Ewykmz0ZrYeZ7dGYFSR-a4aIi2xKqNof4jilLiSoDH3l6LTptDy3ZeizgddUgjD9zmMlpeWpMJB8VrD44xhv6aN4LYp8QEuALH004CSHcydJe7gfkHBrw4oxilDO9ziX3bkz6HxGtDgaLiAB-_2b-9IRvtZIEC4yUZP3yTlABFxM0kunHSu7riXTrXF0j9Q_nJZZVplhW3RxzHTySY0KisM1IWh-NbMsQcWsCLGDZ-jiDpgH70MBcEiKP6WAeI5JRqvU1Z6rTURzuydjtNgTYaGo06bIQ8c0mCl9biqkkLIfA_2wf6l4AP3uZOZzWp1iUfdK1C0EQrrYlF3S0oCZgQA1oHdPO1R1hXv9nl8eYi_lg9vqj-ej-DveZhNyBLPn9EtfqwM3cB3Uzq6U3j7yCkgRf77q8XigzQLMWKxgoqImo_8Tdr7jaP4Gas5R5iVqAts_m3v6BDOptKAMzrt51eFuEacnBBr-JiUOpivoM77Uwsi_dMREbGGr9LBm3kenw7gnZHsYFpw_1d-MFIn_6fQ8mYojPfhJzrBJXwl2AxedkYuFiSJ3nVP4QZknZxtgPLvaQ5HeUbw1aS7GbISS51trjGbQtVvJWif6yaLu0KKCDJyUPHzDdlFUvJDqE=",
  "id": "rs_04a6aef1fa8e0faf016ab463e1fe0c87d08beccb7d35e99236",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.22,\"left_z\":0.12,\"right_x\":0.39,\"right_y\":0.225,\"right_z\":0.012,\"right_pitch\":0.12},\"note\":\"The pen is nearly centered in the right wrist view, with its gold tip pointing away from the jaws. I will lower onto its barrel and move the left arm back enough to uncover the cap in the overhead view.\"}",
  "call_id": "call_OvBeKU2sbicWgVxQ3g4Sp9is",
  "id": "fc_04a6aef1fa8e0faf016ab463e7f7c487d0b0a6b1044865ca0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OvBeKU2sbicWgVxQ3g4Sp9is",
  "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]: [-0.8852, 1.3006, 0.477, 0.2516, -0.4709, -0.2176, 0.9962, 0.4793, 1.9755, 0.5995, 0.8547, -0.1032, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=-0.2191 left_z=0.1045 left_yaw=-0.3887 left_pitch=0.0662 left_roll=0.0684 left_gripper=0.9962 right_x=0.3835 right_y=0.2239 right_z=0.0037 right_yaw=0.591 right_pitch=0.0395 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -5.4632, 9.2923, 1.7118, -0.3346, -0.0073, -0.0024, -0.6085, -7.3778, 3.3162, 1.3602, -0.0952, 0.3834, -0.0171]\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:950c851124db6ac1820e1a5225d427aff9cbc5251522cb19660e609c99013ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116ef6c1f6da7f68c138b3a70c8d5a01f22b308ae98cb3c2f119fe841a9b4119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb00cb413a6ab0f1b8a9a535c184654d15b0f7e378a29e8ee18c9ae7818f161f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 8.167 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]: [-0.5831, 1.8523, 0.7048, 0.4004, -0.1799, -0.1215, 0.0098, -0.0193, 0.8074, 0.6353, -0.4641, -0.0208, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3764 left_y=-0.2061 left_z=0.0013 left_yaw=-0.3756 left_pitch=-0.1616 left_roll=0.0394 left_gripper=0.0098 right_x=0.2878 right_y=0.0017 right_z=0.1735 right_yaw=-0.0007 right_pitch=-0.0782 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.9658, 5.7778, 1.5018, -0.0366, 0.0317, 0.8132, -0.1436, -1.4564, 7.2547, 1.746, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6384, 1.5333, 0.4076, 0.6209, -0.284, -0.0959, 0.9961, 0.474, 1.6417, 0.9352, -0.001, -0.0872, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.3365 left_y=-0.1836 left_z=0.0648 left_yaw=-0.3598 left_pitch=0.0871 left_roll=0.0615 left_gripper=0.9961 right_x=0.3927 right_y=0.2228 right_z=0.1022 right_yaw=0.5759 right_pitch=-0.1465 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -6.5983, 5.1077, 2.0733, -0.2125, -0.0904, 0.0855, 0.5265, -7.6376, 8.7726, 1.9267, -0.0659, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8852, 1.3006, 0.477, 0.2516, -0.4709, -0.2176, 0.9962, 0.4793, 1.9755, 0.5995, 0.8547, -0.1032, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=-0.2191 left_z=0.1045 left_yaw=-0.3887 left_pitch=0.0662 left_roll=0.0684 left_gripper=0.9962 right_x=0.3835 right_y=0.2239 right_z=0.0037 right_yaw=0.591 right_pitch=0.0395 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -5.4632, 9.2923, 1.7118, -0.3346, -0.0073, -0.0024, -0.6085, -7.3778, 3.3162, 1.3602, -0.0952, 0.3834, -0.0171]\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,$blob:950c851124db6ac1820e1a5225d427aff9cbc5251522cb19660e609c99013ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116ef6c1f6da7f68c138b3a70c8d5a01f22b308ae98cb3c2f119fe841a9b4119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb00cb413a6ab0f1b8a9a535c184654d15b0f7e378a29e8ee18c9ae7818f161f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPvbZBy-3Nq6sOvefyefY80IWjGl12NXX6jyNgDA2a4vvW9G72Awk9Bfhzj3iupl9eX1zGHrDP8xhTH3WrnX_2lyXAe882RrMtVVL9r30d-24l3Qw9V_ECrd7rQd4Wj9kbX0YO5zHMZWfgLyQcJG8FHZBuNVDf24ZW3sMHroruxf686CH8IehYUiEE3Y_TqAOl7aPGJOUNmophLQGxoGdGJ6d8MrFqN-_x-3R5BGmtqTVFe0xHJHN7zt0Hywb8lxPogbDM2DE_3m1DkphjhL-rEUmUNzpX5uXZGqWbq-S5L42bocN9cbSmesdB8F0X7kRCm9-4GRFtQczDeRTDtVUTB3IT2j2aaQo6tjKDa7CIPVVyoli1WD70Cztl5o_OOLQL4PbAbNlkyzgnbDqz1nCh9OO4MPFzpiZvYnRpjBF2JEvkZGlPPWsQkw6nx5p0ccakr7QXkEQC40kEr7_ev7-mwz7Na3-BUkdwf_mGBsBh_fyGykO3Ui0A4sAP_sXnVyJUSDnjDDiJ04rGRvcoXfUq3CMW4xmA8NRAuASzDfNZrtbm21rT03rbhQ8KXrkfEu2A7ux9LFfIlAthf7eXF4w4Iu3SaPeHQz7uh7tFFfWtCI_harAesQIPAlJN0gHt_MiZBYimH_jUd6b3b-6jHpTFU3FgMSFU9D_mAt66V_G62bb3PyKFpJ2GIgobwrjjFLSpHJSFNpkzKkWYyZP39sH4fu-3xRZLYvQAI61QspuF5bOUKoDhFKpMTYS5OJ4EPTLqZAF9wUW_7dM1vC4mFi5odLWS75Jrrh6fOoLIYzz6a9hdyInqbNXEniROsQYPGhoamQr_IDpIivW61HJGApDrmMqF0Bd1YQBj_CKSoUWwwnM3qznU8-ej2IBVqNmZOnKDA1YpmSPtanXCwMtfKXgIDJisBqyutvsIqIi-8mkoyrNs_EWW6O0dUj3x50-4CsPHX1skZL6ktna4jsl2wqcbmLsFKNb137ZY4cXIIq4A3shOgLYm0EukH3OaYaAcgujtzY9vm3ST6OjCbSTdA7r_5modWYLSbKU_HBgHTS6GzRyBx7W88CEPdEkNpYkyu5GHrySOCS9yB52PGOLHfYMLJkG6izvbuTzCZ4lPp-PlZ4AZXuoWB8VIQZ3Faih9ISidrjh5g8BXk4egbAxoIB0xKLEF0GSKCvQ2qxZ7wYH7mxAjoIvNyoMtpxNawuKhAx27TgTKzJtJoh0tu7LoAEjPV8RnAq-hlMAAPtrwdBdCVT5Gh9F3XFGPnALqxWHIrOhjJhbFdLHm-bwJhCI2Pa0AEmw3eEOSlq-NCCmuIqnm_0TD2wglMn_4VTGIb5duIBDk090DxGVGCcxjclnU1b_xyTTVlVBp_UEvPpN_hNTS1AJtqaJJDp0BAVWeE5yOLNaG5ocZPzGc3hpY6_CYyEncGjIQrfTKdGF4HOSHnfSosWHgdP4FhJIv4cL97lOWm8HTWRo2FXuvotIA3KaeYjBX7HuIgXH4nMLQf0mmtM3RG-GiWQO_0Y9Gq3ZDelmDHovPHpoPjcu4qED33CSAHBkyryNGAEV9DOW1dHHItpUq96UFmiNgrb5ATJwPTBHvMz_ORiq-5DiFinMM0zlCREWsqOv4M-6Eb6MK9J51QxMab1WkefcryWhPJX7J2L4s_RV2jn4CpapWqb5AW9cMgoY-nWmMrEcC5aAv--ea52KgUF8hfnfakzYKntdJMocdCssVgzoDl6-ppvGB5K-wKSSf-nIawl9sFIeDTH_0v7zE1F7ZbJLuniIEb-TttWjcPOUPbghRec19r_Ph48isev0GcTscT_WqHGyIC1nvRFtwFVWeF0OeJjTE8D0vj4SDYgZdYwN0lKDKyzL2hcPKfI3-WV20wuG_c1-rjugMzSWljkiNm9ubPOanYL-eFq-BV73cq89TID5qMxsIuD96oMrQVS4ha9J0Uw0C4xG_DgalHqwe2cLBdQrt4Uo4obIninBafUbWlC3hAS7N9fe162gKXZM7dWbSnONx9hTXzLCbQhZMi2cODDujsP1G9j15YJRqXaCn2_4uOpgVW5Fsf8cs-Zh1jOWnXCgtbp19vqVRjHeGyWdPGAkQmtWSsa9x6b7RZWC97b5VwjCs058ijQA7hl8UCa_gnTV1T4-Taqqwjkn3jPohvyhzE9MN9_GKbMHsE",
  "id": "rs_04a6aef1fa8e0faf016ab463ebbfb087d0bae56bf2d02c2bbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.29,\"left_y\":-0.22,\"left_z\":0.035},\"note\":\"The pen barrel runs through the right jaw centerline at table level, so I will close on it. The cap is just entering the bottom of the left wrist view; I will lower that gripper without advancing farther.\"}",
  "call_id": "call_mPrvAXLuymiVc05xZvviRbcY",
  "id": "fc_04a6aef1fa8e0faf016ab463ee6ac887d0aad6fdefc5569ee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mPrvAXLuymiVc05xZvviRbcY",
  "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]: [-0.8837, 1.6115, 0.3546, 0.6331, -0.4709, -0.226, 0.9962, 0.4793, 1.9915, 0.5945, 0.8883, -0.1062, -0.0593, 0.0559]\nstate[eef_state]: left_x=0.2856 left_y=-0.2161 left_z=0.0285 left_yaw=-0.3838 left_pitch=0.0211 left_roll=0.0859 left_gripper=0.9962 right_x=0.3837 right_y=0.2246 right_z=0.0025 right_yaw=0.594 right_pitch=0.0522 right_roll=0.0016 right_gripper=0.0559\nstate[joint_eff]: [0.3897, -5.5726, 3.959, 1.9902, -0.0952, 0.0904, -0.0073, -0.2393, -9.5111, 4.2462, 1.4921, -0.0415, 0.0464, 1.4921]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63c50e0f36c28bd1b9605ad868b579646705cac76fd4dbb2792ab64ff4aa61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac530daf6f81a6b44a7fda8054080de8b520c8918be7bafb5fc728735349a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90c57b2564c9389183c27f354269a24efc2855ec8ce2f4644dcd5c86f574e1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.819 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]: [-0.498, 1.7615, 0.8032, 0.1631, -0.1371, -0.0853, 0.9951, -0.0193, 0.8074, 0.6353, -0.4644, -0.0204, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1818 left_z=0.0304 left_yaw=-0.3451 left_pitch=-0.2153 left_roll=0.0451 left_gripper=0.9951 right_x=0.2877 right_y=0.0017 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0786 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -10.0034, 8.5402, 1.6337, 0.0317, 0.1245, -0.149, -0.212, -1.2513, 7.0085, 1.663, -0.0269, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8852, 1.3006, 0.477, 0.2516, -0.4709, -0.2176, 0.9962, 0.4793, 1.9755, 0.5995, 0.8547, -0.1032, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=-0.2191 left_z=0.1045 left_yaw=-0.3887 left_pitch=0.0662 left_roll=0.0684 left_gripper=0.9962 right_x=0.3835 right_y=0.2239 right_z=0.0037 right_yaw=0.591 right_pitch=0.0395 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -5.4632, 9.2923, 1.7118, -0.3346, -0.0073, -0.0024, -0.6085, -7.3778, 3.3162, 1.3602, -0.0952, 0.3834, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8837, 1.6115, 0.3546, 0.6331, -0.4709, -0.226, 0.9962, 0.4793, 1.9915, 0.5945, 0.8883, -0.1062, -0.0593, 0.0559]\nstate[eef_state]: left_x=0.2856 left_y=-0.2161 left_z=0.0285 left_yaw=-0.3838 left_pitch=0.0211 left_roll=0.0859 left_gripper=0.9962 right_x=0.3837 right_y=0.2246 right_z=0.0025 right_yaw=0.594 right_pitch=0.0522 right_roll=0.0016 right_gripper=0.0559\nstate[joint_eff]: [0.3897, -5.5726, 3.959, 1.9902, -0.0952, 0.0904, -0.0073, -0.2393, -9.5111, 4.2462, 1.4921, -0.0415, 0.0464, 1.4921]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63c50e0f36c28bd1b9605ad868b579646705cac76fd4dbb2792ab64ff4aa61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac530daf6f81a6b44a7fda8054080de8b520c8918be7bafb5fc728735349a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90c57b2564c9389183c27f354269a24efc2855ec8ce2f4644dcd5c86f574e1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGP4udp9xWorDqnv487vxYfrJhlUHz5Dj7Pe_vx-5NABnUVBupwMwU0qMFz08iIVMCLTqCWoL-NlCfnzahg9rYoHg9Aczn7-YTaCVcWjMy-0p9ecGbXdz8RJos4xeXE8csdY1dcGYuTqqieA-bcNGI964zBprbQcv5KerLc7qOLfdJzhFmcsXv1r9u1586eSZ9jRiT5Rfub7kZmQpkZH69oqz_dfZSG8k_cRdkPeEchLCHsRPpycxSOsmCF22_ib3gra6XoavfWrZbStZcH8F7pOik0JW94TE_7sKCisSWeNMdWqIcqbcQN9LcdQmJ9jkYi3aYyP2I-aLjW4VVHqollmChfl55wgiE7ha1lRsIibzhgWjCcKXUYtkhUADrgq2PH0EWP76cm-uoLgcwaZcAxuIQzPHp5BZXdG7vw1ITxtROp6UsRftpY56Lit2Xl_017AhCbXT0EXdTLU_LzqSGBBUIpapIVc8TqZjq4EXZeT20h9moE3TbqZJpuYP8S7J2jGuXdjxggB2CCIBLo9Wy35yDXyVzJJBDfxtMWp1RSKg5-fJ9aYBUves_XN3gB9gJZen-7IbZeB5XvngEN98C1gQFMz9zjVmLasNwE3Rg6iz9XJj18sb_dSLepXtFSu9BXQgmAVd2UXc3bJJiz84w_qeK8KaoS9bUbPtzhUeMi-GsCzAk_GwtnGjOX7odeZ-hYSjUZTEpwO2aEGyBAzopf3ZXeqlE95mayq6tKfAWUUgRNDyQrCKrMuYi8bbnR22PUazJOH_JdS63ATW--AoGRILtTtnUoDrOyAc9ZUHvEaEBUa2go2jwqtLB1VBh79GcLu7QO-oNqfq8k_7SgYiWxmqdXP-t2Fw60GVGR5ElQtNoLH28E-zIVLGgJKPEgaIaxNbtSeHEcQyg34-E6FTAHkkbRi8bE5hBa69kL3EMwEtUuRIGecbPr2DF0tkyskpQM1wAEew0Yvwb_RIzxhEPI6PvwnY3t3qDjQhNmefUL-gBd4p7cT48wBFVVOFEBL9lN7VM_YtZ_-I3VsElsWuXtdsIRQg7XqNwY2yXUHHB6BihS7e6tH4i6k0tQ-9yBjXTsVIAl3LquqY6nKQXcPyyyT4yJniSrjbKw_eGkEsFTe9SCU4XWG5fOYCzmCqqGwtVYub-4NjtPgsyjPAVae7jfeVWAtdmouVV4XfVqQj1vT5007mQWfLjO27haryzHhJlINerL33x_PI8KG1c-avGiSTncgWAs3yyd6mDl1XyXD1bgQq02Pfc3GWgG2nqpHi5dkIhRa2OAUYX4xG6_TnjxCkOdlOvcyOcyjEBLA1AejWomER7fQ1Op5qQQHdrgjLnIr7YK8wJsMFZUfY_0b4QWIgI68XH9ZkkR4qlpxUWFbjexPUIfsgnZSvL8W4jI_VSmAawUSNkz5pCrsWVKNEPAAIraFZOf_i8OkE1yiaWT3QFBlviiwEo5Z3Sw6dy9O6iZtYYZIJimtpIRJ_VWVmIwzsZ7-P5PtCdOMMAkMebp4dujrhs6jKLTlJrlCgB2Qe5ZvHqGmbThGwnc7IOLa7x2lwwLKmH1455Mp83cb8veSFl_ZZueHHcgv9FhA5e4F2A54VWWNUPLKTFz7BcPsRT-PrJP-rgVy6Dtb2WrVCS1PLGkQJr-mOukNTahkHPKDt--VigSRIJtRXY6Cs3NNzn5jFAZoEAuXAhCMTjS0IO2dZ11IuV4M41hOfPREb42xIqbXcx0gEvEvh_Tg_RF-FKWFEwSUQX7Asqs2EPezW6aJdLe94JDl8Yb8eLrj-PIsDn6W2sHdUdTKFlnla-_AIYfBw-_kspmk0zx_fU0LdY9nbg23Cc49CPWf9YIpMmBZyHf09tfJsZEPA8_-gSuZO5hWj6cvI-aFhDDxrjSoU4lPbXWIxzpeWcjVaXMnKZxcf4dX_ujmjC7sVEf5-B3dVi2zmuNZD5Vz19JBoMeH726gAHX__0BxtS852wWa26levjvFzbBFkJid7mb8M0vTf6DwntGExGIHX9FWWvdep0GrleDHhRwtJOk1Pye6rasncPP4br-pcHJ-zDK02smBo0-STFI057fj_zDUbH845zYr15ahMtMdyxnFw3ao6H8GsV6GKuVD6ILx7iVloCm27AstBx3XFXXzuPGca3AKu5DWsQyyNa5RIUWVdMkvp5vezxYKklVq-L0vQ4K1-mWEnKFn--2JHzrJoreQ_Na-unM114-LdBbkq0SlI5_FwqDUjEHt8Tl5nEyt91Wnq9poUR5HV5fEf9Em3Tl5TrLmIaZ_i16Q2ebmrn2kCR6M_H-ts1hAmKYPYyFY2S-l8LLZLuu6sip8wxBaFuFSuUpENWFsaWgVGnXL3frbXj5pYfLtoLSYkyjmOYl0Pb_RtlLy_7p4wvfmqpUfA2LhocufUGEs1X9ASb57a2-cLuzdvC1ugd6tdT3GMk9-Gqo-acUlOvltFV60n5G_SGUVGfAGQlqh095Jb97ccq12Hf9St3sovLK4wxDADRpAApsxD5d2BdTs7HaVDLnG5dbclSHi986oWhY=",
  "id": "rs_04a6aef1fa8e0faf016ab463f2711887d09c1768fdf5193599",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07,\"left_x\":0.295,\"left_y\":-0.202,\"left_z\":0.004},\"note\":\"The right gripper retained about five millimeters of thickness, consistent with the pen. I will test it with a short lift while centering the now-visible cap under the left jaws.\"}",
  "call_id": "call_oHKxoenJG7erJn67YyE83H5e",
  "id": "fc_04a6aef1fa8e0faf016ab463f7819c87d0b86a23e60298345c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oHKxoenJG7erJn67YyE83H5e",
  "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]: [-0.8165, 1.7405, 0.3161, 0.7925, -0.4301, -0.2005, 0.9962, 0.4793, 1.7504, 0.6254, 0.6273, -0.1078, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2931 left_y=-0.1992 left_z=0.0025 left_yaw=-0.3632 left_pitch=0.0016 left_roll=0.09 left_gripper=0.9962 right_x=0.3827 right_y=0.2244 right_z=0.0595 right_yaw=0.596 right_pitch=0.0633 right_roll=0.0 right_gripper=0.0661\nstate[joint_eff]: [0.4991, -4.9162, 3.1932, 1.5116, -0.022, 0.1929, -0.0171, -0.253, -8.9641, 7.5419, 1.7411, -0.0122, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5d8ea87837333b181ef8f3f884a861c5c753e62424865a9c44175a214a3870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4643653e5171e94f766477b2e99c021738f150bc41639a7bab69ddec044f7777",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086d43a4dbfb42c9ae3e1da868276e714b1a551775493eedc17e6838e80b919a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.968 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]: [-0.6384, 1.5333, 0.4076, 0.6209, -0.284, -0.0959, 0.9961, 0.474, 1.6417, 0.9352, -0.001, -0.0872, -0.0639, 0.9994]\nstate[eef_state]: left_x=0.3365 left_y=-0.1836 left_z=0.0648 left_yaw=-0.3598 left_pitch=0.0871 left_roll=0.0615 left_gripper=0.9961 right_x=0.3927 right_y=0.2228 right_z=0.1022 right_yaw=0.5759 right_pitch=-0.1465 right_roll=0.0085 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -6.5983, 5.1077, 2.0733, -0.2125, -0.0904, 0.0855, 0.5265, -7.6376, 8.7726, 1.9267, -0.0659, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8837, 1.6115, 0.3546, 0.6331, -0.4709, -0.226, 0.9962, 0.4793, 1.9915, 0.5945, 0.8883, -0.1062, -0.0593, 0.0559]\nstate[eef_state]: left_x=0.2856 left_y=-0.2161 left_z=0.0285 left_yaw=-0.3838 left_pitch=0.0211 left_roll=0.0859 left_gripper=0.9962 right_x=0.3837 right_y=0.2246 right_z=0.0025 right_yaw=0.594 right_pitch=0.0522 right_roll=0.0016 right_gripper=0.0559\nstate[joint_eff]: [0.3897, -5.5726, 3.959, 1.9902, -0.0952, 0.0904, -0.0073, -0.2393, -9.5111, 4.2462, 1.4921, -0.0415, 0.0464, 1.4921]\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 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]: [-0.8165, 1.7405, 0.3161, 0.7925, -0.4301, -0.2005, 0.9962, 0.4793, 1.7504, 0.6254, 0.6273, -0.1078, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2931 left_y=-0.1992 left_z=0.0025 left_yaw=-0.3632 left_pitch=0.0016 left_roll=0.09 left_gripper=0.9962 right_x=0.3827 right_y=0.2244 right_z=0.0595 right_yaw=0.596 right_pitch=0.0633 right_roll=0.0 right_gripper=0.0661\nstate[joint_eff]: [0.4991, -4.9162, 3.1932, 1.5116, -0.022, 0.1929, -0.0171, -0.253, -8.9641, 7.5419, 1.7411, -0.0122, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5d8ea87837333b181ef8f3f884a861c5c753e62424865a9c44175a214a3870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4643653e5171e94f766477b2e99c021738f150bc41639a7bab69ddec044f7777",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086d43a4dbfb42c9ae3e1da868276e714b1a551775493eedc17e6838e80b919a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGP7gofK_bIoD3inv0mjyZuj7m3p1YEX7rxb5GKPSk2gImfn7AA1tX42HgBkRoiosabzba56PcTi9x9o5mSemRiOdYcFFFAMjLujjLvRhK2RE1E7QsOmwB4RNoNyKdgQ03pUBr70N_hJbWh3ODoXRabZ80bZyIg17xhmKIUnGNeYcchhFGkp_mEaRyi9c3TTkHY6dMZQh88ofkYjzoCO2K8X2Li4LV0gjbGyEfr4TUxnEQomg-QwJjyNCCfLjzEaW2TAPLEFLsdgbAQ4oX0G6ope14mr_gx4Qx9NbPzOXFKVGVem2cQ8wPljJLZfEMTEqINDG31Hs1xSXEkIL40HBWlJ-I2srogy-KmXbYyWOgyrPQrwAj6Yrq6uAFVQiSGoe20jTrcrP7bD6-tKa3Cut8_6bSlU0Ws8jCcOk3LFvZps7fNrzp0mEhI30CqVlr58yl2ovLNBjI25R-xSf6u-K-_0INDHCBT4UeH1ostEUA4VmtGut0t_PVOEtvbub87T6fzUAEbdXEhao-3VFVowSqdFUt6_lhyf2cFKYxvuErRk_-QqdwrSRw79xql4d8kpoRoAbptVqsf4WAkiA-sDH9jzHZORPYOJjUuCJxPCvbztmWLnol3qL_Z35P338cR2gUH5wGlWyA05NEEDs-lFdgGxn3a2mEKIzllf9-v_47bjLKcKyuAJBb4Za-lbOXHE0WYToar-GLDkOC0XRa-PcOL8WAfr1EwObqalwj5gML1e0DBHRugLifUqJvaOSZurOBXnS4qPjY65O2I2WGMJy0pHFbObquqpOWFmsOM_q1CHnaOfEGQn8r37vrr7gVzAUFLwQuI48Sd_-AXZsE7PO2zsLlwt9wLIuPXopN9Ttd9I3mxf_5mDg5z05oIUaEBxSj0wYqrYnbPun-tIq4UUFVZTT3tnxiFKLsLmD517yL_B_OKF0g-bRfnyhotGiGy84X9dDO1U1-f-a6DzsKnDEz2O_oIEsim1vzc9BibAkekRolmFapeihR1FhYcGQQCpfywRVoeMafXxb3AM5tfl2zxQxxOC2edJjXiEZcEIB4mR-WYH5otqohCjvNh81kBEKMlGaWmGIsWQeHyNiy9xp1vG3GsBN9stKjIKoP6qufq_qaX4zv46Mt_ybRN34Eg7Dp4tHAuLN_FmH8cC-GDBALG0l5r9GBdrJOw2WIoazCjCLPDOxm5HlAeOozGqYFTAAXZ4fhQn7tSZJIeLln06jIBaFEHOjNoHJMCsbGOxT-WewKf65LzOpLf87k-m13F7u7HSkXSK3bJuhH0OpYg59QbP5Bc5GcKIh3FjaC0U3UBEEd7SUPQaSEjIt7xVG-pTQPe2TyGpMxlBWCXdIndDT6H0wwuqHHim7JfuUApQeaHc2NOtFMvPj--D-N49y_tggqAM",
  "id": "rs_04a6aef1fa8e0faf016ab463faadb487d08090e19d0764ec1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.16},\"note\":\"The pen rose with the right gripper and remains securely held. The cap is centered between the left jaws, so I will close on it and raise the pen to assembly height.\"}",
  "call_id": "call_YBHxcG6JtAjxt151n1NSvq1k",
  "id": "fc_04a6aef1fa8e0faf016ab463fb3ab087d0b7549a377a91be3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YBHxcG6JtAjxt151n1NSvq1k",
  "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]: [-0.8116, 1.7508, 0.3126, 0.8513, -0.4149, -0.1818, 0.0097, 0.4793, 1.5059, 0.7963, 0.181, -0.1101, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2967 left_y=-0.204 left_z=0.0087 left_yaw=-0.3803 left_pitch=0.0376 left_roll=0.0787 left_gripper=0.0097 right_x=0.3799 right_y=0.2234 right_z=0.1376 right_yaw=0.5978 right_pitch=0.0327 right_roll=0.0048 right_gripper=0.0661\nstate[joint_eff]: [0.0615, -5.4359, 3.8906, 1.5897, -0.1197, -0.0024, 0.7888, -0.0752, -8.7043, 9.0872, 1.6874, -0.0073, -0.0171, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8aade10fcbd23b0371e9f376c615970fff921d999897b01b7c65b891ad6386f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72616db63ed97c07172745d7e407f116bd934d1f44cbc33092e9e2e43abc4953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f3b07221be1f14486b43efdc622ece7fef9971145cdde62a8c5f0fac154120",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 7.953 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]: [-0.8852, 1.3006, 0.477, 0.2516, -0.4709, -0.2176, 0.9962, 0.4793, 1.9755, 0.5995, 0.8547, -0.1032, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=-0.2191 left_z=0.1045 left_yaw=-0.3887 left_pitch=0.0662 left_roll=0.0684 left_gripper=0.9962 right_x=0.3835 right_y=0.2239 right_z=0.0037 right_yaw=0.591 right_pitch=0.0395 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -5.4632, 9.2923, 1.7118, -0.3346, -0.0073, -0.0024, -0.6085, -7.3778, 3.3162, 1.3602, -0.0952, 0.3834, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8165, 1.7405, 0.3161, 0.7925, -0.4301, -0.2005, 0.9962, 0.4793, 1.7504, 0.6254, 0.6273, -0.1078, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2931 left_y=-0.1992 left_z=0.0025 left_yaw=-0.3632 left_pitch=0.0016 left_roll=0.09 left_gripper=0.9962 right_x=0.3827 right_y=0.2244 right_z=0.0595 right_yaw=0.596 right_pitch=0.0633 right_roll=0.0 right_gripper=0.0661\nstate[joint_eff]: [0.4991, -4.9162, 3.1932, 1.5116, -0.022, 0.1929, -0.0171, -0.253, -8.9641, 7.5419, 1.7411, -0.0122, -0.0415, 1.033]",
      "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]: [-0.8116, 1.7508, 0.3126, 0.8513, -0.4149, -0.1818, 0.0097, 0.4793, 1.5059, 0.7963, 0.181, -0.1101, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2967 left_y=-0.204 left_z=0.0087 left_yaw=-0.3803 left_pitch=0.0376 left_roll=0.0787 left_gripper=0.0097 right_x=0.3799 right_y=0.2234 right_z=0.1376 right_yaw=0.5978 right_pitch=0.0327 right_roll=0.0048 right_gripper=0.0661\nstate[joint_eff]: [0.0615, -5.4359, 3.8906, 1.5897, -0.1197, -0.0024, 0.7888, -0.0752, -8.7043, 9.0872, 1.6874, -0.0073, -0.0171, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8aade10fcbd23b0371e9f376c615970fff921d999897b01b7c65b891ad6386f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72616db63ed97c07172745d7e407f116bd934d1f44cbc33092e9e2e43abc4953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f3b07221be1f14486b43efdc622ece7fef9971145cdde62a8c5f0fac154120",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQBGtVXZSm8tKG-I9WcWJTTG2GX_7jqfU-nuFUYHaIB5SJOyN_fTykGJC_e0FPX7gBhzq394ZfGAvYPsjbHzp4IPFUD_tQlrY2wQ1D30QOs1urPRzJyZyUgOk2PRI0QyBv582UnMylC7usNn4FOeJMuWcbVcoVO4KeWcgPge6_KVqk3yVhcdankpBH1iiUv6cxfK5r4pY65irYOGU-457N1Pjzgj6IpD2mYjdQlrpiufcVP_ufYCBpT3IjsyQxn3cRp2nkPxDzf7fAkZVq03sWVd2GIh-fD1AsJn8JiyjoXSy_ebXhAduszEl4DIRam-WGGs_seSpZbo8OKlwqzE5yMiNelF8eAVGsKIOxv7n1wPP9Nxqx92MsyrxF3kvMSE19aDPPRlQFSK8_HYti32qt4iK2kbVNYclhqGu01aJHS376iBAe7FxviF2O19H-K3TaEBCH5xskoSB7dKMCNXwTVJ2GWZnqsP8K0W2dHzVj9IuRt-eoK2DV1lOzcruVyvltftHuEhLViTs8Wud3oprrKsp_Ex9jwfb7wcEv5EpqFfAcm1_Ka6fpMLkZdq36p0rNiWjFKbN4OCN-Xe3GMG2hR-6acseLSAeib3vJuUDNl8U06Np_LPvdJR3aY1wvomV71PyyTLuuc_q2UGHqZwdKnBYTB0mT_B0Q6xTkseCtzczl1_vkRE-1o2FcMPXW3n8JJg1VUdz2lpF3Xz2MxOETKIjzwASsJNDGcSF0IJ0V09dP2RsJArGjmt_a0LC3ExRL7mJl2mm8y-vHVmqUw2VvmyLMpf76XLYD3bXVKEv-OK1MMh7TF3af7k1pvilPyuTOgdVbeTmJ-N2i9-8O8gyTshV3_eK9dgSkVPp4isCGItJ-Etp-SaQOyvylbIw2Mh3_4Ptzpoxvw_A30oplrq3TuMOi2UHzAYdxzXPewYZ_TwkEDFjNaHYkRI-IfXEHIPr_1z0-uBAn1bGTHULsJahV-mMjzZ8zYmkNIVl_q9XzYkjTk4M8JOgnQ8KE8F2Iun8CQ812-Yo4FEQ_xmvUNca5XSjyonpgmydL8W-sdTjy3-_xN7D-qxPgPA8K-LE2LRd82qhnqKAc0wOSItQ2IEaAMwa_H7KDQ-UtUidJN_mQkdQ1BeFoCoEI-2lFWJUJolC0sRglNbg6J29OD4jXCHHkNx_5aPckHCPdUssglTLai2T2aBstyBfu-VLy8opqetq9o6D1tZHo2J7GZjrMKZyc2rw27pq8BzxYcdVF8cG8J8RbXMPwpgvJTeJW2tfj93_B6UOXAQTvC3QEkaQC1DWIrp-2wRbBpHQMmJam0-UnrHg76A-QDu9MNY4W4mKPrwpl9ypBhjt0OVLqXRpKLXOYEb8535V09b5j4jNnpwWc8QyPUGrkzLs8U4VTvkkCBNklvyxrVQ_JLIDAZtnbi3xB3hoaVUwQvBgAI3Atrsh-8Rfcj9yEtI2zb9Ib4QmSsaedHPU9CK_SoDJM_woxR_FSLLzAYJX4aV7fSncWHb86pYbjnRCnwbqF9xoYTKypsWnA3u3AmChcY5l55Awogp1MnoHeONSPIeMcaRhicSAQfCRUgDiWZdU6RZ8MDwSdolj8p85OOVWeCfw8j_C944Ejg-HGJXfg4pOEZ1hwjG-t2mE-tP_-7FP91wubkYWdl8knIqQQCmZisNEnEDnHB-msRz2WXEZyLH5FsF0uWcTAtr3ZeyaT1jAQHTmFKHiDbrNzujzqtAu9mvVwFZKRVx0Dx6W4OkXE2ni3Cx-LwtUpBy5x-KsiYmj0Kf5-JzmR-8_n9zMFsxC0l96kNbPYNKBela-pLrV1G_TR9jFngLOjLUxuWBKIHx3OV8-sUDGDZxb_PkDYx__Xd22imAC3tJAz5QKFyoJWJ6oJqUW5_PhYm2uRiibwceKmVB-r0uHVoEMNI",
  "id": "rs_04a6aef1fa8e0faf016ab463fe806887d0bc7a2c013f1ce276",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.02,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The second cap closure was also empty, so I will stop guessing from the wrist view. I will move the left arm aside to locate the cap again in the overhead image while the right arm holds the pen.\"}",
  "call_id": "call_kIgUE2yxCAl3xtPVRWU1Jf0a",
  "id": "fc_04a6aef1fa8e0faf016ab46400a7b887d083bd924a815a4430",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kIgUE2yxCAl3xtPVRWU1Jf0a",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1322, 0.8669, 0.4744, -0.1947, 0.3279, 0.2768, 0.9971, 0.4793, 1.507, 0.7929, 0.1642, -0.1097, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3006 left_y=-0.0138 left_z=0.1436 left_yaw=-0.3031 left_pitch=0.0175 left_roll=0.0652 left_gripper=0.9971 right_x=0.3774 right_y=0.222 right_z=0.1321 right_yaw=0.5974 right_pitch=0.0115 right_roll=0.0071 right_gripper=0.0723\nstate[joint_eff]: [0.1709, -1.6068, 9.9077, 1.8193, 0.3004, 0.3101, 0.0757, -0.0205, -6.6393, 7.0222, 1.9023, -0.0806, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ef690ecba1cbc83fb927ab832e690bbb6ea8faa80ced0997f6bdc0ffb595fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84f7f97102459a6f71984d22ed35ddb856799ba2c42ecdebba3f62dc6c2f862",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c4a07a53f4de9a1ca8a4d34b64e43ef98455a9dac30f5e3115f01642c4f929",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.92 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]: [-0.8837, 1.6115, 0.3546, 0.6331, -0.4709, -0.226, 0.9962, 0.4793, 1.9915, 0.5945, 0.8883, -0.1062, -0.0593, 0.0559]\nstate[eef_state]: left_x=0.2856 left_y=-0.2161 left_z=0.0285 left_yaw=-0.3838 left_pitch=0.0211 left_roll=0.0859 left_gripper=0.9962 right_x=0.3837 right_y=0.2246 right_z=0.0025 right_yaw=0.594 right_pitch=0.0522 right_roll=0.0016 right_gripper=0.0559\nstate[joint_eff]: [0.3897, -5.5726, 3.959, 1.9902, -0.0952, 0.0904, -0.0073, -0.2393, -9.5111, 4.2462, 1.4921, -0.0415, 0.0464, 1.4921]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8116, 1.7508, 0.3126, 0.8513, -0.4149, -0.1818, 0.0097, 0.4793, 1.5059, 0.7963, 0.181, -0.1101, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2967 left_y=-0.204 left_z=0.0087 left_yaw=-0.3803 left_pitch=0.0376 left_roll=0.0787 left_gripper=0.0097 right_x=0.3799 right_y=0.2234 right_z=0.1376 right_yaw=0.5978 right_pitch=0.0327 right_roll=0.0048 right_gripper=0.0661\nstate[joint_eff]: [0.0615, -5.4359, 3.8906, 1.5897, -0.1197, -0.0024, 0.7888, -0.0752, -8.7043, 9.0872, 1.6874, -0.0073, -0.0171, 1.0379]",
      "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]: [0.1322, 0.8669, 0.4744, -0.1947, 0.3279, 0.2768, 0.9971, 0.4793, 1.507, 0.7929, 0.1642, -0.1097, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3006 left_y=-0.0138 left_z=0.1436 left_yaw=-0.3031 left_pitch=0.0175 left_roll=0.0652 left_gripper=0.9971 right_x=0.3774 right_y=0.222 right_z=0.1321 right_yaw=0.5974 right_pitch=0.0115 right_roll=0.0071 right_gripper=0.0723\nstate[joint_eff]: [0.1709, -1.6068, 9.9077, 1.8193, 0.3004, 0.3101, 0.0757, -0.0205, -6.6393, 7.0222, 1.9023, -0.0806, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ef690ecba1cbc83fb927ab832e690bbb6ea8faa80ced0997f6bdc0ffb595fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84f7f97102459a6f71984d22ed35ddb856799ba2c42ecdebba3f62dc6c2f862",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c4a07a53f4de9a1ca8a4d34b64e43ef98455a9dac30f5e3115f01642c4f929",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQLvSp9abVZZkHXcl7stZnBHkgNmrXeaGlDyJT-OL_OnoxwWKxdwKwwsxWB5ezxVZoqADTxQ1zL8P-JgyyweCkTYfGOV4lVUVuctRylF_97yZiw4l62GPGw2xQZFpck--5byhPGK4Onxxt6nPZ1BElPffWp8458AfNpMl04hZdCNu9WcOdISoZU924wET-i5SC4Ov4goUTKD30LLH4PpmPm1DH8uUrCGdm-AAOVoso0UxIYFLSi2asEKAGGCtDyjNC0c0rxz5Gzq-NlcOPe67T07DDiTWDwTYX7dxtph5g-E2sB86nQ1-sPsbRaLVFFKrTXGEPetMo-emGsWKUZsNMS-iOe4AX0xYWXZNDL5mTnlSGA4apeuj2XkuwzcGpgLkKyYt9rUK6UQ1nxccU5WD3jyEJ8P6u2cgbAZMfC6YOjfkh1JGb-btSB03OMZL64JJrU-WamyaZXAsog6ifzwMCBfClZeqySZ3ZFnixTIkXM18BrZQ6NA6USB_T8sBhxfGIEnu77qUsNtQY4fJF2-okT9yjM_lbjWt9P84TvP2pkXLrrtYeJTIeFEsWu03FEhKY0vrqhn8er6kKwh6G6d2VxpDKxFyoTrf4IQR7kGXgg5lvG_znjLV8l9HxDAKyCFQnnrC4Sy0ESsjXwUV1-qQTMVhA3vrWcD-rjt0UeCfjQw34HMCvxlCW0EQtdPm_v44kUkv5i8vOsjV98fyU7sPaJa-TSn6SkBcSGqNup5il9hGMgjqomFzYWXArKRug2H_ML7XsmEeklS0yDCi8_Mh2w2bdmoY1Tn3-NXyE-dqy2jW5XHe_Bc0lRbXOk2Q9FDLhLAWKFxyvVA-vFG5Q5RTADgBhfGtWOOa4OeobESe0cQKLdC7rXL5183i0IMP5Mc_2qB0sl3jLCunjT9QBuWM8G3J9abQ-JYEIhJ3-gE3NWGkw9OsjgdIQLIb_CN385PzfyznUnOkYLmg6nYJILiX2PepafxSeQt3kuRYNgn2WPFyU2loCyws9pxUelnkThp8wnZpH0gvVCVORo0GGbHRmWTUm1qFk-1FLWo2exJ9tYneHs-re94c0733wztQb9w3pWQfZX2k8uF4uFDnz5bHAFacQxZMKNLmv9X2Isv8cM6py-IvG-GWY9tZspmcc4_rrmkEJvgjdaFWIENCIDz1p8a0ABvoSUUl6nzGlDeKMmxhsvxATmHh4oSzL2Z4z-ZIhP7HaDQXTLkEOYaLJLxuGsHACslGWFj6tsa6rP4gZQK3ipcU00ZsgOOFp1diy85d_KUGjsONsEeLbqhh-IOzaAXfmGiFlwzWMf2M3fnOAn91dF3H1QeAayRUIJdyqoNLPgma5QnVkqCeN7PY3qDvk5_dP9jut1x607WX-1Ve7Um7n6Mwq61jHCPxn7KYEfo4bLe6HJfmP55XfBnLE2yPsPcu10Vr0VPPEm-bToiCixKxoHjQjA28ghr_XDeNaAtqYJ8gEJ8mpQeuJspWxS4mSYS7yGi6SvKyAOrMItriiIKfIMR_J9dyYtvf2wIElmbdlBorVSSkuKHoR23TeSaTuKhQ_ind2J6PWsSSuwrFIH1fwBKJnlfMWQJat1bYMWx-5tFBaw1GwSJlsoOi1x6uHVgnitRXs9LYaZNioEeigQKnHWJPXAISu87MPXR3tP_mHgwr2Kb1UiviJg5i-mU1bYi726hal5a2pd-z85QJnU4qxWXmRLuG8EvbhHREipAKLIcaeG-3030VqRAoq3zAjuRWLk3x3yMchG5lj_8gkBOKG1eK27LVCAWNbkqCWAK0VaHjxtg-XKmNpqcdSoDXhp39JiQQ3iwENVSnpT6VIxt82-UUAP_FsCqFoIuA-zA-gSgYqhD4_A4TFV0KBRsT8JZ4PJZPB6dwYxaujJ8WL5a3EAKqHbW5bqUeT1pyWz4h-qR8FBokmWAB9mVHU1i7rHPn8O5SHW97-EXgqH3qnuGiGBBt7d-PBOnHUle0SxdzGZ_bqVoXmW9HPip4YJZuKwrOmnUzdQULtkIX1be1DL2R8vTF14SVhAGTXbUvmDS2KLmgW6N1UP6mTQxq2q1kXFWT9RA2URfIO0k4CRdJyi38ok2QT3FzNrTQp_qt64zmYMNWz3oGcGR8u9VfNemax9Pua0fjx9QGjPO26MvkTN7SwFhYjo5kJLb9dK9NMACX8EVOLxs-4ByJ1YnfZJQ0ZZcrgfua3hvbkc4ziUcQHAFPk8KWCyKEl094kNm_F1qK8QlJBqv22UauqzSk7CB_7IcxW19-x681kGENrIBBW-tSlH-hy-wlfcagehzEP2szJHgtCMnaa-LaCH1atR7mAQkxXrM07_cIZqJdeyORY73D1Nf61Mcjaezq_aFvm0ZyKtasSXBK8xE-jnGsLbMOH-_0so7qrE9_U3kioW1bGwSUBODF9YlHowMhXFnCs-qAGCFGBCPqk3KyOXNxg0QV0RKQ==",
  "id": "rs_04a6aef1fa8e0faf016ab46404f9b487d0b937b9ee830a748e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.185,\"left_z\":0.045,\"left_yaw\":1.4,\"left_pitch\":0.1},\"note\":\"The uncovered cap is lying nearly sideways, slightly left of its original position. The overhead view puts it between the two previous grasp locations; I will approach that midpoint with the jaws across the cap.\"}",
  "call_id": "call_B1BKzYAZpblvWFcVqfI2wBBb",
  "id": "fc_04a6aef1fa8e0faf016ab4640a2bcc87d0b1579057db76db6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B1BKzYAZpblvWFcVqfI2wBBb",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5362, 2.4947, 1.9392, -1.4586, -0.9638, -2.0525, 0.9975, 0.474, 1.5139, 0.7849, 0.1448, -0.1024, -0.0574, 0.0723]\nstate[eef_state]: left_x=0.4171 left_y=-0.0749 left_z=0.0389 left_yaw=1.2893 left_pitch=0.0292 left_roll=0.0458 left_gripper=0.9975 right_x=0.3753 right_y=0.2168 right_z=0.1217 right_yaw=0.5843 right_pitch=-0.0231 right_roll=0.0097 right_gripper=0.0723\nstate[joint_eff]: [-0.6359, -12.1504, 6.0923, -1.0379, -0.5348, -0.1294, 0.0415, 0.253, -7.1863, 7.1179, 1.9902, -0.022, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e9bc432bcf74b1c4a47b028ba3d0ff40ccce83d6e526ae44bfe93444549016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9daa76b9656cf490ea15206a3cb530f177a0bf239213d6fe1dddeccc86e88361",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9278c7520ce82b696bd2b2a8f653c426224eab396ec8072dffcc9ef58e4a398e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.547 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]: [-0.8165, 1.7405, 0.3161, 0.7925, -0.4301, -0.2005, 0.9962, 0.4793, 1.7504, 0.6254, 0.6273, -0.1078, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2931 left_y=-0.1992 left_z=0.0025 left_yaw=-0.3632 left_pitch=0.0016 left_roll=0.09 left_gripper=0.9962 right_x=0.3827 right_y=0.2244 right_z=0.0595 right_yaw=0.596 right_pitch=0.0633 right_roll=0.0 right_gripper=0.0661\nstate[joint_eff]: [0.4991, -4.9162, 3.1932, 1.5116, -0.022, 0.1929, -0.0171, -0.253, -8.9641, 7.5419, 1.7411, -0.0122, -0.0415, 1.033]",
      "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]: [0.1322, 0.8669, 0.4744, -0.1947, 0.3279, 0.2768, 0.9971, 0.4793, 1.507, 0.7929, 0.1642, -0.1097, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3006 left_y=-0.0138 left_z=0.1436 left_yaw=-0.3031 left_pitch=0.0175 left_roll=0.0652 left_gripper=0.9971 right_x=0.3774 right_y=0.222 right_z=0.1321 right_yaw=0.5974 right_pitch=0.0115 right_roll=0.0071 right_gripper=0.0723\nstate[joint_eff]: [0.1709, -1.6068, 9.9077, 1.8193, 0.3004, 0.3101, 0.0757, -0.0205, -6.6393, 7.0222, 1.9023, -0.0806, -0.0513, 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]: [-0.5362, 2.4947, 1.9392, -1.4586, -0.9638, -2.0525, 0.9975, 0.474, 1.5139, 0.7849, 0.1448, -0.1024, -0.0574, 0.0723]\nstate[eef_state]: left_x=0.4171 left_y=-0.0749 left_z=0.0389 left_yaw=1.2893 left_pitch=0.0292 left_roll=0.0458 left_gripper=0.9975 right_x=0.3753 right_y=0.2168 right_z=0.1217 right_yaw=0.5843 right_pitch=-0.0231 right_roll=0.0097 right_gripper=0.0723\nstate[joint_eff]: [-0.6359, -12.1504, 6.0923, -1.0379, -0.5348, -0.1294, 0.0415, 0.253, -7.1863, 7.1179, 1.9902, -0.022, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e9bc432bcf74b1c4a47b028ba3d0ff40ccce83d6e526ae44bfe93444549016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9daa76b9656cf490ea15206a3cb530f177a0bf239213d6fe1dddeccc86e88361",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9278c7520ce82b696bd2b2a8f653c426224eab396ec8072dffcc9ef58e4a398e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQRcf4HNsR1GoT0ofDITKqaJdYbcRMqtnBOK5ZqIj1frSG8VnMR4dm-X5XfI9LXE8bRixbUpf_Y2Vy1COhneR__-yhB4z0Blho15ztN7XQMKcuU5U0BvZVZEjnqxl7BPmOvxHQ47EUHs_39NULORtJpKAd2VzqSlbrVOwDa5eNtUN9cuXTxaIfPZ7rcGysNi0rHrEUMuD4ZoCMcu_5biYrDXnbtDdvBtiNrTLgmkRfWTTnbDC6YOXPCfmJS0Aa0tmA8NUWC5JpVDbUl3S-h6kySPph6UHaus9cXLicXeGw8IcBFmUyXOoi0ArdDATG2WKvgTCc3BPUhUJ54k71qMqAIMd-dyVzNw6HJmpnV92fLlBXVliL5Z4Ecn0dp0uGAMY7_gUOzY9Wkb51oP9Dm2k9z1PyLDRsCUGkjoHhEh2biQk39cI-XrmRTmDiQEkElG0gV4JToDtl4iPB6d3TFgd78ZWsNWj7TNkNOboxs37qxtzZVKUMOFLHaQBa-xwbtc570pbx_JYLpNDH83d1X2BEUNXrEXoWMti0IFWufWXwlwFpyTlgecbzahKHvBFC4EcxzGxtxLQec42IeRkeJhFuv0xYisc5aNBO3YgN9qQgr2Kr_YG5DyxiTRAH7iEH-nAaWFbFMM9FZlUiKPNrZbgrjILvLqbnBstrNpCn9DF-CgYnG5sbmbg_ENN2CjNDXSa75vfPoctcX4fxAINNrHyobcX0EZDoZi7GSqVf6NL9nmzNvRa6nSGNS3Uzl6rK8QIUKQflz-MFuNmeX2-o9AsTi0ySTRcSk-gfSUWA2zpj9bhnq1Znqvr3fnmTGE0mzCp9HUnGDrJlLT9f4gG6aXEqfzfQ7YAc0f2a-zxl5lcjzh3px0PnqRQVY1LGeZ-WTMUvBbWOklcqqjQisr6xz1QAyaF3VFd5Yteu84gt9q9nbgAf0_0E2HvWNlRJh46l15x6K4TOd8fGQjq_Aafk3mPHiR-ZPjCnBI_Vhm1pfIybb-0ZJv8-mOHuQBbFpXaGUW1TdctOsKW6g__1wutorP8d1LwHr7jyd7NpfENkhXxK4UtIw8S4i4gxgH8xXq_nCsA-Lb_kZdUTrdmWoQzj40wVBrek2hhKgJ1QH3ztoF0h-5XxXekP6OLtYs9E3f5OxQhoM33Uq0ArOum9S5HZhJ6fTfQJ2NoLUyRZZL8mAbc33GuW2tytNNDPyLk0sSIum0uF5tF-SLNo7cEdnndlbVxddhdTJD6UR_YyL3DQZUbzKJQV1PA7uKbCY9hPt4YUNJWaIVUiUziQtDdaRp5pvZt8mBUPzrzWt2cH7dyxFrr-my4N9aRi5uUAa0DLbT3BxH_tDrwlVDPnFucCtMEN9ly-e9WBEbUvBkYt7iRFnH4RKZZXdpsZrbIgyUpndCLTowANanpZZgKTi4OFHR6mhyJ9GSlVbdpVfMX_ThzANdXHoZwbiYRe6YRk3Aomdgqyypv6cHz_ZSGU-qCbglxhzBhSynIP6Uy7mr_tT4GyeZ8vb9AOpF2qAamvuN7ybPALyR_JI9vluAJ_mico9N--sqKQ-i992vecwBqN6KFxSCzp3Sjq1wCqgro2QEp1pSoN3Vor8SGzfrXCxTvAX3rR3CAFY1RJJYfM2cLOXAwecOYiwu9BcBc4pWCSmFkfA89vys6mBzhDMroceIM3UUMSLMTKSmvBSgfDTHJ61TsNci2EVzjZsAMTmr_A9zrLLz-vaoAA1ImeBB-CBJLKNwnuzsNnTVA==",
  "id": "rs_04a6aef1fa8e0faf016ab4640e276087d0a834086ea8068fa5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.1,\"left_yaw\":0.65,\"right_x\":0.38,\"right_y\":0.225,\"right_z\":0.16},\"note\":\"The large yaw change produced a substantial position error, so the left arm is not above the cap yet. I will lift and reduce the turn to a more comfortable pose, while restoring the pen’s carrying height.\"}",
  "call_id": "call_3pJ6JJawN2gjbRSNDqV0uMxh",
  "id": "fc_04a6aef1fa8e0faf016ab464108a0087d086279e0a5158f328",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3pJ6JJawN2gjbRSNDqV0uMxh",
  "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]: [-0.6876, 2.5187, 1.9743, -1.5337, -0.9352, -2.0937, 0.9976, 0.4854, 1.5101, 0.8864, -0.0143, -0.0872, -0.0597, 0.0723]\nstate[eef_state]: left_x=0.3937 left_y=-0.1348 left_z=0.0379 left_yaw=1.1713 left_pitch=0.0235 left_roll=0.0791 left_gripper=0.9976 right_x=0.3765 right_y=0.2201 right_z=0.1347 right_yaw=0.5843 right_pitch=-0.0775 right_roll=0.0048 right_gripper=0.0723\nstate[joint_eff]: [-0.3761, -14.612, 6.4342, -0.6667, -0.6325, -0.0269, -0.0024, 0.5265, -9.1419, 9.2103, 1.7558, -0.0855, 0.0806, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af904720e2cf90fc6c8941f9f79fbeaf7a20756401ef1377a0a300e64728e98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26263ddb66905f75b4f373288f000fdc08004215356afe3740a9e2aab8d3b78c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b805a075eebfae62543dc255553d3728c8f8d3b62afc3522f31667e246c9b03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.72 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]: [-0.8116, 1.7508, 0.3126, 0.8513, -0.4149, -0.1818, 0.0097, 0.4793, 1.5059, 0.7963, 0.181, -0.1101, -0.0605, 0.0661]\nstate[eef_state]: left_x=0.2967 left_y=-0.204 left_z=0.0087 left_yaw=-0.3803 left_pitch=0.0376 left_roll=0.0787 left_gripper=0.0097 right_x=0.3799 right_y=0.2234 right_z=0.1376 right_yaw=0.5978 right_pitch=0.0327 right_roll=0.0048 right_gripper=0.0661\nstate[joint_eff]: [0.0615, -5.4359, 3.8906, 1.5897, -0.1197, -0.0024, 0.7888, -0.0752, -8.7043, 9.0872, 1.6874, -0.0073, -0.0171, 1.0379]",
      "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]: [-0.5362, 2.4947, 1.9392, -1.4586, -0.9638, -2.0525, 0.9975, 0.474, 1.5139, 0.7849, 0.1448, -0.1024, -0.0574, 0.0723]\nstate[eef_state]: left_x=0.4171 left_y=-0.0749 left_z=0.0389 left_yaw=1.2893 left_pitch=0.0292 left_roll=0.0458 left_gripper=0.9975 right_x=0.3753 right_y=0.2168 right_z=0.1217 right_yaw=0.5843 right_pitch=-0.0231 right_roll=0.0097 right_gripper=0.0723\nstate[joint_eff]: [-0.6359, -12.1504, 6.0923, -1.0379, -0.5348, -0.1294, 0.0415, 0.253, -7.1863, 7.1179, 1.9902, -0.022, -0.0659, 1.0281]",
      "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]: [-0.6876, 2.5187, 1.9743, -1.5337, -0.9352, -2.0937, 0.9976, 0.4854, 1.5101, 0.8864, -0.0143, -0.0872, -0.0597, 0.0723]\nstate[eef_state]: left_x=0.3937 left_y=-0.1348 left_z=0.0379 left_yaw=1.1713 left_pitch=0.0235 left_roll=0.0791 left_gripper=0.9976 right_x=0.3765 right_y=0.2201 right_z=0.1347 right_yaw=0.5843 right_pitch=-0.0775 right_roll=0.0048 right_gripper=0.0723\nstate[joint_eff]: [-0.3761, -14.612, 6.4342, -0.6667, -0.6325, -0.0269, -0.0024, 0.5265, -9.1419, 9.2103, 1.7558, -0.0855, 0.0806, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af904720e2cf90fc6c8941f9f79fbeaf7a20756401ef1377a0a300e64728e98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26263ddb66905f75b4f373288f000fdc08004215356afe3740a9e2aab8d3b78c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b805a075eebfae62543dc255553d3728c8f8d3b62afc3522f31667e246c9b03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQXND5tudKPHdJt5qegFPI7srvZUr3X5j4SG3GhC5DYxGWhObt7M0IGAz3HCP4O_Eyz8NbIoWWMGpzZc8-jJtzgK1e8Ur2Be8jfv6ygVHUmCfSfS4-ETweYaNNc_TL9Nc50FvEuoTfXI3QO7j916VNxO6zkTTBpIrTYsCHSoGpGaf21Ylp0OWcVYHzOly_3xKEb-3UNlLlYizMLtoQ3lng0Se4lpfD_hRBBAbpgui3395geY0PNGNpIISRxxtdM2YDJ7nxyQ-m3J9zgoqkq1tmHg-Aj1Et0rO3--6RVns7f1olqLY0JtlvKrRUKO33c-c8zU8r-Og5HDONT6fRdr_DgTZpsj1PPNYtx5Nuud0v6Jo_s3rSXXRXBwLK7N3NF0Y-rq9W7FF2HBXee9pJ2Zvn5HFa5e3-bAVpei6tDEHHAIJZwLZKQu8qRIzBNzr8hwZyemAMLV-yuU-pVbHM4H_XbU22cU2sXwWUKyDNTdgaOvLHSyUETLPiuigbeaxTvJjrR1giPPgy4vJhgee7w1S4aCYpFruw7T_Qr5TKT1A-IROJol9aPSy-uv7HFdhHU-E5jhsGDyC0M0Vc6vWi3omWfgdHjAa-uIgseBidNkn1TTkhmRBIz0NnTpF70-NO48M9HbaUdhO--WVEH1rgZcauQnJAzZ9W6frTF10fMWPZ-_sFOeoNPivtlMiD7Y5Aw96ZJMVX1lKZmPPf2ex5ZyxMOe8UdAmomEEPq6miiB_Dha2ozQ7tUWEDq1aYoFEvuZGjqmJSPNJJuAdb2u2T1W7aPtiZXmWQ9g15fUUkowFJgWVzOGn-I62Ld01EVKQA1qqYD4rKaBHpTl2ZpKKvVRNeJD2x-UtGqR-YEipfRLqlj59tRof8ApSLBq5Uej4beegcQPXCUQ1mYNZh7B0k9F3VHJPW9m6JnUcNJ5try9i5cGwXVQRMETHHgdNse2EqXpp9YSH2POlEZBpn0N-bQmqYzflYZVgn3Yf8tcuf79zM92V7wbVcieUvoLQ2-_PPMwxkc48M8mSoPUGVs8ha1qb07dOxSSBGW7-gZ1sJk60qny9lkxklOxHWME9K-PQZGfRQrZsbPVcOuXUsSeMUqek8crM8keBaqpv7LalBHRzstq7UjUJHQLcGJVlS7j5HU-gFl9rDAnnUaZeNrTtTme6ymFi0gxVuD98UnLHBBu68H6tKSW2mJAklaOHAGbHRq0whL5O5BOLwS8QFcwklfZL_VAbIQl-ItPNlHoSuDhcwwgwdw-UPgNTdUHgPejbyaYg-PZhBOFq39oJzEhh45fEqRY8rhYU1hur3EShq1O7kMES8Q0SHe3SURrf8Vs34ov1QY7YW5E-fJvuLlJtyZ6gRVG_OQVmho49wYwtW0ftc3XTB1mfc8aYg_bVQaCesxd6cPjm5ocDt3scdJ8AkIHLY9zac9sWsX-uNb0wkv3YBtLW54pLzFOaDumLj8UkaNpH5Mvo2sHorshFb4llUByiAs9YABFsUGLhyZarKWwy15-y-l_VKNOU-ORL14-pUV3j9TJQsgdP-FsAJETa_ycm02Adf18zQa207PgaMIC9idPDk=",
  "id": "rs_04a6aef1fa8e0faf016ab46414be8c87d0a4063803a68e2de5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.04,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm is still far below and beside its requested pose, indicating an awkward configuration rather than fine alignment. I will return it toward a raised, untwisted posture before approaching again.\"}",
  "call_id": "call_eTqJVIAjljcJgWRGcyCJpxnk",
  "id": "fc_04a6aef1fa8e0faf016ab46416092487d0b41ce9016e98ab5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eTqJVIAjljcJgWRGcyCJpxnk",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3317, 0.889, 0.762, -0.5083, -0.4286, -0.5617, 0.9976, 0.4866, 1.5169, 0.8825, -0.0216, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2994 left_y=-0.0217 left_z=0.2087 left_yaw=0.3148 left_pitch=-0.012 left_roll=-0.2128 left_gripper=0.9976 right_x=0.3746 right_y=0.2196 right_z=0.1288 right_yaw=0.5858 right_pitch=-0.0953 right_roll=0.0062 right_gripper=0.0723\nstate[joint_eff]: [0.1026, 0.1436, 8.8274, 1.5263, -0.0415, 0.2173, -0.0122, -0.2393, -7.1863, 6.9949, 1.7656, -0.0855, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c866ba89f386f2e4e7309b0da0ec11e8fe4b66b376dfe17927874a5703da2401",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a110806aeb709bbd868c976a2268572fadd77f0bc270305d60d45f75779c3746",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd0c6a925d850b6dffa8100e8be1c1f4129d078cbedbb8099ff79372910d0a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.211 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]: [0.1322, 0.8669, 0.4744, -0.1947, 0.3279, 0.2768, 0.9971, 0.4793, 1.507, 0.7929, 0.1642, -0.1097, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3006 left_y=-0.0138 left_z=0.1436 left_yaw=-0.3031 left_pitch=0.0175 left_roll=0.0652 left_gripper=0.9971 right_x=0.3774 right_y=0.222 right_z=0.1321 right_yaw=0.5974 right_pitch=0.0115 right_roll=0.0071 right_gripper=0.0723\nstate[joint_eff]: [0.1709, -1.6068, 9.9077, 1.8193, 0.3004, 0.3101, 0.0757, -0.0205, -6.6393, 7.0222, 1.9023, -0.0806, -0.0513, 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]: [-0.6876, 2.5187, 1.9743, -1.5337, -0.9352, -2.0937, 0.9976, 0.4854, 1.5101, 0.8864, -0.0143, -0.0872, -0.0597, 0.0723]\nstate[eef_state]: left_x=0.3937 left_y=-0.1348 left_z=0.0379 left_yaw=1.1713 left_pitch=0.0235 left_roll=0.0791 left_gripper=0.9976 right_x=0.3765 right_y=0.2201 right_z=0.1347 right_yaw=0.5843 right_pitch=-0.0775 right_roll=0.0048 right_gripper=0.0723\nstate[joint_eff]: [-0.3761, -14.612, 6.4342, -0.6667, -0.6325, -0.0269, -0.0024, 0.5265, -9.1419, 9.2103, 1.7558, -0.0855, 0.0806, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3317, 0.889, 0.762, -0.5083, -0.4286, -0.5617, 0.9976, 0.4866, 1.5169, 0.8825, -0.0216, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2994 left_y=-0.0217 left_z=0.2087 left_yaw=0.3148 left_pitch=-0.012 left_roll=-0.2128 left_gripper=0.9976 right_x=0.3746 right_y=0.2196 right_z=0.1288 right_yaw=0.5858 right_pitch=-0.0953 right_roll=0.0062 right_gripper=0.0723\nstate[joint_eff]: [0.1026, 0.1436, 8.8274, 1.5263, -0.0415, 0.2173, -0.0122, -0.2393, -7.1863, 6.9949, 1.7656, -0.0855, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c866ba89f386f2e4e7309b0da0ec11e8fe4b66b376dfe17927874a5703da2401",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a110806aeb709bbd868c976a2268572fadd77f0bc270305d60d45f75779c3746",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd0c6a925d850b6dffa8100e8be1c1f4129d078cbedbb8099ff79372910d0a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQcsUuExTVghlIHus126pFQNwUxpANmY6MudF-0HumIOqsVu7C-Xatjr33DTsR_8qPxEjgsuuGO44VOm2H_I4kq5weX7zqBJBkwnbRMrt6r4MbSpSl_uI_VX8tO4H75YkQc9s0pXlBMe77QmuEX83gWWhx6i1HMFhQXRJAaIE8P7SXvVFM_ctnZn5lirSyTTm-Ay9GAdhg3TkWoXIJ6BoFRVsJCT80E1CnifsdMqEa-TRTW3eRIaoqo19gwVwd6smD3z96z34Yqxu2rn02P9cThjGC1wrdsvxEUnk1KfKyItR9yuW8vM0es0VpwtOkt3OzcQfkUnS3WPxhQElHeFnhRYACs_qX0h5rOvNWhECuf-xUARD_vc65zQqRiMSnu5HDWcZiRxNzNOHUzFzWuqTSx92hlVfDXIT5YPlA47RmCGHOw-PO42CEbpcD9xrGG_Ph8Hd0Yv4bqKgwgeCQ62AszsgWWSj8KjYFr-1L0W3ppLRmwmwsqc9SFQqq5c9wpNk51bpun1G2_dLaWp-JVEXRP1zOesXHwqiBk1WcTJJW2frHexJVmAXYAHhZqEGf5Dfz-T3iK6dJxFGDDHSGW-tZWSsIEawIsdCO3T-LE-yUROYhQme6ltLhGx2FMZshR3OFAC83KdE4VoIMGUIW-8dBopcIdmDyLU2x5_0LmUlif8jtia3Gh7OP0Kwvyp9lcYMOoktRzkrDICCXXkEMXNvKre53f8gLwpR2WfOCTVLBXgobsOVjKg9GMBfTTwBJ1N2KaPeZikOMkSohhGykU27HNl0mhqlXz5gqbq99kht5oigc0ctILXMOsOYi8o494UGZUXPgiELI3LuVUK5bRpMC3tWtlYpn6Smz2f8M7NChhvpAQABrhhytGQe24kf-uqy9p5Nz-eKmEsm-aiH00mT5emdf3RiXaGkK9ZxEMsKAfFZ5KCFjYdPPs25CvluaknatSAMbr6pDGbp2VcI7XyAVqfOndDSm3G9V9APH6ooSFkICWR4ZXAlhZQnFpGMFCumOl1kHXA2xXNK8joqzlU817r1vQIyNNeZp8SG6VxLSxqNeFCkiVp113yh6cCKq2cwYTgE5M5JxZXgr1CHdMSk7or1oPtSg86DBL4dfA3YPEtxa5Na_XdkMJxwBPP_V5JIWn2zJXtV_pCuOlx-RSYrBmpRof5OAkYrEW46S7l1eItt1Y63gAH1q3cqmbMT7K5rBZoLp8TGZz7HDfbKDaZ9_B89Xq0QncNisYjwC-9bgoU18GpDIP5rxzlVscQCz02AnNZXUcMIeIPlPJhFvp6-G6UQ2M3o48YMjJcP2toy_JFdo8Guv5TySnhOaqX9YGuByYFm5giGzZ4ZHomYOlVxJy7sbl_PGL_wh6IvujN2_RnNNi82Fevw9vh4ptMo-mVxiI44W96AM6n_mJ7z6heD5B1jSkQgVDBuokUZZ82gbWlcJP26yBZX0WNWgTfaSU78zDCEeo36N_lUwOBktzrfjySVTRC3NcAErvpR01yY7-F9S98IKezH6hzgtD0s_m9MIpiSV-zo-I5goXqkzlApUg4TBgSBIvc1ApvvzQc38z_fR9-rBypFb_HB9Bw54oEQKGFLgo8sdkFtYOiuDmUtnmSlMgJcetrCREoiqvN78lI4M=",
  "id": "rs_04a6aef1fa8e0faf016ab46419d81487d0919b4773a534e565",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.185,\"left_z\":0.06,\"left_yaw\":-0.65,\"left_pitch\":0.1},\"note\":\"The left arm has recovered and the cap is clearly visible on the table. I will approach it again using a moderate turn in the opposite direction to avoid the previous awkward wrist configuration.\"}",
  "call_id": "call_6RhKA3JktMFOp1dx61APYcAX",
  "id": "fc_04a6aef1fa8e0faf016ab4641b30f487d0bd0995e418dc7f69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6RhKA3JktMFOp1dx61APYcAX",
  "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]: [-0.3325, 1.2186, 0.4583, -0.1173, -0.1226, -0.271, 0.9976, 0.4858, 1.5177, 0.8818, -0.0273, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2962 left_y=-0.0756 left_z=0.0458 left_yaw=-0.0838 left_pitch=-0.299 left_roll=-0.0788 left_gripper=0.9976 right_x=0.3738 right_y=0.2188 right_z=0.1271 right_yaw=0.5851 right_pitch=-0.1025 right_roll=0.007 right_gripper=0.0723\nstate[joint_eff]: [-0.1299, -9.853, 6.9538, 1.6581, -0.1978, 0.1538, -0.0122, -0.1983, -6.8855, 6.694, 1.7363, -0.1001, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a719f7cc817caec2d243ab3fc5db9ce3f6bca26cafe8d21854594e5206984043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f711f15d65a9b74d766f346fafb7e78c77c70d959d3f980598af6c26a97cf1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace0f1c6a3427497a02532cec8123a4d4a96db5c867b1a793e5da502837e3567",
      "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 18 attempt 0 · /responses · status 200 · 4.139 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]: [-0.5362, 2.4947, 1.9392, -1.4586, -0.9638, -2.0525, 0.9975, 0.474, 1.5139, 0.7849, 0.1448, -0.1024, -0.0574, 0.0723]\nstate[eef_state]: left_x=0.4171 left_y=-0.0749 left_z=0.0389 left_yaw=1.2893 left_pitch=0.0292 left_roll=0.0458 left_gripper=0.9975 right_x=0.3753 right_y=0.2168 right_z=0.1217 right_yaw=0.5843 right_pitch=-0.0231 right_roll=0.0097 right_gripper=0.0723\nstate[joint_eff]: [-0.6359, -12.1504, 6.0923, -1.0379, -0.5348, -0.1294, 0.0415, 0.253, -7.1863, 7.1179, 1.9902, -0.022, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3317, 0.889, 0.762, -0.5083, -0.4286, -0.5617, 0.9976, 0.4866, 1.5169, 0.8825, -0.0216, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2994 left_y=-0.0217 left_z=0.2087 left_yaw=0.3148 left_pitch=-0.012 left_roll=-0.2128 left_gripper=0.9976 right_x=0.3746 right_y=0.2196 right_z=0.1288 right_yaw=0.5858 right_pitch=-0.0953 right_roll=0.0062 right_gripper=0.0723\nstate[joint_eff]: [0.1026, 0.1436, 8.8274, 1.5263, -0.0415, 0.2173, -0.0122, -0.2393, -7.1863, 6.9949, 1.7656, -0.0855, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3325, 1.2186, 0.4583, -0.1173, -0.1226, -0.271, 0.9976, 0.4858, 1.5177, 0.8818, -0.0273, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2962 left_y=-0.0756 left_z=0.0458 left_yaw=-0.0838 left_pitch=-0.299 left_roll=-0.0788 left_gripper=0.9976 right_x=0.3738 right_y=0.2188 right_z=0.1271 right_yaw=0.5851 right_pitch=-0.1025 right_roll=0.007 right_gripper=0.0723\nstate[joint_eff]: [-0.1299, -9.853, 6.9538, 1.6581, -0.1978, 0.1538, -0.0122, -0.1983, -6.8855, 6.694, 1.7363, -0.1001, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a719f7cc817caec2d243ab3fc5db9ce3f6bca26cafe8d21854594e5206984043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f711f15d65a9b74d766f346fafb7e78c77c70d959d3f980598af6c26a97cf1da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace0f1c6a3427497a02532cec8123a4d4a96db5c867b1a793e5da502837e3567",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQiLbi_L1sIPayfb8p-68Puvxmc3-wObGKekVDC3sXNJo0ie0vSuigbEavvXPhUym0DwebxUp6SqKSMwo6d-XifNNjD_US_hZrV0L_bz0QIqD_dWTjq3NAmvgu0FU8fV7AQKnl5yEggayAg-gqe4yV2BuFY56Um1Fnc_PRxwqKFt5LeCavwiMLiOKvTqEucIwLlMZELlCGD7yBpyoa4E3J8m7kPWLXJ1b0ea-r9SWHsZ9ngLaPKShWwr0RQC7eLXxZXPcklvUV9cG4QpRblJ9QxFc1kie_uk7qdTtLF00B1xYb3AperVU6kqvf8LIOcGIqiZwtBaEaEN-47PMsG8MjAHk9iwxPffDv_xmiMTdpJOiicgjfEwD0dY0hnIvlX_YpoRP2UMIh65J10xVk3i--_y-17Y8U5nL1i_gWvpL1iIajRY7hhgXtKvRDoUzzyQiYdKKYXKUy1FEcbTSptp9JDEdCOwJB6HQvBaABbhbUbHeDjvJoJooEG_HB7TB7B-OLrAsMlJkkYstplkmEQQNW67AQ7bnIUCM_EUyXdjX-ngpqujoOZMjQiS69eic7ux4DhYEvyGRNcq8G7HOQXHhPb41K9sEVbbqK77yl9miF3Po1pRW1GfM9Ld375pFm5Vcp_rJ-V32JckUG8UxaZ6mFSS653ZuYiITjWawMIys78AFR-cu1zJByGeckWU3PfYiS79AbhhWlOzJ-NDvIgBB2SYOBf0aj0keRA90I4Dy9gIXPR8B0dsqO1NIxfZsJkcDLhIrf-qjXsPXAJTVfvkF3TrX3FkAEwDYrGBGrk1y1dSKoXWyILIKhF2mWplMzMsSCv3uuA6b_pkeazzbQBh6C7xC4Ev2BN11BDpzXNNoBlMTzxwu5X9nqHvtrTQOLvLR9Zr9JAr94Jv4CdEnUuDjtFRxAq7dmLt8YKjS04VKzHoiZbCi9PW8jN8gZfZ720bq25lA5LzRVjquS_kyahUdx4-HunHxQNsKr0eKsLFiV9hnXA3u1LBv1Ge94FzbzYIlcplFiXD9jwHJco76r2V7j3bHW5b0PXnUb25yoxtZnp5CRO6ofgh07Ik1PIGMe7oag4VEjovk5pV_oe8FrwEFdcD5ACO2KoTXUdPno2rVxyjPXRU7AeuA9nfqgEPWxWn2473kbldrnZE-fREQSWIXSiTvHw_EDPigLRvXEClkpHGr3xO8B4KXvo-Zj4Z5H2O06Pn6OvCDxx5qhh1vKu_wGy_z3dkCQiafSsy8n_x-PaYoLC1U_CTFMqeuZOS5AJPs_GoSDpmYOggAiFmHCX4tamem5sGmBBzmNkglVicihSk9UJpZHdlQzFU8GcEx3G9WNagLRUz7kEyHlo9r0VbZL534f3IMUtSuEZZcHLbh5UtVWtuxHUopVbGgRNJgwlhNAOTh8huMHW0sxGnhU2nWmT1Xj8_wS8I3I1ZfX2vdK3LXt4G95CJ2P9l3pgVVFjA_0rfv4Yey1mzf5HyeCaaTn-vHYUWHHmGQBxglJyGYwVZ2lMTcuCKklenz710IFwhbdMAq6VL9Zfo28E2DD13wyNJcqGSf7H-O0rx5uSd9LLWcrzj1QzNqAM03yuhd43wa0Ef6__TpPM77LYNnvhlCYjnWFyTMkYPVOMbpt-AgzqAMfGAI5y2xUVqJOpV_7JRFKfvp6kzeOw3PQlOrC3V1PHNp1mVoxaKtjJWeVfEoV7LdQhgiy2XViWakoKaSDrufZAS91gorHzg1wHYXYXWVIAU0SdjRnlJ3OalSRmm9aiaLh9iyVTRPyyZNJDpNXaX4KNWW7kekViRTU3A6tu5vh1miqlEL7V6alB1yCDmzBSaQbGVnOavEMpN_Oy_RpZGD9q7w2Z_DcQo7Kj3cxLzD8vuUi_xQ1g16QOX4129hxeIPY=",
  "id": "rs_04a6aef1fa8e0faf016ab4641f0df887d0b7efa69878c19996",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.198,\"left_z\":0.025,\"left_yaw\":-1.0,\"left_gripper\":0.6},\"note\":\"The left gripper is still short and left of the cap; the cap is visible ahead-right in its wrist view. I will complete the approach with a smaller jaw opening and a little more rotation across the cap.\"}",
  "call_id": "call_MV5gcKIBqZwFAZSH5w5V4wkg",
  "id": "fc_04a6aef1fa8e0faf016ab4642186d887d0bbd731541bf3e3ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MV5gcKIBqZwFAZSH5w5V4wkg",
  "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]: [-0.3313, 1.747, 0.8154, -0.0971, 0.3687, 0.3614, 0.6021, 0.4858, 1.5234, 0.8764, -0.0444, -0.0868, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3414 left_y=-0.181 left_z=0.01 left_yaw=-0.8844 left_pitch=-0.3584 left_roll=-0.1091 left_gripper=0.6021 right_x=0.3704 right_y=0.2169 right_z=0.1192 right_yaw=0.5851 right_pitch=-0.1306 right_roll=0.0095 right_gripper=0.0723\nstate[joint_eff]: [-0.5675, -8.2803, 8.0889, 1.1746, 0.3883, 0.2173, 0.0171, -0.1983, -7.3094, 7.0906, 1.7949, -0.0855, -0.0464, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a44f41d2014b4de5f3eeb048d3492941ce3cbfdd11899c77d1e2d4012488896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b058a5387238c8e53a15144e5bc8e61f58fa8c13d3ded47d172bcd6b01e3da7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703d586101469a6a9eb3e7b52e9f9d0b49378d4125563ae71d56ce8e103291b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.278 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]: [-0.6876, 2.5187, 1.9743, -1.5337, -0.9352, -2.0937, 0.9976, 0.4854, 1.5101, 0.8864, -0.0143, -0.0872, -0.0597, 0.0723]\nstate[eef_state]: left_x=0.3937 left_y=-0.1348 left_z=0.0379 left_yaw=1.1713 left_pitch=0.0235 left_roll=0.0791 left_gripper=0.9976 right_x=0.3765 right_y=0.2201 right_z=0.1347 right_yaw=0.5843 right_pitch=-0.0775 right_roll=0.0048 right_gripper=0.0723\nstate[joint_eff]: [-0.3761, -14.612, 6.4342, -0.6667, -0.6325, -0.0269, -0.0024, 0.5265, -9.1419, 9.2103, 1.7558, -0.0855, 0.0806, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3325, 1.2186, 0.4583, -0.1173, -0.1226, -0.271, 0.9976, 0.4858, 1.5177, 0.8818, -0.0273, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2962 left_y=-0.0756 left_z=0.0458 left_yaw=-0.0838 left_pitch=-0.299 left_roll=-0.0788 left_gripper=0.9976 right_x=0.3738 right_y=0.2188 right_z=0.1271 right_yaw=0.5851 right_pitch=-0.1025 right_roll=0.007 right_gripper=0.0723\nstate[joint_eff]: [-0.1299, -9.853, 6.9538, 1.6581, -0.1978, 0.1538, -0.0122, -0.1983, -6.8855, 6.694, 1.7363, -0.1001, -0.0513, 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 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]: [-0.3313, 1.747, 0.8154, -0.0971, 0.3687, 0.3614, 0.6021, 0.4858, 1.5234, 0.8764, -0.0444, -0.0868, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3414 left_y=-0.181 left_z=0.01 left_yaw=-0.8844 left_pitch=-0.3584 left_roll=-0.1091 left_gripper=0.6021 right_x=0.3704 right_y=0.2169 right_z=0.1192 right_yaw=0.5851 right_pitch=-0.1306 right_roll=0.0095 right_gripper=0.0723\nstate[joint_eff]: [-0.5675, -8.2803, 8.0889, 1.1746, 0.3883, 0.2173, 0.0171, -0.1983, -7.3094, 7.0906, 1.7949, -0.0855, -0.0464, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a44f41d2014b4de5f3eeb048d3492941ce3cbfdd11899c77d1e2d4012488896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b058a5387238c8e53a15144e5bc8e61f58fa8c13d3ded47d172bcd6b01e3da7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703d586101469a6a9eb3e7b52e9f9d0b49378d4125563ae71d56ce8e103291b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQn4cdgkFHIzo_kpaiQpwOe7FljatOYhhjIj8awztx6-HM2vZBWp9CWn1e_bUDzevsj446dRV0DH_H8JtaFObAXr1aClvpJ89r7y2MT5U6dIryWp1zjKzPWLGBddEjT16ilJsMJPO_hvi1NlatCAI_xTYfzObaw6CS4d_IU4BlBebMy5UMhea9Ta07TUpDPIDLJXThpDi5KhxSLPE8l4HRTK1IFHPY872xFiRGn1aihoCPhsRd19FbRKlpwgwCsyIadQOAy-C_MZFIDiO_PWIsHBmbdz4hM3mOrqNpbTqr6Nz3GHVqOOT0Rrh21Kui6gIuTdF-UsZaMghV-v_OmiYTweCcYB7qRK2ulGWfSAh5vGRO3o_yPBNU7PIBcUUqYeVvugFrHuj7jHeS_2GXB5WTjw3RTmR_hn-fgRbdsb4F2988xkTGPmyJUXoxevrzRz6byKtBWBbnygW5Q4ICgGU1K_xs60-crJG-ogoFVHiaz2sFQZ8TvgmDzgYSRL5lvtMY0Zx2fN5PU6X1l-1inOrwE-JuaLBq4Owk6_EtIwfWtTKc4AP57-cdDW7vnu7M1ujWjrFmHtHFJogGqoL5i6DbnpwatXPmiq6weeU8TB9DefFunKPNohyfOH0KbfK-yOCYUA6tFXPAguL0nZCXmOHdgJBOFinGqrEd9uoxtJL-Gem6P4eAEZnLMwHCEvNPWdpQRigj-NYUKaa65wt3H6k4rR2IPJxPl2QVTJpkytLarhoyiCnt1s3969wgkQ9KhlBi87qTX5l_mAeRrsze2ElaoEIpr1V0kwzoCyhYt7aoDf2BJxIn6ocT5aKtM8hGVRSp-hNzXmKzw47SjgHrRirX7icqGwUTVk8QYafaqp9fqFbSfJY9h36vRRJs_Ap_hFttV_humY8aL_QUObpb0Gu1E_poHLxFK9lt4rfJhF47GB2haBpNIuVzoBfVXCLGbQyqQeVEss-X-0oH7Wv0_TXwJH2CeUWFd56rFTTj5dwVkXF4vg2SdMDNSwl7ufjTD1jkNWfy4GHH1FxjT-JcYyTMrytwf0sf1gfv29HupQOL7RNAU0aY_qBA0n9T8Rs8j2xSBlRy-u0TPND9bzwzX8FXnZykVJ60H4Ma7oNHjQatOIrXXCkymBfvr1QY8ajOt2RAVrfj1bcbFnGwHtdHyld84qvWV9R49-0Z6Ge8efRSCca4s0t_K8KcjidGPLEuCqc3TrCvM0WuBqrEoziyCuYErX14-y8impbuCLe-cX0GX4GXQoKpa7I64ffwIfwaqqhZydkrHbmjAqXnFK2mgL77YYUXMo8FKYoPYF4fBhSyx7pKMR40C5sIInGxa-_LtNd58",
  "id": "rs_04a6aef1fa8e0faf016ab464267f8887d0bb253a2aa6e469d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.17},\"note\":\"The left fingertips now straddle the cap’s overhead location at table level. I will close there and refresh the right arm’s height before checking whether the cap lifts.\"}",
  "call_id": "call_4FOKiP8CIAVImPIzdUXYHn8M",
  "id": "fc_04a6aef1fa8e0faf016ab464270ad887d0bdb4ee0737d00872",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4FOKiP8CIAVImPIzdUXYHn8M",
  "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]: [-0.3344, 1.766, 0.8177, -0.1162, 0.3664, 0.3595, 0.0099, 0.4858, 1.4948, 0.9936, -0.2363, -0.0872, -0.0608, 0.0723]\nstate[eef_state]: left_x=0.3363 left_y=-0.18 left_z=0.0015 left_yaw=-0.8919 left_pitch=-0.39 left_roll=-0.1288 left_gripper=0.0099 right_x=0.3677 right_y=0.2156 right_z=0.1448 right_yaw=0.5866 right_pitch=-0.1765 right_roll=0.0139 right_gripper=0.0723\nstate[joint_eff]: [0.1573, -9.3333, 5.053, 1.3114, 0.232, 0.0269, 0.906, -0.2393, -8.9915, 9.7846, 1.5018, -0.0562, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a4be63e3dab10997e17e69224c3277235d87d4d0a139b6a599791138454ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fc01a61f6d2bef7fcb40532b2e8ba014ba609854910996ba6b373b3246c21a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903012b27d3b2d28e5ede8b3bd473a3c010f4150d05d4a15f7f792c848e91b3b",
      "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 20 attempt 0 · /responses · status 200 · 4.937 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]: [-0.3317, 0.889, 0.762, -0.5083, -0.4286, -0.5617, 0.9976, 0.4866, 1.5169, 0.8825, -0.0216, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2994 left_y=-0.0217 left_z=0.2087 left_yaw=0.3148 left_pitch=-0.012 left_roll=-0.2128 left_gripper=0.9976 right_x=0.3746 right_y=0.2196 right_z=0.1288 right_yaw=0.5858 right_pitch=-0.0953 right_roll=0.0062 right_gripper=0.0723\nstate[joint_eff]: [0.1026, 0.1436, 8.8274, 1.5263, -0.0415, 0.2173, -0.0122, -0.2393, -7.1863, 6.9949, 1.7656, -0.0855, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3313, 1.747, 0.8154, -0.0971, 0.3687, 0.3614, 0.6021, 0.4858, 1.5234, 0.8764, -0.0444, -0.0868, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3414 left_y=-0.181 left_z=0.01 left_yaw=-0.8844 left_pitch=-0.3584 left_roll=-0.1091 left_gripper=0.6021 right_x=0.3704 right_y=0.2169 right_z=0.1192 right_yaw=0.5851 right_pitch=-0.1306 right_roll=0.0095 right_gripper=0.0723\nstate[joint_eff]: [-0.5675, -8.2803, 8.0889, 1.1746, 0.3883, 0.2173, 0.0171, -0.1983, -7.3094, 7.0906, 1.7949, -0.0855, -0.0464, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.3344, 1.766, 0.8177, -0.1162, 0.3664, 0.3595, 0.0099, 0.4858, 1.4948, 0.9936, -0.2363, -0.0872, -0.0608, 0.0723]\nstate[eef_state]: left_x=0.3363 left_y=-0.18 left_z=0.0015 left_yaw=-0.8919 left_pitch=-0.39 left_roll=-0.1288 left_gripper=0.0099 right_x=0.3677 right_y=0.2156 right_z=0.1448 right_yaw=0.5866 right_pitch=-0.1765 right_roll=0.0139 right_gripper=0.0723\nstate[joint_eff]: [0.1573, -9.3333, 5.053, 1.3114, 0.232, 0.0269, 0.906, -0.2393, -8.9915, 9.7846, 1.5018, -0.0562, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a4be63e3dab10997e17e69224c3277235d87d4d0a139b6a599791138454ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fc01a61f6d2bef7fcb40532b2e8ba014ba609854910996ba6b373b3246c21a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903012b27d3b2d28e5ede8b3bd473a3c010f4150d05d4a15f7f792c848e91b3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQvpDx8ttdpYzhc9loE1AdxOot98HBLXGLD4u0VkECDyON1Yz68e97d-rWhFaMhQgrND1kXrw3-5XC7Rj4nBrfiasPAgOBblsEJclx-M-0teM2HpUe1j77cEdSUv2VZZOyWX1TdwW4BXQVIbm5ItuHUWOMorIA6iDOBxXFGxyJJbCgLKgOfMY0AvA4alxCZMvD2sHRBdljTjZHUPZRImbY8t2nNeN3fTp-OjZdeLegNGvJsH9AHQOl3pBqcvMKZmeM86eNmk29lMkkuEy3etPT-Z-I8yoTGVNI5ARo8xEqR0BruzDuaeKAK6r3bKCIAaqubJzvmfFDvZkBxFVb7c3HXp2ReFl51HMeym2LwhJVarNiWlqRmQzTx4TStQ1h2maE2Db6r1GwEpFL68JjKsQ6HWsC0_6qHKkCWYB2Lyy_zpVln-DzdvgjsVlk4g87GEQFg8wDg7A365Kxc0uQXp9WJ9HYUapkldNVlRU4LC9AJvSkuS9YytWwjo-qR7nY5rY-kIFINHVOxrVjCvEdqPd-_P4SysB4BozsQIJZUh04UZApGWnI28M-Y1Ws7VxwOq80ENis97XOOfTIWhHvws_SNN6bmtdErwg7dtzOxiWs3dzu8FyQHKA119UDznZGi9DtYyBbytn5jGkZl0_3_PrQAHlkyHZgYVzArKCn36RFHrugBOYl7ERVzWHsaVW9LmT1JLsZ4TSABAAvRiyKTU4O_Cwm17wtfT0RvWQ_xIy8Rsmiov-jd96fOdShGnBthJXQuFUoQVIkuC3NObfZ-75PMHRqIuZs6i7UB2YQ8qfh7XCqxANwo8kuYmHXU23r4frpGjURYU3IMO3BQgYWhp0FBX4sZIocpiVBoh-KQxXXJUFvtx59xBX5MTAXRs_ikAuzRvmxYm3RCQqkwCZoywN7u9zVJU8G6Ffv1TPZ0NImN3FCjS0DbnjqYo_ExeKmKMJZmctQW4xWahonjycFk0bhAQHMSXv7oQFwJWSV8tLfTeMI27zVJ_IkjK5BwgtBJX6doKJZLuoayv0byTIWynE4YfnluBuZmBiTt8Jg66RxPnTnxg21rDKyVnn-ZoRaN9Fe7ZBsYnmM4BSkfz3kYo2L3guB1dT61YD8pqnDOSPIZyex9TkG7_fQTddeMGf8iiu_aArpI1oXs_dRMUbvSSadH0ElFqrLFbakuDXHL275G_o3vs3-hl_QHp_IAfXqhJmMExY-dFQ-u4B2cU_CoawKEIBwciuTAwp8W7KTZcZ_bC2a80YVdvA6y8qIEfUFDgeGjq07tk7IF-TfUrNyV-_VQRQjhCsuPvYZuMgbyqOM6shbPcSqfSzhOjWmUh2o9qxY2yUm_tAFhq0uDDzZy1qYmP64_HmLbrr4kRiYsBLQP_cCCV149EEOZpPwYpOGFrRdlcNpvhkv3GAMsXZ_2TX3I6XayWzLMaNxb8YDAjXt-3VLvVqTVwuQ-1bHP0BaZJSQL1x6rj8koxwwPW5kjQJvLcclKFQjY_NCGQkXTdypXf3Peze_f8uiDKwmotn44sXwpYz3MDxVu8kFqltNcG2HP8F3KXUIuu_LkcWp3CJFGQuC0XPsM53-1TQ7ZvVcrgo_6mQgQVfM-a6cJyfBIoMlEVDYivwGO86xEtt_pgRpVKMETw6nbHBv6_4qMQGaX8AQCtM8Pm8kfPbqdABn5ohttPTdB-XOwtw64HboF_gLaY4m9cOD2i8TCotawXeAQMkDi74Tov99FbuqKGg7lTIcLWIsQPr5Irk9R2Xsxndt2uKO3WuR8vT6NMFRA2y85qucIW3EBqNqJnEJHpyvA9do7BUyqI-dmDuuF1JsEJohuHIXn9Ie0uBMlKBHhFPV_r2pTikKgKS5GLhCyhuC__wp7V-g5BkDfGYw9xbsvtpHGEu37IMkhIrvk3IFHDcYVxYY7o1UrJ3_CJpguHip93M-aqpahuPItzXYmW_O-JMtpqydST7LXftaoOxASXCr_37EFTU8wWLAvd5AfzfiA8N9IrtuDftxnYMf2zYpefRPdcMXcyhkndjMHw1D6jF27xB1FyNYNQmmrn8tZQg5mE7i-_1AyyUkTwSHeosL0hkFbTjw-7zsXpJRU_2HBP7wCv5BJ3LackMa93gthCu_QTmST8JsuVemXcS8QzbmRTNY6j_8npd_bMV_Zmz0s4iclXmunmRfafhIfYoHWOYEBc3hnPmzSMHvAO7uTB-3d9iuAoBGfhdrxSsCBVGX-e74hBSEFPWaTTAvXTumikrE6XYqWHWkbBkMkNlZa2L246O_xj4L6ciBzaxyMM8O0BVfg1sWpN481ngJAvTpefKNQhSD7A3Af66pZVoRDcmC93fFqTom6dQ9PqrAl--VKkN6up1fj5kZC6bNWhnvA8ghlGsOUafP5CSn1pUiIXXyGN8v-AgE9_MtwnxAyxkV0jGiahppV92nHB-epPqYMIi5rps1vQRkFSqo9IkMVA3qELaOCsoUCPTZIXBGdoY2kZiDL5PCbnPYkWwa4Mr9jYm_rumB2Ng==",
  "id": "rs_04a6aef1fa8e0faf016ab46429fc2887d0b00c17a0a33dcac3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.155,\"left_z\":0.04,\"left_pitch\":0.35,\"left_gripper\":0.6},\"note\":\"The cap remained beside the left jaw rather than between the jaws; closing revealed it clearly on the left of the wrist image. I will reopen and shift diagonally toward it while reducing the tool’s backward tilt.\"}",
  "call_id": "call_jfZBkJAdHjLrrhoDzEWyeJah",
  "id": "fc_04a6aef1fa8e0faf016ab4642ed16887d0a80aba3ceb34b56a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jfZBkJAdHjLrrhoDzEWyeJah",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0711, 2.03, 0.4736, 1.1252, 0.8261, 0.1539, 0.5986, 0.4858, 1.4899, 0.9981, -0.2558, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3632 left_y=-0.1525 left_z=0.0254 left_yaw=-0.8605 left_pitch=0.2782 left_roll=-0.1593 left_gripper=0.5986 right_x=0.3656 right_y=0.2145 right_z=0.1452 right_yaw=0.5866 right_pitch=-0.1864 right_roll=0.0152 right_gripper=0.0723\nstate[joint_eff]: [0.6496, -6.9538, 2.7145, 1.9853, 0.4078, -0.0904, -0.0366, -0.3624, -6.3385, 6.4342, 1.7509, -0.0855, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b138aa29cf9c881eb951540b304c7511d7a243150b7624324f3b47fb9cec51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d818af0f5ccda6b360046115706e6f3c8d14baafe3ca954662cc4b7a27d8f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4051fa1be90b31774c18add43f2408bfa1817dd832cc5c1eca2f2611283a4f03",
      "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 21 attempt 0 · /responses · status 200 · 3.366 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]: [-0.3325, 1.2186, 0.4583, -0.1173, -0.1226, -0.271, 0.9976, 0.4858, 1.5177, 0.8818, -0.0273, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.2962 left_y=-0.0756 left_z=0.0458 left_yaw=-0.0838 left_pitch=-0.299 left_roll=-0.0788 left_gripper=0.9976 right_x=0.3738 right_y=0.2188 right_z=0.1271 right_yaw=0.5851 right_pitch=-0.1025 right_roll=0.007 right_gripper=0.0723\nstate[joint_eff]: [-0.1299, -9.853, 6.9538, 1.6581, -0.1978, 0.1538, -0.0122, -0.1983, -6.8855, 6.694, 1.7363, -0.1001, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.766, 0.8177, -0.1162, 0.3664, 0.3595, 0.0099, 0.4858, 1.4948, 0.9936, -0.2363, -0.0872, -0.0608, 0.0723]\nstate[eef_state]: left_x=0.3363 left_y=-0.18 left_z=0.0015 left_yaw=-0.8919 left_pitch=-0.39 left_roll=-0.1288 left_gripper=0.0099 right_x=0.3677 right_y=0.2156 right_z=0.1448 right_yaw=0.5866 right_pitch=-0.1765 right_roll=0.0139 right_gripper=0.0723\nstate[joint_eff]: [0.1573, -9.3333, 5.053, 1.3114, 0.232, 0.0269, 0.906, -0.2393, -8.9915, 9.7846, 1.5018, -0.0562, -0.0317, 1.0281]",
      "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]: [-0.0711, 2.03, 0.4736, 1.1252, 0.8261, 0.1539, 0.5986, 0.4858, 1.4899, 0.9981, -0.2558, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3632 left_y=-0.1525 left_z=0.0254 left_yaw=-0.8605 left_pitch=0.2782 left_roll=-0.1593 left_gripper=0.5986 right_x=0.3656 right_y=0.2145 right_z=0.1452 right_yaw=0.5866 right_pitch=-0.1864 right_roll=0.0152 right_gripper=0.0723\nstate[joint_eff]: [0.6496, -6.9538, 2.7145, 1.9853, 0.4078, -0.0904, -0.0366, -0.3624, -6.3385, 6.4342, 1.7509, -0.0855, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b138aa29cf9c881eb951540b304c7511d7a243150b7624324f3b47fb9cec51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d818af0f5ccda6b360046115706e6f3c8d14baafe3ca954662cc4b7a27d8f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4051fa1be90b31774c18add43f2408bfa1817dd832cc5c1eca2f2611283a4f03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ3VUtnvR8tyYq92YLUPDWtvR7YtcDEdlvvVj83jWAI8dh1Yjn6gZBsfXfEdLRlm1KattB_ZtxAmCKeFAl5Spa3DfKLVdk86qAcY-fTfeFy6OFSxEYrlKZkyTQc8PXhDY-7RooDpO0Jv4btywXYfJTRYWwvkKhk9fLX4YPeOlNstjA2fsZ9BzhXLhVAJ6YkygMmYJr07_d-POuFDjgNglWR83ljtR9twcIktHrfjr-p9pI9lt24QY-BgjHaEeoBNwjJwqNKjB5DbAoPcXiHVIkLiYXsALEcvfF83K3WG3BH-Bqxc9idO_ZCG1hGFZPhBJ1tqkrzNp3ZPPuBxePYpDv-S4zm-0LJPcTFpAMl-cyusqgr6FsnsF09s_tg37Xjy7a5TP0rDtq0O9LWeVWHcMzH-Vm5QAes_eDVCX3BsDk_RCBZTxORhsT_shs2W5QzxsqNs28fMNpx5fXSP5u7zCgkPhLNlPOFwKNGet8Y36ahNXQh4peI6egVsrLajiqLrSwYqLfYZWsbXR4-two1vGTHtyO-g-hx8_0aq4Dj-od3Gu-3hkukaNS7r6I-jGHPVzy13XlLi6wNSZNhmi_Rl5QGBWYCbnCaPEdOcfi0w_FDVEsvIP8W7b8jJjfsv79Pv3wpO87IWNsHl8TPYijXaLHDiS6YTcpe0Js4-d_8ah8Vr08Ktzjblzkr0xI0ZPPCYKBF57MK-UvWkK0dPY8g2dkJjjNNxr2Ltc0K55JompYBPM7158OXYRCiTP8YbdTgu9dVqrQy7_UoTv5_R1w41FKr-gsrmGMpRDK_ZirXfKwiad1OzX4finFU5FlQjc_806ul-hMj5R1p930avAMzcykX8F-s3ljmDdHcX3oS8PL-RAjiUIYVCBh8JIMvO5MhGeBHXeBnamJgt0A6n_y1HL7UeaA8cd46is9MV2tRK-El1PAVSLFzPDKqYx9_TDtEK162rELDMrx5DXXyPgKotyNQ8Y-L9ATiMh6GirwqjayrEQptnqHgvHsehTRie15JihchremqIE75ECUSCEer7NvspAMI0FpPCH213uPp6D4uykbRVS-9XJrz7-Ja41BkVMS4is0hZ42BGoeN4U3j8S7eyy_S6HMFy5yFDIhBlS11ItP9jEA37viyjMqprFsmXbsbb1pSDTL0j6QwQExk8yry-Ps2m-s_wmGja0Mre5gPVBwcKJ84Rtsx_GABYL05j90j1R8bSven1s3O9G8bMm8BUlGD9ZFw-HQHZDXMifo_9XKwSwyVPjKRQpsq8FjP2MPEjiv7B-AUMSO5eiYFlcLgP3ywujYzQdhLLSo2BDIpiJmqh8GcTMW-BVNxGpk2TGyO3hr6WRaBvBXf1s8WHEgVhJCNIgwiIzVm5hmakVapLxAeozK75ZvmR4y6nIy6rKYzRR3KP-WmUp2gHDMRt4TMwcYQOsVvOCIrsGboSpPxdUJns1giAVtuSJbqHx_HE0WWuqc-xDBt8PxkaI9sLqWnoHvnIpYokc0TghgJZ8wyZpmhryU1CRVGq2Ag9qyvrRY4WcM7c9EnqR9XufphPSqzN7vbuxrvWzkG4dpMkoEZwJ5hrQ-9rMMhcJ7YrBbTdULMl8L9urne7A0xLrhB2OLlzoEVESs4anw2ttEwSGG7M_vZDBoPLSLrrcM5nTRWeJeaf4hY8Lz640EW_d9av_8IuGvC1E3SH2XalYfoW3zZQfUv3TkZnCTqIoqPaqYjtl5rPzExQIZ-MuElAIgZvQNvEFwqijHw5DzcUYuswq0d11gSwea0tNuGcvAlzElShDxs",
  "id": "rs_04a6aef1fa8e0faf016ab46433bf3087d08267fe38e8f992b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.344,\"left_y\":-0.132,\"left_z\":0.005},\"note\":\"The cap is now on the jaw centerline, but only its end is visible below the fingertips. I will move a couple of centimeters back along the cap and lower onto its body.\"}",
  "call_id": "call_g7Fd17mlkKOFHAraOaCfBGD9",
  "id": "fc_04a6aef1fa8e0faf016ab46436365087d09a3ed1c54998e0fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g7Fd17mlkKOFHAraOaCfBGD9",
  "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]: [-0.0277, 2.0773, 0.437, 1.2411, 0.8623, 0.1589, 0.5987, 0.4858, 1.4902, 0.9943, -0.2562, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3578 left_y=-0.1405 left_z=0.0226 left_yaw=-0.857 left_pitch=0.3113 left_roll=-0.1406 left_gripper=0.5987 right_x=0.3648 right_y=0.2141 right_z=0.1434 right_yaw=0.5867 right_pitch=-0.191 right_roll=0.0156 right_gripper=0.0723\nstate[joint_eff]: [0.4718, -6.1744, 2.0991, 1.6728, 0.2613, 0.0464, -0.0024, -0.1573, -6.7761, 7.2137, 1.5849, -0.0757, -0.0611, 1.0281]\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:a010c0a7e7689c6da32f2ae22b88cce2a17c92785864e48f43daed56b32a2958",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9039ab0b8ded68484ec3cc225bc4edac2b6fb7c54b569620115707770de3b761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72288a16bb101ed0d257064dbaf326835f3e3b07aee9500320cd5dab648f681d",
      "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 22 attempt 0 · /responses · status 200 · 4.445 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]: [-0.3313, 1.747, 0.8154, -0.0971, 0.3687, 0.3614, 0.6021, 0.4858, 1.5234, 0.8764, -0.0444, -0.0868, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3414 left_y=-0.181 left_z=0.01 left_yaw=-0.8844 left_pitch=-0.3584 left_roll=-0.1091 left_gripper=0.6021 right_x=0.3704 right_y=0.2169 right_z=0.1192 right_yaw=0.5851 right_pitch=-0.1306 right_roll=0.0095 right_gripper=0.0723\nstate[joint_eff]: [-0.5675, -8.2803, 8.0889, 1.1746, 0.3883, 0.2173, 0.0171, -0.1983, -7.3094, 7.0906, 1.7949, -0.0855, -0.0464, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0711, 2.03, 0.4736, 1.1252, 0.8261, 0.1539, 0.5986, 0.4858, 1.4899, 0.9981, -0.2558, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3632 left_y=-0.1525 left_z=0.0254 left_yaw=-0.8605 left_pitch=0.2782 left_roll=-0.1593 left_gripper=0.5986 right_x=0.3656 right_y=0.2145 right_z=0.1452 right_yaw=0.5866 right_pitch=-0.1864 right_roll=0.0152 right_gripper=0.0723\nstate[joint_eff]: [0.6496, -6.9538, 2.7145, 1.9853, 0.4078, -0.0904, -0.0366, -0.3624, -6.3385, 6.4342, 1.7509, -0.0855, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0277, 2.0773, 0.437, 1.2411, 0.8623, 0.1589, 0.5987, 0.4858, 1.4902, 0.9943, -0.2562, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3578 left_y=-0.1405 left_z=0.0226 left_yaw=-0.857 left_pitch=0.3113 left_roll=-0.1406 left_gripper=0.5987 right_x=0.3648 right_y=0.2141 right_z=0.1434 right_yaw=0.5867 right_pitch=-0.191 right_roll=0.0156 right_gripper=0.0723\nstate[joint_eff]: [0.4718, -6.1744, 2.0991, 1.6728, 0.2613, 0.0464, -0.0024, -0.1573, -6.7761, 7.2137, 1.5849, -0.0757, -0.0611, 1.0281]\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,$blob:a010c0a7e7689c6da32f2ae22b88cce2a17c92785864e48f43daed56b32a2958",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9039ab0b8ded68484ec3cc225bc4edac2b6fb7c54b569620115707770de3b761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72288a16bb101ed0d257064dbaf326835f3e3b07aee9500320cd5dab648f681d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ62Ue0KdC0hvBH8kfN30RRNcCffUnEdabzwAlM5DffugzMdOf8QWVbsuYOOrUjhyVIIbnfZXFsufaynqOMbt__Yrwxbhv7koK_zLo4eVePBoRDI_b0VnN_cveYvXgdSYfe3sf2nlKBzenV10FxZYk3PK2m8Sy955L7ifpxSNf_LSWfEoyfqtrPc0OCkkh2pBs0YbZ18nrClGxNX8JEIn0r2kAwniuxIj1_x-_BWyaZoDwm8CfBjffSZx4LsbwWBZXXz6djEqndJ7qs9xkoSAwZk2m1RlHSeCDGSwHUpYB6dSOUlqlZTE4Y6x62WQGWm6GMZprvYJqgG3kf4Yzf-JQD0H2Z1xjAtFUb_c3_vneSKns5ApaslvMrAHBzcaXdeBCxiEJuusFZJXNNNHvmjYoY6Btk-UizIui3NmUxGwg55PnpxDVQ5lMwA9HBecrDe6igcpFt_Ko0vjzc7a9S_lH9P4tVKbhxRhIStLYn0yqfbBYADUJi6tYSMTCnu9UMEQS_O7uSSgc1P90w2HUZhCzoxZIaa70bGL_kDbWxes5VKmJWCcu9tLpEem8GThtQZCxcBcf9zG-QDrD7FcNiGtWINUDEHEC3vlER8hQUaLbHO9DFdI4Wo8-WHinFh3zvSjU8cZj06RCWUe7OzN9DPiqOn1DE_gFMAZI1r1q_Vrq9-oPeaZd-enileTGh9bhA6SiLU-lcVsAkibDJhUzpZvTe9Gz_amFO6DnC_OhobSoA5cqxjTVECAvg4WfyuxuJNZvYopJun15c2qOMQybv1ZNx93x3yl2WcoCO_IM6yjn9KYRWOonr_z8vuOK3ayy-K_sKLpP4XP3pDF7ST3nn3SMwCNmDR4q1rwgMUUt9qD-tTbtkwwt4Z-BRRSZU6Ugd8XIbVT5DxCLSwemE1L5HWez4bbnyDuKYnW5rsxccIwqRlIG1ImyjnezdVFWeC_Uzud-Ei35B2x0e7vb85TyEiTgGRhFbNFL_CGKpxkmuBsChdjxTRh_NA00rDkaUxkzl6Nuw3-U08P2UC_Lrkp2zghpay9CX7OOOtQ3da2LmCxeDOYQANe3yzo7JXJZQho4TzzA6Rigz0yKkFPIKQh7jN6DFFHpHfBK066hbR2mXBAlqkKcNf8Ix1DcMBXKhv2pDR7ITuZ_M5seRoT0rQKrBOJ9SK_J7JfWKEJyt6lpwww6jjq7lCftbMjzIVsGIjsfEUDPQQboueu65j_EUZfRszo534nV_fsEle5TK0Yd5_NLQV4DUNeBtOogbDkpjC_xQwl8YRgjfXqs9mni1W6nngoBSHki5nfsn1Jd91Nt4Vl34iHrAFeZQm0ewpH3-KfCSvmdu7eDZNzRD5GNpBEgEa1tubJr32Pa-gqX6LfpyrR4HBsc=",
  "id": "rs_04a6aef1fa8e0faf016ab464390db487d088edf794052ed76c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap remains aligned under the center of the left gripper. I will close at this corrected position and use the finger spacing to check for a real grasp.\"}",
  "call_id": "call_XgVuJm1Kvwm54LE6IaqUYdg3",
  "id": "fc_04a6aef1fa8e0faf016ab46439f1e087d0bf7bcd492225be20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XgVuJm1Kvwm54LE6IaqUYdg3",
  "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]: [-0.0277, 2.1048, 0.4255, 1.2446, 0.8612, 0.1577, 0.0099, 0.4858, 1.4902, 0.9943, -0.2569, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3519 left_y=-0.1402 left_z=0.0114 left_yaw=-0.8473 left_pitch=0.2867 left_roll=-0.1687 left_gripper=0.0099 right_x=0.3647 right_y=0.214 right_z=0.1432 right_yaw=0.5865 right_pitch=-0.1917 right_roll=0.016 right_gripper=0.0723\nstate[joint_eff]: [0.0479, -9.7573, 3.1111, 1.5556, 0.2076, 0.0073, 0.823, -0.3761, -6.5162, 6.7761, 1.6288, -0.1197, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0b9f104badd2c24f6e2984d96dd2c08afc5bcc498a0611c752df1a94fc7908",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc59669015392a9864cc39e1e4052278aff45b6b85e7a53e1245f30c5c66447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c710c6b95ec99a34fe4ffcdcc8cdbce2380d5f7f1acea5ef15b8734e828dab05",
      "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 23 attempt 0 · /responses · status 200 · 3.722 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]: [-0.3344, 1.766, 0.8177, -0.1162, 0.3664, 0.3595, 0.0099, 0.4858, 1.4948, 0.9936, -0.2363, -0.0872, -0.0608, 0.0723]\nstate[eef_state]: left_x=0.3363 left_y=-0.18 left_z=0.0015 left_yaw=-0.8919 left_pitch=-0.39 left_roll=-0.1288 left_gripper=0.0099 right_x=0.3677 right_y=0.2156 right_z=0.1448 right_yaw=0.5866 right_pitch=-0.1765 right_roll=0.0139 right_gripper=0.0723\nstate[joint_eff]: [0.1573, -9.3333, 5.053, 1.3114, 0.232, 0.0269, 0.906, -0.2393, -8.9915, 9.7846, 1.5018, -0.0562, -0.0317, 1.0281]",
      "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]: [-0.0277, 2.0773, 0.437, 1.2411, 0.8623, 0.1589, 0.5987, 0.4858, 1.4902, 0.9943, -0.2562, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3578 left_y=-0.1405 left_z=0.0226 left_yaw=-0.857 left_pitch=0.3113 left_roll=-0.1406 left_gripper=0.5987 right_x=0.3648 right_y=0.2141 right_z=0.1434 right_yaw=0.5867 right_pitch=-0.191 right_roll=0.0156 right_gripper=0.0723\nstate[joint_eff]: [0.4718, -6.1744, 2.0991, 1.6728, 0.2613, 0.0464, -0.0024, -0.1573, -6.7761, 7.2137, 1.5849, -0.0757, -0.0611, 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 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]: [-0.0277, 2.1048, 0.4255, 1.2446, 0.8612, 0.1577, 0.0099, 0.4858, 1.4902, 0.9943, -0.2569, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3519 left_y=-0.1402 left_z=0.0114 left_yaw=-0.8473 left_pitch=0.2867 left_roll=-0.1687 left_gripper=0.0099 right_x=0.3647 right_y=0.214 right_z=0.1432 right_yaw=0.5865 right_pitch=-0.1917 right_roll=0.016 right_gripper=0.0723\nstate[joint_eff]: [0.0479, -9.7573, 3.1111, 1.5556, 0.2076, 0.0073, 0.823, -0.3761, -6.5162, 6.7761, 1.6288, -0.1197, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0b9f104badd2c24f6e2984d96dd2c08afc5bcc498a0611c752df1a94fc7908",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc59669015392a9864cc39e1e4052278aff45b6b85e7a53e1245f30c5c66447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c710c6b95ec99a34fe4ffcdcc8cdbce2380d5f7f1acea5ef15b8734e828dab05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ_HqQOsn0s2Mw7J9pAPmeKBT5_wexFMZTm8JV_9yJo0-ImD-BHDfRk_veIZ0rM0u9UzLF92PfaMwFYdNnFOnJfmcvUfaRAU-hQIr4x9YRMMUxnJ3HJj3_poZcuiq5ZewEiPoxFSMY3a8x0txsjgrAL-0R6UkOYsJ-DF8Cp03cmpQfN_xjWHQGQapJmrcJw9F1ZKSXrlgcmd-29WO9AE5THNPsyIA4rAO_v396Mvxlvft7Kmh2GnDmWCt3qUDEPS9sfjnsb157v1WKInN7RwbLXxkvgPpk-z5hMfBeKEcs6Ji4Xl9LekY1zpXmHAQrv6zR9cMTxe33DyQPONcDs9quCaktZ5EJ1j6vzvEuyx7XtmE2gm7WlemTqF6Au61X-3OOpsF9SZv7VsPBg5V_k8a30R_AwBo1sF5FA8runnc9lkH4LApXn3K_xrtqKhnii1d5CfHZ99kGbwkQHN-FFaTCAl7Gzt43JWX_duX3Ln7J1hh9z5KWaLd_RYP1uhDA4yg6i3kkJxBGwEMD562FtzlLDBscaVahst7iuGqaFyCGrdgs-AHNNts6XOzMbhiAuMQYhuyZWKNdywAVBE8CYRfZZKfAC_l-q-vXvLVp2kVTBZgWUJfOQm11gjbdRuBjfdg5Y_kSYZkHvGW-euNsavCD_3KQmiqS1KuRg4HjBHBGjCjb6Kjm3KgkHRDe0WbV89f3SWISqSm7lalJ54uBXBBkZuJ4Xjl_6fPw7_b7-eJ2ZGVEbWpwBjTIEXDwlfcPCk00jGNYBGKBekcP48W9IugAMUCuGlTWK6lLXOHwATHzSfsEdIXvedHV7mhgj1zrLTHOLUNbQKfn_n313MHoSvizJz9e-BKQ1bFwXJ3WUCvDLyvoYk-ix07m0mwWcRiPNCUVKVohNEdoDOtcxbFiy_B1AfmihGHBz9yRTSHAah_svLXultSZDH9kiVGHBeLLhA7qj20vmbSD0hwslQb3y66qMfYjDYi4AyhEtk4rE9YoLsnkAFJ6SNRV02JfYza_eP_dJnYdUHbRXZwgKC1UkOmG7b9bGQbT5Nm5LRU2zeI6fBHECNTIhwbgsGp_3TcqrnO_L4Ngb2hKi0eygRjP5vX_r5Z5KI_dWYpOsuJdSdn2SBs1Ar9CLBhLS4cNsTSkpVgKeWF48f8KXAXFmCA-ywAiwSsbT64BMei-taEenWghLN0R9SnWrOYQxOYIZgEJtYPrDkd43GGrlvTXsTRg88JvzJV8B6Gs9e4dqMOvBMdS3d9ERklY045BdeT0SeUj-CXsQPXm9CgF9alZbOmnEVmJ6_9Ic6lHgHtbpdVOcQbADfiRsSc7PLhIllDqCGP0sKYj0m23eb-gOPYAWKdht5je9dUzVKvmEobAr-9Vr9b1afyKZhvPOHMTWd2m3E9Xc8e4AZUFEbpMEm1lIjyatT82z9frWT78aaMiDTV0njMJJIyXYpa44VaG_vOJzhcyGCV5hzgV1ALgos3G53HFFIYnOAr1NyY1CzfW-HfQt_xYgmNA=",
  "id": "rs_04a6aef1fa8e0faf016ab4643cabc887d0984f89df46f8ae94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.342,\"left_y\":-0.13,\"left_z\":-0.012,\"left_gripper\":0.45},\"note\":\"That closure was empty, and the measured fingertips stayed over a centimeter above the table. I will reopen and lower the grasp point to table contact so the jaws can reach the cap rather than pass over it.\"}",
  "call_id": "call_fCQOPc1dmu0X6QlKDvWMghLB",
  "id": "fc_04a6aef1fa8e0faf016ab4643e420487d0a3ee1ecc88d67089",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fCQOPc1dmu0X6QlKDvWMghLB",
  "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]: [0.0029, 2.1983, 0.4179, 1.4033, 0.8993, 0.1818, 0.4449, 0.4858, 1.4902, 0.9943, -0.263, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3506 left_y=-0.1337 left_z=0.0075 left_yaw=-0.8762 left_pitch=0.3378 left_roll=-0.1093 left_gripper=0.4449 right_x=0.3638 right_y=0.2135 right_z=0.1422 right_yaw=0.5868 right_pitch=-0.1978 right_roll=0.0163 right_gripper=0.0723\nstate[joint_eff]: [0.7726, -4.9299, 0.8, 0.8327, 0.1197, -0.0659, -0.0708, -0.3214, -6.694, 7.0085, 1.6142, -0.0855, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23dca84e2c030795f56011637b282b8655a42fb268ab83066e20d846a99f1b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e957b516ddb974897e790e75011bf2ce60033d51c7470ec4bd0dbd54ac19e651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef69f2b7089a7d199c5950d7cb90107adbb63a2c23792c870052a5492e644834",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 6.73 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]: [-0.0711, 2.03, 0.4736, 1.1252, 0.8261, 0.1539, 0.5986, 0.4858, 1.4899, 0.9981, -0.2558, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3632 left_y=-0.1525 left_z=0.0254 left_yaw=-0.8605 left_pitch=0.2782 left_roll=-0.1593 left_gripper=0.5986 right_x=0.3656 right_y=0.2145 right_z=0.1452 right_yaw=0.5866 right_pitch=-0.1864 right_roll=0.0152 right_gripper=0.0723\nstate[joint_eff]: [0.6496, -6.9538, 2.7145, 1.9853, 0.4078, -0.0904, -0.0366, -0.3624, -6.3385, 6.4342, 1.7509, -0.0855, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0277, 2.1048, 0.4255, 1.2446, 0.8612, 0.1577, 0.0099, 0.4858, 1.4902, 0.9943, -0.2569, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3519 left_y=-0.1402 left_z=0.0114 left_yaw=-0.8473 left_pitch=0.2867 left_roll=-0.1687 left_gripper=0.0099 right_x=0.3647 right_y=0.214 right_z=0.1432 right_yaw=0.5865 right_pitch=-0.1917 right_roll=0.016 right_gripper=0.0723\nstate[joint_eff]: [0.0479, -9.7573, 3.1111, 1.5556, 0.2076, 0.0073, 0.823, -0.3761, -6.5162, 6.7761, 1.6288, -0.1197, -0.0366, 1.0281]",
      "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]: [0.0029, 2.1983, 0.4179, 1.4033, 0.8993, 0.1818, 0.4449, 0.4858, 1.4902, 0.9943, -0.263, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3506 left_y=-0.1337 left_z=0.0075 left_yaw=-0.8762 left_pitch=0.3378 left_roll=-0.1093 left_gripper=0.4449 right_x=0.3638 right_y=0.2135 right_z=0.1422 right_yaw=0.5868 right_pitch=-0.1978 right_roll=0.0163 right_gripper=0.0723\nstate[joint_eff]: [0.7726, -4.9299, 0.8, 0.8327, 0.1197, -0.0659, -0.0708, -0.3214, -6.694, 7.0085, 1.6142, -0.0855, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23dca84e2c030795f56011637b282b8655a42fb268ab83066e20d846a99f1b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e957b516ddb974897e790e75011bf2ce60033d51c7470ec4bd0dbd54ac19e651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef69f2b7089a7d199c5950d7cb90107adbb63a2c23792c870052a5492e644834",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRDWPYkAYoV6wn5OUqyCx3vBjRf9zXMn2JB7lhhxc72pjDOOQhyn33hjj_DN7MxkHfkjflIcH2lbSsDn7_OKoqteTNZtJhB7L38DtI5_1j647F6hCBM7l_T6uQgeYwh1O5MODMtrbZGaUdCzyQUTKLGOBf-FfEiKFz_cZVanph4bobe-flbYuB8L0RVZt5KkcTAxMNpbUimJzegbeGC4szvFaajAEW-bIoiGagilH5TEfOcgNEhMbpxeC-IVYfewUKghBa3jQxHdT7QTw9tDew-dNUJCdpzUcviDI6UO4cBUGdIK8y3vi9zxPv9OPLmapBb2RJqu2osn30ga-soYKy5KJ1O8aS-lyTEGeAId5h5CILQQWqTqEbeeZQP5p6PoTUPkUlgP0hBXRS21q8G6kxDZaTT9mGj4w3ZAhmE57EWGckO_TWCpcNQ99SF6Uh-iwnICr7cUAco7mBULambHss67-8CQfuZOrCSi-M0I4SxHOEH0s2fOz2zF2JBCEz7lPKMBFzExQaqNI0FvLZwl8cwEbOsvIZmhbSD-W1mZegGpK6EvmoOLWZKSe3oYLlAFr3bGa-_fPDmCUAHEw33wS_ANj0Dp3kNlgQneGBOMWoQFnxPCSXhVBLKvPcp2nxeN0au4Udrbw_0p_6NT_kGavN7DgSl7aOcHTP7hoBT4GQVG2q16DoXT5VfqushistBks92TrWklMtF9wvBB4agt3XRjjWdM73Pl2tR7emw6TpHFxCsXwsuXetsSHDfN-cfH53rZ1zSTISvGMbEOh4L3t6ypOkuF72FLSLeLGn-hYNlbHbLvphVi6Cs2O8dabzOggzHPG-ms3vYl4pFKPmht0pF2a2H_eihTsEUQhDnc_p5iQ2Dj7NJXFA2Nb7nQBvLZ8BC1V8o9qfEqW1YbAl18fMQX8e4Q_GzuJyzx3p6LJUJmZ7rG2a8XTu1fH66DP0kDDxLrlm9fH66frhAYdmCahp0uGtBcEI5bdMOK0ZzBbVxo57keSX6wAYfIaS7rP2nhrNYTQB1eDNins8MDJ84QbwenugFrhoX6wMM-gQQJCRk6lUgl4SF4_LMKEooLWZj2nYmv4D-RtM_9rzqae-rfeHSk9J6DWDSfbtLZulhOTwcB_KifozezJHGRdSAWnBd2B1ab6o3zFbyRGT2AP7z0AtwI7TzrjNkMY4_BdShoYJGZs22tVqDBcvca9zjpzNfHNoIUjhNl8yZXjMJ_NyMA169idKX9QGqp5PVd0aRy2AkWA7LdKeqFU1PR1_sjw_W1ZGgusOAPvPFX4tF4Z8MVMyP-DaT19AHC6JVPzYBaZY-SbZVAPPNJ7RCrWANbywqLeL8VXhDjvLORffeVfxLE3M4WD0wxdLvHItuCqQxfghWOgPDjecAuZWpVImxZSNX68-GJE0LTl2zeX9k4WPPpyzpiTHuK41T4q9oyCm_XYXQKAA8Pvqm4oWj6VQGQSL4jSCbvlWLNk1OYIjqR4MtSLdhmQ==",
  "id": "rs_04a6aef1fa8e0faf016ab46441c69087d0834e4e243af87bf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now visibly between the open fingertips, with the descent stopped at table contact. I will close gently at this position.\"}",
  "call_id": "call_okT7NaT4AV2mzYiYpOx7M5e5",
  "id": "fc_04a6aef1fa8e0faf016ab46443121487d088a9a11418be6b74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_okT7NaT4AV2mzYiYpOx7M5e5",
  "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]: [0.0032, 2.2066, 0.416, 1.4288, 0.8982, 0.1841, 0.0097, 0.4858, 1.4902, 0.9943, -0.2634, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.351 left_y=-0.1335 left_z=0.0087 left_yaw=-0.8803 left_pitch=0.3473 left_roll=-0.0942 left_gripper=0.0097 right_x=0.3637 right_y=0.2135 right_z=0.1421 right_yaw=0.5868 right_pitch=-0.1982 right_roll=0.0164 right_gripper=0.0723\nstate[joint_eff]: [-0.1026, -8.3897, 1.8256, 1.3504, 0.1978, -0.0513, 0.8474, -0.335, -6.735, 6.7761, 1.5311, -0.1001, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4857cbe7810a8bf49bdd1bc36eea5cd5f263cbe17d5ccc3efcfc5926b8b888d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b767a5ef951686eabd6efbf2fbdd353a7880cbf5404503124b007e7ba77f2481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203d70b54c782196d4fc90ee1d8cba8113dea2535fdf685d8f213f0ffde101b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.95 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]: [-0.0277, 2.0773, 0.437, 1.2411, 0.8623, 0.1589, 0.5987, 0.4858, 1.4902, 0.9943, -0.2562, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3578 left_y=-0.1405 left_z=0.0226 left_yaw=-0.857 left_pitch=0.3113 left_roll=-0.1406 left_gripper=0.5987 right_x=0.3648 right_y=0.2141 right_z=0.1434 right_yaw=0.5867 right_pitch=-0.191 right_roll=0.0156 right_gripper=0.0723\nstate[joint_eff]: [0.4718, -6.1744, 2.0991, 1.6728, 0.2613, 0.0464, -0.0024, -0.1573, -6.7761, 7.2137, 1.5849, -0.0757, -0.0611, 1.0281]\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]: [0.0029, 2.1983, 0.4179, 1.4033, 0.8993, 0.1818, 0.4449, 0.4858, 1.4902, 0.9943, -0.263, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3506 left_y=-0.1337 left_z=0.0075 left_yaw=-0.8762 left_pitch=0.3378 left_roll=-0.1093 left_gripper=0.4449 right_x=0.3638 right_y=0.2135 right_z=0.1422 right_yaw=0.5868 right_pitch=-0.1978 right_roll=0.0163 right_gripper=0.0723\nstate[joint_eff]: [0.7726, -4.9299, 0.8, 0.8327, 0.1197, -0.0659, -0.0708, -0.3214, -6.694, 7.0085, 1.6142, -0.0855, -0.0415, 1.0281]",
      "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]: [0.0032, 2.2066, 0.416, 1.4288, 0.8982, 0.1841, 0.0097, 0.4858, 1.4902, 0.9943, -0.2634, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.351 left_y=-0.1335 left_z=0.0087 left_yaw=-0.8803 left_pitch=0.3473 left_roll=-0.0942 left_gripper=0.0097 right_x=0.3637 right_y=0.2135 right_z=0.1421 right_yaw=0.5868 right_pitch=-0.1982 right_roll=0.0164 right_gripper=0.0723\nstate[joint_eff]: [-0.1026, -8.3897, 1.8256, 1.3504, 0.1978, -0.0513, 0.8474, -0.335, -6.735, 6.7761, 1.5311, -0.1001, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4857cbe7810a8bf49bdd1bc36eea5cd5f263cbe17d5ccc3efcfc5926b8b888d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b767a5ef951686eabd6efbf2fbdd353a7880cbf5404503124b007e7ba77f2481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203d70b54c782196d4fc90ee1d8cba8113dea2535fdf685d8f213f0ffde101b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRLqd6wbYRk6VbFF7ssalrCJiMyFGA6OOrqPKwjP1_z8fkiylp_WsdlvCIXqVpczuDWdBRwT1z0sQgxGcpD0xv8QFu8WdFeqHc-sz1hod2NTgjia1E2frQaq0wUnJrbvYGCnIt1nNRpJ23-lKtRgpQLc1Of1C_xzgW-K7l5RnxipA4cmJoBtPJcX2BCmEiXczsBZT2m6CzlYb8uheN5F4vBBuNDVTDFPvH03S8ywLT1TU2mF2XMQsHqmu63jQazQhrOoHHDcS2e8l8NVRVP10weVGJCwwUz7atIU7mejHCwmEhebavBzPh2J_fPkeBxo2Q6rI3bqhNhFWUcb9xCzwErOFpX8GWW18sw_xZGMqJXqc6Ew7e6E8Q6pEvEDVUYQwjPhD9IxVemgqfz6dO5lFkfMw81JCPfoTedVoFaSy9p3WV6Yd7PhYvpk6pJY8-fa8HfVBPfOhT2B_4IcE2OpYaAVk4x0wgn-rhH60WgzJ9GHOx8hBP1mhcGepa4jpPiFS_EovIa2jR10DURyqPcxXtp02p9iWd6DPjLkCoaV7JcEyDhrrPHdATm7an2cqSgSYj1xuUgxucQJZlmkH_5zhR4rgm18TRs_VJVz1tCPay6fRCvDsVaENczo580iF0U8NoRBUl3kDuUigq1fM0DdRT9aPLO3sUXvIxKaZC6tUPYnvYzH6mcVHO1TmYm8HFxq8RNPhpoc4SK0r0VQ7EWBUgUEazB9_dxpq2OUSnluLpgiBcbBtTYsy7OQRwVCo9KvOimAYl2XOv3ooGugVM3sb-fPybziivVQ1O9rswM3r0g2XwMyVslA166NHB8O5BW3cvfd3uREHUhesiNUZ8s983kOLO3nrwYlkvIjW4mvpuR-uRA2DmhcjD9d8jTf078uOOs6X8m8AgbKtwA20CxU4hy39Dr5H1ylGDppl_CxB-nrBxD9ib5-b-fjQZyt7GALI_PjcnkIzvPRwtvETe484egJ_PS9mAr5xRXQpls2KubWwL_uvkuelv7gOFwqN9xYfmhfBmLBuz-_rrmx2GBIzVsA1t74zb6rQ5ItAY9pzumaCJrAn_cBnTvKGL_7ukS1ziLnKhx4YonBnAOJNheo0pRrG1NnAXlAL1MpIVlTkQLDMbQPd1tb09Q0MEMG1VSzsDyZLNPZzAmYUxfRyvcD2GG0vOSUtT3GgHMRblSm95f-bSwbHruZ3BA_cdbwvbg-uUVTUW-FCLLui8tzaT3Mtk_HZXTiHeN2KCVCLO0ejs_hhkvswsVYVy-iCSzNDODaJat_r64QyxBMtLkCPTBO9gpCvdIs2HQspLxoi4hcQb5LMxrRXonkEn6xa7w42YtdtPnAIItN2k0DXzaCtxpDMPasRbACU5wwmA7vHd5OgJxi_O5S3adZYB4Adewr165eOQtgHcaWsPG0ULaVfs28k48HA_8D66pDHqiOD-GgtKz-AM7hGAh_yoJ6f67w96nv-GMEHZaS7ClMcheKMbXcC_d_agIV9Z6OPWne3bzCMB5QfpezNmH0UrtKHQ_xImKksWNHBHR1kgUKrE2XGBhNytFO9qQfEIt9uXihNH-W1rCWXT5-hFpX9v_a3dRojQJMyzfsRrYj5RBbSW74B6Qpmcf7bfSrTtsuEJmfgah4V5InMQvNwriVmQQBNiM07PmGOocJbC0T95ZhRL99h9rvvz8VwcyUz90nDDx-GkpLmDhbnDRTrMzTzFt26mayUKkj_jFU3dEfsQDsts0unSaGkBf3IHqScwvio_BiTFoNBvq9_QxcZJ7QYUwzhvim8lut7_lbw2MdWvvd-ukIvA0SXuYviAXe-0Y4Rrd6xtRVGkeGA3e5OBMCdtXXr82sslGuTJXT1yVoc4et9uWhjw4GzCyjpB-Z9njDZ2mz3r55ebg6G2o6c1-IBXElJPEB7FSkdjPLg1hlgnG27yuOTiTEwsj_EOXmO423WmUBBnAj4rHta8z-TNZLG8MI-YHxT88628zrGN2MbYk4NdKYF_XNdpXmEd20szD7b9u_FjedbPXIXymWlRcrZ9wqzGDIgETu0Tn8ttEmIjwb9gG7vARF_2j-b7yQxLsRbp6LWZegTs__TpAEGTFmlU93JQJzsoJ7YLH72LXyIhRt7M8M0CqRV4Js2T4uXKguhRqwHL1T09xA2I=",
  "id": "rs_04a6aef1fa8e0faf016ab46445c18487d0b4a6d4dcee9e1105",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.368,\"left_y\":-0.153,\"left_z\":0.025,\"left_pitch\":0.05,\"left_roll\":0.1,\"left_gripper\":0.45},\"note\":\"The cap is just ahead of the closed fingertips, and the tilted tool is keeping the pinch point too high. I will level the jaws and shift forward along the cap before making another low grasp.\"}",
  "call_id": "call_f8oDCkC8cOf2OaYpvyihp0j8",
  "id": "fc_04a6aef1fa8e0faf016ab46449c4c487d09f4462ece464eca7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f8oDCkC8cOf2OaYpvyihp0j8",
  "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]: [-0.1619, 1.8267, 0.4923, 0.725, 0.5816, 0.4217, 0.4478, 0.4858, 1.4902, 0.9939, -0.2638, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3611 left_y=-0.1537 left_z=0.0188 left_yaw=-0.8798 left_pitch=0.0714 left_roll=0.0589 left_gripper=0.4478 right_x=0.3636 right_y=0.2134 right_z=0.1419 right_yaw=0.5866 right_pitch=-0.1989 right_roll=0.0167 right_gripper=0.0723\nstate[joint_eff]: [-0.3624, -8.4581, 6.3111, 1.7265, 0.2027, 0.1148, -0.0464, -0.3487, -6.7487, 7.0222, 1.619, -0.1099, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07a4c5e11dc5b84f685a44c3f8d761fe32469704b9666461c0fca8417586c05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c0f94a8011626a46bf2f90304407c7095729ae34ee23911dad2f537de63863",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5dd9b3af09bd49a5ea8b4b7c481f5b01964b3c1a13d52cd9dc53ed052b5954",
      "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 26 attempt 0 · /responses · status 200 · 2.339 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]: [-0.0277, 2.1048, 0.4255, 1.2446, 0.8612, 0.1577, 0.0099, 0.4858, 1.4902, 0.9943, -0.2569, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3519 left_y=-0.1402 left_z=0.0114 left_yaw=-0.8473 left_pitch=0.2867 left_roll=-0.1687 left_gripper=0.0099 right_x=0.3647 right_y=0.214 right_z=0.1432 right_yaw=0.5865 right_pitch=-0.1917 right_roll=0.016 right_gripper=0.0723\nstate[joint_eff]: [0.0479, -9.7573, 3.1111, 1.5556, 0.2076, 0.0073, 0.823, -0.3761, -6.5162, 6.7761, 1.6288, -0.1197, -0.0366, 1.0281]",
      "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]: [0.0032, 2.2066, 0.416, 1.4288, 0.8982, 0.1841, 0.0097, 0.4858, 1.4902, 0.9943, -0.2634, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.351 left_y=-0.1335 left_z=0.0087 left_yaw=-0.8803 left_pitch=0.3473 left_roll=-0.0942 left_gripper=0.0097 right_x=0.3637 right_y=0.2135 right_z=0.1421 right_yaw=0.5868 right_pitch=-0.1982 right_roll=0.0164 right_gripper=0.0723\nstate[joint_eff]: [-0.1026, -8.3897, 1.8256, 1.3504, 0.1978, -0.0513, 0.8474, -0.335, -6.735, 6.7761, 1.5311, -0.1001, -0.0317, 1.0281]",
      "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]: [-0.1619, 1.8267, 0.4923, 0.725, 0.5816, 0.4217, 0.4478, 0.4858, 1.4902, 0.9939, -0.2638, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3611 left_y=-0.1537 left_z=0.0188 left_yaw=-0.8798 left_pitch=0.0714 left_roll=0.0589 left_gripper=0.4478 right_x=0.3636 right_y=0.2134 right_z=0.1419 right_yaw=0.5866 right_pitch=-0.1989 right_roll=0.0167 right_gripper=0.0723\nstate[joint_eff]: [-0.3624, -8.4581, 6.3111, 1.7265, 0.2027, 0.1148, -0.0464, -0.3487, -6.7487, 7.0222, 1.619, -0.1099, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07a4c5e11dc5b84f685a44c3f8d761fe32469704b9666461c0fca8417586c05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c0f94a8011626a46bf2f90304407c7095729ae34ee23911dad2f537de63863",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5dd9b3af09bd49a5ea8b4b7c481f5b01964b3c1a13d52cd9dc53ed052b5954",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRP7amSZHSWNOgBpoN2fYy0wyj3Dt-Y_9fX9sgvhQWhVUOAxHyBRFoAAa41U2vaw9UhYvWzcBGb91KcMGBbEKRz5l1b7wc-Spx67dR6V-bQNyLsPLmq5q0W3HuIKQv7BdWOEIvPLSWMLs7Y-qBHwWr55C7sFLp4rsa-MsBGPi8hI6jztoX27xpuHXW9bDrev6jrKJXLqnb66pM-EIfTLUuNzHsBB8SsDiFymUSkWslDljrHKaQB1Gbme2oJY_9DkH93hPs3Wncz4qIBQJ0idY71UlHfy2BR-PhrJK0v4L6-cPQA7FX3MHd4pdQox0SUKT8rlPzRZuNIaqw7Gdu_fqjlcVsBLKhv6FRMgakhNENpN1T79PG5PC_2vs7DLxZEtnu4ZzUBjZ3b_-HY4aHGzciAb2Cporvi4nzNfATwdsHrtaPV-aJAnVVPUhVg48xZP0uupfK4X9C68_1ZRR0IpsCwy6Gznrb2HMnKZDE6-S47lyQ4PAsum5W8dIuBVg8SOtSrTWdEm36NrvaodfwQMfLRksCcTfA923YMEGVGzHpL1Sd4VK6kf8AdPGEQg6hzNDsQfVOf9B5q02l_dYYSFj08Y3HzFIm71E1fya4fS1r3A-3VCHBhLypHw07tnfxaa9jRBfmSiVcquA9TA8zJBbqAIyO4UHgg0nHMT2a3JD7qo5Pu-xhMoq1KmEnPP9euN3R3yHLqiUr8HdduKFkP6q8xWe81Awnk7kvX-T8cdPMy91Jx97QRxTBvVkBjhxBN4b3ZAbfXwGbll1f-F5Ns20eO_uYYkPmjgjHTp_vW2VTBl-6KQmeXZLogOgaJha-Np-r3Qme7bWvR6Sspu6k2alH82_cdM93jtXTJs2ppB6n8zXMGvZprahSnM3bjAHOvEmJtAPCGJZcZAuADjHoGUrjKTcUZvIYdhQ6Xy-eTPghtsvuE7K42npzNhW6G7BNQ0QDmqjqbWeoth0f4h6OB30zAaTDwgXkxyOAvXt9XGEJ-5559-JWwa42UabwSdXmWGAVr-OeI8sZ5r55nbQqH9GSycxbgcfguBNAErofjV572pBzUlekknDcQniFW2dcg3FRHUQRQc35kXr-M2jdn4IZ80EZJIGPjt-sgP8jbULCcLW4pJ27-ms4Qv00z_CufI6jrC2VSjBlz3A2Ohfkb2FIl277cWtGR16Jza3OeaMVos6E59WehZ9dK6vZI5v26ILJ73TIY3Ik-1w_E1gIM8dGLfWBI1zmbYKM3EKS7dwiduR8f0KvZQzxpUx0UH9KDyBaRT8KQoVnvSOZEOsEZM5apvGVoQXix93I7E93eEye9X8UyAZ1KVOWLL_keiE0LwBUfQLo9ztYXvorF4bJv30_26mjlO63KBZ62_rmebvPK_FNmKE3IGmFfE7wL_oSprEGg9SMMn5l1m22HHJy-rR7TAo8AEPF30ddlJQZKzCvXxF0BA-2NVRPlRdd1TSGl0JOSDvqz2ZNe8pyYKkDQzsLpDb5IchT6hzv1wb3XMaXJ1ZBb9scrDZ8cyToet_3yUyVTMj_1m6mUJPZMKoyhQmU9IRxAT8nPSOGmufT6tZPO_Qw=",
  "id": "rs_04a6aef1fa8e0faf016ab4644d63a087d08d3bc55cdfe93ac1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01,\"left_x\":0.37,\"left_y\":-0.16},\"note\":\"The leveled fingertips now surround the cap’s body instead of its end. I will lower to the table with a final small forward correction.\"}",
  "call_id": "call_48W7A4xfz1pRGkjywklBYCEu",
  "id": "fc_04a6aef1fa8e0faf016ab4644ee5bc87d0a51d2c141c18aa20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_48W7A4xfz1pRGkjywklBYCEu",
  "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]: [-0.1745, 1.9221, 0.519, 0.7757, 0.5552, 0.4267, 0.4483, 0.4858, 1.4902, 0.9939, -0.2653, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3678 left_y=-0.1558 left_z=-0.0008 left_yaw=-0.8736 left_pitch=0.0476 left_roll=0.0632 left_gripper=0.4483 right_x=0.3634 right_y=0.2133 right_z=0.1416 right_yaw=0.5868 right_pitch=-0.2004 right_roll=0.0166 right_gripper=0.0723\nstate[joint_eff]: [-0.4308, -7.6923, 3.4667, 1.5653, 0.2466, -0.1245, 0.0415, -0.3897, -6.7077, 6.7761, 1.5116, -0.0611, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84940b865459a0b9038ab3af273d525d536e95f9c0ef7a05a0ccfdec1102285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8df24d5890c41a9a4fc0620efadec6a13c106b36ed2727db4d37e7a47f9306c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45d05649134c370ce5e1ff1e0549ab87f554290f038e65d795a5519c0bd7f55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.492 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0029, 2.1983, 0.4179, 1.4033, 0.8993, 0.1818, 0.4449, 0.4858, 1.4902, 0.9943, -0.263, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3506 left_y=-0.1337 left_z=0.0075 left_yaw=-0.8762 left_pitch=0.3378 left_roll=-0.1093 left_gripper=0.4449 right_x=0.3638 right_y=0.2135 right_z=0.1422 right_yaw=0.5868 right_pitch=-0.1978 right_roll=0.0163 right_gripper=0.0723\nstate[joint_eff]: [0.7726, -4.9299, 0.8, 0.8327, 0.1197, -0.0659, -0.0708, -0.3214, -6.694, 7.0085, 1.6142, -0.0855, -0.0415, 1.0281]",
      "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]: [-0.1619, 1.8267, 0.4923, 0.725, 0.5816, 0.4217, 0.4478, 0.4858, 1.4902, 0.9939, -0.2638, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3611 left_y=-0.1537 left_z=0.0188 left_yaw=-0.8798 left_pitch=0.0714 left_roll=0.0589 left_gripper=0.4478 right_x=0.3636 right_y=0.2134 right_z=0.1419 right_yaw=0.5866 right_pitch=-0.1989 right_roll=0.0167 right_gripper=0.0723\nstate[joint_eff]: [-0.3624, -8.4581, 6.3111, 1.7265, 0.2027, 0.1148, -0.0464, -0.3487, -6.7487, 7.0222, 1.619, -0.1099, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1745, 1.9221, 0.519, 0.7757, 0.5552, 0.4267, 0.4483, 0.4858, 1.4902, 0.9939, -0.2653, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3678 left_y=-0.1558 left_z=-0.0008 left_yaw=-0.8736 left_pitch=0.0476 left_roll=0.0632 left_gripper=0.4483 right_x=0.3634 right_y=0.2133 right_z=0.1416 right_yaw=0.5868 right_pitch=-0.2004 right_roll=0.0166 right_gripper=0.0723\nstate[joint_eff]: [-0.4308, -7.6923, 3.4667, 1.5653, 0.2466, -0.1245, 0.0415, -0.3897, -6.7077, 6.7761, 1.5116, -0.0611, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84940b865459a0b9038ab3af273d525d536e95f9c0ef7a05a0ccfdec1102285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8df24d5890c41a9a4fc0620efadec6a13c106b36ed2727db4d37e7a47f9306c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45d05649134c370ce5e1ff1e0549ab87f554290f038e65d795a5519c0bd7f55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left grasp point has reached table level and the cap lies between the fingertips. I will close and check the resulting jaw spacing.\"}",
  "call_id": "call_Kbt6TAqibXnfr9iWZtjw2PRN",
  "id": "fc_04a6aef1fa8e0faf016ab464517d2487d0b4b1d1c28b45ce91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kbt6TAqibXnfr9iWZtjw2PRN",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1772, 1.94, 0.5217, 0.8005, 0.5537, 0.4221, 0.1014, 0.4858, 1.4933, 0.9939, -0.2646, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3696 left_y=-0.1569 left_z=-0.0023 left_yaw=-0.8729 left_pitch=0.0546 left_roll=0.066 left_gripper=0.1014 right_x=0.3636 right_y=0.2134 right_z=0.1405 right_yaw=0.5869 right_pitch=-0.2027 right_roll=0.0169 right_gripper=0.0723\nstate[joint_eff]: [0.1299, -9.0325, 3.5624, 1.4676, 0.2076, 0.0659, 0.5641, -0.3487, -6.8991, 7.1179, 1.5458, -0.1001, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c47b7ef3f8bfe3330a01c2871295e5ce53589b9b49949f2cf1d99f7694bb94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5049e620efe7bba8547855305e2191e400bc7b1ee2b2bc403beb68955942f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfad3ed77f149a9234601c0e15d4d852cb2a836943b6fcc1cca4b03d2fb7536",
      "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 · 9.544 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 109 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]: [0.0032, 2.2066, 0.416, 1.4288, 0.8982, 0.1841, 0.0097, 0.4858, 1.4902, 0.9943, -0.2634, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.351 left_y=-0.1335 left_z=0.0087 left_yaw=-0.8803 left_pitch=0.3473 left_roll=-0.0942 left_gripper=0.0097 right_x=0.3637 right_y=0.2135 right_z=0.1421 right_yaw=0.5868 right_pitch=-0.1982 right_roll=0.0164 right_gripper=0.0723\nstate[joint_eff]: [-0.1026, -8.3897, 1.8256, 1.3504, 0.1978, -0.0513, 0.8474, -0.335, -6.735, 6.7761, 1.5311, -0.1001, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1745, 1.9221, 0.519, 0.7757, 0.5552, 0.4267, 0.4483, 0.4858, 1.4902, 0.9939, -0.2653, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3678 left_y=-0.1558 left_z=-0.0008 left_yaw=-0.8736 left_pitch=0.0476 left_roll=0.0632 left_gripper=0.4483 right_x=0.3634 right_y=0.2133 right_z=0.1416 right_yaw=0.5868 right_pitch=-0.2004 right_roll=0.0166 right_gripper=0.0723\nstate[joint_eff]: [-0.4308, -7.6923, 3.4667, 1.5653, 0.2466, -0.1245, 0.0415, -0.3897, -6.7077, 6.7761, 1.5116, -0.0611, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1772, 1.94, 0.5217, 0.8005, 0.5537, 0.4221, 0.1014, 0.4858, 1.4933, 0.9939, -0.2646, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3696 left_y=-0.1569 left_z=-0.0023 left_yaw=-0.8729 left_pitch=0.0546 left_roll=0.066 left_gripper=0.1014 right_x=0.3636 right_y=0.2134 right_z=0.1405 right_yaw=0.5869 right_pitch=-0.2027 right_roll=0.0169 right_gripper=0.0723\nstate[joint_eff]: [0.1299, -9.0325, 3.5624, 1.4676, 0.2076, 0.0659, 0.5641, -0.3487, -6.8991, 7.1179, 1.5458, -0.1001, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c47b7ef3f8bfe3330a01c2871295e5ce53589b9b49949f2cf1d99f7694bb94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5049e620efe7bba8547855305e2191e400bc7b1ee2b2bc403beb68955942f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfad3ed77f149a9234601c0e15d4d852cb2a836943b6fcc1cca4b03d2fb7536",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRWDewprlHK2E-3y9REJFRfcYATfI_Zm_2fRp1x3CNOeca3_tK-Um1s1_Lav9sizOrKQmD4nq7-LdAFzPsVI57E45C-bH5Pl_CP27FIQeOndnEPuTa5gYruY2z4qYwK-rKEkkDYnnqibpVyV6NQkFAhNIrJr5V8cSrSqvnuF99mLLSle9qsRuHYuXWzphXPVPm7iixALf4Tr3g_bfcpGbxU8TRe5i582yszt-oFXGZgvQPVdZnGQnbYTqOPLNgMIk0gfSx05jY0A5UhVPHxBMj10DZs8_FKHCiu0Wt42bSzla-jG_H4wtwKoOcpTbDl-DwgRrgYEb7QPf2SM4PxNumlmNMUkPPjvbemGlMYToou33SI6OLWp2bGJQgIGxqf6qtdz58N3uWX77TtfWfeIrDURqOuH2e2b3yuJ2XLVs1PfkwD-YAH5hvysyxbXrA--u8bTBRFkgV3tLtlYOcvb5Wm-hIdz8_80YwdDNnsnfBOiQnSptDi0Jl2QtuVPHj1yrVXiIo4F9fsXawADvNf3RzEJ2AANBiAA8lYdMfw4w1GdH0VHPRM3uRzxPoOKieRM4sjF9Fz9QMw22X6CVaCe3aIIK-Nj9Bmxg4TaILc9F1k22jIDAW61fe1l84C7FGMJnumrEcnfBUSNyw4bc0APfCFhVfZ3yrq5O3d03FwsAeCkcxVn0RmXWG5bBSLQafWqFLixmyD-vfImFw7rIJgKWbXLcT8BNswn5cZp_PuoATaqdcO8OTefPW_oWYiqZPVxV2gF2o9Q9bmhIjMSNvtWg9vgQ31qmGyREKTVN38-yxhyt11lfiPeJ_mA2IFRLohjUdPS_rcrLfAlx119EQxYiev_tq_hTP5ClvCoFIA3VRC3Qej9ivnhKdzHDHRJWA46p4RSrJTWGJUscs6Q59UiZkzrF3-folVbFdl8JSdJDqClL31xM2srZeFdgWt4cNbraHVRkcUeR5fAIwL5T_UlELvi5gHnbntH55UjNQ2jkQOXOQyOAW-QyBh1AYH56PJPLfgjhUsP7f5AZoSjwZmy8Ygv0xPwrKiwg3dchAOHYfuu9Qs-QO0TZxfqz481CNIvyVtWVsIEx3ifqRU1qU0btIj4zvhc3Wp2IQxHXgYUhRgGYQWblv-G2buywT3CFn__8lOkRZXMC9qjHD1eBYSHkbe_o8kXTnaLi8jlQ5zp9By-AhThvOXphngthV3YFySsa3_GQJP8fLWVU3XgR1HCYDsC1nbDSKw5ypfyEPb0w07ZW4=",
  "id": "rs_04a6aef1fa8e0faf016ab46454b32887d09cd4a58acabce076",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"right_x\":0.38,\"right_y\":0.225,\"right_z\":0.17,\"right_pitch\":0.22},\"note\":\"The left jaws retained about a centimeter of thickness, which is consistent with the cap. I will lift it to verify the grasp and bring the pen back to a level assembly pose.\"}",
  "call_id": "call_klfm72UmkNmU5HimV8GHNZw5",
  "id": "fc_04a6aef1fa8e0faf016ab46455315887d091fb308d18e29dbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_klfm72UmkNmU5HimV8GHNZw5",
  "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]: [-0.1776, 1.6665, 0.5552, 0.4526, 0.5518, 0.421, 0.1041, 0.4858, 1.4597, 0.709, 0.3183, -0.1101, -0.0448, 0.0723]\nstate[eef_state]: left_x=0.3604 left_y=-0.1551 left_z=0.047 left_yaw=-0.8702 left_pitch=0.0225 left_roll=0.0398 left_gripper=0.1041 right_x=0.3731 right_y=0.223 right_z=0.1484 right_yaw=0.5968 right_pitch=0.1281 right_roll=0.0077 right_gripper=0.0723\nstate[joint_eff]: [-0.1709, -8.1299, 8.0342, 1.6435, 0.1636, -0.0269, 0.2662, -0.7316, -6.5846, 6.8034, 2.3077, -0.0855, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bdb7f0c18483c3c488d1e8000c102e020b522825f92baeb8c59d4196f540514",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18cd88bd7e8b6cdb811abf677b8f310c58d57d718975cffe0ddfd5a731d9a52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eb754e7e09fa2233c354238ee5acea21989a530a74bf07fddcd427ebced811",
      "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 29 attempt 0 · /responses · status 200 · 4.368 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 109 changed as sent

message 113 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]: [-0.1619, 1.8267, 0.4923, 0.725, 0.5816, 0.4217, 0.4478, 0.4858, 1.4902, 0.9939, -0.2638, -0.0872, -0.0601, 0.0723]\nstate[eef_state]: left_x=0.3611 left_y=-0.1537 left_z=0.0188 left_yaw=-0.8798 left_pitch=0.0714 left_roll=0.0589 left_gripper=0.4478 right_x=0.3636 right_y=0.2134 right_z=0.1419 right_yaw=0.5866 right_pitch=-0.1989 right_roll=0.0167 right_gripper=0.0723\nstate[joint_eff]: [-0.3624, -8.4581, 6.3111, 1.7265, 0.2027, 0.1148, -0.0464, -0.3487, -6.7487, 7.0222, 1.619, -0.1099, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1772, 1.94, 0.5217, 0.8005, 0.5537, 0.4221, 0.1014, 0.4858, 1.4933, 0.9939, -0.2646, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3696 left_y=-0.1569 left_z=-0.0023 left_yaw=-0.8729 left_pitch=0.0546 left_roll=0.066 left_gripper=0.1014 right_x=0.3636 right_y=0.2134 right_z=0.1405 right_yaw=0.5869 right_pitch=-0.2027 right_roll=0.0169 right_gripper=0.0723\nstate[joint_eff]: [0.1299, -9.0325, 3.5624, 1.4676, 0.2076, 0.0659, 0.5641, -0.3487, -6.8991, 7.1179, 1.5458, -0.1001, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.6665, 0.5552, 0.4526, 0.5518, 0.421, 0.1041, 0.4858, 1.4597, 0.709, 0.3183, -0.1101, -0.0448, 0.0723]\nstate[eef_state]: left_x=0.3604 left_y=-0.1551 left_z=0.047 left_yaw=-0.8702 left_pitch=0.0225 left_roll=0.0398 left_gripper=0.1041 right_x=0.3731 right_y=0.223 right_z=0.1484 right_yaw=0.5968 right_pitch=0.1281 right_roll=0.0077 right_gripper=0.0723\nstate[joint_eff]: [-0.1709, -8.1299, 8.0342, 1.6435, 0.1636, -0.0269, 0.2662, -0.7316, -6.5846, 6.8034, 2.3077, -0.0855, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bdb7f0c18483c3c488d1e8000c102e020b522825f92baeb8c59d4196f540514",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18cd88bd7e8b6cdb811abf677b8f310c58d57d718975cffe0ddfd5a731d9a52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eb754e7e09fa2233c354238ee5acea21989a530a74bf07fddcd427ebced811",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRhODjX5qmaU5HnNjLOLNjqCU26dwz2-eHIS49rKrPkw1P2-W6OOkH8pY8O-n1vTRRlbL2iIIHRjGKCcn4V9Vuq7jDfXEXPZuln2jIvyWcyCGuMLfFZFm_-yaOaIPFsXEE_mevvcAFI2w9I1eTWJJjbt_soKJ0FZVx7JciG4_v6_yZxgvQ_J4o0ExRPe78RP55u7o3KooEfWuAUNA0KVsOJs_0cpXLh94V06D5icbgWZhJDJNYTBZPuuKXGbQZScSthHYI1HinyhNKZ2vK3dlXIWPdTbyt-4hsMYEwV2pvAPhWhDVhofCFBYJ231zFCFkRleZOYCl9fcOAKKWo_QPEhQNrnxy7TwppI8Iko9J7Vo21NgzVEQnIIM8O5wu8PWmqdyV1gWzpRPZBBcVBAl75rtbUCF7fTmYpYMy1XonjXBgtTKVrI1bn5tz8diJHS0jhR9hafIQlFsVLYHWcioQscYqiMYWtPXO3VzltDLYO4h5aLbqtZu1rbDPHhi9uqCI_xurQji04783Hc3Q-D_vp5KVDS8Kv9GzhIU6BcNhHd9FjjOxTYXGTiLhVcXFEzXmb-IRttstYhwwuVRs4CEETD4zdC8kg3fcuPRq1qAL92ARTAs8izf5RX64SCKktMlFeLBpOTG_YEI33uLop8M88YNb9aSG8w5WagjhIFYcCR945fwfwEghuTOvy-kRXILvR9sv8HwpBC27_1dSyw6i0jU3GUAw57xvtFYEkojdtCro9YmWYnuL5rXlPySJbEd7wMDVL6Oil8Xny0GA7IpgmxMeO6rjq1ioRHdU3_8xH_y4n_rrcLqCIX5s4BBvkEuTgsVFTB5kEjTyJ4Yv_MSkgXjnP_oJbcUeA8Yrxzq2KPqaUz1jMgdCnBBfba6CFP6MvELhakc4drKGmTyLbDf-HeLSLXuC2swiT9tWnxuPPxG36sDzkM76S8adyL5k3ZkM1zpxhx91KGNF9HQjsx7O2ZtBSALgf2i3OYazKNj0PZfGCpSFibeEdpaLs7ZguTjLoJoVwL3vDTQGGVBS0w9HEzQDn6lEV50D58msFgkP0hQjA6Q1fRWaNBdzAjTbE7Hjl1yYi_C6g2vOF_gNB9MsAZCUdtg4fiscrr6fl20udwiPyMnIfEsiZa852JNQcwgIYJB8ZaRRMgBmn9gDyoE2mEfdTf_ah3390l5f-FfMG0blhwUk89AI7BGhiF_fgBICectl2Mi3eIun2pm12qB6S4VxKZTxY-f0FHPUtHQ1kcigQKnsP78j3-o2P-cVU6pmBNCfPndD-TNnbiz58iZpsw68Gp8V7awvP4qJkUBp0Fe4voUy0YWeQc6LIlKAkGDpthg85nWvZ20wgeiAliGcvRxXLWnz4Wm8r5RRhgxNtag_uLdIoAjWdIyjtnfu0jnBssoMK0RBOOw9xOSLkUyvfqnoyavo1OZW7pQn0dgG_FGTqmG2LRm5-jdGtAQECHZ70SVLQ3w8gYxP-2IKPKteHLmuGFJ-bFr9Mn2UHDlytXB35YToHlCSdIO7usrIr4KKPXGMsHvazuCjrJ03mBjHd0cWsB0DLaGiNHkItqJWMf3AMq5k0RLKCGAr4Cw-MGveyaubEa56nwNNvNtTAQt2e-VaQUvv05UKUVLBowUpIMcBirlS3IL5DDy7DU_oRcZTpT9JfQhSmTLEBNJ7UTlcvBlbqZuxfFjfZz1JZiOIQTkn2KV3-5byscZGCIS4JxOiVnYO288i7IFztShaemEW58f8yMRqcqPjChz20UwEGhLQDJ0V1DAL6VSgjlCzc_xN-8yj2iofhcsY58GbZjh7bELJBhhIsGuJbblO4SkHkg8Vc670IEJA388lY0U3-xgLGcT2nnVXcSTAL8ewyU9yrle3yx7YER5SK6-tkKXVAJexpthp-9UpyWVcOtmT6FDxvsvKnaDreGoVFx1YDXNgUuHMqJNNba3MQrGLJgAW5wVdyBkewAORmFPoyz2brycxLj3eIzq3uREZkWcA_vx7l32L3guNul6RVRH2h1l6pAwvm2RZGCwUKSWvYhMHEH10yrSeCEiNAbFvIJVSHRwVeewQ6Xtgdb5wYV5PiYjPdx5iQjr-d2RjgTgdqAQy5zBGFTcWElFY_uUkjdSC_a9uUDIoxKWsa-Jvswc2cJnDC8eCpuvlK6XBwRRvHhDmfcLqPU_PopPON1lfV6vSRJeEwC1dlYsPi1pQ6E_Kw1Pt-OG_X_C6i_jGiaNgYoywhDIqq0WaSMZx2IuSoQ9WXuR5lb8mY6mum_1e-zxqOccdiaIqD_mk4GDVTtPCH1mk47mUq9tg7rIj0u_IdCuUCffCb4WrLTG_6llKKF8Kb-DlJs4LVl_YLzJUq2bsE9iyURrZ8GbZ6r0ARMEx0s5m_Qd9d144Px4cLGZEAlLw3J3dYZc58DX-VXF3ofM1iiDBzFuZdhLTSCpVQdQgI9_I8VGrDfHXf2adQg-V-q4Jb8qrifT53IcfDOzd04xrExUHayjlSdTrqs4CuwhuYZV4ynv09Qy972QOVmRes-5eMNUSAxtdjK1wW7Zl2hA8_AHtiv1cg25auSzysKIN-g1CPYA0oXL9FicnZ-ZOx7TkaEV7X0Ncgdn3_LNull8Y01TU9ZIEZMVd8-8TSEOPOuL413ZXp1QsB-yFCVzWlcWXkAOc1E4y0BNL0kLMCj__M6zIMWvVCBlAVFgklNtH0pGwOxqEvuYv3hwJRDbHcpXp8pWDG-1kinjEtUQ5tWQTVc35RvGNi9k8kIZ4x8jIXEbQaT3qIuhNCgNvJZtzJ61w0n9kBZ6o54pJz3I_iYwkFVIN186jU81TWCfjdBKtTcIyhoUAqPNkBYnVOVlnPCaDEyfNdZ7Np8sqWb1okogSZeXRCy0jFsG-uKq1--qOL6oBtHZX3vTG0mYvWBgIzMj6VBJoVCRxyOwa68VzrSeesj9E1i2C_-78MRahuOTFxntPL5zQTlbij3f8TDxk_y6tF0Y_VkwtAJXmhbFDm7T8QCvojfA20CAelrvpBS6qzf1x8_7oieYONKLuKIdM3GOcXt2aejI1wFsAG99FoMaZ3mHjfMvfZf_DhU_ZVodeuU5g0XJ3iGSNPLjQgukry16X-2RaoL9wk4euC49i32-HUjGhA4UqiDb5WEdOWiBl0_29KHdCmP3Zo8xlR98UtKk7ZBrLTXkRFVzNHEUDKkUCY9MCHd3oyln8tsACaaEdQm5cmc9PMazQ==",
  "id": "rs_04a6aef1fa8e0faf016ab4645955fc87d09d002ca38b05b9d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.3,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0.05,\"left_roll\":0},\"note\":\"The cap lifted with the left gripper, so both pieces are now held. I will raise the cap and begin turning it toward the pen’s exposed tip, keeping the grippers apart.\"}",
  "call_id": "call_sgH5RCE3WqNuIJhhT4zHoSWs",
  "id": "fc_04a6aef1fa8e0faf016ab4645fe78c87d099924c216206117d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sgH5RCE3WqNuIJhhT4zHoSWs",
  "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]: [-0.8154, 1.9083, 1.4254, -0.1738, -0.6048, -0.4423, 0.1056, 0.4858, 1.4616, 0.7017, 0.3016, -0.1097, -0.041, 0.0723]\nstate[eef_state]: left_x=0.4343 left_y=-0.3094 left_z=0.1691 left_yaw=-0.094 left_pitch=0.0453 left_roll=-0.0156 left_gripper=0.1056 right_x=0.3701 right_y=0.2214 right_z=0.1406 right_yaw=0.5942 right_pitch=0.1023 right_roll=0.0138 right_gripper=0.0723\nstate[joint_eff]: [-0.4171, -11.1111, 8.212, 1.2869, -0.4176, 0.0757, 0.149, -0.0615, -6.2701, 7.0496, 1.9902, -0.0855, -0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eec09e740e5f547c13e953ffcf3154325f30823ac787b0ff3cae1bf7db6caaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd7d348db31748ec18eb168c464923ed1e21a814c6999c19e4e278f834c017c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ad9bd9a38ffb06af97774aeacaa231bb58c9d6b48947f6131ca5699b1dea3c",
      "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 30 attempt 0 · /responses · status 200 · 4.936 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 113 changed as sent

message 117 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1745, 1.9221, 0.519, 0.7757, 0.5552, 0.4267, 0.4483, 0.4858, 1.4902, 0.9939, -0.2653, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3678 left_y=-0.1558 left_z=-0.0008 left_yaw=-0.8736 left_pitch=0.0476 left_roll=0.0632 left_gripper=0.4483 right_x=0.3634 right_y=0.2133 right_z=0.1416 right_yaw=0.5868 right_pitch=-0.2004 right_roll=0.0166 right_gripper=0.0723\nstate[joint_eff]: [-0.4308, -7.6923, 3.4667, 1.5653, 0.2466, -0.1245, 0.0415, -0.3897, -6.7077, 6.7761, 1.5116, -0.0611, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.6665, 0.5552, 0.4526, 0.5518, 0.421, 0.1041, 0.4858, 1.4597, 0.709, 0.3183, -0.1101, -0.0448, 0.0723]\nstate[eef_state]: left_x=0.3604 left_y=-0.1551 left_z=0.047 left_yaw=-0.8702 left_pitch=0.0225 left_roll=0.0398 left_gripper=0.1041 right_x=0.3731 right_y=0.223 right_z=0.1484 right_yaw=0.5968 right_pitch=0.1281 right_roll=0.0077 right_gripper=0.0723\nstate[joint_eff]: [-0.1709, -8.1299, 8.0342, 1.6435, 0.1636, -0.0269, 0.2662, -0.7316, -6.5846, 6.8034, 2.3077, -0.0855, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8154, 1.9083, 1.4254, -0.1738, -0.6048, -0.4423, 0.1056, 0.4858, 1.4616, 0.7017, 0.3016, -0.1097, -0.041, 0.0723]\nstate[eef_state]: left_x=0.4343 left_y=-0.3094 left_z=0.1691 left_yaw=-0.094 left_pitch=0.0453 left_roll=-0.0156 left_gripper=0.1056 right_x=0.3701 right_y=0.2214 right_z=0.1406 right_yaw=0.5942 right_pitch=0.1023 right_roll=0.0138 right_gripper=0.0723\nstate[joint_eff]: [-0.4171, -11.1111, 8.212, 1.2869, -0.4176, 0.0757, 0.149, -0.0615, -6.2701, 7.0496, 1.9902, -0.0855, -0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eec09e740e5f547c13e953ffcf3154325f30823ac787b0ff3cae1bf7db6caaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd7d348db31748ec18eb168c464923ed1e21a814c6999c19e4e278f834c017c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ad9bd9a38ffb06af97774aeacaa231bb58c9d6b48947f6131ca5699b1dea3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRmb62wYrBJNnETkxsN2HNnVgHZWaJxORU8feBgQ__QRFP371qYJGPZgh5s64jnZwaBElN7xfDf0OKpWiSVeKqV_RexOdkQYfHqW9GIC0tpwPsRIVvFZSfDTBCexUl5EtUekrMCU09RCfsOHfBdV8oprAAUa-RpSVrMiOoIy9eoEYw-BQHmCT4-vfL3TH0rNa6vNrZj3BL_H9L8oo5eZnr2FYLngzpr5jdc3e70S6QpjY60P-oyt5TaZjd1Dfu8prfdoyILehL98QGlgth5-8rXaMzQgXXXfwAjQ0gMh6W0jPweufx6CEkTyz2Ge7mtOlapwPD_gf2xQFCHSDYMiMec0tn2Gsq5nectbZXCfV0HkTb0_OeKiup4Jr1TBi6mLNR0aPq7kfQG37IJxXwvs0VzpztNTDrZM2j4CGzP8cvT_HdXsDX5ugGsuWiSb-CKrzKBHYbyVUCVIOzxObGbDXztxqRybazCbp1TUhQxcpCJOOwj-s86vkUkqxCs-4zJxRHO8dH0YxrTTjUfuHxLuFEE4I7DJ1kzfEsO5TuMAqw4Kd9mgKGoZM6FYeS5Iz1P0wR_TEy3SUdlbcRw0fgRxMnn7C412Dh5zKQsEXHekMcli_qvgF6L5x6d9T65afC6hpaXf2w7tRjUqa3_AJ1qi_FFunUtCjsppULa_PT2UHbXxHjj6fUAxtKlZgm2WPynkFScVeBCmgHbz-7sCSzHxEzn3AiGqyaKy56tWFzfIW2Hlera7RhyW9u4C0kVU0LgfiE8_BSGniZkQlGKamjoyMI8dxkTY5f44wD-ogfy3rRH0B0SCz7rnZP4-s6RJZ3HJ85al_r0DIZ5CjPGnH4lh1-_cvZIIYS40lvXOh5_1ssUWmp9IowqPb895tr54swjSiuTeYqURKVFcW1xyU7nuS15FnrAfjW8q_pzUYmchpKCyA0PfN2bRvBOro2Ibo-IRCLI4UyrLpRNNlm4W6kXAN6JscSDT7xKUY2cuKwN5XjswbXWPyhE5fmFnLee0x58_QZ_vel_2m4ChxmqHglCdsesQZ0yAsUncsK013j5bKjFJhST6GiCMxCx5ye1DT0cM6MSvvZ3JRnGDhdG7PhOPy-_el_8PQnsus21ITTpXGGo1tVvIfcAlV5h8eb4t6AfrZ3aE4IH4xJlHjpcHW4kr81DF1h-6D7f0Fqj64oBZvN8GyoAM-zHZ_2U0VgIvkPHQPdKgWMn2aTli5z5sWWDs4G4TLF_d_91FVFHxkyNimfHLzG1vvn0ShxWDUT7KONhUSchYCJTDmlCIrCjZ1OHZy34NOIqb-8CzctaLz4nlg6-s7z7Lnv8sUtcu5zmSZa3hePHtJ9uXuRzmV_nUzoObVGW8E25QC6M1dzOsJu8oe3xc1SumYMpnhpdH4Yy3xjAejqI3ZfTa1jzqIKpM5Wo35GwfWAWCs_lhGNks2QGzBfG-u6RqN95zwtHS_td0Ad7fp_h6i9ZRtqpMi6L8JQazV8NR7cLR9tFhEsFDQfjUOmu9C7-bu9Y7_ZOSfgJ2SERA0MmIkXBLDfTlk0eepERdUzv9Q==",
  "id": "rs_04a6aef1fa8e0faf016ab46463f55087d0bf5ec58ef105d7d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.36,\"left_z\":0.16,\"left_yaw\":0.9,\"left_pitch\":0.12},\"note\":\"The cap is above and to the left of the pen tip. I will turn it to match the pen’s diagonal direction and position its opening just beyond the tip, without pushing the pieces together yet.\"}",
  "call_id": "call_mkLhVPFQfkvW2xE0Niz7HWkM",
  "id": "fc_04a6aef1fa8e0faf016ab46465408887d08b18889e24bb30bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mkLhVPFQfkvW2xE0Niz7HWkM",
  "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]: [-0.8234, 2.6846, 2.5443, -1.2984, -1.05, -1.4929, 0.1075, 0.4026, 1.5219, 0.6468, 0.0994, 0.0658, 0.0746, 0.0766]\nstate[eef_state]: left_x=0.4743 left_y=-0.2811 left_z=0.0972 left_yaw=0.7001 left_pitch=0.0551 left_roll=-0.0547 left_gripper=0.1075 right_x=0.3584 right_y=0.1439 right_z=0.0537 right_yaw=0.298 right_pitch=-0.2159 right_roll=0.0074 right_gripper=0.0766\nstate[joint_eff]: [1.5111, -13.4632, 7.2, 1.2527, -0.8913, -0.1245, 0.1832, 5.3538, -10.7692, 10.7282, 3.0891, -1.3895, -0.9646, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafbd0e177293b82f87c4446565228a4ee02a45c7b5031bd698ff76a1f8434a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f2db7e1fbde0c8fd7c3d4535228691775587ceb201083db09ec675d6faf1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b73b51c306b9f7d8c7781b44a5ee788d79895d07370f1f862e6d8c1c9295d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.665 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1772, 1.94, 0.5217, 0.8005, 0.5537, 0.4221, 0.1014, 0.4858, 1.4933, 0.9939, -0.2646, -0.0872, -0.0605, 0.0723]\nstate[eef_state]: left_x=0.3696 left_y=-0.1569 left_z=-0.0023 left_yaw=-0.8729 left_pitch=0.0546 left_roll=0.066 left_gripper=0.1014 right_x=0.3636 right_y=0.2134 right_z=0.1405 right_yaw=0.5869 right_pitch=-0.2027 right_roll=0.0169 right_gripper=0.0723\nstate[joint_eff]: [0.1299, -9.0325, 3.5624, 1.4676, 0.2076, 0.0659, 0.5641, -0.3487, -6.8991, 7.1179, 1.5458, -0.1001, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8154, 1.9083, 1.4254, -0.1738, -0.6048, -0.4423, 0.1056, 0.4858, 1.4616, 0.7017, 0.3016, -0.1097, -0.041, 0.0723]\nstate[eef_state]: left_x=0.4343 left_y=-0.3094 left_z=0.1691 left_yaw=-0.094 left_pitch=0.0453 left_roll=-0.0156 left_gripper=0.1056 right_x=0.3701 right_y=0.2214 right_z=0.1406 right_yaw=0.5942 right_pitch=0.1023 right_roll=0.0138 right_gripper=0.0723\nstate[joint_eff]: [-0.4171, -11.1111, 8.212, 1.2869, -0.4176, 0.0757, 0.149, -0.0615, -6.2701, 7.0496, 1.9902, -0.0855, -0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8234, 2.6846, 2.5443, -1.2984, -1.05, -1.4929, 0.1075, 0.4026, 1.5219, 0.6468, 0.0994, 0.0658, 0.0746, 0.0766]\nstate[eef_state]: left_x=0.4743 left_y=-0.2811 left_z=0.0972 left_yaw=0.7001 left_pitch=0.0551 left_roll=-0.0547 left_gripper=0.1075 right_x=0.3584 right_y=0.1439 right_z=0.0537 right_yaw=0.298 right_pitch=-0.2159 right_roll=0.0074 right_gripper=0.0766\nstate[joint_eff]: [1.5111, -13.4632, 7.2, 1.2527, -0.8913, -0.1245, 0.1832, 5.3538, -10.7692, 10.7282, 3.0891, -1.3895, -0.9646, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafbd0e177293b82f87c4446565228a4ee02a45c7b5031bd698ff76a1f8434a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f2db7e1fbde0c8fd7c3d4535228691775587ceb201083db09ec675d6faf1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b73b51c306b9f7d8c7781b44a5ee788d79895d07370f1f862e6d8c1c9295d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRs4-46L32jbd-YuAxukAC-EpNXK3p3iWU_DIga1sdKcEQLwt2TIZMxj8UeoOEdT1iUWiN4kgtIAf2LMW9k3FMmMO4Nd7peZ0wJlQbUVRnUCt62wnvcR1JaroawzC2MpHybKJ9N4PdQHTHwkhY6LeNzcroREDrVCKWATMRRgTixEhdKpeAOGWo0FktvnWUgKuki83DRVfbEPM6qwljTNv6gTJg4eWmpmHWq0HOGX8ep33-BsKAchCj8pjmeIWl-Ix-WWkX9QxytHRwKc-zaT5lxpZYLmVXan6GPRyfcWJuPzUiKThB5LrXUZdA04KpFcuwgIkntKA2ZWoW6vjr4bqNghryZVp7s-FnQwelmPK7sNu8AVnQstyO2onLUwv4HUpu-lISw5WVQnD1NQL253AH8Ys-5dxxIBAVXbKx4g-Hsa_bL-b8AOgrE5RohFW5Xvb2Ym43HV-vuxSrvPf4lrbc8sEb-A3_j6DZE5omudzTUmaYysExf_epMK6wGlKOVrWI_EhBjkKNWD4VX2doSlPMYits_ql04zkDoYWnXaJq_Q-AoIm13m0MNPjq-nV82WgeRh8wpDpX-eqYuuCK_XRbeXakUbnVfQziARFSmQ1bfa9sZ_8hZxHw9KY2IG4eH-83I8G4yrjBgDhoGXcxx-FfoDkX9IntcuV8eT2-6TYClBUkpZDe9eEHot9ceuPEU0Y2BF57KgJj0j7m6X-FttDBjo2SRa90yrXaZm5SPAUXV-Z0DtRP-0M9dXBWl7gPyUZNV_W7CQcN8RYiLZT14vnzwKW3TJIqtxF6432JFQJVkMHrUqI8sMOdHDdZRxV_AkzsI8SUs1YGtJ4SOms-oVYdkG4qqbzC0yMEHLhLnegBF4O_bOtQH9-pN2eiwAaVw2H5CujuItQVZDyLVCK_7AYuymjjvpepZjx5eafah2RWcA6q_BpKskQdsZy8ydHW8lgXA0q1J_jbKM2-JiynvQ8k0zdvJLI0dsqPDJ0PGvhVfNJ4B18i-8GWzlggPVYdpzdGUMlun2d-pZkcsX3A_oSziR_34hObswwPLJkpq3akHEtEvqK1xFnHWwyCaSBbmsI2nWUcZh1eqEz16sBYc931gVS3xNGUo61QswSm8GF307Ddf3_tcFuDQxZtmjqROV6iMcr7L3h0vtu0BhPqW7wX14-sqp1aJCm7sAXa8sVRhLsd6ZWILbqlOQrODpYocT0kdY90PgCQOglrR4WEFhvtjFx_gCUIlkxtQAKyXZyOBx5Gw0qlnB9nSCF7K4FyclaGBy1eZRcZ_ACAFdMITUVlbewFeRBaMH4LaxtBANr7pityTr8E1EHWem-7sAYTiXuDS0h8R-BDm0zOD7iRAhcMCShl_oWFLtH7jKn3mxDSLWSojRrL-E88U1PIsj4_4wX9XDZU1aDnNYCgf-5I7ljKvkSel297muXz6kRoJ5-SsGKbfXj6Mz7CMt__4csBFOR7b-_Uk8_lJZqcxv-up3-HiD23jUUQhAINkMQZsjMNC8NXWKosgT8jJruw23aLgaPoEZtGMaZKmX6o_u1GL9-8DU2WsBZwr9SC9E3TZ3NFZ2qX1vx3sr4CWE7dv6O1l4GvIP58SGn12YXmFnO6W3KeTECOCUfZLc3gPTeNyYAPEW9FmMkeVzY0ZC6OVES6zjFKHaGyBKC01ebmacpJL2RTx63S3w8E2QrcY6iDk-rx2omiCtkB572L3wIAsFW3CyQP_8-LPj1jDPgaWeJTZBn3s_2_EcqtKosLQqjnHU1AnMnS7egcMwbHjwbVmYY6OlD3lkdAtCE8ZgrNIkLaTHb8c1kRJF2tIQDqmcLF8W1814e8=",
  "id": "rs_04a6aef1fa8e0faf016ab46469009c87d0ba161287fc4501bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.26,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The arms contacted during the turn: the right arm was displaced and its joint effort rose sharply. I will immediately separate them by lifting the left arm away; I will not attempt insertion from this unsafe alignment.\"}",
  "call_id": "call_4zRdDMILQX2ezpkFSoFzoDJO",
  "id": "fc_04a6aef1fa8e0faf016ab4646b0f1887d093b14b8fbdcccfde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4zRdDMILQX2ezpkFSoFzoDJO",
  "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]: [-0.8795, 2.7502, 2.7537, -1.4506, -1.0401, -1.5757, 0.109, 0.4049, 1.5234, 0.6098, 0.078, 0.0708, 0.0784, 0.08]\nstate[eef_state]: left_x=0.457 left_y=-0.3076 left_z=0.1154 left_yaw=0.6871 left_pitch=0.0416 left_roll=-0.1184 left_gripper=0.109 right_x=0.3435 right_y=0.1375 right_z=0.0358 right_yaw=0.2923 right_pitch=-0.2751 right_roll=-0.0002 right_gripper=0.08\nstate[joint_eff]: [-1.265, -14.6803, 7.0632, 0.486, -0.7106, 0.2418, 0.149, -0.5675, -6.1333, 8.9504, 1.663, -0.0659, -0.0757, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799bcc8f68c0d3a08ffb1fb675a65139bc43d63b5b20401dae9fa7feb3f49c0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08024d021a68259d472b72742bbb99df1391a9b88e18b843e3a66e1cb3e20096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e103160fe14ac58b7a0fd6f1d23d0ba4272c85294e40d29f884898d85706eb95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 4.487 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1776, 1.6665, 0.5552, 0.4526, 0.5518, 0.421, 0.1041, 0.4858, 1.4597, 0.709, 0.3183, -0.1101, -0.0448, 0.0723]\nstate[eef_state]: left_x=0.3604 left_y=-0.1551 left_z=0.047 left_yaw=-0.8702 left_pitch=0.0225 left_roll=0.0398 left_gripper=0.1041 right_x=0.3731 right_y=0.223 right_z=0.1484 right_yaw=0.5968 right_pitch=0.1281 right_roll=0.0077 right_gripper=0.0723\nstate[joint_eff]: [-0.1709, -8.1299, 8.0342, 1.6435, 0.1636, -0.0269, 0.2662, -0.7316, -6.5846, 6.8034, 2.3077, -0.0855, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8234, 2.6846, 2.5443, -1.2984, -1.05, -1.4929, 0.1075, 0.4026, 1.5219, 0.6468, 0.0994, 0.0658, 0.0746, 0.0766]\nstate[eef_state]: left_x=0.4743 left_y=-0.2811 left_z=0.0972 left_yaw=0.7001 left_pitch=0.0551 left_roll=-0.0547 left_gripper=0.1075 right_x=0.3584 right_y=0.1439 right_z=0.0537 right_yaw=0.298 right_pitch=-0.2159 right_roll=0.0074 right_gripper=0.0766\nstate[joint_eff]: [1.5111, -13.4632, 7.2, 1.2527, -0.8913, -0.1245, 0.1832, 5.3538, -10.7692, 10.7282, 3.0891, -1.3895, -0.9646, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8795, 2.7502, 2.7537, -1.4506, -1.0401, -1.5757, 0.109, 0.4049, 1.5234, 0.6098, 0.078, 0.0708, 0.0784, 0.08]\nstate[eef_state]: left_x=0.457 left_y=-0.3076 left_z=0.1154 left_yaw=0.6871 left_pitch=0.0416 left_roll=-0.1184 left_gripper=0.109 right_x=0.3435 right_y=0.1375 right_z=0.0358 right_yaw=0.2923 right_pitch=-0.2751 right_roll=-0.0002 right_gripper=0.08\nstate[joint_eff]: [-1.265, -14.6803, 7.0632, 0.486, -0.7106, 0.2418, 0.149, -0.5675, -6.1333, 8.9504, 1.663, -0.0659, -0.0757, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799bcc8f68c0d3a08ffb1fb675a65139bc43d63b5b20401dae9fa7feb3f49c0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08024d021a68259d472b72742bbb99df1391a9b88e18b843e3a66e1cb3e20096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e103160fe14ac58b7a0fd6f1d23d0ba4272c85294e40d29f884898d85706eb95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRyp9qjKdxWe5QOj532tKZDDv7zqOz1O8UGPP4jn8UFQAN2dYSMc3YWr8Lt7f029SPq7AaLJYCAsdLRZYC-VOg51OQ2afWoHBbuW7aTMkOwtVEil4hh2isjy0c5a8HqHyC8t7N2TeLgzVxn7q-uirbTaEUN9_GKtr3paJK32yfXjOk6pMm0sgl7e7YKZQweaqWMrBzcbPLh5yWwfqlzYRU6yR7IAM3cl1s0vNH6D2eJpJrig9M85Ou-eamBB0shnTgnn7mr2jBJn5e50DqHRxe6btYwQkBcns0jcwwQ33auIyejjYF_BJQp-hRIwXpBmA0xevehHenbe1HrXMh2xhPeazdpwSohb7nv97twGRyRFOlxg9-N4wmq_oHY6O-XrmwqVQEIkQz2C1uYmSwIL3u1_WLhPpwBn2M0QAk6xmO0VnXpoL0pjy-daMMgROq4Ul_d-sH2HNpdCFyEiGeUmocw_DZHmrFt-ip7nqQEhKjAqdfU_vpUZ7h9fbbCuxYOl_HqfI-253gEDsBQ-Eo_DmuKVREsbtpj7GOi_VwAcq4-6qvcy8msSthfO-Z0wA6yX8w4Wj8Zu7Pl8dfH9f_xALWotZP-DreH4PgofVTG3YDW6t1GlKTYfU2jJzCHhoPg7xhKn9P5HqWe8omLgTvZ24_Lb6oL8u6IXg-OW1RkfU51Ab3YPzYmCwL_lIu4mouRWxT4z7HVY-2S9rFCWQK6TfvJJeRwKqR37qa6s8vWusfQmcRfDJ0OHJqKQxYMZODTVAwFPKAm566N89X1j-QCAr4vBuOsKHgrSsQqddWu1M1QdiebTx-W0dTTs_lUsrNg4AgP9Sg3VWVbwSpR7s83kKrriYDLcv6xh6Buetti_qaK8yjOZPw8tIFByOf4EK_EUCTnMuywjAH5NANTIDKLdcovv_htGKbCbguMtEESg0B019GhHKVX_3Pk8IRahmTn2l8q3iZQu0k-si-7BkVdqbWQdvcfYUsORuRmgb_OTSXXDwHTMDb2cNC7QabDMib3AVbqgw860n5SfPxEhEZE-MBeDk8V7sc9uyUonS6OUNNiH0pBGldo3hIq5t7Kqsy4PTdGwpwJWU3QeSLLjWwiy2W_OB9d8v0bcvAVfod388UFwIoTul28I3VKC-lkR6fFVvwafYMLd4xcZCbOw_QmzgkintfL9eLLTxcbPmSnhXRscwvFmr6_Q-pCVedQ2rNkpJf23Zv720K26q-QCZhYeUqIEySpxGlJ1L_8CJ4KEU848SavIDUva-WDhq7bbGfBpmTm1hFzlEbI-CaY8FOz2vGBe5NKm52C54m9tqyrhJgUXZH3-ggFZ8q0Zb7ExFVSRD1rx0e4UDeZ6wrbHih9u2ZmHJSLcfrx5hKjhJHMkR1b_uYzFlPBQ3fugMXpI0cvycRMHEVGBkxdViwM4KalJL7ZHvb8fm4b8hcqGw9BSWl-SYz0AfYrIpzbWhpJrs8y_Vur5GAoeRsfkuadtT48jvNmZiQRe-cDWeQUEUjYsKfyXWjQmV81HegL_ySDwyWe_r3K1x6dCXEFkgaHvTmw4pH5ig9kxK2QUetUU4zVgYzbDj28hzmO3iWcSlJ3iFlRghjq_pvzligb4Fiby8IVhdMWqao4jUEy8VfVgRChAAsxbkv793VnHRPKWvF9BqZi1CBBGy7p6lwJjq3_vGMHumZ7BjN87zfav-kH8y3h2lYAoy8bb3UfQ2JyoV--nPHLgmRg",
  "id": "rs_04a6aef1fa8e0faf016ab4646ed4a887d0a70376a67f4b742c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.04,\"left_z\":0.22,\"left_yaw\":-0.4,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm has not followed the retreat target and remains in an awkward folded configuration. I will use the raised, near-home posture that previously recovered it, turning away from the right arm.\"}",
  "call_id": "call_Z3bKBvmjOnLRS34nRxI9SKCA",
  "id": "fc_04a6aef1fa8e0faf016ab46470b85487d0a14026a313cff4c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z3bKBvmjOnLRS34nRxI9SKCA",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0448, 0.918, 0.7712, -0.4751, 0.2485, 0.1429, 0.1097, 0.4053, 1.5291, 0.6075, 0.0753, 0.0696, 0.0784, 0.08]\nstate[eef_state]: left_x=0.3085 left_y=-0.0261 left_z=0.2048 left_yaw=-0.2526 left_pitch=-0.0286 left_roll=-0.0174 left_gripper=0.1097 right_x=0.3418 right_y=0.1372 right_z=0.0326 right_yaw=0.2933 right_pitch=-0.2858 right_roll=-0.0006 right_gripper=0.08\nstate[joint_eff]: [0.1709, -2.9197, 10.5094, 1.7509, 0.2369, 0.1148, 0.0611, -0.2256, -6.4479, 5.8325, 1.4969, 0.0122, -0.0562, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01c66ee32256c00b65645d12ab1f52c632d250c4eb8583aac398741d1e9cf52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cabec6e54aeb1b311c2120fab38ec0fd5cf074f678aa8ef6fd21f1eb83d59b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2b260991df7e965723623acafaced2ad75c490b2a17309ec74ad737e2a42d4",
      "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 33 attempt 0 · /responses · status 200 · 2.278 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8154, 1.9083, 1.4254, -0.1738, -0.6048, -0.4423, 0.1056, 0.4858, 1.4616, 0.7017, 0.3016, -0.1097, -0.041, 0.0723]\nstate[eef_state]: left_x=0.4343 left_y=-0.3094 left_z=0.1691 left_yaw=-0.094 left_pitch=0.0453 left_roll=-0.0156 left_gripper=0.1056 right_x=0.3701 right_y=0.2214 right_z=0.1406 right_yaw=0.5942 right_pitch=0.1023 right_roll=0.0138 right_gripper=0.0723\nstate[joint_eff]: [-0.4171, -11.1111, 8.212, 1.2869, -0.4176, 0.0757, 0.149, -0.0615, -6.2701, 7.0496, 1.9902, -0.0855, -0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8795, 2.7502, 2.7537, -1.4506, -1.0401, -1.5757, 0.109, 0.4049, 1.5234, 0.6098, 0.078, 0.0708, 0.0784, 0.08]\nstate[eef_state]: left_x=0.457 left_y=-0.3076 left_z=0.1154 left_yaw=0.6871 left_pitch=0.0416 left_roll=-0.1184 left_gripper=0.109 right_x=0.3435 right_y=0.1375 right_z=0.0358 right_yaw=0.2923 right_pitch=-0.2751 right_roll=-0.0002 right_gripper=0.08\nstate[joint_eff]: [-1.265, -14.6803, 7.0632, 0.486, -0.7106, 0.2418, 0.149, -0.5675, -6.1333, 8.9504, 1.663, -0.0659, -0.0757, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0448, 0.918, 0.7712, -0.4751, 0.2485, 0.1429, 0.1097, 0.4053, 1.5291, 0.6075, 0.0753, 0.0696, 0.0784, 0.08]\nstate[eef_state]: left_x=0.3085 left_y=-0.0261 left_z=0.2048 left_yaw=-0.2526 left_pitch=-0.0286 left_roll=-0.0174 left_gripper=0.1097 right_x=0.3418 right_y=0.1372 right_z=0.0326 right_yaw=0.2933 right_pitch=-0.2858 right_roll=-0.0006 right_gripper=0.08\nstate[joint_eff]: [0.1709, -2.9197, 10.5094, 1.7509, 0.2369, 0.1148, 0.0611, -0.2256, -6.4479, 5.8325, 1.4969, 0.0122, -0.0562, 1.0232]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01c66ee32256c00b65645d12ab1f52c632d250c4eb8583aac398741d1e9cf52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cabec6e54aeb1b311c2120fab38ec0fd5cf074f678aa8ef6fd21f1eb83d59b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2b260991df7e965723623acafaced2ad75c490b2a17309ec74ad737e2a42d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGR44m0RiDhXEpQwsgV4dZUlDBrFqZS_0e5H5LRsZjmM4-EcymfZVPPJ5BXoCaB4cXiK8hsVzxcBRK6wHXJhj0wwespNg5Ua7a2dHujbI1yEjHqwDoCXu6Zw6iD10x5rkT_o79TLXsUQKyOsWqMW_7f1Ke1jMnFB1ZwObiCPKC_GBsWrCij45WQJ7D7-YXYaM1E9y3mv1bZ4zNIdeuNRF7pp87pGFT9S_dHVZg2Yy1qwInaTnkRaDHf7ZkHqVv2zsaU8Usgcxt59UpaBItxvKP2DV8EcB7uZinJyJEa-_4gPXC74SbgFCjj15utTO0fmpeTZLBMadZEWTOua1Dbs7QFc4IyPCShm7_lk0CD47QzEVfZsfK4FMekaBv7uLwRY02ri2n6XPTJFWOWryTnIPj56AGbfYSl0J-3wlkrze8qe8XawlGp1jvrJwKD9DnzxNbCUmfQv3QJlmtuGXuITaQk2Y3X22Q8g330ySq8qRUbBC8AOb6-l3N72gB8lhr_9owWJnOSMwOzbiHVmBzIn4ex6qPdEeqM6rqmOrMlI3_jB4dSrjxVOFl3mP3ZvCGH3yocGcDJdUuiQMnzJFlHoaEmCzYqhDqwepotI8hSKYeiLgjyIO7Dwk1LNF6WSFG0VLYlInTPuWlXWpccqNrnXR6DQ3W6jzDNnCunFxw1gfnKaGj_GmPGUN-rjpdR9zb__Cd356EZlfEBDNtfB-Q4X8rXBEI5PAGzZRKURY_W0wT__y7eenJH8ueD0YcAQU4kqnX5s9thcHW2fSGDEUIRslC5gXh4w4a_r8v-S2DNcEWL2nEj4q9vetbolt6Hg7OQCjbULJzsnx9_84A5sX_j5y6Pb0Z8YMgYXJ7l4TMFOzIJ40g8qt85GXd_Z-Y7NH2-yITLnJx7bur9ou0Uff87Fsq3nN3tc329E0UiSSu-l4hFTVKJJgWxitzQ55k5KHpBl6G9izqttCyHpwNs6kC2f5BYdEOE4oTMQpcuC71czldQV-9PxAsIBfYzV1qnbVn_C_g3r99pwGJVJdOCsfJgCrIycPcCfMSZpv6Gd1jIxyzn78pM5sJv8K4pkeT4ZMIgfubi8ZqcwWUHF8-KAXLzn3omoJiHCpVPhzOoezDUL4F1pJpfTbdvYV7u-79aG-txHfEt0M1GfDT-PgQBb62rjAaDkBGG37nI078VED9MuK-08weIMHAkq0SvjLruJJaV0RRwPiyLcXz_5YZHYUq9kzMmEkXPIWmTMKGDtfO8IXFsid6y0e9TW8SLriYd0MDV6CstNDizfO8N3xEWK29lJLp1G2bwQi4Oqq8Frgy7nELWOBJIMZ941B8hS12E7ZEdnCrgmNdRcdakfPvM3ehEBp8zzHlH6fBNSmRMf4vV3EEEij1ZThDpnSXYAgNXPKiGkRKMDKi1ixXKqs2cXlw5dYHuWkLVDAEnq0GwCb0Fl38RYYqjYS08GXXljanQ4NoqfLyCOZ7gh0IynSvxEnghC2fJ9-0CcQmy99Woyr9XXReLqzT3p7Z-SZlQDi7c7vWdWKH7UbBZ2i5doO_mkNq_9Y9XGK8NxvZY0I3LNkorX8ZLE7bpBcQ2aOy4YUX5rqhUu-m6a4Im8Xvv_JimgkB6faiGZr4pcc0e7M_xNpLnmpLB1HBc=",
  "id": "rs_04a6aef1fa8e0faf016ab464761af087d0b0803d29ba3770ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.1,\"left_z\":0.003,\"right_x\":0.34,\"right_y\":0.14,\"right_z\":0.003,\"right_pitch\":0.05},\"note\":\"The arms are separated again and both objects remain held. Reliable cap-to-tip alignment was not achieved, so I will set the pieces down separately rather than risk another collision.\"}",
  "call_id": "call_z3yhpv6L5PEkmJiS1fUSF6OI",
  "id": "fc_04a6aef1fa8e0faf016ab46477b24887d089efc3d12c0d4ad8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z3yhpv6L5PEkmJiS1fUSF6OI",
  "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]: [-0.3462, 1.5799, 0.2237, 0.691, -0.0574, -0.0677, 0.1098, 0.4297, 1.8053, 0.2955, 0.9592, 0.1127, 0.0734, 0.0826]\nstate[eef_state]: left_x=0.3125 left_y=-0.0981 left_z=-0.0025 left_yaw=-0.2729 left_pitch=-0.0923 left_roll=-0.0099 left_gripper=0.1098 right_x=0.3392 right_y=0.1375 right_z=-0.0005 right_yaw=0.2884 right_pitch=0.011 right_roll=0.0054 right_gripper=0.0826\nstate[joint_eff]: [-0.3761, -3.8496, 2.9333, 0.7497, -0.1538, -0.0562, -0.0024, 0.6222, -5.012, 3.0154, 1.2723, 0.0269, -0.0806, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173a116c51667572b1dd46f769795465e7f0dbbc6db47a5f91fda90d23f9edb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1beeb951fab749839be83c5b74aacc32870500260590eeffd04b19054d3536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafe92a1066b87ed5ba9570db87260ae2cd10cc646fb2070cd8b9979f3495feb",
      "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 34 attempt 0 · /responses · status 200 · 4.638 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8234, 2.6846, 2.5443, -1.2984, -1.05, -1.4929, 0.1075, 0.4026, 1.5219, 0.6468, 0.0994, 0.0658, 0.0746, 0.0766]\nstate[eef_state]: left_x=0.4743 left_y=-0.2811 left_z=0.0972 left_yaw=0.7001 left_pitch=0.0551 left_roll=-0.0547 left_gripper=0.1075 right_x=0.3584 right_y=0.1439 right_z=0.0537 right_yaw=0.298 right_pitch=-0.2159 right_roll=0.0074 right_gripper=0.0766\nstate[joint_eff]: [1.5111, -13.4632, 7.2, 1.2527, -0.8913, -0.1245, 0.1832, 5.3538, -10.7692, 10.7282, 3.0891, -1.3895, -0.9646, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0448, 0.918, 0.7712, -0.4751, 0.2485, 0.1429, 0.1097, 0.4053, 1.5291, 0.6075, 0.0753, 0.0696, 0.0784, 0.08]\nstate[eef_state]: left_x=0.3085 left_y=-0.0261 left_z=0.2048 left_yaw=-0.2526 left_pitch=-0.0286 left_roll=-0.0174 left_gripper=0.1097 right_x=0.3418 right_y=0.1372 right_z=0.0326 right_yaw=0.2933 right_pitch=-0.2858 right_roll=-0.0006 right_gripper=0.08\nstate[joint_eff]: [0.1709, -2.9197, 10.5094, 1.7509, 0.2369, 0.1148, 0.0611, -0.2256, -6.4479, 5.8325, 1.4969, 0.0122, -0.0562, 1.0232]\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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3462, 1.5799, 0.2237, 0.691, -0.0574, -0.0677, 0.1098, 0.4297, 1.8053, 0.2955, 0.9592, 0.1127, 0.0734, 0.0826]\nstate[eef_state]: left_x=0.3125 left_y=-0.0981 left_z=-0.0025 left_yaw=-0.2729 left_pitch=-0.0923 left_roll=-0.0099 left_gripper=0.1098 right_x=0.3392 right_y=0.1375 right_z=-0.0005 right_yaw=0.2884 right_pitch=0.011 right_roll=0.0054 right_gripper=0.0826\nstate[joint_eff]: [-0.3761, -3.8496, 2.9333, 0.7497, -0.1538, -0.0562, -0.0024, 0.6222, -5.012, 3.0154, 1.2723, 0.0269, -0.0806, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173a116c51667572b1dd46f769795465e7f0dbbc6db47a5f91fda90d23f9edb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1beeb951fab749839be83c5b74aacc32870500260590eeffd04b19054d3536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafe92a1066b87ed5ba9570db87260ae2cd10cc646fb2070cd8b9979f3495feb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both grasp points are at table level with the pieces supported. I will open both grippers to leave the pen and cap safely on the table.\"}",
  "call_id": "call_utrzKZfGwh10laRtwZhb2duu",
  "id": "fc_04a6aef1fa8e0faf016ab4647bc9fc87d0ab63430458c15c51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_utrzKZfGwh10laRtwZhb2duu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3515, 1.5845, 0.215, 0.7212, -0.0719, -0.07, 0.9951, 0.4316, 1.8133, 0.2935, 0.9787, 0.1085, 0.0677, 0.9951]\nstate[eef_state]: left_x=0.3134 left_y=-0.0976 left_z=-0.0006 left_yaw=-0.2649 left_pitch=-0.0749 left_roll=-0.0043 left_gripper=0.9951 right_x=0.3394 right_y=0.1392 right_z=0.0003 right_yaw=0.2968 right_pitch=0.0202 right_roll=0.0039 right_gripper=0.9951\nstate[joint_eff]: [0.253, -5.094, 4.9983, 1.3553, 0.1001, 0.0171, 0.0073, -0.3624, -6.7487, 3.3299, 1.619, 0.0611, 0.0806, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f3fc4a15db5a599e0132f04b9813e2670d27fff48d997a150b1dc58cd99930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d440791b1c57241b0f434b37b4ccd2ccab56a313cb1a0e401e7842dc1df101c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6596de86559fc6caa87b96834a649040f0705b25ab77d9bf1fd832d56f88d669",
      "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]