adhoc

completed
2026-09-22T17:47:57.158215+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
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
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
208.3 s
total steps
252
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe cap is left of center and the pen lies diagonally to its right. I’m bringing the left gripper above the cap to line up a grasp.
move_to
left_x0.4000left_y-0.1800left_z0.1200left_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]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9998, -0.0185, 0.791, 0.6098, -0.3756, -0.0208, -0.0128, 0.9994] state[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0018 right_z=0.1844 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6496, -1.5385, 10.4547, 1.7851, -0.0171, 0.0855, -0.0366, -0.4581, -1.2786, 9.7846, 1.7118, -0.0611, -0.0708, -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":0.40,"left_y":-0.18,"left_z":0.12,"left_gripper":1},"note":"The cap is left of center and the pen lies diagonally to its right. I’m bringing the left gripper above the cap to line up a grasp."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe cap is close to the jaw centerline but still ahead of the fingertips. I’ll advance slightly, turn the jaws across its length, and lower to grasp it at table level.
move_to
left_x0.4120left_y-0.1780left_z0.0080left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6266, 1.5986, 0.8448, 0.0048, -0.5026, -0.3855, 0.9998, -0.0193, 0.7967, 0.6132, -0.3889, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.3856 left_y=-0.1696 left_z=0.099 left_yaw=-0.013 left_pitch=-0.0697 left_roll=0.0369 left_gripper=0.9998 right_x=0.2949 right_y=0.0016 right_z=0.1816 right_yaw=-0.001 right_pitch=-0.016 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [-0.3624, -7.7197, 9.1692, 1.7607, -0.4322, -0.0708, -0.0366, -0.1709, -1.6889, 6.8171, 1.8388, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.412,"left_y":-0.178,"left_z":0.008,"left_yaw":-0.5},"note":"The cap is close to the jaw centerline but still ahead of the fingertips. I’ll advance slightly, turn the jaws across its length, and lower to grasp it at table level."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe cap is between the open jaws near the bottom of the wrist view. I’ll close gently around its body before testing the lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4088, 1.8717, 0.696, 0.4641, -0.0624, -0.0269, 0.9994, -0.0193, 0.7994, 0.6132, -0.392, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.4046 left_y=-0.1593 left_z=0.0003 left_yaw=-0.3522 left_pitch=-0.1401 left_roll=0.0281 left_gripper=0.9994 right_x=0.2947 right_y=0.0016 right_z=0.1802 right_yaw=-0.001 right_pitch=-0.0217 right_roll=0.0007 right_gripper=0.9994 state[joint_eff]: [0.4308, -6.9538, 6.065, 1.1111, 0.232, 0.1441, -0.0464, 0.0068, -1.4838, 7.0359, 1.7656, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is between the open jaws near the bottom of the wrist view. I’ll close gently around its body before testing the lift."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe closed gripper reads about 1 cm of material, consistent with holding the cap. I’ll lift it a few centimeters to check that it leaves the table.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4084, 1.8915, 0.6945, 0.5133, -0.0719, -0.0254, 0.1023, -0.0193, 0.7998, 0.6132, -0.3935, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.4099 left_y=-0.1596 left_z=0.0009 left_yaw=-0.3448 left_pitch=-0.1119 left_roll=0.0337 left_gripper=0.1023 right_x=0.2945 right_y=0.0016 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0236 right_roll=0.0008 right_gripper=0.9994 state[joint_eff]: [-0.2803, -9.7026, 4.1231, 1.3407, 0.0269, -0.0366, 0.8376, -0.1573, -1.1829, 7.0222, 1.8144, -0.0269, -0.0513, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The closed gripper reads about 1 cm of material, consistent with holding the cap. I’ll lift it a few centimeters to check that it leaves the table."})
tool
executing move_to over 5 steps (0.5s)
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 has lifted with the left gripper. I’ll raise it clear of the table while bringing the right gripper above the pen, keeping the hands separated.
move_to
left_z0.1800right_x0.4050right_y0.2200right_z0.1300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4084, 1.7077, 0.7498, 0.2916, -0.075, -0.0284, 0.1022, -0.0193, 0.8005, 0.6132, -0.3939, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.4102 left_y=-0.1592 left_z=0.0556 left_yaw=-0.3407 left_pitch=-0.0942 left_roll=0.0321 left_gripper=0.1022 right_x=0.2945 right_y=0.0016 right_z=0.1795 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.9994 state[joint_eff]: [-0.1983, -8.1436, 7.9248, 1.4432, -0.0122, -0.0073, 0.7448, -0.1709, -1.3607, 7.0222, 1.7509, -0.0171, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_z":0.18,"right_x":0.405,"right_y":0.22,"right_z":0.13},"note":"The cap has lifted with the left gripper. I’ll raise it clear of the table while bringing the right gripper above the pen, keeping the hands separated."})
tool
executing move_to over 19 steps (1.9s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe pen is slightly to the right of the right jaw centerline and runs diagonally across the table. I’ll shift toward it, align the jaws across its shaft, and descend.
move_to
right_x0.4050right_y0.1950right_z0.0250right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4084, 1.5146, 1.026, -0.2413, -0.075, -0.0288, 0.1042, 0.6872, 1.6825, 1.0035, -0.0723, 0.5243, 0.3943, 0.9994] state[eef_state]: left_x=0.4043 left_y=-0.1566 left_z=0.1495 left_yaw=-0.3399 left_pitch=-0.1578 left_roll=0.0361 left_gripper=0.1042 right_x=0.3946 right_y=0.2141 right_z=0.1151 right_yaw=0.0347 right_pitch=-0.0761 right_roll=-0.0355 right_gripper=0.9994 state[joint_eff]: [-0.3487, -9.0325, 10.2906, 1.8144, -0.022, -0.0317, 0.6716, 0.2256, -8.1162, 8.5812, 1.6777, 0.5201, 0.2711, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.195,"right_z":0.025,"right_yaw":0.7},"note":"The pen is slightly to the right of the right jaw centerline and runs diagonally across the table. I’ll shift toward it, align the jaws across its shaft, and descend."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe pen shaft is just left of the jaw centerline, with its exposed tip pointing away from the wrist. I’ll make a small centering adjustment and lower the final distance.
move_to
right_x0.4200right_y0.2100right_z0.0000right_yaw0.8500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4084, 1.5139, 1.0286, -0.2584, -0.075, -0.0284, 0.1043, 0.3561, 1.8317, 0.7441, 0.3614, -0.1146, -0.1249, 0.9994] state[eef_state]: left_x=0.4022 left_y=-0.1557 left_z=0.1478 left_yaw=-0.34 left_pitch=-0.1715 left_roll=0.0374 left_gripper=0.1043 right_x=0.4029 right_y=0.1753 right_z=0.0151 right_yaw=0.5156 right_pitch=-0.1641 right_roll=-0.0192 right_gripper=0.9994 state[joint_eff]: [-0.335, -6.735, 6.5983, 1.7021, -0.0904, -0.0269, 0.6276, -0.4718, -7.8154, 5.9966, 1.7021, -0.2711, -0.1636, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.21,"right_z":0,"right_yaw":0.85},"note":"The pen shaft is just left of the jaw centerline, with its exposed tip pointing away from the wrist. I’ll make a small centering adjustment and lower the final distance."})
tool
executing move_to over 3 steps (0.3s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe pen is now centered between the jaws at table height. I’ll close on its shaft.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4084, 1.5166, 1.0271, -0.26, -0.075, -0.0284, 0.1057, 0.3218, 1.977, 0.8936, 0.337, -0.3275, -0.3225, 0.9994] state[eef_state]: left_x=0.4018 left_y=-0.1555 left_z=0.1458 left_yaw=-0.3399 left_pitch=-0.1772 left_roll=0.0378 left_gripper=0.1057 right_x=0.4234 right_y=0.2048 right_z=0.0051 right_yaw=0.767 right_pitch=-0.1421 right_roll=-0.0268 right_gripper=0.9994 state[joint_eff]: [-0.1709, -7.2, 7.0906, 1.5897, -0.0757, -0.0464, 0.4713, -0.9504, -9.1966, 5.5863, 1.0867, -0.359, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen is now centered between the jaws at table height. I’ll close on its shaft."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe pen grasp reads about 5 mm, consistent with the thin shaft. I’ll lift a short distance to verify it is secure.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4084, 1.5166, 1.0271, -0.263, -0.075, -0.0284, 0.1081, 0.3199, 1.9903, 0.9218, 0.2951, -0.3943, -0.3973, 0.0509] state[eef_state]: left_x=0.4013 left_y=-0.1553 left_z=0.1452 left_yaw=-0.3399 left_pitch=-0.1802 left_roll=0.038 left_gripper=0.1081 right_x=0.4189 right_y=0.214 right_z=0.0045 right_yaw=0.8611 right_pitch=-0.1449 right_roll=-0.0307 right_gripper=0.0509 state[joint_eff]: [-0.3761, -6.7214, 6.8034, 1.6142, -0.1001, -0.022, 0.2466, -0.6359, -8.8821, 6.0923, 1.2967, -0.0464, 0.0073, 1.1551] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The pen grasp reads about 5 mm, consistent with the thin shaft. I’ll lift a short distance to verify it is secure."})
tool
executing move_to over 4 steps (0.4s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteBoth parts remain in the jaws after lifting. I’ll raise them and begin turning their axes sideways so the pen tip can approach the cap opening from the right.
move_to
left_yaw0.6500left_z0.2000right_z0.1900right_yaw1.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.408, 1.5166, 1.0271, -0.2634, -0.0746, -0.0284, 0.1112, 0.321, 1.8786, 0.973, 0.1135, -0.3943, -0.3985, 0.0595] state[eef_state]: left_x=0.4013 left_y=-0.1552 left_z=0.1452 left_yaw=-0.3398 left_pitch=-0.1806 left_roll=0.0378 left_gripper=0.1112 right_x=0.4161 right_y=0.2136 right_z=0.042 right_yaw=0.8644 right_pitch=-0.1609 right_roll=-0.0218 right_gripper=0.0595 state[joint_eff]: [-0.1573, -6.9949, 6.7624, 1.5849, -0.0317, -0.0562, 0.3053, -0.4444, -11.5077, 7.706, 1.4481, -0.188, -0.0317, 1.033] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":0.65,"left_z":0.2,"right_z":0.19,"right_yaw":1.55},"note":"Both parts remain in the jaws after lifting. I’ll raise them and begin turning their axes sideways so the pen tip can approach the cap opening from the right."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe pen is nearly sideways, while the cap still needs more rotation. I’ll finish aligning their directions and bring them to similar forward positions, leaving a wide gap for now.
move_to
left_x0.4000left_y-0.2300left_z0.2000left_yaw1.6000right_x0.4000right_z0.2000right_yaw1.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6708, 1.9263, 1.7634, -1.0573, -0.7284, -1.0611, 0.1131, 0.1932, 2.0727, 1.9259, -1.0241, -0.7738, -1.1564, 0.0649] state[eef_state]: left_x=0.4142 left_y=-0.174 left_z=0.1895 left_yaw=0.5171 left_pitch=-0.2063 left_roll=0.0121 left_gripper=0.1131 right_x=0.4413 right_y=0.2158 right_z=0.1861 right_yaw=1.4481 right_pitch=-0.1658 right_roll=-0.0998 right_gripper=0.0649 state[joint_eff]: [-0.4444, -10.6462, 7.6239, 0.3736, -0.5446, -0.0073, 0.1929, -0.8274, -10.6462, 6.7624, 0.2076, -0.7692, -0.1197, 1.033] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.23,"left_z":0.2,"left_yaw":1.6,"right_x":0.4,"right_z":0.2,"right_yaw":1.65},"note":"The pen is nearly sideways, while the cap still needs more rotation. I’ll finish aligning their directions and bring them to similar forward positions, leaving a wide gap for now."})
tool
executing move_to over 7 steps (0.7s)
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 left arm did not achieve the requested turn at its extended pose. I’ll bring the cap closer to the base and higher to give the wrist more room to rotate.
move_to
left_x0.3000left_y-0.2300left_z0.2300left_yaw1.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7143, 2.2555, 2.1555, -1.4822, -0.7788, -1.4849, 0.1148, 0.1921, 2.0964, 1.9724, -1.2377, -0.7982, -1.38, 0.0649] state[eef_state]: left_x=0.4118 left_y=-0.188 left_z=0.1562 left_yaw=0.8003 left_pitch=-0.2245 left_roll=0.0801 left_gripper=0.1148 right_x=0.41 right_y=0.2123 right_z=0.1806 right_yaw=1.6096 right_pitch=-0.1967 right_roll=-0.0737 right_gripper=0.0649 state[joint_eff]: [-0.7453, -13.3402, 7.1863, 0.1441, -0.6129, -0.1685, 0.1587, -0.1299, -12.8615, 8.6085, 0.3248, -0.8327, -0.2418, 1.033] 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":{"left_x":0.3,"left_y":-0.23,"left_z":0.23,"left_yaw":1.55},"note":"The left arm did not achieve the requested turn at its extended pose. I’ll bring the cap closer to the base and higher to give the wrist more room to rotate."})
tool
executing move_to over 9 steps (0.9s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe left wrist’s sideways pose is tracking poorly, so I’ll use a front-to-back approach instead. The cap will be farther forward, with the pen behind it and both parts pointing forward.
move_to
left_x0.4300left_y-0.2500left_z0.1900left_yaw0.0000right_x0.2800right_y0.3400right_z0.1900right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.527, 2.0914, 1.7031, -1.5448, -0.6579, -1.8812, 0.1166, 0.1894, 2.0964, 1.9743, -1.2427, -0.7895, -1.3952, 0.0649] state[eef_state]: left_x=0.338 left_y=-0.0676 left_z=0.1078 left_yaw=1.3264 left_pitch=-0.2757 left_roll=0.176 left_gripper=0.1166 right_x=0.4104 right_y=0.21 right_z=0.1799 right_yaw=1.6136 right_pitch=-0.2062 right_roll=-0.0833 right_gripper=0.0649 state[joint_eff]: [-1.6615, -13.1624, 6.6256, -0.1587, -0.315, -0.188, 0.1832, -0.0342, -11.3299, 6.0786, 0.7155, -0.4811, 0.1392, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.25,"left_z":0.19,"left_yaw":0,"right_x":0.28,"right_y":0.34,"right_z":0.19,"right_yaw":0},"note":"The left wrist’s sideways pose is tracking poorly, so I’ll use a front-to-back approach instead. The cap will be farther forward, with the pen behind it and both parts pointing forward."})
tool
executing move_to over 17 steps (1.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe arm bodies are getting too close, and the left pose is still not tracking. I’ll move the right arm back to its side to clear space before repositioning the cap.
move_to
right_x0.3000right_y0.0800right_z0.2300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5846, 2.0533, 1.7668, -1.3582, -0.6029, -1.4647, 0.1181, 1.0733, 1.8225, 1.6146, -1.0355, 0.7189, 0.8536, 0.069] state[eef_state]: left_x=0.3727 left_y=-0.1223 left_z=0.1194 left_yaw=0.9436 left_pitch=-0.4045 left_roll=0.1499 left_gripper=0.1181 right_x=0.2914 right_y=0.3004 right_z=0.1837 right_yaw=-0.0209 right_pitch=-0.2469 right_roll=-0.1753 right_gripper=0.069 state[joint_eff]: [-10.9197, -15.6786, 10.7556, 0.3736, -0.8327, 0.2369, 0.1441, 4.8752, -5.4906, 9.7026, 2.4933, -0.4322, -1.6337, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.08,"right_z":0.23},"note":"The arm bodies are getting too close, and the left pose is still not tracking. I’ll move the right arm back to its side to clear space before repositioning the cap."})
tool
executing move_to over 19 steps (1.9s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe right arm is clear again. I’ll straighten the left wrist in a more central, raised pose before attempting any further alignment.
move_to
left_x0.3400left_y-0.1500left_z0.2400left_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]: [-0.5846, 2.0632, 1.7668, -1.367, -0.5938, -1.4651, 0.1197, 0.5072, 1.1835, 1.1473, -0.918, 0.4526, 0.2951, 0.069] state[eef_state]: left_x=0.3704 left_y=-0.1223 left_z=0.1151 left_yaw=0.9525 left_pitch=-0.4143 left_roll=0.1696 left_gripper=0.1197 right_x=0.2978 right_y=0.0812 right_z=0.2209 right_yaw=-0.0576 right_pitch=-0.2788 right_roll=-0.183 right_gripper=0.069 state[joint_eff]: [0.1162, -11.3709, 5.5316, 0.2271, -0.4762, 0.0024, 0.1538, -0.2803, -4.9573, 6.3521, 1.5165, 0.232, -0.2027, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.15,"left_z":0.24,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The right arm is clear again. I’ll straighten the left wrist in a more central, raised pose before attempting any further alignment."})
tool
executing move_to over 14 steps (1.4s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe cap wrist is tracking again. I’ll position the cap farther forward near the middle of the table, with its opening facing back toward the pen’s approach.
move_to
left_x0.4600left_y-0.2900left_z0.1800left_yaw0.0000left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.691, 1.2919, 1.0908, -0.6136, -0.6086, -0.5468, 0.1211, 0.5045, 1.1851, 1.1439, -0.9276, 0.4362, 0.2794, 0.069] state[eef_state]: left_x=0.334 left_y=-0.1405 left_z=0.2194 left_yaw=0.0921 left_pitch=-0.0693 left_roll=0.0068 left_gripper=0.1211 right_x=0.2955 right_y=0.082 right_z=0.2169 right_yaw=-0.0413 right_pitch=-0.2997 right_roll=-0.1899 right_gripper=0.069 state[joint_eff]: [0.3624, -5.7915, 7.2821, 1.8242, -0.1685, 0.2418, 0.1294, -0.1299, -3.6444, 6.9812, 1.4188, 0.2955, 0.0806, 1.0281] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.29,"left_z":0.18,"left_yaw":0,"left_pitch":0.15},"note":"The cap wrist is tracking again. I’ll position the cap farther forward near the middle of the table, with its opening facing back toward the pen’s approach."})
tool
executing move_to over 14 steps (1.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe cap is held ahead of the approach path. I’ll bring the pen behind it at approximately the same height, keeping a generous front-to-back gap.
move_to
right_x0.2850right_y0.3600right_z0.1800right_yaw0.0000right_pitch0.1500right_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]: [-0.7761, 1.9244, 1.3743, -0.1162, -0.7013, -0.4366, 0.1217, 0.5045, 1.1885, 1.1412, -0.9348, 0.432, 0.2787, 0.069] state[eef_state]: left_x=0.4484 left_y=-0.2754 left_z=0.1562 left_yaw=0.0163 left_pitch=0.0779 left_roll=0.039 left_gripper=0.1217 right_x=0.2941 right_y=0.082 right_z=0.2137 right_yaw=-0.0397 right_pitch=-0.3129 right_roll=-0.1946 right_gripper=0.069 state[joint_eff]: [-0.7453, -10.6325, 9.6615, 1.7558, -0.232, 0.2662, 0.0513, -0.0889, -3.8359, 6.6803, 1.3016, 0.1978, -0.0171, 1.0281] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.36,"right_z":0.18,"right_yaw":0,"right_pitch":0.15,"right_roll":0},"note":"The cap is held ahead of the approach path. I’ll bring the pen behind it at approximately the same height, keeping a generous front-to-back gap."})
tool
executing move_to over 24 steps (2.4s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe arm bodies interfere before the parts can align, causing large pose errors. I’ll separate them now rather than force the insertion.
move_to
right_x0.3000right_y0.0800right_z0.2300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.659, 1.9366, 1.346, -0.1467, -0.7006, -0.4358, 0.1217, 1.0943, 1.7565, 1.269, -0.6106, 1.1191, 0.9718, 0.069] state[eef_state]: left_x=0.4698 left_y=-0.2153 left_z=0.1342 left_yaw=0.1297 left_pitch=0.0276 left_roll=0.0898 left_gripper=0.1217 right_x=0.3125 right_y=0.2667 right_z=0.1788 right_yaw=-0.2212 right_pitch=0.1559 right_roll=-0.0758 right_gripper=0.069 state[joint_eff]: [-9.5932, -11.4667, 9.0735, 1.7753, -0.3297, -0.0806, -0.0122, 11.1795, -1.7299, 13.5179, 2.6496, -0.442, -1.4139, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.08,"right_z":0.23},"note":"The arm bodies interfere before the parts can align, causing large pose errors. I’ll separate them now rather than force the insertion."})
tool
executing move_to over 16 steps (1.6s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteBoth parts are still held, but I cannot safely achieve the close alignment needed for capping. I’ll lower them to separate clear areas of the table for a safe release.
move_to
left_x0.4100left_y-0.1800left_z0.0450left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3700right_y0.1500right_z0.0500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6598, 1.9327, 1.3396, -0.168, -0.7006, -0.4503, 0.1217, 0.7044, 1.0328, 0.7856, -0.4335, 0.8696, 0.4648, 0.069] state[eef_state]: left_x=0.4661 left_y=-0.2129 left_z=0.1303 left_yaw=0.1364 left_pitch=0.0115 left_roll=0.0946 left_gripper=0.1217 right_x=0.2985 right_y=0.0813 right_z=0.2213 right_yaw=-0.2441 right_pitch=0.1367 right_roll=-0.0817 right_gripper=0.069 state[joint_eff]: [-0.1299, -10.1675, 7.0359, 1.663, -0.2955, 0.1245, -0.0073, -0.2256, -3.3983, 7.1179, 1.6972, 0.2906, -0.0806, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.18,"left_z":0.045,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.37,"right_y":0.15,"right_z":0.05,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both parts are still held, but I cannot safely achieve the close alignment needed for capping. I’ll lower them to separate clear areas of the table for a safe release."})
tool
executing move_to over 12 steps (1.2s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe cap and pen are above separate spots on the tabletop. I’ll lower them the last few centimeters before opening the jaws.
move_to
left_z0.0080right_z0.0080
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, 1.8652, 0.799, 0.3099, -0.5343, -0.3977, 0.1218, 0.5907, 1.6367, 0.5602, 0.3569, 0.5106, 0.3511, 0.069] state[eef_state]: left_x=0.4034 left_y=-0.1739 left_z=0.0269 left_yaw=0.0231 left_pitch=-0.0625 left_roll=0.0489 left_gripper=0.1218 right_x=0.3577 right_y=0.1402 right_z=0.0406 right_yaw=-0.0271 right_pitch=-0.0568 right_roll=-0.0443 right_gripper=0.069 state[joint_eff]: [0.4171, -10.7009, 5.4906, 1.8437, -0.1245, 0.1587, -0.0073, -0.7863, -7.0496, 6.0786, 1.8974, 0.1929, -0.1734, 1.0281] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.008,"right_z":0.008},"note":"The cap and pen are above separate spots on the tabletop. I’ll lower them the last few centimeters before opening the jaws."})
tool
executing move_to over 3 steps (0.3s)
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 noteBoth parts are now at table height. I’ll release them without attempting an unaligned insertion.
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]: [-0.622, 1.9137, 0.7795, 0.3634, -0.5232, -0.4011, 0.1218, 0.5888, 1.7531, 0.5316, 0.4873, 0.4931, 0.3428, 0.069] state[eef_state]: left_x=0.4004 left_y=-0.1741 left_z=0.0087 left_yaw=0.0168 left_pitch=-0.0786 left_roll=0.0487 left_gripper=0.1218 right_x=0.3569 right_y=0.1421 right_z=0.0109 right_yaw=-0.0114 right_pitch=-0.0755 right_roll=-0.0499 right_gripper=0.069 state[joint_eff]: [-0.0205, -8.4034, 4.9162, 1.7509, -0.3199, -0.0366, -0.0171, -0.1573, -7.1043, 4.1231, 1.9951, 0.3248, 0.0171, 1.0232] approver: 1 step(s) modified (delta_clamped). 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_gripper":1,"right_gripper":1},"note":"Both parts are now at table height. I’ll release them without attempting an unaligned insertion."})
tool
executing move_to over 10 steps (1.0s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe pen and cap have been released separately. I’ll retract both arms to their home areas so the parts are visible and accessible.
move_to
left_x0.2950left_y0.0000left_z0.2000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.622, 1.9285, 0.7784, 0.3786, -0.5236, -0.4015, 0.9959, 0.5896, 1.7752, 0.5179, 0.5171, 0.4961, 0.3466, 0.9956] state[eef_state]: left_x=0.4008 left_y=-0.1742 left_z=0.0048 left_yaw=0.0173 left_pitch=-0.079 left_roll=0.0491 left_gripper=0.9959 right_x=0.3546 right_y=0.1403 right_z=0.004 right_yaw=-0.0153 right_pitch=-0.0793 right_roll=-0.052 right_gripper=0.9956 state[joint_eff]: [-0.1436, -8.7179, 4.9026, 1.5995, -0.4078, 0.0024, -0.1832, -0.1299, -6.7624, 4.3692, 1.7411, 0.2369, -0.0073, -0.1734] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The pen and cap have been released separately. I’ll retract both arms to their home areas so the parts are visible and accessible."})
tool
executing move_to over 16 steps (1.6s)
step 251
top_cam
camera top_cam step 251
left_cam
camera left_cam step 251
right_cam
camera right_cam step 251
assistant
agent noteI picked up both the pen and cap, but could not safely align them for insertion: the left wrist tracked poorly in the sideways orientation, and the arm bodies interfered during a front-to-back approach. Both parts are now released separately on the table, with the arms retracted.
give_up
hindsightGrasps succeeded with approximately left (0.410,-0.160,0.001), yaw -0.345 for the cap and right (0.419,0.214,0.005), yaw 0.86 for the pen. Gripper readings were about 0.10 and 0.05 respectively. A left yaw near +1.55 at central extended poses produced large Cartesian errors. During central front-to-back alignment the arm bodies contacted even with grasp points more than 15 cm apart; fingertip separation alone does not ensure clearance. Separating the right arm to y=0.08 and resetting the left wrist at (0.34,-0.15,0.24), yaw/pitch/roll zero restored tracking.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1001, 0.8867, 0.7177, -0.4862, -0.1658, -0.0891, 0.9964, 0.038, 0.8738, 0.7078, -0.4744, 0.0963, 0.0143, 0.9964] state[eef_state]: left_x=0.3004 left_y=0.0027 left_z=0.1858 left_yaw=0.0767 left_pitch=-0.075 left_roll=0.0379 left_gripper=0.9964 right_x=0.2997 right_y=-0.002 right_z=0.1864 right_yaw=-0.0576 right_pitch=-0.081 right_roll=-0.0468 right_gripper=0.9964 state[joint_eff]: [0.2667, -2.1812, 9.935, 1.7363, 0.1001, 0.2173, 0.0513, -0.335, -2.6051, 9.5111, 1.5556, -0.0904, -0.1538, 0.0757] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [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: the left wrist tracked poorly in the sideways orientation, and the arm bodies interfered during a front-to-back approach. Both parts are now released separately on the table, with the arms retracted.","hindsight":"Grasps succeeded with approximately left (0.410,-0.160,0.001), yaw -0.345 for the cap and right (0.419,0.214,0.005), yaw 0.86 for the pen. Gripper readings were about 0.10 and 0.05 respectively. A left yaw near +1.55 at central extended poses produced large Cartesian errors. During central front-to-back alignment the arm bodies contacted even with grasp points more than 15 cm apart; fingertip separation alone does not ensure clearance. Separating the right arm to y=0.08 and resetting the left wrist at (0.34,-0.15,0.24), yaw/pitch/roll zero restored tracking."})
tool
give_up: I picked up both the pen and cap, but could not safely align them for insertion: the left wrist tracked poorly in the sideways orientation, and the arm bodies interfered during a front-to-back approach. Both parts are now released separately on the table, with the arms retracted.
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 · 10.14 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "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.",
  "role": "system"
}
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9998, -0.0185, 0.791, 0.6098, -0.3756, -0.0208, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0018 right_z=0.1844 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.5385, 10.4547, 1.7851, -0.0171, 0.0855, -0.0366, -0.4581, -1.2786, 9.7846, 1.7118, -0.0611, -0.0708, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66cf3e117e03095cefa616928d5120eec208c1cb44718dbb566a45f23fecfca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce252c1f8f5a83b30a6b9ce770645d94df1cd9f9a380ebe0c94b2f68e6b79ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752083d042514c002e34a5d29e1bc0de9fb808d4d8aa30678955a9de63044393",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a66cf3e117e0
wire blob 2ce252c1f8f5
wire blob 752083d04251
call 1 attempt 0 · /responses · status 200 · 7.499 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9kSIPeJ4SkVY6cAJlqqJt-tqCHLM2Cdic2z4wU8uDT1mE1-ecsBvKrPYoKVJWpCVC1eFcye5oKDyl2Ng-dQLZ04AMizmebmkQmxx9itf1mcXN-8_FZexqXjrDQZV5ub2Z6RkHUNBkLVmviQBWg3jW2b9RiwRt87EehGogabHVNWofPpIYWIWDCduvuPuh5dXYCwb8_PnANLYec_rE3kHJ_jO5_o0ru6zSCaL1LiR-tQFISESmqJVcPGAhWCpL_Lx-DQIsm0t8GXmIFuRYx9LhwLt0JsRNq7ETbiuPGZUapGrUXTL-lqkhB9mub4Y_NmHZa4XVtWWuuO4waH0oJVZrQy0ZFMpXkmP-sjYmHPtxjmXvi2H2KENjW5zFkS5vIMyHHWIl4zRL-Hq4R3TWqlQrxwRF7uFM5ajKSRWF3vfFvRISRT3WfEECtXls5byxCy1Hi3DVs_WBlnlEr_9etJBVlPrWJ-ZnDvb_h7NorcNSfCRnVqpvd72PGD6n6lgPGeW2uDM46ULTk6wppmd7sq-JnrQ-bNOT0UJM8RScwZCZ28fFnYGu9PLj3ulnqYvboHYXGSCOYO_a0SOVMEN_hI056dsMIwBIcUmRfUVPxSivdzJADQ2dSzmJOue89f63hvYNYJQzWQSXog9UkABqaujf5cWyItHFgZ-CotdVHdvGToVXe8WuWBaF9cghEEKDutvJ8KtjN0_QzoS_c9AymbCspVzuBPmgz6clW9wUTUbySH_nJhpaUZFTnb1jaewRNdf5PMNg4NztS3eoHQSVFzyNTbSfMCeOYt7LQd0XFRAjUEwgVdvpwnExF_EYnh30hc3vSMqUvG-SpXnQRCbrLmiZR55gaTlHARM1_6e-Oi2WOhPbuKHU_LC_X5ZVfvYWxjJsfm1kV9N1TVG_oLccDUgvOk1FnifEAT7lD1C2Noppm2sCzLQ8qnMqpAjiMuVewIqGk9Z_PgKEVH026rQB2ucFNESvmYWLJEbxu9Fm1wWXRF0bboqNP3tiomNk9SiYCLp0w1No23anAtRaSLqSDwQ1eV7USbsnfX43UDn3RIfm1B3IoxduH3sD79ZvDEpfBmBoL_XxTh5RB15yahHA3Aa6XAYiEVzYd5_ge16SuTyS9QFbrWdhmNSmCO2pyWUKSKrfAcU0L0luuHdYfuPVHZ4HeQjogVRkV5Hhz-QQnp1CttF0kYGZ3wdyQ5oPk0MXKRv_1XXuleFmjiAyONWK-j_YtJ9Rb1owIL2xWczOrbu_7rfKq32BX0bkD_GV2JljT79BhGzUUP-mSZ5ff-Jybs6qj0eklxtfsZdgv_s3NvkbrlGcI9KLeuaQi8Khum2n4Dbwo4a_6NUT0Gx4LVXi-O8xocnQUkf_rJR9kEwjfcBLyx5FpXE84zndKAUV_Qjn7REPwMFh9Oizv7YoXo4HqKe_hp3oFjc657cS_qo2YQs8yEf7iww0floljUe4_rE3I2mQx2cKprJGdpKYl-ZyZEQIQ9mttFh-impoVqA8w-bKJn_tTdc4oYQWCTnlkxCH3CrD4OF2vzIqtwqTxOi5lUGmNZLhe-PXMO8ajkW05Sot65bBLSNjllB96KuMCqC-qcNkgPb9htxqY4EQC6U9l-Rm6VfUJ52j5XiGxXftvkJ4v7srZ7iY-hZPdmf2zLLsh5e9zhl0FgCQHlZTC_k-kEy0GVQAtIgL6MTY3JmlsaR91_gMe1lyNdhuFRwRNSmV273zWVaeTWYSmdOb06mc7lw57xemQJ0QxC0IcHS2kcKLgkHlyzpEZanKK6-zIlA0he3zpVCiayjUS59a5Vi0eM_iyWEG4nrJl_p0N4401eOb63m8=",
  "id": "rs_055740de8d67d0a6016ab2bf5dae8c87d09ddd35e5c3117a33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.18,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The cap is left of center and the pen lies diagonally to its right. I’m bringing the left gripper above the cap to line up a grasp.\"}",
  "call_id": "call_NKoQeKDpJcLxkvBDWcAOCCts",
  "id": "fc_055740de8d67d0a6016ab2bf62cbcc87d0b2d8f5e142ed4746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NKoQeKDpJcLxkvBDWcAOCCts",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6266, 1.5986, 0.8448, 0.0048, -0.5026, -0.3855, 0.9998, -0.0193, 0.7967, 0.6132, -0.3889, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3856 left_y=-0.1696 left_z=0.099 left_yaw=-0.013 left_pitch=-0.0697 left_roll=0.0369 left_gripper=0.9998 right_x=0.2949 right_y=0.0016 right_z=0.1816 right_yaw=-0.001 right_pitch=-0.016 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -7.7197, 9.1692, 1.7607, -0.4322, -0.0708, -0.0366, -0.1709, -1.6889, 6.8171, 1.8388, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5d0db578173fe7ff7c035177cb62a37e586554c515f74513587d3d64a277b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6846a23e55b130eb7ad21197afa152c8cd7a3fd1b72e17acb2d07741e4394640",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b2af3d84679b8a235f02c30175a86fd121f1a1969a718f02de4759c14fc5590",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1f5d0db57817
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.757 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6022, -0.3801, -0.0216, -0.0246, 0.9998, -0.0185, 0.791, 0.6098, -0.3756, -0.0208, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0014 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0018 right_z=0.1844 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.5385, 10.4547, 1.7851, -0.0171, 0.0855, -0.0366, -0.4581, -1.2786, 9.7846, 1.7118, -0.0611, -0.0708, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9tI1Kaqw2KxQq1ed-8QLOeNVyXGlGn94PO0rubAc7NxCx-Zl1fgB1TPrpOPg6d4QzXjQTT8ENp3LqAAuX19EbCLnpmhH-VtCKJMzjc4nFYvBj-kKr5rb2ib9u8IB3WNsToCh5HA4XDLz5Z_SjLzzds1xBUhaqcYhHksog1YKxWVp7FoMtq9dtjHO0eUg0NP6PNpazdl2hcJSwt3ycAMCHHBQ7jj_sBbL6PAoKJtAxN1nwTWQDllk7j8j_uIW13neoT9e0qjuts2130E752zdgMTytss4WC1i-Ti_5X5hDu5xKFfrzu7IU1EkBUHtF7DejLkrWCx6IM8yKVzaailO5qydgL8G8f6VER1QEK_WSPVSXo0l87EUqHy0elDU2iKnSmhUcXXToPFLl7HeFN4Ul9S8QZ4S8wzUOiphLSWOaCmS0fwLqCu4H-3Wr0t2p8gq3mz5XTXNvIEQ2HZVZhsTw-cK2LXIjW_eLIbwz9VkXQg4wlMyoddOFmtABn1p70Jy6U7PJ11MNQHw_o9PujLRwW2Y-sVVxQXNmfC5beDurjl_nYPiWP9rM-C2I9VgZbcQHANPc-BV36Rh7zdX_nfSMXZJvrXxqBBqTVVWJZD1fm6HUQMi5KJ52RbzFFV6exAA-uWKSEkVTFEjA-8sjObXZcXosWxuHhl1qHVnrOxmR-ahsXbXvK8iXlKO3vLJSLmKfj4L1jbRu3yOkho8o3mqi8IJsaYKP7K1YtyfeCQGua9C1SfZK8MM4y-Bal95wT_f2SndhQintv6pJHKhZyzCBnAudv9AJCzgAeE7lbQNDY8WPBci1o1KphjZ9NG795pNoiHsZ3EmYrAPwUshKXqFLAw93KIjNuSRJz89xgZkMJoT7RUjvWGQ1AZxhkOXtfo_sWZh57a5Ff6IMOfJTyghwvSC3oLiBrYoOGpoKJ4cGqXUWJnv2g7p0gTgVmLmD60G9UETUNPF3vARgVfWxghtar4VcBp_8tv2561ByUAjyOSNLN5iM-2V5B2xgk9-5_BfO6lICudgvi87UQLwJZFjPpwbp3PhFGCmIIfr-aambYg0jdWXawgEseIyMgm2rcdmAa3VcCnRcZJnH6q1Bl2SUD1pORfx864OkA-LMiffASqu14I5YABqMT0MvigjzTK_uUk_I-jqGFVVMqlabZKHsTaeWW4-hS2eWLTy6A8BeMS5SShg_ar7BCLVrBrTcONDlyvSJrfzzP66z66iTyYIeq7ZGZCv_6hWpeLKrZklN4KSYc5Eqg1YmEmVC0q9GY5DJzjG_fRKfBCkyuLjhz8ZSSrtWWDfBvgWs1TE9aB1-MxAWZDWL6nkZP4EJmEK3z5NIJ4grjZnJGlg2dNH7OIPqKW9E2IllmXSqz4HrcowI16pwm9aDkqM9SgFdfll4aF1HuwF-USlITk6D-qxfqDOIHv49VzEzjiGX5LvJnafqkio_esOduN7k9KOsp6V5dasDJ4NSRz7LhSqhyMBqOfLIH6W6I2AOVdCOgobel0ca_oFVgPw8P1oXKRvk8aipR7iGy4-1Ooy3AXLom16fgjjLKH0iqkJj7L0LoO85TQofgKOJX97qHVC8r6Nl3bRNGm0ug",
  "id": "rs_055740de8d67d0a6016ab2bf67ba3887d09e3f4f4471c46da7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.178,\"left_z\":0.008,\"left_yaw\":-0.5},\"note\":\"The cap is close to the jaw centerline but still ahead of the fingertips. I’ll advance slightly, turn the jaws across its length, and lower to grasp it at table level.\"}",
  "call_id": "call_veoLtaRsvnHE7OQMB2Db1ir2",
  "id": "fc_055740de8d67d0a6016ab2bf6b603c87d0bf04ed92dcaa40e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_veoLtaRsvnHE7OQMB2Db1ir2",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.4088, 1.8717, 0.696, 0.4641, -0.0624, -0.0269, 0.9994, -0.0193, 0.7994, 0.6132, -0.392, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4046 left_y=-0.1593 left_z=0.0003 left_yaw=-0.3522 left_pitch=-0.1401 left_roll=0.0281 left_gripper=0.9994 right_x=0.2947 right_y=0.0016 right_z=0.1802 right_yaw=-0.001 right_pitch=-0.0217 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -6.9538, 6.065, 1.1111, 0.232, 0.1441, -0.0464, 0.0068, -1.4838, 7.0359, 1.7656, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89ec6ce4c29b95de25b076447b39aa373e47a812df7d2b102b9f7b9ce1f43f16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0314bb7714a89bf86308d234a96d2b2b89742c9aa9bb5c813d898392c0174744",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427f1b8f78739045123ae7a20637ed3e003794cb1b4114f7fe662616c3f7e66f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.4 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 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]: [-0.6266, 1.5986, 0.8448, 0.0048, -0.5026, -0.3855, 0.9998, -0.0193, 0.7967, 0.6132, -0.3889, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3856 left_y=-0.1696 left_z=0.099 left_yaw=-0.013 left_pitch=-0.0697 left_roll=0.0369 left_gripper=0.9998 right_x=0.2949 right_y=0.0016 right_z=0.1816 right_yaw=-0.001 right_pitch=-0.016 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -7.7197, 9.1692, 1.7607, -0.4322, -0.0708, -0.0366, -0.1709, -1.6889, 6.8171, 1.8388, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9ySz74HT9ILmcqIuhXlZFr4_x7tsEUFWIT2wDrUybr3lyDOJGwIFp3BfCENtEX6riaJTO1mmlohYxOUlFXlBRXsdWD0JcK578Po4yfcEzdWz9e48hcLy51SWDdrBEMJeXwe4Kb7uhG9gaOq3R4PEO7rxKo6qGcn2aehuI8d9yRGkjUEYMiCmS1PHZgI138V3CloFfB1LveAHimk2KvYh-2CrQzHEiZSPUYd24cB1Zn2Kk2sgjaKBX_zgPuEp6U6KU7qREboqFV2JYWsSgcvDE85DrFB2D2o30p20V2awwClTHDr8xr0npS_bYP4EdUDUd8W049yK6a0FT9eayGbxJGArXY3PCvJ4b0mRiUtKpqro-kJ99kTnHlmEUdd9DBqIHUSsuMMHwGv-A0W7gfUWSqfglhVMnGd0iXXw1a5G809gSSaBk4wxOm70swzDckt-VudGwg-bUsH1XYje0TRL1RjNUNvXnhbttQ1uJDu1ucvdBHXQi0Jh0zcpt3qc_Ks4k0GccEr3A-zG_SrIq5Zm288sA7m-Nk-ofv3uDwqCWbGn_-ClVKJ8gcXIR-eJdJqeddaxFq_1nNyg3EEu3lFmKfIxvzDjHEt7ckaFPFzs4B5pzDjSbkmkbgE5NluBX0Yy-FilZR5p5tjOwjS1yGdhgI944wNgrcBjxgGPLshU9tkgtgU1rhgBzoZ7ItLv6-jxTrWlXK-MGziVB9DxMNaTgBzc6BKTrPxsnmqfsBcu0rG2HhYi54ehMkD2lCVspO2wTvNmA7a_zIjNdKMAtcbgJ-XpaVvAnb6aRBPL7YdZtLPb4oq9Y_lMzM0IWvUVXCqkzcDCUHQ4ZhQsEkU-1d75E20Hx4KuVH4L8uI5akHSevjQBoNPSkrXTOUuuEroj6guiUUyMb0NisCyrIkYx5G9pHaevqp2WRB3643Hhmz93a5mum4JweHTD8L1-Kbc6HxJWAqihWV2rKDTmf-X9H3gQJS1b3BhTa8cPlwSyTs85jidxHrMZYOXXK2tX9sUJ1e55PSF0yBgqcuRjSpUdysoGKvHqCjigMi6iaeIh7JTcXizKM2fuMGnftOKdXwaafvzy36X_wbKaTqHsLyULeXWmjGn6zC5sViSymQquOUjdHtePYBl_wURDTqwZQqVWFIWjVuQpiJGYJjqIH7CQLnPv7Mrmxbe9p-33mPtOMc2BzlGUnB8HXOUGY4--50drzDCzod-pF6vQcidJJW7VRmxJhuA==",
  "id": "rs_055740de8d67d0a6016ab2bf70ef4087d0aabc88bf38ccca6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is between the open jaws near the bottom of the wrist view. I’ll close gently around its body before testing the lift.\"}",
  "call_id": "call_VT8XF74RGmYTBPWstuy6UtQi",
  "id": "fc_055740de8d67d0a6016ab2bf715ccc87d081c1377d9ef27528",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VT8XF74RGmYTBPWstuy6UtQi",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.4084, 1.8915, 0.6945, 0.5133, -0.0719, -0.0254, 0.1023, -0.0193, 0.7998, 0.6132, -0.3935, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4099 left_y=-0.1596 left_z=0.0009 left_yaw=-0.3448 left_pitch=-0.1119 left_roll=0.0337 left_gripper=0.1023 right_x=0.2945 right_y=0.0016 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0236 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -9.7026, 4.1231, 1.3407, 0.0269, -0.0366, 0.8376, -0.1573, -1.1829, 7.0222, 1.8144, -0.0269, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c289d4eaaf6322f8e6636b0e95f67e947d50b726edf4b6d3755739646f7970c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa91d11da50962da0fe236a693150125cbc360aa008d8490138a79502d1fe41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4403e8cf145109bed5324c8337c51a9096170110a7ddc30add74b122c52c6217",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 6.677 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 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]: [-0.4088, 1.8717, 0.696, 0.4641, -0.0624, -0.0269, 0.9994, -0.0193, 0.7994, 0.6132, -0.392, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4046 left_y=-0.1593 left_z=0.0003 left_yaw=-0.3522 left_pitch=-0.1401 left_roll=0.0281 left_gripper=0.9994 right_x=0.2947 right_y=0.0016 right_z=0.1802 right_yaw=-0.001 right_pitch=-0.0217 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -6.9538, 6.065, 1.1111, 0.232, 0.1441, -0.0464, 0.0068, -1.4838, 7.0359, 1.7656, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The closed gripper reads about 1 cm of material, consistent with holding the cap. I’ll lift it a few centimeters to check that it leaves the table.\"}",
  "call_id": "call_E1RwLVPSNtcS9ANVZVMdAhkm",
  "id": "fc_055740de8d67d0a6016ab2bf757a6887d0a4b59a41b3ffd375",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E1RwLVPSNtcS9ANVZVMdAhkm",
  "output": "executing move_to over 5 steps (0.5s)",
  "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]: [-0.4084, 1.7077, 0.7498, 0.2916, -0.075, -0.0284, 0.1022, -0.0193, 0.8005, 0.6132, -0.3939, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4102 left_y=-0.1592 left_z=0.0556 left_yaw=-0.3407 left_pitch=-0.0942 left_roll=0.0321 left_gripper=0.1022 right_x=0.2945 right_y=0.0016 right_z=0.1795 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -8.1436, 7.9248, 1.4432, -0.0122, -0.0073, 0.7448, -0.1709, -1.3607, 7.0222, 1.7509, -0.0171, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca45c7c6f436cec14f3f6aeb8edd51af9cc2f76659f3233908ba1379ecedae6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb25b0a90ea7d4199141c195d0b3d34e639bfcfa6843c3bd8b90bcd4c569f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4541aae335338d66da14c6824f5bfaa162efef6f30631bfe0f47163613413e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 7.048 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 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]: [-0.4084, 1.8915, 0.6945, 0.5133, -0.0719, -0.0254, 0.1023, -0.0193, 0.7998, 0.6132, -0.3935, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4099 left_y=-0.1596 left_z=0.0009 left_yaw=-0.3448 left_pitch=-0.1119 left_roll=0.0337 left_gripper=0.1023 right_x=0.2945 right_y=0.0016 right_z=0.1798 right_yaw=-0.001 right_pitch=-0.0236 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -9.7026, 4.1231, 1.3407, 0.0269, -0.0366, 0.8376, -0.1573, -1.1829, 7.0222, 1.8144, -0.0269, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9-0qLe9u5ut1opVgeqf7eNuB8GNf3y29sVPOqMN8WoWApl4hufGMcg07_Qkpi95nL7v_186yuwyKOnmBEOjOE4Yu8ZGEF5G6eatjzbpXIaGEIsWeIkAJBxq-gQMkvHtJH4-LxINJ0s3VlUJ_T4owLc9Uv1kYa6il6vpDWnXwoYGl1wNxADWVyRWVXQve7UulNUhEXI3hjqL00LUsUu1cQpZSuVjyA63PBRoXkMoCIgfIDnqT_xH_JmzTESv_x1q3t39YWsBdca5GG6S9X5qRFeyCbGjE0ORHVhqpZcKztQSBBQHsByN1UTRYubz6SnP__gP3DeaWCxvmByX36lCHBugS52oNFl9YxvTfnuHoKHC3s7D2UJgIiXGmAHSIBGY_IIahH2coNOoAO82Vfildz_fMpVRqwNg30go9kjmnODB_CqUGHh9nR3RIZWvIEhykJVTMGjvxccmpufoGhghD3rFlEZ9g-lYOSPimlWCgfVWxaPaUDqx3ENn7tejQFqThXU1VgS7zj7NaQ3hKVcFMmbXC8rqLrGPK6ZXGiKHiWrnN3bz0IVz1vCx0bx_GoAvtKMh3ld2hW-3xdIQeAnOZNd6JL-aop4G63nAPJvLugS0IQ04aUWquWdUyCZdz0uC_OrwCKXv5wbUPOqlJrE3GgjCo8EXXSrBqYWtg74bZi2bpiBBzmP4FgIRBmHaDkP7LeTDZ-kWaAezxaoPRM83SEHxH-VtR0Mtu2BtZoZVoFOPJ-rTW1A9AQ455cpCV8tUK1ZhIdRo-pK8zCtcpuZe8Oy90snjw4cHBeTIv2pqvQdYQEXLZZKMIUaKk3g8vUdwid4ORGpn5J8dRb0Rjv1vFEwAIG4QFpaVJI_xxWgpurbM4PwEnBqPFZoQav6dRYXZmRbr6EomH9-2Ct99xa6abaUxP78X71Bxgk9d0RiGxERdcrY6Lf4RIiBJPx11yOmZwKtadpeOZl4Ht-wN5L40knGdkkP4kcJWDIee2WLF-fN6gRuVPU3noQPwuxtEf3HrGQ-h3-O8WNOh4b6jp78YuhTFzptkwhC2LIrekImlVnwTWHgrZ9Gz05yVtfcNXZgQvwetdzsUqDCr-ZeEYH3xOwkMe_zVD6V55eTen9EOLeMT-dWe8DQjA4C6N3ZNSjdiC9YXVUhXal3fHnQI04aWI0D3F4Z1MhhmW30AQjPjAeVedbk98nmFlhmUVEQitECUrTEWpkEx1x9chFFeeS9889_NctRzqwM22OuqGFV5XdQNy7dHsresNEC4mDhMAsxqSYFMlpCSQITGdf2zAt7Y551thpnJ4HrbyY8Eh5hw8SxWS0gR5oIQoPq3nxuFt68EB8Agl6pkC-oU5XZSpcckZkjmCWV2qrlZsy5nEn2puYNPLZ5--slUQP6nKVv8_tvV_N5OerTB_ZkR1EVFDSq7XRbSK74ysLqNayemNWHOt2n-FWpQjf0u0jnEh-PEpuclic5rm5x_djW1zKpB2dlfZeQYdjB7uZCWBtIsiuFNsA3a5huIZOQBbzhtRO1Mkq-GCbuInF6JZ-h6K4m_eVB_WkudHI94SlBzzaB4TNytucgwHU=",
  "id": "rs_055740de8d67d0a6016ab2bf793c2887d09528c0af256a7313",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_x\":0.405,\"right_y\":0.22,\"right_z\":0.13},\"note\":\"The cap has lifted with the left gripper. I’ll raise it clear of the table while bringing the right gripper above the pen, keeping the hands separated.\"}",
  "call_id": "call_ctXpnMq4xhP5DDnzoDlzBVJ4",
  "id": "fc_055740de8d67d0a6016ab2bf7c6ac887d084cb1515d6ef0cd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ctXpnMq4xhP5DDnzoDlzBVJ4",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.4084, 1.5146, 1.026, -0.2413, -0.075, -0.0288, 0.1042, 0.6872, 1.6825, 1.0035, -0.0723, 0.5243, 0.3943, 0.9994]\nstate[eef_state]: left_x=0.4043 left_y=-0.1566 left_z=0.1495 left_yaw=-0.3399 left_pitch=-0.1578 left_roll=0.0361 left_gripper=0.1042 right_x=0.3946 right_y=0.2141 right_z=0.1151 right_yaw=0.0347 right_pitch=-0.0761 right_roll=-0.0355 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -9.0325, 10.2906, 1.8144, -0.022, -0.0317, 0.6716, 0.2256, -8.1162, 8.5812, 1.6777, 0.5201, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8296a3246d09fe8bb5cba208b15a71bee09892ad1394e07c2a504b0ed6e6cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386ce013eaa55c36637a096f88b0314b312cd6350e57b91248c98c984a19e56b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d321df15a087b63063a07e88b63cc45ac1fd2af1631575da1e064f6e5e1e549",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 7.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.7077, 0.7498, 0.2916, -0.075, -0.0284, 0.1022, -0.0193, 0.8005, 0.6132, -0.3939, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.4102 left_y=-0.1592 left_z=0.0556 left_yaw=-0.3407 left_pitch=-0.0942 left_roll=0.0321 left_gripper=0.1022 right_x=0.2945 right_y=0.0016 right_z=0.1795 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -8.1436, 7.9248, 1.4432, -0.0122, -0.0073, 0.7448, -0.1709, -1.3607, 7.0222, 1.7509, -0.0171, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-GDyZkaNeUw7KumGXmRajx7q1ScHCa2AdI50VZVbY-Q3RIkybCQFY05dwDH4YCBOpIzwq00QSVeeBrEmhQEdfVr3CUk-Bq4VqDpH5bxq1OzyGXRRGqz11Gi-qVJQe9_coIi1mxSWqnNinOfr-s0lV6ttH9Xd_u0MZJqoS9JC78k2IDiKmFhxWsHKll8dDoBNt2BA5m2OXaPhOViBKEe3AsHJzFIVOoJq1NpCATrSAHO6jfmNRKpXQuo6ZsbBnZU-9VaQgmdqvuL_ssQiH7JqD-SDvr9I7FTgDeffPNAelMUwZhrQjgohBPnUIWoPVEUeEuXpU7puYhFkQszwzB39RG-aadtipZfX2JVBa0s4grExtLZradgYpLHJaR4nZ_-zgruDYqOcS-FhRfUwqljXzg-8dyWdjRSLBMq9WNfSYFdp3BS6O7TznrMFrmRXFf255fkxXfJxh1LV0z2J-H7PS3a8-Trf6KQATx51sP_cF4nrC2jNFzUgZhMp2L9vXmHG0k4TweNQ9_lWAq0fwhA2eIjYZxZbUbOgSWdH5ccOqln0As5wcR39OG6-S4nAbVNdy5Mu2K5WSWilKOcvjCc_9QrncOWE7gvYeB7eJfBTviJ1w1slRnGMkjuulJPLoWe-xuMtDJv34Tz8RfijXGfWGAih7E5cYxMzJFx5FzJJzCjZN3UyRC38twxl2gED_hkKsTK-4QRvy2ofLrrHkND3sFFYwEHNsMAOU4pxz_Psn6rTVQH6UwUUp6SzDkI75KIGQmpxYEN2mwfy83p3HWq5EKvocJdSJrdFciynLKV2RqDyVXZ9Xl6CD139SA_IgLcsFWxnRNY54lZUUHqtuGeIAfEnY6mTj239rzNCyQl_-g-HbBVRwzcpkU0vjtoPKtRJjFVTYrbMrBTkkMl0j-BSHi7Q29GlEGygphMoxtYsJjQLmAQM0vZIN5hMAqY9kUyifXmlHLGySI_WHFBarKtJSqZ7fJ6SjXLn8TQZ1kr7w5e-_jgzpNiTDwy0QApaKheNGi1ijWgbTF-m6JzxWeKgAc6j4r_KZMjud6liHtDXwYrakhuApWgE0PEf0hsw8H5hldP6OgTygSoFxLXGf5hT_kONFodfz_NJNeeSFTRs5ewODVxO41g1piwvA0BNw_pqQH1pD_H35gD_-9Yt30PUNHmlgSIW0kizcLnR52DZsg8_nK6YdgvMB60j3E7T_9ZG8Pa5Lxy99013bH7R_cqMJstUOCbNnw_GDKR7ssIuf9X0m0wspndQIsYUB9pmxepagJvp9jB7zYofX-J1nIFwG1dREkJYSGkgngx92vkE7wo3ua52PSy4WrF1IRsJlSCG8bAzz4dLool9SCcl8w-LPYhjRlStLRcXmuMlSFsi09sG0p4cIaB6eb6rnM6RxrU860ygVNIQVTqlKmYDvl466rNUPyjtGbpEzZSWxp2TviHGkNpoIEgErjrhTMA5ZY8555OzCkHNwrzIkZvyvZV4p3FwNeLRs-vx_i9xduK4ishCiL7ePo1EYM76DMAcmSDmle1-PG6SHpsWujefPA4jErlZmYlm0uP1At4reKBCiIebjJdBjxHz2NuPJqNwBzNTtEz34xbFVzjsSj39nASzFS-ZwN8fXxfgHGm3S0et1mvgKHXM1LMgrxlWB9wtsbFNA70HhQ9CHOpKnKHlo51P4kWWo4xa36Os3ddDpqfsJ3rtA=",
  "id": "rs_055740de8d67d0a6016ab2bf82559c87d0bc4c7801d708ea09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.195,\"right_z\":0.025,\"right_yaw\":0.7},\"note\":\"The pen is slightly to the right of the right jaw centerline and runs diagonally across the table. I’ll shift toward it, align the jaws across its shaft, and descend.\"}",
  "call_id": "call_SvNsAwqS7dhQtEqRvd4FRYlo",
  "id": "fc_055740de8d67d0a6016ab2bf8532bc87d08de93d82b8b4b053",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SvNsAwqS7dhQtEqRvd4FRYlo",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.4084, 1.5139, 1.0286, -0.2584, -0.075, -0.0284, 0.1043, 0.3561, 1.8317, 0.7441, 0.3614, -0.1146, -0.1249, 0.9994]\nstate[eef_state]: left_x=0.4022 left_y=-0.1557 left_z=0.1478 left_yaw=-0.34 left_pitch=-0.1715 left_roll=0.0374 left_gripper=0.1043 right_x=0.4029 right_y=0.1753 right_z=0.0151 right_yaw=0.5156 right_pitch=-0.1641 right_roll=-0.0192 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -6.735, 6.5983, 1.7021, -0.0904, -0.0269, 0.6276, -0.4718, -7.8154, 5.9966, 1.7021, -0.2711, -0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf4dd84054179c2e74545890c048dcbb0af91d86a50cb69b252ffff717fd88f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253f61c0b7079e21eac9993ec1780d1448b91ca284abf7cca81d67a71efbc2c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb18bef17717207349e2cf9d9c334c0d6187af9338b875e2e8c8e02d81ae54c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.579 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.5146, 1.026, -0.2413, -0.075, -0.0288, 0.1042, 0.6872, 1.6825, 1.0035, -0.0723, 0.5243, 0.3943, 0.9994]\nstate[eef_state]: left_x=0.4043 left_y=-0.1566 left_z=0.1495 left_yaw=-0.3399 left_pitch=-0.1578 left_roll=0.0361 left_gripper=0.1042 right_x=0.3946 right_y=0.2141 right_z=0.1151 right_yaw=0.0347 right_pitch=-0.0761 right_roll=-0.0355 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -9.0325, 10.2906, 1.8144, -0.022, -0.0317, 0.6716, 0.2256, -8.1162, 8.5812, 1.6777, 0.5201, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-OwShX8MCUHWedFdk1-IVTdkO8wFnlODS9dzfz28OjT6vujwwzqejonjMMy4f3D5ezmOKJumuuXVuIQUWKNM8P50CseLV3IZj501ZSjgRcYmwerPhSVvipYsfmKS7hDaMGEnTIlG30mIXX0kAZyUIpJbs61Nt_Y4B8vGLxOkjko8zpC-bRtLs2lU-YLg8ZJUTf95XHl1rb8KeVey3luY1dJaD6zZc5HP7tOFYHsi3eC6-Njjcv0DE74E46n54XWIylhqhS1xcR_uOxloIsXb3QgL36dtsxFQ5CrTtG8EdGoAofHf0mRVP4Bf0McEicpOO5aEmOfjvDsxToIgdo1hPzP_ajrGaB6lMhQsOfpDHKckPQJzXBdHeszLxaqKphU7tcIpx53lbL-LXZS8HBYHKLXAG9aNvidVhIvusZ-Opi7Law0mVluy3cssRKxdQ2neDcxpi-2l8wuLRaLLEz4Q9TIfms-KV-YARxT2fByktSPZthTU7ebaJdOSFCkAXPTk0HJF9jTUBof3CbEgsANljOTOhtaeaxL0UmH6f-Cvkt-NvRUt1F5fgaEWmF6gvNrXy3vn0dGmPyi97yLfKyb4CKd9fCTT3mDBckcFiRUZFh00UU4w3ZKvDCMY5PLxStCc_puDiHpuqJtV-nCvJjYDyfPH2NIIyv8z2RysuBUidUKfmFgnnPZOuTLxAQglrhcfDzrTNJd8ZOTBtVzjb_0Nx7xur9x-_841q9kzufYpUFem8WQHMAnXp_wpd1FefQ9bZKrgJ-CodyblOSJ6FdS8g_C2gYrJzf_7kdRfaaT4tpO31iuUuNaJAGSh8O3ZIvAN7Sh9YgaTL0sr6PTVy-BIYQkigCMQsNZQ1Aen8okElafTz9a9g0HJt1aOH0nOsxMx3zlhT3wQpBILY4R-Kw-5OIMpQq3BlyUhgO6bgQcCJ-LcBKWfBcaoHPjU2-6HTs9bNAXNPc-ORLVuTlO3-PYQjeOO5l1wA8sVTLZ84sK7qh9y3NRSsJ3Ns9ZX9g1vBiA-GO8ILL6sqeBD2EB7V1AiloUG9lOjooDcgvaLao5XMfTjC4A3vd_Q8umjq3z2A3ACsnfre5lSnKjzqhDhyYYBrH4vcsZN5g42wwWzyJk11H8499xcGOUTg9u0fS77tI1WWE5xttfi-NRC9JM6iGfpomCcLAfW2jPiwz_IKXd_8wX1wHo_CGnlAQpIca5g_xnfebZyQ5EJRikTiK51go9RP9oeS01tICVWgV3iPZ2reeXay7N0-GPJGedzlNByz63WQupDG8RGPjY9Nl9O9a9eY8-9Pvw1cVBJ6bMxHcbIrcQkQn6mZjOSvWl15HNy8U-Uc2HEoqwn1WGgnOQpIlpRFOAH41vRT8HFh368nm4IJJVA40baq0Fn8LMSxTrPJNv6MZWfUz-rMx0e9NoSTrSbRlAQ==",
  "id": "rs_055740de8d67d0a6016ab2bf8a1efc87d08fde7aedab16f3e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.21,\"right_z\":0,\"right_yaw\":0.85},\"note\":\"The pen shaft is just left of the jaw centerline, with its exposed tip pointing away from the wrist. I’ll make a small centering adjustment and lower the final distance.\"}",
  "call_id": "call_xjTcPqFwiNlaRkdedLo884Hq",
  "id": "fc_055740de8d67d0a6016ab2bf8c844487d0beb27de5e1fe7c3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xjTcPqFwiNlaRkdedLo884Hq",
  "output": "executing move_to over 3 steps (0.3s)",
  "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]: [-0.4084, 1.5166, 1.0271, -0.26, -0.075, -0.0284, 0.1057, 0.3218, 1.977, 0.8936, 0.337, -0.3275, -0.3225, 0.9994]\nstate[eef_state]: left_x=0.4018 left_y=-0.1555 left_z=0.1458 left_yaw=-0.3399 left_pitch=-0.1772 left_roll=0.0378 left_gripper=0.1057 right_x=0.4234 right_y=0.2048 right_z=0.0051 right_yaw=0.767 right_pitch=-0.1421 right_roll=-0.0268 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -7.2, 7.0906, 1.5897, -0.0757, -0.0464, 0.4713, -0.9504, -9.1966, 5.5863, 1.0867, -0.359, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e144c1784c77d448d7d2df0f0be8ec945c9aa1eb207de96e5dba926b5efbf71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:413e441615cd4276fc3fc11b6013c3c4f55f59a9c750ac576ff045f297709fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f28b7fa25b522a00b9114af9aa029561e325af943a441f591e3e743ceaaca88",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.897 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.5139, 1.0286, -0.2584, -0.075, -0.0284, 0.1043, 0.3561, 1.8317, 0.7441, 0.3614, -0.1146, -0.1249, 0.9994]\nstate[eef_state]: left_x=0.4022 left_y=-0.1557 left_z=0.1478 left_yaw=-0.34 left_pitch=-0.1715 left_roll=0.0374 left_gripper=0.1043 right_x=0.4029 right_y=0.1753 right_z=0.0151 right_yaw=0.5156 right_pitch=-0.1641 right_roll=-0.0192 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -6.735, 6.5983, 1.7021, -0.0904, -0.0269, 0.6276, -0.4718, -7.8154, 5.9966, 1.7021, -0.2711, -0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is now centered between the jaws at table height. I’ll close on its shaft.\"}",
  "call_id": "call_JP4FwlQAFJEbFed3wldjMeIe",
  "id": "fc_055740de8d67d0a6016ab2bf923ddc87d0a8b5d9baea60be39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JP4FwlQAFJEbFed3wldjMeIe",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.4084, 1.5166, 1.0271, -0.263, -0.075, -0.0284, 0.1081, 0.3199, 1.9903, 0.9218, 0.2951, -0.3943, -0.3973, 0.0509]\nstate[eef_state]: left_x=0.4013 left_y=-0.1553 left_z=0.1452 left_yaw=-0.3399 left_pitch=-0.1802 left_roll=0.038 left_gripper=0.1081 right_x=0.4189 right_y=0.214 right_z=0.0045 right_yaw=0.8611 right_pitch=-0.1449 right_roll=-0.0307 right_gripper=0.0509\nstate[joint_eff]: [-0.3761, -6.7214, 6.8034, 1.6142, -0.1001, -0.022, 0.2466, -0.6359, -8.8821, 6.0923, 1.2967, -0.0464, 0.0073, 1.1551]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea7fb96dcaeb4a32bb80f1b3a61f9f2ca80cdebb13e092f93735a56ae4ea20d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ff45c3b71ef9c0734a014e756565d35077f75a9f23d3a485ef9c0c658214ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b0ef83531aab4e649ec94162541640cd46942cf2191462420647824d862957",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 13.75 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.5166, 1.0271, -0.26, -0.075, -0.0284, 0.1057, 0.3218, 1.977, 0.8936, 0.337, -0.3275, -0.3225, 0.9994]\nstate[eef_state]: left_x=0.4018 left_y=-0.1555 left_z=0.1458 left_yaw=-0.3399 left_pitch=-0.1772 left_roll=0.0378 left_gripper=0.1057 right_x=0.4234 right_y=0.2048 right_z=0.0051 right_yaw=0.767 right_pitch=-0.1421 right_roll=-0.0268 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -7.2, 7.0906, 1.5897, -0.0757, -0.0464, 0.4713, -0.9504, -9.1966, 5.5863, 1.0867, -0.359, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The pen grasp reads about 5 mm, consistent with the thin shaft. I’ll lift a short distance to verify it is secure.\"}",
  "call_id": "call_yPuAl4EjP4sqfAviy0ae9qUG",
  "id": "fc_055740de8d67d0a6016ab2bf97624487d08c145a66420c75ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yPuAl4EjP4sqfAviy0ae9qUG",
  "output": "executing move_to over 4 steps (0.4s)",
  "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]: [-0.408, 1.5166, 1.0271, -0.2634, -0.0746, -0.0284, 0.1112, 0.321, 1.8786, 0.973, 0.1135, -0.3943, -0.3985, 0.0595]\nstate[eef_state]: left_x=0.4013 left_y=-0.1552 left_z=0.1452 left_yaw=-0.3398 left_pitch=-0.1806 left_roll=0.0378 left_gripper=0.1112 right_x=0.4161 right_y=0.2136 right_z=0.042 right_yaw=0.8644 right_pitch=-0.1609 right_roll=-0.0218 right_gripper=0.0595\nstate[joint_eff]: [-0.1573, -6.9949, 6.7624, 1.5849, -0.0317, -0.0562, 0.3053, -0.4444, -11.5077, 7.706, 1.4481, -0.188, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2616e913c381fcaf89ac4b4d66c4256de8c0966cdd9ffde576e49088fc2af7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6076044ec2e6bf3684e32ce78e7e60433d2847a426796d02bbcc08faa3bbe9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e11cbcdc7543ff0a1104cebc09326ac46f8a607680556e19379b657442ec02f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 7.602 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4084, 1.5166, 1.0271, -0.263, -0.075, -0.0284, 0.1081, 0.3199, 1.9903, 0.9218, 0.2951, -0.3943, -0.3973, 0.0509]\nstate[eef_state]: left_x=0.4013 left_y=-0.1553 left_z=0.1452 left_yaw=-0.3399 left_pitch=-0.1802 left_roll=0.038 left_gripper=0.1081 right_x=0.4189 right_y=0.214 right_z=0.0045 right_yaw=0.8611 right_pitch=-0.1449 right_roll=-0.0307 right_gripper=0.0509\nstate[joint_eff]: [-0.3761, -6.7214, 6.8034, 1.6142, -0.1001, -0.022, 0.2466, -0.6359, -8.8821, 6.0923, 1.2967, -0.0464, 0.0073, 1.1551]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-mtijO4DmZVRramTYP6bUlClQO4rQ6aVhVC4CLd4nnE0lLp2aiOqY8NKj2ak1w-g7Ek8VnSgIWQDwmoMKTbLVTDrNhqMeJO8N0Ii4IXZ_NzXXRdh1oYF39n_UdR6pnRaVNaYLXwKTeFWXqf0cvpdv4swlcg0CqFjYWtO54onVC-rfPckQzpy6hPW8t93nAexh7brl07FA1uAG6EvNN7K5QeQpwtrpkKJdagBVTE98PyOxrVh21j8Yo40nmqZuqmDBsrQUhxHA99cjNKkfWLNMr32ZkJindy_05CpjBIZKdLBLoFBmMgpx7SW0KXyvOCosM-ciacjP8l-9datxscW4nl_eVNN2Rc9WcDXTYBl3yGmFlOd_SQDcDX8M3HK8nWz9Dz4kMYRayhdDrZHTyt8OV33cxdGnHBluKwe8cWy-tDTdEak3BX1iCOv5H1oDlsUKwDmxXK51pXdz-o16nZxsm55ORXvi9J84G0VdQl5joeeBw_rGgo9PTFpOph_LgJuoeKIStO1Pwb4i8i1lWV6y7_0qaS0tSt6LQFS3kCJ4CLfgxWUxJN6xiqHz6hfpK10EYXNgPk106_BH_1PQFWc0K0EFYhluY3sbOBRkq8RQr-i9Jdn_wfmQ4ytOaHoz8etmdYrcXvoOsNVN-lScmv3HCH4WqK5d_NKVdYC5CNg2hsmtUwfsXoxuuK6KqW5TljOAsuu-9FCVX804rAjk7kDQKwrQfXHC2AisSvc3JMU_E4kAwKRG8TqRvoPRjf9eT819CmhoC7sp-skjSdP7wGAiGPv0fFD95rVyaMTnKAts8nJU6SDq6MGXiqCJgtkpCecmsuUmRgsCTjy2XNakcJd_Qa_L0kRsqH4BM6-_A2YhCoI78d-LYNuj2JIV63am12D9F--SoHANEGr2XA4jCdtJO_yiYdNm5oW10mSms7IH6pbRUgiJU0q1DsY-2XvlhWoN8VgWyfbZM0Mt5J-iU-5IVZQHYU4cybQrBddhRfy3KlYsUi1Yc-ZoWqpApWG7Huh6V-mwbsaTNGsgsPCN-CznJzF32fax-kFEuf28DxTg9p_P2BKfCx5ZvQz8k0HRpYj6ytQZ9XzQaOlPDQuOTj5SKBXkyK_vIVdMpSHnBu7a8O2YwNXEi-K3E8vMzsNewwKWHx9iztMZhffXJ9NBz2eZczPh2ZU4JREcMmirN_dQ_EeygeOJNisu1Oivqf5uMHMzdj5KIycjP4fjS3lwD-YBuQPtxd90RxaIwNwiEM1MCUkFf1F7wKEqHGo-q0pyKG4Yk2UPnVXxNH2q7bY2QCvZs2RU4GAk4xpjyQkvKjGlZI4s-tM0xZYD0WU7Bx4tQcY27zkoxMmgtmUXTzk4mdhjpcmPFd5mb7QiUUFCXHgKQWdbv45Gp7BYBYcBNzkAWb8WXZYuy7LyCDlQAVqIq5okyMn10UShc_6MrBkP90WUq_N7e9aVM9Vw00PelK-Z7WYjUjA1fiimTh6Xhy5t1JYIIIIgrkdlJ3iPQ4rV1EEUZYbh09oOCM9qkFvaek26mDtlRfOGPyRNKWcKhrUQ9J8rQJ_08AzsYjePcQ9HDgbf9xEE5ZQb60-31DcXMwHIxNjO-uNtjXvRoUoLWCECvj5eGw4w1bONRYxpQd5WV7yOxT2fQxKBcxUygjxD3fhMSjbk_GpJRaYbn51CNT58c4-n1LnoZDK5YbLOb3s1KRHA7Nxg3D1-Km8jEgdBCgpIZJAAqTYLquitHF5CfOa8WpZWv5IlaIqZPnzd18KKnx-3rKltJ9mMfWRR955a5EmJ-Up-Av6JdrGRQexzAHQJfR2QTvKC7mAko-lLy1CZWItaEAuODMQQoIkI1FVIt1z8uibiQk-Aefd36kqZWuTwbecmH4-QgNf4N53Eh8EW047Nv-PgDjv42E_qSD3QcOsklZ5W52ufeJVWZeWBx6CO7ONLlzbAqEqPspBYYwucLsgdZ4aeSsTvoz6wfVgBZnquzWCL-2HFBHlxc1KzEQYLK5Emc0DKEkODHRl2NMKXUEiVgYJ-DpVi4rxdmkKL5xVYPosAa7Db5xQdwLZhfKe7BVbD66Zcg3mcvm0osfkS8nSEkoRci6RPnSEgsUZ7AJdyNgtBdcFB_p5eTR0-eTvu9wyLoMqSJfo4fCbYvk1QiqgjmGzDaOT3PPa2DsxpK4Z9Oyvsjb7sLIub5f8FplmdTtgkahm--DAsdqfEKWGmBBysTVHMwegUtGTFQ-r2rZHByyo8azuMWpqg8oXENAedfhyeHDtA1C0vyicdmFg9bzvXs2GsSOx88kRMx6PkjlWSgNNfrHK6vGjMcIdChu-eUi1stiHo1qloBB3PH2M_JU0vCDT-2pZpO3HB4wywEzQOgnVNncFfZ7Y3Fc8X2Vx1VE4TH7oabgSJa1r3VpGNg8fB0Qehsx04CXDDn6Ztsnb5nfHvDEuwJoe9TgplbfmYspqyTWiQkXEIBNPK3voI8IsAFav5N1PKlh_kEw6P2LSe66q_FCKTWq9ON8_21_0GPVhF3mywPqym1Gcdqm9OavVdgPHmZbW6w9mBOmS0jmM-iA5e2sctcpyQB6zSniUTcrjsl1Y5samHFj775HZTRwIlHvic0dxGaF1bp9D5SRtf1uA2zvvMKrkdjuddntUUzQFz1qOJeVRD3TeNAoWrCYYSDF3CD-M_4yV7KdM5x3jOZ24t09VUEzsSpOH9bScbBngRYWihrjSunjQmnPUJQHGVpivauldvVwIfgoIXRk-lYd_EeEaEoBB9CiJIr2J3cPELlnw7txtIpaH8HaWvIfJ1-voYf41Hyw3skjdENz-iwOt2ygPxZRbD6mi_c72NUwVBCeBOckbgQ_KaXiqjKEfvDYiJ024qJTtgy4vjY907BV2x_dkohWE7ImBH2DvLDu-CgAVwrhGnGLCF1SPHwrz4QE9kGY69Oihmnp4mvDKtmp4bu",
  "id": "rs_055740de8d67d0a6016ab2bf9ab9ec87d09a2fd62d89dc87e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":0.65,\"left_z\":0.2,\"right_z\":0.19,\"right_yaw\":1.55},\"note\":\"Both parts remain in the jaws after lifting. I’ll raise them and begin turning their axes sideways so the pen tip can approach the cap opening from the right.\"}",
  "call_id": "call_b4glX5s4W91osbn4f4OeOLNz",
  "id": "fc_055740de8d67d0a6016ab2bfa4009487d0a22f29a3a1cfe212",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b4glX5s4W91osbn4f4OeOLNz",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.6708, 1.9263, 1.7634, -1.0573, -0.7284, -1.0611, 0.1131, 0.1932, 2.0727, 1.9259, -1.0241, -0.7738, -1.1564, 0.0649]\nstate[eef_state]: left_x=0.4142 left_y=-0.174 left_z=0.1895 left_yaw=0.5171 left_pitch=-0.2063 left_roll=0.0121 left_gripper=0.1131 right_x=0.4413 right_y=0.2158 right_z=0.1861 right_yaw=1.4481 right_pitch=-0.1658 right_roll=-0.0998 right_gripper=0.0649\nstate[joint_eff]: [-0.4444, -10.6462, 7.6239, 0.3736, -0.5446, -0.0073, 0.1929, -0.8274, -10.6462, 6.7624, 0.2076, -0.7692, -0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd1378cceaae11e5f0b574efd08dd08da3a39c90ffd2c2558a25e360265c2ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd56136d59997c11fe0755a4319e7f83ae28866f8eb3ee8ea7b88fac11aef69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815fac4ef8dec524c5a063273f4dd50776e52c333327a65fe311b80e4079c386",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.686 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.408, 1.5166, 1.0271, -0.2634, -0.0746, -0.0284, 0.1112, 0.321, 1.8786, 0.973, 0.1135, -0.3943, -0.3985, 0.0595]\nstate[eef_state]: left_x=0.4013 left_y=-0.1552 left_z=0.1452 left_yaw=-0.3398 left_pitch=-0.1806 left_roll=0.0378 left_gripper=0.1112 right_x=0.4161 right_y=0.2136 right_z=0.042 right_yaw=0.8644 right_pitch=-0.1609 right_roll=-0.0218 right_gripper=0.0595\nstate[joint_eff]: [-0.1573, -6.9949, 6.7624, 1.5849, -0.0317, -0.0562, 0.3053, -0.4444, -11.5077, 7.706, 1.4481, -0.188, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-u7C2aeX-e4TepbubdztZ418BAlAnbjvl2r0JPWwqj2ralOOHb2fndLSyhLLT39JLi1tf0nLy6pteTyss7wXdQ721I2ZZquvDnK_XkTVCY6I6wcWVcH8BrbKquQ8n973ckDG7SGhHXJFwwgxYB6vTDE8kz_EQ1omKWdIFZ-osVkxqpV7gmwUsvY5VobmlFIw2v8DZVPRNxM76VmFpolwigo-feus3i0fGCdz-rOzOfb5QlCC9Gd6ORFf-gxeRD8SIKfrFPAr7z2d4dJb4Nu5WPXO4EonHdaXD_vEUkY6ANcguXdTt048BDlJkDLSPsiv01ube2mPl7RSoWpn1KlPUAZwdH3IgTrjrO4N-JEHKhtU6l6_MpA5VEUR8ERE7ncft6TbEjTixs5n6bLV8NB-wn3-Xvv8CiLYv1H4AXxtyi6JwBwm0i1dt8EtHUytCQwv7Lf_ae3oVUaNlJL82K5bhhF5voFBh4rp68NpG40KovCWc7CgreWLe9lzXEJVk8ajP6b1QVUBE1FmbsZkrVehvIGqQxz0IPylAdTEpDursR5Xnzn90W1mwKYNTqkq6tYBkmWczm7pAG2EKSTJ-gcMPCwE7cHcbObSJdlHSrF92B24ZpxyhfhS9nAH3ie3DQqIod6F5jXnip0Y2PpqzHCzi9gAg0i3wsLK1ghFINSL3OcSO2DYn9YxHnyX7D4DQFBJtiRKTcur-3CLBWzIUZrmHOMfocneOEKBGS-qHDpSNEp8_G6bSecByg2klceUNuD8dKAKkRdBekb07GrynhHYRN8M5xTMIMN2DiKzoo2cH65_PS7SUsVHdsRixEELX5-MQsn3LVba0v5zA4MalrbuPnwMMV8XE94fXpmkJgeWoTWUjdf6-uqmo3e1-OvjNwuSK23UjJkUa5FgTauEk5eKaZDzRPkr2QJMdjS6WbE93u56lEOzJMIriAtiYHAB2Rwiuzzj3zjlIelfz94Dgf8PkJi-9pa7wPUp3W0BSAsb0ZsDRrx4iqp_W3jmAos5dL3Dwe2jOQaTl02haGfVmK6YBQPUgQF5ckQcDo9IviyF_-Is1-ViggmYRLyx5IthUxsPwlDFQTMElHJ-WexWbYtzZvlb1BAP9dgcu0wu8Yvn-1krCRUqLjPq5zxo25ZJzr8uKriCURXCi0QKmSkoJAri-NMquiG7urLtJi7HYFCA95gtd78jHp0ZwKXdh2Ajrbio_XgvecT2REYNLNL7RIS7AOhOUl43Gk9AKPS-KzCVMmk97Q7k_YTwIo32qmub_f20rqs6lOh6t-djo1ZqaG7jV9glCHaegjPFtlx2R1iff5gXPGJmZPYl8Ja-oKNjwrj8QySHKC9HxhKWvRQXLwjmgj21NGIxodBgMfgQtF5yr29F2-mmgigOjnYn8lowzz2T1g8ZO6wfLkHW7rGYTP8LOry50IL0ygwGWe_Ubv0GjxDzut9Sb6wEdOpPRrs3qNgrNqF5L67E3M_8JwTjuWymthxSDtURWsjVDtFqGyPB7TBp-unXUIo3VuAeFb5JaOjn0Kg0tuvLaHA9zbhcdY7AUXrw==",
  "id": "rs_055740de8d67d0a6016ab2bfa9688487d09c5d83741c87ea54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.23,\"left_z\":0.2,\"left_yaw\":1.6,\"right_x\":0.4,\"right_z\":0.2,\"right_yaw\":1.65},\"note\":\"The pen is nearly sideways, while the cap still needs more rotation. I’ll finish aligning their directions and bring them to similar forward positions, leaving a wide gap for now.\"}",
  "call_id": "call_0nOgTIpIbSylQdcnbtWWuvkx",
  "id": "fc_055740de8d67d0a6016ab2bfac66e087d092fa0d90381ef6a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0nOgTIpIbSylQdcnbtWWuvkx",
  "output": "executing move_to over 7 steps (0.7s)",
  "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]: [-0.7143, 2.2555, 2.1555, -1.4822, -0.7788, -1.4849, 0.1148, 0.1921, 2.0964, 1.9724, -1.2377, -0.7982, -1.38, 0.0649]\nstate[eef_state]: left_x=0.4118 left_y=-0.188 left_z=0.1562 left_yaw=0.8003 left_pitch=-0.2245 left_roll=0.0801 left_gripper=0.1148 right_x=0.41 right_y=0.2123 right_z=0.1806 right_yaw=1.6096 right_pitch=-0.1967 right_roll=-0.0737 right_gripper=0.0649\nstate[joint_eff]: [-0.7453, -13.3402, 7.1863, 0.1441, -0.6129, -0.1685, 0.1587, -0.1299, -12.8615, 8.6085, 0.3248, -0.8327, -0.2418, 1.033]\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,$blob:bf5a4871aae63c6d243bbd80000c4d656a2baf7c5816b5c297be7cd6855080bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b611efe30c730acea59f8cd5efb5014b0fa793554cdbcafa78260c81e6c63f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165783ce995ad896bccfe7191f189fcc8f65323a8685d45b53e68543a4d08067",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 10.26 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6708, 1.9263, 1.7634, -1.0573, -0.7284, -1.0611, 0.1131, 0.1932, 2.0727, 1.9259, -1.0241, -0.7738, -1.1564, 0.0649]\nstate[eef_state]: left_x=0.4142 left_y=-0.174 left_z=0.1895 left_yaw=0.5171 left_pitch=-0.2063 left_roll=0.0121 left_gripper=0.1131 right_x=0.4413 right_y=0.2158 right_z=0.1861 right_yaw=1.4481 right_pitch=-0.1658 right_roll=-0.0998 right_gripper=0.0649\nstate[joint_eff]: [-0.4444, -10.6462, 7.6239, 0.3736, -0.5446, -0.0073, 0.1929, -0.8274, -10.6462, 6.7624, 0.2076, -0.7692, -0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-1Mf_8FcwA8n3VagRI8eBlZqAlgnR7wxJOA-iSZ-Fnp82FwUB5HC8A3eUTB9X9uub2TbgCe16qPGVXOVeoyTWcRFMrYB58Jut3rLF0A3LkcWvmiDiu7I-AQKYr0BobUqheUZ8Z_KqxTxX23nj1yaBOFFhnU8Uz3CSBGlfq84-ICuYkTxn76IjOE9AKvYEG7U6NGAp_0l96ffeMCn_NCwGSiLVEf9Alp3LthpuRLcmJela7g0i72kL6rjj7EgObCNR5v3V0ha3U_ViypGMpyC9A_dChAxTDnWYC1g5FlJIWtGa9Oxt8rBi9lMDZLPBwY8cODKkzaUwq-5VvNwr2HDurzUIETQSFh9uimb7f0UlklsCXJZJW-op5l12YcDyVvbyjsgIjuUB1zfzholPtCvOYKwfYutYdaP8e70v8x4ifuHA20iWlYINGLBhj1zO5DLwLW9ZJ0o8nbqXXBENREDPoiBdCI_A1dB7V9NWuUQZvaPi6Hkrk5XNJnpqAQvybwba5wEEuEG2gtXT6p38XEDYAy65HxNwWereplU2foX6fl-h1rb7UwNrZWo0fgWF_I5XhEmvmdrKfaopNyLLHVuLHZmJoNX6Jdwq9mteLsE6kcpqFQBXE3rnSVovV1mQTwDH1HsJfSbWzImCkuvaEiECFOgtEavwA3ERMvliTbLFgRXZjExmJ4Xax7Fj-ujQDlPLOb7SjxadtnWlDVlcB8yDX1I2DYMDTlTBsJFwANbZWGVNJMs1-TuubehLy4Wp0FyNGnGcLcSlsyGWJ-9jdsT9AC9J4rzMOhZq83mXHxWBjpuPByjv2TfUFFZfv6vOfjaz-eKl4oNBE0LHQsI2sTIqvo2_2YmBxTzyoeGvLspDq8ha0_7jDQSqcJowI-CTlPTvLqa_95ldtt5I-YbVBhfYjOWWhvzt2ZmEMH5zzYVmttdB69v5JpQOC-k6j_Eh9a6OMhr3XJOfcjSj7zbykwgK01mLvGTC65iUoh0yWChzjMhz3emJ7WhuVh8xVcSets70aZQsEfUWfAKpsuveyrf8Q4K7-aJaDFXoMZm9wgHShvuaEjtqzwAIWpia4uCVWfjmqoR9LOJo2ovaMrU5dvS5HBTSaCGQlMe4vAhoqhiLKTWXP1z74q_zORUnJBWtwJrj4b_GBu2Od3uRRfdC47H-LRhUk8Tlvhfwwk7Ub3WQYbTwViwHB8H0dQnMGxXcZpBxGuaKQ28NjYwovfYUCjRj18D6Vgy9qa_sgii3frOUdS6hLvoxQNYd7-_fUohHOsjDvOxWsaYOHVvs6j9GdMTuuowS5dc-U9qrh2d5ZXxAkfJZHP5VP3BCIl5KWJFtOZLOUtratbmXknklzwzO7lg2ZBBME5MSEX0pX76K7ngblmTuaeehtlLC8XpFM9rS5kgQmxWaVcz1oYG9CwAGrMuuiS0QkulTmjBAxN7PCMqF0y17AQDnCjFfCLKc5RFALKAztUV-5BfuR6lZZGSyVrzMmfXHUElvfuzYWKCCpCwcIqhtMq0Cr7TJR1WNE1fP9CLB7Zkr8M4JGym9Ds_d1WsnKZA==",
  "id": "rs_055740de8d67d0a6016ab2bfb12d0487d09092507aab2b5c30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.23,\"left_z\":0.23,\"left_yaw\":1.55},\"note\":\"The left arm did not achieve the requested turn at its extended pose. I’ll bring the cap closer to the base and higher to give the wrist more room to rotate.\"}",
  "call_id": "call_ORKQ3EJvmh2N5Kic1d5MDv5K",
  "id": "fc_055740de8d67d0a6016ab2bfb325e887d0ba0278ed8c4b81a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ORKQ3EJvmh2N5Kic1d5MDv5K",
  "output": "executing move_to over 9 steps (0.9s)",
  "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]: [-0.527, 2.0914, 1.7031, -1.5448, -0.6579, -1.8812, 0.1166, 0.1894, 2.0964, 1.9743, -1.2427, -0.7895, -1.3952, 0.0649]\nstate[eef_state]: left_x=0.338 left_y=-0.0676 left_z=0.1078 left_yaw=1.3264 left_pitch=-0.2757 left_roll=0.176 left_gripper=0.1166 right_x=0.4104 right_y=0.21 right_z=0.1799 right_yaw=1.6136 right_pitch=-0.2062 right_roll=-0.0833 right_gripper=0.0649\nstate[joint_eff]: [-1.6615, -13.1624, 6.6256, -0.1587, -0.315, -0.188, 0.1832, -0.0342, -11.3299, 6.0786, 0.7155, -0.4811, 0.1392, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28737da3fee53603ed4bb6d8046eaed2e791e14eb638ca60f2aa249ed290280",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3bc79555705fe9b09228c3724bcfa1aa41f37cee02d9893f6d9bf1b68d0845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46243fb33ada0a74dec6aa9bf2785bd72184860d39688a53502a9e4dff0ebff7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.619 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7143, 2.2555, 2.1555, -1.4822, -0.7788, -1.4849, 0.1148, 0.1921, 2.0964, 1.9724, -1.2377, -0.7982, -1.38, 0.0649]\nstate[eef_state]: left_x=0.4118 left_y=-0.188 left_z=0.1562 left_yaw=0.8003 left_pitch=-0.2245 left_roll=0.0801 left_gripper=0.1148 right_x=0.41 right_y=0.2123 right_z=0.1806 right_yaw=1.6096 right_pitch=-0.1967 right_roll=-0.0737 right_gripper=0.0649\nstate[joint_eff]: [-0.7453, -13.3402, 7.1863, 0.1441, -0.6129, -0.1685, 0.1587, -0.1299, -12.8615, 8.6085, 0.3248, -0.8327, -0.2418, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_AlN9KhtcYCpxCb6MCZ0GVovFqqSr3lcKM0XRjyV-M5xoOJ368K0KcVYKYxaac9qitKnQQm64RppX69Bt8_S67IrsZYNQSPF8XD-IJnkOw9C1-a4fxkHFGbzvbTJVvP8KO4mjHP58v1bnH9ajYSZ6gdIgpL8bpPe3pdEH9sQU_7CRM_iZJeE3HuLyYRTYKIlvRMAMiMSTduaZCZ09tYp4T0KmBMTFMiODP8ejBRe0eJFGr339Zv0sn0Og4GWohliwNVtDITP1T5ktMTXceCMWUDbLQmHRHON0IEpXSr2AS14zjOrv9JKdwVbAAzWBGqIEo0r8MU3EysaHs7QJmbjbs0qtfLAn6pCle06wHMFqTRGLrKpYw6T-3I37NxY_Q_zxy3biGE7avkSboP9R-VrSqoS-LohOFfMjU_nj7OPrr8VfsOGghK-oJM2XRjD5AL3wYG1UCf6XwHXQDpvvSk8zmMNHYutDJ_jQxtOobbxDLcdKFdiY_3kTNiqZIL2eikkoJ9cypY_7r87dQVjyJ-ugPRrrs0uIJMyx8RYJkQfa7wWyLPu-MlxM6KVFBdx_KSoffYQpp5DBANElT9j1KMEZ0H5qbz71uxw1FM_xAAdDFRnQm0PSFzYMVCDriD2BadO2AC3EznK4o5TNGGGkrAxOySWH4PYgVvJr3jaLN58IrVH8mHpCvBYKf1krxj3kcsihqGupI7Qm99qNbozCQSE8kJnrqU6V1qTBMIrV_cVr8-z2s8D7r8pJ-v8BenteApcRNUSzGKgx7NVhqZZXJNNKWutNU4Hv4wXkAUq70JG8YARn0D3AFiBorCVtRbTxcYU1nxm53NGyWmeIJPqaIFmFyN8vtkXBp7DqhZnrKwqg9Pq_wiku-Ws0DFkIK1_wgZmGv0TghAWhx4KiRFrNgQbez2W34nTy-HkKrdPdPz-ENMM2RNFsayyWrad4bNnbaNdF5krJ9LMfubIr5vMfL2hrPGvgwg3UIJM-bVrMt8MP2PYDGniXNDt0PhW5J5CEI1RnHaHAk0ane0rDgSGgqseGlkRdVSflaOsyiGlEOiHZXDvkzw5HlVDdUx88YzsGiQ_orwpIJvzFFCYKC3aHxu4neCqtLtYiVFMH8zoCHn9HkwSrpmsiC7MSPMclMI3C5YqCE-H1kKm1OjxSi1OteeTZGM5RpWzBGR45j6NBHHeH1FfRTxQC07rCuSZm8P04TfV80CVT0pFtZm0yz7YXvsPwjfNjaTAOMk_eDvofML0RG4YJUQ8ZjuXNLIX3p50envBWzcQkZdISociATYlr7CF-mrb3jjlda9ISyZTRIes1CKTyhT9R_dKp9mBW576SNFXZi8dwtCBZzY_YeJrQSveWYTtVgy44aLzDBgRjBJobnn86QyByHSZcHehSRAIutUdI4afYHsWuGqiMaDXgq_F9Ol8Jhq1NgHN0yoCrPVBvTMFawsoceS9dvIz0yVgPfeRcRS22aMcTBIWHF3iSAUtmrCIIjXEkLg-GUjDGym4Wx0nDFXf9qp1zlXdssDKFMjYjQzWbCdi7jQiGyby-_2_b6Z0eXu0Ar3WflBqh84y8a7X-tISTAwA-rDwBtXMmRAu5lK-oR08A2K2PEHHDvNiSIzIykFGaDQ6XEqX9zwyJ87LTVazFa7TJpVN5QyQWNdo_txX-ZsfR5CrLoOf-AC-VkdqdUNsP_D5ny0MsaIjxlTB_HSy6x8Pj19eYTtFRqOGFEO-koLi4NTrUL_e7_FcaG31HbTdihMsGXcQRnwVOnm_MzJyvC2eHHtkhIcp4QucKEXA97glozdFA4GwjnJByd79S-8STQhTjLdl9GcjbLYW3LFAJCmFFN-PHpOdItfxFNoKWp36eBVOdENogeXtr-Pg8PGhT9x7mORLKu_b4FPsPeaxt3P_iB5mp8FAyYXlTjfuFF68_TioY1S8S9jrCMMPrewpIM0P0PzXI-u5Qy7tWtdbUOPMwnC14aWRU81NAb-hMpbVHvjQ82OSV-3uVQc--ZonmAVZWOTt9Eb-lM4ErLvrO0W2n8u_CpDlt0j4I_t9n5_h9DvIA1lVEqmaU-B69maxOTonv7zW_H8k1xs1qGHRTZOXcVe61zImebbCa-pIxypKEtLn8ymucUE9cCL48pUDuiuWgmT6u4LYaCFAuvZ7_5MnPRClk56wHXkpsv",
  "id": "rs_055740de8d67d0a6016ab2bfb7fa0887d0946c34c9d20235e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.25,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.28,\"right_y\":0.34,\"right_z\":0.19,\"right_yaw\":0},\"note\":\"The left wrist’s sideways pose is tracking poorly, so I’ll use a front-to-back approach instead. The cap will be farther forward, with the pen behind it and both parts pointing forward.\"}",
  "call_id": "call_6EmR3xoqvMnV4qYSj46xRhTq",
  "id": "fc_055740de8d67d0a6016ab2bfbd0c6887d0924cd1528c581d3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6EmR3xoqvMnV4qYSj46xRhTq",
  "output": "executing move_to over 17 steps (1.7s)",
  "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]: [-0.5846, 2.0533, 1.7668, -1.3582, -0.6029, -1.4647, 0.1181, 1.0733, 1.8225, 1.6146, -1.0355, 0.7189, 0.8536, 0.069]\nstate[eef_state]: left_x=0.3727 left_y=-0.1223 left_z=0.1194 left_yaw=0.9436 left_pitch=-0.4045 left_roll=0.1499 left_gripper=0.1181 right_x=0.2914 right_y=0.3004 right_z=0.1837 right_yaw=-0.0209 right_pitch=-0.2469 right_roll=-0.1753 right_gripper=0.069\nstate[joint_eff]: [-10.9197, -15.6786, 10.7556, 0.3736, -0.8327, 0.2369, 0.1441, 4.8752, -5.4906, 9.7026, 2.4933, -0.4322, -1.6337, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6dc5720c737d8fcffe36d68d82f6fb1fe31d7511e9326679c6a6a652ce1716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087bb9f7f8e0641c27058cde80cdf5aa43497b4cf9975eba8a387f73167c2d42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b084f2c0b6d724afaa60e944c784ef1d9f785bfba92d1d9cf3bb8f720e331d3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.159 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.527, 2.0914, 1.7031, -1.5448, -0.6579, -1.8812, 0.1166, 0.1894, 2.0964, 1.9743, -1.2427, -0.7895, -1.3952, 0.0649]\nstate[eef_state]: left_x=0.338 left_y=-0.0676 left_z=0.1078 left_yaw=1.3264 left_pitch=-0.2757 left_roll=0.176 left_gripper=0.1166 right_x=0.4104 right_y=0.21 right_z=0.1799 right_yaw=1.6136 right_pitch=-0.2062 right_roll=-0.0833 right_gripper=0.0649\nstate[joint_eff]: [-1.6615, -13.1624, 6.6256, -0.1587, -0.315, -0.188, 0.1832, -0.0342, -11.3299, 6.0786, 0.7155, -0.4811, 0.1392, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_IU0UcdrPVSK9MDzKqKN5g4sdykkFqulIixD48tjzdPKAv7rYSMhCVrpaCvAc3D0txLqiKg8Z6e2Mc2Cp_aUE2J6JiOUBkchOpREUapnTM8Lpnf0KI8dy5PbQ-QJxbIuSmpDVRupiws51YglYKaErNQQpiTNv-652Y8ytIRXf-BmIumZyL3WD18k6h35D9q4g2WcCLMZrEjlRVSV2QRPF1IjsWtmkqGcRjzE38-couFDk-UKy6dNMyy_294Bu9qV-Tb2JYjBH8bfCwABwIomxVJbVDIII-SipE3v9ivFTBcpvM4nrCDgyfnijMwxODh3GQpPbfSbwm1myiAlRdaMDC8th9XK0DsfVB10NOUnNQoqYx6vUID49EoTbEBvI12f-HaMntYEB7x9W1skpQGeOweHFkRkC7O6weHBYAAeoZpFVD8G74vHVBBnIJ1WSgJ_xaKBIhmC-HgGEBiO2tEOXuBIDIN7ikcrN3kxkqWrYVltBqBAoB2BQ-VLGxGgdAQDSrgYK8xnnW518cYF_AbGX6ou1SNsU7bx37BojX04zaBnbnSgXDrtJQZcGfU1_znVKgIm4U4t1WSIBfdPsRrtXz_z4WMNVzTwV6ALYNkMLDoNvmCW1KREt7uPo8_pTdMXgXjwvJjUruKKCQgeVA_Soh18qoVDHUayJBCcbmmupdzIEei_ewPSyTo0jeCkiuqBoDq1-4T2xbJtqgl9hu9bGwjBYGDRgMCD4q2wkOZtbv5rUmHV9Nq9hT_q31b9ko8YUjWwZwxLldWRjGEnVneesdtj4kA_mpci9kSNtTOCZFGbaN5YxEiS14k1m5HSs7O00BoO6tBvojdHH7oai5FMEugS1oF3FrO-s3Om4OUGX-TmApwbx12L6HO2L93ZMzlKKGZl7dgUNfPVvA3PPEzWThKTjLb9wy_zCsNVxf3FkjJLoUwBhrXHPFK6NaFcMWYNoPZZ5bx4tGrFISH_TiFFGEg1ppKiKHLcdtDimktnQlb8sFk_kIYEbxfhqc2mpBvCuHE4m7hGYFnHjSpyt92IWVzETx_aPmvafi5hFymzrPFojrY7sBAr24aAOQLAL3x0aw1BG2pZdfE88h_TGsQtaiD2_6Kc8ITsjhCjyEGSOxzjAd1ExIu0DE1QKfzQvC5X_UrDDNmBbfLrHsYLSUY1BqJUqRSakW4wu8B3cSbvYUYnWNvY9Fg97qdbELqZ16NgEoF6OY8l4HLmD0VrqKGtWAMe11CrpwVU_pIT7bLJZs3SfclRC__AuR1ozO4SMSqOAfy9rhORL0wzCQE6AYBO1aZg==",
  "id": "rs_055740de8d67d0a6016ab2bfc609a487d08d2b0f26907b4481",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.23},\"note\":\"The arm bodies are getting too close, and the left pose is still not tracking. I’ll move the right arm back to its side to clear space before repositioning the cap.\"}",
  "call_id": "call_4Eblv7IfeUz6uyo3tyWgZ3ew",
  "id": "fc_055740de8d67d0a6016ab2bfc6ae3887d0bf70b2269a974123",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Eblv7IfeUz6uyo3tyWgZ3ew",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.5846, 2.0632, 1.7668, -1.367, -0.5938, -1.4651, 0.1197, 0.5072, 1.1835, 1.1473, -0.918, 0.4526, 0.2951, 0.069]\nstate[eef_state]: left_x=0.3704 left_y=-0.1223 left_z=0.1151 left_yaw=0.9525 left_pitch=-0.4143 left_roll=0.1696 left_gripper=0.1197 right_x=0.2978 right_y=0.0812 right_z=0.2209 right_yaw=-0.0576 right_pitch=-0.2788 right_roll=-0.183 right_gripper=0.069\nstate[joint_eff]: [0.1162, -11.3709, 5.5316, 0.2271, -0.4762, 0.0024, 0.1538, -0.2803, -4.9573, 6.3521, 1.5165, 0.232, -0.2027, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66719efc66ac45c1b1a61ce0bd5a9ceb3d65db7405a70554cad56f62886ba7b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b17f7e002ffeef1a00686f92f0d223ecc1354308887189fec60ea8380e8225c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774560dccd07b5455939565678284d64fd90e55ca9679b5be5f0bc264e6dfbb6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 11.63 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5846, 2.0533, 1.7668, -1.3582, -0.6029, -1.4647, 0.1181, 1.0733, 1.8225, 1.6146, -1.0355, 0.7189, 0.8536, 0.069]\nstate[eef_state]: left_x=0.3727 left_y=-0.1223 left_z=0.1194 left_yaw=0.9436 left_pitch=-0.4045 left_roll=0.1499 left_gripper=0.1181 right_x=0.2914 right_y=0.3004 right_z=0.1837 right_yaw=-0.0209 right_pitch=-0.2469 right_roll=-0.1753 right_gripper=0.069\nstate[joint_eff]: [-10.9197, -15.6786, 10.7556, 0.3736, -0.8327, 0.2369, 0.1441, 4.8752, -5.4906, 9.7026, 2.4933, -0.4322, -1.6337, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_PR6J9onz-59O3uiJc9ndkdE60Me5cnNKrA3BNenqrkmSiWWdcXrEzW4_h4250cQGejwr8mSWgN2TM1M4R-6AZoS-ipOCizo2crpLQNZPFSZ1XS3v4_nsxjZGRNzvXaxeiEPHY0kDKPclUYalRxokMNBaXxsZws1mkzOpJsvugWy6wtZFsJu0mHW0GnIAJPMC1ePkuooYLrxDgfySgI5S1IyikuUo0dLsNFGKUPtlcTT22pAdBYG7j3z8V2egwRk3-wyimw6fW-K_GVrUzQAL56b3O0aGRZCzrcu6XXq1WKbj46eVkm0F89R9RhcEgVe2qgjFGqGoj0TaDV6pwLTHKyxUe-YpOwDWl0MtHnwT-3et8FjcgGS14pIRh6P0BXfu-GjJKQRH5y0bNAbuHqWugUM_Pc_Stfm4wb4PwUd0D0YJrumFA-iQOt5DJ6I10li0ci62JNfHtDWOTUVsmzOe46X_ukWjaYCDOEh-wpyGotOLnMWZ5NKhZV7F8_LqD1wXb3Gazeuwu-tpIDyuCsMHGCO9wf_hLfUw-FrVswMH6mpoXYyfjsoVz7glbr-WanzwHH6sTiYFaLqSrwZ7aMVXOyBvGZk4E9J92lgCNbXRJURaoV7AKzcSLr-biXiqfT9-n-iiG1C5a1d_euWP999nGl1eCQ68Rzy-mpC9AzdiRutIdCMsujQYNp8GT2ISxD3n3fuSmOAiSIqg6ZnzRkpyuvXs77lAsBzxlStWzsSa426tgeZ05fwOrfgNXqmf9G_sZ6ZJjvhzulBM4WSGLmsEWUAqjJsqp7hjjO0VJeLVQ7WtBfBZR7ameZY_uWZMZ6WPs6TgtXMMDnELlxBkZ5QdZEwnYD4C_zaSAiagVXSGIp2KvScpkFLeMJQtbyZJ4n7wLNUxLjVOfV6RS4Iee7eWSL51_CQGPP-d1zkaokXsDpnKDC7uQ8AwQtkLsF1iUsfcq6lb7iJ_iyLntLO67DMWlBnIPTi0Az9ZZQlTRihau0ZeBjXFRRflByd79hDCG0CPAkUjhgAbsoJI5bCvn2SMjFgdKgr4Z3xPY3drP1utGZSoYwR-vnFpj6kwWVtwFI9ONUHLtL8MJrohCBanKrZL0-D7a_UcckqhJDu_OIBBdtXRitJvEBrYHD7iYqSdOeT6v0NQIK6-pUoA3t3EWMGwbMSXwasxDNj84-OW1lx-jS7Qait3Vgy4zKGdTprvBFgAw_zrDosO_L0kk3mbFJ1BviNxCUFGDj4JyAUaSsJb-kyrBlBHqeMnt09Hgka0zT64K9vSlqXBsUgn5rmX_VW_lDw==",
  "id": "rs_055740de8d67d0a6016ab2bfcc998c87d0b02e8ef9e0fa5c3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.15,\"left_z\":0.24,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right arm is clear again. I’ll straighten the left wrist in a more central, raised pose before attempting any further alignment.\"}",
  "call_id": "call_8Zq9urdBjto0myxqxAG3FhdW",
  "id": "fc_055740de8d67d0a6016ab2bfcdb50887d0a388794a05a07ab7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Zq9urdBjto0myxqxAG3FhdW",
  "output": "executing move_to over 14 steps (1.4s)",
  "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]: [-0.691, 1.2919, 1.0908, -0.6136, -0.6086, -0.5468, 0.1211, 0.5045, 1.1851, 1.1439, -0.9276, 0.4362, 0.2794, 0.069]\nstate[eef_state]: left_x=0.334 left_y=-0.1405 left_z=0.2194 left_yaw=0.0921 left_pitch=-0.0693 left_roll=0.0068 left_gripper=0.1211 right_x=0.2955 right_y=0.082 right_z=0.2169 right_yaw=-0.0413 right_pitch=-0.2997 right_roll=-0.1899 right_gripper=0.069\nstate[joint_eff]: [0.3624, -5.7915, 7.2821, 1.8242, -0.1685, 0.2418, 0.1294, -0.1299, -3.6444, 6.9812, 1.4188, 0.2955, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959eddf2d3d9c2262dba2e8ca5826eb82209b18290ace5663ea6cb91ba4ea975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c124638abdda108acd6398d924d972f594481d5091cdd23d1184b65541f561",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e535543d4bdc4732677cec416511a6da654d6c5cdf47d98b4e24dc77c64155",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.302 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5846, 2.0632, 1.7668, -1.367, -0.5938, -1.4651, 0.1197, 0.5072, 1.1835, 1.1473, -0.918, 0.4526, 0.2951, 0.069]\nstate[eef_state]: left_x=0.3704 left_y=-0.1223 left_z=0.1151 left_yaw=0.9525 left_pitch=-0.4143 left_roll=0.1696 left_gripper=0.1197 right_x=0.2978 right_y=0.0812 right_z=0.2209 right_yaw=-0.0576 right_pitch=-0.2788 right_roll=-0.183 right_gripper=0.069\nstate[joint_eff]: [0.1162, -11.3709, 5.5316, 0.2271, -0.4762, 0.0024, 0.1538, -0.2803, -4.9573, 6.3521, 1.5165, 0.232, -0.2027, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_c3MbqlnVe2Cd-SShMtHzDUcvHOsO20PSw0hgL7FGQSz1bR9EJgSqnicbKx0F6o7ghocihlTvTL7Dz5250wioGlBqWkxwa9zchEi2fW2wKg-aH5RFKdGiuP0QmjUvmaLpUSWQ-0-O4pviknBi6rsUUYkjh3N3Cb4ygcoqVAgNC8jSv7pbdzaR2Yica6LUqVkI-2SNEoMyaVWZnH91D0d_rKxUskHk9DNdo-YHNxgt-Zfl1pPz4DFkS3IfAqbmSTTi2MjsrALJ6KzCQmiDuNhSXzQI4vxl6qtEDrfN-kiidqPjai_EDDwnjVFtuTZGMQyMsfq9KCzqkxRqJtV5yAJT1bHMDFYViHCPxmqXCxgyymQ3qHB3Yt5mEQLYfOTiR3Fe08EfJGy5R_rL2IdkEeFhUtELT16uL128EulHQbtBORtkTBYrOoZoxpYp_INmhb5aBgRlu8URT1uNQi8H20In02PHvO8MYlR2suHmyad8kMp5FEyvy88A4uXaxvBKpaV4LwEPHu8IhxqREzqrrkrbcC30zj-7duKJCB5l5CJTF1UP9TJZaZ2BxVkLDdgYfucwuZ632MNnlZyzO8otaibCNXafBAm3YKa5c3ygTmgBITaMa1zR_Bo5MtEso4W8fylA9AIasFxR21IaD1nReQLxNjOGjNXqE9_agx1NHInDmdxgwGzNrfT35ZHWFbwpMcRpeGbM-sR0jZRr4QbWGiFum16-nlrb6AJzAZErSfygFvtVNC49g7shv7y8cg3MCO9QYZLmmtDl4UKeES-hcWFlpeb5SExfqFW_8ZC_nlG-QXsENkBybF6AiihYCDY3sPKl87tNsXh_122kNukRII60eWaPvzX7H8iO3kvLdTq4oy0oxYsIS1kVUroeGkz0S7L92FGgPv0KWrhBmeGSit5BZFyWMgaqXQkcdkqtRTemK5O7_UuMlUDGnkXgCk2miRoWz4O3FOKcLvYq_MT8YZn83KaKBrKklOa6S6e2Okb_6hqk_C3oiU826DZ1VzglkTThwQaoXc_b6Tgu_9ZOlV3NX54_VYwOSha2smQt0MyvbVfCQ874LnEYKI_yYsKgFOrIRE1a06c2UaSQd2BieQSltB5OG5amORyGKq1T8GvTzFt7ua0SCAA1oMdb8IKV5dUG4IC1lDXkTUbq3a0OU7pxc8_jdwjWlc7Py1YJCTmW71AGhU-h9gY4jtY9kPhIgreXHQIhiCqAKkSwgCKVy8G0XidoaPLsepVLnBgT4sWh3x0czSAGvwy8rZR-jpHneLbyE4C__hqj8DM0I0s4uyTKJGPxLo1uAuuNx_ATSbK1Y_rYjuwLqKzkS1RXeD70pR-yOolTpRP1eOupjb1npQ0-sOKKEAJOXljR0f8BARoN8E9J6v4EVs5QbciuFCVL7ZrR3xGaGsrVUnyOhYwq6MmGsSdxZPTQNmJY3AEtZ1rR5tL0lNq4sKudiGYMM0liI6Bkc92CBueXC50H37FtyzNQQQttObQ8mQrlR657snUgaO1dMh-SPsqG_TnqcUz887StbjzoZdQeFJLRWsPxS1W4KGlW4MGD1K_mRR7i4uw16SJjO-_MKkXZSytroI9z9qBO396WLajYFlHOq9at65xe7hqysANRLIY5CiA5z3jCPaaY9eR-qDOGf21iEyt238-zbA70vySn39pZ4BcRzP9gb2jRXtulrvIvGDnnChYSqz8v6jc1rLuTCHSgyJDRNpgxJzBBn7Y18x9U6ZUTFqPUDHz-xmkWlwTiABN0MHqsA6MEjIkm4C9Pma4HRCzOG8B-hxOxMwREoDDBkboCVTyv3UBcEmhMVdK4Sn1tEnECIb6_4bHB3UcGHsi0QdVpW03mfHoN3DsVnhuAR_sgPStargzj14uFkq0akdzVX5-mYH5AAhw_KXXX3bk7QpXYcDnLtHGUkY-TOMIIUivE725pySqu7Ko-obt60qXYsylrINiwKM-9fRyI5YySHfpUou4rDfAaQM-SXFnXk7vgAI6tsjMAkhm6FvWPctTj77BQ3KL5juWghjt4-c-bpaUXuMgaFSGR_yyoOYGDXI3dazOD2WoMppinbJRLsKlP6clC3LacTeAfI3W1Ic5uvo4bllmQXzQkIiSh4nC19uMU_fdW43dr42hHGimqfJfoJZ_-nzvpVjOdygnidc8rvogS4QLjs74516Q8wx0LFEAlgHyjoTNRKVx4RejYPPPYyz9TX-mexya6DSEu9j0R0te9FFmDLjYlYPECGGeoFUrlT_vloT56u7Sav6tvDf90w7jC29ie04YJ_KT7xwDHLnBC_VJoL",
  "id": "rs_055740de8d67d0a6016ab2bfd2b4bc87d089b73cd867df8661",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.29,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0.15},\"note\":\"The cap wrist is tracking again. I’ll position the cap farther forward near the middle of the table, with its opening facing back toward the pen’s approach.\"}",
  "call_id": "call_0zKpWD02m0NpM5hQTRX6e4BS",
  "id": "fc_055740de8d67d0a6016ab2bfda49e087d090f964c6b30ec554",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0zKpWD02m0NpM5hQTRX6e4BS",
  "output": "executing move_to over 14 steps (1.4s)",
  "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]: [-0.7761, 1.9244, 1.3743, -0.1162, -0.7013, -0.4366, 0.1217, 0.5045, 1.1885, 1.1412, -0.9348, 0.432, 0.2787, 0.069]\nstate[eef_state]: left_x=0.4484 left_y=-0.2754 left_z=0.1562 left_yaw=0.0163 left_pitch=0.0779 left_roll=0.039 left_gripper=0.1217 right_x=0.2941 right_y=0.082 right_z=0.2137 right_yaw=-0.0397 right_pitch=-0.3129 right_roll=-0.1946 right_gripper=0.069\nstate[joint_eff]: [-0.7453, -10.6325, 9.6615, 1.7558, -0.232, 0.2662, 0.0513, -0.0889, -3.8359, 6.6803, 1.3016, 0.1978, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b6d6bffa688ec4299ac8e5145863b86ff3fe18bdd293b264de22c625499508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd3cc93b0651ee667d77df811bd67b7c21662541195ec416a040098d3c75231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dfad4c03ca9928585f7b0d1b36ff761ac416df14ed3f67a1af607958866bf1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 22.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.691, 1.2919, 1.0908, -0.6136, -0.6086, -0.5468, 0.1211, 0.5045, 1.1851, 1.1439, -0.9276, 0.4362, 0.2794, 0.069]\nstate[eef_state]: left_x=0.334 left_y=-0.1405 left_z=0.2194 left_yaw=0.0921 left_pitch=-0.0693 left_roll=0.0068 left_gripper=0.1211 right_x=0.2955 right_y=0.082 right_z=0.2169 right_yaw=-0.0413 right_pitch=-0.2997 right_roll=-0.1899 right_gripper=0.069\nstate[joint_eff]: [0.3624, -5.7915, 7.2821, 1.8242, -0.1685, 0.2418, 0.1294, -0.1299, -3.6444, 6.9812, 1.4188, 0.2955, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_ihmJntbzex_Iu3t35siCLRGsgVkwm-_91EG_1aIWEoX5IEI7zP_ijBr0Wq2fgT35ZhUMstce8VlUZp0Nvn6mzV9jbmS5qTAgmEWcT1KDGKoolKVvKRAXdvwCoAwTTeWc1NblF33JQQoTEM90dR7BaBgDmWjKUP6nbPqoo5ljtDyLnQXREcX7c_uE6Z4A3NyYmxBkoe2Ip3RUynNg-fbAA1wj4eB8DoZvfBaU_3SjceDTcDkULu7l2Did0URi2_qnhLevq2qOLE_vqozGS3lnYVu_iDh5hAXwOEdQ6iTs5vAbTpAWtaXFHYwJ2Gu1mPntVAgpTUiW47J2fqMjyLzOQHuOiQ0tDLclgqgtVJD-g4aHbEGTq3iB-v0s2A1gNitleTGNW26zq9eDimVRyUNrmErYTXsVQ7kSeCma8lVIY88igIkgphNCm-71rNRj4xRlH5DDIMRnLhCkWOc2ZxoVhpf6v47KrLNDSDtJGBl0IGCvbq-0rsMdl0ye5SV60eg2NslmOzgKCgEi5Ixo0QVgB42K8omNsUDAWJBiw2EyIJUQenwBedhxVVWy8wYlaJvSMax4gkYTXV47-n-xs7MMVnW1coZy-wn4OXeqD5q70jAitLKkGnFsmZy4yS5ZTZ2N98NtTa3dpT4Job5wUFB5VlnmximmDqge31jZP7t4qqG_3MjGUixEoKPKn_HL7ufqaaaLz59BS7d9LlF4h0F2qvcMfwokCS0Vg5Ipql5Z5_7Y1wLwUjyuybac2z_Qi9IOXJ9aVPKYmljwdh-GPXoYwHCau3V0F5s_rtJi-q7zvey7GQ-l70lHTQZuyfMiyrPFz0HCDtl-vIZ6ZXZV5-ARmA8sarZoEEnhLX3W1pCrv_jlounQ15Ou3vd2vR6RhMYpk7aiUbAT7J0L6JgzGF-ufVWXPBdm_DFZzbd5uuRldk7b34ZdJLaVvFziKXcJ8PDdvbV_4GecbA9_ScgO59Tc_R1oRy_2_oFk24N6vUfM_IKW5xQGU8StqHR9UHCBXzCud8FCMULbhhRRvzFfsYgxNwnvL3Qi99B5lTI7muWiI1BjiFogX9iyDcbGClBjA-faa4Qsvroej5BF1A7LFlRiYsK5--GnZ9oJnq7gFZ9jxa1ien_vJ5EZcJDloqQoUS27lesEhcvXsl4xV3fmoS5kOhubaV1lx1h29IAczSBUv2D0iCimBvs8TGvbg7PyV-56mnm98XBWdCmoglOzW7X9iV5hucCm-WOeOmEhTCyuP67rOxClOlBWLv4MoAn_pt5Ut",
  "id": "rs_055740de8d67d0a6016ab2bfe0887887d0923b139131fce70f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.36,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The cap is held ahead of the approach path. I’ll bring the pen behind it at approximately the same height, keeping a generous front-to-back gap.\"}",
  "call_id": "call_AisDJnBJMzwHVfuVL2jpuf5h",
  "id": "fc_055740de8d67d0a6016ab2bfe1154087d08a595fc3cceff015",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AisDJnBJMzwHVfuVL2jpuf5h",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.659, 1.9366, 1.346, -0.1467, -0.7006, -0.4358, 0.1217, 1.0943, 1.7565, 1.269, -0.6106, 1.1191, 0.9718, 0.069]\nstate[eef_state]: left_x=0.4698 left_y=-0.2153 left_z=0.1342 left_yaw=0.1297 left_pitch=0.0276 left_roll=0.0898 left_gripper=0.1217 right_x=0.3125 right_y=0.2667 right_z=0.1788 right_yaw=-0.2212 right_pitch=0.1559 right_roll=-0.0758 right_gripper=0.069\nstate[joint_eff]: [-9.5932, -11.4667, 9.0735, 1.7753, -0.3297, -0.0806, -0.0122, 11.1795, -1.7299, 13.5179, 2.6496, -0.442, -1.4139, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02f7092c001967c3243c1b31fbd23f1d487c81c1f42ca25da2fcefd72ff6909",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51fbb66f044d7604f267d6ecfd1134091ceb0175571f0fba22a8a8b6d93cf8ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d693692efb99f38d028703df64f64cf5d5128c8f2bde991ed611d47524fd4c6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.139 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7761, 1.9244, 1.3743, -0.1162, -0.7013, -0.4366, 0.1217, 0.5045, 1.1885, 1.1412, -0.9348, 0.432, 0.2787, 0.069]\nstate[eef_state]: left_x=0.4484 left_y=-0.2754 left_z=0.1562 left_yaw=0.0163 left_pitch=0.0779 left_roll=0.039 left_gripper=0.1217 right_x=0.2941 right_y=0.082 right_z=0.2137 right_yaw=-0.0397 right_pitch=-0.3129 right_roll=-0.1946 right_gripper=0.069\nstate[joint_eff]: [-0.7453, -10.6325, 9.6615, 1.7558, -0.232, 0.2662, 0.0513, -0.0889, -3.8359, 6.6803, 1.3016, 0.1978, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_7qK4EBGrOzp732aFbhBqf2zl6w8e18qsO4rSiJJpDkHY_Sp1IavJvuvq8BwIGaODHzR-Wqk6fKaYq-jDfAzyemqkX9ZAZ9O8i-GUgVk4SJYIvwsJ5wsXVziAJwE7d4boCSMp_YxRpKEk01jpVbJ3t5wf7VW4L1qTDrs-E--whJntEwsCEF7qaEPzctgc5B6onovuBsElaeKNgaexktREwSyeppY457a9Mm1h8Dp9tETPh02dSotm-cv9linZwSYIuQA_U5u9pew7zV_gUbwNmEehISZAnzSeOGatIQMotq6QIiMRLwRI0DslJ1bDS6BD-2XrGGTTJpVibtmgKAaVhBacfTxl8ynxhirTjAQYD9wcJv4jduzG4MezzGG_bPUmacwQq_tJY-cyyOmiHkdg5fudNqfQ8Cl-C3V3sBaQaakWOAPEhSNZYlWt6LX7wIeHudaXYXmxmO7_XhdM_u0lgLkvZOtLbDRDtyu7p0zXV27xf1lwVX95a_Pd354YfjHXGqwyr-HghtB7g5xEV2mb6QrwCO6yOPXpLDhVNxdi9eC9qUsCE_nSxIpO1HmkHmu1Ioyh-sPk3WHo3qfJn4nEQGIYcm0IVx7LDpbxTWG2qxXmyBLPm08XO7azkbj55vK3tinHqKk2cQgXzBBMr2w_Wx-34CqGyiY2Z8xO6551IOrJ4fLpDknGAUs2Q6A1fexK_DzH91wzioUV_A13gcfL3oAohh_Yo9JohDYLC8vvQEThp3A3kDM8HeM-ipcDUktKuk_-4HwX-EdfNm2q9PQdzcVgITZfv3t6sixY6NgcBxdnOpczuF_jUlWwtruTF9up3Cy_B8OLFLLGQur351zyMpcn0u0F7XGDiMzsI_COs1SVDo_wldcqLW3_IYqFysbtglvDyTXucvVXapazomzVwE8VQNafFnxRtKFb0B2negwg1dCr3cJJB9FdhezvUwCHG6FMH7e7weVSidgiwPuVHKIj1RtuQRfIfd1Xr670aIzfeduLdmJlP6SzirfegJdPoWAY5IVVuJ2QyqOgE3__ypIeVv16ANlnhu7i-apQZ6ZOoiUG0HZ6VFu_vUzUUhddI8VyB-BiYuyICW3oJHEGFsyBp6jbGZtR3csRDBen0CHs7o0siX6IyodoTMFCCphgGoAb_JHE1WWu8goKeVcJups_mUU0jtyJtjYXBnwskvgbX-T77xOvdLIt440SLhd3sZJ30R5RTZ8-qVJHf_TXDNQemG1Rp-G3IGfzhkm7TLP4C2-OJiEVd8fjaxOk-i_pbacuY0skaexbxR3aiWtWxriX_gxD9LsFic17SOpW4sYdNm4o-dLX6Gg29KiPYebCf4yVzSydHSr3ZihX-5Xb5WOR5EnQxnLgfouKgkxqI6BLIL9xMayBXsfO03R9o3XPLBiQspICLfEluZR8sz2vEBP8w0LXRRxYn9lKb1JQzAXXuuGJUdQhYvDEwP5GfFI1GP2HlXoEGjYekWfB-QO-cwxoU-3Y3H8isLye5q3tjjqNjrp9qscGbSOKViRxy3oBQa-LSPrjg_UphhlZmPg0hen16tazS6__ZtR0Dz2Ei86MsJdVaqItAgQejJphrnCjzrx0wtu3gQoT8dZQavqFkNUgUF-oZFkePUnHF6ct6BIu-e_5SVBdvgZG-Bmlxo2gf4v2TgwVozaTEkNUabC8FzQPmudqNdReaWtlkJYCCUNM3ARoUDDmNJmfhgQNE3T_av_5a2hVqa7sMcjPRBEx1QHD-hD9wf8O6PLZaSVhQYVIzsy9NTg85Zlq4r2tsttfzcx3r-9OI6f_hKJSwPevSkbUpg8CDiszEvf56503WaR0o6eqBheIf0niAoMJEg6vAUBkdP5Hz4QA1RvBkV7W9agKxxkIbcxpi52HYLlbbp3rk2UfrH7d_0KSLZmawySkuRfY8O6Q98l7RbomogewoX-ac2bC93HDvcqzWh23BNOScs5lb4RQxVqYM5tCaZWtcLt_zsy111lJ1WLoiB5q63aV_b5R84kHESyx7hVc9yWURg-0ddI3itqEcTkcRF_8Iz5P_x7EtwmUjW4GgejIqqS7QE3aO-wVFgCFgpPN1xrt3eTP_EO1X0qPD_-dk7LeVKnJ708rRdmdldrZe_7e80Whm17QDPJgq-MqCKmp-KS5qV736-jZWsi9NVuorHPx2BS0iQcLY5N6Uzlypg8yJhFVfOAhNBaQA9knR660niFUxPCMSwqjwA0KlQ2HIoBnurHRuf-HaN8u5TalqMnJnj0b7XsR5kipwAwLtjVsjWgcfLf1CapksJ4-kLL26jOZWnPYDEO9k-gXdELvf6ZjAKlMb5w_zx53MoE0Z_c7HeNYG4vC46Mqc_ararDWWeebwDHfzBKv7N2DJO9DfPphwiX1pdhtil2llbDYR4RnKLh_V98UP2zuWIL5rLRx7zZ-wPuGgB8Ld_Kzrl2q-C6lYfNFRQaLSasWMRCL3ww-pSGFscGDhwG1UaOBIUCMBwbxuvljzF5CKqB1yE8HHmGMH7w1uAJ4s9D2HsNJ2Eml9Zw_7EM-dFEe7eMgfNg6bs1AOuPUbUl3B0m7LwBIdOxlZSGbB-6fYOMp7L5bGvG_a6ptyxJvuwC5mk3Y5ZbBxeLkK-5RRsSDpuiREA9H1f7HmhHJFsKUWIHreLR9clT0tCaGR571Gisr4o19l1ZZvs6Mus9IOX97ghtrvNNL-9a1ikza6rS23E1hNuKkbYqsG1vuGeYSVSgFM3oSt5c8Y0VadC3tKfWPV102mGn-oRXuYJJMwizq8HknXL_wFH9k2fw6s15jw9bsKnqJTtIry0GUE01hxKaZqeumFozyDEjkG32t8hcETBXzQuxB83JWd3kgvLOlXRVA8oJIOwYqY8CSeQabzIfXDBbpFfBMrCVLgaNQ1D44ecv3DCU5wAU5aWXYbBcVMm6vsi6Z3w-wKFEPW6TwSYySh3WuQ9kO7cQ-51-tCm5c35tWfj-v3BGwoQCc5puayoO0YbV8nUhAGqG14wUdn9F52GnbyNY1UEEifluOC_KhKnnvNMtyg2bmud4sVGYRGPmta1a88DQTjeDqnqDWo648ZrMfiQYXq2gnyjAO3bGwOeG6umwtfJCZUsEsc8B65k9nedVD_NDiHY6tyUXxN_0EiVIQhAe6oSG4Z3c6unbwVDFg2DxNbF-3l9yYotwLm_6KsClUukXJOTzeUwpsQNMrcazLH_yk4kpBBL947PN7KFd1GXnV_2DUhc65t43xpXIv36WW9qpBqd3epJaUneRHmY9ieCxs_lBFxK8PGRUgwIrem1-2i7KycYnn9bdJ9iV8L07thEczSV7exOiP3ehHNysostzz7LmFsN2Ej17la5zd_3lw2XDy7KnHK35E6OlIuutnBfNe_BfsbbgkB9HuYkCjHNMn2iEh0Ac72j___3dalKNHxqK09QKf_Y-SYzAO1i9AkoDKbjfVsjZUAv9IUbgWopl9AG2hLVfgT3bQzXJotmMtNYgAJ8w_8kTphXkYzvlaNw3_yAExW46d2Ob-IypjMe3mMxQvsadN86jR1Ym1bBf9xemwQGImq6r4CY9pwcvk_dX0M4dKXimtEMTcXP8VSOEsRnA0SGESkrytnYVZFYu1fO34isuUeuqRcmCE0_34_36r5xJxA3YRpfde3gMcjsox8CEcmE9hSDpx8TZuqRC4laNaFKULm8Fn7jz_Wm1a34v4Nm3lk8J0iTM-msadUtBWvCq-_2gxxojs8mEefgMjnwVBiCRmkJyd6VDFENlELB7jpkdz-JU6jxPFzhaTXAM1C5aMHEosDTWakQGBkK93I3zd4lojScGDaK0_oiVoJOJFUySzJvlz79cuZoyCcDoMKw3072A==",
  "id": "rs_055740de8d67d0a6016ab2bfe8cd8487d09df3dfff2adfd0f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.23},\"note\":\"The arm bodies interfere before the parts can align, causing large pose errors. I’ll separate them now rather than force the insertion.\"}",
  "call_id": "call_5Qxj5KFTANFLpkBiE1rzcUVs",
  "id": "fc_055740de8d67d0a6016ab2bffa477887d096ab7c2ff3d7e4e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5Qxj5KFTANFLpkBiE1rzcUVs",
  "output": "executing move_to over 16 steps (1.6s)",
  "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]: [-0.6598, 1.9327, 1.3396, -0.168, -0.7006, -0.4503, 0.1217, 0.7044, 1.0328, 0.7856, -0.4335, 0.8696, 0.4648, 0.069]\nstate[eef_state]: left_x=0.4661 left_y=-0.2129 left_z=0.1303 left_yaw=0.1364 left_pitch=0.0115 left_roll=0.0946 left_gripper=0.1217 right_x=0.2985 right_y=0.0813 right_z=0.2213 right_yaw=-0.2441 right_pitch=0.1367 right_roll=-0.0817 right_gripper=0.069\nstate[joint_eff]: [-0.1299, -10.1675, 7.0359, 1.663, -0.2955, 0.1245, -0.0073, -0.2256, -3.3983, 7.1179, 1.6972, 0.2906, -0.0806, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86dcdae4c5000f3e906df25255689f57e5199cff3660703d35e4c4ecd6866e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6137e85772ba6e224ae05c328e250aba60c908438f1d968d52ae454ba56fffd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7924115bc9a70639a241522ede72f369d18a323dca90332d96166c46efcc518e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.182 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.659, 1.9366, 1.346, -0.1467, -0.7006, -0.4358, 0.1217, 1.0943, 1.7565, 1.269, -0.6106, 1.1191, 0.9718, 0.069]\nstate[eef_state]: left_x=0.4698 left_y=-0.2153 left_z=0.1342 left_yaw=0.1297 left_pitch=0.0276 left_roll=0.0898 left_gripper=0.1217 right_x=0.3125 right_y=0.2667 right_z=0.1788 right_yaw=-0.2212 right_pitch=0.1559 right_roll=-0.0758 right_gripper=0.069\nstate[joint_eff]: [-9.5932, -11.4667, 9.0735, 1.7753, -0.3297, -0.0806, -0.0122, 11.1795, -1.7299, 13.5179, 2.6496, -0.442, -1.4139, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssADvkpI35z8YIVVUiSV2pXNiVxLls4A7znzpVV47XEPDvE9D-9phWLsxz5bX-IMwThC0DMaQ9O85LeeY7oCbv8Y8GK4r2Ed8G4s351P929moAb-0E7w12rYUOoCOm5Q4OKrZtN72DsjCAAx1QcKLYZTqhQA6dc5dhmbMiVHqh1XeKapzxc_TKxr1ATjR-D8mNvZnF6ccyj0mYO_4sw-L2ZTEqyDrYS4-pRtlI_wpulooi41Rw4IzRkVknFdDeCih4hex0J_RkWPAZLPt-NoUKMV3pp9-5GdUqCFk_KoLkliiToT3Av39Jiz7RxniEUJYs-A9ozf82TvXSo8HHeB7XZNGvTCZHIk8mcBNiNAsl2N2ArGcXP1kdUjzg2NBJW8u3JQprO9CU2jL89fzSqrMzPYMN5jll9ChAktR2ukRUVG4ILYhu64cJFXc5iJ_u5n3mMuCMtVvM2o2xNKxb5tU4StBYiN9EvCy6tj4YWMthiANngWPVB6iaCsUr1ZFYBEfGqFOfr0kSXtODH6bjPkNMc7FeaSA7RZeW3etQPpLt0Ku_IX8EmTNrdmnzt7TlCvYyqtyVw0iZ0d60TxKDOXqjEoSVJ4Q9nhQ9DPokUjwssC4xP5xgYLeu_1F-kXjlv_yNtWgNnM345t3hbOk3e8qOEvCYtVWd72sOAsO2WacnzNLJ-uDOQMf3LlGZ2usfFXtD44SznMlLPGALxkPQ-tA-wtaXnLducyeYrUIu5E46M0csh-3VdscQ6xtAa7VYKmAkEY_Zna9k6iUmipLFv1H3zfTUKPW2jybcOPMVP5ctbcWqWQeVycmH0c1AA8Xf5HNlfLEqwCRMCdRd5v-i2aRPIRVcjJczYqi2-hrWbx46qMSASFcGSTR4Z243yW7Y_jIRZBhbPC3MmfS8LMIAfaEMEFgDb1AK8d18qM5zK0rFQKFpNm70pqGmpMInOK1a7lKCZKpUh5fE7nK55J7SA30L89fOeUZIuYLgMHpVzOOLrp-TA5DCCrP2ToFWjRbvIF9Kdl4zXo9BNdhPUNjI0Sgm8fdboOyKSWj6oj11wsjWfDrxOsN_8iHvolCd8dog628zmo-9bG0qGCBSmyGR-6wGul3cdfm81YZ7NAhs7arEwFtoJm0U9m1I1QiTSoPdyErohcr4lOV9n1nx1ENufixYdDNDdcU7Pw63hR8wH9PNEALMvFqLdgph05-8ycy7EmygVW7n7mOdTVfF9Sj2Vc2EW3_cqoA4O3vBgg8XbGEJ6VxDApbirdd-f3Lr0jESjUHSdn",
  "id": "rs_055740de8d67d0a6016ab2c0006dc887d09dabba962db87716",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.18,\"left_z\":0.045,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.37,\"right_y\":0.15,\"right_z\":0.05,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both parts are still held, but I cannot safely achieve the close alignment needed for capping. I’ll lower them to separate clear areas of the table for a safe release.\"}",
  "call_id": "call_ChW1gCTqxpT6ThkYhfxIhgPD",
  "id": "fc_055740de8d67d0a6016ab2c000de6887d0bc6c0015d70bd375",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ChW1gCTqxpT6ThkYhfxIhgPD",
  "output": "executing move_to over 12 steps (1.2s)",
  "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, 1.8652, 0.799, 0.3099, -0.5343, -0.3977, 0.1218, 0.5907, 1.6367, 0.5602, 0.3569, 0.5106, 0.3511, 0.069]\nstate[eef_state]: left_x=0.4034 left_y=-0.1739 left_z=0.0269 left_yaw=0.0231 left_pitch=-0.0625 left_roll=0.0489 left_gripper=0.1218 right_x=0.3577 right_y=0.1402 right_z=0.0406 right_yaw=-0.0271 right_pitch=-0.0568 right_roll=-0.0443 right_gripper=0.069\nstate[joint_eff]: [0.4171, -10.7009, 5.4906, 1.8437, -0.1245, 0.1587, -0.0073, -0.7863, -7.0496, 6.0786, 1.8974, 0.1929, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83455ce9126b9ec0ac3af19b6f7442cb66fb8e8ff362f311242ee17d5c21e645",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bdda0b90d05b58543dce9941ebee2b39bcf37cea29d5a19194d7efe6b5ac0ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b0877381c53e0f390dcbd4e5c922e309c91f1b9fbabc087c896de6cf1ade2f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.241 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6598, 1.9327, 1.3396, -0.168, -0.7006, -0.4503, 0.1217, 0.7044, 1.0328, 0.7856, -0.4335, 0.8696, 0.4648, 0.069]\nstate[eef_state]: left_x=0.4661 left_y=-0.2129 left_z=0.1303 left_yaw=0.1364 left_pitch=0.0115 left_roll=0.0946 left_gripper=0.1217 right_x=0.2985 right_y=0.0813 right_z=0.2213 right_yaw=-0.2441 right_pitch=0.1367 right_roll=-0.0817 right_gripper=0.069\nstate[joint_eff]: [-0.1299, -10.1675, 7.0359, 1.663, -0.2955, 0.1245, -0.0073, -0.2256, -3.3983, 7.1179, 1.6972, 0.2906, -0.0806, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.008,\"right_z\":0.008},\"note\":\"The cap and pen are above separate spots on the tabletop. I’ll lower them the last few centimeters before opening the jaws.\"}",
  "call_id": "call_JMsrwCBDuyCFcShkqkMwxG1v",
  "id": "fc_055740de8d67d0a6016ab2c00a478c87d0b5eadc0ca0d3d69d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JMsrwCBDuyCFcShkqkMwxG1v",
  "output": "executing move_to over 3 steps (0.3s)",
  "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]: [-0.622, 1.9137, 0.7795, 0.3634, -0.5232, -0.4011, 0.1218, 0.5888, 1.7531, 0.5316, 0.4873, 0.4931, 0.3428, 0.069]\nstate[eef_state]: left_x=0.4004 left_y=-0.1741 left_z=0.0087 left_yaw=0.0168 left_pitch=-0.0786 left_roll=0.0487 left_gripper=0.1218 right_x=0.3569 right_y=0.1421 right_z=0.0109 right_yaw=-0.0114 right_pitch=-0.0755 right_roll=-0.0499 right_gripper=0.069\nstate[joint_eff]: [-0.0205, -8.4034, 4.9162, 1.7509, -0.3199, -0.0366, -0.0171, -0.1573, -7.1043, 4.1231, 1.9951, 0.3248, 0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab2f72e8fea208920e7cd2ea03ba0e568cd1f85ef2988c1e1a59ab3babd5a08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78d673238e203dc105073ac168d999c08dc230545870ae4b261228721581cdcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f366973c91970f6737c51aabed2fa96c72a9cfe63db07a38af19b3b1a46cec7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 6.437 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "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, 1.8652, 0.799, 0.3099, -0.5343, -0.3977, 0.1218, 0.5907, 1.6367, 0.5602, 0.3569, 0.5106, 0.3511, 0.069]\nstate[eef_state]: left_x=0.4034 left_y=-0.1739 left_z=0.0269 left_yaw=0.0231 left_pitch=-0.0625 left_roll=0.0489 left_gripper=0.1218 right_x=0.3577 right_y=0.1402 right_z=0.0406 right_yaw=-0.0271 right_pitch=-0.0568 right_roll=-0.0443 right_gripper=0.069\nstate[joint_eff]: [0.4171, -10.7009, 5.4906, 1.8437, -0.1245, 0.1587, -0.0073, -0.7863, -7.0496, 6.0786, 1.8974, 0.1929, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both parts are now at table height. I’ll release them without attempting an unaligned insertion.\"}",
  "call_id": "call_eENoO1sWj7MjaVXFmihuaccN",
  "id": "fc_055740de8d67d0a6016ab2c00e56a887d0807fe67886d0d20c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eENoO1sWj7MjaVXFmihuaccN",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.622, 1.9285, 0.7784, 0.3786, -0.5236, -0.4015, 0.9959, 0.5896, 1.7752, 0.5179, 0.5171, 0.4961, 0.3466, 0.9956]\nstate[eef_state]: left_x=0.4008 left_y=-0.1742 left_z=0.0048 left_yaw=0.0173 left_pitch=-0.079 left_roll=0.0491 left_gripper=0.9959 right_x=0.3546 right_y=0.1403 right_z=0.004 right_yaw=-0.0153 right_pitch=-0.0793 right_roll=-0.052 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -8.7179, 4.9026, 1.5995, -0.4078, 0.0024, -0.1832, -0.1299, -6.7624, 4.3692, 1.7411, 0.2369, -0.0073, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2380281b709fc28a97a566a50eb9caab6c14f630d98cbd148ba8ceb3ab91d50d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abad4f09a3fffa8b9edc7b5b18e3bc2cd227953a58e1b4773fd20f1a42fcb9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746bafab48e4bbf1532a00ba25c22cc9828076c8845dc032e9f5e57eba52f8ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 10.24 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 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]: [-0.622, 1.9137, 0.7795, 0.3634, -0.5232, -0.4011, 0.1218, 0.5888, 1.7531, 0.5316, 0.4873, 0.4931, 0.3428, 0.069]\nstate[eef_state]: left_x=0.4004 left_y=-0.1741 left_z=0.0087 left_yaw=0.0168 left_pitch=-0.0786 left_roll=0.0487 left_gripper=0.1218 right_x=0.3569 right_y=0.1421 right_z=0.0109 right_yaw=-0.0114 right_pitch=-0.0755 right_roll=-0.0499 right_gripper=0.069\nstate[joint_eff]: [-0.0205, -8.4034, 4.9162, 1.7509, -0.3199, -0.0366, -0.0171, -0.1573, -7.1043, 4.1231, 1.9951, 0.3248, 0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The pen and cap have been released separately. I’ll retract both arms to their home areas so the parts are visible and accessible.\"}",
  "call_id": "call_pXKKpqjuqIwdzBdvLf4pUzq7",
  "id": "fc_055740de8d67d0a6016ab2c01472e087d080f1c1e3c936a217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pXKKpqjuqIwdzBdvLf4pUzq7",
  "output": "executing move_to over 16 steps (1.6s)",
  "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]: [-0.1001, 0.8867, 0.7177, -0.4862, -0.1658, -0.0891, 0.9964, 0.038, 0.8738, 0.7078, -0.4744, 0.0963, 0.0143, 0.9964]\nstate[eef_state]: left_x=0.3004 left_y=0.0027 left_z=0.1858 left_yaw=0.0767 left_pitch=-0.075 left_roll=0.0379 left_gripper=0.9964 right_x=0.2997 right_y=-0.002 right_z=0.1864 right_yaw=-0.0576 right_pitch=-0.081 right_roll=-0.0468 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -2.1812, 9.935, 1.7363, 0.1001, 0.2173, 0.0513, -0.335, -2.6051, 9.5111, 1.5556, -0.0904, -0.1538, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8c8a5fdbb879e1bd3405c141fe21bd4b5d813a638b5cbf9d160c3461686ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20b9982e0b683927c99f4c47133514e748052ccd71fef6967d65b60e47e6c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8c1d9ea3a9ba452d8a6af111c5d11563d1abe4810add4c2b917d114d472b6d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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