adhoc

completed
2026-09-22T17:38:43.242465+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
128.8 s
total steps
135
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 pen lies diagonally on the right half of the table, and the short cap is to its left. I am bringing the right gripper above the pen to align a pickup.
move_to
right_x0.4100right_y0.2300right_z0.1200right_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]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0216, -0.0246, 0.9996, -0.0185, 0.7906, 0.6102, -0.3756, -0.02, -0.033, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0017 right_z=0.1847 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4034, -1.4564, 10.5504, 1.746, -0.0171, 0.0952, -0.0611, -0.8274, -1.1966, 9.7846, 1.7753, -0.0317, 0.1343, -0.1001] 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":{"right_x":0.41,"right_y":0.23,"right_z":0.12,"right_gripper":1},"note":"The pen lies diagonally on the right half of the table, and the short cap is to its left. I am bringing the right gripper above the pen to align a pickup."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe pen is visible diagonally beneath the right wrist, with its pointed end toward the upper left. I am turning the jaws across its shaft and lowering near the middle-to-rear section.
move_to
right_x0.4300right_y0.2150right_z0.0250right_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.799, 0.6033, -0.3813, -0.0219, -0.025, 0.9995, 0.7036, 1.7329, 1.0027, -0.0055, 0.5503, 0.371, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9995 right_x=0.3997 right_y=0.2227 right_z=0.1059 right_yaw=0.034 right_pitch=-0.0534 right_roll=-0.0418 right_gripper=0.9992 state[joint_eff]: [-0.1573, -1.7299, 6.9812, 1.7118, -0.0708, -0.0317, -0.0171, 0.5812, -8.2256, 8.3897, 1.8242, 0.5006, 0.2955, -0.1001] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.215,"right_z":0.025,"right_yaw":0.65},"note":"The pen is visible diagonally beneath the right wrist, with its pointed end toward the upper left. I am turning the jaws across its shaft and lowering near the middle-to-rear section."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe pen shaft is now aligned between the open jaws near the bottom of the wrist image. I will lower to table level and close gently around it.
move_to
right_z-0.0060right_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]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.4088, 1.919, 0.8341, 0.3962, -0.0463, -0.1001, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9995 right_x=0.4248 right_y=0.1968 right_z=0.015 right_yaw=0.4857 right_pitch=-0.1322 right_roll=-0.033 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.4427, 7.2547, 1.7314, -0.0659, -0.0757, -0.0122, -0.841, -8.6222, 6.6803, 1.746, -0.2076, -0.0855, -0.022] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.006,"right_gripper":0},"note":"The pen shaft is now aligned between the open jaws near the bottom of the wrist image. I will lower to table level and close gently around it."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper has closed to about the pen's thickness rather than fully empty. I am lifting a few centimetres to check that the pen comes with it.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.4072, 1.9686, 0.8249, 0.4736, -0.0593, -0.1078, 0.0496] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4275 right_y=0.1997 right_z=0.0044 right_yaw=0.4991 right_pitch=-0.113 right_roll=-0.0324 right_gripper=0.0496 state[joint_eff]: [-0.212, -1.3333, 7.0496, 1.6923, -0.0806, -0.0611, -0.0122, -0.0752, -7.159, 4.2872, 1.707, 0.0806, 0.0073, 1.1551] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The gripper has closed to about the pen's thickness rather than fully empty. I am lifting a few centimetres to check that the pen comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe pen stayed fixed relative to the right jaws during the lift, confirming the pickup. I am raising it clear and positioning the left gripper over the separate cap.
move_to
right_z0.1700left_x0.4800left_y-0.2100left_z0.1300left_yaw0.5000left_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]: [-0.02, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.4072, 1.808, 0.8883, 0.2333, -0.0631, -0.1127, 0.0521] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.4247 right_y=0.1992 right_z=0.0541 right_yaw=0.5052 right_pitch=-0.1291 right_roll=-0.0323 right_gripper=0.0521 state[joint_eff]: [-0.0889, -1.6205, 7.0085, 1.7314, -0.0562, -0.0464, -0.0122, -0.3214, -10.7419, 7.7333, 1.5507, 0.0073, -0.0269, 1.033] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"left_x":0.48,"left_y":-0.21,"left_z":0.13,"left_yaw":0.5,"left_gripper":1},"note":"The pen stayed fixed relative to the right jaws during the lift, confirming the pickup. I am raising it clear and positioning the left gripper over the separate cap."})
tool
executing move_to over 19 steps (1.9s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe cap is just at the lower-left edge of the left wrist image, so the gripper is slightly beyond it. I am backing toward the base while lowering to bring the cap between the fingertips.
move_to
left_x0.4450left_y-0.2050left_z0.0350
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6724, 2.133, 1.6798, -0.564, -0.8444, -0.9054, 0.9995, 0.4049, 1.6501, 1.1313, -0.2382, -0.0566, -0.1158, 0.0579] state[eef_state]: left_x=0.4802 left_y=-0.2089 left_z=0.1228 left_yaw=0.4638 left_pitch=-0.03 left_roll=-0.0123 left_gripper=0.9995 right_x=0.4199 right_y=0.1947 right_z=0.1367 right_yaw=0.5001 right_pitch=-0.1998 right_roll=-0.0321 right_gripper=0.0579 state[joint_eff]: [-1.2239, -11.9179, 7.9385, 0.7204, -0.6618, -0.0171, -0.0611, 0.1436, -11.0838, 10.2222, 1.7363, -0.1001, 0.022, 1.033] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.205,"left_z":0.035},"note":"The cap is just at the lower-left edge of the left wrist image, so the gripper is slightly beyond it. I am backing toward the base while lowering to bring the cap between the fingertips."})
tool
executing move_to over 6 steps (0.6s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe cap is visible just left and forward of the left jaws, lying at a different angle from the pen. I will align the left gripper across the cap before closing.
move_to
left_x0.4600left_y-0.1830left_z0.0220left_yaw-0.8000
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, 2.1471, 1.372, -0.3275, -0.8539, -0.9524, 0.9995, 0.4007, 1.652, 1.1255, -0.2695, -0.0563, -0.1196, 0.0579] state[eef_state]: left_x=0.4408 left_y=-0.2012 left_z=0.0388 left_yaw=0.4554 left_pitch=-0.0567 left_roll=0.0309 left_gripper=0.9995 right_x=0.4145 right_y=0.1903 right_z=0.128 right_yaw=0.4985 right_pitch=-0.2386 right_roll=-0.0313 right_gripper=0.0579 state[joint_eff]: [-0.2393, -10.1538, 6.0376, 1.1648, -0.5592, -0.1099, -0.0122, -0.0068, -8.1983, 7.1453, 1.8779, -0.105, -0.022, 1.0281] 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":{"left_x":0.46,"left_y":-0.183,"left_z":0.022,"left_yaw":-0.8},"note":"The cap is visible just left and forward of the left jaws, lying at a different angle from the pen. I will align the left gripper across the cap before closing."})
tool
executing move_to over 8 steps (0.8s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteTurning shifted the actual grasp point, leaving the cap alongside the right jaw rather than between the jaws. I am correcting sideways using the observed position and keeping the achieved orientation.
move_to
left_x0.4500left_y-0.1850left_z0.0250left_yaw-0.5300
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2615, 2.0052, 0.9436, 0.3428, 0.1955, 0.1661, 0.9992, 0.4007, 1.6527, 1.1236, -0.2813, -0.0563, -0.12, 0.0579] state[eef_state]: left_x=0.4617 left_y=-0.1554 left_z=0.0067 left_yaw=-0.5291 left_pitch=-0.132 left_roll=0.0058 left_gripper=0.9992 right_x=0.4121 right_y=0.1893 right_z=0.1248 right_yaw=0.499 right_pitch=-0.2531 right_roll=-0.0301 right_gripper=0.0579 state[joint_eff]: [0.1162, -8.9504, 7.7333, 1.6825, 0.2564, 0.2857, -0.0464, -0.0068, -8.1709, 6.8034, 1.6288, -0.0611, -0.0659, 1.0281] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.185,"left_z":0.025,"left_yaw":-0.53},"note":"Turning shifted the actual grasp point, leaving the cap alongside the right jaw rather than between the jaws. I am correcting sideways using the observed position and keeping the achieved orientation."})
tool
executing move_to over 3 steps (0.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe cap is almost centred, with a small remaining offset toward the right finger. I am making that final correction and closing on its body.
move_to
left_x0.4440left_y-0.1880left_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]: [-0.2867, 2.0109, 0.9356, 0.3485, 0.2699, 0.2184, 0.9991, 0.4007, 1.6527, 1.1236, -0.2821, -0.0566, -0.12, 0.0579] state[eef_state]: left_x=0.4495 left_y=-0.1779 left_z=0.0043 left_yaw=-0.6449 left_pitch=-0.1248 left_roll=-0.0035 left_gripper=0.9991 right_x=0.412 right_y=0.1893 right_z=0.1247 right_yaw=0.4994 right_pitch=-0.2538 right_roll=-0.0297 right_gripper=0.0579 state[joint_eff]: [0.0205, -11.8496, 4.7932, 1.6386, 0.2125, -0.1245, -0.022, -0.0752, -8.1436, 6.7761, 1.4823, -0.0855, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.444,"left_y":-0.188,"left_gripper":0},"note":"The cap is almost centred, with a small remaining offset toward the right finger. I am making that final correction and closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe left gripper closed almost completely, which suggests it may have missed the cap. I am lifting slightly to check whether the cap remains on the table before retrying.
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]: [-0.3016, 2.0048, 0.9314, 0.382, 0.2382, 0.1673, 0.0105, 0.4007, 1.6527, 1.1236, -0.2821, -0.0563, -0.12, 0.0579] state[eef_state]: left_x=0.4537 left_y=-0.181 left_z=0.0108 left_yaw=-0.6045 left_pitch=-0.0979 left_roll=-0.0123 left_gripper=0.0105 right_x=0.412 right_y=0.1892 right_z=0.1247 right_yaw=0.4991 right_pitch=-0.2538 right_roll=-0.03 right_gripper=0.0579 state[joint_eff]: [-0.9504, -9.306, 4.7932, 1.2088, 0.1587, 0.1685, 0.2369, -0.0342, -8.1436, 6.653, 1.5214, -0.0122, -0.022, 1.0281] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The left gripper closed almost completely, which suggests it may have missed the cap. I am lifting slightly to check whether the cap remains on the table before retrying."})
tool
executing move_to over 4 steps (0.4s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe cap did not remain in the left gripper, and a small dark piece is now visible near the far edge of the table. I am moving the empty left hand clear to establish where it landed.
move_to
left_x0.3200left_y-0.0800left_z0.1800left_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]: [-0.3016, 1.9057, 0.9607, 0.2111, 0.2352, 0.1722, 0.0114, 0.4007, 1.6527, 1.1236, -0.2821, -0.0563, -0.12, 0.0579] state[eef_state]: left_x=0.4459 left_y=-0.178 left_z=0.0361 left_yaw=-0.6062 left_pitch=-0.1389 left_roll=-0.0192 left_gripper=0.0114 right_x=0.412 right_y=0.1892 right_z=0.1247 right_yaw=0.4991 right_pitch=-0.2538 right_roll=-0.03 right_gripper=0.0579 state[joint_eff]: [0.1162, -11.494, 8.7179, 1.6825, 0.0708, -0.0757, 0.0757, -0.0889, -8.1162, 6.8718, 1.5409, -0.0513, -0.0317, 1.0281] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.08,"left_z":0.18,"left_gripper":1},"note":"The cap did not remain in the left gripper, and a small dark piece is now visible near the far edge of the table. I am moving the empty left hand clear to establish where it landed."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe cap appears to have slipped away to the far edge, well beyond the arms' table-level reach. I will set the securely held pen back on the table before stopping.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0467, 1.1694, 0.8288, -0.4221, 0.3847, 0.3264, 0.9951, 0.4007, 1.6535, 1.1233, -0.2825, -0.0563, -0.12, 0.0579] state[eef_state]: left_x=0.3336 left_y=-0.0784 left_z=0.1683 left_yaw=-0.5589 left_pitch=-0.1247 left_roll=-0.0063 left_gripper=0.9951 right_x=0.4118 right_y=0.1892 right_z=0.1241 right_yaw=0.4991 right_pitch=-0.2553 right_roll=-0.0299 right_gripper=0.0579 state[joint_eff]: [0.1436, -3.9863, 10.5094, 1.5604, 0.3736, 0.1538, -0.1392, -0.2393, -8.1846, 6.8991, 1.5653, -0.0952, -0.0171, 1.0281] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.02},"note":"The cap appears to have slipped away to the far edge, well beyond the arms' table-level reach. I will set the securely held pen back on the table before stopping."})
tool
executing move_to over 7 steps (0.7s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe pen is back at table height. I am opening the right jaws to leave it on the work surface.
move_to
right_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]: [-0.0463, 1.1755, 0.8314, -0.4564, 0.3897, 0.3305, 0.9962, 0.4007, 1.8362, 0.9062, 0.0566, -0.0563, -0.12, 0.0579] state[eef_state]: left_x=0.3286 left_y=-0.0788 left_z=0.162 left_yaw=-0.5674 left_pitch=-0.1558 left_roll=-0.025 left_gripper=0.9962 right_x=0.4018 right_y=0.1849 right_z=0.0175 right_yaw=0.5009 right_pitch=-0.3157 right_roll=-0.0236 right_gripper=0.0579 state[joint_eff]: [-0.1983, -4.1368, 6.6256, 1.7949, 0.0659, -0.1197, 0.1001, -0.0615, -8.3761, 5.3812, 1.6972, -0.0659, -0.0562, 1.0232] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pen is back at table height. I am opening the right jaws to leave it on the work surface."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe pen has been released, while the cap remains at the far edge. I am parking both arms clear of the objects.
move_to
right_x0.2950right_y0.0020right_z0.2000right_yaw0.0000left_x0.2950left_y0.0020left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0463, 1.1755, 0.831, -0.461, 0.3901, 0.3313, 0.9963, 0.4007, 1.8526, 0.8921, 0.0589, -0.0563, -0.1242, 0.9954] state[eef_state]: left_x=0.3277 left_y=-0.0789 left_z=0.1612 left_yaw=-0.5686 left_pitch=-0.1599 left_roll=-0.0272 left_gripper=0.9963 right_x=0.3961 right_y=0.1825 right_z=0.006 right_yaw=0.5042 right_pitch=-0.3438 right_roll=-0.0234 right_gripper=0.9954 state[joint_eff]: [-0.0479, -3.959, 6.8581, 1.4823, 0.1587, -0.0366, -0.0073, -0.335, -9.9761, 6.5573, 1.3309, -0.0611, -0.0024, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.002,"right_z":0.20,"right_yaw":0,"left_x":0.295,"left_y":0.002,"left_z":0.20,"left_yaw":0},"note":"The pen has been released, while the cap remains at the far edge. I am parking both arms clear of the objects."})
tool
executing move_to over 16 steps (1.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteI picked up the pen, but the cap slipped away during the attempted cap grasp and landed near the far edge, outside table-level reach. I returned the pen to the table and parked both arms. The cap needs to be moved back into reach before another attempt.
give_up
hindsightChanging yaw near the table produced lateral grasp-point errors of 2–3 cm on this attempt; rotate higher, then realign and descend. The small cap was displaced during a near-empty close/lift, so verify its position carefully before lifting. The pen pickup succeeded with a gripper reading around 0.05–0.06.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0059, 0.944, 0.8177, -0.6308, 0.0441, -0.0078, 0.9963, 0.017, 1.0985, 0.9871, -0.7906, 0.0044, -0.049, 0.9961] state[eef_state]: left_x=0.295 left_y=-0.0059 left_z=0.1853 left_yaw=-0.0509 left_pitch=-0.1859 left_roll=-0.0296 left_gripper=0.9963 right_x=0.303 right_y=0.008 right_z=0.1861 right_yaw=0.0236 right_pitch=-0.3462 right_roll=-0.0242 right_gripper=0.9961 state[joint_eff]: [0.1983, -2.865, 9.6068, 1.5067, -0.1099, -0.0806, -0.0122, -0.5538, -4.3419, 9.2376, 1.3114, 0.0415, -0.0024, 0.0611] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up the pen, but the cap slipped away during the attempted cap grasp and landed near the far edge, outside table-level reach. I returned the pen to the table and parked both arms. The cap needs to be moved back into reach before another attempt.","hindsight":"Changing yaw near the table produced lateral grasp-point errors of 2–3 cm on this attempt; rotate higher, then realign and descend. The small cap was displaced during a near-empty close/lift, so verify its position carefully before lifting. The pen pickup succeeded with a gripper reading around 0.05–0.06."})
tool
give_up: I picked up the pen, but the cap slipped away during the attempted cap grasp and landed near the far edge, outside table-level reach. I returned the pen to the table and parked both arms. The cap needs to be moved back into reach before another attempt.
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 · 12.21 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]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0216, -0.0246, 0.9996, -0.0185, 0.7906, 0.6102, -0.3756, -0.02, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0017 right_z=0.1847 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.4564, 10.5504, 1.746, -0.0171, 0.0952, -0.0611, -0.8274, -1.1966, 9.7846, 1.7753, -0.0317, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1616ed01f493b23adbb26ca6fea6c62242241979c43643752da40adc5e4207b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d43bd59e7f0c2e462d589318ce74feb4e6bb0cb911bdda831e4cdb175a134e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c04b342fc02c088923e6f93f5fe4925f894e15d24601ff656b5200ec1c106c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1616ed01f493
wire blob 2d43bd59e7f0
wire blob 4c04b342fc02
call 1 attempt 0 · /responses · status 200 · 10.37 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsr08zsy5zMH_L1yj9eXDA0b8mqkzLCcB12lO14q5tD25XMfxigRA5Le_o3lR_M7agutsl7GOo9EgPNjnRdGAYoaesUpn5g7m7DlVhUjMFD4dam70szMmSWiN_ohpgVdE6k1uKk0HF4Z7JoCTKgHizsXFw88ikMzBG9MY6ama4WPtmDxtDf_w116sq4JPGzV9Iq6NS-cSIqQMTAwCtfmQHb3YQo-dQJqu8nYm3Q_hUvuTTzUiwLyMWtoLUEVMxyNQcs6mDI-PMSaV8dFgNVkBgxkzzJ_ibKL6s8YQ8Y69yq8bMPA8k_PhDV8LCmxOVn3L0OBy1aGWoO2hBMzzWCR7FwFgf8xA2ZdmWjoaGFNpYacQiUxHzoWH1RWQg6hBGxINR95muCSbsjjbEAhYsURLssf5xCFnNJW3Ii-deX3D-7dfyxJFsp-hmfOy0dnJJ8n55gVPLVxKAdS1ys0wjGv92RMZEKlMlfLMziKPaOuSk4d-mQrJwHsuIfp0_4wSHLKIe_jKZeTvL_pLU62bhbccmtYU8npZpwlWx6lSaUFaG52PHXbUxOKb2kaAv025eviJbZrkl2i47UMg3cq5sidXYYo3nNVZMx6J9ckWatXKz6JBQAscogoGRIner5GRTm2qC0Y5rbVEAwA1dMzvAP9Iv-aDkAcz7a855W6x_jm1uLY17x4WpLk_UVaeUMOv5MMYd4xtQaFHaWDQMn2nfQqkgniKh7j61ErPNyyYUixNCgqtNQjVQgdKluTPQIUhcf87b0XWYXPFc-HKNRIZFvg2E3o63VtAbr74syDXFi_6TJ_ZCU5kCyU5nJq68hqIfoMZHg7iYpu1mBn3VpE4USqhKNf2X6ocq2PY7qJYXCf_zt5P065IY1sdqctRuF3cEQtN8jg1Csd64afJFcjvA_JsmPj9r0D93oyvhKu5C0dlPpWVxwMvCLkhxXJFDxqbd3Hy0xakCthH1LTGt93tCLMSFsi2bWKmxSc71CFC8pzkN10t6nvZyxt9obHWrHVjGwEEcPb2_BUX7z0EjBWB4A4QXbUCfbOsbinRL1EWmirTROdDykeLKjXAZ99f-pBuUkey8G8K0uDTCmloq2qjkKiog5D3OF3yeMc5_HkoHULn3H9Ama0c0wlKpbDposkV2IjOiWLpm-f8ejuK1B0v4c7wDJRKFrb0ewkevFLzEBZSTdoI-t2ECvJVQJdyrXKosfe5QWCky0wLagYAfuSQoAIkzSwF1UBVcGiPHXdgtEm-cnWBqWK009YkJAdOIPjjH8R4OgJ6Ixx_ra6wuJg9l2wsNTFL4B43XMmwQCXL9wmyGiZCYV0YjATK7hE0R3ntJHlyaAIaZc9-3okxXAbfM0tNBhs6AmiFUHmvrH54yPh_kqqkbobPDB-H27E2saEU_jS0pnAZishoJ50cP8mb6uoZ55V42WPgfLEPM9jGgNHpWyazJoDXmKbaZjH-KPT8-mbOtE3M",
  "id": "rs_057e699877281b80016ab2bd38058887d0942c469e1f75bf3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.23,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The pen lies diagonally on the right half of the table, and the short cap is to its left. I am bringing the right gripper above the pen to align a pickup.\"}",
  "call_id": "call_4MJNyb7J01s0zGkvCAKFAb2i",
  "id": "fc_057e699877281b80016ab2bd3a945887d0a6a9cfe96cb419fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4MJNyb7J01s0zGkvCAKFAb2i",
  "output": "executing move_to over 20 steps (2.0s)",
  "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]: [-0.02, 0.799, 0.6033, -0.3813, -0.0219, -0.025, 0.9995, 0.7036, 1.7329, 1.0027, -0.0055, 0.5503, 0.371, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9995 right_x=0.3997 right_y=0.2227 right_z=0.1059 right_yaw=0.034 right_pitch=-0.0534 right_roll=-0.0418 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.7299, 6.9812, 1.7118, -0.0708, -0.0317, -0.0171, 0.5812, -8.2256, 8.3897, 1.8242, 0.5006, 0.2955, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5678ceabff909cb6a3c59ce71f89413ef9bd7ebe8eb2f9b1acf9d9887cdabd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9e30e1d87c7f87afcf76e810c3bfd0bb51f02e2fd704634fa6c6d7cade9647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf6b684d28a7de5dfd497be952f1e455f08dd6a4b269fafd2a20adb69b14a40",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob aa5678ceabff
wire blob 5f9e30e1d87c
wire blob baf6b684d28a
call 2 attempt 0 · /responses · status 200 · 4.314 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]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0216, -0.0246, 0.9996, -0.0185, 0.7906, 0.6102, -0.3756, -0.02, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0017 right_z=0.1847 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.4564, 10.5504, 1.746, -0.0171, 0.0952, -0.0611, -0.8274, -1.1966, 9.7846, 1.7753, -0.0317, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1IKdZYQd5r5u1OewxL3R35I48cvriGMeJ1vFCX6y_J0vtvliFCLe55cmO84nwHSZ5BM2DdPEWieTZPFQPdGsE3lJWKscVgElHHSP4hKEgXtPK2_loPxYga5x1aJwGBZkb0kkW6jCGJlQ194EOP1KYBzcLwPE--Nls2GNmk1uUD02VeN3iG9RZcIrMQBgtnEUABW1eDo_PGe6N-nSTcDbIvwR_Q2hy4AnhH5OhLPb1JC2-dYnItWSEx0yy8Zw04wfBND2r8QzeRcYCmDVGxY9481KvbWlWryIewi7dwWAWZubSVC9iqAUos1Ki7FNKJsCoz2gYXY3CIyiYhgZZxeefAfgo0iM5GyKHfKHUOhmYa0V9-8hryEJolccD1a0jhgTmS7hMGQOTiW0uLZNwbMJRnomPR54cWj3FraYKhO0N6huqmFC1593qqRW49KeDTA0RG13rvc-cBDopq08P-CSxrNGJHMlqDYpiLExhM09MyrzlMHPnP8HnwcUtv8RcurQdvXNbBOcykNwW8jBvuLY6SiizdmUhNHcV-Zf5AWylqS3P1xiuCwU9-R09E_LqXEIUMVZmRnKR7mAVy5UFWTg4WbTmlF7nm0_1rlBebHBdZ5rAIm-yj2fX-ntvajbfTC3gEL4kuz7vsOoog0qVdsnVfeVH8XvI4q2FcHxZPi_gkA06BDnCH9_CvRfVcBZWOET_fWTE7gx2t8ppmXbh9J0Fh95a90ksOnQZAIq_VOdeiW4u4k49-UHUfPbaWTjk1sh3DO-bJ9UVqbhfgfVMExs-zDl8mjcO8BB62BzSA2iCCdz6XntSuV3ORmv3icWYJTcZ1bWScNFIxNEkqJLCBCJryIjcOnwQu0GAFO5-fymNSRdCz1xN10KqZg9ChD-0tv0mSFpnUlR3pCwkP4691kwhozlxoYwEay9n2pV8g00Q6SqwYDCV8UxAe0vkdHQCuHdoFGpIQ8QHBfYs-l3WCCGt2rjP47s-XA_giqpfCt3C51tyJm7mUNLRvkH-jnTmQFNU_9DphjmGiVSzlsIYFtnxzCZaurLlRH9d8HN2ydI8A0pmkMCl0lxBmrFcZ2vJZ5KxYP-hy_f7A2UfCzwQTNmU_BqH5gIjhJLG0InXUCpD7ko3T6ngvZJc6zNTkM2pi9voNjZ3vmMeYW5nL_VWj1Yq_ec6nAnH9BoRXOe3JoxZ3tb033pHc_P0skJg1Pze-232fIc24A4BVKMY343aRlINfleCROBBdLZZ6FGG_uQLfA7eQ82sdgxmIhrnrFxZFEI5hCQwc8nINAffCJ2ZBF5a7OjqDMrGqFvReXeNaZ55iXPEBPkyP5voKw6BRN-6gMqkBaAsVBk_uSFcwVGmTZ9FnOTWgdXLLbJlms5hD3xwvx2qx9QR6i9dOZEXRw0yDELbEPXRxpNmLbYTjdAYAdxizh0E-J44I2nEsAwpHJWyuUqPwml3i6df99xGF0seXk2bmYTuueDR4bSMUAltYh_06BATu7m1yRvIcK9x-kt0KpWJAM4nCTgl5SfEx_qErFFt0OQEIlXMhMVNzjrJPLhi72vVeK7cCohGNcRdI271XXtoNq-i13fW_yDpgDK04BjAdejfT5GFlIUcWuhCH3DhW18CNIgaKxPzIG4pDp6jnluHGxc4LbPYeZtUjJzu8Nby5wDoPbilghW56gtE2uZSxTzJYYynFopEzwKOjHgfL4hV3W40oFwdBxXskaCFroTalwx-qsFKes9rrt3rHKCLve5pxImJ4pw6c4QGmiOeg-D_YV0TP-B8f4ToNIx7TpH115kvY5w0BV5k8mhw6BSgiMfDTaiioSlPBREIaCO3jtLo9R2uovu6VweuON21buCD8",
  "id": "rs_057e699877281b80016ab2bd40148c87d090875b29971b7541",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.215,\"right_z\":0.025,\"right_yaw\":0.65},\"note\":\"The pen is visible diagonally beneath the right wrist, with its pointed end toward the upper left. I am turning the jaws across its shaft and lowering near the middle-to-rear section.\"}",
  "call_id": "call_f7DFJ4cgypYEhvKpJq6Gd2fm",
  "id": "fc_057e699877281b80016ab2bd468b7c87d0a7779009596a4529",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f7DFJ4cgypYEhvKpJq6Gd2fm",
  "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]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.4088, 1.919, 0.8341, 0.3962, -0.0463, -0.1001, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9995 right_x=0.4248 right_y=0.1968 right_z=0.015 right_yaw=0.4857 right_pitch=-0.1322 right_roll=-0.033 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4427, 7.2547, 1.7314, -0.0659, -0.0757, -0.0122, -0.841, -8.6222, 6.6803, 1.746, -0.2076, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c0b98e7583226526abfb7872cf3a31f0f09d0c51de63cce98adf7cf77cf920",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d9fd50ef4c9b00f24c4113c3c2100a1c87e65f817ab70c61f0899a0471c8fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87e90fda8affe09065c1826a8d13fe35575bdb7d5525e31e589723fc7b1d10a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 29c0b98e7583
wire blob 34d9fd50ef4c
wire blob a87e90fda8af
call 3 attempt 0 · /responses · status 200 · 3.886 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]: [-0.02, 0.799, 0.6033, -0.3813, -0.0219, -0.025, 0.9995, 0.7036, 1.7329, 1.0027, -0.0055, 0.5503, 0.371, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.178 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9995 right_x=0.3997 right_y=0.2227 right_z=0.1059 right_yaw=0.034 right_pitch=-0.0534 right_roll=-0.0418 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.7299, 6.9812, 1.7118, -0.0708, -0.0317, -0.0171, 0.5812, -8.2256, 8.3897, 1.8242, 0.5006, 0.2955, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1NSGxXT56qh4BV8qwCfphXZjeSbw4dygwVoEh_D5wElYdCwrXJbd-UjuTw4vAYCO3fw2C6IztmWXactRAMGNkxQ8FIYmsFbqgwDi3UjyqPW9o-ezvhJKO6bOx1UaZ9QDKGhHRHBbpBu3NXVUrCs_I4PW3RK_ac37zbSxFmQ6S117KuZO60rCJ-QIqxtTuqI5yTQancj0CRl6_1y7sNKsc5apBJS8LdXOzk-THA1iLCbpYLXp3udVJR463rbLjJQlSG-f-NTIKsXM18--eJovQC3du9K9v-nOBeoiUZs_eQlcX0TfV6uCNK_PYf3I4re8vJSWaEhOtgM9kwyzY1Jw7T5CI5Wp8fybNXx6825H3MAT4B384i0xsJ234mumuGkqbvakdz_Lmhf_FQeRyMBlTaxiqwkbuBFUFByrTkHeH5uL3Q8xz3U6NNz-pr6AfuxmnBoUQqEilk2wDyByfhOxarood5cpZ5areCCIlBo-Xdh6mqG-KcvsrlF5UuOpjwfCB-rgV1QpdR18X80izioCK-8cRkIoT-NLs-XhyBBc4t_UjQENMqdgnCjYqltBiMR8T2_dx35_TLDQyl40ZCovhbSynyhCEcsDX9dDLXohm4lL554I5nxtYaK7Xj0KL_V7yDEln33vNp9hCNaoWDUVuaecJM2SqE3PQx1Micc1cxYVvrsGuNun5cV5IUC8krJT8c7F-h4GKb41aAnRYHepbmJs5d5SvtPZzDU_FV4HkCfY6dac2UB1zP7T8G45GmuEgiQddnXZ57vJD3QzZfx5TKpmBwPN5yGfUmowl42ZBYp3NX6Jdu3KgqxrH93Pmr77giK1VKvMNB_XbTjLimN4k81f9uRfHT_9_Paflz8ZtLmhzeTSCjvue7xU1rYFZh2v3YMcOJYBy-1lumlk7mmM9KlFI7xsYDQxMGuRsI1hrFSkEw_AIN7f88km1EAoVZIMdmaopDVH5d52I3l1e70n_oBVB0Pl1OZy_Vtdtem_QS_50WphoQ7bsE70j-1zXO4x1YXMbHcr801L8dIRH7RAAqv9teKdE8NfcQMFecx2ojKfGakdg1mLPJgghqgnEm16cCyV1GQA5VGILiWiAGTThLm6dfB4LFiqsKPhWgeCVMspJaUUSRWAh2M1ni5FJfVkEE0lTqK0kb-m2-x5Xa9dWuPzc7oJ0Nx4VxrjRqq7biwSOdSU9hVXksLD3DRqVj8lQ_",
  "id": "rs_057e699877281b80016ab2bd4b989c87d0b01731b0621bad51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.006,\"right_gripper\":0},\"note\":\"The pen shaft is now aligned between the open jaws near the bottom of the wrist image. I will lower to table level and close gently around it.\"}",
  "call_id": "call_nVG368mZkJvcN3kYbMboqZCk",
  "id": "fc_057e699877281b80016ab2bd4c393087d0b2c11e062c764248",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nVG368mZkJvcN3kYbMboqZCk",
  "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]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.4072, 1.9686, 0.8249, 0.4736, -0.0593, -0.1078, 0.0496]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4275 right_y=0.1997 right_z=0.0044 right_yaw=0.4991 right_pitch=-0.113 right_roll=-0.0324 right_gripper=0.0496\nstate[joint_eff]: [-0.212, -1.3333, 7.0496, 1.6923, -0.0806, -0.0611, -0.0122, -0.0752, -7.159, 4.2872, 1.707, 0.0806, 0.0073, 1.1551]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eee87a9b886e7ea1e04646e30012b197bf5e410c93c5acfafea7be227f1c0f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b613031eb9b6e778f2441789b040e27caa06a785863dcfd9bdacdc20eff33b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b745545b911d9f4e7d2aa64c377774db0d5a0a91ac569fceb8399eb08aa609d9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2eee87a9b886
wire blob b613031eb9b6
wire blob b745545b911d
call 4 attempt 0 · /responses · status 200 · 12.12 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]: [-0.02, 0.8013, 0.6029, -0.3809, -0.0219, -0.025, 0.9995, 0.4088, 1.919, 0.8341, 0.3962, -0.0463, -0.1001, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1773 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9995 right_x=0.4248 right_y=0.1968 right_z=0.015 right_yaw=0.4857 right_pitch=-0.1322 right_roll=-0.033 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4427, 7.2547, 1.7314, -0.0659, -0.0757, -0.0122, -0.841, -8.6222, 6.6803, 1.746, -0.2076, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The gripper has closed to about the pen's thickness rather than fully empty. I am lifting a few centimetres to check that the pen comes with it.\"}",
  "call_id": "call_PeEqpLO6EygUxaSkWUkQXwv8",
  "id": "fc_057e699877281b80016ab2bd50d9a887d0b92ab5ff89757fc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PeEqpLO6EygUxaSkWUkQXwv8",
  "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]: [-0.02, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.4072, 1.808, 0.8883, 0.2333, -0.0631, -0.1127, 0.0521]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.4247 right_y=0.1992 right_z=0.0541 right_yaw=0.5052 right_pitch=-0.1291 right_roll=-0.0323 right_gripper=0.0521\nstate[joint_eff]: [-0.0889, -1.6205, 7.0085, 1.7314, -0.0562, -0.0464, -0.0122, -0.3214, -10.7419, 7.7333, 1.5507, 0.0073, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a8610dd2688a7548d1a739d42ed20c2d92ed77158195ec6d91d5a8defb28b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ab2f3ae2d26cff7f41183d4ec54f93c837bf573f1d50b805501dfd64be13d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e14a286113b67e2b6b386bac636ad0e3a9d90d787206bccd2adbaed3cb7e9a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 47a8610dd268
wire blob f2ab2f3ae2d2
wire blob 57e14a286113
call 5 attempt 0 · /responses · status 200 · 12 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]: [-0.02, 0.8024, 0.6029, -0.3813, -0.0216, -0.025, 0.9995, 0.4072, 1.9686, 0.8249, 0.4736, -0.0593, -0.1078, 0.0496]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9995 right_x=0.4275 right_y=0.1997 right_z=0.0044 right_yaw=0.4991 right_pitch=-0.113 right_roll=-0.0324 right_gripper=0.0496\nstate[joint_eff]: [-0.212, -1.3333, 7.0496, 1.6923, -0.0806, -0.0611, -0.0122, -0.0752, -7.159, 4.2872, 1.707, 0.0806, 0.0073, 1.1551]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1eJPKxxc3BBwdMTeZfvT74xeNjg3QYfdROKhDNvFbwsYXP3Fyep4YGKlzESPwDroHDvB9vYyRju0RbzHd817QKhbMIdnKd6yIaV5Q4uGM6PaAX-lJeciTh9HmpxpqgtzdSVgd5Rh7KvJRO9RlT_0wWn6vJ0oXhmKs5UHJgSSNkfCCiU5ZHW9QAsyE_NybXY8DQb68H4uLrdoBvT7PO5klvGEPrN2zXwi4ZESIaFbhA0_nO1ny6fcSf7sKD5DgcXC1IpcFrG_3OV5oO0rohRGk0JWAJh3e_JT4IZaA67dPddbRboD2mnP4jhkhGUaqqQWHVv_1Y1ZYSfXkhudPTz9oleCqm0tCsMyjYTIhVQsSY18-gSaEWOF0z41NxTbbWoDrdPKMpeOsQl2xva72gw3B1xv10QWAIPCRh6fgoPOS3F0w-gD0DtO2GEqL16UmuGKB7EDQDxYmIF7aLLPa1qq15uzzCuQeK-uSuYeEbUQqsaIbCZewqwLNOHncmXPelf7u4dNfK-5WoljBvWpzSwcHRz8sej9xa1QEYK7WdJtCqkvRO2FaX4MNJpO-VptG1gx_RSYs6HyVq-gxYjfxk92N6bKrbqJQkCQk7bApyJApQ9ZqO9eyMSqVdqjFiCP2ppYc6oVYxY8CKDNZH5QMe6UyRejTP6HWWUYgL2axXQuEfTsEkQycVD5Fh_MGPdIVP13YqfnnZQQd-vhrn0pdJfx2YANGo1sB31sUBP7q_kONQqANfifS693_-vIj9YP4QwcjqfyFx6Irc2Q_Gu1Vuu9k_SeyrCgNLUKfFGVwpc8TD8qsaVcYarQ8IwMx1avA5HPauNIyeFbjkWUvKC53wcXSX3g1MSxdBGTLXTDHM7Fjz0175vCW4sd3dEiUJMlOfVgu5feLPFW9uhfpvIaeXouu-sCXDAtCZdKRxhsCfmsx6Uw9US1a7aT9VBSVxLxjELjuuLROtKEcj0KHcB8WngGlTKcbNO27Ywn1QexsddqRVq8PIGOw4Oh4GdHrJ1LPI2t51fy42A4NRQglgCpt8QzVG_92KfKDlA8sNE5iYsfQ2dXDkrvGFys7xehd8eKRTvPcLoxK0Gd188H2dVEl4YMDG7sIzNdt8F4UaIcmOC92vh7ew9Q_3CgEuWaFEpinRkp42hu_XpnWjMeCvcP6qRTZXS4guSHLnYDYGO_JdxXFrYLToH7vHBlz3t_1N4KZhlELRM_Nd-UcJcuH4Tl5tf68NKeZoh5RFFVW7zky9VS3Z12KAcitns9Mn0dAQP9M4HD_MQ3ySaXiclSI0hXEQRxSdaf91-mQ0CYRpfhPRAlUEYp3zkXFUbjFyRqbhgHqtrZuDkIMk9ZnOus6WtXefqQKKaZV2ALYfCe9NXAG9xePSTeUrbz02gjgiMprde6_Co4GhjiW97C6LlIA9ocR2E2InH83r1pmVyTl1fgD0iv_6Lv9Mq33RRYbwxALjyae76h-r_j4KFx5bKNcrnIStgzHn72cLWJ5ex0bockL0uiqET-q5fOuFIC0UupNHeHTv1y0uDRBvDg6eLcq8d-mHodpS-nSfMtChUqHSRwNe21gGWJ2dVeOQ66CsZWGqtw0uPlHPSwIY5zuMMnDp_sZYfHY7kOt-D3qqN1EAQ71C2aoh65aXneIs-HXCeLkFivLTYForMVRf2B1rtLQDaC46hbWYc4fg7NNRFQJM1n-jzlYFcEIi5dxX2tOKfiVjBbZJd4My6i9yK0efXkums-009FdFVShNCJZLs6tHDIR7jBEwVVOfxnR7DLItl6u3MnV3vR0XJstDpXjW2d35RKqY1LOxgJo_KXf_2U24ajVLQjh3vZE=",
  "id": "rs_057e699877281b80016ab2bd57356087d09b334657f990921e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.48,\"left_y\":-0.21,\"left_z\":0.13,\"left_yaw\":0.5,\"left_gripper\":1},\"note\":\"The pen stayed fixed relative to the right jaws during the lift, confirming the pickup. I am raising it clear and positioning the left gripper over the separate cap.\"}",
  "call_id": "call_mwataXuXXHINFR3pfjhEUzOy",
  "id": "fc_057e699877281b80016ab2bd5cb65487d0a694d489d9b1445c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mwataXuXXHINFR3pfjhEUzOy",
  "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]: [-0.6724, 2.133, 1.6798, -0.564, -0.8444, -0.9054, 0.9995, 0.4049, 1.6501, 1.1313, -0.2382, -0.0566, -0.1158, 0.0579]\nstate[eef_state]: left_x=0.4802 left_y=-0.2089 left_z=0.1228 left_yaw=0.4638 left_pitch=-0.03 left_roll=-0.0123 left_gripper=0.9995 right_x=0.4199 right_y=0.1947 right_z=0.1367 right_yaw=0.5001 right_pitch=-0.1998 right_roll=-0.0321 right_gripper=0.0579\nstate[joint_eff]: [-1.2239, -11.9179, 7.9385, 0.7204, -0.6618, -0.0171, -0.0611, 0.1436, -11.0838, 10.2222, 1.7363, -0.1001, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a90d9595c2e927c8572653b47f6f1634203af4b25f77d0dd0ac947b8650692",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abf99555f5788debeac2e45d444a7ce89bad388d37ab9707e5366ace8fe75f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f082cb558a020986a44e4a56aacc511b7d9052bb4246ebd7edb6960361630327",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c9a90d9595c2
wire blob 5abf99555f57
wire blob f082cb558a02
call 6 attempt 0 · /responses · status 200 · 11.72 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]: [-0.02, 0.8062, 0.6029, -0.3809, -0.0216, -0.025, 0.9995, 0.4072, 1.808, 0.8883, 0.2333, -0.0631, -0.1127, 0.0521]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0137 left_roll=-0.0 left_gripper=0.9995 right_x=0.4247 right_y=0.1992 right_z=0.0541 right_yaw=0.5052 right_pitch=-0.1291 right_roll=-0.0323 right_gripper=0.0521\nstate[joint_eff]: [-0.0889, -1.6205, 7.0085, 1.7314, -0.0562, -0.0464, -0.0122, -0.3214, -10.7419, 7.7333, 1.5507, 0.0073, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1sx4E73EU4cfJoOVi37DOoittLzDv3Acsrzpi5X0D1ia3dAjB_i8ysrV5PmqtBpZM9TRLrJBbaFO8MNgPWVBymFe6o7OaBVqPk8RmSWzoHLCXoDFaBH72LydJIiA9sp-INNs7pwT_H6EYFyZPIoZW7YEa7sa2_n3w0NLt7i-quHmIGYoxlWYX944yDMR8dRXK0eimXKGwFy3LKPQ8ckhI341cFHuuDSTSM5zvbWpKn564r5BOgvHYxbid5EfF36KuzYtBrha7kCr7wiISJMKBk7i8Jcotkuuun0ioAp3x3KZSnlhbmrD-xO6BTZw1g3s57SBDJpulSGxbHZouVyD1Z7gn-C_dOUPICT2eF8F_6wdFUBuoEgotNVVnKW5mciWv4SHpsnwyNeN0cbNhNMCncf5XpEWFFpSwQxnqA2W7W8CxoQYZcKJ-Mo7bi0jidhgNP-0O8zqZFQg_x6ilQ-yFoTjoxM4Vysvbn_3ASUs6vj8JsjtaAtE8YOGDI2sRpFHNwyutTkopDRLze_DD-jqmoqjjIe3Sdx8DworlWQEHes77H8Akl6YNHhzLfkL18qAc8XrPm-3FAibzySOMwcEKq6idQIVpQiGUAm9cWz0QAL3YXZhqkyE6ayX8Qc6beg_aZwYUZBEQZ84x_Y6d4rbyv4FE-vWt_pQcDO8OTH1Ub7WIVGY8yBdakEcTZ-V1bxF5UqUvfXltb1tddNGRGYdrrZM0YwbxrzJrqzmGasZGsmHcNE4FCa32p14dwzkf2x9iuGQaD1UNGRLhshFD2qewMIfepjzWZMFh9xhEyJ-3xCU5HmY8nxSzVZj5vCSONc4ulvrM1bFWs7tn42kvLTChWJAxE0oh_bODUANnW4MXftiHn8J9gBK4AVLf8deKgKzYlWLrwEI2ZMOsnfY4yOpd5GNi7TudIFKGCOaF99xEUGN-Wqtxo3m_H4qrgUJLw70d1F44qUNBMKgjERJyoEOYIEeezuJMb2v7sOSS20DiF-5rvW_TfuwDpYPe9zc-rL4zI4ERdIASEidKfRJBvAnm-1xC6WCUUR0hUPFa7G9qgSHn8g50iZIjMf2bRAEIF_r7aY8IqAa7DneFsSac2SZ2IcLb20pH-5KCG-0OfDYOJclnSvK98QaL86kjwOrevvbhw6S6JvZbt4M8PLpvc2Nylokp3VZQCWbXTjstwOnKfIsjkSQS9vvARVvqiRnVUhMRFSSdGqPi48KXPiiTu--s6GEu0Fd5YcCXtto7AAS28ZJ2PvzcTVjrZ0eL7a1_WEZ8PGjhqlWalTTpwAkhAcKWi-w8nuRpahvi5lCcSrS5YUAQeXboPIkdNxwKwmqAg3RHXiY1e_BEyHhCfQasIc8yOJaxV4-aKLEkeRAtHHXuBXdAeyAWEKqpH35lI2AcdW6YMJ7Zg5sxFjRtkcTXutYtqGFzSBY9Uy0ovbbDhnXBc6GNtt0XtN5t-_QmAyLP3hW2o8lAUs-KN-sCEiy-ms3cj6vyLJFZOIpJKrAn2lMF-GE-1o62broGT2_GLEGlJwQ6ekJWTikxXNYjndZ5l8hDKnT-aU1yMQdJbBzw8Z7R7NWEgLrsTVewZ3a1Ri23pOU7StCGYtkJKfRmO3Y5bYnKka1St7qFV4PUVbnqngWNjuX_NPJnbvOlVdH4jaio00gX5qVfW1dZ8MnK8ju8fgvo-aTBZIw6Kr90NgGCvTwNTdSzRMyYILML_8YV-c5WG0RyDBJ-9z_rQU37WKirS4-tGLXfRkXEA3Dc15i6pQ1k6XM4wosWf7td0nykzMClfUg8AugmZCx5QTKuW8sqdzvE0GXdicTk0HgfQ2hpiujrCvAYsqegaoFhPIW6G5UoLdStc0zUsGzucW7t0ZsVsWtOPJelZU25zFkSfiTPf_rp08U5qykV6L7y0m8M1fxfF7vnZnbY0CpR1_3h3F_MrHiTqEQ==",
  "id": "rs_057e699877281b80016ab2bd651f7c87d0b8a217000a0ae658",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.205,\"left_z\":0.035},\"note\":\"The cap is just at the lower-left edge of the left wrist image, so the gripper is slightly beyond it. I am backing toward the base while lowering to bring the cap between the fingertips.\"}",
  "call_id": "call_OSGybjHTJNtLkehtNoJodJ8k",
  "id": "fc_057e699877281b80016ab2bd6b13e087d08798702af9faaa4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OSGybjHTJNtLkehtNoJodJ8k",
  "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]: [-0.7143, 2.1471, 1.372, -0.3275, -0.8539, -0.9524, 0.9995, 0.4007, 1.652, 1.1255, -0.2695, -0.0563, -0.1196, 0.0579]\nstate[eef_state]: left_x=0.4408 left_y=-0.2012 left_z=0.0388 left_yaw=0.4554 left_pitch=-0.0567 left_roll=0.0309 left_gripper=0.9995 right_x=0.4145 right_y=0.1903 right_z=0.128 right_yaw=0.4985 right_pitch=-0.2386 right_roll=-0.0313 right_gripper=0.0579\nstate[joint_eff]: [-0.2393, -10.1538, 6.0376, 1.1648, -0.5592, -0.1099, -0.0122, -0.0068, -8.1983, 7.1453, 1.8779, -0.105, -0.022, 1.0281]\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,$blob:a0ee72d464f887851dff921fae7e3f2969b4599e45ef05d47e26eced9cec57b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda3209bbda511915e5526350c9b187ea40f07c9a4948e1e1d7b0122077029d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07c789bf12eb0c26c6e1ef18158151cef4f21c992470a804caef05cf1adc48e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a0ee72d464f8
wire blob dda3209bbda5
wire blob c07c789bf12e
call 7 attempt 0 · /responses · status 200 · 7.252 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]: [-0.6724, 2.133, 1.6798, -0.564, -0.8444, -0.9054, 0.9995, 0.4049, 1.6501, 1.1313, -0.2382, -0.0566, -0.1158, 0.0579]\nstate[eef_state]: left_x=0.4802 left_y=-0.2089 left_z=0.1228 left_yaw=0.4638 left_pitch=-0.03 left_roll=-0.0123 left_gripper=0.9995 right_x=0.4199 right_y=0.1947 right_z=0.1367 right_yaw=0.5001 right_pitch=-0.1998 right_roll=-0.0321 right_gripper=0.0579\nstate[joint_eff]: [-1.2239, -11.9179, 7.9385, 0.7204, -0.6618, -0.0171, -0.0611, 0.1436, -11.0838, 10.2222, 1.7363, -0.1001, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr146SsybP5atpZ2HLrSX9SBhaVrdi8wN2r0z0qPS3X65RaO5eCZ7tk5bW1kHeduwNO17i5UU5sfSomZdWFNJhXfkqatS853vr78s3-A4JcBWdEqu_HZUvQRbM-PeIBt8pMxpnkDu0sAS3obMGVbcP8HbfVQ4sCWVGRHqMYuFfHSeD0P7mY06QylPotoN-WE2Ja4s1PI_bMI3toIzBoHqBW_DqA1C2PUwhIlMcmjxh8LoCx-sK77Xp1BkH3SgeyR0U3ygEggGZda9H7afP4vUzIrm21XHUwRDxSwfQLshWaBYIoqhmQzk7dHekn5Cn1P-Jvr-9C6KqF8LAMt-2qcOHGMT5eb53d8jEp6I9_GfS_NQh0oGT0TeR07MnzOQkD5iHNlVhRf3YhC5JWAmDLwl-lqnWGEM-4DUzgTOfNNa3rBNb5oLlYpWW52-cZqtwHY19BQXF-pHH_Y7bZc_lLqqjk4TKA74or1FANGmRQOVzNYJFYPhDSRyQluc9N9MDqxbUQnVZZ51k3prKTMIZ7i6lvnJpPvN7ua2zDkCV6khAe0xxuKPH3ZHOYcxePqqxihixWDIuFB7-uwVJ7xFfeErYJS1V-uiFj8T02SgPnYf_64BRRao1EvYJE8Y8igmxihMcYVXqLzX0RrBRLytGtBwX9KCQ69Su6mO6lCQTJ0BLXj-acpWWAWOcTfTrKYVx2VHFk8ikWap3zhevyDnlU9z8rdiIW3hSRwkw7SnwrMEX61besAyZxe5p4GOISLlznMT6VqgBxDaHUJpD2XYoIK2roN239pby14dABpd-p7-Sm5DeYO7wiDg71PqwIEph0KZsjJaN81RQ_Xl9cNMpdgOF2fpf3MBh_ehKCFWbcxGafVI4Iwe4nYcGc3Fd0_n0ez4vrjVH5aJeVTuGULKbRnf0EFn2D1ZWfpSFA3P4NtMJ9lQ3M7ofA_GmTF8EEHk7g17npnPybAac31XP4q-UgY9tbjZc9Ma3ypSU8DcXHPPbcjnHYK4W_mT4xu5K7jO-_C-qITP1wN7H14pL5haLoy0O97EGz8LRVdKQ4qMsbtqPYBXn63-O0mgpNnqbN3453vi4fGgLsnS1Ihpoa3Um3rv1jv_CcTJuPYtUE601hT0-i8rT3m3X7Pxb8dn_kRpNrNznml9pIptzSqji6LnVWbmz-5YfCQaPT5T7yh9eMAiTZFOpfX940XflsJNlmnEv94cQGVRw5CKa10TnOt-iH0DMYTrmWhdItBr49AYgQEVomNlC4tSP5wdX3gGroisQilM7MI0bsopYNXYGPHWERlS72JqWOENZqTYG9pt-vL6pQJhNGaxijYFQiK79NfV3OZfl3Io0KkJUk0e_CutEjW2foqYOefkr2KBI6gOzHrO5d4sSciQSi7-LWnVTYM2yRn4NMINZvJygDIF-X79V7pCly8gFlj2b4hM9NvKOHr_SSTG8XQxE8Hvb_QDaTjbn0r5ecBgvAs433xxhDw0U0Ekoz9eYZ6Rdx2S573K8wlAHIGlIAnzPraIk1qdd36OvRKUyOYbZCWG3kZUaWFaAoUpkPrS1KbHaIK-9oixGJnes0tYEMCRS2vairnPlgJHJYLDbOXT7CsjfCmveHTTXH7H4FCUf5LpuEkDDmRbLJhjTgsvhpMYwQZLKqM5YPBsG6nOkJHbohV6LvzKA1LVTQjMtXzAYCRbDUAkN8CoUocO1ZEN5L4khBs4rm3NqdgfDhOIiKUPdKGHPki3HPNewZocWm6UDsVQu8JSPjbSm942ofwxra87e60Vi9XUCMiTq3R5HnFnpnCEc1a__TQMcotDw__zeSh0Hh3FnnYRxkJ3al_mSSdznu94P7PC-oW9X8U71aM7PVG5c-7JNy3xy-yTD0syBfGgHg8ENCGatyOwvgCcdJSjTYV6asDlwj3ERth7MW4B7nhRqYftXHxMBMtIouRhM-j0jMo3Is-9Pbo9HpXv_PV224Pk8uMyaLrcsXtunAbEw6MN8EcLIKIRQeuTpwg0CZE7BE_dQJAx5Wx_cMxAjg=",
  "id": "rs_057e699877281b80016ab2bd6fb96c87d097f0769fff295942",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.183,\"left_z\":0.022,\"left_yaw\":-0.8},\"note\":\"The cap is visible just left and forward of the left jaws, lying at a different angle from the pen. I will align the left gripper across the cap before closing.\"}",
  "call_id": "call_cWMCs2f4DQAjorFFLRcwDyst",
  "id": "fc_057e699877281b80016ab2bd768d8887d091282e7983a53256",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cWMCs2f4DQAjorFFLRcwDyst",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.2615, 2.0052, 0.9436, 0.3428, 0.1955, 0.1661, 0.9992, 0.4007, 1.6527, 1.1236, -0.2813, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4617 left_y=-0.1554 left_z=0.0067 left_yaw=-0.5291 left_pitch=-0.132 left_roll=0.0058 left_gripper=0.9992 right_x=0.4121 right_y=0.1893 right_z=0.1248 right_yaw=0.499 right_pitch=-0.2531 right_roll=-0.0301 right_gripper=0.0579\nstate[joint_eff]: [0.1162, -8.9504, 7.7333, 1.6825, 0.2564, 0.2857, -0.0464, -0.0068, -8.1709, 6.8034, 1.6288, -0.0611, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec577cc8a9a093047db2af4e727715dfd92d98fb29690cc9642bf201b7390d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04dd559394805514e1d445c338bc5364661f2e5b8c80151425b21bdc73de5a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a91ba436b8982f7605744d72ecc8f90f7fdaa729a4d858895b90c4b57aeb82",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob cec577cc8a9a
wire blob d04dd5593948
wire blob 56a91ba436b8
call 8 attempt 0 · /responses · status 200 · 5.162 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]: [-0.7143, 2.1471, 1.372, -0.3275, -0.8539, -0.9524, 0.9995, 0.4007, 1.652, 1.1255, -0.2695, -0.0563, -0.1196, 0.0579]\nstate[eef_state]: left_x=0.4408 left_y=-0.2012 left_z=0.0388 left_yaw=0.4554 left_pitch=-0.0567 left_roll=0.0309 left_gripper=0.9995 right_x=0.4145 right_y=0.1903 right_z=0.128 right_yaw=0.4985 right_pitch=-0.2386 right_roll=-0.0313 right_gripper=0.0579\nstate[joint_eff]: [-0.2393, -10.1538, 6.0376, 1.1648, -0.5592, -0.1099, -0.0122, -0.0068, -8.1983, 7.1453, 1.8779, -0.105, -0.022, 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": "gAAAAABqsr2AZYwzoM4rlEljgzTSewwcKTyll0fDVauGmRfKnZGudpiddyI-njgClOic5yWhS7KU6T6w_vUwO_-iT4ioXBiVTk5N09e30Y2ewRiNHP_f392bSEFjDlzXoYEQ0M3-q4onrDu0OI-esfOajS5TjPzhaQaZ6C8QJuov3vLb6VkutemaEhP3EBqd-0bo9tWUBY8O3w8k-I64h2jm4wct4SdFC2gGBoTmXRHurQYp6b7t5r8RSrqy76TpFUV8oAmqZaXvKlRKGAjiMwAJoZZQeE-mWIbgacTSe7v1hm-aPgZpeo4eAN1PNNDVWBEPCN6gpESRB2ZfvhqYuccMqFQFIfVUDrU8oSD7tyov2n1v4qUqlm9DHWQ75Lcwlu-bhZ5QaYGmel7gr_fPZ9wzpSFFlmOPm-sHZS5pLkioaK_PDuQNDYBQOJfjfeaot-tuK3hMO-j_5RlseSuSdZPqTc7qyxTfTFHaP_V1q9zQSfSISQu1yXUFeUi6s1qCMKM_XT045QSsGdFyPrpwTFYydj8iTDkrCUsnW8LctFcc7s91SR1qerBjAiBXuC3pk-7FwBg0ujsYuNKVDeT3qF6U5aCmrFK9Y8R05MakM-qz1A3ydYxJrHzPVYVqce86QeHRuEGlNleXNDq4l-g-qAZpskAXtD0tZprOaxT9v6Ub6xZ1EM74x6-ZHJ_qZum9xyV63_zfc9d9rNjTLcr2z5Sy04xsujEtUYH32yW0IdG5vFKXc-cubFbsB4j4S9QDEljFmGScwvbouSAoDTS_ijn32RtPw6ppOshjc7NehX_iWULmgqlxYJfQJC9RyFq5mETMLauflud4GA0BzpCBWlKU19lfTBVKbTiBGzUczMT90NmQiCRHtZNuilsYiooLqmOobPV0yNoKrtnaR3Tt3XBBcI7QEHO77ucupKKtlnBtOs9zYVs4zHIPnZbBXBTQz7Voj9Kuf9Ge_k3VupfmTE64Y2YrILi4597eRk6w2tf5EWUKGPwhNYn9fsiyMT1caP5G17jqGKGwl_JnNYpliaVGD2j4E-VEUdeTGh0mMV1mD7Wf1T6lpJvqoMmSa6h3vAgqxlQO4kkNN9p8sp6AajnkrTIVDtFPOXVSS7sS0h7JcvnPzS8qU7Ado--VsgSqKirT1GiPK8Yke_FM3NzsfBDvYxZ5ymCyXDOjwYa5TKsb_Qa8whLUYA9HJkC-JJAKV6HGFDvTAXm6Le8jQf51sqyOZKhEjXZplZKLz18TPyEk70Y7ecwjbqXw7ijueJc0D5c3x9ONwueXAzbwblDN185bK4Jrnw5EHHWRuq2WHD4F149c3r6Ps0ZhPHTK5LLAbIyj-soQAV8FJXudyDxxIBnTf9d-EyIqWjBTzXBeCeCfbYw8Y9rXXo7ONTnOgz1wIh6Ava3vMnO5HIs2jUdG5OwvuUOBBW2_LONooVbgaF3p1q_xlCFA3EJwB_fMNyih3Zy9BLZQAK06W8wtIt6sXkFM7raS6uS6dXAspol3J6WuDTEbe9aUvLDNLSQmyp585fi3rudkonzg",
  "id": "rs_057e699877281b80016ab2bd7ba31487d09452c238b5c8350e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.185,\"left_z\":0.025,\"left_yaw\":-0.53},\"note\":\"Turning shifted the actual grasp point, leaving the cap alongside the right jaw rather than between the jaws. I am correcting sideways using the observed position and keeping the achieved orientation.\"}",
  "call_id": "call_LZYM11tg8xSSVstGKo1fHNGG",
  "id": "fc_057e699877281b80016ab2bd7edd0087d0ab040d2f881a3c62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LZYM11tg8xSSVstGKo1fHNGG",
  "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]: [-0.2867, 2.0109, 0.9356, 0.3485, 0.2699, 0.2184, 0.9991, 0.4007, 1.6527, 1.1236, -0.2821, -0.0566, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4495 left_y=-0.1779 left_z=0.0043 left_yaw=-0.6449 left_pitch=-0.1248 left_roll=-0.0035 left_gripper=0.9991 right_x=0.412 right_y=0.1893 right_z=0.1247 right_yaw=0.4994 right_pitch=-0.2538 right_roll=-0.0297 right_gripper=0.0579\nstate[joint_eff]: [0.0205, -11.8496, 4.7932, 1.6386, 0.2125, -0.1245, -0.022, -0.0752, -8.1436, 6.7761, 1.4823, -0.0855, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c975a78c02a0fe7db41ca5469ee391d4fb3f50429364bf098af163962d767e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45135b180351c4c24cc6836032fac22afea3251032aba4564799e19deed444ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86499f982ff94119f26447879f26dfe8ee4c0c916ff51be265202c9be61ffae",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 71c975a78c02
wire blob 45135b180351
wire blob e86499f982ff
call 9 attempt 0 · /responses · status 200 · 4.849 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]: [-0.2615, 2.0052, 0.9436, 0.3428, 0.1955, 0.1661, 0.9992, 0.4007, 1.6527, 1.1236, -0.2813, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4617 left_y=-0.1554 left_z=0.0067 left_yaw=-0.5291 left_pitch=-0.132 left_roll=0.0058 left_gripper=0.9992 right_x=0.4121 right_y=0.1893 right_z=0.1248 right_yaw=0.499 right_pitch=-0.2531 right_roll=-0.0301 right_gripper=0.0579\nstate[joint_eff]: [0.1162, -8.9504, 7.7333, 1.6825, 0.2564, 0.2857, -0.0464, -0.0068, -8.1709, 6.8034, 1.6288, -0.0611, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2GhH9P9SL2EZ3ysDQSNfENBfRGxqQoF3lpJjnh4d9g_G0E2caMWMlhkDl0jR_4jagP46dllKh-7J6Z5Rv_2GQuRbyUaz-SVPACL5LZpfW-d54iV830gWmyqjSQX1fRW679NXA9niFT9PaMd2StipjPn11gWKtW7YfhxarxW0CLD2xSls9EaEG7w9aUdkLIGv4BjIM-Pa8ml37lSRcpjwFDjIuM6kW5-L48MZypED1RGbBBs1kxF2qRTlL4aFxgqRciOr2qRC3DBO5GOudG6M0NBz5_Eii7ISUZiTAiqvWR9S_lqeQLY9ZBBxPDmVnrOMSHwoGAFbj24fOhdXbB33_ZsqPhLSm4HEJtyOnLY0HnmcfCsy-z-CvbxMwTzfLjqoBq_rjdcywz9UDJy-59pSjvPheHeD_6Hm_0grXHcNWMjuJ4JRhh50nT7qYv3oVBd-3KzRiBPZ7R_V-C2dMj3ttrc59HlH4gitx_rdDG1E5sT41vFJseaHwz1CDqC0sp5KlLRtNwCFIxLQcanZB2dEBw3h_2-GCc9MBwKkxFaNIt2xImDk3UdCoS_rOhnwy2JPHJQeQR7vZkPA9JDSPuIVFysFVDEhqkGw6105zKLD23wb6-OfQ7xGe-n_uRd2abFCKiH5YP9LkYp1hF99YcZSgY5m8s0CqWVCDH-hNTWy29k88Y2akNCFwSTw1n19cM0RBtT5_Y5vCuCPS0fgG8oXTsbGhbSCPJRmgQ89XGfvNtEPZy2SG9KeXnz-aFeJpFZSe824zqH4VmkMDG9eFdUzHJ8kvKdJMKo3p0sV-xIfpOjNwN9DUKOGduArmNSW3w8Fxxl5RA-23oQ7cVVy8CuFbk4LtN0p1Ztholt70muyn2mxdFt7EhJGhONHqNRb9RaasNUUiIzOrpTrMg1PMjNeUqvZqP7cjGY_TGOAK8T2Olt-2QsOwXMtyrmtK9wRa172Uq_FMqSutDaIJV2ni0sRUcCZWEoIwlI8wAkxW8_l4MfhQYxLHfCQcOjbehmzoAc0jySqF7jjtAKxTQQ8XNhGousO40-LHIP_dTeZA-jiajzGfyk7iqhrGaOGJ11gohsSQMYZwESa8vx7fMqU0HrsVKnyuUCgNfMuWlpFfPKg-s5n_71KJD-MHD3Kk1YnKVWxdh0qT8ffA1mxgeVwMEopn4dvwiyZT20yBBE4uxGCxfWh8bnnCqp1z9uFPaHGd9MB6CvqxVPzdAmmNWhZuM8EgzpCgGS1arl1psQgf9Whh-bqa38u4trOi4FaaZ1Zonk24CclR9O3wxrth6g7Cl1fHg7w==",
  "id": "rs_057e699877281b80016ab2bd83768887d09175645a8ef96c2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.444,\"left_y\":-0.188,\"left_gripper\":0},\"note\":\"The cap is almost centred, with a small remaining offset toward the right finger. I am making that final correction and closing on its body.\"}",
  "call_id": "call_OglGhMUQIQrN6WfyTsU5zI3P",
  "id": "fc_057e699877281b80016ab2bd84db3087d0b0c35524b63a57c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OglGhMUQIQrN6WfyTsU5zI3P",
  "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]: [-0.3016, 2.0048, 0.9314, 0.382, 0.2382, 0.1673, 0.0105, 0.4007, 1.6527, 1.1236, -0.2821, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4537 left_y=-0.181 left_z=0.0108 left_yaw=-0.6045 left_pitch=-0.0979 left_roll=-0.0123 left_gripper=0.0105 right_x=0.412 right_y=0.1892 right_z=0.1247 right_yaw=0.4991 right_pitch=-0.2538 right_roll=-0.03 right_gripper=0.0579\nstate[joint_eff]: [-0.9504, -9.306, 4.7932, 1.2088, 0.1587, 0.1685, 0.2369, -0.0342, -8.1436, 6.653, 1.5214, -0.0122, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c19180595f8cae16618c9a283b4252587dab3304f4e291685c293d844c3fdec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6b90be060333c79f97e3b49f84f4b1bacff6ff9c0569c13eb7155911ff9aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9f6c835a88aae2498e03dccbfacd45ba8763e4454b65f908ca9b704e85a77f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 8c19180595f8
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.483 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2867, 2.0109, 0.9356, 0.3485, 0.2699, 0.2184, 0.9991, 0.4007, 1.6527, 1.1236, -0.2821, -0.0566, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4495 left_y=-0.1779 left_z=0.0043 left_yaw=-0.6449 left_pitch=-0.1248 left_roll=-0.0035 left_gripper=0.9991 right_x=0.412 right_y=0.1893 right_z=0.1247 right_yaw=0.4994 right_pitch=-0.2538 right_roll=-0.0297 right_gripper=0.0579\nstate[joint_eff]: [0.0205, -11.8496, 4.7932, 1.6386, 0.2125, -0.1245, -0.022, -0.0752, -8.1436, 6.7761, 1.4823, -0.0855, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2MemIt1FUnyDWOG0wHKyoER3FseqRlFoAVopicYdEmXeWguS1xcztxbdmMIkJZZRik5Celxeebu37qbgiBaeoNUCWBD8FxjNzi-iQ4Vwh48LNzIXvMlktzlQWFg19do0iuPDNves2ibm5x7_mVSjXsCIGgjGuWLOF6729p9u62OkgxWbZGvzP0-qyQ_uzTshki4gInttpvNn0VuZCD-g9K_M2MuB0nXH1s2TPjLVrF7VjqBNHYIxl6fdhIZXZA3u13SXBoIoCBVi7ZdLSST_tVQqKbHadmgr18BBWZ_MH2iN1f-TR2a0aaDm9l6MeejVMrErrpOYklaurzlQ3-tgPhJte-cNdH_QuLRv_P_H9-cXmmxcwpBy4Iw8m9w18XU8lo8NPMDt9DDtaKxDHdLS5qWBKvLgiC9LXmEgDrQgt7OYinW95INIzfLOI5vmtMu90uBMP5lKMgblTpgk4ga3j3DHDBx0YZ9_Rw3CCO8BMI8vq1MkWS02AcM3poEXOy-jkt4eKof1mJliaGl1QEhcNz0fgjLWdXrDl3qy-qfWzBeoT4cejwc6PCtONyALcSsI3idZg-tCN58eqyYSgKMaZEZLjOsajqKJrjPvJ0w1Yw6nrNQx77NHFpFceV7eLCPp5zk4V18UP5LkIJKO9oSmEpiNEPb61aLmXtqNPdqTfa-4hhlALLjSW6C8C54jIgDMAkaNY-z_IL0K630wA9zIeaX7vzVoVrEVAH9tgbuLGtgStkYJbXIbORUZ_z6aFNggjlpe3LmzxsjQ_ckiW7LfExDpH5KvTn7-LytcfQmUK73n34p4CICSy0sTqIUlCeOdUv68sWqu068E5MfX0kJgPNz5_IyIqVvIrPvIF3BPwTOB24s7Pw9eZD5C6W3y3zvpz8L6m7pozlpbZ1PkaEQgezmfhRBAFcAjAAZHLqxh8vY56_ipVTaNXD4bsZ3Y1HT4gQmCBCDLZGJ4BniIbDAVYliOznouEITON1aUY8jAraqPi0YNX4cBKmAGR_RJoMxWVeB93idmBpFMW1iAlE2TBKdqz5a2rhj1KELdrouU5QaX9gTWqf4ZELhn2awltdDUIu4iztBbhTT_7lNWSZ8sFgcts9HnBHrEFKxuRQgIaXU-2aeCDIxF5nHcSP6rolZ3h8RAA7IGmVRcgnoVm7OrNBr77YsjKVgU3tZZcYUv2haPC4Oz5hb3xpxwJIHrM7vMDHjToHQpXL6xybHnsEW8oe7ZU5sqV4SMpSCEFsjcvhdmWFW_YOeAOlpEqQ7sWqg35WvDTcUSfrueO8-TqsRlvqAGjEYVnX3y9DOyLol1F6nIxCgwjWKH9LuzD4KCJ--my7jj_2MO3r-vrY6H_7JI_3Eg==",
  "id": "rs_057e699877281b80016ab2bd899f7087d0a3b1c2a2b6b8a7f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The left gripper closed almost completely, which suggests it may have missed the cap. I am lifting slightly to check whether the cap remains on the table before retrying.\"}",
  "call_id": "call_VYaBpjRmIqyrZA0Q0GuqsDZn",
  "id": "fc_057e699877281b80016ab2bd8abbf887d0933f4674b90009df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VYaBpjRmIqyrZA0Q0GuqsDZn",
  "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]: [-0.3016, 1.9057, 0.9607, 0.2111, 0.2352, 0.1722, 0.0114, 0.4007, 1.6527, 1.1236, -0.2821, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4459 left_y=-0.178 left_z=0.0361 left_yaw=-0.6062 left_pitch=-0.1389 left_roll=-0.0192 left_gripper=0.0114 right_x=0.412 right_y=0.1892 right_z=0.1247 right_yaw=0.4991 right_pitch=-0.2538 right_roll=-0.03 right_gripper=0.0579\nstate[joint_eff]: [0.1162, -11.494, 8.7179, 1.6825, 0.0708, -0.0757, 0.0757, -0.0889, -8.1162, 6.8718, 1.5409, -0.0513, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0526188e44f777ec269d07647eec794a1cfff82985119c900af67f161690443a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7c20903022da242b781af5b2a8078d21e485fd6c0be8db4823cc7da5d7f5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8741f3d0b1331f2d7c772a300b7cbce698b33eff7d6fc52d7c6e1473dfe3f254",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.288 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3016, 2.0048, 0.9314, 0.382, 0.2382, 0.1673, 0.0105, 0.4007, 1.6527, 1.1236, -0.2821, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4537 left_y=-0.181 left_z=0.0108 left_yaw=-0.6045 left_pitch=-0.0979 left_roll=-0.0123 left_gripper=0.0105 right_x=0.412 right_y=0.1892 right_z=0.1247 right_yaw=0.4991 right_pitch=-0.2538 right_roll=-0.03 right_gripper=0.0579\nstate[joint_eff]: [-0.9504, -9.306, 4.7932, 1.2088, 0.1587, 0.1685, 0.2369, -0.0342, -8.1436, 6.653, 1.5214, -0.0122, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2RIbRS00tF6awDg59I-p7TnHOuwqI4yGa1293kkauLqzQIgPiRlsIONLEzPDqCniw72JI3xyoceiS8fXjTrizhF9mm3qZhndfObVuFHAHgp4Z-8XNzKDUNDpbjdG0qVKJjMl_AAZcyor0MwOEC2gG8e-NXlwYWiayx84AiV3FZznEyZLactcK3UV0NCwR1-E66xkCb8P_JyR4mVFes4xh-UueD-GRwKKedrCl3bPQ1zSx5bKj_Lx9f1QoqmvRq6eUEr4Y63qaOFdDuuI1O7vR-UtoEW1e0oE7gqGWf47vyN9BaZNIYcxFhuLxGj944-uX6X9jEhKWkHokRqgzHKPI9y6xo4tyJKTOhN90yswYWBNfp9M3nH8PR8-b_YspMRY1_dnu2DuDq3mOzVE-7F-FIbAlADHBi6e6KyVw05JgvI5sT1cN_erf7TJBzceflR4r9jzzUs-OG9upD82fPFNxROb0s0DSllikS2pfewz2T3DRabKknWqrg3dYCXNoz3EytF_6ZngEM-ONC_2J_VpvlJ17XdOxHAwUyf5iECRzNDmtQDw4cu4VnUZRs6QAsbHopY_rijzcDCglcnj2n611DS-XUMfUytZvIX2rB8iVlhQBNzLwZAf4SvZyLLvuwMtRUvXQtL7e3P6nsIwtAUGyrXAYQ6xHlCobrCe_CoeDzqHEWVKklmeQE1huZmEVszav23JRQPu7DmbuTqBXR2Oqap0A8YYu6LtjBe3IJYzXGhHk468FVJarmdp-nEm_FdtEyY0Z8q4MLJFeL6jhAwtzXWdcTSQ1x7CJ8Rfv_qp0pXI1I4ydTtG_tK_ksni4WGmlkkL3aRQP1RzKaRCAYuA-_6qsesfoBb9F07hIziR6HGWWcMsuyR_C-fgyyvNAGv9T7GmN-0cbCPK1NQHMneM7-W_gPFcpMadfrYcDD_Ty9O3BcVtJtQ7gYWfVROsIru1q5qexOgqIWqGZJgF8r5TZwQVHkKGeT1tqOiO6HAWjBmrzZglRst5_fOAKX1yDBZuhqY0xyC84j5qnX8qtwaiDgg2HWVfJVZRhCi2KQYKnWQOb__jLNv0m2ZvSYfo96bnHn-yBTlok68dnovN5cxctRuSXRx6xoGq8nmpRDi57iA3Q2ED39wXYffLf2Rd3ZSA-hTEv69jo5MGX6je0iLv0GW71Oax5HNUKq0YsqdN85hd0Nzt2H5gYtXYHLuc3p3mL_r2p-JdcWsFAGLMcYIthX5rN2WdcDg0MOlqWY_xxghBUfSMQZ6dQtFZ1sZr_2v6elTlpedNEOsLBKKdfj0oPXy7XxKXoS-0WKP1b_ajKHr4Bt9mjcJfFhsG7IqJIKloTVn3q7S9FY4nduWq0zUjdk65iNMSdj9YDuzLFvUAVz30wauvjmoADH-QJHtNNOm9n0tidGCbgop9LGmnbgOYSpCgxkLYDJnhrvaeeLk6tLBUHBDc_7X6N2q3TiAE0ldG1u",
  "id": "rs_057e699877281b80016ab2bd8e489487d0be72fbe57232d0f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.08,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The cap did not remain in the left gripper, and a small dark piece is now visible near the far edge of the table. I am moving the empty left hand clear to establish where it landed.\"}",
  "call_id": "call_0nu5cPYCUSIWF46gVTDf22hO",
  "id": "fc_057e699877281b80016ab2bd8fe1b887d0bb08316d06c12912",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0nu5cPYCUSIWF46gVTDf22hO",
  "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]: [-0.0467, 1.1694, 0.8288, -0.4221, 0.3847, 0.3264, 0.9951, 0.4007, 1.6535, 1.1233, -0.2825, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.3336 left_y=-0.0784 left_z=0.1683 left_yaw=-0.5589 left_pitch=-0.1247 left_roll=-0.0063 left_gripper=0.9951 right_x=0.4118 right_y=0.1892 right_z=0.1241 right_yaw=0.4991 right_pitch=-0.2553 right_roll=-0.0299 right_gripper=0.0579\nstate[joint_eff]: [0.1436, -3.9863, 10.5094, 1.5604, 0.3736, 0.1538, -0.1392, -0.2393, -8.1846, 6.8991, 1.5653, -0.0952, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328ec15928f4c2c7c2f370e69be0b65f9e173c4c123fec42f6f6fa8d4521404d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb008a2a3f28bb2aabed5c32be46b909ff89b84d29ec918076fba4f2359a918",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f17e1fcd0012f22eb9bed6de73ef0cdc22969551b1fb48ff93cf4e9150dc91e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.314 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3016, 1.9057, 0.9607, 0.2111, 0.2352, 0.1722, 0.0114, 0.4007, 1.6527, 1.1236, -0.2821, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.4459 left_y=-0.178 left_z=0.0361 left_yaw=-0.6062 left_pitch=-0.1389 left_roll=-0.0192 left_gripper=0.0114 right_x=0.412 right_y=0.1892 right_z=0.1247 right_yaw=0.4991 right_pitch=-0.2538 right_roll=-0.03 right_gripper=0.0579\nstate[joint_eff]: [0.1162, -11.494, 8.7179, 1.6825, 0.0708, -0.0757, 0.0757, -0.0889, -8.1162, 6.8718, 1.5409, -0.0513, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2YacXF-L0SewoYFAuSIj9noQTaLbPdChMKEH6XHIpX0vaZF-0n458Y0gvocr9RV9xTtseYd66GJKbZHD0bGUcPzvhoudgTjJdoOcI4EswEZG8QMwzSLORE8UcKEvjod606J3VfZVs__Fn1C_NyxC0j0zWFMqOjF3cKu21sTDqPBPQAOa_8nY5MQ0q2igv4-uVrMIRYP129lf4N-VsQiJRf_pfWUgOUtywehYgdgJAKlUavA69vEwJjWgGIUmVYbxbA6qxOMJ8JUO9SiCE0CjQnaZlXghrltmYyWbZ3x3GeSRzaT2SHdpjn9XmUmgASxU4Gj2MeM_L__S4DfUMJ453VAOcdLoRIZpzSYzFBHoeSw50CZIPe7GLTgaoyqw-39QOc0NOWJu_i9Z1fxfK56WioGW-WmXbcM6L4vuzB8NUfRFzbZc0VSejxUijaDA-Z9X3KFAyP3-RTSpOh8BjfcO5rjOiJY5v-GkBL-UOB_Fp68G95ZRzqiiQ5H03xM1G7w-bWQenC8HOr0fU6cxAVanPfOpZ9q1SGwBfgxCZzgpQwy2HYHw7w9D3e-dpd-P7byajlb04dLwJUPMNTTU3oI1ZmE6DMYpqMAjoQ5G9J24s_COyDRY9QVnoih9fbeBnRTxXJa7Mp-6Q70YYrWIi56dBUYh2syBhgyuF_StHutvUJuBw3u_aAjZusZSR-EM6EnU8eEi-AJVInFQ3ozlMM9fGVMtkbXLeVab8Sc1xmqthX1DudV0tK6on16sNXcCPM3WcOmmLaoahqOd1Ypk0WNjJ66EJjx6zRbRVpxM-ucVq0Y1qYrAZo1ZbXXnLDzuFl3rm27yPCUIMrH2aSPCvX6KdIcMGnP0dnf6TdClXEbc0T1hlwDsWMeLV6CjBUbvkCxcVxiCsdK3pTIfauUkUKhAfZ_ZA39tmW1QvjBSg9TrnQ9ix1TRUmjdORcuBPZRpIe5auikWPe64F0HocexOpps443L2Xl4U6mjGgCgjHkklnlJpsarEWz67_ah2qvZbik34xJrRCUIOIpwJVcze58TZpcbm7TMp5XzFpj5JIfc-NK7d3BS1BU2d90I0I2L6PlLcP8Ow-hnEOa-2MI9Y7rz2U1AYUBomDtFYnZnNOPszqHwBHV25naAlkYMAS_nHVamU9Fgjqhs3T1OHqHigBGvke2WP4kfWDk05G2IVzio8hXUFzfYFFEdL8g5sGLIxqCURTW9T6halAZm0D-3RnrUgwL1BncoIkagQ_5UKSjM_hgrOXroILxg2cwTOZejdfi1hYNZ0bQctL9mgdw--EIl0p30P4wC7Tg7e3uBSjJAsrV1Eyej38HW4smC5BO_WYRpgNe-sQl4B9keoleji7kP4LbutYADrbIRGHaaSIEbZc6u4=",
  "id": "rs_057e699877281b80016ab2bd957b6887d0bec693e5ae10ce03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The cap appears to have slipped away to the far edge, well beyond the arms' table-level reach. I will set the securely held pen back on the table before stopping.\"}",
  "call_id": "call_S6HSRNHuOYvJi1IAEWXaYKL0",
  "id": "fc_057e699877281b80016ab2bd96535887d08e043347c9a32af4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S6HSRNHuOYvJi1IAEWXaYKL0",
  "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]: [-0.0463, 1.1755, 0.8314, -0.4564, 0.3897, 0.3305, 0.9962, 0.4007, 1.8362, 0.9062, 0.0566, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.3286 left_y=-0.0788 left_z=0.162 left_yaw=-0.5674 left_pitch=-0.1558 left_roll=-0.025 left_gripper=0.9962 right_x=0.4018 right_y=0.1849 right_z=0.0175 right_yaw=0.5009 right_pitch=-0.3157 right_roll=-0.0236 right_gripper=0.0579\nstate[joint_eff]: [-0.1983, -4.1368, 6.6256, 1.7949, 0.0659, -0.1197, 0.1001, -0.0615, -8.3761, 5.3812, 1.6972, -0.0659, -0.0562, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de862df64dc64fe015d533805c877fc06a44c4d6621f42f702e17ffe839d63f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec16372b31eaaf7dec66287e332cbbb785f8473ec8fab383391914d2dde572c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2372fcd1310f6a873d21309aa8f5a75ecf8126aa5e25e3eaaa4a69d06ffee96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 4.882 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0467, 1.1694, 0.8288, -0.4221, 0.3847, 0.3264, 0.9951, 0.4007, 1.6535, 1.1233, -0.2825, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.3336 left_y=-0.0784 left_z=0.1683 left_yaw=-0.5589 left_pitch=-0.1247 left_roll=-0.0063 left_gripper=0.9951 right_x=0.4118 right_y=0.1892 right_z=0.1241 right_yaw=0.4991 right_pitch=-0.2553 right_roll=-0.0299 right_gripper=0.0579\nstate[joint_eff]: [0.1436, -3.9863, 10.5094, 1.5604, 0.3736, 0.1538, -0.1392, -0.2393, -8.1846, 6.8991, 1.5653, -0.0952, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen is back at table height. I am opening the right jaws to leave it on the work surface.\"}",
  "call_id": "call_77FXB3Y01lUZrGhm858vmagU",
  "id": "fc_057e699877281b80016ab2bd9ad25087d0ac27edbcab34ca03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_77FXB3Y01lUZrGhm858vmagU",
  "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]: [-0.0463, 1.1755, 0.831, -0.461, 0.3901, 0.3313, 0.9963, 0.4007, 1.8526, 0.8921, 0.0589, -0.0563, -0.1242, 0.9954]\nstate[eef_state]: left_x=0.3277 left_y=-0.0789 left_z=0.1612 left_yaw=-0.5686 left_pitch=-0.1599 left_roll=-0.0272 left_gripper=0.9963 right_x=0.3961 right_y=0.1825 right_z=0.006 right_yaw=0.5042 right_pitch=-0.3438 right_roll=-0.0234 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -3.959, 6.8581, 1.4823, 0.1587, -0.0366, -0.0073, -0.335, -9.9761, 6.5573, 1.3309, -0.0611, -0.0024, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74ec15f6e919ed5e80d576440c175f23bc60e0628df70ae0f2ac44d61b7bed4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f710adaf625e25dc5fe04ddc7fbf3502f51db0ea219a80672a06670ae092c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cbb37288f3e47d0b0d5926b27902867b66e5dd449e1ddcf81f10e7066148ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0463, 1.1755, 0.8314, -0.4564, 0.3897, 0.3305, 0.9962, 0.4007, 1.8362, 0.9062, 0.0566, -0.0563, -0.12, 0.0579]\nstate[eef_state]: left_x=0.3286 left_y=-0.0788 left_z=0.162 left_yaw=-0.5674 left_pitch=-0.1558 left_roll=-0.025 left_gripper=0.9962 right_x=0.4018 right_y=0.1849 right_z=0.0175 right_yaw=0.5009 right_pitch=-0.3157 right_roll=-0.0236 right_gripper=0.0579\nstate[joint_eff]: [-0.1983, -4.1368, 6.6256, 1.7949, 0.0659, -0.1197, 0.1001, -0.0615, -8.3761, 5.3812, 1.6972, -0.0659, -0.0562, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.002,\"right_z\":0.20,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0.002,\"left_z\":0.20,\"left_yaw\":0},\"note\":\"The pen has been released, while the cap remains at the far edge. I am parking both arms clear of the objects.\"}",
  "call_id": "call_6wJKmMatRYGl4LPnqxPSAnlH",
  "id": "fc_057e699877281b80016ab2bd9fe3f087d0a3254c5e88c4a0fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6wJKmMatRYGl4LPnqxPSAnlH",
  "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]: [-0.0059, 0.944, 0.8177, -0.6308, 0.0441, -0.0078, 0.9963, 0.017, 1.0985, 0.9871, -0.7906, 0.0044, -0.049, 0.9961]\nstate[eef_state]: left_x=0.295 left_y=-0.0059 left_z=0.1853 left_yaw=-0.0509 left_pitch=-0.1859 left_roll=-0.0296 left_gripper=0.9963 right_x=0.303 right_y=0.008 right_z=0.1861 right_yaw=0.0236 right_pitch=-0.3462 right_roll=-0.0242 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -2.865, 9.6068, 1.5067, -0.1099, -0.0806, -0.0122, -0.5538, -4.3419, 9.2376, 1.3114, 0.0415, -0.0024, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11acd05cd24c2ddc686ba1af86fd2126b034548440101af5d7781ed62e67c6f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a59b8e66982750f1d3aea129c59556b16c123236cdfdc1ded03314dc286f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5a666a40f0cdcfd2d62eecc8d5a7f4e8e3c1ee1042a9807534940ce7cff352",
      "type": "input_image"
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}
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