adhoc

completed
2026-09-22T16:33:52.290354+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
256.9 s
total steps
247
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 separate cap is to its left. I am positioning the right gripper above the pen, with its jaws oriented to grasp across the barrel.
move_to
right_x0.3900right_y0.2100right_z0.1300right_yaw0.6500left_x0.2940left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3801, -0.0196, -0.0254, 0.9994, -0.0185, 0.7902, 0.6102, -0.3737, -0.0196, -0.0147, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0016 right_z=0.1852 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4034, -1.4291, 10.5504, 1.7656, -0.0611, 0.0708, -0.0757, -0.6496, -1.0462, 9.6342, 1.8095, -0.0708, -0.0122, -0.0806] 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":0.39,"right_y":0.21,"right_z":0.13,"right_yaw":0.65,"left_x":0.294,"left_y":0.0,"left_z":0.19},"note":"The pen lies diagonally on the right half of the table, and the separate cap is to its left. I am positioning the right gripper above the pen, with its jaws oriented to grasp across the barrel."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe pen is visible along the right gripper’s jaw column, with its barrel extending toward the bottom of the wrist view. I will lower around the barrel with a small forward correction.
move_to
right_x0.4050right_y0.2200right_z0.0120
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0231, 0.7994, 0.6067, -0.4324, -0.0231, -0.0284, 0.9994, 0.3931, 1.5234, 0.7895, 0.0986, -0.1894, -0.1253, 0.9993] state[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1691 left_yaw=0.0019 left_pitch=-0.0541 left_roll=0.0006 left_gripper=0.9994 right_x=0.3792 right_y=0.1971 right_z=0.1118 right_yaw=0.6143 right_pitch=-0.0687 right_roll=0.012 right_gripper=0.9993 state[joint_eff]: [-0.4581, -1.5658, 10.0171, 1.7607, -0.0708, -0.0513, -0.0122, 0.3214, -6.7624, 8.4855, 1.9463, -0.1441, 0.0024, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.22,"right_z":0.012},"note":"The pen is visible along the right gripper’s jaw column, with its barrel extending toward the bottom of the wrist view. I will lower around the barrel with a small forward correction."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteAt table height the barrel is to the right of the jaw centerline. I am shifting sideways a little so the fingers close symmetrically around it rather than pushing it away.
move_to
right_x0.4170right_y0.2010right_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0231, 0.8051, 0.6056, -0.4389, -0.0227, -0.0288, 0.9994, 0.421, 1.9026, 0.7429, 0.4664, -0.173, -0.1219, 0.9993] state[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.0675 left_roll=0.0004 left_gripper=0.9994 right_x=0.3939 right_y=0.2136 right_z=0.0051 right_yaw=0.6277 right_pitch=-0.1276 right_roll=0.0172 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.5111, 7.0906, 1.7216, -0.0366, -0.0611, -0.0122, 0.5402, -8.3487, 6.3658, 0.9744, -0.0904, 0.5983, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.417,"right_y":0.201,"right_z":0.005},"note":"At table height the barrel is to the right of the jaw centerline. I am shifting sideways a little so the fingers close symmetrically around it rather than pushing it away."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe pen is still slightly right of center, and the last small motion only partly tracked. I will finish the lateral alignment while narrowing the jaws to leave clearance around the barrel.
move_to
right_x0.4270right_y0.1820right_z0.0030right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0231, 0.8051, 0.6056, -0.4389, -0.0231, -0.0288, 0.9994, 0.3927, 1.9278, 0.775, 0.4671, -0.1989, -0.141, 0.9993] state[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1657 left_yaw=0.0021 left_pitch=-0.0674 left_roll=0.0007 left_gripper=0.9994 right_x=0.4055 right_y=0.2097 right_z=0.0059 right_yaw=0.6313 right_pitch=-0.1163 right_roll=0.0167 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.1692, 6.9812, 1.6532, -0.0806, -0.0562, -0.0171, -1.5248, -7.4051, 7.3094, 1.5653, -0.1294, -0.0073, -0.0073] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.427,"right_y":0.182,"right_z":0.003,"right_gripper":0.35},"note":"The pen is still slightly right of center, and the last small motion only partly tracked. I will finish the lateral alignment while narrowing the jaws to leave clearance around the barrel."})
tool
executing move_to over 7 steps (0.7s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe barrel now passes between the fingertips near the jaw centerline. I will close the right gripper on the pen.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0288, 0.9994, 0.3019, 1.9503, 0.8043, 0.4488, -0.2653, -0.1989, 0.3554] state[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0021 left_pitch=-0.0701 left_roll=0.0007 left_gripper=0.9994 right_x=0.4224 right_y=0.1838 right_z=0.0044 right_yaw=0.6275 right_pitch=-0.1148 right_roll=0.0151 right_gripper=0.3554 state[joint_eff]: [-0.3487, -1.4291, 7.0359, 1.6484, -0.0855, -0.0611, -0.0122, -0.7179, -7.4735, 6.6256, 1.5849, -0.1441, -0.1099, 0.1734] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The barrel now passes between the fingertips near the jaw centerline. I will close the right gripper on the pen."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe fingers have stopped just above the empty-closed width, and the pen appears centered. I will lift a few centimeters to check that the pen is actually held.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0288, 0.9994, 0.2966, 1.9526, 0.8059, 0.4522, -0.2703, -0.1986, 0.0472] state[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0021 left_pitch=-0.0701 left_roll=0.0007 left_gripper=0.9994 right_x=0.4238 right_y=0.1826 right_z=0.0047 right_yaw=0.626 right_pitch=-0.1112 right_roll=0.0175 right_gripper=0.0472 state[joint_eff]: [-0.1026, -1.2513, 7.0085, 1.6874, -0.0904, -0.0415, -0.0122, 0.212, -9.2376, 4.7795, 1.5849, -0.0562, -0.0464, 1.1502] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The fingers have stopped just above the empty-closed width, and the pen appears centered. I will lift a few centimeters to check that the pen is actually held."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe pen stays fixed between the right fingertips during the lift. I will raise it clear of the table and bring the left gripper above the separate cap.
move_to
right_z0.1700left_x0.4300left_y-0.2200left_z0.1400left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0284, 0.9994, 0.2966, 1.8168, 0.8494, 0.2584, -0.2703, -0.1989, 0.0503] state[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0019 left_pitch=-0.0701 left_roll=0.001 left_gripper=0.9994 right_x=0.4205 right_y=0.1816 right_z=0.0441 right_yaw=0.6267 right_pitch=-0.1249 right_roll=0.022 right_gripper=0.0503 state[joint_eff]: [0.0205, -0.841, 7.0359, 1.6679, -0.0757, -0.0269, -0.0171, -0.3624, -10.2769, 7.8427, 1.5507, -0.1441, -0.0366, 1.0281] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"left_x":0.43,"left_y":-0.22,"left_z":0.14,"left_yaw":-0.7},"note":"The pen stays fixed between the right fingertips during the lift. I will raise it clear of the table and bring the left gripper above the separate cap."})
tool
executing move_to over 20 steps (2.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe cap is near the bottom of the left wrist view, close to the fingertip area. I will descend above it before making a final alignment adjustment.
move_to
left_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]: [-0.3866, 1.6875, 1.0615, -0.1139, 0.2005, 0.1341, 0.9993, 0.2966, 1.6318, 1.1187, -0.2558, -0.2703, -0.1993, 0.0503] state[eef_state]: left_x=0.418 left_y=-0.2043 left_z=0.1155 left_yaw=-0.6401 left_pitch=-0.1511 left_roll=-0.0255 left_gripper=0.9993 right_x=0.4172 right_y=0.1806 right_z=0.1406 right_yaw=0.6299 right_pitch=-0.1815 right_roll=0.0414 right_gripper=0.0503 state[joint_eff]: [-0.3487, -8.9641, 9.3197, 1.8632, 0.359, 0.232, -0.0171, -0.3487, -10.8786, 9.0872, 1.6777, -0.1294, -0.022, 1.0281] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.02},"note":"The cap is near the bottom of the left wrist view, close to the fingertip area. I will descend above it before making a final alignment adjustment."})
tool
executing move_to over 7 steps (0.7s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe cap is left of the fingertip centerline at table height. I will shift the left gripper toward it and narrow the jaws before grasping.
move_to
left_x0.4390left_y-0.1900left_z0.0030left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3885, 1.8851, 0.8867, 0.1944, 0.2066, 0.1329, 0.9994, 0.2966, 1.6188, 1.1217, -0.2783, -0.2703, -0.1989, 0.0503] state[eef_state]: left_x=0.4073 left_y=-0.202 left_z=0.0148 left_yaw=-0.6495 left_pitch=-0.2121 left_roll=-0.0471 left_gripper=0.9994 right_x=0.4139 right_y=0.1796 right_z=0.1435 right_yaw=0.6301 right_pitch=-0.1877 right_roll=0.0439 right_gripper=0.0503 state[joint_eff]: [-0.0752, -8.5128, 5.3265, 1.746, 0.0122, -0.0366, -0.0073, -0.3624, -6.8308, 6.5026, 1.6972, -0.1636, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.439,"left_y":-0.19,"left_z":0.003,"left_gripper":0.4},"note":"The cap is left of the fingertip centerline at table height. I will shift the left gripper toward it and narrow the jaws before grasping."})
tool
executing move_to over 6 steps (0.6s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe cap is now in the occluded region between the left fingertips. I will close the jaws and use the width reading and a lift to check the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3271, 1.9747, 0.9638, 0.2016, 0.2222, 0.1604, 0.4056, 0.2966, 1.6234, 1.1175, -0.2859, -0.2699, -0.1989, 0.0559] state[eef_state]: left_x=0.4356 left_y=-0.1851 left_z=0.0037 left_yaw=-0.6167 left_pitch=-0.2135 left_roll=-0.0398 left_gripper=0.4056 right_x=0.4119 right_y=0.1789 right_z=0.1385 right_yaw=0.6309 right_pitch=-0.2033 right_roll=0.0491 right_gripper=0.0559 state[joint_eff]: [0.2393, -8.0479, 7.4598, 1.3993, 0.3492, 0.1197, 0.0952, -0.335, -8.2803, 7.0222, 1.5751, -0.1587, -0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap is now in the occluded region between the left fingertips. I will close the jaws and use the width reading and a lift to check the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe left gripper closed to an empty width, so the cap was not captured. I will lift and back away to locate it again while keeping the pen safely raised.
move_to
left_x0.3750left_y-0.1600left_z0.1000left_gripper0.7000right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3237, 1.9835, 0.9703, 0.2062, 0.2169, 0.1581, 0.0116, 0.2966, 1.6234, 1.1172, -0.2848, -0.2703, -0.1989, 0.0607] state[eef_state]: left_x=0.4387 left_y=-0.1835 left_z=0.0026 left_yaw=-0.6074 left_pitch=-0.2125 left_roll=-0.037 left_gripper=0.0116 right_x=0.412 right_y=0.179 right_z=0.1386 right_yaw=0.6311 right_pitch=-0.2024 right_roll=0.0491 right_gripper=0.0607 state[joint_eff]: [-0.335, -10.4684, 5.0256, 1.4823, 0.1197, 0.0269, 0.8278, -0.3487, -7.8838, 7.0222, 1.4628, -0.1832, -0.0269, 1.033] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.16,"left_z":0.10,"left_gripper":0.7,"right_z":0.18},"note":"The left gripper closed to an empty width, so the cap was not captured. I will lift and back away to locate it again while keeping the pen safely raised."})
tool
executing move_to over 7 steps (0.7s)
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 cap is visible again just left of center in the left wrist camera. I will approach its middle with a shorter forward reach than the missed grasp.
move_to
left_x0.4050left_y-0.1700left_z0.0050left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3225, 1.5616, 0.878, -0.0906, 0.2169, 0.1589, 0.695, 0.2966, 1.6218, 1.2179, -0.4305, -0.2703, -0.1989, 0.0633] state[eef_state]: left_x=0.3864 left_y=-0.1654 left_z=0.0983 left_yaw=-0.6048 left_pitch=-0.181 left_roll=-0.0271 left_gripper=0.695 right_x=0.4096 right_y=0.1782 right_z=0.1566 right_yaw=0.6344 right_pitch=-0.2435 right_roll=0.0638 right_gripper=0.0633 state[joint_eff]: [0.2393, -7.7333, 6.0103, 1.6239, 0.0513, -0.0317, -0.2027, -0.1846, -10.1402, 9.5658, 1.4579, -0.1734, -0.0513, 1.0183] approver: 6 step(s) modified (delta_clamped ×6). 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_x":0.405,"left_y":-0.17,"left_z":0.005,"left_gripper":0.4},"note":"The cap is visible again just left of center in the left wrist camera. I will approach its middle with a shorter forward reach than the missed grasp."})
tool
executing move_to over 7 steps (0.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteAt table height the cap is still ahead of the fingertips and slightly left of center. I will advance about two centimeters to bring its middle into the jaws.
move_to
left_x0.4260left_y-0.1700left_z0.0020
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3206, 1.8481, 0.7822, 0.2356, 0.2169, 0.1589, 0.4022, 0.2966, 1.6207, 1.2186, -0.4511, -0.2703, -0.1993, 0.065] state[eef_state]: left_x=0.3944 left_y=-0.1673 left_z=0.0016 left_yaw=-0.6062 left_pitch=-0.2348 left_roll=-0.0431 left_gripper=0.4022 right_x=0.4061 right_y=0.1772 right_z=0.1541 right_yaw=0.6362 right_pitch=-0.2611 right_roll=0.0699 right_gripper=0.065 state[joint_eff]: [0.0479, -7.3094, 5.0393, 1.0867, 0.0757, 0.0269, -0.0415, -0.3487, -7.665, 6.9128, 1.619, -0.1587, -0.0562, 1.033] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.426,"left_y":-0.17,"left_z":0.002},"note":"At table height the cap is still ahead of the fingertips and slightly left of center. I will advance about two centimeters to bring its middle into the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe cap rolled sideways during the approach. I will lift slightly and turn the left gripper so it can grasp across the cap rather than end-to-end.
move_to
left_z0.0600left_yaw0.7000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3058, 1.9175, 0.8791, 0.2234, 0.2173, 0.1593, 0.4017, 0.2966, 1.6207, 1.2186, -0.4587, -0.2699, -0.1989, 0.0688] state[eef_state]: left_x=0.4208 left_y=-0.169 left_z=0.0033 left_yaw=-0.5909 left_pitch=-0.2201 left_roll=-0.0387 left_gripper=0.4017 right_x=0.4048 right_y=0.1767 right_z=0.1529 right_yaw=0.6364 right_pitch=-0.2684 right_roll=0.0726 right_gripper=0.0688 state[joint_eff]: [0.4444, -8.0479, 6.7761, 1.3602, 0.1685, 0.1099, -0.0708, -0.335, -7.747, 6.7214, 1.5653, -0.1636, -0.0659, 0.6471] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06,"left_yaw":0.7,"left_gripper":0.7},"note":"The cap rolled sideways during the approach. I will lift slightly and turn the left gripper so it can grasp across the cap rather than end-to-end."})
tool
executing move_to over 9 steps (0.9s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe left arm did not lift or turn as requested, so I will separate the motions. First I will pull slightly back and raise the gripper to clear the cap.
move_to
left_x0.4050left_z0.1200left_yaw-0.4500left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3607, 1.9079, 0.8719, 0.2325, 0.0814, 0.0227, 0.6982, 0.2966, 1.6207, 1.2186, -0.4641, -0.2699, -0.1989, 0.0723] state[eef_state]: left_x=0.4217 left_y=-0.1706 left_z=0.0039 left_yaw=-0.4537 left_pitch=-0.2297 left_roll=-0.0355 left_gripper=0.6982 right_x=0.4039 right_y=0.1764 right_z=0.1521 right_yaw=0.6369 right_pitch=-0.2735 right_roll=0.0744 right_gripper=0.0723 state[joint_eff]: [0.0615, -10.7692, 4.5607, 1.4579, -0.0073, -0.0708, -0.1001, -0.335, -7.8154, 6.7214, 1.4432, -0.1832, -0.0757, 0.652] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_z":0.12,"left_yaw":-0.45,"left_pitch":0.15},"note":"The left arm did not lift or turn as requested, so I will separate the motions. First I will pull slightly back and raise the gripper to clear the cap."})
tool
executing move_to over 13 steps (1.3s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe gripper is now clear of the cap. I will turn it partway toward the cap’s new axis before descending again.
move_to
left_yaw0.3000left_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3656, 1.586, 0.6598, 0.4404, 0.0818, -0.0036, 0.6988, 0.2966, 1.6207, 1.2182, -0.4641, -0.2699, -0.1989, 0.0739] state[eef_state]: left_x=0.4042 left_y=-0.1664 left_z=0.1014 left_yaw=-0.4426 left_pitch=0.0865 left_roll=-0.03 left_gripper=0.6988 right_x=0.4038 right_y=0.1764 right_z=0.1519 right_yaw=0.6369 right_pitch=-0.2738 right_roll=0.0745 right_gripper=0.0739 state[joint_eff]: [-0.7179, -8.3487, 5.6821, 2.0488, 0.022, -0.1148, 0.0562, -0.1573, -7.9111, 6.7487, 1.4969, -0.1783, -0.0317, 0.7204] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":0.3,"left_z":0.12},"note":"The gripper is now clear of the cap. I will turn it partway toward the cap’s new axis before descending again."})
tool
executing move_to over 5 steps (0.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe cap remains visible below the left gripper, and the tool has turned partway. I will complete a smaller rotation to align the fingers across its body.
move_to
left_yaw0.8500left_z0.1050left_x0.4110left_y-0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6865, 1.6962, 0.9016, 0.1406, -0.6189, -0.4786, 0.6989, 0.2966, 1.6207, 1.2179, -0.4664, -0.2695, -0.1989, 0.0764] state[eef_state]: left_x=0.4056 left_y=-0.1952 left_z=0.1111 left_yaw=0.0676 left_pitch=0.0519 left_roll=-0.041 left_gripper=0.6989 right_x=0.4034 right_y=0.1762 right_z=0.1514 right_yaw=0.6368 right_pitch=-0.2764 right_roll=0.0752 right_gripper=0.0764 state[joint_eff]: [-0.4171, -8.1846, 7.5419, 1.4921, -0.3639, -0.0855, -0.0024, -0.3077, -7.747, 6.7624, 1.4335, -0.188, -0.0415, 0.7692] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":0.85,"left_z":0.105,"left_x":0.411,"left_y":-0.17},"note":"The cap remains visible below the left gripper, and the tool has turned partway. I will complete a smaller rotation to align the fingers across its body."})
tool
executing move_to over 5 steps (0.5s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteTurning the tool shifted the left arm outward more than intended; the cap is now left of the jaws. I will correct back toward it and lower cautiously.
move_to
left_x0.3900left_y-0.1300left_z0.0350left_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]: [-0.7616, 2.1529, 1.5887, -0.5564, -0.9894, -1.2163, 0.6989, 0.2966, 1.6207, 1.216, -0.4679, -0.2668, -0.1982, 0.076] state[eef_state]: left_x=0.4495 left_y=-0.2197 left_z=0.1019 left_yaw=0.6124 left_pitch=0.0481 left_roll=-0.1365 left_gripper=0.6989 right_x=0.4029 right_y=0.1756 right_z=0.1503 right_yaw=0.6345 right_pitch=-0.2804 right_roll=0.0749 right_gripper=0.076 state[joint_eff]: [0.6632, -12.9299, 5.5316, 0.1294, -0.7155, -0.1148, -0.0122, -0.335, -7.8974, 6.8855, 1.4676, -0.2418, -0.0611, 0.5006] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.13,"left_z":0.035,"left_yaw":0.65},"note":"Turning the tool shifted the left arm outward more than intended; the cap is now left of the jaws. I will correct back toward it and lower cautiously."})
tool
executing move_to over 8 steps (0.8s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThis turned pose is not tracking downward reliably. I will return to a comfortable orientation and approach the cap from the opposite tool direction.
move_to
left_x0.4100left_y-0.1800left_z0.1200left_yaw-0.6000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7498, 2.207, 1.6447, -0.775, -1.0248, -1.4322, 0.6989, 0.2958, 1.6215, 1.2144, -0.4721, -0.2672, -0.1989, 0.0754] state[eef_state]: left_x=0.4372 left_y=-0.1959 left_z=0.0872 left_yaw=0.7433 left_pitch=0.0381 left_roll=-0.1036 left_gripper=0.6989 right_x=0.402 right_y=0.175 right_z=0.1487 right_yaw=0.6351 right_pitch=-0.2864 right_roll=0.0769 right_gripper=0.0754 state[joint_eff]: [-0.294, -12.7795, 7.8838, 0.5397, -0.8132, -0.0806, -0.0171, -0.212, -7.8838, 6.8718, 1.4139, -0.1685, -0.0562, 0.2906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.18,"left_z":0.12,"left_yaw":-0.6,"left_pitch":0.0},"note":"This turned pose is not tracking downward reliably. I will return to a comfortable orientation and approach the cap from the opposite tool direction."})
tool
executing move_to over 9 steps (0.9s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe cap is still on the table and clear of the gripper. I will continue turning in the easier direction while holding above it.
move_to
left_yaw-1.5000left_z0.1300left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3351, 1.6192, 0.8253, 0.0109, -0.0948, -0.4953, 0.6989, 0.2958, 1.6226, 1.2114, -0.4789, -0.2668, -0.1989, 0.0778] state[eef_state]: left_x=0.4049 left_y=-0.1195 left_z=0.0697 left_yaw=0.0075 left_pitch=-0.2364 left_roll=-0.2819 left_gripper=0.6989 right_x=0.4001 right_y=0.1744 right_z=0.146 right_yaw=0.6359 right_pitch=-0.2969 right_roll=0.0805 right_gripper=0.0778 state[joint_eff]: [0.1846, -9.1419, 8.294, 2.337, 0.1245, 0.2759, -0.0122, -0.0889, -7.9932, 6.9265, 1.4481, -0.149, -0.0415, 0.7155] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":-1.5,"left_z":0.13,"left_roll":0.0},"note":"The cap is still on the table and clear of the gripper. I will continue turning in the easier direction while holding above it."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe rotation is lagging substantially, so I will use a smaller turn from the measured pose. The cap remains visible ahead of the fingertips.
move_to
left_x0.4100left_y-0.1800left_z0.1000left_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]: [-0.3473, 1.6115, 0.7334, 0.2146, 0.0826, -0.2707, 0.6989, 0.2958, 1.6226, 1.2095, -0.4843, -0.2672, -0.1986, 0.0777] state[eef_state]: left_x=0.3981 left_y=-0.1558 left_z=0.0741 left_yaw=-0.2818 left_pitch=-0.1115 left_roll=-0.2547 left_gripper=0.6989 right_x=0.3987 right_y=0.174 right_z=0.1444 right_yaw=0.6367 right_pitch=-0.3036 right_roll=0.0835 right_gripper=0.0777 state[joint_eff]: [0.3487, -8.2393, 6.6667, 1.9805, 0.0415, -0.0024, -0.0073, -0.1573, -7.8701, 6.8444, 1.4139, -0.1587, -0.0366, 0.6862] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.18,"left_z":0.10,"left_yaw":-0.8},"note":"The rotation is lagging substantially, so I will use a smaller turn from the measured pose. The cap remains visible ahead of the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe left gripper is now above the cap but still oblique to it. I will make one more incremental turn and refresh the right arm’s raised holding pose to counter its gradual sag.
move_to
left_yaw-1.0000left_z0.1000left_roll0.2000right_z0.1900right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2195, 1.7325, 0.9642, 0.0116, 0.2924, -0.0635, 0.6989, 0.2958, 1.6234, 1.2076, -0.4911, -0.2668, -0.1989, 0.0784] state[eef_state]: left_x=0.4332 left_y=-0.1452 left_z=0.0814 left_yaw=-0.4436 left_pitch=-0.1663 left_roll=-0.2406 left_gripper=0.6989 right_x=0.3971 right_y=0.1735 right_z=0.1423 right_yaw=0.6376 right_pitch=-0.3127 right_roll=0.0863 right_gripper=0.0784 state[joint_eff]: [-1.3744, -9.5658, 7.3778, 1.3114, 0.4908, 0.2711, -0.0122, -0.0889, -7.8974, 6.8444, 1.5214, -0.1832, -0.0415, 0.3785] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":-1.0,"left_z":0.1,"left_roll":0.2,"right_z":0.19,"right_pitch":0.15},"note":"The left gripper is now above the cap but still oblique to it. I will make one more incremental turn and refresh the right arm’s raised holding pose to counter its gradual sag."})
tool
executing move_to over 16 steps (1.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe last incremental turn tracked much better. I will continue toward the cap’s axis, keeping the fingertips above the table.
move_to
left_yaw-1.7000left_roll0.0000left_pitch0.1500left_z0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1459, 1.7664, 1.0782, -0.2073, 0.4755, 0.6907, 0.6989, 0.2455, 1.4418, 0.8421, 0.0612, -0.3985, -0.1192, 0.0784] state[eef_state]: left_x=0.4248 left_y=-0.1405 left_z=0.0846 left_yaw=-0.9391 left_pitch=-0.2033 left_roll=0.1344 left_gripper=0.6989 right_x=0.3921 right_y=0.1726 right_z=0.1658 right_yaw=0.6384 right_pitch=0.058 right_roll=0.0983 right_gripper=0.0784 state[joint_eff]: [0.4171, -8.4171, 9.5385, 1.3797, 0.3932, 0.188, -0.0122, -0.6769, -8.0889, 6.7214, 2.1172, -0.2466, 0.1148, 0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":-1.7,"left_roll":0.0,"left_pitch":0.15,"left_z":0.1},"note":"The last incremental turn tracked much better. I will continue toward the cap’s axis, keeping the fingertips above the table."})
tool
executing move_to over 12 steps (1.2s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe cap now lies nearly along the left tool’s forward axis and is centered in the wrist image. I will lower and advance toward its middle with the jaws partly open.
move_to
left_x0.3970left_y-0.2070left_z0.0120left_yaw-1.8500left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.033, 2.4069, 1.9469, -1.2568, 1.0706, 1.7336, 0.6989, 0.2424, 1.4448, 0.8333, 0.0563, -0.4011, -0.1173, 0.0792] state[eef_state]: left_x=0.4441 left_y=-0.1368 left_z=0.081 left_yaw=-1.6253 left_pitch=0.0763 left_roll=0.0086 left_gripper=0.6989 right_x=0.3901 right_y=0.1712 right_z=0.1599 right_yaw=0.6362 right_pitch=0.0429 right_roll=0.1077 right_gripper=0.0792 state[joint_eff]: [-0.1162, -13.8051, 6.5846, -0.6422, 0.7204, 0.1783, -0.0122, 0.0205, -6.4889, 7.3915, 1.746, -0.1148, -0.0659, 0.5641] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.397,"left_y":-0.207,"left_z":0.012,"left_yaw":-1.85,"left_gripper":0.4},"note":"The cap now lies nearly along the left tool’s forward axis and is centered in the wrist image. I will lower and advance toward its middle with the jaws partly open."})
tool
executing move_to over 7 steps (0.7s)
step 195
top_cam
camera top_cam step 195
assistant
agent noteThe cap has entered the fingertip region and is no longer visible beyond the jaws. I will finish the short descent and close gently around it.
move_to
left_z0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1276, 2.4722, 1.8275, -1.1614, 1.0512, 1.8198, 0.4022, 0.2424, 1.4448, 0.8333, 0.0559, -0.4011, -0.12, 0.0824] state[eef_state]: left_x=0.3994 left_y=-0.2022 left_z=0.0233 left_yaw=-1.8298 left_pitch=0.0668 left_roll=-0.0066 left_gripper=0.4022 right_x=0.39 right_y=0.1712 right_z=0.1598 right_yaw=0.6376 right_pitch=0.0427 right_roll=0.1055 right_gripper=0.0824 state[joint_eff]: [-0.4581, -11.3436, 4.4513, 0.0269, 0.5739, 0.2466, 0.0708, -0.335, -6.2564, 6.735, 1.6777, -0.1636, -0.0611, 0.3199] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0,"left_gripper":0.0},"note":"The cap has entered the fingertip region and is no longer visible beyond the jaws. I will finish the short descent and close gently around it."})
tool
executing move_to over 5 steps (0.5s)
step 200
assistant
agent noteThe cap grasp is empty again. I will lift and withdraw along the tool axis to uncover its exact position rather than closing blindly.
move_to
left_x0.4150left_y-0.1450left_z0.0850left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1307, 2.5015, 1.8133, -1.1137, 1.0443, 1.8145, 0.0117, 0.2424, 1.4448, 0.8333, 0.0563, -0.4011, -0.1196, 0.0845] state[eef_state]: left_x=0.3994 left_y=-0.2029 left_z=0.006 left_yaw=-1.8317 left_pitch=0.0596 left_roll=-0.0079 left_gripper=0.0117 right_x=0.3901 right_y=0.1712 right_z=0.1599 right_yaw=0.6374 right_pitch=0.0431 right_roll=0.1057 right_gripper=0.0845 state[joint_eff]: [-0.0068, -11.5897, 4.3966, -0.0317, 0.5201, 0.0513, 0.8327, -0.1846, -6.2838, 6.8171, 1.6728, -0.1832, -0.0464, 0.2076] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.145,"left_z":0.085,"left_gripper":0.65},"note":"The cap grasp is empty again. I will lift and withdraw along the tool axis to uncover its exact position rather than closing blindly."})
tool
executing move_to over 7 steps (0.7s)
step 207
assistant
agent noteThe left arm is no longer tracking the attempted retreat in this orientation, and the cap has not been secured. I will move it toward a less twisted pose and lower the held pen back toward the table rather than attempt an uncontrolled insertion.
move_to
left_x0.3700left_y-0.1500left_z0.1500left_yaw-1.0000right_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]: [-0.1307, 2.5076, 1.8095, -1.1072, 1.0485, 1.8153, 0.6462, 0.2424, 1.4448, 0.8333, 0.0559, -0.4011, -0.12, 0.0868] state[eef_state]: left_x=0.3988 left_y=-0.2032 left_z=0.0032 left_yaw=-1.831 left_pitch=0.0641 left_roll=-0.0101 left_gripper=0.6462 right_x=0.39 right_y=0.1712 right_z=0.1598 right_yaw=0.6376 right_pitch=0.0427 right_roll=0.1055 right_gripper=0.0868 state[joint_eff]: [0.2256, -12.4103, 4.8205, 0.0269, 0.5299, -0.0171, -0.1441, -0.3077, -6.2427, 6.9128, 1.6777, -0.1783, -0.0513, 0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.15,"left_z":0.15,"left_yaw":-1.0,"right_z":0.02},"note":"The left arm is no longer tracking the attempted retreat in this orientation, and the cap has not been secured. I will move it toward a less twisted pose and lower the held pen back toward the table rather than attempt an uncontrolled insertion."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteThe pen has been lowered to the table, and the cap remains separate. I will release the pen and withdraw the empty left arm.
move_to
right_gripper0.6500left_x0.2900left_y0.0000left_z0.1900left_yaw0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0803, 1.5307, 0.9001, -0.2573, 0.8345, 0.8627, 0.646, 0.2424, 1.8561, 0.5785, 0.6426, -0.4004, -0.1196, 0.0886] state[eef_state]: left_x=0.3504 left_y=-0.1559 left_z=0.1335 left_yaw=-1.2082 left_pitch=0.0181 left_roll=0.1167 left_gripper=0.646 right_x=0.3807 right_y=0.1688 right_z=0.0102 right_yaw=0.6366 right_pitch=-0.0307 right_roll=0.1359 right_gripper=0.0886 state[joint_eff]: [-0.3487, -6.5573, 6.4205, 1.4872, 0.2906, -0.1734, -0.0366, -0.335, -7.9795, 3.8906, 2.1026, -0.1636, -0.0708, 0.1783] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65,"left_x":0.29,"left_y":0.0,"left_z":0.19,"left_yaw":0.0,"left_pitch":0.0},"note":"The pen has been lowered to the table, and the cap remains separate. I will release the pen and withdraw the empty left arm."})
tool
executing move_to over 14 steps (1.4s)
step 231
assistant
agent noteThe pen is released and resting on the table. I will park the right arm clear of both pieces.
move_to
right_x0.2950right_y0.0000right_z0.1900right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1005, 0.7902, 0.6048, -0.3935, -0.0502, 0.0933, 0.6459, 0.2424, 1.8694, 0.5701, 0.6636, -0.4019, -0.1215, 0.6474] state[eef_state]: left_x=0.2923 left_y=-0.017 left_z=0.1787 left_yaw=-0.1183 left_pitch=-0.012 left_roll=0.1161 left_gripper=0.6459 right_x=0.3791 right_y=0.1686 right_z=0.0064 right_yaw=0.6389 right_pitch=-0.0309 right_roll=0.1355 right_gripper=0.6474 state[joint_eff]: [-0.4034, -1.6889, 9.8393, 1.7411, -0.0415, -0.0415, -0.0171, -0.212, -8.7043, 4.8889, 1.4676, -0.1832, -0.0317, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.19,"right_yaw":0.0,"right_pitch":0.0},"note":"The pen is released and resting on the table. I will park the right arm clear of both pieces."})
tool
executing move_to over 15 steps (1.5s)
step 246
assistant
agent noteI picked up the pen, but could not secure the cap after it rolled during alignment. Large tracking errors in the rotated left-arm poses prevented a reliable approach for capping. I returned the pen to the table and parked both arms clear; the pen and cap remain separate.
give_up
hindsightFor these small pieces, verify cap position after every approach: fingertip contact can roll and translate it substantially. The left arm tracked poorly at positive yaw around +0.65 and stalled near yaw -1.83; returning toward yaw -1.0 with shorter reach restored lifting. The right arm successfully held the thin pen with an initial gripper reading near 0.05, confirmed by lifting.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1043, 0.7975, 0.6037, -0.4191, -0.07, 0.0723, 0.6459, -0.1001, 0.8101, 0.5838, -0.3183, -0.189, 0.0242, 0.649] state[eef_state]: left_x=0.2893 left_y=-0.0143 left_z=0.1711 left_yaw=-0.0942 left_pitch=-0.0447 left_roll=0.1098 left_gripper=0.6459 right_x=0.3009 right_y=0.0067 right_z=0.1807 right_yaw=0.0419 right_pitch=0.0148 right_roll=0.1206 right_gripper=0.649 state[joint_eff]: [0.2803, -1.6205, 7.4051, 2.0147, 0.1538, 0.1343, -0.0122, -0.4034, -1.812, 9.5248, 1.7363, 0.0122, 0.2466, 0.1587] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up the pen, but could not secure the cap after it rolled during alignment. Large tracking errors in the rotated left-arm poses prevented a reliable approach for capping. I returned the pen to the table and parked both arms clear; the pen and cap remain separate.","hindsight":"For these small pieces, verify cap position after every approach: fingertip contact can roll and translate it substantially. The left arm tracked poorly at positive yaw around +0.65 and stalled near yaw -1.83; returning toward yaw -1.0 with shorter reach restored lifting. The right arm successfully held the thin pen with an initial gripper reading near 0.05, confirmed by lifting."})
tool
give_up: I picked up the pen, but could not secure the cap after it rolled during alignment. Large tracking errors in the rotated left-arm poses prevented a reliable approach for capping. I returned the pen to the table and parked both arms clear; the pen and cap remain separate.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.03 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3801, -0.0196, -0.0254, 0.9994, -0.0185, 0.7902, 0.6102, -0.3737, -0.0196, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0016 right_z=0.1852 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4291, 10.5504, 1.7656, -0.0611, 0.0708, -0.0757, -0.6496, -1.0462, 9.6342, 1.8095, -0.0708, -0.0122, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3d6e0f7cdc09f23aa07db69cbaf0bfb0224297da240f31aab6b9a9c0431417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e87547469734269ea5daa28a93926dc9aa450f561aff3eaa391d2fc22004004e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6193ec3666841d29270e2004d28066780162fe4f6f1837f77d3697c9ec26ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 9.475 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4HrsBpc-SYkS-pk3_bq71kZecip-bcUyTfy93Osu715l_jmBdIJlAJAXKPSSvPeMy9rtnkF8b3U8t9_x6DzHosNPjpv5IPziqrE4Xw0Po24ggRIdF0Js5aW2jfcdww5ULINeK5BePn9SwzPJCT0hRfu84bNZ8n26ZqhDNt4R780TjilXF1r4wIijgXEMyWhuG-Y5jVen9FOVmgdfhFeyn7Q2axiLEKJZO4de6yrMNsyPQK_ikSJesZD_5vz-tkY--9485L7mOTOJalukjUEkIMelh2Jfo5JgSSWYILA5na3GMr-1tcwmh994q6Qnu6twozrvcXRp_LrSA4yvHMrBTVhg9U7D9ZyTsNX9qa9DwBwgl7XSdm1CN5rkBr-wVGVPTBzvBfYKF2mw48CIVvY7c8lbnOZTjBL5xyKR8mVIAQAVrPTaufPn0abinzJHVpfRhjY9rEUs0Ne2lXue8nfxBmaCP6fdXRuv4BCUd0EQkPczaIq-4MTe6eL0nSlx5WuzOmKHBXay2XuvTkwq2Uo4B2ILAeZcNhDH4H54Wng0JwCtgPz7PSFIhNuba-Xv59Rxc7nN4W24po0sCpXTGosd1b_lvTUdQafsIp0gDDWFx9ByaFjInSWvcawgeGmhGfVHsyoBAEerafhAx-S4LPA2zJvdSriAtCT7IXBVhrjBnyhX_wJHT82jcPUWpLrVhS-MbyL8Rlp-EiwOfXg_5NuA40nfAzY8Az_T3AO9Y6oZqADEr0jmJ_eYzZevxgErx4o_4ahwxlfwozW8ecrLxScTjvWpHFVILdpB4IkjeRgbhfxB0UeAFJfSN8KBQUaT8vPcECRawrePuQSprWsSK7ebusRLh3iAUQT5YIiZKil-2BjT9wQaCk84X1_dEXMsmWqktjaU_tTkkMFTDugp3zF17LKSgHmjE7o4JZOj2_q4dHjL_wtTw0v4Hmi_K-xP6FSsjJgNozRQgoi0dFQ8tLi5xAwQ7U-cMs6veNUfBN1nm64SiAWfHrlpszK86J1KPA_dnhX1YGDfpTzWnLZ2v5kuqObk4Wjac48K7lBKy7VMyzZsiNZOSPVK3BC8-s8vnaWfOTy5xR--LIRsEPaOxmTABhE-8WaMehHw54Re19gCg2-T0qQxki_dcTGcfSkgJl_nkYw5EHrtP1-7fdvVpy3RGBjv8JDC3D-6__8BACaWDjOFGDdpaHOK-Z4nEB6BXILHbsplD-To3I11tm_C0JZj-6rFf7mEzaZkPvepWTFMESicyBdcNcNOpGmfv1WBLDRJQeY913uxd5qiKFENgKGfch7wGhNAIiQRSMjYau0S4iBVBB1v7CJ1Ur6gePYnDwRXxa8LkXHhAfiGpccq6-piDiXQ81Fc0xH-_vIW32zzMZO85_k8zSwqmzB9CW27eu7IhI8jxgwY6mBV27NGT-3AGT_AwsXxnClWtld98O6WnX5Jk8n8SjSpGzEXWUDsS7-HqksT9BBpkko4fVJQ5fo-snAHe0AvIhyxIUA_c-oSaRCJIKsLu4iaBlW_JjJnoyAsOWSp2yIA9VfuPb0TIh_LrntBnsqhGR-mM9M_ha4L1SXbZylc8O7UfgMrjQlYGb56d1dr6StrtmyRMQ2QXBxUx7Mgk3LC7cV8ht_bVh0Rk6vxDsfn-vlJwuYctpr4B8h_C9ka_ETA0dWoVFHZ54hGcdAX94yEvNm5I-J2kxvYDSkkdAyZVVpQNCMj2vutum23UXRCUI1DI3PPaouX9TVOvkaCP-9OhISakSmKbwh5c12nYUiXMXjwGl3uvd4s5pysk5HyS47c0Lz9leyEXXD4YkBA==",
  "id": "rs_08835754307ae780016ab2adff639087d09eacf839c9df6d29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.21,\"right_z\":0.13,\"right_yaw\":0.65,\"left_x\":0.294,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The pen lies diagonally on the right half of the table, and the separate cap is to its left. I am positioning the right gripper above the pen, with its jaws oriented to grasp across the barrel.\"}",
  "call_id": "call_V6XATFPcwmeQxBM1t656XByg",
  "id": "fc_08835754307ae780016ab2ae0492a087d0b3786ef757ace071",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V6XATFPcwmeQxBM1t656XByg",
  "output": "executing move_to over 18 steps (1.8s)",
  "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]: [-0.0231, 0.7994, 0.6067, -0.4324, -0.0231, -0.0284, 0.9994, 0.3931, 1.5234, 0.7895, 0.0986, -0.1894, -0.1253, 0.9993]\nstate[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1691 left_yaw=0.0019 left_pitch=-0.0541 left_roll=0.0006 left_gripper=0.9994 right_x=0.3792 right_y=0.1971 right_z=0.1118 right_yaw=0.6143 right_pitch=-0.0687 right_roll=0.012 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -1.5658, 10.0171, 1.7607, -0.0708, -0.0513, -0.0122, 0.3214, -6.7624, 8.4855, 1.9463, -0.1441, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c42d6a35b675a83e937d938fcbb3e15e7764c59b251d01d31b1b42a54c4fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b84d182072722450e6a2e77f5273b544098afc98d268336f1da1db4f78b086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e0891e81b8715d5f154be28d6eeff4e41e35c26d94388da334e3559084382d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 9.048 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6018, -0.3801, -0.0196, -0.0254, 0.9994, -0.0185, 0.7902, 0.6102, -0.3737, -0.0196, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0011 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0016 right_z=0.1852 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4291, 10.5504, 1.7656, -0.0611, 0.0708, -0.0757, -0.6496, -1.0462, 9.6342, 1.8095, -0.0708, -0.0122, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4SWsj_R1e1PyO_dZOFkhbTIsGPrzqaKt4rNsiat1e-6yGGMpGLxHft39nDczoapI1ZChUyB8YcuQHxrOmM2JEx_76FwG-5QR1S6VjvbY3-O0bjstKo-rdEzcCQr9-dfFcCNiDZp92ln6Ui-CFOjabeRClfCDG_nW_S3bJz6v5HRITgRop_NGbrKwbFw8ZuRF1SC_18Bt7IXvwc4pmpAaUSpACqXY772Br0WmQKmXX6bRH5I6H0JY5i4yfUp-q_57m2WiEiXcRt4Pd_BnOVWyZfDxk4CAp1MXRAdE3kGUqFLGF82iXAo92gTKXKG09Y7Tdrlk6eWo2PwDZbXq5eUqHmtId5annrTg8i2xw96R0G-_2w4U5VqCGEayMeBaKyfVb9n5D8BGZqbMS_RoPd4jH0uewpO8C3xP74SkgTiuu6zqX-iE8e_PFnM1f4LWSOhvVGgaBuT6DUdV-z0h9Ji9V8nHaG6tdMFpK0NhN34vfNTlANmpxKQ7l_D7slFjxEutUnUmMXVmFH4wGY9umJszU1SWoic-Pxs0KTbwVcjcYI1yVzPGyiA_UHx8-PH7_Atq25UcgvHUzyeRJ-ofKx_JlWWVfuOOrscLD3ntCgt03g5gtv2szFVURz1EjYg96r9nLb-mZFwllWHzgfRXBwhN_WJfI0gr6n9OdOJsT79SNaI-KsiBRx2CNgey6P4vto3k8qlBwVz9ZhPe11MVUCZi0gKL1gjuYETokOWZNX7DHh6nAO_mqSVQv8njn0DkkB3PLDgfL8nv55g7iySDrnUeebnZofM1lqCjoQkQmM1no3Oon4gK6XYk-RFPnQtHhXAzXVhbqz9OGgTYbfVcSwYI-2BLJnYpwQdcM-XWmyuuBuTDkYhg3LmOVjN1hZH41exHzfmVgn86kyLChLKO5NSBfaZToggtot8W-y5sc8IZmGhBjMMrg7dFT-I1tUZsz1g3f8o8eRozmxcx0hEGBdyyol36j3JV30LfScDTG1Y6ZfVZpdr0WPZwifrapdKUVuXc2N0hIsIMYTWkxR_AH8i4XaBqq0g3TYQdDdv3k_aoduawK-M9WGuViW0nUboMnDrq4gn1lJ3IRNz_m_8eweai_0pO11eKSl7bTCEI2GaJ1B6nnOIQeEjR3Y5ZKrNs9svBsSl_u7jFrSI0mTshf1VIbmarHc84KBGr897vmk5mu0vP8q9lqNpAgTZDNVDZ8bYbp6_ddRL_Xgho8wOoXCw-9O4ufMtkSmYGZZQOyZvaySsd3tBs3TZwNFMXCbG1NA9JhIStjDnRPYgibKyd0qTefRp1UaM_FPET1e17dAqoB9EiwijQcdRgnSz1-YMTPndFbNTsapMTM1jrNTQnIGUJGy_xtCXxNVqiCLsvXpOR-1Q9ICsXyqP57itzmvNenmZQR2L1EIjSRcRXkIkiXzdcb_liD3MaTSQr5htkB7cs7F4dluBERRbMbOebopK60AJd80w9IUgYX9P3WJde2K8dgXkpuejpcuR4nySggbHFyzwFbg9MVCet3GsqrZ_Y5FFf2noqZE1uVFsTUuVIuVn254UQ==",
  "id": "rs_08835754307ae780016ab2ae0d7db487d0b79523e6cd88bf23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.22,\"right_z\":0.012},\"note\":\"The pen is visible along the right gripper’s jaw column, with its barrel extending toward the bottom of the wrist view. I will lower around the barrel with a small forward correction.\"}",
  "call_id": "call_izSOFHE84popcTeaKFLpkP07",
  "id": "fc_08835754307ae780016ab2ae106cbc87d0a664a5390d197c87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_izSOFHE84popcTeaKFLpkP07",
  "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]: [-0.0231, 0.8051, 0.6056, -0.4389, -0.0227, -0.0288, 0.9994, 0.421, 1.9026, 0.7429, 0.4664, -0.173, -0.1219, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.0675 left_roll=0.0004 left_gripper=0.9994 right_x=0.3939 right_y=0.2136 right_z=0.0051 right_yaw=0.6277 right_pitch=-0.1276 right_roll=0.0172 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.5111, 7.0906, 1.7216, -0.0366, -0.0611, -0.0122, 0.5402, -8.3487, 6.3658, 0.9744, -0.0904, 0.5983, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b9479495e18dca87a9dd5eb86fe106df9a16582fa73dcd2690ff5726a5b248",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462a240bf72ec13a6663089128dc43c8c34ee99bfdf4dbe09a0ea3462857138f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b883044cd8b90a1f56242456f7da160ddd1a810c6749b450bed9481e4327ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.549 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]: [-0.0231, 0.7994, 0.6067, -0.4324, -0.0231, -0.0284, 0.9994, 0.3931, 1.5234, 0.7895, 0.0986, -0.1894, -0.1253, 0.9993]\nstate[eef_state]: left_x=0.2882 left_y=0.001 left_z=0.1691 left_yaw=0.0019 left_pitch=-0.0541 left_roll=0.0006 left_gripper=0.9994 right_x=0.3792 right_y=0.1971 right_z=0.1118 right_yaw=0.6143 right_pitch=-0.0687 right_roll=0.012 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -1.5658, 10.0171, 1.7607, -0.0708, -0.0513, -0.0122, 0.3214, -6.7624, 8.4855, 1.9463, -0.1441, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4cAnXve6IJHCzTEUceftKhVORJgzcBPK5dqfKFyUeDV8BCT-rNgqWcSqD9OyLAJJNFpXDiNaETuSz6fG1xHQBnCqkAq2Dvk2HrHSjbE_3Bm_2BY_BMjUETzL0HYynssGZhga4jOnNNJgOONUNWcvod5hiOG4RuzZy8YwbYgPMiqbXW7jgokjgBoazaNbrzJ5h4-LxlfLiVh0G0hq7B2edQl8lRaIDXsjMq3mFNIaBhrmIa_lkQbzcqnwBcJ6ePnB4uVBTX0sNsAzsp2qRaJOFDJDzpG86DnQqH7r6KyxRYgrbKuKZeZmnOz3P8l-EOyadD7xd5TbNTsDFhKfJb-_EY2Ut8hDcZbv0RTxYBkndI-QZlp828q2rHP4HIqrRVuEEs4HbuBDl3g8kNvfWrl3VETCSv87KbkZkWatuT5pXLt0bs9TnXqMnjRkInDhHszd7lfHyDacuBidpfUtfSfWnkTB9NWvjgsA4U7_WskcguzYd_AQ-J44zpS_N9cXY2w6KopDk3EChHl3heQKB7sFOifzQdHjfNPsc4niiT0wqLyODP201xedoMXuNWsVje9hUw1MAdO3pk5clJGge3qxqIesEseC1QPXuI-GZEyIbTYt7L-_GfP65z6jBhXc2jMPF4gD7HG03_pOf1CaTVL-zmKo4bHW55FX2XvAXXgPYi6wGT5jPNUSWYKPhsWKDCs2QxLZ3e0oCxe1fzGRM1aYFlbL5Pvy-wb2n4oD7xAR5QLOUp397ETlmmt40BkwvHesCacy7ZeLYrk-JDq3e7avlBxvpxOXo9QYS3KyBDEQZpfHVwrG-spE1vcNx0AXDe2Q_Bb-FQNrWSh-vj9cBWr1I1KJW6rmgvKwuhX3ZaNIPTMQ2aaTQNwmOgTC2ZnQUlRZkZCim2kt911KUeEZM4Gk_nSa8PcCbQ5TU6Qe5XQje2RN5tn0RSldYUJQ0Sdn8CBPW84ywape7VA5yRrV-oozaFbOY9g-EHwNr8Q0dYxSKpRLXG9JPxwN-n8zD8j9MwRnHyNxs6DomXZg73Ya5l3k7uuwctOYZ27R1KmraWPS7if17XIepWrFyWnBCDbEevDcngtFnxNa_IRALUAFJCvQeeC9YjkuBrJXecg3kbPBWKI0tXJUtliMIEa1Qx6ki74CWzloJJvRgZjYFldhoiKBLKFCj7VQkytj1zzNi5RM8PZg-xcHahD8h1Bys9bCMPATPAqqJE5buCj21U9lFSXLwQuY2sm15_UEfeA5MlvFHrLRmtxxrllFJ2_vbut3KC_gzCfJSsemIBpulXHdWkR4RspzPTuOpMxPYF_qzJY0x1cj0pRu7ctcBltGy9J-6IvBJqPmjuefSAhqM6M8Don971sz-HKE93GO-eyt4n3JI1PsgZuUv5sE8f5oisxTzFMZRC0sdMJciE4bJhzLbVqXz4aR4rueGHwoUUAu41HACuj8_MD_S5ZehqZqa6RVPmDTyaDbpS5ot2VMVN9zbFOjijlV9xz5ljuQzhlyf-pwbu0lSZIE2J9S7-Svrav-e8z4vlGSPFEoVFdiWJEEKABKlv1wBuuRcoCWVw-_1GQYhiCgSSRPqwIkHjDEKVe3fJzOyYtgP0dYDJ5SdeF8JrLaNleFApiJ6FK9PqMU1N8JoT-bJPrbwjxcDCPtql1WczSDXaxa3uu4PHwVCGLcj96oCQ4Jwsi26q6sGPOyJ_17Jk2jo=",
  "id": "rs_08835754307ae780016ab2ae1556f087d087098e60c449614e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.417,\"right_y\":0.201,\"right_z\":0.005},\"note\":\"At table height the barrel is to the right of the jaw centerline. I am shifting sideways a little so the fingers close symmetrically around it rather than pushing it away.\"}",
  "call_id": "call_8xyWZTlZD4J7RVSCMcnc1YAi",
  "id": "fc_08835754307ae780016ab2ae1a1d6487d0985d5d55bca2d257",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8xyWZTlZD4J7RVSCMcnc1YAi",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0231, 0.8051, 0.6056, -0.4389, -0.0231, -0.0288, 0.9994, 0.3927, 1.9278, 0.775, 0.4671, -0.1989, -0.141, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1657 left_yaw=0.0021 left_pitch=-0.0674 left_roll=0.0007 left_gripper=0.9994 right_x=0.4055 right_y=0.2097 right_z=0.0059 right_yaw=0.6313 right_pitch=-0.1163 right_roll=0.0167 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.1692, 6.9812, 1.6532, -0.0806, -0.0562, -0.0171, -1.5248, -7.4051, 7.3094, 1.5653, -0.1294, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0737165493067a0a7312f49874163cedbb6d4fab1509b561f6189403b30000",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4bda549fbf6c6c95a8486d45ba754f27c497b6b86550937593919d5ecdee68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679d8550b15fb325b06298f06b31e9ea1ffe5eb8964f075a1ecaef5a0f162448",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.29 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]: [-0.0231, 0.8051, 0.6056, -0.4389, -0.0227, -0.0288, 0.9994, 0.421, 1.9026, 0.7429, 0.4664, -0.173, -0.1219, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.0675 left_roll=0.0004 left_gripper=0.9994 right_x=0.3939 right_y=0.2136 right_z=0.0051 right_yaw=0.6277 right_pitch=-0.1276 right_roll=0.0172 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.5111, 7.0906, 1.7216, -0.0366, -0.0611, -0.0122, 0.5402, -8.3487, 6.3658, 0.9744, -0.0904, 0.5983, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4hoXpIgquZdIWBRPG4DF68kHvE2P2eXPnjKKJiRhtdwrTbKFonSGoCyxgbYs_uwYyICXrQMDj8v92CqpSqGWniVc0bsL1WlpIayqZa82A08os8a140yEiLjQMKPMnbA0Iwbg3S4OO-vaxq9DedR02bbeuI3gWnFQeGmr4hW_6CVxhjcPRf6zNrzDyDmOF1_VCFDxLgkcAXTU4ZiCwVKfaeK9CXLxTVryJSmhFlN15iNZ-ViyLkLieT3g1fmi12Gwq6yc1SvaDU69ms5MuvA8LF0IVeP-ktJP-NCEFaf2AC4jkjTMdB1xZxhIGqOAcwXvNaeD9EIW6GDE-1h4Bw4PHqtBWu6-YECAOJAAYzicBGRZ86qcMGwVOtPxnomPADWqbdfFy7ITxDgmoWZ-Q2lR1ox2Yz6hddyz0hYUDXHlKA2lyyXRKRHe2BIDwHFESaX-Lw3F7ptXiy5UevqbRI37u6nca8XXHH02sWtRQNcmN8ytCvNyWsotP2XTx8WWeoxiNKeZVxBw14V8UvIz8Bz41c7q1B5_9XKjiRMTsd2-PuPczkax3KFdK6wG3iEiSkXsDUpyxHITVYnlmPOIVioox7-q__Vymc7pq9aZFIJmAJmBqbdpDGIw_FVBJkxZSaGjm1J8vSawWMFPQMgayDR68suxybRpZLjz_HWeOm2NkFgSK2G0lXh3Iq6FNqpi3ndj1txzyWdKYbRpnJcW-IO3EvLlmPS4MR3twUdmX2U-qVsBd_v9q0_1QBRizAfEGWGwNSSJWrbIyD8Q48ut2HlT3wuTODwmph13BaACVdti-FU1mQYn_5OOUVu0vDlY-_amxQKYP5ArHuVO3VzLYikaj7Sd4NhQ0cb6kwyWt0GOEfODLLksRBxyT9Wvm5lc_syIQL6YvGhD_YUmocinqNPbYl6HrpGaUJ-4XPMs0xyH_A9cWIczVz68X5B4casBEBb0hE24cOp3_ghJjMsDB5dYxfgrSRHE5Jx9Mo0Kwb_0LgEp-XObiAiH96GeX5smMIzBaQb0J6BEK6nM9xmOXtnW-iLaCCePz9QxOCeDp8FaEgSktX0po4iLH6WsC8HUQ8hx7yYMx_I3skbJQD-6nx9d6_a3xTxVgMhD8qq4TcF-oXVGd-vGJ2Pu2bkoEet_aZ0MKdAZckMtchT9ZneEQcEaxYLmgxA2afMbfHznFHPY-NqHUJBP8wB-lZKe2mUZEoMCBGAHFvUXiEl8bhXER--TMBYXnHsp9K2BWFjwAY4T7LteQ=",
  "id": "rs_08835754307ae780016ab2ae1e755c87d0923542bdb7bef879",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.427,\"right_y\":0.182,\"right_z\":0.003,\"right_gripper\":0.35},\"note\":\"The pen is still slightly right of center, and the last small motion only partly tracked. I will finish the lateral alignment while narrowing the jaws to leave clearance around the barrel.\"}",
  "call_id": "call_o6CMdJw4qU8UFhI6BUbH8FZO",
  "id": "fc_08835754307ae780016ab2ae1f300887d0958c73003fabe573",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o6CMdJw4qU8UFhI6BUbH8FZO",
  "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]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0288, 0.9994, 0.3019, 1.9503, 0.8043, 0.4488, -0.2653, -0.1989, 0.3554]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0021 left_pitch=-0.0701 left_roll=0.0007 left_gripper=0.9994 right_x=0.4224 right_y=0.1838 right_z=0.0044 right_yaw=0.6275 right_pitch=-0.1148 right_roll=0.0151 right_gripper=0.3554\nstate[joint_eff]: [-0.3487, -1.4291, 7.0359, 1.6484, -0.0855, -0.0611, -0.0122, -0.7179, -7.4735, 6.6256, 1.5849, -0.1441, -0.1099, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c761582038ef6f0b356f1825dc3b22b1491ee8cac1be5522d113480f02b38886",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f56e09349afef359e58b2426ecea19f003b0916d6df9430298ed8f1918ea724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1415fe3bc44f0205a95d2563f9222a65fc0ab3444b9df98255b38ee1ce2cb4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.679 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]: [-0.0231, 0.8051, 0.6056, -0.4389, -0.0231, -0.0288, 0.9994, 0.3927, 1.9278, 0.775, 0.4671, -0.1989, -0.141, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1657 left_yaw=0.0021 left_pitch=-0.0674 left_roll=0.0007 left_gripper=0.9994 right_x=0.4055 right_y=0.2097 right_z=0.0059 right_yaw=0.6313 right_pitch=-0.1163 right_roll=0.0167 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.1692, 6.9812, 1.6532, -0.0806, -0.0562, -0.0171, -1.5248, -7.4051, 7.3094, 1.5653, -0.1294, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4mAOW4fGbyvTu4avjQzb4MK-WlLPg7BHAsG_J6ZovdViAiFT2IQ6DDTn1Qzz0PhNO5vXrtFiaOyvRGKcZfI5LMgIc_5j5lmy3WoUqK49vlgxNpLo-Hm8Oqt1D8UChHLEcrYfPhS0npDxlwNodnhI2f27YLIflhfQgAQ7GUopJgRuvzkb2W5hz8LhaGomTOZCyMwlIeYjNCFzv062quP0iLNPzdhqXO5U-DbLTY9wf5Fo80FL8Ftivxcf3RxRX01WoKQxL-tpvMJLXBAA3PNJTPBp4XZ8Aye-Lf8-pK2_IaeUQeTw0Evlu_vw46wn3qF6zA-Q9wEOueCnuZKbqjWWKdi9hy54LCLb4mDZQ6ffiBl_xy7d1zqAX8mZXuTiylZOSodr3ijbK6pOj6-xkYTDQddLS73vs3f0P3rktUA7BdyTPGmuF2FUrbUrTR2JFevJFYM5_kQemQvOYeHDZ8dXius7-APNnb-AF6T_HM_BrhJzZ6dMBS8p8HFePeP_7drxaxeyf5ampiKcPEzUYbladUHijJrLi9y2iyc28aDT6Fms6o7z13AeIhMDmKtMTYpXO78p9-xGkFwiX5oxHujsm9JHNIJ3ZhcDa7muSStXwhEV_oWRHUm37ndqJYoCbYHaCDXCfuH7fiqNWfhrk6Yki2oZnQXBrGC6PaMYhLr4R8G81yEmNhYVbZvdmO3WZl65TpwfKi6VjDl8BoOPig9h-reM3ubKvYDatOoJMRUaVewbtvCL-_cIF5evSU0QPjSkLtEjwwK7FgQP8cthTqaoy8wWO_rmekWnye6rH-Kj_8cAH6QmV-CC4wnqJXT8tTnQntXpP77urmMXr5yc2YHfFwTrEcPRMT6YQFXXGTFEV-KJcuMVTpKtFtgY3BrYDvgC5auFQKgGl2iGaMg7Qq_agBFSHgLtOlruqrbVwFNMhOkc-ueu6xJ65ShhOPpOgPxY5SvqC_ZbYdz57nTtA7PoiP-AXkiTiIok7m0diwaON9q2ooIaWJQyoYBk7Fec6L2XbjzodD2YYda0hqyQNmc3-SVRvrJfVvoieIspYo2ZbDWtp71devP1XZ45qX4-_Urec74GK5xeD9y4gIDZeZVawgzau8DauiPuJwbo-XdWE9XHYWhfHQpmKviMPRkF58lCAbA_bQ-ab-ypMFBd1TGUWss3ZaJ2AWSlXOm15OtKOOG2Jeps0IiHRb1iDp2fSc_jsH",
  "id": "rs_08835754307ae780016ab2ae24e6f887d0bc1b12e81e7cc0d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The barrel now passes between the fingertips near the jaw centerline. I will close the right gripper on the pen.\"}",
  "call_id": "call_sR47tr8oCfnRXQ09YY6LCW3M",
  "id": "fc_08835754307ae780016ab2ae25459887d0911f7a67e5828004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sR47tr8oCfnRXQ09YY6LCW3M",
  "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]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0288, 0.9994, 0.2966, 1.9526, 0.8059, 0.4522, -0.2703, -0.1986, 0.0472]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0021 left_pitch=-0.0701 left_roll=0.0007 left_gripper=0.9994 right_x=0.4238 right_y=0.1826 right_z=0.0047 right_yaw=0.626 right_pitch=-0.1112 right_roll=0.0175 right_gripper=0.0472\nstate[joint_eff]: [-0.1026, -1.2513, 7.0085, 1.6874, -0.0904, -0.0415, -0.0122, 0.212, -9.2376, 4.7795, 1.5849, -0.0562, -0.0464, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89329d206c69056d27bfe22f8901b80c365ca42a80e753825d5a21c129aca1e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b83680a25fe36c13b07fdfe3725c13b1889d74dfc29dc2cac44fd43661b458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c435dcfa65a2d3d27a243c547d6f000f829bb46c8de835ef6a55780a4adbe4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 8.394 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0288, 0.9994, 0.3019, 1.9503, 0.8043, 0.4488, -0.2653, -0.1989, 0.3554]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0021 left_pitch=-0.0701 left_roll=0.0007 left_gripper=0.9994 right_x=0.4224 right_y=0.1838 right_z=0.0044 right_yaw=0.6275 right_pitch=-0.1148 right_roll=0.0151 right_gripper=0.3554\nstate[joint_eff]: [-0.3487, -1.4291, 7.0359, 1.6484, -0.0855, -0.0611, -0.0122, -0.7179, -7.4735, 6.6256, 1.5849, -0.1441, -0.1099, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The fingers have stopped just above the empty-closed width, and the pen appears centered. I will lift a few centimeters to check that the pen is actually held.\"}",
  "call_id": "call_JJEwiYf4o6e56Sp7JrORfd0Q",
  "id": "fc_08835754307ae780016ab2ae29fbfc87d0a06742fc97686652",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JJEwiYf4o6e56Sp7JrORfd0Q",
  "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]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0284, 0.9994, 0.2966, 1.8168, 0.8494, 0.2584, -0.2703, -0.1989, 0.0503]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0019 left_pitch=-0.0701 left_roll=0.001 left_gripper=0.9994 right_x=0.4205 right_y=0.1816 right_z=0.0441 right_yaw=0.6267 right_pitch=-0.1249 right_roll=0.022 right_gripper=0.0503\nstate[joint_eff]: [0.0205, -0.841, 7.0359, 1.6679, -0.0757, -0.0269, -0.0171, -0.3624, -10.2769, 7.8427, 1.5507, -0.1441, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f5f86d2aeecd012214db2abc5e1da923372f5710e8513ae506abd6b5ff9abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cbb57369b709e2a4e6d0bf25f2068613701b7473b71619f148c2d58c412732",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf1e1ec950fd06d4cf643bd8d31fea2a3799119fd590a35c767d6c6bf7126fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 7.143 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0288, 0.9994, 0.2966, 1.9526, 0.8059, 0.4522, -0.2703, -0.1986, 0.0472]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0021 left_pitch=-0.0701 left_roll=0.0007 left_gripper=0.9994 right_x=0.4238 right_y=0.1826 right_z=0.0047 right_yaw=0.626 right_pitch=-0.1112 right_roll=0.0175 right_gripper=0.0472\nstate[joint_eff]: [-0.1026, -1.2513, 7.0085, 1.6874, -0.0904, -0.0415, -0.0122, 0.212, -9.2376, 4.7795, 1.5849, -0.0562, -0.0464, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq40eX3BLbhj8ephZDR7D43xNuXFLQuXXYT7BEkB2S1bLj8AbrbRKp9xmLLap4_KMbvj3FWfg1hgyBmtuyYnxzpFiyA30jHZ7B518-chag_TDj2A-11NPefeyBY4Luj9md23lAxmSa20zl7zPVy64xBhZPzbzZ2kGr0FS13QArw0ouePmq88xhNrDjKhwG7FFA1iHqEepYAQ10TvX6hbvzJnXMMy3S5SrRVcW2ojsAwl83elnIbO9SR4SqriHSZH68Vo5rbqZxAdsVZC0n-IOao204tt73qOwJxLamSk0-q5YUqq6EsFsiyocs1qol__UJn-s0bhb2qv2tB2HVjQUCXyBvQ19pk3GamWvVfTJH2VT2-d0sjmDhL_nSQ-rcCHiAkPPSQZ1j7KJONyKAGPmzbgGP23Kbdkt2lMAnwom7fPOL5zlwf-TzPq2bZMM2IyklCo2BXMjKr868wt_z-uW-Kn01R72E9EpozMHH-fmNjLnrBFeNrPMcqtpOLAls7zccFiD9GjuV1rGnmqaS0Je0iW9u-ZJ-AlWbs_urvcNugWwQS0muByEpjbKobB-hKxtJMi3iOEEWwOvy2kcDQEPHpxCNn_Vbrmdp95IB5kuSQ6f9WpsU0aYG2dZonW9R3R3Y6uq-ZgtrSxYX_MzksSN7vAaRx4IzgT1XWdpl9wXSLOKn2yZOjkH5fCOx6CL-9_UgtnUdiEq-aTJgmb9N9uz2qiO2cirEONHpdMVMrm4LtZvtUyQKhQLBRk9UcjMEDe7VKNrRE_79w_FHBzm0miuV-bpstXgEjTnXL2tRzL0OL10ZPfg8vW8vJbKmmhJbEHkHeShUYnFSp6Oxrav1OIQK_qux9iJd9m5w8IiCNpeAIuvhGMsTdptDXYZMOEiqAn80R_kGwKv-1HsXi-rth4wGTQbbM9JXhTrV3YvSbqYJKtFmPhrsOGWFJ0HC09vJDrt67ElvW32LyXI7MWix0vxvDpaGjFbRWlR0FFVXG5dEpUZ0bf1TSS6bK6H3COlBjfFPRySlda2zpOF4zYcpXq82VuMvgV8H7a25o9mILytMlIAM-zRYD0LzTwybCl4xmoJUsTc6vv7eDCWDI_dYvog-W5Hi3pKLs1xYYqqO8SizOJTkPqcYwpcZvL3U14J6GV5jTvcSkSjpgyisptgSBa84PWKXQKOYTUmYIqbpk5R_032fNTRoQRwzHBF6a9pYugCQzCKlorSJ7niU1zHr3ecShsFMn2LAPiuygRvaycGvrOLcabXD8W2OaMwv4g52wSkLuEk6QTvRcmKo5FztnMd5-AlM10rqb-AGc-TpsQLVR3vqpZgvJQ8MiEwf1764-yEnR4mCJawvPcnm-XRlwwgO8YFQvhJdsiFfSppRCw-UST0rQhYQO2-VaIx3b6iVJz8cGa4p0hn50jnts3_L0rZRrJNdS0iDj0oZISYS-okFdadxJlAnVFOgeclbTd46-c2gNZr06zm1WaPQXHlx32QeT5IQdWSqpSWgo69Xa4oIPK5jnq7DemRoc__xhNXGAnHE8t",
  "id": "rs_08835754307ae780016ab2ae2f0a1487d0bf5dd75598d1eebc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.43,\"left_y\":-0.22,\"left_z\":0.14,\"left_yaw\":-0.7},\"note\":\"The pen stays fixed between the right fingertips during the lift. I will raise it clear of the table and bring the left gripper above the separate cap.\"}",
  "call_id": "call_XYfBzuuKjdbLkPAWoyP4NwmJ",
  "id": "fc_08835754307ae780016ab2ae32a5b087d09ba7b3d4a0bdfdc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XYfBzuuKjdbLkPAWoyP4NwmJ",
  "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]: [-0.3866, 1.6875, 1.0615, -0.1139, 0.2005, 0.1341, 0.9993, 0.2966, 1.6318, 1.1187, -0.2558, -0.2703, -0.1993, 0.0503]\nstate[eef_state]: left_x=0.418 left_y=-0.2043 left_z=0.1155 left_yaw=-0.6401 left_pitch=-0.1511 left_roll=-0.0255 left_gripper=0.9993 right_x=0.4172 right_y=0.1806 right_z=0.1406 right_yaw=0.6299 right_pitch=-0.1815 right_roll=0.0414 right_gripper=0.0503\nstate[joint_eff]: [-0.3487, -8.9641, 9.3197, 1.8632, 0.359, 0.232, -0.0171, -0.3487, -10.8786, 9.0872, 1.6777, -0.1294, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bc01a81f41f65064c58ed35dafa3b6479825a41c92a0c8e436d3b11c991923",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c48b02dd8794b98ff06bcea5f8e693911edca2b3f8e629a51c655a8d7ae3322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4137bd139e579f68e93a3df64a2cc0bed6875b66a99b852673304dc556c28f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 8.898 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]: [-0.0231, 0.807, 0.6048, -0.4389, -0.0231, -0.0284, 0.9994, 0.2966, 1.8168, 0.8494, 0.2584, -0.2703, -0.1989, 0.0503]\nstate[eef_state]: left_x=0.2874 left_y=0.001 left_z=0.1649 left_yaw=0.0019 left_pitch=-0.0701 left_roll=0.001 left_gripper=0.9994 right_x=0.4205 right_y=0.1816 right_z=0.0441 right_yaw=0.6267 right_pitch=-0.1249 right_roll=0.022 right_gripper=0.0503\nstate[joint_eff]: [0.0205, -0.841, 7.0359, 1.6679, -0.0757, -0.0269, -0.0171, -0.3624, -10.2769, 7.8427, 1.5507, -0.1441, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq497YsisVsD3jwR2kUcD2zgKHj_LzXpnAv_Vp_2K-fqLjQklHVUrkqDPWJ8bVykjtqPMw8AZ5sJ2aei35isWNKRm01GhLabv-Sw89OdxIUFoFbQNcV94ySm2_Kwg2mbTOQU7kChB2688nNXqw_WKdeVFbpcxwqxAuiv0OFC5rJfM2Qv9wDu_bS_9APHa6Zf2TV5nkJgJGv2g7w-orLBeoTO7sWpTxMbsg3JEI9DYhcbDZgGD3AEYE66p_8y21a2EFgUe9RrrTKU61eQd1xTTvNu7IX2nmTJ3CaNomTgvCaAMbsIJTBiQROwedIxcjjJC9b7az8Uz-gdxstvMhdxTBZMuoYvMo37NccOx9UrqX-gbxl909lTvbIB8Oc8qa1NKfQcaTYRbO9h0IhaCrXdo625_vHQf1z0dKBLwqibPqtL9WGO40Zl52gk5amfE0cAuNAnVce5dfy93dStSYkYsjOugM_jBB_DDtIU5wGrKustYsGhH3kuHTlx0jca6_RaJFecnqCiTmpZzC5rG-gDI8JlRG2sWj6il0TORdsumYWT-01j-mMhKSTdupvJ-QY2q2otyzpLTb7sLViuimGEbq8a7wQiGmogVcphrlKSoGcj1OvdekxtS8H5O4lsea8tSdf8w1jLn0Kwrq8ladi68903cs-ZNbjhtDRqtK9o1sS1XXE4dVcY26HpnleFXlJomIxNU4h259aJASpwjsV9xcObhi99bItvCl35rQUVv6V-PkIaHb6Zyjf9knjdpc5J4lB83I7ERPojWluJnWqk6aD-MKRKb_fTyXa6Mcnca32gEzba1TsaoDsykCKacOn6xDvwP26iZ5WCrkY-w3nKms_Kzt9TJZWp1eLpht8NEnAtbqchjpoFh1-D3bKdUjbiDZRMeShI-IrZINSWxmOyi4e4E_VlNNjGo3NNlwv_YFo08Z0lZ78w-yGvmUZehWNF18gi7v2e0VQnirAeODGearHVH_t4Hl_smCKz_A8EE6bJjFVJB9gTgtqgjKKNLI17k_vgCaMFD8HxPGjQuD0Dmt6C3NrUSqgiiw1hb2pnYCxYOt93QdzpWDYeL3ONhQROE3KK568aEfWw5g_QvwrhyxRm6o3oyJnLf2PfCUHpPiBO85V5FvinVRGfWBq5Gnj2b055YU744H3aM4zzqaG2sbbmCoJHtAWKeWLPuZJ61ASKRGg6RfIu7ObQJVhGr-AdrL2SXfEyz0s9L5I8NglGXyRQ576tlqaGSff7WbjejUxTxmS1M0zF6z_Z7ETEspE5SfbXhvNkaH33YfUwU5l-LAz5_16aIwmguMs6epJdSHUnCFG9K7YVYJTkuff7jDjN_fPNdsMsB9-8PZu0slOFiZxcfxDqJZDQI-cUH-EjgTPJP-rXgu0BeyLyojqIjAkaJmYPQSkHs5CeX2_WkECw7iKpZhXBE6gGaWkoL2yXRWJVmcS-RO0JBA29Bnk4FVypwBAQR-hXFgo1BSLulkymwD41mg==",
  "id": "rs_08835754307ae780016ab2ae38d43487d0b5b91befbe90f1a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The cap is near the bottom of the left wrist view, close to the fingertip area. I will descend above it before making a final alignment adjustment.\"}",
  "call_id": "call_6N1QzqZddD6l82yz17ZtTQvV",
  "id": "fc_08835754307ae780016ab2ae3b89b487d090d1c86f08499751",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6N1QzqZddD6l82yz17ZtTQvV",
  "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]: [-0.3885, 1.8851, 0.8867, 0.1944, 0.2066, 0.1329, 0.9994, 0.2966, 1.6188, 1.1217, -0.2783, -0.2703, -0.1989, 0.0503]\nstate[eef_state]: left_x=0.4073 left_y=-0.202 left_z=0.0148 left_yaw=-0.6495 left_pitch=-0.2121 left_roll=-0.0471 left_gripper=0.9994 right_x=0.4139 right_y=0.1796 right_z=0.1435 right_yaw=0.6301 right_pitch=-0.1877 right_roll=0.0439 right_gripper=0.0503\nstate[joint_eff]: [-0.0752, -8.5128, 5.3265, 1.746, 0.0122, -0.0366, -0.0073, -0.3624, -6.8308, 6.5026, 1.6972, -0.1636, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ba8f801642d15605a43982aa6833c9f17370cef0f8e7367df1398ba40c39359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60bd2b6648f3153bc66a51b2db8d085c48b12131962e0368f932e4a6c788646a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd4ff7d2ca3eb71f6bcc41cb464a6d904dee994969bdc6f826e77432f5566f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 6.945 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]: [-0.3866, 1.6875, 1.0615, -0.1139, 0.2005, 0.1341, 0.9993, 0.2966, 1.6318, 1.1187, -0.2558, -0.2703, -0.1993, 0.0503]\nstate[eef_state]: left_x=0.418 left_y=-0.2043 left_z=0.1155 left_yaw=-0.6401 left_pitch=-0.1511 left_roll=-0.0255 left_gripper=0.9993 right_x=0.4172 right_y=0.1806 right_z=0.1406 right_yaw=0.6299 right_pitch=-0.1815 right_roll=0.0414 right_gripper=0.0503\nstate[joint_eff]: [-0.3487, -8.9641, 9.3197, 1.8632, 0.359, 0.232, -0.0171, -0.3487, -10.8786, 9.0872, 1.6777, -0.1294, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5H4KJu4-Prjs1Wo2cFjOaAXpzMcbB0G1SaowwWDtGTsc5-OvgizDX0x7d4jJ5xb4Dfo7OmG8_6cSWOBqQjwF13tR-PXq7bsylrq5O_II7sNzkFM6vqHywJhBN353j0Dku0oQR-mdPRHsR0Ng2Jc_SPBQpiQJce0SHLRm6h0A3d9HsB97JOJs6fSl9XNqvYDUBlCUgiqT3aZtljH4P2tmjaBOa40cLf-rDtQ91iGM3dHLIAbb2aBb6BowO1XF-yDqVZwngtd9epbUs0bOXVvmApU75Km2RFOoi9NlPJJM62xtITHaaiSzEN6M9Avr3i9hN5v0-8cGi-o39h3lgLrb5vI279r29wTs8Twu9HEBbTkNjIR4QcvDOOaRTQdFfRMUaPuhRFkXq9kz_FJFpc-G-ZCOTUKYe__yiBtJRYVpvAHWiM_GCAcecBDAD8zUMDTl3C1aIngBuIdx2Jq47nmsK_L48NWuWrSEP871evd12fwWbQlF6bbNuLuWDpgxY3PYo8BFh92JRxTh9k6WzfZdLwurxWWMqjWDPP1XTQv38LKWdFS_l-Qr23CbWbfG9prnW8zgdZ1mtMLzChXMXnPerg--yzeLPMC8_PJ5VqDOWJ2KtX4i16CTxi4dg_-bwgjQ6o9ppktMZlKa3EN8uULXygR4ASeY8XGgTPB2exEbAfwXcKPE0aVYdzx4wiW7hQfGbX-RYfcgE5KQtqN2-4FWdYqZolKLo9-BS1IY_xdp1Xgl4mdvSMrwe14kDHHUkLg8D3rp1koVueCZdBLUqjfHBsJpv2GiZG7K9IpM2Rn0FICubo8gYKTtI3DZlbL4TZDhSp8oeSh1GJoN_op2mkP8PjdvtCyF3208RvdYNnSBt5Z3AYKJPCoVxikVx48vLJVxKEDmbyIounLh7ZJ1pPxZZwWaOiinKkpmpqklxWi1duOTb1moPlVcT9-s2BxMNGGyfNGS2mcy2GqmmlCQ4JOKh7HcCNLJiPjIbTb0qonZf56iCQj6Uc-X580DHLpb9J00_qWTlkjisfhD25hosz-tmbbyLuF97FAAWvSQdUxlEU3NtdU0VnVb77U9D2AJj-pvyKFRYK7eNIipFb9ezq5Rt-JAKt31Xm3T-5bTg_D2pYdJl_PVR5MANU6ts74BL0odOvAQfnVs5hUkfg8zMiwwPSq7bQbwMPBu8i-JIU6cIsoo_BuLG8AGcHMNEhUx4mjTzxK8Qt-JgaWyZaGPhgax4pjHkea9qoxPM1unu_Fou5Zliu9iY8UFFe73doItqM23F_g9QxlbWYNMg8BXdFJPkAb5Z5sa0gOgMwuivV2YjPLf-TME6mOP4FdMf4uCC_I9G0l-UWZMcxc6dCimQCUlnb9CL5CrfTQV_PxgIVpR1mUqord0qv-H02q1YcsBYGso69JrFSD_ipuvduvW7UIvrfwf9hUAAyXoe5TesyavP6V8wJgOdIZPCc5v3uJtKfj_J1ykKhLZKjem833qgX9XeBFGpl52d0nbF3OlUVXi0anumpr9_eqZmzTaDITaV33CaQl7OqAnsSQqwxMEftg0vyY8Mn2xG84ONJIho2Zh4Ya7uBuSqbv-dOmswEwpX3ku7oDRlvvxnPo7S9qqOs_bFtsh2OvRgUny92aO1dM0m3q6FOjXa9lKj_5z1SntmtReH6FT519Eh7MgtLgxyqt3NA1MtGggxZHmc2pvRmRO5oLRe76K3nQApCJ1FCTGj5zGg3-JoYeFo4LW9rY7Nb7Wlk0xr0N18TM70_SgqMOqSKncy9l6p_AtUFTYAuLyl-D1BVAACSlnfCEdUec0YAxCoSsA==",
  "id": "rs_08835754307ae780016ab2ae40ae1c87d0aff2aa68782ce70b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.439,\"left_y\":-0.19,\"left_z\":0.003,\"left_gripper\":0.4},\"note\":\"The cap is left of the fingertip centerline at table height. I will shift the left gripper toward it and narrow the jaws before grasping.\"}",
  "call_id": "call_sq21juFIYxuAXRi4rnUiZhUa",
  "id": "fc_08835754307ae780016ab2ae4555d887d08b1b82f3720abefe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sq21juFIYxuAXRi4rnUiZhUa",
  "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]: [-0.3271, 1.9747, 0.9638, 0.2016, 0.2222, 0.1604, 0.4056, 0.2966, 1.6234, 1.1175, -0.2859, -0.2699, -0.1989, 0.0559]\nstate[eef_state]: left_x=0.4356 left_y=-0.1851 left_z=0.0037 left_yaw=-0.6167 left_pitch=-0.2135 left_roll=-0.0398 left_gripper=0.4056 right_x=0.4119 right_y=0.1789 right_z=0.1385 right_yaw=0.6309 right_pitch=-0.2033 right_roll=0.0491 right_gripper=0.0559\nstate[joint_eff]: [0.2393, -8.0479, 7.4598, 1.3993, 0.3492, 0.1197, 0.0952, -0.335, -8.2803, 7.0222, 1.5751, -0.1587, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa3f58ae45f604278699beb2b0ded8f0eba8d2bd0e0d8de8c84399c605019c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f63a97ce7d96b9a508a683069191c69b54701e91c1ad1b0966612817068824f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622b4572f4d313e2751ca825303f73f7f2a23fcc6455fb18fcc82c653794b8c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 9.487 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]: [-0.3885, 1.8851, 0.8867, 0.1944, 0.2066, 0.1329, 0.9994, 0.2966, 1.6188, 1.1217, -0.2783, -0.2703, -0.1989, 0.0503]\nstate[eef_state]: left_x=0.4073 left_y=-0.202 left_z=0.0148 left_yaw=-0.6495 left_pitch=-0.2121 left_roll=-0.0471 left_gripper=0.9994 right_x=0.4139 right_y=0.1796 right_z=0.1435 right_yaw=0.6301 right_pitch=-0.1877 right_roll=0.0439 right_gripper=0.0503\nstate[joint_eff]: [-0.0752, -8.5128, 5.3265, 1.746, 0.0122, -0.0366, -0.0073, -0.3624, -6.8308, 6.5026, 1.6972, -0.1636, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5OetVi920lCtqcEbvb8mFhm2XmPknnHoujaQs9GagW1uDSJbmudRVCaYgwf926UiT9lmFHAbOqP16gqGwNbk_yBYXiEmfSOii7_RFZkSHYPbeUjZie6gaxMFBbWaX38MzwapXQszcDkCeGdC_GU9WGMAi41hU2CVNJpHjn66b4esCPCYuUxvG69H3sIB_hnqKSTqqC1gUrg69tP4jLR_22BIVb8DLrawGMayhnMPOXMdkTI8OdO2Bij_DYQAbN2g5lTwn1YXnLp50c2533Ph3WWWbe665xU5n6oUKvsAYvwlu9o40E_QSZZ02R18ktcUM5BB4rqtcERyWslTguyFoRhhKKoK8lw39ATw1eIXtSYb7k0-Id6msY2FKODgfY3Y86t_eDx4F9_zdRKJckwF57fPRCfREawCFiw6AXbDU7KWA7jneuJ5fJhNwLKaSIsGlnaWa0UitumGGy6oecDTrNKIy7oJG9fH1b34A48hP_HPDueZdfXDmef2Ce4lGJp0WWb1CSYaKRf9hLbxabbBoIGIxNjPBC5RHeC--g-AL2TMH4AMY1BtVZrXbmzhSbTMvh_jOf4L5ML6_MAAc_93orlSQFxhEcxWVtXun3GYdoPG8VE4MUgY7VMhbEPvC5HDOthku1DZrgi_x58KcqX8j90M5KHI0vubjN0T_K3ZqSKhyon_Z6x-E3kqSYVzct_Q1_RvrQPXhIx9WqqktHpPbZdnZGguiiNjnOVdfnSRu7EBrXrRw8gfWjjm4oAZ_pMzr1Y3284ZdUmgXYyH7OGDNkbJtGW5fAeQPt_NDKZnSc_LVDcLiyJvfx05IgksNj15MHUBwL3C9mgWAEtrcS-YUeLycRKTVzSDUakkfRJIQq_Mw8N2FeqblQurWZhOvAaZPqTglxkrxev33-62jQ4x6XZIJ3dEHJmtN793Sf-buBOuyL968Hba3wGBjdenbeCunMaTZPo-je98j1tzFfNlFKcVKqy0EW6fG8LTfCRemZPemP8TDdfzNyH84qSWfmhcToxoQgTpXbbw6EMcILAnB8dFsp_BVXdiO3lOAA1uIVzSsbN87IursxCAO23mRKjQ153nHjIhkL0hGP6YIxRQSm8CEOVk1RICu6B7aD7SQI_Cnwl0FEyoV7zjlHFb5SOGv4MWrMi3feYkaTj9G2oyk67LD1SIOoR9Wx21OL5qxRVFKwapvANEIIuAJJqRO3EYyvAtMblDHmQQ8e3-fd7JtnPQ==",
  "id": "rs_08835754307ae780016ab2ae4c5d5487d0b137b516a75c6349",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap is now in the occluded region between the left fingertips. I will close the jaws and use the width reading and a lift to check the grasp.\"}",
  "call_id": "call_rwNo2NWlMa0LdMX3IsBC7LEY",
  "id": "fc_08835754307ae780016ab2ae4cdc6087d0b1e4e6b019f8cd4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rwNo2NWlMa0LdMX3IsBC7LEY",
  "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]: [-0.3237, 1.9835, 0.9703, 0.2062, 0.2169, 0.1581, 0.0116, 0.2966, 1.6234, 1.1172, -0.2848, -0.2703, -0.1989, 0.0607]\nstate[eef_state]: left_x=0.4387 left_y=-0.1835 left_z=0.0026 left_yaw=-0.6074 left_pitch=-0.2125 left_roll=-0.037 left_gripper=0.0116 right_x=0.412 right_y=0.179 right_z=0.1386 right_yaw=0.6311 right_pitch=-0.2024 right_roll=0.0491 right_gripper=0.0607\nstate[joint_eff]: [-0.335, -10.4684, 5.0256, 1.4823, 0.1197, 0.0269, 0.8278, -0.3487, -7.8838, 7.0222, 1.4628, -0.1832, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbbcfb48326168290204efea6b227f8703be349582adeed00b76fd7bf40a5e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d1b138a65e3cf063f7f54a56cef4bf911720d488e2d3fb1e1fdd1c5efcd035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15d1da14744966033263d4897086cf8340230b794c8304b8ec06fbedf8e0042",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 9.541 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]: [-0.3271, 1.9747, 0.9638, 0.2016, 0.2222, 0.1604, 0.4056, 0.2966, 1.6234, 1.1175, -0.2859, -0.2699, -0.1989, 0.0559]\nstate[eef_state]: left_x=0.4356 left_y=-0.1851 left_z=0.0037 left_yaw=-0.6167 left_pitch=-0.2135 left_roll=-0.0398 left_gripper=0.4056 right_x=0.4119 right_y=0.1789 right_z=0.1385 right_yaw=0.6309 right_pitch=-0.2033 right_roll=0.0491 right_gripper=0.0559\nstate[joint_eff]: [0.2393, -8.0479, 7.4598, 1.3993, 0.3492, 0.1197, 0.0952, -0.335, -8.2803, 7.0222, 1.5751, -0.1587, -0.0269, 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": "gAAAAABqsq5Yq52BAMLxGoExmTj5hhgJYbGzvrWcslN8pKkmOZZ2Nr2cfVFQwwUz9bDGl6W8RrjhXEsAw8rsmOkHE9a3ut_2GdbZsp5pD4NaJ0kuZ9jHV04jZo9yQgypIAWe3dbM2hVW3d7ZQ2pFOSjls9PfZxxVQHhOLEaZjvaOoA0r8VG45WTWQkMIj1HTAleklJ4kRURDSHbeTwlP0JThekCEfAcnis2pFCCDE5FQEB7FiNpja6VDc17Kzv9PEPh7yzouyxROqGQl9PzAUSaoFnfGrGTNQnDfGj76xrZAkBim_jtg0wBl5lVq4p81Kp1gKML-UQVLbv2utM5Exq7uB9Yyl0OpKX43g-dn4bv93hTWfNEJwc_YpkNvDIdHDRm2J6vMaMrNe0mPxqN39v4Xc5Tp-wT9Lx2VgVk6NLnshrAzTUHU5JK0HaxAjdtTNFfvhhFhzuvO6dYvVBGJxvxt7xLdExb1eFr1VOiYlt9wrkXDlkHSLWhMvmuKvpZPkDNagppcm2toQpA7ut28Uy5QnzZXXUqUV5JQE9Y_mG3ZQ3231YxPvVitJNb_mvacjn_cQqCg_xg0YKTsiTRfQsDP3c8YcXks-pXP8KFCiQoc0duDkV6S3io_TxZ6AcPCBH4dCnVO90vO2sL9T8FmW1KBDfOGy1fD_v9gXt7Rwh6UYGjIcBxW_d6lWKpSqUTZcQGPIz-PHWlYUG-ZSV2eXPfnQ8FfJaQujeFE-ZlM85UkQpLE89CIh6L2bk9ITtotsXgAIywKSAD6wSpIiCp2oNiXxm3g49OdRndwK58dSKwg-evII7P3kegq4AYeZW1qc89wYBwfDbnRayr-1mmDZoDXtVb25CGlevTMGpd5vg48-pIn2948iPxtOGxs3Zj29GMcLtVWQ5FoGq-Bo2EdC6ZCtc50WibS87EL-3E8Gsb_YN6BmBY_yjW5eI1M4EoWkbK8pdopL7MSPAUc2uqqzGOVlAtJc9RnEpI6zOyAZtpe8gYOfR2pN6_LPxAPPivL05RKOjEBtSP2B2DfSgkWNryCJK7AAmn7xDnBHpXLtlOY65odkmzS_8NKHVuwYAyScheZLmmTx4Z06IPD-f-fAFpRjbe2mZKF-cJZiRdLYALWUe9hI24dr0VSIrTp-Fcv_ZQljQRIalz04oCGtDW_0cXibyJmTnQWSt4tbKq3mZjj9lhrNNeXgKZt5kKn85kO6WpDp9vHRPBy7smUnCLpH_H_-jiYTvmupApBoItVHE-z1BfJl8Oqs_5KB7Kt0B5GzbeOlyemdR5k",
  "id": "rs_08835754307ae780016ab2ae550f1c87d08ace0f966d766e23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.16,\"left_z\":0.10,\"left_gripper\":0.7,\"right_z\":0.18},\"note\":\"The left gripper closed to an empty width, so the cap was not captured. I will lift and back away to locate it again while keeping the pen safely raised.\"}",
  "call_id": "call_6W02lg0pLEExs5qhXNg2ojNJ",
  "id": "fc_08835754307ae780016ab2ae55fd2887d09de0586a4df2b5da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6W02lg0pLEExs5qhXNg2ojNJ",
  "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]: [-0.3225, 1.5616, 0.878, -0.0906, 0.2169, 0.1589, 0.695, 0.2966, 1.6218, 1.2179, -0.4305, -0.2703, -0.1989, 0.0633]\nstate[eef_state]: left_x=0.3864 left_y=-0.1654 left_z=0.0983 left_yaw=-0.6048 left_pitch=-0.181 left_roll=-0.0271 left_gripper=0.695 right_x=0.4096 right_y=0.1782 right_z=0.1566 right_yaw=0.6344 right_pitch=-0.2435 right_roll=0.0638 right_gripper=0.0633\nstate[joint_eff]: [0.2393, -7.7333, 6.0103, 1.6239, 0.0513, -0.0317, -0.2027, -0.1846, -10.1402, 9.5658, 1.4579, -0.1734, -0.0513, 1.0183]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0fcc40e0802b6afa9cbdd8101673d767dcf791e2c1a416ee391df3bee14bf80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4819fc74ffd3a1f218ab8ffaf8245a4a627cb393e0fc7d10be0093a31335a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02546cdac187c23b099e5257059ced603535596c1275ab2224b35157c2ec8d81",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.287 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]: [-0.3237, 1.9835, 0.9703, 0.2062, 0.2169, 0.1581, 0.0116, 0.2966, 1.6234, 1.1172, -0.2848, -0.2703, -0.1989, 0.0607]\nstate[eef_state]: left_x=0.4387 left_y=-0.1835 left_z=0.0026 left_yaw=-0.6074 left_pitch=-0.2125 left_roll=-0.037 left_gripper=0.0116 right_x=0.412 right_y=0.179 right_z=0.1386 right_yaw=0.6311 right_pitch=-0.2024 right_roll=0.0491 right_gripper=0.0607\nstate[joint_eff]: [-0.335, -10.4684, 5.0256, 1.4823, 0.1197, 0.0269, 0.8278, -0.3487, -7.8838, 7.0222, 1.4628, -0.1832, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5iN7GM2kTrjPfb3Uizapw4cshbdYYAaABx2EojOWQedAsDz6w41V6E-LEVIPtrC7OB485SqUUOjm-8ztM72-9Ocgzzm985zI1Nl12WIunufX4sRE9UzDA2LhHfE1eSjg_x7km9bBXp6QDq9gWNcaMe3PgQnv-nRTT3k3oUih0mYpp1kFB5e2TMEbUF9IMYN9o-FHMUqHXaExo_njTlS-RwFvfQ4jcvBREpdxFJ7lrPw0mILAEl8DFnxD4kDG0vhc8yS_ybOgw6VBIE-kyfuViC8_PxLqAZ2yTApuIGzN-Tsvk2tNmwExUu8LZVqmHR0gH7IhvC1uhX2BVb2E-35ry2W8V_EOMWXtuE1aU3KrhQ8WHm0_mWB_J8yo-9m2pS0xztK5ZqG1OD1bj_ush8AcnyKVleUFqyNLyBLDoiv6vg2asR_dtX9tsQfqZCNxVtjE3bIfBnTo3W61axKU3YG51CMNZ7kQ4k0s78kaz6z4D18-e3cSTVeS1X8CHvHQDnW3BWKd91e46mwHuTsuJqGu9WmswfSvgqKCTSGlAeS8VK5_NHKL7xn1_l7Ogjs2SCOXy-lMu0dFmdXfwji39FSHt3tfNTlsBUo3z70E1wPu8mh8WAsW7dYn8aUXHYSQOaqJN6O_qvgM8Tz7U46E93p3iWCSKiO2BfauCzR9Yv-hVAucN9NkjrTpM_wfeXswa9rF_jglF3S9ljvUS5oj0te1bLz5CLHAdwyiF8drSe084l3-oESKV8TlMm_mjDOWt1_-sGToyPaV9njTWim5d06qRg4Yd8szW174yc2hKQYRXBnJP5LtslSEvd2cT-RLOX7fUPVaCOg0Zn7nf6EdMJkh6IMVb00U3IaIxCvhklnNWfVJpyHZxIEcFDFsyLuAIFFvsde1y2gbTkvHaQyUf4XVhdqVP8kKDxZFU9P-ITUhzAfsc0a3gmRNKBCQ-eVUpi1FPxxqmh_fUYZHM8UWf3nmOPW8rpvMlCSucQS1fLF1wUiLtyLfLgSASBFrav-s9gqyFOwbNDAGtW40SyHQET4_Tr4XKEkPVSa0PiC7izGByVZzmfaVAf5vM0WospdACMOKOHGovB5umnX8U0-PWr25VbciAMigcrvPKosv8xFJj9zouuKm0lgMcctD9ELgnJhrAKXv0gg1fxAGa6cleLWDvSOOwTQjFA64bzKIMqMpe6Y7efq7zUmnMEH2xp6suapP68aeVnR8Gvq6qY59pYBXVPB9Z4PXfk5MhxB0X9Da-3DHL5j6-QlImo_wo5Z3FrDKOkvw24iHvQl9HxICY3iwT2NMjzKDDYJmOyOMuRx8MQToqo9KQADhK9cQdBN4bCZsrdHgC4hd-RPlWTqT5NAEKMfgD4dgWugZ2gXSJBmljLJtJZH7PgbA-ylP68nkBv-9gvNd10I-jx9ubMmxEEXiIukNSJqONNOrWCicUUUkNwtRZBxM1fzYK3jaiHdSh6oCtwZzS4F1n_V4Lq_OExIwbjbWeBrLxS71I5_MvlEaNlbs8dfLhCY9NQZdHzUODcWVx1KDC-veKOQqbuhCYD-BEjYg7M3WQjIymKAaTIRDq1u6x4Zr4F7KKLisxHsKy98IkmR6PluOF1fKNBWYROOrtvDFAu2934xGn9CUzcykFnkgBjrrbKU--ff7mNP7PmWa6jEZfi7qbrl3thkMP_tbpmERdUJNKQpXp0ZvA-eVw2mZkg3yg6k0-WiphdAojPvrLImrulSYOht0DiR0rC301Z4O9b53f7e_A5UG6JCE59sjE=",
  "id": "rs_08835754307ae780016ab2ae5bc1d087d0884d0cad657f57cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.17,\"left_z\":0.005,\"left_gripper\":0.4},\"note\":\"The cap is visible again just left of center in the left wrist camera. I will approach its middle with a shorter forward reach than the missed grasp.\"}",
  "call_id": "call_UCMafkRdq3GbAWjkhfxzSoZu",
  "id": "fc_08835754307ae780016ab2ae60d7c487d084b87925b38d7523",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UCMafkRdq3GbAWjkhfxzSoZu",
  "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]: [-0.3206, 1.8481, 0.7822, 0.2356, 0.2169, 0.1589, 0.4022, 0.2966, 1.6207, 1.2186, -0.4511, -0.2703, -0.1993, 0.065]\nstate[eef_state]: left_x=0.3944 left_y=-0.1673 left_z=0.0016 left_yaw=-0.6062 left_pitch=-0.2348 left_roll=-0.0431 left_gripper=0.4022 right_x=0.4061 right_y=0.1772 right_z=0.1541 right_yaw=0.6362 right_pitch=-0.2611 right_roll=0.0699 right_gripper=0.065\nstate[joint_eff]: [0.0479, -7.3094, 5.0393, 1.0867, 0.0757, 0.0269, -0.0415, -0.3487, -7.665, 6.9128, 1.619, -0.1587, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9186897e228e3b4f2854f5c732dbad3cd5b9b949427c7f2585113a937db13a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ec8b1219f0d0a02743269f03ba4ba90eb19d329d556cde6dc55216887d2242",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3865e713f515473425e01bc23974ffbd3e1f13c59af34c64f6116468410202a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 12.21 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]: [-0.3225, 1.5616, 0.878, -0.0906, 0.2169, 0.1589, 0.695, 0.2966, 1.6218, 1.2179, -0.4305, -0.2703, -0.1989, 0.0633]\nstate[eef_state]: left_x=0.3864 left_y=-0.1654 left_z=0.0983 left_yaw=-0.6048 left_pitch=-0.181 left_roll=-0.0271 left_gripper=0.695 right_x=0.4096 right_y=0.1782 right_z=0.1566 right_yaw=0.6344 right_pitch=-0.2435 right_roll=0.0638 right_gripper=0.0633\nstate[joint_eff]: [0.2393, -7.7333, 6.0103, 1.6239, 0.0513, -0.0317, -0.2027, -0.1846, -10.1402, 9.5658, 1.4579, -0.1734, -0.0513, 1.0183]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5qFHtQ6U6ROfjBpMJEO_dsqTNSBhWmzwH5IAMQrIRjroZsOx4wnpAxpLyABc0pSEuiJuQ4mJxUguEwudqPh7d48bxhdDqpplgIe2bmkLvoz7tIaxhCTO9I77XW3x5YZQYJBSe3YEAXMfTsdusXCBtMNC-srgoVJaDgWZBQKYvMQmao6MeqlJPqh6d0lNfbEBHwa139HzafWsq1Wwl3bGcUDQB_CvTLt7TdcsCRTn9bI_7ux8JscsyOkBP-3zghJi73e9bhPLZ51xC0LfRjTIcHnaXzlZiOMmAI30d9X5EOQiD1EDP54atNxMzV9UkF-ut2fXKvzKJ4iCUk7l_XboI1teFW6vcCbVEEFHJE6j8Ij0fIIvOTSnUxxrcwBzagYzqOG1FJwTPtP-hLkIx5wmay_FJCqTKgNEBRI-XZJ68piFDGhLX0am-uMtZWiqbsYnPHwqFne1rFlRQOE-C1WEBcQLc7xMHAfmkUDZQATbu0Vdkrz56BYmZUz9LxUhUMHvZ7B_4d9Nhvjv1Tsn1hzwNPAjdF4CJm_KnRuBb83Y3HpgNRwN_-pzL5ThRiME2egQ-8EnvYI1TSqN5vAbh9CCkdfqbmXccC1KlK8s2I_5TaEKzO6JADZF7ycMbtBUV1uhB3LrFu_ge43mAjhrnc9nm4qoqWjwLken-XupvSkfsYmaLx1Lp86vJxUqERHRoBzfVg-ajq0haZbArBRJ3yuxqCFAEznbMoOaldOzecYS86V8xMtBWLAdkijYNXTgXFpoyToAwOtOl_zTIRr9Yp1HnQnMtTyBo9KPxLm8oHc-4Mb-SkTgJZEE_sK0nz2K1CIjsTMIzc3SVwV0Tfi-KJj1TuO-D7ihCgMfGsAWuJLpu6yqQYr3URprQKghdJDZk0Vk9-V9whvEvj3SsRIAEmxlVrPZrhePHl_1f2sQ9ty-WKpQmfouO4ApD5OA8Fzd1I-vqDGveJn7Sq7Ok3cVH9Hii8jGUECbaaOLhKBIJGMFHRRWjse6G7Jx1pTGHV-eP2UrNDAo7EayUkILyN6tcIxtM7FQ-pWWDxfQzO3IJNkktVDRB8cxzR6jzdQ0tkPwdeG0OnmMt2utEg35g7GOysJPWhodYi6SvnsK0iBdLrsGBrQ6eBwUa6iX1vvJv6LhZkXtB9ObKL8OJnTpY52S7mxafyR5B6AW9dykAlHB5c04qNCQgG9E321IJItQM7bUxEO1mVU7swJVvXneeZAUOpKCxOXrUcpAc2HmdEtBTpBSFYgF0AibyimSSyhDtG3VR0ouWVD42TPEneXjSg1g7DfD_gQB3Jxy3Mvi1OBZj_wdhkPa3jUSRImVOLa6T7g4lKazYbUjWeMqoqQhxQeJP_l_HdGsV9AWKajjSH9inD-tTU7oQ5Dmd3C5aNhN-kVHX_o3RW2enf_cUl7ZKNGzzg_SwO06X_vlEDJKi6XtDG9Q2B0QRr0ByUIc5eU_8wSrFFmeBD",
  "id": "rs_08835754307ae780016ab2ae66ce4087d0a83d30549e4ab751",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.426,\"left_y\":-0.17,\"left_z\":0.002},\"note\":\"At table height the cap is still ahead of the fingertips and slightly left of center. I will advance about two centimeters to bring its middle into the jaws.\"}",
  "call_id": "call_Zk3grtWqcWeALr9a3okvEVgP",
  "id": "fc_08835754307ae780016ab2ae69162887d0bf72306a05df9d96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zk3grtWqcWeALr9a3okvEVgP",
  "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]: [-0.3058, 1.9175, 0.8791, 0.2234, 0.2173, 0.1593, 0.4017, 0.2966, 1.6207, 1.2186, -0.4587, -0.2699, -0.1989, 0.0688]\nstate[eef_state]: left_x=0.4208 left_y=-0.169 left_z=0.0033 left_yaw=-0.5909 left_pitch=-0.2201 left_roll=-0.0387 left_gripper=0.4017 right_x=0.4048 right_y=0.1767 right_z=0.1529 right_yaw=0.6364 right_pitch=-0.2684 right_roll=0.0726 right_gripper=0.0688\nstate[joint_eff]: [0.4444, -8.0479, 6.7761, 1.3602, 0.1685, 0.1099, -0.0708, -0.335, -7.747, 6.7214, 1.5653, -0.1636, -0.0659, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24aa7c41c144a55ab6ecd5c497ba2ae39e0e2e9b253f26e75f8ac185c56e0ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b310a7845a727a68d50c92ff7c6f04aae485cda2eac6ce5aef9a1f7a299deb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e6c38eb45f498970d80867d57baba9c87c00f8a0dd3bf4321b957bcffc9cd74",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 6.693 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]: [-0.3206, 1.8481, 0.7822, 0.2356, 0.2169, 0.1589, 0.4022, 0.2966, 1.6207, 1.2186, -0.4511, -0.2703, -0.1993, 0.065]\nstate[eef_state]: left_x=0.3944 left_y=-0.1673 left_z=0.0016 left_yaw=-0.6062 left_pitch=-0.2348 left_roll=-0.0431 left_gripper=0.4022 right_x=0.4061 right_y=0.1772 right_z=0.1541 right_yaw=0.6362 right_pitch=-0.2611 right_roll=0.0699 right_gripper=0.065\nstate[joint_eff]: [0.0479, -7.3094, 5.0393, 1.0867, 0.0757, 0.0269, -0.0415, -0.3487, -7.665, 6.9128, 1.619, -0.1587, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq52cWWd7ov3aaPXvQb1OgH689ft1WY3NVdbNZTYmk4NPgLdRbD9CPEJFsWMRiY_u_EuRJpggVB5rvgXa-hXT6FTAz98NSHde_puWFb_H4TesFF0N9IogTJY_8j2F4oNvGCQ8ds4L0D8TIg9XyrZ_OwVolIINWzTcRzmi5qe-NamlOJACdOFn2xh8KZusCcyn2fIdAAp1C1H1yMjhMp2CoxS1HZQCFjx2e7S99KF-1iAh3397pG1Xdhf6ql8GwkwEooYVskEN8jHyFwtJC6F_6SBFN6Z7ckK478YpIcDCte8qn_6YsEViPEzOb4jYzSJdvrezvCrtXQc_QqM4VjU-scMO__tPskZhTMk7Ayxeo1HE64dr4KPXsj6utqS23VjMczFiJjg3cBq5Z2LzSZ2lHAn4CbtLyQk9bHWgrbIwHKbuoz7drTX8IQ62koqQptK0GHRao-skxr4fEdGKWAXteIP4D6gC7d5i-OeQWgoQfjEV9F_fEF5BCniebplVPfD_eMQNHvhcX6_YtoiIVfl9IaVnu_tPB78UXTfE8uD1kOvP5LtbTbQaBQHF1fxjFlU8iTZlJL5FxYidWlkns2BxcZ4PeNugTjRTflgZqYD8tG3dHpAc0cocldby2xlNR5kj5UyOUVkmMuX6OqTNrpW4KN11vNOEQkwE0Z6idLH8q9NOhAnoIZYn03gPd150Qr1g3iG2Jz-Rky6NaeE4RIWnPVpaIB9AAdqunL9tELPl5Ca6SfN_8-v0lyzZEg6fvB2OKFjTHwtoHzesjsan3X3NlLCOd770QpIadYgBntCAeieMbAT1Vvd1l7REKuG6NfIglKgF2jnbPdX4tvgf6yW8UwM0hUCLgbu2MLNr8tlBvhGIz7DlQtLRYnWBMqhunZaapMFQvYVWxBE63bC03sfn27vt0J6Jb9r07V21ETM09daeQdl9yV5riBuSZy9IGMoiqg5Opq_CmVi1TtGZHOGMKlI3-FjiC8J-exDsGWnsE6EwjOax_mc8qJNSVY6lITkPBK_z-le3j2rtwzBtsF1vOzErPMU2nOsIQk0v3ghcQPNbiZm9nRfxxxKFZrHJ2nylHwuNN8tKwrAkKs3BWR9_fe8xv5GUX82xowrNHZBKeK1JcMhZm94ZZPjV1w0bWmGRz_aNelRlryu6cegpoIs03hhADF35nYTzVC7yWYieecY96h0kpNOrvCjQj7lWPXtji08jK6VyohPL5tqGiw2H8Om2fiLZxLectSE2l7d0MeSPzwh4hBXkDl-EDUx7dn3KBAME9YFbXE51P-8kBrXTElNel_VYRxgs24Rprbw9S3_8sIe3ps2b-0NGx2OXDA1-8OrGh6TcFTn5Jx9ypBFEtmz3yrvsa_lDL-6SPY2ZgxaQaXGr15IwTMe8OqKHwXV6Zg0TCT0EWM8H9PiPtOJVnYgK-VNp5XiuXgL_MLlYuUGLffOEO2SSPzHfNQ0UFKcGeYijqeqXsefiLe9Zmohx-5FQ_7Ak4LojeY7vONgAIG65KQF4lgC24fipsZulbLK4WjjcxqxvFjNayPoX-EyGMy7lObR62oQVYeB0FNlvicBZ_f_CM_l_nyktyU2F8VjOF5PvWxkHHDHS1QKlb3ktZsJFScWaKrV9_SKetTpuaP7jsJOh0sMPgZAFkM_79KeMeH_xnh7QDAuA8IZbFIdTG4-nhji4wh4seUddSnb2lXT4jfGksVyKqRsxqxstPb7KWwbxukA9nTBZhqZ4OrXLrQX4zKtBYx8OZ3Qst0VUsB1pNPCR309esDJzl_5aoi1ZUxX7v_f7rYeGG2qRakl0Sh8nA==",
  "id": "rs_08835754307ae780016ab2ae6f549487d0986783192f7146a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_yaw\":0.7,\"left_gripper\":0.7},\"note\":\"The cap rolled sideways during the approach. I will lift slightly and turn the left gripper so it can grasp across the cap rather than end-to-end.\"}",
  "call_id": "call_DokmZIlwcURCBrMrtEGLwKGU",
  "id": "fc_08835754307ae780016ab2ae75043c87d0b898fbdc1bb30ec6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DokmZIlwcURCBrMrtEGLwKGU",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3607, 1.9079, 0.8719, 0.2325, 0.0814, 0.0227, 0.6982, 0.2966, 1.6207, 1.2186, -0.4641, -0.2699, -0.1989, 0.0723]\nstate[eef_state]: left_x=0.4217 left_y=-0.1706 left_z=0.0039 left_yaw=-0.4537 left_pitch=-0.2297 left_roll=-0.0355 left_gripper=0.6982 right_x=0.4039 right_y=0.1764 right_z=0.1521 right_yaw=0.6369 right_pitch=-0.2735 right_roll=0.0744 right_gripper=0.0723\nstate[joint_eff]: [0.0615, -10.7692, 4.5607, 1.4579, -0.0073, -0.0708, -0.1001, -0.335, -7.8154, 6.7214, 1.4432, -0.1832, -0.0757, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce43a5febc22fbf1772fdd568864535272229a36b008aa06bfb397a44e8ea86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769ca762f6970ef637620fca24dfe226f8b5d8e9eb9eeca215c9c11e88712dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb5a59bfd1c4859db6da1bdde69f3fda75703756fee0f4455624b562a09714b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.981 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3058, 1.9175, 0.8791, 0.2234, 0.2173, 0.1593, 0.4017, 0.2966, 1.6207, 1.2186, -0.4587, -0.2699, -0.1989, 0.0688]\nstate[eef_state]: left_x=0.4208 left_y=-0.169 left_z=0.0033 left_yaw=-0.5909 left_pitch=-0.2201 left_roll=-0.0387 left_gripper=0.4017 right_x=0.4048 right_y=0.1767 right_z=0.1529 right_yaw=0.6364 right_pitch=-0.2684 right_roll=0.0726 right_gripper=0.0688\nstate[joint_eff]: [0.4444, -8.0479, 6.7761, 1.3602, 0.1685, 0.1099, -0.0708, -0.335, -7.747, 6.7214, 1.5653, -0.1636, -0.0659, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5-2Fc0dUgG777EKbDKgW534fDzv616s0lULJ7kAzPwXqFHYfaMN5fUFj8_J5W-81wiHKjROdvWvqqjJ-RwEbUHMzHNl0BhB2_41z3VPEwvdKHwBPKlsFV1MCHk00QzJ3LXkgj7FSvloOi0l4rIvpxgyzKqUm21y8f_xdCZI6MHzRdQN2lWzM0ikrNUZfzjAbmLNuSA-_rzjZl2-GfBk5b5vyWaLhbUgPtL9Y-ikQEf-6rkxcBa8y1lrMKuAU-iwwGYJTm_5EIWnx6C6g9pAS-E0A4UtV5gNWINfK0132MiW_NSObvgWQLTMzuvzIIvGo_dEbf4717PtkyPR-xDqhpiEokwGYnryzeuUnDvfK_diwJ-vlzu0cefU8T3v0s3FaYBiAF0JDG5DEFXHzqPU_8bhkbJWP-5kq3yevggRnuA3RYsapWrv3MPAmQMgSHVjzhtetKJcJ689IqLn47_tomzFBh-yR098QUdDTHwOd_upIkXCICYWkmjTfGD5sDXaDtQ-2p3RfI86EpGI_0-Np-P0geRUCpIwRCmnaUiZAQh5rxQxwLLoI56z68wwGlXAhaI3ouFFIVzZvSoxC3q_LIf_-DPKtfR4MXqWIMfNEGlZokLfrw66uZtKTGlGmIt5RiZvKsuyrnTbT3cYyKdR87ZS246LGEnU6SUFq5pMOMh51GlSKmoGALF4piPRIxyxQefNnuH0SOBNBSKo4OZ_UpSHyBHi3t3uJLK2t52uSQ400tlC0Df9FIiFCGxKXyunSbAfv5ssJr7yByopE157hA0hsme0w6XmoJe5tPumcjCt4lV5ZlbCnLkYkrjYTe52JXYOTBiV4PrZOqUvhrLz0vMTju4y16GbJoYn6B35nkiG4x0hTEj55ZChGCwOMCSzlCZXma_eMzVSS_P_SPa0yMfJR1HOObCmHu4IfvDS48LkNEbAzHouf2Ue0zCStxhGy5ayMVESINLRWwe7yTBO6diVLJtImmIY0ZQcwhuM63Q3VYY2NG_y1G6dAhNEB-YZM7d2zFVuSvL93QPRy5Yr-mDdQnpjVTHlj3MEDL7L9BiTY0QTw_3UFNx-aPsjp_lkPkRzyYa04X6PJcCZVN4kmKst1ytfzlw326GpcF5C1LPA99YAYiz4TwY2NgEx0FlX_vOQMUY_iBuLGDBY9751G10_rPlr0FAhp2X3pa1lQVhlFh2hgnPjm5v2UwcaL1U8WPzBl3_YzytZ6ycr9slO0q16M76V4jWBqvkpXIA6u0KdzoPqcCSXKvfu-uC77iwfQsOOvh92-acp7UCeAOk5jtw5MzWEPS7Mn9W2xfTwX6gK3cRpJ4Yc9BTDkpo7ic1-_-U",
  "id": "rs_08835754307ae780016ab2ae7a8a9487d09a1793da13016a46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_z\":0.12,\"left_yaw\":-0.45,\"left_pitch\":0.15},\"note\":\"The left arm did not lift or turn as requested, so I will separate the motions. First I will pull slightly back and raise the gripper to clear the cap.\"}",
  "call_id": "call_Md0hMSQK13hkGjEMZnrtmN6X",
  "id": "fc_08835754307ae780016ab2ae7c4cc087d09f974a988e3da284",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Md0hMSQK13hkGjEMZnrtmN6X",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.3656, 1.586, 0.6598, 0.4404, 0.0818, -0.0036, 0.6988, 0.2966, 1.6207, 1.2182, -0.4641, -0.2699, -0.1989, 0.0739]\nstate[eef_state]: left_x=0.4042 left_y=-0.1664 left_z=0.1014 left_yaw=-0.4426 left_pitch=0.0865 left_roll=-0.03 left_gripper=0.6988 right_x=0.4038 right_y=0.1764 right_z=0.1519 right_yaw=0.6369 right_pitch=-0.2738 right_roll=0.0745 right_gripper=0.0739\nstate[joint_eff]: [-0.7179, -8.3487, 5.6821, 2.0488, 0.022, -0.1148, 0.0562, -0.1573, -7.9111, 6.7487, 1.4969, -0.1783, -0.0317, 0.7204]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec3b9fbf48e45f8c897698414c2e3a6ea8528ad1e948b2b3bd2cc1c6387960d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450e4998b8ae7ad949aa6b0b8b7a0e72158fb8835f6eba799b07acbe055461c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a50ad84633a496b57b2f29ef634b3aa59528c4621a1b7697a94bf3b587d981",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.264 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3607, 1.9079, 0.8719, 0.2325, 0.0814, 0.0227, 0.6982, 0.2966, 1.6207, 1.2186, -0.4641, -0.2699, -0.1989, 0.0723]\nstate[eef_state]: left_x=0.4217 left_y=-0.1706 left_z=0.0039 left_yaw=-0.4537 left_pitch=-0.2297 left_roll=-0.0355 left_gripper=0.6982 right_x=0.4039 right_y=0.1764 right_z=0.1521 right_yaw=0.6369 right_pitch=-0.2735 right_roll=0.0744 right_gripper=0.0723\nstate[joint_eff]: [0.0615, -10.7692, 4.5607, 1.4579, -0.0073, -0.0708, -0.1001, -0.335, -7.8154, 6.7214, 1.4432, -0.1832, -0.0757, 0.652]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6E6IUY1d-5c2nXVZRe6kTNUm5Y0qXvDQxann4xuIz4DUAtbhrzElcQi48cmqCo82aQTJ2gveEJ1kIgfgiOhS0aKzD4h55OOuTIqFjS_cCmQO6cltV5rGbIQsaCFIqnGaLKRv8LTFU2NRPqlGPX3eq8UxhIiP52JMxLN9dE_G_AeYzpdM04AvgPC-FN4mX4uzabTiVJhL-db25WLIMeoETfW4da0cZmECn_7YKS1Px-zGWnLfYLIRYvclebiA6Cz8ALh70ndRljNz-aebi1gG1MIwEImk8oJY_JrnTkoWNpqrw4TQANQD1dylnN23J5NRc519M1wJl2OrS_49IzGMin5L-G8jM75eFwodm4wsGLjjgzm4WQphMSnRnAiNq_ZmV2IKVGkJrrkeE625jewjZfsC2GBbzJooK9xaCEZnPDBSbOtjUXZTrgO1zJy4VKuoTtHDr0fRGwyCIrR2gpLe8tJLzT4LsxzHLTimhZUSzvoyIOw_MtflKrIFwOG4nlrsojhyVPgI5XCBf2yzsOdhMdc0sl8u5B7K-K5mV1xODsURus0clAhmVf0Q5v839iJPPz3VirbH-zv6r33BvwYAt23x0oqHTZ-1OaoOK3x1V2fYB-E21LY67BGQl5ZeqFwgC7MmFwQvsjG5fzYBtAPAnCNQ2XS_N2KCfIxBwDe6Sl24Mm6QKL1SARprUsmoAhXZrybSBfxj-5vRivRPNpp83-KNT-2rtwfUJglkIEaAvydW13vebezz0WTfF2prbs8O3O3K4j1TkZRKyEKBdWgmn7uYYyGI29UuLJ31kh6JA3G2gER5VCcDTPlNK44X6tVvT_qht6S9uFErLutMvLIICZr92wlFNzb5JQlgkEhRX-6LjslNb6jcENPDE7-cSraQmLREOjFZfEf5wb5SLcgCUpLkYixWYstpxCLYw8K_zgOmfqhW3WVoMYs6F71C0FOp2wDiMU1tw7smUQubBgxtkoc8_xng6ncJsDPBiTVbjOlXtxmt_h29OOxyEH91QcEbU2u7tamSPYmeWFpVFIFAzGJXAn-jNyC9rjrOeMgIi3gVKgh-NckFQf_hnQKA03IoImq7QdmGWKd7l4qMNvYxqZWCGQpjfi5h9H_8mU7vXo8lvWV6qWZ628WMwEmolLLrN-4NYYofSdisMCtPqOhW-6ocLsJmrNWUXsvNoHhtivHT2b6_0-EZqV__TTtb40bqGk2AYlnLcgWIB_0x3gbQjI7fC7CwBR-AfPPr90GSMcpL62_IT6Z7i-mBfcceNfGC5vXgeMF_pyu78put3rnRgbICF8CKU7a0XrcRjie9-Hse0v-jmLya5EM-CEMv_kij2L",
  "id": "rs_08835754307ae780016ab2ae8221f087d09a1c194c52ebfa0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":0.3,\"left_z\":0.12},\"note\":\"The gripper is now clear of the cap. I will turn it partway toward the cap’s new axis before descending again.\"}",
  "call_id": "call_P4IXZuPPNLYcBJbDgwsx4jCs",
  "id": "fc_08835754307ae780016ab2ae831edc87d09180e82a04890244",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P4IXZuPPNLYcBJbDgwsx4jCs",
  "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]: [-0.6865, 1.6962, 0.9016, 0.1406, -0.6189, -0.4786, 0.6989, 0.2966, 1.6207, 1.2179, -0.4664, -0.2695, -0.1989, 0.0764]\nstate[eef_state]: left_x=0.4056 left_y=-0.1952 left_z=0.1111 left_yaw=0.0676 left_pitch=0.0519 left_roll=-0.041 left_gripper=0.6989 right_x=0.4034 right_y=0.1762 right_z=0.1514 right_yaw=0.6368 right_pitch=-0.2764 right_roll=0.0752 right_gripper=0.0764\nstate[joint_eff]: [-0.4171, -8.1846, 7.5419, 1.4921, -0.3639, -0.0855, -0.0024, -0.3077, -7.747, 6.7624, 1.4335, -0.188, -0.0415, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b884d235938bae648d5b6e82561f0c7f1392d3f065277f0c6bd3cfd29890d61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5133b306f105d9e8fbfdfc0994453ef05c466a9cd10a68d968d97cb054cf61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a083a5492802ee99677cc8d7ec0baa541d0b61257740b670bbd3ba8ee36bff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 7.97 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3656, 1.586, 0.6598, 0.4404, 0.0818, -0.0036, 0.6988, 0.2966, 1.6207, 1.2182, -0.4641, -0.2699, -0.1989, 0.0739]\nstate[eef_state]: left_x=0.4042 left_y=-0.1664 left_z=0.1014 left_yaw=-0.4426 left_pitch=0.0865 left_roll=-0.03 left_gripper=0.6988 right_x=0.4038 right_y=0.1764 right_z=0.1519 right_yaw=0.6369 right_pitch=-0.2738 right_roll=0.0745 right_gripper=0.0739\nstate[joint_eff]: [-0.7179, -8.3487, 5.6821, 2.0488, 0.022, -0.1148, 0.0562, -0.1573, -7.9111, 6.7487, 1.4969, -0.1783, -0.0317, 0.7204]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":0.85,\"left_z\":0.105,\"left_x\":0.411,\"left_y\":-0.17},\"note\":\"The cap remains visible below the left gripper, and the tool has turned partway. I will complete a smaller rotation to align the fingers across its body.\"}",
  "call_id": "call_ck6VKD2maEidUg84a2C8op7P",
  "id": "fc_08835754307ae780016ab2ae885c9c87d0b5b031339ca4145d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ck6VKD2maEidUg84a2C8op7P",
  "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]: [-0.7616, 2.1529, 1.5887, -0.5564, -0.9894, -1.2163, 0.6989, 0.2966, 1.6207, 1.216, -0.4679, -0.2668, -0.1982, 0.076]\nstate[eef_state]: left_x=0.4495 left_y=-0.2197 left_z=0.1019 left_yaw=0.6124 left_pitch=0.0481 left_roll=-0.1365 left_gripper=0.6989 right_x=0.4029 right_y=0.1756 right_z=0.1503 right_yaw=0.6345 right_pitch=-0.2804 right_roll=0.0749 right_gripper=0.076\nstate[joint_eff]: [0.6632, -12.9299, 5.5316, 0.1294, -0.7155, -0.1148, -0.0122, -0.335, -7.8974, 6.8855, 1.4676, -0.2418, -0.0611, 0.5006]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6c6f4d0549b05e1291773d26822a9c17bca96be70d20cee03b99980a42a4fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f9c64709687d07c087628c0603c2e24e5bbc62bd788a900f6201ea57f25f73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ea7bb3e4f8186210ad981be16c4f35d9cdaf819cc86f5aa3d2e6a7d9da452f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 8.655 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6865, 1.6962, 0.9016, 0.1406, -0.6189, -0.4786, 0.6989, 0.2966, 1.6207, 1.2179, -0.4664, -0.2695, -0.1989, 0.0764]\nstate[eef_state]: left_x=0.4056 left_y=-0.1952 left_z=0.1111 left_yaw=0.0676 left_pitch=0.0519 left_roll=-0.041 left_gripper=0.6989 right_x=0.4034 right_y=0.1762 right_z=0.1514 right_yaw=0.6368 right_pitch=-0.2764 right_roll=0.0752 right_gripper=0.0764\nstate[joint_eff]: [-0.4171, -8.1846, 7.5419, 1.4921, -0.3639, -0.0855, -0.0024, -0.3077, -7.747, 6.7624, 1.4335, -0.188, -0.0415, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6SoZLKQin7h3QB25w9sGBD5ZeQ5Yn_FPrKsvFB92uVNcC_sjjE_JYkcJYv3liLMLoGc3MJU6_S3EurUqXYrwK3skFp1p6y2kvRRixtk5e_R4_1CoFJ-lsL0xT5Y9FCNlV9EVbxG7dI1o1I_MfgVbNLbc55O91irJKebj_lEpO2LdRNkEnzucs2yMAyRqsCBtEccTPrw2NUDITI9VKDGe0hRZ8vi1mYelTn__4B3hGG1FAZWfGzpwdsnN1lpjoOYXZBdwuHSvKbXMeQc-dJkpWGzYrX0wu7F_Qp593VKOrXL6HnEZKD5rVgaju11VwXHWIbIklCUCe2MVrvikJhXGgjUZyC82AAbajTZnEghnU-SLiHcjvqsNzPIvSTRkaqKsUo2DW1OiQHXqtOq2S2B6V-MRGYye7eWec4-0TIgJU90uWT9bP0_7NIUH4ZUEMpasR8nyqenjhac2SDKdP2OM9S6EM4SLkiNSwXk58yPS3JB6FnsaUBm_5NZZKb5MdqUEM7EfFOCTaWg_xhtMt9Pruzt4V_I0W4YH22G6NwhcA3IEgzL68ZG_bb6GJL3nzfbH1XC2fNj0UBy6PhruNk9nL_Z-7bPkZTNpici0HJBBL7-4-BGBtsrt-GQybp9VY80pWKJ8syO4Vcqs3GrutB_gKlsJXh_xTBEWqDJp-fPAbSQnbi9o6Xa7thjpjSL1m5cWHZVd7hf6wL4nS3e6yYhuKwvcoAGk-Ak9cYXDnwy-DZZFTcHyiAA6eZ2Y0hhueGWqlph1lp_al7sWgb0gwKwOCUALnLcpf-7VFO-mWXDPfoYm4e0SiyZsy7pYdwRzq6Uo3UUffYY3qUNlOsO5-5Uqlu3uFpY-8Q1MX8ST2FtQfbaheaj26h4nlLgrTI5RKMElOcUEedljH3SufxEP9FrzKtV_Su1-tVQO7s-cMIdNqMSu33ReNUJDVWexgkD2mGUum404nYtcLWUIMJ8LB6ER_SEobGPoNSXeogNCScMqJPjSZDZ0VwG48mPZsHpOWsqsReOiKzU3ROxrOav9N78ohTGv0SwG6Phh_KKyv5lE0MXYEy9BHSIik6heA8AdERa_jexHtTQKs5A0w-pzCc-7KWsqvx0Q0lghrY8tKJwGmp2mSVCXRLsSpNhpsCh54Y6EJhUcKFS8dzj9tctX2unKYAE3VvpcyasTUWqrb5MPxtH5qLwH-l2MHursUmMrqPcaXjFGkpOBwgTZIkoKO8K7HOkY8n_9ICCheuYlzg-VX1PC2CgZOxQTdnwmBBJG60ZqoBh-p-DrLTQSvxracSXeD8JxEzAvFSaFx_UStFlvJeqL4YSXfw6ysjdv8NdUBGwNYZLdy7JRlXtGX_qJu73wM99TC4J6RZkdoH02qL55LW4K6qXaL4z7Q_1F2iSlBNgzqWt6GSGQx7jlEWs1pCfCT0_oyPsXlSlZ_W0hGkaKpecm99KKQ9WL7K6q1CN17bPoZIB_k3-_PptMEE_mjiIl49Gle0xKlNXIlDzT0X5vO2JC4hJlGBjCziOMaT3u8Byhs1ayuzqBJkn0eCHAJcpoawnJYFQ-xjkzHGLMPguo8YYyNnibGHoIh3WnrBpBg36g_D",
  "id": "rs_08835754307ae780016ab2ae8d19d887d0b2aab2f7bb61ad6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.035,\"left_yaw\":0.65},\"note\":\"Turning the tool shifted the left arm outward more than intended; the cap is now left of the jaws. I will correct back toward it and lower cautiously.\"}",
  "call_id": "call_aYLRJn5rORNQLqV5V3GaEdgZ",
  "id": "fc_08835754307ae780016ab2ae90dca087d0a9c28d87e4d5728e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aYLRJn5rORNQLqV5V3GaEdgZ",
  "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]: [-0.7498, 2.207, 1.6447, -0.775, -1.0248, -1.4322, 0.6989, 0.2958, 1.6215, 1.2144, -0.4721, -0.2672, -0.1989, 0.0754]\nstate[eef_state]: left_x=0.4372 left_y=-0.1959 left_z=0.0872 left_yaw=0.7433 left_pitch=0.0381 left_roll=-0.1036 left_gripper=0.6989 right_x=0.402 right_y=0.175 right_z=0.1487 right_yaw=0.6351 right_pitch=-0.2864 right_roll=0.0769 right_gripper=0.0754\nstate[joint_eff]: [-0.294, -12.7795, 7.8838, 0.5397, -0.8132, -0.0806, -0.0171, -0.212, -7.8838, 6.8718, 1.4139, -0.1685, -0.0562, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4782369a572c41ab710e2279a0c0b0821f5ab28ccba4081e051e786aff031644",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6d9b1fc89a2cc81dbc415aea726eef84ef138d0f8b635e552883dcd10f3ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094b7f3d7d2403372fc51e94cfca0e5ea239e702dfc268d44d2f16f6a00844a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.424 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7616, 2.1529, 1.5887, -0.5564, -0.9894, -1.2163, 0.6989, 0.2966, 1.6207, 1.216, -0.4679, -0.2668, -0.1982, 0.076]\nstate[eef_state]: left_x=0.4495 left_y=-0.2197 left_z=0.1019 left_yaw=0.6124 left_pitch=0.0481 left_roll=-0.1365 left_gripper=0.6989 right_x=0.4029 right_y=0.1756 right_z=0.1503 right_yaw=0.6345 right_pitch=-0.2804 right_roll=0.0749 right_gripper=0.076\nstate[joint_eff]: [0.6632, -12.9299, 5.5316, 0.1294, -0.7155, -0.1148, -0.0122, -0.335, -7.8974, 6.8855, 1.4676, -0.2418, -0.0611, 0.5006]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6cwdZ4h8JESlWj1l746shL9cWI_1z80r_vj6JiOdMHkk-MW1opSHNGyyG4GA2Y2GyEdzEGKKX0lPRI5R5mOZIyAQC8fvpC0I3RkeBlm4c4Y6peraWfxVg2lsEGBte2GEaCrrc2J2kbRx35nmxFPcq7iMW0UzBog5k5kzn7qn7cEK-TRu-QtUiBR7P433rl90HbrsBwCVyDdiE0RvawEswPv3zXKjUPBQGleZnRPHUVo3cx7Sm8Tz_JMgzuz2og-NT41kgkss6duf90zhKcuvTz64Ija8EKKWE_o63uSiFoRwCeCW_f4V6STnBfZLLUXkpbJG7guIaPq1eWEE_X02lZVbLceaGNYS1TYbjgCWCquT1iSaXrdNcyyfVzZ5mM01d8fAllg-aaptt1S-49GRiqMUgxFas08nWMYT2ZLvE23s4WlR9BN_t0_tJEtJvMpKbbVFXyQbV9TEIL2NnwmWatcwg__sAbwssCSoiiNN5UKEjqeJ_SP2u_4v3nQmWljLeNE56voAUI1gjrR2OocW6bYKlA4_uTYvRU9W9KLaAYle7OCzQx5kDhd7-W4LPPWJpKEjMadsnQod7s-tUaNeiR0DhPygHncVd9BS9jS-xPBnNhc61wpDAZ81tvA0TG1gCu6U9khXwxdVSYeI_5gKOBGxquwXc5NeI2Ece_RroiRHOau3QW7Qo-5VChKhxeHgdn2aaslBArWYBHTb8_tHbyEKInDBhVSBTpguCBeOKm3LZzW_MwnZhVVAYQCpjLVqwwQylY90606WpBfkW8IZ9X9wnJCAjF6rkAN7j3NXN8-TPC57wAe3lxhm-0PE1dcKrWfuOORmL86cW8MMWRUp5NcxHU7YYzfSrGdMeQAdNg-hfh1GeirFrV0nRsMN0Btu0uvXGMzw227nGBtSAAp0lU8XjjspsFyNl64AWjdzLDV67kZ_EX3C-JWOprQ60WxgCDoAfF4xppH2yh3gb527yf_v2fe2HNHr1SMihSZsRLJ0Fll-twtmyEzohLmp_ukmLk7A-ycZmjMcFyf2BUME-H-C-3wLwKTligsChSc0riC1iOqxUtNy3GY_EJEWk5nkn2wPSeFd9fIzHjQ-hYgrz6gcQUJ6_8AYXHxjMlFlWyu7U9PiK0QswXqoZjivgs5OReOZVmtBzJC6fx8uc9f3-yx2IyvBXEWb6zllYnExLbiLA8ySkuVAySSo7img0ed1bxj7ImX_PD56dst8jDQweroH5POSms94eUPK4MPK5W8VxjmNCoVIweWe5gI3tj2JZ4WInVFQBujeWPhcStH-7JWk7MgNWck7_Jlw_J30pkhqXtY1Q-lxZRW88quC7Ui6VclTUvu63nmlkC8yEhyyEEPAC0zPvWKQmtLEf40p9AYyREsLAlWhr9qVB_4Y5kq11tbGwYPSaWWn368RXWhmw63EUm_FsfQUMNUx5eUrbsne0=",
  "id": "rs_08835754307ae780016ab2ae98300487d081eaf6d0004222c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.18,\"left_z\":0.12,\"left_yaw\":-0.6,\"left_pitch\":0.0},\"note\":\"This turned pose is not tracking downward reliably. I will return to a comfortable orientation and approach the cap from the opposite tool direction.\"}",
  "call_id": "call_saNwJnzTYwkOGD1JCiBsBZwT",
  "id": "fc_08835754307ae780016ab2ae9a071087d0920ec85294d068b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_saNwJnzTYwkOGD1JCiBsBZwT",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3351, 1.6192, 0.8253, 0.0109, -0.0948, -0.4953, 0.6989, 0.2958, 1.6226, 1.2114, -0.4789, -0.2668, -0.1989, 0.0778]\nstate[eef_state]: left_x=0.4049 left_y=-0.1195 left_z=0.0697 left_yaw=0.0075 left_pitch=-0.2364 left_roll=-0.2819 left_gripper=0.6989 right_x=0.4001 right_y=0.1744 right_z=0.146 right_yaw=0.6359 right_pitch=-0.2969 right_roll=0.0805 right_gripper=0.0778\nstate[joint_eff]: [0.1846, -9.1419, 8.294, 2.337, 0.1245, 0.2759, -0.0122, -0.0889, -7.9932, 6.9265, 1.4481, -0.149, -0.0415, 0.7155]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567c67c97e3e4bf4b541f6a972908d5afb2cc2ae8a48eada81913edf9ff980de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:491eb438ec931d20ebc7dd865d7951fcc5645a78650c593965a157ef548d911d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c7e8b86d31470ac729bb3b5528accb9624b255aba765ac9c076112224e3b00b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 8.044 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7498, 2.207, 1.6447, -0.775, -1.0248, -1.4322, 0.6989, 0.2958, 1.6215, 1.2144, -0.4721, -0.2672, -0.1989, 0.0754]\nstate[eef_state]: left_x=0.4372 left_y=-0.1959 left_z=0.0872 left_yaw=0.7433 left_pitch=0.0381 left_roll=-0.1036 left_gripper=0.6989 right_x=0.402 right_y=0.175 right_z=0.1487 right_yaw=0.6351 right_pitch=-0.2864 right_roll=0.0769 right_gripper=0.0754\nstate[joint_eff]: [-0.294, -12.7795, 7.8838, 0.5397, -0.8132, -0.0806, -0.0171, -0.212, -7.8838, 6.8718, 1.4139, -0.1685, -0.0562, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6jJrN6BEHxTFcsDuS715QjTZJ2qpCUf8BaVUUYIi6cdj82dY4y-KugCWB7a1oLvvzNsDws6Fr3jp5TIeTvEMgIrURd2NNt8SC_2mN1Ia1AGaVEmdPx0Tr7xQ9o2fTfQNUYIWY5OiNE47Xur1da6wH-Cxx3IC5UxtKpSvuaNLH7ggbJp1Wkrz6y6vMD6nInBkJ3cWS8fRPydIzYKdb18_GIWgieek_IaOB0cNlWRAINng_99iRkGqwzjHg4s63gB2NKzkHZsRaEFcOzVkU76WudEHIssjEv_gTgUy6Ae78l2YrnK9sg_veOgPQ_R9S2IqMMq7nV02RPKshVvwtV2_VBRNg_8ThyuKLrKLUnxFGHVJ6BYER124HUA2L_4n0RTXm3-_e-2tWWv2_Lw8lCgmI21tsaxvLcSmD7mhOhGNIIQUHLdqSt9CZIwplw_f84SkEjEd3mtqQyfLKG5BDJfflPoN6HM84YA4PuNDhC6XFzJES30LhdIN3Jdn6-amPWdZg3Kkx8dKd8l2OwhBrHoxpaEPe5u-fzGUFqDACen7YGn-7B-YbIyxP1BRlriLNJGkq4yZHBecM6PCpSOQ66JzUOsPXyppbiEAFJF_1XyP_MSjiWGQyFKyte3iOEaKYYisyitGZ-ZMUUOxoLbplOfYfrTPawirYRmCssKMyIle76-zwv3TbhCBhlrjV-UbmHprukf2OiqfbQeTo8mbGmDLqZYVYxSwhQ5Z6AbpMaJDQpfV6oYLyhwa3N_OCMWEwNqj8faWwFlou4U4A8ddf8SvhZivWMnIRiCbKQQJDaxMJGVURnhN3L5XQyxBHgY4yUBudqH0PE3RlfScNzxSTRcsjY-YjF0fwJ1XlTVKAZpoYPfs7W_CPEDmIxENtJcKJQXBkBbBSFsMOXfaiCRxjGfB6HWd0C7yzLiW7WpZ5AMxbak32_40HKulE6obgtRj2yOEY6zT8AhDXZSRnbTnCoxsiA3C13M7Y78soLxsDyQAeR39GHqEHPiXOak2gKSafc-EWPJzPWU7yhjB6Pnfht--35GzO-PIrJoxqg5ZNXe0EQGgEyNEFI0ShZSmjWd8nG_bkUKc5pk1M5zpzhkrHZ91Z-emFZmSafldnL7eXowkoE5ob7XYiZ_ua4FEb6eTE8QksfEK4J75UbqaaLQ-elC2bXLzvLd28DDaLyl1AhLJlAWDu7r5Gz_CjoiXhG19IvZWp5PuNB8lvT_Z6WABf-tVRgl_oKljW4h8FpFQcNIre78nzemSDayTEA9eoozufHjGAFN_sox-7Br1M1qSSlSolijmLTHjV-2jbTQ7bFUrjMBoBC9WYyraqOmvAfY8NEEhVT3s_owTTkkgEH4JApkRoy65yS_19wpTTnILPyz-1u3_Nf8cQjz4DlNEJg9-vReQ3d",
  "id": "rs_08835754307ae780016ab2ae9f84dc87d099f3a13a412c6e99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":-1.5,\"left_z\":0.13,\"left_roll\":0.0},\"note\":\"The cap is still on the table and clear of the gripper. I will continue turning in the easier direction while holding above it.\"}",
  "call_id": "call_cCgIwNDE8rjlFADgd7e40hzE",
  "id": "fc_08835754307ae780016ab2aea170dc87d0a83904a74040e1a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cCgIwNDE8rjlFADgd7e40hzE",
  "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]: [-0.3473, 1.6115, 0.7334, 0.2146, 0.0826, -0.2707, 0.6989, 0.2958, 1.6226, 1.2095, -0.4843, -0.2672, -0.1986, 0.0777]\nstate[eef_state]: left_x=0.3981 left_y=-0.1558 left_z=0.0741 left_yaw=-0.2818 left_pitch=-0.1115 left_roll=-0.2547 left_gripper=0.6989 right_x=0.3987 right_y=0.174 right_z=0.1444 right_yaw=0.6367 right_pitch=-0.3036 right_roll=0.0835 right_gripper=0.0777\nstate[joint_eff]: [0.3487, -8.2393, 6.6667, 1.9805, 0.0415, -0.0024, -0.0073, -0.1573, -7.8701, 6.8444, 1.4139, -0.1587, -0.0366, 0.6862]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d0b4dc626c937e115562ce24128f45b47028a2326a4c95b8b3969433a8681d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17024effad1263b8a69b200810e57b6d0b0905c2736c6fb2289fdbe4801417bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afcb6bf5c188b4c0a67c353e9e612f35ccf0b8be81b28ae28225ffb60609a0d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 9.774 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3351, 1.6192, 0.8253, 0.0109, -0.0948, -0.4953, 0.6989, 0.2958, 1.6226, 1.2114, -0.4789, -0.2668, -0.1989, 0.0778]\nstate[eef_state]: left_x=0.4049 left_y=-0.1195 left_z=0.0697 left_yaw=0.0075 left_pitch=-0.2364 left_roll=-0.2819 left_gripper=0.6989 right_x=0.4001 right_y=0.1744 right_z=0.146 right_yaw=0.6359 right_pitch=-0.2969 right_roll=0.0805 right_gripper=0.0778\nstate[joint_eff]: [0.1846, -9.1419, 8.294, 2.337, 0.1245, 0.2759, -0.0122, -0.0889, -7.9932, 6.9265, 1.4481, -0.149, -0.0415, 0.7155]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6sCB-7vyPgXhTz4U94GuW5yyQNsssNZvd1WqEwcMXVvuFdgqYpaDxenqy_djB5TkZpX3oniBAPt9JU7O59n6jaMQZnnd6qnp167VbkQkRYSgZa9i4oY0nKxpElWanJeoWgvPtlhQ8eooEzVWhzkArUfxMahlYY9b4jq3TZtnRtU8RaM9HkpiiFg6rMIIdYAJx4HidxRmc2Fdc54xh4I5P5RCeK-Dn_yx_3Cx_dgQv-vMUf_ip5AL8sCnYj9XkUk7m2npm4NXwYtqjppfuLPmoP3Z2rG0mT3NukMhMAnjtNzZZ3odXUnJaCgI-VdA_lDA1CCacGZ9Dy28qnb36LyoJP9UgBiIvm9nFiDTE9lzbAGBzRkkuoJlTJfnn6aE4B6yAAZYzrN2Wurp_UiDC0sGdc0qOaeMMyoRbJ01rHA3VqlLs7mNMHxVxXL8TkpPcTj54NqI86CR88XIiOiWobz9IWwphtvsv1DrilHy38-9D8hAbnxKPxYB6YCclGidKFOp80c8JyuFtimjf-N7E2iaM1jFxK0yIudUXwemWnixL3oG8KaOPws_82E5t9iW_R8PJty5dIr2S-tVMKREJO7c2s99zDQxV42VmueLdtGpGjCGH5wJZWRHDjtvukOCNcHnSZCNy5gFm6G97Y1AWt2daZDj4ATeIi3xDEBVsfIYakkoVt6RQA6_OaXYcv8gEc32MQVNpOks731vt_fT9Z9Mw5cU2I3tARSpPtoe6J8UnpIcmAXj5_qFOEJM5H_XcaupjdyZExmGK91lRy67Larcda9VygTqXkWVTjzNHZqPpAn_pufvfPUci2DsEflDQhX3a78FyorirEe5VRAFvZacR9NLyEBBaP6eC0oqKxMeMu1NrvNh7rYsbBJasjau1sgbGemSdDvHi8B78MqrkdCbV97V51dz2FWpENpZ_Z2EAKvJW5N_p06IIVlAx45c2J7IqFFnlxn4vb2nTpxZPz1VtIXy9d3m8YW06TvdpgRRNPNtKF239Lbddn3NG4kV5cfYepy5axGi4mMYYtui2soAvQYYTpjmwzyniTOGjKNM2uBAvwk8kpRUId5QL6EnboZHieQrm_m7Fr9ccxB8sQCod5kY18SH209TVVv2n27AUK9vqOTCQvloIlzdpqU4YVm6vm_QVA3Y9-GCaZ4DZ-k50NR-ALKV-qvzxsyoE5Js9GN7Xb6nbR8HM2rd7_FaWB-W9tK0m8X5f4B_im5k8Jbgqm-cWFrZGXCAS1jCohOaG-PjbrwoMpGxUC2rJTtmoHBEuUDUyzHhEvtjjJGQtqyf7E6Q==",
  "id": "rs_08835754307ae780016ab2aea8bc3887d08d7c66bffd5b1c63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.18,\"left_z\":0.10,\"left_yaw\":-0.8},\"note\":\"The rotation is lagging substantially, so I will use a smaller turn from the measured pose. The cap remains visible ahead of the fingertips.\"}",
  "call_id": "call_m5cY7WIQ6mGSIWjgB4moANJg",
  "id": "fc_08835754307ae780016ab2aeaa4cf887d094a5206cfccadb71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m5cY7WIQ6mGSIWjgB4moANJg",
  "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]: [-0.2195, 1.7325, 0.9642, 0.0116, 0.2924, -0.0635, 0.6989, 0.2958, 1.6234, 1.2076, -0.4911, -0.2668, -0.1989, 0.0784]\nstate[eef_state]: left_x=0.4332 left_y=-0.1452 left_z=0.0814 left_yaw=-0.4436 left_pitch=-0.1663 left_roll=-0.2406 left_gripper=0.6989 right_x=0.3971 right_y=0.1735 right_z=0.1423 right_yaw=0.6376 right_pitch=-0.3127 right_roll=0.0863 right_gripper=0.0784\nstate[joint_eff]: [-1.3744, -9.5658, 7.3778, 1.3114, 0.4908, 0.2711, -0.0122, -0.0889, -7.8974, 6.8444, 1.5214, -0.1832, -0.0415, 0.3785]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c00283c781afcc563894e6a0dc571d2a6b0fd509116b81491044d45dddf7e637",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933342f65a2c695ea09ed0e6e6179405ae7c8fbba356f3c85a944cb125bb641b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b045a14b62430f8d3127fd61c56b1b75298847e365254af9ee64e16851fdedab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.611 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3473, 1.6115, 0.7334, 0.2146, 0.0826, -0.2707, 0.6989, 0.2958, 1.6226, 1.2095, -0.4843, -0.2672, -0.1986, 0.0777]\nstate[eef_state]: left_x=0.3981 left_y=-0.1558 left_z=0.0741 left_yaw=-0.2818 left_pitch=-0.1115 left_roll=-0.2547 left_gripper=0.6989 right_x=0.3987 right_y=0.174 right_z=0.1444 right_yaw=0.6367 right_pitch=-0.3036 right_roll=0.0835 right_gripper=0.0777\nstate[joint_eff]: [0.3487, -8.2393, 6.6667, 1.9805, 0.0415, -0.0024, -0.0073, -0.1573, -7.8701, 6.8444, 1.4139, -0.1587, -0.0366, 0.6862]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq62BCcppl80DtiqCRBN4DrtzkIxbTeHxbkD_tfCX78sFe17CZt_uzUhiR7YM6_qHGvF32KoxDPkq0zavEtaSy2Ngwb23a3FSH19diUevxQUx-DEUd8t17eSpRnY_JlR6vr5oX5JYj0mYl1nQS5jZfMNnIiDz8CNeIZV9y4-p7Xmq0IhXt7VKppVwelciKqOeyviE6b75mEakpTHsm7bPwDcx2S6ojb-KEAiObr8klb9yxEARqn7f003YolFOxtVJBJb4anvA5DKuthG15_h1ffmGrP_AEeSMaAYbdsKNXOJglb-pY1NueeTxr_YaI6XNRaQihtjwE027Is1htAiJr-JoeSXbDf7hsPhkwBOLzROPfX-g86DQGWiw7YlB8crr0StB0CR4LB7Ptg14YdGzpFK1FJR8MaDG5qBChMMC0tTz9x0XnZwNcTGmZsQL40fN_qLOtg0DZ3px5jQEisQJMQoGgwC2D7fJ9osSmRntHYQFHXLGpPa8NDU7Qv7GkXkrsP7Ss5yu1M12mWfGLh0pwdYzTDuT2V5m1DEP-lNU7ArMzYLusrFz_shrgcskktQ4kN4GsYlJqKvgok4iksuixV0Yqm1RS___uUZpZZNA2ggmofu1fQHxROX-V4GVYuQ2YyzjiEVnAHh-i1v2CNPjP60AA2cXzdh5nRll4k4Cs9D0O3wMIAluvqnuRMZDAWQ2yQiybEZ035fyuSgink8lLugaLcSVb9KQpZTHLfDO5EVFOBq-jsgvkhnjcDoD4nLeSEnIEA4el1EsRCla0FxYXLJPYvrejYs2vm5FBeiRtNwtLJv-lfll7VwXLMBVfkyLcIoSaF-WJDw371yX0_qHjW7Y1vGK2-C-GVlKE8P56tfXux8zJ86t8xEVCxYJHJSQjt5z7tdZRwDggE9tXAoKF-8ij9reyBDfqLtVqgjzUWkgH1RCZ0eALbyHoip3gli3NT4l89QpXoh0vuw0r_YTa-tY3tw4J7kTL_k9ikj0v2lDCfCDh7Apm_KXk87xeNgc3AXWO1iiJGOSY5RuEiOHTMpd9nvHNnk_bP3jN5mi4tE_qsbE76tjseiB3LZNki5lsiifBTMK7rAcmuSCLf-f_Wbh4cYQ5y-qBHoSYfwu4kPKD3RCkV7c2UNiZSTzh9qZb67Ulo04bP6Zq-17feX3FV32bCjspDK4ipNKSjBbpS4Gfmyqm28GVCC5cseNttnh3nOzlvTEqGJDWGIWQ3dLg8fF1zbjZF-O_KgpCYYv5478r8dHswgmVic6RaNAsOFMdW9JCfdP_UOAtub2WxJUkLqesQLKg9fsArI47xKKch--Ie0aB0JIMP_VJX9W_m1GjXTAb27tVxhVBWn0Askkp31l4KqtdbIJukX4g6_Im3OGgKRE6Sya4C_hn5jP-Be2NyM",
  "id": "rs_08835754307ae780016ab2aeb2604087d08244667145531185",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":-1.0,\"left_z\":0.1,\"left_roll\":0.2,\"right_z\":0.19,\"right_pitch\":0.15},\"note\":\"The left gripper is now above the cap but still oblique to it. I will make one more incremental turn and refresh the right arm’s raised holding pose to counter its gradual sag.\"}",
  "call_id": "call_96ZFHxubdN8yWJw1vJ8Dciho",
  "id": "fc_08835754307ae780016ab2aeb3b6a487d0a2e94a55194df3ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_96ZFHxubdN8yWJw1vJ8Dciho",
  "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]: [-0.1459, 1.7664, 1.0782, -0.2073, 0.4755, 0.6907, 0.6989, 0.2455, 1.4418, 0.8421, 0.0612, -0.3985, -0.1192, 0.0784]\nstate[eef_state]: left_x=0.4248 left_y=-0.1405 left_z=0.0846 left_yaw=-0.9391 left_pitch=-0.2033 left_roll=0.1344 left_gripper=0.6989 right_x=0.3921 right_y=0.1726 right_z=0.1658 right_yaw=0.6384 right_pitch=0.058 right_roll=0.0983 right_gripper=0.0784\nstate[joint_eff]: [0.4171, -8.4171, 9.5385, 1.3797, 0.3932, 0.188, -0.0122, -0.6769, -8.0889, 6.7214, 2.1172, -0.2466, 0.1148, 0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e9f08a6125012ca53a69f6c100c5f0006d928170c99c979e9062d7eb14d5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0fcd6dd6ca871fc11dd6370d4f124f472ea0ca50e0349a777357ff25999d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0337fa939b1dd1577e23b4702e1d6340b978f8d89e5750009e7b7024119056",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 8.5 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2195, 1.7325, 0.9642, 0.0116, 0.2924, -0.0635, 0.6989, 0.2958, 1.6234, 1.2076, -0.4911, -0.2668, -0.1989, 0.0784]\nstate[eef_state]: left_x=0.4332 left_y=-0.1452 left_z=0.0814 left_yaw=-0.4436 left_pitch=-0.1663 left_roll=-0.2406 left_gripper=0.6989 right_x=0.3971 right_y=0.1735 right_z=0.1423 right_yaw=0.6376 right_pitch=-0.3127 right_roll=0.0863 right_gripper=0.0784\nstate[joint_eff]: [-1.3744, -9.5658, 7.3778, 1.3114, 0.4908, 0.2711, -0.0122, -0.0889, -7.8974, 6.8444, 1.5214, -0.1832, -0.0415, 0.3785]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":-1.7,\"left_roll\":0.0,\"left_pitch\":0.15,\"left_z\":0.1},\"note\":\"The last incremental turn tracked much better. I will continue toward the cap’s axis, keeping the fingertips above the table.\"}",
  "call_id": "call_TrSuOsAAGJUv51mhmgEagHfN",
  "id": "fc_08835754307ae780016ab2aebb0f8087d0a48ba6b1ae840361",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TrSuOsAAGJUv51mhmgEagHfN",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.033, 2.4069, 1.9469, -1.2568, 1.0706, 1.7336, 0.6989, 0.2424, 1.4448, 0.8333, 0.0563, -0.4011, -0.1173, 0.0792]\nstate[eef_state]: left_x=0.4441 left_y=-0.1368 left_z=0.081 left_yaw=-1.6253 left_pitch=0.0763 left_roll=0.0086 left_gripper=0.6989 right_x=0.3901 right_y=0.1712 right_z=0.1599 right_yaw=0.6362 right_pitch=0.0429 right_roll=0.1077 right_gripper=0.0792\nstate[joint_eff]: [-0.1162, -13.8051, 6.5846, -0.6422, 0.7204, 0.1783, -0.0122, 0.0205, -6.4889, 7.3915, 1.746, -0.1148, -0.0659, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d007e915c570d7c84cfc6ed9d47aa57b389426a29f75896d51bcb998224f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2abc600d06dd249466fda33255c41825118de8027945592c60d702ed2f08e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95aeac77795acd909e38c39a09934ae07634854ddf54045600ad1a51674076ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 10.68 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1459, 1.7664, 1.0782, -0.2073, 0.4755, 0.6907, 0.6989, 0.2455, 1.4418, 0.8421, 0.0612, -0.3985, -0.1192, 0.0784]\nstate[eef_state]: left_x=0.4248 left_y=-0.1405 left_z=0.0846 left_yaw=-0.9391 left_pitch=-0.2033 left_roll=0.1344 left_gripper=0.6989 right_x=0.3921 right_y=0.1726 right_z=0.1658 right_yaw=0.6384 right_pitch=0.058 right_roll=0.0983 right_gripper=0.0784\nstate[joint_eff]: [0.4171, -8.4171, 9.5385, 1.3797, 0.3932, 0.188, -0.0122, -0.6769, -8.0889, 6.7214, 2.1172, -0.2466, 0.1148, 0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq7GTO_T82Lv--aDKYho5TGLqIsvQzxN8VqSBfRAM9joBrL2hyoX13KRrfxWujgP8TmkeHp2nxX4CujiuGj47rgaMgOZxVmZ-loh-qbhj6bIJKbXAz37HbzFTW2cLh7BJ8HZWF-d2SWDhAIt0gi2b1AuAG2jiIQYj5pkz47X7DEF-6AS_5hKehDm3FipRPYfELbWz1VvVnNO62LTHGLxt-Lkt9lKkHL2-3dui9lW0EuL1yRFtsPhFKe437NDaVTKasGuKfDVXG4ds4InD-v2rLZ3WyjZkzHXyMwYxEpN_YLq4CnXxfcuMQC4vF6PKOsMhf3k3_ius-MYuJ9TbwlM0UifYPei9bUDGzkfjISEKwycqZeXy98AV0myORAAwHwfhrfXqfseyt_iygFAyxhGbTBGXs8rzCC5buz4oVYziihoF9r-XM8qiDprKBieKdV3Gz4de1I0TldUvdTAQeLXm4yS5NGNW6q0_N1Ye16oozWVAr1PVRoQOy9ubwdmeeD0ODBWPqJ8T2ugAqIQVPv5gdbFguojFuIclg-ErUDFDU1IZiZZESU_MO3ULt1U7tZ-gSUBFM2Lbk5zN3U9yvMW3xm8eCtZAZaB0h0AaJkWh0BF3qkJXpZOkgujOj887_xiQW7KdcsjFINOARyE_4quodnCQICh1ZHw4W28RIvZRQTgSytEfiCoRScThRaQD7XZZnxmFxvJWiXRJgnKYtmRF9Zob1Wq9va7a09daVsUbFz-QD8l6slTu1ZXRvdPL24YEpL9ZdAMkfnTk24JQTIHHyxGc0TUK6-sQT_Cl-zohD9yWUW47NrGMGLnVnmCj5PhsOso5bROXnVM_vuX25_p0yyFE0i8nnnp99MBH21s_2nIv7TQbMRM6SJM_ymHXDc1-9faAq2qq1k9G6RNyi1vhb7V7WzslFYoAvxliPoC5JmVHu1bnqJufE4GfDkaYQklnCWl8ajcuIjGQ5MjCYJsNirFFIIKdoP-pt68x7FhSJr99qaInBpEVLtExqh9A4b3t4Xgfq5HPf5cM6cEmgIcLO2WfCuRshHQvGCEOnyTP5yApyePM3Fh93Am6dt07dzsdaLmOjoZLIxC_HtDdXsmCpytWc3XU0BOLZfgYEImiSbvQzmOjHrPZeHQRvNgpCasEDBq7FlSMnjOKcS_UiATe0-2C54NY1ZvNK4tllCn5okhqyjUlO1-sOYKU6KlDZaczuZHoWVCivbQ1e7U40MgEv4k04pRX6vKDqDyoysx-EXpucJoevw5sekSPLSPgYNT3Vi6LYWi53BzOcIYHejKjWnjsYdVglMfLZwWldJS5sMbD9KxvttBitaZq0NRH8TbIeskdNaihffN94iys7K3uEC74rdNxzk3IOiyhg3HnRJxUU-bhy8qKqNI4fXuDlUSGkG4R9uv4wMmMtq3Bmf8xnBrZkr8CePP1n10V40UaP-nQhyvsRENMS-s_k8V_7hAmUOkyY--oDbaz8ptnblCX3_AWw==",
  "id": "rs_08835754307ae780016ab2aec050a487d08763bca78547f208",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.207,\"left_z\":0.012,\"left_yaw\":-1.85,\"left_gripper\":0.4},\"note\":\"The cap now lies nearly along the left tool’s forward axis and is centered in the wrist image. I will lower and advance toward its middle with the jaws partly open.\"}",
  "call_id": "call_p0Xl2p8HnzJqFRvi0V1zWiZU",
  "id": "fc_08835754307ae780016ab2aec4094087d0816ba01d90849cb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p0Xl2p8HnzJqFRvi0V1zWiZU",
  "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]: [-0.1276, 2.4722, 1.8275, -1.1614, 1.0512, 1.8198, 0.4022, 0.2424, 1.4448, 0.8333, 0.0559, -0.4011, -0.12, 0.0824]\nstate[eef_state]: left_x=0.3994 left_y=-0.2022 left_z=0.0233 left_yaw=-1.8298 left_pitch=0.0668 left_roll=-0.0066 left_gripper=0.4022 right_x=0.39 right_y=0.1712 right_z=0.1598 right_yaw=0.6376 right_pitch=0.0427 right_roll=0.1055 right_gripper=0.0824\nstate[joint_eff]: [-0.4581, -11.3436, 4.4513, 0.0269, 0.5739, 0.2466, 0.0708, -0.335, -6.2564, 6.735, 1.6777, -0.1636, -0.0611, 0.3199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8be452d8b9b6e85f9ea44757b975eb7c484f4a230d5c47ca78f69e8f5e4d39f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947865d42ee5a250e65877ff1a3d9859bab14b4f5e421ce205dd27b28d34ae3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ffd0b277dc5ac14ffbfe0c17efa9502654f6c08c886967c027ab8018cb04dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.3 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.033, 2.4069, 1.9469, -1.2568, 1.0706, 1.7336, 0.6989, 0.2424, 1.4448, 0.8333, 0.0563, -0.4011, -0.1173, 0.0792]\nstate[eef_state]: left_x=0.4441 left_y=-0.1368 left_z=0.081 left_yaw=-1.6253 left_pitch=0.0763 left_roll=0.0086 left_gripper=0.6989 right_x=0.3901 right_y=0.1712 right_z=0.1599 right_yaw=0.6362 right_pitch=0.0429 right_roll=0.1077 right_gripper=0.0792\nstate[joint_eff]: [-0.1162, -13.8051, 6.5846, -0.6422, 0.7204, 0.1783, -0.0122, 0.0205, -6.4889, 7.3915, 1.746, -0.1148, -0.0659, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq7RdL_tTsaNtXlgUnTp2ULRcrRTMy62nEOPF7TOY05evXGQBkNh38hWOJqs519pIaA6Ac36VgCUsH5p7L84zB-4EUnSs3rvoDFJQMQmbuzhEQ7btZISsf6tyiiU8ovXiRjnoISRWw9MLoeb4aTUkZvx1pe9Q_b3rwrUoE0nHFsUhi9mQNBEJdkcg_IbmlELciWY2CYldDWx4yB0n7Vl4s9VnqCxphkPnZq4vElQBuhJQth69PZtfNw7yPovSFE0jgR6buJjdBZxxPNfAQrjxCMYewxhKWZB-M_-nn8V2yN5OTy3YBGzh52dZ4kLXMvyxa8O6sVFhLm16Ng2Cmco8IJfVHYNxdvcTwrlnDeb5otwCANmygZqdv9GNnaIY-U1oy8h_hqR3msMkR3_qYL1ia-SebYkU7rCkxOeQW8at-oZWfIn1iy60fttIs3WYbZ619sWu070RhgmDHvNQYGwYGjQI7ME08WeiTeaKTwf5LvrrAw1UMbBVP5DHzx3aDacKBNx7_OEuTG1A-CFzfimPSzY4ckDxwCQtmCu7C6O8j7tNfRMm4Q0QLWJiUmbArPjuxK41i0T1ax8Oo8WFE9mDCqsjNLwge2YJA7yewY57Otyx3e-SQg7jgFfrbhbzaNNWJa9bfRd3o3oQQjfSW37wyY4mZaYdLrlvNranDFQSgapYph2Cws5xRu73qhvOoXwYNOD6k-42J0NSJz9H7m9fxoRd2jZnBEDm_z1fESkdZR85gXV1jBR6IImpA-IZpnKOf0qj-9cxVY9CNVtuv6-ZeT0hJPjB1YtJgvumxWTnzYb-x_BXiTsipjcWRCVhkQZ0WkWXaVexgHoUGBdXS83OC84WG-gbuQ6LtpvQJm7boAjVOkgTzA2y3JkHraLAU1hHt-EWNdH5qWkVPigrqAGkRBurtTq2HkqfMs2DdlkfeBSNcCe4cTiwjV05QqgSnLStlyPOwWWFlu2JyhBocEBx8PlThd0I7o5018TTr5E_-ILkBsPOu-oawkACf7d2ofRT9q1U0b5VWfqCxSgzL-cGyF0A0o_xUOVFJSi3EljRfoHRku1l-88j2LVbsDzyIvtUTzUWI-1i6dTgFRkjnvNeI1xmb7F90q6IzPBilud5dNUTr8055X9zrXPxdZ7XF-2zSy2Uj_7H-n0pItf1YxLtww5gALwY1ID4rZJxPuDn0KmGwKKLnCNrx_IXEA8arGazah9o35kJZ_u_7ixE4q_VUNUu_YJ3HilSsm0DY5_JJZDCmbW740xrsoy6JHY77CUnoUDjZK6GVDOosR3zW3jXNJyJdwSvyBViTjoRILJS7rpa7VJDOVqCBK9pR9nfNCXFSkL81WHvieAJmzrxHPz75qQ4dYR51Sx45X4l4xisJPrOaxBU5R_OG4aiPxgkNIRn4GU",
  "id": "rs_08835754307ae780016ab2aeceb94487d088ba3351d817157a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0,\"left_gripper\":0.0},\"note\":\"The cap has entered the fingertip region and is no longer visible beyond the jaws. I will finish the short descent and close gently around it.\"}",
  "call_id": "call_9MpCTaeMfyZmdnCJ9PUNAT61",
  "id": "fc_08835754307ae780016ab2aed0308087d0a8bd9406bb277f11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9MpCTaeMfyZmdnCJ9PUNAT61",
  "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]: [-0.1307, 2.5015, 1.8133, -1.1137, 1.0443, 1.8145, 0.0117, 0.2424, 1.4448, 0.8333, 0.0563, -0.4011, -0.1196, 0.0845]\nstate[eef_state]: left_x=0.3994 left_y=-0.2029 left_z=0.006 left_yaw=-1.8317 left_pitch=0.0596 left_roll=-0.0079 left_gripper=0.0117 right_x=0.3901 right_y=0.1712 right_z=0.1599 right_yaw=0.6374 right_pitch=0.0431 right_roll=0.1057 right_gripper=0.0845\nstate[joint_eff]: [-0.0068, -11.5897, 4.3966, -0.0317, 0.5201, 0.0513, 0.8327, -0.1846, -6.2838, 6.8171, 1.6728, -0.1832, -0.0464, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdd96a30648a11e4aaa3ef3459745f80062ace8001824792c9b89e38ec0f7ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2236f97844d71c1e9c619ebb684970c62372a4103894e7ec8cabd8f41ebf5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c4231c42031705f94c0fa962b22c5f80dcd6367b6a77f095c979f2b58d9afa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 6.669 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1276, 2.4722, 1.8275, -1.1614, 1.0512, 1.8198, 0.4022, 0.2424, 1.4448, 0.8333, 0.0559, -0.4011, -0.12, 0.0824]\nstate[eef_state]: left_x=0.3994 left_y=-0.2022 left_z=0.0233 left_yaw=-1.8298 left_pitch=0.0668 left_roll=-0.0066 left_gripper=0.4022 right_x=0.39 right_y=0.1712 right_z=0.1598 right_yaw=0.6376 right_pitch=0.0427 right_roll=0.1055 right_gripper=0.0824\nstate[joint_eff]: [-0.4581, -11.3436, 4.4513, 0.0269, 0.5739, 0.2466, 0.0708, -0.335, -6.2564, 6.735, 1.6777, -0.1636, -0.0611, 0.3199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq7YkcL2q2GVNbFEfTNNGs2krOJQaDVzkU0Rt2Vl61Fy0IeDgg_Xas30syQaa_0MdZiusfDXlTzopBGgyXwSraoUpT4xbNS-2UL93JGnrBPpK6Q1YbH-b8yRzazQeGmHfe6JjY7_E-wloU21BEi51_nEKg1lIkRSY3metXLv5cTtwR7tUjf8Dy_BnEAUBYqVoEMOwGNdaSwLLMF6LtKnxmjbQHJejVZde6ssEDJfWPGPYnRwPKnzYFUNu_vL4F5x2Avruh91yRZoFqDSRrHiZ1-qr-DqdqxJQCL1E5KbRZSNOXdOHKKwJ2-cQtZFiQd6uE-EqdpbqYj4TcGjQB9njoyv2_ydABhCKjQ2A0WzWZFeiHjDgiOPRmRYRcTgoebTuxb4B-SPuV8N5AECBoRWeuwBpuOUN8qHNHFsWnsNa3lx_XMooGDDmK8v3NXvSEnkS9hHQMoDrRHJCkX931mzm82uRfV7fDz-7iTnOTa-iidJlqAzAit15It6DSYcCYgjk54hcfwgnc47XiHXMr-zmPmeTQFVLT3-DWOxSOQ1nK9-ImDl9Pt7twjlS2JwtHO4P0VVK4NLXuqL8bTy2XAhqiC1M5yQtjFtoDgbbbIdxCoYA61osV2Bdj5_1cuaNWIXvYQlSVDafu9Ah3TsBgj0nlk2hoL9aT-M1mM2IHjuGeFm4qoVdUoOc1WJHpPcBqRofgLHhgyQw0Kjg7-IByJibtoaYKzXPK1Fw1Adb0E53P1IL_W1Q9wnBzf6wZPM0XOd3iiTze9bR86NW_CWyKpnP_V44lsQLU85W6ede1Ri-UTvc5_bVPsf1LojT3jio0mNgP_F1tFbPHRiW3_TnMNXUH_Axg5TNiOSflZjEFK48Ahjv9ZdwvVadxU2vyu8gkY6EPn3Cl2bg9lFZv4H9fCM-DRwDTCwOqzHUk2taHBEeqzmwMl6cj0nd2hffNpwJIxQNz3q2BkV-wy5ettMBUAu_36E4icVGVleTa1JOoOui0wdwUBMrD43PIWUlbvO4_iQTcCJbVuZhNB0z5-Dn3el6biIw-8HSj5U_rorjf-hhCcrlh8EAFc6uqlkO1i-O2SDVt_RNOyEkOngbs_c_jQvFlOaCEuVt24LfJrMzHxcyx-ILbS5A8tMHxaX0SC1LCAPNQ9O9pOBnySf46IKE0zWMe2nPnqrNGVJnUMLOpGry-eWp3J56_C4eGFaH0Rr_zZXEBpkOpywImVZ5k3MfVdDS7Y0x0W6d-iejvNPzvNglNHnspBUyzT0h86cHeh2eIdUDbrRz6SyTqGUf_YNhOE7Y7hKb-0v10s8MrEAbrubYbok_U9qQoLpomBkHM8iNrf2BUGfJGfgsKvK0qvmcPmlVkNMTOl_UsAfX1QZsskBbtfj2hk=",
  "id": "rs_08835754307ae780016ab2aed52e3087d0a8c0a5dc16ae1a70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.145,\"left_z\":0.085,\"left_gripper\":0.65},\"note\":\"The cap grasp is empty again. I will lift and withdraw along the tool axis to uncover its exact position rather than closing blindly.\"}",
  "call_id": "call_gN26myAMzXCBFu3q5kc5otWY",
  "id": "fc_08835754307ae780016ab2aed686a487d0911dfc19a52d225b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gN26myAMzXCBFu3q5kc5otWY",
  "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]: [-0.1307, 2.5076, 1.8095, -1.1072, 1.0485, 1.8153, 0.6462, 0.2424, 1.4448, 0.8333, 0.0559, -0.4011, -0.12, 0.0868]\nstate[eef_state]: left_x=0.3988 left_y=-0.2032 left_z=0.0032 left_yaw=-1.831 left_pitch=0.0641 left_roll=-0.0101 left_gripper=0.6462 right_x=0.39 right_y=0.1712 right_z=0.1598 right_yaw=0.6376 right_pitch=0.0427 right_roll=0.1055 right_gripper=0.0868\nstate[joint_eff]: [0.2256, -12.4103, 4.8205, 0.0269, 0.5299, -0.0171, -0.1441, -0.3077, -6.2427, 6.9128, 1.6777, -0.1783, -0.0513, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f959ac5d8c8a52820565519efd7bc0171173644280a440e69b58eeb4600c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4090483b414c49ef5098a28255df7919d9c8f91da109df184d2704ed5a36849",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7a194139375bac43c41c396746bf6679898637c44e190d4e9024430fa58596",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 5.175 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1307, 2.5015, 1.8133, -1.1137, 1.0443, 1.8145, 0.0117, 0.2424, 1.4448, 0.8333, 0.0563, -0.4011, -0.1196, 0.0845]\nstate[eef_state]: left_x=0.3994 left_y=-0.2029 left_z=0.006 left_yaw=-1.8317 left_pitch=0.0596 left_roll=-0.0079 left_gripper=0.0117 right_x=0.3901 right_y=0.1712 right_z=0.1599 right_yaw=0.6374 right_pitch=0.0431 right_roll=0.1057 right_gripper=0.0845\nstate[joint_eff]: [-0.0068, -11.5897, 4.3966, -0.0317, 0.5201, 0.0513, 0.8327, -0.1846, -6.2838, 6.8171, 1.6728, -0.1832, -0.0464, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq7fjhNBi33D5OSYGcRYLI4VEwmA7JalCo8pmGwyk7b_DKbS_Yeow2Kj-fJXVyo4Z4Yuqv-vIOP2ULe5EV45tW0A13JfYqPaOka3PuTF0_-XbFG5BiGHdR8x0Sk2KpXPGBDqd3JwmbYIHi54hcH-b36dd1TxHeZHyT8Va5-iYlB7GWHILihzUnbUBWZukkwl-tdG78BNUE6fPZ48anuuedTWueDzvAZ0nVuMmnXdsb3hX4PVsRWk6IRD1BH-ArcMlQ5Db6QSC4kEWKVmUOq85pYq8ax9OdUA6Pa2GRxFmPUfhhv-KPwRyzGfzHIfXiS3zAMzxBwaZgHAlPihHuykIOwWXO90UUHPdR9B8EnMPwM2Se4NdOePtj8O0u2PBS279qjnSF2OS1aIMyZIdcKBFlAuSH5lsjE11V1PqkgJWr8Pl2BrEwcngM9JPSP8Y3C990rguEOTqP3GD77feUcBrC-gBYB_Qp88M3ioUXdFVATpMdxyKkU44sayzl-IegxRU87COZEmZAY-KnL05CqrEk4XPPNjTyO7mx-A4My0rtFqW_HMhuh_PC2jheJO-vgck2LHhWWck24Jl0i5iGPmhoAc1KKZQSdML9ZKgHVamEAfi6Y8U6R3DKTA5G25tnsS1f1CGmIp_77eCcH9QguzcpB1ob6cHUTO_ti0Xk6o8aPfCGy_ngmDmjBcR0HZpP2tqXwIO2iry78tlxtcBw8vOwDdYKGz2uS5oPlG9-ljsFEf5lCVGFHcqt7h4oOF2HM5TMqpjkV9wwvr0x9GhX-OlC-gVKr4D5pftDhl4mT1m05aM7iwnOHObB8f22Nz2L3xbo66rQsmk3zlallVVbNS2kCnh92heDZv10kLyZg0bygZcXrwXRDUZyea4lJSUvrcMFbx_ta8yxNVgwUFFeHGNRzuCcr6iTp8kGBLZMrG0R3k3G4BDgsIxpafwSIABWUqclatuENAP7b9cBVL6ndijX-548uyVpAgDUL7ShOqjv-y1RgAzjzDzs6RKKdbUNG1w7maGLfVZFaNIxzaToQ70UrlL6j_8mY75TVqkYpaeDDj5Rq3TFbHpjWtxcyuNLv7GpxBvNf6EjM0JoxkrHRdCgwS_F8_onmqsYTMNIkVcJZ8cShaojybJ7Tym6nzsv2-jCDHh3vNzhJArqsbyWV0mDUp9L_WYawWR4XwnmrLvcVXRVeqRWDZJUZo0sMqnA4kU_YBf81F6qEjN9OFICUTsa8F_YqVomAjKkUcaxUtFHfGIMhcIRoYroo_1z-t4neirB3niSR84_aHLpA0l8bdokffQg==",
  "id": "rs_08835754307ae780016ab2aedbb52487d09a4aa66147ad5298",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.15,\"left_z\":0.15,\"left_yaw\":-1.0,\"right_z\":0.02},\"note\":\"The left arm is no longer tracking the attempted retreat in this orientation, and the cap has not been secured. I will move it toward a less twisted pose and lower the held pen back toward the table rather than attempt an uncontrolled insertion.\"}",
  "call_id": "call_Ob4HRna6AoTcGmqCBotuaAhg",
  "id": "fc_08835754307ae780016ab2aedd0eb487d0bc74050f5b369558",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ob4HRna6AoTcGmqCBotuaAhg",
  "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]: [-0.0803, 1.5307, 0.9001, -0.2573, 0.8345, 0.8627, 0.646, 0.2424, 1.8561, 0.5785, 0.6426, -0.4004, -0.1196, 0.0886]\nstate[eef_state]: left_x=0.3504 left_y=-0.1559 left_z=0.1335 left_yaw=-1.2082 left_pitch=0.0181 left_roll=0.1167 left_gripper=0.646 right_x=0.3807 right_y=0.1688 right_z=0.0102 right_yaw=0.6366 right_pitch=-0.0307 right_roll=0.1359 right_gripper=0.0886\nstate[joint_eff]: [-0.3487, -6.5573, 6.4205, 1.4872, 0.2906, -0.1734, -0.0366, -0.335, -7.9795, 3.8906, 2.1026, -0.1636, -0.0708, 0.1783]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c843207c87020b221b30362e8318934ab9f88804ea7b59f63bbdb21da7eb434d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:403b00fee51267d97f5f181ecf63155a5fa01199146f636cef23a7d92f6f263a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5ed8be2f758f4ed6bfcb50fec6e64261ed42857343abf4427aeb17d81dc81d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.374 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1307, 2.5076, 1.8095, -1.1072, 1.0485, 1.8153, 0.6462, 0.2424, 1.4448, 0.8333, 0.0559, -0.4011, -0.12, 0.0868]\nstate[eef_state]: left_x=0.3988 left_y=-0.2032 left_z=0.0032 left_yaw=-1.831 left_pitch=0.0641 left_roll=-0.0101 left_gripper=0.6462 right_x=0.39 right_y=0.1712 right_z=0.1598 right_yaw=0.6376 right_pitch=0.0427 right_roll=0.1055 right_gripper=0.0868\nstate[joint_eff]: [0.2256, -12.4103, 4.8205, 0.0269, 0.5299, -0.0171, -0.1441, -0.3077, -6.2427, 6.9128, 1.6777, -0.1783, -0.0513, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.65,\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.19,\"left_yaw\":0.0,\"left_pitch\":0.0},\"note\":\"The pen has been lowered to the table, and the cap remains separate. I will release the pen and withdraw the empty left arm.\"}",
  "call_id": "call_HKRcDCnXaQOyGmT71N0m2Vcg",
  "id": "fc_08835754307ae780016ab2aee335d487d0986264ebb574b20e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HKRcDCnXaQOyGmT71N0m2Vcg",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1005, 0.7902, 0.6048, -0.3935, -0.0502, 0.0933, 0.6459, 0.2424, 1.8694, 0.5701, 0.6636, -0.4019, -0.1215, 0.6474]\nstate[eef_state]: left_x=0.2923 left_y=-0.017 left_z=0.1787 left_yaw=-0.1183 left_pitch=-0.012 left_roll=0.1161 left_gripper=0.6459 right_x=0.3791 right_y=0.1686 right_z=0.0064 right_yaw=0.6389 right_pitch=-0.0309 right_roll=0.1355 right_gripper=0.6474\nstate[joint_eff]: [-0.4034, -1.6889, 9.8393, 1.7411, -0.0415, -0.0415, -0.0171, -0.212, -8.7043, 4.8889, 1.4676, -0.1832, -0.0317, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8d7fd7f2c1044425f5f755f9274ddd399655f06154eab7ef2d95ad2bfb3c0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:896f52ab2e07531e0adf72b3e51f75429241a33cee321ba6f965066c40d465f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6314bb393071402e24dc1db527a4bd78d47d3aabe826f7be776f55a783e9e6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 9.324 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 107 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0803, 1.5307, 0.9001, -0.2573, 0.8345, 0.8627, 0.646, 0.2424, 1.8561, 0.5785, 0.6426, -0.4004, -0.1196, 0.0886]\nstate[eef_state]: left_x=0.3504 left_y=-0.1559 left_z=0.1335 left_yaw=-1.2082 left_pitch=0.0181 left_roll=0.1167 left_gripper=0.646 right_x=0.3807 right_y=0.1688 right_z=0.0102 right_yaw=0.6366 right_pitch=-0.0307 right_roll=0.1359 right_gripper=0.0886\nstate[joint_eff]: [-0.3487, -6.5573, 6.4205, 1.4872, 0.2906, -0.1734, -0.0366, -0.335, -7.9795, 3.8906, 2.1026, -0.1636, -0.0708, 0.1783]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.19,\"right_yaw\":0.0,\"right_pitch\":0.0},\"note\":\"The pen is released and resting on the table. I will park the right arm clear of both pieces.\"}",
  "call_id": "call_DJOMAAszELQpZHBxoz29VgTo",
  "id": "fc_08835754307ae780016ab2aee9ce7087d09860ca79cea022cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DJOMAAszELQpZHBxoz29VgTo",
  "output": "executing move_to over 15 steps (1.5s)",
  "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]: [-0.1043, 0.7975, 0.6037, -0.4191, -0.07, 0.0723, 0.6459, -0.1001, 0.8101, 0.5838, -0.3183, -0.189, 0.0242, 0.649]\nstate[eef_state]: left_x=0.2893 left_y=-0.0143 left_z=0.1711 left_yaw=-0.0942 left_pitch=-0.0447 left_roll=0.1098 left_gripper=0.6459 right_x=0.3009 right_y=0.0067 right_z=0.1807 right_yaw=0.0419 right_pitch=0.0148 right_roll=0.1206 right_gripper=0.649\nstate[joint_eff]: [0.2803, -1.6205, 7.4051, 2.0147, 0.1538, 0.1343, -0.0122, -0.4034, -1.812, 9.5248, 1.7363, 0.0122, 0.2466, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfa65b992dd0f4bce9b2f87ea5015fc8c1b4241fd444ab07c7e5a263fe720c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef6ca8686c56b76d3b033b1a89a6a469da5d9df381f51039bce3dd739488696",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee0ef796a9b8b3a553dac172d1acc05d09b53401d76ace1df62a323db0fb54c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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