adhoc

completed
2026-09-22T17:02:56.373340+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
168.2 s
total steps
205
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked.
move_to
left_x0.3300left_y-0.2400left_z0.1200left_gripper1.0000right_x0.2950right_y0.0000right_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]: [-0.02, 0.7925, 0.6018, -0.3794, -0.0216, -0.0246, 0.9993, -0.0193, 0.791, 0.6102, -0.3756, -0.0219, -0.0124, 0.9992] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0018 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.335, -1.5111, 10.5915, 1.7656, -0.0366, 0.0513, -0.0806, -0.6359, -1.1282, 9.7162, 1.7509, -0.0562, -0.0659, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.24,"left_z":0.12,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe cap is visible just left of the left wrist camera’s jaw column, still ahead of the fingertips. I’m moving slightly forward and left while lowering for a centered grasp.
move_to
left_x0.3550left_y-0.2300left_z0.0250
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9287, 1.5841, 0.8623, -0.1638, -0.7212, -0.6357, 0.9993, -0.0265, 0.7959, 0.6132, -0.4088, -0.0277, -0.0128, 0.9991] state[eef_state]: left_x=0.3211 left_y=-0.2286 left_z=0.1023 left_yaw=-0.0169 left_pitch=-0.0515 left_roll=0.0442 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1777 right_yaw=-0.0022 right_pitch=-0.035 right_roll=0.0036 right_gripper=0.9991 state[joint_eff]: [-0.335, -7.2137, 9.0598, 1.5214, -0.5201, 0.022, -0.0757, -0.759, -1.812, 8.5949, 1.8193, -0.0562, -0.1148, -0.022] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.23,"left_z":0.025},"note":"The cap is visible just left of the left wrist camera’s jaw column, still ahead of the fingertips. I’m moving slightly forward and left while lowering for a centered grasp."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe cap remains fully visible ahead of the fingertips at table height. I’m advancing another small increment to put the jaws around its thicker body.
move_to
left_x0.3900left_y-0.2200left_z0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8505, 1.8442, 0.7963, 0.1211, -0.6762, -0.5838, 0.9993, -0.0265, 0.7982, 0.6132, -0.4133, -0.0277, -0.0124, 0.9991] state[eef_state]: left_x=0.3433 left_y=-0.2182 left_z=0.0178 left_yaw=0.0063 left_pitch=-0.1072 left_roll=0.0951 left_gripper=0.9993 right_x=0.2917 right_y=0.0007 right_z=0.1762 right_yaw=-0.0024 right_pitch=-0.0419 right_roll=0.004 right_gripper=0.9991 state[joint_eff]: [0.3897, -8.9368, 5.1487, 1.5165, -0.3346, 0.1197, -0.0122, -0.0615, -1.3744, 7.2, 1.707, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.22,"left_z":0},"note":"The cap remains fully visible ahead of the fingertips at table height. I’m advancing another small increment to put the jaws around its thicker body."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe cap’s thicker body is now between the jaw tips, slightly left of center. I’m making a small lateral correction and closing gently at table level.
move_to
left_y-0.2070left_z-0.0060left_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]: [-0.7605, 1.9686, 0.8825, 0.2214, -0.6449, -0.5365, 0.999, -0.0265, 0.7998, 0.6132, -0.4133, -0.0277, -0.0124, 0.9991] state[eef_state]: left_x=0.3848 left_y=-0.2146 left_z=0.006 left_yaw=0.0452 left_pitch=-0.0857 left_roll=0.0697 left_gripper=0.999 right_x=0.2918 right_y=0.0007 right_z=0.1758 right_yaw=-0.0024 right_pitch=-0.0434 right_roll=0.0041 right_gripper=0.9991 state[joint_eff]: [0.1709, -7.6239, 6.2427, 1.0916, 0.0317, 0.3394, -0.0513, -0.0342, -1.3744, 7.0085, 1.6728, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.207,"left_z":-0.006,"left_gripper":0},"note":"The cap’s thicker body is now between the jaw tips, slightly left of center. I’m making a small lateral correction and closing gently at table level."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe jaws have stopped around a roughly 5 mm thickness rather than closing empty. I’m lifting a few centimeters to verify that the cap is secured.
move_to
left_z0.0750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7521, 1.9835, 0.8627, 0.2897, -0.6464, -0.5335, 0.0526, -0.0265, 0.8036, 0.6132, -0.4156, -0.0277, -0.0124, 0.9991] state[eef_state]: left_x=0.3883 left_y=-0.2126 left_z=0.0036 left_yaw=0.0512 left_pitch=-0.0617 left_roll=0.0487 left_gripper=0.0526 right_x=0.2917 right_y=0.0007 right_z=0.1743 right_yaw=-0.0024 right_pitch=-0.0495 right_roll=0.0042 right_gripper=0.9991 state[joint_eff]: [0.5949, -8.4444, 3.7128, 1.3651, -0.1197, 0.0659, 1.2967, -0.1983, -1.4701, 7.0085, 1.7021, -0.0171, -0.0806, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.075},"note":"The jaws have stopped around a roughly 5 mm thickness rather than closing empty. I’m lifting a few centimeters to verify that the cap is secured."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe cap moved with the left gripper and remains held. I’m lifting it clear and positioning the right gripper above the pen.
move_to
left_x0.3900left_y-0.1700left_z0.1700right_x0.3600right_y0.2300right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7513, 1.824, 0.9199, 0.0589, -0.6468, -0.5415, 0.064, -0.0265, 0.8036, 0.6132, -0.4156, -0.0277, -0.0124, 0.9991] state[eef_state]: left_x=0.3856 left_y=-0.2096 left_z=0.0544 left_yaw=0.0572 left_pitch=-0.071 left_roll=0.0527 left_gripper=0.064 right_x=0.2917 right_y=0.0007 right_z=0.1743 right_yaw=-0.0024 right_pitch=-0.0495 right_roll=0.0042 right_gripper=0.9991 state[joint_eff]: [-0.212, -10.2085, 8.4034, 1.4139, -0.3346, 0.0513, 1.033, -0.0615, -1.1145, 7.0085, 1.6825, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.17,"left_z":0.17,"right_x":0.36,"right_y":0.23,"right_z":0.12,"right_gripper":1},"note":"The cap moved with the left gripper and remains held. I’m lifting it clear and positioning the right gripper above the pen."})
tool
executing move_to over 20 steps (2.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe pen lies diagonally to the right of the wrist camera’s jaw column, with its writing end toward the upper left. I’m aligning the jaws across its barrel and lowering for a grasp.
move_to
right_x0.3800right_y0.1950right_z0.0250right_yaw0.6000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6537, 1.5791, 1.0569, -0.3305, -0.5861, -0.485, 0.0703, 0.7967, 1.6161, 0.9218, -0.1368, 0.5926, 0.5022, 0.9992] state[eef_state]: left_x=0.3851 left_y=-0.1673 left_z=0.1423 left_yaw=0.0818 left_pitch=-0.1104 left_roll=0.07 left_gripper=0.0703 right_x=0.3509 right_y=0.2229 right_z=0.1052 right_yaw=0.0309 right_pitch=-0.1035 right_roll=-0.039 right_gripper=0.9992 state[joint_eff]: [0.4444, -9.8393, 10.3726, 1.2332, -0.1685, 0.3053, 1.033, 0.3761, -7.6239, 8.3077, 1.5995, 0.5397, 0.149, -0.1001] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.195,"right_z":0.025,"right_yaw":0.6},"note":"The pen lies diagonally to the right of the wrist camera’s jaw column, with its writing end toward the upper left. I’m aligning the jaws across its barrel and lowering for a grasp."})
tool
executing move_to over 6 steps (0.6s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe barrel now runs between the open fingers, slightly right of center. I’m shifting a little toward it and closing at table level.
move_to
right_x0.3930right_y0.1780right_z-0.0060right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6529, 1.5757, 1.0611, -0.3531, -0.5835, -0.4885, 0.0752, 0.4427, 1.7443, 0.6559, 0.3454, 0.0208, -0.0227, 0.9991] state[eef_state]: left_x=0.3828 left_y=-0.1657 left_z=0.1419 left_yaw=0.0837 left_pitch=-0.1226 left_roll=0.0759 left_gripper=0.0752 right_x=0.3743 right_y=0.1773 right_z=0.0161 right_yaw=0.4309 right_pitch=-0.1866 right_roll=-0.0335 right_gripper=0.9991 state[joint_eff]: [-0.3624, -7.0085, 6.2291, 1.5653, -0.2711, -0.0122, 1.033, -0.6085, -7.0085, 4.8479, 1.6728, -0.1197, -0.1197, -0.022] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.393,"right_y":0.178,"right_z":-0.006,"right_gripper":0},"note":"The barrel now runs between the open fingers, slightly right of center. I’m shifting a little toward it and closing at table level."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe right jaws have closed around the pen barrel, with the tip extending ahead of them. I’m lifting slightly to confirm the pen follows the gripper.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6529, 1.5757, 1.0611, -0.3565, -0.5831, -0.4889, 0.0752, 0.4248, 1.8492, 0.6899, 0.4381, -0.0029, -0.0406, 0.0512] state[eef_state]: left_x=0.3824 left_y=-0.1655 left_z=0.1413 left_yaw=0.0839 left_pitch=-0.1253 left_roll=0.0777 left_gripper=0.0752 right_x=0.391 right_y=0.1813 right_z=0.0025 right_yaw=0.443 right_pitch=-0.1651 right_roll=-0.0311 right_gripper=0.0512 state[joint_eff]: [-0.294, -7.3094, 6.5436, 1.4139, -0.2857, -0.0415, 1.0281, -0.8684, -5.7094, 6.2427, 1.4432, 0.0269, -0.0024, 1.2869] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The right jaws have closed around the pen barrel, with the tip extending ahead of them. I’m lifting slightly to confirm the pen follows the gripper."})
tool
executing move_to over 5 steps (0.5s)
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 noteBoth pieces are held. I’m raising the pen and bringing it toward the center with its tip nearly straight forward, leaving room ahead for the cap.
move_to
right_x0.3400right_y0.2900right_z0.1800right_yaw0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6529, 1.5757, 1.0611, -0.3569, -0.5831, -0.4889, 0.0752, 0.4252, 1.6638, 0.775, 0.1734, -0.0032, -0.041, 0.0593] state[eef_state]: left_x=0.3823 left_y=-0.1654 left_z=0.1413 left_yaw=0.0839 left_pitch=-0.1256 left_roll=0.078 left_gripper=0.0752 right_x=0.3917 right_y=0.1819 right_z=0.0608 right_yaw=0.4439 right_pitch=-0.1593 right_roll=-0.0312 right_gripper=0.0593 state[joint_eff]: [-0.335, -7.1179, 6.5573, 1.3602, -0.3248, -0.0562, 1.0281, -0.3761, -8.9641, 7.8701, 1.4969, 0.0073, -0.0562, 1.0281] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.29,"right_z":0.18,"right_yaw":0.15},"note":"Both pieces are held. I’m raising the pen and bringing it toward the center with its tip nearly straight forward, leaving room ahead for the cap."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe pen is now elevated near the center, pointing forward. I’m moving the cap ahead of its tip, with a gap between the pieces before attempting alignment.
move_to
left_x0.4750left_y-0.3190left_z0.2000left_yaw0.2200left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6529, 1.5757, 1.0611, -0.3573, -0.5831, -0.4919, 0.0752, 0.8898, 1.6524, 1.2819, -0.453, 0.4789, 0.4404, 0.0642] state[eef_state]: left_x=0.3823 left_y=-0.1654 left_z=0.1412 left_yaw=0.0856 left_pitch=-0.1257 left_roll=0.0759 left_gripper=0.0752 right_x=0.3412 right_y=0.2974 right_z=0.1761 right_yaw=0.2427 right_pitch=-0.1526 right_roll=-0.0181 right_gripper=0.0642 state[joint_eff]: [-0.0752, -7.3094, 6.5299, 1.326, -0.2857, 0.0024, 1.033, 0.3897, -7.2274, 8.1846, 1.3114, 0.4176, 0.1734, 1.033] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.319,"left_z":0.20,"left_yaw":0.22,"left_pitch":0.1},"note":"The pen is now elevated near the center, pointing forward. I’m moving the cap ahead of its tip, with a gap between the pieces before attempting alignment."})
tool
executing move_to over 14 steps (1.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe arms interfered as the cap approached from ahead; both positions shifted and joint loads rose. I’m separating the left arm sideways before choosing a safer approach.
move_to
left_x0.4600left_y-0.1600left_z0.2400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7322, 2.1559, 1.9846, -0.6231, -0.8944, -0.6785, 0.0766, 0.6731, 1.6047, 1.2812, -0.437, 0.5541, 0.5049, 0.0685] state[eef_state]: left_x=0.4991 left_y=-0.2586 left_z=0.2207 left_yaw=0.3187 left_pitch=0.1069 left_roll=0.0037 left_gripper=0.0766 right_x=0.3997 right_y=0.2044 right_z=0.2032 right_yaw=-0.0612 right_pitch=-0.0706 right_roll=0.0316 right_gripper=0.0685 state[joint_eff]: [-9.4427, -6.0513, 10.3179, 0.8327, -0.5885, 0.0317, 1.033, 17.853, -3.7128, 7.2684, 1.1355, -0.7253, -0.652, 1.033] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.16,"left_z":0.24},"note":"The arms interfered as the cap approached from ahead; both positions shifted and joint loads rose. I’m separating the left arm sideways before choosing a safer approach."})
tool
executing move_to over 9 steps (0.9s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteBoth pieces are still secure after separating the arms. I’m orienting them across the table so the pen can approach the cap from the right, keeping each arm on its own side.
move_to
left_x0.3600left_y-0.2100left_z0.2200left_yaw1.5500left_pitch0.0000right_x0.3600right_y0.2300right_z0.2200right_yaw1.5500right_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]: [-0.6094, 1.7977, 1.5032, -0.4614, -0.8143, -0.5812, 0.0766, 0.6739, 1.6352, 1.2751, -0.4557, 0.5453, 0.5083, 0.072] state[eef_state]: left_x=0.4614 left_y=-0.1611 left_z=0.2244 left_yaw=0.3374 left_pitch=0.0794 left_roll=0.0275 left_gripper=0.0766 right_x=0.398 right_y=0.2052 right_z=0.1844 right_yaw=-0.0591 right_pitch=-0.1159 right_roll=0.0018 right_gripper=0.072 state[joint_eff]: [0.0342, -11.0427, 6.735, 1.6728, -0.359, 0.188, 1.0281, -0.1436, -10.359, 7.2547, 1.707, 0.2711, -0.0904, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.21,"left_z":0.22,"left_yaw":1.55,"left_pitch":0,"right_x":0.36,"right_y":0.23,"right_z":0.22,"right_yaw":1.55,"right_pitch":0},"note":"Both pieces are still secure after separating the arms. I’m orienting them across the table so the pen can approach the cap from the right, keeping each arm on its own side."})
tool
executing move_to over 11 steps (1.1s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe left arm could not maintain its position during the large turn, although the cap remains held. I’m reducing the turn and bringing the arm to a less extended pose before proceeding.
move_to
left_x0.3200left_y-0.1800left_z0.2300left_yaw1.1000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4606, 2.2093, 1.7607, -1.5475, -0.9016, -2.0468, 0.0766, 0.2173, 1.803, 1.5894, -0.7921, -0.8364, -0.8951, 0.0725] state[eef_state]: left_x=0.3764 left_y=-0.0281 left_z=0.1084 left_yaw=1.3885 left_pitch=-0.0316 left_roll=0.0481 left_gripper=0.0766 right_x=0.3946 right_y=0.225 right_z=0.2166 right_yaw=1.3483 right_pitch=-0.0455 right_roll=-0.0271 right_gripper=0.0725 state[joint_eff]: [0.4991, -13.7094, 5.012, -0.5006, -0.3834, -0.1783, 1.0232, -0.6632, -9.8803, 6.4615, 0.5006, -0.6618, -0.0806, 1.033] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.18,"left_z":0.23,"left_yaw":1.1},"note":"The left arm could not maintain its position during the large turn, although the cap remains held. I’m reducing the turn and bringing the arm to a less extended pose before proceeding."})
tool
executing move_to over 14 steps (1.4s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe left wrist is reaching its rotation limit. I’m switching to a moderate diagonal alignment, with the cap ahead and left of the pen and the grippers still separated.
move_to
left_x0.4300left_y-0.2400left_z0.2000left_yaw0.7500right_x0.3200right_y0.3000right_z0.2000right_yaw0.7500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7147, 2.0445, 1.6684, -1.5566, -0.886, -1.9953, 0.0766, 0.2119, 1.8317, 1.589, -0.8017, -0.8375, -0.9085, 0.0732] state[eef_state]: left_x=0.338 left_y=-0.1074 left_z=0.143 left_yaw=1.1099 left_pitch=-0.0636 left_roll=0.0327 left_gripper=0.0766 right_x=0.3968 right_y=0.2233 right_z=0.2038 right_yaw=1.3525 right_pitch=-0.0608 right_roll=-0.0027 right_gripper=0.0732 state[joint_eff]: [-0.4581, -12.1641, 5.5863, -0.4615, -0.7741, 0.188, 1.0183, 0.1026, -11.8359, 6.735, 1.1697, -0.3932, 0.0904, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.24,"left_z":0.2,"left_yaw":0.75,"right_x":0.32,"right_y":0.3,"right_z":0.2,"right_yaw":0.75},"note":"The left wrist is reaching its rotation limit. I’m switching to a moderate diagonal alignment, with the cap ahead and left of the pen and the grippers still separated."})
tool
executing move_to over 12 steps (1.2s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe wrist housings are interfering again before the pen and cap meet. I’m separating the arms; I won’t force the pieces together while the arms are in contact.
move_to
left_x0.3800left_y-0.1000left_z0.2000left_yaw0.3000right_x0.3200right_y0.1000right_z0.2000right_yaw0.3000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7277, 2.339, 2.3356, -1.663, -0.9039, -1.5978, 0.0766, 0.5667, 1.4254, 1.1, -0.2451, 0.0463, 0.0338, 0.0732] state[eef_state]: left_x=0.4168 left_y=-0.1805 left_z=0.1827 left_yaw=0.8556 left_pitch=-0.0962 left_roll=0.0828 left_gripper=0.0766 right_x=0.3743 right_y=0.2327 right_z=0.2188 right_yaw=0.5036 right_pitch=-0.0136 right_roll=0.0023 right_gripper=0.0732 state[joint_eff]: [-4.7932, -9.5521, 8.1436, 0.9841, -0.7204, 0.2173, 1.0183, 12.5607, -4.4239, 5.641, 1.7021, -2.0, -1.5458, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.1,"left_z":0.2,"left_yaw":0.3,"right_x":0.32,"right_y":0.1,"right_z":0.2,"right_yaw":0.3},"note":"The wrist housings are interfering again before the pen and cap meet. I’m separating the arms; I won’t force the pieces together while the arms are in contact."})
tool
executing move_to over 12 steps (1.2s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe arms are separated and both objects remain held. Since the available wrist poses do not allow a safe insertion, I’m lowering the pen and cap back onto separate clear areas of the table.
move_to
left_z0.0120right_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]: [-0.5625, 1.5185, 1.214, -0.7006, -0.7128, -0.6888, 0.0766, 0.2962, 1.0206, 0.7597, -0.3222, -0.0059, 0.0032, 0.0732] state[eef_state]: left_x=0.3741 left_y=-0.095 left_z=0.1876 left_yaw=0.3813 left_pitch=-0.1264 left_roll=0.0939 left_gripper=0.0766 right_x=0.3241 right_y=0.1038 right_z=0.1961 right_yaw=0.2936 right_pitch=-0.0269 right_roll=0.0048 right_gripper=0.0732 state[joint_eff]: [0.2667, -7.8154, 6.8718, 1.5263, -0.2808, 0.2076, 1.0183, -0.4171, -4.0684, 6.8991, 1.9414, -0.1978, -0.0904, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.012,"right_z":0.012},"note":"The arms are separated and both objects remain held. Since the available wrist poses do not allow a safe insertion, I’m lowering the pen and cap back onto separate clear areas of the table."})
tool
executing move_to over 12 steps (1.2s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteBoth pieces are at the tabletop in separate locations. I’m opening the grippers to leave them safely supported.
move_to
left_gripper1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5594, 1.8008, 0.7734, -0.0391, -0.7017, -0.68, 0.0766, 0.2905, 1.5562, 0.2371, 0.6426, -0.0193, -0.0048, 0.0732] state[eef_state]: left_x=0.3652 left_y=-0.0899 left_z=0.0111 left_yaw=0.3805 left_pitch=-0.1708 left_roll=0.1451 left_gripper=0.0766 right_x=0.312 right_y=0.1006 right_z=-0.0007 right_yaw=0.3036 right_pitch=-0.1202 right_roll=0.0066 right_gripper=0.0732 state[joint_eff]: [-0.294, -7.7333, 5.2308, 1.2527, -0.4225, -0.0904, 1.0232, 0.253, -4.4376, 3.3436, 1.1502, 0.1587, 0.022, 1.0232] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":1},"note":"Both pieces are at the tabletop in separate locations. I’m opening the grippers to leave them safely supported."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe pen and cap have been released onto the table. I’m retracting both arms to their parked positions so the pieces are clear of the grippers.
move_to
left_x0.2900left_y0.0000left_z0.1900left_yaw0.0000right_x0.2900right_y0.0000right_z0.1900right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5594, 1.813, 0.762, -0.0139, -0.7143, -0.6918, 0.9951, 0.2901, 1.5661, 0.2317, 0.6678, -0.0238, -0.0124, 0.995] state[eef_state]: left_x=0.3648 left_y=-0.0876 left_z=0.0076 left_yaw=0.3939 left_pitch=-0.16 left_roll=0.1415 left_gripper=0.9951 right_x=0.3125 right_y=0.1014 right_z=-0.0005 right_yaw=0.3111 right_pitch=-0.1102 right_roll=0.0033 right_gripper=0.995 state[joint_eff]: [-0.1299, -8.7453, 5.8598, 0.8864, -0.2222, 0.0513, -0.1099, -0.0068, -5.4906, 4.4786, 1.4139, 0.0024, 0.022, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"left_yaw":0,"right_x":0.29,"right_y":0,"right_z":0.19,"right_yaw":0},"note":"The pen and cap have been released onto the table. I’m retracting both arms to their parked positions so the pieces are clear of the grippers."})
tool
executing move_to over 13 steps (1.3s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteI picked up both the pen and cap, but could not align them safely for insertion: the wrist housings interfered before the pieces met, and alternative rotations exceeded the left arm’s usable pose range. I placed both pieces back on the table and parked the arms.
give_up
hindsightFor this pen/cap task, 10 cm separation between grasp points does not ensure wrist-housing clearance during a two-arm approach. Left-arm yaw near 1.1–1.55 radians at central elevated poses produced large position errors and a wrist joint near its limit. Plan the mating orientation before grasping; these grasps did not provide a safely reachable insertion pose.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1345, 0.9245, 0.7498, -0.5655, -0.2417, -0.0578, 0.996, -0.0185, 0.8646, 0.6933, -0.4881, -0.0311, -0.0162, 0.9961] state[eef_state]: left_x=0.2947 left_y=0.0064 left_z=0.1765 left_yaw=0.0906 left_pitch=-0.1506 left_roll=0.1275 left_gripper=0.996 right_x=0.2955 right_y=0.0036 right_z=0.1793 right_yaw=0.0107 right_pitch=-0.1028 right_roll=0.0046 right_gripper=0.9961 state[joint_eff]: [0.0342, -2.1538, 9.7299, 1.4383, 0.0611, 0.2173, 0.0757, -0.3897, -2.6325, 8.8684, 1.5946, -0.0708, -0.0904, 0.1001] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both the pen and cap, but could not align them safely for insertion: the wrist housings interfered before the pieces met, and alternative rotations exceeded the left arm’s usable pose range. I placed both pieces back on the table and parked the arms.","hindsight":"For this pen/cap task, 10 cm separation between grasp points does not ensure wrist-housing clearance during a two-arm approach. Left-arm yaw near 1.1–1.55 radians at central elevated poses produced large position errors and a wrist joint near its limit. Plan the mating orientation before grasping; these grasps did not provide a safely reachable insertion pose."})
tool
give_up: I picked up both the pen and cap, but could not align them safely for insertion: the wrist housings interfered before the pieces met, and alternative rotations exceeded the left arm’s usable pose range. I placed both pieces back on the table and parked the arms.
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 · 8.103 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7925, 0.6018, -0.3794, -0.0216, -0.0246, 0.9993, -0.0193, 0.791, 0.6102, -0.3756, -0.0219, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0018 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.5111, 10.5915, 1.7656, -0.0366, 0.0513, -0.0806, -0.6359, -1.1282, 9.7162, 1.7509, -0.0562, -0.0659, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad983cdef70cb0dbbda851def0021028ff02dc0094434d8bbd7a875eed814c94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68c33b86c9f2f3dee6b55e3444e1be6fa8948563497dc695fdb744dce306e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6abb55dfd36b5b6143214c614aae23add8cd6fbff605c8297eb4617df71e513",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ad983cdef70c
wire blob e68c33b86c9f
wire blob c6abb55dfd36
call 1 attempt 0 · /responses · status 200 · 6.844 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTVBOvsrmJwJk6j_XGfKj0-RLjlloVb0D5Yl2EiFyLCfooQfJV9n-8YstKwYaezzR0gmwPpHt1CvNzxrNZoecGNIeLm2nQiZyy-Eb8BolItKGL1GtjTpEPuYqmKYsgsZ3hYzSQIwcJnHb4GNGiy8J6Gr9GLgdRdZOdQhlpwkJFmtS8iBj_NC-1DnmU6yeZTF_lnt4qkouRUyVnyJY4u70vxmgqKBJ9-s1Q6uYh5XAvp3O9ADGHwwwlRYPZ3bJXXS6txA4u0RZykTzjVzbojvNrbTgRVt0wKeGCLprE1Dh_DKE2w6K6g9WsnN-ydfYGkj-uV3hbKGpinlkBnfEbO_sXEk5WacHWGA5FvBulRlKSVgQvGWWwx6ZpfdMWgm2A6FBTJ-mCt6AwtBsC8aM0TZKvz0PpKLEJbMCCyxfTpp7n09Zmf1FRi8wM_z4ZW5Z36HneZru73A_3MUoV5V0MLYHqiErCTAd_EsImbFLLr0jIGWt_CQQC-88T3oxUBT3cIhUtPcBx30Lowvo2LYVUXwFzzUD8L94bXOlKFtPKb-wx_vur4wmzBPkEOxbvE_8sEABa1gukA4IBC3KXcXL3gHy2kTZdcrEE2unfDT_eA_-JF6R82Us-JJl4bbKGXg8wrl01F5rkna_hS22gPKt46mUK_ZrKdanw4axFto_Z1yxl0onGSH0G7H5hwJWE9OLcxw1QBXeGGb47LfXfKsH8DLqsI2aps49gYjzEQK-Y-9KADEaIubF-TaN18vZJKuYF4ZmKgUgKqc3MyDnUuC1jVW7nCAqRnJ4XRMvH51d-C62__ECWz4JBu060R4Trk3HTZEWGyAZquS4now339JLbO-LXBUY6XKQpLfAY2BI-jPXgKkWKygypHq6PEHsv1dj4JufrKgGPekfgJXDTwYXfi9gDI9vu7xZQ5reGFXJVloj48nl-YMGFA9yc1v7Xw7_l1K9jwhNd4__l2EQkCY05fyndfb0h9zBYVePe2oycaYC4_a0jOB5hwup_07CvFet_oqsbs0UESp-9jDdryIzJjJTfvSiNITOjZRwEJ9_lOprQDp7DtafMURLj2IutiaoDm1npUJX6pXUwqRs8oINf3pLCtnEXR6Iyb1juZckryYDmTMoqQhDOFFZ-1hUEpY2aSPoj6Zqyt_sbglUCZ-5sYLMHc1NkDPVv7IRD7CPqI7zNiA4eHRNd2p7tkiFIbRynmPab0qKnXb5bVmWqICqUd7A5G4l32OXdXEs7bGv-XlObIevfamb97vJYQCzPdAhSi6TNk4MeCUFhsl2KXAQNx42JK6PwMxldUYy8UHstIyO_hcXSXMFxLp1nuJipz87EAAS-q65XryIB8obu67oKxCoGRS1z2OJEfBWq67YFNKM_mRri9VFRP5nRcBW3yzdHlV1FG",
  "id": "rs_09686c6e46da6483016ab2b4cfe63087d0bf561e2ea66a0821",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.24,\"left_z\":0.12,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap while keeping the right arm parked.\"}",
  "call_id": "call_ItegrnJ5qqeVvzIeNwijJkMJ",
  "id": "fc_09686c6e46da6483016ab2b4d2ba8087d0b3892517d8ca4c3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ItegrnJ5qqeVvzIeNwijJkMJ",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [-0.9287, 1.5841, 0.8623, -0.1638, -0.7212, -0.6357, 0.9993, -0.0265, 0.7959, 0.6132, -0.4088, -0.0277, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.3211 left_y=-0.2286 left_z=0.1023 left_yaw=-0.0169 left_pitch=-0.0515 left_roll=0.0442 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1777 right_yaw=-0.0022 right_pitch=-0.035 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.2137, 9.0598, 1.5214, -0.5201, 0.022, -0.0757, -0.759, -1.812, 8.5949, 1.8193, -0.0562, -0.1148, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5aa4ea53f106292b07cbc9a653ba0a25093f1be6da269c9425dcddc3a0f490a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f909678eb06fe8fc389c35ca1c1749da956bb74aec02fb8b3bcc6546c951c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f2ce8288a666746cbfa13c390dc37c1190286acb0eacee5b7870eb8ad8ff01",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f5aa4ea53f10
wire blob 5f909678eb06
wire blob 59f2ce8288a6
call 2 attempt 0 · /responses · status 200 · 6.82 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7925, 0.6018, -0.3794, -0.0216, -0.0246, 0.9993, -0.0193, 0.791, 0.6102, -0.3756, -0.0219, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0018 right_z=0.1846 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.5111, 10.5915, 1.7656, -0.0366, 0.0513, -0.0806, -0.6359, -1.1282, 9.7162, 1.7509, -0.0562, -0.0659, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTejKEdDH1eV-F4nOP_x1NEusdmV12QDE6FLdtfGVoEWuSaXI1MSdUu0IrwrZRp4SYXnvnWCzE3OUWCxhZiOnv8cAYtRM82c67yCZ-PX_qIbnvg5cVYGeRVWV_3_v2m4ykdAcftkW1W0mPbJjVZZBnjcPEjNLxTQwwV2D_OYh63QDig9SxUg2-7dN8XrCNCt_7lctQKo-BNHJk3pvh44jRcKARztNC2-MJbsJ2DRFqfgMcPYm0J7Yv_TYRsK0osq-Ke4qWU-BOn7wEqxfu5R4kzxdH4IDYkIwI5UdIp-d8wqCE8qklsSEjvTBGolySARz2WSf_jdI-4oMl280luc3baUd_fXEKAMVQjEH3deDIo-ObK_KvA57jZtkERmMgdWG84EgxBNTAQ7xkh_8vLjpSvJbaydv5q9Ft4R6GnWRMAzflJgIsOTuQ_Ofphsn3OoLEpz7WuP56a43YX9rcGXfd8AOswuDHBgBOF8-8zsg5fSRoPSg2hUKlKaOl3YqZ23fzQjtFx7UfSgFscwsKWLPhGnS0d088mG3eyOmZ39TXNfeO6-K5XK3Ve435RZ3WDSG1DRFqlwigLCsabMF1ehUBgDuOxAqW_N51uTGu4XFSp81g1O5iK28hd6StxnCc48dylCU-tHj7eVwwk7J7KMDt_PaBNK1lU4IDxLBGLQrse71T_ct7EXVbnM_vfB3tWqBbVDUriT__y9b4kfILWgiN2b56jspzT-afBtdRPVVcEhCMjCN9W8TAaXhialWWotndvZE93hUqMaqqimir7__sus8wlOZVEUOyXHmixZ4-bNSqoiGhrSVVsiP0cg_z4bvNSjAxDHuxeJ0cb1kKFzMzymwf-e8rABcr9xwwkyWlGuWY959cxXRmK24FGTZNDlIynAgoNhTQB4_eDxu_eJ-sJMU6PKX2iiU2ks0WV1pXMPm3-YHYQa5j-_exlpPIol_-6Q5FuSv-j1Lp66_aFg1bSyk5U1ZKBed-1AtbEF48O1bTXnqsD0KzVslJn3yw5Xp390SNreKDaUJrA9Sb6VEJnUWN_l6jmqV6rMwyJ8APw9OIY-jQeAyfDURaTeVDBiAKOjy1YLG8pFau-9391ibhAkLj5x_CEdPiMWMqQSfF_ZWqkVsiWEnZtN0xjJXaJkORytIdCyFLSUQ1oC6Q7qUskvheku4UA3rXccSh3_aJzSOBiWnPdaDAduAgs2TUWkHH56lttkiyfWyGNSwUhAtY1TVsonDfuJXhlSGtBR8-jrA0dJGxlLE_EWPtmdZS8hLQBQz-7TJWdBr44_iZrzNZ8HzxqxdGmadFEingSuVGnSa_4fklCUvTXQODp2id2PnyZvHd7SRCQljgnxkxS244DowicZp1YwWepDnftkU-kw43mOIxUBBDlbCAMW13P8vXb",
  "id": "rs_09686c6e46da6483016ab2b4da01a887d0903d74da8cfa8001",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.23,\"left_z\":0.025},\"note\":\"The cap is visible just left of the left wrist camera’s jaw column, still ahead of the fingertips. I’m moving slightly forward and left while lowering for a centered grasp.\"}",
  "call_id": "call_tEm34riP2zJcdqUlZccv7kJc",
  "id": "fc_09686c6e46da6483016ab2b4dc668c87d09dffa5bc36198569",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tEm34riP2zJcdqUlZccv7kJc",
  "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]: [-0.8505, 1.8442, 0.7963, 0.1211, -0.6762, -0.5838, 0.9993, -0.0265, 0.7982, 0.6132, -0.4133, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3433 left_y=-0.2182 left_z=0.0178 left_yaw=0.0063 left_pitch=-0.1072 left_roll=0.0951 left_gripper=0.9993 right_x=0.2917 right_y=0.0007 right_z=0.1762 right_yaw=-0.0024 right_pitch=-0.0419 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [0.3897, -8.9368, 5.1487, 1.5165, -0.3346, 0.1197, -0.0122, -0.0615, -1.3744, 7.2, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea0751b34c3cd867758510410db3140cce454f5047d269c802c990dd990e036",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11871e6d6620fff8f656d1d0f005e737843e1564cbeb25fe00f80473a472740e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07343e98e3eeafe60e91d7af26dc0cd8a789772e078cbaf7cdc705d58de81ee1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1ea0751b34c3
wire blob 11871e6d6620
wire blob 07343e98e3ee
call 3 attempt 0 · /responses · status 200 · 4.184 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]: [-0.9287, 1.5841, 0.8623, -0.1638, -0.7212, -0.6357, 0.9993, -0.0265, 0.7959, 0.6132, -0.4088, -0.0277, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.3211 left_y=-0.2286 left_z=0.1023 left_yaw=-0.0169 left_pitch=-0.0515 left_roll=0.0442 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1777 right_yaw=-0.0022 right_pitch=-0.035 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -7.2137, 9.0598, 1.5214, -0.5201, 0.022, -0.0757, -0.759, -1.812, 8.5949, 1.8193, -0.0562, -0.1148, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTlX5O_NJfZq-YDMT3O2ITboNUTBff7S2_8cuMxJdTC4lxJyYenlcePNXNn_U0MJk7A95E9va8Nz7eqEmnsXU9UxJZyiaekEIbDFKKVJJ7QMKRmwvDxT5vPEhKTKuXIn9yUolBdqReFFUllT2Q8kydrXAJTTCpqAipKIgC858cRnIsRKqSKhE_0pSQ1-RfpzOAxOtO8aef3w8YzqCgNIwL0ZXGMXCYCyRPhAUOc5ZGVcE7NYxp7CoBHeRfXKXCRKuB4W4vzlH12wB58_ZjTQV74Qg5XnWz4a1Em70hk_n1LHKSSHC3W8vOS6Zlz9d8s10Kjb0UlHTePJ88VxpRUulyXJjfBI14mkqnMr4DHCe1wnVDn_IQCZgs0FkNEashZpt72wDS50EP6LT3bmPI3W9DAUt8mJAXdnW9_KYCqUBAvIFtGqgEtMK9z0ifTuhkGY-xBzjpzwg0X54VGy75hb-Hvvc4i11pJm7kqwOgejEjlEQtV0M9gS2lZTmma1n9YhSzw37CNOhp58QRLJXVntOE8f1OQFOFPgfURWnXrTLgiKmMiNYnoZwxLE9Dt8pOrK1elU4E9oMhtKliZqQkT9CMeBdW5VOJOdZEfklVqf6Q2CIHL9GOV6YPaRERmVsnC-oYo93mbxrWkgUeXGrQAcKqc2DLc9sTAUfoG6lKsK9J0AXHf2uzNFHCnX8iR2oyq4MqbcQs5Y9xnlGj-LwSNbI-KSeMEMcwcEZGpd70vNAD1MurxeRkkcVPIyucj2rrDZ7dxc6LkQiNE0EUBow9JBA2K0fEMDm0B19d3p7drVoFMA9QAEjJjFRbXYWsdqBYoIMIVyDb1mlg_L6kKAHoitsga3VV2lvsV-F-zBUM2LKP5fD8I4hyoqWkvARvcuup3MEz_7ISB1zTxkUYCK4XE_UcBpZRG62g9Urmob-WRltCVQ_Zuh59YyLt-YBLFcKJYYvSzBoey7CztyV8gesFQ5YgySTG49CKDSoK-UPI9fa_se4zYoDhC3TKBkTYIqYLy2lzK7HAZtxhZIupD5w6cP48oEd9-Uu84eXrD7kQ_rVl4bpN_igU7w36NHCBSBHfukJ6ASCpFaXtueSOVaM8A8ppxGg3E3nThIJoV8uSfS8S7j8m6dt5BFL5snEWhhHRNUyS_-tyAdqQaWpRVmyBXSyNqDdEQmIO7I5JTtFcuXPGt8sCRVz2ivhEOnRcN83MWkm6MFBK87Nr0VPpkO5aKbO3ISoBTgFbD7xPDueZ3rzA_yTKE-23A0-m1HSAvfp_3BOXBuoWfR6dabNHin2MUWBomSEMnT5QK3wjUx1BfsGdUEklVBD7PuWVPXFNOxnb7EutAzyXPz3cVnG55H8-XkmLzRGWMDS-97-B5Jz1wehGWpNRb7p78VuQ_xIj8jk8n8qds2FqxQOzwLwHkXzIb6dEd8jQJ5pTdfXPRqr0at6U_AZxdCgNCWpGpes1SKrtUeTn1mpEKR8eCsWUX2dDXLvdcYIMEGZfcqdVBULxEhgrYSmrN31mKg5L-DKMnDuGR_VKnFmMoSbxzk8jeO8_px5s9s8Z2sj90mZhQ2Jwrm88da4EJzIFgxU4h1UaapJlqGA8P",
  "id": "rs_09686c6e46da6483016ab2b4e09efc87d0a75425e281246bbf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.22,\"left_z\":0},\"note\":\"The cap remains fully visible ahead of the fingertips at table height. I’m advancing another small increment to put the jaws around its thicker body.\"}",
  "call_id": "call_iiN55ya8LB1jDuuoDmnAcSW3",
  "id": "fc_09686c6e46da6483016ab2b4e3d9a487d09fb42f8c32d079fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iiN55ya8LB1jDuuoDmnAcSW3",
  "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]: [-0.7605, 1.9686, 0.8825, 0.2214, -0.6449, -0.5365, 0.999, -0.0265, 0.7998, 0.6132, -0.4133, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3848 left_y=-0.2146 left_z=0.006 left_yaw=0.0452 left_pitch=-0.0857 left_roll=0.0697 left_gripper=0.999 right_x=0.2918 right_y=0.0007 right_z=0.1758 right_yaw=-0.0024 right_pitch=-0.0434 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -7.6239, 6.2427, 1.0916, 0.0317, 0.3394, -0.0513, -0.0342, -1.3744, 7.0085, 1.6728, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7687eb61bdbe220365136d9a8f6c6ab21b8678957be3699625fd40f62eaf3dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877ea25cfc6bed82053f0ffd5124f1283991506debb3f0d1e805d5d000512c8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b56b9b34ff6bc83d09d8313bf3ff5b4c2bdeac4a48bc8fc83340eac0a6714f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7687eb61bdbe
wire blob 877ea25cfc6b
wire blob 71b56b9b34ff
call 4 attempt 0 · /responses · status 200 · 4.588 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]: [-0.8505, 1.8442, 0.7963, 0.1211, -0.6762, -0.5838, 0.9993, -0.0265, 0.7982, 0.6132, -0.4133, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3433 left_y=-0.2182 left_z=0.0178 left_yaw=0.0063 left_pitch=-0.1072 left_roll=0.0951 left_gripper=0.9993 right_x=0.2917 right_y=0.0007 right_z=0.1762 right_yaw=-0.0024 right_pitch=-0.0419 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [0.3897, -8.9368, 5.1487, 1.5165, -0.3346, 0.1197, -0.0122, -0.0615, -1.3744, 7.2, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.207,\"left_z\":-0.006,\"left_gripper\":0},\"note\":\"The cap’s thicker body is now between the jaw tips, slightly left of center. I’m making a small lateral correction and closing gently at table level.\"}",
  "call_id": "call_6XugL8SVQzjQK0Jhn06rRSvn",
  "id": "fc_09686c6e46da6483016ab2b4e857c087d08eb1a0a319ce314a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6XugL8SVQzjQK0Jhn06rRSvn",
  "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]: [-0.7521, 1.9835, 0.8627, 0.2897, -0.6464, -0.5335, 0.0526, -0.0265, 0.8036, 0.6132, -0.4156, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3883 left_y=-0.2126 left_z=0.0036 left_yaw=0.0512 left_pitch=-0.0617 left_roll=0.0487 left_gripper=0.0526 right_x=0.2917 right_y=0.0007 right_z=0.1743 right_yaw=-0.0024 right_pitch=-0.0495 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [0.5949, -8.4444, 3.7128, 1.3651, -0.1197, 0.0659, 1.2967, -0.1983, -1.4701, 7.0085, 1.7021, -0.0171, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234775a937f753f524e2cd92cb3482fcc9702429ea1094e2014e4ad608f1da61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bd86ab9cd4649fc35a5470329c0db23fd32adda86d35c7d4b9bd78b4b59679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc3ca1325866b61805f3d9ea7a094bbacc22938a3f807ba21091d50aa4c17f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 234775a937f7
wire blob 48bd86ab9cd4
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.275 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]: [-0.7605, 1.9686, 0.8825, 0.2214, -0.6449, -0.5365, 0.999, -0.0265, 0.7998, 0.6132, -0.4133, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3848 left_y=-0.2146 left_z=0.006 left_yaw=0.0452 left_pitch=-0.0857 left_roll=0.0697 left_gripper=0.999 right_x=0.2918 right_y=0.0007 right_z=0.1758 right_yaw=-0.0024 right_pitch=-0.0434 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -7.6239, 6.2427, 1.0916, 0.0317, 0.3394, -0.0513, -0.0342, -1.3744, 7.0085, 1.6728, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTvPN5fCXPyMGq0605K_n8Rew6nerPSW9UZ_SA8e-FXaYTh20GBXtEkVu2CF-PHKp9jKnOuXQfX1Xiqvhs65-ZCm6XRBJ-RxTj5qmXicwlXe-NnWf5KJPiFeIqkOHSexOArZqS2b8WkROiW41Mc6N7vN9hOIvywkF7D5ma5HCFtARAKHLWKJVyVNRDKIJ6ObV2RQSmU4pCX8FyFHCBIUWLJ_5trxGHMlw3JmPjv_mmCbL9MmRz_fzVRk9M37OaA6rn8oPWdKRhDB31yZ5iEzK2AwbbxIfDxv0JGudrKNn_PcNncs-ZDiSumJqSnHoz6BQshtCREpgPrcPfXXnSD99I67mbmzEMtOSTgdNPVCrHaPxEOG8su4SU3mKIsaxWFSGRnTDgVPyidtVib3frDInHuwcROqG0_4C159P2jQ9RqZzDE0tnjEvzkbde5W-rN11A7brahVw9uLRPq4fn6yM9TvNGQvE2Sv0sFYvL-DKtamYP7Ujwg-n_ffK5Wurri85UC4W8WyXNHgtquybZTcB7qD00H4VqhT9pxE7hUMN5i-FKhgA7I1uKkBSpmiH6GDpJnQvPCYVZryLTu51bRyGKBycV1XVc7f-FjyYtD1Sx7HhoG-OnqIWvvXWqZ7yfiEhyDdeg5q-qQAWoR609eRFTHEEwa8wPAwABNCN_E18xxgE6U-1JcLwcRH_m7uC_CjiFqhzv9IO_GkL1XO1aWbSFX8lbPlXsJsylu_AQJutMSL4x45H00GqgUp_SrmmVLD23HLUnPJC-ulKKXnEQSl4Et4wCvHZtmK3Tdeyh0k6nOf65_Q_ZhLti5xbUcXi8HipQ3BbtE3ew1N_52vHiCXCVHFn-0tlA_NBaba24uC3WqOoOkk5zY41wE4aMdSdA5wZYedL4JjGFVJzyo3s-QnZ6nEWu8gOgFCBI3T8baMEi5rQ9doJj92QtPeeNg_fROenxqXVV5Cn6_AyA_p_WOdSQMJL0dPFXYe9g7OAVY0vRc1Jmcde2Z64ne_b-kVHWiklr_dMFgZ5RwsZ2mv8QmSf3ppSrPTs5LeR6Bn1aKzKaq7OtGAfq0bITjmO_MP0ArTCucMn4osiiKI-p2_tDsTo_CCQ5szrZoGkx0iIHvCDZ9vm_3dv3lXS6Y9z_yrgGC-gWWUGinfIXreTuVGFGXNDn7gCUNk7H_AuDsjk5jcl7tjWqKNthu3EgLyUyGOZm33SwH0GKHLl56_GhZw4meYzJBQxjw6OHP10q2nlY2p_SaIHOFkFiGpsUIcJbO-Nia9x_E",
  "id": "rs_09686c6e46da6483016ab2b4ed697487d0a4a07b00d5ac538c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The jaws have stopped around a roughly 5 mm thickness rather than closing empty. I’m lifting a few centimeters to verify that the cap is secured.\"}",
  "call_id": "call_CZcl2dcZaXHXPeXFWAO31e8P",
  "id": "fc_09686c6e46da6483016ab2b4ee459887d0989ee3c5da11a6ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CZcl2dcZaXHXPeXFWAO31e8P",
  "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]: [-0.7513, 1.824, 0.9199, 0.0589, -0.6468, -0.5415, 0.064, -0.0265, 0.8036, 0.6132, -0.4156, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3856 left_y=-0.2096 left_z=0.0544 left_yaw=0.0572 left_pitch=-0.071 left_roll=0.0527 left_gripper=0.064 right_x=0.2917 right_y=0.0007 right_z=0.1743 right_yaw=-0.0024 right_pitch=-0.0495 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -10.2085, 8.4034, 1.4139, -0.3346, 0.0513, 1.033, -0.0615, -1.1145, 7.0085, 1.6825, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cecae277301963273c375af0462fa65bb51313f41d263d08713fdf2fc463543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bc0a5c7b3a2f4a91d8fd8fbb4b4e8728dbb6f1385225c9f879d2ea8dd45127",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa09bfca691084a207e0a97f60db0c253dfb88e8ef4f93849192670afd546cd4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 8.25 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7521, 1.9835, 0.8627, 0.2897, -0.6464, -0.5335, 0.0526, -0.0265, 0.8036, 0.6132, -0.4156, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3883 left_y=-0.2126 left_z=0.0036 left_yaw=0.0512 left_pitch=-0.0617 left_roll=0.0487 left_gripper=0.0526 right_x=0.2917 right_y=0.0007 right_z=0.1743 right_yaw=-0.0024 right_pitch=-0.0495 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [0.5949, -8.4444, 3.7128, 1.3651, -0.1197, 0.0659, 1.2967, -0.1983, -1.4701, 7.0085, 1.7021, -0.0171, -0.0806, -0.0122]\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": "gAAAAABqsrT2hwgPV79mFsmg0qBzjA8nU1PxCSwE4pVY7qDdbvdsw8z-34N13bmPedBn6g6li9LVLAcAHL_NZ4Wd1qryFsRy4XYUbii4gqNu3ge2Mz2o10vcQjG74TkDhXo-o0smf2JjxJEIZeBedoAwIBCpqZ0sf53f6UgeFLgqvXQB8Sk-uN89yAMh0d8yeB2KiVVK7V7q11qT_joQBsCYzII4vxl5vz2YGHOLIyw9UQwSUrnJXUIs1j9mIi_HG140O7HbnCn0O_G5e-VaIGMrjDU2lwVRYyXuJVMPReUeOHIjSPu2lihra_w4zRFSVVK_DXak3f2EpInfp228LYruAzZ-1COwrh8RB35_h6dFqzcJ-zov1RLVMYCt_ovHLvOwa9gUqGwpV_ZUwhfKFBwej092Cb6RAxsbHS7BR-Gns607VfSYtldifJW84pvd1M6pcsXWBJZ8c0FG9mth9D1eVOOP9vUhYM-mh5T6XM4NWOmBmxCQrOdci8eZ0kAaXvsRDmxF-KfKkdd0wohk_kd3_XF59HqH4iL6SGuajqiPwB8rquT5HWZMoO_ahRXQzJXiRtfPihOEtqHTqoqqXDG2CeKzGSUnuEG7J9UxgeIpMBwkeyFaDIPxiv32tUT3i3AvNMYZ1UmFzF9Myb_mRxwMBXXtTYx-ncmuHk3msD4sT1BqZDFhEVpKeYzhXB16KMoV5srsmq6neN0DMKxlafpVmPZ_sa5UrLpoDRevY_MflJI_RXCa2zTMVj7IPjK8U2EgJbv4eGbx31rn0siqgCN0FKuBEEBJgcSskHPBBreZA4eSnRoGS9XgBR6vQwMvMvebfc37QOo_3vFbHiJIBklSMbavbV_QwgCyd9OOgYzhraVCK1_h3_aMUqucy-h-BczfI_V7OHgxwMcZ7vqe1EugrFTIxLqi0mcyXxLdqEo6xjDOhaP8ox0P8GE0X4D9HuIkonIIm8fNLZBsKHcjvTB1D-_iMtz1JZAxrfca17nAUU_RrOEoJDEjiqr2jiX7d0WFZin7T_VNmHCPeeGpGzOUZ02s6LI6pIyv_geS4_WSZ7gOpx0AcaBmVIqHKZLGU5oc2aTjyhEa5Lu8KCNYfFljs_MCCQyI9nEBBSXTFFhuXHvcGjXtLc-Vjy-k3eX9w8SzoVfMir2NWpAWO4Y8XZOHy_JIN8SO_uBuJiRiAzAB34WyFHl81CgECzKEBoWykEbBHu0kaM-w56sSsvaIS5m9ukzH0NmYeuX1khHdVzw-O47WJqybCcSKZ9wV1Gs8RZCEGf4aNmPm8ySvL23YXCOPS0stIWRO1HWU6IC8eJKIBS2OYp93UYqV83caVLFEs07wgbES7-eLP9-p15gY2hxDkGw9-Nj0SQ==",
  "id": "rs_09686c6e46da6483016ab2b4f2357887d093560b3eab57b851",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.17,\"right_x\":0.36,\"right_y\":0.23,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The cap moved with the left gripper and remains held. I’m lifting it clear and positioning the right gripper above the pen.\"}",
  "call_id": "call_WSk4QQeqFrGADG9VUJ6JWMTW",
  "id": "fc_09686c6e46da6483016ab2b4f41d8c87d0a160278e98f60759",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WSk4QQeqFrGADG9VUJ6JWMTW",
  "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]: [-0.6537, 1.5791, 1.0569, -0.3305, -0.5861, -0.485, 0.0703, 0.7967, 1.6161, 0.9218, -0.1368, 0.5926, 0.5022, 0.9992]\nstate[eef_state]: left_x=0.3851 left_y=-0.1673 left_z=0.1423 left_yaw=0.0818 left_pitch=-0.1104 left_roll=0.07 left_gripper=0.0703 right_x=0.3509 right_y=0.2229 right_z=0.1052 right_yaw=0.0309 right_pitch=-0.1035 right_roll=-0.039 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -9.8393, 10.3726, 1.2332, -0.1685, 0.3053, 1.033, 0.3761, -7.6239, 8.3077, 1.5995, 0.5397, 0.149, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afac681f106862205f56579c5c590880a5002eb77fe5c4b3558191378600b9c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca57a6e61e8e11352c759750c4ad9d089e169fb758c059fee67c376f9fa3664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0818361e688daeec9ecf96ae1dd2861e5bc4833b82f55de5c978c8d01d2f02c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 8.479 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7513, 1.824, 0.9199, 0.0589, -0.6468, -0.5415, 0.064, -0.0265, 0.8036, 0.6132, -0.4156, -0.0277, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3856 left_y=-0.2096 left_z=0.0544 left_yaw=0.0572 left_pitch=-0.071 left_roll=0.0527 left_gripper=0.064 right_x=0.2917 right_y=0.0007 right_z=0.1743 right_yaw=-0.0024 right_pitch=-0.0495 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -10.2085, 8.4034, 1.4139, -0.3346, 0.0513, 1.033, -0.0615, -1.1145, 7.0085, 1.6825, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUAhoX_snPeumFeJvL9CiAATuqo0eRaCQOFUtt6O8fIP1GUZ4sYzTguckl9JAp2DRRKlvlK6I8RDraeUrC29NZIq73315OlcX-XuMaPRWPOJ8SlkB9WLmRZTKhJkbf12JgqFBCOtl-WhRCilyyFQKSUkakieQ0sPHMMeFohKmpiOUEM4NXiSm7JjLXmF_FqNmWsmwDajy4cnM6J-9SBJjY4vrE_devsfS2v9-yg5TBQ2hfoNhs9eIvmivHj56F5h2s-LbboWEJN-tJScMKEj1PI4XZhgS16I1nujVuydSAdEBH1iXQrjRtrA93APCruCssDvU6i7HAsHNgkDvVW4YAzGYXf17bLOtls8j3YVzAyjGYH5_jw-Z2W5oYMIb1Ys9Jy4F7lW5EbTw5izDoPWdC6M5_EEchL6jnHrakQP89nhSrVYSTUV_XbQSs0a5PnkxoTl-tFQ3i2Gmh-kTUO54eQwnYTmN1sUULcB0RbOioUeVueLNuDdadPoHYGCIOU5yzbMDNyusSDJR4Ti6DqrwPac-7v6m5EZScavDHGUTJZUJ8oZUwG8mA8SxFdGHbIOte06tLkiRRH_ZEgreIv3zQ4EdegNll7j5Cu5TuqEtO7u195Eeg6242FniuKKiNkoTQTsGeLeJzrqjjcyGAYRtf6vzfIIaPDvxkWQbTkmuikjf_WjTFURqyhi006_UHnU5clmTloQiIZB6SWce5cz6w8jWKG4_jkurmzSLRVrrGvQJjrSQKYazZpG7v46bRE3-fOTQMVT5jfz-rU4ewApa02E_SduRvCvoxoe8TVBERwQvKCo1sFloF5MpnY53Hha5GMee6vAJcNE9-loeogEZawsA4Z8aIzLRi_qZjR3plB2nyjiPxlWtTPyfp1X2-bUT13rrrtbZb0aEVfmILrvrGtI0oX3M_jCPtl4Ss-k11HDn2r3toAyECMfF63F7z_nqdFb0_4RMMzSqqNh9iCuWi8J792U8xIZ-URbkd2g1idqyhnAT-HsoOkZYBf7nIz82pSs73AXR_u2osmvHY04UspzKi-KneVWR05yDGhKb_2PkCobUqX6pnfYOdIwUZ-HYfoN_TVsX95NWLhkbm0Ot4QRYFT6o24bbffiKTIKrQ0vEZVEt45SQMsTj8PE-ou1hTFtj_ZGHLzQa6b1rJLS297BoMkSc5br-Q5J_XZ8RfWuAk0q9Mi1_xQ-SagJvep8ctGUw2ss5SCey7VYYN8iSvph_wB9imWRDQHMY8PEOjvJ-i73vTx3EhUq8Q8PpaPrT1vl_HiNRhsYFmU8TmNegu1ug438zNMADnxM5WMclWI3l88jKycbJDzWdN5lZ1vOLz1cNRbjOicOOJGbVeo3oAQUKd74q9Xa05cmzgP4VezrozWkVEKZZDEG7gWnRQQUqvfY0KjwVo3un5Mgf4IhWFj49t6Ihp7BDCL52IyzySsxgfD_XBf1XLTZWxt6MoFBIDvNp4nm4LuhRCG6WIvFtPld2B81EKghO2Y7qWdgRpN85NxjyauHyPKmuq6BJgYujyHXMToJlapCfpwqM8bb9nMl0KHicpHh_CD1XHfoXdZSNECE8Xs6zMR9cE-3lwt27Lh",
  "id": "rs_09686c6e46da6483016ab2b4faf32487d0829bdbd28abc9e50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.195,\"right_z\":0.025,\"right_yaw\":0.6},\"note\":\"The pen lies diagonally to the right of the wrist camera’s jaw column, with its writing end toward the upper left. I’m aligning the jaws across its barrel and lowering for a grasp.\"}",
  "call_id": "call_wDd8VaDPVsrGjFMA0w6eV675",
  "id": "fc_09686c6e46da6483016ab2b4fe6df887d08af1a3122d622040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wDd8VaDPVsrGjFMA0w6eV675",
  "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]: [-0.6529, 1.5757, 1.0611, -0.3531, -0.5835, -0.4885, 0.0752, 0.4427, 1.7443, 0.6559, 0.3454, 0.0208, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3828 left_y=-0.1657 left_z=0.1419 left_yaw=0.0837 left_pitch=-0.1226 left_roll=0.0759 left_gripper=0.0752 right_x=0.3743 right_y=0.1773 right_z=0.0161 right_yaw=0.4309 right_pitch=-0.1866 right_roll=-0.0335 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.0085, 6.2291, 1.5653, -0.2711, -0.0122, 1.033, -0.6085, -7.0085, 4.8479, 1.6728, -0.1197, -0.1197, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720b4c7449a46a021ec50cfa527097918b8caceca398daeada6014101112ba69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6412b96d07af33b88e7eb28d961f992d87aacda0d0702b625663e68ad69d4dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b8f9c3aed9ba68ce6a7c387ae55b514731cc5b3cc10a100eda887194f4d10d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.716 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]: [-0.6537, 1.5791, 1.0569, -0.3305, -0.5861, -0.485, 0.0703, 0.7967, 1.6161, 0.9218, -0.1368, 0.5926, 0.5022, 0.9992]\nstate[eef_state]: left_x=0.3851 left_y=-0.1673 left_z=0.1423 left_yaw=0.0818 left_pitch=-0.1104 left_roll=0.07 left_gripper=0.0703 right_x=0.3509 right_y=0.2229 right_z=0.1052 right_yaw=0.0309 right_pitch=-0.1035 right_roll=-0.039 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -9.8393, 10.3726, 1.2332, -0.1685, 0.3053, 1.033, 0.3761, -7.6239, 8.3077, 1.5995, 0.5397, 0.149, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUJu3fDLhc6qo8bQFEV33Npv_gM4RgKJ7ng2lxlvdJMRsC7wutX7HoeHcV6vL6o2PTL9rT2x9kTrC35B-Aa1gke78qYHjVskwZ5HPpm85t05RwVbtZ8AD6duHA0GWk3GiXphzdYR6zwvAA5TG17kdhjD-AjzkZh-Jh7F7BgV36NAqkuFYpDKJr_B9Ct0mvYs5O0uaKwuv1r9UK2liJVDlKmdVxaYlih6IEcfgyda93S8dtF2IX74OcmPlpy06bDbxkPchmPKCCd5U2qq_xuao2KoFHSN8wIgceeSdqzHRHY24yqOa_9P0ORUuQ7owm193kKxBLL8W5cnzj8togBX0c74IXb1s7gIHYxaqgSSDNvIDF8LBlLvzMNaf7Y7Pak4Ayr6mRABkKU6ewsqEilam0P0j8SS5ZA1XF6lgNiFoFXKNzEAm1ditM7kG6bteOqIx4VMN2KFD7gB7MmoZFHF_LI30AvJb15-ZudMBrxaoTyflscYyg-awtQKdHOrA8W6Ll407mYbndusqOEEmG5p2pNg6lQ9Ksv2GRq-74-upp3tw_nc58odyM02_D7VmABkqhClREMWBGzvr9sjHosMXoAogPaXIb_JDIxu_c0W6yCTuUNWSrk7XP1xpmD1S4VtoneulxnLf6AZoEaLOnphyyNY6t7CI2m-2bfOBVH8qaosj2WspZ7Hoa6W7mhyX47gMz6xQx3kY9qWePkmpIG9Q5l8Fl9IJkk8WDaYp37riFC-rV5F2z3cEmluZo6_N2B4veYuUVM6okMt59mobmev6qimupPRMHCsG00wWqzKgAOGjLuPSyzDRpi7PHUOT9t77nlI--wQ6wBrJRSG8Fk2eHWMZmh-eHQlH9kE0ThvgNLqKL6VgmEUQmkEUAMs-LGLnFJVf86mrW_hsYC9y4I_JxrfPdMnB4zytiEIxXNC9_nbjyk1J6mHbujuUoC_U6Vm2gpzl6OPk8tLuzHsO9bphCekjt76U8Yj180iOMpvWtULsx-4eDBycOHYtKLBIMfyUSMjMmDR-Ts0u2DeQxkKp8_61Jlx_MJ0SpYto3Kq4fBn7oIGneRIyC01ei9rgfh6HVkNDsVGXzrZQLOY9BZjR_V5DGQiCziAXhpIVCgLj2ddHKEl29xB--5EPhz-GvoQde2klIlSnZ9FkEsyXX6KBywpCDMlxSHRCbUo1aec6227hG0aNkxuuFbO0P2i21P1_J4RWngnRGUO7VG1CSWZDB3pY7Qw-MuIMcoiZlhp3MUCIIV_hoK-HNdTSDMUR03SdNiET1yR-InmUnNXfbZNZ5PTZlmO1G5P0LB0eU2sMC3IWw=",
  "id": "rs_09686c6e46da6483016ab2b505692c87d089ee9a1a253488ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.393,\"right_y\":0.178,\"right_z\":-0.006,\"right_gripper\":0},\"note\":\"The barrel now runs between the open fingers, slightly right of center. I’m shifting a little toward it and closing at table level.\"}",
  "call_id": "call_RTweOMlN0zt2TDW9OcmUkKdh",
  "id": "fc_09686c6e46da6483016ab2b507904087d0867e5f85f7f2dd3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RTweOMlN0zt2TDW9OcmUkKdh",
  "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]: [-0.6529, 1.5757, 1.0611, -0.3565, -0.5831, -0.4889, 0.0752, 0.4248, 1.8492, 0.6899, 0.4381, -0.0029, -0.0406, 0.0512]\nstate[eef_state]: left_x=0.3824 left_y=-0.1655 left_z=0.1413 left_yaw=0.0839 left_pitch=-0.1253 left_roll=0.0777 left_gripper=0.0752 right_x=0.391 right_y=0.1813 right_z=0.0025 right_yaw=0.443 right_pitch=-0.1651 right_roll=-0.0311 right_gripper=0.0512\nstate[joint_eff]: [-0.294, -7.3094, 6.5436, 1.4139, -0.2857, -0.0415, 1.0281, -0.8684, -5.7094, 6.2427, 1.4432, 0.0269, -0.0024, 1.2869]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fff9d9969ce0d4af3d276d91fce0f8fad67305d43d1c2f07f0f8b317f7e52da7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4c500627721022bb23bb20cc87e48ceb78a22220276df056564aa566a55290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd05ad887dba38e1c3c3c3de0e027f2d3f008b46a0d133d775133098c4324d6e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 12.37 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]: [-0.6529, 1.5757, 1.0611, -0.3531, -0.5835, -0.4885, 0.0752, 0.4427, 1.7443, 0.6559, 0.3454, 0.0208, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.3828 left_y=-0.1657 left_z=0.1419 left_yaw=0.0837 left_pitch=-0.1226 left_roll=0.0759 left_gripper=0.0752 right_x=0.3743 right_y=0.1773 right_z=0.0161 right_yaw=0.4309 right_pitch=-0.1866 right_roll=-0.0335 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.0085, 6.2291, 1.5653, -0.2711, -0.0122, 1.033, -0.6085, -7.0085, 4.8479, 1.6728, -0.1197, -0.1197, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The right jaws have closed around the pen barrel, with the tip extending ahead of them. I’m lifting slightly to confirm the pen follows the gripper.\"}",
  "call_id": "call_pteCSB9fLZa2Cbi7wNdCNXYm",
  "id": "fc_09686c6e46da6483016ab2b50cfeb487d08d6e06d62a922a6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pteCSB9fLZa2Cbi7wNdCNXYm",
  "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]: [-0.6529, 1.5757, 1.0611, -0.3569, -0.5831, -0.4889, 0.0752, 0.4252, 1.6638, 0.775, 0.1734, -0.0032, -0.041, 0.0593]\nstate[eef_state]: left_x=0.3823 left_y=-0.1654 left_z=0.1413 left_yaw=0.0839 left_pitch=-0.1256 left_roll=0.078 left_gripper=0.0752 right_x=0.3917 right_y=0.1819 right_z=0.0608 right_yaw=0.4439 right_pitch=-0.1593 right_roll=-0.0312 right_gripper=0.0593\nstate[joint_eff]: [-0.335, -7.1179, 6.5573, 1.3602, -0.3248, -0.0562, 1.0281, -0.3761, -8.9641, 7.8701, 1.4969, 0.0073, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4c3cabe7abcca3cb4ec1155a2352ee116ebeb49a3fe6211ddb689fdc2fe983",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f5f210084ba60530fe4747ac32751898f3579be1de9f304b3486c013928b96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9abc2b1a65247f1dd00d95b5cb3f69673ec0df940583d47a70b083e984d9d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 5.459 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]: [-0.6529, 1.5757, 1.0611, -0.3565, -0.5831, -0.4889, 0.0752, 0.4248, 1.8492, 0.6899, 0.4381, -0.0029, -0.0406, 0.0512]\nstate[eef_state]: left_x=0.3824 left_y=-0.1655 left_z=0.1413 left_yaw=0.0839 left_pitch=-0.1253 left_roll=0.0777 left_gripper=0.0752 right_x=0.391 right_y=0.1813 right_z=0.0025 right_yaw=0.443 right_pitch=-0.1651 right_roll=-0.0311 right_gripper=0.0512\nstate[joint_eff]: [-0.294, -7.3094, 6.5436, 1.4139, -0.2857, -0.0415, 1.0281, -0.8684, -5.7094, 6.2427, 1.4432, 0.0269, -0.0024, 1.2869]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUbxelpFXVm30FpVJ5_Z6V9iVsD2qjvcfUfXZ5nlJOAIB4ATuD-z0L2FUSodMEeU6DweIWwOH8-ZYzd8-9f0BYu-uOj3WQ0dC0KO2DmwmdiSqDY-UNL244GCI307YFWEETcwSmwlGho2e7i7DJB6gO0z09b27FsORvspow3QKN8WArJNNbil0WBHkLj_CVwLUWSIkHw4ODhDyCaxNGjXiT_rkwhGruFAZU7wsbIpRXqDaBrpttoelirwVyJM9XWkaC_cxVDKjCSZrk0Paay_tk9LLOXnrzprK3hHUVxeUOWkwTm9AjTXVSXmav-88gDTCCuSB_T0twEK1R-0gGdvUSztPgTDuNu6b_vnC8y9Hju0C2pClhYOmRrvd3TgoR8UrrRIX1LgPR1tayyN-hoyKS09BQPj9DRrFIXTRJd01j-aXVzXQRr8U5gypf0IO2A0ZNBi84o8IxBiot8VcJ_ZmLy57QEF7EygHZODRCYR9dFwgF4u697c9MrTdq-_IA3GE0gw4b9IwafvYz8RSciTSkvxYGvdePNQJQTARG5GnLephwpJsn69m6yYWcBGsTycqJwtXvNAtzq9jTRELcOVSGkR-Rgxp-69RThkEBwlNn3ApKHLxeeO2sM7CbtSYNIT6uJPbRK1juEoBLvZyh3cdycE-7WFYV98dVi8teN4VbNasOHwmye4zpxN6MrT6oWCHEPzsr9lsEa0725evI4ojoi2AgdBCRKXmPFzKi4HpLC5Ax3bV_MhDGffgcdW_1zsADaBC31dYifecYMRqlIn_daDgZM6xl52I0VrCoIP8uBQ5M7HW9JcndMsAV5WhLi9UfsLmeAod57aRT4sx_OiV1T_OGhqNlAzR3rtgji0TpO1dLsP14gtO-T4GYZDDShc3jvjywcLWUp0ntb3gKd2db-o7SDQY-gNxiKD6Ar70-1Q5-8HKVRBk-Hk3tjnXj3wZEx8k_GPbZwX1ITpX4qG0Ji-YoGdRIiKDKlK_ZB0Ho3gGBDvodgLNB25PeOhEs3MnfdqLRZs-Cs1s1L8zMIxfdqUbJPb_1eL7MZeIcaCsYkTVlNmL4IFMtQBGOgPBtyZpPIblejujm8SyYRpiUiRjh9rHLGjX0Om8Nz5KwnMFy_gk9uERdqCHKj2gLMhRa3WcojaMTjbkLVsecpUPqJXtUk4X5QvzFwItNloz9HX1MUKnhR4HIE_qwPkq3tVzJoLImQEOlY1hrNnLweSP0PZGzacN5yM-c6h7lTS590mka0mwsvsL01zv5K-SdqjApLtn48lFE4ZxhVxBvYXz7ibr6mCudWSSFo_i3KtGYflP7UgDV1x4S9d4A_Gf4UjLcznmgbr4WDOCi8RMm-1xlt3JTSDwfcMwkV0lXYx9vEgnd9blu8DkRCY3XMCsxJAer7JqIrO714m0lLwtYjTe8gmbg6CnChuNiM25yrAcZVAnqXhsLCqX541opIb2q0jhUXzGvTHOqeM3NPT02hb73TP2AfydQ3gKF3x5ThC4upZnCihuZvNv97mZUBDt-mTJk7BOQCzpKybZK2pEGsFzINSGjOOgMvjpuLoQQ8_oun5BX4iEd_mXWZRM3Ehu_VSKpZDw3HkN8hU7ZOJR9YpAEp50Dj2T6Fhyc42apvETgfziENAcF9XVIwz5pbq0_gKbx5eHTzONBJ4KTw-EMjvvvWNqgx1DUOjNIUO_XZX6xJ3OLack2nM84Bw0ccUrWlC_yoebPQ0KHxBy8bqiVoouQFPr-eEwzeMZl35AYmo3cOQzbr_WR8cL_3QuR-ctyrIoRgQhI7BkYeZlWpvUeBsL6dSG7uvGCkeqcenoo1lGUf76IHoIuKf1VPiw3O_I65p0KDD6qFYGNxehd7UtYYD6jdRxpFBKmrnpA-6heIBhfbgDCpCiOPB2FsVe5J7WxIElTLESuMe7KDYG4eIDF7Gm8rRGtNrptr48AJbTN1DrY9VHEwWXsjhnfsC1Me1TsAxYUERsJJYChxEHRmdyUV7iuMZKildAaaDbB-y3FX2vEEz3W3nID6otV2oXn_7OP9u6OtK-ARhh8KM67Gd4FM1SIpqdCTlpkCjLBPR9XzNt5VCF9yoUM72wcWoVzzr11-5Z8jFO58giR-anSxoMBsHdRS7jBu9zPRCxe1nH9h27V3Lc2qcnO489dp4bFguDO2ga_vXQ56TpsUlNr-a_aVHSZ-qWklE7gvqmSuRRqFynivTglFfqP941m6K3BzvSv-S6Lh9RN4GSWPs-NnVTQGAI4CDYU-7kxCrVvGqfeuUGK2SQQq5rXmVctHdWg0aUgnjU6_wxnQtKA9dDTtVDcxWUYDICrOq5nUlWvU8-yG-LwkW7pAHBGa3FZAAMSFHUdDjZNi_cxV",
  "id": "rs_09686c6e46da6483016ab2b510e47487d0af8321eaab728223",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.29,\"right_z\":0.18,\"right_yaw\":0.15},\"note\":\"Both pieces are held. I’m raising the pen and bringing it toward the center with its tip nearly straight forward, leaving room ahead for the cap.\"}",
  "call_id": "call_uKAWz1Vjna7J1XkBxXSt77s5",
  "id": "fc_09686c6e46da6483016ab2b518facc87d08693b46c6c4a45f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uKAWz1Vjna7J1XkBxXSt77s5",
  "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]: [-0.6529, 1.5757, 1.0611, -0.3573, -0.5831, -0.4919, 0.0752, 0.8898, 1.6524, 1.2819, -0.453, 0.4789, 0.4404, 0.0642]\nstate[eef_state]: left_x=0.3823 left_y=-0.1654 left_z=0.1412 left_yaw=0.0856 left_pitch=-0.1257 left_roll=0.0759 left_gripper=0.0752 right_x=0.3412 right_y=0.2974 right_z=0.1761 right_yaw=0.2427 right_pitch=-0.1526 right_roll=-0.0181 right_gripper=0.0642\nstate[joint_eff]: [-0.0752, -7.3094, 6.5299, 1.326, -0.2857, 0.0024, 1.033, 0.3897, -7.2274, 8.1846, 1.3114, 0.4176, 0.1734, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24995ce4252f6fc88b76dc218570397a94e5b5e5c7b5824ec5b3f875a49ba12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e50a45ca6a5b371e262336db95a21587238c19b42f2bb59a3c2570fb91d5d3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8899ff7376fa4f060d73ea6bfcefe8a70c0be49cb54cdb6663f319edb334fa9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.281 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 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]: [-0.6529, 1.5757, 1.0611, -0.3569, -0.5831, -0.4889, 0.0752, 0.4252, 1.6638, 0.775, 0.1734, -0.0032, -0.041, 0.0593]\nstate[eef_state]: left_x=0.3823 left_y=-0.1654 left_z=0.1413 left_yaw=0.0839 left_pitch=-0.1256 left_roll=0.078 left_gripper=0.0752 right_x=0.3917 right_y=0.1819 right_z=0.0608 right_yaw=0.4439 right_pitch=-0.1593 right_roll=-0.0312 right_gripper=0.0593\nstate[joint_eff]: [-0.335, -7.1179, 6.5573, 1.3602, -0.3248, -0.0562, 1.0281, -0.3761, -8.9641, 7.8701, 1.4969, 0.0073, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUh2wu_iJXc-8qx6uIA4ejC4qIPk6kyFokn0okIzd5PWWQzYSj9dzgD7CUx53quiaSU4BJJUwcJP1qkFr5fTAzAAAVHiFxb8RA4Os_Stim8T56bf4csgFOrJWF0cO9mzrgLrXqdc01gYLoqk2Su1YmpuVIjSCY-4mBVcol9C7DGLi-0d9yG-lgOv53UUhc85-Z_rI3yszz9nTlKh97tufFtOnSBP57UvBku_bG8Cjj7qUjuRidzy__8ddRJcUvy3hxeeDwzkDpidOsG8VaX4ae6DB_wuroEBKEcvoUfqoGahg2q1QrlcYQgWJJTS5rgSpTQyMKVB0EJHSxiTXRRl8UX6c4b-t9jSulIewmJQQZKzKkFN4Nn70FKBN7f_VLMWyU_nbxAXfE8p5YkhigggCG42ucZgXIefdGPTfKEaXWlyTD4Cq2L2YkDBMpozxlMkvINj9ZE1-0_o-eYy2tIKtMzaTzIyzSOEP5hDTGHomsTcUfwz6ICJ3Hv0dOOrU1eKzWIOnddsdCPEGcgNN8_eQAedWzzmjdihkUA6eHGSQlB5aC6j6vRjdPuWTSh6uksdDgRjr9KtO0IvD52Rb6Ch4oH5n6R5RLKSFSbaEspd6VScJpfiN53gmwR5ERvHnSB9YNWW8SiKDQMxoNtaU6wcK8UCO6mKi_bEokL5wScsoUewl5xY8L3msJq0S4tkN79414EKw3kfJiao9tm25o-0Y_aPaaTQkL3kyVnFmNuSxDblzA_x4yPspvQjUCMm31fhE55aisIsDLijaXISm8yqTwCb2vuRNIUSlDGSqeFu9kIZbcXnZvs1WeNHsRZH2bivwZmuyxxF3Ao8PUMBBDTkCBDj2o-BEirjqmGRy3QDOOgfMs8mt2I4qO2ESVaGep_ngFClupCy1JGFWf81zHKIV2U-DwRP9fjgO9fND0GsjN7QiBcEUZ7GlIARyDJnsaOfxE253wrWElPob6DOmuS2EH1o9ILknLEJIhsn-Gz1N3F4EIqxUuiGjuwbHJMMcrkGVKy-s4-GQEYqFTkUBKvwY3R8MnrKGmS03PdgWUEi3GZpW3WGRoqfxT5PDv_wOn-1yoSTDBtmuEEzt_cBGWpKYBlIJbwVMqF353LqDoqTg62YJAX5JKODofpGeOeQuIdmu7XFLhTy-hs80RmDl4ToRbfiXoj7TcOfrMM94FotvbJoX4N0Fx0u2s98wG8wjZCcwV61U463c6Fn3jeN3Jhr9NQ771O5dEPFYhrfPP4w4SczF5LtqdVU-JB9Fiv5ZlDa7pqj622TFlXMdavCLxN-_m1zg==",
  "id": "rs_09686c6e46da6483016ab2b51e093487d0be3cc42211f604d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.319,\"left_z\":0.20,\"left_yaw\":0.22,\"left_pitch\":0.1},\"note\":\"The pen is now elevated near the center, pointing forward. I’m moving the cap ahead of its tip, with a gap between the pieces before attempting alignment.\"}",
  "call_id": "call_wN2AQbhxMrXhmvdThpghUBM8",
  "id": "fc_09686c6e46da6483016ab2b51e8a0887d08df5449bda91a7e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wN2AQbhxMrXhmvdThpghUBM8",
  "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]: [-0.7322, 2.1559, 1.9846, -0.6231, -0.8944, -0.6785, 0.0766, 0.6731, 1.6047, 1.2812, -0.437, 0.5541, 0.5049, 0.0685]\nstate[eef_state]: left_x=0.4991 left_y=-0.2586 left_z=0.2207 left_yaw=0.3187 left_pitch=0.1069 left_roll=0.0037 left_gripper=0.0766 right_x=0.3997 right_y=0.2044 right_z=0.2032 right_yaw=-0.0612 right_pitch=-0.0706 right_roll=0.0316 right_gripper=0.0685\nstate[joint_eff]: [-9.4427, -6.0513, 10.3179, 0.8327, -0.5885, 0.0317, 1.033, 17.853, -3.7128, 7.2684, 1.1355, -0.7253, -0.652, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3ebbbd58a081b00f92a90b56c7d15454cc414879b8559416d24533b2fe9383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35c9828db2744daa9a883c50d69e6d83fa30b84d037c47bcc810f6dcb8d5fe22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8bce459ea2c2604fe26f5039c4f50adbc87975f071d1011ebd0a27c3273df5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 10.26 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 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]: [-0.6529, 1.5757, 1.0611, -0.3573, -0.5831, -0.4919, 0.0752, 0.8898, 1.6524, 1.2819, -0.453, 0.4789, 0.4404, 0.0642]\nstate[eef_state]: left_x=0.3823 left_y=-0.1654 left_z=0.1412 left_yaw=0.0856 left_pitch=-0.1257 left_roll=0.0759 left_gripper=0.0752 right_x=0.3412 right_y=0.2974 right_z=0.1761 right_yaw=0.2427 right_pitch=-0.1526 right_roll=-0.0181 right_gripper=0.0642\nstate[joint_eff]: [-0.0752, -7.3094, 6.5299, 1.326, -0.2857, 0.0024, 1.033, 0.3897, -7.2274, 8.1846, 1.3114, 0.4176, 0.1734, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUoV7XS3-f1yA5MgjP62EdLwYtMWKs2UfCasC7rmkVlstwJai9Zi2XCJDiREK_KbohKuh33sRQ7xoNLEQkZzfntQkCZQonO8lCN0cOfiRRap1JOrfKGNoa7tmOOcwGvnwgc33wCZ5Vw8VmoFI4O53Sr43yiFgDur_3Y3b9o52P1wr0h66wVHZR4c4jGnaOFuPLtRqiQto52POLC_752t7OnOSIwwipHXrcLMS7Ve017mD6AWwui7pP37g86Nm6tg66OB_-B1TOIGLq7FD_rv_G8Xv3Svb6bx4xpu4cKrirYYRvRcRdGTYyj96FcMEvC4pUy0brLvouAz4CYSvQcG4j1VaLmY6cEM1cNcWjoEtE5SbBAdQCVuM96LiLUi0HZQp8l1LM40hOBgoyU7j_rJblRXg3WEE9oLzgQBhUYKFXQ_3ZX-ISrOnEsjJjyhWqc3R3BfT7dnSV0ZqRisaWBg49P1Ic1KtoXXS62VHKEapPoNQMk6pOOu7LOj13PEdH2bcdVApV6bl0InKPqafrb4h5HjWL4UjjC3M6tffu6rgzBJGl63u82vJNhvFheXQtkFALXbMoBG9ODLrNoJ-JVdIyUW5YD2PDYjVP2pbyb4PRpi0K6AgzWRPr5yt0bQvsdAqozYR1kzz-OmW4vkmjT_TdSLxJqp0dn1bBqWVUfxyb__5VuKHliTF1X1vBUMgNPO8N7zElnXcKGhFHw4jg1z15VkgWvCdFpcuULRZEDAyB5_wIArQesCR7-CL8vP99jy-hKRcbYJo8TBET87Ql_7q9FF50J54ImaX90w4IMCYevaTj6SWiWuN7lqoJNOFDimGrzjiRjHIm5fsflw0sndSULB4xdP4dRVLYD5nnnKssoGxgK1OTgQaOeje0Dik1PIxn20dq0zfwdEdlsriGGsOn1PY7lKUoNpEGbSo86agoEIzukmwi0r1z0IBQVOIMzxRuZ0vl_Tvg4yFc9AvAsaxObOk_XL0gxSgxURrV-SdgrFD1S6ZYVedNT397jAH4zD3iU_m3LazFwCnxMYlTkbNjc-7n66c89FdSpAvjYJrQ0rw494gqmtwceU0QFB1pBS3jv7Ap7aIa-5FclD6RG0BZQHgH1fyBhmkGMakv1DPAdIuAsIDEKitmAsU_mEuq4QmK-uYb1-c7YWCfNgILJqsRwbLQcZvZ5eIy5wVcTv-AYVOUGLDKMnCMiNSz5echBVxF0_JMj0VBIRwgy8qP3HEQ2CtYvbpwfonwx-QCM4AVpOppL-4nQtc86viKkpj19vCUg",
  "id": "rs_09686c6e46da6483016ab2b5262e0087d0acb58ae94a000793",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.16,\"left_z\":0.24},\"note\":\"The arms interfered as the cap approached from ahead; both positions shifted and joint loads rose. I’m separating the left arm sideways before choosing a safer approach.\"}",
  "call_id": "call_EXQpD6tvXZEXuvZJLfAFjpmW",
  "id": "fc_09686c6e46da6483016ab2b5270f9487d0bd98b46781603535",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EXQpD6tvXZEXuvZJLfAFjpmW",
  "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]: [-0.6094, 1.7977, 1.5032, -0.4614, -0.8143, -0.5812, 0.0766, 0.6739, 1.6352, 1.2751, -0.4557, 0.5453, 0.5083, 0.072]\nstate[eef_state]: left_x=0.4614 left_y=-0.1611 left_z=0.2244 left_yaw=0.3374 left_pitch=0.0794 left_roll=0.0275 left_gripper=0.0766 right_x=0.398 right_y=0.2052 right_z=0.1844 right_yaw=-0.0591 right_pitch=-0.1159 right_roll=0.0018 right_gripper=0.072\nstate[joint_eff]: [0.0342, -11.0427, 6.735, 1.6728, -0.359, 0.188, 1.0281, -0.1436, -10.359, 7.2547, 1.707, 0.2711, -0.0904, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c996790825d897f98ee79372038c03286cab282a58c893618a9d91b864ddfc18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1963a04b4f234a3af4f12deb0de38385ba547a346d8d5e968148ed5feec04a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66522cebb5538b121dc2843a11c554dbc797b0c29bb5b32fc115f518b5b7976",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.432 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 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]: [-0.7322, 2.1559, 1.9846, -0.6231, -0.8944, -0.6785, 0.0766, 0.6731, 1.6047, 1.2812, -0.437, 0.5541, 0.5049, 0.0685]\nstate[eef_state]: left_x=0.4991 left_y=-0.2586 left_z=0.2207 left_yaw=0.3187 left_pitch=0.1069 left_roll=0.0037 left_gripper=0.0766 right_x=0.3997 right_y=0.2044 right_z=0.2032 right_yaw=-0.0612 right_pitch=-0.0706 right_roll=0.0316 right_gripper=0.0685\nstate[joint_eff]: [-9.4427, -6.0513, 10.3179, 0.8327, -0.5885, 0.0317, 1.033, 17.853, -3.7128, 7.2684, 1.1355, -0.7253, -0.652, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrU0lBk5KOOoSDX9eDcOnkoMjo4meUXYOthihfs96DZG2Xlu6c2yksNWqxAyzsdgTOIPRj-gedfiCeouprUJ8bT9wncMGkisvPMrfJtcKb8_JZZ0n9MH9OYjaYOVJfXiKnD8VzuPlrra8zht778eiRPkhpYBxOu1ji3RQthrT3T6RhCpEh6H1XZx1AWKiewZEr0RM-5L99vDzjo_0QOnjJ-PO-bD2Z4C-NVXyoq-NPufe8orL-JEUgaF7SeEr4Kvzm-LH-O5tD5E7jN5iwZSlHOG3kogBsfVc3DdH6DXP-k3_fQc_PTDNOp2gPvv9vKf0ZuVfIYAIg0fgvInyONKSKkyXEFV1jtV8x132bT4L32lgMJ6qDY7fVP96Nu-VukfDL_MFYk_l8sGx99Ik-S8RFNqXSuV3MOnvjuD5OnR1IBM2riDEHL2AXQbtorw6hGWYGTLHlHHISWpOjxxcTh7w57xWqZI9SFF_ZkcjEOqdXxNKzkni3q5RdmzRyHuN62IMmN_eeYq2KYpKdpya434qJv5YapRNtAJb_qbhmlLcqzt0E7qVEe6dxz_aY3JinfKH6IH4_zxC_rylc9aJrRv4B7A-Kl-o4JvvSOQKh_3-lCpsVWOoWgE3OKSPVHtGBrq9SvMtxfSk00HuMfD_QvYvM_K0sHY5gVM6p72mYQj03IdhiyiH1kzkPYTwuWOTYS35xm0NTuCP-PXpvklK20ZQPDiSGpbWjk-SYUtMKXd9EEffz9pYXjHb6RqOaMK0Hqan6xq7xasjyFf499sgBYFpxeO1NH-TZHS0kOHf8XTLaZlEsbdZ1zERWGDwJP-1GbT_XfVwWZ62umhJCUsPcqZXSiyOtgcAMweGsjZNUzA_uQKddhIidyxzf3EVNfsioCIeLKEB7OOUUK7DgB0JOxxcLR-exSOr_XW4LDMzdytmy8yBaqDqSrHM7nt-m845XLhyRGt0V1dLeojrSjOgLrB-cN7XjH83gD2emEXwUU6J3rEA4V20nvlihmql2OxLK5iH1SCGgwmHNA6mg2XvaBcwanck-UQKXoWQKH7gWo2qO0ptgzXyDzA43A122rmHJ3vOhqRzv8CXz7pLBKQa0bWg9M0OibV5buVBV4GehK4_ppyC_El5NOKqLYVtuesMaMzIkZ7lrluHN-xmnlaRmchZOi48pyZwusbM6Y5jh1ECbohIDpHDL34eqLOCofhupvY50j_7NJU5-fTBW1H33b45xzJoPny_g7HjtiUzNs0GPJxiozZz8QAlQ4YGMv3-qRs9JLzSB4rKKEWi74-DYsKItGk11P-grq63aqHpJOLt7HrfRn6OxuHhmId2kWy7cLl802yO_LH0jwiYpG3vdzaKnFubk7G5wxhdIhSE4awgj6XqXu--FX9jpA-hWVTtlpPc81iDG0GcdiFTg0z4MbOztqTTsBRzwYR7ZKgzDJ_EILKzxlcUYkDb9-MGP6LP8fix_C0sNW_5yY1upWMvx9IB4cdK5SOUKUEujdJ4W1IpRNlbPqnJx7iQnjRlcGzWa8F3mO8DxmvP8pWqQBuTugFypcuRPxE8h64lGK4h3nOFk8TvRcRq-kz-Acf_S0P2AwhQ24J3n4i2R61K5YVXyEM5nhiqQ8RFXBTlSU-PokdARNCymbIGlFY_e0qStOvC12g1_KQXghD9pN2CLAj27WoiABzK3Wr9vMWnB8b2AIDi3JbD1v0inA0eNixXB4hvOL9XwOffuY5t5EPwlfNCdgbhaNJw4CSpYTXsNwGF6j7kW-_ja6YpjNwR70m3rpxp1HnOyV354ZdJCfomGEpa5FW_lH38Ezc84RFQrdAt0ukWVlWkIgQKlWE49kEpreFiggeYGDkwwj1m17o1IyqUXctl_6LZyykxkDvIF1Qt1dBWvK_0wk6yWCKdqYye9u_tnXwqxY1iZwBxQ0Li64bQHjguEGhT2jtcygn4CdfaruFioZL3-RZEW9FyqU1vz6cH2QZiZ3tUXtbv6NfQLn5dV6Fth9q2D-FFv4M8vyiyoYNPk1vPpyGZ_dT-Izl5domBCoFyP1VrNAH_hIL__AzomjZ4UkofZVDIulvQOxY8frf9LIXe_Pt4oe54AJHlXLrtelSgJzX",
  "id": "rs_09686c6e46da6483016ab2b52bd56087d0a766c08f8e10be32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.21,\"left_z\":0.22,\"left_yaw\":1.55,\"left_pitch\":0,\"right_x\":0.36,\"right_y\":0.23,\"right_z\":0.22,\"right_yaw\":1.55,\"right_pitch\":0},\"note\":\"Both pieces are still secure after separating the arms. I’m orienting them across the table so the pen can approach the cap from the right, keeping each arm on its own side.\"}",
  "call_id": "call_lqIgcmWxXL3rx7woxAQ4x1g9",
  "id": "fc_09686c6e46da6483016ab2b5318e9087d0954a30820f460d4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lqIgcmWxXL3rx7woxAQ4x1g9",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.4606, 2.2093, 1.7607, -1.5475, -0.9016, -2.0468, 0.0766, 0.2173, 1.803, 1.5894, -0.7921, -0.8364, -0.8951, 0.0725]\nstate[eef_state]: left_x=0.3764 left_y=-0.0281 left_z=0.1084 left_yaw=1.3885 left_pitch=-0.0316 left_roll=0.0481 left_gripper=0.0766 right_x=0.3946 right_y=0.225 right_z=0.2166 right_yaw=1.3483 right_pitch=-0.0455 right_roll=-0.0271 right_gripper=0.0725\nstate[joint_eff]: [0.4991, -13.7094, 5.012, -0.5006, -0.3834, -0.1783, 1.0232, -0.6632, -9.8803, 6.4615, 0.5006, -0.6618, -0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801e747b199c70c2c6e79e7c03c7f48696d8af322bb450d6f80cb75e601cb899",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5b3eff1c56aaf0e8b62acc6300707430c115a2303321b1564c6fff6aff19ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc873cca5a87915ac19cd1e151ab24cecc4597f332d2eb35471c01713d5ad61e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 12.76 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 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]: [-0.6094, 1.7977, 1.5032, -0.4614, -0.8143, -0.5812, 0.0766, 0.6739, 1.6352, 1.2751, -0.4557, 0.5453, 0.5083, 0.072]\nstate[eef_state]: left_x=0.4614 left_y=-0.1611 left_z=0.2244 left_yaw=0.3374 left_pitch=0.0794 left_roll=0.0275 left_gripper=0.0766 right_x=0.398 right_y=0.2052 right_z=0.1844 right_yaw=-0.0591 right_pitch=-0.1159 right_roll=0.0018 right_gripper=0.072\nstate[joint_eff]: [0.0342, -11.0427, 6.735, 1.6728, -0.359, 0.188, 1.0281, -0.1436, -10.359, 7.2547, 1.707, 0.2711, -0.0904, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrU6bha7qn8aMKLmM1mRNXlmsWyDFk0NH12LOkWtHDjhBb-a9PFMqv8sBR_69Y_PUX7_IZC0FYNVPxk_fi7hKTt-3d46e_Q3bGUjrjfn5CpAsRsVLQ-3eB8Fuxkn29USaiRbnETjOV9Yn7oSohLGTftBDVAEHiwFdGSFf7RVrL7tpz4-Cjk8ud3xwHq7ipvGZg2EcKmftZXIIlAyqyHxfnWC18Mqa-RMm-5DA0O23cLScF6qItwftm4FHQ7mHiM88ItXsOj3uumUUIkqcF8o4zBVF3KBgcJq8J2r2QH-wnJmyVbPyFKHM__u-tpsbDLxRRh_okznx_30gP03KS-eImUZBTfsVOSw16__Fwm0oLp1PjyLn-Kwm3G2muF5ztp4i0-DaLk5jl5T2QVpmc9x2cUONd0JK-yjsPrhWBTwYNuSaxaVir5Ys1qZqeoTp__YEP9cLXclaNUgEBnwChJoQT8K3wrKNU4vh-rybs4N-6XB4BElw9VcaW6z8XNVORkGhwitCG1i3QQY2896jb8YW8_YExG7jEaquzEarn854vrGwPzUEvL5CkvSMjRTE-U1H3zdLv7ZRP0uUiRQPscY2NHbY03zETiHY-VRzzT8juWxBESBUDpZge51ePsOwwb_vWYjBHu3_4Z3-lyckGfK3yWv_w9KOzL3fHsbN-X0-4vT5oxvji963Xa4Dok9cwWShR8lOv_fdJpr0kfMTvvp-UjjYVRg9bhzFe5tkoy1mWW9vX2nQN3fyfXnALtV06OHp_86BoWHwsvbXDa1ukLxT_caj9-2gYLKTYhRebhij5x0_ElA77ofewvRfqRT8ZMcG5JaeU05LmMIcqjqdeZZLzKpNCacTBdAjwki74CmeKlhX7rDVJU5faCzxmXTLFiWkfzMpagdK59APvy95_x94ouGM0hgxkhfSSByYiFv_vSbsxAVqOvHWT_-lI1BLVX9djIp_aNhWdPaD2dkuTUiO5tWreivasW_LzJM9vuv3-DejLny5jtm_PX3Kt4BqKkQFDe8IFWwYDv1FUE48PHV-eieDQ78EILjiAIdVeGOkzV2mOGgdxjx38zYMP24E1NZYV_RzHhU3twh9lwkfIV0vB-VoQh5Ac5qm7qN3lDwHgbgUgVB2lr70oF22IuzuFKsS4asAx71NTcA9op2C-CrSBdYCK18C63Vf4WKN3alGbRDmaqAatrfuWPeaZW0aR3SkWxS6MFCghI7D2T48MCM_Zclqa66aQfxAB_3nQ7QqJ5RwWrjzt5cBSEHrtv7NnKHwS_yJRycZ63_o1EI2euthwWLVhVyjlxVkDJZ-qAh5SefVKQ=",
  "id": "rs_09686c6e46da6483016ab2b53780a087d0bd35d4cb9d9592a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.23,\"left_yaw\":1.1},\"note\":\"The left arm could not maintain its position during the large turn, although the cap remains held. I’m reducing the turn and bringing the arm to a less extended pose before proceeding.\"}",
  "call_id": "call_S1G0gDEDtGvIOmgR84RnNEDE",
  "id": "fc_09686c6e46da6483016ab2b53863a487d080f6007cc15fa20f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S1G0gDEDtGvIOmgR84RnNEDE",
  "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]: [-0.7147, 2.0445, 1.6684, -1.5566, -0.886, -1.9953, 0.0766, 0.2119, 1.8317, 1.589, -0.8017, -0.8375, -0.9085, 0.0732]\nstate[eef_state]: left_x=0.338 left_y=-0.1074 left_z=0.143 left_yaw=1.1099 left_pitch=-0.0636 left_roll=0.0327 left_gripper=0.0766 right_x=0.3968 right_y=0.2233 right_z=0.2038 right_yaw=1.3525 right_pitch=-0.0608 right_roll=-0.0027 right_gripper=0.0732\nstate[joint_eff]: [-0.4581, -12.1641, 5.5863, -0.4615, -0.7741, 0.188, 1.0183, 0.1026, -11.8359, 6.735, 1.1697, -0.3932, 0.0904, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ae8245d7bee4fc43fa1ee980162918fbd4555fc72ccef7ebf99dc40ae83b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088eb96b06631ceefc0cfda3c90ae2d71cb4a09f742f0bcb1633df6089ee6df8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dcc671282f3d7204b392bfa11e91e2ec85c10827bfeb383a13219aff7cd677",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 7.211 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 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]: [-0.4606, 2.2093, 1.7607, -1.5475, -0.9016, -2.0468, 0.0766, 0.2173, 1.803, 1.5894, -0.7921, -0.8364, -0.8951, 0.0725]\nstate[eef_state]: left_x=0.3764 left_y=-0.0281 left_z=0.1084 left_yaw=1.3885 left_pitch=-0.0316 left_roll=0.0481 left_gripper=0.0766 right_x=0.3946 right_y=0.225 right_z=0.2166 right_yaw=1.3483 right_pitch=-0.0455 right_roll=-0.0271 right_gripper=0.0725\nstate[joint_eff]: [0.4991, -13.7094, 5.012, -0.5006, -0.3834, -0.1783, 1.0232, -0.6632, -9.8803, 6.4615, 0.5006, -0.6618, -0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVIiRPCXIAZr0o0AzMm4pHvFXpv105wu34xTBQGHe6IVlm0Z9OK7IIKkY1Q1ouS7fUB3UdmmOaKYQigXs2eOJ3cyKjgecQELP6Ipvji0vD6jrO-NZ4I9c4y2I0EJP-6hduX2Uc75VIO0RL9veVmLCM-styDTZLDY8DrfJUFdmoRCxBrNL1D4e6qhgIBonvNexr3dBVFXflfQHOhmw_EUYQCH07KTGOmsVfJgEYcNFTY8qrP4ZfGiNGPT1REsPc-4sZGSpwGz4KRh_YJo4s8rTFJhrdBTLlzbbl6uo5shGoGPnHPYkf8AwVemHZU26B7BcYPB2bmvmL46YKm4acm7a3zruwtCx10AMXbR26va4ogBLKA_xjkuJ2aBPH5T4VcaL2oEEeqNl7NDdeE6pE1J2_OJ4INDmq_MRYya-nZ6iCo80qyxxOpTTYAPGV0IQmqC2KwVrch83XZAdgjJ9JUp7UfEGcnoibTo5V1WL2vHmnsun-ILv-MKjXkNlQ6MD-r3ENbnsm1Gf14v1sG3yPVPJqAsK1_rTBUv2ThUgOyTNjdI-X7_rPPJyQCsrllXlDiG7OneHn4-rJGtCJonFlzkU2nU9EC0AbOfPbQTAY3HiyEREdHlUF1h5MGxeLGk_L3W_9_fTh7ExgH4TOhjWRXCQsU9fkd5PrBXlidoxKybLVygvIUczybhWjLEnjQKJpSLor34T6r81SpSdNIyCYNouvueHR7ZRg23zD3-R6wXBL4qdGh_4-GNO5KdCNhJoAaGXyEczHAHfF6Q0OIOOQ5j_7dhBjsUKBj80SoMGzRlx79XK-_a_xmYxuhq-wEogFBJmGI5-wDG27OlPtY8ys7BqBMOh77Z8GOPtvlJLlypg2UsNoamr1eaNFKLthzmRh6bOMDLjvO863k3HxpT2aBc0eHDXFOkGtA_5n2IRBCsknuuhNJYWokrKQI0cegip05e5Po4-RH1wd6lgu_STbwP4_11xEi7Kc0iD5MDkTXWwy71OyjWaDZH_y5FpOt4ojos2DCA8yZ0YJIExUdR-2VLKXPIESfB39jE67kxlQRxtkCiaCqtBmKLpsBCqFABktL5LH5bfDopFy-4DElTPVg2zrKRSkC2xxTMuMq-sfU5s0OspZ1S7OtyujfR74woDiDx-8hs0RSDmUb-QpivCb6Rs_zp6Cc1lnAvpLSbQjsOsKFSg3WCdZ19aOTewd-_ZSuRc2XZLo3pQ9-NZKICFY_6zzMn8LZQ-plpaUUCQA-V9JSWWeefqa41FBrFrOgOgrT6aLodkoF0IRbSbz54332X_S4Xcq1oEU8_A7dutBDKfMHJA4VCDmdixHVlkY626vFE_TB2FN64Qr2_V3nxiPsS5We0eNghT7tl7jtBUvD9MqOX46QHnyRTqNrudhXEVYXqjLZIzkZhg1cGPrmntF6cYCPgQWBz3q6d1n6zFFPaQxjxuiasWqVzwWLP1RDaFKWFVCa9YRgVcH6B6fwhPj9HZoyekC-Ctk9yLZxbIAQp6WwjN5hpjWFwNoBW4_w0Z2JGuyr2XztI3h2YWL2huALwClAx8ywksGV3Ckgs8ZqdlCYG9SDgn8bF2Wu1XJt7waWseWExKIq0mVkvGQioLTBnizgmmRT0THBdQX4t77bqXdXIhSAr8DObKwFQnVuqHV7A5KmT-ZSXIO13Dtpc-c1iBJPG9l59o1dbCkX1Uf-hnnRXgHAetx8ZAi3NCY5WuNLxms5YLytj5VqW12_FR4sIF2F_DMcELAyTKqGDD9FWNeh4Z7DTbLiSceOpGnybX886P0h_ac97uqNazN39B7uwoo4w9oY7oOUiA9juUiBOdPRiqe1bJHzyBSCqF_OjXCdMIPXd462H2mywmvyXJKTvksxg3jJE_72IlCPVGVRaCIcVW4uuNaRFHmwuw93IufUqp-Sqgh91jpz7w89RyaXUX8zocNL4FBbY6AJYTYA3gnJ6qP0gc6WQlxkWYE_BttV8C_dfxLlXGyjf4sTjBfxTJE0XNFQjTH5DVwr_5mvO7dt34Fn1wgPK7Mth_PW9vkcD3w8SULh9MhrsaQXV36Yfjc1v9MzPBJKHsIw9eceiMUFbdYsRwwBH5t2ckiQrpAxJiUyA5LcGy48GAK4jnl-bLRJ8AiASNzYggAfOXueGNOGC4YzqxkkvZkXd36Zs8HT26JFhdRIcME58etJ7WOrFlVrxPbsHVYQA82u-nkPEOx0TNoHP2HW5HWmyY_B-yY0qENsEe9_lXql9MDdsg-_gMKdQKlyZftOU9-fCLMiaHpyMpvzUJ1JnLTl3Y-bImMdGYwS",
  "id": "rs_09686c6e46da6483016ab2b53e0de887d0a1c69114cb460922",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.24,\"left_z\":0.2,\"left_yaw\":0.75,\"right_x\":0.32,\"right_y\":0.3,\"right_z\":0.2,\"right_yaw\":0.75},\"note\":\"The left wrist is reaching its rotation limit. I’m switching to a moderate diagonal alignment, with the cap ahead and left of the pen and the grippers still separated.\"}",
  "call_id": "call_OPJj8vrgGpMaZTs4cBcLd60x",
  "id": "fc_09686c6e46da6483016ab2b5460f0c87d0a952671647d6dcbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OPJj8vrgGpMaZTs4cBcLd60x",
  "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]: [-0.7277, 2.339, 2.3356, -1.663, -0.9039, -1.5978, 0.0766, 0.5667, 1.4254, 1.1, -0.2451, 0.0463, 0.0338, 0.0732]\nstate[eef_state]: left_x=0.4168 left_y=-0.1805 left_z=0.1827 left_yaw=0.8556 left_pitch=-0.0962 left_roll=0.0828 left_gripper=0.0766 right_x=0.3743 right_y=0.2327 right_z=0.2188 right_yaw=0.5036 right_pitch=-0.0136 right_roll=0.0023 right_gripper=0.0732\nstate[joint_eff]: [-4.7932, -9.5521, 8.1436, 0.9841, -0.7204, 0.2173, 1.0183, 12.5607, -4.4239, 5.641, 1.7021, -2.0, -1.5458, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba245944be16f167379bd20cbb4f5c7d4d57a52d499d43d46e7832c4e83043d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec3924304970160e901143db915cef1035359b2102a7bb12c5ef67f69071c91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c659558fe913a56919caefb2c4f011654e3223460b02eaec9c829e673ea2b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.207 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 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]: [-0.7147, 2.0445, 1.6684, -1.5566, -0.886, -1.9953, 0.0766, 0.2119, 1.8317, 1.589, -0.8017, -0.8375, -0.9085, 0.0732]\nstate[eef_state]: left_x=0.338 left_y=-0.1074 left_z=0.143 left_yaw=1.1099 left_pitch=-0.0636 left_roll=0.0327 left_gripper=0.0766 right_x=0.3968 right_y=0.2233 right_z=0.2038 right_yaw=1.3525 right_pitch=-0.0608 right_roll=-0.0027 right_gripper=0.0732\nstate[joint_eff]: [-0.4581, -12.1641, 5.5863, -0.4615, -0.7741, 0.188, 1.0183, 0.1026, -11.8359, 6.735, 1.1697, -0.3932, 0.0904, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVQ27tvIqFMKDrEyQ3Sf5qs4MJblTvKbd88zWtZqC41ra4Wqun7CF97C8Uii-c6r4gWq4r7nANLfGYw7WbstoI0NNowxMMPsAeBB8vCAhAqtk8xjUFzh1Q2n9lPJgklxyidD4b45M68VT2ob4Trv1CFjbqfnfJWIbhs8aaKueFx0wPLmk1dk5Dj9uRvIbMAplwsl5BZwtjq2x5cU-WiyK3pKFoIH01g4QjCWhUqL9aQvKpi1sY8cQaXJbkw8DACIrJxS1PqJG4fpv5T7LBI3uNAYTXOshrJS3zi7H28RSBcQzFCkd0aJhgR3nSEaT4URRH1k37ZCsuy5Om10lVZIJR0umgfb83nZnp3MdK7GZaPK6EscdGgmNjvYdNNoCvYPqlaSF8HhC7bqxeiUBtAtNrpd_v9zr0SPgoSlZOPR14Zx83lBoWUpJFvGPpuiDih_K_bks_Q32pNAVNYpRO1i-t97Ve2XdyO3sx3CPDMGqvXAOhLch0UX8FgPgeEmhff572VQhG5ZgodrJTaTuXPQ63GOcte0YBhAd_d-zSdI722qBbC-pj5AQ7UtusOJ8eGiURF7VZO-Fdbi55A-3oFjOUZAG0qqqS0K6iP5_Lyt0KPpJt04m7-DoaUNBze27PgxtJh2pSu3cU-Opb9pxkXMfjezX-s4DqKtUELi_QeGflLXYXb54TdaN0bpepK_wSjZ5JlwI8uk6_YRnvvwtx7intpLrwTYtAz6j_-v5IRq9Eo7142uer-KwUfcPM6HQwsy1Ziy7EyzK0XN2UbVyL7okQcZ2u-7xEzoAQpb5rDirU9wYkRye7v4-IkAivjrfmbe_gdw4qgJwAi-qdsEdzcSjX81MGChuhaLrYywEbv9_FbtC6UlUbqmrbTfilWCh-_2A5QkEqxZYawDfdxI9l6w6UwJDz3_aUn91Muo7U5HD_zVb_DadkRvM4NT0GJpaYkWkK3I8eQHHaEQQZqwfFrL-9HPVQAkH03E-BVTApmALQCKiuQtdT2iDo_2HbkeWHoWg9JMBePzl9MWPiuip9YnuOWPA7RppmlhMxS_9dYkjTcEsQM_obXD4lp03U7INXGiQiXoYCWX36DMr6ewCfwq3vNWzAixlaLI-sinpR_FE1uJLRp4dF8gr18gWykES3BSysPq6X_8rzdVIBgCGsQijmNTOjopShoCQH5rlsa3-LyRMbhDt7Iybyu3iJM9K3akFhX6M11oW1CnioOiNO2haFb-_zMELZhHc44x_M6XT9jl7M-H8h5BHuUzZHcJAo6uu8qU6hHkIgE4gnB7MpW2lYr-kjl0WqsAEW_g6GvYsvV_WyEVRHN0SAwSCJ3s6QeU0xNTcC9d5-fCz9WWy1uSs78fL2-JaCEtR73BJJL0637LVAuJ1PArp8bYabVgyaZQLWHVZIkdqGZ5Hqm5W5RblcNNHTMeUE5Htp3qJ5E4ZOaVpTVHPUurG4xXRTueT1EAopsJRBLObwCkZRp1I728n9HC_EEstjG1Ie-QWFDAV6olI09sXJB3WqZ1UW73LNt7_m4kNYf9jWBfu2WoBMzL3aQaY7x3Po1Zvw8MIbfcXXmgoHLFe_YQdWpprQaF_V2lwJ1_jOqp_MuSJw2ssthr7gW7igS0l3dmDFAcGAgkSzkWsl6dvh9BBSoaJmH6HAPcCKU",
  "id": "rs_09686c6e46da6483016ab2b54c706487d0bd503ce5116390a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.1,\"left_z\":0.2,\"left_yaw\":0.3,\"right_x\":0.32,\"right_y\":0.1,\"right_z\":0.2,\"right_yaw\":0.3},\"note\":\"The wrist housings are interfering again before the pen and cap meet. I’m separating the arms; I won’t force the pieces together while the arms are in contact.\"}",
  "call_id": "call_Byk5F3EUV4KpMf87pH0yf4WF",
  "id": "fc_09686c6e46da6483016ab2b54ed52087d0a6881df105628f5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Byk5F3EUV4KpMf87pH0yf4WF",
  "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]: [-0.5625, 1.5185, 1.214, -0.7006, -0.7128, -0.6888, 0.0766, 0.2962, 1.0206, 0.7597, -0.3222, -0.0059, 0.0032, 0.0732]\nstate[eef_state]: left_x=0.3741 left_y=-0.095 left_z=0.1876 left_yaw=0.3813 left_pitch=-0.1264 left_roll=0.0939 left_gripper=0.0766 right_x=0.3241 right_y=0.1038 right_z=0.1961 right_yaw=0.2936 right_pitch=-0.0269 right_roll=0.0048 right_gripper=0.0732\nstate[joint_eff]: [0.2667, -7.8154, 6.8718, 1.5263, -0.2808, 0.2076, 1.0183, -0.4171, -4.0684, 6.8991, 1.9414, -0.1978, -0.0904, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b75f0f5aa4a74763c79c625d534bc154c124d3221ba682c6f4cba2739523774",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa6f88dacbe303f47e47c326a290dd16886f3578455fb76d88e64f9ed35188c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10baba8e278073a57e4125163f7f464074ed3bf02d9c73305141e434407b934c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.872 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 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]: [-0.7277, 2.339, 2.3356, -1.663, -0.9039, -1.5978, 0.0766, 0.5667, 1.4254, 1.1, -0.2451, 0.0463, 0.0338, 0.0732]\nstate[eef_state]: left_x=0.4168 left_y=-0.1805 left_z=0.1827 left_yaw=0.8556 left_pitch=-0.0962 left_roll=0.0828 left_gripper=0.0766 right_x=0.3743 right_y=0.2327 right_z=0.2188 right_yaw=0.5036 right_pitch=-0.0136 right_roll=0.0023 right_gripper=0.0732\nstate[joint_eff]: [-4.7932, -9.5521, 8.1436, 0.9841, -0.7204, 0.2173, 1.0183, 12.5607, -4.4239, 5.641, 1.7021, -2.0, -1.5458, 1.0232]\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": "gAAAAABqsrVXWWHleKNulOnrbwQuFvI5j4_yfzeoJJIP9r55rk_MB-bWqjl9ffjTf8ut-Kyue_JjGNRKz3BaknZktoLfrcCG2BL5O3j7-N1Qq0AeX6uEUUwSsTaSinU3Rg9bJSlfIVcHvcBpZkk7FiQc-NllLu83oVKPsfUGOD53KWXoEntcCtw07DGYqxNh7OWD2EsFb1IUfYCK9UWGHL9fLE8ibqmmfYYbaro7k_N-gg4iKODEiI4Or0rsI0E2tgkNzYhRqtRVPN2JnJdJ6-1pNWStjJIJRVMJC4aQep0KuTiPvc6mCf7_rUxVFJPTLgaUkYRXhYHcykCyvpq4Fmxc2N7HtDe_vkhFQM0nHw8_6rBWvasDJRhKIfCIOC_jgIwsBrU4swQGWAsY4V6yE8WVX3GQPJQX7QFNU_cVE14Qu8vALMGSrp1K1BZqvJltPzgwsU2Ibh36TmLNQHurD68AGtfSvRK-GsWQwZuXmIbo-4yyQPdCvnIZrGC20reOGfzLR0O4tRpOI8PWIr1ai-QYUqD5YNzVXCSv9VI__1CTbuEgrU0K6St4g90iOb36MMuV7WJ8xEZNsP_i5Piw5uwwZsy8fJ_4LL7wBRMpwn8S9hBU0R9zlfolLfFwa7gfBlbyFjoXnN7ijaJPhYH7tuAWTBeeLs6PjwuLLBSR3o1rWwuLYgKbJb1xvnkOCyxwe6tTIxLH3IuBPIOiKpKwtVTY2bDID3NmMw7yfTZHYIsA6uPrUh3IH4YOb1fsgXtnH1GkqkvdLgSKZ7ZB5SD0lEuc_fMixLp_YpoQNteotAL09K6F5gkuVpjKYT4ao-4Pq0PC60EKGuNIMobdS4br7nloDxQoYUTohw5YvYzsRF0uEWnHgZZsO3xNP9bRUAvFPEL3sqAERTHfd6GoDQsRKcLJxvzAuMCJuo1AKoIPPsyA0uNviMh65SNnTI9RfrPr9whjuZ9dACRN7CqeNeB-1L2Gn0ZGqJOq3IYfaCwerg247amc5I5E0BGKpS9dS726Qm2Lxr4uhrPFiSg7xYbsFH-iJLXYsh-sLFwEbzm1Qut4hgu4o6bK4KZu0nxcfuXwJ5azajSyS2xHQIAeydY2XIvqX62ojtt6VwNfWeaKLIFsaGXdFGnbBEyXSgx_EBA_UWaRzMUbA0jYOGvFEq4PSzMpUkzgZSad-FqE32OE1-6X0PoIg9HfOWDYsLKDCsJgge7XkkIrfdt-cEx_LYYUCeyVtnH8YPiYaQ==",
  "id": "rs_09686c6e46da6483016ab2b5549d3487d0af950d7e2416f50c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.012,\"right_z\":0.012},\"note\":\"The arms are separated and both objects remain held. Since the available wrist poses do not allow a safe insertion, I’m lowering the pen and cap back onto separate clear areas of the table.\"}",
  "call_id": "call_F53FfvW8nGqBNMdxrqOwLnuF",
  "id": "fc_09686c6e46da6483016ab2b5557dd087d0b206666ae5e1bff1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F53FfvW8nGqBNMdxrqOwLnuF",
  "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]: [-0.5594, 1.8008, 0.7734, -0.0391, -0.7017, -0.68, 0.0766, 0.2905, 1.5562, 0.2371, 0.6426, -0.0193, -0.0048, 0.0732]\nstate[eef_state]: left_x=0.3652 left_y=-0.0899 left_z=0.0111 left_yaw=0.3805 left_pitch=-0.1708 left_roll=0.1451 left_gripper=0.0766 right_x=0.312 right_y=0.1006 right_z=-0.0007 right_yaw=0.3036 right_pitch=-0.1202 right_roll=0.0066 right_gripper=0.0732\nstate[joint_eff]: [-0.294, -7.7333, 5.2308, 1.2527, -0.4225, -0.0904, 1.0232, 0.253, -4.4376, 3.3436, 1.1502, 0.1587, 0.022, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd608ef342a79c719083b152d49b8872211dcad38c5039393d7073b2f8fb5ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014354792f3c2ea4b08c59e4ec818ef8a620d19fb2f962222cd204e68c39a464",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf6603bdd491952db0fbe44eb539f09b01429dc57c2af8e0de5666f53d628fa7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 7.011 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 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]: [-0.5625, 1.5185, 1.214, -0.7006, -0.7128, -0.6888, 0.0766, 0.2962, 1.0206, 0.7597, -0.3222, -0.0059, 0.0032, 0.0732]\nstate[eef_state]: left_x=0.3741 left_y=-0.095 left_z=0.1876 left_yaw=0.3813 left_pitch=-0.1264 left_roll=0.0939 left_gripper=0.0766 right_x=0.3241 right_y=0.1038 right_z=0.1961 right_yaw=0.2936 right_pitch=-0.0269 right_roll=0.0048 right_gripper=0.0732\nstate[joint_eff]: [0.2667, -7.8154, 6.8718, 1.5263, -0.2808, 0.2076, 1.0183, -0.4171, -4.0684, 6.8991, 1.9414, -0.1978, -0.0904, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both pieces are at the tabletop in separate locations. I’m opening the grippers to leave them safely supported.\"}",
  "call_id": "call_IqdfCTJPoeeRqM7OUXUjiaqc",
  "id": "fc_09686c6e46da6483016ab2b55acc5887d0b3645a0de96538b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IqdfCTJPoeeRqM7OUXUjiaqc",
  "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]: [-0.5594, 1.813, 0.762, -0.0139, -0.7143, -0.6918, 0.9951, 0.2901, 1.5661, 0.2317, 0.6678, -0.0238, -0.0124, 0.995]\nstate[eef_state]: left_x=0.3648 left_y=-0.0876 left_z=0.0076 left_yaw=0.3939 left_pitch=-0.16 left_roll=0.1415 left_gripper=0.9951 right_x=0.3125 right_y=0.1014 right_z=-0.0005 right_yaw=0.3111 right_pitch=-0.1102 right_roll=0.0033 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -8.7453, 5.8598, 0.8864, -0.2222, 0.0513, -0.1099, -0.0068, -5.4906, 4.4786, 1.4139, 0.0024, 0.022, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27efe139009718893c6be7eb5be59532d962e8874208fbd02b86de16796042f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804ed53b14d5e2c176d0b171c1f9eb5f2c381c968c53b86d5317f9731c65fd4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef8985bc7b70d85198501b3f10d8e3763d6d0fe676cca4157eb749eba9cdd01",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 8.037 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]: [-0.5594, 1.8008, 0.7734, -0.0391, -0.7017, -0.68, 0.0766, 0.2905, 1.5562, 0.2371, 0.6426, -0.0193, -0.0048, 0.0732]\nstate[eef_state]: left_x=0.3652 left_y=-0.0899 left_z=0.0111 left_yaw=0.3805 left_pitch=-0.1708 left_roll=0.1451 left_gripper=0.0766 right_x=0.312 right_y=0.1006 right_z=-0.0007 right_yaw=0.3036 right_pitch=-0.1202 right_roll=0.0066 right_gripper=0.0732\nstate[joint_eff]: [-0.294, -7.7333, 5.2308, 1.2527, -0.4225, -0.0904, 1.0232, 0.253, -4.4376, 3.3436, 1.1502, 0.1587, 0.022, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0},\"note\":\"The pen and cap have been released onto the table. I’m retracting both arms to their parked positions so the pieces are clear of the grippers.\"}",
  "call_id": "call_OVnhLZ8qNM8HVuVRhvbcCWmB",
  "id": "fc_09686c6e46da6483016ab2b562515087d0910fc087e95eac80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OVnhLZ8qNM8HVuVRhvbcCWmB",
  "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]: [-0.1345, 0.9245, 0.7498, -0.5655, -0.2417, -0.0578, 0.996, -0.0185, 0.8646, 0.6933, -0.4881, -0.0311, -0.0162, 0.9961]\nstate[eef_state]: left_x=0.2947 left_y=0.0064 left_z=0.1765 left_yaw=0.0906 left_pitch=-0.1506 left_roll=0.1275 left_gripper=0.996 right_x=0.2955 right_y=0.0036 right_z=0.1793 right_yaw=0.0107 right_pitch=-0.1028 right_roll=0.0046 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -2.1538, 9.7299, 1.4383, 0.0611, 0.2173, 0.0757, -0.3897, -2.6325, 8.8684, 1.5946, -0.0708, -0.0904, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2416f14de619d4b33d453ec9275d314d0e980466b930bb49e277820cd80d7f15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8093da378a94ae8d05de10bffcdd5107c7100687ec0163ffe16079f7e7c673d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1824c3552f5b3d4c0b176286eeb54692145fb813c12c7da350d9ae6dd7d142",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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