adhoc

completed
2026-09-22T16:39:40.039592+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
298.9 s
total steps
286
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 moving the left open gripper above the cap to align for a pickup.
move_to
left_x0.3700left_y-0.1900left_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7925, 0.6025, -0.3794, -0.0219, -0.0116, 0.9997, -0.0193, 0.791, 0.6106, -0.3752, -0.0196, -0.012, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0014 right_z=0.1848 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6085, -1.4974, 10.5094, 1.7656, -0.0366, -0.0708, -0.0415, -0.6496, -1.1145, 9.7026, 1.746, -0.0464, -0.0611, -0.1099] 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":0.37,"left_y":-0.19,"left_z":0.15},"note":"The short cap is left of the longer pen near the middle of the table. I’m moving the left open gripper above the cap to align for a pickup."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is visible just left of the left gripper’s centerline. I’m lowering and turning the jaws to grasp across its narrow body.
move_to
left_x0.3850left_y-0.1780left_z0.0350left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7151, 1.4899, 0.8715, -0.1623, -0.5701, -0.4366, 0.9997, -0.02, 0.7959, 0.6132, -0.3885, -0.0189, -0.0116, 0.9991] state[eef_state]: left_x=0.3583 left_y=-0.1801 left_z=0.1282 left_yaw=-0.0146 left_pitch=-0.0657 left_roll=0.0416 left_gripper=0.9997 right_x=0.2949 right_y=0.001 right_z=0.1819 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.335, -6.8855, 9.3333, 1.8046, -0.4322, 0.0317, -0.0171, -0.1436, -1.5795, 7.0769, 1.8339, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.178,"left_z":0.035,"left_yaw":-0.55},"note":"The cap is visible just left of the left gripper’s centerline. I’m lowering and turning the jaws to grasp across its narrow body."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe cap is still offset toward the left jaw, and the gripper is just above table level. I’m shifting the grasp toward the cap and lowering to capture it.
move_to
left_x0.3950left_y-0.1950left_z-0.0050left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4217, 1.7119, 0.6277, 0.3511, -0.0383, 0.0151, 0.9997, -0.02, 0.7979, 0.6132, -0.3912, -0.0193, -0.0116, 0.9991] state[eef_state]: left_x=0.3766 left_y=-0.1576 left_z=0.02 left_yaw=-0.4016 left_pitch=-0.1638 left_roll=0.0346 left_gripper=0.9997 right_x=0.2947 right_y=0.0011 right_z=0.1808 right_yaw=-0.0013 right_pitch=-0.0202 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [0.294, -7.6239, 5.2718, 2.0049, 0.2271, 0.2173, -0.0171, -0.1436, -1.4017, 7.0222, 1.7656, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.195,"left_z":-0.005,"left_yaw":-0.55},"note":"The cap is still offset toward the left jaw, and the gripper is just above table level. I’m shifting the grasp toward the cap and lowering to capture it."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe cap has shifted and is now lying across the gap near the fingertips. I’m closing the left gripper to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4419, 1.8702, 0.7059, 0.4454, 0.0402, 0.07, 0.9993, -0.02, 0.7998, 0.6132, -0.392, -0.0193, -0.0113, 0.9991] state[eef_state]: left_x=0.3922 left_y=-0.1895 left_z=0.0007 left_yaw=-0.5188 left_pitch=-0.1493 left_roll=0.0238 left_gripper=0.9993 right_x=0.2947 right_y=0.0011 right_z=0.1801 right_yaw=-0.0015 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.4171, -6.5709, 6.106, 1.2772, 0.0904, 0.2857, -0.0513, -0.1573, -1.4154, 7.0222, 1.7509, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap has shifted and is now lying across the gap near the fingertips. I’m closing the left gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe fully closed reading indicates that the cap was not captured. I’m reopening and advancing two centimeters for one corrected attempt.
move_to
left_gripper0.6500left_x0.4180left_y-0.1950left_z0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4423, 1.887, 0.725, 0.4561, 0.041, 0.0879, 0.0083, -0.02, 0.7998, 0.6132, -0.3935, -0.0193, -0.0113, 0.9991] state[eef_state]: left_x=0.3982 left_y=-0.1926 left_z=0.0021 left_yaw=-0.5294 left_pitch=-0.1368 left_roll=0.0381 left_gripper=0.0083 right_x=0.2945 right_y=0.0011 right_z=0.1798 right_yaw=-0.0015 right_pitch=-0.0244 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.3897, -7.2137, 6.0786, 1.4286, 0.105, 0.1343, 0.6081, -0.1162, -1.2786, 7.0085, 1.7509, -0.0513, -0.022, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.65,"left_x":0.418,"left_y":-0.195,"left_z":0.008},"note":"The fully closed reading indicates that the cap was not captured. I’m reopening and advancing two centimeters for one corrected attempt."})
tool
executing move_to over 7 steps (0.7s)
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 fingers are now at the corrected table-level position. I’m closing once more and will check the opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4263, 1.9125, 0.7815, 0.4126, 0.0399, 0.0875, 0.6456, -0.02, 0.7998, 0.6132, -0.3946, -0.0189, -0.0116, 0.9991] state[eef_state]: left_x=0.4108 left_y=-0.1904 left_z=0.0024 left_yaw=-0.5123 left_pitch=-0.1493 left_roll=0.0375 left_gripper=0.6456 right_x=0.2943 right_y=0.001 right_z=0.1796 right_yaw=-0.0016 right_pitch=-0.0256 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [0.3487, -7.8291, 7.5419, 1.5751, 0.1099, 0.0415, 0.0366, -0.1846, -1.265, 7.0222, 1.7509, -0.0122, -0.0562, -0.0171] 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_gripper":0},"note":"The fingers are now at the corrected table-level position. I’m closing once more and will check the opening before lifting."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe second close is also empty, so I won’t repeat the same approach. I’m withdrawing the left arm to reveal the cap’s actual position from above.
move_to
left_x0.3000left_y0.0000left_z0.1800left_gripper1.0000left_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]: [-0.4259, 1.9137, 0.7837, 0.4084, 0.0334, 0.0811, 0.0086, -0.02, 0.7998, 0.6132, -0.3943, -0.0193, -0.0116, 0.9991] state[eef_state]: left_x=0.4114 left_y=-0.1892 left_z=0.0019 left_yaw=-0.5029 left_pitch=-0.1526 left_roll=0.0366 left_gripper=0.0086 right_x=0.2944 right_y=0.0011 right_z=0.1797 right_yaw=-0.0013 right_pitch=-0.0252 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.1162, -8.759, 4.8342, 1.6581, 0.0366, 0.0464, 0.5543, -0.1573, -1.2923, 7.0359, 1.7411, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":0,"left_z":0.18,"left_gripper":1,"left_yaw":0},"note":"The second close is also empty, so I won’t repeat the same approach. I’m withdrawing the left arm to reveal the cap’s actual position from above."})
tool
executing move_to over 17 steps (1.7s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe overhead view shows that the cap slid toward the front of the table and now lies almost sideways. I’m approaching its newly measured position with the jaws turned across its length.
move_to
left_x0.2900left_y-0.2050left_z0.0700left_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]: [-0.0643, 0.9565, 0.7216, -0.4877, -0.0711, -0.0177, 0.9971, -0.02, 0.8051, 0.6132, -0.4118, -0.0193, -0.0116, 0.9991] state[eef_state]: left_x=0.3053 left_y=-0.0035 left_z=0.1663 left_yaw=0.0016 left_pitch=-0.1518 left_roll=0.0314 left_gripper=0.9971 right_x=0.2923 right_y=0.0011 right_z=0.1746 right_yaw=-0.0013 right_pitch=-0.0481 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [0.3214, -2.865, 9.8667, 1.6435, 0.0562, 0.1929, 0.0562, -0.1983, -1.7026, 7.0496, 1.8632, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.205,"left_z":0.07,"left_yaw":1.1},"note":"The overhead view shows that the cap slid toward the front of the table and now lies almost sideways. I’m approaching its newly measured position with the jaws turned across its length."})
tool
executing move_to over 18 steps (1.8s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe cap is now clearly visible and nearly aligned lengthwise in the wrist view, slightly to the right of center. I’m correcting that sideways offset while lowering close to the tabletop.
move_to
left_x0.3340left_y-0.2030left_z0.0150left_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]: [-0.8978, 2.2147, 1.6741, -1.4067, -0.7509, -2.0449, 0.9978, -0.02, 0.8093, 0.6132, -0.4137, -0.0189, -0.0116, 0.9991] state[eef_state]: left_x=0.3127 left_y=-0.1931 left_z=0.0635 left_yaw=1.0159 left_pitch=-0.179 left_roll=0.0352 left_gripper=0.9978 right_x=0.2923 right_y=0.0011 right_z=0.1731 right_yaw=-0.0016 right_pitch=-0.0542 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [1.2239, -10.9744, 6.2838, -0.9548, -0.4615, -0.1783, 0.0562, -0.3214, -1.6342, 7.0085, 1.6923, -0.0464, -0.0611, -0.0171] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.334,"left_y":-0.203,"left_z":0.015,"left_yaw":1.1},"note":"The cap is now clearly visible and nearly aligned lengthwise in the wrist view, slightly to the right of center. I’m correcting that sideways offset while lowering close to the tabletop."})
tool
executing move_to over 4 steps (0.4s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe arm did not reach the requested low pose at this wrist angle. I’m reducing the twist and shifting slightly along the cap to obtain a reachable grasp.
move_to
left_x0.3450left_y-0.1750left_z0.0200left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8974, 2.2475, 1.6989, -1.4025, -0.746, -2.0823, 0.9979, -0.02, 0.8093, 0.6132, -0.4129, -0.0196, -0.0116, 0.9991] state[eef_state]: left_x=0.3155 left_y=-0.1975 left_z=0.056 left_yaw=1.0395 left_pitch=-0.1814 left_roll=0.0126 left_gripper=0.9979 right_x=0.2924 right_y=0.0012 right_z=0.1732 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [0.212, -9.9761, 4.7248, -0.4615, -0.3932, 0.1245, -0.0073, -0.1709, -1.2513, 7.0085, 1.6777, -0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.175,"left_z":0.02,"left_yaw":0.5},"note":"The arm did not reach the requested low pose at this wrist angle. I’m reducing the twist and shifting slightly along the cap to obtain a reachable grasp."})
tool
executing move_to over 4 steps (0.4s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe left arm is still holding the same pose rather than tracking the correction. I’m raising and untwisting it to leave this awkward configuration before trying a simpler approach.
move_to
left_x0.2900left_y-0.1700left_z0.1600left_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]: [-0.8955, 2.2475, 1.6978, -1.3987, -0.7437, -2.0747, 0.9979, -0.02, 0.8101, 0.6132, -0.4133, -0.0193, -0.0116, 0.9991] state[eef_state]: left_x=0.3159 left_y=-0.1974 left_z=0.0553 left_yaw=1.0378 left_pitch=-0.1844 left_roll=0.0165 left_gripper=0.9979 right_x=0.2924 right_y=0.0011 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0545 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [0.1162, -10.5231, 4.8068, -0.3639, -0.4078, 0.0708, -0.0122, -0.2256, -1.3607, 7.2137, 1.707, -0.0562, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.17,"left_z":0.16,"left_yaw":0},"note":"The left arm is still holding the same pose rather than tracking the correction. I’m raising and untwisting it to leave this awkward configuration before trying a simpler approach."})
tool
executing move_to over 7 steps (0.7s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe cap approach remains poorly tracked, so I’m parking the left arm clear. The right arm will approach the long pen for a straightforward first pickup.
move_to
left_x0.2900left_y0.0000left_z0.2200left_yaw0.0000right_x0.3600right_y0.2150right_z0.1400
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.86, 1.7527, 1.1637, -1.0012, -0.6476, -1.6852, 0.9979, -0.0193, 0.8158, 0.6132, -0.4126, -0.0196, -0.0116, 0.9991] state[eef_state]: left_x=0.2795 left_y=-0.1559 left_z=0.0747 left_yaw=0.779 left_pitch=-0.3547 left_roll=-0.0565 left_gripper=0.9979 right_x=0.2928 right_y=0.0014 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0595 right_roll=0.0015 right_gripper=0.9991 state[joint_eff]: [0.4171, -6.147, 6.3385, 1.0965, -0.4567, 0.1099, -0.0122, 0.1026, -1.6752, 6.9949, 1.7851, -0.0513, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.22,"left_yaw":0,"right_x":0.36,"right_y":0.215,"right_z":0.14},"note":"The cap approach remains poorly tracked, so I’m parking the left arm clear. The right arm will approach the long pen for a straightforward first pickup."})
tool
executing move_to over 18 steps (1.8s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe pen runs diagonally through the right wrist view, with its middle slightly right of the jaw centerline. I’m lowering over its barrel and angling the jaws across it.
move_to
right_x0.3800right_y0.1950right_z0.0200right_yaw0.4500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0238, 1.1069, 1.0767, -0.9401, -0.0662, -0.3283, 0.9979, 0.7589, 1.5398, 0.9321, -0.2092, 0.5621, 0.4686, 0.999] state[eef_state]: left_x=0.2881 left_y=0.0084 left_z=0.1976 left_yaw=0.2236 left_pitch=-0.4062 left_roll=-0.1465 left_gripper=0.9979 right_x=0.3508 right_y=0.2079 right_z=0.1253 right_yaw=0.0366 right_pitch=-0.1096 right_roll=-0.0383 right_gripper=0.999 state[joint_eff]: [0.2393, -3.8222, 10.9607, 1.4969, -0.0513, 0.2125, -0.0122, 0.335, -6.6803, 8.7179, 1.5604, 0.5153, 0.3394, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.195,"right_z":0.02,"right_yaw":0.45,"left_pitch":0,"left_roll":0},"note":"The pen runs diagonally through the right wrist view, with its middle slightly right of the jaw centerline. I’m lowering over its barrel and angling the jaws across it."})
tool
executing move_to over 14 steps (1.4s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe pen barrel is beside the right fingertip at table level. I’m shifting the jaws a little toward it and narrowing the opening before the final close.
move_to
right_x0.3800right_y0.1790right_z-0.0060right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1936, 0.823, 0.6971, -0.5549, -0.3225, -0.2607, 0.9979, 0.4934, 1.7699, 0.6514, 0.4053, 0.0917, 0.0284, 0.9991] state[eef_state]: left_x=0.2822 left_y=0.0054 left_z=0.1849 left_yaw=0.2133 left_pitch=-0.0704 left_roll=-0.0099 left_gripper=0.9979 right_x=0.3753 right_y=0.1875 right_z=0.0159 right_yaw=0.3956 right_pitch=-0.1544 right_roll=-0.0396 right_gripper=0.9991 state[joint_eff]: [-0.4991, -1.8393, 7.0496, 2.0586, -0.2808, 0.0806, -0.0073, -0.4444, -6.9949, 4.6291, 2.0879, -0.0562, -0.0904, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.179,"right_z":-0.006,"right_gripper":0.35},"note":"The pen barrel is beside the right fingertip at table level. I’m shifting the jaws a little toward it and narrowing the opening before the final close."})
tool
executing move_to over 7 steps (0.7s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe pen barrel is now between the right fingers. I’m closing gently to secure it, then checking the actual remaining jaw gap.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.197, 0.8265, 0.6868, -0.5541, -0.3328, -0.2615, 0.9979, 0.4679, 1.837, 0.635, 0.5037, 0.0666, 0.0105, 0.3551] state[eef_state]: left_x=0.2812 left_y=0.0064 left_z=0.1801 left_yaw=0.2191 left_pitch=-0.0797 left_roll=0.0007 left_gripper=0.9979 right_x=0.3808 right_y=0.1833 right_z=0.0016 right_yaw=0.4014 right_pitch=-0.1412 right_roll=-0.0358 right_gripper=0.3551 state[joint_eff]: [0.0205, -1.5795, 7.6923, 1.5702, -0.0708, -0.0415, -0.0122, -0.8684, -6.106, 4.1368, 1.4725, 0.0122, -0.0659, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen barrel is now between the right fingers. I’m closing gently to secure it, then checking the actual remaining jaw gap."})
tool
executing move_to over 4 steps (0.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe right gripper has stopped at about a one-centimeter gap, consistent with holding the pen. I’m lifting five centimeters to verify that the pen comes with it.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.197, 0.8265, 0.6868, -0.5564, -0.3332, -0.2615, 0.9979, 0.4667, 1.8393, 0.6338, 0.5129, 0.0658, 0.0097, 0.0987] state[eef_state]: left_x=0.2808 left_y=0.0065 left_z=0.1797 left_yaw=0.2195 left_pitch=-0.0817 left_roll=0.0018 left_gripper=0.9979 right_x=0.3816 right_y=0.1833 right_z=0.002 right_yaw=0.4013 right_pitch=-0.1356 right_roll=-0.0355 right_gripper=0.0987 state[joint_eff]: [-0.0342, -1.3197, 7.1863, 1.6337, -0.1783, -0.0513, -0.0122, 0.0342, -7.9795, 4.7658, 1.5556, 0.0024, -0.022, 0.5153] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The right gripper has stopped at about a one-centimeter gap, consistent with holding the pen. I’m lifting five centimeters to verify that the pen comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe pen stayed fixed between the fingers during the lift, confirming the pickup. I’m holding it clear while bringing the left arm back over the cap from a less twisted wrist orientation.
move_to
right_z0.1700right_y0.1400left_x0.3500left_y-0.2100left_z0.1200left_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.197, 0.8284, 0.6868, -0.5568, -0.3332, -0.2611, 0.9979, 0.4667, 1.6611, 0.6949, 0.2695, 0.0662, 0.0101, 0.1005] state[eef_state]: left_x=0.2809 left_y=0.0065 left_z=0.1791 left_yaw=0.2194 left_pitch=-0.0838 left_roll=0.0031 left_gripper=0.9979 right_x=0.38 right_y=0.1824 right_z=0.0495 right_yaw=0.4008 right_pitch=-0.1397 right_roll=-0.0357 right_gripper=0.1005 state[joint_eff]: [-0.335, -1.1556, 7.0906, 1.6142, -0.1734, -0.0366, -0.0122, -0.2803, -8.6359, 8.1299, 1.6337, 0.0122, -0.0415, 0.1734] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"right_y":0.14,"left_x":0.35,"left_y":-0.21,"left_z":0.12,"left_yaw":-0.7},"note":"The pen stayed fixed between the fingers during the lift, confirming the pickup. I’m holding it clear while bringing the left arm back over the cap from a less twisted wrist orientation."})
tool
executing move_to over 20 steps (2.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe cap is visible close to the left fingertips. I’m turning the jaws across its length and lowering while keeping its center within the gap.
move_to
left_x0.3580left_y-0.2070left_z0.0250left_yaw-1.4500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4709, 1.4258, 0.7296, -0.0624, 0.12, 0.0898, 0.9979, 0.334, 1.3994, 0.9188, -0.2634, -0.0326, -0.0757, 0.1026] state[eef_state]: left_x=0.3365 left_y=-0.191 left_z=0.0934 left_yaw=-0.6273 left_pitch=-0.1826 left_roll=-0.02 left_gripper=0.9979 right_x=0.3763 right_y=0.1404 right_z=0.1452 right_yaw=0.399 right_pitch=-0.1884 right_roll=-0.0351 right_gripper=0.1026 state[joint_eff]: [-0.2667, -5.9556, 9.6068, 1.9853, 0.2711, 0.3053, -0.0122, -0.7453, -8.0889, 9.9214, 1.5214, -0.1343, 0.022, 0.2125] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.358,"left_y":-0.207,"left_z":0.025,"left_yaw":-1.45},"note":"The cap is visible close to the left fingertips. I’m turning the jaws across its length and lowering while keeping its center within the gap."})
tool
executing move_to over 6 steps (0.6s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe cap is aligned between the left fingers near the bottom of the wrist view. I’m settling to table level and closing around its body.
move_to
left_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]: [-0.2451, 1.9305, 1.0447, -0.2749, 0.6373, 0.8249, 0.9979, 0.3294, 1.3994, 0.9195, -0.2836, -0.0372, -0.0803, 0.1042] state[eef_state]: left_x=0.3623 left_y=-0.1953 left_z=0.013 left_yaw=-1.2623 left_pitch=-0.2616 left_roll=-0.0834 left_gripper=0.9979 right_x=0.3735 right_y=0.1384 right_z=0.1419 right_yaw=0.4011 right_pitch=-0.2076 right_roll=-0.034 right_gripper=0.1042 state[joint_eff]: [0.4444, -9.9077, 6.6667, 0.7888, 0.6862, 0.2125, -0.0122, 0.0479, -5.8598, 6.735, 1.746, -0.0073, -0.0171, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.006,"left_gripper":0},"note":"The cap is aligned between the left fingers near the bottom of the wrist view. I’m settling to table level and closing around its body."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe left close was empty; the cap had been just behind the jaw contact line. I’m reopening and shifting two centimeters along its length toward the visible body.
move_to
left_x0.3510left_y-0.1740left_z0.0020left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2424, 1.9625, 1.0454, -0.2665, 0.6312, 0.82, 0.0092, 0.3332, 1.4002, 0.9195, -0.2825, -0.0383, -0.0803, 0.1053] state[eef_state]: left_x=0.3619 left_y=-0.1932 left_z=0.0012 left_yaw=-1.2591 left_pitch=-0.2787 left_roll=-0.104 left_gripper=0.0092 right_x=0.3731 right_y=0.1401 right_z=0.1418 right_yaw=0.4059 right_pitch=-0.2072 right_roll=-0.0332 right_gripper=0.1053 state[joint_eff]: [-0.3761, -11.2889, 4.7111, 1.0232, 0.3346, 0.0317, 0.442, -0.3897, -5.9692, 6.7761, 1.5556, -0.0366, -0.0757, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.351,"left_y":-0.174,"left_z":0.002,"left_gripper":0.55},"note":"The left close was empty; the cap had been just behind the jaw contact line. I’m reopening and shifting two centimeters along its length toward the visible body."})
tool
executing move_to over 6 steps (0.6s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe cap is now beneath the fingers and out of the wrist camera’s forward view. I’m closing once at this corrected position and checking whether a gap remains.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1993, 1.9408, 1.0061, -0.2623, 0.6617, 0.8577, 0.5457, 0.3332, 1.4002, 0.9195, -0.2821, -0.0383, -0.0799, 0.1063] state[eef_state]: left_x=0.3573 left_y=-0.1792 left_z=0.0019 left_yaw=-1.2555 left_pitch=-0.2592 left_roll=-0.1046 left_gripper=0.5457 right_x=0.3732 right_y=0.1401 right_z=0.1419 right_yaw=0.4057 right_pitch=-0.2068 right_roll=-0.0329 right_gripper=0.1063 state[joint_eff]: [0.2667, -10.5641, 4.2188, 0.6276, 0.149, 0.1245, -0.188, -0.1026, -5.9009, 6.9402, 1.58, -0.0562, -0.0024, 0.0855] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is now beneath the fingers and out of the wrist camera’s forward view. I’m closing once at this corrected position and checking whether a gap remains."})
tool
executing move_to over 6 steps (0.6s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe cap still was not captured. I’m clearing the overhead view again rather than making another blind close, while keeping the pen securely raised.
move_to
left_x0.2800left_y-0.0200left_z0.1900left_yaw-0.6000left_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]: [-0.1967, 1.9385, 1.0019, -0.2619, 0.654, 0.8539, 0.0083, 0.3332, 1.4002, 0.9195, -0.2825, -0.0387, -0.0803, 0.1075] state[eef_state]: left_x=0.3571 left_y=-0.1771 left_z=0.0008 left_yaw=-1.2474 left_pitch=-0.2663 left_roll=-0.105 left_gripper=0.0083 right_x=0.3731 right_y=0.1402 right_z=0.1418 right_yaw=0.4063 right_pitch=-0.2072 right_roll=-0.0329 right_gripper=0.1075 state[joint_eff]: [-0.2667, -8.6769, 5.7368, 0.906, 0.4371, 0.0171, 0.6374, -0.1299, -5.9009, 6.8034, 1.5409, -0.0855, -0.0464, 0.1148] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.02,"left_z":0.19,"left_yaw":-0.6,"left_gripper":1},"note":"The cap still was not captured. I’m clearing the overhead view again rather than making another blind close, while keeping the pen securely raised."})
tool
executing move_to over 14 steps (1.4s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe cap is now oriented front-to-back near the left-center of the table. That permits an untwisted grasp, so I’m approaching its center with the jaws in their normal orientation.
move_to
left_x0.3150left_y-0.2100left_z0.0650left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2451, 1.1702, 0.9779, -0.8814, 0.5751, 0.6491, 0.9963, 0.3332, 1.4002, 0.9176, -0.2848, -0.0387, -0.0803, 0.1088] state[eef_state]: left_x=0.2874 left_y=-0.0235 left_z=0.1754 left_yaw=-0.6192 left_pitch=-0.2634 left_roll=-0.0992 left_gripper=0.9963 right_x=0.3723 right_y=0.1399 right_z=0.1406 right_yaw=0.4063 right_pitch=-0.2114 right_roll=-0.0326 right_gripper=0.1088 state[joint_eff]: [0.3077, -4.2872, 9.1556, 1.0769, 0.2369, 0.0269, 0.0317, -0.2667, -5.6, 6.8991, 1.58, -0.0659, -0.0708, 0.1294] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.21,"left_z":0.065,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The cap is now oriented front-to-back near the left-center of the table. That permits an untwisted grasp, so I’m approaching its center with the jaws in their normal orientation."})
tool
executing move_to over 17 steps (1.7s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe cap is clearly left of the jaw centerline in the wrist image. I’m correcting that lateral offset and lowering the fingers around its middle.
move_to
left_x0.3270left_y-0.1780left_z-0.0040
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9009, 1.5875, 0.6132, 0.0967, -0.6411, -0.5468, 0.9969, 0.3332, 1.4006, 0.9157, -0.2901, -0.0383, -0.0803, 0.1098] state[eef_state]: left_x=0.3011 left_y=-0.2042 left_z=0.0443 left_yaw=-0.0843 left_pitch=-0.0966 left_roll=0.0585 left_gripper=0.9969 right_x=0.3711 right_y=0.1394 right_z=0.1387 right_yaw=0.4061 right_pitch=-0.219 right_roll=-0.0323 right_gripper=0.1098 state[joint_eff]: [-0.294, -7.2547, 7.5692, 1.4823, -0.5934, -0.0855, 0.0611, -0.253, -5.9282, 6.9265, 1.58, -0.0317, -0.0317, 0.0855] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.327,"left_y":-0.178,"left_z":-0.004},"note":"The cap is clearly left of the jaw centerline in the wrist image. I’m correcting that lateral offset and lowering the fingers around its middle."})
tool
executing move_to over 4 steps (0.4s)
step 234
assistant
agent noteThe cap remains just ahead and left of the actual fingertip contact point. I’m sliding the open grasp forward and left to center the cap between the pads.
move_to
left_x0.3530left_y-0.1560left_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]: [-0.7689, 1.7477, 0.5331, 0.3767, -0.5961, -0.4835, 0.997, 0.3332, 1.4006, 0.915, -0.3035, -0.0383, -0.0803, 0.1103] state[eef_state]: left_x=0.3251 left_y=-0.1715 left_z=0.0026 left_yaw=-0.021 left_pitch=-0.0947 left_roll=0.0563 left_gripper=0.997 right_x=0.3687 right_y=0.1386 right_z=0.136 right_yaw=0.4063 right_pitch=-0.2331 right_roll=-0.0313 right_gripper=0.1103 state[joint_eff]: [0.335, -5.0667, 3.3299, 0.9744, -0.0904, 0.359, -0.0024, -0.3897, -5.9145, 6.8034, 1.6435, -0.0317, -0.0366, 0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.353,"left_y":-0.156,"left_z":0},"note":"The cap remains just ahead and left of the actual fingertip contact point. I’m sliding the open grasp forward and left to center the cap between the pads."})
tool
executing move_to over 3 steps (0.3s)
step 237
assistant
agent noteThe cap is now at fingertip depth but still slightly left of center. I’m lifting a few millimeters to avoid table drag, correcting sideways, and narrowing the jaws around it.
move_to
left_x0.3450left_y-0.1540left_z0.0120left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.733, 1.7683, 0.5282, 0.445, -0.5682, -0.4465, 0.997, 0.3332, 1.4006, 0.9142, -0.3065, -0.0383, -0.0799, 0.1103] state[eef_state]: left_x=0.3346 left_y=-0.1686 left_z=0.0024 left_yaw=-0.0279 left_pitch=-0.0774 left_roll=0.042 left_gripper=0.997 right_x=0.368 right_y=0.1383 right_z=0.1352 right_yaw=0.4062 right_pitch=-0.2369 right_roll=-0.0307 right_gripper=0.1103 state[joint_eff]: [0.2803, -7.2821, 5.3675, 1.0965, -0.3101, -0.0708, -0.0122, -0.335, -5.6957, 6.7897, 1.5556, -0.0415, -0.0317, -0.0073] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.154,"left_z":0.012,"left_gripper":0.35},"note":"The cap is now at fingertip depth but still slightly left of center. I’m lifting a few millimeters to avoid table drag, correcting sideways, and narrowing the jaws around it."})
tool
executing move_to over 7 steps (0.7s)
step 244
assistant
agent noteThe narrowing fingers have centered the cap between them. I’m closing to hold it securely before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7326, 1.7683, 0.5285, 0.4343, -0.5686, -0.4534, 0.355, 0.3332, 1.4006, 0.9142, -0.3077, -0.0387, -0.0803, 0.1103] state[eef_state]: left_x=0.3336 left_y=-0.1673 left_z=0.0009 left_yaw=-0.023 left_pitch=-0.0849 left_roll=0.0434 left_gripper=0.355 right_x=0.3678 right_y=0.1383 right_z=0.135 right_yaw=0.4068 right_pitch=-0.238 right_roll=-0.0306 right_gripper=0.1103 state[joint_eff]: [0.2256, -7.2274, 5.6, 1.1258, -0.2906, 0.0073, -0.0366, -0.1983, -5.9145, 6.735, 1.5214, -0.0757, -0.0708, -0.0073] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The narrowing fingers have centered the cap between them. I’m closing to hold it securely before lifting."})
tool
executing move_to over 4 steps (0.4s)
step 248
assistant
agent noteThe left gripper now retains a roughly nine-millimeter gap, indicating a cap grasp. I’m lifting it for verification and refreshing the pen’s holding height.
move_to
left_z0.0650right_z0.1700
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.7679, 0.5282, 0.4461, -0.5732, -0.4541, 0.0958, 0.3332, 1.401, 0.9142, -0.3077, -0.0383, -0.0803, 0.1103] state[eef_state]: left_x=0.335 left_y=-0.1681 left_z=0.0031 left_yaw=-0.0206 left_pitch=-0.0737 left_roll=0.0376 left_gripper=0.0958 right_x=0.3679 right_y=0.1383 right_z=0.1348 right_yaw=0.4064 right_pitch=-0.2384 right_roll=-0.0309 right_gripper=0.1103 state[joint_eff]: [-0.1299, -6.8581, 4.3966, 1.3309, -0.2173, -0.0562, 0.6374, -0.1709, -5.8051, 6.7214, 1.5067, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065,"right_z":0.17},"note":"The left gripper now retains a roughly nine-millimeter gap, indicating a cap grasp. I’m lifting it for verification and refreshing the pen’s holding height."})
tool
executing move_to over 4 steps (0.4s)
step 252
assistant
agent noteBoth pieces were lifted, but the cap rotated in the fingers, leaving its opening unaligned with the pen tip. I’m lowering them separately rather than attempting a blind insertion that could bend the tip.
move_to
left_z0.0250right_z0.0350
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.5623, 0.5907, 0.2008, -0.569, -0.4622, 0.095, 0.3332, 1.3994, 0.9947, -0.4183, -0.0387, -0.0834, 0.1104] state[eef_state]: left_x=0.3355 left_y=-0.1693 left_z=0.0551 left_yaw=-0.0204 left_pitch=-0.0582 left_roll=0.0139 left_gripper=0.095 right_x=0.3666 right_y=0.1379 right_z=0.1501 right_yaw=0.409 right_pitch=-0.2669 right_roll=-0.0306 right_gripper=0.1104 state[joint_eff]: [-0.1162, -6.4479, 7.4462, 1.3211, -0.3394, 0.0317, -0.0904, -0.335, -7.7197, 9.306, 1.2918, -0.0562, -0.0122, -0.0122] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025,"right_z":0.035},"note":"Both pieces were lifted, but the cap rotated in the fingers, leaving its opening unaligned with the pen tip. I’m lowering them separately rather than attempting a blind insertion that could bend the tip."})
tool
executing move_to over 8 steps (0.8s)
step 260
assistant
agent noteThe two parts remain held a short distance above the table. I’m lowering the last couple of centimeters so they can be released without dropping.
move_to
left_z0.0050right_z0.0080
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.6695, 0.548, 0.3275, -0.5682, -0.4622, 0.095, 0.3332, 1.5887, 0.6865, 0.004, -0.0383, -0.083, 0.1104] state[eef_state]: left_x=0.3335 left_y=-0.1677 left_z=0.0241 left_yaw=-0.0199 left_pitch=-0.0762 left_roll=0.0287 left_gripper=0.095 right_x=0.3532 right_y=0.1332 right_z=0.0282 right_yaw=0.4102 right_pitch=-0.3419 right_roll=-0.0246 right_gripper=0.1104 state[joint_eff]: [0.0479, -6.0513, 4.6154, 1.5702, -0.2418, -0.0415, -0.0122, -0.1573, -6.5162, 6.0376, 1.8291, -0.0415, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.005,"right_z":0.008},"note":"The two parts remain held a short distance above the table. I’m lowering the last couple of centimeters so they can be released without dropping."})
tool
executing move_to over 2 steps (0.2s)
step 262
assistant
agent noteThe parts have reached the tabletop and the descent has stopped. I’m opening both grippers to leave the pen and cap safely separated.
move_to
left_gripper0.8000right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.718, 0.5392, 0.3874, -0.5682, -0.4622, 0.095, 0.3332, 1.626, 0.6628, 0.0944, -0.0383, -0.0834, 0.1104] state[eef_state]: left_x=0.3348 left_y=-0.1689 left_z=0.014 left_yaw=-0.0201 left_pitch=-0.0741 left_roll=0.027 left_gripper=0.095 right_x=0.3585 right_y=0.1351 right_z=0.0205 right_yaw=0.4097 right_pitch=-0.3126 right_roll=-0.0272 right_gripper=0.1104 state[joint_eff]: [-0.3761, -6.2154, 3.6444, 1.5556, -0.2515, -0.0659, -0.0171, -0.3487, -5.2308, 4.7795, 1.5995, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.8,"right_gripper":0.8},"note":"The parts have reached the tabletop and the descent has stopped. I’m opening both grippers to leave the pen and cap safely separated."})
tool
executing move_to over 8 steps (0.8s)
step 270
assistant
agent noteBoth objects are released on the table. I’m retracting the arms to their home positions to leave the work area clear.
move_to
left_x0.2950left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0000right_z0.1850right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7334, 1.7397, 0.5255, 0.3859, -0.5686, -0.4694, 0.7958, 0.3332, 1.6508, 0.6476, 0.0902, -0.0387, -0.0868, 0.7955] state[eef_state]: left_x=0.3292 left_y=-0.1638 left_z=0.0024 left_yaw=-0.0137 left_pitch=-0.1017 left_roll=0.0458 left_gripper=0.7958 right_x=0.3502 right_y=0.1322 right_z=0.0058 right_yaw=0.4131 right_pitch=-0.3567 right_roll=-0.0255 right_gripper=0.7955 state[joint_eff]: [-0.212, -8.2803, 5.5863, 1.409, -0.2418, -0.0024, -0.0122, -0.1026, -6.5846, 5.3675, 1.5556, -0.0513, -0.0073, -0.1685] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0,"right_z":0.185,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both objects are released on the table. I’m retracting the arms to their home positions to leave the work area clear."})
tool
executing move_to over 15 steps (1.5s)
step 285
assistant
agent noteI picked up both the pen and cap, but could not reliably align the cap opening with the pen tip after the cap rotated in the grasp. I returned both pieces to the table and retracted the arms; the pen remains uncapped.
give_up
hindsightFor these thin parts, narrow the jaws partially before the final close to center the object. Successful pickups had gripper readings near 0.095 for the cap and 0.10 for the pen; empty closes read near 0.009. The cap rotated substantially during pickup, so a stable mid-body grasp and verified opening direction are necessary before attempting insertion. Large positive left-yaw poses near table level tracked poorly; untwisted approaches were more reliable.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0605, 0.8112, 0.5537, -0.326, -0.1081, -0.0765, 0.7961, -0.0128, 0.8154, 0.5686, -0.355, -0.0273, -0.0338, 0.7966] state[eef_state]: left_x=0.2964 left_y=0.0048 left_z=0.1639 left_yaw=0.0675 left_pitch=-0.0104 left_roll=-0.0065 left_gripper=0.7961 right_x=0.2948 right_y=0.0046 right_z=0.163 right_yaw=0.0245 right_pitch=-0.046 right_roll=-0.0127 right_gripper=0.7966 state[joint_eff]: [0.1983, -2.0718, 10.2085, 1.6728, 0.1148, 0.1294, 0.0171, -0.4718, -1.9761, 10.0034, 1.7705, -0.0415, 0.1294, 0.1099] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both the pen and cap, but could not reliably align the cap opening with the pen tip after the cap rotated in the grasp. I returned both pieces to the table and retracted the arms; the pen remains uncapped.","hindsight":"For these thin parts, narrow the jaws partially before the final close to center the object. Successful pickups had gripper readings near 0.095 for the cap and 0.10 for the pen; empty closes read near 0.009. The cap rotated substantially during pickup, so a stable mid-body grasp and verified opening direction are necessary before attempting insertion. Large positive left-yaw poses near table level tracked poorly; untwisted approaches were more reliable."})
tool
give_up: I picked up both the pen and cap, but could not reliably align the cap opening with the pen tip after the cap rotated in the grasp. I returned both pieces to the table and retracted the arms; the pen remains uncapped.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.076 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6025, -0.3794, -0.0219, -0.0116, 0.9997, -0.0193, 0.791, 0.6106, -0.3752, -0.0196, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0014 right_z=0.1848 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6085, -1.4974, 10.5094, 1.7656, -0.0366, -0.0708, -0.0415, -0.6496, -1.1145, 9.7026, 1.746, -0.0464, -0.0611, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17079d8d06bf101aa35f9862a5f78f928c32d88091dbba7fda966712ce74db0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47cb0ec43b376339de3c55cf9379d2ff4103567dd85c0446250d1d25a29f4616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3138b601893582cd4735f3bed97d1c09af001da3059bde6600835b1a659feb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.054 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9fYx7cECNt2D_W6UaVIKi7M3O2OB3QcexldA1FbgXapdwCX8TKvZdv4UMjNosxl6mP5rqPA2rwRkG2MtHiGsE00cyZkav0V7xaF_TfkZPfnnvmTC7cFuKK2AgEz_8NSQwgZtJG45nX0cyn8yjfdGyeqvMiYvi8Tuz14vAk3ABC_5fnxkMzco_-jLG8rhr9P9Ug4YW5f40EY8D3WcKq10K7xXdtJOagJmt_Mi5k8aqp8cQBfuPk8Gs-1jxBw_2KxRD-4yeQgZr2cnX5XDN357N9rlp9VNQT3AvoQxHtQBX_78Vt0laDVGAG-xgbUTA2cDKafMLsgM5O84es5oLZxNddotkM8LSgamJaoeomkwozJmX51wm3f8lonqUynTUpbL11pAFXNHv-_nIC2q9WFcAhf8qI5EHK04e0WCB659o_JBKPI27b1wMBFtEAR-5_7DgAAlDNsx1lU64FyIVwikkX1PkL6sOYJH7XdKxguR3pmYmduzhBIhdLMynuaFnwIhVpSSn7nN3OFBH5lBubTOOf6oeE30Le_LMScW88JCpxP2SZTPn6EBfqmJcOaPDJLO628aRP-fPXmYntNZDH6XTh8L2mN8g36Wpx-Ka4Ev9pusxCmRd-R0q7ohwuGXO3Ibvf54om2PKCkB1KRawjCkdsn6xg9apwYUA6EZCo9d8dpkmdMMACuj8GUyis3rJv0Zuz1Ii93vD-AXSYyUfwT0pDy3qzMNHw4oKcUM6CySm8iu6q8bbFzuJosKELkyLY8mnnWYVXB-ayUBvlO9Mpbj43ZHXMqxl5APGN41_sOENZWvDkkri1gtcPCq7UCrq2ilLDVC1ZAjUGtyJVZc-QoE2s3utTswNBdSFilNzbl5C8oJXE1Ke9ipf74fp1-vF81wA9Ah4Vdzv_zUuXKHS8PjidhaeVq276YtDrei_oN0mF0gUj6xMHFP4ZHJVvI-CWcuqWo0Z-oyje8mAlQT82ew31nkvTY6OPqMfXsWbuj_7U8J5rT7Bp_T2xGrB12viHNoLJSIeoJahCOP0ULhTmI4yrEiJlFUHTXPHY3Shn-Lt-fFvoUP7jJycplAt-w0Uyde46A_UU4_800ovuDAJ0Leem0BK8tAz6TWmkZtREGLl9w2vnfcNwUclkj_GCb9FeAvuaCoxfLYZFqKUU0k1p43CvW-cAZjM39NDZscO2LIeY06lf1CoxSfj4eooCTu23-h4dC_9j6PRofOE0CElKRShdU_f5jf79gTrt7HhYulypA4rVN-QcMVs22sA2Qo1_366yc_jv_-9PKqXHogugVpJRYyMY3ygUVclyhnFFIdrL0V5O_kLxznImt8d4l5Hsobb_rhn-_7JQlRPGpBO6i9-OVm0DwFzJ01RRr9cJr65moIRLHu6dCX-tM11EYVahz1C_JsLD4kozVeWzvOWC4XypKDte0tbg8pZ0LULzLzm14TFCKK666E_Dn7jOObOB2qLivQmAoyPZTPaBE3aVUpfoew==",
  "id": "rs_0f3508ed6a616625016ab2af5b11ec87d09257eda0afa7d400",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.15},\"note\":\"The short cap is left of the longer pen near the middle of the table. I’m moving the left open gripper above the cap to align for a pickup.\"}",
  "call_id": "call_iXgpBRKZWx551IoqQHZpTHCw",
  "id": "fc_0f3508ed6a616625016ab2af5dd78487d0ab1b946bab616f82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iXgpBRKZWx551IoqQHZpTHCw",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7151, 1.4899, 0.8715, -0.1623, -0.5701, -0.4366, 0.9997, -0.02, 0.7959, 0.6132, -0.3885, -0.0189, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3583 left_y=-0.1801 left_z=0.1282 left_yaw=-0.0146 left_pitch=-0.0657 left_roll=0.0416 left_gripper=0.9997 right_x=0.2949 right_y=0.001 right_z=0.1819 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -6.8855, 9.3333, 1.8046, -0.4322, 0.0317, -0.0171, -0.1436, -1.5795, 7.0769, 1.8339, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082a7056d34102414a228db536c06aa388b5c847c4984d4decdfe2e77cf5a235",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176477c0d2ba187e061289e1d2f1c38708ef3f322904f881e343d19357f17a52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:062035e773da7a70eeb5f2b59e876dcda926ef1541717b9c5cd7b4c61a6ccdf7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 7.656 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6025, -0.3794, -0.0219, -0.0116, 0.9997, -0.0193, 0.791, 0.6106, -0.3752, -0.0196, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.296 right_y=0.0014 right_z=0.1848 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6085, -1.4974, 10.5094, 1.7656, -0.0366, -0.0708, -0.0415, -0.6496, -1.1145, 9.7026, 1.746, -0.0464, -0.0611, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9n21EBbi-0pGW5jxZKi7KNQRO16JcjqsDFW6vXq-79x_alJCoSWT0KmJAeBvL8TyorHsWHT4X188F3xhLJd-CQBgWta9pmPN8t2c2ia5k1vZVPpCLuz_pQVgOTV0_DPlpbwpxvlBuFkXrS7s4eZtS93ea2tEem00JADvnqchlPOtOCXBYXqgRVeWTBfgafzy1zc3m9K_Uz8lIR99LBZlGU1eVioQrDfjI6poYdMVJnEGVBSlsOeHyUagMZJ38VhZLw3GYlCcg-95Iz5NjiXykyERf0aj_EnQRzrXqmb2fN3cJRlb6khW3WjgWhdUZrgtrGgviUa1q7nQMIafoUcH3WDwnTxQH7grEiYUZtVjLO3m-FsrbakQ725S3G7cY-BzivBRZ70q6l6vxoJVwDE59VzH-OGzLr3GYHoqRg-LSp0FuhPD9W6Ppx9oYiLfUu2dfQlp3c63MLI5sEtOr0ApzWdhAYJDaNrBDNtzO5ckSuFmmInlXxjQl1J-uLSupo0LXc8_iLtqV9rc_kfgyzo0dYfpyvNDFfwMuErLMuz0Shp27ucYrlV6MEoOSvjU4ws1zNyI6pFp7p4rS7E-dw1uV-n0-XAeIAPnrZXvOQW-4X5YEvXcoFz6XV01R4jgDQ5RYsVy2TcQVNkhC-0lz0wIQv-_B3o-sRlzo3EhStarhYmr-z16Ne0NkhU59C8hbKKBxYItcH5SaTR-VXFQlmh4Pyi1c8j7plSPgDEqVJYjuXOQGug4XCzeYbftcu8b7eMOQudvW1fXvC45I1696bf5dvsf0aMc2LqepD42T5TNqQ5eG5I1p7UUYMHp93Z7SDKpooZ4KF123yzxkJ4uRFIzu8_qpraTQORyMfCxWhPtaiUHpYYwS9jHworai6jvt6o4ofD78irMZmZHhUlByyk8OCH16mTWzNL1mJApIn69sCPfaaAWvyzvlEJIC4o7UzJtfh8p07VaMxMYQNUXdpQ2Y7ANWW0sJb3fwHn2gZBS85k7I7gVWuYVZa9xQvkClxcm9wfbGQ6oUt5NGEEONt1Aey-yx51yd2G86cH_h4ILYBQPsDpbk-vEASm147A4BWAdSKPBlw6N_nK6fIhZpzloenedCX3ZitvX5v-7WUd_p--xuJMy-6eRkl9E40n8mTL-e-YhxjfSa8y-MwmyiSzGeJRXDRZfEM4DTvlvNC40g--OO-SfBzYxLRIf9x3IaEFUH3-QdzYQPRxMSFLs147_J-P_s2ACvQ7f7p9kS0fAZzr6UZravJMqdH_T0fm6qDxEl00DlPuZkv1W6ZewEnQ2PjFVFnfhynDNF4C8YwLqbYlDQ8SND2BFq3hxjRM9m_RE8Ulhz5P_0MixQ6EdYrROp-w-OgRlHEWW1JCp-UOGijkyvkYedMoG8pCiUVh9T4daiwknp211yg1JuEnj2zLsoH0yZT3GNGCk32sxnWylfn3zD-NFyeSDoKgm5OTf22QFVFYXQoSSTOspKNkZ-00hw9c2lZfpkNMHmOo3cYLZ5nARPP3haqYdn28r2HagcvJvjZz_6e-vr4yGkXcHfpPC_DQLQ5_uj-S3YepBNMlC4pDG6r1kgUUn8yAk3p5CFFIWCxOqUbquY30hqBUggIINEHXeawNSvgLhW-vysRs3U3BVs=",
  "id": "rs_0f3508ed6a616625016ab2af62f8d887d0ad0e28dca6dc7351",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.178,\"left_z\":0.035,\"left_yaw\":-0.55},\"note\":\"The cap is visible just left of the left gripper’s centerline. I’m lowering and turning the jaws to grasp across its narrow body.\"}",
  "call_id": "call_Kj4sG5Hha6l3wL1d25ZgErHL",
  "id": "fc_0f3508ed6a616625016ab2af66117c87d0a560ddf9990f0ff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kj4sG5Hha6l3wL1d25ZgErHL",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4217, 1.7119, 0.6277, 0.3511, -0.0383, 0.0151, 0.9997, -0.02, 0.7979, 0.6132, -0.3912, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3766 left_y=-0.1576 left_z=0.02 left_yaw=-0.4016 left_pitch=-0.1638 left_roll=0.0346 left_gripper=0.9997 right_x=0.2947 right_y=0.0011 right_z=0.1808 right_yaw=-0.0013 right_pitch=-0.0202 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.294, -7.6239, 5.2718, 2.0049, 0.2271, 0.2173, -0.0171, -0.1436, -1.4017, 7.0222, 1.7656, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35e3f68fe8c033d6d39aed606606177cf6776bc029e827100709426ea6fc797a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf2732c7d5bd100a3975930332a9a06b82f475aa9755edab5f7844931e04660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc721c0ec5766a611533e0c5f1665f2c5ad5b68aa2eec77a190eb01f9059f0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 5.22 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]: [-0.7151, 1.4899, 0.8715, -0.1623, -0.5701, -0.4366, 0.9997, -0.02, 0.7959, 0.6132, -0.3885, -0.0189, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3583 left_y=-0.1801 left_z=0.1282 left_yaw=-0.0146 left_pitch=-0.0657 left_roll=0.0416 left_gripper=0.9997 right_x=0.2949 right_y=0.001 right_z=0.1819 right_yaw=-0.0016 right_pitch=-0.0156 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -6.8855, 9.3333, 1.8046, -0.4322, 0.0317, -0.0171, -0.1436, -1.5795, 7.0769, 1.8339, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9wQGXwbik07CgvCoUiODx-n11lSHlsBtbtzGZt9EsTxY9z641Xr5EP2vy7gsjBXCu7tIiNZFr2eoigCF_mnrvV0HZUhkva6SNIIjU9shsGXLZcz1QypEuYsJuH8FUPHGvD8J7m4Qk02HgTNUVQ8ofuzS8161JVJGWsRnPbf6G77pn_XhS89-x-8zy0t2SfVaC4_1hugqrDxOrGDuxto4AbHpzpAbfQGLOU_9NQqUlEmjarVOIaqWKChAHyZin2AdZptLgE3nBIcKDRTCiFeN0OpIua_pX00REn3eRwz5OKmSud-je2CimS8ZTxuT47pWGdfE6_sHcz9yTovELH7jnlwBN-YOL5Pa7ppEeh8h2QYduY_9c22_Dw3r01mrIgG3eptdGdQa_9YGt8JnxAHFpT5Ypw1aZuNiYaKsGqEKOx9rTUFyGHsOGZTb6wNrmsfIpSQJ5aArMFxZ4jF3UWsNwrBD5D41MV7O4Q211GjdbPrw4G6q4-_3cc9NnH94KXa8BPsYYFVtg17kad0HzIBrOlwrhtzNdgtqYjfHeNzYheess11ZoWi9w6xnF3WINNw21d0eVuA1f6P0fHHdQkb8_n8SNpCcHAiUkX0CDGYibHSrnWkNExlovssbv2WKQvLQOHlmwXibKHNxc8kFMAXpAfzodGDFkxAAr2kUg4Jlp-z5ztO_19HA597FAzu4-l_YTGIPpzu2rnYppH3q5afc9elQ8NZulASGaiqlS_FddegDlqp9cpmyQzpHQthL3C018g1sobryyszoqzY607ywA6UrvrvA9OvWCeRjsXuZjH18hjt9VAiMnob5pBUYkjAcbiNICTmr3hezNaCjLIIS3dp8RLs0xc3eQ77QZajeXgJPHGrMZrYkkZvLysIZ2wp3vsWeuoo16R6Q2DXA2r5ZmHCsPwRD4sxvKvY281-N6P7-KWZnat05OC5n-gTzpEM0AwX7h63HZ3V3N9MAjZrUilpZyy2tt1aIVwkMjR8ucdZdyvIqtlzpLBTfj_zvoccaBKZxS9WI-yc786bPtDy0hPumF5o-6Wqi3Ljll-vgCLd0D6JyvLffUyiaJ2sOJCBRTkSOGG1dC0UdHjtRAmr9x2J_h-yL2C-2DsvcZkMrqUnTKMd_jUHg3nTirRPfaYtUcLdG2-XvNfSS66QR3NlNH3HJ2fS_a58QbhfqHpXu10TONcPXkvER2k8tgRabWlxRiUIhRd3fbx3Uy_nkj32NN3Li4HQYGh2nu-6bBxAC5d2tsUeaMu0EV5cE9rVguxet-C5zeuDVHrP-KktZRsJB4v_9DtXe8cMoJI11RAigFgoDPOxLi-8U7t3bKMCEGAeLl131aYa6PEXZ4BhZsyV9ds41a9ovJkssWEDh62-QFClJBk7XS9QoWWS_iiKz1gTB7-Z-ADDzgsIr3YnVK1OtHCqa7Q6JJBqmNjfWzzb2vObiLg_LiB4qnP8QgmZF6nHrbaT_SrP-Ln9vTjzLXktDqCVUP715yst_NJzjwd4Xz-lnQEZYEOic57_30VP_d79LYSk58sJiOZVKkJYeI-Jel0U6eladcKktm5fSMSKnaKP622tCtUEhDdBXQrZeQkHLLp7fShs7NxqBVwxD_dUOg-SkyudwbrcaUqKsZBQ8k04V0FbwCNI3I2XgFphaRl87C0",
  "id": "rs_0f3508ed6a616625016ab2af6a5c4c87d0b6a42a16cd3ff3f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.195,\"left_z\":-0.005,\"left_yaw\":-0.55},\"note\":\"The cap is still offset toward the left jaw, and the gripper is just above table level. I’m shifting the grasp toward the cap and lowering to capture it.\"}",
  "call_id": "call_yLmcjj8y0DgADSfIEw6cOzIy",
  "id": "fc_0f3508ed6a616625016ab2af6e00d087d08640d932860f222d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yLmcjj8y0DgADSfIEw6cOzIy",
  "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]: [-0.4419, 1.8702, 0.7059, 0.4454, 0.0402, 0.07, 0.9993, -0.02, 0.7998, 0.6132, -0.392, -0.0193, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.3922 left_y=-0.1895 left_z=0.0007 left_yaw=-0.5188 left_pitch=-0.1493 left_roll=0.0238 left_gripper=0.9993 right_x=0.2947 right_y=0.0011 right_z=0.1801 right_yaw=-0.0015 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.5709, 6.106, 1.2772, 0.0904, 0.2857, -0.0513, -0.1573, -1.4154, 7.0222, 1.7509, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c028830900a7baddbdcc71990bff75ae1408b83284a7502ef958ede20b2ea00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a0b648c826830bdfff3f86db8627e91962ef2a563e9c4026b1feb1827a89d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170b7fb66a225901c624290cbae839b9f0ec6ee3525de3f92b8a9152b5b841e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 7.675 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]: [-0.4217, 1.7119, 0.6277, 0.3511, -0.0383, 0.0151, 0.9997, -0.02, 0.7979, 0.6132, -0.3912, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3766 left_y=-0.1576 left_z=0.02 left_yaw=-0.4016 left_pitch=-0.1638 left_roll=0.0346 left_gripper=0.9997 right_x=0.2947 right_y=0.0011 right_z=0.1808 right_yaw=-0.0013 right_pitch=-0.0202 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [0.294, -7.6239, 5.2718, 2.0049, 0.2271, 0.2173, -0.0171, -0.1436, -1.4017, 7.0222, 1.7656, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq91eqmo8LS2q1xEY2lLYE8uoXeBat33u12_7wVScOXFJEvhC0CMB0JvZhyGbw6jL6QUh1oGskcklb9PiIUO_J8j3LHmbHl1XWyOdC5FPwtdYi8VaLrdLBQG7W7YfkoRoSa-6VFukKJzIAG5CCEgy1gt59BlKPjFIY-fkBx3kondxoyB5WLLLBhw17xTtw6paeitPDlRWqtFk3K22phThCRw1NySA0TDaMqtequOlAEsXuUFRbAvh9e0htumWHXgJH1lZvlBwCb_BqaEVqEnqOOtreHMKi8UhuHjAxa7qpqgzEes768Y-kSSzNVKVY_PZhkK-BImnmwRR-UalK9bjyzz_pNZ-c7_miRvzIFkStm7op-reAjNN0YeDeBapyRCRZNOs_F9JJpbGV-6Mim1YemxmYiWgo5xRjrnKdYBxa96kSf2hnn_RcIz3qY0GE2Z__0IxiXaMwhZh0bYmYPmcQtZCAE952bXYqZik03np2FOviNxm7ZE0ZHmyk53AsGzK3ei5hkPHE9kgXoxeiKOtPZ8ANRVJHkyvFvRhi-d8XZ0De7h6MWH8LbiSIJKBBU1KpsOjqynzYqRDBu7aOGIQdJyfIZslXvp6HzGpMeBF9QzDVFcGEM8NluFe1LyjqvaYEtQ6dRr6gmKjLK4iL_2pc8NIFl0aJVi9jF2WmTCjXqH9PcakF4LVDPLodO_FHH_Mp73AEHpUZ5E6XRpn44Jmrf43XpbscYohV1tExHYl1pJ9soHKNxoQ8rLBCotFc_-e5bhsfM8Y-rSbkDJ5kjmLElwvnVqACxkXgws-4waMfJ4dtVWy-wHt3haR69w8jf7BUAZWMWeHb4Rw_KF3TNpY5NtTn6Hn_NW42kKzpgeqi7cUqHMNzmYy6kKC9j_0eOJ5GwMn6aFItIGT1TvDP9-N9VySJdg6h8LM0sfa-rVRdcV_lZj9LHPsFTPZPnJqx9K6r4Oq8iLXJ2jP_kUHFFPEC9Ce050_41F5KRV4olk4ULU5DFpq4n9USPOqjo_EcNKjO3cllNwNWEbikroj-UxeE4xnEbhPfbEWgC7KsTKYxaa9MZiIThdM6kUBbr7l8715DFdl1LcD0_LqApucgn2IubRuK3WC0fN0YPgcIk28knIQRuNeMLaZ675tgGuxltBRt9ZD64ERMs1caifb2TqQHhtVPnb_MVehL4fUdP2VMs9XpKlXTJLroMS_wLADPhqhcsGCwImWw86zAVWupc95hGM_gHebPmqMuLhzjwLIsCjXB6BAShNmt655t_8Plw5aIlEY5IHOTIUH0sYpupWfy7HgQ==",
  "id": "rs_0f3508ed6a616625016ab2af73533087d08cfcba7d0f0978ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap has shifted and is now lying across the gap near the fingertips. I’m closing the left gripper to secure it.\"}",
  "call_id": "call_vD1Zjxg7fiI9uCp4vDyHVdj5",
  "id": "fc_0f3508ed6a616625016ab2af74225487d0b24c7b277fd5258e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vD1Zjxg7fiI9uCp4vDyHVdj5",
  "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]: [-0.4423, 1.887, 0.725, 0.4561, 0.041, 0.0879, 0.0083, -0.02, 0.7998, 0.6132, -0.3935, -0.0193, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.3982 left_y=-0.1926 left_z=0.0021 left_yaw=-0.5294 left_pitch=-0.1368 left_roll=0.0381 left_gripper=0.0083 right_x=0.2945 right_y=0.0011 right_z=0.1798 right_yaw=-0.0015 right_pitch=-0.0244 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -7.2137, 6.0786, 1.4286, 0.105, 0.1343, 0.6081, -0.1162, -1.2786, 7.0085, 1.7509, -0.0513, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e53f4d261ccfa910dcbb39018c6d7eda423faad6562b343145e2e536e4b6f22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb545c65fcdc5ed874d0762f4aebb49738e1ba642f0087911a16aafcb54330df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3860adf68fcbb23e35b721adf12dc11bc8e1c560ce97f102fa981eec02debc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.629 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]: [-0.4419, 1.8702, 0.7059, 0.4454, 0.0402, 0.07, 0.9993, -0.02, 0.7998, 0.6132, -0.392, -0.0193, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.3922 left_y=-0.1895 left_z=0.0007 left_yaw=-0.5188 left_pitch=-0.1493 left_roll=0.0238 left_gripper=0.9993 right_x=0.2947 right_y=0.0011 right_z=0.1801 right_yaw=-0.0015 right_pitch=-0.0229 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.5709, 6.106, 1.2772, 0.0904, 0.2857, -0.0513, -0.1573, -1.4154, 7.0222, 1.7509, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9-CrDRdCeJwu2RxgZCFy3XXlAS4SL8l2JEkOOVdsGUV2GeFbS2sK5Zr8GyXKRUxxUD59QBoo6vWeFx-Ard4mN1BV0m0KlgH7IgDV-gm2gYz1AbAOOlBlpkAg92MxM7fdykMMoiHSkpiWrEpM1qSyVic1ZZVlIDSGJhrDAaDQw-QG7Xku9ZPCatcuEmEunlUWtIext0roaqzU7O3mSDND79m0gJBXPlqoASWMHsf1UpNPnTSk9daFq5SFAeCB--GFzFue8adhOJnepQ0ZpmMza-wEYqXVBwrmzDXjzSRmXKuTwAQLViPmni2jx6YvhZXdI_nwbGjJtO4tenlm1FSbXq0TitwJU5fQgE11rO3iu9d-xvU3KB-k0Euu2xS0D1LrabdkueH074KFypvxdgvMqNFQE8nWGFQutLdd-WE9x1XcdJSU78PVcACjk1qbD44aSn7WZ9WDvtL2kGHe_kwvfn9hE7CP_5iizsMHgmwPNEHTteAg6eNcWQ43IvWECeKzLld6KbHWTrydFEs9VF-i-9Tnr3pfkvkF9opY2vhzseW6zvUAPKzvYHGbmdIXqnERs0Q0h1SLTpFnFhNIQbWaGGA_crvQv1tzCmY1NhGbQ5qVo3NIZQKZ57W6o-d-YmEsXvwX1xaNFcLo5kK_19Q5vvN0ZgygzABWP8XCmfnn7JRnFY966zxjpqexfA7zo-yXrwku9xoPVO-Kp5e8CUKrSK5x7E1FdIqqJYxBcUcCP6eDOQ2gmu-IVcx3dfPmopLX25WmAd38eVahmClG-g_vKjOd-6bdJ3LUVROxaOlbMjyCkh5-JfdwfwNYqDSwBoG645dUDGs3HGJ7-TuxHE1rFWxfdLZSOr-cDm0_9m4D59270Vjk71Cd6vyC0H37KcDck2V5m5Yh9PcbzKw0VfdRs-oelCIoKliAx7piWLD6ABL8oKZXgw_MkFsnNcL58ayfE8_TYdxXL2u5xMrgnLTZvvUvLUqZ4tj3w_fFq0PxsDwWq0neh90pgUd5AYy6-i43pzrg5ev6CqKwFjQBd4c8IJqQbkwMJhp9Q4OoXV_w3h0YJlIhR7UYyGdabyoa1tMqI1MNXi6nCTQsaYZRWtW1ctlOqqCCNd3pcSDH9xE68eV6AuxXDPJpR9YV6azhQ5CQWriuJ0h6r-4v0_QBbEsYI_WqMnDprvY8ViMS6DwPSEE-idgdub3qEmhVv6b1ogqeIHHY56wy02rMhv9XSGjhbONf86qjtM1hlDZysDLNmJ-VMmVHXk2oq__YFqVBC0cIiE",
  "id": "rs_0f3508ed6a616625016ab2af7baeb887d0bf4b4e4efbe8a496",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.65,\"left_x\":0.418,\"left_y\":-0.195,\"left_z\":0.008},\"note\":\"The fully closed reading indicates that the cap was not captured. I’m reopening and advancing two centimeters for one corrected attempt.\"}",
  "call_id": "call_TbFkfu3Apx8BMScXatTn0c0P",
  "id": "fc_0f3508ed6a616625016ab2af7c56d487d0a3b2a1f240f49aa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TbFkfu3Apx8BMScXatTn0c0P",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4263, 1.9125, 0.7815, 0.4126, 0.0399, 0.0875, 0.6456, -0.02, 0.7998, 0.6132, -0.3946, -0.0189, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.4108 left_y=-0.1904 left_z=0.0024 left_yaw=-0.5123 left_pitch=-0.1493 left_roll=0.0375 left_gripper=0.6456 right_x=0.2943 right_y=0.001 right_z=0.1796 right_yaw=-0.0016 right_pitch=-0.0256 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -7.8291, 7.5419, 1.5751, 0.1099, 0.0415, 0.0366, -0.1846, -1.265, 7.0222, 1.7509, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a101b82112db5d6f6418c0d810807edc9fba41e22cb15f497558ec09646e60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0df9ea52d287f182a771846aaa51539ec5fb5b081556ed12d95002afedd2c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136873c24771e88bf188a302d0e3351f3cf9976294577d4727dc7c6c13e8cb4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 10.2 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4423, 1.887, 0.725, 0.4561, 0.041, 0.0879, 0.0083, -0.02, 0.7998, 0.6132, -0.3935, -0.0193, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.3982 left_y=-0.1926 left_z=0.0021 left_yaw=-0.5294 left_pitch=-0.1368 left_roll=0.0381 left_gripper=0.0083 right_x=0.2945 right_y=0.0011 right_z=0.1798 right_yaw=-0.0015 right_pitch=-0.0244 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -7.2137, 6.0786, 1.4286, 0.105, 0.1343, 0.6081, -0.1162, -1.2786, 7.0085, 1.7509, -0.0513, -0.022, -0.0122]\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\":0},\"note\":\"The fingers are now at the corrected table-level position. I’m closing once more and will check the opening before lifting.\"}",
  "call_id": "call_aWpgrZahv4V2MchlI8r4fyDd",
  "id": "fc_0f3508ed6a616625016ab2af83846c87d0956dd6f2ffd9d655",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aWpgrZahv4V2MchlI8r4fyDd",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4259, 1.9137, 0.7837, 0.4084, 0.0334, 0.0811, 0.0086, -0.02, 0.7998, 0.6132, -0.3943, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.4114 left_y=-0.1892 left_z=0.0019 left_yaw=-0.5029 left_pitch=-0.1526 left_roll=0.0366 left_gripper=0.0086 right_x=0.2944 right_y=0.0011 right_z=0.1797 right_yaw=-0.0013 right_pitch=-0.0252 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -8.759, 4.8342, 1.6581, 0.0366, 0.0464, 0.5543, -0.1573, -1.2923, 7.0359, 1.7411, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8dfb365dbdb98c63cafe9eb4d7eb2bca06c487a21090a482ba7610d55705a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0ace40124019dbe57c3e3c831eda46ace96ef56d5bf1ddb25a0a79360ddfb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6cb8ccb03c2ec8e6d3fce75e88b25271d44b17de26dd85c12f58b9bc7f566b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 10.6 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4263, 1.9125, 0.7815, 0.4126, 0.0399, 0.0875, 0.6456, -0.02, 0.7998, 0.6132, -0.3946, -0.0189, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.4108 left_y=-0.1904 left_z=0.0024 left_yaw=-0.5123 left_pitch=-0.1493 left_roll=0.0375 left_gripper=0.6456 right_x=0.2943 right_y=0.001 right_z=0.1796 right_yaw=-0.0016 right_pitch=-0.0256 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -7.8291, 7.5419, 1.5751, 0.1099, 0.0415, 0.0366, -0.1846, -1.265, 7.0222, 1.7509, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"left_yaw\":0},\"note\":\"The second close is also empty, so I won’t repeat the same approach. I’m withdrawing the left arm to reveal the cap’s actual position from above.\"}",
  "call_id": "call_nBkNrOl9KBvkr5HWrssOPyM5",
  "id": "fc_0f3508ed6a616625016ab2af8d4f6487d08fd010644c1704d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBkNrOl9KBvkr5HWrssOPyM5",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0643, 0.9565, 0.7216, -0.4877, -0.0711, -0.0177, 0.9971, -0.02, 0.8051, 0.6132, -0.4118, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3053 left_y=-0.0035 left_z=0.1663 left_yaw=0.0016 left_pitch=-0.1518 left_roll=0.0314 left_gripper=0.9971 right_x=0.2923 right_y=0.0011 right_z=0.1746 right_yaw=-0.0013 right_pitch=-0.0481 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -2.865, 9.8667, 1.6435, 0.0562, 0.1929, 0.0562, -0.1983, -1.7026, 7.0496, 1.8632, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88dd9cc7f9799a342565873b6e847fdd4cad23e1e03e24de3034079e0d3527f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b293a3ae4d2ff16d13badecaee10b591d82a9aef8d850303b9e2b2b9572e344b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29df120e9ea1a238cc99ca779b710d258ce5df2cf86b8b1347fb5bc8b4a6706a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 14.51 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]: [-0.4259, 1.9137, 0.7837, 0.4084, 0.0334, 0.0811, 0.0086, -0.02, 0.7998, 0.6132, -0.3943, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.4114 left_y=-0.1892 left_z=0.0019 left_yaw=-0.5029 left_pitch=-0.1526 left_roll=0.0366 left_gripper=0.0086 right_x=0.2944 right_y=0.0011 right_z=0.1797 right_yaw=-0.0013 right_pitch=-0.0252 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -8.759, 4.8342, 1.6581, 0.0366, 0.0464, 0.5543, -0.1573, -1.2923, 7.0359, 1.7411, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq-b_TZIYue0KKt378g6tGfPhXa2KHzRddq0UzpMRKsOcc1WQ6ohmA3c8yyDuMyOEPHo8UAU5v4FJr4jglvy3OfV_A-rZbIOADbxLfRaZTi-iugiywbgkwxYNrVr9REtnrhmtWmmnbA1XsXEZ-YN0zEPSae3Ls_NSErjOkYQTpekgajv6rQwFQt6Ix2vLGRVq4yCjCKcYS_A8RKyxBRWBPGNE6qFpNgUH4039xGqQcAesWjd4QvYy0FfhtK53EagON_6mLH0T7o17qh-iF33olSjuDVsbws_aCFhc2_aJgzTYa7xqbSgsWkJ0Gh1YFMc5lJlJEclblt9xlvkx2IekcndnsNyiwA5uf0H79BKBn0pIkJZdG8eM3n1nqBzollNl_g0_WKJC93qhXRDhPvCdRT8AyDTcn6FNlot2XrFWW9d0R8moOHNtUfi0zQECwv2B46hTjEs4FYgURt5xcZp0DsouywAw_2UIP9TNHZuS4mo6FnarUp-zvYOCHGu_1LeybAkh1SSqH73JvaJ1fDcBVq-70vlNk6bJl5YCyW3xnYrpD7f-IFX6g_BOxX2t_5uIL8N2-iy5NLDr0pkC_v66HP5RbzLHBeyoLOxUBMMxQOp2QoA7F-1q0RUkUbKgOs5gMA5XqxDe8A93kH5EKUiziIY_HtUu6A_eLxermIJgazCCBh6zdUe-MMRsibfdoxyC3O5pf2CQyStcPmy1ChF8hdu25V6f16XkWfh749eliyDvJtcItCnDFVfH58W-ACwU-0WpCS3aIGVBWiIUnPryF5uhLsTnrg_eNovL6Ncj_tBBzGsn7CRjYrVvak-PM_8QWtSG7TBU0DXtXkaKKM6CGW3Dzs9C8eVoR_3uDtwuTgqR3O66A9lNmDV89wfRCv3epsyshxVdFaslG9VGYS2-rrAG8kpARQgTPZTfbt0nivMJbiU1G5UtKB_FzcIU1KQtMwtYxvyqZB5fvQoHyNkGWuwd37gs38R4ZTlRiGAT0W7BnV9EYlOvEmGKi8sj4ZKD6hRGdkoNzOdHoYUOdJTqZKkv0UD5t26POgWCS9vvnBp2O-OlhL1A7EGYEG86apd0JTIJ9m1az4puDKNBRd6tleddBzNaw0zPwGwkLLm3BcXYil6QfFjRXVMOyp-k7U2BjYzjKvbaNTyPbe0T_qHG99jXvmKQgvFySu06vpUHYMEHDdkhXfBRvvutJNwaVlJjc_1luy1kQzFzdkAM72r5XNPd47Xwg_NuFctdBljsRBjC-o97aPHvGTaE3xMYTiyR65LSx5siU6kG2rhYLs3mkNaiHdFURhKOQVf38S6Hvxepgf9RQjPO8E4rmex8H6Oh0V5SyTHZbIrLpykEwg8S7L2DjQZbEye9isOMQMAHA8NqPuBn4KkDOovE_T5CzbEf7Glx53-qaWgy_kEJ7HtcqxEGboMtrcdyfschI9QVALUixMEOLzokQVXl6Cv4aXkDDnnspn6Bw_xQPrnQHcUa8THLj8g7NQyFFizHD_VBCiubl1rRFjhNR3qeMZJ6J_Guk-0wbJ5pB3vYvSHLw6tUrEjoCIcB0FyDHr-6P1B9S9yhlDqe6-4ExlY-gcahSnqcnublk1WkrRYljQx_roetnV7mnjtJXYJfe2U5544nsmPCWW8lUZhFmz8dp2m_RcR4a2V5-DXaxnhp0bLvpL_4pGNEeuIuI8EC7NlmKcnVPCISCNz544VhShmUe0rZes675nHbolHh6KxlxC0JfTrJL-J5ilDqSORE8cEvJSNZv1ClwA0EeOJ4D3upzkBrCCWIqSvviTP9jO-PAd9M8QA2vXWv1Y7j1HAVnaKFJpDx3p8rqdmmmSrIv_rBZuaxdMrC4XDxx4MHAALrcLJKVciX2Gfeg==",
  "id": "rs_0f3508ed6a616625016ab2af93ea2487d0ae1d883e9776026d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.205,\"left_z\":0.07,\"left_yaw\":1.1},\"note\":\"The overhead view shows that the cap slid toward the front of the table and now lies almost sideways. I’m approaching its newly measured position with the jaws turned across its length.\"}",
  "call_id": "call_gwqlByieRc43NVzfCurrmoDP",
  "id": "fc_0f3508ed6a616625016ab2af999d2087d0a6c44c045a7a3318",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gwqlByieRc43NVzfCurrmoDP",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8978, 2.2147, 1.6741, -1.4067, -0.7509, -2.0449, 0.9978, -0.02, 0.8093, 0.6132, -0.4137, -0.0189, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3127 left_y=-0.1931 left_z=0.0635 left_yaw=1.0159 left_pitch=-0.179 left_roll=0.0352 left_gripper=0.9978 right_x=0.2923 right_y=0.0011 right_z=0.1731 right_yaw=-0.0016 right_pitch=-0.0542 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [1.2239, -10.9744, 6.2838, -0.9548, -0.4615, -0.1783, 0.0562, -0.3214, -1.6342, 7.0085, 1.6923, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcebae3266dc9fc2c5f67f884e3d2170e3fcb9bf12f0ffea5ffa826e9f94ab56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e75bdb641725976955a650019f0f61f06318cbfcfbddb6a6bdebc682f5bc8d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7083a74c044bfc26b3fb825850ce889240692e777372020a859f18b3f4aa0d42",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 7.012 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 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]: [-0.0643, 0.9565, 0.7216, -0.4877, -0.0711, -0.0177, 0.9971, -0.02, 0.8051, 0.6132, -0.4118, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3053 left_y=-0.0035 left_z=0.1663 left_yaw=0.0016 left_pitch=-0.1518 left_roll=0.0314 left_gripper=0.9971 right_x=0.2923 right_y=0.0011 right_z=0.1746 right_yaw=-0.0013 right_pitch=-0.0481 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -2.865, 9.8667, 1.6435, 0.0562, 0.1929, 0.0562, -0.1983, -1.7026, 7.0496, 1.8632, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq-rKq7RBKwWqOjROa8b1XKKIZ8h0hm3BDgZ-vf7rJ050DBOtpK3SCFZm3x9Ty0TPLWDLS1s5iXUibjXBLDp81QcN2G5N6cUdq4xhMNBB_WVv_EN1P_OiCh0AxMRSLxiwu_mZ2nnSH3kYGf_giy2vPKlwK86_bPAbOS5T6VrROXGIXQBqsivxVbpi01rGHySWXlfgm80xXN2jDzUeBSWjAacHM4olEPN_5VehMa51JA8nA8qT5X1o28dVMNwE3wPhuaei8kybZ0qo0Qu9068BFPtSktFWsbuMFERWkUs282pNGjRP05X8OdPYCs00zQw0Gpig0QP6-0_FMk5ZLsC_dqY8XobI9qy6zWRCYchGIjj808Mdf133SmuWp3tcduAOsKYUcxANrRXsS9YFO34abXhbtKoEO2qLY5oqHOcB-6-N-n7bhalg6E6aEqRGQi2YLtEC6zz1asip4uatSb8ZV0mBa-36tsjqHc2AOdyVq3JnSDDuB_uTSNLOPmLzySI16kO1ZYGyjUjnX8kxNWgJHuS8fAW_fjaph7O15cMQByFzPcgGIspauRxfqUa9L_r0aYsvFEiQ4CQDYnlvF07kgFovDLHbTFWSTovbupUlH811XXI3BLYThkb9EwpI6FiDrRGBSbP1dQRJfQT3uwVcc4G-Gl0V_HpMHg9gv2ZmCEZPvR1TvTbo7zfZdzMuOmZ1OIOKJg6hRjM8zoyvfjxLRMLl0s-CksRu7NVPPe_qLanPSG3QEuUpTTaPa3pMQOxBueKzq9IgIS6SZ50Y3qxXhx3rbOA51kDBHLPG4DK-6iSCrD-c4lfyEkQ73XIAv-HZViP8hCJAKdrAMQr5H5GDDcldmpFJiWTr0YqdSu63fBKmGb2oKQ6KpBQmljlbTUqTHg9XhPV4eXauQRdxyEqS3WeRq0IWKYoQUN7GMwcUVem6olG11OnZAO5HgA37MXTQLT6sFENWcOTokfZ5yaQBKW_cTuB5EzCKOAXlUyW9zX2n_pZmy2XZb9xa_3bPX4r5JjZaqkfkSGBk1ETzfWt9rHlf_0XTE82GvaPW81j2LF5v25UNpBEZfJ3dLTkdJUEPtyOKDSEVUZmFAzKnB6FIC0JPepZtqvkBw6ktFnuOa37u_RISMz1xd400AVyPJUdEbid8g6PLzfN_oqZooPHQiwMHhBDxIAzUhwz1NSdUf9P3wPDrgaLDI87sExXXy_NfQqt8GBmdL6SRahR-ZrDWnMweB3h8Dyyzx-qpnFqo1emCoYoAUInJV6VQyppoLdgIRNuvYDKoPV6tnEgtYuQtzd2t3OlTQdUHYy183J3yZwVYekNK7EZbRTbuCkucqkZezNptFNCXuQ7hdbYhCbqaK-NWER2vx-je_3exZAsNy9KV6F8g50Qu3LAuF5RecCNOKT5bRL_qiaRBteCXuhlEFudOIPZzmdrgZDXHInVuDJIWjv2lss5OTx_K1JD1OAA5T1hG1uwDQQB5OmpBvbxuS_ieAsmWUDKNApFvuL-kKGm114sbwnqy8MjlUjwRNrJn2u7ZowcAQhQHxPZ52EteGtSeDr4zYvRCr2xPwp9Gs3VgNDSLaoHeiDSKuMZnCOjk_D6IcCY5KDYqkTH-KulMjq8qXapO-qhWmE5g1LGvA9zeka59qNE5MF4QS3J527hD4qNihNwblEtJ4SEdVkZCb3ZByr8VtBLVqzIzgHCSJVSY63FnmsId6vZoiUgg-H_Do5fK8v0PxJYusfWQHbb6dshLrzMXCP1jVR3t0clNuKbYpv1cfqHM5P9i-3GRXGD3qLI6XWK14bRYB_ZoOFUuTZxhNv92sAL6dgpnki3Kumw09KoynVRcOFNUlJLQI49n7tzMvLlcg89UsXrJqlnxh5mgpeOfEgORAd8F64nwCWnAhNnnv3k3yDuxjOBKy_noFYjfza_s2gZH-RMuLyb6gzMliIR1O00WqTRWHTAOPwnXfX8J2Xr8o0cUsMeUARfZf-1d7BU2H6v9IE29kz21dPeIUKsFQD6s7Ah4U-bKBf4EeEi_bRu5l7_WjKxSlvo9e3NQOONO0XDIOcXfWE1ggqfn9AkiQriQegxJSNs2q2SrfWaIBKNIT3_Cbg2uiJSPI2nacPUZ42iDz205s_d5nJSz4QII6nKPk6GDLcugpwU7PrBQ5Dy7weFlGRplwMI0_SkLYMG0fyBZqclMQvMXMgqOqBmNjo4vkdDPttHVfAJEAM=",
  "id": "rs_0f3508ed6a616625016ab2afa04cf887d0ab778127e44b1b8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.334,\"left_y\":-0.203,\"left_z\":0.015,\"left_yaw\":1.1},\"note\":\"The cap is now clearly visible and nearly aligned lengthwise in the wrist view, slightly to the right of center. I’m correcting that sideways offset while lowering close to the tabletop.\"}",
  "call_id": "call_6TsGd9kBuOA2TfIOLQvzUeR4",
  "id": "fc_0f3508ed6a616625016ab2afa9f67887d0b00089429cb671b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6TsGd9kBuOA2TfIOLQvzUeR4",
  "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]: [-0.8974, 2.2475, 1.6989, -1.4025, -0.746, -2.0823, 0.9979, -0.02, 0.8093, 0.6132, -0.4129, -0.0196, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3155 left_y=-0.1975 left_z=0.056 left_yaw=1.0395 left_pitch=-0.1814 left_roll=0.0126 left_gripper=0.9979 right_x=0.2924 right_y=0.0012 right_z=0.1732 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.212, -9.9761, 4.7248, -0.4615, -0.3932, 0.1245, -0.0073, -0.1709, -1.2513, 7.0085, 1.6777, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0655877a62d02dd9cb1c95974684f427c334b89e6ca480038561275a2470913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5ad399c98401e56c3aeed513eb6c98914d2fdfa60f914334f6dd8fe254cb17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96de11ad867f8450b5aed9510eaf6bd9d2a9da859d00aef49b0b973c0759d9cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.387 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8978, 2.2147, 1.6741, -1.4067, -0.7509, -2.0449, 0.9978, -0.02, 0.8093, 0.6132, -0.4137, -0.0189, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3127 left_y=-0.1931 left_z=0.0635 left_yaw=1.0159 left_pitch=-0.179 left_roll=0.0352 left_gripper=0.9978 right_x=0.2923 right_y=0.0011 right_z=0.1731 right_yaw=-0.0016 right_pitch=-0.0542 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [1.2239, -10.9744, 6.2838, -0.9548, -0.4615, -0.1783, 0.0562, -0.3214, -1.6342, 7.0085, 1.6923, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq-zeQLIG-Vw8P0GZ6Vx5gOIXJVP_32pPJWoQOSwtqBpoSUSCRK1G-483qpiCVTS_4Zzvr682Ky-_XuOUkTFCadYbi0-P5HXGb5R66rxtnosK_UII-g1sQbY6_aErhQVWUPTZPBIOrQAvkYwWqDevQk0bIXsiRkjjG4ywuWyFZ6oiedc304f2eLzhCLDJGlLSKyBMip2sMij6QkDXFoCd6NxdqomQ_su75jJQs_2OSIIIYmUDhCA5FVtRA1uFeZOzmqXUgPHzPW5S2azxvBbnUZXgYGUB9yKmfDW4eUtuxF08uc-T-ZWoC4a7AxUYBpSHPUtbyZ-2U6MrV3q_fdyx4iCBHktUxTdhcT7YnL1rAfGp0pDXA0Q-MnKDgffdrVEKkFaF6zS30XPF2hEyZQVv8Wd5Yd0CbU8CqPrlx0P91LNLb0fYwujp-D-9asmWg0GrVrHNMES-Mz4FXSB50mGqfFhefb1GnN8tHMgTKDH1j790te_bcSAgcEXQhgk9jNCJhKIx4ugdft5ynJB7RKCnL5IiMDWoEtVdwmEXjX8u3xUEkyDSQ0uR-1vLWiURp8ik-AOzhlVIPm4oLNHcI4V94DC-8baFqTvdPoBE2th6J-jPlVJ0pIJzu912_Vgn_Iij2e-I_gmg9eHcEiqZpTlwOrWSEDhD7g78x-pZCeH4r5OTFkwW188j2w3YnESYqkUrcF0IGPgLx8s5V5yF-XCAnS3glGzhAahKiTnJTfcmFD3ufBr7M8qlc3XVX05N3kz1cp-2CtQIXNgavBDfY3k1Gv47_l5dCoP9J7QtZb_Rj9jdnGRPhVXgz3kWOXS37-bxSIG-JJYZz9vHjw62LIIVNwDHaB74ADJmw97-GGJVflbYcvaM8P2N0dAYO1qWYzq5YfakWfBBs7HczqnfmKE9KA9NXbAPR_iDrqgzMKfoiiORwWwruusDxywavJGM8W0AsFTCHwBvMCyOBHHAT6bY4P7KkfFYiBZE-JyNX3zh375G5rlEwM_s_o6wNXg26a1If_5Kbmjzmevoary6qW0X9vUcxneUARPpvCaAlQFhuQ1A5JVOG7YOweb19GN17Mwahp00qMtuC6kFEbvCwi1iSi0GwO0T7kwx7VYjg5Zx3pt1J6wmPN8NnDDSp3ovKM9CDZ8evVPkVXsKjgcrbtqn8pplr_Om8r2yMVW5CYyEHhKjfXqufq5Sr7U4TFRtX6mY7P9KVQLOnDNxpCR_NFQfmzqC1bBdcr3w9gYDOdV6ibaC7t94NkYi-wzhckOgBjfWIFIwlIA9mkcskef62kNdckbWnIK5N5UzlUMUkWsR7F6EsG72o1z1MXDUsMLWGiocdeLWGRICNpBnKRGwYdgJ5UjEPr4edg17VsK3dkLQ1LUp1DS3CDheFKHHQjgLHsFV0ZDN2c3jt7i465_9G57g9kYWLWboOaFv3FwGzoTJ6vSgHIheQTcIqjSoSXERoQzjwsM",
  "id": "rs_0f3508ed6a616625016ab2afaed33087d086b53ada4d7440df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.175,\"left_z\":0.02,\"left_yaw\":0.5},\"note\":\"The arm did not reach the requested low pose at this wrist angle. I’m reducing the twist and shifting slightly along the cap to obtain a reachable grasp.\"}",
  "call_id": "call_FZy9J4mxhieoSASoGweREs1k",
  "id": "fc_0f3508ed6a616625016ab2afb1563887d0b5cc277414d4dfe3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FZy9J4mxhieoSASoGweREs1k",
  "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]: [-0.8955, 2.2475, 1.6978, -1.3987, -0.7437, -2.0747, 0.9979, -0.02, 0.8101, 0.6132, -0.4133, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3159 left_y=-0.1974 left_z=0.0553 left_yaw=1.0378 left_pitch=-0.1844 left_roll=0.0165 left_gripper=0.9979 right_x=0.2924 right_y=0.0011 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0545 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -10.5231, 4.8068, -0.3639, -0.4078, 0.0708, -0.0122, -0.2256, -1.3607, 7.2137, 1.707, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5062c76fc8ae4149576ec26e728052ff6706d51831a7e63594c3c47040110ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f97dce5ad790495292864651c47055d45f2615fb7aae054c6fa3dc15dd61d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ba4bf94f512d8e8ad0672d16157cdddc43087b7e2145361e5b20983c098a8e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.441 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]: [-0.8974, 2.2475, 1.6989, -1.4025, -0.746, -2.0823, 0.9979, -0.02, 0.8093, 0.6132, -0.4129, -0.0196, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3155 left_y=-0.1975 left_z=0.056 left_yaw=1.0395 left_pitch=-0.1814 left_roll=0.0126 left_gripper=0.9979 right_x=0.2924 right_y=0.0012 right_z=0.1732 right_yaw=-0.0009 right_pitch=-0.0534 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.212, -9.9761, 4.7248, -0.4615, -0.3932, 0.1245, -0.0073, -0.1709, -1.2513, 7.0085, 1.6777, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq-4fO4kAyuOApyeBewcjI6hEW7pmJP-wjGpjFovyX10OueOkETnoA5X26erH-fefVlWoHzawW_Mdol4NhKrdko8nBUVZr-meZ7Lh2QprbpvutN6DdgIEPtwAx1SOgnA0NLv-whiy8xvTlNuDi-48Wlg_95gOi9Fc7nXrDR6QHm-kaI75Cn8WwPAjQted9GGNllj1B0ewu82bF-sZT80fKa5QeX0gxHFmYRpLMkcUH0dtrd95cdXx77XzBWagfehMkVDotpL12S2UZGpAsPaKiDLemTEDHF4FfnauiJqXVpYMxT4NaR0akySXttVfltv2jskQiFKN6tcRuhbleyw_n3_N9t5da_D32TFT8jMl45h9I6YYE6WkLbrvu4UNs9OPFlqPzeU6G8OWWQhLMSYYNNqiFK5wJb4qvejc5FXakzmQPZDwFaYdteCC1Sk6WnicktuCWhctUBlwjbXJ3zLqhLJzFlSf_nIhvBVXwsMgAPVjKjLI0mw9vFOqbs0XNR0MiViKnkpXfl4aLHjiE7XHLfJassWzScxSdFFj6Zy9awZMG2N3oKOV5S5_ON4WlF9yWegnJi6cmMu5k6d9F0c_auYu2XRzyT2hZRMZ_emSPk7NuPAIQ1kjT09Z5uoAblDGNUPkrVd-Pe7cHHHt7LbD_11uu45oUJFYZSGGP07dViRH4um_L3gjByJXn_WwHsggg7pcVJttVadoipprpgBISOl-Qj4XAi27smj6h0T175SpseMxwlCKB7tEfttVzhGVSf2aTD4AO4FDHUUOqMfcIcZc35bllLFF1Sc-WRdR4B5BkV6yficJHWoztl_RxjSEtaP5pNvanBGyFp6yYA5dPiWteMWsvG46LH49fOrFtS4uw3wciWEX8Ttb3PSOvDWoyhynPVliDiTjXxQFJsMA_r0BXPv9QSxaZ53k05lNy5BJ54lOVwr5TPmsLUhsOe9DUnYLt9Ou4xZAeQR76VfwNcGBkeDd2-N4Bu-NMxpATIbPDeKddAXsulyYBWOH9moOpwWf3PftACr6oOQe5uFo4ezoPavgUmddKcX-3mJjNF2IpJ5M5KdienVKXwLmS38_n4frKeDTXqTB07dVR7by-CzQL-CSKwt33L4QQv5VSOnCFP697jZpfC6jyeNDfKRFJrSWFcn-NGJINQ_cg1KGT1tZqxdq4zJnt7GIGQNythKw76rCQ42wYZuFXyEVJ188MR8Lt68KkkT6JauUfadl5_TKYZb85oJWOaDbuQYrFkIq8N51ReahKHtF9-jPrw38TPK",
  "id": "rs_0f3508ed6a616625016ab2afb5c3e087d08174efb35a7136d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.17,\"left_z\":0.16,\"left_yaw\":0},\"note\":\"The left arm is still holding the same pose rather than tracking the correction. I’m raising and untwisting it to leave this awkward configuration before trying a simpler approach.\"}",
  "call_id": "call_Xbkl6lBUrJXJQXZc3JEU2mNg",
  "id": "fc_0f3508ed6a616625016ab2afb6a95c87d0ab5e1b8f90a997af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xbkl6lBUrJXJQXZc3JEU2mNg",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.86, 1.7527, 1.1637, -1.0012, -0.6476, -1.6852, 0.9979, -0.0193, 0.8158, 0.6132, -0.4126, -0.0196, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2795 left_y=-0.1559 left_z=0.0747 left_yaw=0.779 left_pitch=-0.3547 left_roll=-0.0565 left_gripper=0.9979 right_x=0.2928 right_y=0.0014 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0595 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.147, 6.3385, 1.0965, -0.4567, 0.1099, -0.0122, 0.1026, -1.6752, 6.9949, 1.7851, -0.0513, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:522dc369035734fc8bc7117e025170b51251b9fe10950416b135d0a05f2e9a15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047b157197cc5f9064ce8ef2846b4a12f5d15fe67a2fdce1a6cad0778bc16434",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc00c1f903d8090e4703877686ba31e72778c169b7e835eca4bcd9f0b596831c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 8.19 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]: [-0.8955, 2.2475, 1.6978, -1.3987, -0.7437, -2.0747, 0.9979, -0.02, 0.8101, 0.6132, -0.4133, -0.0193, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.3159 left_y=-0.1974 left_z=0.0553 left_yaw=1.0378 left_pitch=-0.1844 left_roll=0.0165 left_gripper=0.9979 right_x=0.2924 right_y=0.0011 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0545 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -10.5231, 4.8068, -0.3639, -0.4078, 0.0708, -0.0122, -0.2256, -1.3607, 7.2137, 1.707, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq-_HgmDFbdqGPnJnJMgyzoZR9tdZ9AVVOTztXmJ0-ID1tr0iTD6Cw0tV8d4kJ41ogLLqEAxhJ0e5CZn6vz1RTt_Gj3SNKnm7y91wG877iaIVa2uucAgvjcEJFHq9mn7zWobiLUC3zI4t5SRFbiHY7q-tijAnMsr1uOKnwI2CpdTm0rMivHTfLVY_VYn3EPqBBgy9m_SvtYhP0h1wKarV1zVOzCxz_GthvjLYjqIXxgcniw6VK5u_Uoru9BSly79kE4pI1RSvAAURfGFg_10R2XZickiUWqjeAfINJTM_pOQ3gwxObUiNpHuzYJNQPeBeyFMhFqhDIjvIETafPgLSkTIo46-z0tHn9arW5P17u3_9TTbsrzroAxzDkl6SNw0y9DnDYLogtenaTthQ6dpT9fAYAnjdKFi8GgqtgmrvHdXlFrw0VKK22994AuGIRBjtBqUZ4k_MOeJ-rXPUlyKbyJ-fT9BHiBAsalvgiZFMzn5N3dDvol3dP0hkgpojos9EWj9c-B0lDtvgSN4zHFhkOoiSdebz8GzR7Lcy_vYJN0uGKVB46j1nQC7G_Oa1xc5T05zj-YYJBg-W6N4cw-AB7pmlXmFScPyU0HP8hVgwOhv9Y8sQ4JgJ6LmA8dcD_z2VyVP3MZ2jgw6pxRdlbpUyAFoohrrLXdEFLp4pVuQamiYoRCyB8EAGTotb3s8tFOa6o6-vEJZIrntzC4ooI7K8vjks67jk2gzSp0yvqc6rTKlttN2hWvqA8wrHYpSbHtt2zu4YIwtJKWndw2P6vlsoGWYAiktyN3PqCOn9-zqu0N40wW_W8LGxrVCqYsSnxd85hCotoBEdA1oNdobLGKM5eH9lsvbKARg0EtBVYAeJbXxI_O5NIXLMWIBKsfoZoC40ORXpiG6t4TuR5O8WlT-nTvZkz1tzaMREWkVoosDnO9OUWFGP6noWyi94FgzanLgAx1nRT_KgJmjllQXwUZlcyr-w3MbTJbGke0MzxxxldOnEmnSCT5RdMW34u3QXnoRE5Zqmzfg6Ql5DBwzAWllZWlEU3ZGt4uFNCZiLNOpOPZ3h-n5k2XlllwWsLxHulnrJaM9O-GIbPbNcGn48M4QVCbNwFY8m--MUiCmonDdp75yGiaacuB6gvlDHhbLMInoGVp2d6T1FQxmncB0KozCOxU0eme7VEXuAnLz-C41CclXqv2pRsUBK_LyHhYHB4hoSPt1vWFsZWHDMy6cx_x3aOHk5htPaju8B79TXO35Dgsqy4rNqBrplgDnluSbJJJE34VzylIvLae6CQl8Q_M1X52uOg3ROXCOlrXUp9UfrIML2xviihDZvp17_YkOozg1vd5CqzalohCqCammQ_u7RSogJmO79wxmHlHVSAOtzFvEIKjs9H52j1kV6pPna1zQ3lSj",
  "id": "rs_0f3508ed6a616625016ab2afbba0f087d08ede1ecca4f2de63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"right_x\":0.36,\"right_y\":0.215,\"right_z\":0.14},\"note\":\"The cap approach remains poorly tracked, so I’m parking the left arm clear. The right arm will approach the long pen for a straightforward first pickup.\"}",
  "call_id": "call_whkG2xlW68kKzmyzSXb0NrQV",
  "id": "fc_0f3508ed6a616625016ab2afbd02a087d09f8c655090a006ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_whkG2xlW68kKzmyzSXb0NrQV",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0238, 1.1069, 1.0767, -0.9401, -0.0662, -0.3283, 0.9979, 0.7589, 1.5398, 0.9321, -0.2092, 0.5621, 0.4686, 0.999]\nstate[eef_state]: left_x=0.2881 left_y=0.0084 left_z=0.1976 left_yaw=0.2236 left_pitch=-0.4062 left_roll=-0.1465 left_gripper=0.9979 right_x=0.3508 right_y=0.2079 right_z=0.1253 right_yaw=0.0366 right_pitch=-0.1096 right_roll=-0.0383 right_gripper=0.999\nstate[joint_eff]: [0.2393, -3.8222, 10.9607, 1.4969, -0.0513, 0.2125, -0.0122, 0.335, -6.6803, 8.7179, 1.5604, 0.5153, 0.3394, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad98febf9f95146222339c3751506f58c0e6ba0deca7587a1af381e7107839c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e80a026cc59749686263b7b2a46d48eda79f1de3411e1c359671fae71b4c28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a745426cc8022d8ad4b0a14d86274fb20a254c281a0fd8ce314be8a7c4f04d82",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 8.6 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]: [-0.86, 1.7527, 1.1637, -1.0012, -0.6476, -1.6852, 0.9979, -0.0193, 0.8158, 0.6132, -0.4126, -0.0196, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2795 left_y=-0.1559 left_z=0.0747 left_yaw=0.779 left_pitch=-0.3547 left_roll=-0.0565 left_gripper=0.9979 right_x=0.2928 right_y=0.0014 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0595 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.147, 6.3385, 1.0965, -0.4567, 0.1099, -0.0122, 0.1026, -1.6752, 6.9949, 1.7851, -0.0513, -0.0513, -0.0171]\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": "gAAAAABqsq_Js_05uxo4bbiETlO-ru0aUr6iqBLUqTBGz_ElGFvMJcIKwTnR-D8O_gpApogdQlIGgZAfFHKGpkOu5kOl_IdZKya1dPN_1Et24B5J6z6AxY8-i8vuuMvoyMpIpuEDITyfXK-7vTVt97TFMtxT-xlj3T1N7aISG02mJTfXsqDHdaCyLYX-Vwo1gsqXeX9QjXvhHql9CBnDMDn4zMBpN1d9ZGagC8c_0yNkhM7lG0D6ZZGz6pPOPlWao_JNhOsGk71egjpaCul8HnendtavbyLvBUiQ8Ct7rDimbC160CfDx7l0fO5WR9zATLf3-OaTi4_KbZX5Yf8eK5BXVh62zN_0DNfw0_D243aGE7_11EkPJzBA0ToioKJwtnY8CbMvAqe8C8B_ZPlAMrzQ1QTDH1_s1zx1TZCZMufTvgcpyXaXXWI9P913xxouoZ7anz4n0jofu4tpnG631yLUTI8FbdOm-474o-MVXl4DKj4eop6rKsg0OfAORAXrmEsbt3Lm4MU0jfOdsSyepCZp2NzePA80HRKy_wWEcCNyF12wGsHFXTOI3cWo_K87Gkw9egdgtrYdLwSpCf9cMdrT8XSZTw7IuKowOdHMW6PNZ5fc1fV40nkoCay7iOXvi6siNwMrf4oFBJ_E8zL89_m0Q2XkDZff7s0lLmhjSWwyE-Bmue1-eCdhnNfV6O8acZSTPAGALzXLz2aEUdPJ29bzxe2Zg7cUMbeshsaZtxIlkG5M8htrBLasNUcgchnaHxgLU_6aRZpoDznB44FfHPLKwQ4nb4Hbm92Pp6QD5CbRGSvhgi-8CQlr_jbXpb_aNCnZRcV4Gi1mWgWBtvjjFOgV8fybKxadaf60NbQk6mwEkXEZ-o3UhpNbbhW9PcSgcEvb2loUwf3ve30QDJOyjkK5yPkGokymv2fNhayAPfiA-QRqPs_Sl5tynJJ07yvCZt_uacVJlWSUgNl1-xk0Aa0LO_I6p6xgLn21l68EQ4_x-SI7IWoWqu_WU1TuSMcB5PfJRhTrSCBTfRN7ndFfqLV0YWPOoN0ZhiI8uCM2SwXJokBwwXU3gMHd0tL-7MZtFKKlItDRpoilIFX-TF7-sLRC0Hb0xUd2SglpZPlU8mJOR7Hs3X9Jo9ksPnzaPsWK3qEF3pIWv74-VvYMWbXHT3UebrovYLut8jzPNJIXo_W1M6QO_wTIDdQrv6XM1nwYXJTKyyxljyS16ReWRgfn2nL3DMyr1UZ3p_Aq73q_6JJ9Ar5nv3Daj941Hm-kvB-cwBcN1ga9cVYBMdPBqbHf9AgRcpuhe378xobp-wQm1Efo4QzPicCn1Qa5Vs6IgtGFqoZTl7jBNUZLdgP7_1tmBp2_YTmQ4p2DWz5BacUDlNuml263PdW58CC3BmAqTs68q8QAZwa3-YMY7Ye1dn-gFONbvFXelNW3UJRrLmnx9WmH90YmODEscu0=",
  "id": "rs_0f3508ed6a616625016ab2afc410b887d08ea83b51e29eaab2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.195,\"right_z\":0.02,\"right_yaw\":0.45,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pen runs diagonally through the right wrist view, with its middle slightly right of the jaw centerline. I’m lowering over its barrel and angling the jaws across it.\"}",
  "call_id": "call_PYvQgu70ImVaOTDWyK4oDuq7",
  "id": "fc_0f3508ed6a616625016ab2afc71d0c87d0870122c43e2e5645",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PYvQgu70ImVaOTDWyK4oDuq7",
  "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]: [-0.1936, 0.823, 0.6971, -0.5549, -0.3225, -0.2607, 0.9979, 0.4934, 1.7699, 0.6514, 0.4053, 0.0917, 0.0284, 0.9991]\nstate[eef_state]: left_x=0.2822 left_y=0.0054 left_z=0.1849 left_yaw=0.2133 left_pitch=-0.0704 left_roll=-0.0099 left_gripper=0.9979 right_x=0.3753 right_y=0.1875 right_z=0.0159 right_yaw=0.3956 right_pitch=-0.1544 right_roll=-0.0396 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.8393, 7.0496, 2.0586, -0.2808, 0.0806, -0.0073, -0.4444, -6.9949, 4.6291, 2.0879, -0.0562, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98febff916e2d3c10bd585b14b1015288b51b020c33ba0e03b17524435d44cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9214d81cf50166f4ea6f0828f58e92e3079a5b7f9908cfe7cf4b3564abebd233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04c62d3a7d9e718e06f610345470e18cb6c8302e8929739f4458772182d019e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 11.46 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]: [-0.0238, 1.1069, 1.0767, -0.9401, -0.0662, -0.3283, 0.9979, 0.7589, 1.5398, 0.9321, -0.2092, 0.5621, 0.4686, 0.999]\nstate[eef_state]: left_x=0.2881 left_y=0.0084 left_z=0.1976 left_yaw=0.2236 left_pitch=-0.4062 left_roll=-0.1465 left_gripper=0.9979 right_x=0.3508 right_y=0.2079 right_z=0.1253 right_yaw=0.0366 right_pitch=-0.1096 right_roll=-0.0383 right_gripper=0.999\nstate[joint_eff]: [0.2393, -3.8222, 10.9607, 1.4969, -0.0513, 0.2125, -0.0122, 0.335, -6.6803, 8.7179, 1.5604, 0.5153, 0.3394, -0.0171]\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": "gAAAAABqsq_TfjjXanfddXh0v61dh6zCgk-ZTbG9U1OObqhYuw1I5Qhk8OECsODpAXLFmBSvBKE1CbvbfED8l5UV8scBN1bAFh6y2F7lujfpXcnL8Lhzz5irWQDeM5bRTVn8_NhC3JWZR4pyMghDmbosoDziTC-oExj0b64SkAM24RgS7FYtg0DI32eUZhcLXL668pezdv1kRG9GHiXAM0Qka3f6keRPtqMBTyxkMET5tTepnkKBRkuII364pTTkzkn7UjYz3_jtKJ1nozErVKFLWKCEKDwKr45Zn1NuOSiFli3tfNEafQf9OZlOR-4dVG1fH0PJs3-A9jnHOKlaTdAQ14E0jKIkiltK9Zu3rKENYtB6kvCxDbzNJRFSuZVxyqOk-u5H6V14Sp8yyUltAcRGiwvhcEARnCgE1dfGyRKeSATVeOcXJ4CaonFm4Ikd70dm2Sfh8xLAEKpeW9afQjz16A2EtZe1fuZ3vcG2Mvzj5M5dq3TS-zZbnbsr6azDzk2ywV5GgzxiC8-HAEOztcD3RCNX99gHSi_pst21Z4siJLG2TdR7sdrqQ73YR9DnT6U7XM0zLcin_QDEHnfJye46vViizuaTbqQrKUexMVUGI_NS0bOJvC3uwdpNk53TOm6jx9od4j7HCLrg87LL6gxRrC0qfPmlJyJOQW30WdxkIU41tIsCxrrdw23Qt6beSZnvLFp7YtXBs2s4omFOH8nenv8_ySb60SubPWl_VgpsR-igsPavYeq2kGJNNjosMfhEGb1U3az8xDXb9YOpMa4tqT3WcxT_TNgrTqFgq1A-fDzSnBN5KQfaiEhr7GjCe373nQcNpFUvzjn8KPqgRB8EZ5ijR9DLYM2Fr0aL31VsmV4ZYjlGkzqoGlsLILt5eGNcmibISDlcpAILwgHMWy45Ccjqyta0n8z8f16bJ69rew0a2N1hrKLd0Pd3QPip5EQ4_V8AQBcmxszJeVRUmKU8Pg3JR4wHtJSaIvbe3UuqDrDp0Srn0jPX8OJu45ELsCxQMYG4AyQh94_D_qwiQL7xdaH8GIU2uj89jNoJmwUcI991Gd_edNreweY8uW0YwUyda25TVNfVYrmcBPIaaWgt1m82N9bQhQTBo3EB9snpZoLWRhqE9J5CAjQzoH0hmus2zJoaKyDzV4Y-3J7CUz9lraRewGtTVpXmRoviYdnzwiH0ycunSEjl2jus8wnVtlPCNhv_zW0eFGV1AswpEgqQi79U29VAw0E_WE7SpkoZ9wJNxod7xMgMEDeKhkMqTxgUUyoPJUsAw6h0ext_07pu6L57E68wAVLTjR4N6Af_yjxA8vffIs8bz93-d9LNDk0VWCYy_FUhrR4YOdPWTNOrsYPRnWLSQoC1XZDxJ2_QQVY7f-rJ_8GWS9EyRcCOvJUxuPhCh7FvpmgfkWDdLmdCXNB4cO47RQ==",
  "id": "rs_0f3508ed6a616625016ab2afce70e887d09938c894c080696d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.179,\"right_z\":-0.006,\"right_gripper\":0.35},\"note\":\"The pen barrel is beside the right fingertip at table level. I’m shifting the jaws a little toward it and narrowing the opening before the final close.\"}",
  "call_id": "call_HK6hGZD57TptzlMAjGZJdOzo",
  "id": "fc_0f3508ed6a616625016ab2afd19c5087d0a46c47351605eecf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HK6hGZD57TptzlMAjGZJdOzo",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 0.8265, 0.6868, -0.5541, -0.3328, -0.2615, 0.9979, 0.4679, 1.837, 0.635, 0.5037, 0.0666, 0.0105, 0.3551]\nstate[eef_state]: left_x=0.2812 left_y=0.0064 left_z=0.1801 left_yaw=0.2191 left_pitch=-0.0797 left_roll=0.0007 left_gripper=0.9979 right_x=0.3808 right_y=0.1833 right_z=0.0016 right_yaw=0.4014 right_pitch=-0.1412 right_roll=-0.0358 right_gripper=0.3551\nstate[joint_eff]: [0.0205, -1.5795, 7.6923, 1.5702, -0.0708, -0.0415, -0.0122, -0.8684, -6.106, 4.1368, 1.4725, 0.0122, -0.0659, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734b1f3483887875ec5b907a94db2295a4c6b393eac8788ee96365a8a19c36aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43559c54af312ddc5bf965648fc427a0ca233d307e83151c3b3a749959d66e0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe6c356595248e71c1600f67fcb5d838c7aa6aeaf0ef4a17ca9521bc0352315",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 5.107 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]: [-0.1936, 0.823, 0.6971, -0.5549, -0.3225, -0.2607, 0.9979, 0.4934, 1.7699, 0.6514, 0.4053, 0.0917, 0.0284, 0.9991]\nstate[eef_state]: left_x=0.2822 left_y=0.0054 left_z=0.1849 left_yaw=0.2133 left_pitch=-0.0704 left_roll=-0.0099 left_gripper=0.9979 right_x=0.3753 right_y=0.1875 right_z=0.0159 right_yaw=0.3956 right_pitch=-0.1544 right_roll=-0.0396 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.8393, 7.0496, 2.0586, -0.2808, 0.0806, -0.0073, -0.4444, -6.9949, 4.6291, 2.0879, -0.0562, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel is now between the right fingers. I’m closing gently to secure it, then checking the actual remaining jaw gap.\"}",
  "call_id": "call_DgtRHsBRSqiMFYWHZIn6GDy2",
  "id": "fc_0f3508ed6a616625016ab2afdd1cbc87d096cc4baeb3e3e6c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DgtRHsBRSqiMFYWHZIn6GDy2",
  "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]: [-0.197, 0.8265, 0.6868, -0.5564, -0.3332, -0.2615, 0.9979, 0.4667, 1.8393, 0.6338, 0.5129, 0.0658, 0.0097, 0.0987]\nstate[eef_state]: left_x=0.2808 left_y=0.0065 left_z=0.1797 left_yaw=0.2195 left_pitch=-0.0817 left_roll=0.0018 left_gripper=0.9979 right_x=0.3816 right_y=0.1833 right_z=0.002 right_yaw=0.4013 right_pitch=-0.1356 right_roll=-0.0355 right_gripper=0.0987\nstate[joint_eff]: [-0.0342, -1.3197, 7.1863, 1.6337, -0.1783, -0.0513, -0.0122, 0.0342, -7.9795, 4.7658, 1.5556, 0.0024, -0.022, 0.5153]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d69c6539288d97d6b0f59ba46255c658d17936fa0884660df777ed85e10ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a9e9f55065f2777a08f57d7f3390671d99cc72d148403fab305f32b15b4580",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd81b161c94aa7cfed2d28cc11e44c3034fdedbcaf87d97acac8aaf91c2cce02",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 10.58 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]: [-0.197, 0.8265, 0.6868, -0.5541, -0.3328, -0.2615, 0.9979, 0.4679, 1.837, 0.635, 0.5037, 0.0666, 0.0105, 0.3551]\nstate[eef_state]: left_x=0.2812 left_y=0.0064 left_z=0.1801 left_yaw=0.2191 left_pitch=-0.0797 left_roll=0.0007 left_gripper=0.9979 right_x=0.3808 right_y=0.1833 right_z=0.0016 right_yaw=0.4014 right_pitch=-0.1412 right_roll=-0.0358 right_gripper=0.3551\nstate[joint_eff]: [0.0205, -1.5795, 7.6923, 1.5702, -0.0708, -0.0415, -0.0122, -0.8684, -6.106, 4.1368, 1.4725, 0.0122, -0.0659, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The right gripper has stopped at about a one-centimeter gap, consistent with holding the pen. I’m lifting five centimeters to verify that the pen comes with it.\"}",
  "call_id": "call_p68nezkPGjKnSXzPIAhJIwRB",
  "id": "fc_0f3508ed6a616625016ab2afe3bce487d0b712545965818219",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p68nezkPGjKnSXzPIAhJIwRB",
  "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]: [-0.197, 0.8284, 0.6868, -0.5568, -0.3332, -0.2611, 0.9979, 0.4667, 1.6611, 0.6949, 0.2695, 0.0662, 0.0101, 0.1005]\nstate[eef_state]: left_x=0.2809 left_y=0.0065 left_z=0.1791 left_yaw=0.2194 left_pitch=-0.0838 left_roll=0.0031 left_gripper=0.9979 right_x=0.38 right_y=0.1824 right_z=0.0495 right_yaw=0.4008 right_pitch=-0.1397 right_roll=-0.0357 right_gripper=0.1005\nstate[joint_eff]: [-0.335, -1.1556, 7.0906, 1.6142, -0.1734, -0.0366, -0.0122, -0.2803, -8.6359, 8.1299, 1.6337, 0.0122, -0.0415, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff22f61b8f7ea344a0bf8f1121e098ba6dcb6e693352ae16eaa8fd193138b11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81174bf0d9e7d49011a8d657e12e0191967c9a7a51a4d99d7e435745502e332b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc8a46e95dd553b6ca78bdb9f352e50cf633584c4fc24dd000a910a58fc41a4f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 11.41 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 0.8265, 0.6868, -0.5564, -0.3332, -0.2615, 0.9979, 0.4667, 1.8393, 0.6338, 0.5129, 0.0658, 0.0097, 0.0987]\nstate[eef_state]: left_x=0.2808 left_y=0.0065 left_z=0.1797 left_yaw=0.2195 left_pitch=-0.0817 left_roll=0.0018 left_gripper=0.9979 right_x=0.3816 right_y=0.1833 right_z=0.002 right_yaw=0.4013 right_pitch=-0.1356 right_roll=-0.0355 right_gripper=0.0987\nstate[joint_eff]: [-0.0342, -1.3197, 7.1863, 1.6337, -0.1783, -0.0513, -0.0122, 0.0342, -7.9795, 4.7658, 1.5556, 0.0024, -0.022, 0.5153]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq_wHQGltrd8d70gJVKnhilinP9K0Yp1GaK12Qfs3X2GtDJuYzG-w6MmjpW7MjBjQGdgGciFZRzCNNYKhqjrwZN0H8tnXR8sxevIosNoaNw0xiEtn3WnwFTt3PQgqeuPscjseqI8jgLwKPkC2W6Wi5BAH8NoqbTy9WX8iupBgFq3vVOl3a6DUC59wwFCN4-JrV8zjDdSDjFxTu4gYyIQwQj_6H_m8n_LxK1GCUHsKNrokIr2FJv-fxf9TdpQD0JJhWnDa_e-zIfaeC5mbposkpDuzwZeOKnHdPbAkR0yzHeL4EqMDIoPYOHG2iDIDaTL4FoQpJqQy8rMeoEWjY4UPWBRYo5FtwNlnI5yipxrsiKdjHqyD9OWmXLPnsQt5r-6xjgxaiKKN6GbM3e7nA0fgcQn6ljNZ0r582HrSncO-qV-tnSqFrAK-fVwimfuy65uRdgDVrt0VsRQ7S7PvBJ41T3MzQVyucYWeEcPQyUjsYjifuMU61yi-EX3Pe_Foc_wM4kHdkLn5mZR24LijDEXBnRfA39PaPJwSsYD5gChRzEyzgmPDB5ERmSeXUCwkxVzFW_U1eL0scrQthlDTSe70OUmJLulGMpZ0VxoEjuMjDhW6dT6NYpEuZkGgr-ZQl7g0_qwqLb7DvGimAUHFe5ExT1KvHkwZr8JL_jJ9EPJ9CwgQrale2BctZXJ5po3-JTdXbfZOdyT5yapwSB--2NR6DsB_4axn2WbsmQStnw2yata8yGCXFBFFuwTMrZBPLgbzZrdE4QIqH06OBBrb7Txg0XIAmkwEcRbXmMDV_x04XpGY2FgQo76C3JbCfLkls9mC5F7qH7EOln1nqWAaw8njlO6VfkxsIeBwU0J39ZmPN1XkqjyVX0wOC1CxG3PryR8GvDHvpwgmCdGVQhvsD6MHBDsVra0KxcPBo1mDM61e7zcM1HTx_UOne_XYLS-ey3-k0p2enYZa_YIst1wOt1IRZbi6_nrrZCLqcg5SK7LISQDsklmdCf2w6mCD5Wo8y7FqFfkon31EeEj88AOba3uHMU00AFDYHFobjLwwSmthoebJRjM78nooPktHm217JWw_8lPLOBf_5c2EU7zGJJjAZ5LHhDpL8jbaptCKUAJlZahcX6XzzYxzaLSB-Vh-KIYtpzWayzqEFobWO6mZYUUf6IkwaoT-G_ql7LsjVM0wn8SjrhlwHdrWaki2ajqNH4IlaSpe8QIGfI9dJsnIijejyaM-kwK6FKaD_BKuUaQ3dOJfsZfUAXWb6YLsbbhROhKDpvAI7tYQVlV5qzLbJM5UE4o9OPUjWW_2IhIkLIv1iyZEYcmNz7RFl8OTmj_Qj4pwYJ3QvQKTWvxXyyARBFYEjjm73G0fGzSGRJY11zP-PuNpZ6LW-bNz-cQQz2-0W5BB-GMY8p3GOhmUU6Bs10yXBN6GwXAv2JEMtC81sFvC0eH2mfazW7JJNFruHWMBDOs5TC9hLcxvkN25H3iFsWUAAllUeg60XSDponFgolIgW7n9aU6VmUsKOeLwcBepcDefEhrhFZtpBqnDxV4tEPchspkA8LqlPL9nibhJcWRcXAS_2Wa-cjvDbTSnzG3oFrFPpuGg_kpF0AX_fnDA7WpPZWGJ5v6ZSbsSxHBH-VYU1KEi_A1yf5paCsvTq_uvzjhcSmG_8rcetFCew5XhrALhHwPMDUUfl9yMtiJ807sqWp5DXtOic6eUlmuyPKs-S04v2PUNJqqPoXc88RcYLNrOoWUM9xWJIpc6oWqsvhVDKXcysWagKWQUyn5BWAwkPz8PI8pRnOYqLYp7aWEyvLi2aS27eVE5SRC7BQ2keh_C7Y4N8D8NO1eLhGwsH2yeWOjRFSroN5cR5vroqa7uNB4phWCDDCQODI6E1zOAj8WuUV8x3Hoj683A2poa914OpBu8PukFBeGg44QbmYgbvaEZk8reqaDLzUmTBGiJ32x150pjyuWlEo9HO2PZOHdldTULxhn",
  "id": "rs_0f3508ed6a616625016ab2afe795fc87d0bb7b30b710bc89db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_y\":0.14,\"left_x\":0.35,\"left_y\":-0.21,\"left_z\":0.12,\"left_yaw\":-0.7},\"note\":\"The pen stayed fixed between the fingers during the lift, confirming the pickup. I’m holding it clear while bringing the left arm back over the cap from a less twisted wrist orientation.\"}",
  "call_id": "call_zk3J8BAo4RiTq0IHJTXwJL2A",
  "id": "fc_0f3508ed6a616625016ab2afee2edc87d081758ba359f93b1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zk3J8BAo4RiTq0IHJTXwJL2A",
  "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]: [-0.4709, 1.4258, 0.7296, -0.0624, 0.12, 0.0898, 0.9979, 0.334, 1.3994, 0.9188, -0.2634, -0.0326, -0.0757, 0.1026]\nstate[eef_state]: left_x=0.3365 left_y=-0.191 left_z=0.0934 left_yaw=-0.6273 left_pitch=-0.1826 left_roll=-0.02 left_gripper=0.9979 right_x=0.3763 right_y=0.1404 right_z=0.1452 right_yaw=0.399 right_pitch=-0.1884 right_roll=-0.0351 right_gripper=0.1026\nstate[joint_eff]: [-0.2667, -5.9556, 9.6068, 1.9853, 0.2711, 0.3053, -0.0122, -0.7453, -8.0889, 9.9214, 1.5214, -0.1343, 0.022, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3760ff2a754451362169772fc5f824a246d63b517bef77d2c38ad3252d17a5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87090e2c3814d9cbb578443d5117305448ddda047d6998d095763cf609430686",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a570889009ee303ed4df97336e4e3faa6499c400f240fc8bfd12d3fa8c74393",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.758 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.197, 0.8284, 0.6868, -0.5568, -0.3332, -0.2611, 0.9979, 0.4667, 1.6611, 0.6949, 0.2695, 0.0662, 0.0101, 0.1005]\nstate[eef_state]: left_x=0.2809 left_y=0.0065 left_z=0.1791 left_yaw=0.2194 left_pitch=-0.0838 left_roll=0.0031 left_gripper=0.9979 right_x=0.38 right_y=0.1824 right_z=0.0495 right_yaw=0.4008 right_pitch=-0.1397 right_roll=-0.0357 right_gripper=0.1005\nstate[joint_eff]: [-0.335, -1.1556, 7.0906, 1.6142, -0.1734, -0.0366, -0.0122, -0.2803, -8.6359, 8.1299, 1.6337, 0.0122, -0.0415, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq_9nCF2EzTMVvV0zGMpdGRd04XqpGGWx6WFtBpy0HnZE8hPcZMKp-qPHUhdDp-F-8fxvSt-egfIO2-0WS95W-48VaU9YW-WlCibSRkd-A7I4KaeQ4HxjNTP-KPEquvXKvtnVv03AXUQzmRjTwBgLPdyLH5P2K_6kei-bRoeAMvL1tC9V9HIyz_u9YjwzL-k49lhtDpVMHUiTXSUgy6ryQaQcjFZPWYwmVMULwgxlr3wGhY0xVDZ6SuexlHHs1d8MMBkEp7XIqyzP6aURewzGEFxhSNOByOvnH6W0by1MjBgx7_4VVWxKS5j1S9MRe9KSWtmioTK5TcJnz4CzVHnCsKnHntdkPTmmWDIkXb7N-CGhDk3yaAH8CxbHVTxizfsHa6fbmNB6u3s-JtWqNChnJIX-h7-_TMIJGXHOlV_zYcEkL_Chb8iqI7yAh1J_2KRdGJ-j5YSyD2VjjmFHgHi4cGUZaLBz-cbH2yeXI83RY5OtDy4rEBaVkwTpdcLNl0NjzvfCqw0FoQ4K-7VXtXyDmyUNfL1uKd_KRJBdshUnAnxf2SpMqB8Zgb90DOhYNM2p_lQCFPb8ehNIMq2YYGnpBoOdXFKI7pm505En4Zx7Og5WVpYfkD0rdVKMY0IEWsh3VsmpKZd5wje_ZfbXDBhs1GKxi0RdFGQ16oKxq-g_1mTugCWT5FV3yx9yLSw3QCU2E6NUE-F1dsUKn-SdVgclJL22nNVjZrczkozCuoMXRbFRQ8OV45Ow9JKwVGquKlTpZveQh46tpebIZyoYM1gE9niw2lesASpor_6Y8AxzQQw4Tt4Gp_1ih3iHeyMRj9H5iWlTfnqZuU3EMvHGTD1vYlUrbsgwc7mCQFbuzmOw4Dc1RBx3FLoNZNfvSajQ28YcYJl7IzpR7So8B80LlBtB7bmBDG1yTmr-LOGK_BshR4XgarLOOnz_rNAVnbAg84vHL6y6Eg30iNdgzoqlDNZmWk-At4rw99wMnqOHdr8q4o1oAlFJZuTKuBNuNHfKUswHlQ0KL8U6dwLjAHqy5RnliwormIdG736M5QjKfYFLqpSePzJ1Ekkh90Y_--hqT9AsmQk8M815ILYnhnGDViZcGRQ9jJS5QWFjolecVcuRFTCn2cnWHCqcgDA64VgHyBmZiBpEuSoMqsYUkL6zdGq02zmmPX0wM77bW56O4ODk6Es8K2avOcCr2nv8Cn91dR5aqYob_-T7CFAx7rGERtArOpAc5IahX90t3aeLlKPehf12vm0AKyVNcoBiY0bJ9O_Mw5xEtJ1iKrcI3caiM-0aDz0LRhWMQ1AVZFiLcXpSjJVrHQ=",
  "id": "rs_0f3508ed6a616625016ab2aff9edec87d09af1d42b555dbd36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.207,\"left_z\":0.025,\"left_yaw\":-1.45},\"note\":\"The cap is visible close to the left fingertips. I’m turning the jaws across its length and lowering while keeping its center within the gap.\"}",
  "call_id": "call_EUU1TV06hqr2KOl1Vc7S4wcO",
  "id": "fc_0f3508ed6a616625016ab2affb567c87d097f3bb52bcbebddd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EUU1TV06hqr2KOl1Vc7S4wcO",
  "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]: [-0.2451, 1.9305, 1.0447, -0.2749, 0.6373, 0.8249, 0.9979, 0.3294, 1.3994, 0.9195, -0.2836, -0.0372, -0.0803, 0.1042]\nstate[eef_state]: left_x=0.3623 left_y=-0.1953 left_z=0.013 left_yaw=-1.2623 left_pitch=-0.2616 left_roll=-0.0834 left_gripper=0.9979 right_x=0.3735 right_y=0.1384 right_z=0.1419 right_yaw=0.4011 right_pitch=-0.2076 right_roll=-0.034 right_gripper=0.1042\nstate[joint_eff]: [0.4444, -9.9077, 6.6667, 0.7888, 0.6862, 0.2125, -0.0122, 0.0479, -5.8598, 6.735, 1.746, -0.0073, -0.0171, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370647472e20c5119c86bfaf0ab4e471bc4c45ac9afdc3530d635f1d55934f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af231efe2645a7db026dd737763a8460d25f9308524a5b38c6cf42e7a34ac0c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:414791cb447c284c2d791e67c9f2c3883e795ac8b4c697c075a3a63728ab3337",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.344 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4709, 1.4258, 0.7296, -0.0624, 0.12, 0.0898, 0.9979, 0.334, 1.3994, 0.9188, -0.2634, -0.0326, -0.0757, 0.1026]\nstate[eef_state]: left_x=0.3365 left_y=-0.191 left_z=0.0934 left_yaw=-0.6273 left_pitch=-0.1826 left_roll=-0.02 left_gripper=0.9979 right_x=0.3763 right_y=0.1404 right_z=0.1452 right_yaw=0.399 right_pitch=-0.1884 right_roll=-0.0351 right_gripper=0.1026\nstate[joint_eff]: [-0.2667, -5.9556, 9.6068, 1.9853, 0.2711, 0.3053, -0.0122, -0.7453, -8.0889, 9.9214, 1.5214, -0.1343, 0.022, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrAELqhcG_pLJqCbxcAY1OOOgnxEcT0p9nC5cA0NWz7U39KKhmEiavQOwDGc-WvE-ytVE8f-21NFMBgEcNboG9DTVbNYA6k_aY3hNw4KakmSPWI7ujqAnLd1IErBqd4fesjeE0cyJ1U5dCTiH8X_H6r0YiKMoIqGbkFWT0OfAXnkyAh3qQmR1qZ27hrhdbEejNAnINMFsbsMpBIhRMVTQR1QZZ5ThOZCdAFrHv-3Bpq2DWXdqRq7BXy9M8LSUtFKNAupFqwxhJkr7zQLfr-Tvccs1kBEvoIJ6n-FkyD3q8KXLWnt_MNpl3ODGQY-Q0WOhoepoSrC2e-rTLzKo8upzg8w6cLiryh31hhUIV0hw5vqEqsP_-HGM2rQhfV9NFDOthMFMpHMP16WrEiy2U8uFfF5gIp6zggPMZTT025eG64tHICwBpK_Cizuc_eY2FizLogmMytBWrNCfxxucNIyE665cqokvuE8gmAQQJcJAvPODwK0IW_sAyuY_FVH4L1x07WAhGIGsTKVAeWgA2SQB3ludXlr3lCyDQmVkcoUWHqJIJ-VhbXNHo-tUMtTIqG22_4I03CzHyacEzAIB2jDnfjEjO0k9Z6snl5wIgA13wD41xT3HYM6HgzQIjcQoTZc3Fh0NYyHCFQrVUGog4kF6VL90gSVWTH4DCbtZ0-MEYGdYEw9Cf3wWOwzqq6QWAhsDfvGJcSEA7-3KwOeXQ-hKjyUUdaTBISpeSnYsYWLtYKA0nuQippFluBdTLDJwYGqp9S_fL0j4DRPnK9eR_j4xcnN1GH_Tlg376GA0CmYcv-uueslA2fA4pBNgmPrRrSF5EVMKLIZVowWLKQ82-lYwIWkVmqWPoxlO-oY3LI2NsnVlZM7KteEoFvwOrC0Yoxi1PUYNkX3CSscEOjfWSrhqFcjyAa4dJTOWH0OzFml5GhyAabU13s6CAZf1l_uGdgtIJSZjlk6YRIu3seg85B3QtLFnMeGlU04ujKhdVDOswRPbD5aENQWojwSF--LsIeI8YxGcNVB4bDbJVNDuQEcEzMMv9aYDmSjku1wu3yKNxVpSFw7ZSaCZdZFzplpEULFNZ0GX5WE50SU6LEuqEUC7R1UTYEhGQ8Eg7o7Enxv7RjX8gLL0YKrgyNd61BGQmUQKg1xFrfdncpoZnJzy0byyjpu3a1FeJFertLPPQLM9tWTwjdF7F7wRzAApo--FO-Fp8PlJ2NqMep9WLv64uSbv2SbPnJAIZQ7p1YParBuY5zsY3NZshpLUCbc82dyHaxlH8vR",
  "id": "rs_0f3508ed6a616625016ab2b0025ea487d08656b87fad8a3e97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.006,\"left_gripper\":0},\"note\":\"The cap is aligned between the left fingers near the bottom of the wrist view. I’m settling to table level and closing around its body.\"}",
  "call_id": "call_2cSRdvtq1muVd4CO9H3cc67Z",
  "id": "fc_0f3508ed6a616625016ab2b003af1887d08743c20446cfc5be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2cSRdvtq1muVd4CO9H3cc67Z",
  "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]: [-0.2424, 1.9625, 1.0454, -0.2665, 0.6312, 0.82, 0.0092, 0.3332, 1.4002, 0.9195, -0.2825, -0.0383, -0.0803, 0.1053]\nstate[eef_state]: left_x=0.3619 left_y=-0.1932 left_z=0.0012 left_yaw=-1.2591 left_pitch=-0.2787 left_roll=-0.104 left_gripper=0.0092 right_x=0.3731 right_y=0.1401 right_z=0.1418 right_yaw=0.4059 right_pitch=-0.2072 right_roll=-0.0332 right_gripper=0.1053\nstate[joint_eff]: [-0.3761, -11.2889, 4.7111, 1.0232, 0.3346, 0.0317, 0.442, -0.3897, -5.9692, 6.7761, 1.5556, -0.0366, -0.0757, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af9f260c7a1df5a1afcc19e0c39c2318a708e78dd3afa59eed555ab70167da2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4a123ad4e9befe6d4e793cade340835db33ba54c86641bfd7d9d07917c2302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9081a20c8b3f86aa0069089c931257cdcbe268d1bc7982a0a5e0bde5b45a6d31",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 8.687 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.9305, 1.0447, -0.2749, 0.6373, 0.8249, 0.9979, 0.3294, 1.3994, 0.9195, -0.2836, -0.0372, -0.0803, 0.1042]\nstate[eef_state]: left_x=0.3623 left_y=-0.1953 left_z=0.013 left_yaw=-1.2623 left_pitch=-0.2616 left_roll=-0.0834 left_gripper=0.9979 right_x=0.3735 right_y=0.1384 right_z=0.1419 right_yaw=0.4011 right_pitch=-0.2076 right_roll=-0.034 right_gripper=0.1042\nstate[joint_eff]: [0.4444, -9.9077, 6.6667, 0.7888, 0.6862, 0.2125, -0.0122, 0.0479, -5.8598, 6.735, 1.746, -0.0073, -0.0171, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrANASndqiJzijuyqHi1mK5ZVQay0qQPewpqqOaR4mQyPuIbxwQY70rphhVaaK7VDnzy8-XTraNnzRZ-PRT99xwSoquqqTCGxuF7uPwsieM_O9dVa1T74i1PEJjNhReRtEdisqHsq7HBlwEfUwN29T85fmp_EAgarGCit7Kms24tTMKj5rhXdwB84pDQBWS16BPdgX15cSf6TjlIl72CELCSprtsiH7pd1Bre407wt75Cxi8uUKL62GILZtKEpxZcuh1PV-2a0cXeTECjV7XkGVNEa7OrcC3kbmP9au_ICGfYtln3V-_3eLKXkh2Cg3IBMgJCDWX_VA24PkTMJXURLk8SbS1A5KgkVL78ByXZ64bICp9UwC9W31rrsPF5hzTwegvC15IVQkpmPNB2VgJ46a-wwY_cNs-HXNgDeAzAAtVn4ggXiw-Rpb0WIaFwG82zRhKaptKEwZIIOu_VN51AiZlF8fqRvTyF01z9wpWmVdgGn9tERPP4hWYr5B6TVC3IA19jt_dBdPMDB7WvSHVsV19Fw_gdqeJ0KnKZaDlJm23V8ZdsFnEIa3cjdOtf5kg611DReHjW-JBXR5C-Vsv7XYQBT-uXyS2iLPIu8Iq8o9e_Ldf-3uEiDaCkuhCUqSDJP1q6YtTES475xd5cf7fF8JEwgpP3XcR2Pw76bT26As_aeOt_gqm9feTIPZYVISPP9R7bE_NuVpqBRLU6stvZQBagyXUJS6W_0fRdFul9lKOBf8prMk1rju6E7NGz3L5md9cOJ7p03hbyUrXkBM4AxsxL7K5L1o5PVXbDsLGuf3NUrthCTpRI6gHDzF4XuAuxuw8nUqrjAFRvpmpdhFvPenL6koSViBcRlnPIhe8dj206ZO-GAhnFsf5o3_zUZtJUHRJXLLslmxhBcebGu4pDDqK-3Ovj-CdTe17fHgbwnHMEP6q2C8So02z5gmUcA9fyNwGdl4HUFZn4d2AtwCQJuI0Jko5WpMrWZaD8BWA2oJdxd6RqnlOxK2BG_loZ_CS6jQdE_ISKlwu74OOkVq0__E6HdFdpmB69NDCO8md3YOE9Ot87vo-0GB4Y2-LgUx8p_IkMqzUyaP9_jq21nqPevZsiF1vBD3hc9E1ko0PrtR6eIs9eUQZrjGl2pusYVnUbWT_w4ZzeAaBt8Tb4gMW_wcA5VIIWrr5lzzPrLPkKNwF8B2DkARF8b8Qwz2NEGmGKN741lcPbFJ8Dx9I6PeXatF8A24c8QBOb9sTfDXuh9xJx13nao1BNEVIf1QTUeGroOi-QvK04sqaJSlGlNDJEuhgKs48iHnCeYmLgxYacEXGFB-DO8nPjWz3nibVp1GpA_brXXOwX8hUMinjzMLnFZIzheyjhjGRqJf2HUAt9f3sqzN-N12NaMjsVsGjeWCLTtBeQ9sBosRoYKUbvkWNZuhY0EKXd6tb9EkezpwLoEnGoZcCqDCP8C1SD3rivhHXKO5zRTbBpVLIS9V7Jfq1VMtrbq45b-G1SY_v8iwGPGTbqnM=",
  "id": "rs_0f3508ed6a616625016ab2b008b19087d08685d171de4314f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.351,\"left_y\":-0.174,\"left_z\":0.002,\"left_gripper\":0.55},\"note\":\"The left close was empty; the cap had been just behind the jaw contact line. I’m reopening and shifting two centimeters along its length toward the visible body.\"}",
  "call_id": "call_yuDy5lsVsZN0Rb5JQ55vN1Ck",
  "id": "fc_0f3508ed6a616625016ab2b00ae94887d0ac279e75c644a6e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yuDy5lsVsZN0Rb5JQ55vN1Ck",
  "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]: [-0.1993, 1.9408, 1.0061, -0.2623, 0.6617, 0.8577, 0.5457, 0.3332, 1.4002, 0.9195, -0.2821, -0.0383, -0.0799, 0.1063]\nstate[eef_state]: left_x=0.3573 left_y=-0.1792 left_z=0.0019 left_yaw=-1.2555 left_pitch=-0.2592 left_roll=-0.1046 left_gripper=0.5457 right_x=0.3732 right_y=0.1401 right_z=0.1419 right_yaw=0.4057 right_pitch=-0.2068 right_roll=-0.0329 right_gripper=0.1063\nstate[joint_eff]: [0.2667, -10.5641, 4.2188, 0.6276, 0.149, 0.1245, -0.188, -0.1026, -5.9009, 6.9402, 1.58, -0.0562, -0.0024, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20937f546d1ac6c6658a945bde036743067fa70568195b76b064392a754ebd69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea8f021aae78bdde1749793fe4cf4d32997cd8d89cb6c5db0b59e491d7b389d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df82f3b7f1fa05944c8b149acbe25f7b6e88f9b0d600df1cacbfe3b43f6fe743",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.537 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2424, 1.9625, 1.0454, -0.2665, 0.6312, 0.82, 0.0092, 0.3332, 1.4002, 0.9195, -0.2825, -0.0383, -0.0803, 0.1053]\nstate[eef_state]: left_x=0.3619 left_y=-0.1932 left_z=0.0012 left_yaw=-1.2591 left_pitch=-0.2787 left_roll=-0.104 left_gripper=0.0092 right_x=0.3731 right_y=0.1401 right_z=0.1418 right_yaw=0.4059 right_pitch=-0.2072 right_roll=-0.0332 right_gripper=0.1053\nstate[joint_eff]: [-0.3761, -11.2889, 4.7111, 1.0232, 0.3346, 0.0317, 0.442, -0.3897, -5.9692, 6.7761, 1.5556, -0.0366, -0.0757, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrAWQHY9seN2OF7r8Tocbaf3aS6dLC78vmZQYzzLWIxBKgWYjJz8u8a2p0qFjZ3RS0Ub7z9xkmBaqzxS0WjngGtswvjq5WM0ENs5SbGDEp8a83aqDArOlVywlLu6SB7Rd5O-SshM_PbVB66YEN7kRKe4YZSa9NdfAkVHvYi8n6k4iRbeDv3iKYR_Q-ZIdD3tpBxXzvLpLXIxRlWi6RnZFY9qBpRhqfOhDApi4ZO8g0F4eA_nKBG_axSWlz3OJqd4ChIqjACAZayfEVFvESLqEtSzif7DeRMmAT-y9I14pHNCzWmY404vuL3nwNEKv44SpBELdzYOZHz5dGluOhQ--qZR-Of3zB8Yg_2bai5tjWxIvIfXCBIm4s3PrI2DlUNTcGRemdQAHHFuY76w-EXrCvhjm_iEdgxN9DZxrKt-s_OgRoiCfqLOk5OwGuwo9XZ2JauAiSlfyWCX1ahFuc1Vb91jLdAaKwTAR6K0uSMNFgJz_hnspVLkdCuXxOqkkGPoopmeudodmrNJEwZD11ik-AorJDMQz_C8wsq8FNxKKgSwaPRWy-Rah3b4p3zyL0LZhgDcWGumaZ9ozit8bmxgq2zCQZr7tsxjyKPpjAOMpteNJ1mDFpAEO-ZPNyybwQ-BsJGy0C6Yl_QQqINwSInaiACWnrfMPjW_3TMqu4EFBxmDSQLfSrcbvqwK6682mDUNCr8IuDfhAHTIN1dP95BnPQLDXqFKP9fgkX1t05Y4IcdS8agUjHyTaYGKzgoTtb70WW86ydBgUBxGaJp4vVWEGmR_aIv0MBaCIKrhuZL7Bp0kTUSsxPkTK0ncrK9MLsm7h981GfkmjmtSmOR2xGdukU-6BsfWJP8OcC1RvtSecIQlDL8Pz5GAT8n4xY1KAqy2_bkC6m5S7Srf4Y50T8050pfAeWELMML9kxPVtk8Ndyu9ouOUmh2S0Cejj9nFJ9A3W9uR0sAywOCoZk6bU72vgxT9fqftcLSEDauIhuJLDRKeo61arig2QSXZNCD9-HOYPJ4r2AKHKBsIErAwxDyCyOcOD2l83bs6t3TGd7VL6bckdY_qtzZdFcmwjfBaGSS5WsuHcjKRfWVW4OMDmyDpqQ75D_lklWaPzlwwu9Zl9G1LuVbsfcnGr8EvTUy-YRzJxmTf21jjxwJUMCPMe3iN_g74u15BGHYOD_M2U1-p0ENnHutUl-Apvwm4QyjTPqDJjkq2KLJAlRG4iDqG-hXMQFcTBSEgkc4YFtjRLJOkrry__ABkkkN7cyPB2S6jTeSRKUZGXFZN15FNMq9xwspIzFz-RCdRBzOop27LbdSJaXIr59vCmEsZncB7emomMjXhz3_tyNRRRtoRDyZRFpV8U-w7XUTVtx-uEepnTAsojYLof8kxUCsZwI8lmk40EcPLXXB8S_QkJehbbwlIMKbkIrOItTK59jvlG5e6o5JIY6RFnQY=",
  "id": "rs_0f3508ed6a616625016ab2b012f48487d0b7e4a88995f6afcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now beneath the fingers and out of the wrist camera’s forward view. I’m closing once at this corrected position and checking whether a gap remains.\"}",
  "call_id": "call_re9T42volWrU1ZU3TldgRkfU",
  "id": "fc_0f3508ed6a616625016ab2b0146d0887d0863acc55a88ad7d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_re9T42volWrU1ZU3TldgRkfU",
  "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]: [-0.1967, 1.9385, 1.0019, -0.2619, 0.654, 0.8539, 0.0083, 0.3332, 1.4002, 0.9195, -0.2825, -0.0387, -0.0803, 0.1075]\nstate[eef_state]: left_x=0.3571 left_y=-0.1771 left_z=0.0008 left_yaw=-1.2474 left_pitch=-0.2663 left_roll=-0.105 left_gripper=0.0083 right_x=0.3731 right_y=0.1402 right_z=0.1418 right_yaw=0.4063 right_pitch=-0.2072 right_roll=-0.0329 right_gripper=0.1075\nstate[joint_eff]: [-0.2667, -8.6769, 5.7368, 0.906, 0.4371, 0.0171, 0.6374, -0.1299, -5.9009, 6.8034, 1.5409, -0.0855, -0.0464, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1d68786a693405bdbca990b86854c65f38619d1e6ba3f312cde50029bc2387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a869fe5a6d3c4fc082f5ec7688cae9da6a72954c88db2cca2bd1be40486282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c6e9312a4c610301cb9cddccfc837d866dd29f336db057920bb67351bfc895",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 8.893 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1993, 1.9408, 1.0061, -0.2623, 0.6617, 0.8577, 0.5457, 0.3332, 1.4002, 0.9195, -0.2821, -0.0383, -0.0799, 0.1063]\nstate[eef_state]: left_x=0.3573 left_y=-0.1792 left_z=0.0019 left_yaw=-1.2555 left_pitch=-0.2592 left_roll=-0.1046 left_gripper=0.5457 right_x=0.3732 right_y=0.1401 right_z=0.1419 right_yaw=0.4057 right_pitch=-0.2068 right_roll=-0.0329 right_gripper=0.1063\nstate[joint_eff]: [0.2667, -10.5641, 4.2188, 0.6276, 0.149, 0.1245, -0.188, -0.1026, -5.9009, 6.9402, 1.58, -0.0562, -0.0024, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrAcpV2o_kcStZCX8LSOQoI200yuxCivdayr0jnrD582Cvna60ZiVHmQgtlK8BOMsZj6wuGGPfuEPdOm-7UKVHgiwgjA0-5TGaTxm4FEhIhYdRIfxJsafrr5kCFFFta19WrEyRloht_U2pD9XfHLGcocXRKYnvFDsg2LiHlpcEV5oNPkHW9PNKuEo2fy1vsUyxHwdAdrt5vhR6PrDlDEkdZZBAkUQ-pt2J_Wg0A6wjQgCme11in6WFoqtHB_7CxfYY7FYFFpIgCjfb5HIgVuuOxWL7aAQEdsqu2NsJ-Nfpz8rs-ZZ_p_7TFgc6mJLfrzzQY7ArCvlRC0YZ72rbxUVVaXRbXnyULP_z9H6RY1yEIs1bvmPny1rEGHi2GfzFNdlQs7Fz_Ym-EAoS0vn-KCVYaCbzxJoNOjY__IUpKpkQuVfBjDECcSAw8xqcQXNd8xAp8fwfNQJAoPbroZt-sPe9QskjA3wwl0_Minzee6uzG8-htAx2BoyNmdBxOl_wIAfJ81qMDIbvh1kDvgzhyqDnVeh6R-yI0Wdk-DEut8bTKdBO8Av4bswMks7hzaBkOdHADybEColQ1ZghXzOUoZKrqYQzfvrH23hVM7uVk1mIMh3kP7XToIMk9f4v_Lciwz3P27W8xkLVjnCxttqhHHaIdc_r0yl5WCUeXWhuXR9bHVFSUnPrYGlSyLgXMJ2GJT303v6XYfJz-J0uQClRb2DAWJhbU0ppYRMSoVkiWvAQzMYjTexlxS9jCAx6h5ZlSevhT1qF9vHAAEJJSbWm5FBC8mzdh-2fsFB8SOI84QxNScUpyUerP0KZq9OKSxILZ6JJ-oZEBERFpgLWVtBDxylzskYE0FFCY0I9NAUNfK6WnCOXTuahDPln9Vchu3y2J6GzJLKJsISkP2_z9Gd9vO0B_8ZFmjKXblLM7HsIwCwmEeLaabuZDX79QjPdyMV65HmJaYxNr8Mi1BwgAevD1-h276q0IPtlnOslakZ_8wkCFAVGZkGBoqlDLkcfzpu-lkpRa47DKhENrq1JSluXNg5gFA1ht9fW91YI9BmBqGpd1WAWxSidHfbo4FkbdsflHbNzuFeQEvHeXLrBG7gm3uPgAsZsrfIXetpkdgZt2sFeC7Tt2MveICEb9oiFLKz5pau1C0CPMnx1biSzzbyJjyO3DJFMrhL4pAWBcb3oazclSlYEaTvZ3vP8mJdDIcnJAsJOzKSj2hIlsBNmEQC-hPVNDNHZPhbAN-v6JmFxbLeVVdoVkKaW0V19z9eOKREtTZ1H6W",
  "id": "rs_0f3508ed6a616625016ab2b019e94087d0b51b86b02ee5ee7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.02,\"left_z\":0.19,\"left_yaw\":-0.6,\"left_gripper\":1},\"note\":\"The cap still was not captured. I’m clearing the overhead view again rather than making another blind close, while keeping the pen securely raised.\"}",
  "call_id": "call_WmnlsweXau69ekoW4OAOZfez",
  "id": "fc_0f3508ed6a616625016ab2b01a8b5087d08d18ebdb5184d3b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WmnlsweXau69ekoW4OAOZfez",
  "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]: [0.2451, 1.1702, 0.9779, -0.8814, 0.5751, 0.6491, 0.9963, 0.3332, 1.4002, 0.9176, -0.2848, -0.0387, -0.0803, 0.1088]\nstate[eef_state]: left_x=0.2874 left_y=-0.0235 left_z=0.1754 left_yaw=-0.6192 left_pitch=-0.2634 left_roll=-0.0992 left_gripper=0.9963 right_x=0.3723 right_y=0.1399 right_z=0.1406 right_yaw=0.4063 right_pitch=-0.2114 right_roll=-0.0326 right_gripper=0.1088\nstate[joint_eff]: [0.3077, -4.2872, 9.1556, 1.0769, 0.2369, 0.0269, 0.0317, -0.2667, -5.6, 6.8991, 1.58, -0.0659, -0.0708, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4484056791a107776da9fa55646eb38afe19478178db7219c06994fb0a7c768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dae11400587a4da8347e561db382730e1eb96548f75ce7da668a0c3e218745e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c37ab17700ab4d4c3b5f1217e2fabe601b6c9c874c5633078cd641683a57ebb1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 8.099 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1967, 1.9385, 1.0019, -0.2619, 0.654, 0.8539, 0.0083, 0.3332, 1.4002, 0.9195, -0.2825, -0.0387, -0.0803, 0.1075]\nstate[eef_state]: left_x=0.3571 left_y=-0.1771 left_z=0.0008 left_yaw=-1.2474 left_pitch=-0.2663 left_roll=-0.105 left_gripper=0.0083 right_x=0.3731 right_y=0.1402 right_z=0.1418 right_yaw=0.4063 right_pitch=-0.2072 right_roll=-0.0329 right_gripper=0.1075\nstate[joint_eff]: [-0.2667, -8.6769, 5.7368, 0.906, 0.4371, 0.0171, 0.6374, -0.1299, -5.9009, 6.8034, 1.5409, -0.0855, -0.0464, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrAmtuk74dd_CJUzRcemzg4jyEW3ML2Qn7NYc2CylSLgFca0wRffrUofy77mM-08FM4lyjPJ2W-H9BIwgGm9FmMY1u0qr4Xy0vY_M3eIknQ5HxFp3ht3-wI1v3NHj7Wdxf-F6K-iLlWS3wkfyRm7FKsS-L4_gkWR3945c372GTEWABMZyy5ZdiIvQ0qQXinS1fUjhZsBj8gVii1sd62IVjv_q73pbyA0yx6K1VI-bTr9zWvclyz-ilSNpa3vQx31EsjxEG9NjTY7NeUHkbgYV4T47aND5v4QVvrVUkJAUSpgVGFo1DvD0Z-avEfom2M1dkVLio6BVyCdPZAuH_qytgBMyxMFqgKpoDI04mYe-vwTso1bFKS5mW2su1wm0srcsFaWly4ygwVGDvIzs8f1lKH5mUBZBRehoXbOQ8lkw_fc3EUVOL1oHw24_fmIgqHUCP_XHLVQLGu55GNJb5M2xyEn8UNC54sGzBwMz65-P3dh0-hioD5w-Bf-RLQsydypBJXHwkyAZQwwwtsDkOlF99RkPNif9cq9mEpvLVCOnmZXMtdRXGVtSHkOQARsGof4P7LHxpI1NjAzN8gbTRpoYy8XG19n8cQvAST3DybxfQImOhqU19sIszWX4_QGEmW09XzstufVIMMFq49G9b_LpesSpze-Kqsa6sXmxckFBsVoNU3QR1bUKpw42ssIW77RUnRmgWU_8tadMWJFiVPNuOBmrYTDF5vcqexj0-n3BBF6yoHeRluE19a96NPpsGQ9XcQ4JKERtiRr-IsPSZPLiR8R_o3vjUHb0pXT_CleqoKvNSgDAR415F2sLT651w1xsqRJrLaT8kkCfOhXK_D8nOjrEw3V5T6MV5ZSIb86QjyP68Ji1ATupyf4kEJ1M-HUIPh-SdgE2yNGZ34wMLnTCRjNRRANTFhHW_Pmubrl-3s0aWgCgQPgHuBNX_c_beUmz0QslusyTRuzyfXwLaM90nuuM_uAxDOIOxnY5c3C-hKyl5WrrLYW_o8vKYfwSJv29rozOBYaS5i05yfsFQy4MN9pqpLTIDJ6ggKG10ZPcZWuUdsBc7qNR5U3Iwma_UlULojbOZ_-opCYxN7t_-kvjWxqkn-dAn_BrnimlHN4r2-GXkHS7IFq34fPTkYObbw2le1eESEPb14JiT6uEbcEczpwEul5N8G2ohcjHXCVzGRO21A2EsYIfsaN54KYgjnSuRqLe2dhdRnTReqd7S_VGKxbEc8zd8Z5J7gzxxzNN5xuxyWVk73DYfcJi4RjAKUy0pt9C9ooVC7H780NPPEx172dNSpB646p00r_fcSE6axwq00MnR5s_hbZzAj9Rf8e0akmJf2pXyQXenFey3tJcKsTSqrCKaTQvlw-8Zxqal7lHlIDVh-wNNxGGLfARBlhG-as7EEztZGmjiNBVFF7mPJ13eAYzFuUlZC6GXsFDTi8Kk_3UjphGaRQqbFafZTUoP8LwJyMow3brD9h2mQfjwylUDwaNqOwETvDfl1zKJqBrWaVXBK9X7Vvj9j5_tBEzuQSPA6NXJQOB5-5-hPv46P0Orl4DSeNLwI1yRRhdL4adN_SdjGVIkkkgbnGFRFfI8iU",
  "id": "rs_0f3508ed6a616625016ab2b020b4b887d0ab3397ed5fe40e1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.21,\"left_z\":0.065,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The cap is now oriented front-to-back near the left-center of the table. That permits an untwisted grasp, so I’m approaching its center with the jaws in their normal orientation.\"}",
  "call_id": "call_ACXBEXWvuHHGOtnr6Ex0ob5T",
  "id": "fc_0f3508ed6a616625016ab2b0244f6087d0a33591437c86f4ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ACXBEXWvuHHGOtnr6Ex0ob5T",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9009, 1.5875, 0.6132, 0.0967, -0.6411, -0.5468, 0.9969, 0.3332, 1.4006, 0.9157, -0.2901, -0.0383, -0.0803, 0.1098]\nstate[eef_state]: left_x=0.3011 left_y=-0.2042 left_z=0.0443 left_yaw=-0.0843 left_pitch=-0.0966 left_roll=0.0585 left_gripper=0.9969 right_x=0.3711 right_y=0.1394 right_z=0.1387 right_yaw=0.4061 right_pitch=-0.219 right_roll=-0.0323 right_gripper=0.1098\nstate[joint_eff]: [-0.294, -7.2547, 7.5692, 1.4823, -0.5934, -0.0855, 0.0611, -0.253, -5.9282, 6.9265, 1.58, -0.0317, -0.0317, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d135b487476ec6fdfb47eed0183e5d8e9a5937e001cc806dff59fd2ccd519a4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e05e589a34977661c69eee43ff69e8fad116a763b92cabd564fe2e224cbcf2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b632421e637ef4772bfac2d74a4eb68877a6fb10530f1adebe167d8e34d19ae",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.377 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2451, 1.1702, 0.9779, -0.8814, 0.5751, 0.6491, 0.9963, 0.3332, 1.4002, 0.9176, -0.2848, -0.0387, -0.0803, 0.1088]\nstate[eef_state]: left_x=0.2874 left_y=-0.0235 left_z=0.1754 left_yaw=-0.6192 left_pitch=-0.2634 left_roll=-0.0992 left_gripper=0.9963 right_x=0.3723 right_y=0.1399 right_z=0.1406 right_yaw=0.4063 right_pitch=-0.2114 right_roll=-0.0326 right_gripper=0.1088\nstate[joint_eff]: [0.3077, -4.2872, 9.1556, 1.0769, 0.2369, 0.0269, 0.0317, -0.2667, -5.6, 6.8991, 1.58, -0.0659, -0.0708, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrAwWImUKOw3LiCiDbyQVKb8yKCXerDwFIqv9R0Ccv1Ih4XNK_xE9G3GgTOcZJyxaOGuNjty8iwmRXpxc1DsPMGHJBecNraghtEEmLSas8xKbRyA86vkwdHm6suraDby8ZDqcHrVp4h9BiJc-_GJwcPCj-ZaFEIAOmN9sXmVp5RFOk-UVD3TM7GPbLJQM279dVciLR9qkCMpajn3IdWpuHOgyfmPVFifuF_ZWHXhg2Bxdoere68aTmvTBQbKTSqjv7ANDDEPzRSKO5PlURfoDr1hQc3WURXLMO3NirAHlbGzZVQ3pbFasgARmW-LNU5UzyeiuWGKSbqYw1J4O89xbWvm-D0CJ27l_2wOonXdMuQJ22p_h81ChS7FOIcqe4IHjvlzjUzvyYQluF8WIhntwSVllrrzmibLfZ04NStmpe3wPlZzD2pdA3pOSXSm39ZkE_ASIIpEdjitARcxQbzLwCBpbjvVOmzufZTGLJHXUnu3LbdRCdc8Egf2LS69tXPfqomzHTx6y-onHzfhmaaWwEscBU0l32XWbJsqL5Vu8le7cwk2ei_GU2UH5JSgO56fKiBaoXQZHnEAxoIuatht7njv6lSHKy4lZF5qNx6YzEjmbZEKGP3fR5s2EPlzqKwDnQ0ySIjGQRkZfm7pWxiV78KngIo7J5fXjC6MwTHi0bECCWEbAzw5bV-bPKqY_dyMK0NP6XHX-CvEGVhEMjQYfNDkSXlLjBMJhYYc-Wo7YshDFX4zbJxl8s2FIzpT4mo5TBUo2EVHqRgX7kQAq5WP6Pt1NoZV-hyFp0R_qa79K48bugI9-tvNYFDnplBqigRc8Y6Y4FYWzxbu_ldQB1SlBIi4jf-KmjfgVONxjngguQEm9jlFiC9F-dMgPY6kw_Mx03my58QCRX_xKEJr0MnJGZc_JIhtdF3fQRKtxSR3MRe7tOsWRU6RYAgWsObWuw05x-HtpiGlomz04kKv5WIengfOYbMGYtjJSdxNzkps2WcKJu1NVoqUjjQdskpuI66bbfwt69dADzdQEsGRY-jFK1vpJaGnh2bLoolF1YPMHS7jEQ0tYwasb-O_dHyu0fLkBJTMXo9pLf7gwJjZPfOvyYR6mUivK8xIsAL2uMu4aC7uy9nDMP8VcZRRnK2wktZaGAxwk9iNZYRHYG4YtE7UdED_Uv7e_fuw4XBpXL0Df-9r5JXfzGE-Ve-P3p_RtKnrSZPFqtlULNZp153G7JXq2RP3OjRvIsPfy_0hr9Say3zSBs0779WIgN-XEynDBfZs9uqZ508ZUzmNSdqAtfU8TFv-Xc7xK4LSByg6keK8m9_zCnYax6_meI4-pVKmae0Vi2n_WKs2pdbN2c3tQF1PG1zg6TqwmskkLicIINPKgA_evtPppAAJL10gpQy6Q9hEXarY",
  "id": "rs_0f3508ed6a616625016ab2b02cd1fc87d08fa2801e357f6881",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.327,\"left_y\":-0.178,\"left_z\":-0.004},\"note\":\"The cap is clearly left of the jaw centerline in the wrist image. I’m correcting that lateral offset and lowering the fingers around its middle.\"}",
  "call_id": "call_T93f1F62C6b6g3NV2Np2MXWj",
  "id": "fc_0f3508ed6a616625016ab2b02ec94887d0a23c9571ec023ece",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T93f1F62C6b6g3NV2Np2MXWj",
  "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]: [-0.7689, 1.7477, 0.5331, 0.3767, -0.5961, -0.4835, 0.997, 0.3332, 1.4006, 0.915, -0.3035, -0.0383, -0.0803, 0.1103]\nstate[eef_state]: left_x=0.3251 left_y=-0.1715 left_z=0.0026 left_yaw=-0.021 left_pitch=-0.0947 left_roll=0.0563 left_gripper=0.997 right_x=0.3687 right_y=0.1386 right_z=0.136 right_yaw=0.4063 right_pitch=-0.2331 right_roll=-0.0313 right_gripper=0.1103\nstate[joint_eff]: [0.335, -5.0667, 3.3299, 0.9744, -0.0904, 0.359, -0.0024, -0.3897, -5.9145, 6.8034, 1.6435, -0.0317, -0.0366, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ccd55861419d7c3cdb17fe23b621d3e100103b0fa2f84bc1e3cdd8ddefcb6cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f414aefdfdfc46e078215594c31beb58e4615cd4992175f4264443f489530850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9df8782e093f53d9e47b5eee6648a5930cf54726e6aee2c99774619b8d889f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 7.29 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9009, 1.5875, 0.6132, 0.0967, -0.6411, -0.5468, 0.9969, 0.3332, 1.4006, 0.9157, -0.2901, -0.0383, -0.0803, 0.1098]\nstate[eef_state]: left_x=0.3011 left_y=-0.2042 left_z=0.0443 left_yaw=-0.0843 left_pitch=-0.0966 left_roll=0.0585 left_gripper=0.9969 right_x=0.3711 right_y=0.1394 right_z=0.1387 right_yaw=0.4061 right_pitch=-0.219 right_roll=-0.0323 right_gripper=0.1098\nstate[joint_eff]: [-0.294, -7.2547, 7.5692, 1.4823, -0.5934, -0.0855, 0.0611, -0.253, -5.9282, 6.9265, 1.58, -0.0317, -0.0317, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrA4QSY42EtS4FAUBD85cePOUcHNC3s1UUvWmne0OqIz0GZJjAE30Ip1TgbG8t5gQ8WTJmEz1b489iSnv-8wweF3Zc9ssAGJa4rE3nY3COut9uPNabGZoLL5JOMc0ELe3H8WqQ_NqqKROWZkDI1_lXQzjnxnC-8Wl9gcG7mtwsMtk6opk_MOHpTQi6FMd7jka20dGakHM2UeLuKgSidqi4IgcQWjNoIOZCx_qvXpkml2MyiSIt3jagauV5UyOafNWpaT61c947ERfbUbJPPStZPB8QWCOxROBjchQQx34JnxKl4ieL3Y36Sq0ReQ8QX32YVXIuP-89ZN9YwqBA0Q511w7CUWfmEOzXra98H0RHsc-TKLm1f6fCyqp18hvdHoqVAFHBh1cbvfV_8r1et8B9ecO1gqXwi5WLMv-57OeMWXly9XAWsb7qnWl-kvWDbAXWlZx3z6bmwFkRlRdxPIPhmBwnZNgSVBXPFCCtpebIjb9j8GZLXVEdvQ2x2Dih2lzbsiNLeGw5TmxUhKilDek1SGl_sa7nypje4qR5A8loNKeCWpqwLIoy8DSbkFkutqwJayZvXfM2uAxhpVCJpxKbFSlFHa2HRtLLBnlG6x3CfALxgEbB447b-BMV8VASIOtND11bRX2Vw0fn4nm3VCm2W76nw3QnJ9T8RxdWLYC5KYithsUKc2--ry7mCxnI5qcYIxZ6yeVNVV5BrZ5av1tVtSUwgl2CTPOpEDnTUas1y5In3ErzRtv5Tx59YwSReGHDw524-ghqUnlYKXlXC54NQGszG6UTtqhyaUviV8Y8ZSh9BhO5iJ0ohRQ8R-fM92KEmtczMe9okSEMG4mqOJEfkEGTo_lTSUxCkV7TasDAhxVLDQrWtb4uP1gD8Ai_zzZ13Hz1pu5624pKJxJdgC8hYpwd9cqLPlOtmyiaZxvlvC4BHBL84bf2pyQo1KqtSAket4UbTmPGvn0d7OXXznBfDw3taiQlvJ1mnVNZgpY8_o1XvbnY_3xdDJ5bZIPykw1eLGfjWUFpQKgsTPTxCn3Jk7oSsm9KTfFdKanP2RUcSMVQhjgxmTiNTBfTv-AZ7zZ02n6K3E-PUjt8mlxBrDjJ3t32aa7wUMOqGriTimD_6GXxHNyKIng-Wnz1FzDtkgpJHX92CpLGaQMfEv1FRhI0PqSVH3UkK9eNZ7hVKMrHg49V0j4EUYyWljCSYIYibLPBapaYYt_mwzpGwjHwr3wYQ4M72XlMLUK5KOA4tBQbFNA_Mo2eMzS-5KjwFYnbtwsxt874FyNDNNdaA2ZEnsLRBYI2H1XXkr1O6I8oDVoM4FEmcl1skxr5EkWW8IT6r-PkF8XhfQpLYHyompKYthcFFnhQmGEtlYra8gZh2-HM-_7kL5cmGn0ZOIYPT91SmQViXjGviVqiUmq4JlpVMs7BaqwA==",
  "id": "rs_0f3508ed6a616625016ab2b0348a4487d0af8470dd8524c3f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.353,\"left_y\":-0.156,\"left_z\":0},\"note\":\"The cap remains just ahead and left of the actual fingertip contact point. I’m sliding the open grasp forward and left to center the cap between the pads.\"}",
  "call_id": "call_HRlPiowjsNvH6IasRwxgcOvs",
  "id": "fc_0f3508ed6a616625016ab2b036619c87d0a5fe7b8df7042da8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HRlPiowjsNvH6IasRwxgcOvs",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.7683, 0.5282, 0.445, -0.5682, -0.4465, 0.997, 0.3332, 1.4006, 0.9142, -0.3065, -0.0383, -0.0799, 0.1103]\nstate[eef_state]: left_x=0.3346 left_y=-0.1686 left_z=0.0024 left_yaw=-0.0279 left_pitch=-0.0774 left_roll=0.042 left_gripper=0.997 right_x=0.368 right_y=0.1383 right_z=0.1352 right_yaw=0.4062 right_pitch=-0.2369 right_roll=-0.0307 right_gripper=0.1103\nstate[joint_eff]: [0.2803, -7.2821, 5.3675, 1.0965, -0.3101, -0.0708, -0.0122, -0.335, -5.6957, 6.7897, 1.5556, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3823e13c04958cbebe4590865064cbd9b1f6e27fb7283f88d04081e4e92858f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963901e3e3eab74e6b99dd983a3be108e6ebdef1d260d510e17d1061790da916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db536dd933b977355602f0c4536d502f9f056625ded8b4e41b0158bdf49b7dd5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.405 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7689, 1.7477, 0.5331, 0.3767, -0.5961, -0.4835, 0.997, 0.3332, 1.4006, 0.915, -0.3035, -0.0383, -0.0803, 0.1103]\nstate[eef_state]: left_x=0.3251 left_y=-0.1715 left_z=0.0026 left_yaw=-0.021 left_pitch=-0.0947 left_roll=0.0563 left_gripper=0.997 right_x=0.3687 right_y=0.1386 right_z=0.136 right_yaw=0.4063 right_pitch=-0.2331 right_roll=-0.0313 right_gripper=0.1103\nstate[joint_eff]: [0.335, -5.0667, 3.3299, 0.9744, -0.0904, 0.359, -0.0024, -0.3897, -5.9145, 6.8034, 1.6435, -0.0317, -0.0366, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrA_Z1XVlSJsghqRknABjjtZXNrQhAr8EIxhZrzdmZDmJbDi-ejX6PQXJlSVXCPYAdeT78TqSo160YFUyfdi_NaY7BIpab5seKNd-JbZya0ebo_L_bKzBhSP8epUEM-A0hBQdIHS9VtnjI0rME_TKn1B5jtj-evhzB1XvuQvXDrcowU5t-SWR8IHzDQgx27-2wAv33GL0MZAo1Yd4_XFDw6KuRowKYf6ec6xUGXCym6tDHs1-tEhz6qNDslAIRtihePmbi51K-GvFMBzIqP34wFkpANMctEcuvoB_5NAn85TI57dWJaI8cXsLjpDqjdddXLpHPenMevoAebRIV3Rcqk_m6YOvKe8jITsTmsIHR18GOGyrXNMmyBuqSdsJqsI2XDolAJVGDqMv8SeR2pDJG0tnRX43XM_ql-1VQxwIkm0J4eLsMMzasrf_kXPvqNksa_DgohE8Wn0xwUn5FkUf599XxTV-KR8xm9Vdn52uNWYXif7kN5GbzU6QgFG6-0UukEdyn0Cm5mYCEP8xdAygaTgvnui8zGgsFH-qzthx9HbicNJXn0D6wjDyxd1NHFyDStTEqoH7-5wsmFlnR8qvccJptbbTHZhOXDLkpMKCu-BcWtTYClpKr9u352kbtMVByDgXIvWdXzkXxTjmGxPN06dL0LcXSyKMn1-VZXnehIC7KA4MNOJ_0rss8Cl4dbUBK7JJw2pEuJn6r_Yvs7JnEXRgTGDfblJ2Xmz8xQk-9TJvv4tRDj8M3Gyrj7pQEKhjtY8KCCgTUzsh6IDU16LjERf2hk9tkCIaXnt0uI2QYZRuvsWk9DAP45L_tufX1ZXzXWFTZyK03a9P8_G5g-9xyQ8gb7IBb_rYvXzBPBjMfRKFR3e40Zzu1rxJBBf-l69sEdUZfxJCi1ebMR-3rzxO7kLCrpmhAU4R9ZCIEVbunDQtES9pXAYZbx0AQPcPFdLuC7q-hvUI1rRMFjmX9sMgor_eQBDHw_ti50oT3D1lS891iOXVHjrvQGUay4jc2UoLpo31WE6PaY-K7NkogVUzO9Y86_b-qYb-I5ClIkRIKrSyOYuol8noAbSgWEpzrFTbY7_7IUHKHf8pUniiH4yVTrYqSovEtP76fclYC0V2ecDD2V88f4bXJgXHBcns105elVB3BOmRtwTNrttZv2jcUIGtN-kMTtdsUMHmotSd-1tY2yt3bjxRm5TCGA3FP-EKCleAPcMcSm-aWpGOh5XhWjty-cI0T62OE00WrkVegnPO4NY2o8XQ_pcefegzYAtqLz6RCnX2KklFqxiEFiD4j2R52jGkVFInhR1egVnmvEIUO8VFktVHoUXNsXSpaXU8tqWNZGac3Y0PAftZ8unEFf4Sx_yzi3gtXmh_Tqv38ITxnDwdM2ZWMoDiFvvVzzgK9OCNuxVTZoy-PCr3FrsQrZE6g==",
  "id": "rs_0f3508ed6a616625016ab2b03b481887d088e823697d003448",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.154,\"left_z\":0.012,\"left_gripper\":0.35},\"note\":\"The cap is now at fingertip depth but still slightly left of center. I’m lifting a few millimeters to avoid table drag, correcting sideways, and narrowing the jaws around it.\"}",
  "call_id": "call_t8kmZsqLosR5Xoph0oyZYYau",
  "id": "fc_0f3508ed6a616625016ab2b03e02f487d09c0712345adecad9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t8kmZsqLosR5Xoph0oyZYYau",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7326, 1.7683, 0.5285, 0.4343, -0.5686, -0.4534, 0.355, 0.3332, 1.4006, 0.9142, -0.3077, -0.0387, -0.0803, 0.1103]\nstate[eef_state]: left_x=0.3336 left_y=-0.1673 left_z=0.0009 left_yaw=-0.023 left_pitch=-0.0849 left_roll=0.0434 left_gripper=0.355 right_x=0.3678 right_y=0.1383 right_z=0.135 right_yaw=0.4068 right_pitch=-0.238 right_roll=-0.0306 right_gripper=0.1103\nstate[joint_eff]: [0.2256, -7.2274, 5.6, 1.1258, -0.2906, 0.0073, -0.0366, -0.1983, -5.9145, 6.735, 1.5214, -0.0757, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d57735ead781aed3d760c368b83b76f7e220eff904287ec43742b93b2af2cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d93e0142e34388e1260207ab93e7dec85baef2886ab0d75b2976bfaecc99d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd303e51be77363498a7a8539bc2ce8cfc2b20202dcd1d4c8403c0738219ee8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.733, 1.7683, 0.5282, 0.445, -0.5682, -0.4465, 0.997, 0.3332, 1.4006, 0.9142, -0.3065, -0.0383, -0.0799, 0.1103]\nstate[eef_state]: left_x=0.3346 left_y=-0.1686 left_z=0.0024 left_yaw=-0.0279 left_pitch=-0.0774 left_roll=0.042 left_gripper=0.997 right_x=0.368 right_y=0.1383 right_z=0.1352 right_yaw=0.4062 right_pitch=-0.2369 right_roll=-0.0307 right_gripper=0.1103\nstate[joint_eff]: [0.2803, -7.2821, 5.3675, 1.0965, -0.3101, -0.0708, -0.0122, -0.335, -5.6957, 6.7897, 1.5556, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrBE78Ip_PUONE0JXl3Mav4nEDjYag4Yx8y2PerVXLGdA_GiBuwDdDOi_Dn09k4syn_CLCRw2V8vToRe2k3lApcoYahs3unnDMfn1qQnMtGXJ7WClmammHgEZK9vr8Q62lBIrm626bylreHq0qSaub7s08z0NTBFqt43Unf8SgcwcbVXyBZvGMRbH6lXL_-BwbB64hzV74IOGY6fm05WVPUOhnf544NSyMIsnwSUaDjrqnRgNpRYQdDxoDoWgWTLUrxlVMt8CEobLdtv2At0yXspF9Gt-IMANZbsvgEHA-XrwR011Ih5HA6OivCPE-m_Ey-WjOxefCyT-04c8n4gPw4X0SH6Djsihm5XpE7a2ytYxev6pRhXHhB0A8xLTiH-2-Oae-zzK4KA2ra_G_Qu8yAVzumoOFvQoCcAcVa1fJnhZ5XZceA07tgO_qBU0yzGMR-4t8eev1w3nToQ8_MmVP1LV9NIX5bh3UFrB0NJNtEPhYx_8-I9ATBCmfEDpFtZ8mTVvI2p4BOiGLiygBkerGqTGYujrCkMtjCVbLMxEBXXPzXWMNaBBtgQLPbPcUvgs0-Y9hoN3seafVOx9lOrDGJzlIwo56z0ZDjkRh0PBSa3-bKR-Kl-mJhlnt6akEgiP-Pwms01wUBz6QHzN0txbgu_fzMPllxT5NMT5CPEFyd1VrHt5u5vvS1LBbhddFnK3oAxTd-ZvfSXWMX58j0iMgffyItnYhqKM9qaWuLKgmCf0444oXSZuVgGqhlfzZXB96Zw3eCWQDxEe78ju1W_c-A37oTJgyuxwWVMjnSF609H_tK6KZMxWcHKNBSN7o4R-PpEmqUM2u1WTM1i_Mz-DV9qPcp46InczY8uGDMxy6j5wZ24mfBdekcnwI5L2FjFiCFRHc9lBIxnEsMLsnlY6aI2NCAGf_9Sz6RT5HCjRFQR4IIJQMd0gvzI-fL1yo85Ve03Y3O9MX1f4yWBmRoL6AEAy3decU6morVBe_RSi5-BMYlVchbpRnMRzm_kyT0-y8Ow6eXq9hs4ckQy-L72pD-Dzm7OcAUPsgkmZNCu5IdQNOex781GOk_r_Y3YVZB6pUM7ilNsZ3DrFPh51z0Z4e_nKSrio06sR-YpWskfjIiByf01V1CIMkZCYYLnDDg0R0eoQXmmd702aG2qFpCsJNqk6t0Cb15FsqgjFcXsnFWsyu4aUcI3WuZ-0UAYz4G5JMEs",
  "id": "rs_0f3508ed6a616625016ab2b042ff2087d0a82a02e5955512be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The narrowing fingers have centered the cap between them. I’m closing to hold it securely before lifting.\"}",
  "call_id": "call_eroBiHnAoPk8NIRY3GjnJPT7",
  "id": "fc_0f3508ed6a616625016ab2b043635c87d08096faef8ae97f18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eroBiHnAoPk8NIRY3GjnJPT7",
  "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]: [-0.7334, 1.7679, 0.5282, 0.4461, -0.5732, -0.4541, 0.0958, 0.3332, 1.401, 0.9142, -0.3077, -0.0383, -0.0803, 0.1103]\nstate[eef_state]: left_x=0.335 left_y=-0.1681 left_z=0.0031 left_yaw=-0.0206 left_pitch=-0.0737 left_roll=0.0376 left_gripper=0.0958 right_x=0.3679 right_y=0.1383 right_z=0.1348 right_yaw=0.4064 right_pitch=-0.2384 right_roll=-0.0309 right_gripper=0.1103\nstate[joint_eff]: [-0.1299, -6.8581, 4.3966, 1.3309, -0.2173, -0.0562, 0.6374, -0.1709, -5.8051, 6.7214, 1.5067, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543951c1778859df6b3099eade7e9435e2d7f30692235867425030820541b4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099362e9a29a819b63e58333fb6ffba4270d842fd8b765869c21b90e516d4fd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef7fc99e552f7d4adb0e1f0c2d9f79d45457a8d67ad423ecb23606231299e89",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 21.69 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7326, 1.7683, 0.5285, 0.4343, -0.5686, -0.4534, 0.355, 0.3332, 1.4006, 0.9142, -0.3077, -0.0387, -0.0803, 0.1103]\nstate[eef_state]: left_x=0.3336 left_y=-0.1673 left_z=0.0009 left_yaw=-0.023 left_pitch=-0.0849 left_roll=0.0434 left_gripper=0.355 right_x=0.3678 right_y=0.1383 right_z=0.135 right_yaw=0.4068 right_pitch=-0.238 right_roll=-0.0306 right_gripper=0.1103\nstate[joint_eff]: [0.2256, -7.2274, 5.6, 1.1258, -0.2906, 0.0073, -0.0366, -0.1983, -5.9145, 6.735, 1.5214, -0.0757, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"right_z\":0.17},\"note\":\"The left gripper now retains a roughly nine-millimeter gap, indicating a cap grasp. I’m lifting it for verification and refreshing the pen’s holding height.\"}",
  "call_id": "call_daux0809H1qROPKC4YHh2GK1",
  "id": "fc_0f3508ed6a616625016ab2b0487ae887d093b1461c87566aba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_daux0809H1qROPKC4YHh2GK1",
  "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]: [-0.7334, 1.5623, 0.5907, 0.2008, -0.569, -0.4622, 0.095, 0.3332, 1.3994, 0.9947, -0.4183, -0.0387, -0.0834, 0.1104]\nstate[eef_state]: left_x=0.3355 left_y=-0.1693 left_z=0.0551 left_yaw=-0.0204 left_pitch=-0.0582 left_roll=0.0139 left_gripper=0.095 right_x=0.3666 right_y=0.1379 right_z=0.1501 right_yaw=0.409 right_pitch=-0.2669 right_roll=-0.0306 right_gripper=0.1104\nstate[joint_eff]: [-0.1162, -6.4479, 7.4462, 1.3211, -0.3394, 0.0317, -0.0904, -0.335, -7.7197, 9.306, 1.2918, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af4a529a2b60431d5198ba8da49abf772cfc7b55e33eec548e4c5bf8f8f5885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48929b8765a3325607f631ad97185124802ba60cb47ee874a567ca8b6f9e05a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395dccd502f6d36948818c5442cf3ccbf423295565f0e517f2fb0ddcf095b47c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.88 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.7679, 0.5282, 0.4461, -0.5732, -0.4541, 0.0958, 0.3332, 1.401, 0.9142, -0.3077, -0.0383, -0.0803, 0.1103]\nstate[eef_state]: left_x=0.335 left_y=-0.1681 left_z=0.0031 left_yaw=-0.0206 left_pitch=-0.0737 left_roll=0.0376 left_gripper=0.0958 right_x=0.3679 right_y=0.1383 right_z=0.1348 right_yaw=0.4064 right_pitch=-0.2384 right_roll=-0.0309 right_gripper=0.1103\nstate[joint_eff]: [-0.1299, -6.8581, 4.3966, 1.3309, -0.2173, -0.0562, 0.6374, -0.1709, -5.8051, 6.7214, 1.5067, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrBhUf8r644xEC4uKsnCJGA2LSd98rQ8_vmXI8fsiFZxoi-7fp_TZP5Fk8pn2bUBv3RSSwj55QOg6lR4mrTgjXdOcQ6ZEuGDOw4Jhl02Gn9HQ-l5rC5CyA10Euw0rkh-zwZMcaEiG9c5Z5HIi_-Te-Dz3biqsijpwnevphCa6GgcTvP9oJmKnZqs6TboZ4f4j8Z9HgAksAxHgkjkU-4WfqRwIe3rel5GJKxwqHP3kZVKRaLtMdGOhCwOCV1ra4NymZHrM-5BoIRcrodh9SWwC7TrAelmVViYsSUcBvPVZvQmVJ6AkRnw8_6F7jmUO3n7aaA7AfdSwlk4rvB2nnwNj-Ozhzzmu1dDI1NmPzCI843eNKdgbSNpkX9zpOXfMGYLOcax2ozR3ipzsqd3gaSG2OIbBzncCMzQN9v0Etv7R8iqdJcUrgB0AWf8GGvA3hje8o5Ysg8IfVnd9wcnGp8ROhuaoRBLx8Dge9kQW9c351QBIBelluF0h5y7BroJb0SHDkF-i4QfJOvzM2fBYDK6J38NoVJl-rsEQEcIeafWU6wdGAT4SujOTWZ1I2xl5n-QY3a336ko7LgKnDtUbVylr4ID5_pB43nn5RMAmHdm6CaDdjc0HRyu3aHrNLANS4ULVoyK3bNvtU09Mg9nDXTZe54VgBL6ohVkLccz8kD6RS2xtPZB1eeEzvdy4JkotmDat2H7ikPfzRREEfAJ7BiIONYiwgatFynWFryzMxpaAfL7NXR8DAS-Rf3L_JOArJ_gHhNnJKUwZ7a6FSODv0hwljGxT5r9uUsAulf1BNmRnGDokGk4OmDtWz0FML5WBopurmKH_imHZe9W7k_0SOWDKCQd6nVM0rmO4Du_Af3VLOBi2Okso0MjuyybsdXQSRe1b61xte-80AYv6CWlp45bLsAIqVrcYthnV2rcIevSf2rCt4vLTWwk3JJ6mJ_IabTFmnd6SBanw_xeY-SOJFrG8VeoFby5OZiIibR2cjSUYUWDJZfZAlpxz-EOHKtrufjoUWEsWLBaiix1tauqPD1Pl48P82kkpXEk3--dsmwmjRlnp_6nrDYOp3ew6JmMbVrQ_ycZJwFd8gBLp91HcbEyImjAumV-3vGzBr87xJKbVJwC1n64iqOw-swtkocFpPRpH5pgePp33RY-MVrdKjGaRMwXamCtg_g6S-TGvsKXQcRkfP_ViWGHqIf5wgnJAFNsCLr6LtojUUwDTI3qlgtyjLYtgoSnENKvbmOZMFfmESlaeaKbEJ6mEjaZ9_Hn4mMmP6Tb9pHy1c49KrBzjt-dOrIOfsLn6qpFkRtMwoNnNHTcEDbiqs-HGkwU6RNICmBcUU-7lRX-POk2YVUvmdlEM-3emghJzja8b-WLoi456Yabn3Y54KigoHM_HHt3nL1JAXvagTIhgakRySqYEMT2by1wA1RYWDFRK92AzqSIZ4XL4LwK4DHCQaOGvZm1Dda7GObllrh7jw4zDfZYuE74pQM1uuA2kt_S1nVUrF0dJ9Kvaz0PLXCUbgrhSu467_FagDn72BEibwvQwMVmMYJTE2539-JYIHsp5vS2dYYJd5NJvI7z0luvtKtBpFW47T5aUDk5_0npqO1PK0YRmXYknpeNITwddvoYVwfAvZVmqiAVXOJC1qkRT_nZBahLcxZjJH0dOSCbDcwTshwh-7CkGI3pBtOem_FSY_ni5lnn4ByVz7M8dxDcg4GukbJajnGlDTRQBrWAs-L81bhslscrGmTxU4-QK7cfu0bi0YJkzUI1HKpRhZTkIwTdXpf6qHOH6-0Fa1QkgOcLLx9eBihLWWDsU-Kl6NsYRjCyNfaqhDZi8Mu4RWp3Tkoyrca9fOBN9yS0eiT2t1quMVh1i5McRAtN58Ynxg5aY3FbX0I0n0aMky-vlq_tFAbTho7ubdp8EJPC54UeMu-x2WB0ug7KBXfgttcSqitviR3NRUZG-Y4U9XDOQ-kTr1NwdjOmuFCvWsjk3aY7Qvsm4P6IPvTazmV1hPCyckN50NF-8bhurchzRmu1lTy3KiRV4DH8pl1v9fgXEmZZ4OIO6xl8BoIJQQytfP5W1WqiH6kl5BV37tuZ9vqxFAYlyluMGZGJLfxGpn37neGVmyXyunH0VzsyIJogWisUnwaVdTNB235ZNdAufi1Fuvz4Kk9IlgnKnWLYLilGY49KSKDdVT14o-yaG9ie6VRA7KJObJPGud0nlOGGLO_He8bFleIrF7s8hy4ejB771ixSATJvBtJefakyj3vlLZJjbeYVY0dLdTmDKZNqQ6Fzqdu-JqZ1jorp6dE8tFZjT10GwlGIjnZPN0WSlyyzPCrPZ7rfddCw1peKFpxetM2g0xbIfmCkz5OW1ZB8rikxXDHoZAgBiBzCESQSXL0uUhapLaAwWs_fQ2kIdgkyeUQshiRbhZ6nI13nIKc8DwHaOon8q3f7HK6y4x2YZy1EYqN7XK5FOPuS-kS9MJPQmanj8XHWk-p5ODmwVVYbqk0hc3iBzUa-a3iG5yVlOLfeXAmVJBayAJfMhJW90YOSVJAfYb5w_N6sYdKqKugdzFh-AU3NyCN2LvQpZU_giOif6CfhQzMmz22aZgeBn8SYndVpYmaNG2pSy8lHruSJa9J_Z-BlIjgx18JrkrClr0Ts9CodT5Bm12FTcWxDll9KLS3cRM6YSBNFHQysgvqU0p9yZLkVJEVTyb_rc-X7EcW153ldQpNYDFdp0DjVJ9UQqQmIXlGoUFB4mscJr4F461hAjk_rq1gSl8JVsmvUoL93rNE-b6X9qrukx1yGpCZNNHxiDk9yCXpArN36ibrdpp_ZMUUkWaVqAjMaMIvr9r3DLg3kyEjFmQ5jdwpxkcchZMrBonJiTyrQJYQxqMNWSu1LnCq3NyttOckML2BRhdepA5gli4xxRuC9eFKZf-1noRCeHIEM9a4SAQy89VjvbvT1c7A1PvqKVTT3wzHki5jGGzx4-vrAKzjfBRxmEwOfW1ZOEkjulZ1Zg9g723fKj2gqVhaPtWrTQHmRXeRb-anapyYoQjJvP7Tqj2O6n1hOp4cR_GbQvhPP1YDG3uXmSmLs6RUXoBkZ0Yp0Gryhr3Gt6nza9cE7qQKkDgCC0bsVD1rrxCcbtpDNC50ixv4Xl-NoTW4-k5OsTj_Ttf-H5Nu8Jn93f99t5o91xZ2DjTIZsBJ6hZ7ZnE5XIXWZEsDjzqSNqZXkfwT_5FGOONgTsAKIasCSxrDkRuYvy7ih3Wf9QiRx6zOWHWTua-ip_sBg-L908FASK5NdhW8k7ISjc1algxV0xJ1IJ-eMibusYJfzfHPareRWtoxG4Py1twKi5EbC4JnatRfhS_-M6mSPaBseLmetO9wb1QgtHHwga8DlM6U59FB56ZwUibr9vAdgXGHE2ZvOiPbWbuWRAP19PIgWQ_vfRuKEbsJFoEoHdwUMFIYy1zC_kLFRR0PDP5bgdBKPPaxVkcjqW4oqj-cEgHfHyvgaF5WofryJHZM6cF-jIWg4GvqxYCYnomoHNf-h39hpi3N4seGxHjQgydOt5bJbW8LCbV0B-T3qabzRNOs3f6OczhU-iTpF-gA716WChujshdSitsHz18kmXOd9ZC17rg==",
  "id": "rs_0f3508ed6a616625016ab2b04f420487d0a06ff05776dabf61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"right_z\":0.035},\"note\":\"Both pieces were lifted, but the cap rotated in the fingers, leaving its opening unaligned with the pen tip. I’m lowering them separately rather than attempting a blind insertion that could bend the tip.\"}",
  "call_id": "call_XPPJj5OmzlWRfFoUNlEFAKzq",
  "id": "fc_0f3508ed6a616625016ab2b060072087d0a143eacaf7272c32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XPPJj5OmzlWRfFoUNlEFAKzq",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.6695, 0.548, 0.3275, -0.5682, -0.4622, 0.095, 0.3332, 1.5887, 0.6865, 0.004, -0.0383, -0.083, 0.1104]\nstate[eef_state]: left_x=0.3335 left_y=-0.1677 left_z=0.0241 left_yaw=-0.0199 left_pitch=-0.0762 left_roll=0.0287 left_gripper=0.095 right_x=0.3532 right_y=0.1332 right_z=0.0282 right_yaw=0.4102 right_pitch=-0.3419 right_roll=-0.0246 right_gripper=0.1104\nstate[joint_eff]: [0.0479, -6.0513, 4.6154, 1.5702, -0.2418, -0.0415, -0.0122, -0.1573, -6.5162, 6.0376, 1.8291, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da86c8c310147f441ff38da145d0e3fb13ab775bf2ba7bc882f0a46dcc725313",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0569d19b8738643f7ebacf5f9dbd4682e32a4f5090a60e840db414485694954f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d5fea62106ea6658f48be8b1445b9625269b7b758e65c6b464d4a745d7102f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 4.516 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.5623, 0.5907, 0.2008, -0.569, -0.4622, 0.095, 0.3332, 1.3994, 0.9947, -0.4183, -0.0387, -0.0834, 0.1104]\nstate[eef_state]: left_x=0.3355 left_y=-0.1693 left_z=0.0551 left_yaw=-0.0204 left_pitch=-0.0582 left_roll=0.0139 left_gripper=0.095 right_x=0.3666 right_y=0.1379 right_z=0.1501 right_yaw=0.409 right_pitch=-0.2669 right_roll=-0.0306 right_gripper=0.1104\nstate[joint_eff]: [-0.1162, -6.4479, 7.4462, 1.3211, -0.3394, 0.0317, -0.0904, -0.335, -7.7197, 9.306, 1.2918, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"right_z\":0.008},\"note\":\"The two parts remain held a short distance above the table. I’m lowering the last couple of centimeters so they can be released without dropping.\"}",
  "call_id": "call_8lVdMFJQbclJJS3HNrbtWvkT",
  "id": "fc_0f3508ed6a616625016ab2b0655ec487d09165055b68dc8b85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8lVdMFJQbclJJS3HNrbtWvkT",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.718, 0.5392, 0.3874, -0.5682, -0.4622, 0.095, 0.3332, 1.626, 0.6628, 0.0944, -0.0383, -0.0834, 0.1104]\nstate[eef_state]: left_x=0.3348 left_y=-0.1689 left_z=0.014 left_yaw=-0.0201 left_pitch=-0.0741 left_roll=0.027 left_gripper=0.095 right_x=0.3585 right_y=0.1351 right_z=0.0205 right_yaw=0.4097 right_pitch=-0.3126 right_roll=-0.0272 right_gripper=0.1104\nstate[joint_eff]: [-0.3761, -6.2154, 3.6444, 1.5556, -0.2515, -0.0659, -0.0171, -0.3487, -5.2308, 4.7795, 1.5995, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae08b41c9267f8c7dbae7313b00886c586ceddac9d2f9da725d798af3a87832",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0efc52e1be109dd9882fd1af67c40b31ebd48e5f5bfd0926a316433cf6cae7e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab9547c1411188c28145c522a1dad76d9aa9e45e1f12873b41d1ecf4c8cddef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 5.57 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 113 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.6695, 0.548, 0.3275, -0.5682, -0.4622, 0.095, 0.3332, 1.5887, 0.6865, 0.004, -0.0383, -0.083, 0.1104]\nstate[eef_state]: left_x=0.3335 left_y=-0.1677 left_z=0.0241 left_yaw=-0.0199 left_pitch=-0.0762 left_roll=0.0287 left_gripper=0.095 right_x=0.3532 right_y=0.1332 right_z=0.0282 right_yaw=0.4102 right_pitch=-0.3419 right_roll=-0.0246 right_gripper=0.1104\nstate[joint_eff]: [0.0479, -6.0513, 4.6154, 1.5702, -0.2418, -0.0415, -0.0122, -0.1573, -6.5162, 6.0376, 1.8291, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.8,\"right_gripper\":0.8},\"note\":\"The parts have reached the tabletop and the descent has stopped. I’m opening both grippers to leave the pen and cap safely separated.\"}",
  "call_id": "call_DT5HbyodkVLkrVGYSiRYaapP",
  "id": "fc_0f3508ed6a616625016ab2b06a69b487d09ef78461489f78b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DT5HbyodkVLkrVGYSiRYaapP",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 1.7397, 0.5255, 0.3859, -0.5686, -0.4694, 0.7958, 0.3332, 1.6508, 0.6476, 0.0902, -0.0387, -0.0868, 0.7955]\nstate[eef_state]: left_x=0.3292 left_y=-0.1638 left_z=0.0024 left_yaw=-0.0137 left_pitch=-0.1017 left_roll=0.0458 left_gripper=0.7958 right_x=0.3502 right_y=0.1322 right_z=0.0058 right_yaw=0.4131 right_pitch=-0.3567 right_roll=-0.0255 right_gripper=0.7955\nstate[joint_eff]: [-0.212, -8.2803, 5.5863, 1.409, -0.2418, -0.0024, -0.0122, -0.1026, -6.5846, 5.3675, 1.5556, -0.0513, -0.0073, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871ee80864d6e736d30181c415c08798746034ad5ab5f4755f509d86b8e5cd1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fa40fac5aa8ef433d92664235f95626bf0eaac935bcf8daeb4ed861bd2a426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35a68df5f5c3c66d6c2d4e09b9363f0e19397b79be3ea74c8faeb89eee8b00c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 7.985 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 116 changed as sent

message 116 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]: [-0.7334, 1.718, 0.5392, 0.3874, -0.5682, -0.4622, 0.095, 0.3332, 1.626, 0.6628, 0.0944, -0.0383, -0.0834, 0.1104]\nstate[eef_state]: left_x=0.3348 left_y=-0.1689 left_z=0.014 left_yaw=-0.0201 left_pitch=-0.0741 left_roll=0.027 left_gripper=0.095 right_x=0.3585 right_y=0.1351 right_z=0.0205 right_yaw=0.4097 right_pitch=-0.3126 right_roll=-0.0272 right_gripper=0.1104\nstate[joint_eff]: [-0.3761, -6.2154, 3.6444, 1.5556, -0.2515, -0.0659, -0.0171, -0.3487, -5.2308, 4.7795, 1.5995, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both objects are released on the table. I’m retracting the arms to their home positions to leave the work area clear.\"}",
  "call_id": "call_IRXhfEsDUZrwfij6lOsJb4vx",
  "id": "fc_0f3508ed6a616625016ab2b070149c87d0aefb6050bcdd8aea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IRXhfEsDUZrwfij6lOsJb4vx",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0605, 0.8112, 0.5537, -0.326, -0.1081, -0.0765, 0.7961, -0.0128, 0.8154, 0.5686, -0.355, -0.0273, -0.0338, 0.7966]\nstate[eef_state]: left_x=0.2964 left_y=0.0048 left_z=0.1639 left_yaw=0.0675 left_pitch=-0.0104 left_roll=-0.0065 left_gripper=0.7961 right_x=0.2948 right_y=0.0046 right_z=0.163 right_yaw=0.0245 right_pitch=-0.046 right_roll=-0.0127 right_gripper=0.7966\nstate[joint_eff]: [0.1983, -2.0718, 10.2085, 1.6728, 0.1148, 0.1294, 0.0171, -0.4718, -1.9761, 10.0034, 1.7705, -0.0415, 0.1294, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87c88d870e1380b24517ccefae4028f9fffda6fcb5de35df9b75f8b5817266f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d088a616036ca8c5a0aadeb344419ba4369b2e209a21e6a41dda5534be4809c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
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}
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