adhoc - adhoc_01fcc15d.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
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
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 262.3 s
total steps: 263

operator

scenes

trials

errored

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

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

user

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

step 0

assistant

agent noteThe short black cap is left of the longer pen near the center of the table. I’m moving the left gripper above the cap, with its jaws oriented to grasp across it.

move_to

left_x0.4000left_y-0.1700left_z0.1500left_yaw-0.6000left_gripper1.0000right_x0.2960right_y0.0030right_z0.1840

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.794, 0.6025, -0.3805, -0.0196, -0.0154, 0.9996, -0.0181, 0.7925, 0.6102, -0.3759, -0.0261, -0.033, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.335, -1.4838, 10.5094, 1.7509, -0.0855, 0.0659, -0.0513, -0.6496, -1.2923, 9.8393, 1.7509, 0.0269, 0.149, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.17,"left_z":0.15,"left_yaw":-0.6,"left_gripper":1,"right_x":0.296,"right_y":0.003,"right_z":0.184},"note":"The short black cap is left of the longer pen near the center of the table. I’m moving the left gripper above the cap, with its jaws oriented to grasp across it."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent noteThe cap is near the bottom of the left wrist view, slightly left of the jaw centerline. I’m correcting that small sideways offset and lowering toward it.

move_to

left_x0.3850left_y-0.1430left_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]: [-0.3092, 1.4677, 0.8265, -0.0322, 0.194, 0.1158, 0.9996, -0.0181, 0.7979, 0.6132, -0.3889, -0.0261, -0.0338, 0.9993] state[eef_state]: left_x=0.3865 left_y=-0.1554 left_z=0.1244 left_yaw=-0.5403 left_pitch=-0.0869 left_roll=-0.0273 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [-0.5128, -6.612, 9.7026, 2.0147, 0.3541, 0.3004, -0.0513, -0.253, -1.4701, 6.7897, 1.9267, 0.0024, -0.0366, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_y":-0.143,"left_z":0.035},"note":"The cap is near the bottom of the left wrist view, slightly left of the jaw centerline. I’m correcting that small sideways offset and lowering toward it."})

tool

executing move_to over 6 steps (0.6s)

step 22

assistant

agent noteThe cap remains visible just left of the open jaws, so the first descent has not trapped it. I’m shifting a little forward and left while lowering the fingertips to table level.

move_to

left_x0.4020left_y-0.1280left_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2741, 1.6749, 0.6239, 0.2901, 0.2173, 0.1329, 0.9996, -0.0181, 0.7979, 0.6132, -0.3908, -0.0265, -0.0341, 0.9993] state[eef_state]: left_x=0.3728 left_y=-0.1406 left_z=0.0246 left_yaw=-0.5367 left_pitch=-0.1675 left_roll=-0.0505 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1809 right_yaw=0.0006 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [0.6222, -6.9812, 5.2991, 1.8291, 0.1441, 0.0562, -0.0171, -0.2256, -1.1692, 7.2274, 1.746, -0.0415, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.402,"left_y":-0.128,"left_z":-0.005},"note":"The cap remains visible just left of the open jaws, so the first descent has not trapped it. I’m shifting a little forward and left while lowering the fingertips to table level."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe cap is now centered between the fingertips at table height. 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]: [-0.2195, 1.8256, 0.6735, 0.3996, 0.2401, 0.1604, 0.9996, -0.0181, 0.8009, 0.6132, -0.3927, -0.0261, -0.0338, 0.9993] state[eef_state]: left_x=0.3991 left_y=-0.1284 left_z=0.003 left_yaw=-0.516 left_pitch=-0.1545 left_roll=-0.0428 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [0.3624, -6.106, 5.3128, 1.1648, 0.2369, 0.1099, -0.0171, -0.1983, -1.0735, 7.0222, 1.8144, -0.022, -0.0513, -0.0073] 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_gripper":0},"note":"The cap is now centered between the fingertips at table height. I’m closing the left gripper to secure it."})

tool

executing move_to over 10 steps (1.0s)

step 35

assistant

agent noteThe gripper closed almost completely, which may mean it missed the cap. I’m lifting a short distance to check whether the cap actually moves with the jaws.

move_to

left_z0.0750

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2165, 1.829, 0.6811, 0.437, 0.2363, 0.1574, 0.0102, -0.0181, 0.8017, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993] state[eef_state]: left_x=0.408 left_y=-0.1284 left_z=0.0108 left_yaw=-0.5064 left_pitch=-0.1155 left_roll=-0.0306 left_gripper=0.0102 right_x=0.2945 right_y=0.0029 right_z=0.1792 right_yaw=0.0004 right_pitch=-0.0244 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4991, -7.5282, 4.7111, 1.2674, 0.1197, 0.0562, 0.3492, -0.0205, -1.3607, 7.0222, 1.7509, -0.0122, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.075},"note":"The gripper closed almost completely, which may mean it missed the cap. I’m lifting a short distance to check whether the cap actually moves with the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 40

assistant

agent noteThe opening stayed below the empty-grasp threshold, so I have not secured the cap. I’m moving clear with the jaws open to locate it again rather than repeating an uncertain close.

move_to

left_x0.3400left_y-0.0750left_z0.1400left_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]: [-0.2165, 1.66, 0.7464, 0.1905, 0.2363, 0.1558, 0.0122, -0.0185, 0.8024, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993] state[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.0578 left_yaw=-0.506 left_pitch=-0.1272 left_roll=-0.0353 left_gripper=0.0122 right_x=0.2946 right_y=0.0028 right_z=0.179 right_yaw=-0.0 right_pitch=-0.0252 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.212, -8.6496, 8.4718, 1.4921, 0.0708, -0.0073, 0.2027, -0.1162, -1.3744, 7.1453, 1.7363, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.075,"left_z":0.14,"left_gripper":1},"note":"The opening stayed below the empty-grasp threshold, so I have not secured the cap. I’m moving clear with the jaws open to locate it again rather than repeating an uncertain close."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe cap is visible again in the left wrist view, just ahead of the open jaws. I’m approaching its newly confirmed position with a smaller forward correction.

move_to

left_x0.3660left_y-0.0720left_z0.0250left_yaw-0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0563, 1.2373, 0.7132, -0.2279, 0.3305, 0.2478, 0.9952, -0.0185, 0.8055, 0.6132, -0.3962, -0.0265, -0.0338, 0.9993] state[eef_state]: left_x=0.3454 left_y=-0.0733 left_z=0.1289 left_yaw=-0.4748 left_pitch=-0.131 left_roll=-0.0345 left_gripper=0.9952 right_x=0.2945 right_y=0.0028 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0305 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [0.3487, -5.0803, 8.9094, 1.5018, 0.3199, 0.1245, -0.1197, -0.1983, -1.4427, 7.0496, 1.79, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.366,"left_y":-0.072,"left_z":0.025,"left_yaw":-0.6},"note":"The cap is visible again in the left wrist view, just ahead of the open jaws. I’m approaching its newly confirmed position with a smaller forward correction."})

tool

executing move_to over 7 steps (0.7s)

step 57

assistant

agent noteAt low height the cap is still ahead of the fingertips, not underneath them. I’m advancing about four centimeters along the tool direction and lowering the remaining distance to the table.

move_to

left_x0.3980left_y-0.0920left_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0067, 1.6135, 0.5739, 0.1524, 0.4274, 0.3553, 0.9963, -0.0181, 0.8101, 0.6132, -0.411, -0.0265, -0.0338, 0.9993] state[eef_state]: left_x=0.3534 left_y=-0.0673 left_z=0.0161 left_yaw=-0.5593 left_pitch=-0.2134 left_roll=-0.0822 left_gripper=0.9963 right_x=0.2927 right_y=0.003 right_z=0.1734 right_yaw=0.0004 right_pitch=-0.05 right_roll=0.0005 right_gripper=0.9993 state[joint_eff]: [0.3761, -6.9128, 5.135, 1.6874, 0.3883, 0.2027, 0.0952, -0.212, -1.6479, 7.0222, 1.9316, -0.0464, -0.022, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.398,"left_y":-0.092,"left_z":-0.015},"note":"At low height the cap is still ahead of the fingertips, not underneath them. I’m advancing about four centimeters along the tool direction and lowering the remaining distance to the table."})

tool

executing move_to over 4 steps (0.4s)

step 61

assistant

agent noteThe cap now lies in the center of the jaw opening and the fingertips are at table level. I’m closing gently through the normal gripper command to grasp 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]: [-0.0696, 1.8305, 0.6975, 0.3248, 0.3935, 0.3176, 0.9963, -0.0181, 0.8139, 0.6132, -0.4137, -0.0265, -0.0338, 0.9993] state[eef_state]: left_x=0.4017 left_y=-0.0923 left_z=0.0022 left_yaw=-0.5806 left_pitch=-0.1599 left_roll=-0.0467 left_gripper=0.9963 right_x=0.2926 right_y=0.003 right_z=0.1719 right_yaw=0.0004 right_pitch=-0.0564 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [-0.4991, -5.9692, 4.6291, 0.6716, 0.0317, -0.1441, -0.0024, -0.1573, -1.6479, 7.0085, 1.707, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap now lies in the center of the jaw opening and the fingertips are at table level. I’m closing gently through the normal gripper command to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 71

assistant

agent noteThe second closure also reads empty. I’m clearing the cap for an overhead check; the wrist images suggest it was behind, rather than between, the actual finger contact points.

move_to

left_x0.3250left_y-0.0350left_z0.1600left_gripper1.0000right_z0.1840

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0727, 1.8465, 0.7021, 0.3401, 0.3935, 0.3161, 0.0089, -0.0181, 0.8139, 0.6132, -0.4129, -0.0265, -0.0341, 0.9993] state[eef_state]: left_x=0.4039 left_y=-0.0937 left_z=-0.0001 left_yaw=-0.5825 left_pitch=-0.1566 left_roll=-0.046 left_gripper=0.0089 right_x=0.2927 right_y=0.003 right_z=0.172 right_yaw=0.0006 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.0068, -9.3197, 4.4923, 1.3455, 0.0806, 0.0024, 0.3883, -0.3077, -1.1556, 7.0085, 1.7118, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.325,"left_y":-0.035,"left_z":0.16,"left_gripper":1,"right_z":0.184},"note":"The second closure also reads empty. I’m clearing the cap for an overhead check; the wrist images suggest it was behind, rather than between, the actual finger contact points."})

tool

executing move_to over 11 steps (1.1s)

step 82

assistant

agent noteThe overhead view shows the cap has shifted left and now lies almost sideways. I’m approaching this new location with the gripper turned to close across the cap rather than along it.

move_to

left_x0.3760left_y-0.0430left_z0.0250left_yaw-1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1581, 1.235, 0.8146, -0.4557, 0.5152, 0.4786, 0.9952, -0.0181, 0.8223, 0.6231, -0.4644, -0.0261, -0.0341, 0.9993] state[eef_state]: left_x=0.3336 left_y=-0.0313 left_z=0.1443 left_yaw=-0.5406 left_pitch=-0.1607 left_roll=-0.0401 left_gripper=0.9952 right_x=0.2869 right_y=0.003 right_z=0.164 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.001 right_gripper=0.9993 state[joint_eff]: [0.2803, -5.0393, 9.6479, 1.3504, 0.5104, 0.2125, -0.0464, -0.0205, -1.7299, 10.1949, 1.746, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.376,"left_y":-0.043,"left_z":0.025,"left_yaw":-1.57},"note":"The overhead view shows the cap has shifted left and now lies almost sideways. I’m approaching this new location with the gripper turned to close across the cap rather than along it."})

tool

executing move_to over 8 steps (0.8s)

step 90

assistant

agent noteThe cap’s body is aligned with the wrist-camera centerline but still ahead of the fingertip contact row. I’m sliding toward it along its length and completing the descent.

move_to

left_x0.3900left_y-0.0750left_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2329, 2.1849, 1.4677, -0.997, 0.7914, 1.6436, 0.9962, -0.0181, 0.8288, 0.6243, -0.466, -0.0265, -0.0341, 0.9993] state[eef_state]: left_x=0.3864 left_y=-0.0338 left_z=0.0199 left_yaw=-1.4128 left_pitch=-0.2002 left_roll=-0.0919 left_gripper=0.9962 right_x=0.2872 right_y=0.0031 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.1125 right_roll=0.0013 right_gripper=0.9993 state[joint_eff]: [-0.7043, -12.3692, 5.7504, -0.7253, 0.5446, 0.232, 0.0952, -0.1026, -1.7162, 6.9265, 1.707, -0.0513, -0.0024, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":-0.015},"note":"The cap’s body is aligned with the wrist-camera centerline but still ahead of the fingertip contact row. I’m sliding toward it along its length and completing the descent."})

tool

executing move_to over 4 steps (0.4s)

step 94

assistant

agent noteThe cap’s thick body now spans the actual finger contact row, centered between the jaws. I’m closing at this corrected grasp point.

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]: [0.1406, 2.1998, 1.3857, -0.8505, 0.8463, 1.5845, 0.9963, -0.0181, 0.8299, 0.6239, -0.4652, -0.0265, -0.0345, 0.9993] state[eef_state]: left_x=0.3838 left_y=-0.0757 left_z=0.0024 left_yaw=-1.457 left_pitch=-0.1509 left_roll=-0.0829 left_gripper=0.9963 right_x=0.2873 right_y=0.0031 right_z=0.1622 right_yaw=0.0009 right_pitch=-0.1133 right_roll=0.0011 right_gripper=0.9993 state[joint_eff]: [-0.4034, -9.8256, 3.2479, 0.2711, -0.359, -0.3004, -0.0024, -0.3214, -1.265, 7.0085, 1.663, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s thick body now spans the actual finger contact row, centered between the jaws. I’m closing at this corrected grasp point."})

tool

executing move_to over 10 steps (1.0s)

step 104

assistant

agent noteThe fingers stopped slightly apart this time, consistent with a thin object between them. I’m lifting a few centimeters to confirm the cap comes off the table.

move_to

left_z0.0850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1238, 2.1998, 1.3716, -0.746, 0.8539, 1.4876, 0.0477, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993] state[eef_state]: left_x=0.3974 left_y=-0.0811 left_z=-0.0004 left_yaw=-1.4069 left_pitch=-0.1462 left_roll=-0.0651 left_gripper=0.0477 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.0342, -9.9214, 4.2872, 0.2808, -0.1294, 0.0806, 1.3797, -0.0479, -1.3744, 6.9949, 1.6239, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.085},"note":"The fingers stopped slightly apart this time, consistent with a thin object between them. I’m lifting a few centimeters to confirm the cap comes off the table."})

tool

executing move_to over 6 steps (0.6s)

step 110

assistant

agent noteThe cap is off the table and the gripper opening remains consistent with holding it. I’m raising it to a safe carrying height and moving it inward, leaving room for the right arm to pick up the pen.

move_to

left_x0.3850left_y-0.2000left_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.1238, 2.1017, 1.4834, -0.9829, 0.8417, 1.4887, 0.0528, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993] state[eef_state]: left_x=0.3951 left_y=-0.08 left_z=0.059 left_yaw=-1.4118 left_pitch=-0.1594 left_roll=-0.0912 left_gripper=0.0528 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.1846, -13.2581, 7.5145, 0.2906, 0.4957, -0.0269, 1.0232, -0.3487, -1.265, 7.1863, 1.6337, -0.0464, -0.0855, -0.0171] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_y":-0.2,"left_z":0.19},"note":"The cap is off the table and the gripper opening remains consistent with holding it. I’m raising it to a safe carrying height and moving it inward, leaving room for the right arm to pick up the pen."})

tool

executing move_to over 11 steps (1.1s)

step 121

assistant

agent noteThe pen remains diagonally on the table to the right of the held cap. I’m bringing the right gripper above its barrel and rotating the jaws across the pen.

move_to

right_x0.3850right_y0.2300right_z0.1300right_yaw0.6500right_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]: [-0.1795, 1.9491, 1.6577, -1.0756, 0.7887, 1.0725, 0.0538, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993] state[eef_state]: left_x=0.3804 left_y=-0.1927 left_z=0.154 left_yaw=-1.4388 left_pitch=-0.1983 left_roll=-0.1566 left_gripper=0.0538 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.3487, -13.8598, 9.0598, 0.6667, 0.4762, -0.0611, 1.033, -0.3487, -1.2103, 7.1726, 1.619, -0.0171, -0.0513, -0.0122] 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":0.385,"right_y":0.23,"right_z":0.13,"right_yaw":0.65,"right_gripper":1},"note":"The pen remains diagonally on the table to the right of the held cap. I’m bringing the right gripper above its barrel and rotating the jaws across the pen."})

tool

executing move_to over 19 steps (1.9s)

step 140

assistant

agent noteThe pen is nearly centered in the right wrist view, with its writing tip pointing away from the jaws. I’m lowering onto the rear portion of the barrel so the tip stays exposed for capping.

move_to

right_x0.4030right_y0.2200right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.9442, 1.6623, -1.0828, 0.7731, 1.0561, 0.0538, 0.4644, 1.5612, 0.9253, -0.1005, -0.1326, -0.1219, 0.9993] state[eef_state]: left_x=0.3805 left_y=-0.1906 left_z=0.1551 left_yaw=-1.4248 left_pitch=-0.2135 left_roll=-0.1615 left_gripper=0.0538 right_x=0.3741 right_y=0.2176 right_z=0.1142 right_yaw=0.6217 right_pitch=-0.171 right_roll=0.0084 right_gripper=0.9993 state[joint_eff]: [-0.0615, -9.5932, 5.6957, 0.696, 0.4811, 0.1441, 1.033, 0.335, -6.8855, 9.0735, 1.7118, 0.0317, -0.0171, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.403,"right_y":0.22,"right_z":0.005},"note":"The pen is nearly centered in the right wrist view, with its writing tip pointing away from the jaws. I’m lowering onto the rear portion of the barrel so the tip stays exposed for capping."})

tool

executing move_to over 8 steps (0.8s)

step 148

assistant

agent noteAt table height the barrel sits slightly to the right of the jaw centerline. I’m making a small sideways correction before closing, while keeping the tip clear.

move_to

right_x0.4110right_y0.2010right_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0855, 0.762, 1.0554, 0.053, 0.4408, 1.8988, 0.8345, 0.2798, -0.152, -0.1474, 0.9993] state[eef_state]: left_x=0.3803 left_y=-0.1891 left_z=0.1533 left_yaw=-1.4222 left_pitch=-0.225 left_roll=-0.1622 left_gripper=0.053 right_x=0.3937 right_y=0.2193 right_z=0.0041 right_yaw=0.6302 right_pitch=-0.2156 right_roll=0.0113 right_gripper=0.9993 state[joint_eff]: [-0.2393, -10.0718, 6.106, 0.6764, 0.4225, -0.0366, -0.0806, -0.9778, -8.3761, 5.3538, 0.8962, -0.232, 0.5153, -0.022] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.411,"right_y":0.201,"right_z":-0.015},"note":"At table height the barrel sits slightly to the right of the jaw centerline. I’m making a small sideways correction before closing, while keeping the tip clear."})

tool

executing move_to over 2 steps (0.2s)

step 150

assistant

agent noteThe arm did not complete the sideways correction while touching the table. I’m lifting just enough to free the fingertips and finish centering over the barrel.

move_to

right_x0.4140right_y0.1930right_z0.0250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7586, 1.0554, 0.053, 0.4099, 1.9381, 0.8444, 0.3496, -0.1864, -0.1783, 0.9993] state[eef_state]: left_x=0.3803 left_y=-0.1887 left_z=0.1529 left_yaw=-1.4214 left_pitch=-0.2284 left_roll=-0.1618 left_gripper=0.053 right_x=0.4074 right_y=0.2166 right_z=0.0034 right_yaw=0.6436 right_pitch=-0.1706 right_roll=0.0033 right_gripper=0.9993 state[joint_eff]: [-0.0752, -10.0718, 6.0923, 0.5983, 0.359, -0.0562, -0.0171, -1.894, -6.188, 5.5863, 1.0574, -0.1197, 0.0611, -0.0073] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.414,"right_y":0.193,"right_z":0.025},"note":"The arm did not complete the sideways correction while touching the table. I’m lifting just enough to free the fingertips and finish centering over the barrel."})

tool

executing move_to over 2 steps (0.2s)

step 152

assistant

agent noteThe pen moved to the left of the jaw centerline during the freed sideways motion. I’m splitting the correction to bring the narrow barrel between the fingers.

move_to

right_x0.4040right_y0.2160right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.757, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.374, -0.1989, -0.2108, 0.9993] state[eef_state]: left_x=0.3805 left_y=-0.1885 left_z=0.1527 left_yaw=-1.4209 left_pitch=-0.2297 left_roll=-0.1609 left_gripper=0.053 right_x=0.4205 right_y=0.2034 right_z=0.0029 right_yaw=0.6291 right_pitch=-0.1535 right_roll=-0.0169 right_gripper=0.9993 state[joint_eff]: [-0.1983, -10.1402, 6.0103, 0.6129, 0.3443, -0.0562, -0.0171, -0.0889, -7.3094, 5.2718, 1.2527, -0.1832, 0.0904, -0.0073] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.404,"right_y":0.216,"right_z":0.005},"note":"The pen moved to the left of the jaw centerline during the freed sideways motion. I’m splitting the correction to bring the narrow barrel between the fingers."})

tool

executing move_to over 2 steps (0.2s)

step 154

assistant

agent noteThe barrel is within the jaw opening at table height, although slightly off-center. I’m closing now to capture it and will verify by lifting before moving toward the cap.

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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7551, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.3744, -0.1989, -0.2142, 0.9993] state[eef_state]: left_x=0.3806 left_y=-0.1883 left_z=0.1525 left_yaw=-1.4204 left_pitch=-0.2315 left_roll=-0.1603 left_gripper=0.053 right_x=0.4206 right_y=0.2034 right_z=0.003 right_yaw=0.6309 right_pitch=-0.1531 right_roll=-0.0196 right_gripper=0.9993 state[joint_eff]: [-0.212, -9.9624, 6.0376, 0.6129, 0.3785, -0.0562, -0.0122, 0.0342, -7.1316, 5.0803, 1.2039, -0.1099, 0.1392, -0.0073] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The barrel is within the jaw opening at table height, although slightly off-center. I’m closing now to capture it and will verify by lifting before moving toward the cap."})

tool

executing move_to over 10 steps (1.0s)

step 164

assistant

agent noteThe right gripper stopped at a small nonzero opening around the pen, and its tip is visible beyond the fingers. I’m lifting to confirm the pen is securely held.

move_to

right_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7486, 1.055, 0.053, 0.3679, 1.9591, 0.8562, 0.3832, -0.2035, -0.218, 0.0465] state[eef_state]: left_x=0.3809 left_y=-0.1875 left_z=0.1517 left_yaw=-1.4184 left_pitch=-0.2375 left_roll=-0.1585 left_gripper=0.053 right_x=0.4215 right_y=0.2046 right_z=0.0047 right_yaw=0.6365 right_pitch=-0.1439 right_roll=-0.022 right_gripper=0.0465 state[joint_eff]: [-0.0068, -10.1128, 6.188, 0.5739, 0.486, -0.0708, -0.0171, -0.1026, -9.1692, 5.1077, 1.4383, -0.0415, 0.0659, 1.5556] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.095},"note":"The right gripper stopped at a small nonzero opening around the pen, and its tip is visible beyond the fingers. I’m lifting to confirm the pen is securely held."})

tool

executing move_to over 6 steps (0.6s)

step 170

assistant

agent noteThe pen is lifted, but too little barrel extends beyond the fingers for safe cap insertion. I’m setting it down briefly so I can regrasp nearer its rear end and keep the two grippers farther apart.

move_to

right_z-0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7357, 1.0554, 0.053, 0.3679, 1.7683, 0.968, 0.0731, -0.2043, -0.2184, 0.0523] state[eef_state]: left_x=0.3815 left_y=-0.1859 left_z=0.1502 left_yaw=-1.415 left_pitch=-0.2495 left_roll=-0.1539 left_gripper=0.053 right_x=0.4217 right_y=0.2048 right_z=0.0754 right_yaw=0.6376 right_pitch=-0.1511 right_roll=-0.0197 right_gripper=0.0523 state[joint_eff]: [-0.3214, -10.1128, 6.2017, 0.5788, 0.4762, -0.0611, -0.0122, -0.3761, -10.8923, 8.1299, 1.4823, -0.105, -0.0171, 1.033] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.005},"note":"The pen is lifted, but too little barrel extends beyond the fingers for safe cap insertion. I’m setting it down briefly so I can regrasp nearer its rear end and keep the two grippers farther apart."})

tool

executing move_to over 6 steps (0.6s)

step 176

assistant

agent noteThe pen is resting on the table again. I’m opening the right gripper before sliding the grasp toward the back of the barrel.

move_to

right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0866, 0.7303, 1.0554, 0.053, 0.3679, 1.9533, 0.8669, 0.347, -0.2146, -0.2184, 0.0571] state[eef_state]: left_x=0.3816 left_y=-0.1852 left_z=0.1495 left_yaw=-1.4136 left_pitch=-0.2547 left_roll=-0.1529 left_gripper=0.053 right_x=0.4192 right_y=0.2057 right_z=0.0046 right_yaw=0.6468 right_pitch=-0.161 right_roll=-0.0096 right_gripper=0.0571 state[joint_eff]: [-0.1846, -10.0991, 6.0786, 0.6032, 0.3834, -0.022, -0.0171, -0.253, -6.9812, 4.4103, 1.0623, -0.0122, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.6},"note":"The pen is resting on the table again. I’m opening the right gripper before sliding the grasp toward the back of the barrel."})

tool

executing move_to over 6 steps (0.6s)

step 182

assistant

agent noteThe released pen remains in place with its tip pointing forward-left. I’m moving about seven centimeters back along the barrel to expose more of the pen for capping.

move_to

right_x0.3600right_y0.1690right_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]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7284, 1.0554, 0.053, 0.3679, 1.9663, 0.8627, 0.3805, -0.2184, -0.2245, 0.5951] state[eef_state]: left_x=0.3817 left_y=-0.185 left_z=0.1493 left_yaw=-1.413 left_pitch=-0.2563 left_roll=-0.1519 left_gripper=0.053 right_x=0.4212 right_y=0.2072 right_z=0.0036 right_yaw=0.6526 right_pitch=-0.1445 right_roll=-0.0165 right_gripper=0.5951 state[joint_eff]: [-0.2803, -10.1538, 6.0376, 0.6667, 0.3883, -0.0415, -0.0122, -0.0615, -10.4, 5.641, 1.3016, -0.0659, 0.0269, -0.2027] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.169,"right_z":0.035},"note":"The released pen remains in place with its tip pointing forward-left. I’m moving about seven centimeters back along the barrel to expose more of the pen for capping."})

tool

executing move_to over 5 steps (0.5s)

step 187

assistant

agent noteThe rear barrel is within the open jaws, slightly right of center. I’m lowering at this rear grasp point with a small lateral correction.

move_to

right_x0.3690right_y0.1610right_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.945, 1.6611, -1.0863, 0.7128, 1.055, 0.053, 0.3252, 1.6863, 0.622, 0.326, -0.2401, -0.2455, 0.5963] state[eef_state]: left_x=0.3825 left_y=-0.183 left_z=0.1473 left_yaw=-1.4085 left_pitch=-0.2711 left_roll=-0.1476 left_gripper=0.053 right_x=0.365 right_y=0.1712 right_z=0.0266 right_yaw=0.6401 right_pitch=-0.1547 right_roll=-0.014 right_gripper=0.5963 state[joint_eff]: [-0.0068, -10.0308, 6.0376, 0.5934, 0.4811, -0.0659, -0.0171, -0.6769, -7.2684, 5.7368, 1.7118, -0.1343, -0.1636, 0.105] 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":{"right_x":0.369,"right_y":0.161,"right_z":-0.015},"note":"The rear barrel is within the open jaws, slightly right of center. I’m lowering at this rear grasp point with a small lateral correction."})

tool

executing move_to over 3 steps (0.3s)

step 190

assistant

agent noteThe rear section of the pen now crosses the finger contact row near the centerline. I’m closing the right gripper around that section.

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]: [-0.1791, 1.9476, 1.6611, -1.0882, 0.7055, 1.0554, 0.053, 0.2955, 1.8168, 0.5964, 0.4992, -0.2676, -0.2737, 0.5967] state[eef_state]: left_x=0.3825 left_y=-0.182 left_z=0.1453 left_yaw=-1.4078 left_pitch=-0.2793 left_roll=-0.1493 left_gripper=0.053 right_x=0.3732 right_y=0.1662 right_z=-0.0001 right_yaw=0.6476 right_pitch=-0.1325 right_roll=-0.024 right_gripper=0.5967 state[joint_eff]: [-0.1846, -9.853, 6.0103, 0.6667, 0.398, -0.0269, -0.0171, -0.7726, -5.012, 3.6581, 0.9304, -0.0904, 0.0513, 0.0366] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The rear section of the pen now crosses the finger contact row near the centerline. I’m closing the right gripper around that section."})

tool

executing move_to over 6 steps (0.6s)

step 196

assistant

agent noteThe pen is held near its rear, leaving its tip well exposed. I’m lifting and turning the pen toward the cap, while refreshing the cap arm’s holding pose to counter its slow sag.

move_to

right_z0.1900right_yaw1.5700left_x0.3850left_y-0.2000left_z0.1900left_yaw-1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1791, 1.948, 1.6611, -1.0885, 0.7025, 1.0554, 0.053, 0.2943, 1.8256, 0.5922, 0.5388, -0.2741, -0.2749, 0.0467] state[eef_state]: left_x=0.3826 left_y=-0.1816 left_z=0.1448 left_yaw=-1.4071 left_pitch=-0.2824 left_roll=-0.149 left_gripper=0.053 right_x=0.3764 right_y=0.1678 right_z=0.0026 right_yaw=0.6513 right_pitch=-0.106 right_roll=-0.0302 right_gripper=0.0467 state[joint_eff]: [-0.212, -10.1812, 6.2701, 0.6032, 0.3199, -0.0171, -0.0171, -0.1846, -8.0342, 5.3538, 1.3553, -0.0464, 0.0024, 1.1697] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.19,"right_yaw":1.57,"left_x":0.385,"left_y":-0.2,"left_z":0.19,"left_yaw":-1.57},"note":"The pen is held near its rear, leaving its tip well exposed. I’m lifting and turning the pen toward the cap, while refreshing the cap arm’s holding pose to counter its slow sag."})

tool

executing move_to over 13 steps (1.3s)

step 209

assistant

agent noteBoth objects are lifted, with the pen tip pointing toward the cap. I’m bringing them closer while leveling both tools; the grasp points will remain well separated.

move_to

right_x0.3750right_y0.2850right_z0.2000right_yaw1.5700right_pitch0.0000right_roll0.0000left_x0.3850left_y-0.2000left_z0.2000left_yaw-1.5700left_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]: [-0.2096, 2.0911, 2.0327, -1.4311, 0.7059, 1.1881, 0.053, 0.0715, 1.9266, 1.6917, -1.0687, -0.8593, -1.3666, 0.0522] state[eef_state]: left_x=0.3836 left_y=-0.1951 left_z=0.183 left_yaw=-1.5455 left_pitch=-0.3004 left_roll=-0.1739 left_gripper=0.053 right_x=0.4022 right_y=0.1665 right_z=0.1821 right_yaw=1.4725 right_pitch=-0.1256 right_roll=-0.1001 right_gripper=0.0522 state[joint_eff]: [-0.6359, -9.388, 8.5128, 0.3443, 0.4567, 0.1294, -0.0171, -0.6496, -9.812, 6.612, 0.0415, -0.7497, -0.0659, 1.0281] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.375,"right_y":0.285,"right_z":0.2,"right_yaw":1.57,"right_pitch":0,"right_roll":0,"left_x":0.385,"left_y":-0.2,"left_z":0.2,"left_yaw":-1.57,"left_pitch":0,"left_roll":0},"note":"Both objects are lifted, with the pen tip pointing toward the cap. I’m bringing them closer while leveling both tools; the grasp points will remain well separated."})

tool

executing move_to over 11 steps (1.1s)

step 220

assistant

agent noteEach wrist camera now sees the other object: the pen tip is approaching the cap, but their axes are slightly offset. I’m correcting the sideways and height mismatch while closing the gap by about two centimeters.

move_to

right_x0.3850right_y0.3020right_z0.1850right_yaw1.5700right_pitch0.0000right_roll0.0000left_x0.3850left_y-0.2000left_z0.2000left_yaw-1.5700left_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]: [-0.1471, 2.0094, 1.758, -1.1812, 0.9241, 1.2842, 0.053, 0.3264, 1.9427, 1.6772, -0.8825, -0.9005, -1.0744, 0.0522] state[eef_state]: left_x=0.384 left_y=-0.1958 left_z=0.1735 left_yaw=-1.5573 left_pitch=-0.07 left_roll=-0.0897 left_gripper=0.053 right_x=0.373 right_y=0.2762 right_z=0.1877 right_yaw=1.5739 right_pitch=-0.0445 right_roll=-0.0073 right_gripper=0.0522 state[joint_eff]: [0.3487, -14.1607, 6.3521, 0.7839, 0.7448, 0.1148, -0.0171, 0.2803, -10.0034, 7.8564, 0.9109, -0.7595, 0.2271, 1.0281] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.385,"right_y":0.302,"right_z":0.185,"right_yaw":1.57,"right_pitch":0,"right_roll":0,"left_x":0.385,"left_y":-0.2,"left_z":0.2,"left_yaw":-1.57,"left_pitch":0,"left_roll":0},"note":"Each wrist camera now sees the other object: the pen tip is approaching the cap, but their axes are slightly offset. I’m correcting the sideways and height mismatch while closing the gap by about two centimeters."})

tool

executing move_to over 3 steps (0.3s)

step 223

assistant

agent noteThe pen tip is now very close to the cap, with a small remaining lateral offset visible in both wrist views. I’m making a millimeter-scale alignment correction and a short approach, not forcing the parts together.

move_to

right_x0.3920right_y0.3100right_z0.1900right_yaw1.5700right_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]: [-0.1444, 1.9942, 1.7489, -1.1584, 0.9512, 1.285, 0.053, 0.3561, 1.9804, 1.6829, -0.8173, -0.9024, -1.0153, 0.0522] state[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1813 left_yaw=-1.5578 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3778 right_y=0.2923 right_z=0.1786 right_yaw=1.572 right_pitch=-0.0326 right_roll=0.011 right_gripper=0.0522 state[joint_eff]: [-0.1846, -12.9573, 6.0786, 0.7839, 0.7888, 0.149, -0.0122, 0.6632, -10.0171, 8.841, 1.1453, -0.6911, 0.1441, 1.0281] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.392,"right_y":0.31,"right_z":0.19,"right_yaw":1.57,"right_pitch":0,"right_roll":0},"note":"The pen tip is now very close to the cap, with a small remaining lateral offset visible in both wrist views. I’m making a millimeter-scale alignment correction and a short approach, not forcing the parts together."})

tool

executing move_to over 2 steps (0.2s)

step 225

assistant

agent noteThe pen and cap look laterally aligned, but the right grasp has sagged slightly below the cap. I’m raising the pen a little and advancing one centimeter to start the insertion.

move_to

right_x0.3920right_y0.3200right_z0.2070right_yaw1.5700right_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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7921, -0.9024, -0.9981, 0.0522] state[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1732 right_yaw=1.5691 right_pitch=-0.0298 right_roll=0.017 right_gripper=0.0522 state[joint_eff]: [-0.0479, -13.1624, 6.1333, 0.7448, 0.7497, 0.1294, -0.0073, 0.0889, -10.865, 8.3487, 1.1941, -0.6569, 0.1538, 1.0281] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.392,"right_y":0.32,"right_z":0.207,"right_yaw":1.57,"right_pitch":0,"right_roll":0},"note":"The pen and cap look laterally aligned, but the right grasp has sagged slightly below the cap. I’m raising the pen a little and advancing one centimeter to start the insertion."})

tool

executing move_to over 3 steps (0.3s)

step 228

assistant

agent noteThe right arm did not track the last small command, so I’m not repeating it. I’ll use the less-extended left arm to bring the cap gently onto the aligned pen tip.

move_to

left_x0.3850left_y-0.2130left_z0.1900left_yaw-1.5700left_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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0522] state[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0522 state[joint_eff]: [0.0342, -13.1487, 6.0786, 0.7009, 0.7595, 0.1441, -0.0073, 0.212, -10.865, 8.5128, 1.1844, -0.6618, 0.1832, 1.0232] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_y":-0.213,"left_z":0.19,"left_yaw":-1.57,"left_pitch":0,"left_roll":0},"note":"The right arm did not track the last small command, so I’m not repeating it. I’ll use the less-extended left arm to bring the cap gently onto the aligned pen tip."})

tool

executing move_to over 2 steps (0.2s)

step 230

assistant

agent noteNeither tiny approach changed the measured pose, and the tip remains visible at the cap entrance. I’m making one slightly larger, slow cap-side approach, watching for resistance rather than increasing force.

move_to

left_x0.3850left_y-0.2350left_z0.1900left_yaw-1.5700left_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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9977, 0.0571] state[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5689 right_pitch=-0.0297 right_roll=0.017 right_gripper=0.0571 state[joint_eff]: [-0.1436, -13.1624, 6.3521, 0.7106, 0.7399, 0.1392, -0.0073, 0.0342, -10.8786, 8.3624, 1.1746, -0.6667, 0.1929, 1.0281] approver: 1 step(s) modified (delta_clamped). 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":0.385,"left_y":-0.235,"left_z":0.19,"left_yaw":-1.57,"left_pitch":0,"left_roll":0},"note":"Neither tiny approach changed the measured pose, and the tip remains visible at the cap entrance. I’m making one slightly larger, slow cap-side approach, watching for resistance rather than increasing force."})

tool

executing move_to over 4 steps (0.4s)

step 234

assistant

agent noteThe cap arm is also holding its pose without a rise in contact load, suggesting a control or reach limitation rather than insertion resistance. I’m slightly relaxing the wrist angle and lowering the cap toward the pen’s measured height to try a reachable alignment.

move_to

left_x0.3850left_y-0.2200left_z0.1800left_yaw-1.4800left_pitch0.0400left_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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9508, 1.285, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0571] state[eef_state]: left_x=0.3848 left_y=-0.1976 left_z=0.1814 left_yaw=-1.5578 left_pitch=-0.0393 left_roll=-0.0642 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0571 state[joint_eff]: [0.1983, -13.1624, 6.3521, 0.7741, 0.7497, 0.1441, -0.0122, 0.1299, -10.865, 8.3761, 1.199, -0.6667, 0.188, 1.0281] 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":0.385,"left_y":-0.22,"left_z":0.18,"left_yaw":-1.48,"left_pitch":0.04,"left_roll":0},"note":"The cap arm is also holding its pose without a rise in contact load, suggesting a control or reach limitation rather than insertion resistance. I’m slightly relaxing the wrist angle and lowering the cap toward the pen’s measured height to try a reachable alignment."})

tool

executing move_to over 3 steps (0.3s)

step 237

assistant

agent noteThe wrist-angle change restored motion. The cap is now slightly low and off to one side of the pen tip, so I’m correcting those offsets during a short, controlled insertion approach.

move_to

left_x0.3800left_y-0.2300left_z0.1950left_yaw-1.4800left_pitch0.0400left_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]: [-0.1715, 1.9121, 1.5246, -0.8944, 0.9417, 1.137, 0.053, 0.3645, 1.9987, 1.6787, -0.8165, -0.9016, -1.0031, 0.0605] state[eef_state]: left_x=0.3776 left_y=-0.2067 left_z=0.1571 left_yaw=-1.4986 left_pitch=-0.0286 left_roll=-0.0652 left_gripper=0.053 right_x=0.3759 right_y=0.2955 right_z=0.1692 right_yaw=1.5743 right_pitch=-0.0412 right_roll=0.0412 right_gripper=0.0605 state[joint_eff]: [-1.2376, -12.7658, 7.2547, 0.696, 0.7985, -0.1148, -0.0171, -0.0752, -10.8923, 7.0085, 1.3455, -0.4371, 0.022, 0.8376] approver: 1 step(s) modified (delta_clamped). 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":0.38,"left_y":-0.23,"left_z":0.195,"left_yaw":-1.48,"left_pitch":0.04,"left_roll":0},"note":"The wrist-angle change restored motion. The cap is now slightly low and off to one side of the pen tip, so I’m correcting those offsets during a short, controlled insertion approach."})

tool

executing move_to over 3 steps (0.3s)

step 240

assistant

agent noteThe exposed writing tip has disappeared into the cap, which suggests insertion has started. I’m making one final short seating motion while keeping the grippers more than ten centimeters apart.

move_to

left_x0.3750left_y-0.2450left_z0.2000left_yaw-1.4800left_pitch0.0400left_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]: [-0.2001, 1.8973, 1.4986, -0.791, 0.9356, 1.0275, 0.053, 0.3664, 1.9987, 1.6768, -0.8181, -0.8948, -1.0027, 0.0629] state[eef_state]: left_x=0.3828 left_y=-0.2191 left_z=0.16 left_yaw=-1.4641 left_pitch=-0.0126 left_roll=-0.0656 left_gripper=0.053 right_x=0.3754 right_y=0.2955 right_z=0.1676 right_yaw=1.5732 right_pitch=-0.0482 right_roll=0.0425 right_gripper=0.0629 state[joint_eff]: [-1.5111, -13.9556, 8.0479, 1.0525, 0.7692, -0.1441, -0.0122, -0.1983, -10.8923, 6.653, 1.0574, -0.5153, -0.0366, 0.6227] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.245,"left_z":0.2,"left_yaw":-1.48,"left_pitch":0.04,"left_roll":0},"note":"The exposed writing tip has disappeared into the cap, which suggests insertion has started. I’m making one final short seating motion while keeping the grippers more than ten centimeters apart."})

tool

executing move_to over 3 steps (0.3s)

step 243

assistant

agent noteThe tip remains covered and the parts are aligned, with no sign of a forceful jam. I’m releasing the cap from the left gripper so I can check whether it stays attached to the pen.

move_to

left_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2104, 1.8751, 1.4986, -0.7811, 0.9318, 0.9951, 0.053, 0.3664, 1.9987, 1.6764, -0.8303, -0.8948, -1.0061, 0.0657] state[eef_state]: left_x=0.3813 left_y=-0.2227 left_z=0.1691 left_yaw=-1.4551 left_pitch=-0.007 left_roll=-0.0611 left_gripper=0.053 right_x=0.3734 right_y=0.2947 right_z=0.1666 right_yaw=1.5756 right_pitch=-0.0526 right_roll=0.0515 right_gripper=0.0657 state[joint_eff]: [-0.841, -12.6701, 7.9795, 1.0672, 0.696, -0.0024, -0.0122, -0.3624, -10.8513, 6.4479, 1.072, -0.4469, 0.0073, 0.5983] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.6},"note":"The tip remains covered and the parts are aligned, with no sign of a forceful jam. I’m releasing the cap from the left gripper so I can check whether it stays attached to the pen."})

tool

executing move_to over 6 steps (0.6s)

step 249

assistant

agent noteThe cap did not stay attached when released; the pen tip is visible again, so the capping attempt was not successful. I’m moving the left arm clear and lowering the still-held pen toward the table rather than attempting another uncertain insertion.

move_to

left_x0.3000left_y-0.0800left_z0.2000right_x0.3500right_y0.2400right_z0.0250

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2169, 1.8751, 1.4986, -0.775, 0.926, 0.9916, 0.5953, 0.3672, 1.9987, 1.6749, -0.8349, -0.8913, -1.0061, 0.0657] state[eef_state]: left_x=0.3812 left_y=-0.2249 left_z=0.1687 left_yaw=-1.4573 left_pitch=-0.01 left_roll=-0.0565 left_gripper=0.5953 right_x=0.3725 right_y=0.2944 right_z=0.1653 right_yaw=1.5752 right_pitch=-0.0577 right_roll=0.0561 right_gripper=0.0657 state[joint_eff]: [-0.3624, -12.547, 7.9248, 0.9548, 0.735, -0.0122, -0.1001, -0.1162, -10.8786, 6.4068, 0.9548, -0.4811, -0.0269, -0.0073] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.08,"left_z":0.2,"right_x":0.35,"right_y":0.24,"right_z":0.025},"note":"The cap did not stay attached when released; the pen tip is visible again, so the capping attempt was not successful. I’m moving the left arm clear and lowering the still-held pen toward the table rather than attempting another uncertain insertion."})

tool

executing move_to over 13 steps (1.3s)

step 262

assistant

agent noteI picked up both pieces, but the cap did not remain attached after the insertion attempt and fell back onto the table. The pen is still held near table height, and the left arm is clear. I could not complete the capping reliably within this trial.

give_up

hindsightFor these thin parts, the actual finger-contact row in the wrist views was around 170–180, not the bottom edge; targeting objects near row 210 produced empty closes. Successful grasps read only about 0.05–0.066. Grasp the pen near its rear initially to leave enough exposed length for mating while maintaining gripper separation. At opposing yaw targets near ±1.57, small Cartesian commands sometimes produced no motion despite flat effort; relaxing the cap wrist yaw to about -1.48 restored movement. Explicitly refresh pitch and roll while holding, and verify cap retention after release rather than treating disappearance of the writing tip as success.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.2012, 1.7462, 1.422, -1.4174, 0.9577, 1.6474, 0.596, 0.2584, 2.0628, 1.2144, -0.4675, -0.9031, -1.1584, 0.0657] state[eef_state]: left_x=0.3103 left_y=-0.0805 left_z=0.1818 left_yaw=-1.4225 left_pitch=-0.0343 left_roll=-0.1059 left_gripper=0.596 right_x=0.3473 right_y=0.239 right_z=0.0271 right_yaw=1.5622 right_pitch=-0.0884 right_roll=0.0862 right_gripper=0.0657 state[joint_eff]: [0.1846, -10.1812, 7.2821, 0.0269, 0.6227, 0.1538, 0.0562, -0.4444, -9.265, 5.3949, 0.9109, -0.7302, -0.1783, -0.0122] 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

give_up({"reason":"I picked up both pieces, but the cap did not remain attached after the insertion attempt and fell back onto the table. The pen is still held near table height, and the left arm is clear. I could not complete the capping reliably within this trial.","hindsight":"For these thin parts, the actual finger-contact row in the wrist views was around 170–180, not the bottom edge; targeting objects near row 210 produced empty closes. Successful grasps read only about 0.05–0.066. Grasp the pen near its rear initially to leave enough exposed length for mating while maintaining gripper separation. At opposing yaw targets near ±1.57, small Cartesian commands sometimes produced no motion despite flat effort; relaxing the cap wrist yaw to about -1.48 restored movement. Explicitly refresh pitch and roll while holding, and verify cap retention after release rather than treating disappearance of the writing tip as success."})

tool

give_up: I picked up both pieces, but the cap did not remain attached after the insertion attempt and fell back onto the table. The pen is still held near table height, and the left arm is clear. I could not complete the capping reliably within this trial.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 8.388 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "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.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6025, -0.3805, -0.0196, -0.0154, 0.9996, -0.0181, 0.7925, 0.6102, -0.3759, -0.0261, -0.033, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4838, 10.5094, 1.7509, -0.0855, 0.0659, -0.0513, -0.6496, -1.2923, 9.8393, 1.7509, 0.0269, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22a8cf2bf4597c6908cc425c453e9f9b522ab408467440526a47bdc33ec5242",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e7e052b355f776b572c5939bd8b571e36178679089aba5b784761b234c7ec8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b33249e764fc919658f8f362e8207617a58578e10b43ede105fb5990b99afd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 6.683 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
  "encrypted_content": "gAAAAABqtJaLtggyPCUJ0xXUmHLpqeguyzlxLCPai58tni4a3uc04ba9QwujlcrS3wUyQHIc_1SdZFD43cFs83f7eVCXO8JEenG4oLQTsGKuOVa0FRDx7KUXryD2FdeO8iW0FWWUjZUETGn9FL63dn0uLqjfloDTke4Jkotv3FbbxwIhUWiuFW9XCUhCc75ChDBO_XjIK0Z_yLKD_xtn6LNRNC6Ih-Uf8_aN5js-Qj9Q2SXizWu2fV2CiIbcyIUm9ZXI2pVAgrSxR15pNbVO7egqxZF1IZczIr48WQ6vy1hxvYSraOtszUt2Nf_4HED1rhv0p8IIpAR7VKlSVxqoeT6Sq60fD3CV_kQOm_ICCyvjJeuKZnv-SjRfamLR_8h94ih4g4Ybl1ORa7Zy5IOfVp0V6OHoFDyZVJTMvsU88xzAPuwJudEUvf1q_m5myyF0jrVR0Qjij-ybLxeSJiXniQ99MXZGQa21CGDvOgU3iS4PG2FWdikm1OKcB3yY1JSbVeTDHFasTCfNuwaOmy_WyhRA08I4dOBbgZYA13LiQ3KNQOhgstqWLVjwuaV12KmcGdKjjT78KtKxq6LsTdBA-Bf05sqttKls3CsM5Q5nN_pnwdRC2ew0e3Jw48tgQMnB4lQq2RSp7y9qOs-bPEKRVAMZvGMlOJ8WqLVKZcMD76xC_osfvNzOVjLSgSQtfF9rrzqQQFXD72jKH3aN19GKVwU9g3TIkRArF3Mdkwm27geO8DjIOOILDSBkOyLbJV8Ow3jwoyglLXTWXdzP7BWOb_w_vhZMTJL8X0fTUSfx7sSCtMiiLzh6MnfrzmMh2Ek30zz8sMixD2p06mBsYHOAVeYtClDJ-wQOvP_yVEJ1JxNVFqDBjBAAiTpI4Wb2BBXsKyxBG2-H4HrwWOEyBXuemFlKokFdWFZNg5IZ_V9ZvOoHQT-m11uJKJBS07d7KyjcCxeSXTSNPDoVP-HSqpcbVs-q5JF56f53-r4xkI0cHPrPVYPbPHRTjH0lXy3q03qo5psYmWYYikRkHXPXKagC2dpT8TC_OQN5gS-ecH8bPqsl_Jq6b6rO8KNJP4XNJDo8cb_AHipAWAZCaE1jvvdRDk9m9GNJFTBte11U8BVQg8IT0AtrkXqKvlVCa1yvDIwt3OrSS0_E5tAkLc1crNoSjPGvjSM0WxFqTUbNeKy6gnygGlQbT91Ggg7WXRSvYOZUlIMVoNZn3rqwvdEw2Jvvwv17QDLiYBoxzCBJquoZcD7ZC1-PsVHsMZWTsLfHD6vaiC44rowCWRD8_CIdjXzi3ooWWaGHDtrU2kpWeT1QDI7ZAPPNJg_AjRmBZODVa0c_qWsCO4EYTtoVnHcufOpyXp2Covqbl2EEI7z56UJYLUvrGxCS2whvXnSziNFxhL3g8kT8m4YjOZrpnh8cQpabqFUAvEqkopH-nyWfep0PHe_xhI4hHVTipBakUSJd8cosi840RkJG1-bxpITaZeXm0v4azq5iSDAaiTOwkn_2z_Avuvjjmp0OsMizLIuC2MXYwamdJGLFLMUkOUtSAHBqW439ylRHUVMZhmcqi1eYH5LkufblNZ0T2DDt-9oRIFnoKazlRzXDrMS6a-BA2oFIXUKDWH2GGwQuCYUQ8cKm-8H0AezSwH2FEulZHKQB0Lh6y4bJM6HT5BEOg-Noqo8OChz4dwyAzY8x66xB1txQ6nvq6mY6keobWWxi4WLUGm6o4ri-2iZdwG-E9Loiw6Xt6fFOqAMiatar_fZIF0j6YS8M4gThzUpZN6kFY9hsIfRAU40baHVIBpQpMeyJcPFV57_zwqjmyousnglMhE17q1jhG__4xJmu4kTfmUKaxf79MTxVR1ZGQRr0laK-x_ZmFSqvJIsLgEDTx7EiPauBlXRNrlsp4Nr_4kmrJMoPBgiJtUV1MTywswRCMAmcpd39ykpQwopXLisqGQthwFOzjZsR2W-q4qCnRFCbbGrB5jcA69gJVIDxtaoxwvVEMWV62LIrztv7g7MRO4GPceO8v7K8LBVV96JYI1VFDL8m-vVfVHhXbFEiA7_io8UGOmdlZnIWBSQ-Fe7hmhOkhlZP3qk8gI6g80E94xx6jHr9g1OB7sLLJr5sJxXiMv598PsqfjCb2nzuwN1gVx3z9YmPejXcWJmePXQFgB-753yjb8TjUTDcLsfkOcxIzBACy-qdtciOawny2Q4MhwCn3BEDFAhKNZIxqEthYvZ8mSs7LpoaN8MpXUrg1iAHbW1FjQG4xbTaw8-Y0EOqprX7-BPs3vkDspOdKq0THPQ4-ZecHSGRTDJQl7H8f7YCJI2NE8kx9wQKHMeR5-OkyHvp7OolD18-dysqMGzLiRFxm5uLkKTVDij8KOXO_fw35g1rl1P6AO5-4zoLTuuuq16wnmLWB2rJMpqS6d2o-RbhvliqbVXtr69wk-syonhIC8NyLgQyCVylk1BbXcFVSLdbuEnsBDJnJUBCqES91PcvzFVYOV7ryCZb56MZbUNrD3YOr24p1lpPOy_N9tPFSoY2u4jHLhq6UPnQJwLlYQY3BfEfLSPlIvpsGOqRXtdJWv7MgQ9T-UqNSE3ytFL5NGZ7HCLhUqIYCQiEI8OWzH_3kvIDpXG3i0eWrTV5qwBsFMpf3SIL02rgGGcq4YWS4CCNqgi8j7F_yiFZMFjc9vRm595jYdKetVZuli_exJNb93mHZF8ICTaeThBNx5yK47OiwsYwSpnsfeifrWAUlqf2N6bsqPhcYdniLYev3BYQQ77HAcWwPmjbjtB4QC3qWj6Jnl5CcwyDxc0ZVwgj4gAv14JcwYy77qIIblU-1KGAF6gOGVW19k8iC1VPIhlbEgZncWmS-PjD4RTFLOfqt2-1D3dOsIO3ZYYBoEJd2qvUX10-v43EXsq6XvHMiUT-AHyMum13AyNMgzJfUrLQZDa7LO97rZB5GEdtRqscDdiN",
  "id": "rs_0ddfee9e42e61200016ab49684a70087d0b89385860c051107",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.15,\"left_yaw\":-0.6,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.003,\"right_z\":0.184},\"note\":\"The short black cap is left of the longer pen near the center of the table. I’m moving the left gripper above the cap, with its jaws oriented to grasp across it.\"}",
  "call_id": "call_bELWxsuDcxBRJocgpkRQ2WAt",
  "id": "fc_0ddfee9e42e61200016ab4968a6db887d0bc1db232528c79c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bELWxsuDcxBRJocgpkRQ2WAt",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.3092, 1.4677, 0.8265, -0.0322, 0.194, 0.1158, 0.9996, -0.0181, 0.7979, 0.6132, -0.3889, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1554 left_z=0.1244 left_yaw=-0.5403 left_pitch=-0.0869 left_roll=-0.0273 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -6.612, 9.7026, 2.0147, 0.3541, 0.3004, -0.0513, -0.253, -1.4701, 6.7897, 1.9267, 0.0024, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6676d8399832147c631359f2db8ff6e909953969790e4c7a7c7e507f7246d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5c959b82308bd7f73b18e2cb5af76a6878696db6afc89babe9ea61514a1027",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abe20e0641637b5eee4124a70b22764f98de2b6fa2139d987c9553b76e334f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.626 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6025, -0.3805, -0.0196, -0.0154, 0.9996, -0.0181, 0.7925, 0.6102, -0.3759, -0.0261, -0.033, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4838, 10.5094, 1.7509, -0.0855, 0.0659, -0.0513, -0.6496, -1.2923, 9.8393, 1.7509, 0.0269, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.3092, 1.4677, 0.8265, -0.0322, 0.194, 0.1158, 0.9996, -0.0181, 0.7979, 0.6132, -0.3889, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1554 left_z=0.1244 left_yaw=-0.5403 left_pitch=-0.0869 left_roll=-0.0273 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -6.612, 9.7026, 2.0147, 0.3541, 0.3004, -0.0513, -0.253, -1.4701, 6.7897, 1.9267, 0.0024, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6676d8399832147c631359f2db8ff6e909953969790e4c7a7c7e507f7246d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5c959b82308bd7f73b18e2cb5af76a6878696db6afc89babe9ea61514a1027",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abe20e0641637b5eee4124a70b22764f98de2b6fa2139d987c9553b76e334f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJaUW-0cQui6Qaf7FBLvMNa26Yah2c7iRzHw97_xSfx7-_N0Y2jBp7kJEzGTtVzThPfGZEiHzwcwGygMbhdRuLTudGjpphGer5p54Hev4HchSHNbuBZd7zpWhuusjxKjkp06izzvd8IlD3jQhwS4rH8MN0YFeOGWC73vFMCurtsgApZ6nF1CrXPvSdnHAfZHiBK181Yw0mCsKs3eUo6Ugv_imcdM5ZC1BN-3jC8-bPApZ7sfS3gQes7jsI8hrTDxylzHeK7cdI9tWb0tl8vb9Bcxu3RjkA7iPA07WnQ4Lc6pDYC7fui8ewtaRDwD8Jj3q_tAJ2dNoI8wjYsyoqwrj3dlHjlfDcNLekAq4m6TWMOXY0K7mxtgist2358N27zqKTTWBAfolkrml3LCXcjdl8oRDrEJKmPFBL3o-IGbx2TgBLz3k_Uypb4ECks9ob7X6huOaOs79WosEKPa5AVw6aClIVKzIuHHl7cquBTKs6MnkXTqXqCOjJwMvaZqNkcF36KpeMf-Ze_Qz1YFDW4RvflcK-62FTgeSc2cEDmTc4RpCPZJhNyFOe4M2Rj94MNNcvkw56NwzWyUh52S5B6tJ9Rq542mV2XFpScjxoMJ85r6AWTkAi_KrmDqji8t3OPaCGb2H9phCjCTPcR9gOhGav1f6OLg7TQR0SqrjL_Tiucc8TVFxutkVhqHenMMXkiLqgNRCLLBNNh13Pg7XJMzpbBxk0BY1WbuyiF7e5QYr9ULmulL1BKiBNyfiokSWoWm5B78GqJeZSA_doG-luCiTLzDg7eGNoCzFnC0ufLX_qMK51DYPzPtb1LwuwNcbf-QxAkqzFQpDbZXZTbCyvFzZwjcu9sJQzT0QimowNkOnur_MxRYbUBdPiOwOx9Jh9Shrdb1N0TPYzPlI0_ShxtNV3b3qbMOyZneW-qnefUzJb0gcXaAO-MfX8yOR1sKWKYTb4UiTuNJo4qv0mEsYCS0t0vU3iC0eqpaBsexH7TD2ZxmdyX-ZIoGCEt1jFcHq-oY2x1b2PWjgAEd06fmspndhFfODPZXF2Wwy4Xf8iPGQvJZL1rFQkjBjfkuKVIcmjS2HsnE9oOmNmZJkWTu5V71nkgR2XePAl5I6jqZUdz1gPlZhbGJMhorjEHMjOHk5s4eWgMd5s1sXKjb5ExawRyaGgi4n5FxpQJtDQIiqPE-3nS2jqhI5FQDrjpWrQ30sE0TbprAW_aBwqNCKfxVoMLOvgVi1uJ5sRoAkYZD7TaLRLA25yHa1sOTuzHwS0jTsO8P9I460eINGKU5HGpXuHaM9f3ZXtXYdQU9X_CHs6ubjaFGXi--0uahby2z6EN4SdQFSMnYoG3ZaEgcQYlRHyqhkxXmj5e1fNCz7Jn-_2PVyfHimFL5grv7_PLuGdQY3kIXpVcHr23MB4_dlVSw50zkmpf6jbeNXi0KQ9VgbRjSHhR9v37kCsHB79K4pleDgXK7vKRLBKpdQdVPVrqd6jVqrPd84NImU8ogIqzEmn2hmF70GchPGoampbbfKQz29qBWIrhaSgoI8AOufnOYyrhKsBc75M7GHC5MofyU1t51FohtEGA3s04xEOVhktP_m09ViDsEhsWs2wlS2ZmdTYiOK_hbu_WB-wKaJZVREg9tSJjVyRNdsdS5hdon5YsPvSLWYiTdZIG_72ZbjmhwwAoYfdMO1538ecI0imlxL7NMhHejdYlYHxKOGRx9bb8WJ-9Iag6YIgdLgdsShLuxf5xzyXcTJxFYL29MCBQYyzSQZZKGrMZmWum3kdXc_pD9R2afZrn2ymWkspyhkueltiG_YInLZCPhy9Szm8CA6grtLBm5F1YXiJA5iRI8M0eVtTqGSbXnkMl5r6E72bZRRCjhwpTuz69YBIkSAHxSZSLBEfm-bzVQ8Z2KwvZ0M5AHKiBcAkpip5nh0w36KKS7dbbqB4lE9f69moMAucsrhcsqCji-cBdO-MVaSzhC9pyWjnHAvz0uWFS8KE-2CQCRBcn-DA6pF3iMGPFLrYM2AyKqJIMEe6a-VoB-xtc_2xBumhShPylpSBvrWNIMknsP06bWC9MBPiFntSi7NPoWwfm49lYZE_ym-q2OiMbMlw10X0-CelE3DvKF_58h6Hq-O4E8KHTlMQYLTq58X2lTuhhebLbtirXKcKSYRtmTIHxLfP1m-4xwUBvA7wHN9NXhr3J-hvPtkcPmofTQz54UVJMHq6hBkf3lK5kj277Z7Q6OEZPyS32Eq5jyb2KG-CElX21K5pfh0yHiU9rYDC3ZBybYd9MBhSONbL2CgUjRqyzTSJxxseZ5oBPM3WZv6qQVpphBmmsv-2fjbzZFrTc6Tn0aGATX0mStXxDwdt6H44meUh3FqHVqxcrHZcbhD0keZR8WYlDoSH6VQjcLWC2A2nOv6DkJKWmqMgL-GyHexNU1kyQTNAh8ZoajtjbIE2WZ99z-FSukTkVcVD9ZwS5W4hh7jy5nCSbT_VJaXXCjR4I2wF0f-efLvMeBBOVVn4FY4JAGxxQgEA==",
  "id": "rs_0ddfee9e42e61200016ab4968e7db887d09fb9ee923651496d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.143,\"left_z\":0.035},\"note\":\"The cap is near the bottom of the left wrist view, slightly left of the jaw centerline. I’m correcting that small sideways offset and lowering toward it.\"}",
  "call_id": "call_MjoUHUQYvT6WqXHg2gQ4J15Y",
  "id": "fc_0ddfee9e42e61200016ab49693068887d09744fca0ce4e27b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MjoUHUQYvT6WqXHg2gQ4J15Y",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2741, 1.6749, 0.6239, 0.2901, 0.2173, 0.1329, 0.9996, -0.0181, 0.7979, 0.6132, -0.3908, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3728 left_y=-0.1406 left_z=0.0246 left_yaw=-0.5367 left_pitch=-0.1675 left_roll=-0.0505 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1809 right_yaw=0.0006 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.6222, -6.9812, 5.2991, 1.8291, 0.1441, 0.0562, -0.0171, -0.2256, -1.1692, 7.2274, 1.746, -0.0415, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20b099b379a352715ee999a05a92ead83e5827c0c598f4639be28bcf6b8009c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c86479e230df9ea12c6f5e1e015286e742c8d81616e9cbe29e3fc9d3d0714c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a61f901c63b132483ed810ede5858796ff9040c8e4ff3d8798daec6ef3928c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.16 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 10 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]: [-0.3092, 1.4677, 0.8265, -0.0322, 0.194, 0.1158, 0.9996, -0.0181, 0.7979, 0.6132, -0.3889, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1554 left_z=0.1244 left_yaw=-0.5403 left_pitch=-0.0869 left_roll=-0.0273 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -6.612, 9.7026, 2.0147, 0.3541, 0.3004, -0.0513, -0.253, -1.4701, 6.7897, 1.9267, 0.0024, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2741, 1.6749, 0.6239, 0.2901, 0.2173, 0.1329, 0.9996, -0.0181, 0.7979, 0.6132, -0.3908, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3728 left_y=-0.1406 left_z=0.0246 left_yaw=-0.5367 left_pitch=-0.1675 left_roll=-0.0505 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1809 right_yaw=0.0006 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.6222, -6.9812, 5.2991, 1.8291, 0.1441, 0.0562, -0.0171, -0.2256, -1.1692, 7.2274, 1.746, -0.0415, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20b099b379a352715ee999a05a92ead83e5827c0c598f4639be28bcf6b8009c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c86479e230df9ea12c6f5e1e015286e742c8d81616e9cbe29e3fc9d3d0714c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a61f901c63b132483ed810ede5858796ff9040c8e4ff3d8798daec6ef3928c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJaaARXjACm75JPIaYfStMMPq7bxx36-JIOGVYM3MWQzxsrn50_CUfresWNugLk8vCCDL-ci-EDkgEm0wJlpcVIyqKyfHDkhgD3rPAi0Ptvi-eMcKzIu7rBOi3sR7hFLiouFpG1N9VL7emeYX5_bBFzrq2BFy5inZhLpkchISjKEgI16jNZUugRCkPijrqds1K54VyiuipvJYaNPkThkXq3T2C3DpP01a83UpnmQKao3t7WtSwqIJ8BdayIxN2vHJbWo-6Kcnw6XVw4MG231KqQctxZRIvVRgmP67dkulpff7yNKCnKStqC9BUxkta9viFtv4nFXBKo9c6Y6_oXsND8Ym1fWodmQKetxD316SSA5ryUNvqXO8flM90FVPGOMs13B8opXJII_AmxGc2t0c64fK6X2ArR_MFk3eWDm8Lpf0T57Ljf4GLDEdC8k3hiuPhCwu3Cg_NT9su4F_sAcu2D5-_B8rUXBuy0n2pY6fcYWr_jzN8hBnrREL5MCTRzYLOXyh6jR1v1lCgl5d66L-3hF9WH_iuC9y4VzEUeuKyE2dhJhfEVw0ktvKpQTqXU34izqCA3784_0XWrYEjVMSja2Bom9zv9z-00o12Cxue5atxEcZCcIQOJfdwB-8llZiaU7bhVNsjTRD5V23w1kifhud_iLFXmAxz2Zx_huXPFH_Cp3yCG0WZ6twFXv849xg708LMOa5chPjwVegH2pQCDFLPYHdEw5aQ3W-6OgIxtT6ikISIr_Nvp3CpnmyL9XUItPUHPAsD4DKFR13DZ6y1fivlOyBtAP0F1SRbEQUsqEMp1Hoe_e_A4pr4SYFg06mqNNuSVeDdKoPpjaR_VZRlOkqIwHdZpSw-zIBpDJ0mFct2wHTNgTO7yYvHJlv0LEta72bSingqunEn7aFk3YLzvxHQ3Uv1jLgbLkuWMPMLOlT6asx9oZhsIGYW1diulVxz3n0mcD8qCPQdsFJ30wYYMZkeebf2K_drzWL2kwLNXd1kWUqTY8JdAKq0azHMbhccq-rguWU739NC_4DzYKpNI1dBLJjaZYHjXvxb4L2gRXgJLqLLUgrnndkGorqn5QN4SK9m2Bw8oDbmao8NTxTWtzLUMTwPkRR0ypxTqYWpNBcyuKXG9fHfvZgwjEPA9mQELK4GpWjqIHLWObtyVN4rGBy6AsPfJQcLD-ezq3RJXNlwNs7W2PBJdTDBSlWbQzvU1Do1oSjt_-6VHNmgOShvSUeVK4Vn9GGJPKPpEPHlOZuAddMsQE4RVbFWjnYDubfOhOHcem5ZUHCjleQzuSfCPDwBJhZcQQG8XynHw4i55nwX87DCTNoxhcx5PqnDVyaYkarLCKIJ7CrrwgtvFUD_b_mzsx81RDMw-6aG3c3kJNxcZItoW6w7rLLATsxg68n4mvMbt3tp2oFY75O4_MrTTbk7zxbXJkDXGCGm51xLAldbbxYz3uf0-5G04CJUxTBt0NAfjEnC8ObxuOjC3Q7NxUgbLs6DQeI4QRWa65pz0hR0iaQEJTlUuzMsmswxEmtSvE2a_fG16gD54AUz23ZK8jyApX8SzpVce4nOxn1k1vN9Okf5Eak2amH8xtYkHpxaeJO9OMqZLrCQQY-_LC5uTb2g5eIf9TyMoad0gfwt63zouWW4IRqvOtpbXPIgJ_qO1YPreZ1qRQ-Q9qR26CNgCv9bBI7ZCvk8nTkAGTjPFlNZohpM-Ks6B0iJUBvfj5mveRybz_X_8BHnn15aYhx_FY_Aw-Xp4RarZbq7T3njLEthMo5Dv034VVNP3_NuuQHuGJ_P2pgsQJhwtGG_yUtzW2GBp7O6-vvPe99d0Ra-c7Rp27FFl1qbp4rX9ZtRCj4_bUC-6GSAK7BDcvq8rVlstsApsbCMuXLef5Hp-gWoYE1D6_fRrvems6v6ZR6vWrNY3ckNnjJWdKdn_kVU2bl3KsyI88lALB8ryc6dd4XTD9TOPMsNyfRo6wk5Qp3eY9iUKHvnCc9LMVIE8-rp7vWr3sKuEWeNxpKF-hjl1LqBqwdMeqcdN43UsDJiDJi6YVIPgM_poTmyOfSYZhLbiZ5AbgCgJEA8CvRbB1k5B6wIP1YEG37Wjvscr5qSG3AtklOMArqmkc2bMlfqc0VwpGJu1gmrQUnidxVsN6fhjBUj69b3c=",
  "id": "rs_0ddfee9e42e61200016ab49695b57887d08361c70244e3f5bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.402,\"left_y\":-0.128,\"left_z\":-0.005},\"note\":\"The cap remains visible just left of the open jaws, so the first descent has not trapped it. I’m shifting a little forward and left while lowering the fingertips to table level.\"}",
  "call_id": "call_Yg228JrhPTWoOEyIlwZuXOyG",
  "id": "fc_0ddfee9e42e61200016ab49698dca087d085fbe143d2522b25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yg228JrhPTWoOEyIlwZuXOyG",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2195, 1.8256, 0.6735, 0.3996, 0.2401, 0.1604, 0.9996, -0.0181, 0.8009, 0.6132, -0.3927, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3991 left_y=-0.1284 left_z=0.003 left_yaw=-0.516 left_pitch=-0.1545 left_roll=-0.0428 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -6.106, 5.3128, 1.1648, 0.2369, 0.1099, -0.0171, -0.1983, -1.0735, 7.0222, 1.8144, -0.022, -0.0513, -0.0073]\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,$blob:67ec5ab222d0ef26a37e4464e2d590f17d9875eb2fa8507296082a5c1aa638c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15a986e708a6a540b33a7f512a3bfa601f94c469fe3f01390a5da698537e4ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df5d80276d2d6167039deee37b6b76da1dc313510844effd1cb02a92663017d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 3.499 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6025, -0.3805, -0.0196, -0.0154, 0.9996, -0.0181, 0.7925, 0.6102, -0.3759, -0.0261, -0.033, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0012 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2959 right_y=0.0028 right_z=0.1841 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4838, 10.5094, 1.7509, -0.0855, 0.0659, -0.0513, -0.6496, -1.2923, 9.8393, 1.7509, 0.0269, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2741, 1.6749, 0.6239, 0.2901, 0.2173, 0.1329, 0.9996, -0.0181, 0.7979, 0.6132, -0.3908, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3728 left_y=-0.1406 left_z=0.0246 left_yaw=-0.5367 left_pitch=-0.1675 left_roll=-0.0505 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1809 right_yaw=0.0006 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.6222, -6.9812, 5.2991, 1.8291, 0.1441, 0.0562, -0.0171, -0.2256, -1.1692, 7.2274, 1.746, -0.0415, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2195, 1.8256, 0.6735, 0.3996, 0.2401, 0.1604, 0.9996, -0.0181, 0.8009, 0.6132, -0.3927, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3991 left_y=-0.1284 left_z=0.003 left_yaw=-0.516 left_pitch=-0.1545 left_roll=-0.0428 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -6.106, 5.3128, 1.1648, 0.2369, 0.1099, -0.0171, -0.1983, -1.0735, 7.0222, 1.8144, -0.022, -0.0513, -0.0073]\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,$blob:67ec5ab222d0ef26a37e4464e2d590f17d9875eb2fa8507296082a5c1aa638c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15a986e708a6a540b33a7f512a3bfa601f94c469fe3f01390a5da698537e4ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df5d80276d2d6167039deee37b6b76da1dc313510844effd1cb02a92663017d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJadym46m5N43kwqWr5zQXTK4YyQlnxJpP9KKcbB4PC5-XOVXGnCLGSNyKyTpe-m5KH2sEH38CX4zPxcXmA5qOkhLhxbjdQRtdwCb4KhJTpy-xYE1Bk9UCcQKmgGEINkpXq8nPpZAql38No1RxUOxLmbP4chII5RxM6BCxbhKQF9KZsyQ6kxj6GEEVoiDT0IEdlj6yU02iBOLs1_YhWkRk-cj4qo1hyRM3SXruqgoGbUB55geLwJiZFssAAfy2VFcgjFyTkwYhDdh1UD4h3v0-FbOOtzGkMu8GKnZcfzW6nVwHnp8tcN9JVL_903joZ4H69WYqB7n6AvBg7AjEXdfDyAhuBH78FtGgjGKlo3HhTuGCt8Nk5ZBQEa6QHIM5U4qlo463Op7qhh2qPwazz0WL7nvej1XIQJJ7WA3W8t3bwoHsIHjKCBTL-3DRcyCApEAezqHMOw1Gs1VR5tXOk8BJTqW42WIJdL_uchnFgOs_1GV4MDyO8L6Wh41jZCXkC-xAVRUV232CQHy0os6b-DY7dXTijoayd2tCE0qFUsI-uJ2AY1RH_37jbE9WrgKCr6fx3BVxsYufhf399m8wdRAT5aUnBIgV7G8zX5weCbfr2z15cl26ZfIoK0tWuDmT5ABRPCTXFza3XmFUaCpGsZUVUTpnSp45b6-UCQwCv_-37dE0xTz7QEVjU54Aulv2a-H2EF-jSqVFHtgpdu6xfPei3Ier5KKZ5v0p7nt-TS2af4bwfdvmpey49lDnKH0aboc6ncOR6DjKcUtInaj1N4T3UwWUE41j9ePRre3iN2DDAhRQY5jaVjqdmsZcBvuKD5cZJ7sur2vh8YtLp-s5JlfDvBm6mXWmPG5CG2ETFHHhRRL2kg2xT_q7_2u5heSlOK_5ecKWVo6q66LjLefYhqKtI9RXEV4KvUaajmKN4o-X4oudJza8r40SvKLAklbzqkYmYLhrMiYWmFikPf2o4FWIoJDM9MAfQFYKqALJyG_LnUTrEHCzKgSh4v76uFpvCW6wrHZQUEJjRn1MaLZcnqJGsOx7Dl38yPL2n6BSkNojp4RknapYsV369cAEXDzDA7V5blALCMkZz6tKPpnM_Her0zvRdoanYjbm7RHi-lB7bkQ55lcIW0LPwhq-pywtLyPuWPM2r6KA4EKifrbNdFTPScaQ4ZkXu-3FhEJsnnw7aYnp9sCdT9ONzmA-TJMxycZJWaWtjgPQj0xQXoWg85W4ayF8uktNjyC_hTG4gzlzQicRDwJ-1LBATrC8ZKlSsSJB9ZLIGnhzgutWhGpMzg705_t7lkfMu0BZT63F175I1F3VQ=",
  "id": "rs_0ddfee9e42e61200016ab4969baff087d0bedf3f4219274d26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now centered between the fingertips at table height. I’m closing the left gripper to secure it.\"}",
  "call_id": "call_F3oIO0OK79PpECdhJPFA9kaB",
  "id": "fc_0ddfee9e42e61200016ab4969cd6d087d09e216dd6ffa44d1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F3oIO0OK79PpECdhJPFA9kaB",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2165, 1.829, 0.6811, 0.437, 0.2363, 0.1574, 0.0102, -0.0181, 0.8017, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.408 left_y=-0.1284 left_z=0.0108 left_yaw=-0.5064 left_pitch=-0.1155 left_roll=-0.0306 left_gripper=0.0102 right_x=0.2945 right_y=0.0029 right_z=0.1792 right_yaw=0.0004 right_pitch=-0.0244 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -7.5282, 4.7111, 1.2674, 0.1197, 0.0562, 0.3492, -0.0205, -1.3607, 7.0222, 1.7509, -0.0122, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fff2348253a7c4c54bd85ac6df7046a73750b368a23b456af13c5ff394e0b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb6b23bfd36c91249d13b197dc2b751ec8067b93a7f03c8bf5351b449a7c0dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfae2b6acc82a12737c4f556494afe8dd1fe24731703c8d9fa7b1a132e4be1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 12.13 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 14 changed as sent

message 18 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]: [-0.3092, 1.4677, 0.8265, -0.0322, 0.194, 0.1158, 0.9996, -0.0181, 0.7979, 0.6132, -0.3889, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3865 left_y=-0.1554 left_z=0.1244 left_yaw=-0.5403 left_pitch=-0.0869 left_roll=-0.0273 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1813 right_yaw=0.0 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -6.612, 9.7026, 2.0147, 0.3541, 0.3004, -0.0513, -0.253, -1.4701, 6.7897, 1.9267, 0.0024, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2195, 1.8256, 0.6735, 0.3996, 0.2401, 0.1604, 0.9996, -0.0181, 0.8009, 0.6132, -0.3927, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3991 left_y=-0.1284 left_z=0.003 left_yaw=-0.516 left_pitch=-0.1545 left_roll=-0.0428 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -6.106, 5.3128, 1.1648, 0.2369, 0.1099, -0.0171, -0.1983, -1.0735, 7.0222, 1.8144, -0.022, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2165, 1.829, 0.6811, 0.437, 0.2363, 0.1574, 0.0102, -0.0181, 0.8017, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.408 left_y=-0.1284 left_z=0.0108 left_yaw=-0.5064 left_pitch=-0.1155 left_roll=-0.0306 left_gripper=0.0102 right_x=0.2945 right_y=0.0029 right_z=0.1792 right_yaw=0.0004 right_pitch=-0.0244 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -7.5282, 4.7111, 1.2674, 0.1197, 0.0562, 0.3492, -0.0205, -1.3607, 7.0222, 1.7509, -0.0122, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fff2348253a7c4c54bd85ac6df7046a73750b368a23b456af13c5ff394e0b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb6b23bfd36c91249d13b197dc2b751ec8067b93a7f03c8bf5351b449a7c0dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfae2b6acc82a12737c4f556494afe8dd1fe24731703c8d9fa7b1a132e4be1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJahWIHtUgccP2OlAGYm5bo4j9mimYiqgwvc1BoIlIy9hK443Kssu94PWk9IiJLP1iKuDj6qjO8bmbcMMmkPzTsBEW2f0hug9kBawvNJul_e2LWJ2hY4x8pYpoxcGg6f25Exo5HiNXR-AVz1n6daUkgIcFn2ONytTHQpyY2xBNbYmLyYjXDfbmoUIJYslV_HuIyxCsp3xsp_KQ5nG3x3i7Jbp2LTCMOPeGXzCJFbNzrAme0-Q8WW-UB5zq-yI1INJ3x_wxRLDHobGqgu2EX-_ri0W-QQqXbR33AyCTE6yLSNo3L_Czzzw55q-ADFu2kxZrIIMcDfKlDct3rKBsapYdeDV6_6k_ePxVOSEhPWy1e8MWu7kz-hUHF2qnD_qWnAnC-CmaX0Y30RLdOYC0ooTdp6TC0jruTeypGI9-3vJ0UqCaBo338Xg7kBb_WwC4Wq00btJKdJDtBmbgcmSKdkiK9nPvsU8tj6XvcvsgzaqGi1FSo_lCZzdGKxJWAiktQrOWkUaTUasdUPJa1Llb2zG9iKcMr_2davW6_fjJMSk8LDkrvDzbMXIjqR2niTi-mpNWLxN66oGJ5A2mOtbdEI14WPf-HEpU4YA-FGPw4xSqShpq9tAD2Mf1U2C0uJYqEhZC1KOIO4UIyrYE-uLakgJF_dAqq5hT7bKAMNtiyjNQpxnBerNSOgw3mSLf00IlmtAEl033eBy5st0EtTiIptma_hrV1DwlX8UjWjlXqErTE0NxzRMSH2na5FOkbtFATeah6jf-9TtPVqIsmV6L7HFkLcYJoEFR7gNpImqW4JkqbWk6h_osGaTbExr_rKMxjPl8mlrMBRlnBdfdb4vwIPWE8t5lycdl2xv86mi_ea0gtK38j-U80zke5Ps3Iz-kHc7eMTKA5pkmWodX1LTEWx_7z5k-KU5sgDqSSiOTWOBlHdnN0NwZmYt_v8MbNbWbPleqnzPh7GPXOuunmidzLf0_0yUB5xaTPewVmlPHSa3PbPRVW5wipsSQDW2qrZvfqZavnHWEumBQV1AU6RIpkxo4SLr6HKd6ja2zYYsjXA5PAcDXj7xWUCpjjqoYuxG9yE_0s4qfInbBTuEEo6N8OWjiaF4RpKVXYljTu14Gd6ZhHH7WegqpZR2AWw-oEWt7kFy7WdUN0HBggscQgoWuCkMq6lUBE_E55qf-A4BeFudlSraTial5cQk_GnTAoAfk3WYDml9AwjX9ffDcHX5eNAtOZhBL6bql_HILw-ec2sew-xFmy_VDHUwGTQA3SbmA2ZGtF41I3vqz0gKnuOpCPsZw_gGehJv3Dhs3ZPQ_jVHDwppiECUgr4NRUxqZ9jjoxaA-fx0oI1sUVlhkbxwBwlRzd0xQQdD_DvF0zX4adgCB7-ufHf_qBy3SS9hvs9NHcNQXBknGsXa7DrrWtQhx5Q6GHM6gecrsNaz0mWeJlORK-8OG4=",
  "id": "rs_0ddfee9e42e61200016ab4969ff31087d0a377ca853fc8eabe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The gripper closed almost completely, which may mean it missed the cap. I’m lifting a short distance to check whether the cap actually moves with the jaws.\"}",
  "call_id": "call_o815sb7sw3cVKZeC6KL2kPfB",
  "id": "fc_0ddfee9e42e61200016ab496a0cca087d08cd0250239243ed0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o815sb7sw3cVKZeC6KL2kPfB",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2165, 1.66, 0.7464, 0.1905, 0.2363, 0.1558, 0.0122, -0.0185, 0.8024, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.0578 left_yaw=-0.506 left_pitch=-0.1272 left_roll=-0.0353 left_gripper=0.0122 right_x=0.2946 right_y=0.0028 right_z=0.179 right_yaw=-0.0 right_pitch=-0.0252 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.6496, 8.4718, 1.4921, 0.0708, -0.0073, 0.2027, -0.1162, -1.3744, 7.1453, 1.7363, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797ead285f22486099a56ae3f3f6fe65d18da877db4462b47ffa884996608ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1de8bb95107429aa0c168cb1227de1806c65270647be5fe7142a5d8c999685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a67d54c1ad223551e438c470e0038ebf5f94b0a517d019961f23d29d53a9c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 8.489 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 10 changed as sent

message 18 changed as sent

message 22 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]: [-0.2741, 1.6749, 0.6239, 0.2901, 0.2173, 0.1329, 0.9996, -0.0181, 0.7979, 0.6132, -0.3908, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3728 left_y=-0.1406 left_z=0.0246 left_yaw=-0.5367 left_pitch=-0.1675 left_roll=-0.0505 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1809 right_yaw=0.0006 right_pitch=-0.0175 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.6222, -6.9812, 5.2991, 1.8291, 0.1441, 0.0562, -0.0171, -0.2256, -1.1692, 7.2274, 1.746, -0.0415, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2165, 1.829, 0.6811, 0.437, 0.2363, 0.1574, 0.0102, -0.0181, 0.8017, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.408 left_y=-0.1284 left_z=0.0108 left_yaw=-0.5064 left_pitch=-0.1155 left_roll=-0.0306 left_gripper=0.0102 right_x=0.2945 right_y=0.0029 right_z=0.1792 right_yaw=0.0004 right_pitch=-0.0244 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -7.5282, 4.7111, 1.2674, 0.1197, 0.0562, 0.3492, -0.0205, -1.3607, 7.0222, 1.7509, -0.0122, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2165, 1.66, 0.7464, 0.1905, 0.2363, 0.1558, 0.0122, -0.0185, 0.8024, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.0578 left_yaw=-0.506 left_pitch=-0.1272 left_roll=-0.0353 left_gripper=0.0122 right_x=0.2946 right_y=0.0028 right_z=0.179 right_yaw=-0.0 right_pitch=-0.0252 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.6496, 8.4718, 1.4921, 0.0708, -0.0073, 0.2027, -0.1162, -1.3744, 7.1453, 1.7363, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797ead285f22486099a56ae3f3f6fe65d18da877db4462b47ffa884996608ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1de8bb95107429aa0c168cb1227de1806c65270647be5fe7142a5d8c999685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a67d54c1ad223551e438c470e0038ebf5f94b0a517d019961f23d29d53a9c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtJauFrNVvTT8xlgqyKPzyIKbpdKp3fBXqZ0RYXFyU4eCwmMp9s3fYZgayCiijcvdIvsmjtFuuKMrvRwR0Nys5h204Y-2rDwLzfFMDF3a_NDWQrJUwhwC6HcnAd09qeIXdky6O2DB7J3JG8sdZKlJgKykQBOtrBw_tDAb1HN-2pEvzL9Xa1bwnSpLf-x0j99PhiXZdeZVEgIq_izfIkVutS8UjGSCTWd1LZ6G5uTBX_Q6TZQXqi9451PkLf0vdJbDfFpGXxB5Ad7H0shKeAxlgcl7LLZ_KmHE8GjoODqo5BPH0E3GxiXLXK1onmF-uv5ilNMsD-Fd-0p3tcHls-1fFFOrQdc9wfTnFzmFFqevIE3BKc2JgiRxxCiy9__m0UCv1UgM-pRQRcFiWhEBYieIV2TG8z2piYsqKKzuG018_FPDhLggZfKNWVeQeVJ1RwbSy6t_d3NqP9C1E0pDa1buQ0Xgj4DtIaJJByo7AHlLWmefeSNaVyco1kNo2byfPedwMBjuZYnmFij0-cxgZhvVDlWYi2h6KW55z7ri3t80gxDFhbM1tIilsqBmBqDs5nVcfJr5FgK0wSqPNDOsSkUPAPuh6VS6wd7Cl0La9TFpgdOJ0UJqL2Yrks1tri0fCI9Bxp3k4RlbFjvchZGHc5ZzFym7oLj564gSkk3bum5OLVKB1WCmnKsYp_KtP8_vOnBSqMzeO4c2GuaW_z2VNHqvUf2E_XXbyBcVZ_F7mJIhm6iEIupk5SmaO5ZN8BqVSZx4cY1qRDikle5UAsJrIbYedqJ97cEyBkh7Y1ONbk__GKxEJml9uUlvZlWDLEpsFosTa7wCr6xjAmV0pQUHLVYsLDO56xIyBT-NkurVOq5cT8FiI2aVVkoeI1zVRcK7o3KdiAsjubdZf5nddE4_SJsb28xckjd2ij9ZDtb-3ZIdLwe3tD-r0hOT0AqamI2oeT6JoQSbFdj77CPmvSQwqHL0Ilgvc64hUTRE27ZRQif60GgedZW088mv5i0gQgCAEWGXjIQbUTVeQYPw9p8G7DHbtCGup_HuCsXHMua1Jy_AkeHejRSWtA-Uk39q_9tKNQd4S9GhjGqmnvtC8EWkBF7KO1CbbKVh5CZg0QDXEBZXIJAnZ8eFV2AvVFBVVBdeCEsi60qfBK0qUs79ZP6bL-XUcWh3aFX4bRgn-aktgl6o8XXoMrV39S1SLByPJr7R5G4oqZi5-mUpI47ECWriIRRIwylm49u8hB3BScyLp-rwfj4oYDJHCTZh7liqg61Zo3Oz4R0GoifVD6Vp437UmuleZa0lbarPo5mQDE2cufPi3AsSgHRC05H3hGqG7kSVFHlaKXAQ3RzA-AcHZbW2nFYF-zZWCz2wfwpulDxgH7rkDSYZRp4jvULY28lFLEApjuiGGzAF2T8gN0dWzmV6P8rnoXni7IWZ31vQ8Sh8waM0DCu3Bw2dVJAzgJRPJvonjTUMwEbvfguGDIvuh7pwesdHjWWBDm8iESkHWNGhdUfctrdS9ngvVqB8yjQQ2q92sTbrzdXbvECxBm5nhFs-QE5M1MXdI6G8CSrpWI4VKFjS6aB0yZs3IjIcwzSUXNzbrB__az0gZ7LsTLSReRtxAnIxm3P8UbReiU5T1-GM69sSXVeN0dxqoP69eMuaSzTF02ihzsKzq-HhEJXfAhDdHeCV23olAYsij64VZWUTLJ6Yd0RlX6uYaoLK3eAvKZgPv54dQm1VF4MNSxJ2auBp581iFkW2mLtFw-c92mzOHvYYkDRzd7LvRMxgAgmvi06ASFNFXO4KTn2eCxaA3xDcz-2sBcogktn6yg1sCIQb4GnEYlQj2gRqmaJRXpdza9ijVyJLux0W58Ca10kiVJC91SZsMo7EYUckuVtz6Yw3tYd0URhryKEvTVBSdte5cwhtaofbC7fGka40TX-Vdpw-R5DSCIm8tln_kbpEBF1c4_b4u-Se8YwetGlxOyUtpxAIMz1JijElws0ifSugeGVCSAy_oRqh4MIXVhvaTZ8MUeuouDBdR4-EvgdrXljAWn2QFlBntnbKrCaLKajoYwZP1bG9cGKpfhu-8Qv0oMO5ibw_wEb-06KHJrtc1B6LqEgRTRuMwelx9bNYSmYnPzr9hvqmkgTTuhRZqqlvKM2rPkZ-zN-r2FcYo9X8wriwQ4HEvjZLQNLgnCCyjfTRH6s22ifFpgpVIb4WFlbNA2FWjBoYwH8jbFBTFQKJR8G_dHJhGkEKJJtz5tgMs5ZaYafE4Nl_Gzuck4UwpRP9ybnKpgjJ38-vWN8kK57rtHZ-WUrMRFw24gOPPX198wX0EZJTYFHJaWjysTxSDqpM_OtHvRAVwnD8hPJPkq94xvqKXw3xOJ8MhojcMUktUAvVnX5rLViL0ybrTailuzsMWvYjRPGg6C4bZSd78G1liCp5H-hQGHVYti-Iyd4_aqOdXGIEMW_g4V_ZNsQCrGABWm1AdCG246wzX96zi6xjHqYxk5M1YLLj5e3ou47gQ9fVx_FMdUGXTIvTWq1036fIhebStW0DI0_jRnLGzSQSuyWSHWtCjg8icFhcpPSusUajAhswnClKgyL5l6dmDCdtyM_Jq4orJ71h2yp4zJ9utlvR2qvRp-sJlkErO2c0vRE79ouikhGGwZ-hcV4v2uzkk7JWz2ZYcpGd6L7LYBCSqfuhIffszz_aEddp5pNJCXbGjML7el1mOfVE5La1q5j3_6YIk44N6hezz-Gk74pmG7yY-jPgo0Jn2T1H8WVmzJIMlxG2vBmhdPqVXUXRAK8V6FRw57jy11aN7vnhQKVvqwpqUe2l4BqcwvMoL2MLjc8cMi7LBcIS2mp-z7VZ8Emtu_-OhwrsoMiv7NT45jKBTERY1mSU7u9d93pox7dXy7A1mtudXtg_9S_OwncSjvgQ3xZeNONOZ3QY9cIwtwTKCpJxgnstRNPM645ajO4G9sAqOxi3zl47morrFX6LLW0OBXsiNUV7GkTzO9j1AVB_EwhRoQ6sEf7nX3wCZlWiCddJIZSuKWeRklT3tPwU-IR52HFz2YnpzLUfVbQa4XFd7aT0n_nxuCgePs0X2-1kDsqiZkV2uvuCnKcBK710Q2wgEHu67c3bsp-kkl6apvU-HC6Nczzyq0grDptC16iYv4TPCx98oeooX60VRKgAJfasyr9O61bn2hHQJp5j4OH1z6nDB6RadAPlwfyA2E-H3w8txYnZM4gJEKJbqbRP4Wn0pnlW0KAHNqRcVkBqGGnoe1ypkgcD8kUq44rvuRzBRgEQGTl82L2eSlhigX-DDwQ2xbDvbE1w7lzl4Hvf-j9XBsC-tDR00FVqtmjxFnBA3E6zTRKOtBKKgx6mIwu4OVSyZKHQxocoUS9eZ4GFQa_h1qXS25i-bNXofYxf1S2IymAY0nERoAqOi4ucHg1v-7OfzA-1KImo-oYhZMmNtHnfR9t1ldQ1P01qQM4jPKBP067w5qMJu0TPDjMNfM8akeZmWvWg65dP0iIvc-YD3UPEmnLPrGCpy-21ZMvy5aQ6mTsYKaGuWioUJtWl0sDyZWhlOq9Cd89_qK3tguXVDlNO6veMLptqfROx2Z3Y2-QrBWy8hDS191Qb6QBUzsktZSHQNRglqkzoy-gQLWixI3Utg7ZAYlggAMZJvW3RUNmQY6TA2-_2t2prRwU-G9nvPiTHfe9_DCyrBrf-jwNZ_GxocfqABhjl8ntdmeip5wiWBlEv3A7H9kF-82AIpw==",
  "id": "rs_0ddfee9e42e61200016ab496a3ad2087d0998dc999f80d00fd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJauVJwyfEdsqx1E-jTwOxxypma4WVqfc1rkxmSuJWJm0Vywy-8l6ScC7kpEWfsE8OWZapO_aSpypHiOoQAzPmhfstlWbLnOPEiu4KdHEPXKVL9NBHCjMtWKA4EHu-6S_-xS_88HpC32Xu6H9i7Je2NNc6gGIhBuOcFzum3sb1PBgb-H9_gkdL8OolxMCXGGCur0q-gzFD8_wYojhyG1982YRalvLtjKtHreg5XrHc4Acpu6v_wL1t_9pnokBYVRRqk2nJdsfLbdm8A2jbMsaBd3vp4gVEq1-Pxm_rLqWx4wA5yes3gCkaJqJbv3eDvtUcnhcVQGVI3CLbFwQX-C88bnww18dkzcOaHyUqtl56WjDpt3Swi1O_rKiKelwO9ljsup66Ys2cA_dpNUmM4bAnA2b4MkV4uaCPCADO32-ls5x3yZpZFJmQEV-pThI0pi5VyqOE0AIaI4fm4W2ybeIpC9sO3utgJPu9U1o7D5zdyNijOuBApmu6H1JZHrJ2QvRrgg3jzXDbD40KOAblWD9-sbW_07mvRadYDdsSzagphwtCU79hXduEYYX_c66P6kISMZIXc0d6FO-sB2zMWJzN-Z6yZCDFL-E88iLQhcxQ4buQkEf2SbAyhlWb6Pg4EIGyqOSmDmN6zuT_Q8zqVyK3BQM1ng3McelKwjD15BgNCuWrQ9IuwXIjU1jnJWjRz9P_skDK3VTCmU0UvpQTHdjfj55lKeh3vFvrCreJd3KfgNnvU-KUscozHdvLqeD7mhaZraV3iyjsL1ID2W2L5i-KV8wCaZ7bGwcyJMvnpofTqJN9wsmDpOg1yN9UYdupoFf6J7GfpOWqj_02tNZxiTj7b5Ye5mwTuVAU0v6080pWUeADw_3TdDUL2u_IcA7_wG2uD0yEtNNBOy97EYBM9KHy6t7AHzaUZ4FaRkd-3c4b-V1GaZhYFHhmFkdvH83VCNWK11mJUGX40u8IUI1EZESOe4lAKNT0RsvIoqcQIRkKCNb7Lmx5TQDzHb8H3kdwalKoy6PuR-ryac6yjXOnCDww-ApXu0zAaWmKO-vndfzoAO7O2srXte8fKvEjj5poLuapwSdaakzaGkxjggRaYFeyK3Lfy4nScgyTNDc7xreOiDpgOpbS4yfiP4gDW4dNRzAunDLJHZTuBxigfXhmlvzijHaKuhFD6f2lToLSt4NDmtl51_gz8f9rvE4--qzvnHJea_qM07MWzdOogEqSQFrqaps_IirO_S3eV2OPNe1HinQCcSA7LZ2vD_iiy5Koj3HqVLJl5MInr98_4kpTC0oc7TtgNGQfVHAl4lWU8f96NXb0KZY7qO9hdZMWbVLhVWZB2sw9sPA8OJQK-FD8H2Kp2t1HYS5rZzHWWkqAfNkfGYMZLczHKmPtbSG7BK-c_kIJXC2WYXn10rlhgT8gdRUsWRE1twFVfXpamdPLkN4He6-pqECjPUm-l-p2WPv4tpwFKK8HuTdthwdqFKikFbWw7nQA==",
  "id": "rs_0ddfee9e42e61200016ab496ac54b487d0b3c8335ff5892b59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.075,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The opening stayed below the empty-grasp threshold, so I have not secured the cap. I’m moving clear with the jaws open to locate it again rather than repeating an uncertain close.\"}",
  "call_id": "call_1L3cI9RRYXNln5K3bcxw408c",
  "id": "fc_0ddfee9e42e61200016ab496ad4a1887d0bc09dc348d773266",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1L3cI9RRYXNln5K3bcxw408c",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0563, 1.2373, 0.7132, -0.2279, 0.3305, 0.2478, 0.9952, -0.0185, 0.8055, 0.6132, -0.3962, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3454 left_y=-0.0733 left_z=0.1289 left_yaw=-0.4748 left_pitch=-0.131 left_roll=-0.0345 left_gripper=0.9952 right_x=0.2945 right_y=0.0028 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0305 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -5.0803, 8.9094, 1.5018, 0.3199, 0.1245, -0.1197, -0.1983, -1.4427, 7.0496, 1.79, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef42d842b3b7a5ef7c664c9e0f003c67145c4ac6a8e3fdb4148a881bf1c37f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0053bd3ab99207edcb928ada681371244864ed86d32f0b339acb84d22eb68e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeb9a1a32c90b07ca8b7fcb51e70570e742de22cf12fe7aaf90ea6344cfd568",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 6.385 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 14 changed as sent

message 22 changed as sent

message 27 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]: [-0.2195, 1.8256, 0.6735, 0.3996, 0.2401, 0.1604, 0.9996, -0.0181, 0.8009, 0.6132, -0.3927, -0.0261, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3991 left_y=-0.1284 left_z=0.003 left_yaw=-0.516 left_pitch=-0.1545 left_roll=-0.0428 left_gripper=0.9996 right_x=0.2947 right_y=0.0029 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -6.106, 5.3128, 1.1648, 0.2369, 0.1099, -0.0171, -0.1983, -1.0735, 7.0222, 1.8144, -0.022, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2165, 1.66, 0.7464, 0.1905, 0.2363, 0.1558, 0.0122, -0.0185, 0.8024, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.0578 left_yaw=-0.506 left_pitch=-0.1272 left_roll=-0.0353 left_gripper=0.0122 right_x=0.2946 right_y=0.0028 right_z=0.179 right_yaw=-0.0 right_pitch=-0.0252 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.6496, 8.4718, 1.4921, 0.0708, -0.0073, 0.2027, -0.1162, -1.3744, 7.1453, 1.7363, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 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]: [-0.0563, 1.2373, 0.7132, -0.2279, 0.3305, 0.2478, 0.9952, -0.0185, 0.8055, 0.6132, -0.3962, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3454 left_y=-0.0733 left_z=0.1289 left_yaw=-0.4748 left_pitch=-0.131 left_roll=-0.0345 left_gripper=0.9952 right_x=0.2945 right_y=0.0028 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0305 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -5.0803, 8.9094, 1.5018, 0.3199, 0.1245, -0.1197, -0.1983, -1.4427, 7.0496, 1.79, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef42d842b3b7a5ef7c664c9e0f003c67145c4ac6a8e3fdb4148a881bf1c37f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0053bd3ab99207edcb928ada681371244864ed86d32f0b339acb84d22eb68e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeb9a1a32c90b07ca8b7fcb51e70570e742de22cf12fe7aaf90ea6344cfd568",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJa30Kims2tj8PIMsIpoxwH9g6QDWIiwHLL2Hh91wLSRRDPLOwU4ImpIGd1F4Vlz4COJ6xvES-vIKbUqJqHqYuWTEwUYeumSdc6lWrTgUbpDSOxJFikMFfqBNFx9cGKSfZ9j6ZOtZPPLO2Vwn08jsNI-SesniC2t2DyEsD4oFyetKa_jzP1-48aQtdVyp8JH8EdeKheMrZ4sutEYtZzpkNIkWOmXT0MX1HJLpRDnu1BgigXlxsiAnCdVqQgr8ZhWUoMYA8SdOM6Mbke2mDcUH50SJqU8-lPTTdECVJRab6i_LB8DpJ0u2XFiX0bqvlHdtVF2dmtbWxiGEeJ0030kcxnCT2qjpNj3YyLKgznTiCrKXmMl8w97HhPAPJdg4hYyxvfq8eOG0gqlcEpysnmsbBvtaZawGv7bGxAXnEUCauskzZBq01MSzl-apceCv3O18aKqURqsrDPSaBEJHgBINvLJAQLh6qkz8JIEpzvvvEi4m8F9iSXgXrOW69oSIwImNqp1LNFb6ebVnD4ywLHbdjmOZSI1NiamOpoyHIftYYZznj7atxPvZPE5C5OOkvFtlwwYS4WJGYPoXDnpcK6LA_ab8ZnRc6ltWQvwgaFSyecdlz7Ks-OmBtfX5yvOQbeM5NjCgrHqpI-D2HmjKPAWXOTQq3bxxgTasl38fSTPJhoxmSFKYG3w49zWDqe4WPrC7c3gbAPZqonVWZ3lKo7cl1BamUGjVckL18XFOW72rNNL3trFi7roUfHs9hb8weULpVAsnGzZtTDChg63lm-oYgj-5GtO-quOtMT5X7VHs4iGbGaxcpSdPHO_W_yo2JSwlO0DtCJzdjL99-3JKwmPfBrfhBSp8IreD3quPX76vVhy54FXsbB0E_NpzG3vKCzj07dbAlHjxJDxT6bPtVh8oOurm_FoNVaTz7nlT41_b_Uhm1_TPUNoECB1jiHr9r7SaTt6kWqw-kFMV5xp6RRcsI_mfgjYYkxduGTrDMY1q29jDdcr4AeLZsKprqxmcdp9WhSrgzuz2Zxh4MwtLCsU5DKzOnmbAi5QvqP2YAbMbruDxfC0mlNJGB_ReYlrgdS9_dhxEa9ucMIvgwqvI-eldjkyJc27chYiUIRozEJrsKQ8Ke7VHIJZlYCzZlFr9YytvtkroRlyzWf0dbdmXEpntqudcryDIEYmoJN6ZVmSakO7nbrVi7eq02ri5JJLn6UswlR821QxtTJxNuT2i4a3uCt3tJYc7Tx6PvJLsuMsawwl23ppij_9QhxoIN6RhelE4dC_MXwg6Ef8jrKImFVI_naa4HAfxfrBk9xcboa6kp2lToON2A-wJhCKOKYOwX81zq7T4vvE3cz592qs1LsdWrjQd2c-mYNyHhZf8YBdjyUg1ICm2QU0x-HfW0-SPyLEnXP_UuzL8xmTz5yxJpEP5X3u8auoWoE2tsrkyNyAn96kmK1zxzAtCPNMQcOSWRAwCZl1IEDCRnvAruCmHGVvqN1sjd6kkSGXiHiVIazmnvoKewuJhh7D3lLJP4Xf6zsINYAwD90K6AH3g0N6pc5T1W9MLh6dMl97xrFsBTZPqQfKYjUHoPiwYDU2klncta4vEhUksCoh_R9DSwJEPf-W3O-XJ98qXJS02AZK1KPfOvA9_k3f2qZ-03eiDtqYoF9V1T-chdTBap1JP07fdwAKcubBPr-5J_7GILIizrjpUO2XlOZMsteUjcG-hH3XQPY33UfF37P_gMn7fFaWA_mFzevs3mgJI0dkFa2z2a1_yASFu2AdfOEfB9zkvoqAXUNShljhn8t_QY5KJg4vQFUo18l44aIF5Fdwmiz8AgzRkLovBMO9mMwvaXFHwgpRzcIi2_0cV0YsD69mPBJ7iCwzFicZPZYGECxtT-HKJd9puycbUN7GAxkdcYzZiL9DZN_26HKSlTBApM6d15Kl5ge814xuoVtY5DYipB3kitta6ymTifX2MQ5RcID64vjn3ZTCEcy7LDA-65-pTghJ7qG9BBfsqr0W-2ms6BSQuGbZxV1uqqouP0WEBPT3QagSNoK_LP3xomwbbAvBwBh0KaUC5lWY1Mt7A8bLWiKEk9k6nA1qWoWgLA4Qs4DpCVPp4wEj_jrsPHZpi7ujfdRnARSXjY4I8GErIA0vOnHk_5UAobRyrAb6S9yzMReZAE19QwcWBuboKXAeiCzqXmcL-4tYerxzD_70oQaIWK0GujRMTkIiANhXxSZTYbCdA31ORP6CZTcrdPKtqDBlmRckBHhdeIwRPmEfE1D_H18xY4ZHIvq9vhBfTTNhFqlZpTRGoa_xv-CQc9xW3oKnU29Gme9HP-3NTTjbu4cpetK8lPraas9iBqx8a_w985LG2CI3cf78rSUloh_0xc-qz48yHsoLISvVjAEvKVe6olTyFKdqCS1JIq3ZVaF1NwaPXNb2ng4SXlYeqn1u7EOBVeeNYQe1_9GOIszx9VpQhSnhlDY2h_A5ENmqGzIGQqQEXshwbfK4j8kWC-ob0b7Cbf57WixPSWDL1u8N1ckMl6piujp93RQHlLWUE_Y6bd-Knzctianta2LRXQTzjswUV_lTggF8pBJwpIQoyDAWv6zzKQifmWR-DH5xmBOlD0HWChQ_QI-N--gjaJ2HZtS5rtR2nOtM2BkaYUspGaQvvbUAJpK2-rp-EnfjZuEF7xoOgCgv7ZOVZp2YhatmQj6TxQUW_-06pTZFya_xtBgq31nfgJx14ihdGDVktwHmTMiWA-kXNtFyvygpvd24jsL-4n6tSJkEbfyxnE3soEWPRknlwyvbX5VEf71gI9nIsJ3G069A7pHXYX4pvWpRRWrTNtQ6XGIS0gflncq_VL-1y2w84sUPV8M9J0cHPRkFiRLloR47R7DEBbdPp-gDi58lpgwqEJjEfKGnPVuXA1SKoabx_8Oq1J4zwLeWVWQoDlRz4hAVQOth0nPGfu7gJjSJ9wCYsyxaQtXbyc6qluJRvAo0JaYGba6Kc9e8QMPkLBm4QvkzRaanFAOVJMyT5pqq-NabEFcv-tcmpw==",
  "id": "rs_0ddfee9e42e61200016ab496b0dcb887d0a80332085c4f4385",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.072,\"left_z\":0.025,\"left_yaw\":-0.6},\"note\":\"The cap is visible again in the left wrist view, just ahead of the open jaws. I’m approaching its newly confirmed position with a smaller forward correction.\"}",
  "call_id": "call_d868JJdQ8ehAdWTAslqtQoa7",
  "id": "fc_0ddfee9e42e61200016ab496b6bd6c87d0a680678f8b4df2ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d868JJdQ8ehAdWTAslqtQoa7",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "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]: [0.0067, 1.6135, 0.5739, 0.1524, 0.4274, 0.3553, 0.9963, -0.0181, 0.8101, 0.6132, -0.411, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3534 left_y=-0.0673 left_z=0.0161 left_yaw=-0.5593 left_pitch=-0.2134 left_roll=-0.0822 left_gripper=0.9963 right_x=0.2927 right_y=0.003 right_z=0.1734 right_yaw=0.0004 right_pitch=-0.05 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -6.9128, 5.135, 1.6874, 0.3883, 0.2027, 0.0952, -0.212, -1.6479, 7.0222, 1.9316, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbd4304c6eb52ca10a24d2da394a3005585ae769533afc7a2125b082814d78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7156240f5c2adcc53245fa5456a1b42085263cd5aa703c31b14e056be5138d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c155ca05b84707f63ec6456e6ccefd51ba89365a266c9b0acb61f6f79c4487",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 4.376 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 18 changed as sent

message 27 changed as sent

message 31 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]: [-0.2165, 1.829, 0.6811, 0.437, 0.2363, 0.1574, 0.0102, -0.0181, 0.8017, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.408 left_y=-0.1284 left_z=0.0108 left_yaw=-0.5064 left_pitch=-0.1155 left_roll=-0.0306 left_gripper=0.0102 right_x=0.2945 right_y=0.0029 right_z=0.1792 right_yaw=0.0004 right_pitch=-0.0244 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -7.5282, 4.7111, 1.2674, 0.1197, 0.0562, 0.3492, -0.0205, -1.3607, 7.0222, 1.7509, -0.0122, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 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]: [-0.0563, 1.2373, 0.7132, -0.2279, 0.3305, 0.2478, 0.9952, -0.0185, 0.8055, 0.6132, -0.3962, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3454 left_y=-0.0733 left_z=0.1289 left_yaw=-0.4748 left_pitch=-0.131 left_roll=-0.0345 left_gripper=0.9952 right_x=0.2945 right_y=0.0028 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0305 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -5.0803, 8.9094, 1.5018, 0.3199, 0.1245, -0.1197, -0.1983, -1.4427, 7.0496, 1.79, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 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]: [0.0067, 1.6135, 0.5739, 0.1524, 0.4274, 0.3553, 0.9963, -0.0181, 0.8101, 0.6132, -0.411, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3534 left_y=-0.0673 left_z=0.0161 left_yaw=-0.5593 left_pitch=-0.2134 left_roll=-0.0822 left_gripper=0.9963 right_x=0.2927 right_y=0.003 right_z=0.1734 right_yaw=0.0004 right_pitch=-0.05 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -6.9128, 5.135, 1.6874, 0.3883, 0.2027, 0.0952, -0.212, -1.6479, 7.0222, 1.9316, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbd4304c6eb52ca10a24d2da394a3005585ae769533afc7a2125b082814d78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7156240f5c2adcc53245fa5456a1b42085263cd5aa703c31b14e056be5138d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c155ca05b84707f63ec6456e6ccefd51ba89365a266c9b0acb61f6f79c4487",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJa-sgHEFDCaItkhpOkM7ghpP9hS7Ebr-A9qq7rLSNUA3Z3LJV1P_4A-8ShHxwZZTod0-H-oiembe32vhacDEqXMn3Oxyc_xzwlzN9TQ57a0Q6YrKW5v2B1_n5he1xeSW-Ymx7JfEEuKx8lri0vdIHXpgg364R1nhxXUdQOZRO7WkacFcVa2uwOZceXYF-BkCAVNziG6k6Tsbez7ItMtqPCcpQtj3z-xy2iyBc40Eay7ZCXGs7etk9J0hX1cQxymjFZczbJo48mWRwszmfKviYZPeS9CCAOfwVlwRCZjwgviwsGKJi6AHqxtJJOkL3q9hUKO2jFcwG_qNY00yEaB9rEw5BrOdY7I-3cm8oTqwCGi_cer0hqkxkzuXRE2oc-T7_clPg5SaQK-Cx-1fTdxULxAMq5i5-4VnvLMEgiHv2M1TiCnQfJzdNQd9CH7FltYsNaBx6roohVDeOCeV8sNAB2L9ICQFzsHQEzHVbW-jAGd6cK_yQZnCJ0htVkcy0UQU0snew3dAtJnbSG8J9-6mUCAzw4ALPm74wabrcD_QB_W55UkrAbvchp-46xzDsfx-bIL7gBxYYngJbPYL-2wb6uWwzWB8IyY52s4X-Bp8oAGNtyhuuwKliTwS6QIMJ7z-plZPwDPAjagsnCR2E24jNY8gmauIvhUagIw33N_ugEAI2-CqbFRAfywmNRsL5sfN3WihB9PeifSSQk7S6zo6YDtYI_1cj33IGQR12mYftxZHFoPojSYmSNwr4M1XY7de06j5SK9MTC8TDG4hyzK0Dv9jSX12HoZ8dydtD09cTDu0NzVjxHISaIiLQ9G5C0xwNNHrYRfm0J7FCdwMo6MjtPQ9dHxgTIQ0amHFsYRPdikr7FLhsVlB1MmRW0ys6RcF9dgjscqVfVrfEw3HKEY1yra9Nh9cjjopNM-HSrvYdRUlvnZRGJVFdp7ZAd2xJiRmqWae-eJ1glWcJOQxTf10dfad2Hi4BXNfHdBvP1_AxXNVfrSs8ioYVG9SKMNyTrtV-_uZvyjWPvKLmkeyNYseyOf4jDtkoyIEzROAO_COlwhC-NtKg3Np3NfYfUaVr9UhG2FRQxP9T9PyCXYdtArShthLyKfck5_b8xpV_7gCVktTGbpZMBRM_U3gmPVB_rHmzBIUdECC44J-u0A0YBLqp8lt4uLRGwh7OJS4u_4sFYFH_vQv_mEp8Va75Nn4NCVu_eakxYBZZ6pA0OXCsw0zmq9gkvr4c3Wr_hBmZhu5Zp0kihcNDAEfsZ_3Qjdk-KbJLheTB7QV9Uqnf6UUP0h4Yfa6UZCl3iWKPkj0qTw064FZy6z1dIrdos9mTftdcvYofLpcOzBxg2-cM8rtda6g38XN6HILZeQpt1ADVMSbqlHSSt8Tj-Yn-CpLOeMf_0A0405Pubp_z85T0nIPtQyidN5InyoLrEOvrw6qQjGwzLZYBjN-fWWHZ5C3JWlfsiL9l0QX1Rt_kxKE8C8-1Ac6LJH75joOaH7PddNSbOiBh3GACh0KnQtvnoZ2tiB1cQXFrxiO4XS1VEaK1Uq1dclr88vE9VUktryV4DjshVvNuJR8wZR3olsP15ZEpgqCS7dHlF767kuWzBzUUTw3XJAX_ju572QP971kUneclWwOlMJ2KbBQvzNiuUQXKE4IDpYLccv2CweZBeM5-L1hxZY_IQS9S8E8FnH98wVwGX3hXglpLSi_3heVEHY4rLGxYaxKFj4WTsM7Su2MUzNkBCNfBpm1MAWPc_iGIJgV6-XZF_2gtS6DdSMFgfDkfYpAoCx3nU7soN9a4bHmlHq3MGgYBGewx3EIvdwAbKADUp8pv1_r1XZXJDJ-fh6fTquLRvoEXCjLWHi2GpAInuNw7PQQgbQxfhrLrks1Z1k5foiTmggsrw8gs-fC-uO0msUpP_4dl1Zn63uByR1Sr80nwws5dlwcjsFdi5mYAovxAFwb4E1gb5UM0Pw9jxljQiwJBa-N7EelXjwOrLgxLqlW6ZdjjbNGDYCRmQGLuFRbi5ETuawyo_de0Z74XAmPj_ti_dVx8NrZYlpcUtMbE0H7hdb9vUJ382UDu8JSIsA3o6sdqi8oCPOdGmdHs_imG-KKn6_6IhYWxBZetNvN2C4duKu381pw7doszCUiYkRlN_43fNDEB03UrKGdlBkbp3g0_bS5kCVQL9H_O0WZMIFFBD_hyTHcnKReT2uF49WhSn360nqKMnrwHcRez3VeckgzPJzRrbMgilBsTwdpOCrFj9mYa4ofioHfVtFe6T24CinlHwdScmcUpWCEBbj6X_zIV6GAXXyaLtJBX5BAcKISMA7o5HnXw==",
  "id": "rs_0ddfee9e42e61200016ab496b9bdc887d09608ead65bf83cc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":-0.092,\"left_z\":-0.015},\"note\":\"At low height the cap is still ahead of the fingertips, not underneath them. I’m advancing about four centimeters along the tool direction and lowering the remaining distance to the table.\"}",
  "call_id": "call_smvrjxsZmN8CcabduLanqgHH",
  "id": "fc_0ddfee9e42e61200016ab496bdf4fc87d0a9f1c8536d682321",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_smvrjxsZmN8CcabduLanqgHH",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0696, 1.8305, 0.6975, 0.3248, 0.3935, 0.3176, 0.9963, -0.0181, 0.8139, 0.6132, -0.4137, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4017 left_y=-0.0923 left_z=0.0022 left_yaw=-0.5806 left_pitch=-0.1599 left_roll=-0.0467 left_gripper=0.9963 right_x=0.2926 right_y=0.003 right_z=0.1719 right_yaw=0.0004 right_pitch=-0.0564 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -5.9692, 4.6291, 0.6716, 0.0317, -0.1441, -0.0024, -0.1573, -1.6479, 7.0085, 1.707, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fe099a044dfa4f2ccbdb32331a04867484983ef011ef9fc0267fd4cf3a3858",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4e99e3fa7246f9274cc8aa8f8f6722807693b07cf49c63052d1b40a2802325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b392b14de5908e577dee4e7559bc09eb869232f01bbf89dbe1146938d317bb6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 6.488 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 22 changed as sent

message 31 changed as sent

message 35 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]: [-0.2165, 1.66, 0.7464, 0.1905, 0.2363, 0.1558, 0.0122, -0.0185, 0.8024, 0.6132, -0.3939, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.0578 left_yaw=-0.506 left_pitch=-0.1272 left_roll=-0.0353 left_gripper=0.0122 right_x=0.2946 right_y=0.0028 right_z=0.179 right_yaw=-0.0 right_pitch=-0.0252 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.6496, 8.4718, 1.4921, 0.0708, -0.0073, 0.2027, -0.1162, -1.3744, 7.1453, 1.7363, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 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]: [0.0067, 1.6135, 0.5739, 0.1524, 0.4274, 0.3553, 0.9963, -0.0181, 0.8101, 0.6132, -0.411, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3534 left_y=-0.0673 left_z=0.0161 left_yaw=-0.5593 left_pitch=-0.2134 left_roll=-0.0822 left_gripper=0.9963 right_x=0.2927 right_y=0.003 right_z=0.1734 right_yaw=0.0004 right_pitch=-0.05 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -6.9128, 5.135, 1.6874, 0.3883, 0.2027, 0.0952, -0.212, -1.6479, 7.0222, 1.9316, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0696, 1.8305, 0.6975, 0.3248, 0.3935, 0.3176, 0.9963, -0.0181, 0.8139, 0.6132, -0.4137, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4017 left_y=-0.0923 left_z=0.0022 left_yaw=-0.5806 left_pitch=-0.1599 left_roll=-0.0467 left_gripper=0.9963 right_x=0.2926 right_y=0.003 right_z=0.1719 right_yaw=0.0004 right_pitch=-0.0564 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -5.9692, 4.6291, 0.6716, 0.0317, -0.1441, -0.0024, -0.1573, -1.6479, 7.0085, 1.707, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fe099a044dfa4f2ccbdb32331a04867484983ef011ef9fc0267fd4cf3a3858",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4e99e3fa7246f9274cc8aa8f8f6722807693b07cf49c63052d1b40a2802325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b392b14de5908e577dee4e7559bc09eb869232f01bbf89dbe1146938d317bb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJbDYmcp13Jnh35hrdTNbcW4iZyw75ksMD8xRdLsodQAvYfeM-8Vp3v_mAM66wSjMOXIVgnCHosreBvuYU-9veajPIofKKCagEfQLvvie60BAYi-U4G91-lPVQ9SPWXNh7szMSj1ij78X5STuxbOPMbiYxqT0ZIJdkQgXx_hHgRM-_v8q34g_YELKzqmc4Dq6csUgDerAdN5BlCCezIdGBIrXZ2sc8SVsvq4aIyjcNIpPngZP6TUDTuOJl_okwf1rL6Z1sMHAAOWC9AIZW-_E58gPyR5l2pObsBvOoQm9Vk-m4DeuxJjMfKsnm0zzmcxzuRDxGQKnkPm04a5Faj6YrNK4-5nCX1sPFTEmm-yIzMVnXSbRC6c1X0VyCzgtEcRIZ3noo0d6t_KtMNP2lVgCOV368CsH0W2ROW4kCfzsPEFoj2QRFcIVWPEgEs8sMUHIFC3aAH9TBsR9DaOFMFLjjlnU6oVjYCgSLWBnqIgje-MCxUX4BcuKmI2FzatOSN-RCqFhBwQLa4wNntDd2717G8qMbGMSPxp66aTkGX6rZZL11abtQpGIJs7mjTBqsiNzEqmqBaOex7kjO6iC-HLxV8abXh6wKUFcuKvkMAza4_XQkJa3NpOCITJKqZrv1EW0kvg4MPpYgntFAIq-2WX44gmNIAk7EkiYIslWRtjSHT0aZfmb8I1Ahlb37VVij9iUB09EqnaMTpThsB_zzWFr03frCcpDFiAS0hsAtxFaj3hIpqC7aF1xI-4xdiRhym-eP8AdxoR-B4q2FBm9hEm6Udcb4N7UafN_jrzEp3Zw7HEfTim2GwUNNtNPeISCcXUL2DRdUELljkeTBIZu6RiQvu8tVMd-4HNZOtys9OHEk_llUe0oYZwy0b8bRCghgTfGyh7mqFKFspoA2NJgvEHC2EMRAAcnp_73TZIxTT4mVYKV7pQjRFuY59ceAPlXv4DX0dcghlxe3Y1nItIx6smcu9SbWERX-HRdOibFT3oBaMSISH8PzFByNIIUsPjsWERXy7gxrNyXCexm7mUD2PoL9dYzkG5sj_ak9vA0LiQEN8Zym49SGe6tr2xRnCxWATPIteE4vFHQn5SOgGDDadlr2DLUmXX944RJgyq-ksojQjU8NXH79yKnt7nhp5UgRYo6PfbyHyDXYdHpNZKlMScS53HtTIfTFNlcsFXRdDei0LO0gyGJea0VoXXr82HGv_OL4mG6B7-p22lgHIxlClnwuI2SeI7J3hkQj4QU9l7K2TsWanET-J-13xF4XQ2D0vctYYxFdgxO0cW6dlPfBWL8MMPSjeV-7Ax2dhdKkZ3B6s1_kwio5Qu0TExFVZElQ5PEmSxzeL2IQ2LPf-_IjwQ-8TWYBrY0T8gVC6qkTrZTzYVsLRAUbIBuK8kzHMRf3V-9QRT1meeO0MLrdmImugOkvqlkYQwohiiE5d2XyiY4Now23_uu6dW0hEiIVA7xqeNTNthO56Y0MVzdxqVp6rxb8yJVl38wUrfK2uxDISPiwdlhp1zCZW8PLa9GzecGm37c_6htMb6kVmFLTGyXqzNfN3DAGK8Ac7tWR3kuV9wWFQi119eH6CC4PnetgN63HAwCxJSKWNo4b5CJLlMaIgvZ3laTKm66KYXghmT5ERTHI2F85QIHa3zug6k8-xJ12ZH_x0kIYd1JIaQU4tIsAzrW30U_iW8GR0sLjkX3epH-t5NmJI=",
  "id": "rs_0ddfee9e42e61200016ab496c08af087d09cfa793f6d2f0af8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now lies in the center of the jaw opening and the fingertips are at table level. I’m closing gently through the normal gripper command to grasp it.\"}",
  "call_id": "call_mvUJofoIyEIyJrgziH1XR7kj",
  "id": "fc_0ddfee9e42e61200016ab496c267b487d0b23563a48da9ff83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mvUJofoIyEIyJrgziH1XR7kj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0727, 1.8465, 0.7021, 0.3401, 0.3935, 0.3161, 0.0089, -0.0181, 0.8139, 0.6132, -0.4129, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.4039 left_y=-0.0937 left_z=-0.0001 left_yaw=-0.5825 left_pitch=-0.1566 left_roll=-0.046 left_gripper=0.0089 right_x=0.2927 right_y=0.003 right_z=0.172 right_yaw=0.0006 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -9.3197, 4.4923, 1.3455, 0.0806, 0.0024, 0.3883, -0.3077, -1.1556, 7.0085, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9abdf2304a398ebed4ad716fbc8a475db042e19c20edaf3c537dd0212ec3821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1772c6a435d08d078a7620f07b8d65890c54f47215a78c4e6a6c662b80e6131d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b153eb0f5b533f0e5cbcb56d9fb9efd8e3d17ad568d7175cf0d307ca12b12fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 10.97 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 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]: [-0.0563, 1.2373, 0.7132, -0.2279, 0.3305, 0.2478, 0.9952, -0.0185, 0.8055, 0.6132, -0.3962, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3454 left_y=-0.0733 left_z=0.1289 left_yaw=-0.4748 left_pitch=-0.131 left_roll=-0.0345 left_gripper=0.9952 right_x=0.2945 right_y=0.0028 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0305 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -5.0803, 8.9094, 1.5018, 0.3199, 0.1245, -0.1197, -0.1983, -1.4427, 7.0496, 1.79, -0.0415, -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"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0696, 1.8305, 0.6975, 0.3248, 0.3935, 0.3176, 0.9963, -0.0181, 0.8139, 0.6132, -0.4137, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4017 left_y=-0.0923 left_z=0.0022 left_yaw=-0.5806 left_pitch=-0.1599 left_roll=-0.0467 left_gripper=0.9963 right_x=0.2926 right_y=0.003 right_z=0.1719 right_yaw=0.0004 right_pitch=-0.0564 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -5.9692, 4.6291, 0.6716, 0.0317, -0.1441, -0.0024, -0.1573, -1.6479, 7.0085, 1.707, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0727, 1.8465, 0.7021, 0.3401, 0.3935, 0.3161, 0.0089, -0.0181, 0.8139, 0.6132, -0.4129, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.4039 left_y=-0.0937 left_z=-0.0001 left_yaw=-0.5825 left_pitch=-0.1566 left_roll=-0.046 left_gripper=0.0089 right_x=0.2927 right_y=0.003 right_z=0.172 right_yaw=0.0006 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -9.3197, 4.4923, 1.3455, 0.0806, 0.0024, 0.3883, -0.3077, -1.1556, 7.0085, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9abdf2304a398ebed4ad716fbc8a475db042e19c20edaf3c537dd0212ec3821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1772c6a435d08d078a7620f07b8d65890c54f47215a78c4e6a6c662b80e6131d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b153eb0f5b533f0e5cbcb56d9fb9efd8e3d17ad568d7175cf0d307ca12b12fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0ddfee9e42e61200016ab496c6268c87d0ad9d4987c2a51895",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.035,\"left_z\":0.16,\"left_gripper\":1,\"right_z\":0.184},\"note\":\"The second closure also reads empty. I’m clearing the cap for an overhead check; the wrist images suggest it was behind, rather than between, the actual finger contact points.\"}",
  "call_id": "call_oQlEyk575IckPgPST5NjTQXm",
  "id": "fc_0ddfee9e42e61200016ab496c9a07487d0a77fb78e992c1a69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oQlEyk575IckPgPST5NjTQXm",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "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]: [0.1581, 1.235, 0.8146, -0.4557, 0.5152, 0.4786, 0.9952, -0.0181, 0.8223, 0.6231, -0.4644, -0.0261, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3336 left_y=-0.0313 left_z=0.1443 left_yaw=-0.5406 left_pitch=-0.1607 left_roll=-0.0401 left_gripper=0.9952 right_x=0.2869 right_y=0.003 right_z=0.164 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -5.0393, 9.6479, 1.3504, 0.5104, 0.2125, -0.0464, -0.0205, -1.7299, 10.1949, 1.746, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66b607adf35c9a487e513abb45d683d7988afb6de3976231543d50387cb66f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09e8fec243f0ae420f615506fadf37740b0debd0a77bff73689c921754ad0fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989dc123fed8c643428723d44d3008c3378570a2ecef9457bd937f8e45416caf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 5.115 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 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]: [0.0067, 1.6135, 0.5739, 0.1524, 0.4274, 0.3553, 0.9963, -0.0181, 0.8101, 0.6132, -0.411, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.3534 left_y=-0.0673 left_z=0.0161 left_yaw=-0.5593 left_pitch=-0.2134 left_roll=-0.0822 left_gripper=0.9963 right_x=0.2927 right_y=0.003 right_z=0.1734 right_yaw=0.0004 right_pitch=-0.05 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -6.9128, 5.135, 1.6874, 0.3883, 0.2027, 0.0952, -0.212, -1.6479, 7.0222, 1.9316, -0.0464, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0727, 1.8465, 0.7021, 0.3401, 0.3935, 0.3161, 0.0089, -0.0181, 0.8139, 0.6132, -0.4129, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.4039 left_y=-0.0937 left_z=-0.0001 left_yaw=-0.5825 left_pitch=-0.1566 left_roll=-0.046 left_gripper=0.0089 right_x=0.2927 right_y=0.003 right_z=0.172 right_yaw=0.0006 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -9.3197, 4.4923, 1.3455, 0.0806, 0.0024, 0.3883, -0.3077, -1.1556, 7.0085, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1581, 1.235, 0.8146, -0.4557, 0.5152, 0.4786, 0.9952, -0.0181, 0.8223, 0.6231, -0.4644, -0.0261, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3336 left_y=-0.0313 left_z=0.1443 left_yaw=-0.5406 left_pitch=-0.1607 left_roll=-0.0401 left_gripper=0.9952 right_x=0.2869 right_y=0.003 right_z=0.164 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -5.0393, 9.6479, 1.3504, 0.5104, 0.2125, -0.0464, -0.0205, -1.7299, 10.1949, 1.746, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66b607adf35c9a487e513abb45d683d7988afb6de3976231543d50387cb66f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09e8fec243f0ae420f615506fadf37740b0debd0a77bff73689c921754ad0fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989dc123fed8c643428723d44d3008c3378570a2ecef9457bd937f8e45416caf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJbX6hy9rL0R08MmjLofEB7kz2yx3DSfPjRHxwzkm3uAF2bmFNwYmtempXtqkrZwDbARLorPhf_e1Tb_HfYk24AgS-SNvb6GmMRhEJLRvJRyBZA4wvFRB-tZSsEuTbVAWbRYsXKdpHltwn1c5yEWAQxapleiOBTmXzDD4stpYr-Grvvm0-qR80aBhLvPZ6MRJ3yiIwKKychKp0U61Hjf_yftdUc_XFYp8DV7HXtg7HIM5RdnfvXHrltKVqGJr8P1HKpVb_YF0XSJMtT3IzLwHPHfPnSO3RRQ8StkbW98Dw7q8zDa6cFqOmCY9c_64DO5I7LlwY8hrOzK-OEmO8gYROIDtyhYiwXmit30RcM3tjGrcagYqaIKIVImEk-3tClbna7NJdGPLKnAoyLJh9tG3UUWXj_v5vUGZ48SIpqJG_NcxPVb3AgSoXzHWgd9_AkwQyr4HYxVEBKnqMZ-vGidGZT3MguNDyuICfUmq-oNW7r9hbPAflv8NFQKxIJCw6L8HWUGsP1-Yp6S--6Nwzb4UWnDGVWyc7X4CKiRCtJ3IIvo0TV4yJVigxIO7Gg3dTj-UX5D1QfXcPfpLFpdwrpbvLzHtJUWstIDbQeqr25luKXlcmo1dlQxiUBNm_ITKfzes84FiarAYCJ1Pfn6e3eqWhPn9AY2YB1WB5q-YHj36T1UEMqsJsTSYTpkqrV5mZtiiRTZvni2q6Q_6OrJQI3EEQd8PCl1SJqHqDFlCXgecwrjZe85J9CVP4XEsaxqh9lWZONIRG1lv-X7IeNMHHIJH1488LBfIQq-nM5kn5LZtSFDYoqwAqkAQI2Qpa4adnvDxTLBwUXT0Am4Yvm2o77Hcl_esd5JdUE7TUjHe2Aj2YiQ_VA-JGvoh5adDW-XFiQtj69d9Sc5T-h3quGv4W_LgsesvIqQGBRPTCayn3cP0FHcM_43N4lGwoTHjnOurGableSHxRZ-gycy7Toz9Zz1BWAN00RJBdtRhNxTFf6Qk39caO3Y1b4kLrZkHPOzQaCG2_PkVURYaZtyFk6_mpNasof_i_WRbggRBgGV8C0iN6xbPr33e7t8cZuJioSqdqWGJv9WyjHbFdhV0l3mTLh1E86CKkB7HFcg5TIChD-yczpLoUC1DQ1PfDhp5NlktWvlKVYD75QrfI3ByIdmg9WjrmdonabhWP7ErYoVsXw5Dxo_i9g0iHUWFrWudkmBIZoEA79TZVrVaYU4zfUUlzoQMZxnxaFPRA1QHkc4NYBAmdtKTiZ2J6wmSIwe0yeHmRJYSGKE55BdurWb1O5r_ROZNF1nR1lkzlvW6LhYvOUtobuNPvKcOAhNR6zBXxr_IID20qR4ur2wJNl4zi0bwQjJxIPiUloH7ek4Z_tCfAX5XyefwxialtRaLk-u-seEG-KWuBKuzT_8n5Vrv0l5xykHnn8j2ZzUZvku_duOghNvFimC4EySDsKaopo2r9lY0RprGl59sYXhCgISmeXCyQD1CpdYqk7qisX-zVoX3NqgzDchBENsIEPXAgHvXEyp0wq8bmDDcpn4COC2equ9q1zdWy1FYSfiz0fmf6XKa5M6G_Eb47A7s2XrdmO5KGY987NTJj39NID71xO1A2R2IrHf-qHukK2_JTWcWRlXZz-zhVdK9WIN1XCQ14XqiwLCBYgXJykI3Qe_o6i8k6YpTg1hymcIcNVygFrbINbPqOCwz6GaJGr3nI1gGlHcj_74adwjlrTwYztjGJn8PnEnDFadgzJWySFsNpmKLmwqeWjqEbB5McehHfr94OW7wOdDxL6ZRGcWEalD-ipAAODo2LiDE9m8IjHTZyLgKVZ0xjhBxKRvbdcdr7cNrRVZImplKpHSmzYoAxsZ6pSff5cCTPuwmecMZ3F6PxKt59zP2OYcgUniJbMEUMy2EHaLWyAeTOAC63TTLTt2YHKtSWBhkNyEcwgvufmNkKXOIXU6ePUKtfLWxDI3mZQMHZ0znYrJMdybXBvo9vXspz22pC0MvnSrqMqPPcJwuQx2RsgN8nAy5zwLk0N7mpku1bLRJnvUF36DpB-lvUgLPB9wtf5MiQkSm2AZcZ-BAelBDN2PKqFeFd-4WkPgeHd7xYP_6PXLvmRiPSdiAA7GAcq1ZI6G5RVW2kDnLswpdZmFGvv9R9czAVTyi0oMfSbSB2NPQ0LFyy37aokmo7NcSoN9l3I6VpWYYphjZjkz-BkbJD26mvHQ_EArwdCWuHoITG5x9qwN_8LB1JHH_55bxAoldtrNQXc0SMsfTy6nJyFfkqVlD7yrorWxcjS9QpVtseq3SDn1kTuiXC5YXEAGUKYM6Lr9mBMoqE8gg-BlSN_fKz3o_hNa9Wh7DtB9_l0fwT2EEfCpbhyBfj4l1Q7JMTV1jPAufnz4rChMVFO63-Vo-UnKpgflqmPdtxIJuUYAoQvwxkvHJ3ANmvahCdy3sdu4rSKF4K85PYnC0gwyc6AynLryoIXvcRuVfhsGX_tCgpdLkmg95oxJHnpvgiC5BfUFuWFcuoVyeUY1y_c-dHqmJUyJPi_Km9BcPzmybkaMo_tlYvLHaI9J2y9Dwy5s8uIjQ0iAyJxHBR_4aVbxYrMg3olxOv6VUggPBZCERxviNI-b3vydtqorw-yASNKpzhioZBihpHXD4nhb-EGn2O1XpINubaVQFjOSkRcptE1o8Wp7K-89AV3LD-c_IOIkvpL3pjAXjBlX0x-7W7kzrViWvPE2Np06IFLxph4oETuXgFjF878zvw00BHoQMTMDtCPMx3zyIQ5xraY_1cOmBYRd7FzXybY0gMsDw4vPyx5tcdVUJn-NoIicYkBrtXlHIL81QRYoaGeK72MeoJ0otNuuTKVZI84nu8tWWdtd7bu2pT_EdsLSiXEXwp-YKd6YcMtvBEwQUXhGI4iXP7byznk7CZYsyznD0LM5qSr78ARe_ZuDbb8DA-uP5nN-2yMtlsIBYYoegQdrTIAQJI0o810a7NkfeWs3DsBss-rB_XVHSyw4ZevapnPiOU2X5SGN4M3foAHUJnhqUwInZa14h_bEIjFxIMpwK5cqn5A0kXIk-USuXW4V35E5qHun",
  "id": "rs_0ddfee9e42e61200016ab496cefc7087d0a93250d0b92c2edd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.376,\"left_y\":-0.043,\"left_z\":0.025,\"left_yaw\":-1.57},\"note\":\"The overhead view shows the cap has shifted left and now lies almost sideways. I’m approaching this new location with the gripper turned to close across the cap rather than along it.\"}",
  "call_id": "call_5tFzh9lwgO6HuBlDQdFgjJWX",
  "id": "fc_0ddfee9e42e61200016ab496d5ed5087d0a77f9f487143de42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5tFzh9lwgO6HuBlDQdFgjJWX",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "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]: [0.2329, 2.1849, 1.4677, -0.997, 0.7914, 1.6436, 0.9962, -0.0181, 0.8288, 0.6243, -0.466, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3864 left_y=-0.0338 left_z=0.0199 left_yaw=-1.4128 left_pitch=-0.2002 left_roll=-0.0919 left_gripper=0.9962 right_x=0.2872 right_y=0.0031 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.1125 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -12.3692, 5.7504, -0.7253, 0.5446, 0.232, 0.0952, -0.1026, -1.7162, 6.9265, 1.707, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e955f2f8d1c5c718fccb4a84fdc3c1067055d2e23194d769b473b88e992b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a745ecffcd74152457a08871d9e61fc0b3093cf239b074580c0e906f001430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4928fda07d190e8a8bd0509d6b0e5bbcaf2eca6b5cd60c742c1b836a4adc34e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 2.814 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0696, 1.8305, 0.6975, 0.3248, 0.3935, 0.3176, 0.9963, -0.0181, 0.8139, 0.6132, -0.4137, -0.0265, -0.0338, 0.9993]\nstate[eef_state]: left_x=0.4017 left_y=-0.0923 left_z=0.0022 left_yaw=-0.5806 left_pitch=-0.1599 left_roll=-0.0467 left_gripper=0.9963 right_x=0.2926 right_y=0.003 right_z=0.1719 right_yaw=0.0004 right_pitch=-0.0564 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -5.9692, 4.6291, 0.6716, 0.0317, -0.1441, -0.0024, -0.1573, -1.6479, 7.0085, 1.707, -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"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1581, 1.235, 0.8146, -0.4557, 0.5152, 0.4786, 0.9952, -0.0181, 0.8223, 0.6231, -0.4644, -0.0261, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3336 left_y=-0.0313 left_z=0.1443 left_yaw=-0.5406 left_pitch=-0.1607 left_roll=-0.0401 left_gripper=0.9952 right_x=0.2869 right_y=0.003 right_z=0.164 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -5.0393, 9.6479, 1.3504, 0.5104, 0.2125, -0.0464, -0.0205, -1.7299, 10.1949, 1.746, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2329, 2.1849, 1.4677, -0.997, 0.7914, 1.6436, 0.9962, -0.0181, 0.8288, 0.6243, -0.466, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3864 left_y=-0.0338 left_z=0.0199 left_yaw=-1.4128 left_pitch=-0.2002 left_roll=-0.0919 left_gripper=0.9962 right_x=0.2872 right_y=0.0031 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.1125 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -12.3692, 5.7504, -0.7253, 0.5446, 0.232, 0.0952, -0.1026, -1.7162, 6.9265, 1.707, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e955f2f8d1c5c718fccb4a84fdc3c1067055d2e23194d769b473b88e992b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a745ecffcd74152457a08871d9e61fc0b3093cf239b074580c0e906f001430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4928fda07d190e8a8bd0509d6b0e5bbcaf2eca6b5cd60c742c1b836a4adc34e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJbcU19VwJHEUEi6ZtED0aTK_vOz1x8XiiBf1BgsULq3GMTmV_JPEtiR-l5tg-kAj6ajzl8QIE-vg66liMqkOC21snWPkUwnf8lYaFglrAUxsGNHbzRuX7q31GjJQfwxNvg8jMHhkWaQc6WDXHZjl04AkW4sHD27HDTFhF6dhGHX0_5eXbM8G039XYt1onCpRBJ6TcABQ7Obmcv8LGEXQMZklSYnH0DXpNnxPm44zMreEc1Cjp6SRu6u5260gPQGbr7xhbfJ1c18Cn5fazXNPlNsmORPziDH0FCstFTaRxJmiEBqDFc7l7P-_To3u7UyukHtaWBfQCbOidlL3xeeTKKYqM2rus_gJirVHSzyu6M0JKKdbc6X8Mi_J7rzTN2rDCShkY4tDrxNW0jxKkHgiIBGXeImztHvtFeveAepQy_Apsfmd7WiesRNBi1TV45jSzcnv4cyZ1CrQ-OPtzt4HEG-6AQe8AGKgo8H-Ui7xwpB5UCnUkNTCfBfLE1N7CYX5y14Z2iXiSi8bC4uc7UHPI9oh-TQF3tvWzbpEUeQUtjjINDg20ojzA2DIEwL8j4QRzk-IEtB1qm-_VuNbLEE5Zcbpj6qEWZnq1ORttG6-2PROsoDvvPEBSGbEB-oyzYpoSd24Bx54kOFTFgR7H9RQlzXnyvhSByUl3ZkJiK-eajmHgdAHGU8LwCquEoV58rOvVSO5tyjqm7ve0cooGYGgvRpZ-Hn-qC9QAO6uyxd4BseN04xpFwNSQh1UUxZ-IGyQLWOr3UlvXQz7Rvb7KMQtcE6o0iA0wD1IokJxGc-izA6eEc1tUPVf5Fj8qBGgtLvR2N1kxkP4qMP45oC5E_FxKOngmBCZ0yilsAULzn2lgLMoLXrfVs49_-swVtz8K9n7SoXP0jhqe3Pka496eRC5cb3aE0r5mDfadtlBcyCX-xiIOgMeb28MY-fAMGXp6FfStSxVxEimg-qfB3gEcAgCAET6FoJz8_JTttxe6z8Qj6ugEGOtfK_9DvqUuM1tAsr0jMcpGnvEsWDCAa_iAx7Eo7Vr2xYALG5bJJJBYJGTFQ4H61b5fXdDKo2YnPonUG7gltXA7RaURB8w2ACWb95fM2wFWZ5xqgGSWzCOYyRcr2NQVoNzaPNBIh2J83cPW9Y4YERFdebsGVegAkaEaaHJLdjBDMoup3bZeuo6tHmI3XG0PqROPb0cBf6fLNOq-QlqSqUbBp9G3-xTvRDXPAJzAm3y67xyOvy2YNm0A5Ss_uLd2G2VzFHuLE5o4pbN6QPBFDsBBJaNo9AoFCcp9zNT_h1F4FnnX6VqIxBfxzcK-7TIRGtD2blo__h1ZCAMoKo2llLjpNbpjV8kPtmWDihHZxs7qiMjuUyFOSG39QxMcErupBAwW6Kxc7nQd260IKst9elIPbWzhuGFZZfCgwbhq2fDY-CKiAKIbiRDJKn_Cjr-gCsK2oVs6GtEtkf2fsEKEMiKJ64WrlSRPaTrIglPpwZqZMwsPqvhHaFX4b4__3LAJcIkl8EskHYHnywDvLZZVCxLRUjhFWIBUZ0OHKW83LMk0pxjE1pyBetaXGfECtDk4qtnwSIoceTPgvHYvLPBINHVgRbo2vZFDOAWMM_l6SkKgj1yGE5h90fpH6hNnrXaqSIYATaM8lDRd65Ui8pNPonjpktPIGf4upPB4X0bug9-7IIh8xSYXOotvIdbAh51kw4Xr4yeMgyx5tk3JUorBL8V9trz5ZprHphzsUgsl7bg_J1RXo6NhP8jtTGX5r6-R-hTwHHxPsPTabLkWXjDuPSSiJPz31MPo0tLNxV2aTZkXTRSir_yffB0XZDAT2FN2OneXTj2VSoBoyqDcEHoDWPh-OTwOeDZbxoi_9-3_Z3qmuxLqhRmRC8wzLmKk7-eIjC9KJjaQ7AaEtZiShAA8_G5JWsiIXOcCJLDZz_g9c04l79v0Tma01XxFhxYBBSlxVyUaUtSRigibJmN3TluXvC5RVJNC8F_yOr0Obp7IpqjKi2Ngu4DDi0roHD8uZ1Elo=",
  "id": "rs_0ddfee9e42e61200016ab496d91b0887d093f2d91a9e4b24c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":-0.015},\"note\":\"The cap’s body is aligned with the wrist-camera centerline but still ahead of the fingertip contact row. I’m sliding toward it along its length and completing the descent.\"}",
  "call_id": "call_MW4jXV5E4ita4ugLefjIuoGS",
  "id": "fc_0ddfee9e42e61200016ab496dbd3cc87d0aa461a9df38ff16e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MW4jXV5E4ita4ugLefjIuoGS",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [0.1406, 2.1998, 1.3857, -0.8505, 0.8463, 1.5845, 0.9963, -0.0181, 0.8299, 0.6239, -0.4652, -0.0265, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3838 left_y=-0.0757 left_z=0.0024 left_yaw=-1.457 left_pitch=-0.1509 left_roll=-0.0829 left_gripper=0.9963 right_x=0.2873 right_y=0.0031 right_z=0.1622 right_yaw=0.0009 right_pitch=-0.1133 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -9.8256, 3.2479, 0.2711, -0.359, -0.3004, -0.0024, -0.3214, -1.265, 7.0085, 1.663, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881200a4f64c74386be89a8e688e198b0bd31b8a89c8f486b07da6c931279146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0bd17a5cbbd91e9372b9bddc234f1fc958eaef44bc7f575cf9bd96632f5287f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2b76e50fd4bb746950e70fbe24251a5f6a5c247fd5dcfd8b04ffc68e2bb107",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.844 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0727, 1.8465, 0.7021, 0.3401, 0.3935, 0.3161, 0.0089, -0.0181, 0.8139, 0.6132, -0.4129, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.4039 left_y=-0.0937 left_z=-0.0001 left_yaw=-0.5825 left_pitch=-0.1566 left_roll=-0.046 left_gripper=0.0089 right_x=0.2927 right_y=0.003 right_z=0.172 right_yaw=0.0006 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -9.3197, 4.4923, 1.3455, 0.0806, 0.0024, 0.3883, -0.3077, -1.1556, 7.0085, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2329, 2.1849, 1.4677, -0.997, 0.7914, 1.6436, 0.9962, -0.0181, 0.8288, 0.6243, -0.466, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3864 left_y=-0.0338 left_z=0.0199 left_yaw=-1.4128 left_pitch=-0.2002 left_roll=-0.0919 left_gripper=0.9962 right_x=0.2872 right_y=0.0031 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.1125 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -12.3692, 5.7504, -0.7253, 0.5446, 0.232, 0.0952, -0.1026, -1.7162, 6.9265, 1.707, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1406, 2.1998, 1.3857, -0.8505, 0.8463, 1.5845, 0.9963, -0.0181, 0.8299, 0.6239, -0.4652, -0.0265, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3838 left_y=-0.0757 left_z=0.0024 left_yaw=-1.457 left_pitch=-0.1509 left_roll=-0.0829 left_gripper=0.9963 right_x=0.2873 right_y=0.0031 right_z=0.1622 right_yaw=0.0009 right_pitch=-0.1133 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -9.8256, 3.2479, 0.2711, -0.359, -0.3004, -0.0024, -0.3214, -1.265, 7.0085, 1.663, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881200a4f64c74386be89a8e688e198b0bd31b8a89c8f486b07da6c931279146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0bd17a5cbbd91e9372b9bddc234f1fc958eaef44bc7f575cf9bd96632f5287f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2b76e50fd4bb746950e70fbe24251a5f6a5c247fd5dcfd8b04ffc68e2bb107",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJbgSQNNOh0FkrhmF-DxigFUSwAE1aA5DYIl3b8pp9p8AfPsE7RdQfwKpHZi1VsA2RvrOW1OL6EWsxv8namiPem7HBDZZexheuq7-9bLD0l_aGZOzIHsKeN6_zNeXBPZ27LGWFrkAVTq2hFfa6J8oxIz7QczkZLMklrEaEItm7DvCFbeygBR9JFnYVk-4PGWnJp7ggHw0qozmzo4YGYVPZqXPyb7erWgsiRVqzgCjapYI3MvkTSefFuQmAwr5TKjhv3DmW9MsXtlXIYEyhLKp2U6412CwBlkydWM_sZ1VU2k1BwkWREOpzAbUwWFdxKogQcWo6yhHWA5yVhzol_445uQ26zghgT6Ufe4VPyDc2BYr8KVhEWazAkuoWJDiyd8pXFrc_HqnUs7kd1MBClQ2yU_0D8iYrjNrUDuNCmtqRcNcJTD5eeeG7EY0P70QoHH7AnWzl8taf4uCZdzi2sEoXIB87bmAq6tNuMoT5OgRa0Nv7URMDH0ElobS2Qxok9cMGnLx3PWgHPTB2kUokCqT0VmhGJ60ROcw3vzn6S_DQcEoVjWOcPBIHSVSF6Q6b7jXqcDnAlseAjVgkhRTwIjFGEujYul1GhpPwV-AqCrk18x1YMSx6BHDUyOisr0ElQk4lJVqqxJnZv0NtZQicVgDLhx1OflmaDiG91NLXdU_-00bSRApHaaJ0x2ErBPqfgxBcp7Pr_rgkA_p1x5f689KQShoQLNbzajILcart5DXwW0eidclcAdKkJMJyetPJBUufzPRFaOAYG0l1moQtCCbohh25OKkL15zLFwjfSYnZBpaOJE0WV-TUS3UytOgYNDgBBxkjr6dECCpSAmj1O6knVKoSF8Xn-3BX6evfzgmO3JC0R7Y89fHsnMLB29J3ll2FyMEIfZnagM_DHmYVwUHk2Vr60Em89jhGl3NuaWZ6Gn26aw-t-fNgTztWAncg-6YaYkvPstpn9jKiY9FYWtlGnPjLO4t0_KSKi9yqvCGueBn5ZPAU7ltPBNj8Xo_dkw46oT4P6qTJ6t0mqsRMBv1uR5YAB-04cSlOC1m0ZWh5CnJSlsl02KGbAgC9xxkY_Ez8FpjStmzy4EDbtRKz3egQsJK6T_sWK2rCyEHNQCjCGky7BkaOSP2qwpydsEE6s1kgil6YhA31795sELnxMtG40wZax4y6lRl36mF6IIiS0LUqTGhQXMvOR-EEVLWPW2jR0ibPYDvQEud3GRlQCuQVwWtE_tUw7ekkidSU6QLsnRefU=",
  "id": "rs_0ddfee9e42e61200016ab496de6cbc87d093d32b3aa72474a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thick body now spans the actual finger contact row, centered between the jaws. I’m closing at this corrected grasp point.\"}",
  "call_id": "call_rSuIhK7AJxgFXmMvv86TfqtA",
  "id": "fc_0ddfee9e42e61200016ab496ded46487d09c21ae481568918a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rSuIhK7AJxgFXmMvv86TfqtA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [0.1238, 2.1998, 1.3716, -0.746, 0.8539, 1.4876, 0.0477, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3974 left_y=-0.0811 left_z=-0.0004 left_yaw=-1.4069 left_pitch=-0.1462 left_roll=-0.0651 left_gripper=0.0477 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.9214, 4.2872, 0.2808, -0.1294, 0.0806, 1.3797, -0.0479, -1.3744, 6.9949, 1.6239, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c507a473811656cd296ad4ea5acb99e09ea0a5c341a8f6b5ba7dda797380f716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f260bc67ce85255d62f37b4c3cb6410a92e98c223aa87b37e1b665e11eb9806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79533106e70ce38920fe35e3f8eb0e86205a7e4fdb4d33b3621fa64b4587735",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 5.072 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1581, 1.235, 0.8146, -0.4557, 0.5152, 0.4786, 0.9952, -0.0181, 0.8223, 0.6231, -0.4644, -0.0261, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3336 left_y=-0.0313 left_z=0.1443 left_yaw=-0.5406 left_pitch=-0.1607 left_roll=-0.0401 left_gripper=0.9952 right_x=0.2869 right_y=0.003 right_z=0.164 right_yaw=0.0003 right_pitch=-0.1056 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -5.0393, 9.6479, 1.3504, 0.5104, 0.2125, -0.0464, -0.0205, -1.7299, 10.1949, 1.746, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1406, 2.1998, 1.3857, -0.8505, 0.8463, 1.5845, 0.9963, -0.0181, 0.8299, 0.6239, -0.4652, -0.0265, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3838 left_y=-0.0757 left_z=0.0024 left_yaw=-1.457 left_pitch=-0.1509 left_roll=-0.0829 left_gripper=0.9963 right_x=0.2873 right_y=0.0031 right_z=0.1622 right_yaw=0.0009 right_pitch=-0.1133 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -9.8256, 3.2479, 0.2711, -0.359, -0.3004, -0.0024, -0.3214, -1.265, 7.0085, 1.663, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1238, 2.1998, 1.3716, -0.746, 0.8539, 1.4876, 0.0477, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3974 left_y=-0.0811 left_z=-0.0004 left_yaw=-1.4069 left_pitch=-0.1462 left_roll=-0.0651 left_gripper=0.0477 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.9214, 4.2872, 0.2808, -0.1294, 0.0806, 1.3797, -0.0479, -1.3744, 6.9949, 1.6239, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c507a473811656cd296ad4ea5acb99e09ea0a5c341a8f6b5ba7dda797380f716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f260bc67ce85255d62f37b4c3cb6410a92e98c223aa87b37e1b665e11eb9806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79533106e70ce38920fe35e3f8eb0e86205a7e4fdb4d33b3621fa64b4587735",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJbjLjMIAAaU7MQPBAGfwiyJts3HVasQpMl8TVUsVbxfaVvKDLOxbV6AYCtiR9xBtuK1uQViPZMl0qbLGUPB-omzmno8HW133Uuxnhp8_echEcnxGyRMi9U_Y2UBwXsxJRA9ZqPlwWgpTmEGspvpLqLaR9o6Waq_EC089n9q-ic_8Pge-yOAN4ZqWcU-dfYPduzQXPpx4Uc8Z2hpdPCkIpRLlWIYEqdX4J4iclXWeByZHZW8SD7UZvdcx3Qh4ZlIzjdcykq9GKfjjbZpIL3_60ECvw3p39aRaq-vnX5Pfx7OPNEd7-NzCRRuYpwsFPOX1hLMXUeFH10w3x_bd_O-k3W8ZBEE4aIDVpr-GpqPQ9owJQvKKuJ5akIvPv0u93xKuWka1PxDMm_kWA8Jod5xaukkBaKaeCFQAP7Bz5HswaIOLqPjHg2pztStldpM3LLB8ij5HkskrkLkTBLpqoUacV4kBUspDncKzFu5jw2baP7BkzwrRkYQSC-J52X2p4pTjZBirTIf6Wbm2yMfRVikjNm9Os_wWW5TP5tw7QTVj9_3t3FGN-sCodhsW76QfPKjeC5a4I6ALUSJC5p4R2QP1wUcb0I3pplH_TNAGhD9H4a_oRA43-HHHh4z1b0Y9Di8_So0Y7XalKo0jicdCuH7eVH6YkSFe6ZDe9ll-Hk6H43Yn8H9-hVyBqBGku7xjTafiRaTpMTZ68tmAxR0FzNJfqLhLSD1pIl0zVXGa5o-QQCsO-VcbY3os9L5RvR_B-VCf7Iap-k_E-C1K8Fkr-PqyofM4GEaBi6WdYWnqLbt1Fc7IFi9G4Bd8evHzNYYjkuYghewIN-tkPSFUbBZG0O8WTZfIwC1qEG3-dijYDqhQY8GViQc3bym-XpWX1OB8yQHzgnaoUoaGqOsV80YfSYQ2ypCOwVfZqG9ea0ahVxnIELF_2iSarHbD5JCyYKC8iLN74MQ6j3w-DyCvMHQKMV582EV4uMPomlTN0ouiQmGZ9KKY7Xv0PwVy_DHuEvsIf0iGUyTT0WY4bCCEPt92Ko5pKMjz57-Zuboup-rTDXJmqQZVIY_uKULlojU0Ykh4y53RRSEKj1-aKZwhjVgF5xm2BXg_GBo7qS2jO9jyJHEcZo6n6xzn8X93vpifTPovIkanxJnzAkiXRXnm_Y3XCyf6xMQ2jfNsCf0kNwTGtvzD9X6q61O2LnF1fGah8XYw5h99kXXSmqWedV1o7T9iyAFzz0wdwDmews7ipC8IepRoFIqX2r9GzM4q1QnGz8W33oaaYzXIp_YkRPb9153nhEsl7mO88BqeC5xCvHrYq4QcQ339G0=",
  "id": "rs_0ddfee9e42e61200016ab496e2760487d09076c19f76bc85ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The fingers stopped slightly apart this time, consistent with a thin object between them. I’m lifting a few centimeters to confirm the cap comes off the table.\"}",
  "call_id": "call_ueB2x5OM8z1QfgIaI4VUYxuH",
  "id": "fc_0ddfee9e42e61200016ab496e2dd1887d0b13e48d58af6d95a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ueB2x5OM8z1QfgIaI4VUYxuH",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [0.1238, 2.1017, 1.4834, -0.9829, 0.8417, 1.4887, 0.0528, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3951 left_y=-0.08 left_z=0.059 left_yaw=-1.4118 left_pitch=-0.1594 left_roll=-0.0912 left_gripper=0.0528 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.2581, 7.5145, 0.2906, 0.4957, -0.0269, 1.0232, -0.3487, -1.265, 7.1863, 1.6337, -0.0464, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d635d87fbc28416c9de7d5b44edf95e73c7204ab208f0ebbe9fbb9a5578ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d4303a83c92261f4779a210b487c416b0dedc96d0e06937aee61cc012b87a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11b9012fbd3640ef787c9f4fadf9ec9eec0f5ac5976bd316f7fb756b1b0bb19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 2.773 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2329, 2.1849, 1.4677, -0.997, 0.7914, 1.6436, 0.9962, -0.0181, 0.8288, 0.6243, -0.466, -0.0265, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.3864 left_y=-0.0338 left_z=0.0199 left_yaw=-1.4128 left_pitch=-0.2002 left_roll=-0.0919 left_gripper=0.9962 right_x=0.2872 right_y=0.0031 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.1125 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -12.3692, 5.7504, -0.7253, 0.5446, 0.232, 0.0952, -0.1026, -1.7162, 6.9265, 1.707, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1238, 2.1998, 1.3716, -0.746, 0.8539, 1.4876, 0.0477, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3974 left_y=-0.0811 left_z=-0.0004 left_yaw=-1.4069 left_pitch=-0.1462 left_roll=-0.0651 left_gripper=0.0477 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.9214, 4.2872, 0.2808, -0.1294, 0.0806, 1.3797, -0.0479, -1.3744, 6.9949, 1.6239, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [0.1238, 2.1017, 1.4834, -0.9829, 0.8417, 1.4887, 0.0528, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3951 left_y=-0.08 left_z=0.059 left_yaw=-1.4118 left_pitch=-0.1594 left_roll=-0.0912 left_gripper=0.0528 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.2581, 7.5145, 0.2906, 0.4957, -0.0269, 1.0232, -0.3487, -1.265, 7.1863, 1.6337, -0.0464, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d635d87fbc28416c9de7d5b44edf95e73c7204ab208f0ebbe9fbb9a5578ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d4303a83c92261f4779a210b487c416b0dedc96d0e06937aee61cc012b87a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11b9012fbd3640ef787c9f4fadf9ec9eec0f5ac5976bd316f7fb756b1b0bb19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJbpxMTyjlZ5N-yoWyjtcQ8sRRdcfE9sU3CkVIbCT-oH9ZnhzG0a42ZPPmw0_kCf55jzPmNhcRN5MSNS3HmgZHSJSoOOBw4ZhqiCbCHOaoYfUYeq2e5OlaSifpbSzi1OHli5wd4ihZVZgnAndW8i428fGCjCm4ukt-99r5yOYLlhT6ZeWq9GAURBZagUKpoJMn2AZGF09rBwikOLTFHoM6Jia1KL9Sq_9D6H9a6TFH3CzpTpz8SLH868MD--GfMwF4w3a33CRdap0DH5UpAHrF9tdVwZgp_E3A34J207hsm0NSNv2nxE93QUPIzTe7PuwtRAyYxeG-gxxAU8qEmsH1pXxkXjwRPwKh3wnPNSN1p3SN_0veOYdgRK9MgNTOO0Jm5XWZHcLIEoo07sjr65IE3Yoyhi6-YGtvOuPql2U4NJXftsiCZENFjidGmLnt0wkASX5zFym7WpP1RkpE6l_ItaEslFjgIxV5G7iB9-4dkm0cByE-fYCeMphbnrcvWj1FmbDyhHUSGniPdmTbXnZDyRcSU6-OC8CKS14NMCfdsYzElNn1qsGlilhMUIsLxP8gyNtUYqgY-mDJvxrgyTP3XF7xfud32-FVmUOARrYluO46B7VH5qvdCgJsQAPbJmVJcMkDOCU2sSVFzXDvJxg84KLQeEpCbdOyk__XqieJkhLtkXLoPyj2wocAt_VRehun-fXJ1MP1GNh-6GIsc8FzgGs8Tn4LYaw_CTYARjgqrUd9OjYJUEkiJv4kgSWpGY6WFhOBkdT0ei4xBvkWxuYBk8FZXLvvnlK0eUj9jddDGBEtMjuFVJtDO7A58b1JtRVByuVuhAHat3UdLW0UlE6S-0Js81o1GY7yz6CQ4i0GLboQfbwnoHsqOE_u8XQrFDUW1-blPUmSRXwXnkVx0qm3iXSNC2FN4wuxXneUg8fL3V8vi2-zItUere1ptqxMe8l9iHU8ezNx4-lWEDJZ6OjbLY0zKRkXhBZZheFJa3wmRmXTT4U4ItDvBnG3yosXC-cGPSWS-p7jo6S8mtz_U-axit-bxLw0nYAW3bs5YTmUEsu5CUuqh8JSZEIONi-9KpKJNjGtTs8PEbdIAcjSWRwJXeXHDy6NXwStvXKuWBxPQDaV8mwlREB2Ll4A3HnI3bN8SFoJyydwp57iAfzXtnX99SClg-eYuCbi3B-VXEwhxVdzdPAugObg4jMDCa63KR512Hh29Pb0d6PHYIW7UfglouNhE30X0Mob6v7SqK_8nNKcHlCmTsAG2lb40Yhg6Bj2A0o0oJ_aOHXLpL2V5HlOQEwRq1jMzl6bLhYgXhNgtProF8xKFV48WlAlzbrAOB3IuTIcVcuCcKMcppHTUHhH2lvctVGZ1lDfPilW7PQAX8DJne0WHuKL_8JC1RIcFziMQv5UKWLVCKl2jv_mOcy8Ic5AAt4Vnv0jdTxOZPZhEZzH6V74_MWNjwySce_h1VU6ocETNiN6U-816eTMIXfR2u8RiA-_tzz-UEq2b7dJQZSZXJhYRojkFOnp8aeyYySCYx4An0UuXGse4nEgOIJ-g37gV-Cq40GIQrAd1mf8DVFkTVUq7nzyYBdotKc-BOYcaRqwkGEn2iwcbL7WVnfLgBwaEas_-7ClFa5tEXGyk1IUkx9QfWu7GI2zetgRHMWml0naR50IbVAbajlvfiHKIHv7m3HshAGN1XWcG91cJKaGMk8rFPJsIMUaNbODRRHI11yOgHl6jbfvMhBSPz_BeEbuI_HWa54fMrabpdgVKXJ44=",
  "id": "rs_0ddfee9e42e61200016ab496e5982c87d0aed1deea3ce35104",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.2,\"left_z\":0.19},\"note\":\"The cap is off the table and the gripper opening remains consistent with holding it. I’m raising it to a safe carrying height and moving it inward, leaving room for the right arm to pick up the pen.\"}",
  "call_id": "call_CXrqgcWjKdk8qtNcVS8QWIq3",
  "id": "fc_0ddfee9e42e61200016ab496e81f7087d08c1e5cd3e5c73e61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CXrqgcWjKdk8qtNcVS8QWIq3",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1795, 1.9491, 1.6577, -1.0756, 0.7887, 1.0725, 0.0538, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3804 left_y=-0.1927 left_z=0.154 left_yaw=-1.4388 left_pitch=-0.1983 left_roll=-0.1566 left_gripper=0.0538 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -13.8598, 9.0598, 0.6667, 0.4762, -0.0611, 1.033, -0.3487, -1.2103, 7.1726, 1.619, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38db2cafd66c5db5e6d71bb84365942676f73fb21ec215da04b32bf7a77b4aed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424009ce1aaeb816fbfbc1600a500af120c56f3e8f60c8607d5125c0a9196a24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c855724404411c6b2a2702c0be7594cf141e5fa921a50238957a5ef56cdad54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 5.102 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1406, 2.1998, 1.3857, -0.8505, 0.8463, 1.5845, 0.9963, -0.0181, 0.8299, 0.6239, -0.4652, -0.0265, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3838 left_y=-0.0757 left_z=0.0024 left_yaw=-1.457 left_pitch=-0.1509 left_roll=-0.0829 left_gripper=0.9963 right_x=0.2873 right_y=0.0031 right_z=0.1622 right_yaw=0.0009 right_pitch=-0.1133 right_roll=0.0011 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -9.8256, 3.2479, 0.2711, -0.359, -0.3004, -0.0024, -0.3214, -1.265, 7.0085, 1.663, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [0.1238, 2.1017, 1.4834, -0.9829, 0.8417, 1.4887, 0.0528, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3951 left_y=-0.08 left_z=0.059 left_yaw=-1.4118 left_pitch=-0.1594 left_roll=-0.0912 left_gripper=0.0528 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.2581, 7.5145, 0.2906, 0.4957, -0.0269, 1.0232, -0.3487, -1.265, 7.1863, 1.6337, -0.0464, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1795, 1.9491, 1.6577, -1.0756, 0.7887, 1.0725, 0.0538, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3804 left_y=-0.1927 left_z=0.154 left_yaw=-1.4388 left_pitch=-0.1983 left_roll=-0.1566 left_gripper=0.0538 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -13.8598, 9.0598, 0.6667, 0.4762, -0.0611, 1.033, -0.3487, -1.2103, 7.1726, 1.619, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38db2cafd66c5db5e6d71bb84365942676f73fb21ec215da04b32bf7a77b4aed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424009ce1aaeb816fbfbc1600a500af120c56f3e8f60c8607d5125c0a9196a24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c855724404411c6b2a2702c0be7594cf141e5fa921a50238957a5ef56cdad54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJbtrUDFG4SpcD3kLVA5gEoDyNBtCOJ8lyVZoJx3EQqToG0f1pQLc2A5R-B8HKKRk03fA_uZV4BcA84ALtHMDLVtp6cJJQHXNNcXSYB9Ojt9hRFMVXYthe5oltsavZRc7dLI6aW0ANS1og2Hh8S3Ybpu_37drGb92Uuis-dJFRawE39JYfKIF4hMphLjQkwwgxbxR19-pbs9d39sNTrweAvEL0EhLBAy0rI66hAgrzQrOmq_tSn1x0lk5xhJJEB9Rmsh-w_pdgsTxBkNx3xK7qJilp9-pVyiNORCtapHOgEun8M_RL7lu2f71tmN994ROPV1-MT4BXqq5MxMHx-uu7kDKFF6rxgKMoF8wOy5qGxw3l-TDEEsqILqBwkky3TmX19_NTW3hhymHrk-6xK-Cg5l_IGmcIJuE5twCa0X1uGGIdC5AVXDCENO-673XY8PKifkxLqlLSTxVzfe6i1bMyIhJqDhp2Ldr1Gk6z3FLKPp1nYtE705LB7qinr2npXv5x_KFviphYBQkMhbZOaFZ6qByVAQiwpK-2V9XzbUqZkm05J026I6Y8PenV4VWxln-9UkgIFryWx8sEN1ECfa5_LO8Z5a9UVKfYZfLk8cbmW2ajTBo5W-s4FLD44YhyNzF491cHI71mBggqkssJGVdeZsSrFz7vvSoGsbuKuO1Zp2Me9YYX3gNu6D_dJwYqmo9efYw4tkcs5koKCLHxPAmZ10Z-qwr7VNX4tHvWqYTlr604NYbnMSPT0ag_XlvZ4cOl1qPweAMfMeaazMLVSSu3Qi_LBWNrTn-XoNb133yoTPoN3lJjOq26jf6J4YS6SFZuFDnyKBJLJ5LsYE6OutuonoiSZ93gswJ98Ag7Dr_onp4ObxiLnYwecpRA1wHWRMzFYEhKpIvKpo6u1nq-87MZ43mr7VWppR5bv0z4q6wtciibQXOU5YlwFcAIFCe09YIjTg_OWaUOhoKDtn7c9rLsaiPw4mwK7Ij52boytpoWib2uwaSFj5BQTv3ZyklgnOd-UCw2K194MoKg49O0UVlcn5Hn3GUb3kiyjggZfgn5wnqCf7dqHgcVoX6-72wGc6jHc-jqAIbI-rEM03JfUB4Bxac2g1fGl4lQ5X4ESIE9xP0Ja-HAi_QfxXhWbLXiXI21rXTwopM2z0ZlaDRyjxcRXtyOlZH3PhjYyLlZ6KWuvumJYD3N-XUD7FUe9rFFlrU-v11cETakwl3AuwI2_wtzel3qBLI1WM6IEQA_Ky-thxHgy7MMSjM5pas9YMggVObp9W4rVi3VRfJKL4ISZBST1UoqA7kNTTZMOl6Xbw9dW5J9o=",
  "id": "rs_0ddfee9e42e61200016ab496ebba8087d09d8ff179c6e49ae8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.23,\"right_z\":0.13,\"right_yaw\":0.65,\"right_gripper\":1},\"note\":\"The pen remains diagonally on the table to the right of the held cap. I’m bringing the right gripper above its barrel and rotating the jaws across the pen.\"}",
  "call_id": "call_vCj0Gc5CM2xcos8bNjoyGGeE",
  "id": "fc_0ddfee9e42e61200016ab496ec15dc87d09b1fc6329fc4666c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vCj0Gc5CM2xcos8bNjoyGGeE",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6623, -1.0828, 0.7731, 1.0561, 0.0538, 0.4644, 1.5612, 0.9253, -0.1005, -0.1326, -0.1219, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1906 left_z=0.1551 left_yaw=-1.4248 left_pitch=-0.2135 left_roll=-0.1615 left_gripper=0.0538 right_x=0.3741 right_y=0.2176 right_z=0.1142 right_yaw=0.6217 right_pitch=-0.171 right_roll=0.0084 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -9.5932, 5.6957, 0.696, 0.4811, 0.1441, 1.033, 0.335, -6.8855, 9.0735, 1.7118, 0.0317, -0.0171, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0d8b7f833add1d12ee0f3939c7d382be4cf47b1c94552f7495ed58ee85e419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ca8c8959328690b6420d93c578083721eaf41d95ae3978c9f4d5c844b5a447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9459ed48fe68e76eeed6b8707d2987e792ccf1f0161807936408aedf61fa60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.464 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1238, 2.1998, 1.3716, -0.746, 0.8539, 1.4876, 0.0477, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3974 left_y=-0.0811 left_z=-0.0004 left_yaw=-1.4069 left_pitch=-0.1462 left_roll=-0.0651 left_gripper=0.0477 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.9214, 4.2872, 0.2808, -0.1294, 0.0806, 1.3797, -0.0479, -1.3744, 6.9949, 1.6239, -0.022, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1795, 1.9491, 1.6577, -1.0756, 0.7887, 1.0725, 0.0538, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3804 left_y=-0.1927 left_z=0.154 left_yaw=-1.4388 left_pitch=-0.1983 left_roll=-0.1566 left_gripper=0.0538 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -13.8598, 9.0598, 0.6667, 0.4762, -0.0611, 1.033, -0.3487, -1.2103, 7.1726, 1.619, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6623, -1.0828, 0.7731, 1.0561, 0.0538, 0.4644, 1.5612, 0.9253, -0.1005, -0.1326, -0.1219, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1906 left_z=0.1551 left_yaw=-1.4248 left_pitch=-0.2135 left_roll=-0.1615 left_gripper=0.0538 right_x=0.3741 right_y=0.2176 right_z=0.1142 right_yaw=0.6217 right_pitch=-0.171 right_roll=0.0084 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -9.5932, 5.6957, 0.696, 0.4811, 0.1441, 1.033, 0.335, -6.8855, 9.0735, 1.7118, 0.0317, -0.0171, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0d8b7f833add1d12ee0f3939c7d382be4cf47b1c94552f7495ed58ee85e419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ca8c8959328690b6420d93c578083721eaf41d95ae3978c9f4d5c844b5a447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9459ed48fe68e76eeed6b8707d2987e792ccf1f0161807936408aedf61fa60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJb0G9TbhuWX0tXFSg9UPrXCIOL0ZNQ0RtOsRiBXbeNY2FnYnnDdRryiXBl-Hy7g0sT3N28kkUYjaDhTAVyqz99fVfd6l7fPWfZwKjw34CsvHdqh7P4r0sOgymxaNhO-iVOkfk74iJ7b3Qs8xUiePdTJ56Dwy9JF0355zseTffTb9c26YDC2dqD8O2Kj0ZZqQy56ipqk7ujL4p1OqHutFH59T78KiS72orzrhT2KXemI7sC2EhlbCXnGQCkoArRqu0kjiQ_5zN2il_iN-9mCzaVY9OAiZI-Rbzl8Bzcz9ursMmWox6SIomWr7zkm7T-LzkufzTsaMynuygL3TCAmefEM6yY9MjTa01tynoOEVkqd_KlmSUfk5734RfN4lmMBJVx8gykkceWNylG_TxqKG82oly8IoHyYMIf1MZ6ifUgXQ58UznjUFuVDTnsjmu1gpQt53bP_6RBcLXSmGi7geS_b1MFeUDNqBh_ksaQUWfcQz5X6kkhf8LQ9vb9lHmJyJu1QMaA2XHKZibIqKnkW_BGsdwnwUozs6wrY3aJLyzHvsADHpp3oGCqkwpE1BmMAM5MZuttyXabVaL8evMsnzELy3ALi9DJ-5aPPY-xxJP0KR95CeYb4p7VcXsdG3l8nfQcwNvNqtmz3-iTLqtwsp-8W715YrTDIkqpVhhY1AxZd4w3IBYjbP4MOoV2H_vON_GwXKN7P6IzdqgI5PurPcbU4w35mIz8Pq8aSIQJkgHCjbgOQ5iJ4dMtxlm_4cJndpXo-x4ONpNzMlMdFM_DCroXIjTKdfn57yE-TAJHqHfOMY3fmhvpqGfjMXR2cdhCcZcEgZ8D-fo2oqcDdeeNZS_0hik38MlXFJT7u-pEswb652-rU0DXxmzS9Hgrv5ie7DqtF8L8PYhgr0igv4zEjdbOJwPU9N_985KTvXI71vEtpkfawj-buK3Sve1UurK6UYutuiPGYAtv-kOrWG3fwn2F_4hl54ef7h4JOSMy8KR2XY00aybLILQGVjskmu--sQ1kOVtcKrqwwdSE_w4DUB9_QKHwI-LvCu2_d5es3Cb3hoXpsCfAkuJ2_QPGU22LpFfFX2wVC4iqMdRnSGNcWVvIS5j8O0F-w3t2Q842LEN0V2sUgXswOr6kJ15YR5Uu7JmVS8pxqe0O9E9AUySrCqqhPGYQAj8zi-YncdeMsqIzdjutqX6W-e531aTi6_xMfYcr107gbRdAv0LN40RWSjVVLhqnZ2pteajuCzNXYf26Pji5aGs55EC4gP6kXzIqhPSCTcil03Zf3Oat1q1MvnBTGV-HPAidqPz4Cev7v7wLjE4SznaIwJM4fl_47mP5c5rXxX1Z4vozy6YxVnt2MNMgvPnVqpAndqKcZv2wZqJ5aJCCfH7DlTw2fHEpgUZGLJqEfWT3iSgtNLr8M6GvdZCeDbX_oopybcPaOS87qm3tKDhT86244RDkgpnw3LlXPqIwh8FBWn-1nEepkU5ss122z6bYVRFCq7iLbS0m6SFNYlw9FuZtS4bL2wu6W_W9S0gtpoaqdXczZ-ETyADBkGG5loj83_vx6r7ENP2X0DINqzIuFI0io6bANRHG7Aj2X4QAE0trSxZ_ZMBeQsjuzTC2ybkSjcEoc4aeVk6LCF7jazklJCcfG9s0eb5Uq4vCJA0eAlqKAJMu87AmqDChfiWIkzbeVQ7QNXSAO4qkkQ0i9RdF231B0g4et7V5WvKDE039W_uXfn_xPrkCPp1piTQMsLQuwV8sRLwUh_fZkBUHi9Qq5vQVRk33lAMHALZo5M_-RGBVVgVOVUTcEBrE_XCdZmSJyioejPLgyVimL-aXGHS5RsKXwQfdUEqLBmfjFqzW24RaZle2NAmQHoBzWGhgMXEBdrDJFysrml4zhsT-ely1VpXbfMM6h-2eZz4AVzA85",
  "id": "rs_0ddfee9e42e61200016ab496f079d887d0bc66eafbf27bcce6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.403,\"right_y\":0.22,\"right_z\":0.005},\"note\":\"The pen is nearly centered in the right wrist view, with its writing tip pointing away from the jaws. I’m lowering onto the rear portion of the barrel so the tip stays exposed for capping.\"}",
  "call_id": "call_7vgTn7tTB6dXxFwOadVB00MR",
  "id": "fc_0ddfee9e42e61200016ab496f3154087d0a65007962acdc2f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7vgTn7tTB6dXxFwOadVB00MR",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0855, 0.762, 1.0554, 0.053, 0.4408, 1.8988, 0.8345, 0.2798, -0.152, -0.1474, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1891 left_z=0.1533 left_yaw=-1.4222 left_pitch=-0.225 left_roll=-0.1622 left_gripper=0.053 right_x=0.3937 right_y=0.2193 right_z=0.0041 right_yaw=0.6302 right_pitch=-0.2156 right_roll=0.0113 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.0718, 6.106, 0.6764, 0.4225, -0.0366, -0.0806, -0.9778, -8.3761, 5.3538, 0.8962, -0.232, 0.5153, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3221177342741ac8ac88d642a8007b2dcdd0870003eda73658e9746fd61db3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab521c0479fa760924340a5cb82e519ce023482675c491d54b5f1f092175a09d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291137fd70d8e0edc199c32cc3d91d18bd6932aed1c86b6b068b58e4ad1a018a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.751 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 59 changed as sent

message 67 changed as sent

message 71 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]: [0.1238, 2.1017, 1.4834, -0.9829, 0.8417, 1.4887, 0.0528, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3951 left_y=-0.08 left_z=0.059 left_yaw=-1.4118 left_pitch=-0.1594 left_roll=-0.0912 left_gripper=0.0528 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -13.2581, 7.5145, 0.2906, 0.4957, -0.0269, 1.0232, -0.3487, -1.265, 7.1863, 1.6337, -0.0464, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6623, -1.0828, 0.7731, 1.0561, 0.0538, 0.4644, 1.5612, 0.9253, -0.1005, -0.1326, -0.1219, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1906 left_z=0.1551 left_yaw=-1.4248 left_pitch=-0.2135 left_roll=-0.1615 left_gripper=0.0538 right_x=0.3741 right_y=0.2176 right_z=0.1142 right_yaw=0.6217 right_pitch=-0.171 right_roll=0.0084 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -9.5932, 5.6957, 0.696, 0.4811, 0.1441, 1.033, 0.335, -6.8855, 9.0735, 1.7118, 0.0317, -0.0171, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0855, 0.762, 1.0554, 0.053, 0.4408, 1.8988, 0.8345, 0.2798, -0.152, -0.1474, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1891 left_z=0.1533 left_yaw=-1.4222 left_pitch=-0.225 left_roll=-0.1622 left_gripper=0.053 right_x=0.3937 right_y=0.2193 right_z=0.0041 right_yaw=0.6302 right_pitch=-0.2156 right_roll=0.0113 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.0718, 6.106, 0.6764, 0.4225, -0.0366, -0.0806, -0.9778, -8.3761, 5.3538, 0.8962, -0.232, 0.5153, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3221177342741ac8ac88d642a8007b2dcdd0870003eda73658e9746fd61db3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab521c0479fa760924340a5cb82e519ce023482675c491d54b5f1f092175a09d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291137fd70d8e0edc199c32cc3d91d18bd6932aed1c86b6b068b58e4ad1a018a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJb5S0CBmymkaARnz9qwykjrXX1464_FY0E_rqV-GtC1eYbrc2kSORUQCMpG9EI_6dkurNx4HAXPCFJCHEObmnCxo3eCItcnInqOluewt9W3Ea9mhnIOHNoIVokE0eH9SxhzuV9mqXGz7uWWBZ_Qxy3Wn-3s4GTTeukrLHhkP1yWXxMJs_abc_gna2djGYvL9S6nNblWnX8-X_BDF3X6rTzVvvIEGsarV7J8o4qnoxfMMPFcOECW7bNUmV6hJd0lgjLkReyger5oO8KEj7CP5QFXxADBhIm5JnQEZg8f_q9dNWbJzvG4v51RlgGPPllY_xS7iICKvpY9h_Ba_6I9-XEKLvc7O1pq_hQ4NT91-mUTYs9NLuVyMlO-_q8S_EtRuqVM0i_i9wFsXQ2qW9VEIMxCt5O6EMmYMPcf7nniCPjKPTMUKfIDSZFt-FCQo-UjJwnRnfP5p0LRydAllyDmq5XtcnU5KDa0dSkrdElQGcbvQ_iQZK5lNhorSFgCjxgJG7-SsKOEEOcGASC-_pGfl6c3zr3SIhnrvRLqEzYuD7vxrLgZkNCSoUV5XEQuB4mTWoKBpbYitXfVwHV8BcmrEKw9kdAvf6-8qfoZbNkynusJJl-l5Autx5Np7zJYz1Reg6HxdoPFnuVszm-I8-RHN1XW89hXUysaKMdChu8l_K-b9JUOpLBE8e5f5B4bBXx9XSx12Gm6g6AEfXfIYq_cWtU5vR9r-SuvqWUuOVeJbcjd7WFXq2vp2WfIpQ7hYXk5SO9eacGlMFvMe8qp3SgzfUBwWyF_fGePppZfdLHQCX-2_AAUT6jn24_xYWF5u1iFdm__vHSAw_cAtFfrjvrt4LjcWIzYFgY5711iafCGi8pDBA_UbfxwJ-wUxHxZhydVQ5CqhGJNNrlAyQWJSeeijMp1Lae7wFeOO4S8ghmoA3JZqWvTuehzYQJ6Dgf3eHtPcOQHNt53KOL7L3CPJMrgZVqwAd1Bmnnvf3xUwWY1QDjqUu7JvDzCxOegTNL-CpNVgsI4dzRwJ1D75Uadjyb1S8LydmrajQXRBYWJV2omKUE0tUefIS1st4hO4P4zbg8WNSWkJ3bi24B_OdPvsdA0fcwaFZ7gYrwG6eLoDCHSXNT3cmkvIPB5PqhYKdXxGsLhsosmr1_jR-W06mSEJPOGwftb-Rv35hMvlu622lUMB6XYILDh6Y6EfsLGNfuigoW4eT1ML4GWDzWP1Uflm2qNnuwEscHXPlP6051UIOPXS6ocDK38SvmGJA92nFCtig2K4OM3YXYhyy6_ohNfKOucaK_O373PPxgoy_U4k_gSsiOSrbV7cuG4XcQl1tQ3vP_EJylkuToDGG3UOsRk_jfKa4LlnAVdxqMZrQ1AO1VJnK036qibXB5CJBd7AuJ1LpYDYyfSUCW9mnCi-gPPPgAkL714sZf7Uw-Xgv1qYrq6eYe3Qg9iWKyyvnqu9dylrnPGAvifqdzDrc34CrDFh7FSY8zgxb3BVpCxC5I-XszsOipyExCoo1vuFvAskeFod1QqkRmvTB4rcBNdkMXFJALS7KRJg8dL1dYUpwEbTb9m1cTL-YdaBXu8ELaMeu8qGy4noq-n",
  "id": "rs_0ddfee9e42e61200016ab496f643c087d0a2d48ed8f9959157",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.201,\"right_z\":-0.015},\"note\":\"At table height the barrel sits slightly to the right of the jaw centerline. I’m making a small sideways correction before closing, while keeping the tip clear.\"}",
  "call_id": "call_NbLOULa61qqQmIvRC3zqhk3b",
  "id": "fc_0ddfee9e42e61200016ab496f7a87487d0b3b8a56878931a16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NbLOULa61qqQmIvRC3zqhk3b",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7586, 1.0554, 0.053, 0.4099, 1.9381, 0.8444, 0.3496, -0.1864, -0.1783, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1887 left_z=0.1529 left_yaw=-1.4214 left_pitch=-0.2284 left_roll=-0.1618 left_gripper=0.053 right_x=0.4074 right_y=0.2166 right_z=0.0034 right_yaw=0.6436 right_pitch=-0.1706 right_roll=0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.0718, 6.0923, 0.5983, 0.359, -0.0562, -0.0171, -1.894, -6.188, 5.5863, 1.0574, -0.1197, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e18ddc8dfd6b6a7d771e6283b7fade039ed048e1de0dbfa658fdd26a27d7a70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d220acd030ebe70624c5f36604897466a4eff9af39aafde79e86335bba520cc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb88e6ae11cc353f827416c50ffc8da4bc8b37702c34ba74fcf7233054d1782",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 4.325 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1795, 1.9491, 1.6577, -1.0756, 0.7887, 1.0725, 0.0538, -0.0181, 0.8299, 0.6239, -0.4652, -0.0261, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.3804 left_y=-0.1927 left_z=0.154 left_yaw=-1.4388 left_pitch=-0.1983 left_roll=-0.1566 left_gripper=0.0538 right_x=0.2873 right_y=0.003 right_z=0.1622 right_yaw=0.0005 right_pitch=-0.1133 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -13.8598, 9.0598, 0.6667, 0.4762, -0.0611, 1.033, -0.3487, -1.2103, 7.1726, 1.619, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0855, 0.762, 1.0554, 0.053, 0.4408, 1.8988, 0.8345, 0.2798, -0.152, -0.1474, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1891 left_z=0.1533 left_yaw=-1.4222 left_pitch=-0.225 left_roll=-0.1622 left_gripper=0.053 right_x=0.3937 right_y=0.2193 right_z=0.0041 right_yaw=0.6302 right_pitch=-0.2156 right_roll=0.0113 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.0718, 6.106, 0.6764, 0.4225, -0.0366, -0.0806, -0.9778, -8.3761, 5.3538, 0.8962, -0.232, 0.5153, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7586, 1.0554, 0.053, 0.4099, 1.9381, 0.8444, 0.3496, -0.1864, -0.1783, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1887 left_z=0.1529 left_yaw=-1.4214 left_pitch=-0.2284 left_roll=-0.1618 left_gripper=0.053 right_x=0.4074 right_y=0.2166 right_z=0.0034 right_yaw=0.6436 right_pitch=-0.1706 right_roll=0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.0718, 6.0923, 0.5983, 0.359, -0.0562, -0.0171, -1.894, -6.188, 5.5863, 1.0574, -0.1197, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e18ddc8dfd6b6a7d771e6283b7fade039ed048e1de0dbfa658fdd26a27d7a70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d220acd030ebe70624c5f36604897466a4eff9af39aafde79e86335bba520cc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb88e6ae11cc353f827416c50ffc8da4bc8b37702c34ba74fcf7233054d1782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJb9yWYUXzEQsUcb5uF8DsC_mNvazdo_9-9Q9rwK4rF9Ch3tFbamW44xKFqfhUfWZg8FlNIk-zKdu4QM24hTCYpnayZBmClyjuR86XBudy_dqeyYfG3fz7l0SPfyd4BRuibwimy5E8fY3p6edUPe9H6eEPvcKxil5B4sKr1INHRIrcA3CLK3ajDE3c9wOnYu6v5pIXgAwAZdpEZuub-BAmLrhhfjE89uxMtW0WmkQIlr9ekLJRvolYzFlhjd1KvCzoL_6d9aA_xPZ-B46H1jLXmCDI9iM0ktB0FLWwrI6XCXZcPwurDhpKJ6K61TQf-57FmV4SQV1Dg9Pc_qXuaDkg5SjU8mPdVK2Vp8LeX1L1TqRiaDwCyceS1Fm_xUWTnzqIYVyoOcp183yTYkfm-3s7p0SUNFI2T6q-NDRtB4lEzPsKetYswYZERqADtBfDf4gOUvGm63eHY5NZd4dZKnY-brK-tZLKq4dltr_mphBuhL29T39Zqn7Nb7roZCzY88og-lksRX9Px4Yn2L8YPfpwcdV09y-r2Zu_XvbG9ccDZT7QtyVKdafaSO4eJLMeF15yW82D9Gzp3XedlAt_vrQt0eRorszMYh9-l5R5IKl0s_B-rDDbNbM3w-68bdMYv8aQN_uCVOgUZlAoxKxjHLaMqpXCBwvzLaXg2G70iinTdFYhVx2BEeN4UuZihfSexiLCjHi1k7HDq71LfXkELtcYpZ9ltjoWzRgbRvsxE-r-Te8EGbkI6yzhCZUVR6ctTAL-6grvaZfXcc-Syg9yfqqhAvMC0X_z1473kS-ZW9VPkJCaaeVtRosvSeCkGiH2ZgtGTF29GRaopRP_1D1gw4EoCEi8wy8ciPPG3mlkS9j-kdHncKRVbwzHYCnyn6_P4kT8Monq_jSRHCL6JGNVor_XeKApQdGkqmGIo-lZKRWFZlXlrKRvilWDcJDMIvNH--sFGa3H1dSdPDgQOAVFvP-ckBf6nAc5ne7aDPGlHVmRzlLu2ZmstE5YbdurqLcchtiuI9Sf2LIW1ihOTU1n_CuQjHbzosB1CodL2o23lyNVGz1mhnqgf-JeamcvX3qcZf7ytm5xUpSzOBdQ4BarAjMKXLZR2P2bMl2T1Jde-DIHJmj6N3-rN42HPtafQshvgago4hlN0eM1CmbKNcF-VduiAlZjCjDgEtmAgOXmcGvhSCIdNtckOLYmqOZYcfi91c5a0Xcvk7cFvuPVheis-09_HmlSkaWLH5PG3tucLdJWewjubImSTZfa8M1A3KBWSWHDVm6M5c6E3tc7zdIYvtn6Idtbh7xNR3AxBMr7OTF0trFNjT7-G1ZtDi5ryyhiYsajpt0Sy84CQX4IJYhjMRuBN1vUVSqOSqUhlLC8efUsyGvrT5pXwbcdsFqbFMmXYPxwFhy5_miM3Zeir5W7b3HUs-EEoUx-SMbeUpC2ncm_bEkCKTjE72W1pDHn8pDVdGjTVCnme-5p6udMtXO-6CJWsIDwIZG5YKXVgbCGTLXZIjUeRnjOaZzCAtPR8MYEoqfR8h",
  "id": "rs_0ddfee9e42e61200016ab496fb089887d08b5390b353f6fd89",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"right_x\":0.414,\"right_y\":0.193,\"right_z\":0.025},\"note\":\"The arm did not complete the sideways correction while touching the table. I’m lifting just enough to free the fingertips and finish centering over the barrel.\"}",
  "call_id": "call_FNULTZ7IUCSalGfvZOf0Pbyt",
  "id": "fc_0ddfee9e42e61200016ab496fc442887d0b3b6626aa30026ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FNULTZ7IUCSalGfvZOf0Pbyt",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.757, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.374, -0.1989, -0.2108, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1885 left_z=0.1527 left_yaw=-1.4209 left_pitch=-0.2297 left_roll=-0.1609 left_gripper=0.053 right_x=0.4205 right_y=0.2034 right_z=0.0029 right_yaw=0.6291 right_pitch=-0.1535 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.1402, 6.0103, 0.6129, 0.3443, -0.0562, -0.0171, -0.0889, -7.3094, 5.2718, 1.2527, -0.1832, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898d6d6f2c66ee65db6a41ba93ae40bbc873f40b5af25150c7e933dcb5136bad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15486535bd67c0178df2dabf235a9c7437c81ad974948f75c74c7ce7c01d5cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f88c4fcf515d882eaad3c030665d79c10b5bdf85c3aaeaf7d5543fab5df9c0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.308 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6623, -1.0828, 0.7731, 1.0561, 0.0538, 0.4644, 1.5612, 0.9253, -0.1005, -0.1326, -0.1219, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1906 left_z=0.1551 left_yaw=-1.4248 left_pitch=-0.2135 left_roll=-0.1615 left_gripper=0.0538 right_x=0.3741 right_y=0.2176 right_z=0.1142 right_yaw=0.6217 right_pitch=-0.171 right_roll=0.0084 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -9.5932, 5.6957, 0.696, 0.4811, 0.1441, 1.033, 0.335, -6.8855, 9.0735, 1.7118, 0.0317, -0.0171, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7586, 1.0554, 0.053, 0.4099, 1.9381, 0.8444, 0.3496, -0.1864, -0.1783, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1887 left_z=0.1529 left_yaw=-1.4214 left_pitch=-0.2284 left_roll=-0.1618 left_gripper=0.053 right_x=0.4074 right_y=0.2166 right_z=0.0034 right_yaw=0.6436 right_pitch=-0.1706 right_roll=0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.0718, 6.0923, 0.5983, 0.359, -0.0562, -0.0171, -1.894, -6.188, 5.5863, 1.0574, -0.1197, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.757, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.374, -0.1989, -0.2108, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1885 left_z=0.1527 left_yaw=-1.4209 left_pitch=-0.2297 left_roll=-0.1609 left_gripper=0.053 right_x=0.4205 right_y=0.2034 right_z=0.0029 right_yaw=0.6291 right_pitch=-0.1535 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.1402, 6.0103, 0.6129, 0.3443, -0.0562, -0.0171, -0.0889, -7.3094, 5.2718, 1.2527, -0.1832, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898d6d6f2c66ee65db6a41ba93ae40bbc873f40b5af25150c7e933dcb5136bad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15486535bd67c0178df2dabf235a9c7437c81ad974948f75c74c7ce7c01d5cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f88c4fcf515d882eaad3c030665d79c10b5bdf85c3aaeaf7d5543fab5df9c0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcBkFZfxKGrOsbUONZdbQGYWYTMS-E3cloaZhE9DrEray8MpZSaiQkReENB4cRK0-2BSQjTx1bFD7sJ2II5gUTCcuVdQYhfcHr0KbEWPpLel9fFF9LtYPRu9WMtCDeoEf4Q_W-bjzQLVeeDJq3UKMAc4DQHjW9IRNPiQBrjlub2oE8F6JSCV05iT7g-rZgJwg5wMUdnqtWwPyls4g8x9nTg7VVpxTCInVrpfwzC6dNifaWnPACiN_tO0bFGKuP2cnkQPHL7Ia-Vi5CjgNgRU3mFTt6e9McGqjze9htzafl4EXa9s81XFaztPnsUNp5fFkXUD9ASn-uehvm9nBXgDGUI3soOyR_QxHOJwy0lSIpt7dHwv48tumclFUxwRWey4kZ42Uj8QsVf6Yqx0RuojlpvTCRLhVjqqWAxHVVN7JnDhOnDAcTLIFoonetBOfOt48G0UdxjmmJmmlPrlgNphsx0rBXMOlNuKI0FXwzV1LVjtbIWMcc86iiNdS8KpeoBYvwes11o814eBaluXw_L4B8SidaVO7hKnT8A_tBb_gEIM4KpwvMGLvCx4DHHUSCebGtMd51y-Ez3EF4r-5JNfJD2tKuVxziVVpkPVLBC1S3yBY1bp8XfMK4-ggnDO1l21SeRsO8bfRxjn0ccF2_t5OINPgDv6VqKsSs6oNgInBVBy4BcC9O0ODqeBxtd684h3pGp5OEa2OSCKGBasfvVMziYaDTMh-Zs64CxwYyDPE7DKvmGkkZPx5BacLVCu3a4uWtNlQxuAgO_ZwUGC6hADqztWEdsFr_6OP_fejuGJg5K8D25cBoWYKtJMxBuUskjW-BRexR95hxXKTzkd1r_eK2QlQWbW-241xNvkQbPvWqk2sV0MvyH_Qb_QbZHAuwCAhfyZZ5UnQV9byrl9vWgy9LcgpcVgfjHwHm4_aizsW7X3G1i6EOfygbpB0XDc_4-EZ8cfJaa0bhXBqZEqE3-O2ZKT1mPpTQ1e9GHO8vl5gi1tlwUnYPraPrbUHYOdIoqD13L-6d_0YgKXy6qYW1T32iU6CGy0C2i5Txh6Iq3L9XsB0q2AYWuDfsFQm1oNW97ZQcPiQaa2-b9k7ryFqRGQN21TL__5TjIV6Wwrn46tu-1xvStYNaN140cDeksVoTRkBEeaoI1arS0xHLkw2MVYC3hC88FfbBDF0GfoR7zFIzmOIb6iOUj1sTsje943ayRLF9roETSpo1OTkZyJ3u60CKPVnpQoUvsLDW9_LPbO6IpQvMbW4SYgPRAgCJRSaBSXrbtIprRe5YotNraR2FbNl4fUJq3il2Qz12j94U6RMrGn83_Pm3zGPlOjSFIoEIx4xvm3z-bloYX9um-BTeIPz8sjdKwZfnhTFzRdYT2vHWTrjTJUmvttk6U7iyUjOX1MkuIUgigfrOuFB2pu0RUXxYMGDRWDkQk_pUBbFXj0d7kKOyC-wT8xcFJDSww-bEZ9ta83LPqkkRooQW3e1qf8WaDLA==",
  "id": "rs_0ddfee9e42e61200016ab496fee64087d083f92afabb70741d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.404,\"right_y\":0.216,\"right_z\":0.005},\"note\":\"The pen moved to the left of the jaw centerline during the freed sideways motion. I’m splitting the correction to bring the narrow barrel between the fingers.\"}",
  "call_id": "call_Mi0Vs3kcxwg0jsEdnydxU2ZD",
  "id": "fc_0ddfee9e42e61200016ab497006ddc87d0a304415133c5f8db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mi0Vs3kcxwg0jsEdnydxU2ZD",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7551, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.3744, -0.1989, -0.2142, 0.9993]\nstate[eef_state]: left_x=0.3806 left_y=-0.1883 left_z=0.1525 left_yaw=-1.4204 left_pitch=-0.2315 left_roll=-0.1603 left_gripper=0.053 right_x=0.4206 right_y=0.2034 right_z=0.003 right_yaw=0.6309 right_pitch=-0.1531 right_roll=-0.0196 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.9624, 6.0376, 0.6129, 0.3785, -0.0562, -0.0122, 0.0342, -7.1316, 5.0803, 1.2039, -0.1099, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be1a0d9b7f149c4030bb8c1522d02d5fa3431485249e3efb9d669fe7246abe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a8d3406a55d15d1f4476c6dae4cad16031224e7dd22c708b07575bab3fc902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6062ec78caf777d3372d9e832caf9ab7d25b624a718aa965479c3490544d1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.66 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0855, 0.762, 1.0554, 0.053, 0.4408, 1.8988, 0.8345, 0.2798, -0.152, -0.1474, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1891 left_z=0.1533 left_yaw=-1.4222 left_pitch=-0.225 left_roll=-0.1622 left_gripper=0.053 right_x=0.3937 right_y=0.2193 right_z=0.0041 right_yaw=0.6302 right_pitch=-0.2156 right_roll=0.0113 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.0718, 6.106, 0.6764, 0.4225, -0.0366, -0.0806, -0.9778, -8.3761, 5.3538, 0.8962, -0.232, 0.5153, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.757, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.374, -0.1989, -0.2108, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1885 left_z=0.1527 left_yaw=-1.4209 left_pitch=-0.2297 left_roll=-0.1609 left_gripper=0.053 right_x=0.4205 right_y=0.2034 right_z=0.0029 right_yaw=0.6291 right_pitch=-0.1535 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.1402, 6.0103, 0.6129, 0.3443, -0.0562, -0.0171, -0.0889, -7.3094, 5.2718, 1.2527, -0.1832, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7551, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.3744, -0.1989, -0.2142, 0.9993]\nstate[eef_state]: left_x=0.3806 left_y=-0.1883 left_z=0.1525 left_yaw=-1.4204 left_pitch=-0.2315 left_roll=-0.1603 left_gripper=0.053 right_x=0.4206 right_y=0.2034 right_z=0.003 right_yaw=0.6309 right_pitch=-0.1531 right_roll=-0.0196 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.9624, 6.0376, 0.6129, 0.3785, -0.0562, -0.0122, 0.0342, -7.1316, 5.0803, 1.2039, -0.1099, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be1a0d9b7f149c4030bb8c1522d02d5fa3431485249e3efb9d669fe7246abe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a8d3406a55d15d1f4476c6dae4cad16031224e7dd22c708b07575bab3fc902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6062ec78caf777d3372d9e832caf9ab7d25b624a718aa965479c3490544d1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcGS0eZv1lC8APM-OJUBoVTu8oqmZXa1UkKdm_NNbovX41ZLLoBDRy3B6RWgbZQ8lIr_pwCGPpM3UYLmd3EAuyV4y3o1g9E0xwFNi4MjObMOpn3JeaszxNouxWMsvo0viYSRVKApIQONSTH0qbKDkFxNRSKZCCCkUf-ABeCbz0WxLMoZlqS_St6p4HimCru_E5s4Ed8JKYOnEXe4VIg9uKDd3Krq0myMsmX4PHtgu5cQhcQEOcCWf3N2W4Kp5ujYZ9CeBZqYA5Rhor7jP2nT7iBbZLz_MkewJqrt1lRJkSPMyshecdxVnlhzXelMvbGIDXr-cpSD7MOZEJwIjXJ4F-T5A9aRgEp6eI0LWaRz0QoVCK-_15lCCFEvm0NsgLpPAWzMIKXSwxHnOZUGR0IC0jNdI-z3bArOhd92nnZOCyb5h4FJvPFSAMNpX7FfyrYRem_kr7GlQbOMUwlaAmbDjFj0y4KEOqSvvzrp53rcdth3ctmDvr_hYTmuoAZFsCTH_AGJUmqj8XQyo_dTMPAEhSAOtY12tRWiHK3U1QlGEOo2iJCEBNXrnIn7RsrQAs-cI9xroh1hITx2JRDq1_SwwXG2ieAqKHpIluJeS22h4EKaI0Onww4WKMWPwMPd42sv4XjEkY79cEF26TBgwFQ52K5MCUfRTfB9cqN5Qx7XZbKNowXSWS0VGOXcz-mv25i-8c98xRn1yBMpPjJz_3Df_Wvs6ODhJYb-XfAHsAALEiTWPgAf2nKaYgihP2jM37qUopQOpcCXqYtVeFpW9SRwJUNsI3OPZRIyxfBoVjjG0DtF80324a2Rstfru9Be2zA4_gPybAHaZQNT_jo3l7eKkUCgFyuU-O6D3uIc7ubU1zI5SJi1p0rXuATAQqggzfent4awo9zRpPCJbWqZWjClF68JuVR3p6PPYbKv8vOnk3yEfY47ERxbvS_lACES8ShKglvCbDLGim0jb3Lm4idR-DiKdbBy1hEv2XdHZ40Gtok46JiAYDd_xzCDl60UxWmDd7d-sFPVU7uexhZ0fLVBZvjsb18AzxpgHJ5ZwvavpUYpQ4bDvTJxX7BpgW3iRVSBu2vaYEjc4wmOdm9tGFilyH7Ghf_AZHIeHLpH5o_6VT6Ln3g-UzsU2QS6aCUlFRkzU66unsvkXDYGDTEmLxv8b62xxpljhzvHWJ-7koQH5RogltUoW1ENHyLXA6mojo4m29ejserxBQ44rOsreuMvtitCfS0XQfTeivSfzmIQWzfNc97EU0w-2FIugZtT1bGyNYpIZ0rxKbxVcFN_mFnCFVqcH7vJ-rJtJAcXaYGub50WcNtxJwDi-Fz_Sunps4aEjNrs17dQz8rWlyWhPUmu6eIlxTf7AZt0VLv5W8M70MLrE7j8QwkK1aU0gdUWOnDL_jY0TJ6-_klYGvr9O6xIzWQob4PCPEktFdNNRLhyE0KZzlf6WlZx00uvIvYUqDPpOXYDWWhtMEop4NmREqrsR_S46AdYDSJgZrTWuDpCi6Vy5cNiNwJpVXQ-iZjd3oVsaRWldqLHcOKZlIpYy176TM6DXz8S72zDP6M03O1uw1-J63jKbDgWxjq54KTv_G02gD_QFOkI_2Qz2ent6Gsh19FeIIucuDvhVttspeHdNprJpNAc_WSwcGsjnHvcH1GEo-MMEdRg-ywomFejxSoxSC-BejnfsZnllQ4_DlOWOKR7KcKsdolUh4UjRhLcTKg2j5jW6qQ_ghFHYEzikxJVOJ2GQ==",
  "id": "rs_0ddfee9e42e61200016ab49703278487d0a21dcabab1ea0dba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel is within the jaw opening at table height, although slightly off-center. I’m closing now to capture it and will verify by lifting before moving toward the cap.\"}",
  "call_id": "call_pmaBlbz7mBmlmyph9cznyi0A",
  "id": "fc_0ddfee9e42e61200016ab497050c5c87d09a78c55dc09e1bb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pmaBlbz7mBmlmyph9cznyi0A",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7486, 1.055, 0.053, 0.3679, 1.9591, 0.8562, 0.3832, -0.2035, -0.218, 0.0465]\nstate[eef_state]: left_x=0.3809 left_y=-0.1875 left_z=0.1517 left_yaw=-1.4184 left_pitch=-0.2375 left_roll=-0.1585 left_gripper=0.053 right_x=0.4215 right_y=0.2046 right_z=0.0047 right_yaw=0.6365 right_pitch=-0.1439 right_roll=-0.022 right_gripper=0.0465\nstate[joint_eff]: [-0.0068, -10.1128, 6.188, 0.5739, 0.486, -0.0708, -0.0171, -0.1026, -9.1692, 5.1077, 1.4383, -0.0415, 0.0659, 1.5556]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba84a0e2ef883813694b3af87f0197a9aa0186dbd49081271671ef469e4b78c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6fd78a7e88677f4a7990e4525d7d228329202fe45dceda845a2a7406ac1c15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed98a5c819e0e64a066f85d3075c80e7b4198bcff01c6beafc415fb9769209a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 11.65 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7586, 1.0554, 0.053, 0.4099, 1.9381, 0.8444, 0.3496, -0.1864, -0.1783, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.1887 left_z=0.1529 left_yaw=-1.4214 left_pitch=-0.2284 left_roll=-0.1618 left_gripper=0.053 right_x=0.4074 right_y=0.2166 right_z=0.0034 right_yaw=0.6436 right_pitch=-0.1706 right_roll=0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -10.0718, 6.0923, 0.5983, 0.359, -0.0562, -0.0171, -1.894, -6.188, 5.5863, 1.0574, -0.1197, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7551, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.3744, -0.1989, -0.2142, 0.9993]\nstate[eef_state]: left_x=0.3806 left_y=-0.1883 left_z=0.1525 left_yaw=-1.4204 left_pitch=-0.2315 left_roll=-0.1603 left_gripper=0.053 right_x=0.4206 right_y=0.2034 right_z=0.003 right_yaw=0.6309 right_pitch=-0.1531 right_roll=-0.0196 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.9624, 6.0376, 0.6129, 0.3785, -0.0562, -0.0122, 0.0342, -7.1316, 5.0803, 1.2039, -0.1099, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7486, 1.055, 0.053, 0.3679, 1.9591, 0.8562, 0.3832, -0.2035, -0.218, 0.0465]\nstate[eef_state]: left_x=0.3809 left_y=-0.1875 left_z=0.1517 left_yaw=-1.4184 left_pitch=-0.2375 left_roll=-0.1585 left_gripper=0.053 right_x=0.4215 right_y=0.2046 right_z=0.0047 right_yaw=0.6365 right_pitch=-0.1439 right_roll=-0.022 right_gripper=0.0465\nstate[joint_eff]: [-0.0068, -10.1128, 6.188, 0.5739, 0.486, -0.0708, -0.0171, -0.1026, -9.1692, 5.1077, 1.4383, -0.0415, 0.0659, 1.5556]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba84a0e2ef883813694b3af87f0197a9aa0186dbd49081271671ef469e4b78c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6fd78a7e88677f4a7990e4525d7d228329202fe45dceda845a2a7406ac1c15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed98a5c819e0e64a066f85d3075c80e7b4198bcff01c6beafc415fb9769209a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcJ_kSsCCr4LCyQxq-LLeBzaoh0XAVfbOa2wPrtl8Ct8wCLM4f_EXTGp838PhKymYZ5hGOtjR5e4dI3sH96XNN0gxTkgQr_qRi52-WGkgWSifwrX4quIKcAq9_xW9l6Zqdh0nYUqb1CvtA1f3fc2sVlJNPP6h5oM9-zm4OWWU6VhZgPVQdPZF4kHfhLluXE5vn7kaYPMIJw4j5-tdFWN5c4jbEAVwJWFusLcsjWxpc5M9tkJCU_fUdoNj7CuVOIi3GGxs_7Np9pLJH89Jixrx46IIO-b7udP_t_JDIVrJ6GRQijBWY9IXydtohJb1DwooHn3J23m8uEn3EKvsH8J9ZtzFofrFKJnObFdqFKG-QG8xSbZ5PD0GOrhQmKQ1p5jeJ6St8k5myBc06TBExIIaMPPFxJXW8LA2H5UdG-jrc9-pL2pJnMze6jPUzBxOj2Y-IIlGAVzDq8zp2EgagqXSEN7A7TyYnWdBFJkLwfPIa680ucYfKfoHTrqCCNGQTL-5L_EnVlJOBwgekWkbSNzA_NlcCPM-Yd4sG2K_mGurImoSTghGJKzu3lx6yzAbCnbpIQT5XPavr37ojlK3w4196Fz0dpWUcSLZ7lmNZvhNPlMkW2_AfGA18MRnVasB-2SewGXpCqvo0AqNqXQ9Y71xD8MggwraLEN_gYY9ltpRa1jhVxJ2OuvhLLK4LHkbHZZTFnQCmZSem-wPeSzbHOUz4VKu4RfconpCAGgVOlycjSS09HOUgZcSE4eReDE7ZWge8pQBbtIaq0Ek0QyjGc9H0KsG2k-SenkM2_Y4lTYPtrOr24SVeNy74r3c8Sg-Po8uFNjjvVVFam4J00rC_pcLubxm47MaH4OIeIOiD3I1qH0uRmn538MYJA16FvQyMINkNxZQ3O6-SI9YB3zOU2h1GvGs_yHIha8kSmd4yGJzIk4Fi4_QMb1dmzD49ISqoYtyGqitXXR21Fkm58Gxt77kz_NyvFWu6Ycqwt2DkRMZyZPWqPXFU5SAYBvPvNIZ9skOTX2Lfo-9j7PdJ95M1EBpDTPVJps3t-Ure8AzfpINC6DF4qaSVW1lcgMDpLJ2NsPZXMO0zf2jWhPG-Mdf4yEHkp8ElSgoAUb4qeFg3E2doHWaPdIRthpuybSIhvHykfhtzm1RzvIGR0RpFC8Pbm0IwX0FPwNsk7kvX4CBTQpkhqEW83GtuAHROwVcgy19GRo4Is",
  "id": "rs_0ddfee9e42e61200016ab497087c2487d0b9f84af885860a83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The right gripper stopped at a small nonzero opening around the pen, and its tip is visible beyond the fingers. I’m lifting to confirm the pen is securely held.\"}",
  "call_id": "call_YYYG0mNCZ31BwNqtsOAdYUtx",
  "id": "fc_0ddfee9e42e61200016ab49708ab0487d0861eb4347aac10b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YYYG0mNCZ31BwNqtsOAdYUtx",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7357, 1.0554, 0.053, 0.3679, 1.7683, 0.968, 0.0731, -0.2043, -0.2184, 0.0523]\nstate[eef_state]: left_x=0.3815 left_y=-0.1859 left_z=0.1502 left_yaw=-1.415 left_pitch=-0.2495 left_roll=-0.1539 left_gripper=0.053 right_x=0.4217 right_y=0.2048 right_z=0.0754 right_yaw=0.6376 right_pitch=-0.1511 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3214, -10.1128, 6.2017, 0.5788, 0.4762, -0.0611, -0.0122, -0.3761, -10.8923, 8.1299, 1.4823, -0.105, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869b94d1c0fa09166cea27962a6fa428bb4cc9491ff5368cb6dc0d4328a01eac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9daf97e2a90bb51a4cada25920600e3145e2511666c9cac7a4fbee402f30bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2844daac711c5e95336bd2f2fcb5ec352f417416bf5b87ffd367783f109ffeee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 2.746 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.757, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.374, -0.1989, -0.2108, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1885 left_z=0.1527 left_yaw=-1.4209 left_pitch=-0.2297 left_roll=-0.1609 left_gripper=0.053 right_x=0.4205 right_y=0.2034 right_z=0.0029 right_yaw=0.6291 right_pitch=-0.1535 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -10.1402, 6.0103, 0.6129, 0.3443, -0.0562, -0.0171, -0.0889, -7.3094, 5.2718, 1.2527, -0.1832, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7486, 1.055, 0.053, 0.3679, 1.9591, 0.8562, 0.3832, -0.2035, -0.218, 0.0465]\nstate[eef_state]: left_x=0.3809 left_y=-0.1875 left_z=0.1517 left_yaw=-1.4184 left_pitch=-0.2375 left_roll=-0.1585 left_gripper=0.053 right_x=0.4215 right_y=0.2046 right_z=0.0047 right_yaw=0.6365 right_pitch=-0.1439 right_roll=-0.022 right_gripper=0.0465\nstate[joint_eff]: [-0.0068, -10.1128, 6.188, 0.5739, 0.486, -0.0708, -0.0171, -0.1026, -9.1692, 5.1077, 1.4383, -0.0415, 0.0659, 1.5556]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7357, 1.0554, 0.053, 0.3679, 1.7683, 0.968, 0.0731, -0.2043, -0.2184, 0.0523]\nstate[eef_state]: left_x=0.3815 left_y=-0.1859 left_z=0.1502 left_yaw=-1.415 left_pitch=-0.2495 left_roll=-0.1539 left_gripper=0.053 right_x=0.4217 right_y=0.2048 right_z=0.0754 right_yaw=0.6376 right_pitch=-0.1511 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3214, -10.1128, 6.2017, 0.5788, 0.4762, -0.0611, -0.0122, -0.3761, -10.8923, 8.1299, 1.4823, -0.105, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869b94d1c0fa09166cea27962a6fa428bb4cc9491ff5368cb6dc0d4328a01eac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9daf97e2a90bb51a4cada25920600e3145e2511666c9cac7a4fbee402f30bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2844daac711c5e95336bd2f2fcb5ec352f417416bf5b87ffd367783f109ffeee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcVO0kCNnI4iLRhnMBm7HmvMTeTq0J7JB79-Q6N_0pZsShg6_qiPUDI-I0WALTaIrLmkd_JjI540W9gsWsDz-LaxLxJoTgh09R_KUUcqrWVV5n_Cy0uQF75vZ6pezw3JnfL_jeiGG2pLA9PT958pz6iUE2FoKvwivLBbZCXdvkksHrLbUf78wJh61lxhFRC-yy28RMgpaBq4931v8Me0eSs0xcFT2J4MKuWq80I1FU6zIXH64H5d8OePbqNAlxq4s6LUKlUu-qzo-mWS2RBLERKTwmPxgpa2TCk9aQ3pw6zx84v74UguoXddTlrlLvFY-mazULexiomURNawJwIHadZeeDXsNuNSuy4msiVhXNf7LoS49qVsMSjCcn7Fp3aHAFfWwWfdsCb-dcLSUyrCEoUu0vRLI8UBWsNhMlLI0r_C47j_DL_uuwIuPwrbFD-0RUjYs-Utj7GdItvAbeXynjrBCS5w7wxxC3S6bkwtem7AeyImCM2DjYT4UbgO60W_Ge9UjzFGUOKO_aNqsY7BPUA1VOE13uqYBjjtJZliBk9JsQ5Wf_hSJN-o0Vz3BiodwB2jWadUO9pgGXMjTffu1xH5_UhXFCxDypXBOI7-uYh9BCwnen2w8_RL9DkdMQHMS4butlsNdNl9ESJGfoBWPQSpCBVXND0VarsyaOLbLqHcsyayvNsCrg3uNksLrTOpTVO-GYaDHlyPVu9WHFxrI-izLY80hhDLFrS06MszJgBmQWmlRiDKqDSlgzG4J_85gIyLGKSyLSRM4vR9rg_6MKWkxvXAANxRsOr-rK4J3Q6WezdEqVxTN0zVbsJv99eWDAK6inpr0DcaeGgdfxmtSbbuYVGRGyRAiKpD9V3FRSzOnoFPsQMbzS807a99RahWbW-zZwbm6KQrqnvXD_S7GiqRqNcJgcAmHaCeiWYNxkUeO61tW6_eVoZnVJV6vW2pnYTCMyXIa3H3D9fthfeBh6uQ0mO50udIDqJbgvCXjnonQGkmPsj4xqZOe_ll2FOAMhU18neL-D6Q4GT38ZFaXGIm2n83WTPV8C4in3fxOD-UuTL5aayj72e5IFShP0S22JIB5WfeRCrEBAObZK5e-fAnPOEbmucR9ANBLfY3r8El49sbd-X5wgW2X-KhOZW0waLl4EpDTQdR4kij-ijRsX_CpAf39PGe9I2E4z6Mq0JXoJdtCbAs-p1SomJ5POrY95gB4iIj1QNPuUA-v5dkLYNVY-Dt9h31YypgLKtIEzPnyYFi7s5uM9YHWrhSDJ4_8kLNn124IZAmjdmZDADII73PKGgQiYUZFnsOJbnrtFCEtqYqYc4xt2MCb8F5Lg3kpu3T2bjyUfVM2xjY_x3IPyViOhmt5nfH31S8N7MEBi9BKjBpHJPplJ7c8ksaLSAxYPg2lRd6owAmDzTCNWO1mruiUMI88e9sz6zHyq0OvJlsgCPiqX97somA-oodUYTrdZfsKn0RsPE_b0AghQtkvB_yD3X3J_yED0Yp026P6XXzmNQiTkKN3LEFkFENjyjd2lmUQakgiNtDuHBmyNPUxNqXC0zYTkHXbW7HLXDx8hGjtnU_Au0jC2HgsIhRxHitI5g8SyU2qoOYJKflD5LEn2YS9KuQYrnn-pNBE0ayS0neD5dMvC4XERcuT8O_lOyeGBxxLDTGTPKMmpYOZsgAXZdY3nWv-CWbmDuQ1wGPwmf56s19QbuAl2nflSrXkiOk26rOYcXux71INwVvFvYCs8h7TeFWCQe2ZNVuuieU5wxZTiRJ-z80NpKRxG5kR1kChnh462xesJOVFuFoObjgulwp9wUed7_KTIAoHSufqH74n3zSeSiJ08IcyMg9dakNnb1QEkYdCnBOponcI_UC_RCcG__V6Wk4Rnct3_KKBsQVdw41mwzqMjLvylPBu0eMurQVR56ixr1QlPJhn8XMcba-p6VfXeqGcfFyGqPfB7RMTy-bAsQFZfe_zzltz5ZCnVzpCHo07BJTPC5x-XG68VdpvmEoYzgC3tN57Nq1sQeL3gc8be6nFgNHJ25ZCJBOxh57AzaToXWFUcd8uHEPg9FAkU_V7yYDbGOlF6zGFHCG_8Bes3sb8XlzTAZDWFJuc60d1C8di5VX7YB3zTiTFtPGdN_3gNZeIf5ouzGMnC6kwHaNlAhKFSv5JRUrquLi3vL_j-0e0YhJBn8NY232YqSCGS_3JCOeo1nM8vl2TyC-0vonsiYT9MlSBu2qUST1OF_VJmBvAqK9YCyEOkCc4DBZdhVMUVK_iLMfAwPpWfP5QFO_bf5_X0uGYyYtKj2oJtG_Ytqr7fD2Uhq1IxDR3RLKLNSVCJY-3jBEdIOele31YHAh3SP04Tq8c9-0nzJnSuqjpZDJ7EVooG1vMf5steZcV3DI0YeE-JTWlo_VEnqn0z7fMhTi6g0RAeMbB6aprEHGSijaheync52LChsum2oey498e8LYCVdbBaIVn2I67qpFnuQoy9loN3fv9oEpggBqkpZX69SjB9GgHr66rhCajPsD20PtIqJuWQaJfCgVDaSRYZPmwxB3ElMutGJEiyh3PbwrEjxUjfjENLeTq-nOpXIxFAVqhEc2fxB28oUXFhnrRTQUJHYWmhAnOwzzy5eRsWDHUIUCNnC8EcdguzR2kfUj_CI3phWZxTudnWfWXFpL1or-ghg4uR_nlRdVLWldMk8G-yeZPzGhTVG8ZFCT-lKO83t2-PGlLhST6C2G8XXWyJSKhDnUicXsCsCQg0xmuQIRQFn9t7RlMu39wMAlMaTsin6bLzw_jHqetEuN6o7B9RbMqxP0E6ad2btVr6YET34bwk1rsRx7YierU2MQvhyIFHOReqM1hCL_z5vwyPGzRJIKm8YlPRcWNyw2aBwO9u35DNmM8OEUlhjlSYjxYSczwI745JI8pfcsyaUWcZHc9YBCWiGkOFA1o-lPXEQVor1J9oirj6XaIESixM9PTCpsVq1aJyG9KEwA2b1kB9L3Har0ktuIlenSughok3712gl54MjHI9KtXLv38yuqWiFFSOlX6Eviwd11n77w_P-tBdVC85yerhMExLJmRNUIfYI1mJOQ7cXMOCxEakiMhb9POnWD5bZJIU_OWHlwZaGXpWdkQbLREGs3ECPaLduTZi6QYAUzaON5wezhiVW6WbvY8Ax3ymPMma_8mVi06_CS3Jc7OT5_u6lejyDxR8jP5PcCMLlK2JigokCeruhUq_hgMJJMhkG8OwH-0OqUbRxJMxn8Bxhlx8qEwLkw0QEvmgvafPJ07wbjLw_3TfmDETOP4M_uz8EE2dMGcKiHFzSv7RFYbLJeNIxRD8yfZOjRKhQnFpulFSOq_aOgfHaBQbpioVfj4gpEnhbZLK2NzClRI-DLkbkyH350rNMz8uimLzjYjVVdYfDh_rVWIsPXHrUcxYUtpTXSB0siI8_8lJikMU5KPLYHlT9Rir5jrg1pM64CwDaLnroXCsmtoY9QBl74yye27k2pNlvvuLea2W6p-mWvbAepjz1d2ARSwNz3L6GjfIIgzOIa51lhFAlAxQzbruhODyfVJHNOFReccZwXMwtB0BJlNqlGt-Fb6Eorup5_5DpsMTm-U_kvAzxu9IJSRhtxCGuQKuSWkohcSKewQzVwEcUZi8RLbyqn-0kgBWQAKsi9LCV11QRqsJ3257nye432vH-DCDpGKFlYclJWN8azKVaD9GRjwybJ7Ttkb9-CZUVEqqqpyidW3rsKzce5xi72kTia4B1l9NxcUvbHrNfoN8rgu66sIe4KyCfKUieCHIbILvwb1LtMGTdvQfRGLJZoQ6ALnKxLFXteSe8nZzdgapcZ9mZiQ4xMD2zLwBqxxWQmYju9qgCS-3gOoCPW02RicUaLbJNoytseww=",
  "id": "rs_0ddfee9e42e61200016ab4970c281487d0abc660155219aeb0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcV6hf1Zezttv247sUQck_pcB2fViMfRJI9TXsdxtFe5FodhjyTgntCjerKFzzrhXO_yum6n5koBpwoWhOnTGWcDVvIdifQbeJTkPhUJelcjqEb8teIALSHb9vkHRMOZV4dKZHRg7VCEEZF43GEPCkyZhTRPyRB0gOdzLWwSWF2pIrT_UWFZideqn8CJCRywnWF2vXmAt6wDn_aDL29jCg8zzLn3jVio-PVBF12q5_dQxoJWw7XNlKcveGgE0QN6p-7RkNInpfLT1Z0fLLXqSQWemDvh2LXcAEYKyz26L0C-O3CmeBujGyYrEnCKDCCKUiPfJi_6WFeESGL4wDqB1-gfAwKxmUP-xODQCII-XSc2IkCvMZViMlHxdC4hpDwudmuRJCWfMceHBqiJIuyHD8Z0Tc9ZTVX0PtzUF5WA6FBan8hUkdpOQoW8OUf4Suy0l8EEqlOmqu2-FSj19gJuJ5KrF2Puur96N6BhKFdn2X8075X3bZfYsdxy-uV5T48XnJBLtAE6YBkkQNUm-mQ4ChVhgDVnrGsr7Vwrt08nAfbhBC4gNAe147EsDI2-eTlXuAhbx43esn_IR6szIqbstZOQ4UWWblaDjGWVwF0tQ2CsrPXghYPAobwFtAGRqbGLtgXiXxAx7t7yplS4tOaZuXdp49oQK2eJftMeTHQ3Y__mMbl5NNM0DGcR0_3kOLfT6puMUkIUHDCBHNPQh7_f5ToYGm7Ve7hI8waaDpNlJ40mL5QP0mdJh4iGPpbdDovUcDR14z9mNhciN84qF4qUmFwvTVWIA1mTBpjPL2AW0KugjYfm2wGzrMng-wLWsD5jKhGQifoj87ARaoBL3fr4PQCVy9HJvC9PGKV1L75p-DE1cK6cKxiv6x1sWmD6BzL3bFB6RRQ5lKZPWw0-PKimkN_tMj1d7ZJfmciyuNSGlBcLx2EvHWUFRyRAo8hmnJGawCRAqNgQpTw-FLnqanaeT-vd9ffXDAMdjk_K-aKWtfpDii9rr0fkjF6Mfl148de7AC20VpXW8qE6gxdCIVDlsFAOfRrkYq0VPeWn9F192gMuNnHPYfXsegNNzX9EaH32fKhIJbNnFQnV7QoA3yPun3KMYkcWyP9vNDk8CyOoM5qMMkxnpf0DFz903DgzV6sEHXFm1LDW9sgtDYv3SCNBYomR6J3JVaHAS54PrIIjNF1CqxLl5u-NFVCdx7Rm0fGGrWW-nR0jJqNHsOAiPcCYKWKveK5I_pXRq6RFz1TR7iQi6cV7c0gcIBrBSXZ_mpCOBVBNYOYYEVKteOd8Ns7VRw0bJrYmsNpD21vUxYvOgUKnxKWorqwVTAgBxAn4CpV6jVl5Mh-LiuHdIOc2bzWe8QLknY9CsdCtPAVV1rfhVBMvo-lzi3guXN8zD_eAK9jAe2rq1OZasW9xqvb-5YQ__pQx7VEyKbmWHF6W_aJF7cX6XUfh_drWh3eU38h40G566ccn2DwExZdWJJ4_B2B6JN-VAS13iLcaRHO9pVH5kAVCXLxh96R1jNtxzoE9XKijq2w",
  "id": "rs_0ddfee9e42e61200016ab49713476887d09e85e552594017d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.005},\"note\":\"The pen is lifted, but too little barrel extends beyond the fingers for safe cap insertion. I’m setting it down briefly so I can regrasp nearer its rear end and keep the two grippers farther apart.\"}",
  "call_id": "call_ZMpPO30d9FRcIsXxgu15Ysvl",
  "id": "fc_0ddfee9e42e61200016ab49714e05887d0b9cbdd8eb26e2d90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZMpPO30d9FRcIsXxgu15Ysvl",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0866, 0.7303, 1.0554, 0.053, 0.3679, 1.9533, 0.8669, 0.347, -0.2146, -0.2184, 0.0571]\nstate[eef_state]: left_x=0.3816 left_y=-0.1852 left_z=0.1495 left_yaw=-1.4136 left_pitch=-0.2547 left_roll=-0.1529 left_gripper=0.053 right_x=0.4192 right_y=0.2057 right_z=0.0046 right_yaw=0.6468 right_pitch=-0.161 right_roll=-0.0096 right_gripper=0.0571\nstate[joint_eff]: [-0.1846, -10.0991, 6.0786, 0.6032, 0.3834, -0.022, -0.0171, -0.253, -6.9812, 4.4103, 1.0623, -0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283f89d97e5b971531a737f6184f44d625789ed904ef512657d4c890baf1f182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a702726c89b1936ed08c5b7e361c962aa8ba84dcc25168bf93edda02f7b554",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee0d4eafd7ede187108031dd46c9d3b10e3268fb59f593333bfc80c971e7f97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.535 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 83 changed as sent

message 91 changed as sent

message 96 changed as sent

message 83 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7551, 1.0554, 0.053, 0.3679, 1.9591, 0.8562, 0.3744, -0.1989, -0.2142, 0.9993]\nstate[eef_state]: left_x=0.3806 left_y=-0.1883 left_z=0.1525 left_yaw=-1.4204 left_pitch=-0.2315 left_roll=-0.1603 left_gripper=0.053 right_x=0.4206 right_y=0.2034 right_z=0.003 right_yaw=0.6309 right_pitch=-0.1531 right_roll=-0.0196 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.9624, 6.0376, 0.6129, 0.3785, -0.0562, -0.0122, 0.0342, -7.1316, 5.0803, 1.2039, -0.1099, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7357, 1.0554, 0.053, 0.3679, 1.7683, 0.968, 0.0731, -0.2043, -0.2184, 0.0523]\nstate[eef_state]: left_x=0.3815 left_y=-0.1859 left_z=0.1502 left_yaw=-1.415 left_pitch=-0.2495 left_roll=-0.1539 left_gripper=0.053 right_x=0.4217 right_y=0.2048 right_z=0.0754 right_yaw=0.6376 right_pitch=-0.1511 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3214, -10.1128, 6.2017, 0.5788, 0.4762, -0.0611, -0.0122, -0.3761, -10.8923, 8.1299, 1.4823, -0.105, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 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]: [-0.1791, 1.9442, 1.6611, -1.0866, 0.7303, 1.0554, 0.053, 0.3679, 1.9533, 0.8669, 0.347, -0.2146, -0.2184, 0.0571]\nstate[eef_state]: left_x=0.3816 left_y=-0.1852 left_z=0.1495 left_yaw=-1.4136 left_pitch=-0.2547 left_roll=-0.1529 left_gripper=0.053 right_x=0.4192 right_y=0.2057 right_z=0.0046 right_yaw=0.6468 right_pitch=-0.161 right_roll=-0.0096 right_gripper=0.0571\nstate[joint_eff]: [-0.1846, -10.0991, 6.0786, 0.6032, 0.3834, -0.022, -0.0171, -0.253, -6.9812, 4.4103, 1.0623, -0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283f89d97e5b971531a737f6184f44d625789ed904ef512657d4c890baf1f182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a702726c89b1936ed08c5b7e361c962aa8ba84dcc25168bf93edda02f7b554",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee0d4eafd7ede187108031dd46c9d3b10e3268fb59f593333bfc80c971e7f97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_gripper\":0.6},\"note\":\"The pen is resting on the table again. I’m opening the right gripper before sliding the grasp toward the back of the barrel.\"}",
  "call_id": "call_XkgXf3NsQ4BoznJC1BInvo4l",
  "id": "fc_0ddfee9e42e61200016ab497184b4087d09496b597f6c51ed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XkgXf3NsQ4BoznJC1BInvo4l",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7284, 1.0554, 0.053, 0.3679, 1.9663, 0.8627, 0.3805, -0.2184, -0.2245, 0.5951]\nstate[eef_state]: left_x=0.3817 left_y=-0.185 left_z=0.1493 left_yaw=-1.413 left_pitch=-0.2563 left_roll=-0.1519 left_gripper=0.053 right_x=0.4212 right_y=0.2072 right_z=0.0036 right_yaw=0.6526 right_pitch=-0.1445 right_roll=-0.0165 right_gripper=0.5951\nstate[joint_eff]: [-0.2803, -10.1538, 6.0376, 0.6667, 0.3883, -0.0415, -0.0122, -0.0615, -10.4, 5.641, 1.3016, -0.0659, 0.0269, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfdecea2576544003c6e25b923ff833b3d3933f1091fbc5647827105241a36f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2b581df9ef0026ae89c991197c4f046da841eeb79c10e0ba422cd136b304206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6976547de921aa78bff075135ce0fd457b67ad215cf62559df06b5dd06ad1bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.115 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 87 changed as sent

message 96 changed as sent

message 99 changed as sent

message 87 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]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7486, 1.055, 0.053, 0.3679, 1.9591, 0.8562, 0.3832, -0.2035, -0.218, 0.0465]\nstate[eef_state]: left_x=0.3809 left_y=-0.1875 left_z=0.1517 left_yaw=-1.4184 left_pitch=-0.2375 left_roll=-0.1585 left_gripper=0.053 right_x=0.4215 right_y=0.2046 right_z=0.0047 right_yaw=0.6365 right_pitch=-0.1439 right_roll=-0.022 right_gripper=0.0465\nstate[joint_eff]: [-0.0068, -10.1128, 6.188, 0.5739, 0.486, -0.0708, -0.0171, -0.1026, -9.1692, 5.1077, 1.4383, -0.0415, 0.0659, 1.5556]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 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]: [-0.1791, 1.9442, 1.6611, -1.0866, 0.7303, 1.0554, 0.053, 0.3679, 1.9533, 0.8669, 0.347, -0.2146, -0.2184, 0.0571]\nstate[eef_state]: left_x=0.3816 left_y=-0.1852 left_z=0.1495 left_yaw=-1.4136 left_pitch=-0.2547 left_roll=-0.1529 left_gripper=0.053 right_x=0.4192 right_y=0.2057 right_z=0.0046 right_yaw=0.6468 right_pitch=-0.161 right_roll=-0.0096 right_gripper=0.0571\nstate[joint_eff]: [-0.1846, -10.0991, 6.0786, 0.6032, 0.3834, -0.022, -0.0171, -0.253, -6.9812, 4.4103, 1.0623, -0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7284, 1.0554, 0.053, 0.3679, 1.9663, 0.8627, 0.3805, -0.2184, -0.2245, 0.5951]\nstate[eef_state]: left_x=0.3817 left_y=-0.185 left_z=0.1493 left_yaw=-1.413 left_pitch=-0.2563 left_roll=-0.1519 left_gripper=0.053 right_x=0.4212 right_y=0.2072 right_z=0.0036 right_yaw=0.6526 right_pitch=-0.1445 right_roll=-0.0165 right_gripper=0.5951\nstate[joint_eff]: [-0.2803, -10.1538, 6.0376, 0.6667, 0.3883, -0.0415, -0.0122, -0.0615, -10.4, 5.641, 1.3016, -0.0659, 0.0269, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfdecea2576544003c6e25b923ff833b3d3933f1091fbc5647827105241a36f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2b581df9ef0026ae89c991197c4f046da841eeb79c10e0ba422cd136b304206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6976547de921aa78bff075135ce0fd457b67ad215cf62559df06b5dd06ad1bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.169,\"right_z\":0.035},\"note\":\"The released pen remains in place with its tip pointing forward-left. I’m moving about seven centimeters back along the barrel to expose more of the pen for capping.\"}",
  "call_id": "call_40i7FKipvke2AWYXuHDeLD3d",
  "id": "fc_0ddfee9e42e61200016ab4971b001487d0af1ed8cef38f2f5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_40i7FKipvke2AWYXuHDeLD3d",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.945, 1.6611, -1.0863, 0.7128, 1.055, 0.053, 0.3252, 1.6863, 0.622, 0.326, -0.2401, -0.2455, 0.5963]\nstate[eef_state]: left_x=0.3825 left_y=-0.183 left_z=0.1473 left_yaw=-1.4085 left_pitch=-0.2711 left_roll=-0.1476 left_gripper=0.053 right_x=0.365 right_y=0.1712 right_z=0.0266 right_yaw=0.6401 right_pitch=-0.1547 right_roll=-0.014 right_gripper=0.5963\nstate[joint_eff]: [-0.0068, -10.0308, 6.0376, 0.5934, 0.4811, -0.0659, -0.0171, -0.6769, -7.2684, 5.7368, 1.7118, -0.1343, -0.1636, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea07957862f5be84f59815deae8eb34ef439af7082fb3611e49a3071b819bade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f5ec701b4f9f1dfbb4de903eabcebfd1de0be6aa2ee33012cbe4e8695790cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcb2ed5e5baf0db7c0249b04137e22012151c1383e0837f5a0551503af60a7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.209 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 91 changed as sent

message 99 changed as sent

message 102 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0859, 0.7357, 1.0554, 0.053, 0.3679, 1.7683, 0.968, 0.0731, -0.2043, -0.2184, 0.0523]\nstate[eef_state]: left_x=0.3815 left_y=-0.1859 left_z=0.1502 left_yaw=-1.415 left_pitch=-0.2495 left_roll=-0.1539 left_gripper=0.053 right_x=0.4217 right_y=0.2048 right_z=0.0754 right_yaw=0.6376 right_pitch=-0.1511 right_roll=-0.0197 right_gripper=0.0523\nstate[joint_eff]: [-0.3214, -10.1128, 6.2017, 0.5788, 0.4762, -0.0611, -0.0122, -0.3761, -10.8923, 8.1299, 1.4823, -0.105, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7284, 1.0554, 0.053, 0.3679, 1.9663, 0.8627, 0.3805, -0.2184, -0.2245, 0.5951]\nstate[eef_state]: left_x=0.3817 left_y=-0.185 left_z=0.1493 left_yaw=-1.413 left_pitch=-0.2563 left_roll=-0.1519 left_gripper=0.053 right_x=0.4212 right_y=0.2072 right_z=0.0036 right_yaw=0.6526 right_pitch=-0.1445 right_roll=-0.0165 right_gripper=0.5951\nstate[joint_eff]: [-0.2803, -10.1538, 6.0376, 0.6667, 0.3883, -0.0415, -0.0122, -0.0615, -10.4, 5.641, 1.3016, -0.0659, 0.0269, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.1791, 1.945, 1.6611, -1.0863, 0.7128, 1.055, 0.053, 0.3252, 1.6863, 0.622, 0.326, -0.2401, -0.2455, 0.5963]\nstate[eef_state]: left_x=0.3825 left_y=-0.183 left_z=0.1473 left_yaw=-1.4085 left_pitch=-0.2711 left_roll=-0.1476 left_gripper=0.053 right_x=0.365 right_y=0.1712 right_z=0.0266 right_yaw=0.6401 right_pitch=-0.1547 right_roll=-0.014 right_gripper=0.5963\nstate[joint_eff]: [-0.0068, -10.0308, 6.0376, 0.5934, 0.4811, -0.0659, -0.0171, -0.6769, -7.2684, 5.7368, 1.7118, -0.1343, -0.1636, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea07957862f5be84f59815deae8eb34ef439af7082fb3611e49a3071b819bade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f5ec701b4f9f1dfbb4de903eabcebfd1de0be6aa2ee33012cbe4e8695790cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcb2ed5e5baf0db7c0249b04137e22012151c1383e0837f5a0551503af60a7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcflRPprQIaPeV4dL1Ru9WVZWTQ1nAs3SYWOVcXHEuoshTIDZNjWnfOvaM4gN9QUcBjQTNeaDVArxfMGz-jWWgGenCVlEkRWyMTwQipX5_b_huz3JHMR0SIOriPESZzR3JIOS7M81selxNxFSgKPTlFc8nQCVAxLllziRGIz30N10WQsC5kX4rWI6gdX8Ix_E9sRn8k-H7FgwGg31es1TXTT0E_ao6LOv3O0GTGI7XrHVClvdhxjf9tR1uMIW5vy3JvhtMwrltGjMhC9-6bXjTu1226b72ico76wNR8OLrtVk3iNRFCzBBdmqDkHdrLHJSNG9C4lLTke3vDZAY9u8tsOtHxbOEVEzmKhjYEHlVQyZ4HLQ-B-07mlr2k-IOuW_UJvB4LyuTHLl_d4qiaQW99rjh87ezQwnyU8JRjQ8aUK2FkgjMQBBJUax84wbbvAn6HXWRoZ1Z4LZ2xPnTmDC8yee_OI7lQ7guRDHWRCuLGU08Iq70Fw0caapwMeO73-5Psdp3Gohncmk1v45_EBYTfUKvinu_mydQTi6PmmV_-S_Oykamx8UTZtqzQfAhcA0nycf7evbLYrZnnaYZ3XIaNiY0Lv1y1TvN-Yzbr7idEjZF7dpcRIVssDe-pCVACTd6EAzcICj_RDz2ii3BKL2eehlvwDHEhaIqzDWUGQNNiHPhtEm_MHyaPjoZ3iW2ykIUu2zPbg60n4DzH-FFZJND2OXVwoBdDwZ4HzF9kbgMd6U2NzTejlhABwzieUx722LqRhroNhiAiGSoOoS4MpO0J3gA2gg11b_40G4Y4PRl30fjlKX6oBr4G3rGgfaaCB1QINH7XL-TegOplIlMk5hyoasGjcMO03XSbd1llT51ff6mDTdOO7T-uS1RIKE2KUZ5PidoMEJO5man1YlC1zwfN5gkFb8CXlN5bGe79k8xtdfqIoRJ2guR_Aew1SCmbLunvRvBQotCcF1N267xQMeY6_eAIdwaD60s1E7GC5vCUJz-sr_VN0uNJ6959HMh8KTgcKZ9ty1BFI20or4sBJBtR21hJMR5ipxnuZe2OSIxIHlzJ9rx9aWDxPi5fr3WQf-HmwfQgIXWsZP_hGFn38-CBj_3nVzldn2Wiq_vHsraHgtloKKgRbPPJJdE7oH7jiwi29PTaAWWaL1-P8frDwxqSgZ1TK7S1_vULBjrfJGJ4YiS5cIYg7uRrRfMekTbsqJvyCdM49C1Cy3VDB7pAiz6dqEjVMXzHcQk14h_VnKjLgWMxPK4r9jIF7ATJlf-REFZjtz7e1eL4BCn0Vu6PZKadXngK6yUax-KMtvO_fLbkB9x6GE3_wOUy2Xfl0pSOZLNav8VC6A1r69pUq4ZusMe7Vg==",
  "id": "rs_0ddfee9e42e61200016ab4971e085c87d0a93092176aceb4b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.369,\"right_y\":0.161,\"right_z\":-0.015},\"note\":\"The rear barrel is within the open jaws, slightly right of center. I’m lowering at this rear grasp point with a small lateral correction.\"}",
  "call_id": "call_CTooc69B8KsQZZ1YIcZPYBWG",
  "id": "fc_0ddfee9e42e61200016ab4971ed51087d0b8156369029f5b93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CTooc69B8KsQZZ1YIcZPYBWG",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.9476, 1.6611, -1.0882, 0.7055, 1.0554, 0.053, 0.2955, 1.8168, 0.5964, 0.4992, -0.2676, -0.2737, 0.5967]\nstate[eef_state]: left_x=0.3825 left_y=-0.182 left_z=0.1453 left_yaw=-1.4078 left_pitch=-0.2793 left_roll=-0.1493 left_gripper=0.053 right_x=0.3732 right_y=0.1662 right_z=-0.0001 right_yaw=0.6476 right_pitch=-0.1325 right_roll=-0.024 right_gripper=0.5967\nstate[joint_eff]: [-0.1846, -9.853, 6.0103, 0.6667, 0.398, -0.0269, -0.0171, -0.7726, -5.012, 3.6581, 0.9304, -0.0904, 0.0513, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586062834ded1162962aa7660740c13aec2238f07bd6d9ccb72e50c86929c3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c4770113b633c379407b7085c1d72b1e3d1ce953b05930bf6cce70546c0214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1fe0007f99e83075cfb43f881ba52e49eb634fcfe58730dd8095eea8a08945",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.959 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 96 changed as sent

message 102 changed as sent

message 106 changed as sent

message 96 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]: [-0.1791, 1.9442, 1.6611, -1.0866, 0.7303, 1.0554, 0.053, 0.3679, 1.9533, 0.8669, 0.347, -0.2146, -0.2184, 0.0571]\nstate[eef_state]: left_x=0.3816 left_y=-0.1852 left_z=0.1495 left_yaw=-1.4136 left_pitch=-0.2547 left_roll=-0.1529 left_gripper=0.053 right_x=0.4192 right_y=0.2057 right_z=0.0046 right_yaw=0.6468 right_pitch=-0.161 right_roll=-0.0096 right_gripper=0.0571\nstate[joint_eff]: [-0.1846, -10.0991, 6.0786, 0.6032, 0.3834, -0.022, -0.0171, -0.253, -6.9812, 4.4103, 1.0623, -0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.1791, 1.945, 1.6611, -1.0863, 0.7128, 1.055, 0.053, 0.3252, 1.6863, 0.622, 0.326, -0.2401, -0.2455, 0.5963]\nstate[eef_state]: left_x=0.3825 left_y=-0.183 left_z=0.1473 left_yaw=-1.4085 left_pitch=-0.2711 left_roll=-0.1476 left_gripper=0.053 right_x=0.365 right_y=0.1712 right_z=0.0266 right_yaw=0.6401 right_pitch=-0.1547 right_roll=-0.014 right_gripper=0.5963\nstate[joint_eff]: [-0.0068, -10.0308, 6.0376, 0.5934, 0.4811, -0.0659, -0.0171, -0.6769, -7.2684, 5.7368, 1.7118, -0.1343, -0.1636, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.1791, 1.9476, 1.6611, -1.0882, 0.7055, 1.0554, 0.053, 0.2955, 1.8168, 0.5964, 0.4992, -0.2676, -0.2737, 0.5967]\nstate[eef_state]: left_x=0.3825 left_y=-0.182 left_z=0.1453 left_yaw=-1.4078 left_pitch=-0.2793 left_roll=-0.1493 left_gripper=0.053 right_x=0.3732 right_y=0.1662 right_z=-0.0001 right_yaw=0.6476 right_pitch=-0.1325 right_roll=-0.024 right_gripper=0.5967\nstate[joint_eff]: [-0.1846, -9.853, 6.0103, 0.6667, 0.398, -0.0269, -0.0171, -0.7726, -5.012, 3.6581, 0.9304, -0.0904, 0.0513, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586062834ded1162962aa7660740c13aec2238f07bd6d9ccb72e50c86929c3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c4770113b633c379407b7085c1d72b1e3d1ce953b05930bf6cce70546c0214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1fe0007f99e83075cfb43f881ba52e49eb634fcfe58730dd8095eea8a08945",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The rear section of the pen now crosses the finger contact row near the centerline. I’m closing the right gripper around that section.\"}",
  "call_id": "call_xYuEmLXORFcKUiyfhomuPVBV",
  "id": "fc_0ddfee9e42e61200016ab497217ff487d0a058fec342ce7707",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xYuEmLXORFcKUiyfhomuPVBV",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1791, 1.948, 1.6611, -1.0885, 0.7025, 1.0554, 0.053, 0.2943, 1.8256, 0.5922, 0.5388, -0.2741, -0.2749, 0.0467]\nstate[eef_state]: left_x=0.3826 left_y=-0.1816 left_z=0.1448 left_yaw=-1.4071 left_pitch=-0.2824 left_roll=-0.149 left_gripper=0.053 right_x=0.3764 right_y=0.1678 right_z=0.0026 right_yaw=0.6513 right_pitch=-0.106 right_roll=-0.0302 right_gripper=0.0467\nstate[joint_eff]: [-0.212, -10.1812, 6.2701, 0.6032, 0.3199, -0.0171, -0.0171, -0.1846, -8.0342, 5.3538, 1.3553, -0.0464, 0.0024, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9adcbb859d27b439c6e99cdaf82b5c2c2d2811907ecc959344b1b27766b9a542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813014c4b0314a2ac39220e0a8630f3e013e5796d5578ca01fc2f3ff0291154a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba1fde1ac96eb541a30edb70a71fbf23ecfb05bc50f3e2de97da00fc4fb2367",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 10.33 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 99 changed as sent

message 106 changed as sent

message 109 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1791, 1.9442, 1.6611, -1.0863, 0.7284, 1.0554, 0.053, 0.3679, 1.9663, 0.8627, 0.3805, -0.2184, -0.2245, 0.5951]\nstate[eef_state]: left_x=0.3817 left_y=-0.185 left_z=0.1493 left_yaw=-1.413 left_pitch=-0.2563 left_roll=-0.1519 left_gripper=0.053 right_x=0.4212 right_y=0.2072 right_z=0.0036 right_yaw=0.6526 right_pitch=-0.1445 right_roll=-0.0165 right_gripper=0.5951\nstate[joint_eff]: [-0.2803, -10.1538, 6.0376, 0.6667, 0.3883, -0.0415, -0.0122, -0.0615, -10.4, 5.641, 1.3016, -0.0659, 0.0269, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.1791, 1.9476, 1.6611, -1.0882, 0.7055, 1.0554, 0.053, 0.2955, 1.8168, 0.5964, 0.4992, -0.2676, -0.2737, 0.5967]\nstate[eef_state]: left_x=0.3825 left_y=-0.182 left_z=0.1453 left_yaw=-1.4078 left_pitch=-0.2793 left_roll=-0.1493 left_gripper=0.053 right_x=0.3732 right_y=0.1662 right_z=-0.0001 right_yaw=0.6476 right_pitch=-0.1325 right_roll=-0.024 right_gripper=0.5967\nstate[joint_eff]: [-0.1846, -9.853, 6.0103, 0.6667, 0.398, -0.0269, -0.0171, -0.7726, -5.012, 3.6581, 0.9304, -0.0904, 0.0513, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.1791, 1.948, 1.6611, -1.0885, 0.7025, 1.0554, 0.053, 0.2943, 1.8256, 0.5922, 0.5388, -0.2741, -0.2749, 0.0467]\nstate[eef_state]: left_x=0.3826 left_y=-0.1816 left_z=0.1448 left_yaw=-1.4071 left_pitch=-0.2824 left_roll=-0.149 left_gripper=0.053 right_x=0.3764 right_y=0.1678 right_z=0.0026 right_yaw=0.6513 right_pitch=-0.106 right_roll=-0.0302 right_gripper=0.0467\nstate[joint_eff]: [-0.212, -10.1812, 6.2701, 0.6032, 0.3199, -0.0171, -0.0171, -0.1846, -8.0342, 5.3538, 1.3553, -0.0464, 0.0024, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9adcbb859d27b439c6e99cdaf82b5c2c2d2811907ecc959344b1b27766b9a542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813014c4b0314a2ac39220e0a8630f3e013e5796d5578ca01fc2f3ff0291154a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba1fde1ac96eb541a30edb70a71fbf23ecfb05bc50f3e2de97da00fc4fb2367",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcm1QGzIqPtsiXwfD0a9noFstSTrvxuAVxSLsfoSdMUtBewkmPOAMNOWFFpYmULxp05qSeOArhMpudmNX3ggK3wx1bJ17OrZYOk7hlMSFTlt96eZ06YEGi6RDB1g5Yw6Au36sD8xK6DtXeOLGFCXGPJ_KMRWPK2dx8gevgKDPft6fW4OsQS7vwSbpMVVBA5KfQFZKCJdC3coSpS0pjMOqspB-d9qlucDsImvdxC52Vknnip2PwtxuBfkFh5-WzRDoIw-OSCuk_wX6P67H4WMsTwl3NSvMXShFV0SHGIbKIAF6caiEOZUxg96RxC73Cf_GsQiXYmg_AWvWFyAMBAuFoatLi3_9fIFGAFQ1Ajg6W_A-Esto9BnBNt9kjV96RymaIJaC6DYyiXsAJUfKQVf5ADg-OsRl2i7_nCulnyVUFXdsof443wkDNBRutD2B4pYjvhNu054vM6fxV2_vyyzHOTwicyT_yv4Yz1vrjxPst3BfdASj82rif6yn-8B-ebGW8IC-ONvRFgIM1yuTMi4-R2DcKS_vOcIvn_5u0d3ZGxZzyrZIJSF_py-R6l1FV7TIfUBgezbvXVEcNVsDxXJDLc4dOyrGps8OYSKJeOmTjSo9EFEQwc4NIePx2GTGWRaMo4o_XykO-1g2D_6pktQ0-afNG2S6AGCbYGsQ37rdTcrnni6y-ovPZ40kEjYrnyyUzwwOUePYoAci1HVSzUwK5nWXiYwdW8KL-puCpZrlD0KXncyv9rTzHvCs_tJFVnWlUgVWBghHvnEly9U7YPY-6DzG3oTPhtZfFYeGzg3-Jd4Hl9VBmzEvdyDnnD57Nw6U8aq_hon4f0WMBKF8-Odhj7qDVzfT0QEFYnIhBqYw-K0v5V5igMN8VvjEyTsyArEsutoMLJsR5XLEpey-2Tz0SSdIniH5GWvKaoPKNnvIEPMvkC8fuXxLPCayV0BrnPaIn2HMSWitsTnWu6E5tRKmUEFer0sUZ4WNHo3rTY6pLhsC-DPvNO3YwWYfjg7D5eFwTysbgmjesJriz2BlDkPKSsk6EeSmIDt25x4hc7zxThPdA32gKcyc6Z6Fuk73TE7KMAsYrdR3HYBZLASCxIJ10_jrzKRdYojEZ_vyNf25Ft5XNmbkW0jsFiRYRRJtauT_eyasYGMaZvEA0Ec8jZrLvaNaHEYhUxPadUJuMhwTKueYXJINrOGG4w_twQ8VDv-pnvTAuVQLzgyWQJKGVmycWFIWsNV_2saIC1vsifOZoPJNXvHfProW-E8fqmmbFePMLrEG-QJn14EW4AKh3bZuc9TKmq5RJnQg93VtXtY_Mlr23anziQHqWHofAmeSIRfve3786QQTWfcrDG89N02NUv0GtWDSH0UvgHrFRu68p0yPNw740XZJ63UedOgIW8hDpQ2dDq_k2_TgmaS88l-GSaVGijRdbHnqAJ9Xg9HJuUnK3Radje0i9_fcg_DkVbTp25eo50nkJXvW8WdkgEhxVBFsswMUFk_d5RPV-mXXNaU6IsWQrGwMcDO6rsGiFhgmUI6EeO_3fWdX-7y01Gn4cmgw==",
  "id": "rs_0ddfee9e42e61200016ab4972448b887d08d493ccd4a9338ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.19,\"right_yaw\":1.57,\"left_x\":0.385,\"left_y\":-0.2,\"left_z\":0.19,\"left_yaw\":-1.57},\"note\":\"The pen is held near its rear, leaving its tip well exposed. I’m lifting and turning the pen toward the cap, while refreshing the cap arm’s holding pose to counter its slow sag.\"}",
  "call_id": "call_27nZ9qFCHqNDfaRHbBWxfgTf",
  "id": "fc_0ddfee9e42e61200016ab49725350c87d0b097fdea06ef1ab4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_27nZ9qFCHqNDfaRHbBWxfgTf",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2096, 2.0911, 2.0327, -1.4311, 0.7059, 1.1881, 0.053, 0.0715, 1.9266, 1.6917, -1.0687, -0.8593, -1.3666, 0.0522]\nstate[eef_state]: left_x=0.3836 left_y=-0.1951 left_z=0.183 left_yaw=-1.5455 left_pitch=-0.3004 left_roll=-0.1739 left_gripper=0.053 right_x=0.4022 right_y=0.1665 right_z=0.1821 right_yaw=1.4725 right_pitch=-0.1256 right_roll=-0.1001 right_gripper=0.0522\nstate[joint_eff]: [-0.6359, -9.388, 8.5128, 0.3443, 0.4567, 0.1294, -0.0171, -0.6496, -9.812, 6.612, 0.0415, -0.7497, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4da29abee245833a00b43a39905907ce70e5b99e273374ef7130543595f3bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0fe5b828cdbcb785fe82fa8a05bb07870d5193038b56bcc6f4b3b85e5989c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de978cfc4c385cb26e5fcf937fd72f11c57c880edb8e605878344f0b5c8fa67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 6.368 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 102 changed as sent

message 109 changed as sent

message 113 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]: [-0.1791, 1.945, 1.6611, -1.0863, 0.7128, 1.055, 0.053, 0.3252, 1.6863, 0.622, 0.326, -0.2401, -0.2455, 0.5963]\nstate[eef_state]: left_x=0.3825 left_y=-0.183 left_z=0.1473 left_yaw=-1.4085 left_pitch=-0.2711 left_roll=-0.1476 left_gripper=0.053 right_x=0.365 right_y=0.1712 right_z=0.0266 right_yaw=0.6401 right_pitch=-0.1547 right_roll=-0.014 right_gripper=0.5963\nstate[joint_eff]: [-0.0068, -10.0308, 6.0376, 0.5934, 0.4811, -0.0659, -0.0171, -0.6769, -7.2684, 5.7368, 1.7118, -0.1343, -0.1636, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.1791, 1.948, 1.6611, -1.0885, 0.7025, 1.0554, 0.053, 0.2943, 1.8256, 0.5922, 0.5388, -0.2741, -0.2749, 0.0467]\nstate[eef_state]: left_x=0.3826 left_y=-0.1816 left_z=0.1448 left_yaw=-1.4071 left_pitch=-0.2824 left_roll=-0.149 left_gripper=0.053 right_x=0.3764 right_y=0.1678 right_z=0.0026 right_yaw=0.6513 right_pitch=-0.106 right_roll=-0.0302 right_gripper=0.0467\nstate[joint_eff]: [-0.212, -10.1812, 6.2701, 0.6032, 0.3199, -0.0171, -0.0171, -0.1846, -8.0342, 5.3538, 1.3553, -0.0464, 0.0024, 1.1697]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2096, 2.0911, 2.0327, -1.4311, 0.7059, 1.1881, 0.053, 0.0715, 1.9266, 1.6917, -1.0687, -0.8593, -1.3666, 0.0522]\nstate[eef_state]: left_x=0.3836 left_y=-0.1951 left_z=0.183 left_yaw=-1.5455 left_pitch=-0.3004 left_roll=-0.1739 left_gripper=0.053 right_x=0.4022 right_y=0.1665 right_z=0.1821 right_yaw=1.4725 right_pitch=-0.1256 right_roll=-0.1001 right_gripper=0.0522\nstate[joint_eff]: [-0.6359, -9.388, 8.5128, 0.3443, 0.4567, 0.1294, -0.0171, -0.6496, -9.812, 6.612, 0.0415, -0.7497, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4da29abee245833a00b43a39905907ce70e5b99e273374ef7130543595f3bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0fe5b828cdbcb785fe82fa8a05bb07870d5193038b56bcc6f4b3b85e5989c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de978cfc4c385cb26e5fcf937fd72f11c57c880edb8e605878344f0b5c8fa67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJcydeHaIH3JmFS1_wh3zgERcJjfyC0J9hf847pTWmlFv7f3z8L1BlJ8QDgEfmA7JGxkVVv-EoI3ZTVyUtk4kL1i1Ze_wY224mMajlAfSiItgnTBPG98DKuzCFabi9jNqoaPD7O7HBKkeyw2FCdJh3RnRKIi-AjAUihRdmXTiSAHRcvyYIPcDJreo4g0WJ6SqJdDTGZJeUxhuHrPqTYDCrrQgPFZV-egC_uJlL4_RsVeWwNDHLsvb_a_kj83I_5DkSd2xhHfFECMfAQlG4Amb2IC-kRepsLyZ4vvkDRT6ziYt9Z8wynO_6Ik4UATr4fKeiveBzvBpDoDgGYViWoVxtXL4adztryIhgBrs6RrR-00MrWojK4Pwut8B5rUBiHEEReB2jccW0kAOHE-gDo66fLd4g20YkKW4aAxYNfCi4fAic15M5R3viklJ_TLC1_ML1h3e0KQt8FidBYfkBO38yf_H2lHVJW84ez50oCrKgYm9UA3ZN4BXBnavruT6s-k8DrJNRSowK-gZgN9OvmoCHpM5vH2leTQ71IT5CLwlx0q-tME9RIcey1FgGAh9Sc4KkTOzZtHgc26uzdYFMtbnNUd0t4IE5AGzdQj7ErCzoUVATKSlZkIcHq5e59SL7lrDl2V38xATHkiqfS6tAtkwxFa5pmt0qOZfMyb-7kc8cViQ43zR-Nnkftg0Bi3jhLUgUU2989_C-rceVx0KTbK3HD9HIgeFCXi0U8i3J7FOCBoQxL9449fenlSPKqT9Pi0vW_RzKJ4agvbpviHw-f-LdvtmTct-sv_yHSYEoVYO1p9ViFEU1S5bC43by4zbaOk8jjEsSFKsoYribH6k0qn370mTOGy401AmNTMxaHoEmRMNaESyl4InOS_JqWTHwq6YT6K3jcZVh-LFNYACwi6F1qWkpHMZiJ7WoSBl493Ypwabx6fRcZKkoSjHGL65qBFrfv9CwOCFrjehBk9K9pvuLSCILxebXZ1Y7iin5fghwHYxqe2VSbgyroxVCeCISKUM_QtcXGnNXgkTQ9xXHXGUTiqo1yRHbS4qc0lY6_D_DfvsHcH1OdEalYwl1g3t8uUPz8S3YjgIQZi-fkR2nI5iul-npNMoU-5pXgiToE-LuKRmziXTrQnkKselGMhFPMjNSxtBQdlJc5BsJiIpaOuIZiKnKQN_OCBfGtG9tKofY5yEShp7Oohfjyor5-eXEz62f2cEYqVQNk3us_SHXdQm4UrF1VNY6avT_xXgk-2aufvw6LA8aG44lFWG6RBLWBJP3FvvqrXyDtw4BgZ4EatuFqi0xcNkbTfloefuEtGAbVa-CzIJsj7zfCcUcubV0W5doIs_-lATLKy09mEEGLYWl5mhShS0y5PphcGkPhdNr7krqCKGifRguMtm6TH86RJYl3CJGB0Rks6cMsS0oGMgFD5lpKNs2efMnw9LQrNZCkH9d8ZeMbt0pOZKutFOi57-q9WNrHnDuHdF-8P7SXj1GuTOSEVitpGPWckoYxnJed7yRlvG93pZlCqtatZ4PW5zLhFzF0sgeyqNxjusSyLXbtY7rcjZpgtUKrWS5l4HGUKQWtF6_D8Jm4W8e0xS1cPKGDPsMBeeuGyrnjZMRmOGWfR52iSc1rSHtzwfFuVOiQOaOXqdON_eL8WQ_5pdK5LR-98u0Qgk9GBwiaIXdrl6a9ccXIwg8-ZFGpmg6tmx56zuGRYWj7g-7rCp1QS7T4Jiq356Ac92a-KSkauxzseJjn55BlSrXTv3qie6bB87WL174xOgE2IuX4UKcmAaUxDfCsn_uRPQyiwAV18-gkhMvHLhmg1hLX9kEF6riPdc3SDTFPb0UhZgjtJBc-396tGo4GiFHg6JWDVBZMVc5IEZW6wnxiHCMJXnRUO2XSGEDXP65Fk1HfvGPkQInx5Aae_shJ9yfGeGYgB47HAnnjWVbW-ol3gHPpxF4z9TK5C_vm6GRR4CQPqiiK3VheeREgUyUGIwIM9a0swunrjpirb91Kvi6pDh3Jc4GmebTOIn0fhWdodsF0-g9p7cnDt3cv8Lo8pIz0YV5UuJ3JqMAwXmgsos4nh-Hw1ChjCmohEUtD13wV8kffcN7huMHnfAbM3l-Mt3z46AWr7JrW58iYRaQ_738ojywuciFDPed0CUJ5cFa3vwEX8lcw8sZWQeeWKQMpN7Kp2oUMqo4py5196Xf0OADUD_gpsWONJIrWvZlAw7iYUzr-iNV3vKeQAy7nKMdTBz0cJQR41BlJDMIJmfUopQG5bpzwdsYfgkLl5p7LkRKK_EAcYKH72rv4oc4oUmA6eOuUcVtbIvZO3fCVPoe1iBnE6IscfMJ59LUd7t9PdtGgFMHS7Tp4FOBkAUjOsos4perz7xi9PdeK5GQdg4jhAC9ljPgHXbBeMlmTbgVy9R_DnLIYCzFRPWV0gQY8CoBBkpwNloZajHD0KkEKUkFJtLmNbG8KnY4_6X_ld2HN2XDQ95S1dKEwGIKEqFB7Lj4JMh29zbDTjU9hWD42ejyvy-jUK5sQsxx1J8ajHFw9QZV0FoSoi9S0a9MflWzDmQntV01Pm212Va1SrUMzGK4i3k7IZZiIVxB8ZOnlMp4JO29lTUyh5nZvhgDUnRV4bPFG3vS2x2uPR-r9WuapfPkaMboUi4cMJGvdcGFHcy9UhVyO0vuWn9rm-3Xxck0Mr73xIMdCLbD8eQSTc2v7runl74l6MOP0eQxBifOJF0xZF3n1DpIaxVUolsOLcBTHMEC1fEcB9R2k9FSlBa90tBP81OHDjAdP6e-MT-WGp5islRr7HZjIvQFGIspMFlH7Jb95tWCb2K-YsvYBZ7bW94ioCOkkofXml2rNPFyEJ--k9qZJ3lG4PdtCBwPdN_QJmj8IOqGvmWpTpif7mQCJkq1VwKd653-WUw4n3Rnv3a2rgbcq3Rws8sRy7bGBURZiGuCvLvCDcTdOeVUGW4ng_yFyaJAqbziRugLuCvy0-zN8wdPq24EAxPJSz9YUIVtgazeKFwJQoZzFf3fQpC7gRrC0GkWetiKXwEoUDSYt4MtcASRtkQGU0kCs-DBSdzza8rc8kGStsAvodBoS4QvVyk3P3vd6K7V1060P2CccJDMimYhKkxe6l71MrxMdsd10jc-kZh8BZhu2k7UlQC60vsgboY2rHMjyXRrDyMyp641_KuDLRJwGVsQsrio0LKu2QMNJROGF_ym0tenXlPlWx-g8g-il7lFWqmBEZayqOpqgmNTQAbDdCk6e_AQnm4jWmKtiU_WXlWKfzCBnB10tE-RslgNIS06oO5bcw6bGGXf8QBOZminzDyqdfUpsOehl-8CuBMBI9lSkh8sKGI76v_XP9sOoIxI-_fB1DnsB-9H4d3ux4tBvZbIVEq31vIMKgvpbN4Pja2vsz1x0uFRro950tA1PnzH3xV-St0dXbfxm-yyVYAdJQvsjk8Lp_5Nt7tR6ukNjV-o32Sk4jjnkQnmtNy1itE0q9-pjwfdxbN7Fh9vZlCOjWRzZUlOtQqRsT2riwuGCDvLcwstyTSOSEPP_Y-wkTfkjxnGeXFeBvT6YBv9qf651FNkMznMHwxheDTlKarUbSFn7W_2hf9fwizZsUoeH-xzjkhUo6uq9bBVY3c3NN6gJ5BBFGTmgzy1d2dYj3OOY_pN7sBBYCCeLFSoUz2Lq-vNcTjneZHTGrUR7xL8FN2khR2iCgySHZKGg7xhqJmHlDS5PbL3JKVnqseSys-KbgA3fa1hWe3ilkuKO08Bw4-vULL3wnMFAXalgALvu6gWnG8Tn--jPACnLxQxBxHA==",
  "id": "rs_0ddfee9e42e61200016ab497293ab887d0a4cd0423b6e69834",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.285,\"right_z\":0.2,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.385,\"left_y\":-0.2,\"left_z\":0.2,\"left_yaw\":-1.57,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Both objects are lifted, with the pen tip pointing toward the cap. I’m bringing them closer while leveling both tools; the grasp points will remain well separated.\"}",
  "call_id": "call_6hvGHbdY34Fj8qWgpK7IB8qw",
  "id": "fc_0ddfee9e42e61200016ab49730d7ac87d0a21719ae247ef056",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6hvGHbdY34Fj8qWgpK7IB8qw",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1471, 2.0094, 1.758, -1.1812, 0.9241, 1.2842, 0.053, 0.3264, 1.9427, 1.6772, -0.8825, -0.9005, -1.0744, 0.0522]\nstate[eef_state]: left_x=0.384 left_y=-0.1958 left_z=0.1735 left_yaw=-1.5573 left_pitch=-0.07 left_roll=-0.0897 left_gripper=0.053 right_x=0.373 right_y=0.2762 right_z=0.1877 right_yaw=1.5739 right_pitch=-0.0445 right_roll=-0.0073 right_gripper=0.0522\nstate[joint_eff]: [0.3487, -14.1607, 6.3521, 0.7839, 0.7448, 0.1148, -0.0171, 0.2803, -10.0034, 7.8564, 0.9109, -0.7595, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a21c863af3641c7162ab9558a76e33684d63c5a44ff0d2c4eda6af07eba4ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aaa19811fcc810170f00e83ddd002d1d79e9c8c14bd1381f51a5c5db9f519eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb2fc3fbd12f75e862e722dee361681cccf158304721ee8beb57769e98e0373",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 6.376 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 106 changed as sent

message 113 changed as sent

message 117 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]: [-0.1791, 1.9476, 1.6611, -1.0882, 0.7055, 1.0554, 0.053, 0.2955, 1.8168, 0.5964, 0.4992, -0.2676, -0.2737, 0.5967]\nstate[eef_state]: left_x=0.3825 left_y=-0.182 left_z=0.1453 left_yaw=-1.4078 left_pitch=-0.2793 left_roll=-0.1493 left_gripper=0.053 right_x=0.3732 right_y=0.1662 right_z=-0.0001 right_yaw=0.6476 right_pitch=-0.1325 right_roll=-0.024 right_gripper=0.5967\nstate[joint_eff]: [-0.1846, -9.853, 6.0103, 0.6667, 0.398, -0.0269, -0.0171, -0.7726, -5.012, 3.6581, 0.9304, -0.0904, 0.0513, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2096, 2.0911, 2.0327, -1.4311, 0.7059, 1.1881, 0.053, 0.0715, 1.9266, 1.6917, -1.0687, -0.8593, -1.3666, 0.0522]\nstate[eef_state]: left_x=0.3836 left_y=-0.1951 left_z=0.183 left_yaw=-1.5455 left_pitch=-0.3004 left_roll=-0.1739 left_gripper=0.053 right_x=0.4022 right_y=0.1665 right_z=0.1821 right_yaw=1.4725 right_pitch=-0.1256 right_roll=-0.1001 right_gripper=0.0522\nstate[joint_eff]: [-0.6359, -9.388, 8.5128, 0.3443, 0.4567, 0.1294, -0.0171, -0.6496, -9.812, 6.612, 0.0415, -0.7497, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 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]: [-0.1471, 2.0094, 1.758, -1.1812, 0.9241, 1.2842, 0.053, 0.3264, 1.9427, 1.6772, -0.8825, -0.9005, -1.0744, 0.0522]\nstate[eef_state]: left_x=0.384 left_y=-0.1958 left_z=0.1735 left_yaw=-1.5573 left_pitch=-0.07 left_roll=-0.0897 left_gripper=0.053 right_x=0.373 right_y=0.2762 right_z=0.1877 right_yaw=1.5739 right_pitch=-0.0445 right_roll=-0.0073 right_gripper=0.0522\nstate[joint_eff]: [0.3487, -14.1607, 6.3521, 0.7839, 0.7448, 0.1148, -0.0171, 0.2803, -10.0034, 7.8564, 0.9109, -0.7595, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a21c863af3641c7162ab9558a76e33684d63c5a44ff0d2c4eda6af07eba4ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aaa19811fcc810170f00e83ddd002d1d79e9c8c14bd1381f51a5c5db9f519eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb2fc3fbd12f75e862e722dee361681cccf158304721ee8beb57769e98e0373",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJc5yWB9jWO6ksiv9h3mcJqZTrpSTsrhtLPYxY4BXLg8UiFM1GbywZ23lUwpfZhWJWx4pwB1eZdtLsCOFKKz3Mn-wLqg1lIOT3cQ-OLrFjfyXMjHXJkUrqadd7vVWSGCdyb-JrGLcYIDX2tN7nl5G4ycrfnEteWw_rTdF9yiAuWS3ogWDdngshFa0XkAl8pN-WfjKI8t9608ewO0qWpGrMb5rKtA95P3nzt76_5fSRSzJW56mVSzU1HPXwjin-lZpaNy5T4T6m2QpXnVenZY-B1_qPW6QZhc9EeauapMmYNfC_oUpGItQNZ1vEQJaeHnrAuGQP7YzJimpg3KoNhbMFIlqybqTlrrBcRlc_HPWzJ-ef94CR1OM6DPLLhx9jPcRv_DvaH3JfV95BYpt1h5cg-TScN6tAChtkRCA7HWxu5nq1QFvEXbltrJWVqnO1-imdXj0H_f1E0pT1Cbj86ostXKKviRlJAuoCSZS7JUxRJwijmevNRFleJH7V9ITpZUPo6LDO2tnAORH2tYsS8e3dnpgeC2C_LxzOXs6Aq4LKCxzhYsigQLmfj1rC6LkKcdRbrd_3Hpl18s6GExb-SB1TCdqHTe73vDXdaYAXMPTvKvMAyYbOq9bU9eSZ3lddx-rnwuHn5twFfdaaoj2mR15x3bXHCtNnqlVQD6JiPUIo-HaCfnvUmH0nHjPA8EBFJO_HVPSeOYqKSb90t9ZlvxWnMOqsLO9W_FBoWVgJ-0eo423P_Tt8psboQrFqoc0DJFnW3rPFTSlZ-6ZPiq78mA-46JLQtIxNY9j5CqAI7qI3ZvQZIZSMNn23j-kUeeccrjdsaQTGF2OAs97RFiVc23oLTUgWncjoG4bNDcCr0u9ERjLDRmtdStdAZxeZ_iSHWU5gElurxaqKCPzBq7i1YCR369H_24opxvpxeYufPjkTtUGJcB5IBqQa-NzYCjo67jNau6dg-UuUVqomHAk5rmVO-TZ9Bw6oND0phMa6ZzA_znZ7Eg3VLkGHGN8fw36UM3KIX6EdTAykP4I8M5ST2J1Q-5tJ58uWeLhu5pJGGUulTPscqoYODG41dFxU8hmWexvlVh0vzH6xIG-hgYxiPT7--1nwYQmAvfuohbO-CbYPPjSyRJlWXvJbh2qCj8SFzEOpI6X6tXYXYZ1H7SV44VhPTACZcEscnlMWtaxVtBi0GNFd0uD-K4QBK5OVMFvqOlmuTepoHtS7o6KtUeh8oAdjeY_UL1IR1W_D2qS_ll0iV7vDxHAaKGZl-uaHGB5ieT_W8qyLTOoa4yZJsDgeuCYwvS9R1dxaAfEeOG0n__vhYJQH3gFeicFcFFKgUhjgaOrrfRftwt3pz9dd7N6Xgd-nn-9cEtlShN24sJ1GpLItEn9fZUSa03ig_mJXEtN_hcC3GVwtUy2nnnKrgh5HMWIDVT1YPifQpIIl54-QtgwvIgYjthPELO3jf6Nitqa1vCC1Ttc8y_nVUoS5d_YwAXJKJwppjfm9HrDqa4uQC3fxcuDMOyv18yRSEz3wnzBsSxyFm6Iz_-KL54OZvDwOmW5oqlVjY9oV1u2i1ORZlQB6CB1KsRHGlbaH1yJCj-3w_8LQ8CCIPeHoKvKqYzRo6mfHTn0i4OKtvU9p7ijfJP9AZ8rSe_-BBMpFqHOxerQY7eWUz66fGmgVGqkpMq-WXXxEKp1LojJE1D81iW6q1kvG0bh6hRPG2FHMeX_bw2s5DZurrsEcHUkKMPpmH9RAslSlAT3tV-5JqQBYK-aHq-i_06N6AdEvA26EfHu-NgHfaAimiT9rspq4EATyH62NRo5iAUGMz41n6TS4OywBIMZwT85OtXHLPSpOPUs2yAZXDorQrKH99dp3TBfT_8prYa0RtyKXtZBnhJkZLWJEl8eingTpEXC4AiXvEdIhRm9bYvoNuk4xmZO2w6Y-_M_ETnijOAMlzZfmSs74VZXhXzHxBR0YoPJV-TejtlZpK-a_y87hM6p9jTOTPTLZDgljTisOwW2qt6PlJzUNMGBmJ70ssXWSDPHnSZzG6Fk4fZOeXGDO47Z6ZXBw_sLZ7vWFLpvRA62-5FKkS85riID4Y5KKfVYcmEmr4BLTY6ZhWppGgU73TCtAigGsTo-ZXV13w0lB812rb6vr9E7dLkrdN1bIpJp2Q4L_kZgRxHsAKZ-5HHMtdhpM2cAEL4im1u81uGR8uxHaR-gKbA09BpKEC7MdB8AQEeQA7io4G_nlEVXDCZq4vvNXbXklhhMfD7NiA6mJ2d9pngovfEZ5Klm54l9x2hLk-apemnCry-ZHDUHJeLGBifij8-0eGzOHEAjCb3Ml5joRQUB9iEWOqSD0RCHgjBFf8=",
  "id": "rs_0ddfee9e42e61200016ab49734955c87d0811d436ec5fc4c53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.302,\"right_z\":0.185,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.385,\"left_y\":-0.2,\"left_z\":0.2,\"left_yaw\":-1.57,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Each wrist camera now sees the other object: the pen tip is approaching the cap, but their axes are slightly offset. I’m correcting the sideways and height mismatch while closing the gap by about two centimeters.\"}",
  "call_id": "call_Hntflgdv23azDavJ9OGAGCVv",
  "id": "fc_0ddfee9e42e61200016ab49737e45887d0a4406861efcd6c7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hntflgdv23azDavJ9OGAGCVv",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1444, 1.9942, 1.7489, -1.1584, 0.9512, 1.285, 0.053, 0.3561, 1.9804, 1.6829, -0.8173, -0.9024, -1.0153, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1813 left_yaw=-1.5578 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3778 right_y=0.2923 right_z=0.1786 right_yaw=1.572 right_pitch=-0.0326 right_roll=0.011 right_gripper=0.0522\nstate[joint_eff]: [-0.1846, -12.9573, 6.0786, 0.7839, 0.7888, 0.149, -0.0122, 0.6632, -10.0171, 8.841, 1.1453, -0.6911, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d983adfecfd12af2a8558adfaf7afab0c44684dad3231cd7182942aa2668a63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5365d62885522490a7cd0897bac0fa1198e6bb29adf1169b95ef29f5b7b28a59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2908dae3c868c9155c710edf437e79b28bd4d215acc0678f2e88ed492980cd61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.058 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 109 changed as sent

message 117 changed as sent

message 121 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]: [-0.1791, 1.948, 1.6611, -1.0885, 0.7025, 1.0554, 0.053, 0.2943, 1.8256, 0.5922, 0.5388, -0.2741, -0.2749, 0.0467]\nstate[eef_state]: left_x=0.3826 left_y=-0.1816 left_z=0.1448 left_yaw=-1.4071 left_pitch=-0.2824 left_roll=-0.149 left_gripper=0.053 right_x=0.3764 right_y=0.1678 right_z=0.0026 right_yaw=0.6513 right_pitch=-0.106 right_roll=-0.0302 right_gripper=0.0467\nstate[joint_eff]: [-0.212, -10.1812, 6.2701, 0.6032, 0.3199, -0.0171, -0.0171, -0.1846, -8.0342, 5.3538, 1.3553, -0.0464, 0.0024, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 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]: [-0.1471, 2.0094, 1.758, -1.1812, 0.9241, 1.2842, 0.053, 0.3264, 1.9427, 1.6772, -0.8825, -0.9005, -1.0744, 0.0522]\nstate[eef_state]: left_x=0.384 left_y=-0.1958 left_z=0.1735 left_yaw=-1.5573 left_pitch=-0.07 left_roll=-0.0897 left_gripper=0.053 right_x=0.373 right_y=0.2762 right_z=0.1877 right_yaw=1.5739 right_pitch=-0.0445 right_roll=-0.0073 right_gripper=0.0522\nstate[joint_eff]: [0.3487, -14.1607, 6.3521, 0.7839, 0.7448, 0.1148, -0.0171, 0.2803, -10.0034, 7.8564, 0.9109, -0.7595, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 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]: [-0.1444, 1.9942, 1.7489, -1.1584, 0.9512, 1.285, 0.053, 0.3561, 1.9804, 1.6829, -0.8173, -0.9024, -1.0153, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1813 left_yaw=-1.5578 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3778 right_y=0.2923 right_z=0.1786 right_yaw=1.572 right_pitch=-0.0326 right_roll=0.011 right_gripper=0.0522\nstate[joint_eff]: [-0.1846, -12.9573, 6.0786, 0.7839, 0.7888, 0.149, -0.0122, 0.6632, -10.0171, 8.841, 1.1453, -0.6911, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d983adfecfd12af2a8558adfaf7afab0c44684dad3231cd7182942aa2668a63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5365d62885522490a7cd0897bac0fa1198e6bb29adf1169b95ef29f5b7b28a59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2908dae3c868c9155c710edf437e79b28bd4d215acc0678f2e88ed492980cd61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0ddfee9e42e61200016ab4973b38f087d0be5c80cc0c9ad4a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.31,\"right_z\":0.19,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pen tip is now very close to the cap, with a small remaining lateral offset visible in both wrist views. I’m making a millimeter-scale alignment correction and a short approach, not forcing the parts together.\"}",
  "call_id": "call_G3Sr0tZuoXg6XJIoos8uNx5p",
  "id": "fc_0ddfee9e42e61200016ab4973ef71487d08d14dbf63c299288",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G3Sr0tZuoXg6XJIoos8uNx5p",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7921, -0.9024, -0.9981, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1732 right_yaw=1.5691 right_pitch=-0.0298 right_roll=0.017 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -13.1624, 6.1333, 0.7448, 0.7497, 0.1294, -0.0073, 0.0889, -10.865, 8.3487, 1.1941, -0.6569, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5109d700d5eaa7d84ab6732464e483e9f838909a2955376bba662cb9ba062ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe23730666499c823ae72dee89e5ba8c46eaccbc43a35ff70e021f24b45ad0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e32eb93644afeeb4d96336465f7017b334dbdc2e3b18a205dca287a6a8f1b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 6.934 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 113 changed as sent

message 121 changed as sent

message 125 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]: [-0.2096, 2.0911, 2.0327, -1.4311, 0.7059, 1.1881, 0.053, 0.0715, 1.9266, 1.6917, -1.0687, -0.8593, -1.3666, 0.0522]\nstate[eef_state]: left_x=0.3836 left_y=-0.1951 left_z=0.183 left_yaw=-1.5455 left_pitch=-0.3004 left_roll=-0.1739 left_gripper=0.053 right_x=0.4022 right_y=0.1665 right_z=0.1821 right_yaw=1.4725 right_pitch=-0.1256 right_roll=-0.1001 right_gripper=0.0522\nstate[joint_eff]: [-0.6359, -9.388, 8.5128, 0.3443, 0.4567, 0.1294, -0.0171, -0.6496, -9.812, 6.612, 0.0415, -0.7497, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 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]: [-0.1444, 1.9942, 1.7489, -1.1584, 0.9512, 1.285, 0.053, 0.3561, 1.9804, 1.6829, -0.8173, -0.9024, -1.0153, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1813 left_yaw=-1.5578 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3778 right_y=0.2923 right_z=0.1786 right_yaw=1.572 right_pitch=-0.0326 right_roll=0.011 right_gripper=0.0522\nstate[joint_eff]: [-0.1846, -12.9573, 6.0786, 0.7839, 0.7888, 0.149, -0.0122, 0.6632, -10.0171, 8.841, 1.1453, -0.6911, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7921, -0.9024, -0.9981, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1732 right_yaw=1.5691 right_pitch=-0.0298 right_roll=0.017 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -13.1624, 6.1333, 0.7448, 0.7497, 0.1294, -0.0073, 0.0889, -10.865, 8.3487, 1.1941, -0.6569, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5109d700d5eaa7d84ab6732464e483e9f838909a2955376bba662cb9ba062ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe23730666499c823ae72dee89e5ba8c46eaccbc43a35ff70e021f24b45ad0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e32eb93644afeeb4d96336465f7017b334dbdc2e3b18a205dca287a6a8f1b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJdFS3MHRiGQq2xf9brYDusMm5o3kjhBm9ezkYb1Nvh9OJsGIK65mo3vExBHsvoOBxzQpOuxNmhSvAl6ExXx543IBH5FiX7qfomvEQSeRBQpuDU1QdxGz6UrMx6Fqbu6AuVQtiZJzQ9MNbsxeI9Yn2879Yjavuvk91D2AiFI7IHSyHRy-kZ-Lsv2REDwocAvkOujQNkgExsvVe50-JxiYWwssdLOYmPCZCFWEKnIUELp8fso42E_-GUPkLqVh0kAe8K2WnAIARHDpjhwkTr4ZZD1zSUyV6awrqX0Nbj9hjxdkBsU65u8K8nygAvaZnCbAUFFbMbcjSD6Vjs1sp3CLdZrgaC3NgTiEkW1jCY5SMAq12lCahbjo-CLSs0WqOGViSBzuDiu1UNDps4JQNXNuPI6t2eJ2hyqvKv8fAnbliOqmcwGnw7-hnsXGAeFWX5xdYltaQJf1YumV-waltRURxfVS8eKIA0_M26pYpwKXVokM1Ksj7BxTRMas7xbEcyKLJh-htEBh9iNuYSQcVdTVLAKUP5mt7IyT-1lHiX66Zn_7THeK3CPd4zVmHotOHczlNjsCwloCp0u6QIl8xlFOHUg-yi8XgnJLhMsXE9m5LYbdkTs2uzFufxKkNNxwrsa6I5U7GYeRx134frcQv8UiiMJ4OokkAGZCpcB5XGD9jel-1GGg7851vSx1i8M2izV2Z9mnknwk3gaBl7K3HbVQHWNOKusiGDuEhs-ui_qaaND3uFObkJRMLjfr1JpYTWwXeqWIKBw93y3VBh1mtYBuUwi9s2Snn7W-fVJytE7tULQ4K51eXCKTOXFA6xptnfcmB0w-ui1FGuXdy3xSl6fDK1y0G6p0JkUct4f8YRQ1AVkTxMcTrP7d5vjJCfOpeai0REB3f4YkcXvm8yHDc4_3Lzk9RHRxvSAjR5ojQ_RbhBOiSOlFK4IJfTl0mT5uoR1603BUKWX7oKYOne9_ftBrtqtAIw-zA_tfHTaKeEBdRl3z9fdE9_heaPEoL3b-Az7ZguPqf5RV55zilBpBah8zhDjEsfYlI7l5aaVp0xe2QmXjGfOa1XUshZyoZFh5mzz3shh_4Xc2i3VonA36wPy1-nafdEw-4Oc7bbz0BvlMW2vSyRhG1pwmbl3qSaPiYBP2ztdZSrBKf8OhD1fokOGUhjnqvc8UjL9aebwCLPtT-BmQ56AIlbK5PLZ91WgC6XX36UiIKkNmXW2_I9QEXsrtLdIpJGLGUawHYBIhOmNlVjpDTZDGvgWMwv4YP7pCSS7XvhdsdfPs2Mv_OLVenKsDA8qQP2N7mPc58vnHp8tRe7O6dWEOOdZn2oeAcu89FUp_80UiZMSdjXcOaMA6VEy9mWpENVhBrHoXZ_Ie_QYe0N49gIhfVXIUxySeLBStdGKJNlFsHW75CcPeEVrxq64RQBl4X9YF2qo6OKlBL8GzxR60mFXpCY32sLJhPTM4LAMvKJME5YurK2Gc0hrmc6lW_CoM2_RhTAba07MJRsd3z83wFTO0X0uVCe7pF4WOF6VTl5FrCy5kkWTPggYFn-QmOG7uuxykBooyjp5vRl9tzfywi-iaDGzxOmMxl_ctcZuFwsY6kegUg8PJfgxyU8c9ZutsoUxu0fSh4JWvnb5VZkqYWFi07S25i3jkld3vM8xwSKG2aaV-9gl-0TVi6Un3xbQUm9QF5-Ly5qTdTnBYY1rO3qr79ze2bgqsUYEtC6FZ-IEi1IpzwBmefhj3s4LxFzQcuXOcjr9Lg4hSSNeR4hP99i_GkPK_Y0LpInZp4NkCR_Y3HSw4wwC19WcuTGazzCFhFemO7SJGHBMh9_Ax_gKlzcuWqmd5SZPWZQDagmhaZW7dzpXL_gx9Rjr7zEkqiH2kQA_u_fclwR62Qhs0OfJJ7P0nl3zY_gnivsoZ2FSU-XLuq-fFxS8xgJrlXzLe08pCzMpAWfoRHQMTYPEwcyVe-caR9WJvrWHY-W7KulQUm4V",
  "id": "rs_0ddfee9e42e61200016ab49741f9e087d09ceaa2dbef738584",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.32,\"right_z\":0.207,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pen and cap look laterally aligned, but the right grasp has sagged slightly below the cap. I’m raising the pen a little and advancing one centimeter to start the insertion.\"}",
  "call_id": "call_FTmeokFUVGKmAyvrhpekyks8",
  "id": "fc_0ddfee9e42e61200016ab4974427e487d09de308865fcc628e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FTmeokFUVGKmAyvrhpekyks8",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0522\nstate[joint_eff]: [0.0342, -13.1487, 6.0786, 0.7009, 0.7595, 0.1441, -0.0073, 0.212, -10.865, 8.5128, 1.1844, -0.6618, 0.1832, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c95201fc3d8529eef84e168e41bc0290112d7d8b5b628343c86a8ae8ef454e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a982a00c405cda4e6b18f16635ec7b427038a9c0893e093d3146e2d9d92ed1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e991c573a21a3f18acc19b94e143a942145291ed671d77f430e6dc3bf2e766af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 5.725 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 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]: [-0.1471, 2.0094, 1.758, -1.1812, 0.9241, 1.2842, 0.053, 0.3264, 1.9427, 1.6772, -0.8825, -0.9005, -1.0744, 0.0522]\nstate[eef_state]: left_x=0.384 left_y=-0.1958 left_z=0.1735 left_yaw=-1.5573 left_pitch=-0.07 left_roll=-0.0897 left_gripper=0.053 right_x=0.373 right_y=0.2762 right_z=0.1877 right_yaw=1.5739 right_pitch=-0.0445 right_roll=-0.0073 right_gripper=0.0522\nstate[joint_eff]: [0.3487, -14.1607, 6.3521, 0.7839, 0.7448, 0.1148, -0.0171, 0.2803, -10.0034, 7.8564, 0.9109, -0.7595, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7921, -0.9024, -0.9981, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1732 right_yaw=1.5691 right_pitch=-0.0298 right_roll=0.017 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -13.1624, 6.1333, 0.7448, 0.7497, 0.1294, -0.0073, 0.0889, -10.865, 8.3487, 1.1941, -0.6569, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0522\nstate[joint_eff]: [0.0342, -13.1487, 6.0786, 0.7009, 0.7595, 0.1441, -0.0073, 0.212, -10.865, 8.5128, 1.1844, -0.6618, 0.1832, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c95201fc3d8529eef84e168e41bc0290112d7d8b5b628343c86a8ae8ef454e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a982a00c405cda4e6b18f16635ec7b427038a9c0893e093d3146e2d9d92ed1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e991c573a21a3f18acc19b94e143a942145291ed671d77f430e6dc3bf2e766af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJdMfBlgP33n4o9fTuOHYaI5Cvvl8QIOVAGE122e8LUSNJV-r54svN2xGvYdNmul4MjWwiC4BMmTjVF83CYCF9TX9JY_EqWsCVBKqgf8xqlRlBWYgizBRy-8Dil2uSNSZZvk4S1MktOmkKaE6QVYQcTfxg-7eqUDo5pSD4R0HWT5HqVzBjPaXdgs9sFxEhgKAbgnNIHQVXcyL4cvo1T9yCT38OQ-oV62fO73p-opWjrdGc279btrkKFeClu_rQV48PzNY9KityByNV3J9-9RBggdbtmTv0ZihYNL9XBJbfBzJ4aesE0ihuwE-2N6KxUG7SVQR0Z228Zx-Ia2IKmasptfRMPSRLLsZIehPDcHMCUEBWY-bSHqGD0P8C-_TSElY32vzcuayw2aZd8DutwV8gu6RtiHjHz4jAV4xj9AdUCNpMO_R8fqa_iNOVvGVPKSg2KRH0PEolDGj4DB8mB-CpcqO8NkJX_bNZcgyL4Lp79ZoSEtbXtTBdFAOv-gDvRI1TNbVU9Lfq0b3CuU5yhJf57na5G7wjG1aMCJfEM73KDDYgKCR8QPMKjOwjQsUi9VxpiwzvJIcrPPH487uQOW91B7lZIlxS4zUNG-0GFERoFVg9Q-wyFimVl8NZs6_Fc09n4-CYD3OBSAt4-CSX-v8BWOBelOEuehoE6d7hNo-ke2PWztwvdqCKx29wriALM-bVMIuX26cMkhu5qf1bqNIeM1ReiOUX5htH05Nlr2Di55daFnvIXFCnVPIs3s0ERn1KJLJCLVsco5uf84m-AmY5NZarlLYQantMS8ly1r23ul-mtIbtqstoFHWwXIHukBV5Gce44lMJ8n-T1GzoKvBa5Nl4eI7A-aO4iQRaJPCZ4_PZArbdfTFc3CEnYoiHqtWgGgNffXxMWkaFGxpjt7MvzzRYA4wA_--VvIVuls8KFBsoG3WLF9-Kw0dbAKuqruV-WdnrgD4mfWnEpmgIzrxHcnAwcxWB7BBZhMU0tc8ZuBgrgPwKFKdspODgEDodpFCigTHL88I95tSCUcRsoXzhfydMdl0dgZnigLg67xWyMtEOV8Jm39LG6KdYkKS2OsIS3ocBh54vfwbDDkbda0t3BxYsz0ip1Mm12opBFdQy6FW1M3MCOiDjjHA0Oac6PvpaGqy2Jbl1rGMMxf1oEbNDBLtpDc7Vg3FtFVrIZgnyW2gRtfNHEDlsXF-chP1Il9xgGY5htICJI__ihUnl3B8xOVeBh2E-6DjLLDp0z2ogtfNFaIAAuOsL2jxIUN9b81xugIJNvmNhn3Xt-Nf90bW9DvDsrdOIi9AsbkLDqp-Pv7ebM-0pw8Czye8brPSt9k6dcZvenx1a8s5kWtTXegONABdjYZqBAbAWdiKwtMzThjGmMDhSjLNXUMrp5u-SLXbk7DXuhKHhdOyvUtQN_PEU28cB5KBY3qaQ36rcuWNeTrVNpjL7z0dDM4ISyD4I0O489R6_KnH6rwhKmNe8ckOzC6M3vwMwcrzcy5y9ca2BBxzenDLgvxU92F8XlRx0rMxj3eNPW4QNNbi83VEzVkLid8-1eR9vSIvlpDr3hCSa1uva_omyRe8dJM_e7jOYCO-XU72A4YY51Vcduc0WCQXSRhBNWl_pOVxACrcGC_6Xzg3UZN8xydiCsdK3gnmifGHmNyHPxV0tnqoTfNTzpnLAQ_TAYlZ1p1oXHs0y7THbcxGd72x5DFc-GZmA6asleUF3yghUPufGLO3Wz3LBoM6TFKpbASWGwtQ73kBGQTCQC6XyMI1fB224n88BcX3788TmymjVkqcSiItuqEbVUZ7UJUpwP_QQGbXJS35jJKxsjMfClNDemeMCZ4nTYteaWHdLROwKYUUbXsv9f1nyJnTrUNpOT4lyNtm4UIec4p4ufRATpYz_zVkFP112QBEet_GjS-n_t6TMjNQplyLWayPZ2ES52jVTk4mkrcZvJgJPy77MbOPuRh9-_ebYC7ueW7tSrMPJhdvgtnU_vn2lXahJtk7zmAjhV7H5cwXYftZo2z4oKRCxGJubGweBb2kOFbR339TW4UKuxFHSvW56Veoch8MSnDF0FhlrQ3xaAOzaurqUXCFgEeDUJ5Of5zrXuRq5DhQI9chY7paa5mYu70UuB_A8t3Oj3QGIVda_Of0kCntGwfCdVAfBVRcDHiZNgJJWR-IvJBIciuBTNdLHe7o6lhPw==",
  "id": "rs_0ddfee9e42e61200016ab49747f72c87d0a60c9294ea782244",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.213,\"left_z\":0.19,\"left_yaw\":-1.57,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right arm did not track the last small command, so I’m not repeating it. I’ll use the less-extended left arm to bring the cap gently onto the aligned pen tip.\"}",
  "call_id": "call_Mb5mWw3UnCBZgs3PNYFdqIqh",
  "id": "fc_0ddfee9e42e61200016ab4974affc087d0b61e36b7d9df742b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mb5mWw3UnCBZgs3PNYFdqIqh",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9977, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5689 right_pitch=-0.0297 right_roll=0.017 right_gripper=0.0571\nstate[joint_eff]: [-0.1436, -13.1624, 6.3521, 0.7106, 0.7399, 0.1392, -0.0073, 0.0342, -10.8786, 8.3624, 1.1746, -0.6667, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5948fe776fb28b92df5f092563f1b7abf888ce7417305c7e393cc517fc74102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9a6920cba9466b5c9a33292483ff3c72cda986371447dbab52cff3a8b9000d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f0721d4aa3590d54df6e4916c059e1df2eb76639b04000b16b55aa0b4259f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 8.22 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 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]: [-0.1444, 1.9942, 1.7489, -1.1584, 0.9512, 1.285, 0.053, 0.3561, 1.9804, 1.6829, -0.8173, -0.9024, -1.0153, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1813 left_yaw=-1.5578 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3778 right_y=0.2923 right_z=0.1786 right_yaw=1.572 right_pitch=-0.0326 right_roll=0.011 right_gripper=0.0522\nstate[joint_eff]: [-0.1846, -12.9573, 6.0786, 0.7839, 0.7888, 0.149, -0.0122, 0.6632, -10.0171, 8.841, 1.1453, -0.6911, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0522\nstate[joint_eff]: [0.0342, -13.1487, 6.0786, 0.7009, 0.7595, 0.1441, -0.0073, 0.212, -10.865, 8.5128, 1.1844, -0.6618, 0.1832, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9977, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5689 right_pitch=-0.0297 right_roll=0.017 right_gripper=0.0571\nstate[joint_eff]: [-0.1436, -13.1624, 6.3521, 0.7106, 0.7399, 0.1392, -0.0073, 0.0342, -10.8786, 8.3624, 1.1746, -0.6667, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5948fe776fb28b92df5f092563f1b7abf888ce7417305c7e393cc517fc74102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9a6920cba9466b5c9a33292483ff3c72cda986371447dbab52cff3a8b9000d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f0721d4aa3590d54df6e4916c059e1df2eb76639b04000b16b55aa0b4259f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJdSy8M5uttLSeB0oyAgwrsDumYuydjywLHwwU8iT5JS21FT8FFxTmM12e2qI4z8LWBnrDbCxl-_tOlFc1t7Ddk7rPqcf0RJWkOIbh_fCrq8DyhD5o_cvrkwCr-rz98WbajMad_vrlfDcDjeH0vnqLew1w4oc-1RY4p0S7BQli4ri0cTcu0c8Rum63JwwylpZbd2247Zi22cwUWJw4DkWYtH-3rD8if4JUw-MBC4TfNOxJm2Df206be2NGbCRQlDqWKuOS0bwablup6GMZBG3zi35YTsulvTavYYaBBCPSoMw6mRn8CC9TRqX-H_4b8Dnx6XwDCmaxLEZXxPHUnLH-2EK0G_UcXx4zgJmW6oUKRC_dfB7BysLsS9JcHCWnJvoa1rD0pwDpmaGNVrVWY977fxt4e4QhOq-ijKdpgt58l9S3YAmm08mJG-EVZh23Wxq1FyI-lRPgDFszWVJ7Om0Zm_CdIOYpNgK4E5pIIAydy2LauXzbOTjKHSeBV5tDeMqVtfRa02Z8uoBVA7dd_VH6H3ROaNdPizpOZomFDrb-0-w5v05rSv3-GwsDnCa0fb9-5No1ZSCuT9TZ7SaDHKitJgPvUarb5jXX6sSjyGEZAeWkZLHObUYXuyyrWiELWuNduRyMw5jkQWkpv0WqxSK_PePxAOP0EY337NW1ptssCE7OfTJqEt3yIpQOpTBg5PCMPBa6wWTouYJLfaiC7u5kqPBv5t_nd-LSiX27fywo1nnA1B2l7d3sfLhPI-V8q44c7zRxn_6fBsZ34UABZAjN0azaARJSMl25_tRk6c0r7lS61H0W6O3LWksQ5xAs0IssnlVtPDsNWGfvUhHLJN3I-vyE3OiqVa0Vo4mgb3TAwdCtsYbYS6Dmvu5lyLT0DtUcI2cVSR74Xy3pH4B3iu6WhZjEZFCklInPLzMNgYM-jyn0ycislEsSnbErXCRtebKvDhq69MXPlD4cxmaHcgTSnHJaCIVDsfpHJLTX-VKKsvA8MXHjRjeod3ZjpWGKj8RTwiOpkLtP1xxQFXvox7scgLmokKhPgVE55mvz1A9NEhTmwRPiaqqB0-dWKG-pAar0apfHDTJUwtPeCwpmbxWr2ozTaNsBURqXbzggVPOa64SfzGAiAYAHoTgowY8Qra40ziTXn-w0fV7EcYVQofEuWVabG8Cg3u1GSWNk7g86X8gzDO9DGX_Al9m8ptZnd4p-M8L4LM4SOtQM7N3HEaocMWO7mDkFag05D1KwadQtAZjrrjRnaILIt80oNKNWIIb3EkHyVzlj_sX5GJcrRgUcqWLX0leCdT_pEZST8x9y6pgPtPfM_u5GQlijnKLMv8ujuCjAyFQTrAUlUKuU2wnF5sQu5wIerm_M4wOlGQspf2Y3Rxk_4PqZvE01w8kqvbfivcGDcxspCvf6LMYuoy_JcNEFgBL1E05Uj88Gy362IsA-1dlsEnTz_hNxpJIhRZ8yFUfcEmuiYiVuTsSyxXMzDYb6t46QYzq6uGoisGi1paqzPhhNtb9tyWJwx2tRRfy3beAXHvsIC8p2TEYCKMIUio49NZL8LrJdgvWUcKDxVbNepKvU7A36czfZQqCtbB-PKDWHm-xOVyq9JP0eapNCkCM49KV7UELWiD8JTiFPyFHgP1LNuSgb2KNmnAm61pQWEz2PwP1h3Wg3bEwwx0_2D1zMlM3ZnI_DXgQP7D7f9-cFmxQ_etw26pQbYymYcEA_dPjhXDdTsFagFCwqjr3ZMk_aoeV9dvsJCqTpZqPxLXKGyUfQR6H_CVmWMAnPGNEYGSYo67PQzQrglH867wLsHY0ekE6xsXvkh6gMR4w8PGcsOJNl01h0putx28_IgQDz4Hkjbnm8tEdlu80p8GKZprpgZzCEs4pXqLqZ7NuH0w9lRCC7NlsG4DNOjVzhPJU0zbXFh634Muv35id-G1-cAo66VPJD9osKCs5-WSI-ASatg=",
  "id": "rs_0ddfee9e42e61200016ab4974eb6f487d0975f527d2a2b1d79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.235,\"left_z\":0.19,\"left_yaw\":-1.57,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Neither tiny approach changed the measured pose, and the tip remains visible at the cap entrance. I’m making one slightly larger, slow cap-side approach, watching for resistance rather than increasing force.\"}",
  "call_id": "call_vQbjA20fh2Xm4J4uafY7An6u",
  "id": "fc_0ddfee9e42e61200016ab497513d8087d0bb8d8f3c9a9306b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vQbjA20fh2Xm4J4uafY7An6u",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9508, 1.285, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1976 left_z=0.1814 left_yaw=-1.5578 left_pitch=-0.0393 left_roll=-0.0642 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0571\nstate[joint_eff]: [0.1983, -13.1624, 6.3521, 0.7741, 0.7497, 0.1441, -0.0122, 0.1299, -10.865, 8.3761, 1.199, -0.6667, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88de048452fa4682a1d6ed4b850bda2490e612eed1345017ecbb8536c4b027fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903fd1ecf5be4a920fb33d2ff2e0a0854b9af64a541548ae50fec4300fb5b626",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3998873cf7965c8f0f1f77b92c79d495972192cb9f8e57396efe6d54c8df43d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.144 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7921, -0.9024, -0.9981, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1732 right_yaw=1.5691 right_pitch=-0.0298 right_roll=0.017 right_gripper=0.0522\nstate[joint_eff]: [-0.0479, -13.1624, 6.1333, 0.7448, 0.7497, 0.1294, -0.0073, 0.0889, -10.865, 8.3487, 1.1941, -0.6569, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9977, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5689 right_pitch=-0.0297 right_roll=0.017 right_gripper=0.0571\nstate[joint_eff]: [-0.1436, -13.1624, 6.3521, 0.7106, 0.7399, 0.1392, -0.0073, 0.0342, -10.8786, 8.3624, 1.1746, -0.6667, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9508, 1.285, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1976 left_z=0.1814 left_yaw=-1.5578 left_pitch=-0.0393 left_roll=-0.0642 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0571\nstate[joint_eff]: [0.1983, -13.1624, 6.3521, 0.7741, 0.7497, 0.1441, -0.0122, 0.1299, -10.865, 8.3761, 1.199, -0.6667, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88de048452fa4682a1d6ed4b850bda2490e612eed1345017ecbb8536c4b027fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903fd1ecf5be4a920fb33d2ff2e0a0854b9af64a541548ae50fec4300fb5b626",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3998873cf7965c8f0f1f77b92c79d495972192cb9f8e57396efe6d54c8df43d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJdalNmepUM9KsPFwPUzk5UnBTkCjpLNkCjf1DeH_1BERWpBhQt-AxD3TvmDJJY3RKqIRJE9RuGI4mbDzsSvI3J5O9w14y35thi-vHuufl3PBmsUCWoSY5e-AALTl5SoyY4brkFOoi5pE_vRbZMKYOKguoEceFFuIkJwSVFwv-36bMA7OXwkJg6dBsPj_kKks5DgTA5NaTEeFRoLVnsfpU27IIk_BurHBa_Qq9u6dgcQtCnt2pjHUTeOQyIrpXT-IzOcLO0lqmG5kpZVaIcEBMhM6Fi4llq2QseH_AfSZGyf0HWsniMVE35RFu4-nZLuwJC8zOZlVTBhfPhCPbSeCmF-jdge94j_ctj50cZqUnvDqtyNKwHpnoCYQkcRXKKXbDyVIvIn9n67i3kNjqDFeVZTByICP0qs3GEpz4znAz-F5l2s3KXgh035pBa_juUpLhXNkfdeHqORSRjOBqUYDxZMZ2QBX-CI-Of98Fcd5elWkvfpNJUaL1PPZxtjsJj8R2KF0yeOmva6eqDeSbfmcy-nG6104uSX4zrscLQCENcN2FepQlSadbdpLXf_11KoL6ApPgUorhmaiuGK-saH74EU1lNd4SZtAToOhDLqRH86DEhz1ZhkfyORfqbI5dEgBZoxMn4zQt2CKyGMmC9Gl3xkqZy2Oj6MaTWCEqjDDla1M4EJaOaIy6TDj-P2FYsHxxgY61GGG1VgFzv7V1YjMrhCdV_4Dl2W3RqgmZiz7GnIkGnKYW-o3cweOxnsyRMUhIvbb9WRrFsLC3KFRyXNGfTpn4tt7JWjrBDqfWkmihIeO-BhcttYIgoX2t3o60ko1CdJE64oFU3teuZ1wQo_mTjb1-tYpQaJJ45_3Eesom2j21Us6LrWPXgPvZ0tW671l2Qw-guC7P722SdBh2JRlnD_sODK7ltDAs1eLexwK737SlNHc2ezHqxp8iuxOOwhUz9vmYsw55pomADIm9feKOhb2uKzXxvcsiXeSJoAJOPgA7BWhujN7HIDFrcNAysVm_EvbOnA9CxwQw13IgDqzgPD02AGxXCeza000jn1WVpI_ebpTpfjq34LZzZY1NtWV0xU6a2vZwq6EEp-k-A3k4O6H6Biaj1s2IvkuAQERA_Okh7xSSjzaynGFoUgTqceBtn7-1bw6ColRlr7ZDB5RMASaMffSoSAUbaH0hvc4j-z3f-XHyrA9qLqfEF_nI6hiihZohMOYc_yfPDNlHh2cUbGpYZo7v96GYuVEmvPUwdxad4KEa2u0Lwoz3huqIFd1pWClQ4urlzlK0Xq_XduphhPojnUMqv2v20lG6elfr8zNwprUQh98UPhgLpXy_1uHsRdeZAhca4SxOwEKR7jv3JKO5hFL6JsJ0M6OUpf9o3WuDzhl_LpgZqZpczzVW_LE2l3BbqN_MaNfKD5arnM9ZnqISDV_y-Qu-EUlXl-OmrO7DAjA3-N0pE7Z6FYx8iGxuQK2_Ua0P0XFIbnfYm9EDw6MZLQpve-wBZLUi-NdnTI5tQHhD-NirouFkJAhReweiF9J6fGovYj9-WnWRSxmyNFKt5eJPFFSyw10TDKANk1v5i2xQdOyHH9Wne5TDsJBjhNy2gOIpGrNjvsV2fFvuy2nvwM40WvdTxC2scIgxX1WFpnGKI2UgxjKtsoWGbnuMxJJEBKcS5icwypjKCjLpdtMyQE8i4Aqj9wMS9z-mJesM0OB-gtUyBzVCqV6RdTtoRK19q20oXjKOrjiQfyconuOHRgph29nQvLCCRGmYeUbwlQvfzmb57nnRMePW3_jfdr0pzJQlx1GxY9H8dVT5Qe7-0FVz3r1wvuQCe7hakEvO8cZdGM3Ssj5TEKEj6Uc2trmcrnf2o-RJm3iZpqOa_kiubxFYKVVV4EzeRMRhYBnoHQxO97ZoqubPiNgPKzDKHOZm_xEIYx4wRiiyCf3Cwl7ZKxv3s5V2g0OwlyG7-LBT2aGfGniyemRS35lILiQ0Mb1ynPLkcH9Xzh90aIj-6Y7CIkQFicTaeN_7mp2n3Zp1DeVhCvyl2PZT5bEjND8M6f5ib7B5CeOBG141EfOq80DxVqgeV-7KA5BM7kktywHd0tQF_aq2i4RZkbXij--FP0-mvHX1QlEowZlIyiF4sh0Bm1SHYOCMOgpavgVxh7q8vKHbg0aooBoSqwbrdwtChuWlpHO_2aR54P34bjbKvGXoMFVvvM5UsWcj2mjqjkO1fDLh7LMuvmOGYuVAGXvnx5_bJyO3BQTaJhybumlKVqDUvIwE7JkDAeQd4bPR73Cz2l6rFOP7UaQbhwn-6eWtPLqceNqRmctjhnbyJGR1aSRCK-Np3o-TdcW-WAELgKePg3yMiD2zzwxQNmkTeBz6hPcvs2oIhM04Ge6INhtwOdPmWy8JTe2bOxqWI_6iTY3CaOQF7jtZxtWL1sjTkZY-wGt0GLpXiP6VAnd8snuVfMKba_PSNZONNdXvKJEdOsMtLVZh-0IhnY1VsxEogeHcbVihvvJwP8DNKDToITqQD6MmFw4P553cUd-r7csBEGbtRv-rNzz-YdSKFdZjyc7H9o-D_j74XDZrXoiC_8ARRlNroNSSfaA0CL6hkCp7qgrGOKnGh3yqMpxXbi_YDvQlmgL-jxyrYfKzgKr2fWkFgnpxsLsv217WObf1NBZtN19kV4uN5rVpnAjhR7qfvP88mDzO6w0ebA5z4AjhAPYUThdGJWc6IfRolH1apb_ejDCGRLdcBnGMTn6j_cWk8hhUpj",
  "id": "rs_0ddfee9e42e61200016ab497544fc887d095e7f6b1afed4989",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.22,\"left_z\":0.18,\"left_yaw\":-1.48,\"left_pitch\":0.04,\"left_roll\":0},\"note\":\"The cap arm is also holding its pose without a rise in contact load, suggesting a control or reach limitation rather than insertion resistance. I’m slightly relaxing the wrist angle and lowering the cap toward the pen’s measured height to try a reachable alignment.\"}",
  "call_id": "call_iwDkoGbsfQHmRYXDtAEw33rh",
  "id": "fc_0ddfee9e42e61200016ab49759192087d0b142554489f7ee10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iwDkoGbsfQHmRYXDtAEw33rh",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.1715, 1.9121, 1.5246, -0.8944, 0.9417, 1.137, 0.053, 0.3645, 1.9987, 1.6787, -0.8165, -0.9016, -1.0031, 0.0605]\nstate[eef_state]: left_x=0.3776 left_y=-0.2067 left_z=0.1571 left_yaw=-1.4986 left_pitch=-0.0286 left_roll=-0.0652 left_gripper=0.053 right_x=0.3759 right_y=0.2955 right_z=0.1692 right_yaw=1.5743 right_pitch=-0.0412 right_roll=0.0412 right_gripper=0.0605\nstate[joint_eff]: [-1.2376, -12.7658, 7.2547, 0.696, 0.7985, -0.1148, -0.0171, -0.0752, -10.8923, 7.0085, 1.3455, -0.4371, 0.022, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e45aba419bff89f934b6dce30f137518c23ac0b522daae2642165fdc7d817a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46c8f846aa0efe48e187d4d2cc40781076b8324d32f723983bda97b46c95d588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb76dfd6b4b974748dfd8cd701e7736428e604b8702b6975fda27739584fb025",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 10.35 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0522]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0522\nstate[joint_eff]: [0.0342, -13.1487, 6.0786, 0.7009, 0.7595, 0.1441, -0.0073, 0.212, -10.865, 8.5128, 1.1844, -0.6618, 0.1832, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9508, 1.285, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1976 left_z=0.1814 left_yaw=-1.5578 left_pitch=-0.0393 left_roll=-0.0642 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0571\nstate[joint_eff]: [0.1983, -13.1624, 6.3521, 0.7741, 0.7497, 0.1441, -0.0122, 0.1299, -10.865, 8.3761, 1.199, -0.6667, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 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]: [-0.1715, 1.9121, 1.5246, -0.8944, 0.9417, 1.137, 0.053, 0.3645, 1.9987, 1.6787, -0.8165, -0.9016, -1.0031, 0.0605]\nstate[eef_state]: left_x=0.3776 left_y=-0.2067 left_z=0.1571 left_yaw=-1.4986 left_pitch=-0.0286 left_roll=-0.0652 left_gripper=0.053 right_x=0.3759 right_y=0.2955 right_z=0.1692 right_yaw=1.5743 right_pitch=-0.0412 right_roll=0.0412 right_gripper=0.0605\nstate[joint_eff]: [-1.2376, -12.7658, 7.2547, 0.696, 0.7985, -0.1148, -0.0171, -0.0752, -10.8923, 7.0085, 1.3455, -0.4371, 0.022, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e45aba419bff89f934b6dce30f137518c23ac0b522daae2642165fdc7d817a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46c8f846aa0efe48e187d4d2cc40781076b8324d32f723983bda97b46c95d588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb76dfd6b4b974748dfd8cd701e7736428e604b8702b6975fda27739584fb025",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0ddfee9e42e61200016ab4975cb27c87d0ac3fd765cb5fbcf0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.23,\"left_z\":0.195,\"left_yaw\":-1.48,\"left_pitch\":0.04,\"left_roll\":0},\"note\":\"The wrist-angle change restored motion. The cap is now slightly low and off to one side of the pen tip, so I’m correcting those offsets during a short, controlled insertion approach.\"}",
  "call_id": "call_jBspI0hzfKrv3eqmP63q7dIs",
  "id": "fc_0ddfee9e42e61200016ab4975f256487d0b7536493232376e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jBspI0hzfKrv3eqmP63q7dIs",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2001, 1.8973, 1.4986, -0.791, 0.9356, 1.0275, 0.053, 0.3664, 1.9987, 1.6768, -0.8181, -0.8948, -1.0027, 0.0629]\nstate[eef_state]: left_x=0.3828 left_y=-0.2191 left_z=0.16 left_yaw=-1.4641 left_pitch=-0.0126 left_roll=-0.0656 left_gripper=0.053 right_x=0.3754 right_y=0.2955 right_z=0.1676 right_yaw=1.5732 right_pitch=-0.0482 right_roll=0.0425 right_gripper=0.0629\nstate[joint_eff]: [-1.5111, -13.9556, 8.0479, 1.0525, 0.7692, -0.1441, -0.0122, -0.1983, -10.8923, 6.653, 1.0574, -0.5153, -0.0366, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661bd2872654463f188e8a2b7978888764b6fb4f1df910fa07ea90eab77bd885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1388276797610377015fc2978bb1db776cdd990fc4d396eabe2f5a076aa67112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a4466bae8436064470ddf5a3ad603f4ce18a92d632559d675cc66ca67b0e78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 2.613 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9512, 1.2846, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9977, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1977 left_z=0.1815 left_yaw=-1.5576 left_pitch=-0.0389 left_roll=-0.0646 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5689 right_pitch=-0.0297 right_roll=0.017 right_gripper=0.0571\nstate[joint_eff]: [-0.1436, -13.1624, 6.3521, 0.7106, 0.7399, 0.1392, -0.0073, 0.0342, -10.8786, 8.3624, 1.1746, -0.6667, 0.1929, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 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]: [-0.1715, 1.9121, 1.5246, -0.8944, 0.9417, 1.137, 0.053, 0.3645, 1.9987, 1.6787, -0.8165, -0.9016, -1.0031, 0.0605]\nstate[eef_state]: left_x=0.3776 left_y=-0.2067 left_z=0.1571 left_yaw=-1.4986 left_pitch=-0.0286 left_roll=-0.0652 left_gripper=0.053 right_x=0.3759 right_y=0.2955 right_z=0.1692 right_yaw=1.5743 right_pitch=-0.0412 right_roll=0.0412 right_gripper=0.0605\nstate[joint_eff]: [-1.2376, -12.7658, 7.2547, 0.696, 0.7985, -0.1148, -0.0171, -0.0752, -10.8923, 7.0085, 1.3455, -0.4371, 0.022, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 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]: [-0.2001, 1.8973, 1.4986, -0.791, 0.9356, 1.0275, 0.053, 0.3664, 1.9987, 1.6768, -0.8181, -0.8948, -1.0027, 0.0629]\nstate[eef_state]: left_x=0.3828 left_y=-0.2191 left_z=0.16 left_yaw=-1.4641 left_pitch=-0.0126 left_roll=-0.0656 left_gripper=0.053 right_x=0.3754 right_y=0.2955 right_z=0.1676 right_yaw=1.5732 right_pitch=-0.0482 right_roll=0.0425 right_gripper=0.0629\nstate[joint_eff]: [-1.5111, -13.9556, 8.0479, 1.0525, 0.7692, -0.1441, -0.0122, -0.1983, -10.8923, 6.653, 1.0574, -0.5153, -0.0366, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661bd2872654463f188e8a2b7978888764b6fb4f1df910fa07ea90eab77bd885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1388276797610377015fc2978bb1db776cdd990fc4d396eabe2f5a076aa67112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a4466bae8436064470ddf5a3ad603f4ce18a92d632559d675cc66ca67b0e78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJdqefLc2sHpcfFClkBOH20-h-OguzgG76OqDX9VLrPQVVtJfSePjyJ4evCQCGyjF5pMxED3X7cXqpSOwS_TPiKLWsSzS47sa0RxfcQJTfECsxkh6zw7SYD41zIWRSPtb-sIw85G_doNwMXWu05CGKINgwl2cgtHwJm4-K8jTSkVg6VJhb75eXen7bpD1fg0vwN2DG8lkCXqUXuKOFMWntFrnRb-BsHK4NS5zOVBJSZBKxX_U8hDMCzk4Vl7AwyXK-IeAA-bkHVoxV3Wl3V0UisMysm3p8qlYX1HrVQ-GSdKK0AClGMoYgDCoIyhO2Wp6KzW5NEtF928jZVOBmPeJhIeGZB8lny9Ozp3kGs9efmDjvGJJ8wYtYUkpg9j0TkTWuuXH4RgtOHEw1HwaOZ1ZsDPyItiH9I-0P4xIJlZsc9ZWftbFVCA5jzmu1rgQhcgp0p2DQXxws2qGYFZ3XHV-8JqagQTWwUwSPzZj-_9ENwwCCLoCfUa8RdzauoUIW3My5I7Tyi5-21ZuSjlm5uAxT8cBfTqPXlPy4VzAem8v0tlD1pPs1V7zKsrEP_o5ovEKy9aaPKWeuPnI7ru89sLDP2e2_yh3-O0-ORmTrZ79l5lbM2iDT6yrLsIeH1Eb2h7ufgyRbIsUKfr3j54jonUsMkrTXuxnYceieRNDhbRCvU5w2l30k1dAbukjfSEFu0n33utGlI47AUgxFbqp62o57FWyIgsyWyLzYLB2mPzJkVmuL0JjTWOIq1RgaA5xyS3skm4y_K5aol7wnMXMxh4dL-QBg0xGng4dKy6Bmzq288SrdUCyMmXig_Ddum9Z5A_C7tEpiNiiK1SgBcNsMPfCFXearXikNb-GYqJ75n5zqB75gP_1NLY111WCWoPwc8_xvxuqD0T8f7JEbB3rz_yg1GAzClYzTDezuUl30_we-stt2KFGAbbPRJJEhfzAMCimYzcXU9BaRdO8h0ADAPw4UhBW2kW3VOKf73juS2PnT5qevwXozmQUXP8KYY0wYK0aSPgMmqy1AT7JalATtKm5XAPIyj4WD-RNpa65EEXC75GC0lXiCHsVdRXF8ebL9BqqoBQcWeZudOhy4zPMFkpOIoXQ6Z9fL3afJqofnn3KcGie3hjeH6viQcWbB6sI6UNtyVa1UKBh0__Oyg1dhTsEtmzyEQjdZF1g3TWtYe7qSLwT9vDOgmuSRfMGPYb0I56ay0SQj31twfXiuCIfvgb7w1OBzE7lm40QaJe6JCEEI86BxurhrhqXblOi15Pwt3h50apl2F3r_M-VWQyIIOBvoCsQEKrCPna00QBmOwt1l9Ke8fF-WN5E3PQryCLk2Mk5eAz0GOO53FrSWlIZIPdd1yrsUh4eTm-EAqWdO-I0zs9HySi8VfC4fTbTefqQD3nGWAbc66-SLMSYIEIguL5fZ8Vg2bSF4F3ywzWICHyOWrFnWtBipmKcfLGbj6f1gIkVuKPECddOvCN8vJbC9SlnoFHiXzAFcEkulm21cWxV7RL9DjiiwvLRMc47ZOvmCuWfNGZ7C4qz_FL08FZ4fAu2PnBgP7uxvrXHK5CDpNCvRIQJihWEUNYIh3kszG3N_iMWhPq4x0ogkxedfSlAc4wJrfuwJ_FhNrUYUTtzA0Copq6rMfGL3szuxBZS16y_rbILiUJwFaAgJVUfXov_xMM2d7LqcBK072B0BE1bnqlwd7iQmjxuTaH9vlxWLu4GeGeu3NrWDXGUz7QyzU3slmUMbrigErpRALSWcvaMfG1uBT0P3fTR2qxe7ktnfGeS_O4tkXMriCMoD4h6hbZw5pEiMkK2pRKXO_m0Pk7wfj_pjZCgAbqM6lDEC1Cqopj1dobkb0DZGtkI5cJpcwauBPCx1s5ytiqpyPYSn_OClRdBg9aZarYAudMcRxAoySx4shfCiDIJTCILLzSiTMJM9Sik0KBX4h0Qq4CEXYcHGcWrzwIkxD2d8XYf9IHhKDXcaZvnTIr9KdPv1DXU0IuAddFOpSav2v9RyESS4rWWZgzbaHMBmJdep13DEslRRw07hdvckO7weSS3iADkLMTOj8kAghsKYRkR96Cdy2Oyxwd_mGyoo5CyvAhOVV5AoRlCNzleNqJENdjywIKiPr1wp8zsF_K6AlV6IxJ93zmX5R5D8PMAR47Ww-kiT3MiCDaDrUtreTS1D5kJvYuh6cjF0X9qcY02dEdsCU4vkGsDfvdmlkkHwhZGeDZFv4p5mrqtfISn8nelE7ebl5waxacbumgtfWi_0U-LMAEjNYfuUuxWoOayZ0xww8QK9ZODRwJ3Qs9friyD3W8FLkHopicRaD53_xYvJpCTaXcSGUSNDKrOfTZMIVd4naI2u1gzYEiVVq947lsoKzkgdAjw2-SA9TH4j6O_sNg-j_LvtnF88r6Px-I3faBM62TNDIlgpIsQKmvxMC6vduKmNmIaCydcN3zs90C2gsAKqj7NwNKk2LdpZfLgh80F3AWpFIYEc2TFo2x2OMfD4KIPOWs42l2TGPf5-ies806G0dH6p5EcVYfbnMQosYEj8xF-QxAEJKJaSvMbR8jQje7q4kXdSHOvJHAa99xMJWs9eCp7U8Or2MMWWLoWCpIFygozqfYnfjaxKn87PxVC14k-DszLaeMmdqKOe9StcTs9MBYttrHopafwKoowiT7Ch8JqJ3ZWFkSxTvNA0copYOmb5ZUIEFsGMvQudpTEYclyw4l_QpHKvQrJZoT9nPhwLrhijmiHke8iSWmvZ9OfGBPtpV4n86pB5mkMlwOuDcVV0FL8gaqGAymgjVd7zTPCil8ANz33qxH3qY01akIXfKCnXjGH2DscqjgKD6DqON8jZWrB93QsUcKfUNSSp8M4gOuRJYc8jIZpS6X-eidMONiXFjMTMs0ta5k2kgtg-axzCFht0GAOhcxlZnz1ivj0GZ72l4VpZ-iowh9sYSI2bChkSaXCJKq4XdRNe7q0XqJXpxMxGm_wtnW-w5JxXXLDRqh2fWxFeM-RKxwKLjJVAFqz55y93_S-u_fYTwPD3t7_X8l0s7Jtm-RCW81-ZwhvCeh2Tsouue26QAMHBtYPp4ntu_Dtd3lzLp4LIZgpFs9ACBY55jl6YWeF7hQThsGYK_qjEoO0LJ_LFXYAQbIFIwu54NhZ1PFyIOPutO33-fjvBfp-jqj_dCaMBu7zPxhdUn5XaVopL_Lb59CZfFLRvZ4VOy_FgOIGR8IiJA07ztMg-ag6n3Y_v4EfmZcSQk=",
  "id": "rs_0ddfee9e42e61200016ab497630a8c87d0a9f4b030055c1381",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.245,\"left_z\":0.2,\"left_yaw\":-1.48,\"left_pitch\":0.04,\"left_roll\":0},\"note\":\"The exposed writing tip has disappeared into the cap, which suggests insertion has started. I’m making one final short seating motion while keeping the grippers more than ten centimeters apart.\"}",
  "call_id": "call_gFtJpvSqFQ5mHvaXBHg7R9mw",
  "id": "fc_0ddfee9e42e61200016ab49769ca0887d0876c1cc081d3389b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gFtJpvSqFQ5mHvaXBHg7R9mw",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2104, 1.8751, 1.4986, -0.7811, 0.9318, 0.9951, 0.053, 0.3664, 1.9987, 1.6764, -0.8303, -0.8948, -1.0061, 0.0657]\nstate[eef_state]: left_x=0.3813 left_y=-0.2227 left_z=0.1691 left_yaw=-1.4551 left_pitch=-0.007 left_roll=-0.0611 left_gripper=0.053 right_x=0.3734 right_y=0.2947 right_z=0.1666 right_yaw=1.5756 right_pitch=-0.0526 right_roll=0.0515 right_gripper=0.0657\nstate[joint_eff]: [-0.841, -12.6701, 7.9795, 1.0672, 0.696, -0.0024, -0.0122, -0.3624, -10.8513, 6.4479, 1.072, -0.4469, 0.0073, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab8e57a2ba01b931d1baa97b17870e4343c9c5f3dc444be9cf4523f19e11412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd2b17ecc4d474791d256a2986bbbc20f3ac4d6dd65ed340458b1086e40e14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ac32e3f0fea3eb5594a86151b30d811059d55ff9993d5d81f200eb108c6a25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 11.47 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 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]: [-0.1444, 1.9938, 1.7489, -1.1584, 0.9508, 1.285, 0.053, 0.3626, 1.9987, 1.6848, -0.7918, -0.9024, -0.9974, 0.0571]\nstate[eef_state]: left_x=0.3848 left_y=-0.1976 left_z=0.1814 left_yaw=-1.5578 left_pitch=-0.0393 left_roll=-0.0642 left_gripper=0.053 right_x=0.3811 right_y=0.2967 right_z=0.1733 right_yaw=1.5687 right_pitch=-0.0297 right_roll=0.0173 right_gripper=0.0571\nstate[joint_eff]: [0.1983, -13.1624, 6.3521, 0.7741, 0.7497, 0.1441, -0.0122, 0.1299, -10.865, 8.3761, 1.199, -0.6667, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 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]: [-0.2001, 1.8973, 1.4986, -0.791, 0.9356, 1.0275, 0.053, 0.3664, 1.9987, 1.6768, -0.8181, -0.8948, -1.0027, 0.0629]\nstate[eef_state]: left_x=0.3828 left_y=-0.2191 left_z=0.16 left_yaw=-1.4641 left_pitch=-0.0126 left_roll=-0.0656 left_gripper=0.053 right_x=0.3754 right_y=0.2955 right_z=0.1676 right_yaw=1.5732 right_pitch=-0.0482 right_roll=0.0425 right_gripper=0.0629\nstate[joint_eff]: [-1.5111, -13.9556, 8.0479, 1.0525, 0.7692, -0.1441, -0.0122, -0.1983, -10.8923, 6.653, 1.0574, -0.5153, -0.0366, 0.6227]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 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]: [-0.2104, 1.8751, 1.4986, -0.7811, 0.9318, 0.9951, 0.053, 0.3664, 1.9987, 1.6764, -0.8303, -0.8948, -1.0061, 0.0657]\nstate[eef_state]: left_x=0.3813 left_y=-0.2227 left_z=0.1691 left_yaw=-1.4551 left_pitch=-0.007 left_roll=-0.0611 left_gripper=0.053 right_x=0.3734 right_y=0.2947 right_z=0.1666 right_yaw=1.5756 right_pitch=-0.0526 right_roll=0.0515 right_gripper=0.0657\nstate[joint_eff]: [-0.841, -12.6701, 7.9795, 1.0672, 0.696, -0.0024, -0.0122, -0.3624, -10.8513, 6.4479, 1.072, -0.4469, 0.0073, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab8e57a2ba01b931d1baa97b17870e4343c9c5f3dc444be9cf4523f19e11412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd2b17ecc4d474791d256a2986bbbc20f3ac4d6dd65ed340458b1086e40e14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ac32e3f0fea3eb5594a86151b30d811059d55ff9993d5d81f200eb108c6a25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJdt8JuHwsKYcGwb82IyKLBm2ursq2jhoWb8LAJtbIbvQ6m_EuSfAu6Sxj_5DUfJno9WpRzEfTd5hTRsFB3U_HAhisOjvfV3PnIsua68VsPhwQX8vpClT_9g40uK_VN5Djj5K8QOEa2R5uKnJdgSvggIbgG4OFmfVhiYPXTIJKW7PDgl3cGm_Iswd_X6vp1QB6hJMyWBpisKL_hzW5dbrCHibjm9ChIWbjq-CCTQ4oQB2QCwMjvTaTto6IUYJbWNELcXuyo8pL_4DtA9j-CJWLv_q2TkUlYTe2MnjlDQUkBCRsTtpI2UD2YMUaKaFRDWX2WcGqOX51EyCufdS6FVv1G1oNH0KkXyNH77gzGQMuPVwxlpm44ZO-b3vzoCbjPGHhiERC_QXFdZvFlYE5WJqPza0CRl4CzLn3Fux3VYqMoS0MRka7UbKDtAOB1AGj1QZ6EajZbXpck1H3SHsBgIwcbxZaUZHhQNXtO0QNOftsqaRLjhrwFULENYSCrKFbBwF4edbpYJV8hcC_X6WB69BOuEOOij8a-sPIJ8kDoganCPx3a2ElHmzGb1K9XYZ9nli9Ri7JYLH9I7tOf4bHUDQsaVRhaR6IU5St3Zt-vDZQQuyTmjnx5N2NsUYVIrmPeQmt7L8IDt5vIjyVGQw1-VbMEYaJ_AKKxplC0Bpyj4bUq5caPL0OpxdXJP4CO_8_8U9VW0Ln0t3bkKXsvutT1k7Aw43MGy1nS-c-a3lQBfoZ1Aj4C98FEImri-55yvt4WwNkKivLzVgZlSYqaKYl6rruww4wr0pG0w_Tl9NmAlVgc_eT3ilAWLa-8t0lF2FJHIlwbfP-eG2aC6tF-tiEnl6g1sPrjJdiKZDpYrwHbORyrrKMHmnUfqiEjnmM9JOsMpf39IwBb1FpO9KwOloWaF4vNezi6jCvxvw2ScpYw06CYOzYMpmgYeUyQk3amITRsxek3GLs51jTN8Wu2IqUAdKwHjEGpLpQTfiFkk85FJ8bRGwGAJkJd2KFJ48zFs9XI9md5047vDYLYxpXpsKQvi_RxuulsgfbFQ3Rk8KSRV4AksNz9O0jlDkBJZoqUS260rGYPOpBGIIsGRgpe8wXi69hi70qq5IqBvQFXU126LbU97SZFDdiNHlXZNJaKPijj1NR3DQsHoaF0embTSGwfJNKuQ_UVE0GkHlbrbaPbjfFxUE0I708exp7Nny1IwS8IlkSbCkNy3gpnMb-6PHV49v6N3eQ==",
  "id": "rs_0ddfee9e42e61200016ab4976c8a8087d089a48b5026515fb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"The tip remains covered and the parts are aligned, with no sign of a forceful jam. I’m releasing the cap from the left gripper so I can check whether it stays attached to the pen.\"}",
  "call_id": "call_bfiKRhmWbScDupxS0egPFonT",
  "id": "fc_0ddfee9e42e61200016ab4976cb70c87d081bda0d931629667",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bfiKRhmWbScDupxS0egPFonT",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2169, 1.8751, 1.4986, -0.775, 0.926, 0.9916, 0.5953, 0.3672, 1.9987, 1.6749, -0.8349, -0.8913, -1.0061, 0.0657]\nstate[eef_state]: left_x=0.3812 left_y=-0.2249 left_z=0.1687 left_yaw=-1.4573 left_pitch=-0.01 left_roll=-0.0565 left_gripper=0.5953 right_x=0.3725 right_y=0.2944 right_z=0.1653 right_yaw=1.5752 right_pitch=-0.0577 right_roll=0.0561 right_gripper=0.0657\nstate[joint_eff]: [-0.3624, -12.547, 7.9248, 0.9548, 0.735, -0.0122, -0.1001, -0.1162, -10.8786, 6.4068, 0.9548, -0.4811, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26147e47759acfa9a3f783cd4b1139d658899b187bce0b3471960c45340b0cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcee86e377c9bb23ba2bc6c1e549c984c5974d103ed8b0c5ef78cfd5b2c96c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd587512525dfed2d6fe1ddbf0ed276a47f17988e5ec460f4ba9b2c0b84e8ef8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 6.594 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 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]: [-0.1715, 1.9121, 1.5246, -0.8944, 0.9417, 1.137, 0.053, 0.3645, 1.9987, 1.6787, -0.8165, -0.9016, -1.0031, 0.0605]\nstate[eef_state]: left_x=0.3776 left_y=-0.2067 left_z=0.1571 left_yaw=-1.4986 left_pitch=-0.0286 left_roll=-0.0652 left_gripper=0.053 right_x=0.3759 right_y=0.2955 right_z=0.1692 right_yaw=1.5743 right_pitch=-0.0412 right_roll=0.0412 right_gripper=0.0605\nstate[joint_eff]: [-1.2376, -12.7658, 7.2547, 0.696, 0.7985, -0.1148, -0.0171, -0.0752, -10.8923, 7.0085, 1.3455, -0.4371, 0.022, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 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]: [-0.2104, 1.8751, 1.4986, -0.7811, 0.9318, 0.9951, 0.053, 0.3664, 1.9987, 1.6764, -0.8303, -0.8948, -1.0061, 0.0657]\nstate[eef_state]: left_x=0.3813 left_y=-0.2227 left_z=0.1691 left_yaw=-1.4551 left_pitch=-0.007 left_roll=-0.0611 left_gripper=0.053 right_x=0.3734 right_y=0.2947 right_z=0.1666 right_yaw=1.5756 right_pitch=-0.0526 right_roll=0.0515 right_gripper=0.0657\nstate[joint_eff]: [-0.841, -12.6701, 7.9795, 1.0672, 0.696, -0.0024, -0.0122, -0.3624, -10.8513, 6.4479, 1.072, -0.4469, 0.0073, 0.5983]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 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]: [-0.2169, 1.8751, 1.4986, -0.775, 0.926, 0.9916, 0.5953, 0.3672, 1.9987, 1.6749, -0.8349, -0.8913, -1.0061, 0.0657]\nstate[eef_state]: left_x=0.3812 left_y=-0.2249 left_z=0.1687 left_yaw=-1.4573 left_pitch=-0.01 left_roll=-0.0565 left_gripper=0.5953 right_x=0.3725 right_y=0.2944 right_z=0.1653 right_yaw=1.5752 right_pitch=-0.0577 right_roll=0.0561 right_gripper=0.0657\nstate[joint_eff]: [-0.3624, -12.547, 7.9248, 0.9548, 0.735, -0.0122, -0.1001, -0.1162, -10.8786, 6.4068, 0.9548, -0.4811, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26147e47759acfa9a3f783cd4b1139d658899b187bce0b3471960c45340b0cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcee86e377c9bb23ba2bc6c1e549c984c5974d103ed8b0c5ef78cfd5b2c96c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd587512525dfed2d6fe1ddbf0ed276a47f17988e5ec460f4ba9b2c0b84e8ef8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0ddfee9e42e61200016ab49770fabc87d0aec7edbadad61a00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.08,\"left_z\":0.2,\"right_x\":0.35,\"right_y\":0.24,\"right_z\":0.025},\"note\":\"The cap did not stay attached when released; the pen tip is visible again, so the capping attempt was not successful. I’m moving the left arm clear and lowering the still-held pen toward the table rather than attempting another uncertain insertion.\"}",
  "call_id": "call_0yXdCiMRnmBGgf5y4y70wGbE",
  "id": "fc_0ddfee9e42e61200016ab4977866dc87d09c86cfe357bd4564",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0yXdCiMRnmBGgf5y4y70wGbE",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "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]: [0.2012, 1.7462, 1.422, -1.4174, 0.9577, 1.6474, 0.596, 0.2584, 2.0628, 1.2144, -0.4675, -0.9031, -1.1584, 0.0657]\nstate[eef_state]: left_x=0.3103 left_y=-0.0805 left_z=0.1818 left_yaw=-1.4225 left_pitch=-0.0343 left_roll=-0.1059 left_gripper=0.596 right_x=0.3473 right_y=0.239 right_z=0.0271 right_yaw=1.5622 right_pitch=-0.0884 right_roll=0.0862 right_gripper=0.0657\nstate[joint_eff]: [0.1846, -10.1812, 7.2821, 0.0269, 0.6227, 0.1538, 0.0562, -0.4444, -9.265, 5.3949, 0.9109, -0.7302, -0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b94bb3c0b2e4e1fe702ca957f6c9c1d4f71adf66b6ac2b4177cd7f22d3acf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10589bcd62615c49953d5ac1c05fb0786a3e01b3a0dc9167c1312563038d77d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace946394026a9318640505ee38fd125dd364411bb2248a582a17accaa459441",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]