adhoc - adhoc_1d20dc67.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: 294.7 s
total steps: 358

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 small black cap is left of the diagonally lying pen. I’m bringing the left gripper above the cap while keeping the right arm parked.

move_to

left_x0.4200left_y-0.2350left_z0.1400left_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]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.02, -0.0128, 0.9993, -0.0185, 0.7918, 0.6094, -0.3771, -0.0265, -0.0147, 0.9994] state[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1793 left_yaw=0.0005 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9993 right_x=0.2956 right_y=0.0028 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4718, -1.4974, 10.5504, 1.8046, -0.0171, -0.0317, -0.0806, -0.759, -1.306, 9.8667, 1.7802, 0.0464, -0.0024, -0.0708] 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":0.42,"left_y":-0.235,"left_z":0.14,"left_gripper":1,"right_x":0.296,"right_y":0.003,"right_z":0.184},"note":"The small black cap is left of the diagonally lying pen. I’m bringing the left gripper above the cap while keeping the right arm parked."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent noteThe cap appears at the bottom of the left wrist view, close to the fingertip column. I’m lowering toward it and rotating the jaws to grip across its narrow body.

move_to

left_x0.4150left_y-0.2290left_z0.0250left_yaw-0.4800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7166, 1.7462, 1.103, -0.1226, -0.5762, -0.4469, 0.9993, -0.0193, 0.7975, 0.6132, -0.3908, -0.0265, -0.0147, 0.9994] state[eef_state]: left_x=0.409 left_y=-0.2239 left_z=0.1219 left_yaw=-0.0051 left_pitch=-0.0494 left_roll=0.0288 left_gripper=0.9993 right_x=0.2947 right_y=0.0026 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0156 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.4581, -8.8684, 9.2786, 1.663, -0.3639, 0.022, -0.0806, -0.0205, -1.5385, 6.9265, 1.8486, -0.0317, -0.0073, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.229,"left_z":0.025,"left_yaw":-0.48},"note":"The cap appears at the bottom of the left wrist view, close to the fingertip column. I’m lowering toward it and rotating the jaws to grip across its narrow body."})

tool

executing move_to over 7 steps (0.7s)

step 28

assistant

agent noteThe cap is centered between the jaw columns but remains just ahead of the grasp point. I’m advancing one centimeter and lowering to table level before closing.

move_to

left_x0.4250left_y-0.2250left_z-0.0070left_yaw-0.4800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5484, 1.9007, 0.8196, 0.3668, -0.1658, -0.0967, 0.9993, -0.0193, 0.7982, 0.6132, -0.3931, -0.0265, -0.0147, 0.9994] state[eef_state]: left_x=0.4082 left_y=-0.211 left_z=0.0139 left_yaw=-0.3581 left_pitch=-0.1319 left_roll=0.0344 left_gripper=0.9993 right_x=0.2944 right_y=0.0026 right_z=0.1803 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [0.3624, -8.8137, 5.2991, 1.9853, 0.1343, 0.2271, -0.0171, -0.1299, -1.306, 7.1453, 1.746, -0.0562, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.225,"left_z":-0.007,"left_yaw":-0.48},"note":"The cap is centered between the jaw columns but remains just ahead of the grasp point. I’m advancing one centimeter and lowering to table level before closing."})

tool

executing move_to over 2 steps (0.2s)

step 30

assistant

agent noteThe cap now reaches the fingertip area, and the gripper is at table level. I’m closing the left jaws 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]: [-0.5224, 1.9781, 0.8433, 0.4511, -0.075, -0.0273, 0.9987, -0.0193, 0.7979, 0.6132, -0.3946, -0.0265, -0.0147, 0.9994] state[eef_state]: left_x=0.4187 left_y=-0.2217 left_z=0.0022 left_yaw=-0.447 left_pitch=-0.1107 left_roll=0.0258 left_gripper=0.9987 right_x=0.2942 right_y=0.0026 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [0.6632, -8.7863, 6.9402, 1.0965, -0.1343, 0.6569, -0.0757, -0.1709, -1.2103, 7.0359, 1.707, -0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap now reaches the fingertip area, and the gripper is at table level. I’m closing the left jaws to secure it."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent noteThe closed width is near zero, so that grasp was empty. I’m reopening and lifting slightly to locate the cap for one corrected attempt.

move_to

left_z0.0650left_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]: [-0.5117, 2.0048, 0.8726, 0.4614, -0.0525, 0.0017, 0.0091, -0.0193, 0.8005, 0.6132, -0.3946, -0.0269, -0.0147, 0.9994] state[eef_state]: left_x=0.427 left_y=-0.2251 left_z=0.0021 left_yaw=-0.4712 left_pitch=-0.0991 left_roll=0.0336 left_gripper=0.0091 right_x=0.2944 right_y=0.0027 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [0.1436, -8.1436, 6.2154, 1.37, 0.0269, 0.0317, 0.6813, -0.3214, -1.2376, 7.2137, 1.7363, -0.022, -0.0611, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). 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_z":0.065,"left_gripper":1},"note":"The closed width is near zero, so that grasp was empty. I’m reopening and lifting slightly to locate the cap for one corrected attempt."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe cap is visible just below the left fingertip region, indicating the first approach went slightly past it. I’m shifting back two centimeters and returning to table level.

move_to

left_x0.4050left_y-0.2240left_z-0.0050left_yaw-0.4800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5117, 1.869, 0.9112, 0.2218, -0.0525, -0.0025, 0.9948, -0.0193, 0.8005, 0.6132, -0.3969, -0.0261, -0.0147, 0.9994] state[eef_state]: left_x=0.4164 left_y=-0.2191 left_z=0.0331 left_yaw=-0.4685 left_pitch=-0.1642 left_roll=0.0332 left_gripper=0.9948 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0248 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.3214, -11.9863, 9.0462, 1.7607, -0.0708, 0.0122, -0.0562, -0.0615, -1.265, 7.0632, 1.7705, -0.0464, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":0.405,"left_y":-0.224,"left_z":-0.005,"left_yaw":-0.48},"note":"The cap is visible just below the left fingertip region, indicating the first approach went slightly past it. I’m shifting back two centimeters and returning to table level."})

tool

executing move_to over 3 steps (0.3s)

step 53

assistant

agent noteThe cap is now alongside the grasping surfaces, slightly left of center. I’m making a small lateral correction while closing the jaws for the second attempt.

move_to

left_x0.4080left_y-0.2180left_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]: [-0.5308, 1.9381, 0.8528, 0.3344, -0.0517, -0.0181, 0.996, -0.0193, 0.8036, 0.6132, -0.3977, -0.0261, -0.0147, 0.9994] state[eef_state]: left_x=0.4053 left_y=-0.2232 left_z=0.0017 left_yaw=-0.4796 left_pitch=-0.1788 left_roll=0.0217 left_gripper=0.996 right_x=0.2942 right_y=0.0025 right_z=0.1779 right_yaw=-0.0011 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.4991, -8.7316, 6.2974, 0.4371, -0.2222, 0.6667, 0.1099, -0.1983, -1.4701, 7.0359, 1.7509, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.408,"left_y":-0.218,"left_gripper":0},"note":"The cap is now alongside the grasping surfaces, slightly left of center. I’m making a small lateral correction while closing the jaws for the second attempt."})

tool

executing move_to over 10 steps (1.0s)

step 63

assistant

agent noteThe second cap grasp also closed empty, so I’m clearing the view rather than repeating it. Meanwhile, the right gripper will approach the middle of the pen.

move_to

left_x0.3200left_y-0.1200left_z0.1700left_gripper1.0000right_x0.3950right_y0.2350right_z0.1200right_yaw0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5159, 1.9511, 0.8421, 0.3847, -0.0509, -0.017, 0.009, -0.0193, 0.8051, 0.6132, -0.411, -0.0261, -0.0147, 0.9994] state[eef_state]: left_x=0.4112 left_y=-0.2188 left_z=0.0014 left_yaw=-0.4662 left_pitch=-0.1522 left_roll=0.0206 left_gripper=0.009 right_x=0.2924 right_y=0.0026 right_z=0.1748 right_yaw=-0.0011 right_pitch=-0.0435 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [0.3214, -10.3043, 5.8325, 1.1551, 0.1099, 0.0708, 0.6667, -0.3624, -1.2923, 7.2547, 1.8144, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.17,"left_gripper":1,"right_x":0.395,"right_y":0.235,"right_z":0.12,"right_yaw":0.45},"note":"The second cap grasp also closed empty, so I’m clearing the view rather than repeating it. Meanwhile, the right gripper will approach the middle of the pen."})

tool

executing move_to over 20 steps (2.0s)

step 83

assistant

agent noteWith the view clear, the cap is farther toward the bases than my earlier grasp locations. I’m repositioning above it and lowering the right jaws across the pen’s barrel.

move_to

left_x0.3600left_y-0.2200left_z0.0650left_yaw-0.4800right_x0.3800right_y0.2550right_z0.0150right_yaw0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3271, 1.1511, 0.7742, -0.3679, 0.0692, 0.0902, 0.9976, 0.5507, 1.6009, 0.8623, 0.0631, 0.0822, 0.0582, 0.9994] state[eef_state]: left_x=0.3225 left_y=-0.1185 left_z=0.1519 left_yaw=-0.4386 left_pitch=-0.1717 left_roll=0.0191 left_gripper=0.9976 right_x=0.3821 right_y=0.2218 right_z=0.1016 right_yaw=0.4376 right_pitch=-0.1134 right_roll=-0.0089 right_gripper=0.9994 state[joint_eff]: [0.2803, -4.6154, 10.1402, 1.6972, 0.1587, 0.188, 0.0122, 0.4308, -7.4051, 8.6906, 2.0537, 0.0611, 0.0317, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.22,"left_z":0.065,"left_yaw":-0.48,"right_x":0.38,"right_y":0.255,"right_z":0.015,"right_yaw":0.45},"note":"With the view clear, the cap is farther toward the bases than my earlier grasp locations. I’m repositioning above it and lowering the right jaws across the pen’s barrel."})

tool

executing move_to over 10 steps (1.0s)

step 93

assistant

agent noteThe cap is clearly visible ahead of the left fingertips, and the pen is centered in the right jaw opening. I’m placing both grasp points at table height, advancing the left arm to the cap’s midpoint.

move_to

left_x0.3840left_y-0.2100left_z0.0000right_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]: [-0.5888, 1.6062, 0.7403, 0.0189, -0.083, -0.0559, 0.998, 0.6292, 1.8755, 0.7872, 0.3695, 0.1242, 0.0887, 0.9994] state[eef_state]: left_x=0.3401 left_y=-0.2052 left_z=0.0438 left_yaw=-0.4879 left_pitch=-0.2724 left_roll=0.025 left_gripper=0.998 right_x=0.3752 right_y=0.2505 right_z=0.0132 right_yaw=0.4633 right_pitch=-0.1528 right_roll=-0.0182 right_gripper=0.9994 state[joint_eff]: [-0.3761, -7.4188, 8.9504, 1.8388, -0.1978, -0.0269, 0.0269, 0.4855, -7.8427, 5.0803, 1.8046, 0.105, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.384,"left_y":-0.21,"left_z":0,"right_z":-0.005},"note":"The cap is clearly visible ahead of the left fingertips, and the pen is centered in the right jaw opening. I’m placing both grasp points at table height, advancing the left arm to the cap’s midpoint."})

tool

executing move_to over 4 steps (0.4s)

step 97

assistant

agent noteBoth objects now lie within the fingertip regions. I’m nudging the left gripper slightly toward the cap and closing both grippers to pick up the two pieces.

move_to

left_x0.3830left_y-0.2020left_gripper0.0000right_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]: [-0.5293, 1.832, 0.8036, 0.1604, -0.0597, -0.0414, 0.998, 0.6304, 1.9171, 0.7773, 0.4271, 0.1276, 0.0898, 0.9994] state[eef_state]: left_x=0.3743 left_y=-0.2026 left_z=0.0003 left_yaw=-0.4564 left_pitch=-0.295 left_roll=0.0185 left_gripper=0.998 right_x=0.3764 right_y=0.2513 right_z=0.0025 right_yaw=0.4611 right_pitch=-0.1464 right_roll=-0.0185 right_gripper=0.9994 state[joint_eff]: [0.1026, -7.2821, 6.5709, 0.9304, 0.1001, 0.2857, -0.0122, -0.2803, -6.7624, 4.3966, 1.6874, -0.0269, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.383,"left_y":-0.202,"left_gripper":0,"right_gripper":0},"note":"Both objects now lie within the fingertip regions. I’m nudging the left gripper slightly toward the cap and closing both grippers to pick up the two pieces."})

tool

executing move_to over 10 steps (1.0s)

step 107

assistant

agent noteBoth grippers stopped slightly wider than an empty close. I’m lifting each piece five centimeters to verify that the pen and cap come off the table.

move_to

left_z0.0750right_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]: [-0.524, 1.8542, 0.82, 0.2062, -0.0486, -0.0208, 0.0446, 0.63, 1.9221, 0.775, 0.4484, 0.123, 0.0826, 0.0437] state[eef_state]: left_x=0.3848 left_y=-0.2083 left_z=0.0041 left_yaw=-0.473 left_pitch=-0.2558 left_roll=0.0215 left_gripper=0.0446 right_x=0.3777 right_y=0.253 right_z=0.0035 right_yaw=0.4688 right_pitch=-0.133 right_roll=-0.0188 right_gripper=0.0437 state[joint_eff]: [-0.1709, -7.5009, 6.5983, 1.2869, 0.0366, 0.2222, 1.409, -0.1299, -7.4051, 4.5607, 1.707, 0.0415, 0.0659, 1.1258] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.075,"right_z":0.075},"note":"Both grippers stopped slightly wider than an empty close. I’m lifting each piece five centimeters to verify that the pen and cap come off the table."})

tool

executing move_to over 5 steps (0.5s)

step 112

assistant

agent noteBoth pieces moved with the grippers; the pen tip and the cap’s tapered end remain fixed in their wrist views. I’m raising them and turning their long axes parallel, with the cap ahead of the pen for insertion.

move_to

left_x0.4450left_y-0.2800left_z0.1800left_yaw0.0000left_pitch-0.2500right_x0.3200right_y0.3250right_z0.1800right_yaw0.0000right_pitch-0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.524, 1.713, 0.9051, -0.0418, -0.0513, -0.0261, 0.0468, 0.63, 1.7508, 0.8463, 0.2028, 0.1192, 0.0784, 0.0464] state[eef_state]: left_x=0.3811 left_y=-0.2056 left_z=0.0527 left_yaw=-0.4673 left_pitch=-0.2774 left_roll=0.0211 left_gripper=0.0468 right_x=0.3767 right_y=0.2531 right_z=0.0579 right_yaw=0.4742 right_pitch=-0.1364 right_roll=-0.0201 right_gripper=0.0464 state[joint_eff]: [-0.212, -9.8393, 8.7863, 1.453, -0.0562, 0.0269, 1.0379, -0.0479, -9.8393, 7.9658, 1.5458, 0.0513, -0.0073, 1.0281] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.445,"left_y":-0.28,"left_z":0.18,"left_yaw":0,"left_pitch":-0.25,"right_x":0.32,"right_y":0.325,"right_z":0.18,"right_yaw":0,"right_pitch":-0.13},"note":"Both pieces moved with the grippers; the pen tip and the cap’s tapered end remain fixed in their wrist views. I’m raising them and turning their long axes parallel, with the cap ahead of the pen for insertion."})

tool

executing move_to over 9 steps (0.9s)

step 121

assistant

agent noteThe arms did not reach the requested inward positions, and their bodies are getting too close. I’m separating them and switching to a side-to-side alignment so the pen and cap can meet without crossing the arms.

move_to

left_x0.3600left_y-0.2100left_z0.2000left_yaw0.8000right_x0.3400right_y0.2100right_z0.1500right_yaw0.8000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6304, 1.985, 1.7863, -0.786, -0.461, -0.4961, 0.049, 0.9234, 1.7805, 1.3983, -0.6914, 0.7227, 0.7673, 0.0507] state[eef_state]: left_x=0.456 left_y=-0.231 left_z=0.1741 left_yaw=0.0456 left_pitch=-0.273 left_roll=0.0642 left_gripper=0.049 right_x=0.3444 right_y=0.2677 right_z=0.1566 right_yaw=-0.1011 right_pitch=-0.1622 right_roll=-0.0922 right_gripper=0.0507 state[joint_eff]: [-7.4735, -8.1573, 7.706, 1.58, 0.569, 0.1245, 1.033, 8.4444, -6.7214, 12.0821, 2.9182, -0.1197, -0.6862, 1.0281] 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":{"left_x":0.36,"left_y":-0.21,"left_z":0.2,"left_yaw":0.8,"right_x":0.34,"right_y":0.21,"right_z":0.15,"right_yaw":0.8},"note":"The arms did not reach the requested inward positions, and their bodies are getting too close. I’m separating them and switching to a side-to-side alignment so the pen and cap can meet without crossing the arms."})

tool

executing move_to over 8 steps (0.8s)

step 129

assistant

agent noteThe arms are separated again and both pieces remain held. I’m finishing the sideways rotation, placing the pen tip toward the cap opening at a common working height.

move_to

left_x0.3600left_y-0.2100left_z0.1800left_yaw1.5700left_pitch-0.2500right_x0.3600right_y0.2350right_z0.1800right_yaw1.5700right_pitch-0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7994, 2.1277, 2.0789, -1.47, -0.7021, -1.4124, 0.0524, 0.4759, 1.4166, 0.9253, -0.2958, -0.0566, -0.1593, 0.0521] state[eef_state]: left_x=0.3755 left_y=-0.2174 left_z=0.1796 left_yaw=0.6631 left_pitch=-0.2972 left_roll=0.0517 left_gripper=0.0524 right_x=0.3474 right_y=0.1943 right_z=0.1357 right_yaw=0.5998 right_pitch=-0.2275 right_roll=-0.0787 right_gripper=0.0521 state[joint_eff]: [-0.0889, -12.6974, 5.4085, 0.4957, -0.5348, -0.0366, 1.033, -0.1709, -7.8701, 6.5299, 1.7802, -0.2369, -0.1148, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.21,"left_z":0.18,"left_yaw":1.57,"left_pitch":-0.25,"right_x":0.36,"right_y":0.235,"right_z":0.18,"right_yaw":1.57,"right_pitch":-0.13},"note":"The arms are separated again and both pieces remain held. I’m finishing the sideways rotation, placing the pen tip toward the cap opening at a common working height."})

tool

executing move_to over 7 steps (0.7s)

step 136

assistant

agent noteThe left wrist has reached a rotation limit, so a fully sideways alignment is unavailable. I’m using a shallower diagonal that both wrists can reach, keeping the cap in front of the pen tip.

move_to

left_x0.4150left_y-0.2300left_z0.1800left_yaw0.7500right_x0.2850right_y0.2950right_z0.1900right_yaw0.7500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7891, 2.1227, 2.0438, -1.5528, -0.7044, -1.5719, 0.0538, 0.2672, 1.8187, 1.4918, -0.791, -0.6899, -1.0153, 0.0521] state[eef_state]: left_x=0.3618 left_y=-0.197 left_z=0.1732 left_yaw=0.7979 left_pitch=-0.2948 left_roll=0.0619 left_gripper=0.0538 right_x=0.3805 right_y=0.2245 right_z=0.1607 right_yaw=1.3911 right_pitch=-0.2082 right_roll=-0.0757 right_gripper=0.0521 state[joint_eff]: [-0.841, -11.8359, 6.106, 0.0269, -0.5592, -0.0513, 1.0281, -0.7316, -10.5368, 8.0205, 0.8132, -0.8034, -0.0855, 1.033] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.23,"left_z":0.18,"left_yaw":0.75,"right_x":0.285,"right_y":0.295,"right_z":0.19,"right_yaw":0.75},"note":"The left wrist has reached a rotation limit, so a fully sideways alignment is unavailable. I’m using a shallower diagonal that both wrists can reach, keeping the cap in front of the pen tip."})

tool

executing move_to over 8 steps (0.8s)

step 144

assistant

agent noteThe two long axes are nearly parallel, but the cap remains offset from the pen tip. I’m bringing the cap inward slightly and compensating for the right arm’s lower actual height.

move_to

left_x0.3950left_y-0.2450left_z0.1800left_yaw0.7500left_pitch-0.2000right_x0.2900right_y0.3000right_z0.2050right_yaw0.7500right_pitch-0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7315, 2.2742, 2.3188, -1.6722, -0.6922, -1.4822, 0.0573, 0.7414, 1.4723, 1.1126, -0.5243, 0.0307, -0.0601, 0.0535] state[eef_state]: left_x=0.3909 left_y=-0.1946 left_z=0.1787 left_yaw=0.8043 left_pitch=-0.3116 left_roll=0.1178 left_gripper=0.0573 right_x=0.2969 right_y=0.2694 right_z=0.154 right_yaw=0.7351 right_pitch=-0.3252 right_roll=-0.0708 right_gripper=0.0535 state[joint_eff]: [-1.6342, -9.1556, 6.5709, 0.3687, -0.5201, 0.2125, 0.8913, 2.0718, -9.6889, 8.6222, 1.5263, 0.0757, 0.1001, 0.9841] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.245,"left_z":0.18,"left_yaw":0.75,"left_pitch":-0.2,"right_x":0.29,"right_y":0.30,"right_z":0.205,"right_yaw":0.75,"right_pitch":-0.03},"note":"The two long axes are nearly parallel, but the cap remains offset from the pen tip. I’m bringing the cap inward slightly and compensating for the right arm’s lower actual height."})

tool

executing move_to over 10 steps (1.0s)

step 154

assistant

agent noteThe diagonal poses are not tracking reliably enough for a precise fit. I’m separating the arms into simpler poses so I can use the tabletop to stabilize the pen during capping.

move_to

left_x0.3300left_y-0.1300left_z0.1800left_yaw0.0000left_pitch0.0000right_x0.2900right_y0.2900right_z0.1200right_yaw0.0000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7296, 2.2616, 2.1845, -1.5555, -0.701, -1.4757, 0.058, 0.765, 1.4467, 1.0729, -0.5297, 0.0257, -0.0631, 0.054] state[eef_state]: left_x=0.3946 left_y=-0.1952 left_z=0.152 left_yaw=0.8037 left_pitch=-0.3034 left_roll=0.1277 left_gripper=0.058 right_x=0.282 right_y=0.2694 right_z=0.1467 right_yaw=0.7649 right_pitch=-0.3447 right_roll=-0.0688 right_gripper=0.054 state[joint_eff]: [-1.1829, -14.7897, 4.8479, 0.0562, -0.5592, -0.0464, 0.8864, -0.7863, -6.6667, 8.0752, 1.9707, 0.105, 0.0806, 0.9744] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.33,"left_y":-0.13,"left_z":0.18,"left_yaw":0,"left_pitch":0,"right_x":0.29,"right_y":0.29,"right_z":0.12,"right_yaw":0,"right_pitch":0},"note":"The diagonal poses are not tracking reliably enough for a precise fit. I’m separating the arms into simpler poses so I can use the tabletop to stabilize the pen during capping."})

tool

executing move_to over 12 steps (1.2s)

step 166

assistant

agent noteThe pen is held securely in the simpler pose. I’m lowering its barrel gently onto the table while keeping the cap clear.

move_to

right_z0.0020right_pitch0.0200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.693, 1.2526, 0.8509, -0.4465, -0.6685, -0.4587, 0.059, 1.1015, 1.692, 1.0153, -0.3222, 0.7715, 0.6746, 0.0571] state[eef_state]: left_x=0.3218 left_y=-0.1202 left_z=0.1658 left_yaw=0.0948 left_pitch=-0.0638 left_roll=0.1242 left_gripper=0.059 right_x=0.2817 right_y=0.2911 right_z=0.1021 right_yaw=0.1068 right_pitch=-0.0911 right_roll=-0.1233 right_gripper=0.0571 state[joint_eff]: [0.3214, -3.2068, 6.8581, 1.7656, -0.1734, 0.1685, 0.4908, 0.6359, -7.8701, 8.253, 1.199, 0.8083, 0.1685, 0.7106] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.002,"right_pitch":0.02},"note":"The pen is held securely in the simpler pose. I’m lowering its barrel gently onto the table while keeping the cap clear."})

tool

executing move_to over 7 steps (0.7s)

step 173

assistant

agent noteI’m shifting the pen slightly toward the table center so the left arm can reach its tip comfortably. The pen stays just above the surface during this small repositioning.

move_to

right_x0.2500right_y0.3500right_z0.0450right_yaw0.0000right_pitch0.0000left_x0.3300left_y-0.1300left_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6903, 1.2575, 0.8265, -0.4381, -0.651, -0.4477, 0.0596, 1.1187, 1.9503, 0.7925, 0.1829, 0.8417, 0.6388, 0.0575] state[eef_state]: left_x=0.3189 left_y=-0.1199 left_z=0.1546 left_yaw=0.0805 left_pitch=-0.0888 left_roll=0.1384 left_gripper=0.0596 right_x=0.2798 right_y=0.2827 right_z=0.0016 right_yaw=0.1035 right_pitch=-0.0312 right_roll=-0.1637 right_gripper=0.0575 state[joint_eff]: [-0.2667, -4.9026, 8.5675, 1.2527, -0.4811, -0.1343, 0.4615, 0.6632, -7.5419, 3.9316, 0.8913, -0.1148, 0.0366, 0.8718] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.35,"right_z":0.045,"right_yaw":0,"right_pitch":0,"left_x":0.33,"left_y":-0.13,"left_z":0.18},"note":"I’m shifting the pen slightly toward the table center so the left arm can reach its tip comfortably. The pen stays just above the surface during this small repositioning."})

tool

executing move_to over 6 steps (0.6s)

step 179

assistant

agent noteThe pen is now nearer the center, with its tip pointing forward. I’m setting it down before releasing it for the cap alignment.

move_to

right_z0.0020

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6903, 1.2991, 0.9161, -0.514, -0.6495, -0.4549, 0.0624, 1.2774, 2.0514, 1.2011, -0.3141, 0.9424, 0.9367, 0.0589] state[eef_state]: left_x=0.325 left_y=-0.1252 left_z=0.1658 left_yaw=0.0852 left_pitch=-0.109 left_roll=0.1514 left_gripper=0.0624 right_x=0.2541 right_y=0.3593 right_z=0.042 right_yaw=0.0514 right_pitch=-0.0144 right_roll=-0.1239 right_gripper=0.0589 state[joint_eff]: [-0.3897, -3.9726, 10.0034, 1.2186, -0.3834, -0.0269, 0.7448, 0.5812, -9.7299, 6.3111, 0.6813, 0.7839, 0.1783, 0.7009] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.002},"note":"The pen is now nearer the center, with its tip pointing forward. I’m setting it down before releasing it for the cap alignment."})

tool

executing move_to over 3 steps (0.3s)

step 182

assistant

agent noteThe pen tip has touched the table before the barrel. I’m easing the tilt back and opening the right gripper so the pen can settle flat.

move_to

right_pitch-0.1000right_z0.0030right_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]: [-0.6903, 1.3033, 0.9184, -0.5327, -0.6464, -0.4545, 0.0657, 1.2823, 2.1178, 1.1748, -0.2607, 0.944, 0.9596, 0.0591] state[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1627 left_yaw=0.0846 left_pitch=-0.1254 left_roll=0.1645 left_gripper=0.0657 right_x=0.2509 right_y=0.3553 right_z=0.0125 right_yaw=0.043 right_pitch=-0.0248 right_roll=-0.1423 right_gripper=0.0591 state[joint_eff]: [-0.2256, -5.1624, 6.5709, 1.4432, -0.3736, -0.0073, 0.6325, -0.4991, -9.5932, 4.4786, 0.8083, 0.5201, -0.0317, 0.696] 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_pitch":-0.1,"right_z":0.003,"right_gripper":1},"note":"The pen tip has touched the table before the barrel. I’m easing the tilt back and opening the right gripper so the pen can settle flat."})

tool

executing move_to over 10 steps (1.0s)

step 192

assistant

agent noteThe pen is resting on the table. I’m parking the right arm and bringing the held cap over the exposed pen tip, leaving room for a careful descent.

move_to

right_x0.2960right_y0.0030right_z0.1840right_yaw0.0000right_pitch0.0000left_x0.3600left_y-0.2900left_z0.0950left_yaw0.0000left_pitch-0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6903, 1.3033, 0.918, -0.5362, -0.6464, -0.4545, 0.0661, 1.2694, 2.1326, 1.1954, -0.2779, 0.9104, 0.9749, 0.9954] state[eef_state]: left_x=0.3225 left_y=-0.1237 left_z=0.1621 left_yaw=0.085 left_pitch=-0.1282 left_roll=0.1672 left_gripper=0.0661 right_x=0.2533 right_y=0.357 right_z=0.0063 right_yaw=0.0338 right_pitch=-0.0572 right_roll=-0.1303 right_gripper=0.9954 state[joint_eff]: [-0.0342, -4.8615, 6.653, 1.3016, -0.2906, -0.0415, 0.652, -0.841, -11.1932, 5.8051, 0.5348, 0.0904, -0.1148, -0.2027] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.296,"right_y":0.003,"right_z":0.184,"right_yaw":0,"right_pitch":0,"left_x":0.36,"left_y":-0.29,"left_z":0.095,"left_yaw":0,"left_pitch":-0.2},"note":"The pen is resting on the table. I’m parking the right arm and bringing the held cap over the exposed pen tip, leaving room for a careful descent."})

tool

executing move_to over 30 steps (3.0s)

step 222

assistant

agent noteThe cap is above the pen’s forward end. I’m lowering it partway while bringing the right gripper toward the pen’s rear, where it can stabilize the barrel without crowding the cap.

move_to

left_z0.0300right_x0.1900right_y0.3550right_z0.1000right_pitch-0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9241, 1.9232, 1.3277, -0.5423, -0.6727, -0.6582, 0.0665, 0.0971, 0.8101, 0.5663, -0.3691, 0.1852, -0.028, 0.9963] state[eef_state]: left_x=0.3528 left_y=-0.2786 left_z=0.0831 left_yaw=0.008 left_pitch=-0.2334 left_roll=0.1965 left_gripper=0.0665 right_x=0.2912 right_y=-0.0007 right_z=0.1623 right_yaw=-0.0567 right_pitch=-0.0455 right_roll=-0.1315 right_gripper=0.9963 state[joint_eff]: [-0.7043, -9.7846, 9.2376, 1.1502, -0.4127, -0.0366, 0.6764, -0.2393, -2.1812, 10.1538, 1.6923, 0.0611, -0.0952, 0.0806] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.03,"right_x":0.19,"right_y":0.355,"right_z":0.1,"right_pitch":-0.1},"note":"The cap is above the pen’s forward end. I’m lowering it partway while bringing the right gripper toward the pen’s rear, where it can stabilize the barrel without crowding the cap."})

tool

executing move_to over 30 steps (3.0s)

step 252

assistant

agent noteThe arm bodies contacted before the right gripper could reach the pen’s rear; the position errors and joint loads confirm it. I’m withdrawing the right arm and lifting the cap clear, and will continue with only the left arm near the pen.

move_to

right_x0.2960right_y0.0030right_z0.1840right_pitch0.0000right_yaw0.0000left_x0.3400left_y-0.2000left_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8131, 2.0018, 1.1488, -0.4835, -0.6743, -0.6571, 0.0689, 1.2396, 1.9514, 1.3453, -1.3396, 0.8089, 1.6356, 0.9957] state[eef_state]: left_x=0.3472 left_y=-0.2013 left_z=0.0045 left_yaw=0.1678 left_pitch=-0.3472 left_roll=0.3675 left_gripper=0.0689 right_x=0.2095 right_y=0.2272 right_z=0.0884 right_yaw=-0.4503 right_pitch=-0.1725 right_roll=-0.3366 right_gripper=0.9957 state[joint_eff]: [-9.0325, -8.9094, 11.2342, 2.0488, -0.2662, -0.0659, 0.7399, 14.6803, -4.5197, 14.5709, 3.5873, 1.6923, -2.9133, -0.0806] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.296,"right_y":0.003,"right_z":0.184,"right_pitch":0,"right_yaw":0,"left_x":0.34,"left_y":-0.2,"left_z":0.13},"note":"The arm bodies contacted before the right gripper could reach the pen’s rear; the position errors and joint loads confirm it. I’m withdrawing the right arm and lifting the cap clear, and will continue with only the left arm near the pen."})

tool

executing move_to over 19 steps (1.9s)

step 271

assistant

agent noteThe pen tip is visible to the right of the held cap in the left wrist view. I’m shifting the cap over that tip and resetting the small orientation errors caused by the contact.

move_to

left_x0.3500left_y-0.2950left_z0.0550left_yaw0.0000left_pitch-0.2500left_roll0.0000right_x0.2960right_y0.0030right_z0.1840right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.82, 1.8397, 1.3842, -0.9363, -0.672, -0.68, 0.0703, 0.2283, 0.8249, 0.5976, -0.4137, 0.4343, -0.0811, 0.9963] state[eef_state]: left_x=0.3378 left_y=-0.1956 left_z=0.1078 left_yaw=0.1898 left_pitch=-0.3745 left_roll=0.4009 left_gripper=0.0703 right_x=0.2866 right_y=-0.006 right_z=0.1716 right_yaw=-0.1065 right_pitch=-0.0432 right_roll=-0.3237 right_gripper=0.9963 state[joint_eff]: [-0.7453, -11.412, 8.6632, 0.5397, -0.4811, 0.0562, 0.6325, -0.0752, -1.9897, 7.0085, 1.9463, 0.149, -0.0952, 0.0464] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.295,"left_z":0.055,"left_yaw":0,"left_pitch":-0.25,"left_roll":0,"right_x":0.296,"right_y":0.003,"right_z":0.184,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The pen tip is visible to the right of the held cap in the left wrist view. I’m shifting the cap over that tip and resetting the small orientation errors caused by the contact."})

tool

executing move_to over 9 steps (0.9s)

step 280

assistant

agent noteThe pen tip is now visible just left of the cap’s centerline, likely shifted during the earlier contact. I’m correcting that lateral offset and lowering the cap toward the tip’s height.

move_to

left_x0.3500left_y-0.2500left_z0.0150left_yaw0.0000left_pitch-0.2100left_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]: [-0.9134, 1.927, 1.2358, -0.4564, -0.5861, -0.7624, 0.0704, -0.0029, 0.8032, 0.5968, -0.4107, 0.036, -0.0425, 0.9963] state[eef_state]: left_x=0.3418 left_y=-0.2771 left_z=0.0515 left_yaw=0.03 left_pitch=-0.2947 left_roll=0.0839 left_gripper=0.0704 right_x=0.29 right_y=-0.0036 right_z=0.168 right_yaw=-0.0226 right_pitch=-0.0577 right_roll=-0.0579 right_gripper=0.9963 state[joint_eff]: [-0.4991, -9.1419, 6.1333, 1.3309, -0.2515, -0.0904, 0.315, -0.6632, -2.0444, 8.1709, 2.0293, -0.149, 0.2027, -0.0073] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.25,"left_z":0.015,"left_yaw":0,"left_pitch":-0.21,"left_roll":0},"note":"The pen tip is now visible just left of the cap’s centerline, likely shifted during the earlier contact. I’m correcting that lateral offset and lowering the cap toward the tip’s height."})

tool

executing move_to over 3 steps (0.3s)

step 283

assistant

agent noteThe cap and pen tip are aligned in the wrist view and the cap is at table height. I’m sliding the cap gently back along the pen axis for a short insertion.

move_to

left_x0.3320left_y-0.2500left_z0.0140left_yaw0.0000left_pitch-0.2100left_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]: [-0.8677, 1.9087, 0.9897, -0.1768, -0.5663, -0.7193, 0.0724, -0.0063, 0.8051, 0.5964, -0.4114, 0.0113, -0.0376, 0.9963] state[eef_state]: left_x=0.3363 left_y=-0.2446 left_z=0.0079 left_yaw=0.0276 left_pitch=-0.2792 left_roll=0.059 left_gripper=0.0724 right_x=0.2901 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0077 right_pitch=-0.0608 right_roll=-0.0395 right_gripper=0.9963 state[joint_eff]: [0.253, -9.5521, 7.2274, 1.746, -0.2711, 0.1197, 0.652, -0.1026, -1.1829, 7.0632, 1.6923, 0.1441, -0.105, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.332,"left_y":-0.25,"left_z":0.014,"left_yaw":0,"left_pitch":-0.21,"left_roll":0},"note":"The cap and pen tip are aligned in the wrist view and the cap is at table height. I’m sliding the cap gently back along the pen axis for a short insertion."})

tool

executing move_to over 3 steps (0.3s)

step 286

assistant

agent noteThe first short slide did not produce the expected backward motion. With no increase in contact load, I’m trying a slightly farther-back target while keeping the cap level and close to the table.

move_to

left_x0.3130left_y-0.2500left_z0.0140left_yaw0.0000left_pitch-0.2100left_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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5682, -0.6975, 0.0719, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963] state[eef_state]: left_x=0.3475 left_y=-0.2445 left_z=0.0102 left_yaw=0.0209 left_pitch=-0.2277 left_roll=0.0117 left_gripper=0.0719 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963 state[joint_eff]: [-0.294, -9.2239, 5.3402, 1.4139, -0.3004, 0.1343, 0.2808, -0.2256, -1.4291, 7.159, 1.6972, -0.1001, -0.0317, -0.0122] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.313,"left_y":-0.25,"left_z":0.014,"left_yaw":0,"left_pitch":-0.21,"left_roll":0},"note":"The first short slide did not produce the expected backward motion. With no increase in contact load, I’m trying a slightly farther-back target while keeping the cap level and close to the table."})

tool

executing move_to over 3 steps (0.3s)

step 289

assistant

agent noteThe low horizontal motion has stalled, so I won’t keep pushing. I’m lifting gently to check whether the cap has engaged the pen and to clear the constrained pose.

move_to

left_x0.3200left_y-0.2500left_z0.0800left_yaw0.0000left_pitch-0.2100left_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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6975, 0.0739, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963] state[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0206 left_pitch=-0.2279 left_roll=0.0115 left_gripper=0.0739 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963 state[joint_eff]: [-0.5949, -9.4564, 5.3812, 1.4237, -0.2955, 0.1294, 0.6569, -0.1026, -1.2376, 7.2137, 1.6581, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.25,"left_z":0.08,"left_yaw":0,"left_pitch":-0.21,"left_roll":0},"note":"The low horizontal motion has stalled, so I won’t keep pushing. I’m lifting gently to check whether the cap has engaged the pen and to clear the constrained pose."})

tool

executing move_to over 5 steps (0.5s)

step 294

assistant

agent noteThe arm also failed to lift from the low pose, indicating a controller or kinematic constraint rather than a successful insertion. I’m moving upward and outward to a previously reachable region to recover safely and inspect the pieces.

move_to

left_x0.3400left_y-0.1800left_z0.1700left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6971, 0.0759, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963] state[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0204 left_pitch=-0.2279 left_roll=0.0118 left_gripper=0.0759 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963 state[joint_eff]: [-0.4171, -9.4154, 5.6, 1.4188, -0.2564, 0.1685, 0.486, -0.1026, -1.306, 6.9949, 1.6581, -0.0659, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.18,"left_z":0.17,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The arm also failed to lift from the low pose, indicating a controller or kinematic constraint rather than a successful insertion. I’m moving upward and outward to a previously reachable region to recover safely and inspect the pieces."})

tool

executing move_to over 11 steps (1.1s)

step 305

assistant

agent noteThe pen remains on the table, so the cap did not engage. From the cleared view, its tip is farther back than the previous cap position; I’m making one corrected approach at that tip.

move_to

left_x0.3180left_y-0.2520left_z0.0450left_yaw0.0000left_pitch-0.1000left_roll0.0000right_x0.2960right_y0.0030right_z0.1840right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7757, 1.396, 0.8738, -0.2359, -0.614, -0.5285, 0.0791, -0.0051, 0.8101, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963] state[eef_state]: left_x=0.3395 left_y=-0.1854 left_z=0.1544 left_yaw=0.0077 left_pitch=-0.0258 left_roll=-0.0243 left_gripper=0.0791 right_x=0.2902 right_y=-0.001 right_z=0.1655 right_yaw=-0.012 right_pitch=-0.0665 right_roll=-0.0433 right_gripper=0.9963 state[joint_eff]: [0.4308, -6.6803, 8.0479, 1.5263, -0.3785, 0.2613, 0.3199, -0.0479, -1.5932, 7.159, 1.7021, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.318,"left_y":-0.252,"left_z":0.045,"left_yaw":0,"left_pitch":-0.1,"left_roll":0,"right_x":0.296,"right_y":0.003,"right_z":0.184,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The pen remains on the table, so the cap did not engage. From the cleared view, its tip is farther back than the previous cap position; I’m making one corrected approach at that tip."})

tool

executing move_to over 8 steps (0.8s)

step 313

assistant

agent noteThe cap is now over the pen’s end rather than in front of it. I’m lowering it to the pen’s height with a small tilt correction before the final short seating motion.

move_to

left_x0.3150left_y-0.2520left_z0.0080left_yaw0.0000left_pitch-0.1600left_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]: [-0.9558, 1.7557, 0.8349, -0.0628, -0.6773, -0.6994, 0.0812, -0.0128, 0.8085, 0.5961, -0.4099, -0.0135, -0.033, 0.9963] state[eef_state]: left_x=0.3124 left_y=-0.2442 left_z=0.0399 left_yaw=-0.0216 left_pitch=-0.1356 left_roll=0.0424 left_gripper=0.0812 right_x=0.2905 right_y=0.0023 right_z=0.1663 right_yaw=0.0045 right_pitch=-0.063 right_roll=-0.0213 right_gripper=0.9963 state[joint_eff]: [-0.2393, -8.1299, 7.2274, 1.2869, -0.5348, -0.0806, 0.2076, -0.5675, -2.3863, 8.2667, 2.0293, -0.1392, 0.1587, -0.0122] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.315,"left_y":-0.252,"left_z":0.008,"left_yaw":0,"left_pitch":-0.16,"left_roll":0},"note":"The cap is now over the pen’s end rather than in front of it. I’m lowering it to the pen’s height with a small tilt correction before the final short seating motion."})

tool

executing move_to over 3 steps (0.3s)

step 316

assistant

agent noteThe exposed pen tip is now clearly visible just left of the cap. I’m shifting the cap about two centimeters left and slightly forward so its opening, rather than its side, meets the tip.

move_to

left_x0.3390left_y-0.2310left_z0.0100left_yaw0.0000left_pitch-0.1600left_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]: [-0.9558, 1.8469, 0.8349, 0.0021, -0.6643, -0.741, 0.0835, -0.0128, 0.8101, 0.5961, -0.4114, -0.0204, -0.0338, 0.9963] state[eef_state]: left_x=0.3134 left_y=-0.2487 left_z=0.0131 left_yaw=-0.0037 left_pitch=-0.159 left_roll=0.0258 left_gripper=0.0835 right_x=0.2903 right_y=0.0035 right_z=0.1656 right_yaw=0.0107 right_pitch=-0.0659 right_roll=-0.0179 right_gripper=0.9963 state[joint_eff]: [0.335, -8.3761, 5.2444, 1.3797, -0.315, -0.1538, 0.232, -0.1709, -0.9231, 7.0085, 1.6728, 0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.339,"left_y":-0.231,"left_z":0.01,"left_yaw":0,"left_pitch":-0.16,"left_roll":0},"note":"The exposed pen tip is now clearly visible just left of the cap. I’m shifting the cap about two centimeters left and slightly forward so its opening, rather than its side, meets the tip."})

tool

executing move_to over 2 steps (0.2s)

step 318

assistant

agent noteThe low correction again failed to track. I’m lifting and removing the tilt constraint so I can make the lateral alignment above the pen without pressing against it.

move_to

left_x0.3390left_y-0.2270left_z0.0600left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7582, 0.085, -0.0128, 0.8108, 0.5961, -0.4114, -0.0208, -0.0338, 0.9963] state[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=-0.0 left_pitch=-0.1687 left_roll=0.0124 left_gripper=0.085 right_x=0.2904 right_y=0.0035 right_z=0.1654 right_yaw=0.011 right_pitch=-0.0667 right_roll=-0.0176 right_gripper=0.9963 state[joint_eff]: [0.0342, -8.5812, 4.9436, 1.2674, -0.3736, 0.0024, 0.1343, -0.1573, -1.2376, 7.2274, 1.6777, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.339,"left_y":-0.227,"left_z":0.06,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The low correction again failed to track. I’m lifting and removing the tilt constraint so I can make the lateral alignment above the pen without pressing against it."})

tool

executing move_to over 6 steps (0.6s)

step 324

assistant

agent noteThe cap is still beside the pen, not seated, and the arm is not responding to the fine positioning targets. I’m releasing the cap onto the table rather than forcing the fit.

move_to

left_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]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7586, 0.0864, -0.0128, 0.8108, 0.5961, -0.4114, -0.0212, -0.0338, 0.9963] state[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=0.0002 left_pitch=-0.1687 left_roll=0.0121 left_gripper=0.0864 right_x=0.2904 right_y=0.0036 right_z=0.1654 right_yaw=0.0114 right_pitch=-0.0667 right_roll=-0.0174 right_gripper=0.9963 state[joint_eff]: [-0.0342, -8.3624, 5.135, 1.2674, -0.3639, 0.0073, 0.1343, -0.3214, -1.265, 7.0496, 1.663, -0.0366, -0.0513, -0.0171] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The cap is still beside the pen, not seated, and the arm is not responding to the fine positioning targets. I’m releasing the cap onto the table rather than forcing the fit."})

tool

executing move_to over 10 steps (1.0s)

step 334

assistant

agent noteBoth pieces have been released on the table, still separate. I’m returning the arms to their parked positions to leave the workspace clear.

move_to

left_x0.2960left_y0.0010left_z0.1900left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0030right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9562, 1.8694, 0.8345, 0.0151, -0.6502, -0.7616, 0.9954, -0.0128, 0.8108, 0.5961, -0.4114, -0.0208, -0.0338, 0.9963] state[eef_state]: left_x=0.3121 left_y=-0.2505 left_z=0.0049 left_yaw=-0.0001 left_pitch=-0.1742 left_roll=0.0115 left_gripper=0.9954 right_x=0.2904 right_y=0.0035 right_z=0.1654 right_yaw=0.011 right_pitch=-0.0667 right_roll=-0.0176 right_gripper=0.9963 state[joint_eff]: [-0.2256, -8.335, 5.094, 1.1941, -0.3199, 0.0171, -0.0659, -0.1573, -1.3197, 6.9949, 1.6874, -0.0611, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.296,"left_y":0.001,"left_z":0.19,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0.003,"right_z":0.19,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both pieces have been released on the table, still separate. I’m returning the arms to their parked positions to leave the workspace clear."})

tool

executing move_to over 23 steps (2.3s)

step 357

assistant

agent noteI picked up both the pen and cap, but could not reliably align and seat the cap. Close two-arm positioning caused arm-body contact, and several fine positioning targets stalled. Both pieces are now separate on the table, and both arms are parked.

give_up

hindsightGrasp-point separation alone does not prevent collisions: these arms contacted with their grasp points roughly 17–20 cm apart when one was ahead of the other near the center. The left wrist could not achieve a +1.57 rad yaw in the attempted inward pose; it stopped near +0.8 rad. Several low poses with negative pitch stalled completely despite modest Cartesian targets, while a substantial upward/outward move with neutral orientation recovered motion. Explicitly reset pitch and roll after contact rather than leaving the resulting orientation errors unchanged.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0483, 0.8188, 0.6025, -0.395, -0.0948, -0.0753, 0.996, -0.0135, 0.8085, 0.6003, -0.4118, -0.0246, -0.033, 0.9963] state[eef_state]: left_x=0.294 left_y=0.0061 left_z=0.1698 left_yaw=0.0694 left_pitch=-0.037 left_roll=-0.0078 left_gripper=0.996 right_x=0.2908 right_y=0.004 right_z=0.1678 right_yaw=0.0131 right_pitch=-0.0605 right_roll=-0.0149 right_gripper=0.9963 state[joint_eff]: [0.0889, -2.1949, 10.3043, 1.6142, 0.0024, 0.1538, 0.0513, -0.3761, -2.3453, 10.2222, 1.8388, -0.0269, 0.1636, -0.0171] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both the pen and cap, but could not reliably align and seat the cap. Close two-arm positioning caused arm-body contact, and several fine positioning targets stalled. Both pieces are now separate on the table, and both arms are parked.","hindsight":"Grasp-point separation alone does not prevent collisions: these arms contacted with their grasp points roughly 17–20 cm apart when one was ahead of the other near the center. The left wrist could not achieve a +1.57 rad yaw in the attempted inward pose; it stopped near +0.8 rad. Several low poses with negative pitch stalled completely despite modest Cartesian targets, while a substantial upward/outward move with neutral orientation recovered motion. Explicitly reset pitch and roll after contact rather than leaving the resulting orientation errors unchanged."})

tool

give_up: I picked up both the pen and cap, but could not reliably align and seat the cap. Close two-arm positioning caused arm-body contact, and several fine positioning targets stalled. Both pieces are now separate on the table, and both arms are parked.

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 · 8.617 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]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.02, -0.0128, 0.9993, -0.0185, 0.7918, 0.6094, -0.3771, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1793 left_yaw=0.0005 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9993 right_x=0.2956 right_y=0.0028 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4974, 10.5504, 1.8046, -0.0171, -0.0317, -0.0806, -0.759, -1.306, 9.8667, 1.7802, 0.0464, -0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7f3009497cfbecd3dc975c3443683681328c4914ad5bccd5576b03f4ee4de1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb156f057ad5dec5161feb111f71256b0d075e793779fb05f4b36eaf94ecd657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96b85654219157656cad41fd8e076ff15886e7e7ad1c32cef69bc6f92d16368",
      "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 · 5.155 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtGG_2_KK4R9GjzT750ugDCN7oeg8i4hQFOYYfocncOW3jjFGgOJnud_G60rKROZ9vTk_SSbzg9AU1WmB6ePALu5F39_OcrGMErBr1z1Atvsi8X-rx_17glWTsysz153aFqu2AU9rOHiNmiZAXMseDoJWcp9Ap5DJnuFM9M5TVOckC6cZ0PnzOoy283PAk0Lvl7YjZ7w9pTWn8AFO-p-A8FoMcb5r8qMTBA-pLHPQwRxBAhDoyECo7Yj-ygyBEREna2cr6Q5Vf8KAcohuq_fOglymW6jyBrd5k_uzZaob1J4o_p0OZccgn_zSsTOinuifC3PyLwyNAIH6vts7LVOyXVotDuMhp_Q1WqlBvpvpyaUlgCFy4j-Pxy4uQalw3QklznCcsHRA5IE9GcOvPcmbhsql-pN8RZ8ikTEzXRS8YIiLRkEfk9ka6LtPXcvbSl8l-CE2eH2BlZnCnOf4d3OzN6waJ-r4fcQ8nBRirD8zCFnITJqdbMGW3tFPbve3sWv8kqE8LFsZAXgOds3Uw944d6EfHzZgG9XQx521ROJVI6ZFhbuhAEJzLoubgEzrNj9UZsmFBuMNvhH5mzkxojDYJarrqEBq9gRAaQ7BoX2HSbzoT2lzHwU3hcIDKY7HvI3vc3gMcIj-dlDP0Ui610zJ_IH_PoQi6AStJ_61PwlWLhDN_lndidQFH-mV_fHu4MROe7qfeqdB81yJH7VSFXuR6FW0N7qgQMVfvR4l6bQGD2cTwEK9CnJrhqe-Hq0NmraKAQhkCvncDuGg2H-t2xJ9wXSM-VPjbQFgGas7mS1top2UtkfPSh_MYwuDWJe7Gpn52W3qIP0cad7AWwV3useey5pic3K0zJakIIwOkqagh3o7CUF7XAN8b5QfQqLYhlST5VoAznoWnAzPl8L-PrUHwLFv9-MaHIF0xlA5mZLITaXtgzcuqWcfQhFHsi3px699Y_jfa2HHJa6KC37R_CSpWi3AhTZVCIutOvKf3eByTiQwGfssm5yh2RkMhcqoejIluzyNY55Ob_gtXFbrjm6Q3nreb8NTHt_P7O5AtwHQ3MQ44_1xLMMrupUFzy5q_ekN7lhK4EVm-j_NuobZiY2szCY6wULariYwbquzT4hFCrHsoRBsT99rzHS-APRrc8xitGA4qQkfyEv6aPKjkfvQXxGFO73PXQHO6jZOqUPLswKwUje7A1V4yXIyXQVHQU-HRUKJKokcYtuYtgzY-4aU2Rog2DGOB7ZmeDuPDbVS0_DblJqRyGROuvcpvqDImx4rGkVmSUDpEZzYX_SGr-3cVeyXXEB8PSAdhPxPMIv5iptTm7bvkviMAy6MifsX0RB4zAfzg7_8fF4B9L9XFQjK0kaNw2GO5N2CLXima8Lsjxe_LFx1nlQWZvqb4b9uOjZgfXRC9g0G43bCgpV4Jd7iEVz46fiNaaQghu6Y3blmkUqYHRn_10nL-5yMVjFdwLh3n0_EczOup5MJsXNndkCcvLaNe1Sk5DQWjpaF54aJXk0D_JeHQTQ2a_yTub-lqsm-Fa584X6X9tc59OGt9Vnw7BiXiF02-dsjMWWprLZtpcERWKlF1Sp1P1eeMxyHkNFQRZK9ASxfGu03N1EZDcW0U_P5QI1Tacdx9RIC0C8d4chmu0nyzuB0FupVtEH-PjlVbxX4FJvFWO2fxDCi2QDgLvV2iU36mTa5R2WLJclbN5pmFqenn1z2Cn-x4AnFjx8Vl106ZwF1CteRFwBziuI68AieuGDoVXjzIibvLllWqTwmFdo0iNanS8XorEobX-3RjR1RYAB-giHtqpXhMgxPa8RiuF0c6pIHNn0WATiY-FBjzoyZVO_0BnSMP0tmUOhWP-vgeMJceooP4AOc7UeXN3jxpDTauAaxywZW5Ri7dQNqqp4qu5IDauMq-O_-9tMVT7Oq1KjqMeW5dHJ5KEyk2pJTpiUXBPJoFISqSvOTt2nv8jLkQo2DyId9aZY17gkIqJPiSYdZeRkU1EVf9SqiK5qW-Q94RxWQPPJRDVCcP-lgTiejsFomgXWMYwoBm2Kyq45qsQyHKmE0TI7rc8OLJMhjwCZRhQIbd3EmTQXQTAX2q3t-AVQVpwoXfdYbUKRNOSfBgdVpK3XVFk-MBrl1RlYu_4K4SOrYBGIkxoiASZ8fFWiStROusL13HWPJFllCOLRAdBspcgskMzmQJntje0bcBEf343dTCekCgA1KwyXElRs9UkeA8O7488jaJ-gGfOa-ZeQtGFD3YCNO8fubk-pkeDgzYbwqkETCvXfLBHjEpGal8F-m-QuA7rgR1XN_Clxda3u0UUii-fDFpo56xw4EnPL_cwN834a9n90WSiXCiDMMj74A8y32nfYCAgu8fu4tbJWGEaNikxqTHR6H8YGvThvaZZxplA0FfNuV78l7ZyMl4B7q9iWgPwyCAjL-EsoqWXxYgn2-PxqtjbJZsKetjPTbO_kRV8Wd5uU_idNypCXlSVdvk_n5kXYgRcCwU8Sl6Z3dVAXTajl0bV1kOlm-RyTbn2FwqMHNxfudNH5seS4PmcPu9ZCfmh2bB0gIXePJTuoVvaX1HxjK_E5nVJ8Dq36te3QGTpoyHYPpp_jiQTuH3PRHCWT97FX3rowUk-s6qkAbCfA_IXY3fbEloRAYIEUvhYxdpJqNV8QX9XLYNITfoHywK5CzLlyxDmDTNIrhLO69Jbkt6wZe8H9CiB225m-8jZCnGMgQY46p-h64lt7Hi_QSs3z37CER_HtQDXYs6PeZUvy098ygyzFrbJc4ZL4KoOapjN3D3u63qCpmadX0F2GahhzEUWL_XUUmnFLHz4Cga_Iavpd9gOBvmTKTGA==",
  "id": "rs_0a7a1700ae188eed016ab461b80b4c87d09861fc6c98e3bfe6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.235,\"left_z\":0.14,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.003,\"right_z\":0.184},\"note\":\"The small black cap is left of the diagonally lying pen. I’m bringing the left gripper above the cap while keeping the right arm parked.\"}",
  "call_id": "call_xClHXBfqb8ugeocQrlP03VAK",
  "id": "fc_0a7a1700ae188eed016ab461bdcfa087d0ba8b59ccf2b26e13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xClHXBfqb8ugeocQrlP03VAK",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.7166, 1.7462, 1.103, -0.1226, -0.5762, -0.4469, 0.9993, -0.0193, 0.7975, 0.6132, -0.3908, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.409 left_y=-0.2239 left_z=0.1219 left_yaw=-0.0051 left_pitch=-0.0494 left_roll=0.0288 left_gripper=0.9993 right_x=0.2947 right_y=0.0026 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0156 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -8.8684, 9.2786, 1.663, -0.3639, 0.022, -0.0806, -0.0205, -1.5385, 6.9265, 1.8486, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404e7662d212792c82619a82fa26df571f88a0cdd24ca4a8e661d9a634caf4a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca84c919a5fbcf07eaf3f212556d7bdbf6eaf1f1778676549019bd06c0d6448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38299d25a877a69a5017881be702d822f3d3a4f138fb41f0e3d6eae769519d6c",
      "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 · 5.075 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]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.02, -0.0128, 0.9993, -0.0185, 0.7918, 0.6094, -0.3771, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1793 left_yaw=0.0005 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9993 right_x=0.2956 right_y=0.0028 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4974, 10.5504, 1.8046, -0.0171, -0.0317, -0.0806, -0.759, -1.306, 9.8667, 1.7802, 0.0464, -0.0024, -0.0708]",
      "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]: [-0.7166, 1.7462, 1.103, -0.1226, -0.5762, -0.4469, 0.9993, -0.0193, 0.7975, 0.6132, -0.3908, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.409 left_y=-0.2239 left_z=0.1219 left_yaw=-0.0051 left_pitch=-0.0494 left_roll=0.0288 left_gripper=0.9993 right_x=0.2947 right_y=0.0026 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0156 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -8.8684, 9.2786, 1.663, -0.3639, 0.022, -0.0806, -0.0205, -1.5385, 6.9265, 1.8486, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404e7662d212792c82619a82fa26df571f88a0cdd24ca4a8e661d9a634caf4a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca84c919a5fbcf07eaf3f212556d7bdbf6eaf1f1778676549019bd06c0d6448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38299d25a877a69a5017881be702d822f3d3a4f138fb41f0e3d6eae769519d6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGHGQGUqs8SWsdHQi5yNTCUN4qoMPaZxCyVRLXQR8_cY-hXvMgj4cO5M3kb6HdeHWPMDaeqH3zeN532m2AXDgx3PKHGUDk1Na3jLAvCsgRvIkwUAp5CmjNWoAou11IbFS7UCam8sgK60VJaahNd4Is7_CAGOvxOsBslBGg57lWKMORqy--U4zFRxyutoZjKXQA6x8D8egE0LsRaKgY5xbaN9brPs5zFnmDyyLfY-7jUBgdzvvP5wYQXssLBJSBr2zwnkckFbW0k55b3qX6DoH6LPcERUgSo-S8GWc0zjQxCrbELwAmPpiWJcqTP6jPDeZIDl5GhFH7ff9FrLBMEzE4vtsCk_qUTiZZ1N_w6R_IKEXvRu8uNVN6b0eOZiE91JRrKKlUFZbGfgwXxGY1ISLVb78cVKVVwdXzRvfnJ8MWc2zU7U-G0VJuydIb43bWPuogIXuCXzPUPswhsGwZioz5WhXd3Sg4L4GW_ZRahczd8wTlIB8jHuCEydVoREC7SB9bJ0GMbYoxL9IyECySVosQ49EJrjtedbuxOdMZ-ymCqpZuHyjdwDd38uj9AZsiOXk-mO1FI853f_3XZcQTD9lfPdyrmKjS_KZwgB4eg5X6EKH9rsqEs3Ls2EQ7U9Vhwb_MO7jjrETl-bOhOsP_jjWF9173kO639NdgRSe4yR97RdWPByrML2doqJwfqNMY4G-iEtZ1ZuzTHoXJDyzva_MhcokrNgm8lnyLtUIJ2ImfnkcXERtS9bkHAXDurdCvBjgkLXBt_kVdqRWcH2dJ55n90IgObRo2h--yHN3XWDNa5oPI7hyrSX8wZg1ZmJRcOU1XJso0V-sn18wa52YF2rpIG7rdIXRA7oA9YLLu76cA0Mk7akVe-1aQ1xgCPfqoT6M7Riz4iMbX8mD4ytRAA7ddtH6KL1kYfxEPUx94b6gj6c4LN77dJN2t_UUjJTLLAhkf13J-3q44U3EisxfsUI9BjTSBYKQ9C9Qa_93m-AVucSqvPpordtBhu6brbW-TRXnNJ8GuA-91BJPOtTSiqpqD26gmw2bdgQp6wzpSHZeAGFMi_e-KJ1kA9rM4HUNM6jNR5jXemwjRAiLR3GZqoJdDegLsUuw1fT61NLbde5RFa-iWAqSaK2UOZQ-gdQQY8BvM_X4Zxed-77x_0ftLEqlRqOPnHsPQ1LYaknze8--zRogAM3xCMRhWKZRtfXNiSncKqtevraNi5CX7i6nORMCfCgZHtYnh3LyekFYzPos3BtHVujarqSTQttk1ZGSCGQRhJmURNtfYtfzpMhgYhpYS_GQLiFjjAKQIv49AFNhn3x4mx1KYfdaDWuK5g-bGeUIOf-foYWIZPKlSXC_9OzwF6yMPQubAZyv2TP0U_W9lwWFxOjiat6gpV-S_kcPt89T54-FfyJpRKdc6bokSkSmfmLKNrV-E6HB-SQ2U2dkwo1pWaRMcxyJzHh9L7pGKFUVEXhP1jhBCI0MwYhHJwJFDRqLQWo6C-UkoaNfW4TLgR7wkJLTTtF_SQkVWi9F_hILF2bEKxpCAoEUEFoe5CCPGv6vKtbFrLQ_9_LgeZjqBI3Mrs_Rj0SCS7s9RCggoXKjEhDj_EaJyeMynpdctOWGyY-gs46fTr2i3vsxyHnpcozetFCHKpMxiTrguyCEFCBDTGy4c7NiRTj7FeOqjBfd8kGJn7m0B-n_Qoqk40fI7lZfhK56Orz0m698nVDNZi4He75Kjw3XDGIWG4N_Wrd0wRpG3LvDXifXfTC91tM_cLGk41pz4xGyQI9eYD64sNIGYLXbGLDGl8vXwQy9epHZM2ywWvDae3iCUg1DrpuQ0iFVGNXOkPdQQObdYZkaz659Ba1",
  "id": "rs_0a7a1700ae188eed016ab461c2c74887d0a2a14b6cb911d722",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.229,\"left_z\":0.025,\"left_yaw\":-0.48},\"note\":\"The cap appears at the bottom of the left wrist view, close to the fingertip column. I’m lowering toward it and rotating the jaws to grip across its narrow body.\"}",
  "call_id": "call_mOgFImYE4ZWN1xwFSGoZQGaM",
  "id": "fc_0a7a1700ae188eed016ab461c5705087d082af7d29a42c5618",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mOgFImYE4ZWN1xwFSGoZQGaM",
  "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]: [-0.5484, 1.9007, 0.8196, 0.3668, -0.1658, -0.0967, 0.9993, -0.0193, 0.7982, 0.6132, -0.3931, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4082 left_y=-0.211 left_z=0.0139 left_yaw=-0.3581 left_pitch=-0.1319 left_roll=0.0344 left_gripper=0.9993 right_x=0.2944 right_y=0.0026 right_z=0.1803 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -8.8137, 5.2991, 1.9853, 0.1343, 0.2271, -0.0171, -0.1299, -1.306, 7.1453, 1.746, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bcc7523d398b03be4c1dcd623fd589ac77360a8978958b768b181b74b01caa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec70b9812d19df0384f4ce301f628d3442d2537219a2df9f6fdc8604b33fdc4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43beb8531ac7b6456ea92f42a0f568aaaa90b5bb6a1cb4e39dd49334fdcdfc0",
      "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 · 2.113 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]: [-0.7166, 1.7462, 1.103, -0.1226, -0.5762, -0.4469, 0.9993, -0.0193, 0.7975, 0.6132, -0.3908, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.409 left_y=-0.2239 left_z=0.1219 left_yaw=-0.0051 left_pitch=-0.0494 left_roll=0.0288 left_gripper=0.9993 right_x=0.2947 right_y=0.0026 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0156 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -8.8684, 9.2786, 1.663, -0.3639, 0.022, -0.0806, -0.0205, -1.5385, 6.9265, 1.8486, -0.0317, -0.0073, -0.0122]",
      "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]: [-0.5484, 1.9007, 0.8196, 0.3668, -0.1658, -0.0967, 0.9993, -0.0193, 0.7982, 0.6132, -0.3931, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4082 left_y=-0.211 left_z=0.0139 left_yaw=-0.3581 left_pitch=-0.1319 left_roll=0.0344 left_gripper=0.9993 right_x=0.2944 right_y=0.0026 right_z=0.1803 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -8.8137, 5.2991, 1.9853, 0.1343, 0.2271, -0.0171, -0.1299, -1.306, 7.1453, 1.746, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bcc7523d398b03be4c1dcd623fd589ac77360a8978958b768b181b74b01caa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec70b9812d19df0384f4ce301f628d3442d2537219a2df9f6fdc8604b33fdc4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43beb8531ac7b6456ea92f42a0f568aaaa90b5bb6a1cb4e39dd49334fdcdfc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7a1700ae188eed016ab461c882f887d099338c12d58ffb96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.225,\"left_z\":-0.007,\"left_yaw\":-0.48},\"note\":\"The cap is centered between the jaw columns but remains just ahead of the grasp point. I’m advancing one centimeter and lowering to table level before closing.\"}",
  "call_id": "call_ME92HSwZlLxEZXBh6n7XJUcA",
  "id": "fc_0a7a1700ae188eed016ab461cb0a3087d0919509b39a3e6af5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ME92HSwZlLxEZXBh6n7XJUcA",
  "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]: [-0.5224, 1.9781, 0.8433, 0.4511, -0.075, -0.0273, 0.9987, -0.0193, 0.7979, 0.6132, -0.3946, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4187 left_y=-0.2217 left_z=0.0022 left_yaw=-0.447 left_pitch=-0.1107 left_roll=0.0258 left_gripper=0.9987 right_x=0.2942 right_y=0.0026 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.6632, -8.7863, 6.9402, 1.0965, -0.1343, 0.6569, -0.0757, -0.1709, -1.2103, 7.0359, 1.707, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9787df7c6ea72342c3ea46a5bf2b862429539eebdb96f681d4fcbe281f4561a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf8a254a23d44745bf44149242dc4ebe22cee4f0e5ea495e29043649cb0cfda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c506ac9e7ca0ad1b0f09739da3cd621ca7bab847500646c5f1b31fed458493b",
      "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 · 3.179 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]: [-0.0204, 0.7937, 0.6022, -0.3798, -0.02, -0.0128, 0.9993, -0.0185, 0.7918, 0.6094, -0.3771, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.1793 left_yaw=0.0005 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9993 right_x=0.2956 right_y=0.0028 right_z=0.1837 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4974, 10.5504, 1.8046, -0.0171, -0.0317, -0.0806, -0.759, -1.306, 9.8667, 1.7802, 0.0464, -0.0024, -0.0708]",
      "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]: [-0.5484, 1.9007, 0.8196, 0.3668, -0.1658, -0.0967, 0.9993, -0.0193, 0.7982, 0.6132, -0.3931, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4082 left_y=-0.211 left_z=0.0139 left_yaw=-0.3581 left_pitch=-0.1319 left_roll=0.0344 left_gripper=0.9993 right_x=0.2944 right_y=0.0026 right_z=0.1803 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -8.8137, 5.2991, 1.9853, 0.1343, 0.2271, -0.0171, -0.1299, -1.306, 7.1453, 1.746, -0.0562, -0.0757, -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 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]: [-0.5224, 1.9781, 0.8433, 0.4511, -0.075, -0.0273, 0.9987, -0.0193, 0.7979, 0.6132, -0.3946, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4187 left_y=-0.2217 left_z=0.0022 left_yaw=-0.447 left_pitch=-0.1107 left_roll=0.0258 left_gripper=0.9987 right_x=0.2942 right_y=0.0026 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.6632, -8.7863, 6.9402, 1.0965, -0.1343, 0.6569, -0.0757, -0.1709, -1.2103, 7.0359, 1.707, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9787df7c6ea72342c3ea46a5bf2b862429539eebdb96f681d4fcbe281f4561a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf8a254a23d44745bf44149242dc4ebe22cee4f0e5ea495e29043649cb0cfda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c506ac9e7ca0ad1b0f09739da3cd621ca7bab847500646c5f1b31fed458493b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now reaches the fingertip area, and the gripper is at table level. I’m closing the left jaws to secure it.\"}",
  "call_id": "call_m9vrD92JjGA0wm2KvqccXERL",
  "id": "fc_0a7a1700ae188eed016ab461cdc0b487d083f288b10ae738fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m9vrD92JjGA0wm2KvqccXERL",
  "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]: [-0.5117, 2.0048, 0.8726, 0.4614, -0.0525, 0.0017, 0.0091, -0.0193, 0.8005, 0.6132, -0.3946, -0.0269, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.427 left_y=-0.2251 left_z=0.0021 left_yaw=-0.4712 left_pitch=-0.0991 left_roll=0.0336 left_gripper=0.0091 right_x=0.2944 right_y=0.0027 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.1436, 6.2154, 1.37, 0.0269, 0.0317, 0.6813, -0.3214, -1.2376, 7.2137, 1.7363, -0.022, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2047e23a0bd26824fb4a9a8a6976c9d3de62bbedac0b79b1337c9cabc5b62961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53edae7864ca1e5ee0af9a5d69d35e76388fd516c43722623727890a3a0a8728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63abb0d0585724f2bd5e6df1c0c5a2f8e2980072fb3d548f93819722cc850037",
      "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 · 7.151 s

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

message 6 changed as sent

message 14 changed as sent

message 17 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]: [-0.7166, 1.7462, 1.103, -0.1226, -0.5762, -0.4469, 0.9993, -0.0193, 0.7975, 0.6132, -0.3908, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.409 left_y=-0.2239 left_z=0.1219 left_yaw=-0.0051 left_pitch=-0.0494 left_roll=0.0288 left_gripper=0.9993 right_x=0.2947 right_y=0.0026 right_z=0.181 right_yaw=-0.0008 right_pitch=-0.0156 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -8.8684, 9.2786, 1.663, -0.3639, 0.022, -0.0806, -0.0205, -1.5385, 6.9265, 1.8486, -0.0317, -0.0073, -0.0122]",
      "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]: [-0.5224, 1.9781, 0.8433, 0.4511, -0.075, -0.0273, 0.9987, -0.0193, 0.7979, 0.6132, -0.3946, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4187 left_y=-0.2217 left_z=0.0022 left_yaw=-0.447 left_pitch=-0.1107 left_roll=0.0258 left_gripper=0.9987 right_x=0.2942 right_y=0.0026 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.6632, -8.7863, 6.9402, 1.0965, -0.1343, 0.6569, -0.0757, -0.1709, -1.2103, 7.0359, 1.707, -0.0415, -0.0708, -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 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 2.0048, 0.8726, 0.4614, -0.0525, 0.0017, 0.0091, -0.0193, 0.8005, 0.6132, -0.3946, -0.0269, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.427 left_y=-0.2251 left_z=0.0021 left_yaw=-0.4712 left_pitch=-0.0991 left_roll=0.0336 left_gripper=0.0091 right_x=0.2944 right_y=0.0027 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.1436, 6.2154, 1.37, 0.0269, 0.0317, 0.6813, -0.3214, -1.2376, 7.2137, 1.7363, -0.022, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2047e23a0bd26824fb4a9a8a6976c9d3de62bbedac0b79b1337c9cabc5b62961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53edae7864ca1e5ee0af9a5d69d35e76388fd516c43722623727890a3a0a8728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63abb0d0585724f2bd5e6df1c0c5a2f8e2980072fb3d548f93819722cc850037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGHShI9-CBYxXbJjVQ0Ii3pm0tBh-yL_UO-i0pIBhfsGcsLdREcSGwPCxF9B2QVGqx21uiA_Mgihek31jug8nr5gz_CTNOCzjx8GxLNjHa74WkeqZ34_G-cOmYA1WcIqtF5ygeu4beNQnGhp_4CCm6m0PhhBuqMmg__9_9lI_yuPpq6G_MlVDcnsRbs67VtGkIGpPaFCB8AAbLZMwIvDb1hRGaExoAcRpLf-uoV5u0VTetezFZI3pOzyUGMPilG5vyEfcIX-owEJXOWHmlVDKUwFmskST0KIlDzg6KjDciZ7HjB4xaXDpW1j191BiCQ4PSlaDFcVhu_Q8-5oB-BsN7o2Eev65cPhtliGcud11jrzv5RKOEbw7dHUZJwpO243sOMWITeTDvy1iuMhcYsfC2IbDx2ByxWO2cyIp660SoJ_1aUbr8lRIOp_TJHg-syuefoC1luiXX5xbsQGy7N0EgCNylXe39lxMati1uEv-R6Qo3PpczeSkSOdmdkvp9XXgOUDzEx13QCq2y4e8XLT_KTVExk9et4dFcnw5Z2OInsHX62tGO-0-KS8QvMKnnhRO5GudxRwzw-AFnPrQ9OwvkaOA111DELvx9Hu8SBoFcNBWeaf_07nZiLjZbb77JkMbaGgbBxZFqcVeqIM3gjyWZeEfk4Yd6SMtP559NHcJDEz5A2egx6h7GxxktFVBFnFCKYeQRTbjDBk7SEbu-meNhm92zUEnuzIST-OZwfkJK7Dyu0eD_SLOGWrTCukxPsU0zukhDj4pIOKAxkGJt7LPSNXyo2pHpUBTtCsmnysdQC5JLbS89xKjJCD8SYrgwgH3ePhwRHP8Bau_piUzCNo5C7oqFnC_jz2vyUNnjpOWPves7uCcOV8O_udA8hEPF0_J2ETn-4J-jI0R2rAPE3y67MK1lhSbqz1TcdorhzG1KIOh30ykeNhAmQzS4CELmvv4j256745tcnc2g3hgwQfW2v2OlsMLmjE2t2X7Fs8WHoMT9c5BhhAieROrlDub19jUQ99W6lM2s4uycDCexe0MGDLzXJZfa1mHDqvnLh_BRDcKVbvmbU7BrZgeVMYlyrepcgbO6DO4tPfRLFwrbk7CQhdOYJypP7_6tb5qY_R41GDFHjZKao7DFA6Ca5qXcY86PUWLVopsLDLSzgTTWUibqiBI0oHeOu7aPdg86KYW8C86NmlRhV-j56zmGywzzdpzhSM3_5vhk6WqyONb32YXF4iqx4LlSCXcJ6EfODeV1CiWYZubcqjkrTjHgkIHGbf48iG87EEG2qVhMGVSD6xeDxnXCqCsCaBgUY7W9uU8uxmd6nuK9UoseobQfhpsGPo-yBO",
  "id": "rs_0a7a1700ae188eed016ab461d0f3cc87d0af4d096411872083",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The closed width is near zero, so that grasp was empty. I’m reopening and lifting slightly to locate the cap for one corrected attempt.\"}",
  "call_id": "call_rCOGq3FAAlYWKsfC2Xp6UtF7",
  "id": "fc_0a7a1700ae188eed016ab461d1b9a887d09719181094194b08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rCOGq3FAAlYWKsfC2Xp6UtF7",
  "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]: [-0.5117, 1.869, 0.9112, 0.2218, -0.0525, -0.0025, 0.9948, -0.0193, 0.8005, 0.6132, -0.3969, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4164 left_y=-0.2191 left_z=0.0331 left_yaw=-0.4685 left_pitch=-0.1642 left_roll=0.0332 left_gripper=0.9948 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0248 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -11.9863, 9.0462, 1.7607, -0.0708, 0.0122, -0.0562, -0.0615, -1.265, 7.0632, 1.7705, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f7bb1ca790666678d32596c387a2052f813f028bdcceeeb9a2ae53d09a90bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faddfecb47b29364618129f915f7470965994afd5a6efaebbe8a217ec4b283fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427a9376b2a8d02f340f461ddf9aa5292e6bf01f7587ea9200138e102d28931d",
      "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 · 4.037 s

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

message 10 changed as sent

message 17 changed as sent

message 21 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]: [-0.5484, 1.9007, 0.8196, 0.3668, -0.1658, -0.0967, 0.9993, -0.0193, 0.7982, 0.6132, -0.3931, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4082 left_y=-0.211 left_z=0.0139 left_yaw=-0.3581 left_pitch=-0.1319 left_roll=0.0344 left_gripper=0.9993 right_x=0.2944 right_y=0.0026 right_z=0.1803 right_yaw=-0.0008 right_pitch=-0.0187 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -8.8137, 5.2991, 1.9853, 0.1343, 0.2271, -0.0171, -0.1299, -1.306, 7.1453, 1.746, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 2.0048, 0.8726, 0.4614, -0.0525, 0.0017, 0.0091, -0.0193, 0.8005, 0.6132, -0.3946, -0.0269, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.427 left_y=-0.2251 left_z=0.0021 left_yaw=-0.4712 left_pitch=-0.0991 left_roll=0.0336 left_gripper=0.0091 right_x=0.2944 right_y=0.0027 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.1436, 6.2154, 1.37, 0.0269, 0.0317, 0.6813, -0.3214, -1.2376, 7.2137, 1.7363, -0.022, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.869, 0.9112, 0.2218, -0.0525, -0.0025, 0.9948, -0.0193, 0.8005, 0.6132, -0.3969, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4164 left_y=-0.2191 left_z=0.0331 left_yaw=-0.4685 left_pitch=-0.1642 left_roll=0.0332 left_gripper=0.9948 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0248 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -11.9863, 9.0462, 1.7607, -0.0708, 0.0122, -0.0562, -0.0615, -1.265, 7.0632, 1.7705, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f7bb1ca790666678d32596c387a2052f813f028bdcceeeb9a2ae53d09a90bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faddfecb47b29364618129f915f7470965994afd5a6efaebbe8a217ec4b283fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427a9376b2a8d02f340f461ddf9aa5292e6bf01f7587ea9200138e102d28931d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGHaBp3frlCt2fNN0EVjEJD7sBftYYwwfnWG6YoQ6OAnroYdIJE6L7BWLS_JTjIWNc_7kMLhNJ1JBCup97c52EDmHlUv9zVzqmOkpZoR4qDkwtZDfRwtJed7TxKTX2_InDT7zwaDHGM-k7cy7d3uuw16OrHzYonh9jJvcwmNXrYtgWHV4-GidhvGbTJB_CftLHrJ6LphWzTUOwPDTgwiSMxC-WTy43_2mJMYqB8HHEtNHKGxz7fxI2rcPx2Ep_aVELSC68uzXfiepYokmzX73nlaaPGwg8NoBoEkLb64ciX0Qeoql1U1aB2Jz2pxu20xHqV8M93wpG200wKBezuKnzgJNEMiFSRKlYfFzee5Te1J3SbQqwcmiYwNO9J67s3zTND2F-DgKziYC7HStpvREUS3X-roV-WYdIKZ1hMK8uHs2ks3IvSPNdlKXluq5D91UGo3Qy_3bA25676nwgVZKPsO3ISkixlk5pK_xathqATNyOaFV2OsdKFWQf6elPilVsnCKDQDVsuGkxcjhJTK9voe_2BYNE_vW7Ot4FHi0uhReVPK4Q8YpsDhGAiVH1MO744cx5QpusRm3qPk0cJAelxysF-K-zhgG3S2aCBJX2EQR-WL5dHgmQ3d0BCa0dCi3pLqW6f5dBOsL0tpM1u29rrJsYl-N25CTgodgdISqSvLxoh10v8o6m2WHq2qDy61XonBJI3_qBrAG3OOEJqaw37Mn5RhV5KBy17dRuxuyWF9zAb6MRJavV517_I1afUQ0YD3oOzJml0Cg0xJ--nyXQ6F0rJMBALPuLjuUfwKpqRr3zzy7J2IDwFz5hA1N1Lzd4isPiW4aU6YNXr-0QXxX7e8fm2ZQ9D4LyBJTozw8ctE07i8zdC3Aq_ZaqKFqrrEKaN4joE8tka2d7d0QgLVB0eJjtX05511sE0csA_JZsZZK_4G1kbx1PRHohDlmlnvtJY-hmIFUZhSu40YvymnCJJ0L-4r9pqVEXruugytVdabN5mNrnvAthzCYaRS1Va0zVdqTu2O_pmsinHP8rGXYsHFYOAt_Uqg-utuD2PUscYD7VFzYqbysathitunbGxPkr23gGd3_0ZzmpOT7cZxtXshe1S4cPQ8zh8RdLJ40a4i7TJ0V6CGYjJiC5c8LPeLWSc1u0whkSLaSJBcuYK2AVXXMfC2U117bWvhEMGI_GVkP8CbY9VUey3uhnyMxm4GoDG0ZKNV2TaIum5kG1t5P8NQht4yntuuPTfVesOObLMcPJu9j2oWKdtlmZOZ6tt8MM6edn0qq31qIxn3V6VuTrgOSfjUli8bqnPaNlnG0ihXJdLd5rkvUKAEzXK6T4_tlogbrhbGlBwi5W6YqJDaBKLOpA6wVHfked891QOXtoMjZILgADQ4awwiWEB-FB8Ar6H-8jy_BvTA7A5ltjAO9df8B9Il0EcZQrr-SpLf2gjqPRBi_gLpW951uQVvE4-78kcA26dUwiChxEJGs76Dbs_SbBThMpe3-P2f1NNhMMTSZAw5IxCqvG1hsGHYVvx9oZgKrX2_5PZwXu9dRRSXCvuRAFnBHdgIc2xPTQleN_nDaSL592lRnrlcXwUJEkJFMWGuQ3fBz-fuvGe0IrxP6HDoTZTU7Na8QVzJabe1AF-CFshs6v6yvCCOzxuJGIpTAaFsSfCmcLYBmsjxWo05o2J-7kvM-3XQlMr5kyxDEiM7lnzRPtWy_YP86BRqGS6rbl2ipm8hJU5MaE96fdF9uxdjGyZBBG3j7oeAaguVmyLeIqldMiPJp2CJ6U7h6y0u42tixey5z8D9IVBWBqHnAoXbstVixEeTWsrepIkSAP7TStOK1i7KhbKj5-h2C3vkDmebzdigBiLHXlwifuAeSID8aSDmy4_tW7qYQ6JnGL-RJMAvvEf6GlHV6LKT4LPGlBz2qWuH2H91IgY7FN_W9vOvuDsVqcgIbQwGDrHMvuoct5IJl1eJKRrGURP7sDH_-UME5xT2ftHmIXTBUnwk7I1TaqTX31ZOFbo6k1DC5WTjAYhihTZGRtdr_min51zjUtnWhNGO7gRQDeBSQlg7iYU6h7k6sm_xFw7Uw_xpIyLfgVjBOUk0ZlJ5Xhw5UMo08w3BnXyBFim6JaZBxlqjy9dyx3Ai6AQff1Qjy2F1_Ai8ERmH1Z1_1ziAu3SeIFu0gp9cW3yEpeMAv763_WQZlKwsiPfOQuHL-4S1qJJvsBHAWk-OQIJsVVe1xdLS7ZMKd3KGVYCfkDBndk3wrPgqhlFDjeRl_7jEhw379qYYr9nMJW93Uz2IzRKZ_c4sxqv96w0tC4FV2eLLdvKWbga6U31SdirCkuDaxoGz3ucPU1NR38gFM8_vfAiIvqjZd8x5_ojlf7MONVM5hyF0KvDUpPGm5FwP63Ed04J4RKLnzIaWkUy9vzz5nkx8KjCYetfsC-izpK5E8yB_nXUevX9WmyL_K-_RDrfuunqJxZvXLYF61aLuMllG2upXwnF8LK_rJjO0QFFG9ugox_TUutlTO0nd7-SUk0DN0XKSUHKFP8ElCu66dVkKC-tbKsvthgls4oOYvCPbbjV45GQv6Bv3_eR14bBdL0diB0TZKY4_bQr-KJq9nkHeUr9lzhnd_46Cr90ZoHE_oHXCkpgj4eXBhfFDzlg9ECwyOtapXiw4v6YNkoc=",
  "id": "rs_0a7a1700ae188eed016ab461d4e92487d0b3a0d94f9277ddd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.224,\"left_z\":-0.005,\"left_yaw\":-0.48},\"note\":\"The cap is visible just below the left fingertip region, indicating the first approach went slightly past it. I’m shifting back two centimeters and returning to table level.\"}",
  "call_id": "call_bGtlOtCBwlsMF7zbToo6j1j7",
  "id": "fc_0a7a1700ae188eed016ab461d967d087d0837b9317b5c0852e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bGtlOtCBwlsMF7zbToo6j1j7",
  "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]: [-0.5308, 1.9381, 0.8528, 0.3344, -0.0517, -0.0181, 0.996, -0.0193, 0.8036, 0.6132, -0.3977, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4053 left_y=-0.2232 left_z=0.0017 left_yaw=-0.4796 left_pitch=-0.1788 left_roll=0.0217 left_gripper=0.996 right_x=0.2942 right_y=0.0025 right_z=0.1779 right_yaw=-0.0011 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -8.7316, 6.2974, 0.4371, -0.2222, 0.6667, 0.1099, -0.1983, -1.4701, 7.0359, 1.7509, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc69d1f829ec67069cd92d44f11d3b2d6dbe01650383ab876ba896b20922ab0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291e18b8adb6e25bcdedbaed83633c56fed9e0d7bfe051a3ce3fc13d0bf70736",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043899764b3d37dfe797ba1f09d1cc51ff1a090f21c9b203b388e8bc136a465f",
      "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 · 5.622 s

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

message 14 changed as sent

message 21 changed as sent

message 25 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]: [-0.5224, 1.9781, 0.8433, 0.4511, -0.075, -0.0273, 0.9987, -0.0193, 0.7979, 0.6132, -0.3946, -0.0265, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4187 left_y=-0.2217 left_z=0.0022 left_yaw=-0.447 left_pitch=-0.1107 left_roll=0.0258 left_gripper=0.9987 right_x=0.2942 right_y=0.0026 right_z=0.1801 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.6632, -8.7863, 6.9402, 1.0965, -0.1343, 0.6569, -0.0757, -0.1709, -1.2103, 7.0359, 1.707, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.869, 0.9112, 0.2218, -0.0525, -0.0025, 0.9948, -0.0193, 0.8005, 0.6132, -0.3969, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4164 left_y=-0.2191 left_z=0.0331 left_yaw=-0.4685 left_pitch=-0.1642 left_roll=0.0332 left_gripper=0.9948 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0248 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -11.9863, 9.0462, 1.7607, -0.0708, 0.0122, -0.0562, -0.0615, -1.265, 7.0632, 1.7705, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.9381, 0.8528, 0.3344, -0.0517, -0.0181, 0.996, -0.0193, 0.8036, 0.6132, -0.3977, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4053 left_y=-0.2232 left_z=0.0017 left_yaw=-0.4796 left_pitch=-0.1788 left_roll=0.0217 left_gripper=0.996 right_x=0.2942 right_y=0.0025 right_z=0.1779 right_yaw=-0.0011 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -8.7316, 6.2974, 0.4371, -0.2222, 0.6667, 0.1099, -0.1983, -1.4701, 7.0359, 1.7509, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc69d1f829ec67069cd92d44f11d3b2d6dbe01650383ab876ba896b20922ab0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291e18b8adb6e25bcdedbaed83633c56fed9e0d7bfe051a3ce3fc13d0bf70736",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043899764b3d37dfe797ba1f09d1cc51ff1a090f21c9b203b388e8bc136a465f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGHeJzJUM3k3VLlC3VavT1Ojaf9GygFtgUbPDwiZxSkpCEZE1b5UK3EGkErglgnPNkGfL6sHBlTR_SR7nlZfIDEaXSCKgQQx9llPbeJP1elIml8w1GfxX6hl4Lq3USlqaV0Dyqjn_fQIW_gt_nomJk-kocw6Xr22cwCz2GIWGOdO3fD1QlIHkYE_kDoOU_4cZpkFR4kw28SeZZELAfm7WNoYUv-X263drh3po9GnBxQNvtdX9Yw9V3Hk9h0XytSoenDWvnMwQIsjBZrQvuAAHy7XWdZz9bmDN_FXcmTle4yJNmMjlIn-ONoO40tNa51jDRYl-9Kk0w6qGFLjJp5sYDuH8ch8MSFQ_9PUTfvF2-m0-Z4bZ9h6h58VBnpUrAcFQHyPlmO7BOXoCDdXUz3GfpboUtWo6HXgdCtdGKpRC-HUXA6281azzfU-nzqGK3h7wHsTVbh_JH4n6crQ6zk3izG53WD247OTW5SqDcHLMLPLtwdDTHCoDuM3xLGz6bgnJuAMWoRvzFV4Bpj4wzrjS2OkkCIJlm6zFoXXBkiuZaaN65s-3P5fA6RWJBL4djvUwrzkV5NP35U-q6Z1pZw8LBdART-Yej0_bTPtcJf1PMCOnpoxgBGWJ0WhS6vDMBCnTSaw0G2JqkEeNJ-Pz0JV0-QuoVM3pJ5EyLwcLNpK45ndmHqE_ASPzEGMzBeEJN1PUvPgOslnrrJaD-Gxxq7KOmnspjf8aM_4PwbvBqgnbmwyr9PeiR3iba_ISgyB_CUMGDQQh74xm3Ago4uDvIMWWGg3rUqX6CZLD1n5sNsmmgReSBB02R01Agu--VAVlOWsIbC0cRseuROUPn9KBZAjou-IODhEU5hRSAVrMgupUFy48q9uUUCaiIODDZ8mGSX2GESxUXAgWCB7mztwIu1hc1MrbAGOR9GoJSe-qqh1Yioo7B1p3xiV6nx_ijKwea5MR9LwgZKM99ZOaQ3TgIRMIRYg214JZ5OdURzi6w4c9exoEAQFFAU0QxMT_nDpaiNzSnGDgQV2fPVSBkD7wxlrtyfDonESOhcyDtLkij7cZJpBUkzLLljZwXbdmhjNaNHokh84LROt1fxtTONqKqVrz1l30ZtTt82hq5hxihW6DxeJjCJ4bvNqCCeMU7v94Nz_uO1cA_XlgL5onkN_P1v7ZBNVC3AwfN1nd52STENRMb6d7VEnNPk2C9wZwfZJqarjuJLQ-olAV6aRh-sqR3qx3v66xFVZhwqZ0s0Z5HsE_yESULwiiQRQZAdwZ70RQ-lUA-Mzt6Dp2qUrgG_tcd4pO3pGpiOO6k0-c76IvHJtRcAYW1ntxUODBmOb71xOmREhbQY2lpwR-jNkFGzCuOwmVIaJRpxJNL0vNt6lYO3d-JFRVL5FutYIg1TMtR1aa3P0ooRhARcIbdr5Pokxk9vhDTR6voT7CIHXo7HhBNgNZX3YUTFIiKHYJo8ougwq0_8isZlr3Chial8G2pj3gee3g-XQQZAYOPZvTz2AWb5fTZGHHjqjk63XZXSVG4R1NEbxZ6B4CbRvmaYRuHkaRUnPEC1etSDjpsMQstqPUUbYp2ZARAaZ39ESoP6fCal7V7R7Bjgd95BQFCzxJcr6CUvm_B5leniSRgOzbBgSo2i3Ls_seGMsW6iGBBUjkbZmD6IeyjU0lGJOOIA9AjEC2i1LFvvdgmw0aqMaB2NvyWCiO7uvm7qfitxmq5nsg_kjDQRfFJ37aApGkIY5KyXFJRrbe7Zr7A==",
  "id": "rs_0a7a1700ae188eed016ab461dc281487d0afd10eb54ce7c678",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.218,\"left_gripper\":0},\"note\":\"The cap is now alongside the grasping surfaces, slightly left of center. I’m making a small lateral correction while closing the jaws for the second attempt.\"}",
  "call_id": "call_GKBg1CoWBjxk96xehvpvxphl",
  "id": "fc_0a7a1700ae188eed016ab461de067487d093f4992f14865c75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GKBg1CoWBjxk96xehvpvxphl",
  "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]: [-0.5159, 1.9511, 0.8421, 0.3847, -0.0509, -0.017, 0.009, -0.0193, 0.8051, 0.6132, -0.411, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4112 left_y=-0.2188 left_z=0.0014 left_yaw=-0.4662 left_pitch=-0.1522 left_roll=0.0206 left_gripper=0.009 right_x=0.2924 right_y=0.0026 right_z=0.1748 right_yaw=-0.0011 right_pitch=-0.0435 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3043, 5.8325, 1.1551, 0.1099, 0.0708, 0.6667, -0.3624, -1.2923, 7.2547, 1.8144, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb07d3642203bf1d1721e55101fc4af2a9231484f5ce3419c20355057c1ccd43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda5168abc048ac63f0515acb47aa3a0383df28fbc50d8b00987b3110a2c9aea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1bebdb3b32ba12076bda4dd88399035832c61f24542f1be8e5140a4858ff54",
      "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 · 13.2 s

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

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 2.0048, 0.8726, 0.4614, -0.0525, 0.0017, 0.0091, -0.0193, 0.8005, 0.6132, -0.3946, -0.0269, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.427 left_y=-0.2251 left_z=0.0021 left_yaw=-0.4712 left_pitch=-0.0991 left_roll=0.0336 left_gripper=0.0091 right_x=0.2944 right_y=0.0027 right_z=0.1794 right_yaw=-0.0004 right_pitch=-0.0225 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -8.1436, 6.2154, 1.37, 0.0269, 0.0317, 0.6813, -0.3214, -1.2376, 7.2137, 1.7363, -0.022, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.9381, 0.8528, 0.3344, -0.0517, -0.0181, 0.996, -0.0193, 0.8036, 0.6132, -0.3977, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4053 left_y=-0.2232 left_z=0.0017 left_yaw=-0.4796 left_pitch=-0.1788 left_roll=0.0217 left_gripper=0.996 right_x=0.2942 right_y=0.0025 right_z=0.1779 right_yaw=-0.0011 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -8.7316, 6.2974, 0.4371, -0.2222, 0.6667, 0.1099, -0.1983, -1.4701, 7.0359, 1.7509, -0.0269, -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 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5159, 1.9511, 0.8421, 0.3847, -0.0509, -0.017, 0.009, -0.0193, 0.8051, 0.6132, -0.411, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4112 left_y=-0.2188 left_z=0.0014 left_yaw=-0.4662 left_pitch=-0.1522 left_roll=0.0206 left_gripper=0.009 right_x=0.2924 right_y=0.0026 right_z=0.1748 right_yaw=-0.0011 right_pitch=-0.0435 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3043, 5.8325, 1.1551, 0.1099, 0.0708, 0.6667, -0.3624, -1.2923, 7.2547, 1.8144, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb07d3642203bf1d1721e55101fc4af2a9231484f5ce3419c20355057c1ccd43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda5168abc048ac63f0515acb47aa3a0383df28fbc50d8b00987b3110a2c9aea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1bebdb3b32ba12076bda4dd88399035832c61f24542f1be8e5140a4858ff54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGHlia3Q8e6CfCRTyRLLBGfQPK6GJclZj9RzB25Bn9oPR2bVZGSLrU_vyqIveLPONnJpJ0j8DzKTGIJoxLNwm_re0qu8kOvVk4QVIlUHdIAnCP93Z2pjl5WlnmoxW1khO3yiA0zd-WGThpjw-LUetXbjWZmW3iTXGTPLTBlns3WprP5UBK180DdiAzkxQ8Zr6C2k5mpm1eGoUiqRYzJs258JMsrle-OVKEpTe9VyLFQQUZKvdaHuXMsSFFCrcF8BNach5WcjIbHaEq2-3sHeHqQo7OCM--kvohIPMER4IECxQFSzOQNH0V1Exv6k7Ksif3RMG_1WCPmfgrlL8nh3_gGWyOb8388e_ePB2aGdvdjQYmQMt44sKJyXCXsZtCDlco_U3rYJEjaQSErJjLLSqAsYRC1Z1-C1QJFjgV-zb6IA_KrsQWUqVyVbmThWb0MnXrgVo-S-fCNY7Ek97ZOWjZ283t8gXKRpPwDJ6aikXuUiy2du05qTaAkdG0nYGBQkTrCF4lWr5lut-4uCczi3owU9HpwzK-CkjZvuu95dq8SM5t9BSocJvhQscFWAUGqdE-tXXCypuNTaNhns98b4QnP5L7oq1O-lj5yXnLaCuGkYq8mrwx6U_V2fZU4GhrpAJqsd0Bsc0dBlY9VVXBOVisLBi7ojwEj7iAwWoC7Xx8OV6OSZxT7dqJpxSzNvJkvQipvuYdVHjUt1u8_GLN9v4FYSalbsOV_u48u3mXoxg_XQrx3tkttJ82C3wqTWS1k-Hl0FMoR7xGxEnl_7vNUfeXDqN39zEJwM8eOIpOoNauLom8V_awWWtFsQ5v4RXQD9dnrPxXQWCLDjuLViWpEUeY9NlA9ubjoH2D7IFFzMmdhYiAGWhmvT0N6OJBKiOg7TLi8TFzSZcF4eH53LlSicWGONH8zMwNaXbKYQ48Z0YT-9r8IJjMqcGb6Ga16_5T59kBLgetm1wRiRlD4XDsQrD2W9CMYnG--Wke_Qe_pLsruzfg8OeUQp79HdhZriolgaMcWrkI3i1fHulSS2BbJzEfHj8ySKs8CZqt6SlIdDivyOAtXjM5ZSzMGqEW8YRvRHMyw_H8SDpQ69Lk4eBIsatfKL4_bPPmwy1AaSCUsfen2o8il40F31bnGT3poXFornh5N_tw_MM-PGO5oxjHtVNh34rSzSFotdw7mf9JkAYOIzugg2MOJcyQUBmwmuBDeqrRHd7BY53Wx5MggvLsUIY11UoRkotLPQWDijCu1YW20MNd2nol2RGNG0LI_Ol7UyP9yv6hMEkCMghpjYQT1aZIwOWabsyAa_5sKWLhUgl2zl5uqAhP3hXtq9H1rkMOS7N7UVf-M3No7S9SeUP7_wrNyclAzj_CCDRH2hKpQqcURanqqD1hHo47OesPVtdHjAIwwIVgY-rOlWoMzI4i9BJisuYg_Sjf-Fxr4t71A_aq3Fin7wbW0F6FqkptBLW3faMQ6qhdIRHhXUu6OQEaoqUl8EFRnyNpHI1OZX9NxEyrOooxnWK-qr9mVcORKvLL-gav9pjjYylOje_1j-C_MNt0WVPNV-9xY_vAp55Ns9ikSQGxi_-njegwGT5T2MrsjacrYdkcVl0bQpCgVFrl4wZB-uRaWQtHcqNxtVhBS0oPiTpdRLkuq8k2nhzBL80pea5mY2",
  "id": "rs_0a7a1700ae188eed016ab461e143b887d0acf3d905cc3fffae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.17,\"left_gripper\":1,\"right_x\":0.395,\"right_y\":0.235,\"right_z\":0.12,\"right_yaw\":0.45},\"note\":\"The second cap grasp also closed empty, so I’m clearing the view rather than repeating it. Meanwhile, the right gripper will approach the middle of the pen.\"}",
  "call_id": "call_4o69k7DEzyaATtjrrhEqa2V5",
  "id": "fc_0a7a1700ae188eed016ab461e390e487d09000d3665683feac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4o69k7DEzyaATtjrrhEqa2V5",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.3271, 1.1511, 0.7742, -0.3679, 0.0692, 0.0902, 0.9976, 0.5507, 1.6009, 0.8623, 0.0631, 0.0822, 0.0582, 0.9994]\nstate[eef_state]: left_x=0.3225 left_y=-0.1185 left_z=0.1519 left_yaw=-0.4386 left_pitch=-0.1717 left_roll=0.0191 left_gripper=0.9976 right_x=0.3821 right_y=0.2218 right_z=0.1016 right_yaw=0.4376 right_pitch=-0.1134 right_roll=-0.0089 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -4.6154, 10.1402, 1.6972, 0.1587, 0.188, 0.0122, 0.4308, -7.4051, 8.6906, 2.0537, 0.0611, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f8268990582d66c84d131c7b9493e89f8ee03d650d802b6edf411b2a839ae0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16aed6fb02cc5445c88c92c06faca800f567521627cbdda7d768bac996d6aaf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70b2fd694212440592f7b61356f365ec335ff163131080c4f85587315870817",
      "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 · 6.454 s

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

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5117, 1.869, 0.9112, 0.2218, -0.0525, -0.0025, 0.9948, -0.0193, 0.8005, 0.6132, -0.3969, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4164 left_y=-0.2191 left_z=0.0331 left_yaw=-0.4685 left_pitch=-0.1642 left_roll=0.0332 left_gripper=0.9948 right_x=0.2941 right_y=0.0025 right_z=0.1789 right_yaw=-0.0011 right_pitch=-0.0248 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -11.9863, 9.0462, 1.7607, -0.0708, 0.0122, -0.0562, -0.0615, -1.265, 7.0632, 1.7705, -0.0464, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5159, 1.9511, 0.8421, 0.3847, -0.0509, -0.017, 0.009, -0.0193, 0.8051, 0.6132, -0.411, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4112 left_y=-0.2188 left_z=0.0014 left_yaw=-0.4662 left_pitch=-0.1522 left_roll=0.0206 left_gripper=0.009 right_x=0.2924 right_y=0.0026 right_z=0.1748 right_yaw=-0.0011 right_pitch=-0.0435 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3043, 5.8325, 1.1551, 0.1099, 0.0708, 0.6667, -0.3624, -1.2923, 7.2547, 1.8144, -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 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3271, 1.1511, 0.7742, -0.3679, 0.0692, 0.0902, 0.9976, 0.5507, 1.6009, 0.8623, 0.0631, 0.0822, 0.0582, 0.9994]\nstate[eef_state]: left_x=0.3225 left_y=-0.1185 left_z=0.1519 left_yaw=-0.4386 left_pitch=-0.1717 left_roll=0.0191 left_gripper=0.9976 right_x=0.3821 right_y=0.2218 right_z=0.1016 right_yaw=0.4376 right_pitch=-0.1134 right_roll=-0.0089 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -4.6154, 10.1402, 1.6972, 0.1587, 0.188, 0.0122, 0.4308, -7.4051, 8.6906, 2.0537, 0.0611, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f8268990582d66c84d131c7b9493e89f8ee03d650d802b6edf411b2a839ae0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16aed6fb02cc5445c88c92c06faca800f567521627cbdda7d768bac996d6aaf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70b2fd694212440592f7b61356f365ec335ff163131080c4f85587315870817",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGH07gNmOpNH4PkVOK9WDlnbpff05SYmbwOzun50-fa1VK8fxNI6AW8eDqzaY5QwnnnANuu6sTM7bLzO-rrRCEvbiVLPKl-rrZFObrn-51ys2nBW5BrXrbGWYXaPj5I2mGRg_-sbj8-hWQPr1cHphNVu1CQDsw9UoEOse1uc8PfcR035rC4AYDH21WYfZfEnYrpTuRL8qoQrMqZeGnilqMe_bZkVIfNpRQ6pxhFj-i_4UbnMF2AYVrDe3UanOsDpuWBo4INNAEI2c1CIGFCDCTOxdBLGqk9c7e66eI0qdOuOSj8hwxrVqDICFNm9sCS9gicWk8NgFqBhWlgTV1CqkGZokL8greIo-s1tPwmmtFAbyYH10I8zGKsjJL0f3osho5ce8mcHo3SvOTpQCQLb0GaKAeLnIo6sfbqPgZXRhLK8S34RKvi2zJ-uU2HpR-mOwSZ-O_KN7zOt5rqfm6UyKTtvuzmDwgPiUXqinRpf1TB4YIw6lidV6hySVRoKiMh4kRgos06wnZf2yLjHgMBptTLNWxPvhiPahuSBXeXYtUx_A4VT2NAqzwdo7rn3i2T8P-JE5_Co8413IfcOnAsNAoYvgUmA8PASsG6xOj606PNibotYdlF67ZtA9O0u3SJuzwxOuaiLCOxVl3fHkbcXHCGX5UEI9aVPMZ9uZzyK5t-FhYwuNvy13pMaP5VGHYTEGRigRg5WDM7sBE6_VD0wViYXD0UD-DiM2mJR7cQeBE_p3NdTq8HBVVOXcvQwj0qcy7OiadzbRyGfFim5iz0gbPJ9BnQSN8uYu84aXr6d3F5SdAPjH9RJlZ7kWetQiU0p43zCdHNsHftLsz79IIurYr7V_gbxkC1jhwKUWyBn7p10SKo2oD4SedKQeo6_OQtD-UFGsiZLKEM3Vh6crUJ2KodByuL0UPkNj9J7zG18VkO2zMXNNuoeMR5qIAatW3rI3lfkybxsAvWIY45YF4jZv4WsGcllruw8BMiJxifCNZ_a6YrOzwakVfKqACJn41U8gW73GXPp6KPdfn4Sii-3nF0zGjsqPEUz8mmJcQQu6160eTxQD3uQlxJ8JyYGAILHyVLkMH2LqN2JChvh29OEp0EpYpCI90wNc0N5tF7jlP_dQm4xGLG8uArAZUCBLBOteQFeFCtqKSkf6r0zlqe0TLQrGHZ8PZDSOnAcNW3emoFdNvAf58br-RVWS4GO_tWFK08tUPrNMaDQEijVLZu3yRuWfB3y8QWUy-LRjTn2SGQA0bQg0W9E4Pn9q-8V6oWaaYaQKOIl_rI0bGYqJb4tEHm73J98RoKkP3tu1neKQOdJWXLtkodxQ1LUH5kIytuNP5YcZPOMhxJcxD3TLNqrC21PDIa2JyG08wk59ovzzsE0kxMm6cixCuZupRIvH0uJQFgcTprufpqi1Z4iCgsciJ2-CHTbFJ0FwcLKiCy4e9DwF1s2fU0ppydtratKSeajW5H7Gp-CVbEuTWcKjj5oN7iL3PjibTFBEVxB-WZ1Rt_6san4dJYWNz0O2o7cEv9Dk3-hVKo4OKyPCD3oEP_afQj4OdAaUT5OwemMqU-zWStU7UClNjmLFgTAX2OuFchCtyzFNxt-Vqf34dVbTQ2uD6Z_mPeZyHonM-xJLc8xJahpHwzVJlOcHMWr6OOYSbtRU8uRuRqCz8XB4wEi7-n1lRSqP8HU1xszDQp-ZNzJp5n-YUJz3EDkHKe0WdRXOevOLNNmnu9USpf88nGzoNXkZ5S5sDfju1oG9Yeyo71ar2f0W3eru4b7Nq9Xm8cgGJg033vAq1Rg1IdX40bs_7i8GafOUV6vtvTZi0qWR99MdIkJkx66WpGQjPUDol4F4NiO-8gngr6yMRdCiv_QZWMCRkovdq4cOQvMH3KauVJ5DAAEEXjcAf9QJ93-2YTm2zZbnABlGfoGcEUmb8WXQH9tlYN2-dVSoXTInuUOH5tMZduw3FIsA8upuH4ZcsF9OBVhqC5hY0rtQDLDxZ-Ynjf-_6eI97uXxpCxmg244cqtUwz96EEnV8ENcYZSsNsvjf46g_EyQdRR1isGiQSuWaJ7lmHOnHi0Fl_sj081eOqbT-w3dYUjzlC-F2nV5BIvxhRBVd3PcJnuo6KlkcXsu0cwmuAekslDtvFMJJ-SmRBn5p0YNcLIpLhi0IQIsXw1jHpz0GPBTgF9eUv4R21NsgTj0baZ1Ve80KuzDIi_a42TZKTsT499UhTtOHCf-du0OSFLzTEn433cGC9gqzFxpQeCqTNBrv14C6K-cAkQNrpYITwjWNe6299PFer45GF0zyUH15I28xmHQGbR4tf44VWEst4baP2nSvtraEJ3kOiBmb8mJyKz2W_8pmRgRknd2dYvEh7aobRHjKhfgbZNZuSuVEmuyhMpVW9l57tIw1rjhcl79_QVVC7_Ke86mF3Fxqv5nfSWJ6wEqFGwm58Y1Ky-8NsvRDVcLcmfuFrdUcAHdspfjpX69fdM0Pv1azb5Rh-yJmmG052oC-SPgrbCDm6_wsTIv3hnAxjZ1IDczczE5UCacV2FWDk99EZ3YkLsAxM4MIl7yRbgCmZ5hwEuC7zUPZNVvoaPnDXGIBS1uwgU7EQiuKXb6CVdQmpR0Ret02mbMfgZ3bf-glGcN3xnN_ZcoeNx9Fcx8pV6rUXGd3AP6REa5hub8xDD-KYBWA0cGHT7CmY0UEk36I-X7BqnUO8r7_ra7LyTajemz7i8h7Maj3KhIEgVGBThtRhmDRd8sBmvTPbakcNmZY2QWOmQG5-0hY3qzbO8xlSPJuegKLXmg2d-tYZzCXBx1-Z2TAOntlnm5CkXOgFFUB6a0lsct5QIq_oHPBwvbJiIWoo5meyx6i01YsC6w2IN_PeODI-6UDps2pq6-GqDkT7Trd1e_vLTSagBgc71VE5TaNNZq_NGOQ9HndaX55wOOqaZdf3hq7GxPZBqpz__jtYrlIyxcnWttYoAjDt2CQ8jYhgMl6RNl4SCzGQCzl9S-EyRBn7MEWWetjxeZ5SDmd_JLisV13di0V3s2EBLMv-21y7WNMj4cvE1UUS8bb7hKAu3NSFG1c2NRPXZu3bg1kKN2TUeWld5Fdj_9cupFZ7Bq7a1yXFGOVyaS1nt71t91u8vgMbGV74oObnfaNn52ThrJldHDD2ifBHh0JjFyPJ7ZZG90ccV6APXNn9Khs3G8IYMza5_QWXj90yNT9JWOR-_g8KHpi2WAkG21Q0d0ihkUvSFN2W3EzWheOjoXLwIzno0wA_ZPTVpE4dR1DAOVKEsG93xIzQ9y5H0UHeyZeCv4iwmVL6-gFO4uEFVUpCg_fYWRdzBnnVQPtC5yn_fsbxQ1WBBbX8eezUUq0tUT7xYQVQmo3CxaKzMuVoQjFN57v6SennhwDgvfBm8PMUGvXj4TpNsxBIboHSwoilpcvBG-5BMs5bHblcEJmYOj5wfFj7z81wqitqweCBtWkwT_UafPQ3SkoXMuYmkSEGJIM-KMgrHtBC9_pWsSObhgW9Hvjz8jqZJM6LMMaJirkqkk_X_561U6gzOoEPWKMR2KSZRncEp668pKj9gUvuj3mm_fatUxVPtjo8_-2Hoo9mFffN_BT6TuPbSFrX-kgYqHAZKJX3VbpiyIHd-ctigniErQInxn0Y5FKDNWccuPunh6P89cYITUAvyQcdqb_5TLGc7WB_1eY4kRKwQjpyf5yVhWChlvB_P_rqPx1Kq",
  "id": "rs_0a7a1700ae188eed016ab461e8d29c87d0b5135fe6adcbf404",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGH04elltdteeLCyaQ6zTDV5AqkxgHGpOxgjvzX-8jC6AWK5SmTG5uAodPQadASAvenngGujz9wm5wtzD9KsGokWgrZGXi82Y73yg4UtyHCj4Ups3A_WrTNkmcIGKvt-zfnsmqDJzJhULy4GW-ynfEJfzolDzfgtCcFss4AQGycKe17J4p4Iv12ZDMEh8w40AAHOXQBPOX_e5wD2fnjXkVCG8DPFLTRkHqF31uagPThWeTVHJu9f-aC7yUbpx8Y4x12T4xPe3PiA-VP9hlQUSfdVi-T8_D9u49dEedm0_8_E66dGZmsy4rydDYr3J_HghfLr25kDAGilIEr-Ffdwf0QC93XLS7AlFcbjY89nr03SaIJJK2mFXC_pjPrlW6PBNMtlLKS1j5De5dpqdV3ywx3So2bKKG_fwxoF0tmoPAhlDsoqfhuLlLjpVVld3RZKwY3JwIh1gAAwxIthD074kQcOjQnkm48UtY7bQ2ISMII0jJSQ6nWW9R6tGsTaZ1IG4fwc1CyOEOfgeb7nYHzq2dNI-Xu4NruMKCZ8pCK8Tz3MWXSTynBRGKK6fmPHFbqW7Fre5Mh8-o9lfyo3FWPtwnYKGy_4FAglX1ZV1Pp2mCpQ-ueId8IYZPoV0CKl8-WuPu1V6U4_qkBIytNeWDvXml-hunNmqf52D8V9hgz43mZ93cCHLn0bFZIjlsTZho7789ueTdJlZjWMb-jgCaFVv7jrIpABH4_tbHQiIRNMW_9sOV0t9lo5lb0xHSW6VZYPf_21sb7mb0C_wZUxCcb2C1htV9bPW0zAbyCmZi7NhNTHdcihb3UunhOLmrcMOQ4cH2wZnYOCoiKgCC0z54elLDFhHXd1ofcbAFcFgVvQtllP3WEstrt5oP3frHFaPdv9txFmaCq1VOo1SmwZKCaVSjDXAmU5U-K4JIj0fdVrvCHk6Q6y26Gkw_4W3QrQSKjlNi4m6XZa4LNBlWGKrA6JPCCFp55ffwAUNKbgrYba9qABf_Wmvo2ziK23uso89LVx2Mt7Pvh0IPLMNZeXwYzCzR-o1G3QN_A6st1jSu7Ymc3mLKJ8vc2a5NqY1hz6B0jYsw5CAJvB-JSmscWhQMCvS6Fe2R7t2bK13Gh_Nvs6in0sIlSJvWQhqzHxClX5C85HDg8fUs6VLqevK8JsGHyD3_XHvVjHYcvSJYORHB1D4QPpah-jmQ6WhuLJ-i4ZkMrEyp6mCg5U3xkdPmQQpmjMnwgtDcQbsGk91oU6cB-jh8ceSeYvm2aNFoQizOxsMVqlf8b1WPxtKi1zmiHK-pIaGu0J6mbrCa8IT7S-2SbFUvxSdvod30W5yUTg8zBjhVccjF9aCgFDNCXCF2p5qVONQC0KCPbjx1etQ9-iyUbe1FAmnKkri82somhBl8CXsJNIDbxhpRkwrqFe8Swk0AC_7tAvMDkr_O8KUmKEKssUYFkbMk5fLVW26dNkaxDq8SOX6Cw_ofdK4IoP0c5nXqoeXM8iGC0CtKR5Y6YsqDxHp-StSvX1kcnL-tctEFb0YTQR1gP138lwJLFMOFdYQqGnboXjpzuTYQCb9LfzdKtBw1O11rYMn8usjGgptFw3yh3gA6yjcXiawaI8Y-PykQIAzt0wpw30MR3vpWk2iq-QHVwhMoKVAEmIvo1-qSUo1Vjq8wQqOC4khojBnkUaBDUP-ZzyXjR_AEdKn6_pr-cjsVznM3w=",
  "id": "rs_0a7a1700ae188eed016ab461f142d087d0b5e5ae302c8aa976",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.065,\"left_yaw\":-0.48,\"right_x\":0.38,\"right_y\":0.255,\"right_z\":0.015,\"right_yaw\":0.45},\"note\":\"With the view clear, the cap is farther toward the bases than my earlier grasp locations. I’m repositioning above it and lowering the right jaws across the pen’s barrel.\"}",
  "call_id": "call_ciZbIHIyOsqiJDiUVO7XKEX9",
  "id": "fc_0a7a1700ae188eed016ab461f32fe887d0a63ee209fc7cf4d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ciZbIHIyOsqiJDiUVO7XKEX9",
  "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]: [-0.5888, 1.6062, 0.7403, 0.0189, -0.083, -0.0559, 0.998, 0.6292, 1.8755, 0.7872, 0.3695, 0.1242, 0.0887, 0.9994]\nstate[eef_state]: left_x=0.3401 left_y=-0.2052 left_z=0.0438 left_yaw=-0.4879 left_pitch=-0.2724 left_roll=0.025 left_gripper=0.998 right_x=0.3752 right_y=0.2505 right_z=0.0132 right_yaw=0.4633 right_pitch=-0.1528 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.4188, 8.9504, 1.8388, -0.1978, -0.0269, 0.0269, 0.4855, -7.8427, 5.0803, 1.8046, 0.105, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1883177276853126c6dad8543c70c7607386d8ce75ece1ef5cf0028ba4bb5b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eda07e84790f401d29e93de3028b48e5fec0e222692029feb545a68aa15aad0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b6097d1ee416492a9a17a8a3b248336558d752196d1eedc597a2e25ce9bd37",
      "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 · 3.961 s

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

message 25 changed as sent

message 33 changed as sent

message 38 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5308, 1.9381, 0.8528, 0.3344, -0.0517, -0.0181, 0.996, -0.0193, 0.8036, 0.6132, -0.3977, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4053 left_y=-0.2232 left_z=0.0017 left_yaw=-0.4796 left_pitch=-0.1788 left_roll=0.0217 left_gripper=0.996 right_x=0.2942 right_y=0.0025 right_z=0.1779 right_yaw=-0.0011 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -8.7316, 6.2974, 0.4371, -0.2222, 0.6667, 0.1099, -0.1983, -1.4701, 7.0359, 1.7509, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3271, 1.1511, 0.7742, -0.3679, 0.0692, 0.0902, 0.9976, 0.5507, 1.6009, 0.8623, 0.0631, 0.0822, 0.0582, 0.9994]\nstate[eef_state]: left_x=0.3225 left_y=-0.1185 left_z=0.1519 left_yaw=-0.4386 left_pitch=-0.1717 left_roll=0.0191 left_gripper=0.9976 right_x=0.3821 right_y=0.2218 right_z=0.1016 right_yaw=0.4376 right_pitch=-0.1134 right_roll=-0.0089 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -4.6154, 10.1402, 1.6972, 0.1587, 0.188, 0.0122, 0.4308, -7.4051, 8.6906, 2.0537, 0.0611, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 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]: [-0.5888, 1.6062, 0.7403, 0.0189, -0.083, -0.0559, 0.998, 0.6292, 1.8755, 0.7872, 0.3695, 0.1242, 0.0887, 0.9994]\nstate[eef_state]: left_x=0.3401 left_y=-0.2052 left_z=0.0438 left_yaw=-0.4879 left_pitch=-0.2724 left_roll=0.025 left_gripper=0.998 right_x=0.3752 right_y=0.2505 right_z=0.0132 right_yaw=0.4633 right_pitch=-0.1528 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.4188, 8.9504, 1.8388, -0.1978, -0.0269, 0.0269, 0.4855, -7.8427, 5.0803, 1.8046, 0.105, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1883177276853126c6dad8543c70c7607386d8ce75ece1ef5cf0028ba4bb5b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eda07e84790f401d29e93de3028b48e5fec0e222692029feb545a68aa15aad0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b6097d1ee416492a9a17a8a3b248336558d752196d1eedc597a2e25ce9bd37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGH7Q8Rw_SVGGqEvVAwEQ0CNOMw1oM65qxMVSllxuP8uBm5tXwqVrrLaWNvvCY_IXEOLw0G0-zWZzj74Npfbbr4WMFJbpKOp22NbE06lzAZv_aGGcKJWs-HzpgQAvw5iZ1qMWmD7jR_Lw-yGk1YQQcp7Hfxrnkq6M1g0UM4QWJ6TYaLeEfS_DQuQNthiVaPg8XbtXIku7MYEohMW6R-0BVedRh4MrMFlWujY7O32WkYXczPphKE8QM1xj_hHqw8oAcNoTiNZsqIk_fTjTtXWftZMDFZygim4wazD1Psqdc_pV96bCINJ7EBqs7B1eu-EDnndlpCfRbme_6EL-vLOHTCyamC64-CPPYqD8CBjDCz-QnsB7Y0L1qjxpwupNPwJXGhCH_XogEtFbLD44gyEGezzXW3aLz6009Xcv9XSRVDW5unDd26psCeQS1e2KC7MSMFkp6y3vI9CFh-oymYQ3ZPkEnaBJY1tAAIYIz3o2CdUUPSHDsj9Q0zlNCqAir8kAUAHqbeDYs9wgjwygpxScZzr5P0KPoCHvPqUzTej_MrzHEu5ASldW4j6HGhfu9iODqTS1EoF5wLcalhWnZDC7TYWojOnoP1eEd7XabcKMWUCCeq-t7vnefovY_bZHE_w2ASx3e1LR3lJg5PoMgMJKFX4lS331mlAJxihsOqC8zT5VecSXh-ral9RjLFW12xiolpVww04OqjRvwIzTV93VI3lY-xBR2tjYhVuT16OAHbSNbOmo52qguJuPS5oR8dfCRUHo7mb8cRXCEpTx9Mmgu3KTPcu6RjhBmiu7llZQ9LHi8pVuQod5B9Q5tItGLYTosTD_APohbhBCq5tDG5HdnMit_lmvBqS_t_q46Ittywh0l3Jc4BZ8xj72uOxPdlf25lDLrEF4miyIZpmXlUWouMhwlSX2Y7no5LBzD41BJ5AgUFzGd0nREqOug1TYtt2iHmOvRh3QS-6X7pMn3MXQeW6NxTwaA1OTOIkdeJ8ZUC4BSSmio09sMImOKxegRmO52e57PM5SxRDUyitlVoKEw4WECsku5M5MR-cMWHC7h_2Jod8GRcxwynYf52OEvR_vFSNEQyEB5uUVpesUdkzCj14gBVTgf7IpJTiy-xRabEC4AfBxT_PJJG0Ltuy7yZPGJN_VkyDPbczffV_DbZOcob87eyJH_GHHHPUmY6pqKIaCdD1rHCKoR78RVDQo6PJE0t2PeKBru2DEIKlbx51dUtqKHqy0CTXiCaGc--BuicUH6mpvfw8HeSntBTV4rwdGAVYKAR1s02tKo6bfbicQMyg60MGYhiX1Y9E4skUN66MW843aJx0hB92MoJEzFoaNXzgVAUcEPVLP9NAlh69FXhO5sGHT7OaL88W-woPirhD1PelxeYTseuc0Hm12v6bhF6b-vvitZAALiFt6eNdbuFW1r6mPNATr938YrUoHYJl0H5GF_AfypUAMV6Vx2QBEPKU79B8tmyDxLpSjCz2HRTPFksdbTjnTTlxQv6HSUP7hu8N3tHve26jqfqaCEW6wsDG-lHMQYcIETfJDb76G7qxVpCJhksVpLV5o43Q7ogMKAIctRKJtSxCFTkNag_cdtNBARVgsqme5OcmfWSL4j4Ah8cjCoZmwVtfkyfGUfIgyw2RQEeW9K7jIHE_qqY-rMXk0KmvFnXZJoSko7wopsfLVyYiacdReOJCCajlWPWr6wTVJwuSK8DyIikEi9VNS2mJa0E6vBJ3ewAWcRVrWxZf2afvBtSOKpys0vIUZVQr0wjCQQ8pf_cyC1k3nMbXztDCfOdt93pR9K_Rx8KoKUuZHiR6QlGNxIZYxt-NZW764qE3X0mOJzIk3YglcuDpfZtpMBm01Bnhlr_UGS__CNM2OQX8_7M1BEqbcOP42bJ1bB8=",
  "id": "rs_0a7a1700ae188eed016ab461f83f2087d0881394e371b375fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.384,\"left_y\":-0.21,\"left_z\":0,\"right_z\":-0.005},\"note\":\"The cap is clearly visible ahead of the left fingertips, and the pen is centered in the right jaw opening. I’m placing both grasp points at table height, advancing the left arm to the cap’s midpoint.\"}",
  "call_id": "call_le4w76qUkMK8lM9onxjrL1AH",
  "id": "fc_0a7a1700ae188eed016ab461facd0087d0992db1667c461b74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_le4w76qUkMK8lM9onxjrL1AH",
  "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]: [-0.5293, 1.832, 0.8036, 0.1604, -0.0597, -0.0414, 0.998, 0.6304, 1.9171, 0.7773, 0.4271, 0.1276, 0.0898, 0.9994]\nstate[eef_state]: left_x=0.3743 left_y=-0.2026 left_z=0.0003 left_yaw=-0.4564 left_pitch=-0.295 left_roll=0.0185 left_gripper=0.998 right_x=0.3764 right_y=0.2513 right_z=0.0025 right_yaw=0.4611 right_pitch=-0.1464 right_roll=-0.0185 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -7.2821, 6.5709, 0.9304, 0.1001, 0.2857, -0.0122, -0.2803, -6.7624, 4.3966, 1.6874, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb37d19196b6c5aa278b6bf6d601723811a18c6f7ba041934d6ea20f1b1fa8b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b851c27c05e36409fe4e3c164ef80c48a3a5045efadf34ebff69434053c0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4aa6d5b5111ed1c29439fad8035812a5ad8fcabe15722d340e7f18fe8d56cb",
      "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 · 2.641 s

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

message 29 changed as sent

message 38 changed as sent

message 42 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5159, 1.9511, 0.8421, 0.3847, -0.0509, -0.017, 0.009, -0.0193, 0.8051, 0.6132, -0.411, -0.0261, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4112 left_y=-0.2188 left_z=0.0014 left_yaw=-0.4662 left_pitch=-0.1522 left_roll=0.0206 left_gripper=0.009 right_x=0.2924 right_y=0.0026 right_z=0.1748 right_yaw=-0.0011 right_pitch=-0.0435 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3043, 5.8325, 1.1551, 0.1099, 0.0708, 0.6667, -0.3624, -1.2923, 7.2547, 1.8144, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 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]: [-0.5888, 1.6062, 0.7403, 0.0189, -0.083, -0.0559, 0.998, 0.6292, 1.8755, 0.7872, 0.3695, 0.1242, 0.0887, 0.9994]\nstate[eef_state]: left_x=0.3401 left_y=-0.2052 left_z=0.0438 left_yaw=-0.4879 left_pitch=-0.2724 left_roll=0.025 left_gripper=0.998 right_x=0.3752 right_y=0.2505 right_z=0.0132 right_yaw=0.4633 right_pitch=-0.1528 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.4188, 8.9504, 1.8388, -0.1978, -0.0269, 0.0269, 0.4855, -7.8427, 5.0803, 1.8046, 0.105, 0.0952, -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 42 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]: [-0.5293, 1.832, 0.8036, 0.1604, -0.0597, -0.0414, 0.998, 0.6304, 1.9171, 0.7773, 0.4271, 0.1276, 0.0898, 0.9994]\nstate[eef_state]: left_x=0.3743 left_y=-0.2026 left_z=0.0003 left_yaw=-0.4564 left_pitch=-0.295 left_roll=0.0185 left_gripper=0.998 right_x=0.3764 right_y=0.2513 right_z=0.0025 right_yaw=0.4611 right_pitch=-0.1464 right_roll=-0.0185 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -7.2821, 6.5709, 0.9304, 0.1001, 0.2857, -0.0122, -0.2803, -6.7624, 4.3966, 1.6874, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb37d19196b6c5aa278b6bf6d601723811a18c6f7ba041934d6ea20f1b1fa8b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b851c27c05e36409fe4e3c164ef80c48a3a5045efadf34ebff69434053c0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4aa6d5b5111ed1c29439fad8035812a5ad8fcabe15722d340e7f18fe8d56cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGIAi06Ks4OCCK85RllW7U4ZjKJYvj1-Kpw4LcgGe_9ah6mVaCLTzPjPmJyCmbl81-qnGlAdizePwxrFQknEFO8sC-gHDpSvAHHm8MwIpjIMq9jfkxBF2XwwQCrmrcutBgMPwsbMiSXiiCDyqwtFRG3GFk-2NyUwuNGDFv7fM7yGrDLVfHrt-6TfT-T8mm9b9VSl-AlUwFwH6ty7sgv0m12ieoy8SyvAQMJoKigDFkVnIc-K2aJgcehJCw-syO6JWF5Dd4YUy2WweCQHug-kKEYjg1lToGInNmD7gEK_8b9Pyr7aCSrll7UXA0Kr79q4EFgMIxXfYYUQdhmyu7DWOWUyqM3NcVOF7fvbqFBhTqkKRdGnlRZA1e_z_3tPfSbGKJP1geakDgOo2YFVZ2nWqss0lW9TKwHfoRu8U8V-hPykpFUzpgQphXOE-7QYLWx-Dy-bXcw-v4yE2qIBCxQYRZDqE9g9Ae4iIBhLUQ8zQn1bxmc-uX_JM4qSRm4ao00PFbhRH907lzDr3bPPpFM95Odpdq4ifxMs5msXjg-hThI_f7pGFKUoCdqxMfC1qQDoTfJ14fzY2xFLuEmyeGjlXxhS13Q7ENglD3cAoIkVcNv5wM_Kem8cWF1aMliC3trs1SzOcS9Qz95EqAv3NB2vUw8aL7yydww248C-Op0RgUzN2Ro2L0fSkwJ8h5pDKTirk9Jum6X5XWfdYh5RCnfMaQTOzEDia4N5fHm7aAzwab2MqHgjSn4hSTP6RaVUH6VY793jJTTGqrd9xgiRO_BQUXIhB6aDedfehx3AAeTDFaJjEDKus4SLwilFu6Y8PNDjGJYPG04Tg-tL-ehBALv-GCAjLFlFKsW9pRFcYyyWkF-OnbfOP8JqGSnty--2YTr7o3NhIxsK2WpXaw3AmNiVndBCJfHU2tKOFpfolptRq0ESWo4AWWpj86WEcz45olcFu7r_Q5M9hzPX3uXrMIM4bnp7WW9SyVTGqGkstxSSny1o0R4h2oRSLI1U1y4x-q917WMaCi1hoRGyiCL7EtVodwcJAgZg78DWAVYmUNtO7MU-CfoijtvCy2bd08puvTgYkh0Fw63XBK5awkZoLWjqt2U04-sIyktetRCFppBTrUzbhax5enyV5Y59HsSGILR72Pg9AccjaBTqWFbfrzdohPgj5DG9qsenzmp5gFYeAdi5pmWKFkLq86RVaFCo5EkMGHaKpOsOnvqxqU-i7MzlHAY1K-AbPgrxVOnFBWzn1yT-ikmFDaPLB0pw6EHGgZntFiPgSKfCLelIoHMh2YlYHXL9bOLd-vOXMRfJCXe6NKJ9ou5yP0ixRJy6ESnoZeK8FkD7ns1UM3j-HfR8YFjFGV35EhjQeZ1Yo3uxaOuHb4X5xEyV0Tb-DILfpFr3UuA5mVRECwjXjIU3LK9BzBJj5mMXbS-suRNC6OJbMqqYy9-TKK_oVSaJo9JjX8OoMndRLLdHkVLoyVmdPEJ-QPJr5XpvBKnhBgXg9FuHEYMUQE8zOS1Ns7VfNS9EOxEqWIUbsmEEzGF3XF0Xv6_DjsYTGbJ1fg==",
  "id": "rs_0a7a1700ae188eed016ab461fdd2c087d0ab4ca50c1ea45258",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.383,\"left_y\":-0.202,\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both objects now lie within the fingertip regions. I’m nudging the left gripper slightly toward the cap and closing both grippers to pick up the two pieces.\"}",
  "call_id": "call_aH0Xjjo7VrBayLJhzj0F0jUe",
  "id": "fc_0a7a1700ae188eed016ab461ff276087d086440ceec889b28b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aH0Xjjo7VrBayLJhzj0F0jUe",
  "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]: [-0.524, 1.8542, 0.82, 0.2062, -0.0486, -0.0208, 0.0446, 0.63, 1.9221, 0.775, 0.4484, 0.123, 0.0826, 0.0437]\nstate[eef_state]: left_x=0.3848 left_y=-0.2083 left_z=0.0041 left_yaw=-0.473 left_pitch=-0.2558 left_roll=0.0215 left_gripper=0.0446 right_x=0.3777 right_y=0.253 right_z=0.0035 right_yaw=0.4688 right_pitch=-0.133 right_roll=-0.0188 right_gripper=0.0437\nstate[joint_eff]: [-0.1709, -7.5009, 6.5983, 1.2869, 0.0366, 0.2222, 1.409, -0.1299, -7.4051, 4.5607, 1.707, 0.0415, 0.0659, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d90e143fbfca6aba02ed89460b2e86f804de03c42e98accf5063082184f1ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477189553bd46c99b59d0f4cc534843bd8985e67f9b9af95d4f77a0ba7af9aed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd77afe38937bb86440cdd9af32039b6d7f11071541da22f792bd6b7494c373",
      "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 · 11.28 s

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

message 33 changed as sent

message 42 changed as sent

message 46 changed as sent

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3271, 1.1511, 0.7742, -0.3679, 0.0692, 0.0902, 0.9976, 0.5507, 1.6009, 0.8623, 0.0631, 0.0822, 0.0582, 0.9994]\nstate[eef_state]: left_x=0.3225 left_y=-0.1185 left_z=0.1519 left_yaw=-0.4386 left_pitch=-0.1717 left_roll=0.0191 left_gripper=0.9976 right_x=0.3821 right_y=0.2218 right_z=0.1016 right_yaw=0.4376 right_pitch=-0.1134 right_roll=-0.0089 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -4.6154, 10.1402, 1.6972, 0.1587, 0.188, 0.0122, 0.4308, -7.4051, 8.6906, 2.0537, 0.0611, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 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]: [-0.5293, 1.832, 0.8036, 0.1604, -0.0597, -0.0414, 0.998, 0.6304, 1.9171, 0.7773, 0.4271, 0.1276, 0.0898, 0.9994]\nstate[eef_state]: left_x=0.3743 left_y=-0.2026 left_z=0.0003 left_yaw=-0.4564 left_pitch=-0.295 left_roll=0.0185 left_gripper=0.998 right_x=0.3764 right_y=0.2513 right_z=0.0025 right_yaw=0.4611 right_pitch=-0.1464 right_roll=-0.0185 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -7.2821, 6.5709, 0.9304, 0.1001, 0.2857, -0.0122, -0.2803, -6.7624, 4.3966, 1.6874, -0.0269, -0.0269, -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 46 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]: [-0.524, 1.8542, 0.82, 0.2062, -0.0486, -0.0208, 0.0446, 0.63, 1.9221, 0.775, 0.4484, 0.123, 0.0826, 0.0437]\nstate[eef_state]: left_x=0.3848 left_y=-0.2083 left_z=0.0041 left_yaw=-0.473 left_pitch=-0.2558 left_roll=0.0215 left_gripper=0.0446 right_x=0.3777 right_y=0.253 right_z=0.0035 right_yaw=0.4688 right_pitch=-0.133 right_roll=-0.0188 right_gripper=0.0437\nstate[joint_eff]: [-0.1709, -7.5009, 6.5983, 1.2869, 0.0366, 0.2222, 1.409, -0.1299, -7.4051, 4.5607, 1.707, 0.0415, 0.0659, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d90e143fbfca6aba02ed89460b2e86f804de03c42e98accf5063082184f1ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477189553bd46c99b59d0f4cc534843bd8985e67f9b9af95d4f77a0ba7af9aed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd77afe38937bb86440cdd9af32039b6d7f11071541da22f792bd6b7494c373",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGIDWS1WKDGHJZADrBHRShYc144pTtynEPAjSCNxaJ1eeEWKKAoHBPasytGBdrZZ2dRy0qxrNWy_Ev8mOhrBf5JP4jf-BuwkSCg8d0x5xuKKyru0AQEG5UVZ9wvf3PkN4smRddRDIB_PaoAZhp2ysGoE2fynVoBC1XSCjqnr-p3vI4Npqq-c2tkP2jgROcjWPJEcJqTSEddftDygufWDcFVLiiFPv9W3HNONPpmT1s11auuBmfN9_DiT4Gpg_TzMlqsjhZlL6uhsFkTYjpcTCYTztJcDyMFj3ks5XnC7CalnWmcP8Fv4i-H1CaodbBfPMk-IeLUdGXN4mgGqMfsJmGHh6nQgn4CrHQIXH2d-dOCiY-FG5Bp97L3xEosbC82XyfqA3u_fvsfDiuJClUHlhdywEF5gy286TB1azZxIQfVplUJEB-cU_MqEO61C32l5iSzejf2RSA3aS0GGE8DRzGUe4qZsSn9KkxlrEBOfwooWC6GqkE7PGiOih2MfnmxO_0yT8BQK2chAnXCZqZ2yGDJsoxCQ0YN9eeTz_mC7mpcHom_01LUsCGtEhs1_x3yJIKge1kxgWrXWOBoWvyCEl3HgJF_lTBdQEZOE-Bsdyv3Fj-MJliKGk9dgGrfDjBXadoxLlpoLvy9CJuxhYNnxfMshQJAouf5YDeRIX4cYNhhS53tOTP4Ky9k9m-qjS3ISOZG-jF9BVSbrYBWkl5S0KeC0keg82irjt1jC2DcPeggR8yzgSsL30pqfrJBDhFykr5TPX2w_Vz_HGSmsoRwMUYl7u0CwlvH8B1OYUn-_ugitPVKojze4vXhKgp3zpsZXxXDRr86NfTOEOmItWx5oYZ3WbmVWVBYPtex2Cp4I1PtC9ETvH0M2Brf2r9wWgQr9AZ43F1ONGAow8UKLvTiooTGOfIeL8PxwLiCU64VTxYvVOGhDJIkIan0QbCByE1Dyl3t495SO8WiXacjBxfomk1JfvhSTsKiuGa-edY9gdA_HbcS2T2kF8-gZh07xD5jPoE3Gsdh7T9p7Fd7Qklm3EZNBp5pSSdLdMJcTCSi6VSc0Hqc7MOFY_MHl_8SR7lQf3MJO-MEmias5kQxD-Ddsh_GLVRy2CEj9kx3XRpUMn5of-g3xMts0fbUaBCGGGITV0-4Emw55VQfxTdRVTC1Y8IRmlRkfgIN-vZuBuZfXOsuQFSwCdf6R8hEIqwQyIYkhRYC0HWcCZwjndEXdOKzmXNVwyfU6oLV5-mQnhewih28Il3Qxh344BzTkXsJl9-JaHqlAMmZivfdx4KUVOu0n9XG9wkfLgnwbiC9E5x4Szlm_aiL4wJp-Mgrv7kljSpzGNlx1ca4ucyh1VkUlrCDy5VjfIw==",
  "id": "rs_0a7a1700ae188eed016ab462027d1087d09d9eba009e9aa461",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"right_z\":0.075},\"note\":\"Both grippers stopped slightly wider than an empty close. I’m lifting each piece five centimeters to verify that the pen and cap come off the table.\"}",
  "call_id": "call_yqGkuoAOflNSLKO9eUSwmsiB",
  "id": "fc_0a7a1700ae188eed016ab46202fa2887d0b7654d5cb61e0528",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yqGkuoAOflNSLKO9eUSwmsiB",
  "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]: [-0.524, 1.713, 0.9051, -0.0418, -0.0513, -0.0261, 0.0468, 0.63, 1.7508, 0.8463, 0.2028, 0.1192, 0.0784, 0.0464]\nstate[eef_state]: left_x=0.3811 left_y=-0.2056 left_z=0.0527 left_yaw=-0.4673 left_pitch=-0.2774 left_roll=0.0211 left_gripper=0.0468 right_x=0.3767 right_y=0.2531 right_z=0.0579 right_yaw=0.4742 right_pitch=-0.1364 right_roll=-0.0201 right_gripper=0.0464\nstate[joint_eff]: [-0.212, -9.8393, 8.7863, 1.453, -0.0562, 0.0269, 1.0379, -0.0479, -9.8393, 7.9658, 1.5458, 0.0513, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7eceafbdeab28245c7f443ae34762cb8299e21d79bf39730369e5b454bdc27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07211436aa5a1221d798a8ff64043a8cdcba2333e1d9903bbf3ad5f69b637c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29622eb9c5cb54c2774a65bd23105636ec0db8709479031b17912d8fe5ec3b7e",
      "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 · 9.353 s

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

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 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]: [-0.5888, 1.6062, 0.7403, 0.0189, -0.083, -0.0559, 0.998, 0.6292, 1.8755, 0.7872, 0.3695, 0.1242, 0.0887, 0.9994]\nstate[eef_state]: left_x=0.3401 left_y=-0.2052 left_z=0.0438 left_yaw=-0.4879 left_pitch=-0.2724 left_roll=0.025 left_gripper=0.998 right_x=0.3752 right_y=0.2505 right_z=0.0132 right_yaw=0.4633 right_pitch=-0.1528 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.4188, 8.9504, 1.8388, -0.1978, -0.0269, 0.0269, 0.4855, -7.8427, 5.0803, 1.8046, 0.105, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 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]: [-0.524, 1.8542, 0.82, 0.2062, -0.0486, -0.0208, 0.0446, 0.63, 1.9221, 0.775, 0.4484, 0.123, 0.0826, 0.0437]\nstate[eef_state]: left_x=0.3848 left_y=-0.2083 left_z=0.0041 left_yaw=-0.473 left_pitch=-0.2558 left_roll=0.0215 left_gripper=0.0446 right_x=0.3777 right_y=0.253 right_z=0.0035 right_yaw=0.4688 right_pitch=-0.133 right_roll=-0.0188 right_gripper=0.0437\nstate[joint_eff]: [-0.1709, -7.5009, 6.5983, 1.2869, 0.0366, 0.2222, 1.409, -0.1299, -7.4051, 4.5607, 1.707, 0.0415, 0.0659, 1.1258]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 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]: [-0.524, 1.713, 0.9051, -0.0418, -0.0513, -0.0261, 0.0468, 0.63, 1.7508, 0.8463, 0.2028, 0.1192, 0.0784, 0.0464]\nstate[eef_state]: left_x=0.3811 left_y=-0.2056 left_z=0.0527 left_yaw=-0.4673 left_pitch=-0.2774 left_roll=0.0211 left_gripper=0.0468 right_x=0.3767 right_y=0.2531 right_z=0.0579 right_yaw=0.4742 right_pitch=-0.1364 right_roll=-0.0201 right_gripper=0.0464\nstate[joint_eff]: [-0.212, -9.8393, 8.7863, 1.453, -0.0562, 0.0269, 1.0379, -0.0479, -9.8393, 7.9658, 1.5458, 0.0513, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7eceafbdeab28245c7f443ae34762cb8299e21d79bf39730369e5b454bdc27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07211436aa5a1221d798a8ff64043a8cdcba2333e1d9903bbf3ad5f69b637c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29622eb9c5cb54c2774a65bd23105636ec0db8709479031b17912d8fe5ec3b7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGIP6pc2uFsO0eXCgBvg3LO_0H5vePIH1loROIZL5PElpk0CzHe5qU8nUCO3V-RKMY7Nw0hNLhe6aWO7QUmv9O3l5uLdJ12DH7kcXbQ86mmti1fyZnXpgVjZbGDTDFFcLdpElUyZDxRqzqZOMkRA_QUVakNaKrA-FTM46AozUFYVgOT5-sXMpStOq6XTNqmaxoGIipT4LMr-2epPJlLicU-SvwrhG3eSD0GPorQnFYwTBB-dGUmq_5kWzzdHPVFpjJ5sv9bE-bzx9_VdhTRZZJ9E4jb68Br2F_-E8WUF5yokxvHj-BX6dUWx5ZaK5YnuVFzBT88ZdKgsh39XOlNs9fTF5_j6Qa7zOX3IgY9JNZ9qDs9S2sV_AvFI0ZAkuXZii8G9nRsn2G2vvXB71hs1f8fI_3XPrzt778MFu0It0xi-6c-11U0VGVsgjBa7FRxfTWJi2yZlYh7twgvFxxZe6H5BiTUR8h19SA4RXVkGNc1v4CkZGmymjW9x47yEdM3NoFehu6UXpo0HYaGsev9L5f6pSYN1ORm4Xm4kUZ8yfXWS_0_WCCVTGhay1LGHCD2m4f9J9YPWiUD52pK-tkP2Xs_HW841EkLEOqNmhdqizK26DhS41pyMh_0WTU40YBqb3zSV1EuBWYC6CH13yG6G2t8HSYR4UCmHWeYcF6tZ3m-R22ER71h5EmEcbO0kwWN0sRAwpm60wpaeIQs_8uCjudwD4BshiAxuihtsG8_DvzQk8sZnErzQ13cMDxZ8i_9GRiFX_a9eM5jpJkjzf9OHRKSMNBDzsvm0ivnCiHE_qCoWZCr3Bqfe7boeB0_FJdmFBo8_sSi04k1V1zW725tlnHpTSIfbXEvRQf4d8AV9PyX2KvC455qFoUu2bv7CYnMtV2PfdPoeXOfucYlqngT7_Z48BWQx3iGBGbh59TdlQKadlIW7CqiafhyqEoi4g9p0M6Xd8nh-SiMn1qv67Bbtz71qGj4sXvJqXKw89U0O_9uNXQno3tKRL6ojJNW2GQcGA9HaNe54ETW-BiD7J5SPPvAcVTRbSN4cHZpY7QhlTI1dubQSNOh03_-HKGVVOiv6avcnb2zkECEnOkAf9EIi3czuE5Qk9LkO3YYqS6Br_7Cbsvv8cNjfMs4oioxVtUQ1Sy6Vw59G-zDZ89VQOQTc6FUwT6DNz59w8nutXw9loCxCdA49vnFYIYDb8PqgO7kW1cOQ3ZnPXqzg0rnd1J4KkyGqb4mnQ5OJX4kZnuJkmPlOTrqTXODM41f8Q3wTcXzMEe9GSYUeJk1W5cd0kMP2ejrV82ZM6i-gXKmzPFORgCmlZyLtt7kxhypzrxoi4wvp7vpsX2EY1RoRcXMnsVQMtvJknt2s4liEQI6KVAdqwW4bfAQvOH6bpFtp-l9pbJur4S1FJWa2TaPFvqE7g_xgMFq1ogg6Iap5GWZYQF0wEm6nBe6FMp2XsBTRDdt-RodORzuzdICITXupN3yfORcoC4eBSYF-WXzlua1J_Q49omgkzgYI7XH2fQVrgVIZAllDLhXilywm9ahgNhvo1tLXS4JOTiLjfWa1w3g9pfwWtQUXdjhaWKrUHZN5s2A9_0TVFtjoA7cMjvGRS7jMiKFD4jMsFXDGk3ljhQVYvzTkUS4JlZtPXPAuzDR0V9rhZvcqER8oj1ITEdKKWMt2k9BGNJt30e-Z810Qc3u4olwRd48b6qshlrX-56R9gBnLSvXcHy3sOLPpHPihLp9JiVxrtMEpCa_Upay4TRv9axPAXKtDrvdZAgeSDoiKCcf6LPNde0RDh6unnWOOWjJIUL_LeMVI_WZ3Ou66vqlwJhatwsaUYfOfe7VE0UCCFeEmI3CLjB67h3tweHQoreSckf9j27eDxQzF6YflTvvlfiT0-9MFC6VQrvhNVtEdlFNDVm1EG6prLAk9uHd9rc2jTisJBLUAGRuzMeVT37fqY-DCEnjUDitybUYEvFn9u8C8puNfkzF76G0JcxB-dI-RiumNGkmi-O6k8BB81l9VBdw8lHJA6m1QTZOUxWtLSENB0HsaCWHx4Ppfd-mJf8dta9ddK9meUl39fqyCugYkGE291zSZ009JI6H86lbwDp37QgV-zB2aHdmXmDSbej82i-b_MVbyV_4eK2-if8OvgwbWodbBTGlQ0EUAoXY8MLcObW-XCOiMJApQHZ5MLCWvFk4HUlKz54UXnd5cmm9oCv_l_W33XR7kyRZAOfvJcq20gBgPbCHhFE8DtERQOa2n1qu5e6ahcDn9xyam-SPZ7RmZlIq5Ap9kS_G_4bTj2umQy4YIFOBiIZ_4VjcQYR--CwEG3wdt1YBrPgXVTxCqh2fBZDpNln6IXoE6MerKj7LoCYW5qfKDsKNzINDdcoA0RvM-gwXNubYaXscrcC7xVisQxKs4H5_UD99i4-mW9d_RbClDLusDnA2d_WtU3TIBbw2H5dWsVLOuqacXt08mq6RX65fukNh2zkXWf8AJs9asEDtSLYlmG8tBeFluskaavtZATyARRljLxhFfaYCoPkpUlzqwrkYyBEy6u0-dKbRPfmvQB7Y4Mj7Om2gjwb3j7nJ3nGb8c25804_bd7AAd2CIZaIeivf44RmvRVBWA6fNK575nT412yxfaxueabvyUm6GpwLB2TPcm7pjvpOEGPoT8T8qrIJ5Ve54gVfiPJMTh7znSpM4FgOFviWHqa5jYXkStsSyz1SYDp_a6nSIaFQcK0zi6ot_IQxZvTcbmTzLqyZOaV-fukfCGFsVY9x3z9KgKzscmf9hOlsRsABwhgo_QCCm-3i8N8-A_GZpx5Z_Y12kdjWhQ6CZkRjwcrkbUgHe6EW0yYq9TJr_48i6i7Qx3sNdMice43RpxVGiuFm3i70Jjx69zNo8me0YqAbPNoaPI0EMz7h_6kXG51o6tAa_WJOv7NjSbdHWk_jiZeJ1mk_KEttLWdn-0_GurU81Gg_ZSoeLI2kyFVwwCTlf3xYKLhu79iwiSmK_k9inC5MRGmZi6J9Kh-k8IqkVHY-ntbuhORHa7FUH35dbuSltmpbBl2HweEJWfBEVpTZjQ8QeDExZ-zYMKFgkBHaZ-lUZj19wT9fBNrom93iKEyRKbnDREV0oVWnGhmVYycCG9HZHiKnz8AaPLaR6mZsI9H0m66uF-WJE48cZoh9ukEjX5B1Y05HQyOsiJWVlNiJH9ovgJo7pc-ZrKtTWgfsCGPsCgZb9mmkFS0673IrdCFfqYsxf8rL5c8PbaKf-aH2RNKE18AH-_N8O8UlxDyP0liUG0pAUUizN1dpsqMvauRdzoc4vEZhxwyuw0uWCByI1LaW-1CeIVNLo0fbfRRbhB0HCLVw-tnYPauFJtkTSesJTnvDrGabSJKN6ocooM3KSYp9xRCWuOuoGWqkfO_Dt34HWzk0culUU9_AyHi_8YvWwz_-ycrXce_wJFVX1OmzHZ237lwoYvP_udVquZcp_PDDVKz7GKq6z5h9gdKPxGIIMhg0ujyWjeDPgaZTJao5EsFRsBjK1_wxahtAcw5tnCZspZzqf3ntC7A5mVCUI5YtunW8IcH3yMDFFmm79WHQe1EBSPryIljZgp1VNa8_LOU2_Pmr2ULquqG69eZE35ZY3ptu40QgXHx2evYLY3UdhDZ2ZM817SsqgpfRbI11MBEOxsu0dMx94R30SSNdjmuRXCwjw4nsE0J5V3wXmG1D52taJkuc7EKXls_pLgISpb_CWTwFEFsx_kNHmWAuZh4XxIY0F0jyqP1boka092tzwP2uoauzJPFXmrQd0QXLcwxDvTW-pIjbGZ113VkoGGGI_aOzQulf0bbXHuLMgSn9UMR_Rv1z7ynCoaZX6EBNENdxJlta1-OLT-JOz_ullTcJz5kIgci0XccSB3PzqPoTz41MWurEoIsSpyqiALRTqYjhn0IHOn3e5RA==",
  "id": "rs_0a7a1700ae188eed016ab462059c8087d099cfd01c6d61f4d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.28,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":-0.25,\"right_x\":0.32,\"right_y\":0.325,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":-0.13},\"note\":\"Both pieces moved with the grippers; the pen tip and the cap’s tapered end remain fixed in their wrist views. I’m raising them and turning their long axes parallel, with the cap ahead of the pen for insertion.\"}",
  "call_id": "call_sCkuOqlsckqEBOQikMDkKpY3",
  "id": "fc_0a7a1700ae188eed016ab4620df7cc87d0800c531428ae9ac9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sCkuOqlsckqEBOQikMDkKpY3",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "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]: [-0.6304, 1.985, 1.7863, -0.786, -0.461, -0.4961, 0.049, 0.9234, 1.7805, 1.3983, -0.6914, 0.7227, 0.7673, 0.0507]\nstate[eef_state]: left_x=0.456 left_y=-0.231 left_z=0.1741 left_yaw=0.0456 left_pitch=-0.273 left_roll=0.0642 left_gripper=0.049 right_x=0.3444 right_y=0.2677 right_z=0.1566 right_yaw=-0.1011 right_pitch=-0.1622 right_roll=-0.0922 right_gripper=0.0507\nstate[joint_eff]: [-7.4735, -8.1573, 7.706, 1.58, 0.569, 0.1245, 1.033, 8.4444, -6.7214, 12.0821, 2.9182, -0.1197, -0.6862, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b4ed8fb48fe81fa985d48ae5410ad4de3a586c0810ae9f59d0d0f853409116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cfc9f81f3a9168a2e72db7f404ffb4375af1f81c54d78f1179ea75abeafb8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeae650e2032ede19a4ce8dcec0078fceca5d740fecea998b1f354ea6ed1112e",
      "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 · 4.771 s

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

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 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]: [-0.5293, 1.832, 0.8036, 0.1604, -0.0597, -0.0414, 0.998, 0.6304, 1.9171, 0.7773, 0.4271, 0.1276, 0.0898, 0.9994]\nstate[eef_state]: left_x=0.3743 left_y=-0.2026 left_z=0.0003 left_yaw=-0.4564 left_pitch=-0.295 left_roll=0.0185 left_gripper=0.998 right_x=0.3764 right_y=0.2513 right_z=0.0025 right_yaw=0.4611 right_pitch=-0.1464 right_roll=-0.0185 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -7.2821, 6.5709, 0.9304, 0.1001, 0.2857, -0.0122, -0.2803, -6.7624, 4.3966, 1.6874, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 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]: [-0.524, 1.713, 0.9051, -0.0418, -0.0513, -0.0261, 0.0468, 0.63, 1.7508, 0.8463, 0.2028, 0.1192, 0.0784, 0.0464]\nstate[eef_state]: left_x=0.3811 left_y=-0.2056 left_z=0.0527 left_yaw=-0.4673 left_pitch=-0.2774 left_roll=0.0211 left_gripper=0.0468 right_x=0.3767 right_y=0.2531 right_z=0.0579 right_yaw=0.4742 right_pitch=-0.1364 right_roll=-0.0201 right_gripper=0.0464\nstate[joint_eff]: [-0.212, -9.8393, 8.7863, 1.453, -0.0562, 0.0269, 1.0379, -0.0479, -9.8393, 7.9658, 1.5458, 0.0513, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 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]: [-0.6304, 1.985, 1.7863, -0.786, -0.461, -0.4961, 0.049, 0.9234, 1.7805, 1.3983, -0.6914, 0.7227, 0.7673, 0.0507]\nstate[eef_state]: left_x=0.456 left_y=-0.231 left_z=0.1741 left_yaw=0.0456 left_pitch=-0.273 left_roll=0.0642 left_gripper=0.049 right_x=0.3444 right_y=0.2677 right_z=0.1566 right_yaw=-0.1011 right_pitch=-0.1622 right_roll=-0.0922 right_gripper=0.0507\nstate[joint_eff]: [-7.4735, -8.1573, 7.706, 1.58, 0.569, 0.1245, 1.033, 8.4444, -6.7214, 12.0821, 2.9182, -0.1197, -0.6862, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b4ed8fb48fe81fa985d48ae5410ad4de3a586c0810ae9f59d0d0f853409116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cfc9f81f3a9168a2e72db7f404ffb4375af1f81c54d78f1179ea75abeafb8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeae650e2032ede19a4ce8dcec0078fceca5d740fecea998b1f354ea6ed1112e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7a1700ae188eed016ab46211b8cc87d0b0ff0a30140dc7f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.21,\"left_z\":0.2,\"left_yaw\":0.8,\"right_x\":0.34,\"right_y\":0.21,\"right_z\":0.15,\"right_yaw\":0.8},\"note\":\"The arms did not reach the requested inward positions, and their bodies are getting too close. I’m separating them and switching to a side-to-side alignment so the pen and cap can meet without crossing the arms.\"}",
  "call_id": "call_HJguyuPeE9LvqXljwtTGjpJU",
  "id": "fc_0a7a1700ae188eed016ab462180dc887d09cf08aad6354bbf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HJguyuPeE9LvqXljwtTGjpJU",
  "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]: [-0.7994, 2.1277, 2.0789, -1.47, -0.7021, -1.4124, 0.0524, 0.4759, 1.4166, 0.9253, -0.2958, -0.0566, -0.1593, 0.0521]\nstate[eef_state]: left_x=0.3755 left_y=-0.2174 left_z=0.1796 left_yaw=0.6631 left_pitch=-0.2972 left_roll=0.0517 left_gripper=0.0524 right_x=0.3474 right_y=0.1943 right_z=0.1357 right_yaw=0.5998 right_pitch=-0.2275 right_roll=-0.0787 right_gripper=0.0521\nstate[joint_eff]: [-0.0889, -12.6974, 5.4085, 0.4957, -0.5348, -0.0366, 1.033, -0.1709, -7.8701, 6.5299, 1.7802, -0.2369, -0.1148, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892a6891d31ffa0da25ae6d51ca911716f16e8957b442df2eff72a687d0c509b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2676cb60c2a144ba2e4a2718611930e70764a8c1316303ac799ba3eb04c967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb93625dd020fd232fbe53632c5d0fc7b8b4a8f4852d197021d2837bae3cb005",
      "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 · 7.56 s

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

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 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]: [-0.524, 1.8542, 0.82, 0.2062, -0.0486, -0.0208, 0.0446, 0.63, 1.9221, 0.775, 0.4484, 0.123, 0.0826, 0.0437]\nstate[eef_state]: left_x=0.3848 left_y=-0.2083 left_z=0.0041 left_yaw=-0.473 left_pitch=-0.2558 left_roll=0.0215 left_gripper=0.0446 right_x=0.3777 right_y=0.253 right_z=0.0035 right_yaw=0.4688 right_pitch=-0.133 right_roll=-0.0188 right_gripper=0.0437\nstate[joint_eff]: [-0.1709, -7.5009, 6.5983, 1.2869, 0.0366, 0.2222, 1.409, -0.1299, -7.4051, 4.5607, 1.707, 0.0415, 0.0659, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 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]: [-0.6304, 1.985, 1.7863, -0.786, -0.461, -0.4961, 0.049, 0.9234, 1.7805, 1.3983, -0.6914, 0.7227, 0.7673, 0.0507]\nstate[eef_state]: left_x=0.456 left_y=-0.231 left_z=0.1741 left_yaw=0.0456 left_pitch=-0.273 left_roll=0.0642 left_gripper=0.049 right_x=0.3444 right_y=0.2677 right_z=0.1566 right_yaw=-0.1011 right_pitch=-0.1622 right_roll=-0.0922 right_gripper=0.0507\nstate[joint_eff]: [-7.4735, -8.1573, 7.706, 1.58, 0.569, 0.1245, 1.033, 8.4444, -6.7214, 12.0821, 2.9182, -0.1197, -0.6862, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 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]: [-0.7994, 2.1277, 2.0789, -1.47, -0.7021, -1.4124, 0.0524, 0.4759, 1.4166, 0.9253, -0.2958, -0.0566, -0.1593, 0.0521]\nstate[eef_state]: left_x=0.3755 left_y=-0.2174 left_z=0.1796 left_yaw=0.6631 left_pitch=-0.2972 left_roll=0.0517 left_gripper=0.0524 right_x=0.3474 right_y=0.1943 right_z=0.1357 right_yaw=0.5998 right_pitch=-0.2275 right_roll=-0.0787 right_gripper=0.0521\nstate[joint_eff]: [-0.0889, -12.6974, 5.4085, 0.4957, -0.5348, -0.0366, 1.033, -0.1709, -7.8701, 6.5299, 1.7802, -0.2369, -0.1148, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892a6891d31ffa0da25ae6d51ca911716f16e8957b442df2eff72a687d0c509b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2676cb60c2a144ba2e4a2718611930e70764a8c1316303ac799ba3eb04c967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb93625dd020fd232fbe53632c5d0fc7b8b4a8f4852d197021d2837bae3cb005",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGIfd7Vj0snEvRWafVtb1gLsRaiAv_uduyN6hkvKm27YItiyunbKHQaPIA7RTSUYsr-1qQwaC4LzhXA1vKmSHJp7KFH-XJLacJM7IX3GX_YP47kxAN0OuicJjk_FecAV2f03VfPXhifUfyAQfFPsN4cetpHmb8qrFvbwnAhxqr9VPbC9DpnfjPg2XGC72_mddbr8nXSmwhmHUNvx4ux1ntSA4MteDPQBjmFEM2CoFNASrW4lNEfU5T2pnBzAO6S2X-7wm0RR5HFvj72FzvrNTRsfI9oF2Gz4z-WeRhOfwqh2ndREo9bH8rZRhYtm-G40rJGPqaUaTzybtd3mfB4lwZuesFbCD9D2uPBHfgnrwshUGMSDAVc95-VySympoekDjqLSNceUY7tU9ltETM0Io2Ii29aJ_rVEo7hfIg4eSIHRtu3JigV-cnuxMBbGfEP03xtYZ1kcyMXvesjRM8okLadwGCl5slRTNbRFF6Tb7SY2LmN16BMUBHu5yPg6NeMAsIuCsSMnrWgSXiF77rxuf_kLWmUSV7yVcaPEpoaP2FWSAlKUPXjaPzNa3n_c4isVy2E_pg4taCoh_7SSLXvq91QqMxJLwqODoEZeHtKxb8xH9ejUOCNfRhWkbvxJXaMwNbG3HpEqPD9VYvNSzwTRpwoQXaPkg8MHOrUwlVMNw1ii5V-gYrAbsdiZGFUbZvekS0T_ky-nD3Lb4_IDpLg4n3-PabCbjDttpUWXuNdK_JxZKlRI0nF8_3nZwHnNqZGC_qg-i_aLb_z9-bC6ERRRdYkAj_kB_bxb9wJ9E7J0ahV7iuEA3VI-_XHdAlAhbhkSJKi4r0bDfGPjZ4nyeU9aU1JzcHKkPtJNTa8IMjrs980L8d19rkg3_gN_e0PWmffdoOzNU4PjAZVA_iX_gwDk3D-6k7IyA6AeD9Qqx6UDuxWTL_tKjoXl5dJbnwvZ_sHasMTmo0B35blmdO9c6V4gI80M3Kp9W7FkIgijXK6V3aQsVTBxz3ueds-RTSn7W06vDUVF10i-7PXgfojb_5PpLmH3gpa17yACLaQz9SqYFJt6l9QAsOamaW92kY9cMY_ciLCYNS7j0XyQvjnv_WCmZGO9tno-F85sq_70ADd11d7GzP7FcX_oFEL3s0ZrcWXbnX-GnOn8hmBKYL5a90MdxwBcj7FIfh7_SXdiT19RNrHj4o-EU3FXikX28RcfE6r7NdWdN5gPP72xGwJgAjkytNsIPEoHhiyH_HWM54WqOl3rucgts1k5L-R8qprC7-bq9C9U94y4LqzCEIcvFxS_1idIyOWB1NS0NlLzBR2fQ-cFV4DJkKf13XhfX9_1Oei52vEdven-TK7C8joWZVRDQEiYQ-h0DDYSfyE0gsKK18H0VA0sdFc0-8L_e6vv8Hpq4AygwHOUkzu38x_wcSJf37spM8CPOIZhtAfp2ExN73S3-vyJ3Lc0NKRvcPokhG8elbnKNWpgQz1P8aw5OD8NJwy-qqOWImnaQW5PCmagx3t7zWArU4jP9y43NGWwcVpnTDTwKM9XZKK8wZaBoO_fTW0W166ZGg--T5zjhcte8FbQZZAchdGMr40Bou3kUp54ATQt40TdPekVkGkm8YM86bWJDyQfeKmDZdJnXHFzM7Y80jtah2zmGGxlsOflTBNP5s8aiTCahZXt6IedW7QysEQ6oyqolW1Wyeu7Q2iXb52k-nDhF1dKYufNBtlBxiuxoUKbpRLTUBm9I-Xgk-xfe2FJDIdFAXjdRKtbP2WxJLxLk3P6KTOUK5pqsmMrtO5bcYcGY_15_xKXISriTqbIjxozwHy5YI_VA_DJX-ViW0vnL_DkveozvusmGR_EgA1Kz2Bj",
  "id": "rs_0a7a1700ae188eed016ab4621ba7c087d09cc72f3db67f665c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.21,\"left_z\":0.18,\"left_yaw\":1.57,\"left_pitch\":-0.25,\"right_x\":0.36,\"right_y\":0.235,\"right_z\":0.18,\"right_yaw\":1.57,\"right_pitch\":-0.13},\"note\":\"The arms are separated again and both pieces remain held. I’m finishing the sideways rotation, placing the pen tip toward the cap opening at a common working height.\"}",
  "call_id": "call_BnYJ4sRQbGXOVtlB7E1GSlLr",
  "id": "fc_0a7a1700ae188eed016ab4621ddc5887d096490101203a140c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BnYJ4sRQbGXOVtlB7E1GSlLr",
  "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]: [-0.7891, 2.1227, 2.0438, -1.5528, -0.7044, -1.5719, 0.0538, 0.2672, 1.8187, 1.4918, -0.791, -0.6899, -1.0153, 0.0521]\nstate[eef_state]: left_x=0.3618 left_y=-0.197 left_z=0.1732 left_yaw=0.7979 left_pitch=-0.2948 left_roll=0.0619 left_gripper=0.0538 right_x=0.3805 right_y=0.2245 right_z=0.1607 right_yaw=1.3911 right_pitch=-0.2082 right_roll=-0.0757 right_gripper=0.0521\nstate[joint_eff]: [-0.841, -11.8359, 6.106, 0.0269, -0.5592, -0.0513, 1.0281, -0.7316, -10.5368, 8.0205, 0.8132, -0.8034, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc18e49510f9e2bc8c204a6f871118a553f134627e076b9d7a0c51353f0e10f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f635c100b272d8b7689c9301548bcabf4954318613720e1a053665828c4a7749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:241646d4efcc8df9f43c245eb47756725408b9c026439f2cb44b0c4880ea2532",
      "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 · 13.3 s

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

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 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]: [-0.524, 1.713, 0.9051, -0.0418, -0.0513, -0.0261, 0.0468, 0.63, 1.7508, 0.8463, 0.2028, 0.1192, 0.0784, 0.0464]\nstate[eef_state]: left_x=0.3811 left_y=-0.2056 left_z=0.0527 left_yaw=-0.4673 left_pitch=-0.2774 left_roll=0.0211 left_gripper=0.0468 right_x=0.3767 right_y=0.2531 right_z=0.0579 right_yaw=0.4742 right_pitch=-0.1364 right_roll=-0.0201 right_gripper=0.0464\nstate[joint_eff]: [-0.212, -9.8393, 8.7863, 1.453, -0.0562, 0.0269, 1.0379, -0.0479, -9.8393, 7.9658, 1.5458, 0.0513, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 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]: [-0.7994, 2.1277, 2.0789, -1.47, -0.7021, -1.4124, 0.0524, 0.4759, 1.4166, 0.9253, -0.2958, -0.0566, -0.1593, 0.0521]\nstate[eef_state]: left_x=0.3755 left_y=-0.2174 left_z=0.1796 left_yaw=0.6631 left_pitch=-0.2972 left_roll=0.0517 left_gripper=0.0524 right_x=0.3474 right_y=0.1943 right_z=0.1357 right_yaw=0.5998 right_pitch=-0.2275 right_roll=-0.0787 right_gripper=0.0521\nstate[joint_eff]: [-0.0889, -12.6974, 5.4085, 0.4957, -0.5348, -0.0366, 1.033, -0.1709, -7.8701, 6.5299, 1.7802, -0.2369, -0.1148, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.1227, 2.0438, -1.5528, -0.7044, -1.5719, 0.0538, 0.2672, 1.8187, 1.4918, -0.791, -0.6899, -1.0153, 0.0521]\nstate[eef_state]: left_x=0.3618 left_y=-0.197 left_z=0.1732 left_yaw=0.7979 left_pitch=-0.2948 left_roll=0.0619 left_gripper=0.0538 right_x=0.3805 right_y=0.2245 right_z=0.1607 right_yaw=1.3911 right_pitch=-0.2082 right_roll=-0.0757 right_gripper=0.0521\nstate[joint_eff]: [-0.841, -11.8359, 6.106, 0.0269, -0.5592, -0.0513, 1.0281, -0.7316, -10.5368, 8.0205, 0.8132, -0.8034, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc18e49510f9e2bc8c204a6f871118a553f134627e076b9d7a0c51353f0e10f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f635c100b272d8b7689c9301548bcabf4954318613720e1a053665828c4a7749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:241646d4efcc8df9f43c245eb47756725408b9c026439f2cb44b0c4880ea2532",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGIni49LA2lO61mJ9Tdq3fLyZFPpBX-QuvKP3r12fh1WyJhhoB4fTpiubHvIgga83ATToXapfPn7XM7OCSjR5YIaiTz2t3ftyHz3amtRD8QLhrGsgR0e-jq3L4uY5qcjhdeOrgsmV21ZylU_pN2MfbOzBjCSM7VnUkcYtwfqV3ve-wUKxhHTDLm_PtBwWGk62XAk3IgFCRkDSOh76_AOzGsx9DmNzoXdqWusIJV5Ja8D6ncXY9c2gpaJO-KDFibZUN4ysi5U4uFFi3bVXHj9AI-uZ-F-hoZCupRFokgOX2pQFd--ijJ2Q3_4Vtpj7OdQ4ZvQrgbWyurk7nnVVn80iw6kzMZgBaHmcWQ5ZZE2uiVDLkC-71w35q7o_dgKvvnxNjtZQ8bhLqZJglUpTetZ06g5JoxWm8hlR19bflkyx8I20ZyMvTN3bnG15Y0KqOaRRdLKC_MaRIpOmRPpE9epZTKzTWt2GtjfpGVDjM9GA0HUcXEKgrj9kHi2G-69hB9TN0rdkeKbPRJ1913M5cxiaGguR5VIDqjmgUsiH2yOvPe8xu15CDeOtA1Y_-vbVkYu2zMoYyuKCTolJlfaP675RjzeMitH5eyfbplaBkW3joiTRfO3ankI44q2UMIWhPUUUY3OkIbHSes2W2NZ7GfbJzYRGkh0-zuR1jftBQvTCDt1mhep1kWYwz3I6LJhV7EJfBKXX7EHyITKiodct1jPFCpu_RlJKfOuyZMtpZYekofXGYVdfhZ-WfIUiwKIsB2LteOpvK0mUOvT60FmzbXP525E9RXeKYXzS2T4MeW7rK-2GwqACJ9PkF4LAJjObe8tHAP2EXqa3tXxlxL5vo99iazTf6f70hGN22WbYx5th5rDV95tfYpZxi1GIPrnqBSmIAOhlje2_GdZoIToyTTYNZK4-AuV9xCbRHTOMnScaYf_hRe-hljN8Tlo-cdtRGT_oG07sM9hVOpHuDjXdvwiGbzBjPo5i0s0_RgxVHn53PWawy_3IPrvC_xBey0dOQ_5wwPBEdvWc1Yd4C0a6p4GeY6vQKUGZkiXNpnIC8iLO0krMg5OJLbR4foKKP6vI7ZjC8nuPhu_gwf5xGdjnUQpQ0f9im2PtodjPG9J0BNi5e8E1vbR50UvpeiOkMPhgfXNE6AJoCAtP6aSfoOmE8g06kzxkDb4NqrEG1YNvutyh5f-xr4idsPFfCEPNMl8fcX_ihksmZUoz-VOMzxQf1zhnWgoSpLa8M7O_LUqGU54zdUYUa-WhbVrOZdNt5qrTKtdf8qpwHq8PyLQ27ltjNYKxwkcO_edSYio6KJv9xNLk7jHBlada7MbQ5o_BvkfGSmlswyK-2A7XdXzcnni_yDinSiRIZNnpG3E6DqUiAsVEDRea9Wvll6rBAu5LuoqULLHLpx-fvc-xwhKsXqtScyN9CFbheRAe9km5P8EIvnLHJPbj4M4gbp_MLfwkPcZ25JPpeNRF4t4XjxdalTOF8U6WJnN7BffUI4UodhxwJy_uiIQSQho7D4b0UL8DFPhiTtUfvjiTNdcVYcAJsvZSRyq_Q1bey-fLlNzfjeX9PKYgfCSPp83uJOE_OdwyJIYhT5C7oYkRmi4_UISggscx6XWmnEhploenNi_ge5nksDiSWL2I6y6bv6FptrhuBpK1YSMlK7A-w39HySKaXlJG7RKDl_aiBhaGeJgEI7E-FAyZKlJmCFYh9O3MKo3w8XLkpNm_H7U9dP1zg0dWV6dwKL1hAA7X7aP9NxPwWHnIlJcp5pXB0zY_oWlJmX0ciey9STt_tx5ldrofUpf6H0sIWkQrobTlK1_NFBEMH2ZkTjKS6f9ZAw0gGyqoo8HlVlcGAhrXc-hVCLuFlFk_T6viCeVlYJ0a_vLHSvnjO1CmvG8Z11pjwez8mG8E32mNSrmCij2EmLDc5ERqbyBaJWW_85TeX63uFYWGSxxYiHJQofbRiWk0nYHCGBMMMv64YE-dVqmljcigZGgFWMnJ7DuRtFS8u1Nw7DeYtDuki2piJb_GtfwgowSrKNYlbdPJZoPPOBjNvD-MoB78vTGgVunDInUF_dzfhycCShe0UDxPMFHpecHT9fjcahiZa6xUaL0K4fjRbmEkLFzrgfSIfT48XsFDT9e4bw2IORzhvioa6U0Os1RyU7Fp4hgHNLs6qOLaVpD8C1UT6BaATLYFaspOYoD6_79IVSDzWfRQmyfJF5Mv4s-ug9tPin5b--KTxvOqPGSGgXxObShQkl_2HgyK0ew8KHW4qKDBzNhQ_V0VxpJB5AJolW-3B9yBcjJuLqf38WnRCwKlSk_P97Mdzyj-kDsoeXnab-QZwP37y7-W_CF_2s-NCY-ZR0U_GsfxmU5iCmaVxu34d0VQ3_4-Rp0Q7TN0YdnlxKtecmpXw-ooufj0cBK4htuqCBzQ4DQPrbbSKAm6cTUd9-9Xw_Pgb7z54nGH7HA2lhxZ9g-DqYslfxepI1xo9VicFDBczs0k68LjVXtIrgKdVRzv_9pxyy0PvvuBCMNcx7Z3CvNDGuLxmPclgVQpVM8QG5bPTh8vzs-gL8T7TnM",
  "id": "rs_0a7a1700ae188eed016ab4622156ac87d09b495dc72553f362",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.23,\"left_z\":0.18,\"left_yaw\":0.75,\"right_x\":0.285,\"right_y\":0.295,\"right_z\":0.19,\"right_yaw\":0.75},\"note\":\"The left wrist has reached a rotation limit, so a fully sideways alignment is unavailable. I’m using a shallower diagonal that both wrists can reach, keeping the cap in front of the pen tip.\"}",
  "call_id": "call_hCJqxlIvYckK3QJ904wjtNlB",
  "id": "fc_0a7a1700ae188eed016ab4622615ec87d0bbce0c3dcce3d63f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hCJqxlIvYckK3QJ904wjtNlB",
  "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]: [-0.7315, 2.2742, 2.3188, -1.6722, -0.6922, -1.4822, 0.0573, 0.7414, 1.4723, 1.1126, -0.5243, 0.0307, -0.0601, 0.0535]\nstate[eef_state]: left_x=0.3909 left_y=-0.1946 left_z=0.1787 left_yaw=0.8043 left_pitch=-0.3116 left_roll=0.1178 left_gripper=0.0573 right_x=0.2969 right_y=0.2694 right_z=0.154 right_yaw=0.7351 right_pitch=-0.3252 right_roll=-0.0708 right_gripper=0.0535\nstate[joint_eff]: [-1.6342, -9.1556, 6.5709, 0.3687, -0.5201, 0.2125, 0.8913, 2.0718, -9.6889, 8.6222, 1.5263, 0.0757, 0.1001, 0.9841]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1598e95056247e5f24df36ffb71621ba4c92517859ddbba0708f83f007c7ae71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc143f799d85b099eed2c5d38b8c1ae60ba109533dcba5ca78e216dbf263e13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8537949a6c9c14fde62f3650cd856497a29b49e4d5b5cb0a88571d60667bb69b",
      "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 · 22.54 s

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

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 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]: [-0.6304, 1.985, 1.7863, -0.786, -0.461, -0.4961, 0.049, 0.9234, 1.7805, 1.3983, -0.6914, 0.7227, 0.7673, 0.0507]\nstate[eef_state]: left_x=0.456 left_y=-0.231 left_z=0.1741 left_yaw=0.0456 left_pitch=-0.273 left_roll=0.0642 left_gripper=0.049 right_x=0.3444 right_y=0.2677 right_z=0.1566 right_yaw=-0.1011 right_pitch=-0.1622 right_roll=-0.0922 right_gripper=0.0507\nstate[joint_eff]: [-7.4735, -8.1573, 7.706, 1.58, 0.569, 0.1245, 1.033, 8.4444, -6.7214, 12.0821, 2.9182, -0.1197, -0.6862, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.1227, 2.0438, -1.5528, -0.7044, -1.5719, 0.0538, 0.2672, 1.8187, 1.4918, -0.791, -0.6899, -1.0153, 0.0521]\nstate[eef_state]: left_x=0.3618 left_y=-0.197 left_z=0.1732 left_yaw=0.7979 left_pitch=-0.2948 left_roll=0.0619 left_gripper=0.0538 right_x=0.3805 right_y=0.2245 right_z=0.1607 right_yaw=1.3911 right_pitch=-0.2082 right_roll=-0.0757 right_gripper=0.0521\nstate[joint_eff]: [-0.841, -11.8359, 6.106, 0.0269, -0.5592, -0.0513, 1.0281, -0.7316, -10.5368, 8.0205, 0.8132, -0.8034, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7315, 2.2742, 2.3188, -1.6722, -0.6922, -1.4822, 0.0573, 0.7414, 1.4723, 1.1126, -0.5243, 0.0307, -0.0601, 0.0535]\nstate[eef_state]: left_x=0.3909 left_y=-0.1946 left_z=0.1787 left_yaw=0.8043 left_pitch=-0.3116 left_roll=0.1178 left_gripper=0.0573 right_x=0.2969 right_y=0.2694 right_z=0.154 right_yaw=0.7351 right_pitch=-0.3252 right_roll=-0.0708 right_gripper=0.0535\nstate[joint_eff]: [-1.6342, -9.1556, 6.5709, 0.3687, -0.5201, 0.2125, 0.8913, 2.0718, -9.6889, 8.6222, 1.5263, 0.0757, 0.1001, 0.9841]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1598e95056247e5f24df36ffb71621ba4c92517859ddbba0708f83f007c7ae71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc143f799d85b099eed2c5d38b8c1ae60ba109533dcba5ca78e216dbf263e13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8537949a6c9c14fde62f3650cd856497a29b49e4d5b5cb0a88571d60667bb69b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7a1700ae188eed016ab462298f7887d0a3ff567dd9d8d856",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.245,\"left_z\":0.18,\"left_yaw\":0.75,\"left_pitch\":-0.2,\"right_x\":0.29,\"right_y\":0.30,\"right_z\":0.205,\"right_yaw\":0.75,\"right_pitch\":-0.03},\"note\":\"The two long axes are nearly parallel, but the cap remains offset from the pen tip. I’m bringing the cap inward slightly and compensating for the right arm’s lower actual height.\"}",
  "call_id": "call_TTYpyqcrvLz8oMi0mSD9K3YN",
  "id": "fc_0a7a1700ae188eed016ab46232d4f087d0acb1d11107569b19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TTYpyqcrvLz8oMi0mSD9K3YN",
  "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]: [-0.7296, 2.2616, 2.1845, -1.5555, -0.701, -1.4757, 0.058, 0.765, 1.4467, 1.0729, -0.5297, 0.0257, -0.0631, 0.054]\nstate[eef_state]: left_x=0.3946 left_y=-0.1952 left_z=0.152 left_yaw=0.8037 left_pitch=-0.3034 left_roll=0.1277 left_gripper=0.058 right_x=0.282 right_y=0.2694 right_z=0.1467 right_yaw=0.7649 right_pitch=-0.3447 right_roll=-0.0688 right_gripper=0.054\nstate[joint_eff]: [-1.1829, -14.7897, 4.8479, 0.0562, -0.5592, -0.0464, 0.8864, -0.7863, -6.6667, 8.0752, 1.9707, 0.105, 0.0806, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b73d55aa090de9f6db0083d941514f2348e0e98a23e58682b283ea78071993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa82f3ecd9665cdc5e1ee7c0b9d26f6de0a0bdc37c3ecfb64f4035f04c27beec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9223a25ad5e86acb638367000e121b4c1fed3663fcbb3db05c6ca80baf167b26",
      "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 · 3.643 s

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

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 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]: [-0.7994, 2.1277, 2.0789, -1.47, -0.7021, -1.4124, 0.0524, 0.4759, 1.4166, 0.9253, -0.2958, -0.0566, -0.1593, 0.0521]\nstate[eef_state]: left_x=0.3755 left_y=-0.2174 left_z=0.1796 left_yaw=0.6631 left_pitch=-0.2972 left_roll=0.0517 left_gripper=0.0524 right_x=0.3474 right_y=0.1943 right_z=0.1357 right_yaw=0.5998 right_pitch=-0.2275 right_roll=-0.0787 right_gripper=0.0521\nstate[joint_eff]: [-0.0889, -12.6974, 5.4085, 0.4957, -0.5348, -0.0366, 1.033, -0.1709, -7.8701, 6.5299, 1.7802, -0.2369, -0.1148, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7315, 2.2742, 2.3188, -1.6722, -0.6922, -1.4822, 0.0573, 0.7414, 1.4723, 1.1126, -0.5243, 0.0307, -0.0601, 0.0535]\nstate[eef_state]: left_x=0.3909 left_y=-0.1946 left_z=0.1787 left_yaw=0.8043 left_pitch=-0.3116 left_roll=0.1178 left_gripper=0.0573 right_x=0.2969 right_y=0.2694 right_z=0.154 right_yaw=0.7351 right_pitch=-0.3252 right_roll=-0.0708 right_gripper=0.0535\nstate[joint_eff]: [-1.6342, -9.1556, 6.5709, 0.3687, -0.5201, 0.2125, 0.8913, 2.0718, -9.6889, 8.6222, 1.5263, 0.0757, 0.1001, 0.9841]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7296, 2.2616, 2.1845, -1.5555, -0.701, -1.4757, 0.058, 0.765, 1.4467, 1.0729, -0.5297, 0.0257, -0.0631, 0.054]\nstate[eef_state]: left_x=0.3946 left_y=-0.1952 left_z=0.152 left_yaw=0.8037 left_pitch=-0.3034 left_roll=0.1277 left_gripper=0.058 right_x=0.282 right_y=0.2694 right_z=0.1467 right_yaw=0.7649 right_pitch=-0.3447 right_roll=-0.0688 right_gripper=0.054\nstate[joint_eff]: [-1.1829, -14.7897, 4.8479, 0.0562, -0.5592, -0.0464, 0.8864, -0.7863, -6.6667, 8.0752, 1.9707, 0.105, 0.0806, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b73d55aa090de9f6db0083d941514f2348e0e98a23e58682b283ea78071993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa82f3ecd9665cdc5e1ee7c0b9d26f6de0a0bdc37c3ecfb64f4035f04c27beec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9223a25ad5e86acb638367000e121b4c1fed3663fcbb3db05c6ca80baf167b26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJMuTA2zeMBxayy3flayRgpAC6TBQ1EV3jNp1Yd3OivsuWg2MJMnBStC7LRtDGH3uThzYkKLwAzClj26xV9BIupnoQfyfmrP_Hche8Q3RjDQtDpz_YKNUKRgDzshwo9aDItaJ-4unJvW19r-LaD-wKyt-tRBHiQ8U7J9-HloQ-gHBgvJzZEAtANsm2zNG83aUqHpIbjNiqHJJgVIHpPOzFgqtYp9fLbZnlo67MH2aTpL6EYMoLYlGvroZWPtgMsQT9U1v_KNDaN_Y6tYAquCiGjKTy0tRVoVqvBgnTZmroI0q05aJXKb1b-E41qcuCpLFGnIxQWlrYRvZwGmmvTtbNjYCVu5YvlwZv0SMTZ7tKUaqf98Hq3dprK_DFg5O5YDTucQdkgUt-VoRRzTjKzbayAbO6HmoplT9ZASN1s470IF4FzOxFGONfYSfVpaMy-yPdHPAAkOwjlVm-oc1Mjn4L7c6sx8l0CscMoUB4oOF4GQ8iQgbeQPyIRO0NRMYzC-nS1TT_AtFgVDGig4kDMmk3ju0RPaoCNta8AdkVFA1oHM5K3q7rxeMh5aih-n8GNQbn_e5H6WULxRxbRX3vf0_WiXjrDZ2v2pAuBQzzBfbkWbhwlAl4AFPMRN2pYyzCixjrhneNlDlvNn-eCUZfj4g_UIkJmR70MGW8bIKOTNFqNrvZTHQVf-68EX-CR2F-qR1_vkffm61VqdXl2mjRS-gyRKBh07cNZmJDzDMxvWG40X6VhYkbJ3NpmHKSEvmJaDc-ptdwWi45RNFQ99y_a0w8VGZyapycQV_hKRYrt3thiOXW-byTRSO3At_Es395yZmTkb74F2pTg0_0tAJmUIhPvDfE9dNwvcPHCPsBLPbOTn6QLS1WFRyWa48SfW_2IvWyKmvJKLx2c0kVkKD9Fi5PbjS9fU7T-91wjx8D0kKUuT_SPt2xwsVKi65KWMm6ZoZycE_qZlOoHOZMuy5hZpDtHb1os4M9zhVVJmspv50EKzaSMmCVO9E0uMnPPu6hLdjTElHIWlD3Z-bteTrO9H_iADMfzBBnr2wl34Ebxdq1Mwp2IRtupOPAVMG4tWLMTKNsUvKg6YxD1yv128i5hPXAM32ZAuq-URRkJtFsZvnyuS89YmisngWGrMgj-K-fcm7I3Sd6vvaMik_Makc6vqyaelvHs7wRLe0s0Kk5l97n_43iiHx6L81mWrzJn1ji_YjzJWLg0T5hmuqI9l-8LKHAEe0h8nlFjtWDV9TWN5uuUBqsHBTgvDLalnnIqRW24cMUHpHUc8yOt5eug5qcaCRiQ9BDXnicS8lz-ELHRka1dhjxNeMfixYz1SRK1vYEoDmnJAPVzQoQq2JHiCdwiZ9FFWkAN8AVEZHuXgGBVQkkJ2NCjqIUBoOTTsJoI-3f9DnpK9dQK2uNgf_ewhYGLMc0_b0yQ5kio7GqMrcUQsV5mnHLujkHXYMXTbQ5WOXoVEcjeZGj45KzW03XTt1OYzD1L3wc5EJ4wsRj2amepZHUDVILiI6zainsEX2Q_3Crz2-2r0ReiyPC6t5b6cJiuGyuJMD4oPqaiUIeGFfKbzHjZMxVPFdt9qLIppbWcUs8Hs8LtFAiBzrHB4hpMvjMqfXlPrpXXGYWn8QG7SjbbdsWnyqQGEUEitn_p2sBRbDomVX0yJOGZOkqX7Y8j0BE9xNk6WDqAqJc0KFz0EnKbrGADwNP5g3ROQtIT90q50qDggw5gESwYM9O_yqeANRAMRloAn0TXf99HOGyzpANEx6nI2qQVm2ykgnSpCAyOpz728v99EEDa6TRTzr-SxlDJqUzvyrLj-VJQ9ZpTvtDYakGOlQjCS3hpiFCL9FCcbK2sbzeja7hR_fGIKs4b23vS4yWkIw_9_d3P-l1VCSwaUYwBC52Kfa-50ezizfQ0OTlJ-2ekTgtJlcWX55P9u8Wfdugh5DI_oP5QetaIEzC_sJN-tajTNH43F6NKsk9ZlO8Jebjf1T8QayFr5aW58q0cAKvHZOVA8uwbbei20jNyvH2yveXZsqtd-S680bGId2OdgiWy_pQd5wHMegrPcveJC74pVIY3QMmje5SzEqf3U0hZEwhTScAR2lc9gqDO5gQjjXwYmRub4ify5Y0k57iPGYue1JFW7Kl3PZn5-zRfnRTJ8nyxfrfkUg6vzEG3OQ4q_0NOo1Owo3odla5lpxCHDfgq94_FwcgqPKF1t0hkBTG7MQdRcAYP_tjyNI6QC2hfTW5-HqgvUjSf7k5M3aS0zTllPMq__KHDI-_OaMEYdTBlzjbZfj0P8NjsozRM3fq4NAHBQBRWq8YAziXfJMcC_H6ghIVDaEhWDLkiS23MxuRxiIDY5h5iCAHPPIr_KSbYRoUyMDvT5eBOH5OZWc89guDG1J9KYfSKr7fDZPEZR5-Z0oiKJpPXRSevg6Hdz6K9UbclaYJruiOqHOmIerREwxNlJ9GL8Q2GcwGv8riNoxqjUMm4Q0waEX8APDIbRjoi6C-1sB4pdYkJSITTpSWDNDySOAI2kmfc5xcQRAMow38vJspXdd1agcHojNtpznXmMQguRniGjSsF5YX0_VcnMu3pRp7Qa8eDVq4Ouyr6VQr9SmVU33cUYyjyDgsMu7Aq-orqd12FNOIRzJ0rS4f2aK6IclT-J8mAxTAvSfSMdTqGaU-IT138Vaxoo2mcOb48kX7YBLp3Ru87Lk14g_3NCy8D04N_spdTiChYQuJRX_gdY9aKAhV2XNZ4m-qyNT26dUMNaWsR-hsc7_GLSlW3bVOuCxHR4gEobOZJiji6q2D-RiWunEW15uWoFhsoWZJDljS_4zWALUFVNZx9DwV7b7GO4e00eKZAk5AE6hSZpMseBidiXSppMMtaVK4wCax7EAlY46RXUXR_ACukspIRWWOCynjb2P8T5iQykxOneWl99R3k73Oh-4CRSuc2Rqy_LV9dWmPogwNba1LIR0wCn-aCFgEOJLbbVV8Wp6_1LTVMOo7S-gjSqNwRYuHcSzKmF9zP_aNG61WmeYh9-pxTVQfIYe_uFPC_EJLc1_RCpozddoUgNSIdwnvtJ_ct2LhIizN2z2bofggicNkxvIqDoFDoe-FigIq4y6FZ7WecYnyHhSJ4I16F71ZWtttD8OC3OWnDuTAZ_DXYHJhrUyYLOgbtWah5AcNtTyEBqJPOS_ky-x0Ia4cIRE7y3eh0u6VAYmNGBBvhRn-1kPlGlb1IDt0FmoOU7Rugisxh-M6SZ3q2_seode1Fc8K4X5tlVTLTuE-PIY86Og0kf0zcciba1s-qjpRBqCWmAHNLzDMQLwe5uJkR2QsJLmCKvK46hIjMd7CHxx5Vq6e46mgsNJ9xOZCQpuwzKBTQDPUrYy5k_KzJhVeKYCUp9WTZqG9-f87epVJDbmQc5WGJPytyp1djltywtDXK5Zgsyup5PLC_ud3y3fR910usSMqPjKw1OgLqTBIp9SYRPbupGY5CqsKHLU1aF_ZqO6VNUm1P21AdnTdP9CNvllvMxnIJi_oQPkTK5p6VZlVOf51qGOo9ggKPp655q72q24_jpEU-ScDRCHdsiu2yN4ShKPQMfCUfipbPakBGTjtiRNwJhw_q5fdXA_SI4dFgqsiAy0_qxDWERp_Rl2NXCZVlH7gaDYKronChxcvwKNe_7bOb-v68veMFlnWROVtCMmoDjn47TX12FUucEbXu9Ve9CT9dAaDnRgcvEIlHygLAfnKIBMmUOXx3QPqdfhgXIhTU5MBPQZiiQMiXHlW-h7efHuTtpoffNa0lRDCafOP9Ysy8-bDtlupSqoYqja_86GweeVwCaojLGLIr-TTCYcbIc05Si00nm8YXbNAM3TZlbjxgaLY74yhwnyPeteH2TtkAq6ydiyHa8c0o1aebRHrgmFx4-Jp2PG3w7DrzUjEgATCRIzLqSLbqJ2adRldj7Nx_Rl62NYyzG8QSZbOw1cXwFTeHamRdG-VFdJKq-oX1faz3dfH_LSZqPcCyG8HdyMoIlkWXYs5GY3GTapE0cdTyaTKOQNbaTrd5M4j0TlXuvjrbPwPnWDIr0dvnOeK8ztWvgs0Ut4buYgEiNOS2EpJhcVz28-TiILlsHrhc",
  "id": "rs_0a7a1700ae188eed016ab462382ca087d0a29d27c51e2395b0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJMlfQWmoLYh-fAYLm-mrTfIZw1ubKdgcaBHwUofmq7SqDkvGQl9U4Rhk0lknZQpe7m7KizwOiHtcPZ-2ZRfjg4y13zds-t5L-eema9z5PyTIFPgey0FL3J-iN1eKwx9g15Z9FMyyKbbqLoBckWtL7ADJuKoSC_rvb5SBBEqpFGvIiZPP_fQHmhVBz4EaohyT-2wCtLUWs1YJOEq5I4q2jD4dasaEd_4JpwQvdC2hPMXm2_QanBYlCf_tL1eafe75h1ydwr-LVYl0VUD-hkFHGKbSU_fd5gBlqUInIuBrLnNJrm0hBii9D6VKQ4yGc1zNmcT6QZgoSSeIRniDecUCcUPs2FC38qAzJ22iLdjHFLdGSXii_Utu4AFeXPxg4HRjPwTq11QC2EnjdKdr3dSzpPAWYbk1Bh-1Zc64r8X2uD3oZZt-xRWYJiy67o4mvM-HAO0X4eJaY6GIB0WSdv25gfiDgf9TLjqyZewmIFIin4uJxwiw_sRYVohFEdHlmdJPzQHOS3_JZMZ8HhvzjvQ8J_aJlXt2KcqYO7WpltlLoy-JDwvabEkFbH358RKelsXagkE10J6BPBOZIkP35b-AZ2QIDYsGie6kFeYPiOlms-_AgBlUln01gO7ko12srHTZvhWsBy-Q6VTMyv8OuT8t5tuXmmQTVRhS9v99RUNrf0EkIQruZ2a8dapSSO7fXkeGwyF_LQgv8wD7qMf60r1ysEV_vYYyIGukIplarSIk6-yTpoJ-jFR6Ih4OrlV-R8x4ggMCfoOEsnj7WanSXZiKuQV-bWylnaeqIL6LgpdKtXxImm-F4oBbVaXo2sKW_U7-y84n4JTd3yP7LSZns-oga9q-K59eTOO28XBpkFjsIZUrtvsvkNBukZCGgzo6efViNGwfAflgWuskBMMO2LdL3fIiFJujJ_OzIx7gWmTaOc8e5mq0toW3wLem_fl-Cydv_-iqE2p0ZO6sBYdBbtWVqij-rgvjQZPwE7Tgk-SO1TkJGo_jUxnUVGMCaiNXarD2CquAhmhORjj3K2TSXxjf9X7-M-56KfoKKbTAPsQOrG3oKA1zvJtSyEdPWULUEbpOfaIxJpEu2-vIzLTw5N1AaZHaJtIOeXxt29QZ8hbOfJF_UoIoINCQCF4PZRcqjYjUP02lfn_xQcE-GbVBAyiaLUqvoBa50LwcQr2IwxRrwEKA1JKlXAVcNfO9_HQGFeQoQh6UFXiH4nwTkhH21gkaj87cICuaiNA8G3RwpBrLD9YHms2s2VzWqVSTV4XcgpopxmOauigfVdF1LoSBt1pgYkxK0cIIlix3Ib9WAaP0rknuRRyln0JqmoD2EIongIqnBhYxh5VneAse3O_tkUqZfEYOuSFOhzL_uuzOt-6xTE7yR8PC7isRQJ9gGdm2BFaTH0laFhVEHw0a-d-bP_Fr-ZaJ8x_dl18uJSrg3jU8eJH4mO_1krpLNGYAbFAYaHmIMQ6-J9lPsUUnPwmcPab8YWJrPfHwhSSjqFyWsKLSEx3i8kxsizXYL3nnc9xvT6RgW2a4NrR8Sw546kC0ebITpsiCt0tvNTY1ORGpd7saUEZcg6Y6GblRHtzSvT1yCRHzHxc1zFkPE5k5-QCyf2nXaQgs5ho25cqBMA_WJaJzCznrtFhTgDR4KDG8K5z3JJlvUOOPffUjaz3pQipIi5Noa-PtFI_z6Xic1R5MHMiZ9ZMTIZoIkndn6n2zcInc_Y6FeYa8hEs6kn_Tyt0pZxTTCCnyQPo349ITGMVFno-RpUcFW7Tj08GJevSYkcBUoQ5C6N823w4_DQhd1eURb-AGJKK7PILi0XVYCEIe0qf6Dq0MwBJ_C9vNHywc_V6s1pnMPmoQjOk2qlxmL2ygrZn0gpU_MlkOYf52ce6v6X2vE42SSA9EEC9BALqroxQBaWhvm7AHEsgvZfBEr6MqePhRmUgJ7HIWURLAvM2YNVmTbwWYoxpjxXPOYDHu_v_YtgmGTmfDpbiza-QUTdd-Mxpna6zbXCaElNZzJ-MW3BrWVtXcmf6g7dUgGCKmU4cbaXawwrN1hBfJ61lB5Zw29zW-NKPmR_jsSf1PyIOWJf8c0NmTfMx8CFgRW48TkCtqF9surasYwdZpa1gzk7K4tyLrTiMYddBjWMI_5PLVuFdYf35q_KraV6mWil7aO_o-mjsll6_ksnNeLlLjHOyy67P72SXN-nj5RGkRnBEArgj8o_o0vjXRIWPvDyIAXfHPyTKvIeEOeMGnFgdWDv1_fWD2etPBzI_w1w3tZ25B4BKG2w3kwaE61HoGmHvPvzgI3xWiHeAJqXXmdr6KQ4bRqw-hkAC0hcalPE7gwQexNETFSsSMFT7D7Y8k7HeqG6aDuRGIL-yAOuKb4gmTkzMk8tnF7OdNHHcloe1nL-LZgbjCiEF44RPWEEsIXnB9c306jfnEo2s5RGVPscHfJpea06z3yHIqd4UrqhaHsNkgq65bLJEWX3-T7IHPT42NOrqQhMa2fuhJ0nX6Rx-9yufzkOEwr3oEF1As74nLEkBR5GsZlZrKx50pa6NgsWO6nuvm1j_cr0FSUhkQd3qFYTRvJEenY8DzzakHAvrS2rhftFSsTHac2k1Nh2TaY8BoZqiNqLtk3m6oFdA6swvejpBdZVbGeUZebWF9eRJr58YuyOgglbpDhNHW1A4kUwDn62wdls8ik7Wo0BqsGiwVhrjtV_Ne_8AuuAS97lgQRkv7U9xHUQwXaoYs543j4Lot4WHYp8vWZ-tLtv7NjZ-4zLgUw47sk0Z11BWXuROJfCqku-EbqSjAGJ1ftn07qY5hHa8xxAlgEUGfVMSazhSzCGENzXs19PloiGwKjJCgjrxijB3jL-JeJrdQC-n6TN18bRXKrEt5H5wF_KYXw6H6cMrCIsr--HvLb1qBhJmn-zm_fkdS2l5leGMC_f-eUE2UUCnjh4OkoBfacmYPTqIzx4Y-btMaW8C3oQjH0s-I1gg9gS4pFQVNLKKQy3yA_lcFOi395wdwUQy0IkzZv3W3eJ0-ObGmeRqVdxEJHqCD-dTlxpmjmiZrNOvc_brUTqHpglVBmy4oqHwwnTou45KxYazvSj8uscmS8WVwteuuoBk7GLDGgoMPAh-65cmPDqQ5kNVVABjH5kRUWEGTZbxJt8OeBLSMPCvWciyscCJT5b5kUi6lGn39Nm5tBf8wpI8XOnDeVLPvpejG2VSacUdsqx2yL6B-mbbUCMRSv0P9fJx_eZxVENFE6yYwVQ6c0wB0Ubu61lFkX_QHKUJnCo7lTe-aFE0mUIu-NVvKmvmke8bM9Wd67J8fOMVnqhJlEHhlLU3P84fibIjwhAUht4tC6xbQ2y8OiCT1vK2EGZisPBs8isxRICjIzWCQMZ4V6WE8yv0kWp6y1BKxzYiZyqXY72Dz6uANM_f0mIP53N07kWELcvnHorslbBHEmD7YiChn8uTJ65IilA",
  "id": "rs_0a7a1700ae188eed016ab462408d0c87d09ae412e6b2bab209",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.13,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.29,\"right_y\":0.29,\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The diagonal poses are not tracking reliably enough for a precise fit. I’m separating the arms into simpler poses so I can use the tabletop to stabilize the pen during capping.\"}",
  "call_id": "call_teoqszGZgr0pSfKn0dokRBET",
  "id": "fc_0a7a1700ae188eed016ab4624b8f0087d0980227801c2090f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_teoqszGZgr0pSfKn0dokRBET",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "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]: [-0.693, 1.2526, 0.8509, -0.4465, -0.6685, -0.4587, 0.059, 1.1015, 1.692, 1.0153, -0.3222, 0.7715, 0.6746, 0.0571]\nstate[eef_state]: left_x=0.3218 left_y=-0.1202 left_z=0.1658 left_yaw=0.0948 left_pitch=-0.0638 left_roll=0.1242 left_gripper=0.059 right_x=0.2817 right_y=0.2911 right_z=0.1021 right_yaw=0.1068 right_pitch=-0.0911 right_roll=-0.1233 right_gripper=0.0571\nstate[joint_eff]: [0.3214, -3.2068, 6.8581, 1.7656, -0.1734, 0.1685, 0.4908, 0.6359, -7.8701, 8.253, 1.199, 0.8083, 0.1685, 0.7106]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025479e5cd031891105f89a831fda2fe37a5cbb47f912464543a950b813dc24f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2b94cf3590b85fa548e790a82f19cb572115e33901cd250d1f18e0b0ddaf56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276dc0c82cf933d5c2e923241a231c2e1b37448d5964ca75f480bf9963886d50",
      "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 · 7.315 s

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

message 62 changed as sent

message 70 changed as sent

message 75 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7891, 2.1227, 2.0438, -1.5528, -0.7044, -1.5719, 0.0538, 0.2672, 1.8187, 1.4918, -0.791, -0.6899, -1.0153, 0.0521]\nstate[eef_state]: left_x=0.3618 left_y=-0.197 left_z=0.1732 left_yaw=0.7979 left_pitch=-0.2948 left_roll=0.0619 left_gripper=0.0538 right_x=0.3805 right_y=0.2245 right_z=0.1607 right_yaw=1.3911 right_pitch=-0.2082 right_roll=-0.0757 right_gripper=0.0521\nstate[joint_eff]: [-0.841, -11.8359, 6.106, 0.0269, -0.5592, -0.0513, 1.0281, -0.7316, -10.5368, 8.0205, 0.8132, -0.8034, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7296, 2.2616, 2.1845, -1.5555, -0.701, -1.4757, 0.058, 0.765, 1.4467, 1.0729, -0.5297, 0.0257, -0.0631, 0.054]\nstate[eef_state]: left_x=0.3946 left_y=-0.1952 left_z=0.152 left_yaw=0.8037 left_pitch=-0.3034 left_roll=0.1277 left_gripper=0.058 right_x=0.282 right_y=0.2694 right_z=0.1467 right_yaw=0.7649 right_pitch=-0.3447 right_roll=-0.0688 right_gripper=0.054\nstate[joint_eff]: [-1.1829, -14.7897, 4.8479, 0.0562, -0.5592, -0.0464, 0.8864, -0.7863, -6.6667, 8.0752, 1.9707, 0.105, 0.0806, 0.9744]\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 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]: [-0.693, 1.2526, 0.8509, -0.4465, -0.6685, -0.4587, 0.059, 1.1015, 1.692, 1.0153, -0.3222, 0.7715, 0.6746, 0.0571]\nstate[eef_state]: left_x=0.3218 left_y=-0.1202 left_z=0.1658 left_yaw=0.0948 left_pitch=-0.0638 left_roll=0.1242 left_gripper=0.059 right_x=0.2817 right_y=0.2911 right_z=0.1021 right_yaw=0.1068 right_pitch=-0.0911 right_roll=-0.1233 right_gripper=0.0571\nstate[joint_eff]: [0.3214, -3.2068, 6.8581, 1.7656, -0.1734, 0.1685, 0.4908, 0.6359, -7.8701, 8.253, 1.199, 0.8083, 0.1685, 0.7106]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025479e5cd031891105f89a831fda2fe37a5cbb47f912464543a950b813dc24f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2b94cf3590b85fa548e790a82f19cb572115e33901cd250d1f18e0b0ddaf56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276dc0c82cf933d5c2e923241a231c2e1b37448d5964ca75f480bf9963886d50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJR-rKjxp3Qs4s2xBJswDGjf848PPiK_MYnhdbCiUUByZemDbJzmdgXbi2-kM1HGwxofG0yITZHJkBGtGBiZRSBnzQctCG3G-ONgZ4hYcnKXpOmL0ued9idoQ_z0cU94pfGwJ8HOxIpi6qZqm1XkELwXrs4f0ELGrdIdepHbUg0N_Q5IJiZewvLIspF0R7ucTott-T9riyjG1nyIFLOCT-fGx3Yc-BWemrUlVR-UVU3qv1R3IPq8T5hc9kecvLdmdI1i2VGdrbHEn-NnhWg1qBYtuY9R9GkMgF1kjiBqYug2xIcm-CakLxtGs1ZmtRUsN7orslRRX2o-6vWxzndZ6sNHciCjEfKVfrjVjXsyB_rpooNZGPu8FXiqxhE_NS7CZpcfneoCj1d-7GcnKdke-n1u_Rpm_DL73EHjZKNWgIjKzuDujDmtrSu9RE-86LhtA1EBOWd2eMo_URKCr0IwwnsHbZVIjqvE-cByTO5PTFQ4lAS6JXKoboBh5odEXxTyyme37-yaZ9Cc4fYhvFMkL-9zmllF_DS14DtzsSWQkUsj7qoBk9hdfjJ284jvB5BQTCOvuTHfM-L6BHhUl3RjQzMn_2tUIdRkqMLiBx06HLQzEjHhIX1Ags-vG9Ho1U6lwEaacSmGz2yO2cyLLTKZT2Mw8cmDywl60siyUslt_D7UxLqD4nm62QSpcXY2dl9Jf5U342sKKTaGgC3DvW3FFnk_XUxAU7IvA7gHv_-Pf8Mi3ZRQp7BHCHVuda7MlDj85rv20W34gafyux-HLtWh8hwMCtnZJ0y2NtQQZ2ELHPSIow6yQsC6X6g8MA-tK6RC27IcOX25zZUTGIEiVQfY5FbuE3F6EjCkb0teuMj8iCApoee7iFXdnROhFGjz6eeoFJ8gbIWizBfMXr6yMyM2IbwIYOw2QIsnC5-MQ1qNMHFSZNfx0U-51EqpEOzm0UMYzNzEHWUe9p6OSjKQCWcdaVgK37qXnhkDgSb3T6aSxLGP7j5GdpFaGJFens595VhugLUYSAZpc7mIs_VbzXxLiKnGafJ9qmL_bkMVuJzXqwkI-e2PvtLlxty7JTVD9ogz2nSo78ENywcSLGDqvWXNcSngP6TQO_Gl9OdejJPH9EMmiFExklDiMF4ZEElnZ4B-1qPzy3yF5hkXkKuRii7Wcpc-QTDqVPOdQrkalWV0fFZ1MrMW6m6PRhwdu83rj-pMed23QnU4BTyK-V4FYuOquwp3MsMdJKU8mJzO561NB2b0pzqWNg_4kn6ifQs8kWPzzzNb6w0VZV1arxtoatNK5jP-gUhNJ0eAy1L1CaE3tuvo5j7nciv1dacYNjBXzolA3_VQPWcFO3jWlOD7BUHbGMz7zyDcIC2BN57c8dUv-UuPIBKGkODQF7zccKJqVSdToGcpqKyHU2Ur15FBHhH62TKRzpIEWaimSbQzY8IQX4Noq8p1wx95LgyYmvXbKQoobA-A-SfmBlIqMyuIbIHCBehN-5LBf7qQbdlUhirYM1J-ZUrXG62jEr-SJdSl3uksFgdO1Fi6cxvTYQHU1FZbdHI_A==",
  "id": "rs_0a7a1700ae188eed016ab4624f711c87d0b3d8f5c31bd55297",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.002,\"right_pitch\":0.02},\"note\":\"The pen is held securely in the simpler pose. I’m lowering its barrel gently onto the table while keeping the cap clear.\"}",
  "call_id": "call_Ec50GhcXwtoi9yOJRdZO3ynM",
  "id": "fc_0a7a1700ae188eed016ab46250c10487d08b8ba0d3b573e679",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ec50GhcXwtoi9yOJRdZO3ynM",
  "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]: [-0.6903, 1.2575, 0.8265, -0.4381, -0.651, -0.4477, 0.0596, 1.1187, 1.9503, 0.7925, 0.1829, 0.8417, 0.6388, 0.0575]\nstate[eef_state]: left_x=0.3189 left_y=-0.1199 left_z=0.1546 left_yaw=0.0805 left_pitch=-0.0888 left_roll=0.1384 left_gripper=0.0596 right_x=0.2798 right_y=0.2827 right_z=0.0016 right_yaw=0.1035 right_pitch=-0.0312 right_roll=-0.1637 right_gripper=0.0575\nstate[joint_eff]: [-0.2667, -4.9026, 8.5675, 1.2527, -0.4811, -0.1343, 0.4615, 0.6632, -7.5419, 3.9316, 0.8913, -0.1148, 0.0366, 0.8718]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c9a19a9eeff831c5cf2ec78dc4ff369458c9d9bf40f9b33b8deb228bef1c7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869f6b5640ea1f94361133396570aacec3025f07d26b6482a985cdf6bc1fd0a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd80de810e9c4bb0248f0d0919ca27adb76b4f270c132e904e0d1972736fff05",
      "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 · 2.499 s

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

message 66 changed as sent

message 75 changed as sent

message 79 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7315, 2.2742, 2.3188, -1.6722, -0.6922, -1.4822, 0.0573, 0.7414, 1.4723, 1.1126, -0.5243, 0.0307, -0.0601, 0.0535]\nstate[eef_state]: left_x=0.3909 left_y=-0.1946 left_z=0.1787 left_yaw=0.8043 left_pitch=-0.3116 left_roll=0.1178 left_gripper=0.0573 right_x=0.2969 right_y=0.2694 right_z=0.154 right_yaw=0.7351 right_pitch=-0.3252 right_roll=-0.0708 right_gripper=0.0535\nstate[joint_eff]: [-1.6342, -9.1556, 6.5709, 0.3687, -0.5201, 0.2125, 0.8913, 2.0718, -9.6889, 8.6222, 1.5263, 0.0757, 0.1001, 0.9841]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.693, 1.2526, 0.8509, -0.4465, -0.6685, -0.4587, 0.059, 1.1015, 1.692, 1.0153, -0.3222, 0.7715, 0.6746, 0.0571]\nstate[eef_state]: left_x=0.3218 left_y=-0.1202 left_z=0.1658 left_yaw=0.0948 left_pitch=-0.0638 left_roll=0.1242 left_gripper=0.059 right_x=0.2817 right_y=0.2911 right_z=0.1021 right_yaw=0.1068 right_pitch=-0.0911 right_roll=-0.1233 right_gripper=0.0571\nstate[joint_eff]: [0.3214, -3.2068, 6.8581, 1.7656, -0.1734, 0.1685, 0.4908, 0.6359, -7.8701, 8.253, 1.199, 0.8083, 0.1685, 0.7106]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.6903, 1.2575, 0.8265, -0.4381, -0.651, -0.4477, 0.0596, 1.1187, 1.9503, 0.7925, 0.1829, 0.8417, 0.6388, 0.0575]\nstate[eef_state]: left_x=0.3189 left_y=-0.1199 left_z=0.1546 left_yaw=0.0805 left_pitch=-0.0888 left_roll=0.1384 left_gripper=0.0596 right_x=0.2798 right_y=0.2827 right_z=0.0016 right_yaw=0.1035 right_pitch=-0.0312 right_roll=-0.1637 right_gripper=0.0575\nstate[joint_eff]: [-0.2667, -4.9026, 8.5675, 1.2527, -0.4811, -0.1343, 0.4615, 0.6632, -7.5419, 3.9316, 0.8913, -0.1148, 0.0366, 0.8718]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c9a19a9eeff831c5cf2ec78dc4ff369458c9d9bf40f9b33b8deb228bef1c7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869f6b5640ea1f94361133396570aacec3025f07d26b6482a985cdf6bc1fd0a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd80de810e9c4bb0248f0d0919ca27adb76b4f270c132e904e0d1972736fff05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJZ27vK1nCFs62J5y_tt2ktKMH8qptKQKeRZKRpyck0Ys-lMd-NYsk3qBsZCrlTzVmEyYSBRWDiWtkUkE9SVHWMxeUWQ77kmZ953Gifb3DesRuaYLerg2Nuq2_7y6pb9TfsrV9tCk1J68cbY9mOCUGX5vORWT77pIC65RnvOKiWsfioOgOBG5bUj_MnJ8SlGnTPRCJcPwUA33sMGHHIfhHvTScsxGzlQwlrx85jCYOQyv0A11MkH8xIJ-CMDRwmjV7Q9dTzCc_81FIcPEL1c7kkAorA37wD6cqriLuS9UUVO9-w1fLI9spOVrfKQsHmo-JKkR_mc3bz1M1xGGNpkBMVFegIsfyJ2ZvNt-lbLQjxAhxHNqqNfsnqidT2I-HPFTvYUc6Heokr2SW1hexpzFMtb00aDtimTjCLqau4uBsKlqNe6qhbO6jEN3jAusT5HX6K4PXWlEoDmiFIi0W94pYZTpsO-YtuEFUBOryUmbUPMIl2JIduLjoUg-8ZgDgRK6oWelVrcP4OAlcg-2Utd8tbPQhl0V8KVB3fTPA7oK61I2ygaxBG2zmawLmU1frdtznqNXSOsCdE7AR68lG3TlXxAEpFIKmAodc2MEZKkJJP4sVjBLEzy_qmltjhYfmg75CGdlxzw5t_laZskba8nLAeEJrTGzDyR5jB5JvayCI36C1HeWmxwbnNfGJeNN9cbza7ETsD5sVL_aHCuhtS2qL28IYhvGgUl7PEyOD3K3T_QnSNGcNdNb2dHhOI7lBoUOWdyUiJ6uvBzG8yTzmxJVVXRxyyw6bUlc31wkBF2ehLrK1ztJOloZEqzYw7eKV1R0EyehT8FiuHHPrHdCfe9KcuL6GiBGnEOorSq8bURoLAUy0Y9_Vb0F0y0k6SZQTNayazm-L77QPm-bEF1pRuZ4TF2nWTByIQyIjux-gjp64QN8p2xmbLDk1Wr-IIiltsRW6IVWs_gMFUeFXtiiWH8H1bh0q2e_pjkqqASZuJWFwgNRCi3KKyNRM0LnuJ81gY3rU0EGCoc23oJdsGv5WCa1P3k5qD9O0WFU1y3RDwP8ITDRLTiC5Z-WjOpTEgyPTfcpwZXbsSebbEogwdYVG4K8bFFnKXyNFQiDRh0yGBiZ1FePPR5X10xjXHw0_Z7SbHmz9D17tQ4v3A7klsq8-a_YZBSPxYdHtOxO90nqp8UPFDX3CiLgtf7hcVXCFZZi0105dggimGuXBp9PKiMlZ_SXjsb1nZ25pgmIymmJgfQkyl4KilnrbIy8moOn5tV_EdSUdvszd741vdk1wJI1z2fLhBQcZGO3uH6Y56UT9nMBfX-JIXCpAIoy7QFgDW8CKXRNnKVGCPb_GgSLs6trnKqbEV3c_CGetrCu9ehxD6Q9dd9HWsNwTqS_GBurpv4PLseoSz96xvW962vIeNstyWoEPWR7juTeEqa1lmQrcVdnZ8Exae5EzzdEXStHqEumfuw0T5mIPpU-g3rjMeuI-z-HykKvURtelp7ETMAlhecHtDw9PEmmgFOTAYiKeJz6ldGD2Z7GAfNKE28yINTpopXj2AJAviBdUXqjP8uON4dyOalnXx9G7w1rcWL-13AXvS12h6AxLLcq0DmpBng5prmPMe1OnpW09bbPp2NdJiV3fCyxPzAJTHHW5pEnjs8jrc8Hg2NKUFKYurpkahxLwV2l88ITJOK8xJetG0mHqaQyLE1hmjkmtIXpmMXpLbjEwIe7irQfPIvPxOUDCMFgIn1hHnJNV0j5Vs-JWd2D2Ez_ToC7DbpIiSBe0JX_YRItWlWi2G2DHPojVlzuYVZZ_tzDfnlfERsh0xexdQ7cUJlU21F2eNE1ManHf7QfLPPTb7htfHpBgmR3f2cPRn3RmBjRoBK-svGgs-n0BKcOV4_4HX1PAWeyz7A8ZoJ0k7PPnkU089EAu0CiJ3B4Ev-_LgjGJNW3YsKuCw6adfKQlbc_vmmGooMYOBBjYvkOytTy2sFYA_LGGlIDn3_yhtKx5MU18or2LkyVRqZE8C79SK2GeXmts7lFmSUb5qhqrkdrc6CZOapo24ZtD8Sou96uDG4SEx_kbyF--aQ0cJ0KgEc-3WEuhrDcqSZocpFRtRgom7Oq_GmDUSFmSFNPj9EQFv9yCNH2zFO6RhScVNPQRfdhqJ9DW4-0PtdOuENE7o9YeRMpGoX6wlIEgswXOTVZJC6inoqd0o5gk__e3c2q8zrSPM-ZGQIy13gBg3Qa0RmEY--TLvUxsV_NRYt8fcDWC88Sx6Iw==",
  "id": "rs_0a7a1700ae188eed016ab46253b39c87d0a9b9ffe031cabaab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.35,\"right_z\":0.045,\"right_yaw\":0,\"right_pitch\":0,\"left_x\":0.33,\"left_y\":-0.13,\"left_z\":0.18},\"note\":\"I’m shifting the pen slightly toward the table center so the left arm can reach its tip comfortably. The pen stays just above the surface during this small repositioning.\"}",
  "call_id": "call_mtXcze3ijxHlc12Ls0dMiDlq",
  "id": "fc_0a7a1700ae188eed016ab462581c3087d0abfc5d1bff322b2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mtXcze3ijxHlc12Ls0dMiDlq",
  "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]: [-0.6903, 1.2991, 0.9161, -0.514, -0.6495, -0.4549, 0.0624, 1.2774, 2.0514, 1.2011, -0.3141, 0.9424, 0.9367, 0.0589]\nstate[eef_state]: left_x=0.325 left_y=-0.1252 left_z=0.1658 left_yaw=0.0852 left_pitch=-0.109 left_roll=0.1514 left_gripper=0.0624 right_x=0.2541 right_y=0.3593 right_z=0.042 right_yaw=0.0514 right_pitch=-0.0144 right_roll=-0.1239 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -3.9726, 10.0034, 1.2186, -0.3834, -0.0269, 0.7448, 0.5812, -9.7299, 6.3111, 0.6813, 0.7839, 0.1783, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0149c3a84cffab08e02811af6283972840fdf025b093f5b1dfd71875d290aa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fa18742b91015af71f33b8b2b16d768fc7e7b36640316e1dbc0bc5801bdc07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4dc6b593b3f46b35d232b8b07df61afe8d1cf6e484c4a31e7b293f08433650",
      "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 · 3.851 s

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

message 70 changed as sent

message 79 changed as sent

message 83 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7296, 2.2616, 2.1845, -1.5555, -0.701, -1.4757, 0.058, 0.765, 1.4467, 1.0729, -0.5297, 0.0257, -0.0631, 0.054]\nstate[eef_state]: left_x=0.3946 left_y=-0.1952 left_z=0.152 left_yaw=0.8037 left_pitch=-0.3034 left_roll=0.1277 left_gripper=0.058 right_x=0.282 right_y=0.2694 right_z=0.1467 right_yaw=0.7649 right_pitch=-0.3447 right_roll=-0.0688 right_gripper=0.054\nstate[joint_eff]: [-1.1829, -14.7897, 4.8479, 0.0562, -0.5592, -0.0464, 0.8864, -0.7863, -6.6667, 8.0752, 1.9707, 0.105, 0.0806, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6903, 1.2575, 0.8265, -0.4381, -0.651, -0.4477, 0.0596, 1.1187, 1.9503, 0.7925, 0.1829, 0.8417, 0.6388, 0.0575]\nstate[eef_state]: left_x=0.3189 left_y=-0.1199 left_z=0.1546 left_yaw=0.0805 left_pitch=-0.0888 left_roll=0.1384 left_gripper=0.0596 right_x=0.2798 right_y=0.2827 right_z=0.0016 right_yaw=0.1035 right_pitch=-0.0312 right_roll=-0.1637 right_gripper=0.0575\nstate[joint_eff]: [-0.2667, -4.9026, 8.5675, 1.2527, -0.4811, -0.1343, 0.4615, 0.6632, -7.5419, 3.9316, 0.8913, -0.1148, 0.0366, 0.8718]\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 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]: [-0.6903, 1.2991, 0.9161, -0.514, -0.6495, -0.4549, 0.0624, 1.2774, 2.0514, 1.2011, -0.3141, 0.9424, 0.9367, 0.0589]\nstate[eef_state]: left_x=0.325 left_y=-0.1252 left_z=0.1658 left_yaw=0.0852 left_pitch=-0.109 left_roll=0.1514 left_gripper=0.0624 right_x=0.2541 right_y=0.3593 right_z=0.042 right_yaw=0.0514 right_pitch=-0.0144 right_roll=-0.1239 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -3.9726, 10.0034, 1.2186, -0.3834, -0.0269, 0.7448, 0.5812, -9.7299, 6.3111, 0.6813, 0.7839, 0.1783, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0149c3a84cffab08e02811af6283972840fdf025b093f5b1dfd71875d290aa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fa18742b91015af71f33b8b2b16d768fc7e7b36640316e1dbc0bc5801bdc07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4dc6b593b3f46b35d232b8b07df61afe8d1cf6e484c4a31e7b293f08433650",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJczwc2md5_RTP7igb36qzxEY71AHoZWQ2ddy4y_35OxKrdb_jRoxu3KecvdEYhUHPkIpiwGK-gG22968A8rR_5JXKkx0GvSMzN4eDd5F9IZiwBhhEnWzpmkFbwpAuYvwHcsSwWog7GRpkUEa81vp5B16Yi97hd5TOdIEr5L829-VRbpDtPPcvSbWBDG4N4Bqt-FBVhm4aJca-FHXEZGeQgk1o5mrBsAfxHMtd4cZ-S6BtYDEtYTTulzJ5_J4n6N5WLsLzNrPA3adxB-NBRneWYYSeUhXOaPC6njzb1mJ4cI2TCUz8dZe_T_JNLwkg7HfhhotvnMxpD6NLPxNSBI60CLNoATH4ik7fjc5imjxYsZuuWZBwaV-7-XuU-PvOh91ByN1WOfCYVV4E_XeXBg1dnqr3sxK_-FvD8pq-cv8h80Lmjvo1y48em19IUS96fGAsvkTshfEbaMvUEwLo-lOJqV3bFtG0injcTBV1Cii5nB5kATKcNzNib9PwLbv7ov9gp8YJAN99empYzJK70cZetrDRgNXlnZLKWc30rsNzDJ7CRlJhhQoK_6FGtWgmUGEOw0oVAZ232amFG-xqeJcyWTrXidxkDTXGm2BlWOsVnjew0kn4UUfjH8lK4Yfh6Cr3uCctiWshlXvFAAxPkKZS-F2nE6pOSg-whh0f_-XJqi4W_G8iaQdX8YDPk9TBGMe4edW8H1_Kzfpm97rD2W-6MY101EhFYn28wJqrmGbyog1Jz7dlWiflV6IdAli7o8n7f_0BZm-m7kw9znHee-WK-YgZDUB7PNQ6-stzMONnPUfn-Qc4AmumuhCoOhw7Iv47l6UVmW8pwQMJMDcKn0CojT52keUAuHEK7GgMNkFTzZl9NSrdfm1BqcEUTOv4DvT3efR2ylrKr32Bum4iQM_Ummn33TYllpoyrK5xPCF0FL6ZTVCY9tkjn4fVht1lILN_utyJV2Y_2ioWS-yZQfeMTaouoe8lTGsBiWJCp4odWsNYSRY2y0kfWyVcGPYbzW7OPMP4c9qZy9kKXQMQXRG82xifaEXNI1W5F-f5jHR1mflOaQiNeP7JAdfDfEFfWKN_ZWpagLarljdxU2KjJiUSobK_LZIgAp09t_kL2QLRj8scMKeTaacHl9i4efarQVP5h0nZVbzHiAlCPFtmLautelcS1FCtWjsY_TQ5o2DdMfiA8jfsGBXCzx3AwzmjH1RDMy5zsy-vAbpS429UlB0LSoZYMcjktRwuFecs0HOlbI43EcpyYnad5P8UROjTef37Z1B3gMwpuZ54QSxKXoWDGkw==",
  "id": "rs_0a7a1700ae188eed016ab4625bb81087d0b133c4d1986198a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.002},\"note\":\"The pen is now nearer the center, with its tip pointing forward. I’m setting it down before releasing it for the cap alignment.\"}",
  "call_id": "call_LIRhl5L2P2OGdMJR4bCsDAFl",
  "id": "fc_0a7a1700ae188eed016ab4625c02e887d0af16626f08d7a9e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LIRhl5L2P2OGdMJR4bCsDAFl",
  "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]: [-0.6903, 1.3033, 0.9184, -0.5327, -0.6464, -0.4545, 0.0657, 1.2823, 2.1178, 1.1748, -0.2607, 0.944, 0.9596, 0.0591]\nstate[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1627 left_yaw=0.0846 left_pitch=-0.1254 left_roll=0.1645 left_gripper=0.0657 right_x=0.2509 right_y=0.3553 right_z=0.0125 right_yaw=0.043 right_pitch=-0.0248 right_roll=-0.1423 right_gripper=0.0591\nstate[joint_eff]: [-0.2256, -5.1624, 6.5709, 1.4432, -0.3736, -0.0073, 0.6325, -0.4991, -9.5932, 4.4786, 0.8083, 0.5201, -0.0317, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b91f92750658cb976ba7e362ae6c107e8df6ab76dfe82993dd15b3766dc0768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4658b090adcfc4d45f85542a9b6c91d8c41a4feb4d0e5fae8e3ef9729d1816b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7179f8d6710c984471ca136e618f025cf2d4e9c5ffaff8fdc3c1c07ec3a85421",
      "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 · 5.165 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]: [-0.693, 1.2526, 0.8509, -0.4465, -0.6685, -0.4587, 0.059, 1.1015, 1.692, 1.0153, -0.3222, 0.7715, 0.6746, 0.0571]\nstate[eef_state]: left_x=0.3218 left_y=-0.1202 left_z=0.1658 left_yaw=0.0948 left_pitch=-0.0638 left_roll=0.1242 left_gripper=0.059 right_x=0.2817 right_y=0.2911 right_z=0.1021 right_yaw=0.1068 right_pitch=-0.0911 right_roll=-0.1233 right_gripper=0.0571\nstate[joint_eff]: [0.3214, -3.2068, 6.8581, 1.7656, -0.1734, 0.1685, 0.4908, 0.6359, -7.8701, 8.253, 1.199, 0.8083, 0.1685, 0.7106]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.6903, 1.2991, 0.9161, -0.514, -0.6495, -0.4549, 0.0624, 1.2774, 2.0514, 1.2011, -0.3141, 0.9424, 0.9367, 0.0589]\nstate[eef_state]: left_x=0.325 left_y=-0.1252 left_z=0.1658 left_yaw=0.0852 left_pitch=-0.109 left_roll=0.1514 left_gripper=0.0624 right_x=0.2541 right_y=0.3593 right_z=0.042 right_yaw=0.0514 right_pitch=-0.0144 right_roll=-0.1239 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -3.9726, 10.0034, 1.2186, -0.3834, -0.0269, 0.7448, 0.5812, -9.7299, 6.3111, 0.6813, 0.7839, 0.1783, 0.7009]",
      "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]: [-0.6903, 1.3033, 0.9184, -0.5327, -0.6464, -0.4545, 0.0657, 1.2823, 2.1178, 1.1748, -0.2607, 0.944, 0.9596, 0.0591]\nstate[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1627 left_yaw=0.0846 left_pitch=-0.1254 left_roll=0.1645 left_gripper=0.0657 right_x=0.2509 right_y=0.3553 right_z=0.0125 right_yaw=0.043 right_pitch=-0.0248 right_roll=-0.1423 right_gripper=0.0591\nstate[joint_eff]: [-0.2256, -5.1624, 6.5709, 1.4432, -0.3736, -0.0073, 0.6325, -0.4991, -9.5932, 4.4786, 0.8083, 0.5201, -0.0317, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b91f92750658cb976ba7e362ae6c107e8df6ab76dfe82993dd15b3766dc0768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4658b090adcfc4d45f85542a9b6c91d8c41a4feb4d0e5fae8e3ef9729d1816b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7179f8d6710c984471ca136e618f025cf2d4e9c5ffaff8fdc3c1c07ec3a85421",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJgxFqRx2x_WtUN8pA0kWc-0PyiJ7TsQdSgMmKUEK9wK2LVhvrHLpQixCW407OTdZfBzDJUWuqPt9B2cpcrbMza4SuRgvOOnnSyWm41DNog0KgtOpUfLrNBMC-c77Dp4a0qAS-qPtgzdcNAhgFEPbxz_ZRheDOoLkPy-bE-Dz7oTNpRIgCvLkD_3WAXdAsASYmnd9CJ1R2y0Zu1k3V0JXE2JynRWDtjoRb-IKvqFl9jkpQGXddKDJkU_qaU39TUUIjgFjUct9rWEHrjhEcdGDahsByXChW-xNDvjuUWVxIYxcu9SPaDS1WGcaOpvsNBZXPU859hSXEny5aLvA5uHt23MVawwm7aStQ4UJcK4zCWHJogCfOwGQGLw5cul1ECGb_LyNvw52LDteGKn2sMqAHGVir4R3fGFy9Pd-QYUAJLNC11C2YoPwf53mjdCuSAjHMLNwPURGcZpqUMxkHzq4XFKe7k9KfFoGjQrdaGfsZUPd2XAeeMLWk8W1Ww43Wo_V8hrnPbd-Cf3j4znZ7IB3ctr1Jt1LDMny4_qN4wcFtK5dg0ujDgrhcHDPkX8OyWCbLBwOiLpGVxq34452vlsp6EtNYjoqHCAiLwYWHgV82XQ7n5VgfUCusttikS7Ok8anHV2fXZz7tFIfvkF1sxiOz1NZWccS2CfdJdi2wHL5wyNd2KhSlh7vcrFBAHcG4r1q0YT3IIEmUKdm_Bv9Nw19tX-RUBy_C1jbFduZisCyjhSOVDr429gw2_8cOFAjOmUACHKDpbd_oU55DVORcNcnuccG9qYurTnkdNX9md90o4ajhGranaXOjMsxQUYZghuNWUompXgk98hv0TJ-_QUaHeEOaG-MHtfC2mtjbmgq4_FluuRrTzlmWpEKQC7Wo97uRzaemp7SN8MPCuM7tTQU36buUd3cGeetJIF1Xia0mpJi5QmbL-s13NYgRDXXAOHZmTH8RKLHyrYzWzgUVWgN_6TvdMHXYWDIq106VCzbzsYEo3jxA0VWdVrcpB0zt7vrQ0NxXDgjoCtj0FGfKVxjmdMrq2l_H8CWJ35tYAid_GSRGJ-zirevzq-0p2drjSDSXeBJEsfLm_Qn9Rr_6b2eebcQHsGh478PBbyeQDDCi8vEVwqj8bnAs_hGF7r8VJ2MsS8lK5yHpe3SNpHDz-lVd1Pu7yZ1VZGJtxeZx1W9ONWn6GzYfF6JnB3dfJtiMLJE0-krOX3-x4VxXwZDmkeBldQccv0TIWo8Xntb6ANWu6pbhgmXSN5Coy4sMeUr2GVGuqkuVFhhDKzk_o7NP9LEs4MS19rQvnzOXZShktvxxgt0JzmeDcau2FTzjZb6HClvfb-s5XJoIrXgLSqqXuSfnjiLpfMTHj-S_iWTXi4P6WqXwc8RhGK99mPbS2dBnbnhvyffLDQgrW3nxjw3v7ac1gddaAe13Qy5NqWY7YMGzth-MVmRAHgAW5W9wjK2VembSXZmo9i-4YDnQRYv2umRwZ-8vTLaG_wHAprgZrI5uXG9JfIaYn3thKP3Gle50MZjvOpfrBGh_UtY5FpK16doRe6ovA6_6KV7VbipZBzDoN2M_D_zvNeTZEvKkmCgq4krFMF6LHwyLU-QDpWIfe2tfgY5BXUYGCAFuOjckodzqfY1TjinZOnWgNYH51RJsm8KwzZ0oW8ejA_FDQJDx25H5igg==",
  "id": "rs_0a7a1700ae188eed016ab4625e232487d08d700be1c0be9422",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_pitch\":-0.1,\"right_z\":0.003,\"right_gripper\":1},\"note\":\"The pen tip has touched the table before the barrel. I’m easing the tilt back and opening the right gripper so the pen can settle flat.\"}",
  "call_id": "call_RL56m3M8Cc6jSdV959L67XbT",
  "id": "fc_0a7a1700ae188eed016ab4625fca4c87d09d206040bc391f70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RL56m3M8Cc6jSdV959L67XbT",
  "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]: [-0.6903, 1.3033, 0.918, -0.5362, -0.6464, -0.4545, 0.0661, 1.2694, 2.1326, 1.1954, -0.2779, 0.9104, 0.9749, 0.9954]\nstate[eef_state]: left_x=0.3225 left_y=-0.1237 left_z=0.1621 left_yaw=0.085 left_pitch=-0.1282 left_roll=0.1672 left_gripper=0.0661 right_x=0.2533 right_y=0.357 right_z=0.0063 right_yaw=0.0338 right_pitch=-0.0572 right_roll=-0.1303 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -4.8615, 6.653, 1.3016, -0.2906, -0.0415, 0.652, -0.841, -11.1932, 5.8051, 0.5348, 0.0904, -0.1148, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd296a9e8d22e90e2c69129973b1c0c5c3118b24e6103cbac8ed08ce31bd591",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11fe068519ee29241d82178b2d9d658a6830936dfefc6b967fc1d7a4a637adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca64aa8e211fa24767f50f5a67182ba65c1da6baf5cadccaa5bfd2ad215fe61",
      "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 · 7.706 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]: [-0.6903, 1.2575, 0.8265, -0.4381, -0.651, -0.4477, 0.0596, 1.1187, 1.9503, 0.7925, 0.1829, 0.8417, 0.6388, 0.0575]\nstate[eef_state]: left_x=0.3189 left_y=-0.1199 left_z=0.1546 left_yaw=0.0805 left_pitch=-0.0888 left_roll=0.1384 left_gripper=0.0596 right_x=0.2798 right_y=0.2827 right_z=0.0016 right_yaw=0.1035 right_pitch=-0.0312 right_roll=-0.1637 right_gripper=0.0575\nstate[joint_eff]: [-0.2667, -4.9026, 8.5675, 1.2527, -0.4811, -0.1343, 0.4615, 0.6632, -7.5419, 3.9316, 0.8913, -0.1148, 0.0366, 0.8718]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6903, 1.3033, 0.9184, -0.5327, -0.6464, -0.4545, 0.0657, 1.2823, 2.1178, 1.1748, -0.2607, 0.944, 0.9596, 0.0591]\nstate[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1627 left_yaw=0.0846 left_pitch=-0.1254 left_roll=0.1645 left_gripper=0.0657 right_x=0.2509 right_y=0.3553 right_z=0.0125 right_yaw=0.043 right_pitch=-0.0248 right_roll=-0.1423 right_gripper=0.0591\nstate[joint_eff]: [-0.2256, -5.1624, 6.5709, 1.4432, -0.3736, -0.0073, 0.6325, -0.4991, -9.5932, 4.4786, 0.8083, 0.5201, -0.0317, 0.696]",
      "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]: [-0.6903, 1.3033, 0.918, -0.5362, -0.6464, -0.4545, 0.0661, 1.2694, 2.1326, 1.1954, -0.2779, 0.9104, 0.9749, 0.9954]\nstate[eef_state]: left_x=0.3225 left_y=-0.1237 left_z=0.1621 left_yaw=0.085 left_pitch=-0.1282 left_roll=0.1672 left_gripper=0.0661 right_x=0.2533 right_y=0.357 right_z=0.0063 right_yaw=0.0338 right_pitch=-0.0572 right_roll=-0.1303 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -4.8615, 6.653, 1.3016, -0.2906, -0.0415, 0.652, -0.841, -11.1932, 5.8051, 0.5348, 0.0904, -0.1148, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd296a9e8d22e90e2c69129973b1c0c5c3118b24e6103cbac8ed08ce31bd591",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11fe068519ee29241d82178b2d9d658a6830936dfefc6b967fc1d7a4a637adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca64aa8e211fa24767f50f5a67182ba65c1da6baf5cadccaa5bfd2ad215fe61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJmEpiD6VkIH581ibqyA6ulkeArdEC8j9a57HWKL4j_nfku5VSLX15rzMeqDH8Mbd7iRcme2xOIek0Cdz0oo-9NWMhUE_jXVV5b1lMCN8lhkagg9VRh1YwIfF55AxrETic62j256wtzWJfaWBr6b6a3-tPHQ1YVJgVrTK1NyU0gP8UKxVkl4uomqmlXizuUVz5jFq5zEI8qnyYTUdGRvvIw7hd6DFKr_l37CqDLpluPylPWMCaDz3SwooRQ9v6pCWxrrOLMUC3_cHOHbEMYYVgsT7F3lrYagrhvPJxyZrLT05Y_fH1DL9f_7OgzPDQqDGJ9tqqeZ93FFYMnPLStaHou6T1djiCski5v0mvlC0QHVsz37RwPq1GAzOgTviUV-xSJp8AbsbBw2unpTWLLi8Gi6LSN02aQ1EriqAiVNDfFLh5-YAwpfrtSKZf7r6ug2qu5DT00RCP3H7el4DQ0jO11P8O7XibdDjbXCqiXdMy6LUoh5cU_4IT-QnurFOPbIFhM9xA7GRPHEAyV9ep-WWkGB19JvvQXyVKRW6r2QAJxV5nO--6Apkcrj3YGVW9D3n3IJCylAxMX6PRXsGJOTedffnmCYpij7xlQkS4Pic4g32JitN5bQoZsuLwYMIKhxK1AWLgwMSMyLd_XxjCoq0yQjLvQV7laC3quaBMiCktuO8ntosU42X-rJb364C5Q8E5FvgR2A7EbFAh9WloQAnvEEl6mSj1CEYanFcSert3tgRP3i39nXk86Rgmfu5riugrbBCHoylEjZv1W7JaqiK0ZCzSmdIgH0uL8hfzyn_Ex8jO_YCbViT0bky-g0plOTWrYvvfqKzPrzWJyVtEwho2saUu8GvBap2OXCji5XdxYPhBEdOpu7VBBBQKj26k7gEaoZopYt4JtbH3RT-RSHFxmYMgikuBm9MgUNvoODxEUWF02kqb7Nu9wsE_X5VyxIsSvW04y6U8h2p_2S6GYW4xLBtaeZP23Z_0zl3O9g4U271cpp0o5KbkjSk-7sLW3HBw95w51d8N8oG3RLuTPz_he3A6pFAXveg_GUC23tB8j0lnudXQSOJoIO_KPlX8ZSArlNUPVwLbMlIynmk2yQbMqRgrtDS1q-ANV084oIq5xDULFrDt8JY12ww0Gqcuh_4FcyygyTlQ6ot-icE6kqLBqLxbtoCrn5RNk-nXZgg_H2E185GEPAFFVTDI3u7IJ6K9kLxQ_fCRs5ARwLi1Zp_--qWQGjS6zHE-8c9dCUM7MWFFvgfhZyhs3jta0OFvbDPgLbYidpby5jBHhW_tF3VUaws2x6tNuZ8wkMrnzfwxPQ1DR95mU19-wGCsF7Z56hJfe6qfMCybpkY2x2Reru4P7vdJbrySVF8IU6TbltLJOSxYDs5eEysDiSkPOCP7JNX5JTQa0ubj_Lmo13yyCSxTAgATNsOkETAP2x40NtPqx0-z5QiCGpKyYNPRmznadW0p_awp4GM04kkdogGDWunHs-lPG7aMUqbvZqjTB3mxJuGin3AdJjIaYTY3LDMAJIaJqJHqqsfjufwILHg_GronrNTWB_tuwkVieOkCu7TPXvQ2zSYtZnID4NkZS4EGT3xQO7HwF7qcVmEJXVv2SJeoH4Avw47MsEh01QB4NOhT5iWf5W102x1d8VT6WYbyylIFt9RStN4pOpPFEp6_Bc6Hbw-H_qg7VoL8GCd-UrNLZULG1uULy6xseOl8TlcjAKqQlAPgTMM-woVqSFGUYpqla3KEKua6x1M3v5nAiohrxzUPLqHDyBHXDnmNUiEI7d9sT70RcGaqveR99r5TiMOYnifGtL1IikA-mZVDgK855FyA=",
  "id": "rs_0a7a1700ae188eed016ab462636fb487d08e18d04c9e793a1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.003,\"right_z\":0.184,\"right_yaw\":0,\"right_pitch\":0,\"left_x\":0.36,\"left_y\":-0.29,\"left_z\":0.095,\"left_yaw\":0,\"left_pitch\":-0.2},\"note\":\"The pen is resting on the table. I’m parking the right arm and bringing the held cap over the exposed pen tip, leaving room for a careful descent.\"}",
  "call_id": "call_Hx2U9Eb0ISGmXebMgsSTH3bo",
  "id": "fc_0a7a1700ae188eed016ab46265744087d08115d4a4ac30d771",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hx2U9Eb0ISGmXebMgsSTH3bo",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.9241, 1.9232, 1.3277, -0.5423, -0.6727, -0.6582, 0.0665, 0.0971, 0.8101, 0.5663, -0.3691, 0.1852, -0.028, 0.9963]\nstate[eef_state]: left_x=0.3528 left_y=-0.2786 left_z=0.0831 left_yaw=0.008 left_pitch=-0.2334 left_roll=0.1965 left_gripper=0.0665 right_x=0.2912 right_y=-0.0007 right_z=0.1623 right_yaw=-0.0567 right_pitch=-0.0455 right_roll=-0.1315 right_gripper=0.9963\nstate[joint_eff]: [-0.7043, -9.7846, 9.2376, 1.1502, -0.4127, -0.0366, 0.6764, -0.2393, -2.1812, 10.1538, 1.6923, 0.0611, -0.0952, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8918870615926431c44b1227e2de7184f80d15daf96800ac7c7bea7d6121180c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54afc1e20d1739847c6bc39d73a390f972bd9750ed87bfdc5e906d6076006516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3279af24e0f109c22b15ea2736a0a6b53d1b415b6ab567a537ae145b852164",
      "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 · 4.129 s

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

message 83 changed as sent

message 91 changed as sent

message 95 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]: [-0.6903, 1.2991, 0.9161, -0.514, -0.6495, -0.4549, 0.0624, 1.2774, 2.0514, 1.2011, -0.3141, 0.9424, 0.9367, 0.0589]\nstate[eef_state]: left_x=0.325 left_y=-0.1252 left_z=0.1658 left_yaw=0.0852 left_pitch=-0.109 left_roll=0.1514 left_gripper=0.0624 right_x=0.2541 right_y=0.3593 right_z=0.042 right_yaw=0.0514 right_pitch=-0.0144 right_roll=-0.1239 right_gripper=0.0589\nstate[joint_eff]: [-0.3897, -3.9726, 10.0034, 1.2186, -0.3834, -0.0269, 0.7448, 0.5812, -9.7299, 6.3111, 0.6813, 0.7839, 0.1783, 0.7009]",
      "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]: [-0.6903, 1.3033, 0.918, -0.5362, -0.6464, -0.4545, 0.0661, 1.2694, 2.1326, 1.1954, -0.2779, 0.9104, 0.9749, 0.9954]\nstate[eef_state]: left_x=0.3225 left_y=-0.1237 left_z=0.1621 left_yaw=0.085 left_pitch=-0.1282 left_roll=0.1672 left_gripper=0.0661 right_x=0.2533 right_y=0.357 right_z=0.0063 right_yaw=0.0338 right_pitch=-0.0572 right_roll=-0.1303 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -4.8615, 6.653, 1.3016, -0.2906, -0.0415, 0.652, -0.841, -11.1932, 5.8051, 0.5348, 0.0904, -0.1148, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9241, 1.9232, 1.3277, -0.5423, -0.6727, -0.6582, 0.0665, 0.0971, 0.8101, 0.5663, -0.3691, 0.1852, -0.028, 0.9963]\nstate[eef_state]: left_x=0.3528 left_y=-0.2786 left_z=0.0831 left_yaw=0.008 left_pitch=-0.2334 left_roll=0.1965 left_gripper=0.0665 right_x=0.2912 right_y=-0.0007 right_z=0.1623 right_yaw=-0.0567 right_pitch=-0.0455 right_roll=-0.1315 right_gripper=0.9963\nstate[joint_eff]: [-0.7043, -9.7846, 9.2376, 1.1502, -0.4127, -0.0366, 0.6764, -0.2393, -2.1812, 10.1538, 1.6923, 0.0611, -0.0952, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8918870615926431c44b1227e2de7184f80d15daf96800ac7c7bea7d6121180c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54afc1e20d1739847c6bc39d73a390f972bd9750ed87bfdc5e906d6076006516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3279af24e0f109c22b15ea2736a0a6b53d1b415b6ab567a537ae145b852164",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJx3kGeU1bdJgsj0vIEvFW-yI85UTuhu67jgbv2jqSz7u4fKUAMfDo0RT8-FulVpTEI46AwUQ17CMZuuKdZp8cxuwHG1f0MvmPbMpNPkvPGB-KUjv9c-qrnx8op0e5TOfkTKASAYXJRewV6-qr8KZap1V3Cg_X-IJxbETeE13XJf5m9KQSs8DObA9P2InvwlmnI7nyHly5IaabiYuyMWvRuv6Jxh-Us-YV75XRjVudHeOVs1InSPGXSOLskR2UlySle0Jj1FaROuYoetaxNPKo-7yyLRAfVAUpO-stCcv-lSps7vFnSD5UkjwhTX-LfK7ohEbkmXFiOEDcUkOapafnMXDZ73sVZEBbMR74VNJdKu-pQFJYQxTXtjKTVs-JtTpK9h7HkpGQqBe3h-atvttijFKMdn5BBfs8rIDUPjAvP4U_t2-IF3GD8JVfyVSMUIaGk-1M0a1nsQa9DUaDJb6EA4HS6CO73FXnTcrSONffoi3ii0AaGXNmjRqKZdwKU1LggfqNmmwGOZO1pijt6-VU6YUAyqiA4BmtG8nhll4qqDGGLUsnh2Q8TSGQlYr6fHOKOU99EngfY3bl9Mo0tjB5cCWXaK2VHRVLELKgg6z-fPj0Qstl90osZeF4xTqp7asbEkkJYpP8kaCZF1PlpiiL-XuLN4yJ0bY17aRAEKfgMaiJ6SlmVOtJyyaf3pRHM0XvoggGKv5gbjSuqKdwWMdNIUhsITyl8Nag62OelRDnlbI8G_Y527W1yefPJqYL-9vxyQBq7dKL7T8N5Pmk-QygNXI9zmwIEs_fINi9Jt5V8GE1C0DoZfOkVAURfVOO8Yd4GoWvIwol5-pg_zxDQ_anM1G_yVwafKPtixUBg9RcUUdY5UvA_Dysm5Qutkt6TAK6kkPhkvgETyqQ_jS4gATwZFMNqU85CkIFEpP5wVwLbEUXkZrfPnIk3X7_YbrHeH3MxGAyvuGen6mKamzl6TKlo7-zNzdnRTzWPkofBrfXkzQvGLzRTgabtUu4PwJjMT8N4jhG-0bJvsX1_-S2a8Ms6t2QeSkiQnXkreTGmCl5UcpsMErKXKN1-RtDWHkYYh9gSdMXJiE_NZqfI8AXE2nR1C9FcueoghcYkKzKyxphH40sm5Ta9vGhQaFj5FeoGGdnAd33np5_O1mioUfH98DT5vDFLUte8dfRM25CnA8MYSkMaQIGP_VZke35G9oauH9ym73Lfv9BAJdKe1uYpwXxs6oh6nWR1lC97tnV84im_tJ8VkS7_Y6eVoOOvVThALougLZuDu6p892yuMRRaKjif9QFygijXQAo4RUjYRPTzrcuHToS7D2IUgWpai6_YwihPkKOa6NblMuKoUHZ4JcFiWSr4lDpVqX_37WITBC0yl2WyHf1N53zOij_UQY6X91-8gq6xghT97u1QG-Am7RiiqCw1chbabamDb_RDE7Z9znkfnNNRTHv26vQ_sx0FfbzbjNlXcj-Jj-Ef69ZHBXmlq_HGFTxUjCyj1LpA9NXXfPP4yWntCDnhIaVWVfIwGAxZRwk4KdpcDtecyjkt3ZI4baYm-I1r__pAxzeqLaYd0Nb2x7NhS-DgUJyaTVYEKvtr8R7NLWKJlFpTUWxHyl3ESuIDY6542PYvxiX8F0-y0KsFz9VjOZvJbnWuwAXprUoeA-Oj5KSpVR5GBmmDiySX1Fp7t8DcaVT3_sZ5_8SyCsJyTNBv2HAltNw84MZGzcE7qrevKnmsBpht692-Xvrz-b5v7jUIxeWUv8XrgpCRj2SHuVs8tSjAcJm4G7WPQvwTbnw-qGOxIK2jbNMeUsSWHXwaqYMbZUSK7hnOI9PIu4DmJK--N-R0qdHfT-X7e85G403905Ta2pKdT4fLbdMMtRT0Bw8IamWtkmlDf1VVUSKqOBU8CUyg6bmq9fthaLLSEK3jNsl9CmBGdLpn1ow0VZTM8ewoxEYTKJzdWpjAIxSG_rCokRlQeGBDDn3UcymMpA6sRafTuE8L1zfjvRZieUOWae62HfvrYOfUMb5laLN-SEydGXRBrWKkCnHhxfPgKk_zFAR6ChxB1447mOmrplLXzAFa-16Ni5-5JW91RiWcqFxa3sqgj9_hATb1bnd1gFbyRPSUXZmZyrXKRsxH_0u6vE3DYzV-hRGo_vwJHNK6_ldqQxGpyZH3cOlyMSm_qelGlYQoSayvIvTA128HkYKJhDYwf1bs5_fN5BKqjS9g6XnZtTeKcZPaiWBxBK2hWaTg4qUIz6IiOCd-bQbCN05b7tTlDP9QXoR5Ruqm93qKhHLoyphmAfEUuR87zypVjAF4n23Jaapl3YizO05DwPp5_Iotv0QgBG5XGIgL_gcKp_29bLyDB5tk0_WTaaFq9NYuMhxZEnH0-gz3BeOJZZHFYlFchgdKpgbRPfpKOeaN7CG1x5giFEBhKLM-idUY2UWUw1zwSeVX-V94kjgubx4YDOttK8z04BiX6pRa1RDqX57_Sq1_sE4kEwBpi7nqkueTrfxnUkLwavUAXSs3ZCn73Afz4pwleLF9W2HszPBomVXJvUSt2snYVIS5d6mGDHWeqfr1C4C-IQ-kM58qyzI9_mXgYV8oTZO3kKD3zp9jz7MsRJi8AsAZOlqv5q__",
  "id": "rs_0a7a1700ae188eed016ab4626b209887d093f8ebade5bf7b7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03,\"right_x\":0.19,\"right_y\":0.355,\"right_z\":0.1,\"right_pitch\":-0.1},\"note\":\"The cap is above the pen’s forward end. I’m lowering it partway while bringing the right gripper toward the pen’s rear, where it can stabilize the barrel without crowding the cap.\"}",
  "call_id": "call_Y03gwXoEQ2gZLyXdea7X7Dkh",
  "id": "fc_0a7a1700ae188eed016ab46270432087d09f9b1218254df905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y03gwXoEQ2gZLyXdea7X7Dkh",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.8131, 2.0018, 1.1488, -0.4835, -0.6743, -0.6571, 0.0689, 1.2396, 1.9514, 1.3453, -1.3396, 0.8089, 1.6356, 0.9957]\nstate[eef_state]: left_x=0.3472 left_y=-0.2013 left_z=0.0045 left_yaw=0.1678 left_pitch=-0.3472 left_roll=0.3675 left_gripper=0.0689 right_x=0.2095 right_y=0.2272 right_z=0.0884 right_yaw=-0.4503 right_pitch=-0.1725 right_roll=-0.3366 right_gripper=0.9957\nstate[joint_eff]: [-9.0325, -8.9094, 11.2342, 2.0488, -0.2662, -0.0659, 0.7399, 14.6803, -4.5197, 14.5709, 3.5873, 1.6923, -2.9133, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6523611ec682f81f8ccd7257bbca2b7a0940ad507a8336cdd3611bcf59557c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b202e02b382b7beb30d345b7639aafae58f50a4fb817ad98c64ce66fb79948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a481e3b733fb0c62ca8655347fc03ed8616b5515165e46b19d234f5294e8a0d7",
      "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 · 9.095 s

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

message 87 changed as sent

message 95 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]: [-0.6903, 1.3033, 0.9184, -0.5327, -0.6464, -0.4545, 0.0657, 1.2823, 2.1178, 1.1748, -0.2607, 0.944, 0.9596, 0.0591]\nstate[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1627 left_yaw=0.0846 left_pitch=-0.1254 left_roll=0.1645 left_gripper=0.0657 right_x=0.2509 right_y=0.3553 right_z=0.0125 right_yaw=0.043 right_pitch=-0.0248 right_roll=-0.1423 right_gripper=0.0591\nstate[joint_eff]: [-0.2256, -5.1624, 6.5709, 1.4432, -0.3736, -0.0073, 0.6325, -0.4991, -9.5932, 4.4786, 0.8083, 0.5201, -0.0317, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9241, 1.9232, 1.3277, -0.5423, -0.6727, -0.6582, 0.0665, 0.0971, 0.8101, 0.5663, -0.3691, 0.1852, -0.028, 0.9963]\nstate[eef_state]: left_x=0.3528 left_y=-0.2786 left_z=0.0831 left_yaw=0.008 left_pitch=-0.2334 left_roll=0.1965 left_gripper=0.0665 right_x=0.2912 right_y=-0.0007 right_z=0.1623 right_yaw=-0.0567 right_pitch=-0.0455 right_roll=-0.1315 right_gripper=0.9963\nstate[joint_eff]: [-0.7043, -9.7846, 9.2376, 1.1502, -0.4127, -0.0366, 0.6764, -0.2393, -2.1812, 10.1538, 1.6923, 0.0611, -0.0952, 0.0806]",
      "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]: [-0.8131, 2.0018, 1.1488, -0.4835, -0.6743, -0.6571, 0.0689, 1.2396, 1.9514, 1.3453, -1.3396, 0.8089, 1.6356, 0.9957]\nstate[eef_state]: left_x=0.3472 left_y=-0.2013 left_z=0.0045 left_yaw=0.1678 left_pitch=-0.3472 left_roll=0.3675 left_gripper=0.0689 right_x=0.2095 right_y=0.2272 right_z=0.0884 right_yaw=-0.4503 right_pitch=-0.1725 right_roll=-0.3366 right_gripper=0.9957\nstate[joint_eff]: [-9.0325, -8.9094, 11.2342, 2.0488, -0.2662, -0.0659, 0.7399, 14.6803, -4.5197, 14.5709, 3.5873, 1.6923, -2.9133, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6523611ec682f81f8ccd7257bbca2b7a0940ad507a8336cdd3611bcf59557c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b202e02b382b7beb30d345b7639aafae58f50a4fb817ad98c64ce66fb79948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a481e3b733fb0c62ca8655347fc03ed8616b5515165e46b19d234f5294e8a0d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGJ4vqu0oXuJZg2mkUFI5zh2PAHIVmK9LwQFaxwzu9gycLYCMe0PrDJuaXGzqC3xaj0sVoqIHoCuV7bTJBqTL22j85WI-JLWYNaSQAiNjQhVAn7TblMVmxqHxzoG2etk7ANSp93xrCtHIME1OPLQ81oEWc5t25eZo7S9ss0k7M58jg2icFbKrJnkVlZWFETUMNP-bKItHwXGrpuopvies0ItoOgNSvUifc9tSbjhiYt9FPT1Tr4JLWoIZGn7nP0h7YB1kGtDDPgLQLxbmPsgZTC6LpQOOAhyJKktrDjvZ2gb6-e74J7Z_gOqIXoxym-dtr9mRpmhG52wV9euiPB1eXUwYV8LJhMOLUrbfx5R6URMj-dla30DD16E7KAjcs_tlsRrVAcyqUGV1ElmQ0XHO_03R3QOcPxT9xacrlW7PJTGDetC4UBT0x17VkSI64-zMvC-IbakT5AkaK7vOmACSnmYgN6fx_DWfSpKrGdc2g64O1U_-N3aG5IgD3y7Bua1YNZWgaVys-TsDH2OeZhnDxe0zaPJRrh-1xilDg7hoklgDvdn-ra4IaRcMU3egQvJi1AwUsNUCPtBgOWufqii2zUrtyxqIS5DNf1s9xEYFcl5dJYAc42B6pwxDUnSiYRHy13VnZhTs_kgbc9D72k7lYCvzit9RDCdrPwn6L2926Xf3p2s6JzxhAjTK45dUurpdTYWNvq-V-pH4idjTS3xeL6RV6G8Ee-W08zwX7vh3M4mweRV7fmLFON0e6kxrvh2ZDaytsxLbb6AskzCx7VhnW0eS3e8V0lLAZoO1ZMhUIg_oBsnWRzQtedO2RJXI2qEMP2G_VKNJLe1i0nu37hIgUDUQR2V061AH_OckU2OgCLp9wm-keWkGHgcLA8_0W85FUsQy8AJ7jl-bIh64r9yfZQkHO83T3mhLO0pwmiKL29Edy-MWgGox9k5U0_tFj4JOsNnU8Noqwu5sYk5qQ9wVaFIG94-CRKwl6use2Y1arXEKBvO0aaER4HtgLW6S-rknw1wMkiyiZtN5OAtO2DECIG0GGGXcG-atSKrAGb_aylWAbdQxdviU0MpqXXVJN-S-LJ7SVKPZK2mexHQyjGUiznjMUE8Z-wRcphItxw_rrtcpPyfZz1QjhBXNBgirKHBl-YL2beFKzLy73ILqanA-zco9p9yBuhr6iF2xUroIbNagTHCSo8RktQyDxTSTqOkg3dtBvqiJcHczFVJrDxMeA6076t8hHJP5L0t6d6sHpPYbCM3mvY4v_6IHEv6rYQr5wbUgKSR4NG1Jurq0vCIHoM_EfhgAt_Bjbu3lXN-U-q00LRs-z6_3Bcyh_HQJXunhPXsMSteIB8gni8vDx5nPd6qHzVemGlg6K-gigY1-axAD3skZsuzosdU9PeTr4fWN098458XOGwFpW_rpJrfdAlF2gUAoVuypHRp2PxgtjwcEGOJZEcA-XF-_bftoskm-ebJ",
  "id": "rs_0a7a1700ae188eed016ab46275c54487d08fea10aaa3c09ffb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.003,\"right_z\":0.184,\"right_pitch\":0,\"right_yaw\":0,\"left_x\":0.34,\"left_y\":-0.2,\"left_z\":0.13},\"note\":\"The arm bodies contacted before the right gripper could reach the pen’s rear; the position errors and joint loads confirm it. I’m withdrawing the right arm and lifting the cap clear, and will continue with only the left arm near the pen.\"}",
  "call_id": "call_0sliiWoWcMPhVwZNsTY2Yygx",
  "id": "fc_0a7a1700ae188eed016ab462769bdc87d0b3d476c0fb25b4da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0sliiWoWcMPhVwZNsTY2Yygx",
  "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]: [-0.82, 1.8397, 1.3842, -0.9363, -0.672, -0.68, 0.0703, 0.2283, 0.8249, 0.5976, -0.4137, 0.4343, -0.0811, 0.9963]\nstate[eef_state]: left_x=0.3378 left_y=-0.1956 left_z=0.1078 left_yaw=0.1898 left_pitch=-0.3745 left_roll=0.4009 left_gripper=0.0703 right_x=0.2866 right_y=-0.006 right_z=0.1716 right_yaw=-0.1065 right_pitch=-0.0432 right_roll=-0.3237 right_gripper=0.9963\nstate[joint_eff]: [-0.7453, -11.412, 8.6632, 0.5397, -0.4811, 0.0562, 0.6325, -0.0752, -1.9897, 7.0085, 1.9463, 0.149, -0.0952, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abeed83e8f8df2634cfb099a1bb9363e5a75ac4d3aec30ea412889a62fcbc2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:264c6bdb396927f5ff56ea3370e2873fe01eee9d180fb6160ec97fff967992ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d042bbf10bdce4e95c0423dbeda4dba7f886bb95ed8db1ade747bf79f62761",
      "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 · 6.564 s

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

message 91 changed as sent

message 99 changed as sent

message 103 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]: [-0.6903, 1.3033, 0.918, -0.5362, -0.6464, -0.4545, 0.0661, 1.2694, 2.1326, 1.1954, -0.2779, 0.9104, 0.9749, 0.9954]\nstate[eef_state]: left_x=0.3225 left_y=-0.1237 left_z=0.1621 left_yaw=0.085 left_pitch=-0.1282 left_roll=0.1672 left_gripper=0.0661 right_x=0.2533 right_y=0.357 right_z=0.0063 right_yaw=0.0338 right_pitch=-0.0572 right_roll=-0.1303 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -4.8615, 6.653, 1.3016, -0.2906, -0.0415, 0.652, -0.841, -11.1932, 5.8051, 0.5348, 0.0904, -0.1148, -0.2027]",
      "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]: [-0.8131, 2.0018, 1.1488, -0.4835, -0.6743, -0.6571, 0.0689, 1.2396, 1.9514, 1.3453, -1.3396, 0.8089, 1.6356, 0.9957]\nstate[eef_state]: left_x=0.3472 left_y=-0.2013 left_z=0.0045 left_yaw=0.1678 left_pitch=-0.3472 left_roll=0.3675 left_gripper=0.0689 right_x=0.2095 right_y=0.2272 right_z=0.0884 right_yaw=-0.4503 right_pitch=-0.1725 right_roll=-0.3366 right_gripper=0.9957\nstate[joint_eff]: [-9.0325, -8.9094, 11.2342, 2.0488, -0.2662, -0.0659, 0.7399, 14.6803, -4.5197, 14.5709, 3.5873, 1.6923, -2.9133, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.82, 1.8397, 1.3842, -0.9363, -0.672, -0.68, 0.0703, 0.2283, 0.8249, 0.5976, -0.4137, 0.4343, -0.0811, 0.9963]\nstate[eef_state]: left_x=0.3378 left_y=-0.1956 left_z=0.1078 left_yaw=0.1898 left_pitch=-0.3745 left_roll=0.4009 left_gripper=0.0703 right_x=0.2866 right_y=-0.006 right_z=0.1716 right_yaw=-0.1065 right_pitch=-0.0432 right_roll=-0.3237 right_gripper=0.9963\nstate[joint_eff]: [-0.7453, -11.412, 8.6632, 0.5397, -0.4811, 0.0562, 0.6325, -0.0752, -1.9897, 7.0085, 1.9463, 0.149, -0.0952, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abeed83e8f8df2634cfb099a1bb9363e5a75ac4d3aec30ea412889a62fcbc2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:264c6bdb396927f5ff56ea3370e2873fe01eee9d180fb6160ec97fff967992ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d042bbf10bdce4e95c0423dbeda4dba7f886bb95ed8db1ade747bf79f62761",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0a7a1700ae188eed016ab4627c3eb087d0b7e72abe45cf43d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.295,\"left_z\":0.055,\"left_yaw\":0,\"left_pitch\":-0.25,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0.003,\"right_z\":0.184,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pen tip is visible to the right of the held cap in the left wrist view. I’m shifting the cap over that tip and resetting the small orientation errors caused by the contact.\"}",
  "call_id": "call_Ajar5N1diixF5b4FmlPDvpis",
  "id": "fc_0a7a1700ae188eed016ab46281a36087d09fcbc2dc1fc67efa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ajar5N1diixF5b4FmlPDvpis",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "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]: [-0.9134, 1.927, 1.2358, -0.4564, -0.5861, -0.7624, 0.0704, -0.0029, 0.8032, 0.5968, -0.4107, 0.036, -0.0425, 0.9963]\nstate[eef_state]: left_x=0.3418 left_y=-0.2771 left_z=0.0515 left_yaw=0.03 left_pitch=-0.2947 left_roll=0.0839 left_gripper=0.0704 right_x=0.29 right_y=-0.0036 right_z=0.168 right_yaw=-0.0226 right_pitch=-0.0577 right_roll=-0.0579 right_gripper=0.9963\nstate[joint_eff]: [-0.4991, -9.1419, 6.1333, 1.3309, -0.2515, -0.0904, 0.315, -0.6632, -2.0444, 8.1709, 2.0293, -0.149, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1ac6041a1faa13cf21a78f23ba31eeb9b1aac3af129b3cd3871cb37cea3a0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46958b30dc8ae724a01eef962bf1d6d81e96451f2e42050c927579b518abc3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2759e498043c58a2d645730e449333002f9f332d7752767dcfbc9f0bb64aa4",
      "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 · 4.028 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9241, 1.9232, 1.3277, -0.5423, -0.6727, -0.6582, 0.0665, 0.0971, 0.8101, 0.5663, -0.3691, 0.1852, -0.028, 0.9963]\nstate[eef_state]: left_x=0.3528 left_y=-0.2786 left_z=0.0831 left_yaw=0.008 left_pitch=-0.2334 left_roll=0.1965 left_gripper=0.0665 right_x=0.2912 right_y=-0.0007 right_z=0.1623 right_yaw=-0.0567 right_pitch=-0.0455 right_roll=-0.1315 right_gripper=0.9963\nstate[joint_eff]: [-0.7043, -9.7846, 9.2376, 1.1502, -0.4127, -0.0366, 0.6764, -0.2393, -2.1812, 10.1538, 1.6923, 0.0611, -0.0952, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.82, 1.8397, 1.3842, -0.9363, -0.672, -0.68, 0.0703, 0.2283, 0.8249, 0.5976, -0.4137, 0.4343, -0.0811, 0.9963]\nstate[eef_state]: left_x=0.3378 left_y=-0.1956 left_z=0.1078 left_yaw=0.1898 left_pitch=-0.3745 left_roll=0.4009 left_gripper=0.0703 right_x=0.2866 right_y=-0.006 right_z=0.1716 right_yaw=-0.1065 right_pitch=-0.0432 right_roll=-0.3237 right_gripper=0.9963\nstate[joint_eff]: [-0.7453, -11.412, 8.6632, 0.5397, -0.4811, 0.0562, 0.6325, -0.0752, -1.9897, 7.0085, 1.9463, 0.149, -0.0952, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 1.927, 1.2358, -0.4564, -0.5861, -0.7624, 0.0704, -0.0029, 0.8032, 0.5968, -0.4107, 0.036, -0.0425, 0.9963]\nstate[eef_state]: left_x=0.3418 left_y=-0.2771 left_z=0.0515 left_yaw=0.03 left_pitch=-0.2947 left_roll=0.0839 left_gripper=0.0704 right_x=0.29 right_y=-0.0036 right_z=0.168 right_yaw=-0.0226 right_pitch=-0.0577 right_roll=-0.0579 right_gripper=0.9963\nstate[joint_eff]: [-0.4991, -9.1419, 6.1333, 1.3309, -0.2515, -0.0904, 0.315, -0.6632, -2.0444, 8.1709, 2.0293, -0.149, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1ac6041a1faa13cf21a78f23ba31eeb9b1aac3af129b3cd3871cb37cea3a0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46958b30dc8ae724a01eef962bf1d6d81e96451f2e42050c927579b518abc3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2759e498043c58a2d645730e449333002f9f332d7752767dcfbc9f0bb64aa4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7a1700ae188eed016ab46285902887d0a6f5fdadd4441652",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.25,\"left_z\":0.015,\"left_yaw\":0,\"left_pitch\":-0.21,\"left_roll\":0},\"note\":\"The pen tip is now visible just left of the cap’s centerline, likely shifted during the earlier contact. I’m correcting that lateral offset and lowering the cap toward the tip’s height.\"}",
  "call_id": "call_rttKsDZDlZsvtWmQKB4EHOyt",
  "id": "fc_0a7a1700ae188eed016ab46289b20c87d0a29dd51eb98c81ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rttKsDZDlZsvtWmQKB4EHOyt",
  "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]: [-0.8677, 1.9087, 0.9897, -0.1768, -0.5663, -0.7193, 0.0724, -0.0063, 0.8051, 0.5964, -0.4114, 0.0113, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3363 left_y=-0.2446 left_z=0.0079 left_yaw=0.0276 left_pitch=-0.2792 left_roll=0.059 left_gripper=0.0724 right_x=0.2901 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0077 right_pitch=-0.0608 right_roll=-0.0395 right_gripper=0.9963\nstate[joint_eff]: [0.253, -9.5521, 7.2274, 1.746, -0.2711, 0.1197, 0.652, -0.1026, -1.1829, 7.0632, 1.6923, 0.1441, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7f75aad00c896868f3d46bc68d4fae1f576b1b30ff200cd6ec813d4a20ba48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a50fcfb0c352ecc5a5a77609d4066eae05b1bcf1ecc09d2f8612bf69980cd40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1acbc033e6415bab01fcfeed2408313ee2f6b244e0103b4398803d8b0f470b4",
      "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 · 4.603 s

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

message 99 changed as sent

message 107 changed as sent

message 111 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]: [-0.8131, 2.0018, 1.1488, -0.4835, -0.6743, -0.6571, 0.0689, 1.2396, 1.9514, 1.3453, -1.3396, 0.8089, 1.6356, 0.9957]\nstate[eef_state]: left_x=0.3472 left_y=-0.2013 left_z=0.0045 left_yaw=0.1678 left_pitch=-0.3472 left_roll=0.3675 left_gripper=0.0689 right_x=0.2095 right_y=0.2272 right_z=0.0884 right_yaw=-0.4503 right_pitch=-0.1725 right_roll=-0.3366 right_gripper=0.9957\nstate[joint_eff]: [-9.0325, -8.9094, 11.2342, 2.0488, -0.2662, -0.0659, 0.7399, 14.6803, -4.5197, 14.5709, 3.5873, 1.6923, -2.9133, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 1.927, 1.2358, -0.4564, -0.5861, -0.7624, 0.0704, -0.0029, 0.8032, 0.5968, -0.4107, 0.036, -0.0425, 0.9963]\nstate[eef_state]: left_x=0.3418 left_y=-0.2771 left_z=0.0515 left_yaw=0.03 left_pitch=-0.2947 left_roll=0.0839 left_gripper=0.0704 right_x=0.29 right_y=-0.0036 right_z=0.168 right_yaw=-0.0226 right_pitch=-0.0577 right_roll=-0.0579 right_gripper=0.9963\nstate[joint_eff]: [-0.4991, -9.1419, 6.1333, 1.3309, -0.2515, -0.0904, 0.315, -0.6632, -2.0444, 8.1709, 2.0293, -0.149, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 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]: [-0.8677, 1.9087, 0.9897, -0.1768, -0.5663, -0.7193, 0.0724, -0.0063, 0.8051, 0.5964, -0.4114, 0.0113, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3363 left_y=-0.2446 left_z=0.0079 left_yaw=0.0276 left_pitch=-0.2792 left_roll=0.059 left_gripper=0.0724 right_x=0.2901 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0077 right_pitch=-0.0608 right_roll=-0.0395 right_gripper=0.9963\nstate[joint_eff]: [0.253, -9.5521, 7.2274, 1.746, -0.2711, 0.1197, 0.652, -0.1026, -1.1829, 7.0632, 1.6923, 0.1441, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7f75aad00c896868f3d46bc68d4fae1f576b1b30ff200cd6ec813d4a20ba48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a50fcfb0c352ecc5a5a77609d4066eae05b1bcf1ecc09d2f8612bf69980cd40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1acbc033e6415bab01fcfeed2408313ee2f6b244e0103b4398803d8b0f470b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGKPtcKkGYdyJpuao1YmWgWoZyKQEWQ9M9DPt4N8ySdVi_6ulNc5TZK0GrnMPfF2BwmHzVCOqPnsn-CN-yMYsAmpd6n92Di1vR5ScgdeXODgRvLmwVtgEqk-u2zcgpiobl32JfDWgXu72bV2OXjfe7M95vhFfvFb0vgt9XhLQkREjcv9cxs6zcPg0TUnlZroxKw-IOlOcMessLd03yDUbmx-Gceotn7kYccB33wRr5mrcwWnTMb-H8-Pz7J1QQUQ8uyrVj78eFkEpz1zHr-k-ljyKQzvzLA_q5UWkg4htBQ1K5-NFan08G4pGWuQ2Qb3MJP33sjUAdqY4lyExFuiTtCR9z7XEOxuGBznbfUS6pcrgO1fjSWmbWTQE4d4kuaPt6xLmJ8t8d-Wa8YDotqwreAVK5M37zORxMUNOEw3CPupqroifWdoqLQCLYfXvMvmfeY6Hk0aJvYsRsTaC-K92ESF2UBWNYmVwsPDkxsaPEy2Om6mONmpAyVB4HMjg-HfDht-DtSFC8BAPyEQp8CG_YTKEcL8_UvhQz_DBK9IcB0Sga8r64UBvrjlQx2SH4W-_Jp8wAKWkEK2uVPTwusinMia5Os7Nydf6qDFSh5ScP2-gSTJcEbQULG9hirHRn1KXZjdy01vGff6NYmcG3J4andU-5Oi8FDTXBI_-cxBJqmX9H2gW2Xi1LOzmFxSTOwGtrZ8jxNiGivHzJopQbH2cITI_OPi61Ax8QB1Fx7eFG3_19fwXF2KX9O0MrucI82Zfmmyx1jqhQTqOu8ka46ZGqXhAvrdfZACjI3sRY4Av3P0rLZh1myoPnJlZ9zl0nTJ-fwx3kkOfVT1_vewmQLW2VNmqzWY4tqqr4RFLGv66P_waEq2q1ForXLvsWYAVjDRh0_sMbghWiWdYNRKgcFfox5TG5wh_A5gXmhcdLAdabyG2M9_XKC_4d5Umtb8kZMH1eBXeCTB2YULuJbTDzHQ0iIX00nLp3JP9HYiEErxyyGm3b_Vk0UMPCNaRGG2JefWnkiMAhkWohB96K6Hp3SaOqorL5uWC9d-rG-EDcgMV3q23uRh0GjmK2_GDwJ6LR784ix3jBMB5sOVAvQFho99nj7M9qUS-AnDh1XQA78ujbCM1j2MiU9msYSb01mPxBuT2YHbaNsgtzWgmeky2n2u2inHyz4pPTz5Poe5ntowzNLvvkCJcXeqAYfERVA2EFZT5viamS6IgJsYMUI3Zsuq2ebVkjcCp2-awJrj3IL1TP7GbIZxHA4psie5vot9mUIVAMEqwS20guVtPUCOmwBAI1zRLFjdrBQ4pYhnndVkYNbP7by3j__6S77z4jVe9EcjpkDvlUOndGtLtMgGB-eNb0L4YDtxU1mdtq8iPV7dGrtTJ9lmGb7YIjN66ZVe1sLIO9xZPGCONywCdGXnExNmMlr7nD45pKEH42AoozRdx1GoQLAAUM0fNAR6DZTig5znG_GX7Pq2yKqy88tgAbd5sQCGTqY-qiN7LNs3R9C87hWtgG9ybVQz5HAe65WK81wC18qywxBHDw4MhCtmmhW2uRBOWsZpg8R06TdrFump2vJ9-YHXl2ZM550gUHm32qeUtXjb",
  "id": "rs_0a7a1700ae188eed016ab4628c655887d09a83b95dc0db250a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.332,\"left_y\":-0.25,\"left_z\":0.014,\"left_yaw\":0,\"left_pitch\":-0.21,\"left_roll\":0},\"note\":\"The cap and pen tip are aligned in the wrist view and the cap is at table height. I’m sliding the cap gently back along the pen axis for a short insertion.\"}",
  "call_id": "call_BlUaOPYxj3YWeozMpAC8GhFS",
  "id": "fc_0a7a1700ae188eed016ab4628db36c87d0ad8093e60ebddde1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BlUaOPYxj3YWeozMpAC8GhFS",
  "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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5682, -0.6975, 0.0719, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2445 left_z=0.0102 left_yaw=0.0209 left_pitch=-0.2277 left_roll=0.0117 left_gripper=0.0719 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -9.2239, 5.3402, 1.4139, -0.3004, 0.1343, 0.2808, -0.2256, -1.4291, 7.159, 1.6972, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9afcca924495e91ba3d9f69673d30ae10b121a618a6b97ec21dc958b5e5b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed44bd173b735aa79e5454a967c1f7312e65ca51a63119e96af2ca91aa8cd6f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca25770fd52d32bf50a818cb6c50801ecdc5aa9a622b48d83a8cc745f2125096",
      "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 · 6.463 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.82, 1.8397, 1.3842, -0.9363, -0.672, -0.68, 0.0703, 0.2283, 0.8249, 0.5976, -0.4137, 0.4343, -0.0811, 0.9963]\nstate[eef_state]: left_x=0.3378 left_y=-0.1956 left_z=0.1078 left_yaw=0.1898 left_pitch=-0.3745 left_roll=0.4009 left_gripper=0.0703 right_x=0.2866 right_y=-0.006 right_z=0.1716 right_yaw=-0.1065 right_pitch=-0.0432 right_roll=-0.3237 right_gripper=0.9963\nstate[joint_eff]: [-0.7453, -11.412, 8.6632, 0.5397, -0.4811, 0.0562, 0.6325, -0.0752, -1.9897, 7.0085, 1.9463, 0.149, -0.0952, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 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]: [-0.8677, 1.9087, 0.9897, -0.1768, -0.5663, -0.7193, 0.0724, -0.0063, 0.8051, 0.5964, -0.4114, 0.0113, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3363 left_y=-0.2446 left_z=0.0079 left_yaw=0.0276 left_pitch=-0.2792 left_roll=0.059 left_gripper=0.0724 right_x=0.2901 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0077 right_pitch=-0.0608 right_roll=-0.0395 right_gripper=0.9963\nstate[joint_eff]: [0.253, -9.5521, 7.2274, 1.746, -0.2711, 0.1197, 0.652, -0.1026, -1.1829, 7.0632, 1.6923, 0.1441, -0.105, -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 115 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5682, -0.6975, 0.0719, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2445 left_z=0.0102 left_yaw=0.0209 left_pitch=-0.2277 left_roll=0.0117 left_gripper=0.0719 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -9.2239, 5.3402, 1.4139, -0.3004, 0.1343, 0.2808, -0.2256, -1.4291, 7.159, 1.6972, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9afcca924495e91ba3d9f69673d30ae10b121a618a6b97ec21dc958b5e5b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed44bd173b735aa79e5454a967c1f7312e65ca51a63119e96af2ca91aa8cd6f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca25770fd52d32bf50a818cb6c50801ecdc5aa9a622b48d83a8cc745f2125096",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGKTJsTX0JCW_676B5rj9EnBUqCHqplZISaNlgH5Jwl13LAaTIRMNC0mz2_POlGCqsmqr-K3eY6KaWFBdvH1wu31cncJGdyulO6GOiIdkmGqPgHoDQ4Y36RdZMj_ZoaAy6n_8w0vodkF-JCRhcmtluOsOSk0BeLlJC6nlKOYoEOlqqK_GHJX_COrArb1Md0EfwEKxfwAVGezP6IDpqKXZHjCLFQmZdWGAq5yDL2El6RCMPKGZPN7LxyKnU_Q8tCR_emwYNrXAQYJ7BHCRC6DyuGkIYGW2G47TywGtOq_QJptqkgoR7BFFAL0N4yhft6hVj4EXc-Oh_nibKsdWiNygW7j1R5lAazSi8cbOFfnkQCaNq5YLoRDyY74fwllaCMc7IvTSsjFxzJP__9e4Mvac2D6XXPx0dn8qHJ1GkIm2-YfH31J9dF1jTQF1gn3WCpgJe1lZxapuD1_xOjdjX-Xg4UI399iGOLUYdsFiSA-uLnqWqGVTA94nzgimTD8SJavuwfGUE5paBPrcMnfyB6NHOfzkHqei35AK8FBc-Sm7RMOc19sVYvA5fbDZak51FSij-FVeaWH0hJjjWQZz28zF77vDG_iMx1l1xJE0AZzI8Fbhd4gp5iO3DcqGI-mj6H8GHfkskffxj6lZ_xsx7C5Heg3-kQ3AGvDNjyyVvglIYoCLxKutjk5sKK2vIGTOH3sYyPdJnDikPMgMvKJx9C9rW-89jr0EcaDMIbgbTkkx6xnXBiAXslUI4nlzPuHufoCGRmJlL4T-UaGAqf825s-KwFIgEu8D8juJO0giMsXDKhNlLvFoxiYveF50oaejYoRmp3kKgbphXU6dHVSObjxjZX10k0i4FUSCUd2W7ceOHHVc8lOaLEjNXYEKm69NMl7OiF3HiJZSo0lZNqK8YERiWVMups81LSwk2lDiwZm0lmulfuqNtOP3XGpIvjA5mMhoSpg1EsCw5pVwS0hzaBNOxru6oKPwh5oyVfeY0Qu_ELp68uHzzeqNL8XtLhBOrV8lFqOupAYiTzn0OSWR7yW81518VtVsENBTp6rQz96sd6amC_ZZkrg_JTUc9tZebXoqSXEoIZwzpDDNCf_R5Xa19xsHWfpk56_VPwYs_q3k7V8esEuxoJGq7srjkQhOPSKZ4GLhy25MzHTcwomZ63mOUaG5J7uBTBjcJWAJRwjOX192t9HNjT84Oa5AEkVNSPS_SPO4MOfcUczwlxz2wGuSfh1Hw7dirsyUXrrhzDDHsW8OISlJEqMUitE_1nc3F7PjhWk5hAcixvEoWBWN2yy2XfdZ70MpEzE9SKNOTF7jrHSungfeqBEmb6vibi3OUQmdlGvSxZ_El6kIs0mHFgEsfjRI1FyuHC7hLdMSUHv6-arO6OKw6AZ2gj0UUvNm4Hhbd5wDtvlddGSJFnUXqKB2AQVImJBBsMkX1a9hLGLNPOfKvetBCmLCHIkb6CzT1ldY4puFEfEfj52VMfr0Jw6mrg8yAKQfT_EDccq6Wbf7x5LPZt7Iknc3R1bjkO7xnv1f2MPp5_RygUOa_Ok9Bqsw6r9AgT3gpjXgjANxM8hraTrNt8=",
  "id": "rs_0a7a1700ae188eed016ab462913cd487d08942eb734199482e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.313,\"left_y\":-0.25,\"left_z\":0.014,\"left_yaw\":0,\"left_pitch\":-0.21,\"left_roll\":0},\"note\":\"The first short slide did not produce the expected backward motion. With no increase in contact load, I’m trying a slightly farther-back target while keeping the cap level and close to the table.\"}",
  "call_id": "call_Ois438DLB6WbVjhpbjj6h1K5",
  "id": "fc_0a7a1700ae188eed016ab4629289e487d0af30011ac6ea5c29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ois438DLB6WbVjhpbjj6h1K5",
  "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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6975, 0.0739, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0206 left_pitch=-0.2279 left_roll=0.0115 left_gripper=0.0739 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.5949, -9.4564, 5.3812, 1.4237, -0.2955, 0.1294, 0.6569, -0.1026, -1.2376, 7.2137, 1.6581, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb28dad91887b01dfe2469d86050980d9fb86edd734f46d7c9de4fe56e6b6726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b1a7bde5f2ed11d93cd14f921026aae72ff69c9bde2038ba0f93544521b6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90816ecca7f73a4bf038cd8ec8f71f8c6e8a6c1f9facb7ad376f53afd03d340c",
      "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 · 5.007 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 1.927, 1.2358, -0.4564, -0.5861, -0.7624, 0.0704, -0.0029, 0.8032, 0.5968, -0.4107, 0.036, -0.0425, 0.9963]\nstate[eef_state]: left_x=0.3418 left_y=-0.2771 left_z=0.0515 left_yaw=0.03 left_pitch=-0.2947 left_roll=0.0839 left_gripper=0.0704 right_x=0.29 right_y=-0.0036 right_z=0.168 right_yaw=-0.0226 right_pitch=-0.0577 right_roll=-0.0579 right_gripper=0.9963\nstate[joint_eff]: [-0.4991, -9.1419, 6.1333, 1.3309, -0.2515, -0.0904, 0.315, -0.6632, -2.0444, 8.1709, 2.0293, -0.149, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5682, -0.6975, 0.0719, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2445 left_z=0.0102 left_yaw=0.0209 left_pitch=-0.2277 left_roll=0.0117 left_gripper=0.0719 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -9.2239, 5.3402, 1.4139, -0.3004, 0.1343, 0.2808, -0.2256, -1.4291, 7.159, 1.6972, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6975, 0.0739, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0206 left_pitch=-0.2279 left_roll=0.0115 left_gripper=0.0739 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.5949, -9.4564, 5.3812, 1.4237, -0.2955, 0.1294, 0.6569, -0.1026, -1.2376, 7.2137, 1.6581, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb28dad91887b01dfe2469d86050980d9fb86edd734f46d7c9de4fe56e6b6726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b1a7bde5f2ed11d93cd14f921026aae72ff69c9bde2038ba0f93544521b6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90816ecca7f73a4bf038cd8ec8f71f8c6e8a6c1f9facb7ad376f53afd03d340c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGKavwiBM3d-rnh94BOe0SDt4AdnDalLzpikS5AIpwAKLNfiBFyKgPGRYsesAYkAWj-6ZyG-C8maA2mo_GJ2DXrcsI_o-t6Czg56p1FbSKdJSpHWT7vvwcHYOc7kUzuyUEgbP-pChE03bK9Cv2TwkWtrUZkDpeHiZXEWsnWwPk9jLScQGlqeElYro3AQ0Gi6q7OohgZDsauxrVEqZB9_yN8KQVv6xb5sa5ljqgiZLWl6GM7Iq40HtUS2RRSvpgCyGhFOJ5yR5GgVL33A8h-HnOo1fzpH94M7N5QoGNWZGj_KAt2pSxlG9HGrFFOqbkS_aceWi_ETgKCqHuoMAo-48J6ljGL-zWVPa70aY0zWxNA2UoCHygQ-5ouZtt5AklRZntBNUVkvKuxsHyn3QmKmVWz0StlzLCXv8AilHEvqX3D8KaQaZ836bkD5-Km73MS5eCukT3mg9c1-hIhsTCLM30jyG6hYSBgP2VMxKWSmNKvH5lYAsdmhHDFJeznwcF19xHyaE-bygHW7vodxGlCfmH5t-04NeoFonHs_hOAtz9_HBwlbErdOPN_F6EWP2hYQIBFucRejqGP89rmkg9jeARgYgBHbUPnpNq1sTJjt9kC1tiFBSO65HaMejP0yjq_QSFhPspnKHrEWTYsheMJDdiejz36lbn_HyMMrzIWrQBly9xmwBx39QVdBIcaH5OImZRSIcFPLydAdH9cGfgGTDs_xx7uNatbdiP-y1DTRU0ZJy1xPYdnbFo07_1v91MwSv815PtUJ-B7kW2SiHu4q5g_ZFxwQufplAsSmQqhPs0Z-3Dz4DIMpzkXo0BL_05hDIwR4yLpN01fRmKeQNFRmVP7DxLPgaRpfzDGjR-SatLhyBvB4noLDwSW5FvpoICHXOJb-538A-bikDFe8PAQGJnrjyc5saPSibH21PxSfSFBSy-uEXXJ-zWDb08PWwz50IpViLHWcYAzevZ_c0qqNDyJeUMyxmBlrz-usobSQRyt_zi37vDzCpmjoC2_yF9dpFyOtAXAmjdwGzsyq_-Q1ij8PddkaO7KYbsqKQVcZzykS9A1ycSWADSUsU0zIvU5Q1vbFw1VERqDLuCd0MNpCmfw-Mqz2RNEvhLzGr_z5YTRsa977EyBvg6EOBtHbobNcUVUsCF83O5BE00EjbqCmbTTyT8LxyRyjGw5j7acTJJNGWC3eebqmXPB4eH2Nj54Egsyl5KFthTEReq3c3QMOTkTXkx9xlkV2j3bCUrfCJei2mJVoegy78kCAy4Ccf26yiwAI1lUIUAqmNHhQps9YnxfukZA5ISGJ8st396a5Hs4ooMXcHboGzFi0BFB9F5c7gm9Jqp2ggPzhCXdihQdQSIap3ojeG8pwrolg-Y-lF6lcbJ0dijGZ6g7hjuTXtHPxOnsX3Rtco7cCgAjq0wWyjEn8SdjjpdlTJ4_vXk45ocRoeoCEh3Mbb3FWzRvqZsI_e_84R6n_Tvda9nBY8ceZy7EdmORGeowmnvY7BG992xhVpF-HeK3mBChw6dathFPZsieZ7mere1bpBxKh1ZT_SkdiCwR9jYQo2q1Zy272rUx3GhtiQN3-grc6b3-Oufw644pJSq6mDUx4EhmtpNGacm7DKvgk6hUKmO6VtP9h6R8UuAm75NngZRmwQbLMiFhiZ45IuG4xORNl0xjdoTPTZVyQpbPlb1N4hnz56wASbRpDpYDrr6zhoxfuWGGi7rBeX-cBf_VU0kRqmjRp5USwC8WwahXOGF2tPh3TmseNL1XHCBk6m9YKXr6bnw67GN6reEJ2QYCM9d69cG5sFTU82jHQMqdpX9zc-T2GAXDayQ2ACWE=",
  "id": "rs_0a7a1700ae188eed016ab4629692e487d080bfb645e62bcf8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.25,\"left_z\":0.08,\"left_yaw\":0,\"left_pitch\":-0.21,\"left_roll\":0},\"note\":\"The low horizontal motion has stalled, so I won’t keep pushing. I’m lifting gently to check whether the cap has engaged the pen and to clear the constrained pose.\"}",
  "call_id": "call_uArqpmKfEGVXoecBqwd2OY5h",
  "id": "fc_0a7a1700ae188eed016ab46299434487d099af6b63466a0058",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uArqpmKfEGVXoecBqwd2OY5h",
  "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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6971, 0.0759, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0204 left_pitch=-0.2279 left_roll=0.0118 left_gripper=0.0759 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -9.4154, 5.6, 1.4188, -0.2564, 0.1685, 0.486, -0.1026, -1.306, 6.9949, 1.6581, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d650bf7cab1b4d02c93e31ed719720fb18f76cb27cf2d4faae1e04de8e569e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b0d33c5f60eb31e27b94607be50f1e9e873fea439460dbd665122d74cd41b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac009282b9f8010c3ea395e1b2fcf29f85ee9d709c268701b9a4c7380ce2f40",
      "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 · 11.83 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 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]: [-0.8677, 1.9087, 0.9897, -0.1768, -0.5663, -0.7193, 0.0724, -0.0063, 0.8051, 0.5964, -0.4114, 0.0113, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3363 left_y=-0.2446 left_z=0.0079 left_yaw=0.0276 left_pitch=-0.2792 left_roll=0.059 left_gripper=0.0724 right_x=0.2901 right_y=-0.0002 right_z=0.1671 right_yaw=-0.0077 right_pitch=-0.0608 right_roll=-0.0395 right_gripper=0.9963\nstate[joint_eff]: [0.253, -9.5521, 7.2274, 1.746, -0.2711, 0.1197, 0.652, -0.1026, -1.1829, 7.0632, 1.6923, 0.1441, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6975, 0.0739, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0206 left_pitch=-0.2279 left_roll=0.0115 left_gripper=0.0739 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.5949, -9.4564, 5.3812, 1.4237, -0.2955, 0.1294, 0.6569, -0.1026, -1.2376, 7.2137, 1.6581, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6971, 0.0759, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0204 left_pitch=-0.2279 left_roll=0.0118 left_gripper=0.0759 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -9.4154, 5.6, 1.4188, -0.2564, 0.1685, 0.486, -0.1026, -1.306, 6.9949, 1.6581, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d650bf7cab1b4d02c93e31ed719720fb18f76cb27cf2d4faae1e04de8e569e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b0d33c5f60eb31e27b94607be50f1e9e873fea439460dbd665122d74cd41b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac009282b9f8010c3ea395e1b2fcf29f85ee9d709c268701b9a4c7380ce2f40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGKfQfXBJujoEH5LB9TNISAGuO9lp4nbnePbX20G8pQ31h12-8xCDyCWJNUr-U4Tnd58hDa1L08Py2ihHie6ua9kjcTxflbYN8eH8a01NUvnFvKoW455XA_l6o_B2W2nO2taA9Y4soVyOsVJDgH3sqlg08L0UCL79mjLl_dth5H4hgWsKA4e5iiYm9qY2dSG_qVYmrDZSkbExTPjKZLlITkcgOeOUDMcF1orruEnEn3c8FT4RXDD2L6Ak58FxHgKlyJw6X3Frorl7vfvUXZE5WoVfSgFLTDin32JmtWh8nZWFHch4zKLQsObofRn-ggwTxQNs52v2nytBMQWPszcQKrYAwxm7R_73vgTfnWvPccHE9z4ZYdJ26dkItKw-zzqUi4JP_divU1PbZ86QZezAqVYeI7fGs0G16954qcNueEZG3q3QrhwSQ2k34PncHHV5abfK1ntBvK9lBIro6DKa0bqB4-c8BkEBm4GXDQrTE8cZ3I_SJSMwq9hPBwVGGaAhsh7R7STIS1c4j09hf7rK78iqu-OBmDlvO4Ql97SFT675fPA7mqH6JLVUKGANJGRFWIBJovNQG9Jwkk7MTIJrxPbNbNMvw2IiG2p7Aik6qgcn-AAkS3DfM6tFeoPCqRW_rotV9MjLQROmfM-BOMSJuH3FnbY9IUeCn_GILDDy0urI9EtyQBphlAH52EaPzWH8WE5rHtGJVoHqjkLjodlDR-01rxCbJUU67yCvMtUnw0lvRt8W4EMKnqH99qd4LmJplPdlWmEzAGXHOTvI75d0EvPDRaCx-TRdI2UVuoykXUE6T4QcpoZZwUU2PmgpSPwSKu_TrF5R2qOH5EOeLwZYK1EiH-2FeeU1Bgsm4tgI7lWJF6ImUp19YBtzLxXaCwKgVoqjnfR9ucLc4JNFwFiHTc_a4aR_3G5PSYFW0HslksxrmsUExREtqwUIclF1Ls6WXBFmp69kYHidE69U-9X1Fj5b0XKYV0avchkwEoT2ENVr5X8GofZz-9pwC2BAqRUM--D97eMHdtUxDeUyqOOzTKXfkBFFTfj3oeydsC3bwu7ymucgzIeFfPN8gSEl22MyNtVlOQ7TpVJlC7VfSfBugFWd5s9WT7xoe7RZFpe-Ec40sWzBQF3TBJLYXuLifUILLi7ByQpIpEbtsGo-_5zoOoC1f_LxKE-vtFGassTr8Tev4GypNNW9qNvd8xYhzsECIh1wNQJTpwQ8sRuorTjVfueBJhVusnn2RX0s5UF7EznYRw5DjOkX0JR6kgW9sx_fz1cOiyEv2YJyC5o9Gaymli9mwbfykGaAET9Eiw-4EZCbg9wIVeqdkYbDB8u88esJ5ku15BXOFNg_nNF9n-8fN5ZWPACwee7jzZCox10IK4ToVDn76w_3VMiOlasoOhzIMkqCnEfd3H5jARBr_qM2IoIDzffCKr0TYt6IlfQYLAmVfBosUCdtZHuDmj9dtFpcUQHVB5HQESa5FVwb7MPv1F2yzs5VrVBuczyQ9i6djPPh5s-svnqeRG06Evgf5KHxu0d7oqgRUebYCcBEMyhdAW9FmfpzS7WWNRtVhAwqqwKvsJjFaPnxfxjJ5ha_As-lkiejot-a5CQxNvZtWvg6WCC6bMMyoohGbZnNPFK1_zRrt49JyQONrO5F98n5_uGXBeww8-GJvuKd-4S_YSGwGYZO3vmOCjZV6Ay2qZJIiAjczUF0_Ev9YZd0yqvdr1YYhNUIVxh8DJ3JcxHG1sNzbhS28zMZkA-KlN5rDLiyC-rPdT-KXmML1AIkJUjc38DAndI",
  "id": "rs_0a7a1700ae188eed016ab4629cd64087d0b8cc8d548ad6a0c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.17,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The arm also failed to lift from the low pose, indicating a controller or kinematic constraint rather than a successful insertion. I’m moving upward and outward to a previously reachable region to recover safely and inspect the pieces.\"}",
  "call_id": "call_ypNUIWB0VtWs2khv0F1zo1hv",
  "id": "fc_0a7a1700ae188eed016ab4629e938087d0b05cabb8b9c9e236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ypNUIWB0VtWs2khv0F1zo1hv",
  "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]: [-0.7757, 1.396, 0.8738, -0.2359, -0.614, -0.5285, 0.0791, -0.0051, 0.8101, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3395 left_y=-0.1854 left_z=0.1544 left_yaw=0.0077 left_pitch=-0.0258 left_roll=-0.0243 left_gripper=0.0791 right_x=0.2902 right_y=-0.001 right_z=0.1655 right_yaw=-0.012 right_pitch=-0.0665 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -6.6803, 8.0479, 1.5263, -0.3785, 0.2613, 0.3199, -0.0479, -1.5932, 7.159, 1.7021, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2d93b2c80467e429f8dded51f8fc98ef17f8deb3fc1e54d8b338fd2d792549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca2f9ccf364f703012a5b900cb3fb8738ba98a51eb45125072b5a9445059b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b24497cb5393625a77784247eb04e5f11dbf0e2ff8da2bbed19697c1e91b067",
      "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 · 6.579 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5682, -0.6975, 0.0719, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2445 left_z=0.0102 left_yaw=0.0209 left_pitch=-0.2277 left_roll=0.0117 left_gripper=0.0719 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -9.2239, 5.3402, 1.4139, -0.3004, 0.1343, 0.2808, -0.2256, -1.4291, 7.159, 1.6972, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6971, 0.0759, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0204 left_pitch=-0.2279 left_roll=0.0118 left_gripper=0.0759 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -9.4154, 5.6, 1.4188, -0.2564, 0.1685, 0.486, -0.1026, -1.306, 6.9949, 1.6581, -0.0659, -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 127 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]: [-0.7757, 1.396, 0.8738, -0.2359, -0.614, -0.5285, 0.0791, -0.0051, 0.8101, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3395 left_y=-0.1854 left_z=0.1544 left_yaw=0.0077 left_pitch=-0.0258 left_roll=-0.0243 left_gripper=0.0791 right_x=0.2902 right_y=-0.001 right_z=0.1655 right_yaw=-0.012 right_pitch=-0.0665 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -6.6803, 8.0479, 1.5263, -0.3785, 0.2613, 0.3199, -0.0479, -1.5932, 7.159, 1.7021, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2d93b2c80467e429f8dded51f8fc98ef17f8deb3fc1e54d8b338fd2d792549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca2f9ccf364f703012a5b900cb3fb8738ba98a51eb45125072b5a9445059b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b24497cb5393625a77784247eb04e5f11dbf0e2ff8da2bbed19697c1e91b067",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0a7a1700ae188eed016ab462a2f09087d0ad1bfc41d688e7fe",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGKsQcbhuis2muzlKyg5xpsfk-yMQoz0TmnTajQRdD5L7JIXR4vCdZvGEYttS2jkLO-3m7aW9SU7KkdQq3CiDVCKEMr3CqFx7QBoBcJt7nPjscRSBG0TKysPhwlFu_UU6QkL7DmQ8frSoU6HeovWcu2dAZj4whfDXcMp3xkLyThoHiT41nHJnSOju9RldADVz2e3Mv0bP7l1rOsbSaSBZKoSFd-OD0atVUIgBZB52410sLjRlBCK7MxqA_C5kmxLaeGQ0TKD6PoWfjO65hp7GQTfv5p30t4f-_5Y7g_t6aW-10VkXD7CyikEIN1w78mPD7LOpeuNIXB3igO62ak4zj8x-_Juyb4nVBNyxH1T40UvDQQ-2VIu6_NXmTEUpia-BTQper8d4H5C_5Pga9SPjuoTzm4hJm-zbuI1tn-di1qARVugtMukF1ZNIWYPCQs3D2IlQvwk6quEXJ09lu5KtCX6VEtglmdJfLZpv4C48t99SZke26MPusIG1F8l04eJto0Cp2DjO1g7XvzNLqMgzPG6DsFRvMw4HHt-Erk2Gz7j2LF5KkQK0rUPfWYJB5DZZc-wXMn6oYmKtBSomscGC7onreMRBQ9PS3xG22d8p-kGieUUY_hQHC5wmJtYzRwYYnYFDq3PsOnx4d9m0x3ZIew1MAlFhnNAljvZqRqJn8FtkpxoY_SxiX2XjPpidhJmVHXo-iPhIsrLclenwa5iJdlnQ7bDsF7RgWKVx_YU2BJpmjdVl331_GeRLEBTJjdDiGM3iVi-sIrf9ozGZ_6yj8ec15qAEW-e4EQHgaVj3ZYBiY_KWk7L8NpR4fpItTv9rke2XWyeNy_Em2hOb1Ylg874RZ4v1DJ_LPC9p9a3xKN8K07QoOxdx5kOl1XjCTDYGKE8Z3VyVjUbtS42U42x3L-UiuRPA-4kD312uZyNqb0I9fh9byq2B63OrFRzNdwwCcRuBehJ4iJgzZRo-b3QLd5o1Ys6vwFu_ju4hbVh-CUY45FXATrkBdKQJkIEFSHaUCTBOoWW43FGeN_u4aFErppkGc2uam_NatbRZyjmU_rgjtBh-8m5IscdJYIKPFRcB3B4kqa2PDjSPJFm9mhkwxCY_oIdHSFZgtEfWUpADNB55g7M4TFtVSIyPeWmrT55WIeI9S9XOehdsnxf4eKxLrpmuJ90_1l0has2gOWJTbBkklN3GyIvsPisbMfnTyzaX1fo9CKOQD0GNeZ6U8vSpfKPX3CCYKIEknNPS101wosVkEg=",
  "id": "rs_0a7a1700ae188eed016ab462aadefc87d084ce961422332ecc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.318,\"left_y\":-0.252,\"left_z\":0.045,\"left_yaw\":0,\"left_pitch\":-0.1,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0.003,\"right_z\":0.184,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pen remains on the table, so the cap did not engage. From the cleared view, its tip is farther back than the previous cap position; I’m making one corrected approach at that tip.\"}",
  "call_id": "call_QgBryJpHDdb60UCXQKUH3xWO",
  "id": "fc_0a7a1700ae188eed016ab462ab485087d0a7426cc1f6fdd165",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QgBryJpHDdb60UCXQKUH3xWO",
  "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]: [-0.9558, 1.7557, 0.8349, -0.0628, -0.6773, -0.6994, 0.0812, -0.0128, 0.8085, 0.5961, -0.4099, -0.0135, -0.033, 0.9963]\nstate[eef_state]: left_x=0.3124 left_y=-0.2442 left_z=0.0399 left_yaw=-0.0216 left_pitch=-0.1356 left_roll=0.0424 left_gripper=0.0812 right_x=0.2905 right_y=0.0023 right_z=0.1663 right_yaw=0.0045 right_pitch=-0.063 right_roll=-0.0213 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -8.1299, 7.2274, 1.2869, -0.5348, -0.0806, 0.2076, -0.5675, -2.3863, 8.2667, 2.0293, -0.1392, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2ae348271ccb2f9efea3f8f1f400d6dcf87d9bf440c23294af93a959d7daad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccd1f4a8c6ce6912f813370cf62938ecc22fefbfc1d5804124b2e703202c24c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22a2751ac168dfb1604014a144cfe829bb0e7ffb63c6a47285a06a593c4d1f5",
      "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 · 8.615 s

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

message 119 changed as sent

message 127 changed as sent

message 132 changed as sent

message 119 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6975, 0.0739, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0206 left_pitch=-0.2279 left_roll=0.0115 left_gripper=0.0739 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.5949, -9.4564, 5.3812, 1.4237, -0.2955, 0.1294, 0.6569, -0.1026, -1.2376, 7.2137, 1.6581, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 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]: [-0.7757, 1.396, 0.8738, -0.2359, -0.614, -0.5285, 0.0791, -0.0051, 0.8101, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3395 left_y=-0.1854 left_z=0.1544 left_yaw=0.0077 left_pitch=-0.0258 left_roll=-0.0243 left_gripper=0.0791 right_x=0.2902 right_y=-0.001 right_z=0.1655 right_yaw=-0.012 right_pitch=-0.0665 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -6.6803, 8.0479, 1.5263, -0.3785, 0.2613, 0.3199, -0.0479, -1.5932, 7.159, 1.7021, -0.0415, -0.0659, -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 132 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]: [-0.9558, 1.7557, 0.8349, -0.0628, -0.6773, -0.6994, 0.0812, -0.0128, 0.8085, 0.5961, -0.4099, -0.0135, -0.033, 0.9963]\nstate[eef_state]: left_x=0.3124 left_y=-0.2442 left_z=0.0399 left_yaw=-0.0216 left_pitch=-0.1356 left_roll=0.0424 left_gripper=0.0812 right_x=0.2905 right_y=0.0023 right_z=0.1663 right_yaw=0.0045 right_pitch=-0.063 right_roll=-0.0213 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -8.1299, 7.2274, 1.2869, -0.5348, -0.0806, 0.2076, -0.5675, -2.3863, 8.2667, 2.0293, -0.1392, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2ae348271ccb2f9efea3f8f1f400d6dcf87d9bf440c23294af93a959d7daad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccd1f4a8c6ce6912f813370cf62938ecc22fefbfc1d5804124b2e703202c24c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22a2751ac168dfb1604014a144cfe829bb0e7ffb63c6a47285a06a593c4d1f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGK00uRB3VYxRIKbKud31YrXyB9IDp2RodJCFSbtxdJdnhvFvMmy7TDNcJCB88BZsMCXY7wutFJbHDEOBfvvZ5xdIbTxIShNzvqypvF22Y0Bu-FFS1-RRTGQM0yuQuqbm0TSKgqG3TOyHFfln59fdF0mNU5a8p251yC0mjAdvAtkkNz4LBQ9WKLk5tzxISt9PrjecPqsrYMfFnibO4lnlVCIaBTIxbTMOJiyCVs_x-frdJfiZj6HQjE9vXR1gVtpEX8NeSaoEjD7S1coRZz9-dzSVvRWv7b3Q_dC81ZC2ygcHz5DkJ0Oo6faYCwj2OLTctJX4KGTTvPGLjN8R3ei-FNvb8YE9yelB5C3kmHWYT378xdkM9qK-2ax360kUM1-Hnilzc-cI_cksOqhMasms2OcRmR2xVEKSECg0o5V-RQUbngT5InjMeJbI_yqDwix7peTpDc48Wg04FavxM0JheBHJSAoiZkbYEIAvYZAppQZMKf_6uoMwc3exAua9Htpp1I6xuxScuu4zm1FIk3-tcg81tMXtNXwPEjDhazpsrV8Fnw5ANeLuV4NRI-l4KxonhZCNm9EGVpeEAeTN9LT_PWWPeguqHD_OQLEPta50v6g6VYlonm5hYZfAG0YISxsxyZjj7xaxr6QMg1wGzCbZu34K8IEkvaeALK8izaia-A18-T3YI4HE1VU8bhQrpRJdPam7XLB51Nmy80ZrD1R9V37mOYHN7EvuuqK0NtTkOjP5u3gSgRs64e-vZ6N-4DH8eyXWd7oLdbkq7In0gOiGmZdTMr5Fg8l8ms7Hk7pBUhzWbEWOaodZgLaZlHOTRGluZN4cNE602U2_kfVOnAIR_JjCA8hxvYhw0P44T549PzsKZvWmqlbU_fSOvCcUWx2ytoKXT3FB_ZCY49Gos6pp9iwjBi6iNKgTD7ZVE4IjAiD46Jv1E04v43ug7UBTZBAWCfltjfMmvkk6RbmHNsrdgJeoP2YUno2OaXbc-lf5kxw9Jxr6Rn3-cYanSaUv0IfgWqW-7nBm8VL9FWdaRF1s2ZsJmXfovzi3aJ8Dgxvuj4JJ_mJnzYaMgR8znrxwctbVZ8poIz3aVNhZhobDyQq5WmVTcl_ULbzYpfdTkz_2huzSmU3Lk3U9DWqg4p_wASFJXdFye-_FeZV3JogcT4oV8qyvlbGa2y2HoB2q5zipHMr-XqMnIeQBYHjfu3BQNQmDmNsc0yHf0NGX7yStFYzD3pkrVQd4enQ4dEZu-hRkP2x6x8uhrg7l1SqRqzh7PFuE2C1x7VfL3oQziXhEKuknvJQ0iavfxOpJKzJgzCshsPTWBpF5VP-Yw_RWHAO29LFVJ9PSFwh8tXi91CGothc204eTfBGj8GF_Doyma_4oYP3Fjtse_q9lHNWoZG4UgUE1RyVpJzJaVI5YdHVe9Syx6BCMSie93mRpl4nk3T_izXqs1lt68XAqSePJ3Uz1tj67cxsHUoZUgOtptELVSSPiqA-n7fm1bbBZq0B8fODkQ5orKFQYOxuhD_LS_pC-INnn2MAdHrRhrPidR-iVbAdVCQ6hbAv-6g-afLatWtrRybod6UdCU-hFgU5y8w5fiB2Svhe4mr5WbHXSzEBn5uhidLc2NplSdMSYyX_nAdgc6JT_RZuj1e4ig64-EuY2W252zEt1FX7Viiz8AOjLbEUk-XWbUIGhAQkchR1qHm9ioyZBEtRt3Wt0QqeHgCicpC4cqxtowawmQuDthj3zinYGqIJuoMiaEjggHxzfSe7x4p5pH_s7cpG3M7RBqtu-ETtJfdLvE1HhS_j6qT3BSC78ncd4VQUGT9IMU6HAbAijN64GoDY0320Qe3eaKwJXh6LCr32ICWrupxhRTa8BbEUQsojQjEqMF9FVea9AeB0Hg_9rLO9Uk-vwLDkc-9kf67yVbP9QXHjPGhd8fbHNcCNRY7eKosUtV2bfFKgJOrLQVq4UJA7iImuay67RKPCq55XbuORJAxOpODtuk06Y0BrN4Ekx_X2jjz4dpdkDvv3JoGA3-2TXvS20GM9raOdjSVRBPY_Zbmvcyo8Wsc8zP8aDa2HTw==",
  "id": "rs_0a7a1700ae188eed016ab462af33ac87d0a3fbedfd0f23fb57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.252,\"left_z\":0.008,\"left_yaw\":0,\"left_pitch\":-0.16,\"left_roll\":0},\"note\":\"The cap is now over the pen’s end rather than in front of it. I’m lowering it to the pen’s height with a small tilt correction before the final short seating motion.\"}",
  "call_id": "call_HuglE48qB1uZc59CdCT518po",
  "id": "fc_0a7a1700ae188eed016ab462b2572887d0825be98f334456a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HuglE48qB1uZc59CdCT518po",
  "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]: [-0.9558, 1.8469, 0.8349, 0.0021, -0.6643, -0.741, 0.0835, -0.0128, 0.8101, 0.5961, -0.4114, -0.0204, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3134 left_y=-0.2487 left_z=0.0131 left_yaw=-0.0037 left_pitch=-0.159 left_roll=0.0258 left_gripper=0.0835 right_x=0.2903 right_y=0.0035 right_z=0.1656 right_yaw=0.0107 right_pitch=-0.0659 right_roll=-0.0179 right_gripper=0.9963\nstate[joint_eff]: [0.335, -8.3761, 5.2444, 1.3797, -0.315, -0.1538, 0.232, -0.1709, -0.9231, 7.0085, 1.6728, 0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e19c5a16bdb0d81fae311bec3ccc1b98009170134cffed1e5a40583409a11e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f71b828b4723931dccfbc462c0f4fd779f0da5c812c98ecdf7e9c6f6de1acab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea81a7879051f5cdbd1994031c825a4b70f7024fdf2717dedf1e80c47126f07",
      "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 · 6.882 s

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

message 123 changed as sent

message 132 changed as sent

message 136 changed as sent

message 123 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]: [-0.8474, 1.9076, 0.9543, -0.0628, -0.5678, -0.6971, 0.0759, -0.0051, 0.807, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3475 left_y=-0.2446 left_z=0.0101 left_yaw=0.0204 left_pitch=-0.2279 left_roll=0.0118 left_gripper=0.0759 right_x=0.2901 right_y=-0.001 right_z=0.1663 right_yaw=-0.012 right_pitch=-0.0635 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -9.4154, 5.6, 1.4188, -0.2564, 0.1685, 0.486, -0.1026, -1.306, 6.9949, 1.6581, -0.0659, -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 132 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]: [-0.9558, 1.7557, 0.8349, -0.0628, -0.6773, -0.6994, 0.0812, -0.0128, 0.8085, 0.5961, -0.4099, -0.0135, -0.033, 0.9963]\nstate[eef_state]: left_x=0.3124 left_y=-0.2442 left_z=0.0399 left_yaw=-0.0216 left_pitch=-0.1356 left_roll=0.0424 left_gripper=0.0812 right_x=0.2905 right_y=0.0023 right_z=0.1663 right_yaw=0.0045 right_pitch=-0.063 right_roll=-0.0213 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -8.1299, 7.2274, 1.2869, -0.5348, -0.0806, 0.2076, -0.5675, -2.3863, 8.2667, 2.0293, -0.1392, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 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]: [-0.9558, 1.8469, 0.8349, 0.0021, -0.6643, -0.741, 0.0835, -0.0128, 0.8101, 0.5961, -0.4114, -0.0204, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3134 left_y=-0.2487 left_z=0.0131 left_yaw=-0.0037 left_pitch=-0.159 left_roll=0.0258 left_gripper=0.0835 right_x=0.2903 right_y=0.0035 right_z=0.1656 right_yaw=0.0107 right_pitch=-0.0659 right_roll=-0.0179 right_gripper=0.9963\nstate[joint_eff]: [0.335, -8.3761, 5.2444, 1.3797, -0.315, -0.1538, 0.232, -0.1709, -0.9231, 7.0085, 1.6728, 0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e19c5a16bdb0d81fae311bec3ccc1b98009170134cffed1e5a40583409a11e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f71b828b4723931dccfbc462c0f4fd779f0da5c812c98ecdf7e9c6f6de1acab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea81a7879051f5cdbd1994031c825a4b70f7024fdf2717dedf1e80c47126f07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGK9Ww9hG3CPiatIjdzdZZAsc9s8N5fM0-Wr3psLI-2g3YnSHuucs4VV_wglDLAALH2N1zgXxuhWeUuUinPSEkP13rOn49r_ERALyc5vHrKNVHVRqgJusTJKVtA_G0l819CoKfdhAzh5FVx9MovKmkZTiKZA0MoR3PJyxUOZfFIsJRBwmFhq5SL292ggR4vv9B8vqK-Q-HbK3Ir7XLC_VBEBCw2qzT7iyRwjLdiuVAV2JLCbAGiJx3iPA_N9LIpHTe-BIKyw-9hFpfC0x9YcCQ9B_SwYGiy61adhvC3Y0T7zpEXvCfK4WhpH10FZnHA8z5Z8RzT97dSdyO2v7fn-6XSRLv0vd3Iwtm7xVMibpGbDlZ3W5zbYkGRz9XvcP414UcAgcu-kKOlMZXVkzlLVodKwz_WPJJkIyN1j74uFVRnapkc-Zvf4VsoOV32wNVEuTFYNfxO84gajs2xmFCosP3Es-BQy1mfR8kd4_z8h6UDIs0xtYMqDVeIjhed3GMpRHsrQEGgnpUvvrqOcQyAtg6bWEM_b0t4nDC5ccpsoR__bAufq1mJzvhrgihvEuoF2jAO8hnisLLJTGTOnkFFksroFGsiPJ9gtWF3NWUpLFO514FZyf-rL0YubLuXJd8QUf9vgQZzCgf-CSIbOc3dLu9uVrEBJ0ic-1MvZReVZTLlll9asksP4qqXPY5OaYXrKeL9ykRILQnyPmk5JQeFHYS_w35-DSpABuF0zuKqwMiHwOQbDEQGUxllpdy1eYk5mus91XNiuHSNHUitYIAWz9Oh0QJqk1l-S1krCl6t9bRCOYpCAmwP3aelV2rGGDBg2-TQos5IFQ7R2V20MBEi_nGWx4UX6R8XtxJrqTZVX557r19J2b_zn8ETAI2MbrPpdsNe7dhRfI1k03kPxl3NvSjgkSuq6hQUWitapfJbM_vCy4wN59OB-70pp3WTf4JOjSnQybIsQMgNOlY5mBUXJFlE852a-oZmM5PB-8W8t5BBV9lD0E5xyMPn59jgiMjW4iC1UMYivRSiLxM44dGWYRwZ4UTZPymHobfagjOFhythO2-lwGCjL_BJGQQeUgK3bwuffqbiWoWvRlfLNDpJ3r8ReQjBcOTbs-c6696jkZcitS1oVzfdKfpHtUr0n-7-yDL0LFHensKErXYgQAwz0_Im-uI2K0f15oD7yGtkjA93UjZqK_e5EZZM-FY4vOZuYi5gEhA2pc6K-RWO0PG3O8WDgMZ5uQwRuKXpbsndWPvzSBOOn1KtROe4G7WNwyDBYd1y7maJfmE082Zs2hqBcDeYdPbHz71_6VbQDTXrFUvkQRuaxNhYvJ2YvTjdhM5qgNnHCxRwddBP7Mckc0PlMNL6W9_D747zBc4uTfBKXoCbZpyMmfrx8LtIgz1NxpUxL2x2zF_12hPzQXiO01TmVeBULDw95jHFKhWpNLNw1bAnGdAyNpkXtPndhuD9MCcWYJtcQyMZ0bFGVnbPAOnM77GdhWjMFTJvRIvno91cvWXWLOW1L2yheM6PbN4SYessHD3er7BLVWtvmqHRYhEYMasl_HSJLZcYbH7tkmu12k6QMhHwoM59QuoHCMvIM6svXmR2A5hFrE_3vKvIPT7MMA4npZmiUzgPtVk32j4iGNtKiPN73BKPvR9K463S5vbG5qmzmWz3keCnLToIgbmpCqrT11n48cOcakyvukJ_68TOHGOc4Q8oErikUebXpceNlUU3kcWlzn9QLaXNX6lVnXPCa0Mn9ZMChBABoRRB8_fkMexYnq7Ud_1gw6-b6wXLHAq0jwKNRUJcOFXlV3Gl031L6mBuraW0ZLa8nPjFqCARs1_nlTJMCWhpSE1ESqMJUyQjWEUayfWsQNPH6NYDSH3WU00L_AhSX7WFaj_ghOloJucCrxrrOz2-AsJYP2RbpKq2h6luyGcjm79Dl9A5VFiJTAOCkHHTQSnoDhk-vc-jQ4ofAyE9j7FYrCbFqRFo_jt-ss3Ezr1uGJu7q8itVbqWoUsMiYSv04dz7iizotKsY5hTsHzmXCnO6F7oQMqh7Dt7v8FgmAj0uWARruEJSt_vAqQoqENJVe-aiLXPKbk2YjvROqy4YYUMSuJZpVDoWaU-Pd0KdDZzWD-8Ee-dTBAj0PcCu8atc6PJ9GPSDbuX7OydZfp0aGa_sveGx9d4MeW3VNFWm48GdPXq8NstTUj8UCA83DY7TJKd47LlabvZ20EEwjdXSbWnVlXxQuxuxXn3uKpID-5PAiGb5SFFXivmJiMnJmb2PPFNNrysz8svacdXxtyuQiryPFM0H43yLFi9f81V1CfxdsYgT2iXfGrt52BW5kVoMns9SarNpHl7du2fkG3g2PoFlDwaJin_lJYyZNJfG2xKnt-HqJZ_IcfvEtQeWuVTyoIUzvRDSfGKywDY-lOc18efMq9jt_sgtvrly1wMpwEBvit-Z_NPpFs-MvvKyg06S5rxugsI9svKyhzGOLVR2RU99KTkPtr8PZjPErQkGdrOFyP6aD1539-73qNJtN94N7D9P3D4MIUmJW0U=",
  "id": "rs_0a7a1700ae188eed016ab462b5caf087d089d4bd3ff459a284",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.339,\"left_y\":-0.231,\"left_z\":0.01,\"left_yaw\":0,\"left_pitch\":-0.16,\"left_roll\":0},\"note\":\"The exposed pen tip is now clearly visible just left of the cap. I’m shifting the cap about two centimeters left and slightly forward so its opening, rather than its side, meets the tip.\"}",
  "call_id": "call_otho8gPBaDL26icgZWWX0QHg",
  "id": "fc_0a7a1700ae188eed016ab462bb446887d0bfc42bf5f6d9df5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_otho8gPBaDL26icgZWWX0QHg",
  "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]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7582, 0.085, -0.0128, 0.8108, 0.5961, -0.4114, -0.0208, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=-0.0 left_pitch=-0.1687 left_roll=0.0124 left_gripper=0.085 right_x=0.2904 right_y=0.0035 right_z=0.1654 right_yaw=0.011 right_pitch=-0.0667 right_roll=-0.0176 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -8.5812, 4.9436, 1.2674, -0.3736, 0.0024, 0.1343, -0.1573, -1.2376, 7.2274, 1.6777, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1bf16bd67ab74758453c1c352ae08c2527b51ef58cf69232c41fd72b8ab19b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bff713ba28ee1c446169db760c215acb1207f30d0077ac7a98c2aad101953f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d256f7358ace81c63ef26e6ffc6a1f29a6fb58f2f3f4640920ddc40642d7ccb7",
      "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 · 5.56 s

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

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 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]: [-0.7757, 1.396, 0.8738, -0.2359, -0.614, -0.5285, 0.0791, -0.0051, 0.8101, 0.5961, -0.4118, 0.0177, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.3395 left_y=-0.1854 left_z=0.1544 left_yaw=0.0077 left_pitch=-0.0258 left_roll=-0.0243 left_gripper=0.0791 right_x=0.2902 right_y=-0.001 right_z=0.1655 right_yaw=-0.012 right_pitch=-0.0665 right_roll=-0.0433 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -6.6803, 8.0479, 1.5263, -0.3785, 0.2613, 0.3199, -0.0479, -1.5932, 7.159, 1.7021, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 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]: [-0.9558, 1.8469, 0.8349, 0.0021, -0.6643, -0.741, 0.0835, -0.0128, 0.8101, 0.5961, -0.4114, -0.0204, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3134 left_y=-0.2487 left_z=0.0131 left_yaw=-0.0037 left_pitch=-0.159 left_roll=0.0258 left_gripper=0.0835 right_x=0.2903 right_y=0.0035 right_z=0.1656 right_yaw=0.0107 right_pitch=-0.0659 right_roll=-0.0179 right_gripper=0.9963\nstate[joint_eff]: [0.335, -8.3761, 5.2444, 1.3797, -0.315, -0.1538, 0.232, -0.1709, -0.9231, 7.0085, 1.6728, 0.0415, -0.0562, -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 140 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]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7582, 0.085, -0.0128, 0.8108, 0.5961, -0.4114, -0.0208, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=-0.0 left_pitch=-0.1687 left_roll=0.0124 left_gripper=0.085 right_x=0.2904 right_y=0.0035 right_z=0.1654 right_yaw=0.011 right_pitch=-0.0667 right_roll=-0.0176 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -8.5812, 4.9436, 1.2674, -0.3736, 0.0024, 0.1343, -0.1573, -1.2376, 7.2274, 1.6777, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1bf16bd67ab74758453c1c352ae08c2527b51ef58cf69232c41fd72b8ab19b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bff713ba28ee1c446169db760c215acb1207f30d0077ac7a98c2aad101953f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d256f7358ace81c63ef26e6ffc6a1f29a6fb58f2f3f4640920ddc40642d7ccb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGLEUHcjmoO3NsDOeAm8h7cetV15lELfD22tA6H1m1KKiv0TfQgmIXEp3ENj5sGTpXVLfwf3tYG5ulQLou-HPnEC4kPTcoQhELQmgCqvjcXMkBY3kopyquQQEcFTH8KktUgJl_ypPqlh-Ec1xvHlUJB2BM7xGFi2ZAke9t86aFddXXyF5k8jyDyJQanv6c9uqrMzKyuabPMPxohp5iA2T_RD4L-iuGBIiV2iofBIzNELD677xiUKJd_FRDR4o6Gx1xsheqIFacZrx3tFR9Gh4ztZXwcpmqeDV5qTEY6MZeTcUoAJglwUEO1sITb0Yko16-IYyE_DjneUCWBmoT_PvBHHAN0Q5ihEtRFTo4KmUaMCyGvM83tYzj9SlOJI4mibDxukjENYvWwd2NqEkns5mhJVZTbrzWOJeBYmEICahhY_H4JwHhZVm6mqilDDkB2v775gfWtr9rnN6RgX4yVJcr9VtT0-HafVWC20c2VVZeDGVNg4nFPo1GXuiIabgPUO0Wj6J7cUUpr7tO-VyJTjg8ruRP910vgegMRrFMjOpLoptB9mKkOp1OqFkDM-xh_vP_FmaEfnxGyENuEwTZJ1NVUPeWflZ1aQfSF4JJakeMPx7tESRTjbOSXzWXavj9_VCFrMqKgavlb6qcIHCNoAd5NJSY5mYTq4_7mfCa33aFpVYuHxyFN2jtMweYj0fcO1i0_hkGjNaG8Noq4lx7Id3qFv9aO33HosHdZtq_zMuihQaiR4j5phV3ygbatPri4DcxjhXYLqHDcmJe0K7XytJLIbQ9BA9OE3lLEbQSERz0lSEoYdsYGOixjY6H5Pt8eMBZ_o2KByHsid7rFIrkbL8OiZ1ofgv0GX8-zxycTKnWvlJHL5UgjJDI5xJQwzYScCXJ-_8zGvaXfi8F00ATEeF4gupmR80pw8ZYW4TCLRkTy2uubckEd3uCizxSr8LFdGSb1NTScxJaC6uE_8F57VWeZG2eXAf6nQmf-sWzxnriRfpTxvrm1E7BD-zdFQ1aTcu38uvpzGX-7BRU2p3nuT5LPeXNgD1NnMJMh3dgerUTi8P-TeGuW4T9u-oUc9U9HelfhGgAtBg-3t-YSn-n197PXI0OHNud9ELD9shuoWdTv4fLYfXnsq-qd-Sso6uhUb0qKqtIBWm7O7g-nFLSbj-k1pR5DiwX6B6w658B3nRPmBI7P1z_6lYa227m_lWK4q7IsHMqaxVFiJYr0uiepwhj4I9zF_BwrV6ICVvyW21oc2VV3MZQUb8DWVXoAXU37zdg-d8jtYCCUUFdNRDWFR_aMhiFT4Efg9pDWGmnNTGdgYWVQa6HGA_97M8r3VZ0T-7rrxgOX81bOUfUP0b-htI88ByT3x_ELlr-IhBFKYqnzx9S-rgZ1uOYwkIN70tS93I3Mn7pTKjIeIKVMxkyOzCVRvJyXixy0_R57bm9lL7x_09SncAHJSogFW2aquHXQSXtBaXNw5Ky0yNXGlxnDqvcOrv4R4Xnf9sNFiGz_rJR2FOloR6PW_NPEzIY1Y1ne0J1b6V0Fx563sXDFakMnxS3-2pegGHKEijcu1Ryy_hXcsC6evgdj8CSDvQGJIMKkDZKE-SODVUqES-H0mUDz_24c0ReA_YDTMAF-OK0JNqDzy6_pdrThJ9Vn9i3Rio98-VzfgStPq0BEihBIDlcWvupTqxNBtILKvWYWwRdm5I55-FTNXyM-y7_YtiZbWPQB8I5dqospS5tsyLJF97WoXDXQQnBJJe-2ZJkp60BrWFSuytido6N3-GHroBK-MdHtSapu2SmH5DACMg-0qMIJtFosQVIuM-OSsM0TtSkB5HWM_Pa40PM_yduDy2QtVztZ7baIciH4ssanBfm41Riri5WJOwH3keGcd76NVSLUYC5pDVanakjgKYG6q3mRf6VPBXjqcapYoak_6D4ZARpiepZXzG5EEBBvD1gQnIUJDAMaxb25mKPbwLIfyY-h7oKwXBxXXtlivmYg4v04mI7gnm2RkhnkC88aT_r7Wu8sY4RZtb45reqImZTB8ZdtJjd_GmQQaOR4wlDFdaffjgvLecyMdXi9bLKAD8VzuggSN3w-J6_HoAOwdHchCZpzYMMy63ocDUa1TrERllr3bmOuT1jfEvDn2ujpmDP1QWeRRp9_gCy0yPnCNexTzj5Ip6RH8ShIWrdNZT355smOXOsiUUe5UPZZOfJQFdhMLYPCaZgz-QN1nV6QNa_wLUgIauZjGwd5j2ilD5p9DEIGpfHh2zR3Apd1Zgm_ornHO18KcjpEG8boYEyZLX-HUqVPIQsfdLDQkaRirIFIwLifrazvlHMruJGSw2FdSWFg_gOgcvGOiRYbpKdw1PjhyF0HDxqb_3jhJ",
  "id": "rs_0a7a1700ae188eed016ab462bf081087d09f25a8699cb17604",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.339,\"left_y\":-0.227,\"left_z\":0.06,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The low correction again failed to track. I’m lifting and removing the tilt constraint so I can make the lateral alignment above the pen without pressing against it.\"}",
  "call_id": "call_1aTiC7zq8c385b9z187p56gF",
  "id": "fc_0a7a1700ae188eed016ab462c2f02c87d0a466693d3564696d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1aTiC7zq8c385b9z187p56gF",
  "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]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7586, 0.0864, -0.0128, 0.8108, 0.5961, -0.4114, -0.0212, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=0.0002 left_pitch=-0.1687 left_roll=0.0121 left_gripper=0.0864 right_x=0.2904 right_y=0.0036 right_z=0.1654 right_yaw=0.0114 right_pitch=-0.0667 right_roll=-0.0174 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -8.3624, 5.135, 1.2674, -0.3639, 0.0073, 0.1343, -0.3214, -1.265, 7.0496, 1.663, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a239ee81711601df2ed67fe0f6c8001f829d824b6acf5d4335d6e0410e059d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9022c2515e91839510476d741de5887eea233fc1f3dd1a3481972a9bb7f289ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02259b2f9829545dd522e8cdca50bab42bfddb70807212edb77bacf4ea29dd30",
      "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 · 3.512 s

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

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 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]: [-0.9558, 1.7557, 0.8349, -0.0628, -0.6773, -0.6994, 0.0812, -0.0128, 0.8085, 0.5961, -0.4099, -0.0135, -0.033, 0.9963]\nstate[eef_state]: left_x=0.3124 left_y=-0.2442 left_z=0.0399 left_yaw=-0.0216 left_pitch=-0.1356 left_roll=0.0424 left_gripper=0.0812 right_x=0.2905 right_y=0.0023 right_z=0.1663 right_yaw=0.0045 right_pitch=-0.063 right_roll=-0.0213 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -8.1299, 7.2274, 1.2869, -0.5348, -0.0806, 0.2076, -0.5675, -2.3863, 8.2667, 2.0293, -0.1392, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 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]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7582, 0.085, -0.0128, 0.8108, 0.5961, -0.4114, -0.0208, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=-0.0 left_pitch=-0.1687 left_roll=0.0124 left_gripper=0.085 right_x=0.2904 right_y=0.0035 right_z=0.1654 right_yaw=0.011 right_pitch=-0.0667 right_roll=-0.0176 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -8.5812, 4.9436, 1.2674, -0.3736, 0.0024, 0.1343, -0.1573, -1.2376, 7.2274, 1.6777, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 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]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7586, 0.0864, -0.0128, 0.8108, 0.5961, -0.4114, -0.0212, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=0.0002 left_pitch=-0.1687 left_roll=0.0121 left_gripper=0.0864 right_x=0.2904 right_y=0.0036 right_z=0.1654 right_yaw=0.0114 right_pitch=-0.0667 right_roll=-0.0174 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -8.3624, 5.135, 1.2674, -0.3639, 0.0073, 0.1343, -0.3214, -1.265, 7.0496, 1.663, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a239ee81711601df2ed67fe0f6c8001f829d824b6acf5d4335d6e0410e059d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9022c2515e91839510476d741de5887eea233fc1f3dd1a3481972a9bb7f289ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02259b2f9829545dd522e8cdca50bab42bfddb70807212edb77bacf4ea29dd30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGLKro2sNekvsjSmjCm3JTbeqleR4XtSmkTloz82bplo-ZxyvDDfNQhsDnork9TXQ0fGD0rRhkM0irEQ5rY1NrC2_15B-LObyoz9oHStyc3lLHgnvQXDXVprRL7l20tYayTWSki3CXt0nnjzaRELIKPRGQc15WSZrye59dY7vc-LqQvozko8Maz62fnPbPA3lgJRbtyYMymbaVyHKBEkUPZrj-kVd44_uYdinLAKOFpf28DMHl4LtexvYzgvj77ObGq3uiHel8SBpHgxrE2fSaK2WjlFfyIrdEAvyl3OQa_MlDVsjI1DODCUfETvHfLtgdswhJFblJFjr7JeNp33VLVTPBNOyezIbNwZXb9LhdJ6Q9nE9qK3S-_5WPH9HoZaYSMNKTeW2PtV_8qlpUt2f7d_lqYOSt9S3MrFNu2K8Nen8jx_sREjFEV0n-_DQKO2U1qKlAJhrMdZNuXKFmpqYTZOaWpDWLs0IGthnPa_9bncgAv4qYyu84h70CwVjBQgh42ELqAS-vtMotWPPZMRw-jmxyHqR8CYhsCCqcAK2Wm9UPHJh6qJrrVQaOP9seJVyaAxgDkjHg4Ugvb0oXwu198RzUuPK0AfgQT6LeS0uEE9qrk8CrOmd-kIfvpmnV3AiOCTNmOCGtzSakqEiiY677sfjQPflESZcT79uDtRZKfH0xMNhaZNpe8scHfftyZONKTL-h_8HSME_bzuEERLGiiMtYYppcr2QmKoKKuQLAdZaruW9QDZsoc_3KxelnFbWzqvkisNxrd_8orpCK1wBForqjs9hhDZJQhnU-1L92XV3cRvuHDIRCD8ZOcSkS7ALIsdFxhq3hzSuPI0xMsyNEHZ0jN9KN5UMswoik3_6sG0JWVCwVZL_QJ9fPcB7QMEUiboHSbaNWpUhOEjxA7OYyuUguANLzxACmsQjI5Yw5ypPhU-fT_E0n5eIinbUWacCIZbu3k4tPuYvGLJegSi2-1Imt4M-PAxjmvNr_4mAS9yYm_CyiHZQL7qzuQRA1ckPX6XRJ3yuyxCBnJnwOga2jB4P9gfK03vgH_X1fqL8DhOj2FHbAHKhKaYswmvqwpo3rvPPzDy1v6oQ2uJ0SoBCguK4avXGICIZYrvZ_57vO0CL9cSnDKE-F2aMlqHmBaLYBP4-pNgqXgTdApVAMNNOJY0WRWeCZAO0r98EXWK8h60Te8LZS2v7TjlmPkAW-a70Mf9LcAkQgWMLncjdmEqivsklDjZnQpckgzP3cSFz61ZQw7RtR2weyOtXvbvNa3sdCVv_A7IktoZ3Gp8Fmo6DCPWymFtVXqPk03qdRho5p86nAOlin9iH_eWdL4aZL5G-tfbypqCYOrnIfT-lXb3k0yCavhh4sQ_QDtAngAPXI8toRC6owuSP0Q14ulUYiMhDvQLM-QoIHhsGXY-6ITounKpNwdtxzZahjDpBuxcBm-NM0UYGZNfRBOo0Qta_OyRIgqFYvidB5hgboMOIaYTad8-CpZ5IpPK3Y4vRTAYNIiN7mkUE4xK3y082rBO3cFVgJha7AYDPE95O-VYUlmPu00BWZLCCU4uKIaWC21K_-BNajXenfq1asFA9IVIk8RZXnMV1mAV5qtCYMsPSVvxuxC9olRAdbTi53onTOksBeFLhVxzmThdjrhMN1L02KF06M1CCY3kPnfyBeBsfB-hGmnd0ij3tXDuo198DcGp-SNNPlquZxT9yn_uDhV2HI9BpbFNbEEQXc8iJ2BDz_6m7udVGatrKh-Jhzc8G4KshEEfUsYAsxFPJT5GxTygsVEDKEhRZVlHp98L_s1sLcrvpZnjNg==",
  "id": "rs_0a7a1700ae188eed016ab462c615d487d092b7994fccee77a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cap is still beside the pen, not seated, and the arm is not responding to the fine positioning targets. I’m releasing the cap onto the table rather than forcing the fit.\"}",
  "call_id": "call_p8UnPls0Qi8fsLj3N0ZnRd5u",
  "id": "fc_0a7a1700ae188eed016ab462c8885c87d0bdce835981c06397",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p8UnPls0Qi8fsLj3N0ZnRd5u",
  "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]: [-0.9562, 1.8694, 0.8345, 0.0151, -0.6502, -0.7616, 0.9954, -0.0128, 0.8108, 0.5961, -0.4114, -0.0208, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3121 left_y=-0.2505 left_z=0.0049 left_yaw=-0.0001 left_pitch=-0.1742 left_roll=0.0115 left_gripper=0.9954 right_x=0.2904 right_y=0.0035 right_z=0.1654 right_yaw=0.011 right_pitch=-0.0667 right_roll=-0.0176 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -8.335, 5.094, 1.1941, -0.3199, 0.0171, -0.0659, -0.1573, -1.3197, 6.9949, 1.6874, -0.0611, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a29f3583b7bd81a5a9030193e5622e206c71672ca03910149922e047633c2ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a26718f3f2a710d8a5997b0fa97be5d1e7162c3fd128a5ef7cd338f6fbf4b841",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fafb5e42f49f4ffdc575db8888c3c3397399c08e122022b17f2e22ffc112004",
      "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 · 4.568 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 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]: [-0.9558, 1.8469, 0.8349, 0.0021, -0.6643, -0.741, 0.0835, -0.0128, 0.8101, 0.5961, -0.4114, -0.0204, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3134 left_y=-0.2487 left_z=0.0131 left_yaw=-0.0037 left_pitch=-0.159 left_roll=0.0258 left_gripper=0.0835 right_x=0.2903 right_y=0.0035 right_z=0.1656 right_yaw=0.0107 right_pitch=-0.0659 right_roll=-0.0179 right_gripper=0.9963\nstate[joint_eff]: [0.335, -8.3761, 5.2444, 1.3797, -0.315, -0.1538, 0.232, -0.1709, -0.9231, 7.0085, 1.6728, 0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 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]: [-0.9562, 1.8694, 0.8345, 0.0196, -0.6544, -0.7586, 0.0864, -0.0128, 0.8108, 0.5961, -0.4114, -0.0212, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3129 left_y=-0.2506 left_z=0.0058 left_yaw=0.0002 left_pitch=-0.1687 left_roll=0.0121 left_gripper=0.0864 right_x=0.2904 right_y=0.0036 right_z=0.1654 right_yaw=0.0114 right_pitch=-0.0667 right_roll=-0.0174 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -8.3624, 5.135, 1.2674, -0.3639, 0.0073, 0.1343, -0.3214, -1.265, 7.0496, 1.663, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 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]: [-0.9562, 1.8694, 0.8345, 0.0151, -0.6502, -0.7616, 0.9954, -0.0128, 0.8108, 0.5961, -0.4114, -0.0208, -0.0338, 0.9963]\nstate[eef_state]: left_x=0.3121 left_y=-0.2505 left_z=0.0049 left_yaw=-0.0001 left_pitch=-0.1742 left_roll=0.0115 left_gripper=0.9954 right_x=0.2904 right_y=0.0035 right_z=0.1654 right_yaw=0.011 right_pitch=-0.0667 right_roll=-0.0176 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -8.335, 5.094, 1.1941, -0.3199, 0.0171, -0.0659, -0.1573, -1.3197, 6.9949, 1.6874, -0.0611, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a29f3583b7bd81a5a9030193e5622e206c71672ca03910149922e047633c2ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a26718f3f2a710d8a5997b0fa97be5d1e7162c3fd128a5ef7cd338f6fbf4b841",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fafb5e42f49f4ffdc575db8888c3c3397399c08e122022b17f2e22ffc112004",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGLOqumEnQW2n2Hs90ThrvVNyOVLIyJdmqjlv8Y76L53MzGPyYCsqj6zClNJl_NffXDjBTl58bY19EN5mCE29Hk7IErh_x_TzAnIL6g3PAlpWRRoRNITVUfQQqCHOCkrjueHJ3rs-gGn-U_q_7BEIiipavutvwWmabI9SQcMtEuCXBiY72vcIvhL-_IZQxPRb8XRmkemvmEbItTVfqYEeaCTHhLkLyLka8p-Mkzs0L1VZb_2D7c8s42EGMPi1sMYy9pzXHKV6kGhxO1ksu_WSiFajElhNtXuLJAz0gQ4pfijAIe0npkUQVvXnw72JCKmGq_4aS-7i887vDnUFK717-kGo8ha-ajKELlKxx7iyf-MVMytEPyZohPbgruDkWSf3lvwiZV2VpeoE93cBxqQMRz3npuFlHl_fb3VW3a7gErY1W9Ypn9JiTpC5Q2u3QPEIR3p93yQ9I5FZba362480o7ngOaK1DL8t5J6j8K8CCVRBcFhcq1L65sQFoqtUxScEXs43DK96A5XeXNXK9lAdaicMLMqjnbBPKbtkQ8hDdlux2zWniqvqQdmgRczNsEf1BboJwHxoFyjRFaZqMSwcXmnOQMXDEkruHFTfgijTdpwG5AQ9469W6vIS6KTVWZy20ungB0mR2eGQqQm4dJrdUO-dV1cBvTDJomxjdUOb_hFdC7ulckTg70gDWw1tI1GDk4J1HonZ6scQxh81__nSzoM27oYYNT09gXazL1S0BD0tNcT50sz7DjuJPUoAWHBfmTbWoQxuLytr56DGIDE1Hu9q3q2hnkJUYXmxba8nQPk46_yjlNeHcrydvZv0Qjx_SAT5pQjlP4Wf08g6EwEeefOE7YJ2PdgdPX5FENHqslScUVE86hSaUlfWQkOMdSvmuCiDtXYeCzRghesri5ynWEyCX-eEnEHywl32MSJ9oYOtFX6JHPgYwZntwPjPyNLy9iBSJqij7nHibj549QMpp0AKmdUJpu6AIxY626MPsLdr0rR_FLj59fT8ei3zuy85x5wQ8lv_myVPmazjuJH-IXN6JJMPJtyxWzv2QCoS7yO04ewQXlWO-FPDY0ddVXLsvyf_WbbVlSDTqZX7TbDo7VtVgGdyYvlquZ4J5Dcnyy2B8vGaS6uiBLBvcR4bRObkEMuItHmtCdMhtV6hHyaSVRTRXBsXroQ3bobsy1SP5z6x9xVwHPiRUTuKsE3rWUQirPRsILS-aCzuSORCqGqnD7kB62zoE9wux0Z26tJbcunjB0w8eL_2634pIlpauwh5IAOmuE1YB005LSUrqtW59D9LB7RWfgVit_DJXtzBxtVRZg=",
  "id": "rs_0a7a1700ae188eed016ab462cc9cd887d0b700727e084b0255",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.001,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0.003,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both pieces have been released on the table, still separate. I’m returning the arms to their parked positions to leave the workspace clear.\"}",
  "call_id": "call_BHxNftBh466yda31NZ7QYw7Q",
  "id": "fc_0a7a1700ae188eed016ab462cd34c087d09782c6fe5d84ae90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BHxNftBh466yda31NZ7QYw7Q",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.0483, 0.8188, 0.6025, -0.395, -0.0948, -0.0753, 0.996, -0.0135, 0.8085, 0.6003, -0.4118, -0.0246, -0.033, 0.9963]\nstate[eef_state]: left_x=0.294 left_y=0.0061 left_z=0.1698 left_yaw=0.0694 left_pitch=-0.037 left_roll=-0.0078 left_gripper=0.996 right_x=0.2908 right_y=0.004 right_z=0.1678 right_yaw=0.0131 right_pitch=-0.0605 right_roll=-0.0149 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -2.1949, 10.3043, 1.6142, 0.0024, 0.1538, 0.0513, -0.3761, -2.3453, 10.2222, 1.8388, -0.0269, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628cb2fb008b0c463d22466987de496e6d510e7a4c4b1910237920ad7ed1eb6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398d802d6eabadd56d6bd5999538eb150503a16adf9dafbcf9fedf123b25540c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd024ebb8357ce2a52f39488ef19ee06a8ae3da999c4c9b088b8ed46a20962e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]