adhoc - adhoc_656c776c.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: 211.6 s
total steps: 365

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe short cap is left of the longer diagonal pen near the middle of the table. I’m bringing the left gripper above the cap first, while keeping the right arm parked clear.

move_to

left_x0.4300left_y-0.2100left_z0.1500left_gripper1.0000right_x0.2960right_y0.0020right_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, 0.7929, 0.6022, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6098, -0.3771, -0.0208, -0.0139, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0018 right_z=0.1838 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4034, -1.4564, 10.5231, 1.79, -0.0708, 0.0855, -0.0366, -0.4855, -1.265, 9.7436, 1.8046, -0.0659, -0.0611, -0.0855] 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":0.43,"left_y":-0.21,"left_z":0.15,"left_gripper":1,"right_x":0.296,"right_y":0.002,"right_z":0.184},"note":"The short cap is left of the longer diagonal pen near the middle of the table. I’m bringing the left gripper above the cap first, while keeping the right arm parked clear."})

tool

executing move_to over 19 steps (1.9s)

step 19

assistant

agent noteThe cap is centered near the bottom of the left wrist view, close to the fingertip column. I’m lowering the open jaws and turning them to grip across the cap rather than along its length.

move_to

left_x0.4300left_y-0.2100left_z0.0180left_yaw-0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.646, 1.7081, 1.0901, -0.1196, -0.5247, -0.4038, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0132, 0.9993] state[eef_state]: left_x=0.4193 left_y=-0.2008 left_z=0.1307 left_yaw=-0.0063 left_pitch=-0.0517 left_roll=0.0273 left_gripper=0.9998 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0019 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9993 state[joint_eff]: [-0.3761, -8.8, 9.265, 1.6728, -0.3834, -0.0562, -0.0366, -0.1846, -1.5932, 6.8718, 1.8535, -0.0171, -0.0708, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.21,"left_z":0.018,"left_yaw":-0.5},"note":"The cap is centered near the bottom of the left wrist view, close to the fingertip column. I’m lowering the open jaws and turning them to grip across the cap rather than along its length."})

tool

executing move_to over 8 steps (0.8s)

step 27

assistant

agent noteThe cap lies between the open jaws but slightly to their right in the wrist image. I’m making a small lateral correction and closing at table level to capture it.

move_to

left_x0.4300left_y-0.2180left_z-0.0060left_yaw-0.5000left_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]: [-0.4664, 1.9373, 0.8314, 0.3988, -0.0792, -0.0444, 0.9998, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0132, 0.9993] state[eef_state]: left_x=0.4235 left_y=-0.1936 left_z=0.0066 left_yaw=-0.3864 left_pitch=-0.1348 left_roll=0.025 left_gripper=0.9998 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.9993 state[joint_eff]: [0.212, -9.388, 4.9573, 2.1123, 0.0757, 0.2613, -0.0171, -0.335, -1.2786, 7.0222, 1.7314, -0.022, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.218,"left_z":-0.006,"left_yaw":-0.5,"left_gripper":0},"note":"The cap lies between the open jaws but slightly to their right in the wrist image. I’m making a small lateral correction and closing at table level to capture it."})

tool

executing move_to over 10 steps (1.0s)

step 37

assistant

agent noteThe gripper closed almost completely, so this was an empty grasp. I’m reopening and shifting about two centimeters outward along the cap for one corrected attempt.

move_to

left_x0.4530left_y-0.2260left_z0.0350left_gripper0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4683, 1.9968, 0.8745, 0.4404, -0.0406, 0.0017, 0.0099, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0128, 0.9993] state[eef_state]: left_x=0.434 left_y=-0.2075 left_z=0.0024 left_yaw=-0.4462 left_pitch=-0.1119 left_roll=0.0347 left_gripper=0.0099 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.001 right_gripper=0.9993 state[joint_eff]: [-0.6085, -7.4598, 6.5026, 1.4335, 0.3101, 0.1441, 0.7985, -0.1709, -1.2786, 7.0222, 1.7558, -0.0171, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.453,"left_y":-0.226,"left_z":0.035,"left_gripper":0.65},"note":"The gripper closed almost completely, so this was an empty grasp. I’m reopening and shifting about two centimeters outward along the cap for one corrected attempt."})

tool

executing move_to over 7 steps (0.7s)

step 44

assistant

agent noteThe cap has slipped to the right of the left gripper and is now beside the pen. I’m repositioning above its new location and matching its changed angle before trying again.

move_to

left_x0.4090left_y-0.2950left_z0.0850left_yaw0.7000left_gripper0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4858, 1.998, 0.9794, 0.2855, -0.054, -0.0238, 0.6452, -0.0193, 0.7979, 0.6132, -0.3916, -0.0208, -0.0128, 0.9993] state[eef_state]: left_x=0.4414 left_y=-0.2182 left_z=0.0104 left_yaw=-0.4382 left_pitch=-0.1621 left_roll=0.0256 left_gripper=0.6452 right_x=0.2946 right_y=0.0016 right_z=0.1807 right_yaw=-0.0017 right_pitch=-0.0168 right_roll=0.0013 right_gripper=0.9993 state[joint_eff]: [-0.4718, -11.8769, 8.6085, 1.6923, -0.0904, 0.149, -0.0562, -0.0479, -1.2513, 7.1726, 1.7216, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.409,"left_y":-0.295,"left_z":0.085,"left_yaw":0.7,"left_gripper":0.7},"note":"The cap has slipped to the right of the left gripper and is now beside the pen. I’m repositioning above its new location and matching its changed angle before trying again."})

tool

executing move_to over 8 steps (0.8s)

step 52

assistant

agent noteThe arm did not track the last pose closely, and the cap appears left of the fingertip column. I’m shortening the reach and shifting left to bring the jaws onto it without dragging them on the table.

move_to

left_x0.3890left_y-0.2850left_z0.0500left_yaw0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8806, 2.4741, 2.0266, -0.7723, -0.7868, -1.2545, 0.6987, -0.0193, 0.804, 0.6132, -0.3981, -0.0208, -0.0132, 0.9993] state[eef_state]: left_x=0.4437 left_y=-0.3353 left_z=0.0407 left_yaw=0.4361 left_pitch=-0.1589 left_roll=-0.1148 left_gripper=0.6987 right_x=0.2941 right_y=0.0016 right_z=0.1777 right_yaw=-0.0015 right_pitch=-0.0294 right_roll=0.0012 right_gripper=0.9993 state[joint_eff]: [-0.7179, -12.3829, 4.2735, -0.1392, -0.5592, 0.0073, -0.1441, -0.294, -1.5111, 7.0632, 1.8046, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.389,"left_y":-0.285,"left_z":0.05,"left_yaw":0.7},"note":"The arm did not track the last pose closely, and the cap appears left of the fingertip column. I’m shortening the reach and shifting left to bring the jaws onto it without dragging them on the table."})

tool

executing move_to over 5 steps (0.5s)

step 57

assistant

agent noteThe longer pen is now clearly aligned down the center of the wrist view, with its tip visible beyond the jaws. I’ll pick up the pen first by lowering and closing around its barrel.

move_to

left_x0.3850left_y-0.2800left_z0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8993, 2.4653, 1.9751, -0.897, -0.8196, -1.4525, 0.6995, -0.0193, 0.8055, 0.6132, -0.4026, -0.0204, -0.0128, 0.9993] state[eef_state]: left_x=0.418 left_y=-0.3128 left_z=0.0276 left_yaw=0.5624 left_pitch=-0.1681 left_roll=-0.091 left_gripper=0.6995 right_x=0.2936 right_y=0.0015 right_z=0.1764 right_yaw=-0.0021 right_pitch=-0.0355 right_roll=0.0014 right_gripper=0.9993 state[joint_eff]: [0.0068, -16.2667, 5.8325, 0.7204, -0.5153, 0.2466, 0.0806, -0.294, -1.0462, 7.0359, 1.8291, -0.0122, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.385,"left_y":-0.28,"left_z":0,"left_gripper":0},"note":"The longer pen is now clearly aligned down the center of the wrist view, with its tip visible beyond the jaws. I’ll pick up the pen first by lowering and closing around its barrel."})

tool

executing move_to over 7 steps (0.7s)

step 64

assistant

agent noteThe left arm stalled above table level and the close was empty. I’m lifting and retracting to a less folded pose so both objects are visible again; I’ll use a better approach rather than force the stalled descent.

move_to

left_x0.3000left_y-0.1200left_z0.2000left_yaw0.0000left_gripper1.0000right_x0.2960right_y0.0020right_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8989, 2.4653, 1.9732, -0.8883, -0.8112, -1.4311, 0.0094, -0.0193, 0.8055, 0.6132, -0.4122, -0.0204, -0.0128, 0.9993] state[eef_state]: left_x=0.4182 left_y=-0.3143 left_z=0.0263 left_yaw=0.5482 left_pitch=-0.1746 left_roll=-0.0829 left_gripper=0.0094 right_x=0.2923 right_y=0.0016 right_z=0.1744 right_yaw=-0.0021 right_pitch=-0.045 right_roll=0.0015 right_gripper=0.9993 state[joint_eff]: [0.1026, -16.6222, 5.8051, 0.652, -0.525, 0.0757, 0.7937, -0.253, -1.0051, 7.0359, 1.8193, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.2,"left_yaw":0,"left_gripper":1,"right_x":0.296,"right_y":0.002,"right_z":0.19},"note":"The left arm stalled above table level and the close was empty. I’m lifting and retracting to a less folded pose so both objects are visible again; I’ll use a better approach rather than force the stalled descent."})

tool

executing move_to over 18 steps (1.8s)

step 82

assistant

agent noteThe pen remains diagonal, and the cap is lying just to its left. I’m approaching the pen with the right arm, tilting the tool forward to improve reach at table level while parking the left arm out of the way.

move_to

right_x0.4150right_y0.2850right_z0.0750right_yaw0.7000right_pitch0.4000right_gripper0.7000left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6186, 1.1519, 0.9634, -0.6281, -0.4438, -0.5953, 0.9971, -0.0189, 0.8318, 0.6476, -0.4644, -0.0204, -0.0132, 0.9993] state[eef_state]: left_x=0.3082 left_y=-0.1219 left_z=0.199 left_yaw=0.0677 left_pitch=-0.1528 left_roll=-0.1195 left_gripper=0.9971 right_x=0.2908 right_y=0.0017 right_z=0.1724 right_yaw=-0.0014 right_pitch=-0.0893 right_roll=0.002 right_gripper=0.9993 state[joint_eff]: [0.2667, -3.9316, 6.7624, 1.4237, -0.1978, 0.2369, -0.0366, 0.253, -1.2513, 10.1675, 1.7118, -0.0122, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.285,"right_z":0.075,"right_yaw":0.7,"right_pitch":0.4,"right_gripper":0.7,"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0},"note":"The pen remains diagonal, and the cap is lying just to its left. I’m approaching the pen with the right arm, tilting the tool forward to improve reach at table level while parking the left arm out of the way."})

tool

executing move_to over 24 steps (2.4s)

step 106

assistant

agent noteThe pen is centered between the right jaws, and the tilted approach is tracking well. I’m lowering straight down to put the jaws around its barrel.

move_to

right_x0.4150right_y0.2850right_z0.0070right_yaw0.7000right_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.033, 0.8165, 0.6903, -0.4778, 0.0521, -0.1287, 0.9979, 0.5297, 2.0678, 0.704, 1.1233, -0.1444, -0.0277, 0.7011] state[eef_state]: left_x=0.2929 left_y=0.0041 left_z=0.1932 left_yaw=0.0471 left_pitch=-0.0377 left_roll=-0.1271 left_gripper=0.9979 right_x=0.4108 right_y=0.2741 right_z=0.0585 right_yaw=0.6668 right_pitch=0.3212 right_roll=0.0109 right_gripper=0.7011 state[joint_eff]: [0.294, -1.8393, 6.7761, 1.9805, 0.0562, 0.1392, 0.0708, 0.212, -8.9094, 4.9709, 2.3077, -0.1587, -0.0659, 0.0513] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.285,"right_z":0.007,"right_yaw":0.7,"right_pitch":0.4},"note":"The pen is centered between the right jaws, and the tilted approach is tracking well. I’m lowering straight down to put the jaws around its barrel."})

tool

executing move_to over 4 steps (0.4s)

step 110

assistant

agent noteThe pen remains centered as the jaws reach the tabletop. I’m gently completing the descent and closing around the narrow barrel.

move_to

right_z-0.0080right_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]: [0.0357, 0.8196, 0.6868, -0.4835, 0.0586, -0.1295, 0.998, 0.532, 2.3314, 0.765, 1.4139, -0.1658, -0.0334, 0.701] state[eef_state]: left_x=0.2919 left_y=0.0037 left_z=0.1897 left_yaw=0.0447 left_pitch=-0.05 left_roll=-0.1313 left_gripper=0.998 right_x=0.4185 right_y=0.2843 right_z=0.0217 right_yaw=0.6968 right_pitch=0.409 right_roll=-0.0049 right_gripper=0.701 state[joint_eff]: [-0.4034, -1.5385, 7.4462, 1.7314, -0.0806, -0.0415, -0.0073, 0.0752, -7.3504, 2.5778, 1.1355, -0.0806, 0.1001, -0.0269] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.008,"right_gripper":0},"note":"The pen remains centered as the jaws reach the tabletop. I’m gently completing the descent and closing around the narrow barrel."})

tool

executing move_to over 8 steps (0.8s)

step 118

assistant

agent noteThe closed width again indicates no secure hold; the pen was just beyond the jaw contact area. I’m reopening, lifting slightly, and advancing along the pen for a corrected grasp.

move_to

right_x0.4370right_y0.3000right_z0.0450right_pitch0.3000right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.036, 0.82, 0.6868, -0.4858, 0.057, -0.1322, 0.998, 0.532, 2.3596, 0.7719, 1.4742, -0.1703, -0.0273, 0.0109] state[eef_state]: left_x=0.2916 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0529 left_roll=-0.1325 left_gripper=0.998 right_x=0.4191 right_y=0.2856 right_z=0.0247 right_yaw=0.7004 right_pitch=0.4475 right_roll=-0.0047 right_gripper=0.0109 state[joint_eff]: [-0.1162, -1.3744, 7.1179, 1.6825, -0.0317, -0.022, -0.0122, 0.0205, -8.2667, 2.8239, 1.6532, -0.0904, 0.0122, 0.9841] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.437,"right_y":0.3,"right_z":0.045,"right_pitch":0.3,"right_gripper":0.6},"note":"The closed width again indicates no secure hold; the pen was just beyond the jaw contact area. I’m reopening, lifting slightly, and advancing along the pen for a corrected grasp."})

tool

executing move_to over 6 steps (0.6s)

step 124

assistant

agent noteThe pen is now underneath the fingertip area rather than visibly beyond it. I’m lowering with a little more forward tilt to reach the barrel at this distance.

move_to

right_z-0.0100right_pitch0.5500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.036, 0.82, 0.6868, -0.4862, 0.057, -0.1322, 0.998, 0.5377, 2.207, 0.8581, 1.166, -0.1688, -0.0467, 0.5951] state[eef_state]: left_x=0.2915 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0532 left_roll=-0.1325 left_gripper=0.998 right_x=0.4379 right_y=0.2999 right_z=0.0544 right_yaw=0.7108 right_pitch=0.379 right_roll=-0.0131 right_gripper=0.5951 state[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6777, -0.0073, -0.0611, -0.0122, 0.3077, -11.6581, 4.9983, 1.7411, 0.0611, -0.0122, -0.1587] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.01,"right_pitch":0.55},"note":"The pen is now underneath the fingertip area rather than visibly beyond it. I’m lowering with a little more forward tilt to reach the barrel at this distance."})

tool

executing move_to over 6 steps (0.6s)

step 130

assistant

agent noteThe descent is stopping several centimeters above the target, so I won’t push further. I’m withdrawing the right arm to inspect the objects and choose a closer, unobstructed grasp point.

move_to

right_x0.3000right_y0.0500right_z0.1800right_yaw0.0000right_pitch0.0000right_gripper0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.036, 0.8253, 0.6868, -0.49, 0.057, -0.1322, 0.998, 0.5385, 2.5122, 0.9886, 1.5826, -0.1707, -0.0307, 0.5959] state[eef_state]: left_x=0.2914 left_y=0.004 left_z=0.1869 left_yaw=0.0479 left_pitch=-0.0624 left_roll=-0.1324 left_gripper=0.998 right_x=0.4541 right_y=0.3103 right_z=0.0402 right_yaw=0.7275 right_pitch=0.6172 right_roll=-0.0442 right_gripper=0.5959 state[joint_eff]: [-0.1709, -1.7436, 6.9812, 1.663, -0.022, -0.0806, -0.0122, -0.1026, -5.2444, 2.441, 1.7558, -0.0122, 0.0708, 0.0708] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.05,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_gripper":0.7},"note":"The descent is stopping several centimeters above the target, so I won’t push further. I’m withdrawing the right arm to inspect the objects and choose a closer, unobstructed grasp point."})

tool

executing move_to over 22 steps (2.2s)

step 152

assistant

agent noteBoth objects are still on the table. I’m aiming at the nearer end of the pen this time, where the arm can reach with a vertical tool and leave the writing tip exposed for capping.

move_to

right_x0.3650right_y0.2450right_z0.0450right_yaw0.7000right_pitch0.0000right_gripper0.6500left_x0.2950left_y0.0000left_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.036, 0.831, 0.6868, -0.4961, 0.057, -0.1326, 0.998, 0.3305, 0.8871, 0.5797, -0.2291, 0.2707, 0.1051, 0.6988] state[eef_state]: left_x=0.2909 left_y=0.004 left_z=0.1841 left_yaw=0.0481 left_pitch=-0.0742 left_roll=-0.1326 left_gripper=0.998 right_x=0.3089 right_y=0.0599 right_z=0.177 right_yaw=0.0393 right_pitch=0.0439 right_roll=-0.0447 right_gripper=0.6988 state[joint_eff]: [-0.0889, -1.7299, 6.9675, 1.7118, -0.0562, -0.0659, -0.0122, -0.4718, -2.5915, 9.388, 1.9219, 0.1587, 0.1636, -0.1197] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.245,"right_z":0.045,"right_yaw":0.7,"right_pitch":0,"right_gripper":0.65,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"Both objects are still on the table. I’m aiming at the nearer end of the pen this time, where the arm can reach with a vertical tool and leave the writing tip exposed for capping."})

tool

executing move_to over 16 steps (1.6s)

step 168

assistant

agent noteThe pen barrel now runs directly between the jaws, with the cap clearly separate on the left. I’m descending at this reachable position while keeping the vertical tool aligned with the barrel.

move_to

right_x0.3650right_y0.2450right_z-0.0060

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0124, 0.8612, 0.7136, -0.5434, 0.0479, -0.1482, 0.998, 0.5262, 1.7466, 0.6159, 0.503, -0.0879, -0.1066, 0.651] state[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1786 left_yaw=0.0407 left_pitch=-0.1259 left_roll=-0.1382 left_gripper=0.998 right_x=0.3571 right_y=0.2295 right_z=0.0315 right_yaw=0.6507 right_pitch=-0.0658 right_roll=-0.0346 right_gripper=0.651 state[joint_eff]: [-0.4034, -1.7436, 10.4684, 1.6142, -0.1099, -0.0611, -0.0122, 0.8, -7.4872, 6.7214, 1.8388, -0.1392, -0.0708, 0.0855] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.245,"right_z":-0.006},"note":"The pen barrel now runs directly between the jaws, with the cap clearly separate on the left. I’m descending at this reachable position while keeping the vertical tool aligned with the barrel."})

tool

executing move_to over 3 steps (0.3s)

step 171

assistant

agent noteThe fingertips have reached table level and the pen is still centered between them. I’m closing without moving the arm so the barrel is not swept sideways.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0124, 0.8661, 0.7166, -0.5507, 0.0345, -0.1551, 0.998, 0.5461, 1.9068, 0.6338, 0.6472, -0.0834, -0.1043, 0.6511] state[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1772 left_yaw=0.0558 left_pitch=-0.1352 left_roll=-0.1345 left_gripper=0.998 right_x=0.363 right_y=0.242 right_z=0.0006 right_yaw=0.6654 right_pitch=-0.0642 right_roll=-0.0357 right_gripper=0.6511 state[joint_eff]: [-0.0889, -1.6889, 6.7624, 1.7411, 0.105, 0.0317, -0.0122, 0.9778, -6.5846, 4.0821, 1.0379, 0.0806, 0.0513, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The fingertips have reached table level and the pen is still centered between them. I’m closing without moving the arm so the barrel is not swept sideways."})

tool

executing move_to over 7 steps (0.7s)

step 178

assistant

agent noteThe jaws stopped at about five millimeters, consistent with the pen’s thin barrel. I’m lifting a short distance to check that the pen comes up with them.

move_to

right_z0.0750

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5522, 1.9221, 0.643, 0.6739, -0.0788, -0.0906, 0.0497] state[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3666 right_y=0.2464 right_z=0.0026 right_yaw=0.6602 right_pitch=-0.0439 right_roll=-0.0294 right_gripper=0.0497 state[joint_eff]: [-0.1026, -1.5795, 7.2274, 1.6337, -0.0562, -0.0611, -0.0122, 0.4308, -6.4342, 4.6838, 1.663, 0.1197, -0.022, 1.1697] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.075},"note":"The jaws stopped at about five millimeters, consistent with the pen’s thin barrel. I’m lifting a short distance to check that the pen comes up with them."})

tool

executing move_to over 5 steps (0.5s)

step 183

assistant

agent noteThe pen remains fixed relative to the jaws, though the arm lifted less than requested. I’m shortening the reach and raising it to carrying height, which should also expose the cap.

move_to

right_x0.3250right_y0.2300right_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5514, 1.8538, 0.6724, 0.5648, -0.0811, -0.0906, 0.055] state[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3681 right_y=0.2474 right_z=0.0194 right_yaw=0.6615 right_pitch=-0.0551 right_roll=-0.0268 right_gripper=0.055 state[joint_eff]: [-0.2667, -1.3744, 6.8718, 1.5849, -0.0464, -0.0659, -0.0122, -0.294, -12.4786, 8.5949, 2.1807, -0.0024, -0.0171, 1.033] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.23,"right_z":0.17},"note":"The pen remains fixed relative to the jaws, though the arm lifted less than requested. I’m shortening the reach and raising it to carrying height, which should also expose the cap."})

tool

executing move_to over 10 steps (1.0s)

step 193

assistant

agent noteThe pen is securely lifted, with its writing tip projecting beyond the right jaws. I’m moving it clear and bringing the left gripper over the cap’s new position.

move_to

left_x0.3600left_y-0.3300left_z0.0650left_yaw-0.7500left_pitch0.0000left_roll0.0000left_gripper0.5500right_x0.3000right_y0.1200right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0124, 0.8707, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5751, 1.3388, 0.8055, -0.0822, -0.0711, -0.0898, 0.055] state[eef_state]: left_x=0.2885 left_y=0.0012 left_z=0.1747 left_yaw=0.0567 left_pitch=-0.1444 left_roll=-0.1339 left_gripper=0.998 right_x=0.3286 right_y=0.2322 right_z=0.154 right_yaw=0.6763 right_pitch=-0.0545 right_roll=-0.032 right_gripper=0.055 state[joint_eff]: [-0.3214, -1.8803, 6.8855, 1.6923, -0.0415, -0.0611, -0.0122, 0.4855, -6.9402, 9.1966, 1.6972, 0.1148, 0.1294, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.33,"left_z":0.065,"left_yaw":-0.75,"left_pitch":0,"left_roll":0,"left_gripper":0.55,"right_x":0.3,"right_y":0.12,"right_z":0.2},"note":"The pen is securely lifted, with its writing tip projecting beyond the right jaws. I’m moving it clear and bringing the left gripper over the cap’s new position."})

tool

executing move_to over 30 steps (3.0s)

step 223

assistant

agent noteThe cap’s body is aligned with the left jaw column, with its narrow clip projecting forward. I’m lowering the open jaws around the body at table level.

move_to

left_x0.3600left_y-0.3300left_z-0.0030left_yaw-0.7500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.746, 1.8378, 0.8356, 0.3405, -0.0391, -0.0525, 0.5513, 0.1566, 1.042, 0.7776, -0.4618, -0.3874, -0.3332, 0.0605] state[eef_state]: left_x=0.35 left_y=-0.3091 left_z=0.0412 left_yaw=-0.6959 left_pitch=-0.0911 left_roll=-0.0096 left_gripper=0.5513 right_x=0.299 right_y=0.1184 right_z=0.1789 right_yaw=0.6543 right_pitch=-0.1028 right_roll=-0.0075 right_gripper=0.0605 state[joint_eff]: [-0.3487, -8.8821, 8.5538, 1.9902, 0.2564, 0.1587, 0.0708, -0.4171, -4.4376, 10.1538, 1.6777, -0.3883, -0.1294, 1.033] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.33,"left_z":-0.003,"left_yaw":-0.75},"note":"The cap’s body is aligned with the left jaw column, with its narrow clip projecting forward. I’m lowering the open jaws around the body at table level."})

tool

executing move_to over 3 steps (0.3s)

step 226

assistant

agent noteThe left fingertips are at the table and the cap body is between them. I’m closing in place to avoid knocking it sideways.

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]: [-0.7471, 2.001, 0.8619, 0.4706, -0.0273, -0.0341, 0.5513, 0.1528, 1.0428, 0.7773, -0.4648, -0.3935, -0.3458, 0.0605] state[eef_state]: left_x=0.3584 left_y=-0.3206 left_z=0.0018 left_yaw=-0.7169 left_pitch=-0.0983 left_roll=-0.0022 left_gripper=0.5513 right_x=0.2985 right_y=0.1181 right_z=0.1782 right_yaw=0.6623 right_pitch=-0.1045 right_roll=-0.0119 right_gripper=0.0605 state[joint_eff]: [-0.212, -7.9111, 5.4359, 0.7057, 0.315, 0.1343, 0.0024, 0.2393, -2.8513, 7.0085, 1.619, -0.1734, 0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips are at the table and the cap body is between them. I’m closing in place to avoid knocking it sideways."})

tool

executing move_to over 6 steps (0.6s)

step 232

assistant

agent noteThe cap close was empty; its body was slightly left and ahead of the jaw center. I’m reopening and moving a small distance onto the thicker body for a corrected attempt.

move_to

left_x0.3820left_y-0.3330left_z0.0250left_gripper0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7467, 2.0178, 0.8783, 0.5098, -0.0185, -0.0349, 0.0101, 0.1528, 1.0428, 0.7773, -0.4648, -0.3939, -0.3489, 0.0605] state[eef_state]: left_x=0.3647 left_y=-0.3282 left_z=0.0075 left_yaw=-0.7236 left_pitch=-0.0595 left_roll=-0.0091 left_gripper=0.0101 right_x=0.2985 right_y=0.1182 right_z=0.1782 right_yaw=0.6642 right_pitch=-0.1044 right_roll=-0.0141 right_gripper=0.0605 state[joint_eff]: [-0.253, -8.1162, 6.065, 1.5507, 0.1245, 0.1294, 0.7302, -0.0889, -2.9333, 6.8855, 1.5507, -0.1587, -0.0464, 1.0281] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.382,"left_y":-0.333,"left_z":0.025,"left_gripper":0.5},"note":"The cap close was empty; its body was slightly left and ahead of the jaw center. I’m reopening and moving a small distance onto the thicker body for a corrected attempt."})

tool

executing move_to over 5 steps (0.5s)

step 237

assistant

agent noteThe cap is now slightly right of the jaw center, and the last low move was constrained. I’m lifting clear while correcting sideways, then I can descend without scraping the table.

move_to

left_x0.3580left_y-0.3500left_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7471, 2.0235, 0.878, 0.5049, -0.0177, -0.0322, 0.4955, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605] state[eef_state]: left_x=0.3634 left_y=-0.3274 left_z=0.0037 left_yaw=-0.7261 left_pitch=-0.0706 left_roll=-0.0072 left_gripper=0.4955 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605 state[joint_eff]: [-0.2393, -8.212, 5.6547, 1.5897, 0.1197, 0.0464, -0.1783, -0.1846, -2.8103, 7.159, 1.5214, -0.1734, -0.0513, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.358,"left_y":-0.35,"left_z":0.08},"note":"The cap is now slightly right of the jaw center, and the last low move was constrained. I’m lifting clear while correcting sideways, then I can descend without scraping the table."})

tool

executing move_to over 5 steps (0.5s)

step 242

assistant

agent noteThe cap body is now centered at the lower edge of the wrist view. I’m lowering vertically onto it, keeping this corrected sideways alignment.

move_to

left_x0.3580left_y-0.3500left_z-0.0060

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7979, 1.8942, 0.9752, 0.239, -0.054, -0.0692, 0.4961, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605] state[eef_state]: left_x=0.3529 left_y=-0.343 left_z=0.0491 left_yaw=-0.726 left_pitch=-0.1088 left_roll=-0.0124 left_gripper=0.4961 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605 state[joint_eff]: [-0.4308, -12.0274, 9.0462, 1.7607, -0.1441, 0.1148, 0.0464, -0.0479, -2.9197, 6.9265, 1.5214, -0.1734, -0.0513, 1.0232] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.358,"left_y":-0.35,"left_z":-0.006},"note":"The cap body is now centered at the lower edge of the wrist view. I’m lowering vertically onto it, keeping this corrected sideways alignment."})

tool

executing move_to over 4 steps (0.4s)

step 246

assistant

agent noteThe jaws are at table level around the cap’s body. I’m closing in place 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]: [-0.7994, 2.0411, 0.9596, 0.3946, -0.062, -0.0689, 0.4961, 0.1528, 1.0462, 0.7765, -0.4652, -0.3939, -0.3492, 0.0605] state[eef_state]: left_x=0.3579 left_y=-0.3472 left_z=0.0032 left_yaw=-0.7209 left_pitch=-0.1153 left_roll=-0.0065 left_gripper=0.4961 right_x=0.2985 right_y=0.1182 right_z=0.1768 right_yaw=0.6647 right_pitch=-0.1084 right_roll=-0.0121 right_gripper=0.0605 state[joint_eff]: [-0.253, -7.9111, 5.0393, 1.2283, 0.1538, -0.0464, -0.0122, -0.1299, -3.2068, 6.9265, 1.536, -0.1783, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The jaws are at table level around the cap’s body. I’m closing in place to secure it."})

tool

executing move_to over 5 steps (0.5s)

step 251

assistant

agent noteThe left gripper is still closing empty, so I haven’t secured the cap. I’m lifting away to locate it clearly instead of continuing blind retries, while maintaining the pen’s grasp.

move_to

left_x0.3000left_y-0.1000left_z0.1600left_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.799, 2.0563, 0.9592, 0.4335, -0.0731, -0.0727, 0.0094, 0.1524, 1.0462, 0.7765, -0.4648, -0.3939, -0.3489, 0.0605] state[eef_state]: left_x=0.3622 left_y=-0.3486 left_z=0.0033 left_yaw=-0.7093 left_pitch=-0.0915 left_roll=-0.0046 left_gripper=0.0094 right_x=0.2986 right_y=0.1181 right_z=0.1769 right_yaw=0.6641 right_pitch=-0.108 right_roll=-0.012 right_gripper=0.0605 state[joint_eff]: [-0.1299, -11.412, 5.1761, 1.2381, 0.0659, 0.0122, 0.7888, -0.0479, -2.9744, 6.8855, 1.5409, -0.2027, -0.0171, 1.0281] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.16,"left_gripper":0.6},"note":"The left gripper is still closing empty, so I haven’t secured the cap. I’m lifting away to locate it clearly instead of continuing blind retries, while maintaining the pen’s grasp."})

tool

executing move_to over 23 steps (2.3s)

step 274

assistant

agent noteThe cap is visible again, a little nearer the front of the table and at a steeper angle. I’m approaching its middle from the new position with the jaws aligned across it.

move_to

left_x0.3250left_y-0.3200left_z0.0600left_yaw-0.3000left_gripper0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0891, 1.0897, 0.6811, -0.3603, 0.4297, 0.3527, 0.5981, 0.152, 1.0485, 0.7765, -0.4648, -0.3939, -0.3492, 0.0605] state[eef_state]: left_x=0.3049 left_y=-0.0975 left_z=0.1435 left_yaw=-0.6516 left_pitch=-0.1143 left_roll=-0.0162 left_gripper=0.5981 right_x=0.2988 right_y=0.118 right_z=0.1762 right_yaw=0.664 right_pitch=-0.11 right_roll=-0.0112 right_gripper=0.0605 state[joint_eff]: [0.1983, -3.8632, 9.9077, 1.4921, 0.3736, 0.1245, -0.105, -0.0889, -3.1385, 6.8991, 1.5409, -0.232, -0.022, 1.0281] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.325,"left_y":-0.32,"left_z":0.06,"left_yaw":-0.3,"left_gripper":0.5},"note":"The cap is visible again, a little nearer the front of the table and at a steeper angle. I’m approaching its middle from the new position with the jaws aligned across it."})

tool

executing move_to over 20 steps (2.0s)

step 294

assistant

agent noteThe cap is centered, but its body still ends just ahead of the fingertips. I’m advancing two centimeters as I descend, with a slight tilt correction to bring the body fully into the jaws.

move_to

left_x0.3450left_y-0.3260left_z-0.0060left_pitch0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9627, 1.8076, 0.9176, 0.0383, -0.4599, -0.4641, 0.5008, 0.152, 1.0519, 0.7765, -0.4652, -0.3939, -0.3496, 0.0649] state[eef_state]: left_x=0.3148 left_y=-0.3087 left_z=0.0443 left_yaw=-0.3323 left_pitch=-0.17 left_roll=0.0107 left_gripper=0.5008 right_x=0.2989 right_y=0.118 right_z=0.1752 right_yaw=0.6644 right_pitch=-0.1134 right_roll=-0.0096 right_gripper=0.0649 state[joint_eff]: [-0.253, -8.8137, 8.3487, 1.5214, -0.3394, 0.0855, 0.0415, -0.3214, -3.2889, 6.8581, 1.4921, -0.1685, -0.0269, 1.0281] 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":0.345,"left_y":-0.326,"left_z":-0.006,"left_pitch":0.1},"note":"The cap is centered, but its body still ends just ahead of the fingertips. I’m advancing two centimeters as I descend, with a slight tilt correction to bring the body fully into the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 304

assistant

agent noteThe cap body is now underneath the fingertip region, and the arm has reached the intended table height. I’m closing around 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]: [-0.9691, 2.101, 0.8192, 0.6964, -0.5812, -0.358, 0.5008, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0681] state[eef_state]: left_x=0.3447 left_y=-0.3243 left_z=0.0019 left_yaw=-0.3082 left_pitch=0.0899 left_roll=0.0019 left_gripper=0.5008 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0681 state[joint_eff]: [0.2393, -7.5009, 3.6718, 1.2234, 0.188, 0.0513, -0.0073, -0.335, -3.0154, 7.0496, 1.5458, -0.1978, -0.0366, 1.0281] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap body is now underneath the fingertip region, and the arm has reached the intended table height. I’m closing around it."})

tool

executing move_to over 6 steps (0.6s)

step 310

assistant

agent noteThe cap grasp is uncertain because the closed width is very small. I’m lifting and retracting to check whether the cap moved with the jaws before attempting any insertion.

move_to

left_x0.3150left_y-0.2800left_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9691, 2.1094, 0.8181, 0.7525, -0.5995, -0.3607, 0.0299, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0682] state[eef_state]: left_x=0.349 left_y=-0.3259 left_z=0.0091 left_yaw=-0.2889 left_pitch=0.1325 left_roll=-0.0219 left_gripper=0.0299 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0682 state[joint_eff]: [-0.1573, -9.4974, 4.8752, 1.1941, -0.0366, 0.105, 0.0366, -0.1436, -2.8513, 6.9675, 1.5409, -0.2173, -0.0366, 1.0281] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.315,"left_y":-0.28,"left_z":0.15},"note":"The cap grasp is uncertain because the closed width is very small. I’m lifting and retracting to check whether the cap moved with the jaws before attempting any insertion."})

tool

executing move_to over 10 steps (1.0s)

step 320

assistant

agent noteThe cap is still on the table, so the last grasp was empty. I’m setting the pen down in a clear area and parking the left arm rather than attempting an unaligned insertion.

move_to

right_x0.3000right_y0.1180right_z0.0080left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9695, 1.5265, 0.749, 0.2485, -0.5987, -0.3645, 0.0293, 0.152, 1.0542, 0.7765, -0.4648, -0.3939, -0.3496, 0.0682] state[eef_state]: left_x=0.3179 left_y=-0.2811 left_z=0.1378 left_yaw=-0.287 left_pitch=0.1399 left_roll=-0.032 left_gripper=0.0293 right_x=0.2991 right_y=0.118 right_z=0.1745 right_yaw=0.6645 right_pitch=-0.115 right_roll=-0.0087 right_gripper=0.0682 state[joint_eff]: [-0.6222, -7.1726, 8.7863, 1.5946, -0.2515, -0.022, -0.0757, -0.1026, -2.7145, 7.0906, 1.5409, -0.1587, -0.0269, 1.0232] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.118,"right_z":0.008,"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_gripper":0.6},"note":"The cap is still on the table, so the last grasp was empty. I’m setting the pen down in a clear area and parking the left arm rather than attempting an unaligned insertion."})

tool

executing move_to over 25 steps (2.5s)

step 345

assistant

agent noteThe pen has reached the tabletop in a clear area. I’m opening the right jaws to leave it resting safely.

move_to

right_gripper0.6500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 0.8146, 0.6453, -0.4366, -0.0547, -0.0933, 0.5982, 0.152, 1.4876, 0.2905, 0.4019, -0.3943, -0.3492, 0.0682] state[eef_state]: left_x=0.2935 left_y=0.0035 left_z=0.1817 left_yaw=0.0517 left_pitch=-0.0352 left_roll=-0.0371 left_gripper=0.5982 right_x=0.2923 right_y=0.1171 right_z=0.0026 right_yaw=0.6682 right_pitch=-0.1607 right_roll=0.018 right_gripper=0.0682 state[joint_eff]: [0.1162, -2.0991, 10.3179, 1.7705, 0.0611, 0.2466, -0.1148, -0.1162, -3.9863, 4.3692, 1.7949, -0.232, -0.0464, 1.0281] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.65},"note":"The pen has reached the tabletop in a clear area. I’m opening the right jaws to leave it resting safely."})

tool

executing move_to over 6 steps (0.6s)

step 351

assistant

agent noteThe pen is released and resting separately from the cap. I’m lifting and parking the right arm so both objects are clear of the grippers.

move_to

right_x0.2950right_y0.0000right_z0.2000right_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]: [-0.0334, 0.8192, 0.6476, -0.4389, -0.0483, -0.0883, 0.5982, 0.152, 1.499, 0.2859, 0.4114, -0.3981, -0.35, 0.6453] state[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.181 left_yaw=0.0436 left_pitch=-0.04 left_roll=-0.0363 left_gripper=0.5982 right_x=0.2907 right_y=0.1174 right_z=-0.0004 right_yaw=0.6722 right_pitch=-0.165 right_roll=0.0231 right_gripper=0.6453 state[joint_eff]: [0.0342, -1.7162, 6.7897, 1.6923, -0.0904, -0.1245, -0.0171, -0.1846, -5.3949, 4.9709, 1.3797, -0.1783, -0.0513, -0.1294] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0},"note":"The pen is released and resting separately from the cap. I’m lifting and parking the right arm so both objects are clear of the grippers."})

tool

executing move_to over 13 steps (1.3s)

step 364

assistant

agent noteI picked up the pen but could not securely grasp the cap after several corrected attempts, so I could not put it on the pen. I set the pen back on the table and parked both arms clear.

give_up

hindsightThe pen was successfully grasped near its rear barrel with the right arm at approximately x=0.365, y=0.245, z=0, yaw=0.7, pitch=0; its held gripper reading was only 0.05–0.07. Farther-forward approaches around x=0.42, y=0.29 repeatedly stopped above the table and missed. The cap slid and rotated easily during empty closes; re-localize after each contact. A cap visible near the bottom of the wrist frame was not sufficient evidence that its thicker body lay within the fingertip contact region.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0334, 0.8246, 0.6449, -0.4389, -0.0483, -0.0879, 0.5981, -0.0383, 0.8089, 0.6312, -0.4019, -0.1055, -0.054, 0.6463] state[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.1783 left_yaw=0.0434 left_pitch=-0.048 left_roll=-0.0354 left_gripper=0.5981 right_x=0.2959 right_y=0.0109 right_z=0.1843 right_yaw=0.0728 right_pitch=-0.0169 right_roll=0.0131 right_gripper=0.6463 state[joint_eff]: [-0.1162, -1.853, 7.4188, 1.663, -0.0513, -0.0806, -0.0171, -0.5402, -2.2222, 9.265, 1.707, 0.1148, 0.2808, 0.0952] camera 'top_cam' (step 364): [image omitted: streamed camera frame] camera 'left_cam' (step 364): [image omitted: streamed camera frame] camera 'right_cam' (step 364): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up the pen but could not securely grasp the cap after several corrected attempts, so I could not put it on the pen. I set the pen back on the table and parked both arms clear.","hindsight":"The pen was successfully grasped near its rear barrel with the right arm at approximately x=0.365, y=0.245, z=0, yaw=0.7, pitch=0; its held gripper reading was only 0.05–0.07. Farther-forward approaches around x=0.42, y=0.29 repeatedly stopped above the table and missed. The cap slid and rotated easily during empty closes; re-localize after each contact. A cap visible near the bottom of the wrist frame was not sufficient evidence that its thicker body lay within the fingertip contact region."})

tool

give_up: I picked up the pen but could not securely grasp the cap after several corrected attempts, so I could not put it on the pen. I set the pen back on the table and parked both arms clear.

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 · 8.11 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, 0.7929, 0.6022, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6098, -0.3771, -0.0208, -0.0139, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0018 right_z=0.1838 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4564, 10.5231, 1.79, -0.0708, 0.0855, -0.0366, -0.4855, -1.265, 9.7436, 1.8046, -0.0659, -0.0611, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562302db893ce5f025aa7481a7569d10a3f43fb29a8beefd33f3a868bb5ab6d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381c25ca15cfd7709e96e2e99b62d081943347161301247c6f5a3261cb0fcab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9605ce4215996b9e16719dc7ca1d9238f48b373ea2e010f3302a1aa825866ad",
      "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 · 4.291 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOpjFfNtsBMwOS2QzqrKcwS_vn3wd2rDrSqufk_26FPFCkF_vCWs3kAU-xgZm28unEsn2uPXESeE7FOFSPf1NtRCf4Ua8wiEAS7PoyWTJiZuusttIIYwW-d-xKbtxOb2eQjP3uZEqbADb8GkjlDL5W2qvP8xDNxJnpxG7l3YGt5Lr_aeKUOiPdFzWWjkU4wtntpYCUtyYUKv-BXtyzST7fLZnv-HVsude20BlfXrJ7EUV9hqF0bQgbU_MFuMZt2bURWoLJc6dEYJBfRuFzbH-DCjwrOeaw5A5CiGBnmzM5qymo3TwRXKjntV3GkaLVc9p2wB1ypoBRwWWr5PaAaV1tfkXQG_EoejKLcRVCAHFfYsJlsTkkofjXXBru8OXVGsPUCuB2mJ2qY3pQcPE7LGtVvzvAUhSd8pkB5NrlpsGVyR1HVY1WwzHMei4sADvr1hJ9mtYbWrhuzJRanary91MyJxXlv-9FR1ufq5VqWMD80zFhvnjLraTDJ-gJpjHaIfuLqYVf5i4lNquckndJc14m5JONjH__ZL-DJ8y0oHeg01mh0muZeAsIAB_6lInyuRGvPXpKFsBHRq4r52YGgLZOE4wioRMUWxOwMe_zNKWT_xjICIePgqmKlg7xKqbQRQo-q_AyqKPbg2PjoHSpAo0DfUJjxwiJjIRMKgPypUEWVJHVd7AVFmTeEaFetwspwCj7Jred8hof-K2n2nhzqlEv6QjLGso55-ObQqQ3RxP5gmeKeCTr5NnFdwCWZxXv8YPsurL-jDleIwypB6g_kIj9rfz-C_Dw3blfWUrajisLk5nEyR53DJ-XU68-pg6trY_S_MNvOClNwTzF5Wr5WKAO95M5q_Iizv_UhlgwC21CVk4x6-39_RJuDs7AMm8joNpkPo0Roti5vKKJzfptJZFtFYUqUuA9o-3DEORotQ0FP0WtRWb6HsHIt9qQVDo7qjN_4TzwtbcVeWPAq_9Vad68vZkz_6GDedtxlSxT33M1Ix2W6yQ0XY2rl6ANYPvgoSpEgpRvVfKDYzilPM_tezGtpJprbbDVQdyw9-IZV5vB0b68WKuj42YqXx44O-CtXxoy-VnSzfC2CfoZZ90bf8avJ4OqdpJF5JQI9M8Ga5oJ4bQFCk-Z743dZey6RWxAmGwkFkBLlgm1LNF91dect6BnsHaD-BFK8YJgpGTB648wvTwKxSIdt9E5qaSEMztZi1_8iN0uNzBwGfu3x0l91XLclp_uTtV-WDuZfO9eGg5kNPdnf2acmktfJmThK1pJWj-DXmd0-8xQT7_jlUy-tYsjVi7V3eAkiuSDd1bOWWRQEVg9bBE8aK_8hw_3yPQv9ABkdSRA6wQOBQgNQQ_n2xOpBFN23UbfJUtJEnVTcCytsNqj9fyptkA7tvcuypWlNU9s9f-NyVqlTHOSs93aFNC54Riek716ZMYJhmOGB-7to5inP3mV9hdnHPLP0eOM4eIxPrU-Rbh_5J7c9-F8AmWokvuJFJf1J3AhkuypmLXY0AhicdqrtmYpCahx5VSNSnvVBBlu2wPrGlBoLD_q-AL57lwIunxHz4V_WKfZfsO1DcNnv7wkTOVonJAjpSGflzEeeh-YtAPPnTjrKJHtkBqcR-R0yZBCAdeub_4IDaEVEaSLgL-qNdRDqrupMK4_wTGrZEWzz0jylCE3riQD0hxCivL826sxG3voPQswmarddnKPq6bUIyB9t-QbTzJHzISmIXBqE2y08CXyTPsMbtERmF8SwWDn6XUXS6NWyqWdX3vDd1YD6QIEquH_uoUNYWDfGW7UxG0AI9nLlQU_RgANkEeqSc8zWEJW2Df_Tv4zBi9Ykg6H_9TTo4_ESKEnEGQqclfHo9Sf6lWV65RPDZPOoiU3vub6tQzd7LIm3ZSGW9YxAONZmHSrRvVbJbCzGOV-19liMWB83mhgeVmqF7KiKMFHK5zZDp1ELYiEA78VUHe3TB8cV8VrVsfeVPpgwcWt9XB8JyQOcXSJ004QA9DyDJY7m9Mdw55OJ0OyOBR7yyfJp82AbYAIuQAZldHAshM2hSblH0XXAJVUblU_p2AL1E3UpLGWROnfQGKYYm3xAoyX1VMyzoXJ9PwFTGtGRzXqWWq0_3ygsdHQLqh7vXiEZAVxvAPA2tvpaSdo-WGOebpCN_wjY_O4Rs18uzo4IOIV1uYeMiMWLFLCy_tKoCtHEz0CLXXa0W44-h53XlKGgDkXAKtZe2AO4e5D-ATHV_uLCBZeNY7lkXnIvOEABplc7nw_n6tCLiv170Byl6vNOUuRKIMOFnoabCSbUPOQeYQBSiXYzUPpvaRb94-Xkp2wUPiIUMJs_Fj5oB82Y3Kxb9iYmyfTRpVNJB9KRkhfcHD8mgZQbALHMkaDJR83hvOuS7l1KJv05wlgvbQGkbbneJFdhYXnwbK3k6Xwx7KLTXWNPS0KDs3Bm7oRWeIYpI_-1L-2wplVTZPkomK94gM410kwR4Bsefd04YO1YL5MZzKrEt1fXkgyeC-H1VzRmyOiBpV2mGZGjeftpNYcBu8hBhKU98fCT69Wzy8x1Q54SahwCnQx0daleeD_uKEKFolziI8ta0q6z93s4DCXc7F-9PRRYj_7-1jI3rXQOl-6FHO88db_yEYiJkSbXYT_Mj14ATw==",
  "id": "rs_09a9d8c2e0e9b6a1016ab473a24c3087d09c36202b6a741762",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.21,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.184},\"note\":\"The short cap is left of the longer diagonal pen near the middle of the table. I’m bringing the left gripper above the cap first, while keeping the right arm parked clear.\"}",
  "call_id": "call_GahYS56mNGdoFgD4xsaaM2hA",
  "id": "fc_09a9d8c2e0e9b6a1016ab473a7f62487d0b0c6ff351df91b78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GahYS56mNGdoFgD4xsaaM2hA",
  "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]: [-0.646, 1.7081, 1.0901, -0.1196, -0.5247, -0.4038, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4193 left_y=-0.2008 left_z=0.1307 left_yaw=-0.0063 left_pitch=-0.0517 left_roll=0.0273 left_gripper=0.9998 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0019 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.8, 9.265, 1.6728, -0.3834, -0.0562, -0.0366, -0.1846, -1.5932, 6.8718, 1.8535, -0.0171, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d2c81db993de6100d3cad0d205691401f7502bc92215b819bffc0122f61111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b18650d758f2723196be5011f697e7767deda1db4c42f68ad10c2b373b12fee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9cd35a29204cf3a8e014ae7029e3cd783c153a67eeb1e413209e08fce2c62e",
      "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 · 5.865 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, 0.7929, 0.6022, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6098, -0.3771, -0.0208, -0.0139, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0018 right_z=0.1838 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4564, 10.5231, 1.79, -0.0708, 0.0855, -0.0366, -0.4855, -1.265, 9.7436, 1.8046, -0.0659, -0.0611, -0.0855]",
      "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]: [-0.646, 1.7081, 1.0901, -0.1196, -0.5247, -0.4038, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4193 left_y=-0.2008 left_z=0.1307 left_yaw=-0.0063 left_pitch=-0.0517 left_roll=0.0273 left_gripper=0.9998 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0019 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.8, 9.265, 1.6728, -0.3834, -0.0562, -0.0366, -0.1846, -1.5932, 6.8718, 1.8535, -0.0171, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d2c81db993de6100d3cad0d205691401f7502bc92215b819bffc0122f61111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b18650d758f2723196be5011f697e7767deda1db4c42f68ad10c2b373b12fee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9cd35a29204cf3a8e014ae7029e3cd783c153a67eeb1e413209e08fce2c62e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOvMDA8AkRXAodJDVIiDqzd9eBY-ZMCqvgif7eE31AxHN0fr8wS7mNg7LyghuJh_e9_-wGFUsIPgk2jk7SMBWVbRzkjFxPseYWdGUbPd0G_oFIvJZT86NjeYURjCSAqEfkOD17H7nkHjYGiaQ7yKqRd1iNtaLkKfoK1OLCF0fsnzxI64BWK5TJskmVW5uZIlythtg1ZZkiClyxf28rb3v0nrfItzibEnmrIjfItAQu8DR4fq4LDrTxmbYzfXBVejU45taAOJdj0cG5vtp2MSl0bt6A8FJSyJAGWw13YF5FiBYFrHurCX2PAeLj0mAiFh-jWtRns-6KQ7noOBfDoi6weTHeqw8RAEZ36S-NsuVE2m-NMek_iVrn8r8BzRky_wRmcXPTcpjQRSVKBIYxgtnLy_0SOobdEbl7d4VBrC-wmoIV6dMW2lVW0F0FNxUdBF9dZeb0zllTakvOYXW0qsVJgH_HgxxbmAQWG-b37d0EKBvlSYMEIwb-v9mqorZ5uhAg_DWNEzVWYqtgh6VMCbW7w9kgqZ9sYpNiiOzqCMxfxQrFZyIwBqH5N3StbRf-arI2LWuo493K_75Luds46u99pbuY7vfPAz0SStxwEBxnvCZNxqTJ6ofJFx8NnNiKZvD5ZTCibZix-Zz9kDTQDHBXIdKDtyPRywKsUA0M6gHB9QAT4SxZmLv939ia6kzLba6WCZupWAJ4jFTdrIFh1xZPaRl2ttjoNaNe7BVnaVsOQ0jx3c_fJZJw0DHZ9qN_A2qGBa_hT9snPTThRqF-BIh-frX2LsQ-IxyjUx97v9V3W7Ju1mWiXbLp8DwVdkpleRhOf0TbqOkt1v3IFYHA1KTVbBsAbUDzPUjx0M2MbevvvnJcasmlJD52Jk3mnpFvcqOuPqp3I6moTKP4yukA-tq9KZYm0CKkdZFPSDZRi97vwxJ1GefxwgXEx0ItRr_KWAdhbN50mGMAQxBsYog3-WPiIYs-L6Y4berUcaPSEghs0brhZNNGJ11lyTqEiolqFEjQav9QDN2E-ME_A65f3u0TUV32Bh9-72IBlR2i9qBN4xkTzobdVW1TF3jy0nrcKvoJyM0New0TRC9RMfgLhlYFdM5jN1PUp8hYLHyV3g19uOVghMJoOUcANCuVSjHyP2xlQqfJZHX5cgR50WKnG7AJjQ3Hal2uvyLaEaRoqGNLp5-jbrr9lRxruyrCJIuVqPW1BLY30b2-0Dnj3YKcyqW55YoRY2xLbs6N7msyjkqS27RMwJxh7Cu46wzgRY7r0F3E2i7cAuYNY1hKrJmFOpFO8fGdJN0GTfmHhOmQDAdd9NTWkGGM5Rsduxk_yeJFfU0QVuOaK4DbbhGYeSIlOz4LdhLUQlJ3yfEpc5G-qOAmV-4vDUGEYGkwP-PTIwSX3IqVqh8B5AotZVETKG3dcy89vYawelvvCkNPgRvWVCFHFQvbe7reOPDLgZ6QsJXlY23IMB76dXWo-gsbFTp4HHh_h5RajapRpiVq_z-Lx9FFheoYdE9hrs5siv0uXAxFEhgIx_Mx-trlndVeuCfe1JO03fv1pyoAc0jdvezHvNCPc_BzFUwOXvkWeMqFskF2ruxYOdznRprfkIa7ldmjXT-Et8J-RJMrTNYvS16oycwrClgBomOmRr5SUqILAyjPucKThgOYoRBbE_n2sBaGxqGr1MlED3-ucxpPltvNVqhiVzq7mXcU9tG8oAx4TPeaZ1DXxgCso7Ly1tQvIgRjExrvoZuc04EIfUJ8vFcmGVdhAeiZg5v6Eu_B3nKmeINPZQOYG8En1EE7-dD-Q5vz9uGf88NNQ-DuT967gQIuFSK59_uY=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473ac32e087d091578fc744889870",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.21,\"left_z\":0.018,\"left_yaw\":-0.5},\"note\":\"The cap is centered near the bottom of the left wrist view, close to the fingertip column. I’m lowering the open jaws and turning them to grip across the cap rather than along its length.\"}",
  "call_id": "call_1lcymhGI4dMfzCyHFj0h5hHK",
  "id": "fc_09a9d8c2e0e9b6a1016ab473ae5c9087d095d3e295eb8d6d10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1lcymhGI4dMfzCyHFj0h5hHK",
  "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]: [-0.4664, 1.9373, 0.8314, 0.3988, -0.0792, -0.0444, 0.9998, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4235 left_y=-0.1936 left_z=0.0066 left_yaw=-0.3864 left_pitch=-0.1348 left_roll=0.025 left_gripper=0.9998 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.212, -9.388, 4.9573, 2.1123, 0.0757, 0.2613, -0.0171, -0.335, -1.2786, 7.0222, 1.7314, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2119a4b287335b015c58672ad867ba537f97edf9ebbe71945e5b329a67726d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33061705a35cf33e48a348d6e8531b65611e38c0bdd82ab0b95bbc50915531d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b9054832fe90a0a8e881795ad4607f1c80d21a496e75e1cc072264b3bbbf67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.78 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]: [-0.646, 1.7081, 1.0901, -0.1196, -0.5247, -0.4038, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4193 left_y=-0.2008 left_z=0.1307 left_yaw=-0.0063 left_pitch=-0.0517 left_roll=0.0273 left_gripper=0.9998 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0019 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.8, 9.265, 1.6728, -0.3834, -0.0562, -0.0366, -0.1846, -1.5932, 6.8718, 1.8535, -0.0171, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4664, 1.9373, 0.8314, 0.3988, -0.0792, -0.0444, 0.9998, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4235 left_y=-0.1936 left_z=0.0066 left_yaw=-0.3864 left_pitch=-0.1348 left_roll=0.025 left_gripper=0.9998 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.212, -9.388, 4.9573, 2.1123, 0.0757, 0.2613, -0.0171, -0.335, -1.2786, 7.0222, 1.7314, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2119a4b287335b015c58672ad867ba537f97edf9ebbe71945e5b329a67726d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33061705a35cf33e48a348d6e8531b65611e38c0bdd82ab0b95bbc50915531d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b9054832fe90a0a8e881795ad4607f1c80d21a496e75e1cc072264b3bbbf67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHO18MKj5iPveKDiVcor5mv4F0iTjbTE7D_eJPgIZYyqNqQ3nyqbHZ-LrUrPNdCPSoXE5nwSWrrdh7ChuhYB9NZhdeX0hVCGgjcd6yW0hpIh2KWdp3Le0jFh9BYK-vbQgClvFBb_t55RLtCb9MkCdVHlcmByMrBQbVS7sflhlRG20zkJcMn7vmaFZjaxgzuqzSudb6MyRScyo9xy6R1HE3yxhysIKr2iFaV8Jdiqdjdhx4fQ2n_LYOj7Gf1nyKXiPp1iCw_cLkkRknzuaP8eybTlwK-flBEt2GHZRcYsDmUWlVzxp07xJxo-N36j0APh_kp2qBSgJSvT-tiKuhWOuM1qEviFGPJ1zD4tMJHU-sSXhz-L6n9E45YODqycw8SuiLjyjMTyoetWs92FlcDqICESGcWeATZ-4RM7Wo-cUrNtYbDfrLdfzZ68JziPfcoZjX-v4yhe_x5XlnxQqrEFYnN2VXLkdPr111oR8SPiNFKk8EA2EoFwmhLfoUMW5Rla3j6vxmvNWXtX0ZIaIhNqyR_U5d_ZZJ-y8FWLjWDt1SLMrQ0hm6cmzwo6OGPD-At_3c_JQQgMRpCqGptLwkkRcSREmZB5sgyP6T6uYqiPdI50nO64G7d8BDQAOLi1T1eOF4DmTbL4YwcuBLKR1-022QrmV8g-VvUSfWD3mDid2Ro-l91__jMPwxz-741tjsQ2r0GJZyILRpYJh3T7uXNLCabnIpwoywCW7zX0F6QkVVRh94WgD2DMBM4eikI4jiqYxh5isnNCGfRee3SjIWq_70dK2pnUYKM5k0Fc937Sr_CRGUIX5ZF0GrgLwjh6ufDcnc39vnKXegTxxNjYSpLcA4yBfjqefy9yLCPskzpzFyIZp1DsvPgLJ__fm31R62ttFN3sdMu2InCCojTULEm7DbBxZnMYcmgiZqtOdBJYU5JmLIO__QW1zKYb34JKrty0K3R51DcuHJ8Jf5jx8yc1PdP1-PKPD-nZvMl1LvfTLdxsKpV1r5oNuz6NGiqg9_GzMS7SMAxM8R7-7l8BV3K_1lS9rz5jmuSxYhcSvNo0pcfAZXl3-AElWOfrAmt1UL9YiTxX2TjW8F_uADTNXbOZKrg1Hk_1qz8IvkbkUSdGj9vveseuOpQNJybqMO6XoYJ76WNKzHmBEAA5D-tVL3UGA32Ufv4frTcG5pYfVYkgTLOV10Hx9Y_VEUCXJ-4cNT22h7gNwTwLvzG5QZ2rVm8YTu0qqcep04s10OH563OukFn_YIRBSnJy2KtsLeSoWkeTPuPrjOnaqNQIKR7SJUX6lca2Kmv2oZrD--LGShOijyIVd5GEFAvpfCaKpzG9ir3pFeZzCDj_E_yzL6v6P9tI5jOz5vkgrDs-XngI0_zq0nJM7xZbSr2ZYMPaSDFwGgdqaThElJcMWnFC0IarHF8qvEs7mijF0KWSZYOoymI41r_ORcfnbfbP2WIIpXDrlKEcEg9zek7sxH1yWTtffagNqMy1XnpuyIZLuWZkP78d96eGhgKrpamla_Nrnm6e4xq8X0QgKM-iyxrfj-fnnYZJBHtZcugZPhBWIQw7ZWWfpmPbIJWHLAOf8Swdr2QYdofdELLVsNnGuXZ_xdaoN23lVj_4t7i4VCJQtHxJpSdIb0tRfsJtAWXtGOIjUC-n2DAWcDAB2gpozI5JLE60SP14dkh5ivhjro_Qo9YKxMfE04SrEeXfhYiH-Ppfzasqb8toLDX0ny3CdHoNVg8KYz6s1niG6rsfsmmA5vzfj_udkIEUyi-Wix9XwsahcaF_sbajLlWgEWQF9gEVZJQE9RRtKv6pDSZN19c1LNqMwBkwZGar4l9oeye_zImt7q-t1LxAQgw9fk0_8yz0wAEYdzMUNtvscIJQ7xMXVG72N5iUyNwCsaq73C_btMMtlEytMdnk_Jflm1BClXSvQJDzriuLgEJCN8a3MRvqDpPvMdOZNniPL-De4wuWB37dJKI2z7tiIxwWKr2WXvtObYYZCKBojMcLSmMO-hTmHTeyM91WIEwZ-Ng8BgDJhm75Eb8M4abWvAHLqNClCfoJbnxYpYQydRCpmgRIsZ0bRQ8-a7BWX43-XUOLbFt9mSUWXTVIrs1pANnItqNS57YK1quk-ZQPuSeJPL_mLrB6w0ckwoYmtCUH7-brOZ6gNT4VRHu8etLoQrXm_X0MhrQueOZemt13uVIadN-1U5bBGPQiszy6gHTvvKc=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473b141f887d0a55d3005760487dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.218,\"left_z\":-0.006,\"left_yaw\":-0.5,\"left_gripper\":0},\"note\":\"The cap lies between the open jaws but slightly to their right in the wrist image. I’m making a small lateral correction and closing at table level to capture it.\"}",
  "call_id": "call_uP2hNUZpW8OeEsaCZLFDSfTH",
  "id": "fc_09a9d8c2e0e9b6a1016ab473b4cf6087d0814ee88abaf5406a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uP2hNUZpW8OeEsaCZLFDSfTH",
  "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]: [-0.4683, 1.9968, 0.8745, 0.4404, -0.0406, 0.0017, 0.0099, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.434 left_y=-0.2075 left_z=0.0024 left_yaw=-0.4462 left_pitch=-0.1119 left_roll=0.0347 left_gripper=0.0099 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -7.4598, 6.5026, 1.4335, 0.3101, 0.1441, 0.7985, -0.1709, -1.2786, 7.0222, 1.7558, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9337f9718342bea438f23ac0996c20c21a02f4022ff0330f98ae393a25f49f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b9ddc2b68e57632991fe15f2344f15e780c7fd7fcd26b8044107aecb50c6380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d4912b60a4aedde7f1c316aa8a48e6f9681178cac900274f0a497cdecfe17c",
      "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 · 7.492 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, 0.7929, 0.6022, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7921, 0.6098, -0.3771, -0.0208, -0.0139, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.0018 right_z=0.1838 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4564, 10.5231, 1.79, -0.0708, 0.0855, -0.0366, -0.4855, -1.265, 9.7436, 1.8046, -0.0659, -0.0611, -0.0855]",
      "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]: [-0.4664, 1.9373, 0.8314, 0.3988, -0.0792, -0.0444, 0.9998, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4235 left_y=-0.1936 left_z=0.0066 left_yaw=-0.3864 left_pitch=-0.1348 left_roll=0.025 left_gripper=0.9998 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.212, -9.388, 4.9573, 2.1123, 0.0757, 0.2613, -0.0171, -0.335, -1.2786, 7.0222, 1.7314, -0.022, -0.0806, -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]: [-0.4683, 1.9968, 0.8745, 0.4404, -0.0406, 0.0017, 0.0099, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.434 left_y=-0.2075 left_z=0.0024 left_yaw=-0.4462 left_pitch=-0.1119 left_roll=0.0347 left_gripper=0.0099 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -7.4598, 6.5026, 1.4335, 0.3101, 0.1441, 0.7985, -0.1709, -1.2786, 7.0222, 1.7558, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9337f9718342bea438f23ac0996c20c21a02f4022ff0330f98ae393a25f49f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b9ddc2b68e57632991fe15f2344f15e780c7fd7fcd26b8044107aecb50c6380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d4912b60a4aedde7f1c316aa8a48e6f9681178cac900274f0a497cdecfe17c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHO6FD_ixdwdEGIIqd-I40UVfe8rm_K232eTcIYP-2X3ZAij8IAJZKzhQNh1MiDdxT9TWCr9EeJeLVZ_EIOrw-xDIw9T-y-wR2tZZVN_0kz7U__2IcergOiO6404bRrIbKW9FJkKleCEj8tsUbtWxv46y0w-yuNnRnwZh_fJJI09dHbcllsupqta40gKazwMZGJbtSZXhp32yxkN7GkpDrM9hAAnJ3yxwZmKtyqC04zxVy7SmsU92M99F5Hmk5QSgEyAVj8xxM3Le-rYYgHZIV62yMWsSuZ7ylgrM5oR8ZpSULxosB_ECbLUQRKqsBZur8mk4ci_bFYQQlAfSbJdyfHqgQi80E7Oh5Viz6N3sh1kwpG1EmJx27zzxeZ1FYFrGPwjfjZT0Yf4DMymAFm10pgN4l-xBCMmbfgnNyBp7LrbgTYkp6MjAHqxgkmyHsZLksMPPIYjVVY6g4cC1f3M5ypUi1GpbpRaLe7qw5MJXLZSQ5vcV5Fi5NcDlWtr0nwQPqefFiBFMWCUPfCO_5ogsiGqx32JNvMbA2aRFomsezn3Vpjw-C7mP-m6Uuy92ZaXQiRRfcMwltI2GuIZbjUKFNrtuzzKvMH4WT63-mwpxBgNPbAcfIMFMiXAX5k6X2U5OCWj9X6jNdBbefoCgNWlQpotncv-9snNWV5Z1MzPdXJG1OOxHZtTjjQ70eMrOtuubyaaFBtBJiia63IxYQeB1VDxusvC8f2kq-4df3lvk2vftFTnhQuGDm0NZL_wJ4ScuDAaXYlLBbBc32WkY4lvPXbtZfqS685JBXvRJayiZ2Xf-KTUY5QQku-qEaOFjmSQWLbpiKHaObA1IZRVkTEsRNUBGQjFCu8mQ1LJcVKXbMxCPpxZVCksRGQcWSE4xAgBm0lvSpvDbsVzGh5-ivvO9G266AXzr4emVAJUA7ScddKJgBEKmsqvA8FC_K9c5bsXxr8RQF5n6zJvE4VncJHDkiAC0PN5PgGf1jjdZbZ5gukEbecZjkyLEn5N0z-vcl7N4gFAnQogrTw1-ZALArjsr7niA9mI7NJ32Q7O9zEjhv2yoYUlZQ4PO7zdP4LzR_L_Vnxa04FxtZtQXwjoFzMoxDDqinOEDsY2YTmdCOUyMWWs48jD5llCaFYWFGNwtY8qTuePnzVg7-ZQG86bTaqKIa1hG6fuzFNpAKGYJAbmqWrfIrsszkPJBLNqyyIW00Bs9e-nvyKMJCJuO-S2I0XjMVzh1zRmzfxYZWlhHENEqVJAb_wW5Mmt5flcLnpSuNmK3Wte2R7toYUWC8GEzawX58s4kO50rfJlr5bPKhYQgYJ3V2JzmFA8NNICoId2l-hx_UO8SFgpf5ZQ77CejYeAv5cNqiONWcfV30FUSdoEM2c9OhEJ8T-j1fx7uf72VuOktj4P1vlu0rkp-c4etUd-ExV_6GCoPzYhoLuOT_CT8x8x842PIEJ2pRPm7aRUfiskTb8EEXNSPIdZ-kP0nV3ic6SfEMxpkkphz2u7zm6QE12JAF48hP5NW3eRuXS3pMyLJl47Ns_O_jEcrhv2-nqPn-WsukWIj7gW8ShtgW0TgfYKGho=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473b8188887d08e7848e7172823ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.453,\"left_y\":-0.226,\"left_z\":0.035,\"left_gripper\":0.65},\"note\":\"The gripper closed almost completely, so this was an empty grasp. I’m reopening and shifting about two centimeters outward along the cap for one corrected attempt.\"}",
  "call_id": "call_ABHeR5tS7bcJPSJktDEGRs5U",
  "id": "fc_09a9d8c2e0e9b6a1016ab473b9a29087d0be8b0de84c9b05f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ABHeR5tS7bcJPSJktDEGRs5U",
  "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]: [-0.4858, 1.998, 0.9794, 0.2855, -0.054, -0.0238, 0.6452, -0.0193, 0.7979, 0.6132, -0.3916, -0.0208, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4414 left_y=-0.2182 left_z=0.0104 left_yaw=-0.4382 left_pitch=-0.1621 left_roll=0.0256 left_gripper=0.6452 right_x=0.2946 right_y=0.0016 right_z=0.1807 right_yaw=-0.0017 right_pitch=-0.0168 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -11.8769, 8.6085, 1.6923, -0.0904, 0.149, -0.0562, -0.0479, -1.2513, 7.1726, 1.7216, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2cb830ecfec1f9b418f59798ef42aa32a960029c33586f8c14bf160305add1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c029e060f104fe29aa8fe15daffa7c062ae648f4a700a83097121e0550a1b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798817be3dea2de7e18962cf5c2de27bc4aa743e86f6bce3768aab50b7090f2b",
      "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 · 5.045 s

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

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.646, 1.7081, 1.0901, -0.1196, -0.5247, -0.4038, 0.9998, -0.0193, 0.7979, 0.6132, -0.3897, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4193 left_y=-0.2008 left_z=0.1307 left_yaw=-0.0063 left_pitch=-0.0517 left_roll=0.0273 left_gripper=0.9998 right_x=0.2949 right_y=0.0015 right_z=0.1811 right_yaw=-0.0019 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.8, 9.265, 1.6728, -0.3834, -0.0562, -0.0366, -0.1846, -1.5932, 6.8718, 1.8535, -0.0171, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4683, 1.9968, 0.8745, 0.4404, -0.0406, 0.0017, 0.0099, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.434 left_y=-0.2075 left_z=0.0024 left_yaw=-0.4462 left_pitch=-0.1119 left_roll=0.0347 left_gripper=0.0099 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -7.4598, 6.5026, 1.4335, 0.3101, 0.1441, 0.7985, -0.1709, -1.2786, 7.0222, 1.7558, -0.0171, -0.0513, -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 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4858, 1.998, 0.9794, 0.2855, -0.054, -0.0238, 0.6452, -0.0193, 0.7979, 0.6132, -0.3916, -0.0208, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4414 left_y=-0.2182 left_z=0.0104 left_yaw=-0.4382 left_pitch=-0.1621 left_roll=0.0256 left_gripper=0.6452 right_x=0.2946 right_y=0.0016 right_z=0.1807 right_yaw=-0.0017 right_pitch=-0.0168 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -11.8769, 8.6085, 1.6923, -0.0904, 0.149, -0.0562, -0.0479, -1.2513, 7.1726, 1.7216, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2cb830ecfec1f9b418f59798ef42aa32a960029c33586f8c14bf160305add1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c029e060f104fe29aa8fe15daffa7c062ae648f4a700a83097121e0550a1b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798817be3dea2de7e18962cf5c2de27bc4aa743e86f6bce3768aab50b7090f2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPCxCFqmF9EvQqQIsit7nmwiiBL2jnpWdLsxwfIfqjAZqcqRTXbblqQsCa3kOI2SIBzU0e4Iub-9XYNpFpRnb0ccWqqHLWRxUgzn1_9nEu-6Ri9uE6NYgbIhyMz1S2bAMWy0ELDoXwMKByEc5qStIR2VNBvDNcUhYBAmnv7yo1ch-wdj7KtcXvSdpPNP3vSfmClxgKmT9BZYUoUdjQuWZTxLBtGT9w_Q_Vc1uYi4GkxAoDfS4ckITNKubCyXVWmiDiDxzw06NcHY4CvF551yy3Nx4tvWhVIEe8ObFkMJaBuT3vI7SmfaNKHg1zkA-8h7lEV0P8er3Nf-_S5E60JVBVNPwltxg_Au46SIINBsrjsiIcmYfpDBbD-4607lI3Q1ltNxyqDNJ7IcOmY8heBEFg_MVV2Chnqlxo9bAfw4Lu9YO6VF0w8wuacuFHg5EmhZzDSLQTkp_Vm6UyZk0eu3D9cM9vcAlJj-4jDNa8Dwx5ec7v3gkQXxXVSFUyH4ZmfxJLVRl9avK6XgT-lOnwsINfOAAvg5kP4nJEi0bA8Dcu4uC4ERde7poPKPOCjwDuKr8kKvHCLn4YdqmyDGnJopGCNjsFQ6Ge0yG44Kl7JzISybuPd-er0oVhkd0CLrXP6pLab94GGj9Wr_lJodb2yE1h5kF15ZWOuU-cRhfeYXZwAeS87Is6rH3aBU-h235o0v1Yl5KzlOVSV11_2KhITRllSWZLsYHfa2mvKglOCXcspoAcE03dlsMgmCJUKaNj9uLYmztLlyNafqAhuw-rFX48f22r3MReUxtzLWu3mSaWkaJvKL6o89_fLqTx8icZqEc_VlDSHbN1kszZ_PeAQbM0AWRtgVATPt0HeDq6Qyaq5XHGu7s-Uwq01Swxe8BhYnOxoK1oBEvA8wf9cAIGQaeYoO1KjjruaoThGsh3hUdP9Vb6sf62R0STH3nZhbIHWkFmfiHCsiOoqn6tZj3ONt3m8BajBQZcY4kkMA0sGRt7gEG9LzqkZgkXvfJMD4NepvW5-YjMVrLsm3StmsR6prapQRa-QuEzLzBNAvaWfYGycLhwJO1P4M-a8qs3n-3P7nIpY6oDqs4XD32mRFCDZ8P9YNCxqHOlT8iJC5XfjqYqInW-asXerWrPxFvqLnPECYZK_jSHAVlAXq_OIWUoIK85t8gXMlrRrhQKQSxvwfTFR7sinradVYatFd0zhvV_EQILCrtPRjxs6flKhZlNYhQrumzg_2_zi2bp7NkYfH4EX5oABt5a3Wue_AIv2hwGaeIHkEQcYFivlyu9s2nOg_QMkCknXjswYpxJVLsRPLRW6HxLUSZ9n245Oelf_auW18-oI7Y4fWCiG_x-iZY3NJT4vfhv1ppIpNa1_z8KX4XfyMEwA7zd7kNcWOcGyQ3xnPPDhuQ5zFarYdKSA5G9e60PfHijo_SHZHIk3h6AEFM__1GdEpcgp4B8pi4Y3TzSwUed4LD5OZC7qQUomtcEPuch0tyZ2qOw6Wi8nNtQjaDxiV24FBm2CgFhX0K296JzFkS4iyMLCeXJs_3bdYSrU2oVAbVimAqE5sjFODyZguYDd82_mIbAZwDCT-uSh6Fxl6Bk_xdvXw-5rRuFASzggYDtB5pK422-Ec3tiw6mpoodQZdzLqTHqRv67B43UtsLD9tWc-M9qD1Rbqyu1u-1DlGJ_6XxPORzIYrhd0h1ondC4KX7qqUB8LKecf88wm8U4kMDzQxg8m4UR4hU0degoCopIyugb1ntg02hmVbbLO-NDLZ49jqbeSd5tOeZj8bTr68HEcVcWOCWWfqdwqyFCyo5eTNs6kYerUTcFKdctJCEqmOKtoBGiAKiYSJYbxxUSrqj8iEayCS1P348Qki7kD3l4pt2oNklf_ODwF_ombmGmbyX_DO2ZS3VmapUTmBzQu0SU54JrNKwBUp80-lLR56NXR4KkI6V66NbX-FaEp_NTfdipTOkjoXmc8rxBWwJLs-7PW8dvqVq_T5O7DVOkewKrB87HvbXZUBGRe1ZtucQeP3MFPVxWFMWWQpCJmkiC2neLCxE4w0ZBh6kBvF9DowJEsxLOA1beVEfP0Ny_1jIXBK5Coj2yPm0dz-2h1-miwMPbBy-53XBDZo5Xg7VXjbmxSP1y69PwyTHkyYLN_l-us-9Y-g0E15dRAP7MtI1DIdDQ3T0EN7tPyOpSUIArAO9UOlob2ayMahq-UT7jAb1ntH4uhUU3Z1YZvHe2R73t_r__FpMMd2QP9qBNIuWySbB-1zWRepzWAccfGQnz_qX3NeHcJzr-y1w62yGcEiasCdTWlh7ugaz2oqeKNft04KKPLwT13CpEL62Sd6g3fmL0WqrKv2_F2-uwzp4pNnfPWk6Dd1xWnjz9su8lXPIMaYn4Hc3rs78ynvKh40KiHIgcjcO19I8YyrB_qJBbZiUHMk1Kd16gowKllGdoDEgTjQXYHqe3mjEhqQ-v3XZfSjjzqZ6bcvwbSTdlMjvOrRf3qBAMry1804cg01jIHs7_okMiqSushlpwKz-3sZ2q_Ic3QXB2jms_5wfLaX5X4aJlwt9enqNXXq2xpVvxmthjpH8gkeC1WHUxTp41uMhQp5-lWPbhr4oOCxwo-ax0hKk0RKxgBsRR_TL5RWCc1GeoRtFDdZ40BpD6dbl84ZR1cVzFp5w=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473bcd1bc87d0a142d252da0562f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.409,\"left_y\":-0.295,\"left_z\":0.085,\"left_yaw\":0.7,\"left_gripper\":0.7},\"note\":\"The cap has slipped to the right of the left gripper and is now beside the pen. I’m repositioning above its new location and matching its changed angle before trying again.\"}",
  "call_id": "call_P9KdNu78fBI00Ssiz930nLLr",
  "id": "fc_09a9d8c2e0e9b6a1016ab473c1d85c87d0a06384a094bc01a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P9KdNu78fBI00Ssiz930nLLr",
  "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]: [-0.8806, 2.4741, 2.0266, -0.7723, -0.7868, -1.2545, 0.6987, -0.0193, 0.804, 0.6132, -0.3981, -0.0208, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4437 left_y=-0.3353 left_z=0.0407 left_yaw=0.4361 left_pitch=-0.1589 left_roll=-0.1148 left_gripper=0.6987 right_x=0.2941 right_y=0.0016 right_z=0.1777 right_yaw=-0.0015 right_pitch=-0.0294 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -12.3829, 4.2735, -0.1392, -0.5592, 0.0073, -0.1441, -0.294, -1.5111, 7.0632, 1.8046, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181ee7506be2dd7d45549c805bd296d5c63ae8fe0c73e888a7e510d636f81930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab59ccaa25544f64a9908fa4624cdb6b9b8e1469922bf5bdbf80ac77e7a9f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebea6e0ed19e331e91df90b3ee73c2cd50f8589220103b891ca70dc49878d765",
      "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 · 4.514 s

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

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4664, 1.9373, 0.8314, 0.3988, -0.0792, -0.0444, 0.9998, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4235 left_y=-0.1936 left_z=0.0066 left_yaw=-0.3864 left_pitch=-0.1348 left_roll=0.025 left_gripper=0.9998 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0019 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.9993\nstate[joint_eff]: [0.212, -9.388, 4.9573, 2.1123, 0.0757, 0.2613, -0.0171, -0.335, -1.2786, 7.0222, 1.7314, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4858, 1.998, 0.9794, 0.2855, -0.054, -0.0238, 0.6452, -0.0193, 0.7979, 0.6132, -0.3916, -0.0208, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4414 left_y=-0.2182 left_z=0.0104 left_yaw=-0.4382 left_pitch=-0.1621 left_roll=0.0256 left_gripper=0.6452 right_x=0.2946 right_y=0.0016 right_z=0.1807 right_yaw=-0.0017 right_pitch=-0.0168 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -11.8769, 8.6085, 1.6923, -0.0904, 0.149, -0.0562, -0.0479, -1.2513, 7.1726, 1.7216, -0.0415, -0.0464, -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 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8806, 2.4741, 2.0266, -0.7723, -0.7868, -1.2545, 0.6987, -0.0193, 0.804, 0.6132, -0.3981, -0.0208, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4437 left_y=-0.3353 left_z=0.0407 left_yaw=0.4361 left_pitch=-0.1589 left_roll=-0.1148 left_gripper=0.6987 right_x=0.2941 right_y=0.0016 right_z=0.1777 right_yaw=-0.0015 right_pitch=-0.0294 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -12.3829, 4.2735, -0.1392, -0.5592, 0.0073, -0.1441, -0.294, -1.5111, 7.0632, 1.8046, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181ee7506be2dd7d45549c805bd296d5c63ae8fe0c73e888a7e510d636f81930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab59ccaa25544f64a9908fa4624cdb6b9b8e1469922bf5bdbf80ac77e7a9f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebea6e0ed19e331e91df90b3ee73c2cd50f8589220103b891ca70dc49878d765",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPIwDhmW1Y7NsGD0IcmCpx50zK1KTPiHQfrxRgBHY9FTeDvhsWiUhT75UKnwJusFxWjMCZNHLgVumszlrwOs8XkiYG1XqQjU5SFNqEIUQx8KnOElW6VOGWzq1DJLvyFqqYhopBqx8v3zKGMSaQa9urLlFCNEIVRRgrD1mK8bT1kcHcXO5wu4xfPxvKHJDZ_xVVOzPTuHYH7nPNz7wfClvkzbT3lEwYqvce-CtTJFnEtxBfKzQXrIO40JANem44YovGefkQ4MZz1If5hqqviGQDYPrFO3U-eNw55TNPsgH6xtQkL8c4JOtkN6Ui0IPQix2luVTHJoHU_wGqiZMMSeqZeGsQqGqCMbCwckA25hI0qO9hW-no_LyWpgddqOGundLaUMc901_789uZIrH2gn6Fi2cUAimBju5PhlhWg520_4nzc919D9Uz2H0HoaABSKnMxHj-d4W0kI3moAOjEZfAgCUC9U_elTSJbPKmD5X8LH6KEWuYSLWxfYs1_4hlSQM-pI-uXKsV7W_-eHvgQgiW0RxaTqbdQtiJ-kohQnMXkQueE2ZZbZwNM_OICmFxqBX8uNp9Zjg8CabC_vmdyCSj6jdS0WppufYAVVbDpbGQflHIy025LCKEAqaC7f7aAhc4NqeL64SnUqVuR8zRKRICO26_y4kuP4ua7ELsIfFD-Zr9JzlI85bOIdahmf7LbWqXf5AmR94Sxhy1cRUBQc9uAF3viU0Dxe2uXtmDk--XztO_ghQU0ISypdDyIJL1aA9ixit-1-8ZCXtVlkA9VJEqWBhYGuq4ECdUZcK7BFC6i1gtW8h2W3eNfERwgrTyX6rFjxK439NxAE7J69jxBZia655mCCau1FOlYO6SPPcxXhDms4caHixAVIa_tKi18QME02vtYA7M26ySNqygIY7lvsSBPHGGp1YNGttE8KsFz0ubPAXOkZTI7qx1iFZ1xVJH3HaL6bM0BROTUysxPncLBdkh6TauWtXRoGX5lH6QEsi0eaaT479Q-WVtvNF5EfT6g0EdXYxp-FiUO7NIDrxI-X3qP8uRZpJrOGYyksBJQF0yNPzBH2E-eCUXrhtgNOE_1Awy-DnGYlPS7YGmYmkch2R3esD-ERE_fT_RwsyY5zz7zMVRVS0bh1ShFBhN5PpHbYwn-328LQPgQCnUavFxeeCzb75ppuQyAeJBp3Vt4E4gUnMFYlSQNWNUu6gNBKbbnvb3U7qBFiZKIxwFJRn510Ez34C9dNAGZ-TQnByYj_6Esrequwgbu2-z2bXPyrYnWuL-w2kAFE_VGBBT5UHZ4Q0scBvdGUi0yczmBhO7Mmtknqu5-BaBmcJ-VHZaZg-M_9HfXZMIGEaxowLyTUKaVf0phnbGC8doyfOXywCIi1A5H6hmCJkRLfgyzJKaaWk-DL7XQHJWR3LIFp9KhRCJ4edJbKqOO8VGyTe_YkvYMLtxrlADKDf8Dyx0NOpLr4KTMpmLU-SyObvc8JHg-kKFqYvBFFOmKOivYFwZ8oHyRBApxGftVAa_7eDY15x-wmXiAnPLN936nvb86g9gOUF64_Pqsm1Xoc7rXOXS3Sdn5U9NZU9sACzJMGGgOZUO9PRvhnJuid2On92u4vHhnrMQ-UVgB_FU19RAAJRdatKoQPNMsFK9mHckg_3PGdptSwqc547daV-LZTkDrDJs9AM52LJKybNDmPkv53t9Q7bR8AK4XDkIUdLJrLJqtI9_7OIe7CWRQKXQXjsITSjQrlTKB8vbIbI2PyQ-bb4PHqczL8nJ-5PoXBGvBs0AkQXZO6ij9LpmIZT0iwpoKGknkG_MJ-0uEZ11jMdaURvIckghA2dmPnp2a47x84tF8D5F7V8jrjuVFRXJ3vQ5e7IYDIJxb3g==",
  "id": "rs_09a9d8c2e0e9b6a1016ab473c4f1c087d0a9ecbbd8b3a59da3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.389,\"left_y\":-0.285,\"left_z\":0.05,\"left_yaw\":0.7},\"note\":\"The arm did not track the last pose closely, and the cap appears left of the fingertip column. I’m shortening the reach and shifting left to bring the jaws onto it without dragging them on the table.\"}",
  "call_id": "call_ITpEsZ8eoEUmwtghxKsoj71B",
  "id": "fc_09a9d8c2e0e9b6a1016ab473c7738887d0ba3354a988b22e34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ITpEsZ8eoEUmwtghxKsoj71B",
  "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]: [-0.8993, 2.4653, 1.9751, -0.897, -0.8196, -1.4525, 0.6995, -0.0193, 0.8055, 0.6132, -0.4026, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.418 left_y=-0.3128 left_z=0.0276 left_yaw=0.5624 left_pitch=-0.1681 left_roll=-0.091 left_gripper=0.6995 right_x=0.2936 right_y=0.0015 right_z=0.1764 right_yaw=-0.0021 right_pitch=-0.0355 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -16.2667, 5.8325, 0.7204, -0.5153, 0.2466, 0.0806, -0.294, -1.0462, 7.0359, 1.8291, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa84766461cf9af1ded2df90a95de89e88d89ccde801e641ed43a639d9d36f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c835544100d8a3a892f8c092511c5f5373ad3b3d1d6045ab0e4a7bb3a76630e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06c2dfa248833addb7d16bb24892475426e9d0758cba3b04ce82cb3ac951c82",
      "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 · 4.662 s

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

message 14 changed as sent

message 22 changed as sent

message 26 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]: [-0.4683, 1.9968, 0.8745, 0.4404, -0.0406, 0.0017, 0.0099, -0.0193, 0.7979, 0.6132, -0.3908, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.434 left_y=-0.2075 left_z=0.0024 left_yaw=-0.4462 left_pitch=-0.1119 left_roll=0.0347 left_gripper=0.0099 right_x=0.2947 right_y=0.0015 right_z=0.1809 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -7.4598, 6.5026, 1.4335, 0.3101, 0.1441, 0.7985, -0.1709, -1.2786, 7.0222, 1.7558, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8806, 2.4741, 2.0266, -0.7723, -0.7868, -1.2545, 0.6987, -0.0193, 0.804, 0.6132, -0.3981, -0.0208, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4437 left_y=-0.3353 left_z=0.0407 left_yaw=0.4361 left_pitch=-0.1589 left_roll=-0.1148 left_gripper=0.6987 right_x=0.2941 right_y=0.0016 right_z=0.1777 right_yaw=-0.0015 right_pitch=-0.0294 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -12.3829, 4.2735, -0.1392, -0.5592, 0.0073, -0.1441, -0.294, -1.5111, 7.0632, 1.8046, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8993, 2.4653, 1.9751, -0.897, -0.8196, -1.4525, 0.6995, -0.0193, 0.8055, 0.6132, -0.4026, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.418 left_y=-0.3128 left_z=0.0276 left_yaw=0.5624 left_pitch=-0.1681 left_roll=-0.091 left_gripper=0.6995 right_x=0.2936 right_y=0.0015 right_z=0.1764 right_yaw=-0.0021 right_pitch=-0.0355 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -16.2667, 5.8325, 0.7204, -0.5153, 0.2466, 0.0806, -0.294, -1.0462, 7.0359, 1.8291, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa84766461cf9af1ded2df90a95de89e88d89ccde801e641ed43a639d9d36f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c835544100d8a3a892f8c092511c5f5373ad3b3d1d6045ab0e4a7bb3a76630e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06c2dfa248833addb7d16bb24892475426e9d0758cba3b04ce82cb3ac951c82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPNoP4vthRjjvSjCG926sTj4MyK02u48W1Rd6qVm09UtoFP_xg0eQTcb1_FIsTRJM4161tVsfwIulO_ScazdCCWIBQLJJ1DDXvDK_6LDVHGuzQ-zVexwOdXE1Ql45oo4lFOuTOCxH_CkUXXw4-6JmA4po-zDP2c0k9u4IMTSApVV1o9YezvHViYiG1MryNkWKiNpO_1P-sSFWRID77D0ImLWTVvYI9dg8YnGeT6uPQSvmXRdzvRdTRdY0Buu3cd99QDGWxJ-6GH87AsmGOTdUHPKbPZAIrcgvEkIfeAzokWtiMhJrR1-zUAKlXTrKO0KwdYz7iaVnWcNRR7VhU4hAMqHeceIlPCkgPHlpr0gSmkyYCkVBOShSDscxDUu7DC7_gM8r7gUgF3NBO5_VzogobSw6L21G76whtJat4ZBtomQCsA6jWOlMhOnSBnXF7c-tPE18HUt-RVl3crRg-doefta3QipYLGHr9_lsn3l5oqTv9wtcpib1QYgXZVSX2BocaOj2J207YV_SfnEnWD3vbPkFHvHHfxMWOQsgPhHlEGP0unJrRMq_rgH3HHH8MU-09u4i1JgUxlnC_RkhigfWn1LsXwd1X1GFjnfO63rMUaD-XL3XIDG2IUNXVzWzsd13tNSeVTYcXTUjBUuxsA__EQpSkE5rXHmey4dfYy3h5yY_vlKGmUQIvCoXH2n1P6NCEHZu24aOQPzXg65M-R1UuTDLa-XPp9Ij660N-efwU7Jp3Zi750v2lfWWktHHamAOZzkZI7fm5quYJE4aCtlNM__Y_1jQRV3mA1Tfv33ZcJqln5n_e0vIS66SqwHnTLhv4L_5s4a5LfigexsLOprHOmgdzvOyX1vUReSbVsccV3GaW4VUDAOoNMt-UCYQCMmM8OJ0fxeBsjQ9OUZS-TIna_DXHucsP6AbRa540sFaJeDkLlTGMoOHzvUsWXgP0Qqm4d25l6Y2AA9hr9RL6RKgpcbGL4spDo8tiijlszjxqWYh0OxUMGhwXZnLdsXky4WBYnVK10lp25lSo27KJixoYrzodh5_h4lFl_VJb7Z5SRiDMH-vCGjA_NlObIE_XkhaBxRMWk98lhvOWPLklYRuGhL9CTbHYfejZSMLnAhHXT0qSQ5rz6aMEAkTXWRGXhimUwa_K1j51Pty_9z7sMeZvW5q_dXQzBbQkS5TjcSeiuFZM9APlJ66uAjdpNFCoZPk_wkJ7Xj8CXiQBjU3tRTbX5NbJIqyf414RiVkLDShL4BFyXrqFDo1iSvXPQVX51uthCAAHzYVt9tjRzfkTM5wttBGyd-BAF0KHHufhhad4qirxW9Qsn1ISISLWhvKSnLgj9Dbp7x0K2NZ3js6eNEyEtDAwCoR97sW85XjS70_pwi4aN5LhlnhlpAFi8BaCISaLnzCn8oZL6v9lSv4QYSl0VhY-5aWi1uwhZ0_hcZwL1-t-zwWYLizZQZ2sucbXEOcyH4Hv0t7TNqDSag_X5m8Dwvhp4_sOnuRBip6-8wv4bzuSbGmP9M05VlEWhWHnckeYIcNgYrd1QTSrk7jKlTuho6hWIV7ScW_k4JiX0kmmphchc8Dm4Sd9Q4I9SO9Amp33-NBe_ifWs207HXJjNiW8E2NPTXlJXUqmkE1hS1f59P43hZTPRrCyKUTYdl0U210LrLupCYa6RfyNn_NDiVIFXzT1tWBKw9I1yt4fVfkmRweM=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473ca2d9887d08f0b9205c1ac708c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.28,\"left_z\":0,\"left_gripper\":0},\"note\":\"The longer pen is now clearly aligned down the center of the wrist view, with its tip visible beyond the jaws. I’ll pick up the pen first by lowering and closing around its barrel.\"}",
  "call_id": "call_IKqu8EtvCBrad9xprbXf4eJM",
  "id": "fc_09a9d8c2e0e9b6a1016ab473cbc7e487d087d5d4f9b38c9809",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IKqu8EtvCBrad9xprbXf4eJM",
  "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]: [-0.8989, 2.4653, 1.9732, -0.8883, -0.8112, -1.4311, 0.0094, -0.0193, 0.8055, 0.6132, -0.4122, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4182 left_y=-0.3143 left_z=0.0263 left_yaw=0.5482 left_pitch=-0.1746 left_roll=-0.0829 left_gripper=0.0094 right_x=0.2923 right_y=0.0016 right_z=0.1744 right_yaw=-0.0021 right_pitch=-0.045 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -16.6222, 5.8051, 0.652, -0.525, 0.0757, 0.7937, -0.253, -1.0051, 7.0359, 1.8193, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785c7d3cbf4285d8f7f7e2fa3b6d22c570a04c633d68555a71373beab76c997d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7bd901474cfdec26c9ac6ea16e6889b8ae55a0fd64fcd2dadd3f5df8e2039e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa026d5345efa65c8035329f1d09f6980cd3410a8d650a7ec9520d9ca39b078",
      "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 · 9.241 s

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

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4858, 1.998, 0.9794, 0.2855, -0.054, -0.0238, 0.6452, -0.0193, 0.7979, 0.6132, -0.3916, -0.0208, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4414 left_y=-0.2182 left_z=0.0104 left_yaw=-0.4382 left_pitch=-0.1621 left_roll=0.0256 left_gripper=0.6452 right_x=0.2946 right_y=0.0016 right_z=0.1807 right_yaw=-0.0017 right_pitch=-0.0168 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -11.8769, 8.6085, 1.6923, -0.0904, 0.149, -0.0562, -0.0479, -1.2513, 7.1726, 1.7216, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8993, 2.4653, 1.9751, -0.897, -0.8196, -1.4525, 0.6995, -0.0193, 0.8055, 0.6132, -0.4026, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.418 left_y=-0.3128 left_z=0.0276 left_yaw=0.5624 left_pitch=-0.1681 left_roll=-0.091 left_gripper=0.6995 right_x=0.2936 right_y=0.0015 right_z=0.1764 right_yaw=-0.0021 right_pitch=-0.0355 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -16.2667, 5.8325, 0.7204, -0.5153, 0.2466, 0.0806, -0.294, -1.0462, 7.0359, 1.8291, -0.0122, -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 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8989, 2.4653, 1.9732, -0.8883, -0.8112, -1.4311, 0.0094, -0.0193, 0.8055, 0.6132, -0.4122, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4182 left_y=-0.3143 left_z=0.0263 left_yaw=0.5482 left_pitch=-0.1746 left_roll=-0.0829 left_gripper=0.0094 right_x=0.2923 right_y=0.0016 right_z=0.1744 right_yaw=-0.0021 right_pitch=-0.045 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -16.6222, 5.8051, 0.652, -0.525, 0.0757, 0.7937, -0.253, -1.0051, 7.0359, 1.8193, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785c7d3cbf4285d8f7f7e2fa3b6d22c570a04c633d68555a71373beab76c997d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7bd901474cfdec26c9ac6ea16e6889b8ae55a0fd64fcd2dadd3f5df8e2039e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa026d5345efa65c8035329f1d09f6980cd3410a8d650a7ec9520d9ca39b078",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPSaj0THg9mfIan1P3r4mnNsUiVgutSmlI1C3BgOWGEGFdrqfa8EahjC2xzZH4IeijcKdff--4XK9H0K33GRiE6cWrQ6O3kKbdPoAXxsSFpiiGoSx1aH4o1l5w1lOs9o-Kjowz0X8wqEbYuZxhVRgBF-3uMVe5dfqo2YUaEVaO-VC-79qMR5GCcm5oZUyllykG2Vzr1uX7PPX9VIsd9BBJpJkWZxO2-3hmMXts61nFEF5O5FutVtb09d2f4NK8N7CClf5D9fWKjJP4MSQxHyCF_nhVg3p206W92bJbs7BlEJ-9T4FWSKZob2BphTi_zMvPib3L-iBGTPUat6IKLNg06EKNnrqw3kqXyg-318zAye4gMFzDoUw5JtoAp7YafnpPujPKqoyM6b4w2Q6cNyDGlug52WOBSCQ8Awvneoe2q0HUYBlJZmeMKHhqimQPECExjwnSX_nj3xPwEeTrSWS1HD6FMVn3VBvtFlM0QE4Ceo-gAJPUyz4LK9T3OAUm6Q04CF-jH1cIOrLnePw48_0CrSLAWUWBlJLd5ldYoacjI2JFps-NCn5SO9D37yuz-iORJC7o1XGV8Z6iXjXyDIxa9Dtgp8aOW2EsDC3eO6A8FGBRVhQDh0LZWQmmvfh_w5aTYBtB7kHa8kZXy62PNyj74gSFHmZXesTrj96WB7B8__PpUuvsnVyBi4kZ-t3bL5B1iD5EBj9UWk9M7h88aCSFGoDlxHoTOMZPqlx4jeS78TqP7PIWmvuxxy-WqEB8QtDLBDABUPxBAI2aWehkhBRh-w7yHqdtqk0v6FBT84vBXWoNlh8ZOjsg8TUXeGvv7T6XPtP5c_rm4Fw2fvygRow-qnk13uyLDLz-pMHEmlSveGbtEIDN2i7hbCSE7x-00vmrx5YLcMGMVaJvbChY6o0y5G43ELm0D5YG1YAJPabHT9l0_WcKqJAEDMXSBnLYEobjw3OeIXw1jsS4pB8kUSdXadZGW6UdIm5mvfqFxUVfs9wU06mXU6Uz5ZEqf_aDlbhTe9xTgdfWtYPb4MlQ0lnJbZjKYGveOoedTkQ8MM5gzdu2VulHS8uV0jdhPubOkQjzzsPNt7ylm7grZgBDW0rFqf4vNF3873IiQ_pC7_YPxtsPGeG0EC-x0dfm2tP5NXcO8GHmiyG14oAjijQLKskCSLoJdhq4ssW1DkRpSXpPS7frJXO64CsVmsJ-za5heNAcbszm1PlvOosNVfXtXF2bjK2Zb0vUuCiCiGY4bxgKUiv8_H5PbP9UhdgxXqPGXj4DIh5tMko4fSLdLAXF9TvKLHru2QHGQGnJSWLcv6KaMJ_B5cTyI_e-FH8UEJwPv-A4QjUhK8aZZ_9jECyn9BHB5uaDdkd1UnHYbIR-fzJpunVfI3ceD_kvf5I-oVGP8HJ6VgdyTHcuqUrn4K5f6YLc-GRPk4JnSEW_OubfSkrS_Zvt9X6Bh6B0sfy4Hdh60BTBLhAsjnxrE5p6a0pxz8Rbx2a5kJCOPO7Iwg7N2cIGznR8=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473cf766887d0a619d0dc3f9783e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.19},\"note\":\"The left arm stalled above table level and the close was empty. I’m lifting and retracting to a less folded pose so both objects are visible again; I’ll use a better approach rather than force the stalled descent.\"}",
  "call_id": "call_LiS9VbZMB4riYLHo7e8iMFtB",
  "id": "fc_09a9d8c2e0e9b6a1016ab473d1057c87d09432b67702e521a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LiS9VbZMB4riYLHo7e8iMFtB",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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]: [-0.6186, 1.1519, 0.9634, -0.6281, -0.4438, -0.5953, 0.9971, -0.0189, 0.8318, 0.6476, -0.4644, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.3082 left_y=-0.1219 left_z=0.199 left_yaw=0.0677 left_pitch=-0.1528 left_roll=-0.1195 left_gripper=0.9971 right_x=0.2908 right_y=0.0017 right_z=0.1724 right_yaw=-0.0014 right_pitch=-0.0893 right_roll=0.002 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -3.9316, 6.7624, 1.4237, -0.1978, 0.2369, -0.0366, 0.253, -1.2513, 10.1675, 1.7118, -0.0122, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d360dc4638892d292a671f97073a2cbaa5e54367581c375743fb8f127a6807",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8537ad13008c648e64d3563005eef4c45e76df325c18709e330e823073a411e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac66109d504e1a21f3105200ebd50dca8d78877315671c98b84509b862c1726a",
      "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 · 3.319 s

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

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8806, 2.4741, 2.0266, -0.7723, -0.7868, -1.2545, 0.6987, -0.0193, 0.804, 0.6132, -0.3981, -0.0208, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.4437 left_y=-0.3353 left_z=0.0407 left_yaw=0.4361 left_pitch=-0.1589 left_roll=-0.1148 left_gripper=0.6987 right_x=0.2941 right_y=0.0016 right_z=0.1777 right_yaw=-0.0015 right_pitch=-0.0294 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -12.3829, 4.2735, -0.1392, -0.5592, 0.0073, -0.1441, -0.294, -1.5111, 7.0632, 1.8046, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8989, 2.4653, 1.9732, -0.8883, -0.8112, -1.4311, 0.0094, -0.0193, 0.8055, 0.6132, -0.4122, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4182 left_y=-0.3143 left_z=0.0263 left_yaw=0.5482 left_pitch=-0.1746 left_roll=-0.0829 left_gripper=0.0094 right_x=0.2923 right_y=0.0016 right_z=0.1744 right_yaw=-0.0021 right_pitch=-0.045 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -16.6222, 5.8051, 0.652, -0.525, 0.0757, 0.7937, -0.253, -1.0051, 7.0359, 1.8193, -0.0513, -0.0317, -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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6186, 1.1519, 0.9634, -0.6281, -0.4438, -0.5953, 0.9971, -0.0189, 0.8318, 0.6476, -0.4644, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.3082 left_y=-0.1219 left_z=0.199 left_yaw=0.0677 left_pitch=-0.1528 left_roll=-0.1195 left_gripper=0.9971 right_x=0.2908 right_y=0.0017 right_z=0.1724 right_yaw=-0.0014 right_pitch=-0.0893 right_roll=0.002 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -3.9316, 6.7624, 1.4237, -0.1978, 0.2369, -0.0366, 0.253, -1.2513, 10.1675, 1.7118, -0.0122, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d360dc4638892d292a671f97073a2cbaa5e54367581c375743fb8f127a6807",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8537ad13008c648e64d3563005eef4c45e76df325c18709e330e823073a411e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac66109d504e1a21f3105200ebd50dca8d78877315671c98b84509b862c1726a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPdFKDIqOhXyuZvuBjyfMVZLIgBOMddma5yAlI7sYt6anAilWHt2iWk37C8PRsfYYHNH2uYj1Hl8wZtaenVJldI2xbw9gpJqT3dN2_Zjm9jQ7ISBFwHDzGu1670lnLmixrnFYNjvKf_lBrNCBcsiCVpS-jgAkZl80P5jM-rWocy2oPkCQFIgyzGDAz96zUfTZLkuXFupAs2Z_uI_Nd59K3pHAgPxhbFVJohrHY5ZoOX0udubyTQwzC4uqH2syofc4fs_vSas7992Lz26FeqvfTAhG_dTEiVfCuFFxS1qh3H1npJD8jUE1LYEhgn7wPiTVTiUnPTRurNsVcDxc6cmt94_l_0spoNKdRhp3M5a8xnMUCmjdWWrhxDyIxGPThuH6KDfNODLUtYRYGiIEwD9miUzLyVO4sRf_RPVq1PcnfEebyWHdppZ8HGcxfnP6M_Ln8c6pLpAFYt6P--Ojyc3tiUyXBV1Ef06QAQZOPrlAjs5cnLRdzWwoy5KAGOL07l2xphCGlRYScr1cb1sSq6m4Tw2Qyh5oPdzX7DsyZWBWVK5ZFP4XtGWBIvEe25WUslFHGa57woSJZUZjlzWsR0U3k_Z9OajGHl-dKyExbvtHCeP-pAglYadEv05uwY5ZtcH24qTRMn1Zd2HWMCnTIRmbgdRsh8Shu_KtAeT9S8BKrDGC4cyYmzQxiMiqTfUWv99oIGHwW256wsfp5vUppxDjb9p6hCMGEooYx21A7A68ZqNw4cLvFQJqgB__goSjK2iDBzcZMG0ZW8Xzz1xySbkZmF4oLrwgVF-__hKwAduDxIf4Du6tspOC6PtQroR9L1kqAe9iKFWlv5tfhdFBUIxbnh_tlzlsroFPSv5-a2cn5gDOk4OeX-1PMY_kvz1nDgCFuVw_jqmWTmk8CcT-fv-Uwo1l5HFKUs3a03cNtJjRX3z5gdcVuSMZg6Tkjt4S7mfdopl2uU7N74hTBObHxd4SvwzUzpwJWRP4MqbdAF6PFM84f8bPR3n-PwYpkUW4fiSPEzuBvu2g2iHv3tlx8RrJ7_XjQ7RKYdOIf8vEnYEM_wJ_HvoZXRloaqElKdJBn2o_EZM0dFOpE_QqIY80gfPlmMOQajSx9dgBHdf_lUwSHpwCEjWE2SFgUsc92DhBy_l6C-j1m4iiJq4mTEMqgKEv-S80qBbaq6eCuWC8IuNOVXAyX3DyFZDHbo0ZmpBVE1DMKAm6G1pfrKpMvhmG4CtmkhATKhNoOY3jwkVCb5Pd6HtXICQR8V5_nMe9y_SnAjDSOyyfWjlIpCNAJDVv1Zfn8mINgUCtRVB0kSVUR2nhG55OFP-6VPa9qZzYRp5ijQcrvb_IBD-5xDxWVfAxyiozOYoKeLSWzjFZqRjoxLSuaSdLCQ2a-QDKkwrF-L3t8PCSdM9q0rI3X-gnIGZ9ckXcZyINS1OJKOsjWpOYVvDKG0vDEQwJWmqQA2Nm_5IOIqkVfbuGf9t161doebRJfzCO9noMYXGfa33JNloS2Ny2oj7dTxi-4oeJojMXdlUCL0EdK_VpyA09c8OylbuOff48c5PPk_Ds0DKFpgZLa-OO5_24KfbG1TvBYaKUvGIpi3BbYPndVrQz0dwMnWs9r9tawqpWyDvfEVO7ek_6ZuV9LTg-88xHtLaj3mJb3Guh57CGh6VZAJ5LKnbMJCA8-MmK8MjwLdlSJY4yvFmNgi2MHZBqaKEwQN-NAOEIiBg_LWKNP06Kqxoh4XrbqjIAPna62XWIGactdSMUvKhex2iqVsP6Pt70HUfBqA-whoAP2Pk5K-4OIzX5SAmwVwjNSkjFEWWrt3nffHq6PlGYtdnKvUJc9Bq9maRdfzSYcBzrX4oyhU7zq-oto494j1GloYHPtZ7qAmBdpTsGJmnz8rCU2g48Cox5l99LbJfYIwb1vQnLYM0jcFdiCs-MoF4ytz8Vx21xubmRetcSx8tjBDCabK0VhoGp6VLra8xH3nSP_4nQJCO4IL01XtLUkQj89LdqrLDn3RgfylCFGLOWRFcbflWeHDxZfZtnuuVF1a1UEDkg9Kdke6zR1-wTIeYde8-7BdIp6k6XMFjd2PQpwtxfj3_LA4itgjfWGMb2mEzA6V2y6dxjZ1pGaOGMHkeUt65HYe6rQ8WvOtafeHl3MZchBF81YFtIRl55WHHjDQC4V7W4fgzgy-gQGxtwvLzh2AOTCGp2Cc-nfVFMAZd4p-vKBgmi_yvjLqZu-m_hTzcmYcDG33s6kAf9ciBqIPHgLPXUluGO71OUVOpFlqv1DexzkpbT62Mry_1pmB5QSEjO8LWO7CMekxFj6RqdI4bRnJK27nv7bXR3A54oNDFS2QSnQ0nGrpkBrSb0iK_w4dcagn2Em3Xo4hLPQVI1O49PYeO_peHsiLMb_le28avEQ-jyXPe0OWPtHsZZlI6csmCn8Ar93W4s3q0-obUnKBCJk7Acg14yeFUgBo_iesZ8QDBzOOH2N1KkCwaFBJse6r3ydw-iSI2uhra2cQP3dWvkil80w-9bjMXQTBrjgCaLc2_8R2WAi1TUUVTCkwxVBmOkgIvrXn_QAtk65DwrTpJDNasm9nsPub-xGIjvVzlB0-UZ6wF_cV7CLCc_R8OGqqWf7eI0BitvXA6trKKuOUas-GudRiNNahioikZswluGkQ3tAPe_vC8DO6ov598JbJb9Pr2ChIZppcDvstcKUpSwXYtIy_YkvUGRhbNRCHrQBYoDbRxn1qB8Zg267xiGw6aqd5oWmWPOipSh5HZiNoCM1EKQTIc-ZQB0SrHIfrNGOgvhaGg9l7kwWiZhOWHltCrjpr45AegxvEPE7BSG6-iJa4JQjKw7AhymDhkklFF5MEI9frAT3ivnRFfhWWawzv9PNxehBZuCgO-hIcw04ZuX8_CDVv0LTMKMw7CFG3p4DUcTmmYgrVBRWuCQWsR-DMpdg-KDhSKE3IElwbP79vUABhHaA5sRKLM-rKZAM32B7mxQmsa2W_Z80THOyIxNNFL6qj5UejakRZxEdWxuuQbB-stdtsM1addJ_H-JYZ68eR_tuoTLvBS4ezNu_OphknQl2-TAc0a4ox8N6o9WJg43mSSK9qQVVksAd3mhvuJ63RN-qCvBqROfhldDG-a7EQoTYv_ORVzNZ-Xnor5CPS8JdVhlQ29gwc-jm8fF8IWCyOOvHdnyhTUvOqA917tbs02UQ4T_x0dvJLzwTRg06Yye3tAwaQJCRMXDkI5zFCSp2YD3gw66s=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473d5df5c87d0a1b961b232b8f5e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.285,\"right_z\":0.075,\"right_yaw\":0.7,\"right_pitch\":0.4,\"right_gripper\":0.7,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The pen remains diagonal, and the cap is lying just to its left. I’m approaching the pen with the right arm, tilting the tool forward to improve reach at table level while parking the left arm out of the way.\"}",
  "call_id": "call_DgLr6WLKkQqztz9fvigl6Ke4",
  "id": "fc_09a9d8c2e0e9b6a1016ab473dbe32487d0a99fb91fb3691d86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DgLr6WLKkQqztz9fvigl6Ke4",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [0.033, 0.8165, 0.6903, -0.4778, 0.0521, -0.1287, 0.9979, 0.5297, 2.0678, 0.704, 1.1233, -0.1444, -0.0277, 0.7011]\nstate[eef_state]: left_x=0.2929 left_y=0.0041 left_z=0.1932 left_yaw=0.0471 left_pitch=-0.0377 left_roll=-0.1271 left_gripper=0.9979 right_x=0.4108 right_y=0.2741 right_z=0.0585 right_yaw=0.6668 right_pitch=0.3212 right_roll=0.0109 right_gripper=0.7011\nstate[joint_eff]: [0.294, -1.8393, 6.7761, 1.9805, 0.0562, 0.1392, 0.0708, 0.212, -8.9094, 4.9709, 2.3077, -0.1587, -0.0659, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c3af381e031f0a6d154b7bb89e1ef8570364ee6a984ec6fb616858c62a32d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6463cec4fa3816b5d100f22721eb7993a6a388d9b3fbb4871b5cb65ff51e08e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4fed274927ff6d5752b0a9d46ba4ebaeaca33191897d6a07572626f3aff8ea",
      "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 · 3.554 s

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

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8993, 2.4653, 1.9751, -0.897, -0.8196, -1.4525, 0.6995, -0.0193, 0.8055, 0.6132, -0.4026, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.418 left_y=-0.3128 left_z=0.0276 left_yaw=0.5624 left_pitch=-0.1681 left_roll=-0.091 left_gripper=0.6995 right_x=0.2936 right_y=0.0015 right_z=0.1764 right_yaw=-0.0021 right_pitch=-0.0355 right_roll=0.0014 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -16.2667, 5.8325, 0.7204, -0.5153, 0.2466, 0.0806, -0.294, -1.0462, 7.0359, 1.8291, -0.0122, -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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6186, 1.1519, 0.9634, -0.6281, -0.4438, -0.5953, 0.9971, -0.0189, 0.8318, 0.6476, -0.4644, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.3082 left_y=-0.1219 left_z=0.199 left_yaw=0.0677 left_pitch=-0.1528 left_roll=-0.1195 left_gripper=0.9971 right_x=0.2908 right_y=0.0017 right_z=0.1724 right_yaw=-0.0014 right_pitch=-0.0893 right_roll=0.002 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -3.9316, 6.7624, 1.4237, -0.1978, 0.2369, -0.0366, 0.253, -1.2513, 10.1675, 1.7118, -0.0122, -0.022, -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 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]: [0.033, 0.8165, 0.6903, -0.4778, 0.0521, -0.1287, 0.9979, 0.5297, 2.0678, 0.704, 1.1233, -0.1444, -0.0277, 0.7011]\nstate[eef_state]: left_x=0.2929 left_y=0.0041 left_z=0.1932 left_yaw=0.0471 left_pitch=-0.0377 left_roll=-0.1271 left_gripper=0.9979 right_x=0.4108 right_y=0.2741 right_z=0.0585 right_yaw=0.6668 right_pitch=0.3212 right_roll=0.0109 right_gripper=0.7011\nstate[joint_eff]: [0.294, -1.8393, 6.7761, 1.9805, 0.0562, 0.1392, 0.0708, 0.212, -8.9094, 4.9709, 2.3077, -0.1587, -0.0659, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c3af381e031f0a6d154b7bb89e1ef8570364ee6a984ec6fb616858c62a32d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6463cec4fa3816b5d100f22721eb7993a6a388d9b3fbb4871b5cb65ff51e08e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4fed274927ff6d5752b0a9d46ba4ebaeaca33191897d6a07572626f3aff8ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPjw075Ur4Opmm6iY7trFoGVAcS7MlUVzWIjxZxJAllkXrzZtv_xmhrOcEWwaLiZX0vvdMPWUZUzFspSIS1kAQoQlL7lsIgXbJypytZP0zQSQfBnolzpmdqQFnsDYcAtLsmmmCkWy8usP2CBOL4T_KwiE8vQKwuEf1EpQnbZuM6vh7sBC4QnYBRzqTR-Mh-t5qYupyj525dEgK0sQ1jLZSNphiB9M94e9A47RklsEeUrHJ3sf99h1inmMXGHQeRyYFH5FgW2WSbqoIRERoucwHB2lQscMSNuxhPpK3jXq7utuG9CvinT4pUopa3ZedcQVmUZa89jTsHkq_7-55068PT6Qq_hQU43Hmcc6IyiI1NkkRCLFwBW-_4VeRnDlty9ryX3qV2_y69YznY3dt8mNmjjnimKnB7GqNJFFlwcjPBnS-P3ohTWiEPZseYhdPhgzpbFUlKdmXUTafDpOXwBPCojIl1_DC8bhBngYlG1hpyncPqHobdBleDH7eAWmNF6yW9-4f0YOFFaLRqqAFZoGRo-gX1lSgUOFD7tHJcs3A9CzG4eyG5LqkDxOT8f6sHdFXu0S1eCPoYsmX1ERLAuD_Ly3r7MlmLfmKs8-5BzLhpHdz5RziRTWxS48pPkktTpR5rPwNNVBjinFJYIUxIwyJdbH0AsrOrKKZVup7tTmg4O8C8XXrsDr6gbEbX2DZ9gIwT7gJfeybIryeWX8rf5UN4shUyu22WMtSZlSsxEBQKj8rlFr6lmlgCXUzCg_VsJ587tcNlMbNO_hu1-0cNYw-y5zvBh1825nxFpa02hishFCHNVVhU1wNWbrrhPxy-Q4TzNXlNZnuJC7nIaA59v1jb-6wvUkOcbg2BjatOsTeM4-GoBTSs2z2ZMeIgWaEAcRzsG8sANzEMU6Zm2N0Vl7PmlH-Z-cQNG2w4YIbk6KACqUBLMJjrRTPh4JXyuD43juOmnhK2jSMQTv80midROGgifRsghM8qiuPbdXRyXTkCLSltoANP2HCSsqVkdKp7SoJKUFnIiw4zhB9u2u0VbUSPs4f0SffW39mZIDg0OcLx6GD6isBf1YA2ZO8qe-4PPh4SapqE7jV0AJiQykO89zYZbHUF39DboN9jR5FU5bw_eS89uu7UM2YuuRF2PF2JIbM7qh-cCB12oqzwPL73cTB5oUrqp7aBSnsA7wcCJGVQBgXnZPfzKJfkZPhwTabu_mG-3msUc5KFpVOr0epGW30j-DDT1g1eIIQ4qFQ4_2DokFzonPL3oWKeSnTmOXlUiCzInnGqZ66ub2FSbq7nfGRZTdCcz-hz-kLTkFf7lqqnJI3p6mRYmz-DZ4_XHCVkQMuqGKIiNjSftpzMvPmJ-8zIdQ==",
  "id": "rs_09a9d8c2e0e9b6a1016ab473e1d9d087d09f9e142f498e738a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.285,\"right_z\":0.007,\"right_yaw\":0.7,\"right_pitch\":0.4},\"note\":\"The pen is centered between the right jaws, and the tilted approach is tracking well. I’m lowering straight down to put the jaws around its barrel.\"}",
  "call_id": "call_EyNiEPIZ45zQgV9f044Y6tQR",
  "id": "fc_09a9d8c2e0e9b6a1016ab473e293ac87d0993e88fe626c8caf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EyNiEPIZ45zQgV9f044Y6tQR",
  "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]: [0.0357, 0.8196, 0.6868, -0.4835, 0.0586, -0.1295, 0.998, 0.532, 2.3314, 0.765, 1.4139, -0.1658, -0.0334, 0.701]\nstate[eef_state]: left_x=0.2919 left_y=0.0037 left_z=0.1897 left_yaw=0.0447 left_pitch=-0.05 left_roll=-0.1313 left_gripper=0.998 right_x=0.4185 right_y=0.2843 right_z=0.0217 right_yaw=0.6968 right_pitch=0.409 right_roll=-0.0049 right_gripper=0.701\nstate[joint_eff]: [-0.4034, -1.5385, 7.4462, 1.7314, -0.0806, -0.0415, -0.0073, 0.0752, -7.3504, 2.5778, 1.1355, -0.0806, 0.1001, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a00177ed347cc24f2b7bda93c35d3d543361ce837cc9bb5fea40c8599a0f9aff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831c2e4bdc2eab61b978816e7b8bd9d8b7c7bde5744cd317d8cce80ff03b5538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de6afa898234dcc41764264c023de7e28735c12b1e70e36b460cd027d83a3d0",
      "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 · 6.003 s

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

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8989, 2.4653, 1.9732, -0.8883, -0.8112, -1.4311, 0.0094, -0.0193, 0.8055, 0.6132, -0.4122, -0.0204, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4182 left_y=-0.3143 left_z=0.0263 left_yaw=0.5482 left_pitch=-0.1746 left_roll=-0.0829 left_gripper=0.0094 right_x=0.2923 right_y=0.0016 right_z=0.1744 right_yaw=-0.0021 right_pitch=-0.045 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -16.6222, 5.8051, 0.652, -0.525, 0.0757, 0.7937, -0.253, -1.0051, 7.0359, 1.8193, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [0.033, 0.8165, 0.6903, -0.4778, 0.0521, -0.1287, 0.9979, 0.5297, 2.0678, 0.704, 1.1233, -0.1444, -0.0277, 0.7011]\nstate[eef_state]: left_x=0.2929 left_y=0.0041 left_z=0.1932 left_yaw=0.0471 left_pitch=-0.0377 left_roll=-0.1271 left_gripper=0.9979 right_x=0.4108 right_y=0.2741 right_z=0.0585 right_yaw=0.6668 right_pitch=0.3212 right_roll=0.0109 right_gripper=0.7011\nstate[joint_eff]: [0.294, -1.8393, 6.7761, 1.9805, 0.0562, 0.1392, 0.0708, 0.212, -8.9094, 4.9709, 2.3077, -0.1587, -0.0659, 0.0513]",
      "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]: [0.0357, 0.8196, 0.6868, -0.4835, 0.0586, -0.1295, 0.998, 0.532, 2.3314, 0.765, 1.4139, -0.1658, -0.0334, 0.701]\nstate[eef_state]: left_x=0.2919 left_y=0.0037 left_z=0.1897 left_yaw=0.0447 left_pitch=-0.05 left_roll=-0.1313 left_gripper=0.998 right_x=0.4185 right_y=0.2843 right_z=0.0217 right_yaw=0.6968 right_pitch=0.409 right_roll=-0.0049 right_gripper=0.701\nstate[joint_eff]: [-0.4034, -1.5385, 7.4462, 1.7314, -0.0806, -0.0415, -0.0073, 0.0752, -7.3504, 2.5778, 1.1355, -0.0806, 0.1001, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a00177ed347cc24f2b7bda93c35d3d543361ce837cc9bb5fea40c8599a0f9aff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831c2e4bdc2eab61b978816e7b8bd9d8b7c7bde5744cd317d8cce80ff03b5538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de6afa898234dcc41764264c023de7e28735c12b1e70e36b460cd027d83a3d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPnLbM6TRAGcWrwFrSY_VruPQURryREkeBrtlbj0F68vL20_f41aRx5JZmBJ1Dk7X7n4RVr5S5IWUg8VBhs_Dj3jL0Qazyja846xE7IJAwlrCGTSDsSkID4FdEjciiwX7XzUEvq4tSwqU0s0XcQ1a1QlSsJBSCXW-rchEropZPj3r982kK9UHlfJCMfRSlbEqhmigZ_VphGMcZqXAJ3iMi5FIQIiNfZRHGJYtIjPNaKdCRAQnJ_6qhVsY8vzue51RhEFWk-MI0_trMI-w11L8wtcV1f5DHAE5h6446L0J_O-BkzLi2nOwMnhS4IRUH3ArEQxdptivhYJm-S8xVKxLp0W8rIgSBANttr_8hRVeVpYnxSn_bUip_SQFzvHQ4whaD6iU24JEnBBcPDaqKheMLQP7g1CvdTK9IL-VNBJmZWCXwNSHgke5_nsKi-BqPZjz_pkEIGEmMzDIoY8zNyH0e2dcnOECBjTl7pigPdTjDzs3S1hQoxAQf-6lBV-dG-XC7K_TtgheYLG1dzmVyi1ZcNr1_fS76mKC4_N0-i5u0aJxwImmaSJucAbPMA7US1uAD490bOwXbA_UR4Hddwdi_btRTIsnRA_nUX_WINN8HzoRglRl-_r1a0aTaapZPO6M36um6MHvmy3scrD9YnOHbTZk7oTopLT921ZDJ8DDZB_GM5Mu4Kvokqj02tAbP8Uxwn8GKCLj5p4a44VxLSIoOVcLa99ENR8t7d-DdZonHGbRmWcl8bKwBqTgiZ_fu-AiMgRd8fNDJLdSh4DKrUTrvVuTA71dxckf2-57HCnwBMTedYUB5Lm1ChuwxAUInRGzancrESWP6MyaGATn_zzBryEUnvBF0oGzoppoWN0ARRlapkN4pc3_s4y5Anv26TOXTr_H10ds4ryJwR3RQowZrcnOGuSp-fsHG-Ykv2QwAvyxfT1ETMRjOn-2RjPOohtcaD5nsNCk-RBwninhegdrTwE4q605mL0FtbRh2TY5s-tNS7PyXPXkBZEuMIV_3Zjej0GGRXMxqvLg4PgvWmfFQFahHE-NuXhHoJv9bNuXKqOS3OGNgYEqpQoh53hifCcg8aX1Xswps_0DBnzOvj1nF19Z4dMLztrY5HGIutLohoZa3MvCj15Qlb1QxeXk7GHXgH7jpD-vocku7qsPY5WugK_MumAYs_WtIHyu8KVb5OFabR2H2hnnJXFgacQe0E7vrLbs3AYouJjXRvytpOPi_OnGrjSlukMbhTnrqoSd22rXZ3hOF2JcpHNdFJ8SS9lzSuiRoP6_geK1v5eVQVFm0s_Telv_9wG0Bz5UarzYIqI7ZBJQ2RtOMEuO8trJhvDewTpDSnyCTU2j0Rpv6UCxTBuf897T1XjA8d2BW177wx436ppH4lQ9fGNaUgD2C9V_0mLnVepRysD0_dbI8FKnlesg==",
  "id": "rs_09a9d8c2e0e9b6a1016ab473e58ea087d0bb5a276e5b225498",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.008,\"right_gripper\":0},\"note\":\"The pen remains centered as the jaws reach the tabletop. I’m gently completing the descent and closing around the narrow barrel.\"}",
  "call_id": "call_1UFjJ6NBJe8Uxq72x544jZvR",
  "id": "fc_09a9d8c2e0e9b6a1016ab473e6785487d0a6377b239f2fb732",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1UFjJ6NBJe8Uxq72x544jZvR",
  "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]: [0.036, 0.82, 0.6868, -0.4858, 0.057, -0.1322, 0.998, 0.532, 2.3596, 0.7719, 1.4742, -0.1703, -0.0273, 0.0109]\nstate[eef_state]: left_x=0.2916 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0529 left_roll=-0.1325 left_gripper=0.998 right_x=0.4191 right_y=0.2856 right_z=0.0247 right_yaw=0.7004 right_pitch=0.4475 right_roll=-0.0047 right_gripper=0.0109\nstate[joint_eff]: [-0.1162, -1.3744, 7.1179, 1.6825, -0.0317, -0.022, -0.0122, 0.0205, -8.2667, 2.8239, 1.6532, -0.0904, 0.0122, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca17f07f6c68ef4c7e44b6bf949f580763fe89e1c7a678967df5cb0812466f77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e58752394a4b91b550d589534b0dbceb6270351f93cedd2a8dcca49dbf098f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f30e8cb11f5525d75101c5683563a2889b27380cb7d8b15d0cb0f54a24b4de",
      "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 · 5.202 s

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

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6186, 1.1519, 0.9634, -0.6281, -0.4438, -0.5953, 0.9971, -0.0189, 0.8318, 0.6476, -0.4644, -0.0204, -0.0132, 0.9993]\nstate[eef_state]: left_x=0.3082 left_y=-0.1219 left_z=0.199 left_yaw=0.0677 left_pitch=-0.1528 left_roll=-0.1195 left_gripper=0.9971 right_x=0.2908 right_y=0.0017 right_z=0.1724 right_yaw=-0.0014 right_pitch=-0.0893 right_roll=0.002 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -3.9316, 6.7624, 1.4237, -0.1978, 0.2369, -0.0366, 0.253, -1.2513, 10.1675, 1.7118, -0.0122, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0357, 0.8196, 0.6868, -0.4835, 0.0586, -0.1295, 0.998, 0.532, 2.3314, 0.765, 1.4139, -0.1658, -0.0334, 0.701]\nstate[eef_state]: left_x=0.2919 left_y=0.0037 left_z=0.1897 left_yaw=0.0447 left_pitch=-0.05 left_roll=-0.1313 left_gripper=0.998 right_x=0.4185 right_y=0.2843 right_z=0.0217 right_yaw=0.6968 right_pitch=0.409 right_roll=-0.0049 right_gripper=0.701\nstate[joint_eff]: [-0.4034, -1.5385, 7.4462, 1.7314, -0.0806, -0.0415, -0.0073, 0.0752, -7.3504, 2.5778, 1.1355, -0.0806, 0.1001, -0.0269]",
      "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]: [0.036, 0.82, 0.6868, -0.4858, 0.057, -0.1322, 0.998, 0.532, 2.3596, 0.7719, 1.4742, -0.1703, -0.0273, 0.0109]\nstate[eef_state]: left_x=0.2916 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0529 left_roll=-0.1325 left_gripper=0.998 right_x=0.4191 right_y=0.2856 right_z=0.0247 right_yaw=0.7004 right_pitch=0.4475 right_roll=-0.0047 right_gripper=0.0109\nstate[joint_eff]: [-0.1162, -1.3744, 7.1179, 1.6825, -0.0317, -0.022, -0.0122, 0.0205, -8.2667, 2.8239, 1.6532, -0.0904, 0.0122, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca17f07f6c68ef4c7e44b6bf949f580763fe89e1c7a678967df5cb0812466f77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e58752394a4b91b550d589534b0dbceb6270351f93cedd2a8dcca49dbf098f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f30e8cb11f5525d75101c5683563a2889b27380cb7d8b15d0cb0f54a24b4de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPtDnTQ6aLkmx8bnWr9ExZ5FCdUU27Cf9IZp7KQqNvCrdgyb2PWBIaxR9VAYLmVXnjhabTVe9cSJJ2KdUBMBDgDEdVMTlBX1KJOIXiNcAUmwgwKE_W_mE5fYY9awaOqqkjxn_gwC1RSM7zJ2_avD7CzH81Bo7bPq_ZERPYNZopa-BQvazNjRtCls8UIWPDJ9H8foJUzb2XLRw6zBsYiyTAJo31iwjDWO5UPr8SWAIHY3tze4V4wF2BnVoLpEj553wDTr7KCllp1MrJq6sQt7_qEPjB-pfR7kTMttvrbjazWsgIPONciiq9ZYubfb0ps63y-ok-FCFk1vJduubxTLRGSkGFFwSljviDclJOm71RAaEV1iRIabSzKBdlDgUwyJGucPOCqfPGsY_38HEcqxTsMpVLQOS2_I-IeYQ0vL19c-GqixXmQCFdhQ2iQkPK07mfJen4VBRgqsrrBe-L4tnNXu2Hk2FSqhU301mvzOqscZW3BLbBIGML47nWc5u9_LYFNUoC5pvc7yIsPEpg-1pfdFqZh6i1ckC_4RDlxCEA-QY31vLzgeaak1sNR-Kub5OEV5dyDLiW7ev4w-DA9GrVzIdv2wCKXVd49W9Izb90Jz77KqPRY1so0YtPTI2Z051QAQ-MWGY28aIqms_YjHi4X3_ylV6oEp34-4DAR51fRV7QEkegvgj7TXKzvRAbgWj3OFvUl4i9v7-80_8nVMUNGN6jLDkcaSGNeuEcn5IZvmyfknJifolSgMNUv8ZmsszHOZZK8tYNtwvzy_rDZFoNWl8Qzb_mA2OrbBZ6q5LoKzViZjJxK-BoEoD8cPzByoxN4ZDnICgerfgy4eGxHoij1oKHCDhcHrxhayJ6W9jpC3iVuW7RUwhLFu_GOLJ_gimpFW9iJrizf_V8wVWJTcKVBrwvYnyNGhr0yQX207tt5MFnpKtn_0pEnxkUL48_AQMlplMO1i5Vq1yKy658Cg-Es3pXU_6z-j3AyPKBAh33zKqHPSmpW-GckfVDMhe1zlMy2l54XfLdZKy6VWx3OeSo8wcnG1ZJAcCxyuj0-fmbWuBu8C_VMGHtOjsjZOdEejHVcS1C2cxKV_mTqGcR2_QFtvxv9XZFXYSs8qoPWtXxNSTRuJICo8HNAf1GRmcvw6qvPdepDwz6Frk4Bv3kaWgGL_crA2Cxh6kqgjUHP_hPjhlORDip0mla_fej1hnv_vBiCSKAdnivXmaj3-z9I866d2uHLzB_2oVWvOAoT_kHFH42jxWozNVGAetYqam3xnn28ykSW-34lS68Cn5A7T9a_B2lyVuF9-FgvROH_NEWUSyN-eCw2W6QtCGR0T7OiCeTcSrAdnT8RN6C43swroY1cWC4ho_4qcNAnf8s16JaEwTPpiToWDdxSSxoy9XUqpwAJxbkTUO6NPFUysQkBM4zlWhJXG5mSe24JkshO7oDlwnJVU5R85_kFVypTpC_UVTBx-wg6mNHDJv3Kvmyk_kYoHWr8amYo3UvVejS2RZvKpwHM0JzHE0z8qjokx2laav-lDX0WG9Xmtk5H-EtBvYGI2yykHUEXQNFgzlocLD1VDk68HBdeXyp6p3Jg_4pxE3Wxr7SgB57Rp1tksBUyEZRRHzw2S6kyoZxiw50pksnr9xWYUu25MqF4j_KtRArtiD_0R4KqtSkZidxy2u15kVLSm87mPDXEsW7WMl8v9vxCbqAWDT2U9H7yt_9qWREqqQW0fxlVL9mJT3fDIIouih338P8VRyI5uek0kZbTz93G32jms-t72UlqJdUk8K4MnXWWATzFSLDh2uDGw60ZC3zDnPqGs9_3aJZGOydyieRvYrISI2zJm15vf8o61fBNTJhu5Cm7yd5cYq4oRjUKMKAGn-jVM7LKEkvnpkuUJiZ776gxy6gGUhhPkAoFbNvXBDOwNG35UG5mZfYIhK8C14GVkV4lj6UZj6j7X_My0JtBu5OtKtswLUAoLtM5ex7u2JbE6gkmZw-JYA_cQOjwxe_oEszd5wdG9-CuPsxXfuTibZlinPVZMSQISVMwXKscOSzY6A-37zkQGhPdm83O3oWbe2wb7pbOiCulMiRljpJSfh7PIoMQoXhdJZpO-nH9sPpA-hPOFlBpKcvxzlbJZ2NA3odK-jAe0G-jolgl08LFPvZgUT1G5W5Tu8dpDqy1lAQ_GkXFpdV1V2uCcTtc1gKUeg==",
  "id": "rs_09a9d8c2e0e9b6a1016ab473e938c887d097a1a73c5b0d8351",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.437,\"right_y\":0.3,\"right_z\":0.045,\"right_pitch\":0.3,\"right_gripper\":0.6},\"note\":\"The closed width again indicates no secure hold; the pen was just beyond the jaw contact area. I’m reopening, lifting slightly, and advancing along the pen for a corrected grasp.\"}",
  "call_id": "call_q7L9t7CYKwVBjanK16ng3keI",
  "id": "fc_09a9d8c2e0e9b6a1016ab473ec664887d0bbab108586b933de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q7L9t7CYKwVBjanK16ng3keI",
  "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]: [0.036, 0.82, 0.6868, -0.4862, 0.057, -0.1322, 0.998, 0.5377, 2.207, 0.8581, 1.166, -0.1688, -0.0467, 0.5951]\nstate[eef_state]: left_x=0.2915 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0532 left_roll=-0.1325 left_gripper=0.998 right_x=0.4379 right_y=0.2999 right_z=0.0544 right_yaw=0.7108 right_pitch=0.379 right_roll=-0.0131 right_gripper=0.5951\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6777, -0.0073, -0.0611, -0.0122, 0.3077, -11.6581, 4.9983, 1.7411, 0.0611, -0.0122, -0.1587]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fcd17dad106b3cf1f071b04232675324469d4a29fd60d1cc2521fef810effbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3be8435047701a9039611b0867b25ae755931f845d26bb2f0450cd1de642ebb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564b884af6910d160991a5ba1ce557f991cfa89a00a08cb87862b4cfaa1da16a",
      "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 · 6.864 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]: [0.033, 0.8165, 0.6903, -0.4778, 0.0521, -0.1287, 0.9979, 0.5297, 2.0678, 0.704, 1.1233, -0.1444, -0.0277, 0.7011]\nstate[eef_state]: left_x=0.2929 left_y=0.0041 left_z=0.1932 left_yaw=0.0471 left_pitch=-0.0377 left_roll=-0.1271 left_gripper=0.9979 right_x=0.4108 right_y=0.2741 right_z=0.0585 right_yaw=0.6668 right_pitch=0.3212 right_roll=0.0109 right_gripper=0.7011\nstate[joint_eff]: [0.294, -1.8393, 6.7761, 1.9805, 0.0562, 0.1392, 0.0708, 0.212, -8.9094, 4.9709, 2.3077, -0.1587, -0.0659, 0.0513]",
      "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]: [0.036, 0.82, 0.6868, -0.4858, 0.057, -0.1322, 0.998, 0.532, 2.3596, 0.7719, 1.4742, -0.1703, -0.0273, 0.0109]\nstate[eef_state]: left_x=0.2916 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0529 left_roll=-0.1325 left_gripper=0.998 right_x=0.4191 right_y=0.2856 right_z=0.0247 right_yaw=0.7004 right_pitch=0.4475 right_roll=-0.0047 right_gripper=0.0109\nstate[joint_eff]: [-0.1162, -1.3744, 7.1179, 1.6825, -0.0317, -0.022, -0.0122, 0.0205, -8.2667, 2.8239, 1.6532, -0.0904, 0.0122, 0.9841]",
      "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]: [0.036, 0.82, 0.6868, -0.4862, 0.057, -0.1322, 0.998, 0.5377, 2.207, 0.8581, 1.166, -0.1688, -0.0467, 0.5951]\nstate[eef_state]: left_x=0.2915 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0532 left_roll=-0.1325 left_gripper=0.998 right_x=0.4379 right_y=0.2999 right_z=0.0544 right_yaw=0.7108 right_pitch=0.379 right_roll=-0.0131 right_gripper=0.5951\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6777, -0.0073, -0.0611, -0.0122, 0.3077, -11.6581, 4.9983, 1.7411, 0.0611, -0.0122, -0.1587]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fcd17dad106b3cf1f071b04232675324469d4a29fd60d1cc2521fef810effbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3be8435047701a9039611b0867b25ae755931f845d26bb2f0450cd1de642ebb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564b884af6910d160991a5ba1ce557f991cfa89a00a08cb87862b4cfaa1da16a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPzePqf_X-E4BZ1SRr9rYWrCK8dYmDQmlox-Cf6BjX_cTSfwUE1Np8kYM2FUWVyMegOZ6SbAz8N6mymjI6hEZ-y0Fqm2QCVbuaIYpUem3bqKGvKHRqBMMUmTsdCho2LS9NM2UwN3-ZEeUDhXf8RmKkhfi7qu1X5tktVEwvDwG4BHHzVk6DcN6nXAWS31--NnIUb9g_5Eauu-Qe8WbpTc15m62VXZYDqjLdLEjiQ6AJw2wnqNeEEZ1rR7oR3tEMvdCOUEHkuxeH5mjZUkPK9w6YTIedr1UP6_oBeJwl4X_dkcAMKFUFlP0TNnZA24I3_AyJ32HHSTPEjKAq9EToEUqGAIt96jnToHGsqdvb1v60ngvDjSMpeU0wyaLiiPaJj73DiIvKGj1EPkjgWQhZxkcnvsm_j4gW-dJAnoUZ8jZw2WqqT04BGqA69oYoNA0xQJp76yJxazw0aFF0zReGy15hPzm3IFt9w-h1c-DW_jqOg4SQjJYu4hFhwbzOYW1hMU2qSLyCvoulJ1y19TDW5_26qdEaLhkVYCMVyH5-5XqIDbkD6GkhSTpN9Cmc8epM17uKW5borPNAPeAEItelpzNoIut9a7obAciiWwZLtRegiva_fNT8-LYvHOJyyxrA9MfOEufAxX7d1AmZtUkf9AydxSysAo8HOppSvDL9UMlL3ZRoTzZQs2SDksWPtgiIA2rdj4nceGpxe6voywU-9RY7S97OAtTIHadpDe8npVIHCFp9SrVoTzf5RrEJ0YIasmUUw6k_cK6Cw0Ih11HmAneiGbq5WxpmUOG-pqivm35LkKgnKlDrFVWImUvCbcWDXVZEenks_QLCAtmGqiBA1NEV_9i65A_srRKAcEcYF8Iwmt7PXt2vlXtkEkvH7HlqD_gyF-RdJaKI2raFgVNJSzo_-W7YtHw00OUwm87ul3xzxO2FiHF4bIEuKpGnQz_23vQdEmkv1edkdVQfZFkjupyNe-k9RkNUSSLPmPneRd0qodenJvmrvOIDq4wfj_68I6djRYr6m1TbQAHgrObL0_wNUbnAmgG7spc0_9EzsvZ1BYCFAJdw8iJRt8s0MuhIkwsjiO2Yq8ajEI6EPTETqXyutEXGCwV9ylSM2Domk6dgbyUBAGHq_bMUHS3YKj0Bq2D4pDwXL54RbwomejKGOqZ8deN7VAQyWQ3GoCeH5MDIro_APeq2yysI6vxEgeaqC6Sg_Fz-sPulyAcVpU_nrWqwc8d21h_HRjayTZIaYTEaq6_d1iyTKhQlbFegKs0jyBtB7-RuskQq0lN7meofpCpvA_heLiIP_g7iyOq-EYOZYJ55TOVR8zjQ-pVm2GVqfRe_9EKOwiJ2qBIcZdHBCwr8FtzkEL9uPQgMBRjQV0xLX1kRyV2UtX3muHv7QrgT2xFfoa2TCPhOFdFbrXSXvMM4XrG1BpD2M12LCiFjmTUzq5mAVAFrUKXB8YDBdAmAqRfyvcGNPUXgnqhueb7dtbtjn-oIgOzFTxpWSuDv31A80dqsN1NvbrMkRLbOwDp0I05OxCcNRAilG7mhM7ait8Fe7e-zHnTyV-7DeRB3VFY7fVQUJ2cWs6sPmKCdATIJbYHlxfmgGx3BPyGLHbjDWYAavUz7wEn1sogFL5mnn9fGnLda43Mf8JIbgAsX64WmpGKuimpZmWrysqBQUnUrtZWsx9QHDpfAp141egaAfs9O9TeJK3pJSi6Nv2M_kgJ0QoNi38yNR-tw4NKEUa7cjslvM2HyoBTgy9lUo41LRWWnWXN6cvBcJgeBSMGRE46_POGx2skHZvvSXpfIpHwYc29Wqld4b9UXozPZy8ML-MEw6cjhBmzp3rxr39LpcQPFTvV2h74jncK6xxYnRAuTKenJBOzgTAE8ERE_PDgoX0U1za_E=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473eff35487d09e74a90662c654be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.01,\"right_pitch\":0.55},\"note\":\"The pen is now underneath the fingertip area rather than visibly beyond it. I’m lowering with a little more forward tilt to reach the barrel at this distance.\"}",
  "call_id": "call_nyAeS8i6v9vvImmjTosbgAzv",
  "id": "fc_09a9d8c2e0e9b6a1016ab473f2a56487d08ccb993efe8cfbcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nyAeS8i6v9vvImmjTosbgAzv",
  "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]: [0.036, 0.8253, 0.6868, -0.49, 0.057, -0.1322, 0.998, 0.5385, 2.5122, 0.9886, 1.5826, -0.1707, -0.0307, 0.5959]\nstate[eef_state]: left_x=0.2914 left_y=0.004 left_z=0.1869 left_yaw=0.0479 left_pitch=-0.0624 left_roll=-0.1324 left_gripper=0.998 right_x=0.4541 right_y=0.3103 right_z=0.0402 right_yaw=0.7275 right_pitch=0.6172 right_roll=-0.0442 right_gripper=0.5959\nstate[joint_eff]: [-0.1709, -1.7436, 6.9812, 1.663, -0.022, -0.0806, -0.0122, -0.1026, -5.2444, 2.441, 1.7558, -0.0122, 0.0708, 0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bede0ed11e9418906f0334d8b1f093ead47a5e2bcb916c246e7f623a556cd3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e5c45ccd8ca1bec78e6004029a564c6c3e6e2a8c9135ae5b20e06660484f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f434070890d06b02981324ba78dc50149078752204283700bc6dd3cef12602",
      "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 · 6.95 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]: [0.0357, 0.8196, 0.6868, -0.4835, 0.0586, -0.1295, 0.998, 0.532, 2.3314, 0.765, 1.4139, -0.1658, -0.0334, 0.701]\nstate[eef_state]: left_x=0.2919 left_y=0.0037 left_z=0.1897 left_yaw=0.0447 left_pitch=-0.05 left_roll=-0.1313 left_gripper=0.998 right_x=0.4185 right_y=0.2843 right_z=0.0217 right_yaw=0.6968 right_pitch=0.409 right_roll=-0.0049 right_gripper=0.701\nstate[joint_eff]: [-0.4034, -1.5385, 7.4462, 1.7314, -0.0806, -0.0415, -0.0073, 0.0752, -7.3504, 2.5778, 1.1355, -0.0806, 0.1001, -0.0269]",
      "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]: [0.036, 0.82, 0.6868, -0.4862, 0.057, -0.1322, 0.998, 0.5377, 2.207, 0.8581, 1.166, -0.1688, -0.0467, 0.5951]\nstate[eef_state]: left_x=0.2915 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0532 left_roll=-0.1325 left_gripper=0.998 right_x=0.4379 right_y=0.2999 right_z=0.0544 right_yaw=0.7108 right_pitch=0.379 right_roll=-0.0131 right_gripper=0.5951\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6777, -0.0073, -0.0611, -0.0122, 0.3077, -11.6581, 4.9983, 1.7411, 0.0611, -0.0122, -0.1587]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [0.036, 0.8253, 0.6868, -0.49, 0.057, -0.1322, 0.998, 0.5385, 2.5122, 0.9886, 1.5826, -0.1707, -0.0307, 0.5959]\nstate[eef_state]: left_x=0.2914 left_y=0.004 left_z=0.1869 left_yaw=0.0479 left_pitch=-0.0624 left_roll=-0.1324 left_gripper=0.998 right_x=0.4541 right_y=0.3103 right_z=0.0402 right_yaw=0.7275 right_pitch=0.6172 right_roll=-0.0442 right_gripper=0.5959\nstate[joint_eff]: [-0.1709, -1.7436, 6.9812, 1.663, -0.022, -0.0806, -0.0122, -0.1026, -5.2444, 2.441, 1.7558, -0.0122, 0.0708, 0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bede0ed11e9418906f0334d8b1f093ead47a5e2bcb916c246e7f623a556cd3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e5c45ccd8ca1bec78e6004029a564c6c3e6e2a8c9135ae5b20e06660484f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f434070890d06b02981324ba78dc50149078752204283700bc6dd3cef12602",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHP7SZP59f9f1bjblssRLFj-lAtVVj73TEXEE_3t0RKrqANmMHOHj4jINrImVbSedFGF_0pin_n_-UlxSNdcsf6z3Sn8r--qXi2O_g--8XsQWRpWYyQVkoFH7Icy6Lwn98Rf5GVEzeu5ZI8sZpIWVqrG5CLEnwW58EJdDVuGpJN6FA0__nVb-pnZlTgkFSZhNfA8O6tgO-o_glSAzhM73FPSJUV30ztKWoaWx11oB51Ym259ayXTSzXgqOl7bQB2F92CqpENNn-BtNljMOlLBGjSkxOfK6elX83opdDlrDsqAv2WS1Bp2_qXU316qYkwiaozBMef1M-vOOFaEviibehkN6qjWspvmDa4fIeTCF5D0WZLRX_IQ6GIMvixYCcWmYBtF8nLmG6LttyrELZhsT31-3Wcd0WiqoBV7GVMRPHK-GHkyTh0WVSMSUa8DsWExN9PQKJhMknhX2G_Cld-pnMuc-IpTNtiT4SLYw-N27MOotzOuduQN5Nm3Vkp9ZqfYR-eg63sFy8EG43QQfeUgMFfGTXk7hC2rsvgPLg5Cp9XHYjNeB6u5wdncybPI1IiyapyxupJaxftEBckS2vspprvwlCs0JZ9jfUPov4pf316ZW_FLJ34ac0KZJCSyzBOX4A6mURrq47IykOgh_CBOdJc9rdGip8TGS1PypdYc_ZlLHp1k32FRP3v4iIMcvZKP_7YLgq4oh5pMiYpltxQXGS-fUp-ZEgx1FM_jea8gBps9oPeggeV1d_5yduV4RiuM9ahELHxr2pMm9PVGUMxX9No4J9KRPxA79KlN2pfmUapNv3W4bT-o9DhM8_zunGQ4_SNgrcKA6kiVwCiiO9UZN6fvdGzCuqsrOqnFSbLQ-DtUhcCZEsJD6JXsPiYTlzzOjCrDWbtF7-aDQmBOQ0IczK7NMgkkqHodBs56_G7iQ0n7uPIxW6b9XVkc_SNkyh6Czt9KsrgGDIC_1pZny7khikxspycYR2zwP9ubvxQQxLpOcB5YJzdXRRMBGcwmaX0KXP3yc_t36yWYOSrtFwvbMOuqJrj9yqkICnqeZUgKfWI7leTdEUOeN9k99BlieOv5VmjTHEtRsT-WMpq0T6OlRliyGlgBzg-M4_ySSx6w3XPOO5CRvtyI-g3T6Eun5gKuhKx54n1I0CqdDpSzUEs6YZg0YxomdM7ditXR_kuz_nynF4Q4rBy_EECmg8OIb-2RBGIxHRY-OFmYw-QtG9jJzlsDH0OeAP6Yxuhk1fMxTBhM1-KgX8DbZENpmTVOz2jR5F-Ofw019JICZDLbWVld1QzlkVV63vBhTEBzDDTD_AzPszRi3b8wV05rbMqO2MRKmPpD_0OPPePpvjZi6cLs4Fs3yW-Ec0VsVMQjmH6Dr_bmRrn7UzrIcXJ5M3skGjVN_t-cepv8zINvNx0D62-Ld_UiQ4ijQL8zcdf1TLGtgwLZdkc3H7kaJOeXcvwygSEj2aoU1QbWR5XmTaRsA9I5h7EnwUbEx5imbrMfRIrhu0pFpdm9Hylh6KjoSsXwYzNR69XwUiKs0Lfk4zGwR3P8WdDzHv0uzBPb2qh0cN29nvQlBoc7je4eYCxAlwxqO4Kp2c_EcGNS4sDzdkK5cMTXWF_43vL9o_veqESBSLw29RE6D22Hqty7mSz0o8AGHu3AzYx8evT0pAFrh6CPIvSYsjXw_Atk84av12Wc3q8-5pDHzqlHCy7jU2RjFxxG5NpfPvruuvQc4AeV5Nu-3NnVt_c7_L_mX6MdD5UfdFo0jVp-yF0BXaH_5hSi-VxPAtXT_9rMjKheD0nNXnyvTXBc4Jo69pY-85DJEKVTMfRF-sjTq33QgbeRE6AXi5SRrM-cTmU5WoLURYj6AGHu1w0eZWxomUTTsls_rVXphFUASiCiZLcN132MvIMV-zlB8WEnuqv6FBJ1TIEBocrOQxFpHmFJlPC4fnCRlvUfqnpM8paPamDsk0lBilNWAYyJzEMPAsIsrU51aps9Y-zL9v2Y4UZKB2i2D8LpNqDrkS86zV-o_I3RLT1JrSqnCXIQgMU-YXEObs3R0jybG2hNz1yl8G4Ptd562HMDozT6XQOsIi8gnwXH_zlBu6w7qji00FPcoVnPqh0DfzG8AuhvLNDxHjj8bJxsMRYp9V2QLPMaTXYpMoKL1Z-2g7uDy3X0wrksk8RWfEPMkX8UvzrC_F8ULBaDiVCeCcQL-ga3Zhj_0q7Ij3c2TPWHl5oHGk4xaYfRykUP8CYHwsZ-shi3reduvoqsovhUWJUb6ylGHX32JPS3NfLtrAOj9dyGG3xrH0Mm3nGWM1vajfvaFMeHGv81LxmDbPG7-vszGOOLPUJzqKz4YKzsPza208Zqbf8681HHLdXX0pRurpMYLtIFiGydBGOVetrMpeBSgpG6Jr0ZDhKVnrGicHn7i1clutCUwtpi6xsR2DErQeyLxyj-6DDMsk0e3hZZfpNOsIzWEwvQkQyd4I=",
  "id": "rs_09a9d8c2e0e9b6a1016ab473f631b487d09fb2f12702265f36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0,\"right_gripper\":0.7},\"note\":\"The descent is stopping several centimeters above the target, so I won’t push further. I’m withdrawing the right arm to inspect the objects and choose a closer, unobstructed grasp point.\"}",
  "call_id": "call_v9VZpgcKoXMrVu9rvjfcf5O2",
  "id": "fc_09a9d8c2e0e9b6a1016ab473f9d2a087d090880e3af96e414a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v9VZpgcKoXMrVu9rvjfcf5O2",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [0.036, 0.831, 0.6868, -0.4961, 0.057, -0.1326, 0.998, 0.3305, 0.8871, 0.5797, -0.2291, 0.2707, 0.1051, 0.6988]\nstate[eef_state]: left_x=0.2909 left_y=0.004 left_z=0.1841 left_yaw=0.0481 left_pitch=-0.0742 left_roll=-0.1326 left_gripper=0.998 right_x=0.3089 right_y=0.0599 right_z=0.177 right_yaw=0.0393 right_pitch=0.0439 right_roll=-0.0447 right_gripper=0.6988\nstate[joint_eff]: [-0.0889, -1.7299, 6.9675, 1.7118, -0.0562, -0.0659, -0.0122, -0.4718, -2.5915, 9.388, 1.9219, 0.1587, 0.1636, -0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6958b0960b886cfd25355479843d3c7a8ae0b03f898a887c000beacb0faab063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442b578ceada34806e46ab44c44f0e0ccb3a934355bad69c333996efe3a70d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5550441f4745dbb71cd437441cc6cb988fb6d948d31ac44ad38a57d3855ff56",
      "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 · 4.294 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]: [0.036, 0.82, 0.6868, -0.4858, 0.057, -0.1322, 0.998, 0.532, 2.3596, 0.7719, 1.4742, -0.1703, -0.0273, 0.0109]\nstate[eef_state]: left_x=0.2916 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0529 left_roll=-0.1325 left_gripper=0.998 right_x=0.4191 right_y=0.2856 right_z=0.0247 right_yaw=0.7004 right_pitch=0.4475 right_roll=-0.0047 right_gripper=0.0109\nstate[joint_eff]: [-0.1162, -1.3744, 7.1179, 1.6825, -0.0317, -0.022, -0.0122, 0.0205, -8.2667, 2.8239, 1.6532, -0.0904, 0.0122, 0.9841]",
      "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]: [0.036, 0.8253, 0.6868, -0.49, 0.057, -0.1322, 0.998, 0.5385, 2.5122, 0.9886, 1.5826, -0.1707, -0.0307, 0.5959]\nstate[eef_state]: left_x=0.2914 left_y=0.004 left_z=0.1869 left_yaw=0.0479 left_pitch=-0.0624 left_roll=-0.1324 left_gripper=0.998 right_x=0.4541 right_y=0.3103 right_z=0.0402 right_yaw=0.7275 right_pitch=0.6172 right_roll=-0.0442 right_gripper=0.5959\nstate[joint_eff]: [-0.1709, -1.7436, 6.9812, 1.663, -0.022, -0.0806, -0.0122, -0.1026, -5.2444, 2.441, 1.7558, -0.0122, 0.0708, 0.0708]\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 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]: [0.036, 0.831, 0.6868, -0.4961, 0.057, -0.1326, 0.998, 0.3305, 0.8871, 0.5797, -0.2291, 0.2707, 0.1051, 0.6988]\nstate[eef_state]: left_x=0.2909 left_y=0.004 left_z=0.1841 left_yaw=0.0481 left_pitch=-0.0742 left_roll=-0.1326 left_gripper=0.998 right_x=0.3089 right_y=0.0599 right_z=0.177 right_yaw=0.0393 right_pitch=0.0439 right_roll=-0.0447 right_gripper=0.6988\nstate[joint_eff]: [-0.0889, -1.7299, 6.9675, 1.7118, -0.0562, -0.0659, -0.0122, -0.4718, -2.5915, 9.388, 1.9219, 0.1587, 0.1636, -0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6958b0960b886cfd25355479843d3c7a8ae0b03f898a887c000beacb0faab063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442b578ceada34806e46ab44c44f0e0ccb3a934355bad69c333996efe3a70d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5550441f4745dbb71cd437441cc6cb988fb6d948d31ac44ad38a57d3855ff56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09a9d8c2e0e9b6a1016ab473fe90f087d092340273dd1040af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.245,\"right_z\":0.045,\"right_yaw\":0.7,\"right_pitch\":0,\"right_gripper\":0.65,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"Both objects are still on the table. I’m aiming at the nearer end of the pen this time, where the arm can reach with a vertical tool and leave the writing tip exposed for capping.\"}",
  "call_id": "call_LzKPB1XVes7qlV7Ul9Shc99o",
  "id": "fc_09a9d8c2e0e9b6a1016ab47402e6c887d08ba5cffe56770c1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LzKPB1XVes7qlV7Ul9Shc99o",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8612, 0.7136, -0.5434, 0.0479, -0.1482, 0.998, 0.5262, 1.7466, 0.6159, 0.503, -0.0879, -0.1066, 0.651]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1786 left_yaw=0.0407 left_pitch=-0.1259 left_roll=-0.1382 left_gripper=0.998 right_x=0.3571 right_y=0.2295 right_z=0.0315 right_yaw=0.6507 right_pitch=-0.0658 right_roll=-0.0346 right_gripper=0.651\nstate[joint_eff]: [-0.4034, -1.7436, 10.4684, 1.6142, -0.1099, -0.0611, -0.0122, 0.8, -7.4872, 6.7214, 1.8388, -0.1392, -0.0708, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec5a730cd557524a762e4285e73a64602fb86b31c8dda082f4b197c880fdb580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90f8b71c3c5c8d50c77967c042db123cdfb9176772581141e15006b49ff9b01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1deb2d0204ffdfea70895e883212cd041491d1da06dbd9c762488bdac3a58e",
      "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 · 2.432 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]: [0.036, 0.82, 0.6868, -0.4862, 0.057, -0.1322, 0.998, 0.5377, 2.207, 0.8581, 1.166, -0.1688, -0.0467, 0.5951]\nstate[eef_state]: left_x=0.2915 left_y=0.004 left_z=0.1891 left_yaw=0.0478 left_pitch=-0.0532 left_roll=-0.1325 left_gripper=0.998 right_x=0.4379 right_y=0.2999 right_z=0.0544 right_yaw=0.7108 right_pitch=0.379 right_roll=-0.0131 right_gripper=0.5951\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6777, -0.0073, -0.0611, -0.0122, 0.3077, -11.6581, 4.9983, 1.7411, 0.0611, -0.0122, -0.1587]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [0.036, 0.831, 0.6868, -0.4961, 0.057, -0.1326, 0.998, 0.3305, 0.8871, 0.5797, -0.2291, 0.2707, 0.1051, 0.6988]\nstate[eef_state]: left_x=0.2909 left_y=0.004 left_z=0.1841 left_yaw=0.0481 left_pitch=-0.0742 left_roll=-0.1326 left_gripper=0.998 right_x=0.3089 right_y=0.0599 right_z=0.177 right_yaw=0.0393 right_pitch=0.0439 right_roll=-0.0447 right_gripper=0.6988\nstate[joint_eff]: [-0.0889, -1.7299, 6.9675, 1.7118, -0.0562, -0.0659, -0.0122, -0.4718, -2.5915, 9.388, 1.9219, 0.1587, 0.1636, -0.1197]\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 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]: [0.0124, 0.8612, 0.7136, -0.5434, 0.0479, -0.1482, 0.998, 0.5262, 1.7466, 0.6159, 0.503, -0.0879, -0.1066, 0.651]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1786 left_yaw=0.0407 left_pitch=-0.1259 left_roll=-0.1382 left_gripper=0.998 right_x=0.3571 right_y=0.2295 right_z=0.0315 right_yaw=0.6507 right_pitch=-0.0658 right_roll=-0.0346 right_gripper=0.651\nstate[joint_eff]: [-0.4034, -1.7436, 10.4684, 1.6142, -0.1099, -0.0611, -0.0122, 0.8, -7.4872, 6.7214, 1.8388, -0.1392, -0.0708, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec5a730cd557524a762e4285e73a64602fb86b31c8dda082f4b197c880fdb580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90f8b71c3c5c8d50c77967c042db123cdfb9176772581141e15006b49ff9b01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1deb2d0204ffdfea70895e883212cd041491d1da06dbd9c762488bdac3a58e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQKk47idpaTuV8DUHrdIg5IsyIBmHbkJ0mBnPL0957F9h3lBlbvuZbmzYTgQcZIz3f9n9kE5_5QPOpyKdF-8d0V5guKrYAEGTgXVvonYztdIxpglohi6-4d0bpZKNJh0zGp-1EHnoPVhCrOcXMyel7Qj5zphjsbISxKjNzey7vPJsop0LuBClr4M1RLsJcYyht5sHzdE08XtKaJ3WPjZy4X_gWq9oZ4jCF-kcKD5fbWEro04QhzNURUPBV7MmYeBofxTFnDAqO4-OpFA2XACAq480iCPJUUJiv4IkkiZcp3Sz7Rn30D8oNe2GSLsL_I7uc6RbWwLjMrbstEcWJk6yQUaDUnN2mlrvWvEQGcXY9ixgws9RkNoFDcMLS9PbbUyzNrtiA_UGt4RQPJn-3WG4QqZgmK16hIDYglSsj7VtztyDky20Dkq9vrFudjBwAECJbxoKP5vt2FHmQASAoBlSMb-otHoSI0NOvRbe5cEBwiwCXD-06_fx-PNilYo2LJxPMUtJHdtYrOO63R3bKIOEFQrTGCsoNVFy5iJgd_WwGkM46BnArTgxzk_YQZiwbhn30D-ZG8ZKkqWblkooKeQ_7pvi892gckmyxECrLwVdNpGkEM4wJZMYy4uqfWYHIOYGzq5bP1ne8fCXlvkYria4RE7PKlhIe4UhfCpZfDE4VpBk71lPD7FXeX8T0HoAt-c7FqIkiJYeTgZBvfn-q7VclcyA5v8pvhx7HUsV3JQv_Rjv-T_YOZMV0zCamzY5iZQGt_Je2Eo3kqY00gJTnCnYQyqKlf4kdYCBN7_ZiDMGL9Wo9owVxi5jyGXqPDpZqCb5gyCLFRPZu-tM7PY7RXEvvDx_fhGx-TUZ7Z4EaFM-RSUQO0Z7Eq1VmPctChfsODIodvaA1CHhwPzKotHEjhKfoA8O8FCLxCvTv8CihjvyGNbKFW09dkXZcS5AtYAVtKyMG2Oo0F-4soKR8rweUdqTowTPBhaByDPYhvd6h95fXQo1k046wg6QUGeklCN6MORg0HkuNfJ-qwbh9frDnZYMGXzayFtNeK8f8K-7JJ_YfkLeWAOaz5c3xknyCTZTvIpsQCuOcJOwtY3Gof-l1yXb1QL7-rNhL083ODjZs4obHm9El_YY-bgqENWKuI1b3e_dMInR_CD3T0ZJ6Rk5cro_i7vcPqXyRDA05QelrBiWCY7Fns6AJZOGtCygEYGr5WVaSVnSiO6ATQsmXlNhE1xoKQmZ6kn_N0v16Pujdtqk6chBCUMzie31yTSwXzrMcSP7mqqSkvz5YqYaUVs_DpRrcUxyQMMjHcN2b7yYfVwncmtQhByz5R_g7pxnpmSEZ9mvcf1kk-S2sr2Iz-cZ8GuEt6Mw93HyiZnn4YkNiAhc2o5T-0ahdOUZ_B87uwqli-jncehaCsh5TFZvwD5E8hufY7UOWGPKJzZ62yDNlnO2A3EEFdVy9q-wlwYqzS-9HYMfBMsxNZ_BEOk6nr-LVPmNsUB4l4Qh6ir2l409QMcCXO09ca6XOj_VsOJquIqN826nhPe4NmK7IVhtNej9hwUWFLLbLUrdAsLhtqtc5yZ9XJ_LCuNnqKik7pMdXgFlGb0wRH87Q2Ah99G28wDc14IDkCSal0LCPV4RT9-yBY4vxo2y7RE1qCvwFYycyZ7usb4tle6vNRZCIaX7Yq4m8gDS9XFXMYywpFJYZQuDvwBmsiGPt0ihcFFesvy9HLlP9kvHGXa9Ga8l82lkPHSVd9Zj8W2A==",
  "id": "rs_09a9d8c2e0e9b6a1016ab47407064087d08c4fba5c164a59af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.245,\"right_z\":-0.006},\"note\":\"The pen barrel now runs directly between the jaws, with the cap clearly separate on the left. I’m descending at this reachable position while keeping the vertical tool aligned with the barrel.\"}",
  "call_id": "call_y1IJjgJusJfU7J9Y00ZwyZ4y",
  "id": "fc_09a9d8c2e0e9b6a1016ab4740929c087d08b16eececb95895f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y1IJjgJusJfU7J9Y00ZwyZ4y",
  "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]: [0.0124, 0.8661, 0.7166, -0.5507, 0.0345, -0.1551, 0.998, 0.5461, 1.9068, 0.6338, 0.6472, -0.0834, -0.1043, 0.6511]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1772 left_yaw=0.0558 left_pitch=-0.1352 left_roll=-0.1345 left_gripper=0.998 right_x=0.363 right_y=0.242 right_z=0.0006 right_yaw=0.6654 right_pitch=-0.0642 right_roll=-0.0357 right_gripper=0.6511\nstate[joint_eff]: [-0.0889, -1.6889, 6.7624, 1.7411, 0.105, 0.0317, -0.0122, 0.9778, -6.5846, 4.0821, 1.0379, 0.0806, 0.0513, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0b2e7d243211be0a1ec1ed9d7cf85010401ac440d08b5e57824cd4bdcdd93c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056284400df39a3af5d8743f73a1217e609b1fe79c24ddf2e98550808d12f934",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10094b588dbc51fc7ce86219a3655186803ad05962de80e2dc2a711079aacc6",
      "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 · 2.707 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]: [0.036, 0.8253, 0.6868, -0.49, 0.057, -0.1322, 0.998, 0.5385, 2.5122, 0.9886, 1.5826, -0.1707, -0.0307, 0.5959]\nstate[eef_state]: left_x=0.2914 left_y=0.004 left_z=0.1869 left_yaw=0.0479 left_pitch=-0.0624 left_roll=-0.1324 left_gripper=0.998 right_x=0.4541 right_y=0.3103 right_z=0.0402 right_yaw=0.7275 right_pitch=0.6172 right_roll=-0.0442 right_gripper=0.5959\nstate[joint_eff]: [-0.1709, -1.7436, 6.9812, 1.663, -0.022, -0.0806, -0.0122, -0.1026, -5.2444, 2.441, 1.7558, -0.0122, 0.0708, 0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.0124, 0.8612, 0.7136, -0.5434, 0.0479, -0.1482, 0.998, 0.5262, 1.7466, 0.6159, 0.503, -0.0879, -0.1066, 0.651]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1786 left_yaw=0.0407 left_pitch=-0.1259 left_roll=-0.1382 left_gripper=0.998 right_x=0.3571 right_y=0.2295 right_z=0.0315 right_yaw=0.6507 right_pitch=-0.0658 right_roll=-0.0346 right_gripper=0.651\nstate[joint_eff]: [-0.4034, -1.7436, 10.4684, 1.6142, -0.1099, -0.0611, -0.0122, 0.8, -7.4872, 6.7214, 1.8388, -0.1392, -0.0708, 0.0855]",
      "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]: [0.0124, 0.8661, 0.7166, -0.5507, 0.0345, -0.1551, 0.998, 0.5461, 1.9068, 0.6338, 0.6472, -0.0834, -0.1043, 0.6511]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1772 left_yaw=0.0558 left_pitch=-0.1352 left_roll=-0.1345 left_gripper=0.998 right_x=0.363 right_y=0.242 right_z=0.0006 right_yaw=0.6654 right_pitch=-0.0642 right_roll=-0.0357 right_gripper=0.6511\nstate[joint_eff]: [-0.0889, -1.6889, 6.7624, 1.7411, 0.105, 0.0317, -0.0122, 0.9778, -6.5846, 4.0821, 1.0379, 0.0806, 0.0513, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0b2e7d243211be0a1ec1ed9d7cf85010401ac440d08b5e57824cd4bdcdd93c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056284400df39a3af5d8743f73a1217e609b1fe79c24ddf2e98550808d12f934",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10094b588dbc51fc7ce86219a3655186803ad05962de80e2dc2a711079aacc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips have reached table level and the pen is still centered between them. I’m closing without moving the arm so the barrel is not swept sideways.\"}",
  "call_id": "call_TEpeDtzbuO49qfzgwedBzjyg",
  "id": "fc_09a9d8c2e0e9b6a1016ab4740bde1087d0864710b80f902bb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TEpeDtzbuO49qfzgwedBzjyg",
  "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]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5522, 1.9221, 0.643, 0.6739, -0.0788, -0.0906, 0.0497]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3666 right_y=0.2464 right_z=0.0026 right_yaw=0.6602 right_pitch=-0.0439 right_roll=-0.0294 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -1.5795, 7.2274, 1.6337, -0.0562, -0.0611, -0.0122, 0.4308, -6.4342, 4.6838, 1.663, 0.1197, -0.022, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5754e43ab29bb32aaa19f2ea95ddfef7bb5a0184ddbecd7a5c619ae834d644f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430bf417481db29aeeca5e730fab9f2eba5d8c4137ba861d6494e1e8bd6602ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd871f892c2a6f52c8d007bb703a5a17e78d119fe0909c250ab456c90fe657c",
      "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 · 3.028 s

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

message 58 changed as sent

message 66 changed as sent

message 69 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]: [0.036, 0.831, 0.6868, -0.4961, 0.057, -0.1326, 0.998, 0.3305, 0.8871, 0.5797, -0.2291, 0.2707, 0.1051, 0.6988]\nstate[eef_state]: left_x=0.2909 left_y=0.004 left_z=0.1841 left_yaw=0.0481 left_pitch=-0.0742 left_roll=-0.1326 left_gripper=0.998 right_x=0.3089 right_y=0.0599 right_z=0.177 right_yaw=0.0393 right_pitch=0.0439 right_roll=-0.0447 right_gripper=0.6988\nstate[joint_eff]: [-0.0889, -1.7299, 6.9675, 1.7118, -0.0562, -0.0659, -0.0122, -0.4718, -2.5915, 9.388, 1.9219, 0.1587, 0.1636, -0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.0124, 0.8661, 0.7166, -0.5507, 0.0345, -0.1551, 0.998, 0.5461, 1.9068, 0.6338, 0.6472, -0.0834, -0.1043, 0.6511]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1772 left_yaw=0.0558 left_pitch=-0.1352 left_roll=-0.1345 left_gripper=0.998 right_x=0.363 right_y=0.242 right_z=0.0006 right_yaw=0.6654 right_pitch=-0.0642 right_roll=-0.0357 right_gripper=0.6511\nstate[joint_eff]: [-0.0889, -1.6889, 6.7624, 1.7411, 0.105, 0.0317, -0.0122, 0.9778, -6.5846, 4.0821, 1.0379, 0.0806, 0.0513, -0.0024]\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 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5522, 1.9221, 0.643, 0.6739, -0.0788, -0.0906, 0.0497]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3666 right_y=0.2464 right_z=0.0026 right_yaw=0.6602 right_pitch=-0.0439 right_roll=-0.0294 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -1.5795, 7.2274, 1.6337, -0.0562, -0.0611, -0.0122, 0.4308, -6.4342, 4.6838, 1.663, 0.1197, -0.022, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5754e43ab29bb32aaa19f2ea95ddfef7bb5a0184ddbecd7a5c619ae834d644f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430bf417481db29aeeca5e730fab9f2eba5d8c4137ba861d6494e1e8bd6602ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd871f892c2a6f52c8d007bb703a5a17e78d119fe0909c250ab456c90fe657c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQQgw6Gsn27vOgW457wb1Iy6KsefycA4FgIFsSIM0eVj0lp0kXeSKmFg5t1FqzcO_r9VEdxNfSHG2rmAhG-Ht0il201yFG6riyU06IhGMZ8Sat94IbRSC3mqkhHoPV8MJFkfcDmR3pnVlgeQHQKhIzwuMDEk6hBL6kolkaT7ndoPKuxH0gbx608xgsQ6k4RtnRPVKzFvhaDCplaPStGoP_8RpdSxj-Hon23NfhLr1OkpBql8-EMx4kJn5eiduiE0beWWlK_DLHV9MA-twHeK9CYku-517Xj6BhXu1nkZK8ld_W5EqtiwbCHBPE_CtKtl3a2aKl8r0pw65Hizm4jAdW2oBBE4561TWP2IyYUoW957g-0WdlORcqxwVZ-lorOz4QDB6M-gJkaMn34N-3C8EuKFfCqcPa9XhIv1yIcD6ngSGm__BeX22qKqvv2D8VMbEj1jt9hCLAVN2cn_Nw1IO9IxUIm1aJfwx09nJPoGPGHC5n-WiFTh9yrGnoIK9tjiswgzo_-I2QJkROGuwsKot-TGjOOT5b5QfccKuPkVSziPevoG9AMRIxeVOwBWYq4rI5h91iO2p3jAsX-_eAns8MmWwZTQQQ8g6_td6D0gy6QyhV1gmBQKtNOdMmvKCtNB-a1z9EL5tQnIFn46xPyfU21SetFA7QN4f_n8I1MVRy6KNH-OXX5GcXfv3RCy_U_OizIo3Pmo49TqLHR6_7ZscQSYPxnRR0rfsnhHk5Eo0qLqozOla8ONVlmQo68V5TG_H7hm5sRjhYeyIfZcxwUgrkuRRN2WNXp1RNq1f9XqxklNAB1DsKcv3OdVLkLIDZu-c4EOKmy5YcetJOlm4kz0RSKQt2gvq46JVId0RJfTvbWMmgx0YE79G36j0dFm98rFAL4MS3CJXyuxPD3DENF-jljUbZPpcoU0HtxBKuZo-5qlKZaY_KdgFBov7Bi3uRwuc88FuO5UP7Yz2cDlCiyI4Ew0W5QdowsAF5eyjkVVmWSI2QTypDRXGRWQR1fmPYFqTsN0XFGY4WUEpProGFbOE-_yU1vc7Q4wT-iAjoRn0wEEFsSS3Na0HuQZH4kq4VvFZ4D64UYMCOmo05kkAEdsI5qkD63ehDtcLWKu2mlrF_whdcUjwav3bbQv7ElIQjZvP39sozyU27tUu6c-5eGQylckW6-B4b_ayk4H57IpK3ppHsUpWXuxRP1-oxgT4MvxKGzAraY0XDHyOWul88ocPv70SxF4Jvj_sj62NTwEWdiyi3C4FSGm4MUMDNQ4_ShoxhCmh6ZpFTQeRsSEq5ro-uoa6uA1YmnC2h9WH9tPdZDM-3noZIbyNrh1qXcBaA5XzEi",
  "id": "rs_09a9d8c2e0e9b6a1016ab4740e92f887d0becff983e8fa212f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The jaws stopped at about five millimeters, consistent with the pen’s thin barrel. I’m lifting a short distance to check that the pen comes up with them.\"}",
  "call_id": "call_2H3zv2tc4DzUkNLtMlQgWXmk",
  "id": "fc_09a9d8c2e0e9b6a1016ab4740f190c87d0ac7f56d6d9b40ed5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2H3zv2tc4DzUkNLtMlQgWXmk",
  "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]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5514, 1.8538, 0.6724, 0.5648, -0.0811, -0.0906, 0.055]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3681 right_y=0.2474 right_z=0.0194 right_yaw=0.6615 right_pitch=-0.0551 right_roll=-0.0268 right_gripper=0.055\nstate[joint_eff]: [-0.2667, -1.3744, 6.8718, 1.5849, -0.0464, -0.0659, -0.0122, -0.294, -12.4786, 8.5949, 2.1807, -0.0024, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02b0513f8e6849e6dee39bdb04ec2e909d478f8d04343933205eea5b73f8f27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a630947da5217738583630215457e745dc65dcf421bb4f15de3fd4f723d350",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd442fa11cce43447f8a61a843fbae8d5eaafb1961477eb5b517c47f6230952",
      "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 · 11 s

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

message 62 changed as sent

message 69 changed as sent

message 73 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]: [0.0124, 0.8612, 0.7136, -0.5434, 0.0479, -0.1482, 0.998, 0.5262, 1.7466, 0.6159, 0.503, -0.0879, -0.1066, 0.651]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1786 left_yaw=0.0407 left_pitch=-0.1259 left_roll=-0.1382 left_gripper=0.998 right_x=0.3571 right_y=0.2295 right_z=0.0315 right_yaw=0.6507 right_pitch=-0.0658 right_roll=-0.0346 right_gripper=0.651\nstate[joint_eff]: [-0.4034, -1.7436, 10.4684, 1.6142, -0.1099, -0.0611, -0.0122, 0.8, -7.4872, 6.7214, 1.8388, -0.1392, -0.0708, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5522, 1.9221, 0.643, 0.6739, -0.0788, -0.0906, 0.0497]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3666 right_y=0.2464 right_z=0.0026 right_yaw=0.6602 right_pitch=-0.0439 right_roll=-0.0294 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -1.5795, 7.2274, 1.6337, -0.0562, -0.0611, -0.0122, 0.4308, -6.4342, 4.6838, 1.663, 0.1197, -0.022, 1.1697]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5514, 1.8538, 0.6724, 0.5648, -0.0811, -0.0906, 0.055]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3681 right_y=0.2474 right_z=0.0194 right_yaw=0.6615 right_pitch=-0.0551 right_roll=-0.0268 right_gripper=0.055\nstate[joint_eff]: [-0.2667, -1.3744, 6.8718, 1.5849, -0.0464, -0.0659, -0.0122, -0.294, -12.4786, 8.5949, 2.1807, -0.0024, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02b0513f8e6849e6dee39bdb04ec2e909d478f8d04343933205eea5b73f8f27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a630947da5217738583630215457e745dc65dcf421bb4f15de3fd4f723d350",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd442fa11cce43447f8a61a843fbae8d5eaafb1961477eb5b517c47f6230952",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQTniTDevZ97rnO4cXZE6zTbfxJnsFT10E7yTofMfRxhFV79BA_il9-fA5IszoHh2MFpG0_f_XRQcd6r7NNBMuW4l67JfECekmrsEL1DSnLNt_ynBsm35lioyAp5jZtju8gU5w0yEo2jG5uUD2AE9sXfsOYvjtl7HvQHt9N_3vu3e38laTVRjqC-vklydllTe1VPOxUAIgj367ciIlJlvLntikCRZU4mCbMc53IpAQQwLCDv628T01a_ne0iKYMlmYPDtbHdB_AoW7EFWTG3vIJqZjts45t61CtXuv9MtxcGl6Hyc42iszPE6mocuY9088UdcOG8AgtHETXztKmdVw790ILEzd3fnfaCfAAfE18wHqGdc4GDNtRpbCY_LQeDNgDGbAuKcxV0yRIxsQJ44Nz7tGGlVoSzZaSPnPG_Ef07pEGQGF9ugD0hqCDbXA2M4BKpBz-qkAkvoHW-Y7aB7O3oyPuEx0NUJ20gLDPGnz4x40IBX9hRNX2LOsBFcBEJcxvh13tM29ldgArafWAWhMNQMYubwYQNixa_8qJwJykQDVo67snkQnO2rCKB6WG4s7g5NJPN8NIMgDp5dHhFKQDOl6wA21mJ0FdmR1LouJGVPtr4cgS1ySgRdS6Q9aliIVxulHa6NShlhXwBUBPkt5nSg6jOH-bbnGZs9SVyKbLKp10lByVatfUbj4Zm4-_WYvCLqokDNeXHLQeiGF1CX-102NlzUDiG1fw_p0PBvNgupyp98LjIH-EholP4eeSUFOlgo18UO0Y8WWvT6b8EH84x6Sd6Gsx9svV4feOSuha9rrLDmDUdgB5bDV6aWqUNXdDlQ40ps8sPZLXVvsBY_7Aw45VuFEC4YnGZDOaMYqcvSeh77SJT6euVqJ7_dPVZutU7aW0R_5E7NoI80fve7OIZjQLc4GyiXCkY8z80ud-EFyhmjKBfbcRECuo4J4b92dVqzKDXrGUbZk62666Dk5kNHkevkM0A6_dFX2BccT4_hMr4DLLE0sUWdTDmt8gPDr9Ojwps63koBzcNlK614JIZKfOG9fVBUspwiAlBKzukzCfMpTPoQ0v_Eva7ks4bm4T_F1UjnVyVuweLG2wf7RR0-HtCKzADrQJyQ9V9HqtZPHLq-5JePQE3xZdcU0idzyDAN1IOE2Dfqz3R4ooPe-OzvI9_bxF2WJ0csns4Rw9K1J6BnJl6xVMmbREJsI1souT8rtNJryiUmR2A0yXMKctiEP8bt9vUIJB7QaDqLAA5jGMLOZCPa1IXkINGKVDIXf_kjZsg9PSDvGInfLYc-PCOhwRDrpdwiKst_wI4Rn1Hi7jyOyfq4p4Ay0Htkt1iT_i",
  "id": "rs_09a9d8c2e0e9b6a1016ab47411c92487d09fc344aaf2ddfe50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.23,\"right_z\":0.17},\"note\":\"The pen remains fixed relative to the jaws, though the arm lifted less than requested. I’m shortening the reach and raising it to carrying height, which should also expose the cap.\"}",
  "call_id": "call_wZPg2l6NnPligpT8nKgP1MzO",
  "id": "fc_09a9d8c2e0e9b6a1016ab474126ef087d09e6000ac1074b303",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wZPg2l6NnPligpT8nKgP1MzO",
  "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]: [0.0124, 0.8707, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5751, 1.3388, 0.8055, -0.0822, -0.0711, -0.0898, 0.055]\nstate[eef_state]: left_x=0.2885 left_y=0.0012 left_z=0.1747 left_yaw=0.0567 left_pitch=-0.1444 left_roll=-0.1339 left_gripper=0.998 right_x=0.3286 right_y=0.2322 right_z=0.154 right_yaw=0.6763 right_pitch=-0.0545 right_roll=-0.032 right_gripper=0.055\nstate[joint_eff]: [-0.3214, -1.8803, 6.8855, 1.6923, -0.0415, -0.0611, -0.0122, 0.4855, -6.9402, 9.1966, 1.6972, 0.1148, 0.1294, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c357fea360b5c2c78b46b624e2d4f606f5798210359f6fd58e0e602f9aec6677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e502060a5f4441627395c4bfcaadbacaac1a08f678ecc2146d44413c21cf17d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8c18446204d0f299907f38e947ddabae7f826947a990f6b3432e8b11447a14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.257 s

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

message 66 changed as sent

message 73 changed as sent

message 77 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]: [0.0124, 0.8661, 0.7166, -0.5507, 0.0345, -0.1551, 0.998, 0.5461, 1.9068, 0.6338, 0.6472, -0.0834, -0.1043, 0.6511]\nstate[eef_state]: left_x=0.2889 left_y=0.0011 left_z=0.1772 left_yaw=0.0558 left_pitch=-0.1352 left_roll=-0.1345 left_gripper=0.998 right_x=0.363 right_y=0.242 right_z=0.0006 right_yaw=0.6654 right_pitch=-0.0642 right_roll=-0.0357 right_gripper=0.6511\nstate[joint_eff]: [-0.0889, -1.6889, 6.7624, 1.7411, 0.105, 0.0317, -0.0122, 0.9778, -6.5846, 4.0821, 1.0379, 0.0806, 0.0513, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5514, 1.8538, 0.6724, 0.5648, -0.0811, -0.0906, 0.055]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3681 right_y=0.2474 right_z=0.0194 right_yaw=0.6615 right_pitch=-0.0551 right_roll=-0.0268 right_gripper=0.055\nstate[joint_eff]: [-0.2667, -1.3744, 6.8718, 1.5849, -0.0464, -0.0659, -0.0122, -0.294, -12.4786, 8.5949, 2.1807, -0.0024, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8707, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5751, 1.3388, 0.8055, -0.0822, -0.0711, -0.0898, 0.055]\nstate[eef_state]: left_x=0.2885 left_y=0.0012 left_z=0.1747 left_yaw=0.0567 left_pitch=-0.1444 left_roll=-0.1339 left_gripper=0.998 right_x=0.3286 right_y=0.2322 right_z=0.154 right_yaw=0.6763 right_pitch=-0.0545 right_roll=-0.032 right_gripper=0.055\nstate[joint_eff]: [-0.3214, -1.8803, 6.8855, 1.6923, -0.0415, -0.0611, -0.0122, 0.4855, -6.9402, 9.1966, 1.6972, 0.1148, 0.1294, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c357fea360b5c2c78b46b624e2d4f606f5798210359f6fd58e0e602f9aec6677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e502060a5f4441627395c4bfcaadbacaac1a08f678ecc2146d44413c21cf17d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8c18446204d0f299907f38e947ddabae7f826947a990f6b3432e8b11447a14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQfrCo7S06RwreDP-qoBsFhJ_Mzp8HB6znOHq2Hfym5utLQn9RSoo4ngFPMMjkoWGosIdLt8Nri7w53Ww4nTI_4wsPTP_jHlzx9IN6-b601tf9hQGhQsg9VUZQsKL2gLl55wwcDPzGl17JkxO9Jl9eFGvYaLuRYXkbsXFJ8OzsIEuFn-3tepZIac4FrYD66DxZinlPL4MAt5Ie-L1nBck3fRzhsjPET5mk311sacuvB6yJFZ9QKQo5yX2-jP5bET_XNlnREm4IsLdIsxg4fw8wMWAkW4rOhJdnV-oqWvOy39ea6UEwI7oxDNLs5K8lBUxSX69g7qB39vEfM2SJaKllaOxF459fM6FBmqXN2IqqhbZ-jJMa2rA4IsV1BGkDV_ff3Dm6NJpK6MTzFT3MlE-78lZWok2hzePcN3xOSEXws6VInwRLOVceqFk73q_1gdnQRIsBUAgwrJMZ7WhGMs4qyQyn1V-pTq3S7rwhKgb02jZwdpEoXsjgJaIaj2QeDjXnPWLQIc3Mb4pODgv3uugCiEGnIXCoUhEXa-3eEQ7BK63FdDWR94JxRdAmp47yElPlGnCe-F-8_-40Qe4H2qRDk9vzzcaix2lQLKUUMN_rmh0yT8T2gT0uIk5XaUrRj6z9GegTQBmsh6t4pWMapnFbLm_fBUzRGgIMvC7_1NbUX9ptZ7G7VfmurnkIBNsLXpCgXuiDtPqky8d_Q0m1ssBSykiSlGpy7kihzUX7qjRTvMr8rYnFWWK-rLkWI6yn3MgKPLl6rUq7_vuFg5-Cuc6mb4j9LWpB0dty-ThWdGybJ6MYLRpP5VYY_AXRmndQnOoJoSRaaAjUzpy95CzXQdZhnYlf1EeKKbWry2MBNo8PvUgJsTbo0otFQ-mVdlTJ06eJ6VBe97jJMegrE-Anyee6xG1eJ44IvugdEiBQWp1AgjgH1ZS0LxOxwqTD9Urn5U7SO28xFoSR_RNqY_w7MtnfkLCPmqzAeC9o6btKz60ps98bgDugBM4Ko29KYtAjv_Ceq3vean7nWE8v4P1TluKuT82_Kqw4Qi7uWvteQwXkLYuWcW589c-RfFZvA5Ewjmvq8RZd7CaRjCOGnmFSvVJdKLOwjZWEY3eJimGDzKkheVv9Ud4h2LB0LLIkeFR5gjyVfkxmhEazmvJaU8X1ntkUHj6i74UJgMAAXOi8KMb8gjkzJMdLDfOlL-5cmllODiLWjGUm6bT41zmejhEseP_TnDq1JmvV1Kt2MU-6nCb1lYtTcrC4N6bh8nwEjBGFcl4XS07f4mbjQCUkGBrOmnHMShT7mFjsgwZRG0EsfDjcd6JqJUCGVP987x-UkrhfuylAzl5--MSPG1yByS_QIUBE37FmR2urpZhJJ0Y_qnY5alA3Yjhs5Ih7DrliYp9JrhtXjNMy-dGI1wCp2M0WESmXNdWz3WK2TTBPfUZZ3UrCbvFrc9I95ZOibCpC9bG2anoWbo8Vp48m3q_9HzDPVzttAi3ddpwJ9Q3oe2jSoCgYM5C_pqoy9PjxaQ0J3gwuyzUflPXW3dDjCftNCKSMhp_nuc7F0r24Yqf4VC99kECccCxWT6L77e5nKbNfO7wZ4vaMDjUKkHGy3ci8RlFg2ZEED__-Ij51HZ5E8TNaXuDXPJE7fFiFkl_oBli9YV0w0QgEhGv-hwrbMC45On5SdlMsfPR1pcN3jW4EtIw9NNC0mzs91fjsVx0XWksGscxN6LLflTKMnqHiFOtG67_yl0BPy_Ga9bmF5MdU4OwSOId6JDFFoflB9cQAM5VeSn9Dov4E5z5gqLCA0gstsi-6FMIp2yhZSTziSsHr5baZoE2tnfY8Q1q_xGxJosovQgqxxhLFjFMNVZ7jHgdH2Ulu2vU9iLCWralr6O8kr2wcBLsdUFqAA8Bhon-wz8C6OR0MrW9OfcvCox1d9zUwauehkMXfSWu5fpgwsaxTtf1Zt0vEUmTtRhedCMB1qmddZK-3k_j7z0QMf2MLWgNTh3CUAi-J-BhnR8B6ryywqXQLRTXJnQqdE09kYgAGI_7n0aX-N0QGb2ajEgECGgu3hGpMAxJlYXKhVOxZ0YneruDed4QHXZ3Gbrui4CePCHyiDVe9rRdQnT5jJlXelS0KRk6ThQuTxrnyJqJtMyEhYrxkBxZzZsBOjc5LLjdjwoCtAT2BeU_ObWutrrOiwC09afYYdqpnLvPN3V5grE1HeB6Vko2vqhrrvJVS-TW1i4klNRR9ymq6t6_myFfq1AvjpvOKSa_ZPDM3OBT3uS1eLtnOkSJlSGSLf6MPmpMDUO4maiLyHHmsUT5vPlycxnmCNm9OMvjBcPwOQSeLWclDzMEqFjh_mAMfrzJ5BGdG9vPtvReDm_kr2UvSkpY_0wjjwuefRtg-WjE-hXOvVB5sq9APBqntWjFsvkK2zHWG--EfRp0WXL2kCS9jUEN9SxCjZZiDmqoajtnnp7c5Qbxg6NU6g9DGFJtH0WiKmT0TXGEw5WdY6VAekyPRoPgoSZWuughAJw2tCaKKKeZdtKEta5hEXJ-AoH9s_1A_LaiP5zINwV9CoxkuAhaJuZryiSfFzdKSdzlmEYf9VvbaX7wH7sZCnZ9g_m90QS2MZDMi6drkmnIDST09zavARYU0UdeLUAlfCGTix4BZEi4XiM2I8L4pUWms7tbSv4KBYuQY6Sil9HPSMQhD4Zc6QeJf9knmt46NvCFXjF35_fOKzAsOy8uKlb6PEtKC7L9jTlT8JOgjskwnpOgze-w_2it8vENNKgzKZX4B2jKeub1OnaPeRm3DhXgAq7dBbL8yh6YNgGHJ4yoTcdbY7qEHBiXZ5XdSfHYNY-qrlzgufJ9YQQ4xaaOJoV7FNZyaa6rODG2yn1V45YgfLBJyw_W_VSIj_wQvIawnjqvFjcXB0XSZnsmR_IqC_LXYOdd4EmpCZJWBaGox9hQ6p1z-cPO6VNmylvuUhFvBp4jgoEjX8f-UNLXMzATd5IPoVOoUpWeZ3ahtNXyBLMh5Ty5zkp_hdCwcypD4ME5sV96yS7VT6oTmlGFK6akBVBnpEwWZ0LxktP5GUBo6lMa3qmeuyrE-WKtafoGqSoi1cnVYKFmBh5K8IibgMJbhAocnB6-Ga9x_vnAABbCE1iDx7Dh7hbW7F5Xjug3T2KqNaKLrTF19FrQ26ylRNc0q-eY6j3RBj7yx_CxWWQHP41FkyGCGjILaKvSVtqdAOw5jaX9-XpyDXOCSK23QvDwOXh-3S7z4Lvc_FFqD1ltjyhJxlBpN2c41L1uqATJS_17r0hUr4k5OFI2sw-eVcexEEkT3K8aC7i2TgDPo46ZGABhSw22bqCwH0qbECnunfqEyVXe1E2bAmWLoRLOMvnL2XDaOaof9tp92AFSKVOXqUde0Nb0RibRqz41Ybt4pCwxPZWBwdnhXktts8YZ3m4LZe5o0LZ7N1glZy2gq27wtvkVmI_nVNBBlgmGE6896DPs1oeu3H4XSlVDNxja8EdhZvfI8Nsy7PmE0FyEb3LLTgyiJaTwUizG9owTBrv2QBxuv2e1yatG3WqaHp8bE_1bvSlGTYqJpVaPZ0mUL16tVnnF-RrnQj9Po1_GQHYL5-S6RtIWE7Jo9k_hgnQGIDRgu_vijePKMrezwOA1rz9ZihmhqvDxF1-6hOdZJnkIw9SJm3x60y_oqbbrNTxEfWtVqk1WXzvotXVoB8dLMrVsCOEuQgLWYCpcSwB6T_Zf9L1jW19zAkOfEOfLGKjXypk_1a3se5CQ68VTPvgeQfSUcmBq_J_Oji",
  "id": "rs_09a9d8c2e0e9b6a1016ab47415d8c887d085fca94362c32264",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.33,\"left_z\":0.065,\"left_yaw\":-0.75,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.55,\"right_x\":0.3,\"right_y\":0.12,\"right_z\":0.2},\"note\":\"The pen is securely lifted, with its writing tip projecting beyond the right jaws. I’m moving it clear and bringing the left gripper over the cap’s new position.\"}",
  "call_id": "call_wLFn2WWBjZNToMPYOxc6ZuGm",
  "id": "fc_09a9d8c2e0e9b6a1016ab4741de00087d0a7828d3168a095f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wLFn2WWBjZNToMPYOxc6ZuGm",
  "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]: [-0.746, 1.8378, 0.8356, 0.3405, -0.0391, -0.0525, 0.5513, 0.1566, 1.042, 0.7776, -0.4618, -0.3874, -0.3332, 0.0605]\nstate[eef_state]: left_x=0.35 left_y=-0.3091 left_z=0.0412 left_yaw=-0.6959 left_pitch=-0.0911 left_roll=-0.0096 left_gripper=0.5513 right_x=0.299 right_y=0.1184 right_z=0.1789 right_yaw=0.6543 right_pitch=-0.1028 right_roll=-0.0075 right_gripper=0.0605\nstate[joint_eff]: [-0.3487, -8.8821, 8.5538, 1.9902, 0.2564, 0.1587, 0.0708, -0.4171, -4.4376, 10.1538, 1.6777, -0.3883, -0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5501fe256a17dd05d9746c22e47ecd758670ece644308c65d72bc8221eabae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee26a7edc25fa30397902c5f97e7e8395548aecd34f1594af49926fa987b1fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742ef3461cd1b112cfcfbef95e8cf275b48f031e5c5ab3fb189e88c55929cff0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.211 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5522, 1.9221, 0.643, 0.6739, -0.0788, -0.0906, 0.0497]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3666 right_y=0.2464 right_z=0.0026 right_yaw=0.6602 right_pitch=-0.0439 right_roll=-0.0294 right_gripper=0.0497\nstate[joint_eff]: [-0.1026, -1.5795, 7.2274, 1.6337, -0.0562, -0.0611, -0.0122, 0.4308, -6.4342, 4.6838, 1.663, 0.1197, -0.022, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8707, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5751, 1.3388, 0.8055, -0.0822, -0.0711, -0.0898, 0.055]\nstate[eef_state]: left_x=0.2885 left_y=0.0012 left_z=0.1747 left_yaw=0.0567 left_pitch=-0.1444 left_roll=-0.1339 left_gripper=0.998 right_x=0.3286 right_y=0.2322 right_z=0.154 right_yaw=0.6763 right_pitch=-0.0545 right_roll=-0.032 right_gripper=0.055\nstate[joint_eff]: [-0.3214, -1.8803, 6.8855, 1.6923, -0.0415, -0.0611, -0.0122, 0.4855, -6.9402, 9.1966, 1.6972, 0.1148, 0.1294, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.746, 1.8378, 0.8356, 0.3405, -0.0391, -0.0525, 0.5513, 0.1566, 1.042, 0.7776, -0.4618, -0.3874, -0.3332, 0.0605]\nstate[eef_state]: left_x=0.35 left_y=-0.3091 left_z=0.0412 left_yaw=-0.6959 left_pitch=-0.0911 left_roll=-0.0096 left_gripper=0.5513 right_x=0.299 right_y=0.1184 right_z=0.1789 right_yaw=0.6543 right_pitch=-0.1028 right_roll=-0.0075 right_gripper=0.0605\nstate[joint_eff]: [-0.3487, -8.8821, 8.5538, 1.9902, 0.2564, 0.1587, 0.0708, -0.4171, -4.4376, 10.1538, 1.6777, -0.3883, -0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5501fe256a17dd05d9746c22e47ecd758670ece644308c65d72bc8221eabae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee26a7edc25fa30397902c5f97e7e8395548aecd34f1594af49926fa987b1fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742ef3461cd1b112cfcfbef95e8cf275b48f031e5c5ab3fb189e88c55929cff0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQm5TzDYXL4czQAsBa9eodTBYo5JxoTC9BZvN9rgaMtn6lc_0Z29CW7rAxbHaFx8Ucv3FYMvBb_FSqIrqC_3p8k9oh3OMgSFnj7IAytpag8cizxGd1h_OoTZM_NyeL4w1n0KelGGSnWaueL4omZ6lrKoVXHZ2FvQ8adpznrwV2sEOuwT3SmodWwZ6e1pREi3Rrb0uvlfYQD7Ax91sfsLcz3Bvod_c6qHau0eQYlhaM5E71vtU_x6VoJVsgr7MinLZ3A99wFqMNI3aCloxfiJ0G-31jSB4YJ4y1A5MtVu3exwM7Xz9ESswZvcZSZMfLR5a-3kpJaDxTHfA-WlGFt1TCYaKktXInU3x2999jFgGH3DQwBYZUiQZfcAn8z_eUJxMOJEzO-NGlzLVg-X0Hjh9YRUgkgLsWOWjFW-NvDDjnvKH536LzB85wEoVbQD7A_PBPJc6N7nLkVNrVUwJ9WnZv8Gfl53E2R-HGVqx56lPNGVjDZ5LtAdIxuw4JFvd3b_1IsTVWvy9Boj6Og2siOV_JuHssiIDyLHlwnvPZiWnuNU8dhPYXvJjx3aHmYtGohbnPfYawsLI0k8R_QJ1_TADp2XnV0XdB7TS7LsgPuQcjQa1_5uvLE2gZbEWxNT9W_la3eLgIjmeSqb2x1PKtbpLexBqRrS7lwkuxFv8haekt4TSIWZlsdRbcahcMexbJHLYF94_wTJI9qcgjpnOU2KbjFwjCZ7qL4u2QAdzEOIsc7R0RXfh8GHWl-xU0ZVf3kK69UiSFbw0Yt5cg5qxxAQmuHXFuLNj8vyiZ6uTz6s0bpNy-C-OtY85w0B4QPLa6Qd-syaTWKVZLWrCIpcmYsMRFkdbL-Gh7_nkb52YUWLupymAREUGTywlIZ4us1xVzjLPHiIKpkA-at-mlaMiknxfZBzYu-fJSa9fJ4f0B5yAumyrYdffRTG9oc_IDAzhXPIMqGEp9299Sr2TUT1a-4z2k4X2zMDYQ3N9TfifHSKM6JH6eBW9toLJ4jnX1LlkfieSunqCwcoesNKpxz0IIg8GTWN96U0ITldu_K37zc5v84AaIwor3W6wXvUfeDdLR7ebRg-C0BDVu76TcZMTWBJcKLdhf97y2E6S-ebXaRoHYvUBF71uyubbME0526Rv3xwnxp_c7j2brydw21wl1T1GpzD-nKUk4pSSGu8RaeIOLkYbb4lTM_HjBvyAAe0IMjtHLtQSZry-_Dl_T1-8VxbvWy6nPNrgvgGv0UGtsFdctoQTdoJVABmZUIycvmaAjA7MXb450E5Hr2Z7lbWQ-z8yHCquBwm2VXUhJGx314Di-z6W5RQUPEMaWzvKDSdop_f3GY9dD1qgO-nHH3Y2y5G2TqA8-QoovQwxVna6HSYzJMmUObZFyEnOA5jvPTQA-aLeD-LRhy43Pqhhj_Cags_lcv_tpDKbWuFDdUOyEz-2Zzw9nWLU4TeumxQZwhdfbRFAcGODhDblwHgzSQTkkSthBfZwZ1QruGgIjzrr2_-PVYgr4Mvisej7Rqmj8DuneL0coaUWX3p4_F0prq1m_f0NgfaWAOE4wz9TZg3qTVP6hNywZdndUmKMIRq2rc7YtWMSOtaAnyIBgTTYZ_jAovMKoSEQ==",
  "id": "rs_09a9d8c2e0e9b6a1016ab47423f3dc87d0ae6e2d7e3981eaf6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.33,\"left_z\":-0.003,\"left_yaw\":-0.75},\"note\":\"The cap’s body is aligned with the left jaw column, with its narrow clip projecting forward. I’m lowering the open jaws around the body at table level.\"}",
  "call_id": "call_4azQ1HRXoD5SRsIggrCRcISk",
  "id": "fc_09a9d8c2e0e9b6a1016ab47425889887d0b708b9a348f34107",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4azQ1HRXoD5SRsIggrCRcISk",
  "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]: [-0.7471, 2.001, 0.8619, 0.4706, -0.0273, -0.0341, 0.5513, 0.1528, 1.0428, 0.7773, -0.4648, -0.3935, -0.3458, 0.0605]\nstate[eef_state]: left_x=0.3584 left_y=-0.3206 left_z=0.0018 left_yaw=-0.7169 left_pitch=-0.0983 left_roll=-0.0022 left_gripper=0.5513 right_x=0.2985 right_y=0.1181 right_z=0.1782 right_yaw=0.6623 right_pitch=-0.1045 right_roll=-0.0119 right_gripper=0.0605\nstate[joint_eff]: [-0.212, -7.9111, 5.4359, 0.7057, 0.315, 0.1343, 0.0024, 0.2393, -2.8513, 7.0085, 1.619, -0.1734, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ae64788bfe8b954f94b71743280f497226128bd152bb19fc93d0e6a7e0e317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85abdd4abe1a47fe3d20c62659a350b853118e55efde486641c8cf71b3409173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5152019c5734226abce702075a8cea087692349b2fe566299ed9a7047bd6047",
      "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 · 5.336 s

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

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8661, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5514, 1.8538, 0.6724, 0.5648, -0.0811, -0.0906, 0.055]\nstate[eef_state]: left_x=0.2882 left_y=0.0012 left_z=0.1759 left_yaw=0.0567 left_pitch=-0.1398 left_roll=-0.1341 left_gripper=0.998 right_x=0.3681 right_y=0.2474 right_z=0.0194 right_yaw=0.6615 right_pitch=-0.0551 right_roll=-0.0268 right_gripper=0.055\nstate[joint_eff]: [-0.2667, -1.3744, 6.8718, 1.5849, -0.0464, -0.0659, -0.0122, -0.294, -12.4786, 8.5949, 2.1807, -0.0024, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.746, 1.8378, 0.8356, 0.3405, -0.0391, -0.0525, 0.5513, 0.1566, 1.042, 0.7776, -0.4618, -0.3874, -0.3332, 0.0605]\nstate[eef_state]: left_x=0.35 left_y=-0.3091 left_z=0.0412 left_yaw=-0.6959 left_pitch=-0.0911 left_roll=-0.0096 left_gripper=0.5513 right_x=0.299 right_y=0.1184 right_z=0.1789 right_yaw=0.6543 right_pitch=-0.1028 right_roll=-0.0075 right_gripper=0.0605\nstate[joint_eff]: [-0.3487, -8.8821, 8.5538, 1.9902, 0.2564, 0.1587, 0.0708, -0.4171, -4.4376, 10.1538, 1.6777, -0.3883, -0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.001, 0.8619, 0.4706, -0.0273, -0.0341, 0.5513, 0.1528, 1.0428, 0.7773, -0.4648, -0.3935, -0.3458, 0.0605]\nstate[eef_state]: left_x=0.3584 left_y=-0.3206 left_z=0.0018 left_yaw=-0.7169 left_pitch=-0.0983 left_roll=-0.0022 left_gripper=0.5513 right_x=0.2985 right_y=0.1181 right_z=0.1782 right_yaw=0.6623 right_pitch=-0.1045 right_roll=-0.0119 right_gripper=0.0605\nstate[joint_eff]: [-0.212, -7.9111, 5.4359, 0.7057, 0.315, 0.1343, 0.0024, 0.2393, -2.8513, 7.0085, 1.619, -0.1734, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ae64788bfe8b954f94b71743280f497226128bd152bb19fc93d0e6a7e0e317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85abdd4abe1a47fe3d20c62659a350b853118e55efde486641c8cf71b3409173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5152019c5734226abce702075a8cea087692349b2fe566299ed9a7047bd6047",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are at the table and the cap body is between them. I’m closing in place to avoid knocking it sideways.\"}",
  "call_id": "call_htB6STwzGEbDx5iKdBiJMsFU",
  "id": "fc_09a9d8c2e0e9b6a1016ab474283d1087d08ca6a5ed93b56596",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_htB6STwzGEbDx5iKdBiJMsFU",
  "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]: [-0.7467, 2.0178, 0.8783, 0.5098, -0.0185, -0.0349, 0.0101, 0.1528, 1.0428, 0.7773, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3647 left_y=-0.3282 left_z=0.0075 left_yaw=-0.7236 left_pitch=-0.0595 left_roll=-0.0091 left_gripper=0.0101 right_x=0.2985 right_y=0.1182 right_z=0.1782 right_yaw=0.6642 right_pitch=-0.1044 right_roll=-0.0141 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -8.1162, 6.065, 1.5507, 0.1245, 0.1294, 0.7302, -0.0889, -2.9333, 6.8855, 1.5507, -0.1587, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f02767b4ff317dc1bb676f8c38a2ba958e9d9f1b72a6c61cfbdcd153e99abbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5f79dacaabbcfe8230aad182dbc523436534e3965d98f5415d667879b98997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73dfe1ed8041b133fb91253f4adf8fbbf60a4980468d1c1d10e36d19abbcb4e",
      "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 · 5.29 s

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

message 77 changed as sent

message 85 changed as sent

message 88 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0124, 0.8707, 0.7151, -0.5537, 0.0338, -0.1555, 0.998, 0.5751, 1.3388, 0.8055, -0.0822, -0.0711, -0.0898, 0.055]\nstate[eef_state]: left_x=0.2885 left_y=0.0012 left_z=0.1747 left_yaw=0.0567 left_pitch=-0.1444 left_roll=-0.1339 left_gripper=0.998 right_x=0.3286 right_y=0.2322 right_z=0.154 right_yaw=0.6763 right_pitch=-0.0545 right_roll=-0.032 right_gripper=0.055\nstate[joint_eff]: [-0.3214, -1.8803, 6.8855, 1.6923, -0.0415, -0.0611, -0.0122, 0.4855, -6.9402, 9.1966, 1.6972, 0.1148, 0.1294, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.001, 0.8619, 0.4706, -0.0273, -0.0341, 0.5513, 0.1528, 1.0428, 0.7773, -0.4648, -0.3935, -0.3458, 0.0605]\nstate[eef_state]: left_x=0.3584 left_y=-0.3206 left_z=0.0018 left_yaw=-0.7169 left_pitch=-0.0983 left_roll=-0.0022 left_gripper=0.5513 right_x=0.2985 right_y=0.1181 right_z=0.1782 right_yaw=0.6623 right_pitch=-0.1045 right_roll=-0.0119 right_gripper=0.0605\nstate[joint_eff]: [-0.212, -7.9111, 5.4359, 0.7057, 0.315, 0.1343, 0.0024, 0.2393, -2.8513, 7.0085, 1.619, -0.1734, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.0178, 0.8783, 0.5098, -0.0185, -0.0349, 0.0101, 0.1528, 1.0428, 0.7773, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3647 left_y=-0.3282 left_z=0.0075 left_yaw=-0.7236 left_pitch=-0.0595 left_roll=-0.0091 left_gripper=0.0101 right_x=0.2985 right_y=0.1182 right_z=0.1782 right_yaw=0.6642 right_pitch=-0.1044 right_roll=-0.0141 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -8.1162, 6.065, 1.5507, 0.1245, 0.1294, 0.7302, -0.0889, -2.9333, 6.8855, 1.5507, -0.1587, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f02767b4ff317dc1bb676f8c38a2ba958e9d9f1b72a6c61cfbdcd153e99abbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5f79dacaabbcfe8230aad182dbc523436534e3965d98f5415d667879b98997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73dfe1ed8041b133fb91253f4adf8fbbf60a4980468d1c1d10e36d19abbcb4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQu2SWz6mhOBaQvq5FxYMJcVqs8uGyUtnwGhIwUFbDIkD1GcFw-2Q4L7V5x5Aqzabjj6ZjZnt225iwVX_zjzNHSVMNeA-AkhjtuMlHj9_Dj4eocikpmLKwGuyX1pdid7aS6lmG4WdgEuBiiWDIAGBs7Leb4V_VH2tuIfzcOFqHZ3M_3zLcI6Y9jPxdDirg-Q3JNkXEIOGaFDaJrKlFdS4RystAlO6kJDwSakRc1bUTgj47FF2Vvnye125_tdfBgNmXjbCtMASTFULoVI-5Rj0l4zbz6UWqTSVMVTcIHTPllMorzzW_dcoxQzoxj9Mdu9ro3qpoEFvXmWiVkW_Z5VmSKaxC-bhf2RECa7eeHKtjIzYjZYO8dOZdaVFq2QwUk8CSYs1sOx8rb5VxNbdIXgQtkzTyet3w-xXG-8JZIzDuqIwIOkrMm78fdkyFkZcHPps_8QlF-ghlNaWtlWx9Q7vIPfgTUp6Cs7UnqCx1bvjVEo5Pr2iVZcQMhrbAYychUjO96PKqoDERews8ohteTG0p32mNCMPCA3-4dz8yRSwDmlAeZNxPfhB6_yd9z7GYJD5qbWBIGSJPvRi8ntCUfwJQ8dCblXVqkjoJfXYwa_66VjzxnNrmJHG7R9qaAw3Pa1Fkwle1R764rOe0Kmg4huQvMAI8yD7AuWFd6BywMIvXa_TOqwsazEc0cYEVtJ8ZHSkoPcEmEbgh0ooG4LiTDL_3wo9Ltfq-E3cqxdUAjEDL_ryZNGUcMC4jfKIY6TSuhP_2B3Re3ypjvXs7KEi2MP0WgK7ELJ0BS2ETkxUMNG-QApRVRRZtTciPhAZmwdj1_6Q3Z_UAWfEaZ8eHaLwZgFKwI1vq2Rdt0xK1g63x4tvmQyo4s2vehdwqP9TcvBjGNLXPKAeyMpnYCpYXErj5ZiuXnKYTvjeEIqNdDPlR44ypjB36jrAeonVBhWTj-H-slfyWQiXy1B_sEiTccL8xuZlzX0QqF0Wz6EvzXHE0xiSAbsNlHSQCJzn5Z4p0msY_bnzaWu0f80Ucpu1wY5nhY4PlsVLC-t-O3IKEsDDAeeyaYA_hE24EGEKocVoBQ9SQ0GVC2xsE8wwTCVD5OHnxsu9wIPyz2zYt_ZgoOS4Ii4IuFqOOHURN5jrWN1wsuryBkaTQBI5aydzdx8Gzf0xlEBhuetsdJoVzRqkDEV6w-UZOdrRNWj7Iw9GP7qw06ZMP216VADlsUNcsuYNFsP1Kq4IQwt4mWH-g9MGIAZJIIpScXNPy_KnKgkvQWIkXcQHJBC-ty4iXiAHlI9VBicNFpX4Z4TBpXGzeeLvZeTCSxet6PH1Dk22jNNJ6Sg9vYE7EBiy-XV5iVTsNs9F39UlWxUCoP6C0kNsUgPNm3RUmtlQEfdS8USIOY-ZQQWZZIWK6RbWRkFd1i3EvyzVok-fygkij0Pu_AUMm6o8GRk83KeaYnFM1l1Ks2KklKgLfXUuTFUZAVfJe9NVs6fSoJm9Mlm3C-L0fU-B9LBxLVC9q948jOkvNWPFgw8cJmkkMH9X9SIEBCPJgbJXyH-JIYtzSx79qErfth-T8uwvawzrm77CTkmVX3g5ChmIkB-36Pd1C7fZrCSPCLjXTtfnexlnvPoVmK3fIZTCz6FY1QaN3Q1x83Lh6NTnb4ds_ZaOrWdtiRjrhJCbrgv4lHdLvFPGVR4zrXuU7d-3e1DDwdtAb4bq6sJ6iEFeDzcmFtPHX57zsjFwUnG5xGlP1_vAVLrW6zFcDLSuizxukNp0hHulIv-tOk9yFYD-0KTDSXTbnjengbS5CkeigXzCCbyRPB81yFRWPHkQhHTs6PR7nY2Nrh58R_0orPgmuWiBT8x7TC3TDHQvosnsR_xXfwnfrZuEkgHvnsvgTpj-MUjj_-PZkLr037ZIk=",
  "id": "rs_09a9d8c2e0e9b6a1016ab4742af83c87d0bd1d007d90622bb3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.333,\"left_z\":0.025,\"left_gripper\":0.5},\"note\":\"The cap close was empty; its body was slightly left and ahead of the jaw center. I’m reopening and moving a small distance onto the thicker body for a corrected attempt.\"}",
  "call_id": "call_Q3MqACIhOFioD8MxiEGojAlp",
  "id": "fc_09a9d8c2e0e9b6a1016ab4742d70c087d0b4e2836fe1c12901",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q3MqACIhOFioD8MxiEGojAlp",
  "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]: [-0.7471, 2.0235, 0.878, 0.5049, -0.0177, -0.0322, 0.4955, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3634 left_y=-0.3274 left_z=0.0037 left_yaw=-0.7261 left_pitch=-0.0706 left_roll=-0.0072 left_gripper=0.4955 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.2393, -8.212, 5.6547, 1.5897, 0.1197, 0.0464, -0.1783, -0.1846, -2.8103, 7.159, 1.5214, -0.1734, -0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8610ceb214d403205065c21d969c48a1db0ef1eda88965935e5795c2ddf01f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da68d5d463af11189dae47385070bdcd7315858f3ee01eb69658dcbd3349c96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eafc4e74159f648600c2980096c23d52b7fa983e79327db57dce739693c8e119",
      "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 · 4.046 s

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

message 81 changed as sent

message 88 changed as sent

message 92 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.746, 1.8378, 0.8356, 0.3405, -0.0391, -0.0525, 0.5513, 0.1566, 1.042, 0.7776, -0.4618, -0.3874, -0.3332, 0.0605]\nstate[eef_state]: left_x=0.35 left_y=-0.3091 left_z=0.0412 left_yaw=-0.6959 left_pitch=-0.0911 left_roll=-0.0096 left_gripper=0.5513 right_x=0.299 right_y=0.1184 right_z=0.1789 right_yaw=0.6543 right_pitch=-0.1028 right_roll=-0.0075 right_gripper=0.0605\nstate[joint_eff]: [-0.3487, -8.8821, 8.5538, 1.9902, 0.2564, 0.1587, 0.0708, -0.4171, -4.4376, 10.1538, 1.6777, -0.3883, -0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.0178, 0.8783, 0.5098, -0.0185, -0.0349, 0.0101, 0.1528, 1.0428, 0.7773, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3647 left_y=-0.3282 left_z=0.0075 left_yaw=-0.7236 left_pitch=-0.0595 left_roll=-0.0091 left_gripper=0.0101 right_x=0.2985 right_y=0.1182 right_z=0.1782 right_yaw=0.6642 right_pitch=-0.1044 right_roll=-0.0141 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -8.1162, 6.065, 1.5507, 0.1245, 0.1294, 0.7302, -0.0889, -2.9333, 6.8855, 1.5507, -0.1587, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.0235, 0.878, 0.5049, -0.0177, -0.0322, 0.4955, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3634 left_y=-0.3274 left_z=0.0037 left_yaw=-0.7261 left_pitch=-0.0706 left_roll=-0.0072 left_gripper=0.4955 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.2393, -8.212, 5.6547, 1.5897, 0.1197, 0.0464, -0.1783, -0.1846, -2.8103, 7.159, 1.5214, -0.1734, -0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8610ceb214d403205065c21d969c48a1db0ef1eda88965935e5795c2ddf01f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da68d5d463af11189dae47385070bdcd7315858f3ee01eb69658dcbd3349c96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eafc4e74159f648600c2980096c23d52b7fa983e79327db57dce739693c8e119",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ0at6pHUdPeoB89s-FVthK5xbaOmiP9Ei6MyKUqxRyqaFCYOs1JEC--0ASNL5-kDtBg8zi1klg45ht43LqchvFhYHdd1e6dlWMhjpIV0a27BLhrOjzv1yLOSKYBKnTD3a6NU38BYg1uumx4pE4slPM2hoeWuvq9tNMMOnnxnTVhSsOSLcvXaWmhD8A1Lv3oBi2VbP5fbDtD8LqH0XqNOXTurloxxdVXvrEqzEo94Kpj4_sv8C9cNybHf6jMGKnnQR2xNJMCDf4N0m34oP3O17Z7iitb5-qloAjuX_z5cDeZcWFXjdHPgeYrZ8h9u3js5GCInEoc8Vz3FC8WG9JmkVMogZeHgTk_f6LhoisVwK2K7IAUuglM_ynr76nYVVKPCdYIIAkaZJ52jeEgdKNciUhCUaTJSj6ZOEVC8CSugZAJOjnZlVoScjR6bGuwfTkCd0H_uPlLrgxx0YFuVg5H70ds8B45DE185sk4t_7g3AmYEzDJbF4CLWBhtrgjoe1nbnBO6SHaiQuOTGzO2BxgoFZ78kQk2BOFzMORPx63ormSlR539P3WNVuDG7F3fM5gtZapsMsv54WC8dnbJZ6JsZxtxcIU_ryPyv61PcErlQsfnW_WKGhDnk2w3Svqa1p4GBYDwjb95nAul90fRmbcFX9ixD3psp0Jl1V6iLHCO-4xmbRKCoz1vhraNeaEFPA4Ub5z06sO1UyWKjti6c_LgE1IO8jHApu21pUCZoDLw3xI8s-Q-i0zTf5xnTVOY-GLeX_s8tHynFIop58o-FTiV8PudQWRPF3DFh1B02kSz2Fxo46VXrT66ezmd9RQPdlDmtI8jTjM3Y4chfRu7tVjFtF9Z7h1XZga3Y1VLT-v2HUQqNMywecLUuQqrmVrjevJdEGjDYM8Mr5p2iZovdDtzwzxlGtiq45mQBjI1FOJ8LfIay9tVmCg4Y-fpKNIP9t2iwMe0CkgS-PFgxxgnfP_qOvGx_SVA3EmaJoNCWeOB6tNV70rWTensUBAtod-2yKV_NPNj2oh3MaesX0vzwyV0L0qFXcI6rLOwomXGbA2Jble9Wy-34EUoFuPTNVFJODEyfpBTjSF0GLAOB6ddaa9_sBIlcijjIZrvwCBUKoqKxYOPtJBqqOY2FRmI-dgM7i7jFWoH4J__P3ZtbzRevdwkMtjSXbbiPmcKq83xvZpoiOBTDbuRarI09JAEZk5ROX-QJ7urfCHbKajKpWL_JlUqI22a0OA6Z1KdTOuM3C8lUlRM_ZJt6x1vBFn9emXkmybXeMzz2zmkKd7C18wxfC7mcIK6NTogeO_WsfuJ44Lv-Nf2yFI_ZucSMvkMwm04oFH1qEwKRznIKaZx8lE9WhuiP4lV2f2N9zjM2Bi1zOlrhCX6o9q9JcvBKvUPwBCqladCYsgC9qXM1TTf9rwDjLB9DC5yM4rVtA6cInBFOn-kosc-LZn2jbqa77SKWc3WwLqmyAcwdQnT-92N_aJrVOE6w0eBqIvwxsLcQJR3sYMsPOTsT4eVVto0_0PxbX4R1xTpCZ_OHlcwU-tTHqyM6gtMwhAqT9msdEFW8FtvrhQ3qGGW0oGJWQD1lc0UrunZWqLvfzVzxJhP84YxXp4VdcPXLcAZG_4QWIpRT7oGmX7n3LsQM5wztewvD8FDRLYug32_JFOWKQA7PvCcFu20a_kaSlYFdd6OU6IKT7KMuwDJJdfM2gHvmmKgVvkGk_vYIBn10WhezRCV0sK2UYJpeHr0w-8pItcLMHPxWuyLR8iiHMINNc780NB8SWilsFqbjiBk-jxKQ7I2ni0Q-J7-mOvnOOVb8szmAX9Vl4_aEm5DdIkxjCL-vxxFekNNTDUQ1cAIidBbdmv05Rsv5pMbqHeKk6Ts4u-ylNORG2Plr3K_5DMe27G8l9S0DBRFV5oW1IIBlXqcqZxN2gVoHEUWQq1gMZUQ==",
  "id": "rs_09a9d8c2e0e9b6a1016ab47430de3c87d08595dad2259b158d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.35,\"left_z\":0.08},\"note\":\"The cap is now slightly right of the jaw center, and the last low move was constrained. I’m lifting clear while correcting sideways, then I can descend without scraping the table.\"}",
  "call_id": "call_b4K70J444MMV03zYK4gcMoNq",
  "id": "fc_09a9d8c2e0e9b6a1016ab47433619c87d0b7ca55af7527c871",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b4K70J444MMV03zYK4gcMoNq",
  "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]: [-0.7979, 1.8942, 0.9752, 0.239, -0.054, -0.0692, 0.4961, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3529 left_y=-0.343 left_z=0.0491 left_yaw=-0.726 left_pitch=-0.1088 left_roll=-0.0124 left_gripper=0.4961 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.4308, -12.0274, 9.0462, 1.7607, -0.1441, 0.1148, 0.0464, -0.0479, -2.9197, 6.9265, 1.5214, -0.1734, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0535eb174c170af2f9054b548d9634a3edcd4f5b87e172eaed6f0047b828c170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6565f3f4bd694eb54fbcd8bcd03a3013b1b0b8587853228f87d042822a315509",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e86d9394d79771e4ace208c952885c2a378ced15e6e8c6b0c05ae3dc966a49",
      "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 · 2.808 s

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

message 85 changed as sent

message 92 changed as sent

message 96 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.001, 0.8619, 0.4706, -0.0273, -0.0341, 0.5513, 0.1528, 1.0428, 0.7773, -0.4648, -0.3935, -0.3458, 0.0605]\nstate[eef_state]: left_x=0.3584 left_y=-0.3206 left_z=0.0018 left_yaw=-0.7169 left_pitch=-0.0983 left_roll=-0.0022 left_gripper=0.5513 right_x=0.2985 right_y=0.1181 right_z=0.1782 right_yaw=0.6623 right_pitch=-0.1045 right_roll=-0.0119 right_gripper=0.0605\nstate[joint_eff]: [-0.212, -7.9111, 5.4359, 0.7057, 0.315, 0.1343, 0.0024, 0.2393, -2.8513, 7.0085, 1.619, -0.1734, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.0235, 0.878, 0.5049, -0.0177, -0.0322, 0.4955, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3634 left_y=-0.3274 left_z=0.0037 left_yaw=-0.7261 left_pitch=-0.0706 left_roll=-0.0072 left_gripper=0.4955 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.2393, -8.212, 5.6547, 1.5897, 0.1197, 0.0464, -0.1783, -0.1846, -2.8103, 7.159, 1.5214, -0.1734, -0.0513, 1.0281]\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 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7979, 1.8942, 0.9752, 0.239, -0.054, -0.0692, 0.4961, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3529 left_y=-0.343 left_z=0.0491 left_yaw=-0.726 left_pitch=-0.1088 left_roll=-0.0124 left_gripper=0.4961 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.4308, -12.0274, 9.0462, 1.7607, -0.1441, 0.1148, 0.0464, -0.0479, -2.9197, 6.9265, 1.5214, -0.1734, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0535eb174c170af2f9054b548d9634a3edcd4f5b87e172eaed6f0047b828c170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6565f3f4bd694eb54fbcd8bcd03a3013b1b0b8587853228f87d042822a315509",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e86d9394d79771e4ace208c952885c2a378ced15e6e8c6b0c05ae3dc966a49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ5Gw2F_PF_MlLBKucjXDlzEUCJHSx2bT6Tpwt-967u91vYEUW7XG5HILldZGefwvEzJTgTMv-1cbqugUbSuiqf0pvVttF3IXbMo1kky9dE3IzUvKyAxshfOnHgg71ZZcXyk8XzWb7RHHPzJ5tNC_7lBqbBSg8JLCgUC_QyjYcfIHcM25YsRzahD2o94or_ADd6pE995DD9ZrQwMvCdyA68hg3llBVa_OpwlNFJnHS_tlQiZCBum5V-1ri7LjYLo6pep5RJLVBqrz3YxSHRxB4ko-_3GTNZhTGUOjuiL46ZX6SYLjD9DJaX2FqmoNjROxMjOmPde0P707nXmbMsNT_wwC2nKXQQ2-dGWlVCITsouC3wrx3fxwZnRHBSe7VEK5XLyal9QVr6S5iuLL3Mv7QOopfIQB092UnttQ-QyxeZgtO4O8Sm9Hq-IMkwMrDAfzbODxtRamHHL3Rvser71XmAwMCGklW0YIq4kHQb8NN-HlEs5IyLwTks6hNJAARkWjZtO4KAYdaeorA63pXkaXrayGWneQ232b-XAohQjXqUQAi2fUHM4ayFgOZADRIxJK0oRoYhmFBNhHtDveVZea8DENdsrs5Yy1dSFdwQYDqMLqlJf5WZowypJ99UHNpUhK6FFckvlwl_Z69qURugNHTniHE0b6X_ac8tvShKSmaOb1cU9o1CyQRnTFl7jugnDTmzoXN0LNBM3KrGP8RXMbp0cM8mKDdIm8CTfCpX0iLqcGRO9GIPqAxNQyYFEaHsDiWoDth1zksHb6LLjVJZUd9qjbouw7EY6YigtIg7ninkKg_M-quamTM6jOnfWcnrUUAGEx_y1BwR1FNZYNQ8-0n-1LC2K13_RdtvQgtFuvoy6HI4J731rzgKyMGHhfWuNuJbNqJdW6RvDYyJ4eiy3xRCpBqeL5KgqLSPt-pEEZk5T5dNz-AnIodbwQ1P8TK2jq92LHxMOl9z4xv5R3NwX3FiMl0LBj1BJRq-S0mulMxqnDtuuQGycoN5PbYEKQZgWMMauuzXZqtuLKjVkgH2zMwjwc2A5ZHR6XEn3woKSFYs35aURmj-ZZRXTQ8a_YZZw8NKEYp092nLc3EI_5BcHTy4H1lLFnHDX6pjdSxSeXQnAOy6lzFf_okWCPya1465YVKFs8wN7vYGCVx8zMlhg-iL7-odj_7G5ki91GZnfJ3ZBAQXIi-xhyPRbCckwpbjVErbeEacLbdMFtnk4jtsHrEG7aLKBDPgiriSyTfavMi-X_MQV5mK6Ek3iKID1ISmgFvSaibakOSvldvZ_8xtXXPm-x-h8NTByi6HwPHjKS05dnIZWpKHHepZt6p-XQ_qF-AYV7Z4cZx30kLDTY_Rwmoh9pf5ZOZesjbBB2-WYnRxMITXzRQLy94o6xQ6rVcEIEy5xlWRrcqDY6Cew1OhYJcUVl44I6Y21qg6QLeSteM-xTy5ML0rFM8Ge1tv-RBolp09XRHImzClAP4idW2SOXkn_pwa7PSWlOm4sm2rjr0Wz8yBVPrFxazJntATcaRIooQZ19iTTGI1g6heGtQjKW3lYGiAcOke18xrUWtpYtH2sAYqg_FVbd28HNO6jv4hEqIThMxc_D4B5gF0mTzonliDE-VUK5P3yn_XiZA7pLnohy0FepJkAWtkOc_8brFItvxNu51ImniFzO7sYsBy2xdU8XNYdismWswrpgN7fV5wesZEmLqfVJQVFI-SBlSZ9gaM",
  "id": "rs_09a9d8c2e0e9b6a1016ab4743663b887d087a8ca54daf74bb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.35,\"left_z\":-0.006},\"note\":\"The cap body is now centered at the lower edge of the wrist view. I’m lowering vertically onto it, keeping this corrected sideways alignment.\"}",
  "call_id": "call_N76Lk6WinCf2ZwC1pcat7gdp",
  "id": "fc_09a9d8c2e0e9b6a1016ab47438252087d08da2816b7b04c2f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N76Lk6WinCf2ZwC1pcat7gdp",
  "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]: [-0.7994, 2.0411, 0.9596, 0.3946, -0.062, -0.0689, 0.4961, 0.1528, 1.0462, 0.7765, -0.4652, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3579 left_y=-0.3472 left_z=0.0032 left_yaw=-0.7209 left_pitch=-0.1153 left_roll=-0.0065 left_gripper=0.4961 right_x=0.2985 right_y=0.1182 right_z=0.1768 right_yaw=0.6647 right_pitch=-0.1084 right_roll=-0.0121 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -7.9111, 5.0393, 1.2283, 0.1538, -0.0464, -0.0122, -0.1299, -3.2068, 6.9265, 1.536, -0.1783, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7cbcc699949cc2c332ce87cf847816436336c6425945514c4e047c1f71a6bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8049e66544b47f44c1862a14c367739f3aba2e2ac993fad4f73476ee3dade39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d3afaed53ef68b90090bb73d22e15684eb90c72c8f7dbf9a708342c220af0c",
      "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 · 4.719 s

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

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7467, 2.0178, 0.8783, 0.5098, -0.0185, -0.0349, 0.0101, 0.1528, 1.0428, 0.7773, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3647 left_y=-0.3282 left_z=0.0075 left_yaw=-0.7236 left_pitch=-0.0595 left_roll=-0.0091 left_gripper=0.0101 right_x=0.2985 right_y=0.1182 right_z=0.1782 right_yaw=0.6642 right_pitch=-0.1044 right_roll=-0.0141 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -8.1162, 6.065, 1.5507, 0.1245, 0.1294, 0.7302, -0.0889, -2.9333, 6.8855, 1.5507, -0.1587, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7979, 1.8942, 0.9752, 0.239, -0.054, -0.0692, 0.4961, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3529 left_y=-0.343 left_z=0.0491 left_yaw=-0.726 left_pitch=-0.1088 left_roll=-0.0124 left_gripper=0.4961 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.4308, -12.0274, 9.0462, 1.7607, -0.1441, 0.1148, 0.0464, -0.0479, -2.9197, 6.9265, 1.5214, -0.1734, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "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, 2.0411, 0.9596, 0.3946, -0.062, -0.0689, 0.4961, 0.1528, 1.0462, 0.7765, -0.4652, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3579 left_y=-0.3472 left_z=0.0032 left_yaw=-0.7209 left_pitch=-0.1153 left_roll=-0.0065 left_gripper=0.4961 right_x=0.2985 right_y=0.1182 right_z=0.1768 right_yaw=0.6647 right_pitch=-0.1084 right_roll=-0.0121 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -7.9111, 5.0393, 1.2283, 0.1538, -0.0464, -0.0122, -0.1299, -3.2068, 6.9265, 1.536, -0.1783, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7cbcc699949cc2c332ce87cf847816436336c6425945514c4e047c1f71a6bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8049e66544b47f44c1862a14c367739f3aba2e2ac993fad4f73476ee3dade39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d3afaed53ef68b90090bb73d22e15684eb90c72c8f7dbf9a708342c220af0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ806pEmqLSZMWC-TrEX28X3omMYhAGNwJC04azgOdolncKBinS0i0ppMM8s747JbfIapatSUWTXJehvfaVDEbkg3XE_nTA9PI3UhZ9rzTGKevEcGo8TVt5ezWLYXs8kAdfITsm4zZKa0iKF3GVkcHHxcqR7BoiVMlrhXb33QHnjuH4KFzI_ZkfRM5oOP9Tx-pllYXQ4edm8yBTxC8va0eNN3j3R_uoMMFcwnyytcy9XulmHsOiTufITqOAJSnfp7pvK00Sk-yiF_aZyWJwGAffwUHH82y6oD-AjKt-dkJ16e2DGyrtMBOsnw2UANmw1Rf-w1emIhe68eYL6GAfo2xQUBGnHS4_5JTcJEYGtdzu9x0LgERllFqFcuXH359ntllQ44zhSsh48NCIr2os9D90qclGUkhl_Ixed4RsgUwSr0uCg-gfQsRnOpfyrsxa5TByjTuB4Cw1oZHh9NX22MYAIumNA4TRQNkA03m_jy_DKe1XO7waVRcDQQniOHC6A1eHoRlRMeWLwGLpsXELtBQ3QMdI2DSNGgJXftVqmymOjdTSnhI9iFRgxuExNieHlNmH18njw-o0cO5ex0zxfNHS1aOUWmx7b4W3LjoIvO-eG0smC_YT0jntr9qS9ggsrt_TZUhhls5ciiv4yMG3hUI0-g2ba0N3bdlccXmwrTwGtfwY7uotoILNSH1JBucuznXqDEDGEfHbYuHaEZ2RtaSBTkHtjUPonUmL-3qqcL4qs4DdUmMk7wthd2cjByPTgMcNnNXKu0bUsHZbOAmMpHDINcqXnCP-hro5_ZEOJwEt9TP34_Aj0xltk5SVkB-GM6A18AaZeGiKMXqmDt-KJYlZoarg_UM9bMvvXPv5qeIX2_HfHFa2GhjjwJymLr7hC6G5v4tGCp87e67HIS_1czhwW0acUw2fWe4hS2CR5cwriNlTK8OzycEGIm5Y88ZJhZh5uwzhTL9EssA8-tIFvmuuytGDoUI57BbfIpieWkbLWFyOWHdYfm8MA1X2aFLKfCLmGXegVgnJdX0E5KzrqAjEnjpNa4ozBiugfdR_WL-N68jmv2dhTgqo-kC64gvHxef8zg3s7313ZbqEdFkrKDqdRdsxQt4otI98PdO1Kh9FQpxod_vjiBXcQy_SS--ypFkRnCA8TtgwimQyQNhKKlZLO-roD-x63ywIEYu6gIGd5RTAMMvI831fDJ6m83BfJxTQQw4RjmBye-q1aqHKQst-LM-1KBSrF71w7ARhxqYITL36NMwBLE7_2bTAb7-kGb9BSRTu3mOSDTji2JWKVFkpeQ==",
  "id": "rs_09a9d8c2e0e9b6a1016ab4743ae09c87d0950e7ae328cd200b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are at table level around the cap’s body. I’m closing in place to secure it.\"}",
  "call_id": "call_lVzkg0Whp3pSAtiGVDQpvrX1",
  "id": "fc_09a9d8c2e0e9b6a1016ab4743b5a0087d09f1fdefa89bbfc00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lVzkg0Whp3pSAtiGVDQpvrX1",
  "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]: [-0.799, 2.0563, 0.9592, 0.4335, -0.0731, -0.0727, 0.0094, 0.1524, 1.0462, 0.7765, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3622 left_y=-0.3486 left_z=0.0033 left_yaw=-0.7093 left_pitch=-0.0915 left_roll=-0.0046 left_gripper=0.0094 right_x=0.2986 right_y=0.1181 right_z=0.1769 right_yaw=0.6641 right_pitch=-0.108 right_roll=-0.012 right_gripper=0.0605\nstate[joint_eff]: [-0.1299, -11.412, 5.1761, 1.2381, 0.0659, 0.0122, 0.7888, -0.0479, -2.9744, 6.8855, 1.5409, -0.2027, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb18e4dd84c824b39d7b6e0b2b81738bf4f781f2191041d29e12b30bc7f7a719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b99ad2b634507c8fdb794db72dbeefa2a548939978970557b7e989927b03028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7afddb5f14b3d419a5c067bfdc33c24b95c0b3cbdae30154ee6e856c325e9d9e",
      "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 · 4.878 s

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

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.0235, 0.878, 0.5049, -0.0177, -0.0322, 0.4955, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3634 left_y=-0.3274 left_z=0.0037 left_yaw=-0.7261 left_pitch=-0.0706 left_roll=-0.0072 left_gripper=0.4955 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.2393, -8.212, 5.6547, 1.5897, 0.1197, 0.0464, -0.1783, -0.1846, -2.8103, 7.159, 1.5214, -0.1734, -0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "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, 2.0411, 0.9596, 0.3946, -0.062, -0.0689, 0.4961, 0.1528, 1.0462, 0.7765, -0.4652, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3579 left_y=-0.3472 left_z=0.0032 left_yaw=-0.7209 left_pitch=-0.1153 left_roll=-0.0065 left_gripper=0.4961 right_x=0.2985 right_y=0.1182 right_z=0.1768 right_yaw=0.6647 right_pitch=-0.1084 right_roll=-0.0121 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -7.9111, 5.0393, 1.2283, 0.1538, -0.0464, -0.0122, -0.1299, -3.2068, 6.9265, 1.536, -0.1783, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.799, 2.0563, 0.9592, 0.4335, -0.0731, -0.0727, 0.0094, 0.1524, 1.0462, 0.7765, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3622 left_y=-0.3486 left_z=0.0033 left_yaw=-0.7093 left_pitch=-0.0915 left_roll=-0.0046 left_gripper=0.0094 right_x=0.2986 right_y=0.1181 right_z=0.1769 right_yaw=0.6641 right_pitch=-0.108 right_roll=-0.012 right_gripper=0.0605\nstate[joint_eff]: [-0.1299, -11.412, 5.1761, 1.2381, 0.0659, 0.0122, 0.7888, -0.0479, -2.9744, 6.8855, 1.5409, -0.2027, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb18e4dd84c824b39d7b6e0b2b81738bf4f781f2191041d29e12b30bc7f7a719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b99ad2b634507c8fdb794db72dbeefa2a548939978970557b7e989927b03028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7afddb5f14b3d419a5c067bfdc33c24b95c0b3cbdae30154ee6e856c325e9d9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRB06fG_7DUhbwgPO_lPcCH_9x2_BtYFeyOq3Czx_6K-fFr5blxofvkvOI0hupAC4m4_d31gct6OXu52IMNJ2SZonACEmVVmGhjHhE-PWXhmLmR9PFC9nvHWWRKV3eAgLOO1jHzTFom7vzLTig5gACbmXjDmDaStcLwwnW6oUMVNZelpB0fIA1d5tyw3TURqVf1ZAX-H-1JckU4JghPHJAEUM2OVweBRbyUbQPXRkHZquGwV6pOY7bLA6U24rTjPNEO2kG3ML8odQEHarWrhKEZUmpnod6U6-4CF__xI_dP1bsu9iK0Ya6CM8DfDf_OEHurBGEYjSS1v3lNyy38cgrxtdz0HbuekzsmZ4IbE1M9AWBEXvgsVUnNufaNu7P1yB_Bfr_N8MgBwCLCBS1Jbar8Dbq59u4B_zX5S_HEVG8mt9MUN_vYG3gbeTpHixadkI5_RTU6J4YAxZW9BMet9WSwnRUaj8Tc4Lwp7l1wc7-3g_vhLxkA6bXrKIJS-CfQGCR9o72Wy-Sm2mq30TxtsZokv-_yPvkOETo5oKyzuwouXeeNNafCSnnIWaafGjKFYZU-OjyQUDLG4Jnz6cCJz7FDtI0YgSloF-rgGlg493Fgd9LAm6Y2Wo4CB8kq0Z0QNNU4VxHqFk2hJIVys2pvNBrrd_MzhX5G-EB6WQOqtukdncX1QLvjwKFrg2U8d1ssYaIfXStqAKXQNP9V24U8rF2JMIjlAUYRQEhxnpUNTewcT2Rs2sAI5IqJ9Xiq0i1__laDTdnZMh5Nt_DdMX7kw7m_OQFgHDdr3zTXqgEwcFu4pNdwHegwN7GMDs7rX9C8EK4Fe07wkciEQLjmjwIONfLXqr909cvT2VMIV5zndATfjlW8df0aivtcyV-lozkgzbR0bx4Bm1T6sOkW9L_wQG0olj54UKEVIxbsldsaq-TyL02W07hhOMC9yMuNma8OT-jk3xHTek3VXK8fp53kij2l2WWbZbygynSKVetfzEHAujg_utlajekEPkPgnPLAuKF734eWTKHWYOuonnLqv7kctG38gr8-EPPnbVVg_oD6AgYTpIhB86cW1K8e3uqTMA-y5-oGhIpKxGPrlpCR4zcXBhoYTQpCW3in3A_eRJN_iDHNNKPH-ME-PaMqMmAOpUGgW81wU_ac1enXk0vk6F24SWW2EBe2R2eVkA4FwEYTF7hlWu1r3d9N7WyN1qtnPMhjVfd1yf4nRhZOTYjE0561D7ovJX8u0WMibEYtaQ-zH8ChFiLw7u5RJLFeTX76-dt5BUe3lvEFWgyoA_saG9GtIqP5U2BRiQTpYs44iAFEQzPj03LlmKI6mlEdrh-QXfC3hx_Q3s6bvKMuE9byLmVN3DhSDi_RFyxZ6PRdBnqf_hxe8IPOPMJ342Or2OUnywOHs5c1pBz40o_hqNZYNi5Ac7zvlt-YH2xQMqtqplNbrFfEl0IEmYM_64L2Q84gWEztQLYA-NfEUes1bvC_wPbWqHBEuiT8xlWSTUGrmPwUuyRlVN6SlLxVDBfCnfoctajWXckFNj3ZZbClGONAkvz_XVUIA2E-QkHxitIcyfkxAOtWchXlbB56ZtmI_Fp-kr0y__v0YqBSq507EfO1beQCpfebh1pUgRQhpcxVsAw9MbB8DKN1oVL44KsoL_YW7kSkPskb6pmryHQD4-DuDlYqbi66pR2zdRsAbcaSZCmpdLe0ih4B0w2eyeLReWPNFpMOQ15ZrXZ9wEHTq87lWJtdmtBAc_CPQXR2j-Gckpixffvu3-M130a4tpkKeF2w8hcO5xCc03OJVBng4JwgyY5Csj6SHJAmMDT4EPa2uMIsyBA=",
  "id": "rs_09a9d8c2e0e9b6a1016ab4743df78c87d0b94b33c8eeb40db0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.16,\"left_gripper\":0.6},\"note\":\"The left gripper is still closing empty, so I haven’t secured the cap. I’m lifting away to locate it clearly instead of continuing blind retries, while maintaining the pen’s grasp.\"}",
  "call_id": "call_libp1sajN8LIA8lK5I8upUVP",
  "id": "fc_09a9d8c2e0e9b6a1016ab474400d7c87d09ebf41b4c45a81a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_libp1sajN8LIA8lK5I8upUVP",
  "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]: [-0.0891, 1.0897, 0.6811, -0.3603, 0.4297, 0.3527, 0.5981, 0.152, 1.0485, 0.7765, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3049 left_y=-0.0975 left_z=0.1435 left_yaw=-0.6516 left_pitch=-0.1143 left_roll=-0.0162 left_gripper=0.5981 right_x=0.2988 right_y=0.118 right_z=0.1762 right_yaw=0.664 right_pitch=-0.11 right_roll=-0.0112 right_gripper=0.0605\nstate[joint_eff]: [0.1983, -3.8632, 9.9077, 1.4921, 0.3736, 0.1245, -0.105, -0.0889, -3.1385, 6.8991, 1.5409, -0.232, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7f94c464e237a4d3e5c49dbc1d86c44e62968494a6eff5b4a07c2396e426c64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7c350385318b2bf9b65f1f69e2af51d289a717e7376d8b5169193ba54295b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6edd1821b818655fa71fd3b4b63975473437771334cd7add4033203439f4508",
      "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 · 4.677 s

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

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7979, 1.8942, 0.9752, 0.239, -0.054, -0.0692, 0.4961, 0.1528, 1.0428, 0.7769, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3529 left_y=-0.343 left_z=0.0491 left_yaw=-0.726 left_pitch=-0.1088 left_roll=-0.0124 left_gripper=0.4961 right_x=0.2984 right_y=0.1182 right_z=0.1781 right_yaw=0.6645 right_pitch=-0.1047 right_roll=-0.0142 right_gripper=0.0605\nstate[joint_eff]: [-0.4308, -12.0274, 9.0462, 1.7607, -0.1441, 0.1148, 0.0464, -0.0479, -2.9197, 6.9265, 1.5214, -0.1734, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.799, 2.0563, 0.9592, 0.4335, -0.0731, -0.0727, 0.0094, 0.1524, 1.0462, 0.7765, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3622 left_y=-0.3486 left_z=0.0033 left_yaw=-0.7093 left_pitch=-0.0915 left_roll=-0.0046 left_gripper=0.0094 right_x=0.2986 right_y=0.1181 right_z=0.1769 right_yaw=0.6641 right_pitch=-0.108 right_roll=-0.012 right_gripper=0.0605\nstate[joint_eff]: [-0.1299, -11.412, 5.1761, 1.2381, 0.0659, 0.0122, 0.7888, -0.0479, -2.9744, 6.8855, 1.5409, -0.2027, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0891, 1.0897, 0.6811, -0.3603, 0.4297, 0.3527, 0.5981, 0.152, 1.0485, 0.7765, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3049 left_y=-0.0975 left_z=0.1435 left_yaw=-0.6516 left_pitch=-0.1143 left_roll=-0.0162 left_gripper=0.5981 right_x=0.2988 right_y=0.118 right_z=0.1762 right_yaw=0.664 right_pitch=-0.11 right_roll=-0.0112 right_gripper=0.0605\nstate[joint_eff]: [0.1983, -3.8632, 9.9077, 1.4921, 0.3736, 0.1245, -0.105, -0.0889, -3.1385, 6.8991, 1.5409, -0.232, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7f94c464e237a4d3e5c49dbc1d86c44e62968494a6eff5b4a07c2396e426c64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7c350385318b2bf9b65f1f69e2af51d289a717e7376d8b5169193ba54295b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6edd1821b818655fa71fd3b4b63975473437771334cd7add4033203439f4508",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09a9d8c2e0e9b6a1016ab47444f7b487d0ba2076f92512f8ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.32,\"left_z\":0.06,\"left_yaw\":-0.3,\"left_gripper\":0.5},\"note\":\"The cap is visible again, a little nearer the front of the table and at a steeper angle. I’m approaching its middle from the new position with the jaws aligned across it.\"}",
  "call_id": "call_F2wIymtPNFskBWMaKogfmdNk",
  "id": "fc_09a9d8c2e0e9b6a1016ab47447205487d0821642116dfa97ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F2wIymtPNFskBWMaKogfmdNk",
  "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]: [-0.9627, 1.8076, 0.9176, 0.0383, -0.4599, -0.4641, 0.5008, 0.152, 1.0519, 0.7765, -0.4652, -0.3939, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3148 left_y=-0.3087 left_z=0.0443 left_yaw=-0.3323 left_pitch=-0.17 left_roll=0.0107 left_gripper=0.5008 right_x=0.2989 right_y=0.118 right_z=0.1752 right_yaw=0.6644 right_pitch=-0.1134 right_roll=-0.0096 right_gripper=0.0649\nstate[joint_eff]: [-0.253, -8.8137, 8.3487, 1.5214, -0.3394, 0.0855, 0.0415, -0.3214, -3.2889, 6.8581, 1.4921, -0.1685, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42fb8759a44ce261620fc20a4948edf9b3e027cacda2314c0b6a7bd29aeb7f41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bcaed98d2ed7090a164e0076f3fd07c0b0a2ec93a9536139295e58f537bcde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9105fe6bda50057d8b9c48c55a6e679d1598e095ce53c9e6321184bac878c60",
      "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 · 2.249 s

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

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "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, 2.0411, 0.9596, 0.3946, -0.062, -0.0689, 0.4961, 0.1528, 1.0462, 0.7765, -0.4652, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3579 left_y=-0.3472 left_z=0.0032 left_yaw=-0.7209 left_pitch=-0.1153 left_roll=-0.0065 left_gripper=0.4961 right_x=0.2985 right_y=0.1182 right_z=0.1768 right_yaw=0.6647 right_pitch=-0.1084 right_roll=-0.0121 right_gripper=0.0605\nstate[joint_eff]: [-0.253, -7.9111, 5.0393, 1.2283, 0.1538, -0.0464, -0.0122, -0.1299, -3.2068, 6.9265, 1.536, -0.1783, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0891, 1.0897, 0.6811, -0.3603, 0.4297, 0.3527, 0.5981, 0.152, 1.0485, 0.7765, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3049 left_y=-0.0975 left_z=0.1435 left_yaw=-0.6516 left_pitch=-0.1143 left_roll=-0.0162 left_gripper=0.5981 right_x=0.2988 right_y=0.118 right_z=0.1762 right_yaw=0.664 right_pitch=-0.11 right_roll=-0.0112 right_gripper=0.0605\nstate[joint_eff]: [0.1983, -3.8632, 9.9077, 1.4921, 0.3736, 0.1245, -0.105, -0.0889, -3.1385, 6.8991, 1.5409, -0.232, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9627, 1.8076, 0.9176, 0.0383, -0.4599, -0.4641, 0.5008, 0.152, 1.0519, 0.7765, -0.4652, -0.3939, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3148 left_y=-0.3087 left_z=0.0443 left_yaw=-0.3323 left_pitch=-0.17 left_roll=0.0107 left_gripper=0.5008 right_x=0.2989 right_y=0.118 right_z=0.1752 right_yaw=0.6644 right_pitch=-0.1134 right_roll=-0.0096 right_gripper=0.0649\nstate[joint_eff]: [-0.253, -8.8137, 8.3487, 1.5214, -0.3394, 0.0855, 0.0415, -0.3214, -3.2889, 6.8581, 1.4921, -0.1685, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42fb8759a44ce261620fc20a4948edf9b3e027cacda2314c0b6a7bd29aeb7f41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bcaed98d2ed7090a164e0076f3fd07c0b0a2ec93a9536139295e58f537bcde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9105fe6bda50057d8b9c48c55a6e679d1598e095ce53c9e6321184bac878c60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRPt8bPPp1TMvJtGLRLpHkxqrRa8SiUD4t-kOT6v3KexmaondxesvNvFCCHSydKRQ8FAtsadMupSj8b-3nsJtqilHU8SVgpoayBX_DZmiaf1GDnHzZyXE7fYjUkiGyuV0pxtRbbCXbr14XUIejoNq_auOI-eBVjh3qGLyE3CsiXR5cUHZYLl4Zg5bAB6eTVzkK-aeu4g9ZC3Lkz4tN1tMJXRjqctuSGBWBAYFeY3cq5I14Gj0Dako8rD8B1Tpi8ICR__1rovO0Sib-ZBedV-bWxpH2lAItnMGAvlwZroMe7QZ94B00kKWUm1dKif_0u7-O9YQWjMY-8MyxDfZtJa4-Ttq4WcwKac_IhdAAOaFMS13CJigpiyFtp_bzxFPGlcpsb2aRMV_xPCEL5bbMs5N1as1OtsK6ZylsMVZoAmXE-4WNI1ku0-RCJX52WjC43jAr7rpvJ4Ytu-AG7ZyEm9PX9s7rBheayXPLYbcVNubc1zlN3PyA2_qYWEmmzfiEWsXjEErjWL-70s590Qp3H38Kk-lL9CF_azoS0w-jY6w99br4MNuUPoBrcQq42ews8-PmuGOBKR-5tWP6EDXl1LbN1JnBV4VRcH1jY7v2SJAv1jRXt_VZdCFhBP1cgnsb5JurEJrCh4RIMOJYfwr5JnqGKgdDkuOijjnL8qBvJ2qPsr9301iIsrotn9nX59t43oZ1ylfmBDvdh9WhgYGDwmRYQic7xf3u5Pj1Wdo7CO0M2aiUemIveggx9q2j_O2coLr3qU5T3nXzMP16hQFy-erN2xTqaGA_9WeXcjp-sMW_WJ8WVHSxlgXKUGtzGwEdiQ-PmQyDAaGLMIQaZJv--U0hfW6V6MMUPSs6M0b3-809nIvFvBliajoCViRCZSAmbvQJb3u7I0EwajTdULjr0gOItUTh7Sq6vl0hXfgFBU6lBIc0xM6BGpkGn6IFJXOqu2kHfFdYlQFLSNnjsYTjvK0cAIef7YDp8P208PzrUAJ-Yzal6OYT3KjF1eiIgsmW3-CqpakMQm4AK2d4ypjpBHx02WaqR29pKmfDoAalWEYExmkmv4UsRjqNuo8topjvM5xUfnj9q-VQ0QTdKBd5_vPOT6unEh5mg3C-R0xmYnPJSCeRJwr_OXS2UXI23B9y7Z4AaHqgwth3SmaxIFaAE1I-tQ_N5uxp1fJagenGXNSU56o79WOlMA8pIQG-mnVLunJzK9nid5NpcIt48XwABYXyARnEvNGvsbXl0aIpKd2TPZ7ykC7IzcpRVbY2NYoUQWdWFUXF0wOLpwKiyb6e6j65xp-IMSZgiHdntTCs7h2sBASYT9jatyN8vxsXuSHK1jLpJxqucAZkTQhswdcRfPZoMivA5kdvgbUnLbm-w0eTNYqYva8g7VyaWYxIxHDMOj3VQeBpYWsBEwNdhCLSRoZ5IXkufNGzB0c0vIeneluikMPYY7oVM5_98Mw18N7MYaVzn8y5lbYy5m-8aQ0zWFT3MSBkMTySOjOCJc1EpPc6I244FFJYAUXgwoBePNJ_9S_XI_ef-p1tniaDeisN2FR5T2sjUdFWAp_REFWwPLvfhsdvdN78tupakpwhwU8s7e43ozwa8fV2gMgJxJ82G2W7AthtXmott0BgZOLE9pDs87STiS-s2DNXvBLVOBikZYlobIiOnLYNszrU0EEh6wLh7qP_kAliW6dxAfVnkluUugavISRUwz0jNhlaBqf2TnB-2JmIEG_KfZl63kace2uGLDF7bKVIraIyKBDw9KELmARMjrSUl4Ml3GKjVy58pHYQn31XI2-SIQYeNjZ0oXeLpJXxYZ0ukAcDDjvhD7wp80nA=",
  "id": "rs_09a9d8c2e0e9b6a1016ab4744bd8d087d0812c4d4129feae78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.326,\"left_z\":-0.006,\"left_pitch\":0.1},\"note\":\"The cap is centered, but its body still ends just ahead of the fingertips. I’m advancing two centimeters as I descend, with a slight tilt correction to bring the body fully into the jaws.\"}",
  "call_id": "call_iFLZUNQsChRIWIIWhlNhP5Sa",
  "id": "fc_09a9d8c2e0e9b6a1016ab4744df0d487d0af60da88c6a97ab5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iFLZUNQsChRIWIIWhlNhP5Sa",
  "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]: [-0.9691, 2.101, 0.8192, 0.6964, -0.5812, -0.358, 0.5008, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0681]\nstate[eef_state]: left_x=0.3447 left_y=-0.3243 left_z=0.0019 left_yaw=-0.3082 left_pitch=0.0899 left_roll=0.0019 left_gripper=0.5008 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0681\nstate[joint_eff]: [0.2393, -7.5009, 3.6718, 1.2234, 0.188, 0.0513, -0.0073, -0.335, -3.0154, 7.0496, 1.5458, -0.1978, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1d4eb4c45ce971a1d469086a0ef75347c0791d1eae90cf194d9de4210399c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07d8d5850483afbadda66c5726479eb33386f8a60143a3330c31b2ecef6c264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649c6888ec925ab82eeda87a01eb4aa134304ede2d94c39dce8cbc1cdefb1d74",
      "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 · 3.308 s

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

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.799, 2.0563, 0.9592, 0.4335, -0.0731, -0.0727, 0.0094, 0.1524, 1.0462, 0.7765, -0.4648, -0.3939, -0.3489, 0.0605]\nstate[eef_state]: left_x=0.3622 left_y=-0.3486 left_z=0.0033 left_yaw=-0.7093 left_pitch=-0.0915 left_roll=-0.0046 left_gripper=0.0094 right_x=0.2986 right_y=0.1181 right_z=0.1769 right_yaw=0.6641 right_pitch=-0.108 right_roll=-0.012 right_gripper=0.0605\nstate[joint_eff]: [-0.1299, -11.412, 5.1761, 1.2381, 0.0659, 0.0122, 0.7888, -0.0479, -2.9744, 6.8855, 1.5409, -0.2027, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9627, 1.8076, 0.9176, 0.0383, -0.4599, -0.4641, 0.5008, 0.152, 1.0519, 0.7765, -0.4652, -0.3939, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3148 left_y=-0.3087 left_z=0.0443 left_yaw=-0.3323 left_pitch=-0.17 left_roll=0.0107 left_gripper=0.5008 right_x=0.2989 right_y=0.118 right_z=0.1752 right_yaw=0.6644 right_pitch=-0.1134 right_roll=-0.0096 right_gripper=0.0649\nstate[joint_eff]: [-0.253, -8.8137, 8.3487, 1.5214, -0.3394, 0.0855, 0.0415, -0.3214, -3.2889, 6.8581, 1.4921, -0.1685, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9691, 2.101, 0.8192, 0.6964, -0.5812, -0.358, 0.5008, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0681]\nstate[eef_state]: left_x=0.3447 left_y=-0.3243 left_z=0.0019 left_yaw=-0.3082 left_pitch=0.0899 left_roll=0.0019 left_gripper=0.5008 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0681\nstate[joint_eff]: [0.2393, -7.5009, 3.6718, 1.2234, 0.188, 0.0513, -0.0073, -0.335, -3.0154, 7.0496, 1.5458, -0.1978, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1d4eb4c45ce971a1d469086a0ef75347c0791d1eae90cf194d9de4210399c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07d8d5850483afbadda66c5726479eb33386f8a60143a3330c31b2ecef6c264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649c6888ec925ab82eeda87a01eb4aa134304ede2d94c39dce8cbc1cdefb1d74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap body is now underneath the fingertip region, and the arm has reached the intended table height. I’m closing around it.\"}",
  "call_id": "call_a79N8WtlyxUNaU1aIkzJ5Rxo",
  "id": "fc_09a9d8c2e0e9b6a1016ab47451649c87d0bc76a8f80089b36e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a79N8WtlyxUNaU1aIkzJ5Rxo",
  "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]: [-0.9691, 2.1094, 0.8181, 0.7525, -0.5995, -0.3607, 0.0299, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0682]\nstate[eef_state]: left_x=0.349 left_y=-0.3259 left_z=0.0091 left_yaw=-0.2889 left_pitch=0.1325 left_roll=-0.0219 left_gripper=0.0299 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0682\nstate[joint_eff]: [-0.1573, -9.4974, 4.8752, 1.1941, -0.0366, 0.105, 0.0366, -0.1436, -2.8513, 6.9675, 1.5409, -0.2173, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d37c5b8354246995bd7d59c0cf75207de17983a15c264330051dcb0ffade6b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375844782f0ed1b7c2410f34b3a4e4f4c21520ebab3d4d49dd145825a2450869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c641525493dfa0f801bdc2ea16943502757f195e43cab0b5c5846895b939df",
      "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 · 6.874 s

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

message 108 changed as sent

message 116 changed as sent

message 119 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0891, 1.0897, 0.6811, -0.3603, 0.4297, 0.3527, 0.5981, 0.152, 1.0485, 0.7765, -0.4648, -0.3939, -0.3492, 0.0605]\nstate[eef_state]: left_x=0.3049 left_y=-0.0975 left_z=0.1435 left_yaw=-0.6516 left_pitch=-0.1143 left_roll=-0.0162 left_gripper=0.5981 right_x=0.2988 right_y=0.118 right_z=0.1762 right_yaw=0.664 right_pitch=-0.11 right_roll=-0.0112 right_gripper=0.0605\nstate[joint_eff]: [0.1983, -3.8632, 9.9077, 1.4921, 0.3736, 0.1245, -0.105, -0.0889, -3.1385, 6.8991, 1.5409, -0.232, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9691, 2.101, 0.8192, 0.6964, -0.5812, -0.358, 0.5008, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0681]\nstate[eef_state]: left_x=0.3447 left_y=-0.3243 left_z=0.0019 left_yaw=-0.3082 left_pitch=0.0899 left_roll=0.0019 left_gripper=0.5008 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0681\nstate[joint_eff]: [0.2393, -7.5009, 3.6718, 1.2234, 0.188, 0.0513, -0.0073, -0.335, -3.0154, 7.0496, 1.5458, -0.1978, -0.0366, 1.0281]",
      "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]: [-0.9691, 2.1094, 0.8181, 0.7525, -0.5995, -0.3607, 0.0299, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0682]\nstate[eef_state]: left_x=0.349 left_y=-0.3259 left_z=0.0091 left_yaw=-0.2889 left_pitch=0.1325 left_roll=-0.0219 left_gripper=0.0299 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0682\nstate[joint_eff]: [-0.1573, -9.4974, 4.8752, 1.1941, -0.0366, 0.105, 0.0366, -0.1436, -2.8513, 6.9675, 1.5409, -0.2173, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d37c5b8354246995bd7d59c0cf75207de17983a15c264330051dcb0ffade6b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375844782f0ed1b7c2410f34b3a4e4f4c21520ebab3d4d49dd145825a2450869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c641525493dfa0f801bdc2ea16943502757f195e43cab0b5c5846895b939df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09a9d8c2e0e9b6a1016ab47454e04487d0b2cadcfe410f09fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.28,\"left_z\":0.15},\"note\":\"The cap grasp is uncertain because the closed width is very small. I’m lifting and retracting to check whether the cap moved with the jaws before attempting any insertion.\"}",
  "call_id": "call_VBsuSOMQGUUCrm1fLngIVHAd",
  "id": "fc_09a9d8c2e0e9b6a1016ab474551cc887d0ac9ef071aba2de58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VBsuSOMQGUUCrm1fLngIVHAd",
  "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]: [-0.9695, 1.5265, 0.749, 0.2485, -0.5987, -0.3645, 0.0293, 0.152, 1.0542, 0.7765, -0.4648, -0.3939, -0.3496, 0.0682]\nstate[eef_state]: left_x=0.3179 left_y=-0.2811 left_z=0.1378 left_yaw=-0.287 left_pitch=0.1399 left_roll=-0.032 left_gripper=0.0293 right_x=0.2991 right_y=0.118 right_z=0.1745 right_yaw=0.6645 right_pitch=-0.115 right_roll=-0.0087 right_gripper=0.0682\nstate[joint_eff]: [-0.6222, -7.1726, 8.7863, 1.5946, -0.2515, -0.022, -0.0757, -0.1026, -2.7145, 7.0906, 1.5409, -0.1587, -0.0269, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c175cce5ea1fbab348c7a809f977e71c2e94892a82a86cdf4fba91137a57c715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23337cf7157c69f01e592edc4dd02aba1790cc61417231e99b1cb95f584aa26d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d715bb50b51fe1adb4f2c6e0ee2d68fab5cba7da142694d3df8f83f8d3629a91",
      "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 · 3.158 s

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

message 112 changed as sent

message 119 changed as sent

message 123 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9627, 1.8076, 0.9176, 0.0383, -0.4599, -0.4641, 0.5008, 0.152, 1.0519, 0.7765, -0.4652, -0.3939, -0.3496, 0.0649]\nstate[eef_state]: left_x=0.3148 left_y=-0.3087 left_z=0.0443 left_yaw=-0.3323 left_pitch=-0.17 left_roll=0.0107 left_gripper=0.5008 right_x=0.2989 right_y=0.118 right_z=0.1752 right_yaw=0.6644 right_pitch=-0.1134 right_roll=-0.0096 right_gripper=0.0649\nstate[joint_eff]: [-0.253, -8.8137, 8.3487, 1.5214, -0.3394, 0.0855, 0.0415, -0.3214, -3.2889, 6.8581, 1.4921, -0.1685, -0.0269, 1.0281]",
      "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]: [-0.9691, 2.1094, 0.8181, 0.7525, -0.5995, -0.3607, 0.0299, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0682]\nstate[eef_state]: left_x=0.349 left_y=-0.3259 left_z=0.0091 left_yaw=-0.2889 left_pitch=0.1325 left_roll=-0.0219 left_gripper=0.0299 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0682\nstate[joint_eff]: [-0.1573, -9.4974, 4.8752, 1.1941, -0.0366, 0.105, 0.0366, -0.1436, -2.8513, 6.9675, 1.5409, -0.2173, -0.0366, 1.0281]",
      "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]: [-0.9695, 1.5265, 0.749, 0.2485, -0.5987, -0.3645, 0.0293, 0.152, 1.0542, 0.7765, -0.4648, -0.3939, -0.3496, 0.0682]\nstate[eef_state]: left_x=0.3179 left_y=-0.2811 left_z=0.1378 left_yaw=-0.287 left_pitch=0.1399 left_roll=-0.032 left_gripper=0.0293 right_x=0.2991 right_y=0.118 right_z=0.1745 right_yaw=0.6645 right_pitch=-0.115 right_roll=-0.0087 right_gripper=0.0682\nstate[joint_eff]: [-0.6222, -7.1726, 8.7863, 1.5946, -0.2515, -0.022, -0.0757, -0.1026, -2.7145, 7.0906, 1.5409, -0.1587, -0.0269, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c175cce5ea1fbab348c7a809f977e71c2e94892a82a86cdf4fba91137a57c715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23337cf7157c69f01e592edc4dd02aba1790cc61417231e99b1cb95f584aa26d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d715bb50b51fe1adb4f2c6e0ee2d68fab5cba7da142694d3df8f83f8d3629a91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRd_nh3I2GrQiTrhozDxGeKQxyi4U6Jnq1tdPPyAEyqs4vduoNYzgklTOuZBtADTqxQvbBm08ICg9sD1fU3w-9AYjCgWL4Qi0zhAD4bpxKPcKrefsBkje8YwqDpMh6OyYpqCR5Szw1PEph9Tg2ax0qSH6ctP4L08FD84yEfhjJuGhA2TOEywJdgCwkfqjOPMxJkhXwc_TuJCQtyrQg68HZkTyp4A-RsCJCc7IrRYxp9TS67oKCROXrapwf9aoQEDADbTg5JioOASR0SOpV-KKDJTobzLzcFUP4r4tRsNWn5rPn_KHqDcsvl6ZByicjb2IcBt4Op-PUq1eW6iMH8xit2BHjCl6u7R0wn-4RPFqnOJTszwh2OLWvrtXlhP3ozWC_zucgX3X1OLMBLBdXsd06ng9_nlIl-3QaHcQXueiaswHaKx7PvEOfYal1HrxZm8nVGavsLQQYs5XGb5BfrP3xzUME1wkWQtSUH3xRY6OGXJmMLQGJvD_PgpuQLFAQ_99h3azrxC9i0r1Y8Gzw7payCr6ODejds3lVlOyAu7WpEslty4I-bbbqhZQtN9XakTPwS5XO5Z5tl3xtGtYU4lNejiD6HADkmoZ_7vjAAn4eN61bLhPbNTpPoYP0Gk4xNIZrEGNcKn6deV6VBZ4M33KiPp_N3-V5ER90QKFqnjCwcGK9fxLWEQVduJA8S6yVnUmW72_XR_pvY6c8mM8EZBurJW30HzryaKkPuaaOLkp0zkl1RE0INgw_i5ay_gcj0KUgBICGksiz-pZACn0paymtpJ1E4zIIXu2c6Z6k9z5jwKWvzLPkikb3udcjDArXJ4SdUSATDw8RN0LWdqbhAeeNuqDv0ffuqHU6GNJGJ2809Gyh1FIeYicxUw7UmwU7UhLIAe1KrATrVk7uo3wTU7rfg2AdtfNYaojK-QbJvWULTcN54JmPLYu8WRcMTBEqetEMeml5hEPLLAeL6ZE83mk3DceniDh65qWa5BotHu43zzseJaIHdZV8Z0vBBVvvyw0OIeOIsBMUnZmbSLVQ1dBFh2m_UB_OWyLtQGjPuRW1dlnJJD__yeR9iqjoC3nfABpNoY5f6Z1sbh7j7Wj9nwCXWIgNmPbFoG1WkG1DKE9aN46FfAHAAZYZ4XktIh8xkoy3eHem0PxSjTwrOatdMjbil_523tdMw87o14-snJYvgDYmtUDCyFNJfN26oSCJOqtejhtjEj4f906mQco6xxyD1VcRTOguBi3T-0J8tkmMwEl08lOmwhle3GR4m-hzIP1_ZTTFSspEFe21cdSl7gW_wQ0chJZMRcEAWQuFQLR8l7mLdA4vbely9y0GxblDJqxShpoAiPsysqBlQTTmp-tIYQzQ_St1CgjKzxzSchOaBcuK1cY_aIbgNGCRdoQD_Lzvpm3UqdSpcUaBdW7pcoxVpf90evIiX6ypInSvF32VpUqWYxXqOqFdwYRsz_7iyxaBZrD1H-7eNetf-xDmaqcC_I09XXGfFyTUULfYZKc1rhSjIbDrzITgvity1g7uMEjt_YvV7lyIZ6vvy2TdUIq1jhVqe0sOlcw_T6-o3-jaeprtEODxO7xf_4F8ZlusrzkiV0nP5zumeYjexTkxBICsk1h5EXz7F-bPtYhNynNYE6kfN7OVPTcfuHy0JQqyWzcFuJDV5i91XSeNOJMl_EvDR3nVs2jJZxRCwKb52HEuYGjLth5fcWnp3MO4k_IPv7Eb7W4fhM6gT43zvawwdSwwBCHjDj9hJXqBS41rpL-nBW__r06OEC7J8OTjpYf3Wxa1Ojb3rUh63wXqkilZfArM97W19irM3hdhsmsmSXs6SFiNxNkFLiwSOxvRwkSM6rfNsJ4HHPwEAAg77YfK4_WEj9u6CSSn8k3cwe_Hp0jOWpRgQdxO6Vqs6JaeWe2B8cntM7YAmTJFjcgc5Fv68AHZ70abGJqbTNwQQhBeH9ffdluHh40uhPuFcw1ruBpJ_gB26jtUU1HJnFtOUY793olJVyfrmDBQfCld7i9MsJYjZXdtAox7WjmIIm1O9NX_dP59_yMOyaREMy4Lo88JXRcdlru5sWhvH1J2ZYiDTRRpRCLW-tzbfH9APzEeCIhvp-nD4zmHNyDNrwKtmpQUZHpW9K8n50uPBZYnR0Oq58UrLNjtN3gq4gb9svBg-eJvefEMA9ftE-cdR3wgt7fx827aiPupLvJPPWrq0C-NHChsnKF0iIqljZviXjYKqzwGyx99C",
  "id": "rs_09a9d8c2e0e9b6a1016ab474588a2c87d0bddc765c6f7a7058",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.118,\"right_z\":0.008,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_gripper\":0.6},\"note\":\"The cap is still on the table, so the last grasp was empty. I’m setting the pen down in a clear area and parking the left arm rather than attempting an unaligned insertion.\"}",
  "call_id": "call_Wygca7Iwff8OpWlGkI7bQvcw",
  "id": "fc_09a9d8c2e0e9b6a1016ab4745c5f2c87d0b1b0d08c8ef2f1be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wygca7Iwff8OpWlGkI7bQvcw",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.0334, 0.8146, 0.6453, -0.4366, -0.0547, -0.0933, 0.5982, 0.152, 1.4876, 0.2905, 0.4019, -0.3943, -0.3492, 0.0682]\nstate[eef_state]: left_x=0.2935 left_y=0.0035 left_z=0.1817 left_yaw=0.0517 left_pitch=-0.0352 left_roll=-0.0371 left_gripper=0.5982 right_x=0.2923 right_y=0.1171 right_z=0.0026 right_yaw=0.6682 right_pitch=-0.1607 right_roll=0.018 right_gripper=0.0682\nstate[joint_eff]: [0.1162, -2.0991, 10.3179, 1.7705, 0.0611, 0.2466, -0.1148, -0.1162, -3.9863, 4.3692, 1.7949, -0.232, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e91ab9a4ee2580c2deba4c2a29a18326d308d5286261c7d6fc35a8c808b964b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730be49e4dccf02d5a0187ecdd359e2f9483244ec785fe2e78f1758b9342c127",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92513532fd88901fcb7e3cdf05a01a5729fcf4cf1812e17325b8e05783f25144",
      "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 · 2.595 s

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

message 116 changed as sent

message 123 changed as sent

message 127 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9691, 2.101, 0.8192, 0.6964, -0.5812, -0.358, 0.5008, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0681]\nstate[eef_state]: left_x=0.3447 left_y=-0.3243 left_z=0.0019 left_yaw=-0.3082 left_pitch=0.0899 left_roll=0.0019 left_gripper=0.5008 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0681\nstate[joint_eff]: [0.2393, -7.5009, 3.6718, 1.2234, 0.188, 0.0513, -0.0073, -0.335, -3.0154, 7.0496, 1.5458, -0.1978, -0.0366, 1.0281]",
      "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]: [-0.9695, 1.5265, 0.749, 0.2485, -0.5987, -0.3645, 0.0293, 0.152, 1.0542, 0.7765, -0.4648, -0.3939, -0.3496, 0.0682]\nstate[eef_state]: left_x=0.3179 left_y=-0.2811 left_z=0.1378 left_yaw=-0.287 left_pitch=0.1399 left_roll=-0.032 left_gripper=0.0293 right_x=0.2991 right_y=0.118 right_z=0.1745 right_yaw=0.6645 right_pitch=-0.115 right_roll=-0.0087 right_gripper=0.0682\nstate[joint_eff]: [-0.6222, -7.1726, 8.7863, 1.5946, -0.2515, -0.022, -0.0757, -0.1026, -2.7145, 7.0906, 1.5409, -0.1587, -0.0269, 1.0232]",
      "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]: [-0.0334, 0.8146, 0.6453, -0.4366, -0.0547, -0.0933, 0.5982, 0.152, 1.4876, 0.2905, 0.4019, -0.3943, -0.3492, 0.0682]\nstate[eef_state]: left_x=0.2935 left_y=0.0035 left_z=0.1817 left_yaw=0.0517 left_pitch=-0.0352 left_roll=-0.0371 left_gripper=0.5982 right_x=0.2923 right_y=0.1171 right_z=0.0026 right_yaw=0.6682 right_pitch=-0.1607 right_roll=0.018 right_gripper=0.0682\nstate[joint_eff]: [0.1162, -2.0991, 10.3179, 1.7705, 0.0611, 0.2466, -0.1148, -0.1162, -3.9863, 4.3692, 1.7949, -0.232, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e91ab9a4ee2580c2deba4c2a29a18326d308d5286261c7d6fc35a8c808b964b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730be49e4dccf02d5a0187ecdd359e2f9483244ec785fe2e78f1758b9342c127",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92513532fd88901fcb7e3cdf05a01a5729fcf4cf1812e17325b8e05783f25144",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The pen has reached the tabletop in a clear area. I’m opening the right jaws to leave it resting safely.\"}",
  "call_id": "call_oH29AuzZhHnVox4Zd7tq3CxD",
  "id": "fc_09a9d8c2e0e9b6a1016ab47461f4a887d0bbd590aee6a25ecc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oH29AuzZhHnVox4Zd7tq3CxD",
  "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]: [-0.0334, 0.8192, 0.6476, -0.4389, -0.0483, -0.0883, 0.5982, 0.152, 1.499, 0.2859, 0.4114, -0.3981, -0.35, 0.6453]\nstate[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.181 left_yaw=0.0436 left_pitch=-0.04 left_roll=-0.0363 left_gripper=0.5982 right_x=0.2907 right_y=0.1174 right_z=-0.0004 right_yaw=0.6722 right_pitch=-0.165 right_roll=0.0231 right_gripper=0.6453\nstate[joint_eff]: [0.0342, -1.7162, 6.7897, 1.6923, -0.0904, -0.1245, -0.0171, -0.1846, -5.3949, 4.9709, 1.3797, -0.1783, -0.0513, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ffd530257e479158e1ad1b93d096b51ff3fd536b8f17e0f9a8ea91f4ea017f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499c09e9778543292080ed9ff43725bb226070f8d05b04a4e1b3b8876b70392e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9a3baba47e94bab0dbb6ad798f9bb74b3167e294e0d11f5fc3c4b9469605ff",
      "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 · 4.911 s

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

message 119 changed as sent

message 127 changed as sent

message 130 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]: [-0.9691, 2.1094, 0.8181, 0.7525, -0.5995, -0.3607, 0.0299, 0.152, 1.0519, 0.7765, -0.4648, -0.3939, -0.3492, 0.0682]\nstate[eef_state]: left_x=0.349 left_y=-0.3259 left_z=0.0091 left_yaw=-0.2889 left_pitch=0.1325 left_roll=-0.0219 left_gripper=0.0299 right_x=0.299 right_y=0.118 right_z=0.1752 right_yaw=0.6642 right_pitch=-0.113 right_roll=-0.0095 right_gripper=0.0682\nstate[joint_eff]: [-0.1573, -9.4974, 4.8752, 1.1941, -0.0366, 0.105, 0.0366, -0.1436, -2.8513, 6.9675, 1.5409, -0.2173, -0.0366, 1.0281]",
      "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]: [-0.0334, 0.8146, 0.6453, -0.4366, -0.0547, -0.0933, 0.5982, 0.152, 1.4876, 0.2905, 0.4019, -0.3943, -0.3492, 0.0682]\nstate[eef_state]: left_x=0.2935 left_y=0.0035 left_z=0.1817 left_yaw=0.0517 left_pitch=-0.0352 left_roll=-0.0371 left_gripper=0.5982 right_x=0.2923 right_y=0.1171 right_z=0.0026 right_yaw=0.6682 right_pitch=-0.1607 right_roll=0.018 right_gripper=0.0682\nstate[joint_eff]: [0.1162, -2.0991, 10.3179, 1.7705, 0.0611, 0.2466, -0.1148, -0.1162, -3.9863, 4.3692, 1.7949, -0.232, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.8192, 0.6476, -0.4389, -0.0483, -0.0883, 0.5982, 0.152, 1.499, 0.2859, 0.4114, -0.3981, -0.35, 0.6453]\nstate[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.181 left_yaw=0.0436 left_pitch=-0.04 left_roll=-0.0363 left_gripper=0.5982 right_x=0.2907 right_y=0.1174 right_z=-0.0004 right_yaw=0.6722 right_pitch=-0.165 right_roll=0.0231 right_gripper=0.6453\nstate[joint_eff]: [0.0342, -1.7162, 6.7897, 1.6923, -0.0904, -0.1245, -0.0171, -0.1846, -5.3949, 4.9709, 1.3797, -0.1783, -0.0513, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ffd530257e479158e1ad1b93d096b51ff3fd536b8f17e0f9a8ea91f4ea017f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499c09e9778543292080ed9ff43725bb226070f8d05b04a4e1b3b8876b70392e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9a3baba47e94bab0dbb6ad798f9bb74b3167e294e0d11f5fc3c4b9469605ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The pen is released and resting separately from the cap. I’m lifting and parking the right arm so both objects are clear of the grippers.\"}",
  "call_id": "call_Pu87xrSga2VAYfkNMM7zBmKO",
  "id": "fc_09a9d8c2e0e9b6a1016ab47465918087d0968092831f49418d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pu87xrSga2VAYfkNMM7zBmKO",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0334, 0.8246, 0.6449, -0.4389, -0.0483, -0.0879, 0.5981, -0.0383, 0.8089, 0.6312, -0.4019, -0.1055, -0.054, 0.6463]\nstate[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.1783 left_yaw=0.0434 left_pitch=-0.048 left_roll=-0.0354 left_gripper=0.5981 right_x=0.2959 right_y=0.0109 right_z=0.1843 right_yaw=0.0728 right_pitch=-0.0169 right_roll=0.0131 right_gripper=0.6463\nstate[joint_eff]: [-0.1162, -1.853, 7.4188, 1.663, -0.0513, -0.0806, -0.0171, -0.5402, -2.2222, 9.265, 1.707, 0.1148, 0.2808, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f15fbdb984f70df67b1acf390373e4ce681cc9e04ff59edf54a83bb8ef55b00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bdbe12fe642a0402ff3d890e1a27328d9cb46a992c39115d2b308b2b06eee20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
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}

[blob elided: media budget]