adhoc - adhoc_6bc0a836.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: 236.8 s
total steps: 307

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 pen near the middle of the table. I’m bringing the left gripper above the cap, with its jaws turned to pinch across the cap’s length.

move_to

left_x0.3500left_y-0.1700left_z0.1300left_yaw-0.4500left_gripper1.0000right_x0.2950right_y0.0020right_z0.1850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7929, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6102, -0.3771, -0.0219, -0.0147, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1797 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991 state[joint_eff]: [-0.4308, -1.4291, 10.5231, 1.7705, -0.0366, 0.0904, -0.0366, -0.4991, -1.2239, 9.7299, 1.8242, -0.0366, -0.0269, -0.1148] 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":0.35,"left_y":-0.17,"left_z":0.13,"left_yaw":-0.45,"left_gripper":1,"right_x":0.295,"right_y":0.002,"right_z":0.185},"note":"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap, with its jaws turned to pinch across the cap’s length."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent noteThe cap is visible just left of the jaw centre in the wrist camera. I’m correcting that offset and lowering toward its thicker body while keeping the jaws open.

move_to

left_x0.3750left_y-0.1400left_z0.0350left_yaw-0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4637, 1.2926, 0.5987, 0.0238, -0.0444, -0.0505, 0.9998, -0.0193, 0.7971, 0.6132, -0.3908, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.3339 left_y=-0.1542 left_z=0.1023 left_yaw=-0.4101 left_pitch=-0.0997 left_roll=-0.0043 left_gripper=0.9998 right_x=0.2947 right_y=0.0019 right_z=0.1811 right_yaw=-0.0001 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.2803, -4.547, 9.8803, 2.0977, 0.0073, 0.1685, -0.0366, 0.0205, -1.8803, 6.9812, 1.7851, -0.0464, -0.0366, -0.022] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.14,"left_z":0.035,"left_yaw":-0.45},"note":"The cap is visible just left of the jaw centre in the wrist camera. I’m correcting that offset and lowering toward its thicker body while keeping the jaws open."})

tool

executing move_to over 5 steps (0.5s)

step 21

assistant

agent noteThe cap’s body is still ahead of the fingertips and slightly left in the wrist view. I’m advancing a few centimetres and descending to table level so the fingers can reach around it.

move_to

left_x0.4010left_y-0.1280left_z-0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3332, 1.6215, 0.5575, 0.2951, 0.054, 0.0246, 0.9998, -0.0193, 0.7994, 0.6132, -0.3939, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.359 left_y=-0.1306 left_z=0.0194 left_yaw=-0.4047 left_pitch=-0.1979 left_roll=-0.0136 left_gripper=0.9998 right_x=0.2944 right_y=0.0019 right_z=0.1799 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.2393, -7.0359, 5.8598, 1.8437, 0.0952, 0.1294, -0.0171, -0.3214, -1.3744, 7.0222, 1.7411, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.401,"left_y":-0.128,"left_z":-0.008},"note":"The cap’s body is still ahead of the fingertips and slightly left in the wrist view. I’m advancing a few centimetres and descending to table level so the fingers can reach around it."})

tool

executing move_to over 4 steps (0.4s)

step 25

assistant

agent noteThe cap’s thicker section is now centred between the fingers at table level. I’m closing the left gripper to take hold of 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]: [-0.2855, 1.8156, 0.6613, 0.4084, 0.0788, 0.0517, 0.9997, -0.0193, 0.8017, 0.6132, -0.395, -0.0227, -0.0147, 0.999] state[eef_state]: left_x=0.399 left_y=-0.1279 left_z=0.0014 left_yaw=-0.3927 left_pitch=-0.1735 left_roll=-0.0087 left_gripper=0.9997 right_x=0.2944 right_y=0.0019 right_z=0.179 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [0.4444, -6.2838, 5.4359, 1.0965, 0.1343, -0.022, -0.0171, -0.2256, -1.4564, 7.0222, 1.7167, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap’s thicker section is now centred between the fingers at table level. I’m closing the left gripper to take hold of it."})

tool

executing move_to over 10 steps (1.0s)

step 35

assistant

agent noteThe left gripper has closed around a thin object rather than fully shut. I’m lifting the cap for verification and bringing the right gripper above the separate pen, well away from the left hand.

move_to

left_z0.0750left_x0.4000right_x0.4030right_y0.2140right_z0.1350right_yaw0.7800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2802, 1.8385, 0.6781, 0.4282, 0.0845, 0.0536, 0.0478, -0.0193, 0.8024, 0.6132, -0.395, -0.0223, -0.0147, 0.999] state[eef_state]: left_x=0.406 left_y=-0.1286 left_z=0.0015 left_yaw=-0.393 left_pitch=-0.1594 left_roll=-0.0096 left_gripper=0.0478 right_x=0.2944 right_y=0.0019 right_z=0.1788 right_yaw=-0.0004 right_pitch=-0.0256 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [0.0342, -6.8308, 5.2855, 1.3211, 0.1538, 0.1197, 1.3211, -0.0342, -1.1966, 7.2137, 1.7021, -0.0171, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.075,"left_x":0.4,"right_x":0.403,"right_y":0.214,"right_z":0.135,"right_yaw":0.78,"right_gripper":1},"note":"The left gripper has closed around a thin object rather than fully shut. I’m lifting the cap for verification and bringing the right gripper above the separate pen, well away from the left hand."})

tool

executing move_to over 18 steps (1.8s)

step 53

assistant

agent noteThe cap rose with the left fingers and is no longer on the table. The pen is aligned lengthwise in the right wrist view; I’m lowering around its rear half so its writing end will remain exposed.

move_to

right_x0.4330right_y0.2180right_z0.0250left_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2821, 1.6173, 0.7383, 0.0872, 0.0818, 0.0437, 0.053, 0.3359, 1.5951, 0.9173, -0.0078, -0.3359, -0.2401, 0.9991] state[eef_state]: left_x=0.3886 left_y=-0.1239 left_z=0.0503 left_yaw=-0.3884 left_pitch=-0.2188 left_roll=-0.0217 left_gripper=0.053 right_x=0.3934 right_y=0.2028 right_z=0.1192 right_yaw=0.7394 right_pitch=-0.0825 right_roll=0.0189 right_gripper=0.9991 state[joint_eff]: [-0.4718, -8.6222, 9.3197, 1.6386, -0.0366, 0.0269, 1.033, 0.294, -7.4872, 8.5812, 1.7998, -0.3004, 0.0366, -0.1148] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.433,"right_y":0.218,"right_z":0.025,"left_z":0.095},"note":"The cap rose with the left fingers and is no longer on the table. The pen is aligned lengthwise in the right wrist view; I’m lowering around its rear half so its writing end will remain exposed."})

tool

executing move_to over 7 steps (0.7s)

step 60

assistant

agent noteThe pen runs down the centre of the open right jaws, with the tip well ahead of them. I’m making the final small advance and descent before pinching the barrel.

move_to

right_x0.4400right_y0.2270right_z-0.0070

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2817, 1.5444, 0.8013, -0.0975, 0.0822, 0.0425, 0.0578, 0.3401, 1.9373, 0.9039, 0.2802, -0.3401, -0.2474, 0.999] state[eef_state]: left_x=0.3795 left_y=-0.1212 left_z=0.0711 left_yaw=-0.389 left_pitch=-0.2674 left_roll=-0.0282 left_gripper=0.0578 right_x=0.4168 right_y=0.2138 right_z=0.017 right_yaw=0.7539 right_pitch=-0.1432 right_roll=0.0427 right_gripper=0.999 state[joint_eff]: [-0.0889, -8.2803, 9.7436, 1.4383, -0.022, -0.0317, 1.033, -0.2256, -8.759, 7.4188, 1.7705, -0.1148, 0.0659, -0.022] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.227,"right_z":-0.007},"note":"The pen runs down the centre of the open right jaws, with the tip well ahead of them. I’m making the final small advance and descent before pinching the barrel."})

tool

executing move_to over 2 steps (0.2s)

step 62

assistant

agent noteThe pen’s barrel is now between the right fingertips, with the writing tip projecting beyond the grasp. I’m closing on the barrel while keeping the cap held separately.

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]: [-0.2821, 1.5383, 0.8085, -0.1184, 0.0826, 0.0429, 0.0579, 0.3477, 2.027, 0.9611, 0.3416, -0.3405, -0.2543, 0.9989] state[eef_state]: left_x=0.3781 left_y=-0.121 left_z=0.0728 left_yaw=-0.3902 left_pitch=-0.2749 left_roll=-0.0291 left_gripper=0.0579 right_x=0.4343 right_y=0.224 right_z=0.007 right_yaw=0.764 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.9989 state[joint_eff]: [-0.2393, -5.9009, 5.8872, 1.6142, 0.0464, -0.0562, 1.0281, 0.4718, -8.212, 5.5453, 0.6374, -0.0513, 0.232, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen’s barrel is now between the right fingertips, with the writing tip projecting beyond the grasp. I’m closing on the barrel while keeping the cap held separately."})

tool

executing move_to over 10 steps (1.0s)

step 72

assistant

agent noteThe right gripper closed almost completely, so that attempt did not capture the pen. I’m reopening and backing toward the pen’s barrel for a lower, better-centred retry; the cap remains held in the left hand.

move_to

right_gripper1.0000right_x0.4140right_y0.2070right_z0.0350left_x0.3800left_z0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2821, 1.544, 0.8013, -0.1249, 0.0822, 0.0429, 0.0594, 0.3485, 2.0365, 0.9726, 0.3737, -0.3454, -0.2596, 0.0116] state[eef_state]: left_x=0.3746 left_y=-0.1199 left_z=0.0668 left_yaw=-0.3905 left_pitch=-0.2943 left_roll=-0.031 left_gripper=0.0594 right_x=0.441 right_y=0.2277 right_z=0.0125 right_yaw=0.7703 right_pitch=-0.084 right_roll=0.0107 right_gripper=0.0116 state[joint_eff]: [-0.3897, -7.0906, 6.9812, 1.4921, -0.0269, -0.0269, 1.0281, -0.253, -10.4274, 4.7521, 1.3504, -0.0415, 0.0122, 0.6667] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.414,"right_y":0.207,"right_z":0.035,"left_x":0.38,"left_z":0.12},"note":"The right gripper closed almost completely, so that attempt did not capture the pen. I’m reopening and backing toward the pen’s barrel for a lower, better-centred retry; the cap remains held in the left hand."})

tool

executing move_to over 10 steps (1.0s)

step 82

assistant

agent noteThe pen slid to the left of the right fingers during the missed grasp. I can see it along the wrist image’s lower-left edge, so I’m shifting the open jaws over the displaced barrel and lowering to the table.

move_to

right_x0.3890right_y0.2490right_z-0.0120right_yaw0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2817, 1.5116, 0.9257, -0.3466, 0.0826, 0.0425, 0.0595, 0.3241, 1.9175, 0.8555, 0.3397, -0.3611, -0.2802, 0.9949] state[eef_state]: left_x=0.37 left_y=-0.1185 left_z=0.0925 left_yaw=-0.3926 left_pitch=-0.3587 left_roll=-0.039 left_gripper=0.0595 right_x=0.4133 right_y=0.2084 right_z=0.0201 right_yaw=0.7709 right_pitch=-0.1085 right_roll=0.017 right_gripper=0.9949 state[joint_eff]: [0.1709, -8.9504, 9.8256, 1.5067, 0.0317, -0.0024, 0.7546, -0.6222, -11.6855, 5.3675, 1.5214, -0.2564, 0.0562, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). 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":0.389,"right_y":0.249,"right_z":-0.012,"right_yaw":0.45},"note":"The pen slid to the left of the right fingers during the missed grasp. I can see it along the wrist image’s lower-left edge, so I’m shifting the open jaws over the displaced barrel and lowering to the table."})

tool

executing move_to over 4 steps (0.4s)

step 86

assistant

agent noteThe pen is no longer visible between the right fingers, and the gripper hides its position from above. I’m lifting the open right hand away to locate the pen clearly before attempting another grasp.

move_to

right_x0.3150right_y0.0700right_z0.1600right_yaw0.0000left_x0.3750left_z0.1300left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2817, 1.5101, 0.9291, -0.371, 0.0822, 0.0429, 0.06, 0.5816, 1.969, 0.7834, 0.5442, -0.0257, -0.025, 0.9959] state[eef_state]: left_x=0.3663 left_y=-0.1174 left_z=0.0908 left_yaw=-0.3933 left_pitch=-0.3781 left_roll=-0.0408 left_gripper=0.06 right_x=0.3864 right_y=0.2638 right_z=0.0034 right_yaw=0.6088 right_pitch=-0.0827 right_roll=-0.0045 right_gripper=0.9959 state[joint_eff]: [-0.3624, -6.4752, 6.1333, 1.5702, -0.0024, -0.0659, 1.0085, -1.0872, -6.694, 4.1368, 1.0965, -0.0171, 0.3199, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.315,"right_y":0.07,"right_z":0.16,"right_yaw":0,"left_x":0.375,"left_z":0.13,"left_pitch":0.25},"note":"The pen is no longer visible between the right fingers, and the gripper hides its position from above. I’m lifting the open right hand away to locate the pen clearly before attempting another grasp."})

tool

executing move_to over 21 steps (2.1s)

step 107

assistant

agent noteThe pen has slid farther forward and now lies diagonally, with its pointed end nearest us. I’m approaching the reachable lower section with the right gripper turned across the barrel.

move_to

right_x0.4750right_y0.1850right_z0.0650right_yaw-0.4000right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2474, 1.3682, 0.4389, 0.5285, 0.1394, 0.0082, 0.06, 0.371, 1.0435, 0.6281, -0.2752, 0.2596, 0.1894, 0.9959] state[eef_state]: left_x=0.3704 left_y=-0.1152 left_z=0.1148 left_yaw=-0.3824 left_pitch=0.1728 left_roll=-0.0365 left_gripper=0.06 right_x=0.3145 right_y=0.0776 right_z=0.1429 right_yaw=0.0417 right_pitch=-0.1047 right_roll=-0.0156 right_gripper=0.9959 state[joint_eff]: [0.3761, -4.1778, 5.7641, 2.1905, 0.2222, -0.0708, 0.9841, -0.5402, -4.0274, 9.9487, 1.6972, 0.2613, 0.1734, -0.0024] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.475,"right_y":0.185,"right_z":0.065,"right_yaw":-0.4,"right_pitch":0.3},"note":"The pen has slid farther forward and now lies diagonally, with its pointed end nearest us. I’m approaching the reachable lower section with the right gripper turned across the barrel."})

tool

executing move_to over 14 steps (1.4s)

step 121

assistant

agent noteThe pen is clearly visible alongside the right jaw centre, slightly to its right. I’m correcting sideways and lowering around the barrel without sweeping along its length.

move_to

right_x0.4860right_y0.1590right_z-0.0120right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.375, 0.4267, 0.5114, 0.1379, 0.001, 0.06, 0.6613, 2.1559, 1.0794, 0.4984, 0.9241, 0.3965, 0.996] state[eef_state]: left_x=0.366 left_y=-0.1129 left_z=0.1034 left_yaw=-0.3742 left_pitch=0.1366 left_roll=-0.0474 left_gripper=0.06 right_x=0.4654 right_y=0.1881 right_z=0.0486 right_yaw=-0.3084 right_pitch=0.2218 right_roll=-0.0783 right_gripper=0.996 state[joint_eff]: [-0.3214, -5.3265, 6.8444, 1.9316, 0.0513, 0.022, 0.9744, -0.1709, -11.4667, 6.0923, 1.746, 0.6716, 0.105, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.486,"right_y":0.159,"right_z":-0.012,"right_pitch":0.3},"note":"The pen is clearly visible alongside the right jaw centre, slightly to its right. I’m correcting sideways and lowering around the barrel without sweeping along its length."})

tool

executing move_to over 4 steps (0.4s)

step 125

assistant

agent noteThe barrel still sits to the right of the jaw column, and the fingers have reached the tabletop. I’m making one small sideways correction before closing, keeping the height fixed.

move_to

right_x0.4880right_y0.1370right_z-0.0140right_yaw-0.3500right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.3773, 0.4271, 0.5079, 0.136, 0.001, 0.06, 0.5995, 2.3505, 1.0569, 0.8814, 0.9024, 0.3096, 0.996] state[eef_state]: left_x=0.3658 left_y=-0.1125 left_z=0.1019 left_yaw=-0.3724 left_pitch=0.1312 left_roll=-0.0473 left_gripper=0.06 right_x=0.4849 right_y=0.1678 right_z=0.0088 right_yaw=-0.3416 right_pitch=0.3077 right_roll=-0.018 right_gripper=0.996 state[joint_eff]: [-0.1299, -4.9846, 5.8598, 1.8291, 0.0073, -0.0171, 0.9744, -1.3333, -7.4735, 4.1915, 0.5592, 0.0171, -0.1832, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.488,"right_y":0.137,"right_z":-0.014,"right_yaw":-0.35,"right_pitch":0.3},"note":"The barrel still sits to the right of the jaw column, and the fingers have reached the tabletop. I’m making one small sideways correction before closing, keeping the height fixed."})

tool

executing move_to over 3 steps (0.3s)

step 128

assistant

agent noteThe sideways correction moved the pen toward the centre, but it is still offset by about a fingertip’s width. I’m easing back slightly from maximum reach and finishing the alignment.

move_to

right_x0.4800right_y0.1280right_z-0.0100right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1356, 0.0006, 0.0628, 0.5652, 2.3756, 1.0321, 1.0264, 0.8688, 0.2489, 0.996] state[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1012 left_yaw=-0.3719 left_pitch=0.1278 left_roll=-0.0479 left_gripper=0.0628 right_x=0.4918 right_y=0.1564 right_z=0.0126 right_yaw=-0.3391 right_pitch=0.3557 right_roll=0.0072 right_gripper=0.996 state[joint_eff]: [-0.0479, -4.8068, 6.1197, 1.8584, 0.022, -0.0366, 0.9939, -2.0171, -8.9504, 2.7829, 1.0183, -0.0659, 0.2564, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.128,"right_z":-0.01,"right_pitch":0.25},"note":"The sideways correction moved the pen toward the centre, but it is still offset by about a fingertip’s width. I’m easing back slightly from maximum reach and finishing the alignment."})

tool

executing move_to over 4 steps (0.4s)

step 132

assistant

agent noteThe pen’s barrel is now centred between the right fingers. I’m closing for the second grasp attempt, then I’ll check that it actually lifts with the hand.

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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1352, 0.0006, 0.0633, 0.5446, 2.376, 1.0206, 1.0546, 0.8589, 0.2455, 0.996] state[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1278 left_roll=-0.0478 left_gripper=0.0633 right_x=0.494 right_y=0.147 right_z=0.0137 right_yaw=-0.3538 right_pitch=0.3635 right_roll=0.0194 right_gripper=0.996 state[joint_eff]: [-0.0479, -4.7658, 5.8735, 1.8632, 0.0171, -0.0611, 0.8425, -1.5111, -8.841, 3.1658, 1.1209, -0.0464, 0.3053, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen’s barrel is now centred between the right fingers. I’m closing for the second grasp attempt, then I’ll check that it actually lifts with the hand."})

tool

executing move_to over 10 steps (1.0s)

step 142

assistant

agent noteThe second close was also empty; the readback shows the fingertips stayed above the requested table height at this long reach. I’m withdrawing to inspect where the pen moved rather than repeating the same unsuccessful grasp.

move_to

right_x0.3500right_y0.0300right_z0.1500right_gripper1.0000right_pitch0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.3773, 0.4271, 0.5041, 0.1352, 0.0006, 0.064, 0.5449, 2.3756, 1.0168, 1.0691, 0.8593, 0.2455, 0.0114] state[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1274 left_roll=-0.0478 left_gripper=0.064 right_x=0.4937 right_y=0.147 right_z=0.0154 right_yaw=-0.3571 right_pitch=0.3705 right_roll=0.0286 right_gripper=0.0114 state[joint_eff]: [-0.1983, -4.5333, 5.9145, 1.8144, -0.0171, -0.0659, 0.9353, -0.0889, -11.3299, 4.4786, 1.536, 0.0708, -0.0562, 0.9695] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.03,"right_z":0.15,"right_gripper":1,"right_pitch":0,"right_yaw":0},"note":"The second close was also empty; the readback shows the fingertips stayed above the requested table height at this long reach. I’m withdrawing to inspect where the pen moved rather than repeating the same unsuccessful grasp."})

tool

executing move_to over 13 steps (1.3s)

step 155

assistant

agent noteThe pen is visible again, with its near end still accessible but close to the reach limit. I’m approaching that end with a more forward-tilted tool to gain clearance for a low grasp.

move_to

right_x0.5060right_y0.2040right_z0.0450right_yaw0.5300right_pitch0.5800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.383, 0.4232, 0.5034, 0.1352, 0.001, 0.0662, 0.1379, 1.1378, 0.5491, 0.0944, 0.1631, 0.1211, 0.9957] state[eef_state]: left_x=0.3643 left_y=-0.112 left_z=0.0973 left_yaw=-0.3716 left_pitch=0.1172 left_roll=-0.0488 left_gripper=0.0662 right_x=0.3616 right_y=0.0249 right_z=0.1498 right_yaw=-0.0728 right_pitch=0.0709 right_roll=0.0314 right_gripper=0.9957 state[joint_eff]: [-0.1299, -5.2308, 6.2427, 1.8437, -0.0024, -0.0415, 0.5446, -0.5128, -4.2188, 10.1812, 1.7558, -0.0708, -0.0562, 0.0415] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.506,"right_y":0.204,"right_z":0.045,"right_yaw":0.53,"right_pitch":0.58},"note":"The pen is visible again, with its near end still accessible but close to the reach limit. I’m approaching that end with a more forward-tilted tool to gain clearance for a low grasp."})

tool

executing move_to over 17 steps (1.7s)

step 172

assistant

agent noteThe pen is aligned with the right jaw column at the new tilted approach. I’m lowering straight onto its near barrel section, avoiding any forward sweep that could move it farther away.

move_to

right_z-0.0140right_pitch0.6000right_x0.5010right_y0.2030

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.3888, 0.4198, 0.4961, 0.1352, 0.0006, 0.0695, 0.2905, 2.4233, 0.9245, 1.4525, -0.2256, 0.0143, 0.996] state[eef_state]: left_x=0.3625 left_y=-0.1115 left_z=0.0922 left_yaw=-0.3711 left_pitch=0.1009 left_roll=-0.0512 left_gripper=0.0695 right_x=0.5036 right_y=0.1955 right_z=0.0347 right_yaw=0.4923 right_pitch=0.5129 right_roll=0.0336 right_gripper=0.996 state[joint_eff]: [-0.0615, -5.2034, 6.1333, 1.8095, -0.0122, -0.0366, 0.7057, 0.1162, -10.6735, 3.7538, 2.2784, -0.1245, 0.1294, 0.0269] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.014,"right_pitch":0.6,"right_x":0.501,"right_y":0.203},"note":"The pen is aligned with the right jaw column at the new tilted approach. I’m lowering straight onto its near barrel section, avoiding any forward sweep that could move it farther away."})

tool

executing move_to over 4 steps (0.4s)

step 176

assistant

agent noteThe tilted descent stopped high and displaced the hand rather than reaching the barrel. I’m backing off the contact and returning the fingers nearly vertical at the pen’s nearer end.

move_to

right_x0.4630right_y0.1780right_z0.0120right_pitch0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.3903, 0.4191, 0.4927, 0.1352, 0.0006, 0.07, 0.3088, 2.5572, 1.1072, 1.5826, -0.2363, 0.0143, 0.9961] state[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0906 left_yaw=-0.3711 left_pitch=0.0952 left_roll=-0.0519 left_gripper=0.07 right_x=0.5287 right_y=0.2158 right_z=0.054 right_yaw=0.5485 right_pitch=0.6874 right_roll=-0.0144 right_gripper=0.9961 state[joint_eff]: [-0.0889, -4.9026, 5.8598, 1.7851, -0.0464, -0.0415, 0.6862, 0.2667, -4.5333, 1.4291, 1.7167, 0.3053, 0.1197, -0.0073] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.463,"right_y":0.178,"right_z":0.012,"right_pitch":0.05},"note":"The tilted descent stopped high and displaced the hand rather than reaching the barrel. I’m backing off the contact and returning the fingers nearly vertical at the pen’s nearer end."})

tool

executing move_to over 22 steps (2.2s)

step 198

assistant

agent noteWith the fingers vertical, the hand has reached table height and the pen is visible just to the right of centre. I’m shifting across the barrel while staying at this reachable height.

move_to

right_x0.4770right_y0.1530right_z0.0010right_pitch0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2451, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0714, 0.281, 2.104, 0.8383, 0.7609, -0.2417, -0.1402, 0.9961] state[eef_state]: left_x=0.3606 left_y=-0.111 left_z=0.0874 left_yaw=-0.3706 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0714 right_x=0.4644 right_y=0.1818 right_z=0.007 right_yaw=0.5522 right_pitch=0.0697 right_roll=-0.0063 right_gripper=0.9961 state[joint_eff]: [-0.0068, -5.053, 6.0103, 1.8388, -0.0415, -0.0708, 0.6862, -0.5402, -12.2325, 4.506, 1.6777, -0.0269, -0.1001, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.477,"right_y":0.153,"right_z":0.001,"right_pitch":0.05},"note":"With the fingers vertical, the hand has reached table height and the pen is visible just to the right of centre. I’m shifting across the barrel while staying at this reachable height."})

tool

executing move_to over 3 steps (0.3s)

step 201

assistant

agent noteThe pen moved much closer to the jaw centre after that correction. I’m making a final roughly one-centimetre adjustment and a shallow descent to place the fingertips around the thin barrel.

move_to

right_x0.4830right_y0.1390right_z-0.0090right_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]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1352, 0.0006, 0.0728, 0.2173, 2.1067, 0.8532, 0.7349, -0.2909, -0.1757, 0.9961] state[eef_state]: left_x=0.3606 left_y=-0.1108 left_z=0.0874 left_yaw=-0.3702 left_pitch=0.0854 left_roll=-0.0532 left_gripper=0.0728 right_x=0.4729 right_y=0.1599 right_z=0.0065 right_yaw=0.5484 right_pitch=0.0638 right_roll=-0.0105 right_gripper=0.9961 state[joint_eff]: [-0.0615, -4.8205, 5.9556, 1.7949, 0.0024, -0.0415, 0.8181, -0.4855, -8.1709, 6.2017, 1.5458, -0.1392, -0.1001, -0.0171] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.483,"right_y":0.139,"right_z":-0.009,"right_pitch":0},"note":"The pen moved much closer to the jaw centre after that correction. I’m making a final roughly one-centimetre adjustment and a shallow descent to place the fingertips around the thin barrel."})

tool

executing move_to over 3 steps (0.3s)

step 204

assistant

agent noteThe thin barrel is now directly on the jaw centreline at table level. I’m closing gently through the controller’s normal grasp motion.

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]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0745, 0.1921, 2.1117, 0.86, 0.7307, -0.3115, -0.1921, 0.9961] state[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0874 left_yaw=-0.3699 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0745 right_x=0.4764 right_y=0.1515 right_z=0.0061 right_yaw=0.5492 right_pitch=0.0651 right_roll=-0.0146 right_gripper=0.9961 state[joint_eff]: [-0.2393, -4.7658, 5.9419, 1.8046, -0.0415, -0.0513, 0.5397, 0.1299, -9.4017, 5.6, 1.4481, -0.0952, -0.0806, -0.0171] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The thin barrel is now directly on the jaw centreline at table level. I’m closing gently through the controller’s normal grasp motion."})

tool

executing move_to over 10 steps (1.0s)

step 214

assistant

agent noteThe right gripper now holds a barrel-sized thickness, and the pen remains centred in its fingers. I’m lifting both pieces to verify the pen is secure and inspect which ends are exposed for capping.

move_to

right_x0.4300right_y0.1600right_z0.0950left_x0.3600left_z0.1400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4889, 0.1352, 0.0006, 0.0741, 0.1921, 2.1117, 0.865, 0.72, -0.3126, -0.1944, 0.0493] state[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0873 left_yaw=-0.3702 left_pitch=0.085 left_roll=-0.0532 left_gripper=0.0741 right_x=0.4767 right_y=0.1517 right_z=0.0057 right_yaw=0.5512 right_pitch=0.0599 right_roll=-0.014 right_gripper=0.0493 state[joint_eff]: [-0.2256, -4.7658, 5.9009, 1.7998, 0.0024, -0.0464, 0.2808, 0.0479, -9.812, 4.2598, 1.8632, -0.0757, 0.0122, 1.3602] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.16,"right_z":0.095,"left_x":0.36,"left_z":0.14},"note":"The right gripper now holds a barrel-sized thickness, and the pen remains centred in its fingers. I’m lifting both pieces to verify the pen is secure and inspect which ends are exposed for capping."})

tool

executing move_to over 6 steps (0.6s)

step 220

assistant

agent noteBoth pieces are lifted, but the current grips are too close to the ends that must meet. I’m setting them down parallel in reachable space so I can regrasp the closed end of the cap and farther back on the pen.

move_to

left_x0.3350left_y-0.1600left_z0.0150left_yaw0.0000left_pitch0.1000right_x0.3350right_y0.1600right_z0.0150right_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]: [-0.2443, 1.2484, 0.5106, 0.2256, 0.1349, 0.0002, 0.0764, 0.2417, 1.7351, 0.7734, 0.4755, -0.2813, -0.1841, 0.0547] state[eef_state]: left_x=0.3559 left_y=-0.1095 left_z=0.1221 left_yaw=-0.3694 left_pitch=0.0619 left_roll=-0.0563 left_gripper=0.0764 right_x=0.4386 right_y=0.1623 right_z=0.094 right_yaw=0.5701 right_pitch=0.0929 right_roll=-0.0329 right_gripper=0.0547 state[joint_eff]: [-0.1299, -5.4359, 9.4427, 1.9609, 0.0171, -0.0317, 0.6618, 0.335, -8.8684, 5.2171, 1.7167, 0.0659, 0.0952, 1.0281] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.335,"left_y":-0.16,"left_z":0.015,"left_yaw":0,"left_pitch":0.1,"right_x":0.335,"right_y":0.16,"right_z":0.015,"right_yaw":0,"right_pitch":0},"note":"Both pieces are lifted, but the current grips are too close to the ends that must meet. I’m setting them down parallel in reachable space so I can regrasp the closed end of the cap and farther back on the pen."})

tool

executing move_to over 8 steps (0.8s)

step 228

assistant

agent noteThe cap is at the tabletop, and the pen is just above it in the cleared right-hand area. I’m releasing both pieces for the planned end-to-end regrasp.

move_to

left_gripper1.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7155, 1.7874, 0.3664, 0.7788, -0.514, -0.3672, 0.0772, 0.6785, 1.7302, 0.4652, 0.6075, 0.4484, 0.2741, 0.0556] state[eef_state]: left_x=0.3251 left_y=-0.1627 left_z=0.0026 left_yaw=-0.1047 left_pitch=0.0209 left_roll=-0.0035 left_gripper=0.0772 right_x=0.3374 right_y=0.1782 right_z=0.0171 right_yaw=0.1503 right_pitch=-0.0249 right_roll=-0.0402 right_gripper=0.0556 state[joint_eff]: [-0.1573, -6.3658, 4.9299, 1.0867, 0.1538, -0.1587, 0.7155, 0.1299, -5.6547, 3.9316, 1.6142, 0.4713, 0.1099, 0.5934] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"right_gripper":1},"note":"The cap is at the tabletop, and the pen is just above it in the cleared right-hand area. I’m releasing both pieces for the planned end-to-end regrasp."})

tool

executing move_to over 10 steps (1.0s)

step 238

assistant

agent noteBoth parts stayed on the table after release. I’m moving the left grasp toward the cap’s closed end and the right grasp toward the pen’s rear, leaving their mating ends exposed.

move_to

left_x0.3510left_y-0.1640left_z0.0500right_x0.4050right_y0.2020right_z0.0500right_yaw0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7177, 1.8061, 0.3687, 0.7929, -0.5232, -0.3729, 0.9953, 0.6804, 1.742, 0.4595, 0.5884, 0.4431, 0.2752, 0.9952] state[eef_state]: left_x=0.3256 left_y=-0.1624 left_z=0.0 left_yaw=-0.0967 left_pitch=0.0222 left_roll=-0.0025 left_gripper=0.9953 right_x=0.3321 right_y=0.1759 right_z=0.0075 right_yaw=0.1552 right_pitch=-0.0582 right_roll=-0.0548 right_gripper=0.9952 state[joint_eff]: [0.0615, -7.8017, 3.2889, 1.5311, -0.1099, -0.0073, -0.1832, -0.2393, -7.4598, 4.6838, 1.746, 0.1685, -0.0562, -0.2369] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.351,"left_y":-0.164,"left_z":0.05,"right_x":0.405,"right_y":0.202,"right_z":0.05,"right_yaw":0.2},"note":"Both parts stayed on the table after release. I’m moving the left grasp toward the cap’s closed end and the right grasp toward the pen’s rear, leaving their mating ends exposed."})

tool

executing move_to over 6 steps (0.6s)

step 244

assistant

agent noteThe parts are still aligned beneath the open grippers. I’m lowering for the new grips, with the pen grasp farther from its writing tip.

move_to

left_x0.3510left_y-0.1640left_z-0.0100right_x0.4170right_y0.2050right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6605, 1.6417, 0.4679, 0.5446, -0.4904, -0.3565, 0.9964, 0.5945, 1.7805, 0.7555, 0.3885, 0.3458, 0.1932, 0.9959] state[eef_state]: left_x=0.3466 left_y=-0.1594 left_z=0.0398 left_yaw=-0.0741 left_pitch=0.0237 left_roll=-0.0132 left_gripper=0.9964 right_x=0.399 right_y=0.2018 right_z=0.0517 right_yaw=0.1931 right_pitch=-0.0352 right_roll=-0.0428 right_gripper=0.9959 state[joint_eff]: [0.4308, -7.5419, 7.3504, 1.5165, -0.0757, 0.2466, 0.1001, -0.9504, -6.8991, 6.9265, 1.5556, 0.1734, -0.0073, 0.0611] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.351,"left_y":-0.164,"left_z":-0.01,"right_x":0.417,"right_y":0.205,"right_z":-0.01},"note":"The parts are still aligned beneath the open grippers. I’m lowering for the new grips, with the pen grasp farther from its writing tip."})

tool

executing move_to over 4 steps (0.4s)

step 248

assistant

agent noteThe cap’s end and the pen’s rear barrel are now centred at the fingertips. I’m closing both grippers for the assembly grips.

move_to

left_gripper0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6624, 1.8759, 0.4576, 0.7845, -0.5182, -0.3561, 0.9965, 0.58, 1.9987, 0.7681, 0.6029, 0.3302, 0.1902, 0.9959] state[eef_state]: left_x=0.3525 left_y=-0.1595 left_z=-0.0015 left_yaw=-0.0542 left_pitch=0.0292 left_roll=0.0033 left_gripper=0.9965 right_x=0.4142 right_y=0.2072 right_z=0.0021 right_yaw=0.1933 right_pitch=-0.0306 right_roll=-0.0334 right_gripper=0.9959 state[joint_eff]: [-0.2256, -5.2581, 3.1932, 1.0134, 0.4811, -0.0757, -0.0024, -0.8957, -6.7624, 5.2034, 0.779, 0.0317, -0.1636, -0.0024] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The cap’s end and the pen’s rear barrel are now centred at the fingertips. I’m closing both grippers for the assembly grips."})

tool

executing move_to over 10 steps (1.0s)

step 258

assistant

agent noteThe pen regrasp succeeded, but the left fingers closed just beyond the cap’s end. I’m lifting the pen securely and moving the left fingers back slightly onto the cap body for one correction.

move_to

left_gripper1.0000left_x0.3390left_y-0.1630left_z0.0220right_x0.4200right_y0.2300right_z0.1700right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6624, 1.8835, 0.4595, 0.8265, -0.5285, -0.358, 0.0084, 0.577, 2.0251, 0.7715, 0.6674, 0.3176, 0.1745, 0.049] state[eef_state]: left_x=0.3571 left_y=-0.161 left_z=0.0045 left_yaw=-0.044 left_pitch=0.0622 left_roll=-0.0144 left_gripper=0.0084 right_x=0.42 right_y=0.2119 right_z=0.0037 right_yaw=0.2091 right_pitch=0.0052 right_roll=-0.0246 right_gripper=0.049 state[joint_eff]: [-0.1162, -7.6513, 3.8359, 1.3065, -0.1343, -0.0317, 0.5934, -0.6359, -7.5829, 4.6154, 1.3407, 0.1929, 0.0024, 1.1111] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.339,"left_y":-0.163,"left_z":0.022,"right_x":0.42,"right_y":0.23,"right_z":0.17,"right_yaw":0},"note":"The pen regrasp succeeded, but the left fingers closed just beyond the cap’s end. I’m lifting the pen securely and moving the left fingers back slightly onto the cap body for one correction."})

tool

executing move_to over 11 steps (1.1s)

step 269

assistant

agent noteThe left hand is back over the cap’s body, but still slightly above the table. I’m lowering the open fingertips fully before the corrected close.

move_to

left_x0.3370left_z-0.0110

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7105, 1.7786, 0.4244, 0.7246, -0.5541, -0.3912, 0.9952, 0.6949, 1.7519, 1.1553, -0.1089, 0.5331, 0.3454, 0.0521] state[eef_state]: left_x=0.3388 left_y=-0.1642 left_z=0.0144 left_yaw=-0.0549 left_pitch=0.0451 left_roll=-0.0124 left_gripper=0.9952 right_x=0.4187 right_y=0.2368 right_z=0.1397 right_yaw=0.061 right_pitch=-0.0345 right_roll=-0.0518 right_gripper=0.0521 state[joint_eff]: [-0.5812, -8.0615, 3.9453, 1.5653, -0.3492, -0.0317, -0.0513, 0.1846, -11.7265, 9.0325, 1.6337, 0.5836, 0.2222, 1.0281] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.337,"left_z":-0.011},"note":"The left hand is back over the cap’s body, but still slightly above the table. I’m lowering the open fingertips fully before the corrected close."})

tool

executing move_to over 2 steps (0.2s)

step 271

assistant

agent noteThe left fingertips have reached table level over the corrected cap position. I’m closing once more while the right hand keeps the pen lifted.

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]: [-0.7105, 1.8603, 0.4236, 0.812, -0.5583, -0.3927, 0.9964, 0.7002, 1.7386, 1.1664, -0.1574, 0.5465, 0.3588, 0.0569] state[eef_state]: left_x=0.3409 left_y=-0.1651 left_z=0.0018 left_yaw=-0.0506 left_pitch=0.0506 left_roll=-0.0148 left_gripper=0.9964 right_x=0.4143 right_y=0.2337 right_z=0.1429 right_yaw=0.0483 right_pitch=-0.0481 right_roll=-0.0622 right_gripper=0.0569 state[joint_eff]: [-0.4171, -6.2974, 2.865, 1.7753, -0.1734, -0.0611, 0.105, -0.5402, -7.7197, 6.7214, 1.8877, 0.3639, -0.0952, 0.9646] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips have reached table level over the corrected cap position. I’m closing once more while the right hand keeps the pen lifted."})

tool

executing move_to over 10 steps (1.0s)

step 281

assistant

agent noteThe cap slipped sideways and is now clearly visible to the right of the left hand. I’m repositioning over its closed end with the jaws turned across its new orientation.

move_to

left_gripper1.0000left_x0.3460left_y-0.2220left_z0.0400left_yaw1.4000left_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]: [-0.7132, 1.8751, 0.4145, 0.8406, -0.5694, -0.395, 0.0087, 0.7002, 1.7535, 1.1515, -0.1513, 0.5236, 0.3485, 0.0604] state[eef_state]: left_x=0.3399 left_y=-0.1634 left_z=-0.0001 left_yaw=-0.0432 left_pitch=0.0581 left_roll=-0.0145 left_gripper=0.0087 right_x=0.4115 right_y=0.2359 right_z=0.1299 right_yaw=0.0706 right_pitch=-0.0766 right_roll=-0.0724 right_gripper=0.0604 state[joint_eff]: [0.2667, -7.8017, 4.0821, 1.3455, -0.0757, -0.0024, 0.6422, -0.1026, -10.1538, 7.9111, 1.4188, 0.3687, 0.0806, 1.0281] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.346,"left_y":-0.222,"left_z":0.04,"left_yaw":1.4,"left_pitch":0},"note":"The cap slipped sideways and is now clearly visible to the right of the left hand. I’m repositioning over its closed end with the jaws turned across its new orientation."})

tool

executing move_to over 10 steps (1.0s)

step 291

assistant

agent noteThe large wrist turn brought the arms into contact, and the measured positions and loads changed sharply. I’m immediately separating the arms and lifting them clear; I will not continue the assembly from this contact.

move_to

left_x0.3000left_y-0.1000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3200right_y0.0200right_z0.2000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7723, 2.5168, 1.9728, -0.968, -0.9791, -1.9747, 0.9944, 0.5991, 1.7588, 1.1961, -0.0311, 0.6067, 0.3038, 0.0593] state[eef_state]: left_x=0.4519 left_y=-0.2305 left_z=0.0228 left_yaw=0.9982 left_pitch=-0.0663 left_roll=-0.3823 left_gripper=0.9944 right_x=0.457 right_y=0.1944 right_z=0.1712 right_yaw=-0.0721 right_pitch=0.0804 right_roll=-0.0552 right_gripper=0.0593 state[joint_eff]: [14.8718, -11.8085, 10.8239, 0.569, -0.7595, -0.0024, 0.1441, 8.8, -9.0188, 2.7829, 0.0464, -0.4664, 0.1832, 0.0464] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.30,"left_y":-0.10,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.32,"right_y":0.02,"right_z":0.20,"right_yaw":0},"note":"The large wrist turn brought the arms into contact, and the measured positions and loads changed sharply. I’m immediately separating the arms and lifting them clear; I will not continue the assembly from this contact."})

tool

executing move_to over 15 steps (1.5s)

step 306

assistant

agent noteI picked up both pieces, but could not complete the capping. During repositioning, the arms contacted and the pen was displaced to the far edge of the table, outside practical table-level reach. I separated and raised both arms safely; the pen and cap remain uncapped.

give_up

hindsightFor this task, grasp the cap near its closed end and the pen near its rear barrel on the first pickup; otherwise the mating ends are obstructed and regrasping can eject these thin parts. Rotate wrists in small increments with the other arm parked well away: a large left-yaw turn caused arm-to-arm contact even though the commanded grasp points were separated. A tilted long-reach approach did not achieve table height; near-vertical fingers and precise lateral centring finally grasped the pen.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6212, 1.0306, 0.6964, -0.3309, -0.5739, -0.511, 0.9949, 0.1497, 0.9066, 0.6331, -0.202, 0.1989, 0.0425, 0.0595] state[eef_state]: left_x=0.3078 left_y=-0.098 left_z=0.1801 left_yaw=0.1137 left_pitch=0.023 left_roll=-0.0835 left_gripper=0.9949 right_x=0.3268 right_y=0.0176 right_z=0.2003 right_yaw=-0.0498 right_pitch=0.0927 right_roll=-0.0513 right_gripper=0.0595 state[joint_eff]: [0.1436, -2.4821, 7.0769, 1.5995, -0.1636, 0.2271, 0.0317, -0.335, -2.6598, 7.4735, 1.9219, -0.1343, -0.1001, -0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both pieces, but could not complete the capping. During repositioning, the arms contacted and the pen was displaced to the far edge of the table, outside practical table-level reach. I separated and raised both arms safely; the pen and cap remain uncapped.","hindsight":"For this task, grasp the cap near its closed end and the pen near its rear barrel on the first pickup; otherwise the mating ends are obstructed and regrasping can eject these thin parts. Rotate wrists in small increments with the other arm parked well away: a large left-yaw turn caused arm-to-arm contact even though the commanded grasp points were separated. A tilted long-reach approach did not achieve table height; near-vertical fingers and precise lateral centring finally grasped the pen."})

tool

give_up: I picked up both pieces, but could not complete the capping. During repositioning, the arms contacted and the pen was displaced to the far edge of the table, outside practical table-level reach. I separated and raised both arms safely; the pen and cap remain uncapped.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 10.61 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6102, -0.3771, -0.0219, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1797 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.4291, 10.5231, 1.7705, -0.0366, 0.0904, -0.0366, -0.4991, -1.2239, 9.7299, 1.8242, -0.0366, -0.0269, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b258fca67f29581d97b70d1e1326eac7de089c324df17399d794f5bbc6a84ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54587ef1a9b72160c6cea4f231d71e8c9e1ddc57470440e8af710c28446e7d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:080f968b67876c33fc2fdfb8debbf4bb2e9bca483695f4ba7a5d888649125a51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.435 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtJE4tNlj_1KHvXydcSplmqLeNRIdBbLmzR6bJD5a6eQrNvW0_U0cdsfqq8fn8tAsGF_etGYhibWorJwmujKVI2BN5GPCvwdnjaaRok5REPIySVjYqvWkzpgIOY7JTBpfjLe7a2oKuY4oVHYJGcjwihknKmth1cg7XfuoQqt2kmKVB5au7kqzwR9Q-4LggKVsJkS-TB7NxbC40o2WsC_Z1Y39JdeFtPLwCu4IVtL0gm6N-SJ20rfuklj-zE0x1ULrAz-0kJYadTzgR6RrqlFwSXe_KXdniWOWpJ5PCcq7Ywu7NGR6mY3-faUrSua8EdsPDUcYJqDPOo7JDt-Yy4uFNkW1dfH9P5yhVvNmG8F_RzXNR8h7NoDviIyBTn91cI8iUIrq8gvRGWgcx1N4VDbR4eSXSjB2aXYiy8Di-pReqwEzFPg92cSvFAImzDFuXyOc_ayCPwOGpN4Y4MO36U3e_rLwvzRKNJEGHkEX6TQyKSeqKTSfnbz-myvTOnP35AyAB6-WcuCiUD7bhiyirRQbmhFAsgUz9ImbKBrY2WZsLbiQKrRguCleU_Hwi39m5DPoJZCQpLu4-WsWeALm2XkBbXqvOeY0m542-8A_Cc83-aXR1jkiFjrv413M-JzKKusTOcQo-GiXsd055FY5vFatXl9CRWyfEqvZFYcdcjeFRUtf3iA7huMCibmf2gmisxs1rTMvx2C3LekX-LJdm6VYysM7ZQ7ExovcssxL3ux9bthOLniIO6QD-q7mJVR9ly1k1hXiaE7JTgz7e1qTT1yXs9RuJd82OMZU9Q2jZzN9y1vejHfkK0PiAUTFzceCxk6lzLYXGtkpFe-o5WUJ9nKMemLBcm_hgY8XboWVgsNN9ygD7YIL1_XkJO0fYFp8GyvbUxTs1PEJg6zaE64E8bo3pEuV7xuMJd6u4iDohLGyt5ZQLLLsaTFKMZOvbyVcf81j1c5YERVR-qpP8KcBm6CiDz6YM0z8LCCwNC7g6U7auq9-5f7NLmsuIO_4LIK7gzXozsigop_OrrSQafNS24PUHDhh7fbU2qKwOGFq7Zz_dT0GdtG8c_BFjIwx-nbD9AY6Q-iNe-wCdWdHJUYUABea9yjYGqbLXJ3oWbOGyGhay7TnemOnlefYk2p1v5pymc9xdzGnS3EyUI2QvosSXtTidxuBRNerMlQHTntForAQSPoVFDEhz5FxQxs5wUdgTfhG8sXhLX1fGUVN9lvazwj8M064U2zKR7cHFNtlBMxe4DdepoBZXo3wh8XZZzeEpC0spw3g4XxABRVdVVJBaq0eHI12T0vj28hW9U1Lmhd07AQVy5SeDJGc1zfmzbrUH462UdIxv2zUwic-8PbvJEBBbuPFNV5fUZQ15ZHAh4a6fvGBuVJwXzOoZMQDNdll3JCl7xJjc1PqB2gkZVTPTFS2K9NyTTQGrclJAKChk0QgBIZn356vf9MeAG7_egb_j-_bvAFJaypQzsHIyBfeTWastm1R7dpOxhe6a-jSzvbceuqu7dstiSBRVvz--yI_pJ-NF38FoKVveW-qtp8AvLENYMhTU0TxyUDz3Wt0QUmM4hiDE_Nf1kUAKS-kkwxDIqm-e7mGb0Wm0YTjn4fo8k-SXhjIr8hBI7iIL8TOqWsuMONDVUAESq3A3ifeIlbOl_AsHt8sew5gEf0qtQTTPlXqTOx_Bb-KKNheFzrHatbCY_5nAuR3t5pSj3WWPGTSB87gipApds-OUbezwomPuyjsjPwfOfd4Fuh7wv6_tAR0WZHyX12Zsrcp6u8j7nG9vgc5TFZezdvD-fvhevOsuP2GNINABClMijEn9Q74QkqOKpP44KFzN5zcoPf0LGBfDVgnzlAyC4E7OSTVcZ9OdZxrPxUCbC3a9PN4Ks7Domz0OBlGlwRUZo9DjnqoEmOUYTeFns6j79ZfeGpNXVM30h0Tstc5siiT0J7__nxHX1vhdWSvHJWAanzKoTzIrt6Ss9DCiAoyy2DIZYVKs6S_AoM7X_bZ6escxjuqoCHswHlfVdHvQVZ5GSQmH6sHkqhv9T75i-R40CWk8Ua6MBxln8i8PTefhMDqlHkYpsO61BCVPcspY_xIL0f7PJygMBPhMZ-KeBDs3YgAPcaWkmbiYSvbgj2GJimfEqqL3e2IauwzUvhUuzJuFq6mB790FwLu10rkJ2mYxGT_Yr0CwxyBsfmGHzXSEUs7021ksXmIcMW9dWTpSBeTC23De4S4Xklx7z-jrcYDv-qCul-e7xA9OncHS6tn0_Kojjt0rMX_OegYvJoNooiP0JYTK_WoPRk4kZVslpzn74BsO3igVmICuiMX5xKnauH7Bvjz0uOpBpYnUyroz7RQoPMBSL5r_Mnudo6VDttg2sobH4O50VpY07_LbGakvTD7gQm3Y0rvfcXKDUax8_3GhoF3DUCnW-4g9hz1xDTIwo67YOX8lsiUUESIVKbf2R7PEU5974RlvdZc1yldhCjqw9wia_BVrzFRUnPyY30aa23DKiS6wdT7w7r0WHxBEpY1ff19pTnKTydA8rC4zEFKvRVXBfrooOJDPznhiW4TSrn-cKw5cILQJFTD0qBYLjMPgB38My8aZPFrgM2D3WWzYqhI8NBuh9RWziKcZaVKA1g5I3gaD7lcM4WJv93eDEcT2k6NpzqwBOV0ecy-BIaLXx7sLEvX8uxcaynQ4imKmnIXAGpBUPlsb2HZfoBSwbWF-YYZBPboD--NXzU9uNnrlPqELsBzHKZ8sh_KcA01E44TkIctfAA3ZUZv7TWofPyU2rgZmaybFVBcLfRD63GHfSDYl_9pEaf3M4GC0p5V-azACIZWZX4IZcFNGUZBSkqiUbG3kulGv1w4MWUeXesGABKqix-DTECA1wwOEBRU9bbN-kkSWNSlJyrfauj1Ok5W7Tja1vx8Od06IVniDbfNRuxYUigo7SYv84VRB06cpdEr0K3mhl7O51Hj5qRdfWWGPOtwBVq10F_I-hZxMIA8W5j5tJeQB5jsc4ODWnduREvEE5YBvhTeo7MEtfRSRizx8Pn9ldsJpG2u3amKPs0QWs2PKibRsDlHRG7iQE_7MHKhtJPhSe18Vn83HYbAtZ_RgXKNMs50rDFsBZ62-Zw_uDA479Plfhk5t0XxpxDhE8DSoXyfLbN9zbvXRwkV4HyI9hZX7LVwxx95O1KcwLkXvV5yd8zxOFiejLQhu6JoRPyGv0C1az77QLyE4jQp4PK0psK3aMl5Ouf16uRSKAvWHt7uCmnLoWxAJn0K_mPY",
  "id": "rs_034073f072bcb3fa016ab4912f550487d0a2b9e3ef15100944",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.13,\"left_yaw\":-0.45,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The short cap is left of the longer pen near the middle of the table. I’m bringing the left gripper above the cap, with its jaws turned to pinch across the cap’s length.\"}",
  "call_id": "call_9xYtFc1djXsnJC5bwZsM4Qsg",
  "id": "fc_034073f072bcb3fa016ab49136d91487d0beea87d33759c6d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9xYtFc1djXsnJC5bwZsM4Qsg",
  "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]: [-0.4637, 1.2926, 0.5987, 0.0238, -0.0444, -0.0505, 0.9998, -0.0193, 0.7971, 0.6132, -0.3908, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3339 left_y=-0.1542 left_z=0.1023 left_yaw=-0.4101 left_pitch=-0.0997 left_roll=-0.0043 left_gripper=0.9998 right_x=0.2947 right_y=0.0019 right_z=0.1811 right_yaw=-0.0001 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -4.547, 9.8803, 2.0977, 0.0073, 0.1685, -0.0366, 0.0205, -1.8803, 6.9812, 1.7851, -0.0464, -0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c180e29445efb53cbd97f325730eb25d53e0be05d454937e9e99d01f1662af57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6930217219215a43fc1706126c8a567e046f34854edb11d41e1c71df2e385a65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df817a146583969f98974e33da310671e01f5c99f30295a596de436e9fc95b5a",
      "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 · 4.529 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6102, -0.3771, -0.0219, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1797 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.4291, 10.5231, 1.7705, -0.0366, 0.0904, -0.0366, -0.4991, -1.2239, 9.7299, 1.8242, -0.0366, -0.0269, -0.1148]",
      "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]: [-0.4637, 1.2926, 0.5987, 0.0238, -0.0444, -0.0505, 0.9998, -0.0193, 0.7971, 0.6132, -0.3908, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3339 left_y=-0.1542 left_z=0.1023 left_yaw=-0.4101 left_pitch=-0.0997 left_roll=-0.0043 left_gripper=0.9998 right_x=0.2947 right_y=0.0019 right_z=0.1811 right_yaw=-0.0001 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -4.547, 9.8803, 2.0977, 0.0073, 0.1685, -0.0366, 0.0205, -1.8803, 6.9812, 1.7851, -0.0464, -0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c180e29445efb53cbd97f325730eb25d53e0be05d454937e9e99d01f1662af57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6930217219215a43fc1706126c8a567e046f34854edb11d41e1c71df2e385a65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df817a146583969f98974e33da310671e01f5c99f30295a596de436e9fc95b5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJE_nNe-Je-LTKMGNNWwWrYxxfepEcWDRLoN0Bnd_SDq92CP-L6VYP83uxy3r_9vec6g2rBrWCuZAwojmX45xJlVkmPo5gk_Ray5uJnvL74Ex545EUO9NGZ-DUnX5zibWVfWB2rJnjW6Xim0Wi6S1IwJGnNPwAItGjYae0Ve8FLnzddTyn9meUc6gEM7oWED5dZGD31fNYo4d2zq2bl73R99Jb3x0fRYRg3TJAJnNfCgx9ZiszZL3dBbBNtdnlmiyS_0uBPxPpqjkuoccsOrK8AML5v0U_AlCxV5-KoyRbO_iQIisPxrv5Gvbn5rsS9mYOz2TIK9TGGz8zGSvOJ-sJoRki37Cif8as7qpQi_EWt4fZgY0tRalIeZqZ1FfEbrDGLglGvP3OyzMkUu0z0ZtwrJ_6JTlFUbBV0XtALO51LPwZueIjYh3ybx287D7hPJ0Ni3gRJ_kGPhH2rlLT9cfORYmkHMptG3AvKnbZ6ShymIcYZPZhWVG3GtDbh45efDdAp9lMcXTPc8p3FRPIo4QU9aHSZFkuiLkGuCXvyfoOyT9DI1uQoG_gYMG-BNWMAdqKV5JbIkTq7BUJc7q7b0fVckULllxhjDQy17DlmVQBRJqr5V1DCd5P3UQmFj2OTbLMyyNrhwGxc-0RHJkVni3hSpPAaDhsgDk3XCnqtt228xYbcwkpsBGD1ji8jEODbGHSxa5UyLBe8AiwHwN4q1x3FE7NpOhL7IUh78laXe4wjcS_W9el2vxDYQa8ePOp03qoQw4isK12BTpN6Sk5Rw8gZqThnNHeA5uUOq16qpsLnQVqpTb6XLr8oMRLwaCuwuWsd3QPcvCyi97seBB6IaTRKR0eW2MS4w8KCn7pJRTvIb7XGpHtbZX6Jd4yOR2FFEjtyKBbYE15HWWV8SbydEWhL5MGCqqk5Tpq2a60noFEB0r1Fm_6Yiif3uY7RPFLRgBaXBkn3Tdiff2BTQMuX1feeEexEfBcBmSckmPnZejtBQGTKWXygY08KqKzGXtmB1Lvj18bmgABbXAmkqyteDNSpkyJe0v0Pu3RikFibuueAudG_al9PgpJVrGQTskIXYCs0yyhwPCWNxawgR1ElqlHIV9ltZlKlBBKshI-qaFUFNdl7VeND5cSaz9z13EACzVKLTs7Y5MCBT_TcAiR2YCZTC8wl2IDlHaM87GKBmCavSjilx9lKuopXuHxzNF-X0jxenLzQzqSYuuAkMoY09Yx-gJ7Bxt3V2_PiI_MdVRihpUT8XWdOU9jzCBgdn0F50dLyOEcMdXMfypYMKtcKMsNt9HQ6vy86n6mWAQDcMMIAcolNv8SB1Qb_pifzU3RM7d0J8G4AMPB1pt9lZlb7ODZyaKvRqzjdnNvBV9hF7AMtnw7CevSl060Yt-RndMzUKZW2C_CsB9H1FSb7yCb66HXN8aT5ihk411qHvwVX6T_4URm3BYFrEsHzdupzqvenBd451Ro3kteOnheSJ0o-vbuxQuGhPITLr47VsYjcp54gClMwzp0L-Q2MeNf-jBUDWhL3jbw7SIGtzSBM9esYDZ9S77U2sZFqudMoou1CW4sVRTJcl4kM8U7ZSgexVldy5jIz4T-aM8TiP3q9mOCUcxR_ZhDj0rpql3xm7JQeSk4KhyPsM2MPYuNOYEqqh2n-iuo8DtVrz4vbdd-UBVW-mC5mauYC8qBtYTyf7zMt-9aX8H5_J8TLek1SkXBibdR2SZEn1buVpSHisD1qDTGWP8D4I1dWkUD5BJpm9e2laegfIEx_jJAP9PRL_sl91p3-QzajKlIES-8Hr5UWejz9Etdp1-h742zU9vaI69WP0GeiBW7m8mq6ytblMvYxYD4eVrMEEGH34tlBYkK6eZg4_q6-aWZq7u0M9zpagOD2xWYrHuXfp9msoD-Ko_lfWQ1jD7gsqw6sZ8PcEmM_cQ5M22YHwfirW_NwJdZK6832PsysThNo3R5Sr6oc83ez3GGq1fUwOnl2LxvPV7Y59NShsZMhJl2A2UVbmbl0HgPldO1uZKJQ=",
  "id": "rs_034073f072bcb3fa016ab4913b27d487d0881c5f0c7662ad24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.14,\"left_z\":0.035,\"left_yaw\":-0.45},\"note\":\"The cap is visible just left of the jaw centre in the wrist camera. I’m correcting that offset and lowering toward its thicker body while keeping the jaws open.\"}",
  "call_id": "call_WoU3KalzzLhys8jeTR2bEgJj",
  "id": "fc_034073f072bcb3fa016ab4913e535087d0a1ff0e8d5488c237",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WoU3KalzzLhys8jeTR2bEgJj",
  "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]: [-0.3332, 1.6215, 0.5575, 0.2951, 0.054, 0.0246, 0.9998, -0.0193, 0.7994, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.1306 left_z=0.0194 left_yaw=-0.4047 left_pitch=-0.1979 left_roll=-0.0136 left_gripper=0.9998 right_x=0.2944 right_y=0.0019 right_z=0.1799 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.0359, 5.8598, 1.8437, 0.0952, 0.1294, -0.0171, -0.3214, -1.3744, 7.0222, 1.7411, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d283605ac363116b0deb311b42562a49fab7f4b82c6ff884ec3f1d72ddc1ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9622d267c3fe0761f13f26653fcda9358f7022c68d0198096265054cfc53d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bf96bf3d7f90e750cba8c844a7970f4d9caef2b72a67c1eaba368747f136d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.254 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]: [-0.4637, 1.2926, 0.5987, 0.0238, -0.0444, -0.0505, 0.9998, -0.0193, 0.7971, 0.6132, -0.3908, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3339 left_y=-0.1542 left_z=0.1023 left_yaw=-0.4101 left_pitch=-0.0997 left_roll=-0.0043 left_gripper=0.9998 right_x=0.2947 right_y=0.0019 right_z=0.1811 right_yaw=-0.0001 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -4.547, 9.8803, 2.0977, 0.0073, 0.1685, -0.0366, 0.0205, -1.8803, 6.9812, 1.7851, -0.0464, -0.0366, -0.022]",
      "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]: [-0.3332, 1.6215, 0.5575, 0.2951, 0.054, 0.0246, 0.9998, -0.0193, 0.7994, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.1306 left_z=0.0194 left_yaw=-0.4047 left_pitch=-0.1979 left_roll=-0.0136 left_gripper=0.9998 right_x=0.2944 right_y=0.0019 right_z=0.1799 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.0359, 5.8598, 1.8437, 0.0952, 0.1294, -0.0171, -0.3214, -1.3744, 7.0222, 1.7411, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d283605ac363116b0deb311b42562a49fab7f4b82c6ff884ec3f1d72ddc1ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9622d267c3fe0761f13f26653fcda9358f7022c68d0198096265054cfc53d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bf96bf3d7f90e750cba8c844a7970f4d9caef2b72a67c1eaba368747f136d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFE9rLH0ksOB3caeJ9rgy0cxpDZl1z9omAXhnwYGcml9Gvev2gg8Tqlm_WRAaWeSLYq_PYj25sLLPKgimJ6UZqJ4uTnG7-PBCaB1W6Ttiqh769vg_ejUnh1Tyq5Euna8GzIrUKIWYwE-OY1Lq9qhkXkp8gYXPvZPc8r9Qe7gp_E371wxW9OrQrghWs13j6sjuYED4UzbZ2UxPVrPfvnTd-F9mqF5z3RD-ExAfi9IinYiXUXaGegOh-_qyLoVbKso_hdNiRRM5ZHGeOcvfDknM4yf2nupLUtQLPk7xeYd1DQr9xAkSCI-EBX0J3ovh8mML9ZJZjoVs15wAOjf8Lqj-jLvWjI_HsFkqldbWL7qqmVLyzMYxYz94gjal9s7ta2KkwH-mEgp3UPtJP95kHL4IKrpsQFe-kKCx1Lk3jsgxipbuRu_K_8DkXYN79tn57JARHwJLetCYUP1rxc_lMpF8ly3xXcliaTQSON0ttsviVpM7QRwQ_vbdZtEfEWOOO_Ulw8zkeIbSf-y8dnsQjiYG4agII2ednw_JI-DEI2oN9mXGWq0qR6qukc5LBYTjKAQxNlFNv7E5jIUMW9HP3hZb1DuHerUNJ667NgfzhjzF8ngkYK6GAIwZuzrQDl0kaAlGypfNTw4ovxROtRzIkMSiSUiq-66ITTLMUdJqT4mNw6-AlAJ6Dwnekbd_ji0OSrSmDZd8HKFw1dWjp1aUbgj6TEe9zzq7j3NicY6BlVseUiuRfcgbTl6M6PuDOSq557Bx4UTZs9EXpAmDHwGtnOALLjcRtEmBaD-Ad7ET0c7rDlM73oFRhdHCyzNzpkhUMc0cUsGzCTU-hB97gEckQZzZKkMXR-2j7LRpCuWFrLWC_gdhIc4Ib2ZeIQwNr1fFXybpl_BhC3Y1aHGsPJ6lpQDlNBUpQ2wHhBdljM033yiJpdJw4JIBqo36lejjmGEDPbzapSw1Jb1I3PJHgyu6d5L3W71DMlmW0-IuMSq3dgKIfmoGsNXccmtJKkzWnGka2h6lFcGODniY8gR4gVtSgsW0sbQ4FYuH8PnpWnG6sMejQqyGWjbMa6TOspnbKz7_Qw9nzaBpwJ8W1iKKeNQKaPnzdD4KkpZV-tICmtU1_uDXr7AhoX_1C4MV27Gzs_sBZLiFQFUgfiPH3bi27iUYa1oqsZ01USplA6PXmlMjc7D-ihrrPkoEQXFTFGwOeJELSqiG7lCS_qEwZDvV3HmN4F0vcjcwTkUJg0BvUVeY31HS3ROkJ9c8RVYRVvvIQysQiHMlSUISviGdwXNx0eLZFaX3DIL2-ponSJ3PNiFchW5pYZaFyfsYjqAdeHuJt-aaNVCIhBQ2hKaAsUNrmSBLfbGDjvP1Y_eVRQjtcb2PFCElTh68v_vwiQrF95D5a60SMixqXH_rkO9iFuRL3V9hEAsHil_zLLHWtfMrnduRwWYP4caYEJ5u-BAOAyrRAKYa25YddkAo6QrdAZoD_Xur5afbE2HxKtW7cNPvTU38Oi5Vy6fP9GhPOGyngjvX052jcBGy2n5qs0hhRF8KWUy8n1o-OlS6YedSqb5c_pv_TIi1aAcNAvwhedQM4rM7XSh6GAM2olFclGS3tsHoydvAQIQMJUd1jGydui69oefaOppYYHcmjODLqngl-xh9EZ_xM29RlFGm2TUiePXG5YhFEg9vXA-uqawFKQ96Yxb3GAm14CZ3h2IlXYQUh0OmW7aQDN4TGbQ1LnJmnwL_2MP-vUCPys4YOYlGpSjxh9ncW71JuUXTmpb_PysQVmiWsM7wTQaiC17Axtvrcla0cjTw0S2is-DTjS66LFOZ5edYHb_gN9itY5n9tRAyMWCo7JQQQFOQvLpI2qevqaaCrBevk8ZuhC9RP0ess3cnuFY7H3QpGBqE5z2cEHHU9UTiLKjCViJXAGVZIaEfGebSk3j4WhJWqVXramf-BLS18B71ZEVTg4a3w=",
  "id": "rs_034073f072bcb3fa016ab49140ef9087d0af19de1e0a1c2ce3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.401,\"left_y\":-0.128,\"left_z\":-0.008},\"note\":\"The cap’s body is still ahead of the fingertips and slightly left in the wrist view. I’m advancing a few centimetres and descending to table level so the fingers can reach around it.\"}",
  "call_id": "call_oZJXXdBcoUcps3AidCsHOGw5",
  "id": "fc_034073f072bcb3fa016ab4914381c887d0922fb6b6d22f11b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oZJXXdBcoUcps3AidCsHOGw5",
  "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]: [-0.2855, 1.8156, 0.6613, 0.4084, 0.0788, 0.0517, 0.9997, -0.0193, 0.8017, 0.6132, -0.395, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.399 left_y=-0.1279 left_z=0.0014 left_yaw=-0.3927 left_pitch=-0.1735 left_roll=-0.0087 left_gripper=0.9997 right_x=0.2944 right_y=0.0019 right_z=0.179 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.2838, 5.4359, 1.0965, 0.1343, -0.022, -0.0171, -0.2256, -1.4564, 7.0222, 1.7167, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e887aa8a4fb14d7675bb5cd82169b8d953ef1fc5fcf995646d1f2c2d56d0c49d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a8935bc6ded164d4ef19fe29d18c943205bc953f1e3de9d239427291248468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65005ddc397d39f043502ce4bb5f5b92e2fd78b3122900755af274237d8f3f6",
      "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 · 2.994 s

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

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6025, -0.3794, -0.0219, -0.0246, 0.9998, -0.0185, 0.7914, 0.6102, -0.3771, -0.0219, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1797 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2957 right_y=0.002 right_z=0.1841 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.4291, 10.5231, 1.7705, -0.0366, 0.0904, -0.0366, -0.4991, -1.2239, 9.7299, 1.8242, -0.0366, -0.0269, -0.1148]",
      "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]: [-0.3332, 1.6215, 0.5575, 0.2951, 0.054, 0.0246, 0.9998, -0.0193, 0.7994, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.1306 left_z=0.0194 left_yaw=-0.4047 left_pitch=-0.1979 left_roll=-0.0136 left_gripper=0.9998 right_x=0.2944 right_y=0.0019 right_z=0.1799 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.0359, 5.8598, 1.8437, 0.0952, 0.1294, -0.0171, -0.3214, -1.3744, 7.0222, 1.7411, -0.0464, -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 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]: [-0.2855, 1.8156, 0.6613, 0.4084, 0.0788, 0.0517, 0.9997, -0.0193, 0.8017, 0.6132, -0.395, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.399 left_y=-0.1279 left_z=0.0014 left_yaw=-0.3927 left_pitch=-0.1735 left_roll=-0.0087 left_gripper=0.9997 right_x=0.2944 right_y=0.0019 right_z=0.179 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.2838, 5.4359, 1.0965, 0.1343, -0.022, -0.0171, -0.2256, -1.4564, 7.0222, 1.7167, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e887aa8a4fb14d7675bb5cd82169b8d953ef1fc5fcf995646d1f2c2d56d0c49d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a8935bc6ded164d4ef19fe29d18c943205bc953f1e3de9d239427291248468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65005ddc397d39f043502ce4bb5f5b92e2fd78b3122900755af274237d8f3f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFGtnK7qCcVlX0Iy1JKJrOkmXI5rj8_tdhY1QUDL_A5JdkDlISTSBJhLa_f7QX0y4H9H9hjDthlCsS-RHglZhcrukqEoWYNtOLFzqpvgyy4HJFPjE_1eUBwT68lW8ng6j0zyP1xUIGSRXXuwIzj2bOCNHElZlEhiebJUEBui90GvsHEUHRxJ58PCDydKRg_yC2W8V8nYwEQR5Rh0fnJWqic2ibQ4RlXKiwQHt1BE4s3KaxwLIhlVFKoVqY6AxdML4gOmP5GOLD6YQqZtle-9RyL4FSU07d7K8fGpTxGku1bMam4Jl0lL2bIdsE4OEf8aAV6ueWucCJg5ilzYYmpfhmaGzyVCYZHayQgGo5Pi_n0RT6-e24x43Kn6oM5qeVtO4VY4D5zsP2WL-hQysW2evqmtkwWUYf8tuIJjGr4CagRlkzl43y8s9-fFm8DzMC1x0S4AzPCMB6Bz9ZJmEjgXKVWXvxsr0YbxKhyzBj4wv3dMgdsJ1b56BdqOcXrnawE1XGIxiNEyCYxqyf0mxUupkOd32mIx1jEYQiYsfX7eVufNDWWXXhqJCpf6VhiX6CO1utkbRJroGt8GUc4CsKv4WCzzBip2cqKn756DGDvJlujFR2lUwtl5lVger1jwkYGAnzGQTFZ9q3K5YDjv4V6MlYZhEyjTfK16PMUOLL7zuhPFRikFAifPSOQgPlEkDRuqUjv0EGSVP5mavkxadwfUgpK57ehucWndc1SXOcfbpoSK8embvV7-Yn9q1pDDwE333FXCYYXA-3PmopHd5x721U-j1q8R43jAV__ckvG-mGsI1cFwPrBXvW6K663G9pm_ACP4Z61G2TvMGjCRGgziOtpLr74WtR_VeccA-BL_4MSf4Yh3CJrFBq2c2DvGvyRK6lreuXwpcp4m4RFqoExQLcowJo24R2UqS26bxY5a4i2MGTO-27mjD6d6j_Vkka7ltiQ4Z9erQU2nMDuxj9ZLydlQ8eaClnvsJDDLGLe9uTPznSVy1wZu0YOBWQHcVPd3GUKDi8wCJ-2l3paX5UwMXX1PNcTG33QXwI06qXYY_g5OvkXyxW1cKaJCgSSyC9EfzkhmGmXPNhgNmkwVp6-wfkNpLaDfdjMPPeMJ4_ZYmxcLjb3hji95kcK4xQh1qWH6bvwRJRYR731h5f_VQ8soUMl8wNs9F6_-V4VUaegD9QcDkdpuJvQx-KEh0d8vDCikbx-R9LJBsyR9WE62ngXx8NiLg==",
  "id": "rs_034073f072bcb3fa016ab49145e4d087d0a2509d8405a1d3da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thicker section is now centred between the fingers at table level. I’m closing the left gripper to take hold of it.\"}",
  "call_id": "call_JlOgJRfcoP44SbsOBU3DXkGG",
  "id": "fc_034073f072bcb3fa016ab49146227487d0aa61bcd870ddcd0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JlOgJRfcoP44SbsOBU3DXkGG",
  "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]: [-0.2802, 1.8385, 0.6781, 0.4282, 0.0845, 0.0536, 0.0478, -0.0193, 0.8024, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.1286 left_z=0.0015 left_yaw=-0.393 left_pitch=-0.1594 left_roll=-0.0096 left_gripper=0.0478 right_x=0.2944 right_y=0.0019 right_z=0.1788 right_yaw=-0.0004 right_pitch=-0.0256 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.8308, 5.2855, 1.3211, 0.1538, 0.1197, 1.3211, -0.0342, -1.1966, 7.2137, 1.7021, -0.0171, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64383561d254f3a248a16bd970d02d24097a463157237b1ed31fc3b77794aab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5b56b5e05df67213d8c6e812aa9161fba491783d2128de2f1f226fc6e42766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afebaea339accfa503567d83b6ca0a829442c4391bd6b3b25275e7317311f98a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 7.095 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]: [-0.4637, 1.2926, 0.5987, 0.0238, -0.0444, -0.0505, 0.9998, -0.0193, 0.7971, 0.6132, -0.3908, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.3339 left_y=-0.1542 left_z=0.1023 left_yaw=-0.4101 left_pitch=-0.0997 left_roll=-0.0043 left_gripper=0.9998 right_x=0.2947 right_y=0.0019 right_z=0.1811 right_yaw=-0.0001 right_pitch=-0.016 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -4.547, 9.8803, 2.0977, 0.0073, 0.1685, -0.0366, 0.0205, -1.8803, 6.9812, 1.7851, -0.0464, -0.0366, -0.022]",
      "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]: [-0.2855, 1.8156, 0.6613, 0.4084, 0.0788, 0.0517, 0.9997, -0.0193, 0.8017, 0.6132, -0.395, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.399 left_y=-0.1279 left_z=0.0014 left_yaw=-0.3927 left_pitch=-0.1735 left_roll=-0.0087 left_gripper=0.9997 right_x=0.2944 right_y=0.0019 right_z=0.179 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.2838, 5.4359, 1.0965, 0.1343, -0.022, -0.0171, -0.2256, -1.4564, 7.0222, 1.7167, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2802, 1.8385, 0.6781, 0.4282, 0.0845, 0.0536, 0.0478, -0.0193, 0.8024, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.1286 left_z=0.0015 left_yaw=-0.393 left_pitch=-0.1594 left_roll=-0.0096 left_gripper=0.0478 right_x=0.2944 right_y=0.0019 right_z=0.1788 right_yaw=-0.0004 right_pitch=-0.0256 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.8308, 5.2855, 1.3211, 0.1538, 0.1197, 1.3211, -0.0342, -1.1966, 7.2137, 1.7021, -0.0171, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64383561d254f3a248a16bd970d02d24097a463157237b1ed31fc3b77794aab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5b56b5e05df67213d8c6e812aa9161fba491783d2128de2f1f226fc6e42766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afebaea339accfa503567d83b6ca0a829442c4391bd6b3b25275e7317311f98a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFKCDE-WeEzm2Vsv6i2TiNSfCdx5nutWrxX-o8iKx6SZDH3wfaVrVfEvnUHw7Uug9qnHp0F8ckF69danWeI9ltSr0VKmtyLBnX9qu3PMU4ZOu_wT7d1tPiKV_iUxa7RUZxeEDrqUzaA9iPspDZJ_p-cbwKkfYc-3is46ZSZdSH8cEeRbw9VKO5kfoprK9JNFE5zmAOFWZDcXlfzo1li4tSQeKIbo-wjL2wXp9ftMngDMNEvB-8sWIIWMKLuJMXRHlMElAmuQAahqv7e0ovR7VUDssMURZXjHfclmqoyy_Mi6UUptm0hWToYwXsmQ86fqwhM-uFIgJ0mxJyD5wZosLDoVssmNtR0Ld6wT9rlWbSsYtrlCL_E2gxBHdm3hiSgQumYMQWy0qf9tXBa-o2RWYlOInPpCRcQSDxhvYKFXXf4j4w0nC_NRtrAlg_1t1ASG1gbnJBIXrSfqJko-2ktUqCXyLLOlk6f_cz6F9o4Bs7nxbTeO-zzZuqM24RV5Pn3H8O1aASMdxDhP0QVNU4dRsnNklXHbKN807Hl5C4jMDB51ktriniLF6NPlsB7Uc8RlODKbds33BJCCOWGn0s1UvkGON3UY8ZVwEbkKx97q8bLlNQekxFi6nmQqhDxD46htP1O4WI9Vg8MFsYZSVz488DgWacSySJUYLZcEOHGl8PmWKqprbxgb0_Xref67BktE30TzoCQbL7XJggO6XaxX7ns7m3WtOpE5nXmMCUeilOVVtMbDzHqRzV2G2nDQUn9Gy3yk_VoGeYuk7qOKFM3HnWATpmuZEPPyM-wWy2dJWns7IrKDaLu5Rx1ck0N4MyEXtr3LvxIQoipfFPmJdC9eIvsdm9yVXFc865002GXExhJWD3F6QLJwR8i11W-TsqDqN5rozc5hjcAIbe9lkGoOApFI3WklCpMTyVVEJR7Htewp7tafffub6XWo3fx8o2-YxdECopV7ivADFw1n9JLBeVMOm6V-U-zQ51ez4Yot7JZ21ExJASq0CMn_SpXhbMw3rGZHMUEu_86Xu9uzRwskVV3Zu1uvb0X8bxx00r1uKj0CUzDsafgRg3Fb5oZUEh37MpBy_vXvrN0bSQDEHTmmT7qNq4WdS_dPI9IdbSBFlUpeUS79dXxdRv8Bvf3TnctHOH3DR0QmUeXwhlzqcKFI4ZV5P4gfa3W4q1I_EzYT9sTSXBvsKWA_hSU3rqRkkfqfuXZZSN5hRcezWYnXVMoXzkD6sp4iWIOGJgMt8x9Dr3JvM0=",
  "id": "rs_034073f072bcb3fa016ab49149155c87d0968ece35589bd239",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"left_x\":0.4,\"right_x\":0.403,\"right_y\":0.214,\"right_z\":0.135,\"right_yaw\":0.78,\"right_gripper\":1},\"note\":\"The left gripper has closed around a thin object rather than fully shut. I’m lifting the cap for verification and bringing the right gripper above the separate pen, well away from the left hand.\"}",
  "call_id": "call_6mk6p7LIYZwRwMKOBigLbesw",
  "id": "fc_034073f072bcb3fa016ab49149523c87d08b52d0d04eefb354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6mk6p7LIYZwRwMKOBigLbesw",
  "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]: [-0.2821, 1.6173, 0.7383, 0.0872, 0.0818, 0.0437, 0.053, 0.3359, 1.5951, 0.9173, -0.0078, -0.3359, -0.2401, 0.9991]\nstate[eef_state]: left_x=0.3886 left_y=-0.1239 left_z=0.0503 left_yaw=-0.3884 left_pitch=-0.2188 left_roll=-0.0217 left_gripper=0.053 right_x=0.3934 right_y=0.2028 right_z=0.1192 right_yaw=0.7394 right_pitch=-0.0825 right_roll=0.0189 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -8.6222, 9.3197, 1.6386, -0.0366, 0.0269, 1.033, 0.294, -7.4872, 8.5812, 1.7998, -0.3004, 0.0366, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ce1fb6247d911b8a8c0b5442a281ffd05630d7525e3edb09ba1e14f090b5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70199bcbfb6bea22162f13eaf521ba2761e207666aff1a82e708716e353c698c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195ad2beb16c6c6d83e51b7ddbcd7c3dbc599f45e6dc76bd2331804f733b0437",
      "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 · 2.929 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]: [-0.3332, 1.6215, 0.5575, 0.2951, 0.054, 0.0246, 0.9998, -0.0193, 0.7994, 0.6132, -0.3939, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.359 left_y=-0.1306 left_z=0.0194 left_yaw=-0.4047 left_pitch=-0.1979 left_roll=-0.0136 left_gripper=0.9998 right_x=0.2944 right_y=0.0019 right_z=0.1799 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2393, -7.0359, 5.8598, 1.8437, 0.0952, 0.1294, -0.0171, -0.3214, -1.3744, 7.0222, 1.7411, -0.0464, -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 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]: [-0.2802, 1.8385, 0.6781, 0.4282, 0.0845, 0.0536, 0.0478, -0.0193, 0.8024, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.1286 left_z=0.0015 left_yaw=-0.393 left_pitch=-0.1594 left_roll=-0.0096 left_gripper=0.0478 right_x=0.2944 right_y=0.0019 right_z=0.1788 right_yaw=-0.0004 right_pitch=-0.0256 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.8308, 5.2855, 1.3211, 0.1538, 0.1197, 1.3211, -0.0342, -1.1966, 7.2137, 1.7021, -0.0171, -0.0659, -0.0122]\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 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]: [-0.2821, 1.6173, 0.7383, 0.0872, 0.0818, 0.0437, 0.053, 0.3359, 1.5951, 0.9173, -0.0078, -0.3359, -0.2401, 0.9991]\nstate[eef_state]: left_x=0.3886 left_y=-0.1239 left_z=0.0503 left_yaw=-0.3884 left_pitch=-0.2188 left_roll=-0.0217 left_gripper=0.053 right_x=0.3934 right_y=0.2028 right_z=0.1192 right_yaw=0.7394 right_pitch=-0.0825 right_roll=0.0189 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -8.6222, 9.3197, 1.6386, -0.0366, 0.0269, 1.033, 0.294, -7.4872, 8.5812, 1.7998, -0.3004, 0.0366, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ce1fb6247d911b8a8c0b5442a281ffd05630d7525e3edb09ba1e14f090b5e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70199bcbfb6bea22162f13eaf521ba2761e207666aff1a82e708716e353c698c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195ad2beb16c6c6d83e51b7ddbcd7c3dbc599f45e6dc76bd2331804f733b0437",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFTUCYZSLOuuDdh355Pc4VhhGpmbUL7L0YvHF7jhlv5NnizUFGgwGhd0WBVhKWtYbA2py6Ll5BmlY8AkxNKixGZ6172fs2_Kdk8r1CZzR6h93rDZvarZqwcXqvGsoHoUY27HfrFcxLfwhvIjXX67CKg3lV9KY0DFoze-jx6JXGNT55R13fvOSnb2GxJxTSssaJmS3S0j3xapkDx4qmw3VTHmjD8ihEWGapOyGCKUlDu9_Bm4vQgLeIG91VUmGzvj3UbC-7eqpc5vxvpR97oC4ZrURoHTQ8a_Fk6OGCrV5YP9HX-O93GGKY_b1H5G4My97lQm1yyAXxQ3qZdSPIiK6vlFcbdF03ZyeY8PZkreUTvH7yp63pWnYkwEfHK799uyL7jzvCSq7AhK2iRAcwUfIfhHwSrWKd7rg2zWMafdUf3luwuK-cGq1zqvxhU06qUjgETGakWchjw3bKoMmdGkqh9tx6DGWOW8Y-vl1fOuPOghGPaifotC-yDZfaUMeawr8ppxNM0o-Z50rpTHqvLgJfLJPlHgo9YEDgeMLa8Zk8ju1_-MfI1dWGRzf3qU84vCkDz1vV_2mz6745o35QnL7vLCR0mc2YBG17u4cPmTf1czsLnwk-s5Ntz29JFP77f3aaH1Aerc_CUXd9zn2er672QF5tp7vhRP8tqUjC8AsnBTBCneEX0dx6ZLTmq9BK7kPZnEe8gZ02ym6xXcBOL3Q6rR72HFWcce54vZ_NhEFXVE6QiIZH818RZZ5O2-_D1taYDv7sWZg3sDw-seuDXjsoiFNPUW3R5MJ9ZMCs3WLWcUBltVNK3IKDHuznzPJPs7AKcAF0QMfIF1otHeBO-L1XWSyg3Kx4izphFdtKQXZ8r0VvWbjrjo5brL-FGrRk5QU4XXOPPcqvEggjNsRRzT1cbMycM7srozUOhsQzgO_0_PdWT_7XH8LtRTVjy2qg9IXKsRqMVUMf-edTZH-187eTXJd4RmxRTV04onV_BajAdKUHsV8A0toReKvgj8ArGm0ANVYlxHVerSghsG6zRRdBgaBZ1V6viSzzwXpnQCBHnWCgI3cld8eO2vm0cBReKpEhB3_mAavT4V9OhNXBXdVL2Hf_KrnZpcxMGeSGcO_D7qRv7OaEZzIFcByYnBiwlT4oLo6Pax7c-x8A5lpIBZYr5COdgSNlJ32JtpDuTf0L8IBTKGN_GFp0Re_yL_r2X1UjTy1eqNMfeCRj8051ZvoZ9bs5uLxhgUEQTjzsDbkw0ohr1JNrxssWHYyYJFU2GNkoSz4booyG19zjteLfZ39jxPckCVtu4nda8X1n5DIbOao8u0T5MlkHNOFS1sJ3U5OpqMkwOkX0a7Wbr07K-RZQ91GmyhtDStSX7axsZtBvaQqCMq5lCx2AkveS8cbhWmKbWqQFGtm7YD4ZFPyLYwSxRS4DZjvauASspYe3YHyVVuox0I3hH7IVMhwbWYUAE9vmltNLK_TFbX0hFw3QyYY2RUsk0-3Wtc8xbBV3Oty7jdPpbdsze7UX6s3VtrVPVO1hMpvg86T8_iB8gUu-72PhZyLcpEj6Er4OYu6bTwY0fUo61UgkqOnrLIr8j1A0Lu0l7kupSnk2xtF8IZN9ToulpT3z1_nrAWIrbYcxTuaubzvBSJr3URtH_xhDUf8ibQRWI7H2oG-4LA4rBdtV4yBLmCw0tme7zExSP4ol6L6iEOc-9qn7e_os818EcJvJ3vsfmGt3KKD-Fgwembrj3DF8kzE_XJjKDQ_8Yd63B-cizRxP89PQJW-WytsMxCO1acwcrrf-Q8ZlOpzY2IaVaveNeUqT0_oc8XXTzyyTJDlIFK9OyOy5XiyXYm5b3I7Ht05dOBQPvDLvuxY4eIpdz563k5iEWBPEFYmqOfFIxVybJhnHrEgmCcSEvBp7JLOvpVvrzOB86dwU0kS6ZnL5YVl8sq6znQn25jYhk6VvCpvBWP68s0ZGFe7-PXRxccihz_2GuG7-GAztyCTa1Dzd_XLVGFzSxdvseonYYBofTowYU6ZoRbZ4dpPJoxoPl-DM89O1hH3GgC-AWyUZVDV9b-1Mce1yu8EHmWUzLkR8tl4UMRRdvXWYvWXyzb0p4-5k1PZl8JSsARDxdvkPClTXve9sGNjWV8RnEnNAxkIJkIvvvuZCHNHg6iuMFF0h6Y0QCQur4a-stfxDIYqPfJ_AU17O_r8GH4l-pVVC4Bj17Te871aQLv-20-KZaKNudFJgvJ3lhMVN70KBEH5yPaInV1dfBGiMVlDzNVSilOmFkEE9Ii5RdaEokDzGvUi4lbDpgrTUPLf40kKnpY44zmvUJGw2P_bO_MmNdmQJO2ZqKkvtm37E_gKOwHjrjKJqG0H3YmCaFLtJRRI4nmqYs8h3NtHwQE13P2-Im6zNC_qYQCzFPL3PcK2_9pIFq_t6cyYjbE7-XTbI9QzFpH_nNzYTbcislXUEo_crlLgfDrS9QYTofXd7gPYV-YHRW_idszxzogjBbQ2kdULChZxjliaJd5FXs0nh0Z4W00sDeYQahTdRVAAKBdp3PLpQARWLBLRqEkBmoonCQ4HeSx8y9Oj9zeT2N75ddVxXnOX7fzLQm11SKJEIy7kPsO7Hz7dHqPzDh9w_m",
  "id": "rs_034073f072bcb3fa016ab4914dfe8887d094a5ea7f97a6d15c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.433,\"right_y\":0.218,\"right_z\":0.025,\"left_z\":0.095},\"note\":\"The cap rose with the left fingers and is no longer on the table. The pen is aligned lengthwise in the right wrist view; I’m lowering around its rear half so its writing end will remain exposed.\"}",
  "call_id": "call_QrjQzUbOpuAp67NgJDMfTuIb",
  "id": "fc_034073f072bcb3fa016ab49152650887d09964a95cdd3ce229",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QrjQzUbOpuAp67NgJDMfTuIb",
  "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]: [-0.2817, 1.5444, 0.8013, -0.0975, 0.0822, 0.0425, 0.0578, 0.3401, 1.9373, 0.9039, 0.2802, -0.3401, -0.2474, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1212 left_z=0.0711 left_yaw=-0.389 left_pitch=-0.2674 left_roll=-0.0282 left_gripper=0.0578 right_x=0.4168 right_y=0.2138 right_z=0.017 right_yaw=0.7539 right_pitch=-0.1432 right_roll=0.0427 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.2803, 9.7436, 1.4383, -0.022, -0.0317, 1.033, -0.2256, -8.759, 7.4188, 1.7705, -0.1148, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fac0a3ee980a937f8eaadbe873cb77dca05775cc2603f9f226e4acecabff3a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e68907002c659b854124b83889541d22657e545354be6d2ab8ce55f8615875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a4067f55cfc815159cf489e95e54034011b5a65a03ba22618c81202fb4662e",
      "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 · 3.552 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]: [-0.2855, 1.8156, 0.6613, 0.4084, 0.0788, 0.0517, 0.9997, -0.0193, 0.8017, 0.6132, -0.395, -0.0227, -0.0147, 0.999]\nstate[eef_state]: left_x=0.399 left_y=-0.1279 left_z=0.0014 left_yaw=-0.3927 left_pitch=-0.1735 left_roll=-0.0087 left_gripper=0.9997 right_x=0.2944 right_y=0.0019 right_z=0.179 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.2838, 5.4359, 1.0965, 0.1343, -0.022, -0.0171, -0.2256, -1.4564, 7.0222, 1.7167, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2821, 1.6173, 0.7383, 0.0872, 0.0818, 0.0437, 0.053, 0.3359, 1.5951, 0.9173, -0.0078, -0.3359, -0.2401, 0.9991]\nstate[eef_state]: left_x=0.3886 left_y=-0.1239 left_z=0.0503 left_yaw=-0.3884 left_pitch=-0.2188 left_roll=-0.0217 left_gripper=0.053 right_x=0.3934 right_y=0.2028 right_z=0.1192 right_yaw=0.7394 right_pitch=-0.0825 right_roll=0.0189 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -8.6222, 9.3197, 1.6386, -0.0366, 0.0269, 1.033, 0.294, -7.4872, 8.5812, 1.7998, -0.3004, 0.0366, -0.1148]",
      "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]: [-0.2817, 1.5444, 0.8013, -0.0975, 0.0822, 0.0425, 0.0578, 0.3401, 1.9373, 0.9039, 0.2802, -0.3401, -0.2474, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1212 left_z=0.0711 left_yaw=-0.389 left_pitch=-0.2674 left_roll=-0.0282 left_gripper=0.0578 right_x=0.4168 right_y=0.2138 right_z=0.017 right_yaw=0.7539 right_pitch=-0.1432 right_roll=0.0427 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.2803, 9.7436, 1.4383, -0.022, -0.0317, 1.033, -0.2256, -8.759, 7.4188, 1.7705, -0.1148, 0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fac0a3ee980a937f8eaadbe873cb77dca05775cc2603f9f226e4acecabff3a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e68907002c659b854124b83889541d22657e545354be6d2ab8ce55f8615875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a4067f55cfc815159cf489e95e54034011b5a65a03ba22618c81202fb4662e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFXqpqZcsddEs8UovZwRJX8iWiaI0uW_a0qSQ1O930RqmnAJXSGXe29Pc_TAjnmIDRDmKnQHRzyqbPKCWPgnLEboIIeFqlzvlHQHeuzkgm6mUYqrHJU9kHSlAJeFzGT2KVD8ZsOq6zW6y19Ei8-8A1Hn5w30sJHHJLh0yD9_Qyb3k-ocyzMIy_HJMa9_Fl-UOjOu-kBCF0HwwduzaOt32OpTqwa1Xys4SOO6IlqMg3YBNWHabTn9WYfpFxK2NCJq0F7vTIB_0Uqn5poiSyvB3k4ArOJhYxrqRh0Sq2z1-nXxliI9ZUxPbG3bYx18c9P8gd3KYm9t0A8F4QNlGwr7ON90hc-4JjvzwdfDvH71BMVsn5wStVNLrY4QvJNyhoQFXGtIY3vz9u_sgv6ut_nfWWOu4G0_-UFK4V9rsM0gBQvzL4SEGFvhgBUULwjiSYwNGfruf5964xdN0bOBsuHLPHw670LpwuRMdWSyywfQeMybz_7qUq9oDDK9vgahk_zlvQhIjnNsLI3lK7tB6EzY4-nTVWfpgoYmMMBzdAEBMUrfhGCdvy0sYKjGHmUQwHA9pXML6ulAf8EcES9Njo6tnYUaWuqHbCPvYi1HAclnsjx8UPQyH_tkU-630aipARkt5PFVx57SIEVDTtcukmuxjdCNo2Lw8wMZgMO7xXCnPlGKogv892wZB6KmiKaopiRaxsVO9a0vu-xBxbvzjcc7qa8vYdE2_lXgynm4dAm6FM_opDw9gaJ6OWm1LVsz0F5BkFA5_lw8wov-hefOXIAce8VVUlRhOwEhU9r0VJvpIx47THtb8v2K-BY-t7xQDDnZ4XEbhO5VWRjoEdOw6dDXhVngvGMnNv4qSMTTUOhQjDO_EphWOQAoSf_e_xRqzWKJuFjFn4C8ZiX3CDLb5_j1EoGljJHPJM6nrFxIyq1BHkUyGYk6jY4drLOnJfsFghWtp7awcrJBSWvfoeR19AzlvYSK8bgeUywLAOt2DQxJTJ2SkVyV8JDDohVMDvySebvSiPnEXLZfsj6lG846Ikcbh9HEJWM1iAmuasfBEIUHGJhskNpAzDvc9b1-HvoNRqptuHI95gik4bNP8Dm_yomXz2EWfJGOumqtRKR6BTMhHtmRMxumiMKMlR0hAWi7e5BSsRuxTeFs1BxgTfmBobp2MbKZBO81pbcVDiFMSOIuZcHcqVy9NAJ-PHgmRVQjOdS395LvJnDWMstfpknAZQLoT8X_6M950KePcESqayqKbK6UBXphefCWIrAemMaGqC19xT3ISddQ5z11eOZNcmsUEPzby9KLTeSlTvshfsxPEmZ3IolVyRmDyHI5SI6Z4tJiDWIzelIk25qp6SxULbhUxtuJvArZzOSDL2Gd2eGRDfZ7KM=",
  "id": "rs_034073f072bcb3fa016ab49155682887d0a2d7f27f8f02c141",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.227,\"right_z\":-0.007},\"note\":\"The pen runs down the centre of the open right jaws, with the tip well ahead of them. I’m making the final small advance and descent before pinching the barrel.\"}",
  "call_id": "call_ze7x6G71yi7j6mSSqmWvwKi1",
  "id": "fc_034073f072bcb3fa016ab4915626c887d09d2a6c93bd8fdc62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ze7x6G71yi7j6mSSqmWvwKi1",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2821, 1.5383, 0.8085, -0.1184, 0.0826, 0.0429, 0.0579, 0.3477, 2.027, 0.9611, 0.3416, -0.3405, -0.2543, 0.9989]\nstate[eef_state]: left_x=0.3781 left_y=-0.121 left_z=0.0728 left_yaw=-0.3902 left_pitch=-0.2749 left_roll=-0.0291 left_gripper=0.0579 right_x=0.4343 right_y=0.224 right_z=0.007 right_yaw=0.764 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.9009, 5.8872, 1.6142, 0.0464, -0.0562, 1.0281, 0.4718, -8.212, 5.5453, 0.6374, -0.0513, 0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d5e3340dc463d6eb119be7f2fdb049d6576ab46cf35b739f1a00c1d20d381d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa2c42bc5ddc89ad4a4a59138cff5b1aa9983dc0f0642d913b5782505db3ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc35307792dd38accba5bb1617e6b39e4d29a273c68fae614235cc8f6c777987",
      "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 · 8.317 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]: [-0.2802, 1.8385, 0.6781, 0.4282, 0.0845, 0.0536, 0.0478, -0.0193, 0.8024, 0.6132, -0.395, -0.0223, -0.0147, 0.999]\nstate[eef_state]: left_x=0.406 left_y=-0.1286 left_z=0.0015 left_yaw=-0.393 left_pitch=-0.1594 left_roll=-0.0096 left_gripper=0.0478 right_x=0.2944 right_y=0.0019 right_z=0.1788 right_yaw=-0.0004 right_pitch=-0.0256 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.8308, 5.2855, 1.3211, 0.1538, 0.1197, 1.3211, -0.0342, -1.1966, 7.2137, 1.7021, -0.0171, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2817, 1.5444, 0.8013, -0.0975, 0.0822, 0.0425, 0.0578, 0.3401, 1.9373, 0.9039, 0.2802, -0.3401, -0.2474, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1212 left_z=0.0711 left_yaw=-0.389 left_pitch=-0.2674 left_roll=-0.0282 left_gripper=0.0578 right_x=0.4168 right_y=0.2138 right_z=0.017 right_yaw=0.7539 right_pitch=-0.1432 right_roll=0.0427 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.2803, 9.7436, 1.4383, -0.022, -0.0317, 1.033, -0.2256, -8.759, 7.4188, 1.7705, -0.1148, 0.0659, -0.022]",
      "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]: [-0.2821, 1.5383, 0.8085, -0.1184, 0.0826, 0.0429, 0.0579, 0.3477, 2.027, 0.9611, 0.3416, -0.3405, -0.2543, 0.9989]\nstate[eef_state]: left_x=0.3781 left_y=-0.121 left_z=0.0728 left_yaw=-0.3902 left_pitch=-0.2749 left_roll=-0.0291 left_gripper=0.0579 right_x=0.4343 right_y=0.224 right_z=0.007 right_yaw=0.764 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.9009, 5.8872, 1.6142, 0.0464, -0.0562, 1.0281, 0.4718, -8.212, 5.5453, 0.6374, -0.0513, 0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d5e3340dc463d6eb119be7f2fdb049d6576ab46cf35b739f1a00c1d20d381d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa2c42bc5ddc89ad4a4a59138cff5b1aa9983dc0f0642d913b5782505db3ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc35307792dd38accba5bb1617e6b39e4d29a273c68fae614235cc8f6c777987",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFa9OygVF51pU_xFLShPWroN4aKAjBWtV0YrtbJE6GHnUVEOpUNJWhvc9eqlmo58FUWP7q8Y5d3SpwGTTmGjQZH5t2JLaP78m18MUtuF3MEP58KRhEbd-v-hp05bN8nvrmv6M2tJaC8uEYJ4zLLgbB8KPr0cX4jYuLhEhsObk7VRpq6UKTeSxehcBvvsQWOt3ULG7AgwWvH-hjK-9gVsWkfJ1mw1ibWZDsdndiubsvTkmj92lqYuBblnMA5fYy5jm7jjFTa3cfXTbOE71eEWFbJ732zrBRS20CErviujHQyxmkMIQtaQ1bPBBn82mBVWu5oKTPhFCN3zq9TdpYZi48-RnvBZHOIwQ7GgCURQYtNw80PR4oT5Au0MJigN8s3xHxokqHQmR86c6Tqsbe7gDydqHCVaR0_E2usuQ1361W8CGPgXv5R8z_IIzUI_tPMx1A1SlyKTaFvPsxBg0m0Ac0y5Lia7kOhbSNXHFdQTk4U8Pv6Ld7-qrVx4Y4XwMdHvONfKCPmuY9qy4w_e86wKepI1VxApYUlJ2b7d9QmYXGdhh8mFBoFDdpEzXLsQ5LJtchXAVWz7Xrk1w4j0MLOvuZdkz_THDFA_OHJdCqEYrHJumPJjW29-3_4_URE3NotVhwth4OqBN9sLlGToimJNZg5Ny518YlllAAdFs0ndBObH9yonQpyymi5U82NC7JyzrrjaBhD3-esO5Rn4n5sO1PH1hLVl1lXDDtdbr0ZVNg-VW4Ga0bj27SsVQHPQ3yY9rlQms70ArvstdfRNza9TWovG3m2qd-J3O2jdxFgxQQyEnofw6M3qOYcv2td3-0-4y_nZYtLLwQ4bkG4rBHOtybLTmzZSNbeJIXbrPpduzHHEzyrwWMYlLU9ecwfmgJ6Zo3AQZu20ty5VAAPHG-BvmZmT8IbMnSCdyz0vle8-RLjkjSB_tTFf-7wgJoEVQvnrrq3Fj4BzC1HFmt90oZEIr6DdRmDduzJTlsBWs-Krk-P3nkuckiW6iWIRjZa4NlgrSJykTDnWncWHZHWLgVSzFJFE60YdoxL68f5_PN8SXBx9qrGRD2zzUFSMP3Ws11B1_Mjj4e-cxI34YTPWkhZRo2ypFRwaXvPLephmZwdalPapU-DChjszVM7IVv-jjOD8Y8U7ehnf3V4xKSdWwywyo5JrZocJdAOgp9psWAUpksqSLVG2v5NtEBz4Ytl_LhQgAYKd1RwUMTiLYnFFOeGqESfbZ519Dhm_-f4DpgLozcP6pKmkAsrXR_ig71NCNq9iSa75QDSGCDrP5pnWQ9wwmHDnUIBY35g85VoBrMNvABcNmfGCSMqG8XceFBYbq0xlbEGqKSi8Vi0vC_vYMo9Dpw-WZAxsIUVavaEExAEUbyx9kcfO61qlothcfI3sIMmduMfCD1C89pA4WTdbGx5XJetQXxe7kR8WJKMezbaEPartrFMKjhPhfo4kTCcR9n_mJo-cl2c0RERtHva94bBh6hxxvZkd_NYJVAU2Ukhy16LUvXAW4Oxq9etxjoI0ukq8YqwiqcDcA3T3bKkDHG3dMjlVQOJWRtVfChbsnamdP8sIlbzqt6g7b5G3-VU_6FQN7SIbOKYNSnNXHA2X66VRK344nHogM6BMtXCVDpXgs2ExGM=",
  "id": "rs_034073f072bcb3fa016ab4915897d887d08d4e673f051974ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s barrel is now between the right fingertips, with the writing tip projecting beyond the grasp. I’m closing on the barrel while keeping the cap held separately.\"}",
  "call_id": "call_WqA9xierd4a6A4qG1NBmQPul",
  "id": "fc_034073f072bcb3fa016ab4915a002087d0ba39b1402d7625e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WqA9xierd4a6A4qG1NBmQPul",
  "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]: [-0.2821, 1.544, 0.8013, -0.1249, 0.0822, 0.0429, 0.0594, 0.3485, 2.0365, 0.9726, 0.3737, -0.3454, -0.2596, 0.0116]\nstate[eef_state]: left_x=0.3746 left_y=-0.1199 left_z=0.0668 left_yaw=-0.3905 left_pitch=-0.2943 left_roll=-0.031 left_gripper=0.0594 right_x=0.441 right_y=0.2277 right_z=0.0125 right_yaw=0.7703 right_pitch=-0.084 right_roll=0.0107 right_gripper=0.0116\nstate[joint_eff]: [-0.3897, -7.0906, 6.9812, 1.4921, -0.0269, -0.0269, 1.0281, -0.253, -10.4274, 4.7521, 1.3504, -0.0415, 0.0122, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58ce8f95a39fbb1fffc8538cef8999078f93e5ea36c68729edf0020d7c7e113",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2acaa7637e1ef52e95c3abdeb1caf606f7fedc6f80c579193f07c9569de1ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e4ea17b4867b75f13dcbb0655de66caac9b8e3f979a6710a8038975ac5ea64b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 6.417 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]: [-0.2821, 1.6173, 0.7383, 0.0872, 0.0818, 0.0437, 0.053, 0.3359, 1.5951, 0.9173, -0.0078, -0.3359, -0.2401, 0.9991]\nstate[eef_state]: left_x=0.3886 left_y=-0.1239 left_z=0.0503 left_yaw=-0.3884 left_pitch=-0.2188 left_roll=-0.0217 left_gripper=0.053 right_x=0.3934 right_y=0.2028 right_z=0.1192 right_yaw=0.7394 right_pitch=-0.0825 right_roll=0.0189 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -8.6222, 9.3197, 1.6386, -0.0366, 0.0269, 1.033, 0.294, -7.4872, 8.5812, 1.7998, -0.3004, 0.0366, -0.1148]",
      "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]: [-0.2821, 1.5383, 0.8085, -0.1184, 0.0826, 0.0429, 0.0579, 0.3477, 2.027, 0.9611, 0.3416, -0.3405, -0.2543, 0.9989]\nstate[eef_state]: left_x=0.3781 left_y=-0.121 left_z=0.0728 left_yaw=-0.3902 left_pitch=-0.2749 left_roll=-0.0291 left_gripper=0.0579 right_x=0.4343 right_y=0.224 right_z=0.007 right_yaw=0.764 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.9009, 5.8872, 1.6142, 0.0464, -0.0562, 1.0281, 0.4718, -8.212, 5.5453, 0.6374, -0.0513, 0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2821, 1.544, 0.8013, -0.1249, 0.0822, 0.0429, 0.0594, 0.3485, 2.0365, 0.9726, 0.3737, -0.3454, -0.2596, 0.0116]\nstate[eef_state]: left_x=0.3746 left_y=-0.1199 left_z=0.0668 left_yaw=-0.3905 left_pitch=-0.2943 left_roll=-0.031 left_gripper=0.0594 right_x=0.441 right_y=0.2277 right_z=0.0125 right_yaw=0.7703 right_pitch=-0.084 right_roll=0.0107 right_gripper=0.0116\nstate[joint_eff]: [-0.3897, -7.0906, 6.9812, 1.4921, -0.0269, -0.0269, 1.0281, -0.253, -10.4274, 4.7521, 1.3504, -0.0415, 0.0122, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58ce8f95a39fbb1fffc8538cef8999078f93e5ea36c68729edf0020d7c7e113",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2acaa7637e1ef52e95c3abdeb1caf606f7fedc6f80c579193f07c9569de1ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e4ea17b4867b75f13dcbb0655de66caac9b8e3f979a6710a8038975ac5ea64b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFk484z00pSaCuAlf2-EJ8-U_-2rgXgTIRsgFpAxs6EvFcBXDJFzj0n9JOP0pfmAG-cB9rz5mak19XvVLnbFgx0AB8h4K0kImiR--uZ5tsKYdoM-bG9FxTDE6IBMeq58tiA-h26C30tcZ6AMLfp8QDT9swtNXGBaqo_NbI8IpFwsdXzynpu6W_a5UAgic9kchKuZjbJ5XzUagkRHhn9iGonXteE83vzwbWzF70l6Xnrl5WQUWLqmOtwYiXJQSB24KXGJW8umHHYUURlerjmivka142aiSfsq8nigu8mIFVdgdvG8BBZbNLK6KtKQdsoSD06GnVTXtwsbBc8Yau9RJB3W6Gl5-gskLy7GvOyz8KlsAifrT-PnGiVifkHlo-ASanKRKZHIPkjk2EoULiApPHONFn7s7jlBDizYGj-YexP9I5Eg4pGSXr8bKVMXxL8pcoDB6799AGdXo4eYuDOVB2ds3xW50HRVwR_0rRKIodJQSuL-VHK5wFJrCLj11PeYS5WX_mkQSnwnrzAYpplf2K8umBOImLHuZzMVe9MWkU4TSIWn1Yu7JYBLvhFeLru81NXXdmdXMVkObfpoemLpYyG6TBjpqOopJEoSnuphfUgmjA662RaS7o0VmPfR9rq4zO-p4fCe1hzYDkBz0WqdMHd2MdWSvDayeTac131Qc1qHDWMpuCxTIiGDFhP5VhIkVbubLwdIAWy65uIDTlYM8J-Se1tJAyghVgP-2MZneBryENp2CmNzRu3tuI_drpQLaPh_wGHJ6Qhz8efwHALvlBXrCiw_vazxqJqNQEARU-eZ5HNgEGIeJ-8hasawNlV3AzA9jzp_r37hr7ZpM_WbxrcOzk9Kontc5SKhUbQg1yAl-2zRzHUz1JJYZ8J_MSGuHDGeR0dDlXvDBLnJ5RMCVqsuIjhJnY1q92wpwBFObLEh6ImKkOA0C5R40eap2sE-ls1_RjBzKtS6dVb-_s4ozs48sfcRcZCvl9d8UugT5775KZ54VP9AuFWYfYtv6S2ueWmj8Q6yT2qaE3G_qcpPkpND2XX1m1DZW9iELT6SbycUJMsAaNdk4E3wIG3YlaFZZaPHff3dlQ0HLbNv2IsQyYu7LJY-zRJwCJGJ0nkATJZWj4886G-X6KU1NcEnLbl7DuwZZYACOALN5isYwQa7h46NN97tkQrq0ZflM6NqWPMgX0k8ufBkD2sp5_saKmkKCNWNYdJhwuBIyj1GTqSE6_Ay3LQ81ic_PycUmqwKs6NkZfbo-BS-euy-JMjE677roAQkr3k0K0B1b4fq-4v0WSmO0--SLWtuqh4pKqqw3CFOJOjPrWIg6VK8Suu6Vn_AothwWEqDIxIZXcoWr-LzJmUZGa0VRx61DQ-5jIVDPB-HwDLPVHktO0qlj6nbBuIAjcOUn-gZf930NaqR6ZaBg_2NGUHfxixnGb0JGq3SKjFNdaruE9BQjQF9bmE0SyaSj7IrfLlhyHd2YY9Uvis6iJh-lpe9X7CA-H-fs425yafGh9aDqu2x8TEFzoBDbZpAmLVRkGOK90uii-8W7gUB6DWtzX7ZNMHsrwV_JGnVoWEBiSvtL7vbXmLEbYnGki8DdAHnoeusJKZtP9G2DMiXfNZehia9T3gV-cykguC7R-biDBX7Net9Ep9Zhd8LGh6Sa4NCw6nhNTyxy9tjpfmJ305oG0gtZYeiBpCgymxkvwJj8ptIo00zxthUX6UX3Y49IbJ8OPXHFTmoRlHgYKSJdmZiH277yRhsuCOyvU4SWx6ADQXDIHvuQgba8h5L-R_ckrsUyNyRCvbEEomX3I1RY_V9eFHZGxvGLeOg7c2u1533cWGRJ9ojrOIy0uvfKgb_OYqSxhacNFjJMdSlQyW3Sajr3std7TJopCnhIDJ5-TYhfoMnn1YW1oRxXgPe3BlUurUuotdR_ia29_PW4vyiP0YE_pVcIX5BiYF1cgcphbFKS5oHnhAWlxb47hOqdkqHd4EYd3WBy8V_O3mcMjT7wAWTe4eL0J6n0ijdl45_tkBkJ8QFZvRYZmPUu7YrxASDu65PVV7KQza0tAduE5cDxnVq66JvBk4DMHUr4gb6KFJeOXmmzozS8Xtf4Qcvf8RWD-zcw9v491IB9lVayD6caA8VlkE_tK5hAlsGVJtM0Az5QMw8UgoJ43JwxPbPDlgMBIrnaAVKAp2ogro1F7UKP31YzmYqNRwQJGw4TlIajkNgyE3od5DYvHsnpKUzfYp0aWJ5eBNcyTzFK-P12hpuJJT6R0QbTC2E_LJQV_j09TSN83S6LZJWFp8Kp9AzH_lZJG8oeC0NPz8sRLwWgUr0__OcNQtGS7ZdYbqsqBPEbBK2FIXhPy_an7CiQ3wF5CwSnviuQtIxvBcpSaSB9cTtbM4cr2DXNo1ORJ1ozlSuJ-JtXPcwBi_l7JpBWyIT6Xza92ZJ_mgdpYQVxKw3hmtQdUdD0y-h41NEn3UPESxkg8Md9dhQaRPI4ZPc4RvTlsFxP1BzJcA7m_7-FkEUEhky7rciBZLhtGsAIytPNLU-59wZBs_jH0EHdhTTFTpSPTeB7AwSnbhtCTsHjKGsr2iiYdZna_XvGOmNbc0RED9vMnKCiBYaVwhCbZ6klWJ-l7vKW-ClBGFpz2M72qXKRVCt1vDbUl_3Rh3kp0kdUN55RGNGyIxs1Aa6a_GuvsxCckgBkizdDQikcDGVV6HtjnXeIWeL70hu357GM_y3QF9xh9tX8tX6yU9Bj5cxxoc6M0SMKcj4yoUXLg5ZwoVGwzq4AkJMRb9TjaszlnvDFFXmMM8GO4gdLpnGYrH7zKeK35Ej6CuZ2-_1BQbsmmPwpCh9qNOwAAVXJPL6eKat9C7J85KSR0=",
  "id": "rs_034073f072bcb3fa016ab4915d0d7087d0a5fc0fd837b73912",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.414,\"right_y\":0.207,\"right_z\":0.035,\"left_x\":0.38,\"left_z\":0.12},\"note\":\"The right gripper closed almost completely, so that attempt did not capture the pen. I’m reopening and backing toward the pen’s barrel for a lower, better-centred retry; the cap remains held in the left hand.\"}",
  "call_id": "call_f8PaMNjBxIYBz9BfdoFsUmx6",
  "id": "fc_034073f072bcb3fa016ab49162ce1087d08827aad541603d78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f8PaMNjBxIYBz9BfdoFsUmx6",
  "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]: [-0.2817, 1.5116, 0.9257, -0.3466, 0.0826, 0.0425, 0.0595, 0.3241, 1.9175, 0.8555, 0.3397, -0.3611, -0.2802, 0.9949]\nstate[eef_state]: left_x=0.37 left_y=-0.1185 left_z=0.0925 left_yaw=-0.3926 left_pitch=-0.3587 left_roll=-0.039 left_gripper=0.0595 right_x=0.4133 right_y=0.2084 right_z=0.0201 right_yaw=0.7709 right_pitch=-0.1085 right_roll=0.017 right_gripper=0.9949\nstate[joint_eff]: [0.1709, -8.9504, 9.8256, 1.5067, 0.0317, -0.0024, 0.7546, -0.6222, -11.6855, 5.3675, 1.5214, -0.2564, 0.0562, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2244dc085c08d60b6ca18f72dffa780fb5a76fa2d1c602523f3f93216d6987e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c5bb16f0e816d05081e2c0fff1a4c5b93d81bbfd1015f997b22936688c723f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd01447428ebe98bc525b37b57da381f45819ac2777731ff7ca8ea81c604290",
      "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 · 8.073 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]: [-0.2817, 1.5444, 0.8013, -0.0975, 0.0822, 0.0425, 0.0578, 0.3401, 1.9373, 0.9039, 0.2802, -0.3401, -0.2474, 0.999]\nstate[eef_state]: left_x=0.3795 left_y=-0.1212 left_z=0.0711 left_yaw=-0.389 left_pitch=-0.2674 left_roll=-0.0282 left_gripper=0.0578 right_x=0.4168 right_y=0.2138 right_z=0.017 right_yaw=0.7539 right_pitch=-0.1432 right_roll=0.0427 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -8.2803, 9.7436, 1.4383, -0.022, -0.0317, 1.033, -0.2256, -8.759, 7.4188, 1.7705, -0.1148, 0.0659, -0.022]",
      "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]: [-0.2821, 1.544, 0.8013, -0.1249, 0.0822, 0.0429, 0.0594, 0.3485, 2.0365, 0.9726, 0.3737, -0.3454, -0.2596, 0.0116]\nstate[eef_state]: left_x=0.3746 left_y=-0.1199 left_z=0.0668 left_yaw=-0.3905 left_pitch=-0.2943 left_roll=-0.031 left_gripper=0.0594 right_x=0.441 right_y=0.2277 right_z=0.0125 right_yaw=0.7703 right_pitch=-0.084 right_roll=0.0107 right_gripper=0.0116\nstate[joint_eff]: [-0.3897, -7.0906, 6.9812, 1.4921, -0.0269, -0.0269, 1.0281, -0.253, -10.4274, 4.7521, 1.3504, -0.0415, 0.0122, 0.6667]",
      "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]: [-0.2817, 1.5116, 0.9257, -0.3466, 0.0826, 0.0425, 0.0595, 0.3241, 1.9175, 0.8555, 0.3397, -0.3611, -0.2802, 0.9949]\nstate[eef_state]: left_x=0.37 left_y=-0.1185 left_z=0.0925 left_yaw=-0.3926 left_pitch=-0.3587 left_roll=-0.039 left_gripper=0.0595 right_x=0.4133 right_y=0.2084 right_z=0.0201 right_yaw=0.7709 right_pitch=-0.1085 right_roll=0.017 right_gripper=0.9949\nstate[joint_eff]: [0.1709, -8.9504, 9.8256, 1.5067, 0.0317, -0.0024, 0.7546, -0.6222, -11.6855, 5.3675, 1.5214, -0.2564, 0.0562, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2244dc085c08d60b6ca18f72dffa780fb5a76fa2d1c602523f3f93216d6987e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c5bb16f0e816d05081e2c0fff1a4c5b93d81bbfd1015f997b22936688c723f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd01447428ebe98bc525b37b57da381f45819ac2777731ff7ca8ea81c604290",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFr6iDt70SOTBuoHX6LOF6hyVCN6gRpKbzmqTaf2J4GuEMsC4q4UKTQ8pBZq5uUhpy_2jdYFUpO2xv2Wjx8ftTb7WtZZ-jzOAAKuFbylJUdi9dvyFWzhE7WwdqO9HsiGfM-h9reuEOB2-oUWsVbT0nakKj40HKbYxFFlVSTql9FooAj9hFSWVg1VMBY9EE5WTMFl7-r2kKB5SmrxSddus7J4t1k8V6dQd0XGygMlVFp6xaiLCcOyDJ_tUqCs5m1puPHi75LJbPO-1il_1UYqt57fRh2mVziqg6JuSftaIFyegWQONgFoFEAmPrmORffZEd4QufZjeb1gJv5MqeFcADixOBQ2SZExDmSvvN5U4MGz4HTiPOaKctMGliG2nJG3_-9TNGHHOnZG4hJ0wxvjHAqBbCx-MG7LE0n8esns9kRrrpvdvnFwssw_ZMn9K2ZvszQ_wPs7lLsH0StBlUcHK0x633STvpCJnuoXiGl-d8eGSiFNN2NA9-xe80jgQLZWwmbzcqOwzDnN6_3UMp0zHmB5vcbmBZ8xMZzbE58JrT7D_A2NT2Mnjhr4FwadQV0ZtmaLwHLmsXrpMV1-b5TCw_LWre8580UgEKn4CARdwrWE4szr3UiYi6GNkWc9-IexcSFC88QX-41lSVUa_XfI8LkIWeJBu07lQ35SJpB93q0csNvQxbTGDcWOhe9Q9n2yXZwLXcETru7Fvb8Gs5TfsHkpxkXeAf7XROEbYtmF0ZwShp_oYSEAxzce5vKFJOjTlVY4gMUcPjkZUxD6jjYuqSpRhguj9S4R4yZHw2T_8QKGZ5gDuo0Mrzp0DRdG9xZJ2Z_Qdk6Cim5y22Vrmf15yQe2VLlTUXv_KMCZqVCyW25H-zoSqA-i189KZdW5xlQjFGz_TNZtseEzOaOyG8OgcBpWSL88gqEBMGXM4TOj6u2WaO64bk7h7I4bxpLqMlE9WE91DjbBfo0MMgh4mj-fGvr_gcXrnqdGbAc6f8n4FlKltS1yZ2pcNUhfsWuj52jH9xPb8ecec_XGPigyXaIw6eWVVhoFFoSzahlYUv7u1uzJgvRnqIxPlw7F7RfgQHB_ZgkLkxBpN5YA6VD3kh10aZB0biRemW4o0QOuO0egr-v2H7yoLNppwo9h6_jZUuAZS4MkOiBWKb2EKmw2TNdZwJywEThzrVVlfzKKi7g5Q9clrSI-sxfWHiP0NdD_bKgjy-U1dfNEnegQswd6PcW11IcHUf1OHnOqVqEmp4rZrlbB_LmNaEhnjyXgAUMNLfYbgzEuzZyrT80XZCwqcjAdFZgaA8BQffww4VKDZirg-B-eJKfeTWLCScLf4Q4U1SoD-sruprBrzEoy2CE-S0LEUxdvw1Db6wqWzQHqEnpdPzhCtD2bbir_3RumMe6hA_GGmrttcamuJeGVmaPZdDixK1mRD3PYOhyACE0l1GAWmmO4527x6oaSNypeYLW1jDupZGO4FvvjnwmvAAfUvM5m9C8BXwrDkqTIh38UJROu1mTML0KOczGaK72vDoBfMxGxkB-dy5rnpqRpMchknGOYLrBZziHrkuWZeIeMBWqirDqYwDXQxVDVo-XXPX0Ic8xVnTbjS75JIkgjY6WZfyFWvSx6XNUlwfr5p6NzPyXIR8B9muWJSiMhQylzPQ_IbUGV5Ru7lK6-yG2SN1RZfOSJI27wBYP-d4cHqD1XC7vPIKwQ9XXvgGiVUDbFXyBEy31g5zgfVitN2cZvpLJwvJU3mW3o_ArlbY6PLwnq2qFrM3XSGVyBOLIYYHMhigpM32AAl3LVVdyLgY7efnbA2Gvw-xvCu-R3Jq0ghqearkS89WKlJyvtYoXXrqLUhALxiVuBODVNOcyGP-JRwfNxv-wGJtbJRVEknQj9s6gEnV1G76isJ3kje1xXwOqBSr7xUl2dK6KMqDt80nV9AQ9pzHlfwf_O3UhW-kRaDvsc1VdsLFI1dOl9GO5qw-uHKNHhyYn0p5nZLEe0_P6grjIQnzwdUZjJrz2-eqO7ErzV5Pobvvl6n9f9mojEwuerrvuEIhp73M08lJ3uHd8kMm0T7SBwkutVXyPZW1JELOTw29Vc2heDCj15qLdPjmliiKM9GFybtYOqtXD4gvVu7gYJTft-YX5orS3Ed-bfsJVMhIuh9EN25Coyj3VeDUGOeRSqbjxBTRcDCDV3oSUZpsVgdh8v0gqhh2nSaZeYoSqv-trmnRHxk5y1EBYCH2GtjFgcrdMqE9vsNDCbZbt0WXHh-kl7UQ4JB1c6DYO3JYi0VmZjiPQ0rQIdeJhd3PcZfu2oJKNvm58A5Ms5OESHW6uTCXyVnW5v1vx2OdiqsKfJimRJN-lgF2VPdieq5031EFbli8gK8g4LGb3vnldATqza5uvbJCleeshe85xgVh7faFrQQMc5ZFYC8ijWET0xEoVUQ4-rGYn",
  "id": "rs_034073f072bcb3fa016ab491662ac887d088f406a0fa80e779",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.389,\"right_y\":0.249,\"right_z\":-0.012,\"right_yaw\":0.45},\"note\":\"The pen slid to the left of the right fingers during the missed grasp. I can see it along the wrist image’s lower-left edge, so I’m shifting the open jaws over the displaced barrel and lowering to the table.\"}",
  "call_id": "call_Nzo9RnAutdJMrZMcMxdT6aCp",
  "id": "fc_034073f072bcb3fa016ab4916a416487d0a5f62b405c4b6a2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nzo9RnAutdJMrZMcMxdT6aCp",
  "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]: [-0.2817, 1.5101, 0.9291, -0.371, 0.0822, 0.0429, 0.06, 0.5816, 1.969, 0.7834, 0.5442, -0.0257, -0.025, 0.9959]\nstate[eef_state]: left_x=0.3663 left_y=-0.1174 left_z=0.0908 left_yaw=-0.3933 left_pitch=-0.3781 left_roll=-0.0408 left_gripper=0.06 right_x=0.3864 right_y=0.2638 right_z=0.0034 right_yaw=0.6088 right_pitch=-0.0827 right_roll=-0.0045 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -6.4752, 6.1333, 1.5702, -0.0024, -0.0659, 1.0085, -1.0872, -6.694, 4.1368, 1.0965, -0.0171, 0.3199, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dece4c4e5f64280be656e39df541c485c2cbc21448183f16418a9a01a9b10ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f00edfd9d2869d470e4f124d05ed76d218b7917e9a96802e53fd728aa0e0e57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c22f70c827a3f9726a6a12c3ae4ace861caf5409213ac66daa16787031d3089",
      "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 · 7.06 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]: [-0.2821, 1.5383, 0.8085, -0.1184, 0.0826, 0.0429, 0.0579, 0.3477, 2.027, 0.9611, 0.3416, -0.3405, -0.2543, 0.9989]\nstate[eef_state]: left_x=0.3781 left_y=-0.121 left_z=0.0728 left_yaw=-0.3902 left_pitch=-0.2749 left_roll=-0.0291 left_gripper=0.0579 right_x=0.4343 right_y=0.224 right_z=0.007 right_yaw=0.764 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.9009, 5.8872, 1.6142, 0.0464, -0.0562, 1.0281, 0.4718, -8.212, 5.5453, 0.6374, -0.0513, 0.232, -0.0171]\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]: [-0.2817, 1.5116, 0.9257, -0.3466, 0.0826, 0.0425, 0.0595, 0.3241, 1.9175, 0.8555, 0.3397, -0.3611, -0.2802, 0.9949]\nstate[eef_state]: left_x=0.37 left_y=-0.1185 left_z=0.0925 left_yaw=-0.3926 left_pitch=-0.3587 left_roll=-0.039 left_gripper=0.0595 right_x=0.4133 right_y=0.2084 right_z=0.0201 right_yaw=0.7709 right_pitch=-0.1085 right_roll=0.017 right_gripper=0.9949\nstate[joint_eff]: [0.1709, -8.9504, 9.8256, 1.5067, 0.0317, -0.0024, 0.7546, -0.6222, -11.6855, 5.3675, 1.5214, -0.2564, 0.0562, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2817, 1.5101, 0.9291, -0.371, 0.0822, 0.0429, 0.06, 0.5816, 1.969, 0.7834, 0.5442, -0.0257, -0.025, 0.9959]\nstate[eef_state]: left_x=0.3663 left_y=-0.1174 left_z=0.0908 left_yaw=-0.3933 left_pitch=-0.3781 left_roll=-0.0408 left_gripper=0.06 right_x=0.3864 right_y=0.2638 right_z=0.0034 right_yaw=0.6088 right_pitch=-0.0827 right_roll=-0.0045 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -6.4752, 6.1333, 1.5702, -0.0024, -0.0659, 1.0085, -1.0872, -6.694, 4.1368, 1.0965, -0.0171, 0.3199, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dece4c4e5f64280be656e39df541c485c2cbc21448183f16418a9a01a9b10ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f00edfd9d2869d470e4f124d05ed76d218b7917e9a96802e53fd728aa0e0e57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c22f70c827a3f9726a6a12c3ae4ace861caf5409213ac66daa16787031d3089",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFzk902S7gHMM3YW1brpJn2RKoLrPv-rchIYjxw5HiFeIbjzdQyrELqOxXr4z08J0YkIDTtXhXUtUbFz1vdDY41hhWKhIy5tSWCWDueqpcKZVzmU1vrcdMXWHLEZaXCLXnE3ol_Z46ZkSmsDnWRfZYphaZjSnA3lm2CeurdveZH80Qp70Jn8p2Mvz0XUcEaM9xruEaEs4Qep0qYcoK-54cGLtYCB0vH_9eZF6rLI9kycpT28eMeGW6BodONDFa2WDhu2H30cXdat0ee_tRNW-dqrhUO6EMRYt2Tp3YSxIaRt3fTvwgmGcO3iUVb2pc72yDCNXa17VIXOA2luSZsEw19KzTfXdvrnJtvZMsgNzpTzVam1CL71iIZxpiZ-1ZnbmswA2Mk6OKrOpV5SQ0AeUZucP2YDcHpbKvSBPHlmC2_83Mfadb5MwfIWoCd5qlprWJ7ZBZZJTCiJtQNSD6LlrplITlqs0jwFr-d64BksFagzuc7hiQVqqc8QiN16iKJzg-fzaxpPo76jgpI9cjPD7PyYjNtvBKfBQbCQoxHeswsu-TiqHv2YNamDHnWDdHHBpTj61vnq4ecUkAZt5i-61uMv56cj66BRKnz3AXcsKpQqV-hB7Lp4jyCNybTNtkKqhLySlM6nrNjqe3e-eZAC9kYaoJ_o7ct_r9tMcr1Q-BNQ5xcPFyDOJhvpzmycdjQD_HPQie2kenJT6yrPwkKOENAjB7-EwZ82Q-f49-EEfv4Nzsa1E2ZZ6HJL1vCqWujYYSYzpS8QYqV7SFhjwHNyDjCQporMMAFdSRDDjEkojDF2w4UGYbbzHrjo8FGVT31kphOZE6u6_c8nnbdLWwxTkLW4tNGD2dVqLqynFxEjCSNaijiS7AjObhjURCZkwQ0YZrAUaVrjHmVYckoinwOHGncv2_SVy-lCsJNxpNtgz5oz--WIKIfLr1Sn4RLLaBuhbodZICabUgh2BsdhGV8wf5jGGm5jBU9tIe_dQl650OT-hO2vECCT0eqFe8ngrahiEK2JrA3Vk3PUZYJ92-Y9e65yvGEiegW8MrKFX5p9kTFRpO5x-dxL9cEwUE1cWqhweS98oZABw5wjUk_ski_A_FEYl0xhTfv2iNU_1VCodocLq7-c9fEeebaRm9fk5k0-ld3e-qX_0TRBiEShzXtD4GDaOJ_ZU-G4U9jpXzjCbOJm8PCBdWrSaiCgTARbu21fpvV5SbAvhMWOxcdB2gKYkhKAhoacO-pVszO-aqezLgFkXDs-1tDCOxiA0Own0WqNssltNe-D6o806IHe3-8SynllPv62Ac_z9ExHeuPJdk9uk1DrbWi1aG8qjdAlW11ndUQyCXL-cLqf55oq4exYqeGDz5aDqzrfS1SN0cG0DLc_0m1emf1etye0WZSZq3iqK7v3XsY2aqX5ecHQkhkfKM5IymYebD7T3tv2X-kOF5RKf29XhCgSEVIk74pnZiHzYIeT4a4Yfi6wjD7Gntgu079454jXDNiDw-lAtZMRVkIcPGGwxEgKqRBQz8FNss_UXMh23JpWaSHg_6k9I0jDMmSBEZTMsehvPWKZX8VKYG_DQpfL42sXPk0LVKv77AYwUpO6j0bSMnI2SqobtW99ZatEgC0hUK8leDT0Nnw2eSskkOSoUdXQ5Re43mfnTTcbKt6CRGPkHiUT5bahJHB-fo22WEyyA1AJIoCdwMq72rHqFKfWRj85FtktaHNysiHqhwEQYqyGtO6xLYHQh_xKwdYVcG0sC_2Q3KM_vl89pKeV-j1VrvQfJOm2RGT_t3sK_7TiV7QAdkWdqdWO7LWMcEbQBCTqpioAv09nsdKHDZaGUlrP6AootxipsBZF-Oxq6cco00FVOM2T3Cw2ZwFZvPT7KhE0ImiuDSjHiXoPikvmgolRNc9pU81zppvL1RqKezhWL51FAucGC8l9-26uyz2WpN-xcnhkN_IVj_0JDHiC_c7ZgUmXJVRDvCeJgtIZbeMXqb7eQc9TMn4UaiiTmXREyRV2oueku0FjJQ3uFCTYBb8-hv8jQMF-vO4OcCkbdk3ki1vmADxB7mhyAOB-pgGhG8TB3CpRQgBJaRwmVc84A7Lz_wlCud5n6lbxKlRCA3DSJTEFl_OEORih06NL_UE23Lag5PurfJ_fYQqRrSMo7B-a0QXQxOyUAMECU7HmmQJ2ja9LG4Cx5Ntmxw-hW6gOHPWdwbCwOemb___-CAKiA3lnv5PBT0u-AwGKYessbmhKdvcPfes077I4s6xtGRSz-hrFa7AWElkyHz_qbfj1HDcmAARAiqPGN-qwPoLukT1P3GzdZmHK_MlGqp7iiB8TB8uiIKWPm3qe0ponF1O0fNXTVhaJcKxPjLfw9PuPyqrspq2170vNYlaeWofCXQe57vQ7EIQINBqyt9Vq_RJe9NNGH1YhYGO1lf_dSa13D8-xhjbukh0lPR_p6rOWI3w8U_f1TKuke1zrsBHy5Gh1Z0nn3LmAx1clqPeP3tz9WJNcFFwoMbdPmHn5NodU7-YQlWt8xnfs9jeDpr1zEd6adxZss6gQEykWZVP5vff1cwbBVxtda96pL2hNy9pA2hXdyiuLsrWOPkVdH6LYsLCYDKkhge3fRwz8XAnwsts6RDf0uPekIFtdfg0wSPFbXPRJfvYBEw04jpqQGZ37sWSryKsNyH_yG37ehNJj7k4lof93GDp8pxPSS65hAt7nViFi_PWHuQTuuiEmQV2SPuKu6MCwJ8f4DR0cWeJIKXmxj8yDLY3Bd0KqXZVJtb3vyoLoVfHFJF5B8PAoljWjhmw13JpGqEafwZCenbP2ULgzA8gCTL5u2z181hdyj_s699ebiGGzLN8sfKNryGeXZ4CyQP814Kz8e8zzcyh93XqtpVBZ4L34A0nZzJPn7Nti2CIqGHEepjDghj7e7KhGz4Una9f2werOsWe_ie5WAzpMXLqw6-u67vR4EyfIRGboH4cIdKNebwg2nsrwvim3huVdYd7K2nxhOPA7GQ03L6PKBEZXAbhBMJG22n04_mef7bzPQ==",
  "id": "rs_034073f072bcb3fa016ab4916cee3087d0996e476dec481f49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.07,\"right_z\":0.16,\"right_yaw\":0,\"left_x\":0.375,\"left_z\":0.13,\"left_pitch\":0.25},\"note\":\"The pen is no longer visible between the right fingers, and the gripper hides its position from above. I’m lifting the open right hand away to locate the pen clearly before attempting another grasp.\"}",
  "call_id": "call_JiFlYVH1id8zVh2uer1VJ3IZ",
  "id": "fc_034073f072bcb3fa016ab49172b86087d0ba86d86d21c4b555",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JiFlYVH1id8zVh2uer1VJ3IZ",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.3682, 0.4389, 0.5285, 0.1394, 0.0082, 0.06, 0.371, 1.0435, 0.6281, -0.2752, 0.2596, 0.1894, 0.9959]\nstate[eef_state]: left_x=0.3704 left_y=-0.1152 left_z=0.1148 left_yaw=-0.3824 left_pitch=0.1728 left_roll=-0.0365 left_gripper=0.06 right_x=0.3145 right_y=0.0776 right_z=0.1429 right_yaw=0.0417 right_pitch=-0.1047 right_roll=-0.0156 right_gripper=0.9959\nstate[joint_eff]: [0.3761, -4.1778, 5.7641, 2.1905, 0.2222, -0.0708, 0.9841, -0.5402, -4.0274, 9.9487, 1.6972, 0.2613, 0.1734, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91f2f5f0c350651f6ce099b526bed24599bacb3700e99a85933d6cff36a6b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5deef09e31eefffe5b5ddbcef99fa0f04075adb09a805436a5b4a57fade1f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e096c3e12133100f206b78ad1c7039db89cc7875ccdafe0bc45f87754877de3",
      "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 · 5.064 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]: [-0.2821, 1.544, 0.8013, -0.1249, 0.0822, 0.0429, 0.0594, 0.3485, 2.0365, 0.9726, 0.3737, -0.3454, -0.2596, 0.0116]\nstate[eef_state]: left_x=0.3746 left_y=-0.1199 left_z=0.0668 left_yaw=-0.3905 left_pitch=-0.2943 left_roll=-0.031 left_gripper=0.0594 right_x=0.441 right_y=0.2277 right_z=0.0125 right_yaw=0.7703 right_pitch=-0.084 right_roll=0.0107 right_gripper=0.0116\nstate[joint_eff]: [-0.3897, -7.0906, 6.9812, 1.4921, -0.0269, -0.0269, 1.0281, -0.253, -10.4274, 4.7521, 1.3504, -0.0415, 0.0122, 0.6667]",
      "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]: [-0.2817, 1.5101, 0.9291, -0.371, 0.0822, 0.0429, 0.06, 0.5816, 1.969, 0.7834, 0.5442, -0.0257, -0.025, 0.9959]\nstate[eef_state]: left_x=0.3663 left_y=-0.1174 left_z=0.0908 left_yaw=-0.3933 left_pitch=-0.3781 left_roll=-0.0408 left_gripper=0.06 right_x=0.3864 right_y=0.2638 right_z=0.0034 right_yaw=0.6088 right_pitch=-0.0827 right_roll=-0.0045 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -6.4752, 6.1333, 1.5702, -0.0024, -0.0659, 1.0085, -1.0872, -6.694, 4.1368, 1.0965, -0.0171, 0.3199, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.3682, 0.4389, 0.5285, 0.1394, 0.0082, 0.06, 0.371, 1.0435, 0.6281, -0.2752, 0.2596, 0.1894, 0.9959]\nstate[eef_state]: left_x=0.3704 left_y=-0.1152 left_z=0.1148 left_yaw=-0.3824 left_pitch=0.1728 left_roll=-0.0365 left_gripper=0.06 right_x=0.3145 right_y=0.0776 right_z=0.1429 right_yaw=0.0417 right_pitch=-0.1047 right_roll=-0.0156 right_gripper=0.9959\nstate[joint_eff]: [0.3761, -4.1778, 5.7641, 2.1905, 0.2222, -0.0708, 0.9841, -0.5402, -4.0274, 9.9487, 1.6972, 0.2613, 0.1734, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91f2f5f0c350651f6ce099b526bed24599bacb3700e99a85933d6cff36a6b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5deef09e31eefffe5b5ddbcef99fa0f04075adb09a805436a5b4a57fade1f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e096c3e12133100f206b78ad1c7039db89cc7875ccdafe0bc45f87754877de3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJF8bmPDDwzhSacDAD3Biwe5_KivMp1f92Y11d-9BVI0yfKp6_BFAv6OppMCdUdrRo8ijzTPGDU_hRKp2t6jZINCJzUIUmshnamXpgazjnkW1D1NvYqfhYaqCNiwteMTC9ZQXX2gCfJlyCJBFwnajTD5MBNd3ZKwfiLl_kU-H_NaPXpX8tpQs4zhKYuuvhooE6km0qjGQ4oMvOCTV0NZEJGPFIq0VQhY8YIWj8fqMgBM2aBJ2geehT5_DEwEnjJJQTENPv87yPHDHKznhOj4aI-oZnaxhzP7PryVpKJjXshY88Q_-aNrOwFtO0tlrJ6x_H_nJxHbQ7oP0AuR9B2Wavf5YP0jsMqx7ijThu7zpQDg5fIv-iiYPNEPwlpTeCjrq2LPDbb2LvWLKmrHezHclYG6LcWVX0_ok9VtS4aOH1ezE0emcDvV3jNKQ9aRIBrT5F7QMwUqQIoWrro0EX43_vcauVDBYOVv-kovoUVP5TtVwzLP3rS4gnxW6smpLZBzRAkN0xWAb5ldzhZntG9QVooI5lJdFlbsgd2cqnFn1INfq47y2GvogVLlvi1qZm__fyIaRapVtFZhk2ob7D1MAo4y8wVE2wCfVJ2psxyZYEWO9EGYlpiYNnmInXA_ZdR8yWH8hdt7GJxJazCrhEaMvCYSPPl0li0urh0S6ldgB-307ImQomhT8Pz94N89Ja_TI4siTB06yWnqrpePEVbogR6VLhKGRlr5CEEDuRzhMHJv4C0gTc8mF_Ngxuv7d0L-_VVpKJ-oYp1WpW_jCd1Uoo9eEE_9OhW2MadAFuFFCn-GlOTB7mrzZBN5Y9UKJ6sF24ZYX_Z4sMOKv-ZWnbnMF_l8N7tSOxnNy7NSCr-jqr7N7PuohrErjJebKK7c-61rkQHbgLIsO-WVOwHcLa1doZIKpXVjblLmC5Xg0cMV_zQbG1Y4UCbiSqGp-f_vrK5OQ6iMRVtFaj1dVU7pj9jttXlB-hTmlXmERAldcXbqnyyYRCoFd-yG-bNjYeuSddUM9BQz0DPtp2JgXXVtEI2UAqY1KrseKtEDWlJpmNx3G_tWwVUUJs8S1aLxPlUYcs9LXKbJE62T9iTkCdUaKrRnYt4VLDAmJqb8DmLC_0KgktbgUe5LFYEvMiYNRnaXcQ_NTRcdp-r2UwOrnlDtp9FmUvw2w9kXY8pCLrT-jfACbBM5dqKLEwYJRPV31VCBx8Lbp9etM2fyoWXmAqlWYRnJb8IRBsIaqO7od-_EmTIhEQ7-VQ0JBq7_UXvVDOaDcwnSRxNq12FagNHpJOReLJ-ACklpHo3oHH0yT6V4r9yAMapriJMsgh5XNSGLoNZkO5sPq4VtHIaOu4U3IP3vYhbFeMLEbLKvKaheHXbLUS8U4eu41GPX50nfMxYzA9t0ziZd4ani8f2Uvb0o-NV8evavN-C6RJ8KH4O1IW9M4rsPMkFl1MBUdJpAMpSTFzzdQkoDqoXuhRf7t8sf7JeoR_f3EFoVqmmbvkNb03tCv0z9GJYKaUhbxPpKCPwWvubr7MaPOQgjK8sxzzvx-FGgkihPZ-HZyWVoidY7g791dLxKnL317AZdbJ4eaqz6JvmpokdXOwyP1rbGq-E2a65k9LY9a1k-qqq_mUT9woPtFFM0DP9wyVokQbZy2osJefGIrHKD5mtRuIsd1fKjRVUNLbBA5ymNOuj2BMoLnDEN_yFYBJy7eSfyzqb2D7V-QmJKNpwpYAEedtUMOgEQSxpvhrdbD8bX6ySlfbklMD68B3JMe1h4xBz1k5IBt-i9dLZIihg78GenGDVwQCEY39zesQpWreTBUoclFzJuwmWOqt6IWjNYFw9WbtM7JSb5_XDgg1NCIkKntMkO6_CxTmlpy--jtUlcuoKNPz7Pxxr-H9_eNgL-0_4N_qDHaI5TcGTdbIMxqF0RU6BILnb7w5F67lWYVADe9SvGOXL9xcAvDVopunkFGOLRUTROpGd92O7Oo_p4PbUavqTDWhhXn6mBAyvMIluBbhU0OG5jacoFToGbeiT8dchZZipGtva7DAL9Q38jYqwPl6FhMP3_2ixIZXKhxPbLtyC2FDSE7yOtSQ0ct5i1jWHeaJQ1SAmq37XN0ymDsw4XTxv9SkpyRyVML2u9T_hI4rt5BRMCwC1oc_KC2bOP8hlV92f54-Pp--JGgnGbPViga9ZXN6TPYhfaAPCpX2nJNBYtI-o-P6x03Aw9vbOT48zRnvZdIbknziEv-jyj7lv52ds0C-H_84w4f9NBfbVNLFqHRAbN19SaherVjO1t-U0n5AXKVhfG5_x9_6RuEHqRiTtVahZz8vUfo1IGZiVjRgqVHj4TZim9CBxxP7MtryZcYAK5GvUCWYoYfx6n7iwO9gBuY36pYedJTSvJFKcC2hdVZII6nU0GJuoBMuSo877xhOQTY5MeNefFDtqb1ly5HyAXCa-8Tljf5S9rTx1Du0y-L1uzKyeXSv8N9IHLq9Q=",
  "id": "rs_034073f072bcb3fa016ab4917753e487d0a7449c4362f90e2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.185,\"right_z\":0.065,\"right_yaw\":-0.4,\"right_pitch\":0.3},\"note\":\"The pen has slid farther forward and now lies diagonally, with its pointed end nearest us. I’m approaching the reachable lower section with the right gripper turned across the barrel.\"}",
  "call_id": "call_XDF2sXSwInUgB2pOIWVOywH6",
  "id": "fc_034073f072bcb3fa016ab4917ba41887d08873f19c43b9bf3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XDF2sXSwInUgB2pOIWVOywH6",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-0.2451, 1.375, 0.4267, 0.5114, 0.1379, 0.001, 0.06, 0.6613, 2.1559, 1.0794, 0.4984, 0.9241, 0.3965, 0.996]\nstate[eef_state]: left_x=0.366 left_y=-0.1129 left_z=0.1034 left_yaw=-0.3742 left_pitch=0.1366 left_roll=-0.0474 left_gripper=0.06 right_x=0.4654 right_y=0.1881 right_z=0.0486 right_yaw=-0.3084 right_pitch=0.2218 right_roll=-0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -5.3265, 6.8444, 1.9316, 0.0513, 0.022, 0.9744, -0.1709, -11.4667, 6.0923, 1.746, 0.6716, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9804b4a984a3ab748b5de6194b35808476c97032282dde866e7df636bee7ab94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991570f62987f87d2a009b27846731c02fbc424d6207881418a4a2b924642979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcfb6a190a0a72a8289e768c4948a7195d47a6d135174b99a32e5606e84c72e",
      "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 · 5.874 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]: [-0.2817, 1.5116, 0.9257, -0.3466, 0.0826, 0.0425, 0.0595, 0.3241, 1.9175, 0.8555, 0.3397, -0.3611, -0.2802, 0.9949]\nstate[eef_state]: left_x=0.37 left_y=-0.1185 left_z=0.0925 left_yaw=-0.3926 left_pitch=-0.3587 left_roll=-0.039 left_gripper=0.0595 right_x=0.4133 right_y=0.2084 right_z=0.0201 right_yaw=0.7709 right_pitch=-0.1085 right_roll=0.017 right_gripper=0.9949\nstate[joint_eff]: [0.1709, -8.9504, 9.8256, 1.5067, 0.0317, -0.0024, 0.7546, -0.6222, -11.6855, 5.3675, 1.5214, -0.2564, 0.0562, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2474, 1.3682, 0.4389, 0.5285, 0.1394, 0.0082, 0.06, 0.371, 1.0435, 0.6281, -0.2752, 0.2596, 0.1894, 0.9959]\nstate[eef_state]: left_x=0.3704 left_y=-0.1152 left_z=0.1148 left_yaw=-0.3824 left_pitch=0.1728 left_roll=-0.0365 left_gripper=0.06 right_x=0.3145 right_y=0.0776 right_z=0.1429 right_yaw=0.0417 right_pitch=-0.1047 right_roll=-0.0156 right_gripper=0.9959\nstate[joint_eff]: [0.3761, -4.1778, 5.7641, 2.1905, 0.2222, -0.0708, 0.9841, -0.5402, -4.0274, 9.9487, 1.6972, 0.2613, 0.1734, -0.0024]",
      "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]: [-0.2451, 1.375, 0.4267, 0.5114, 0.1379, 0.001, 0.06, 0.6613, 2.1559, 1.0794, 0.4984, 0.9241, 0.3965, 0.996]\nstate[eef_state]: left_x=0.366 left_y=-0.1129 left_z=0.1034 left_yaw=-0.3742 left_pitch=0.1366 left_roll=-0.0474 left_gripper=0.06 right_x=0.4654 right_y=0.1881 right_z=0.0486 right_yaw=-0.3084 right_pitch=0.2218 right_roll=-0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -5.3265, 6.8444, 1.9316, 0.0513, 0.022, 0.9744, -0.1709, -11.4667, 6.0923, 1.746, 0.6716, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9804b4a984a3ab748b5de6194b35808476c97032282dde866e7df636bee7ab94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991570f62987f87d2a009b27846731c02fbc424d6207881418a4a2b924642979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcfb6a190a0a72a8289e768c4948a7195d47a6d135174b99a32e5606e84c72e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGDWyA90i9kYmwCKKUBBBH4ogdMQnbFV6m9TeBk6TAgUte3PD37T3yQoXh_-CpIqInTWTT5XmYJtjzttQGP4XKRQ4oWKjAp2MLTchwvajUOzaFlKIWpLpNA_R4f2adzcBPJ7crDM5chWvieontO5yTWDvfvyPpdNz8JQbycO4DrqytMjM0xk-dsBhjXQoaA39gDVW2gYn_XcH-E3nC7mTbhAeGZyoVxRNHbN9aHZe62yryI1FfOLJI2ewseeXnlls32ZypzEzjLloG97Z3I9P6a6y-we1nmQbvzbQJz_AgT30fQbktE3TkX5AYihpS8hI3Zzp0MbqwVW_sSVl9KRSangypWXJ7xeiE83nJzNy9xDhNo362y3SSR5SfUT0NDP5r7md8wKwmWlzE_x4rV17lcwj-E7Need0IPCzZIVkHFLZkuXQyllhwRWDrO2P20W0iGAJ-mx6u7ZPCfwfMiZ9CKbmTGTWxZHFz-qg4KKGhnKVWhR4AKjcRX63KtuuReGzi48uRtdBxkwu0628glRqr0Bq-lFya-hEKBV49dtS3TtJ7_DW9iqOuOG717chw0J6uadphgw7N9CU1HviLHSt-521n08hPNmiAQIajHTmPcRolx4c4d1Kl7Nkb71VrVlyt6SkGGkacMHw3XqCWu32OIgL7cOIW-wl2LHehjHtAD76F3klMX0a6G5lDgLzcQVlKPuBtyEbWIhTbpY_Gd2ZVuMMvOwPLFFzT79yO_eMlkcgl_ljsZnTyaOWYLQA52PIYxUVdYF07bJd2ENf3hTThz5wGUdJN-TNDRn7plWDlCLIBwb8TnFwzh8wngArze2FHpDwJYlEO_A7LVu2svBCwX2Uhdjafdnd6qGyzBfr9TGOsY7SoMSRaIx4UHiZFBw5u20MjNEPvx6Gv9Ephbqxu_RFAyqJwTUqIT3AsirM4xAtzGeojuBwsTbxhiiffkFPhR_O9gyqDDjXW-8g0zsEVN6zBE5lFvKeAvDhiH5I27cEMdbTU37TVFQVpeL7eRkuy21g_jVWv64diMAxIAzEHF2Ls7AFMUdEAHd7oQmkTrJkpzqNhYk8iBjdqXE3xuGG9PnGTmxgkfRLnbabevRtO89VHu6AQO5wi6_bnb0h0CbmYyXNtKh7QA6ZYwo8eP8paYOJjkIhAxz50O9cxIZ99xPFewE4miuIp-Jv3BI0R8d5DqxRXn3yUZVaKqENHMlt9jodf7VBezqSS8Ll6SjHFrIK6iZ1DAoFORigvN_Va02qRdaL-iQdiyj3HO0sW6h8bxiOjYu7Z30ER7XpzEcPNgqXVDoCnTZFGNnfGz16DppFhpS4ribwXIpynd4WnTExglnm-qElIdnCxRBQXUJ_Gx6iJkfNdiO_OEAZufD5z-MKp8XvePVo5pimYI0cBqdB7UknFfMO4qIS92nLPmIkcGaj0G9mAKURo7GAi683tFWvoYWfrGlY7c5kCkMoQPO5FOvliBMJmCjtiKxqvnlPNf82DhqHjudOhuKEJ23MXSLB_xuKRRKyxOUdaa0cckZ9bsHiU7CvwsF_Gbt6itr-aLgV4kG59C-eSTIieNTdbywJmFpGpGWl1VvK0dwyflGf3CjjAkKVPagRftAPC2_o8Cy_5cenAI0XrY8BCBWxXJ8j2Y653P1_7OcWAtjHHjPs5K1a6JzlKr1NlrWGC2sadhzvGgJrXQf8MVrHK0kru9v22tnOvg_WQrF84JYC_XeZDQK1Una_SctkgQeEblWg5Kam8EQiYw3F-TQmPHr7xy2WiGj5ShcQFZweAvvpqkr-QS",
  "id": "rs_034073f072bcb3fa016ab4917faa6487d08db4529c2e1ab7e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.486,\"right_y\":0.159,\"right_z\":-0.012,\"right_pitch\":0.3},\"note\":\"The pen is clearly visible alongside the right jaw centre, slightly to its right. I’m correcting sideways and lowering around the barrel without sweeping along its length.\"}",
  "call_id": "call_c5cq22YrdeMOOOTNkExmN9P7",
  "id": "fc_034073f072bcb3fa016ab49182162c87d0b32a932a7ac6bdba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c5cq22YrdeMOOOTNkExmN9P7",
  "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]: [-0.2451, 1.3773, 0.4271, 0.5079, 0.136, 0.001, 0.06, 0.5995, 2.3505, 1.0569, 0.8814, 0.9024, 0.3096, 0.996]\nstate[eef_state]: left_x=0.3658 left_y=-0.1125 left_z=0.1019 left_yaw=-0.3724 left_pitch=0.1312 left_roll=-0.0473 left_gripper=0.06 right_x=0.4849 right_y=0.1678 right_z=0.0088 right_yaw=-0.3416 right_pitch=0.3077 right_roll=-0.018 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -4.9846, 5.8598, 1.8291, 0.0073, -0.0171, 0.9744, -1.3333, -7.4735, 4.1915, 0.5592, 0.0171, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d847eddbaeccb130a25df9811d47c7d670425c128c0f74624ed7669a6dc755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332269958abf2f6e71c5881d8cb34d6c981256398867e563bf49f023b142014c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4708f76544d19a813bf47f9514279139a46d8073decc8aee56a2dc08b32e7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 5.039 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]: [-0.2817, 1.5101, 0.9291, -0.371, 0.0822, 0.0429, 0.06, 0.5816, 1.969, 0.7834, 0.5442, -0.0257, -0.025, 0.9959]\nstate[eef_state]: left_x=0.3663 left_y=-0.1174 left_z=0.0908 left_yaw=-0.3933 left_pitch=-0.3781 left_roll=-0.0408 left_gripper=0.06 right_x=0.3864 right_y=0.2638 right_z=0.0034 right_yaw=0.6088 right_pitch=-0.0827 right_roll=-0.0045 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -6.4752, 6.1333, 1.5702, -0.0024, -0.0659, 1.0085, -1.0872, -6.694, 4.1368, 1.0965, -0.0171, 0.3199, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.375, 0.4267, 0.5114, 0.1379, 0.001, 0.06, 0.6613, 2.1559, 1.0794, 0.4984, 0.9241, 0.3965, 0.996]\nstate[eef_state]: left_x=0.366 left_y=-0.1129 left_z=0.1034 left_yaw=-0.3742 left_pitch=0.1366 left_roll=-0.0474 left_gripper=0.06 right_x=0.4654 right_y=0.1881 right_z=0.0486 right_yaw=-0.3084 right_pitch=0.2218 right_roll=-0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -5.3265, 6.8444, 1.9316, 0.0513, 0.022, 0.9744, -0.1709, -11.4667, 6.0923, 1.746, 0.6716, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2451, 1.3773, 0.4271, 0.5079, 0.136, 0.001, 0.06, 0.5995, 2.3505, 1.0569, 0.8814, 0.9024, 0.3096, 0.996]\nstate[eef_state]: left_x=0.3658 left_y=-0.1125 left_z=0.1019 left_yaw=-0.3724 left_pitch=0.1312 left_roll=-0.0473 left_gripper=0.06 right_x=0.4849 right_y=0.1678 right_z=0.0088 right_yaw=-0.3416 right_pitch=0.3077 right_roll=-0.018 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -4.9846, 5.8598, 1.8291, 0.0073, -0.0171, 0.9744, -1.3333, -7.4735, 4.1915, 0.5592, 0.0171, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d847eddbaeccb130a25df9811d47c7d670425c128c0f74624ed7669a6dc755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332269958abf2f6e71c5881d8cb34d6c981256398867e563bf49f023b142014c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4708f76544d19a813bf47f9514279139a46d8073decc8aee56a2dc08b32e7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGJ1Tjl-jtkdjQCH1Ojn4kxc8r25c_3XGpvumxHCmqestM0XijqzGyI6pj-ZeFyq9JCcreyQneK9kI5wsJvc6U2lFZOpHH0qYTWl-1jk7FQ_nMNj41Eg6l3tAIhdx0jyIGKPExk52Las7ET7mxN26q_FppmCxqhtD8ubSV_P8dvLxt6lPtMgSYJMUynWqyVy7tp9xb9wAqjgLIzDAq9LZJ_bT7R39RyuK5-NKyz9EJLMtspmu_51pooRYFlP5ef9PbQPw_7rlXieiE9K-sKabUmNj3oIHHt0QI8kZLQ_oEDCpVzARX67QkAPmy8vUxTnlw-P3GwsFzFhR7nj8nMQ7Jwwa6G0HQxM9wyQ1iixLflKs_vHSYQaWg26qff_80m79h2YvuNS8EJASM2oiRnXcXARtqP-sgzjLadJPsXiVQ8KDlxJdr8XwfZsgTkCaaSO5qNQZSfusN8tgck7UuMbT9XOlvSPU8qga-CODl2EtvFP5EysSJcMNPBF_lN-D-pZxoLI9o15YhRQGE3j9dGcl2XHefNopCXmFmGQJd4o3TvPRbAAolsodxS9UZyGeDIShE5e5guBBRu4p91ED1oYa_O4ldHcEsxNCaxGud5xUU1cEnopMPxEOerx_yw_IQq8WcOLhPhmFKTm4SZM0vu1YmYD_bu6RRM7ko_Q9dOmKj1RlWNRMghSv2Plb6CKcJjCRx-uTrN0-U3bdMGIy4JVaOQZWiVrlQhvEXF-IhBgO6EovH1l2YVTZEPLV-AiI9s81O1hlDm0N2U6wartqv6M62Nc55Al86vgme9XSMP2jky8QMVaWFY8hztbvBFRHhVFgrE4t_TiY8RW3r6fhSmcIJXL8re2d1rZlkB44z8x-XU_Ws4zPawa_PQkJ1Xh2SxWAWbdWNb-72jAW0YvMmM81zeUDiMqNBmVpFFYogRCBVp6pu0lOaKBvRxNU0Qr_z0UNmE-J6Opbk5_vTclBqgse7iCnmnMajuzuAzCXNtdg8i7RCYROx8iwISTQ-8e_P47KzwabZDQ9O1FXZ_OYv3sGOvMTpdKxoIEE1H8kZT67BnfRwY8KtpFKXmcAGQTJDDQZzN9BI9m-XPq947qe0c_i-srcT2VCVo8PGNt7c2bENbrnJ9PUG4WvgIXtDECi0ZKr6VlZETMkLbhWFHhKszvaMaQKebrY_ok4M8eoCU2Wwkqa4mJTxSYKrkH65otF9_9a2mrdj52WfQECnueybsbvqAO4cDqjyNKlbQc49BTuCcPryZRkt4EpQ7FEZZ4MVRM89o10twh23iHCnptXkEm-Bd39v0wSAoCR3juRfwWMCx7ulA-XNu0K0MLCG4r8B-taBtL2ifzIJ0wbvSInRIGWD4Zg6TeWU_Q-brUu2WizT5AI5qRkGCzCYPPvjpFIJ-Q4inTBPsjzeS_4POnoJHkzki5pTvacDVfWPlfAtzgbTnjYFv5w_cYQktOq75n_5QPMo9APG2BjNV-FhHZCapK-synX492G1PECsoOEAP238_P434OJECTXrd8NEJYzbJk9AW5lgR7nm8tkpOjtnjNp4vLACZ5pZ3zu1f2LA42o2GDoVXp5Wlr7hcZLWdFAf_4m1FdkjAySMcuLlkknigXDpRwWqcOruquurSWHInGvLrkYHDO-tgHeNaYtiOXsZTXPHoSF3-lxG50kt00QQo8GuosD5Uvj1M68oydIjaN1QbEdhz0yNqJuwGw9m0lPUU7aATTF9H-IX5N9cm6SkkONFmMMir0gRc8mNEDuM6ohY-6neAAuGbWyjO3PyJk3mnEb84jLzHDRYquGPIy-8RyYzC_J6dbgqb7PJa1-b5EbRx05QgFBSrRlgm9GlQFoV1N7G24LThu12MrKRvSnccThLzgBaj4iqnocQYBdBap3UqfNgb5rVtKK0Mhb5PN5w-JZKwuzEWxmVCiu8nFXbFCXTQthAgeqBXl8IfHB-x4z-eNBda--lyGyIkPjM2AFSWJkO3Gz5xqgnq8TPsjMWUO3_eG-vKuu7VmohPumyCW-yReioz7KvexgjAR60xQ9FRosTW8_pRUZEQaMVqr4P3iCN2KMT9LMmGTayUMtDQzfxMcvhXXaMYkrTDb-9AdBpu9wUpDgPc0SHKhC1QhZTv-ZBxdjcbcX1NURXImjuVX1qkvjNdEUSm3S5v9JSwxK8EqNmdKSt_zTftBTTlFOFaxUmVqQ==",
  "id": "rs_034073f072bcb3fa016ab49184fa7887d08c91639e22b01f9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.488,\"right_y\":0.137,\"right_z\":-0.014,\"right_yaw\":-0.35,\"right_pitch\":0.3},\"note\":\"The barrel still sits to the right of the jaw column, and the fingers have reached the tabletop. I’m making one small sideways correction before closing, keeping the height fixed.\"}",
  "call_id": "call_5WNJCA3aK8b7d4Or1VWHmcdl",
  "id": "fc_034073f072bcb3fa016ab491888d3c87d0af9a40c6ac980733",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5WNJCA3aK8b7d4Or1VWHmcdl",
  "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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1356, 0.0006, 0.0628, 0.5652, 2.3756, 1.0321, 1.0264, 0.8688, 0.2489, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1012 left_yaw=-0.3719 left_pitch=0.1278 left_roll=-0.0479 left_gripper=0.0628 right_x=0.4918 right_y=0.1564 right_z=0.0126 right_yaw=-0.3391 right_pitch=0.3557 right_roll=0.0072 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.8068, 6.1197, 1.8584, 0.022, -0.0366, 0.9939, -2.0171, -8.9504, 2.7829, 1.0183, -0.0659, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60747d4d93016af5807dc512aa771464c70aec20cc4c8095a53cf3f9d256d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52754ef25d00051e8b97852bdad2314c1d27439a766649bdcb765b5b14fa735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e2cbd3047472f5fdea637354834e350b37132a815417bade3c38f9d467536b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 2.384 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]: [-0.2474, 1.3682, 0.4389, 0.5285, 0.1394, 0.0082, 0.06, 0.371, 1.0435, 0.6281, -0.2752, 0.2596, 0.1894, 0.9959]\nstate[eef_state]: left_x=0.3704 left_y=-0.1152 left_z=0.1148 left_yaw=-0.3824 left_pitch=0.1728 left_roll=-0.0365 left_gripper=0.06 right_x=0.3145 right_y=0.0776 right_z=0.1429 right_yaw=0.0417 right_pitch=-0.1047 right_roll=-0.0156 right_gripper=0.9959\nstate[joint_eff]: [0.3761, -4.1778, 5.7641, 2.1905, 0.2222, -0.0708, 0.9841, -0.5402, -4.0274, 9.9487, 1.6972, 0.2613, 0.1734, -0.0024]",
      "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]: [-0.2451, 1.3773, 0.4271, 0.5079, 0.136, 0.001, 0.06, 0.5995, 2.3505, 1.0569, 0.8814, 0.9024, 0.3096, 0.996]\nstate[eef_state]: left_x=0.3658 left_y=-0.1125 left_z=0.1019 left_yaw=-0.3724 left_pitch=0.1312 left_roll=-0.0473 left_gripper=0.06 right_x=0.4849 right_y=0.1678 right_z=0.0088 right_yaw=-0.3416 right_pitch=0.3077 right_roll=-0.018 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -4.9846, 5.8598, 1.8291, 0.0073, -0.0171, 0.9744, -1.3333, -7.4735, 4.1915, 0.5592, 0.0171, -0.1832, -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 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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1356, 0.0006, 0.0628, 0.5652, 2.3756, 1.0321, 1.0264, 0.8688, 0.2489, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1012 left_yaw=-0.3719 left_pitch=0.1278 left_roll=-0.0479 left_gripper=0.0628 right_x=0.4918 right_y=0.1564 right_z=0.0126 right_yaw=-0.3391 right_pitch=0.3557 right_roll=0.0072 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.8068, 6.1197, 1.8584, 0.022, -0.0366, 0.9939, -2.0171, -8.9504, 2.7829, 1.0183, -0.0659, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60747d4d93016af5807dc512aa771464c70aec20cc4c8095a53cf3f9d256d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52754ef25d00051e8b97852bdad2314c1d27439a766649bdcb765b5b14fa735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e2cbd3047472f5fdea637354834e350b37132a815417bade3c38f9d467536b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_034073f072bcb3fa016ab4918b0aac87d08c8c6a79cd8e6663",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.128,\"right_z\":-0.01,\"right_pitch\":0.25},\"note\":\"The sideways correction moved the pen toward the centre, but it is still offset by about a fingertip’s width. I’m easing back slightly from maximum reach and finishing the alignment.\"}",
  "call_id": "call_8ZFkowgS9Z1CrGqtv7GAo2Wc",
  "id": "fc_034073f072bcb3fa016ab4918d8be487d0a60a44b6895e5e69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8ZFkowgS9Z1CrGqtv7GAo2Wc",
  "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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1352, 0.0006, 0.0633, 0.5446, 2.376, 1.0206, 1.0546, 0.8589, 0.2455, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1278 left_roll=-0.0478 left_gripper=0.0633 right_x=0.494 right_y=0.147 right_z=0.0137 right_yaw=-0.3538 right_pitch=0.3635 right_roll=0.0194 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.7658, 5.8735, 1.8632, 0.0171, -0.0611, 0.8425, -1.5111, -8.841, 3.1658, 1.1209, -0.0464, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b2fd7b6042b11f3a0c87b3015b07ce96b9e493b3b7e574f12438426a1ec319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534fe24f64bf2022ca6322b13bb7343f56ef8a26c83e3c242656f637cb38c58d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ecd19c93b51eb6562a8a3aa6734ec4a1f955216114985bb8a0101dc9117ae2",
      "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 · 6.236 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]: [-0.2451, 1.375, 0.4267, 0.5114, 0.1379, 0.001, 0.06, 0.6613, 2.1559, 1.0794, 0.4984, 0.9241, 0.3965, 0.996]\nstate[eef_state]: left_x=0.366 left_y=-0.1129 left_z=0.1034 left_yaw=-0.3742 left_pitch=0.1366 left_roll=-0.0474 left_gripper=0.06 right_x=0.4654 right_y=0.1881 right_z=0.0486 right_yaw=-0.3084 right_pitch=0.2218 right_roll=-0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -5.3265, 6.8444, 1.9316, 0.0513, 0.022, 0.9744, -0.1709, -11.4667, 6.0923, 1.746, 0.6716, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1356, 0.0006, 0.0628, 0.5652, 2.3756, 1.0321, 1.0264, 0.8688, 0.2489, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1012 left_yaw=-0.3719 left_pitch=0.1278 left_roll=-0.0479 left_gripper=0.0628 right_x=0.4918 right_y=0.1564 right_z=0.0126 right_yaw=-0.3391 right_pitch=0.3557 right_roll=0.0072 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.8068, 6.1197, 1.8584, 0.022, -0.0366, 0.9939, -2.0171, -8.9504, 2.7829, 1.0183, -0.0659, 0.2564, -0.0122]",
      "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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1352, 0.0006, 0.0633, 0.5446, 2.376, 1.0206, 1.0546, 0.8589, 0.2455, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1278 left_roll=-0.0478 left_gripper=0.0633 right_x=0.494 right_y=0.147 right_z=0.0137 right_yaw=-0.3538 right_pitch=0.3635 right_roll=0.0194 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.7658, 5.8735, 1.8632, 0.0171, -0.0611, 0.8425, -1.5111, -8.841, 3.1658, 1.1209, -0.0464, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b2fd7b6042b11f3a0c87b3015b07ce96b9e493b3b7e574f12438426a1ec319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534fe24f64bf2022ca6322b13bb7343f56ef8a26c83e3c242656f637cb38c58d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ecd19c93b51eb6562a8a3aa6734ec4a1f955216114985bb8a0101dc9117ae2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_034073f072bcb3fa016ab491905f2487d0834584490a808686",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s barrel is now centred between the right fingers. I’m closing for the second grasp attempt, then I’ll check that it actually lifts with the hand.\"}",
  "call_id": "call_JZVGb4bMRRt217lfX0jo0HjM",
  "id": "fc_034073f072bcb3fa016ab491908c8887d0a9794c4002c816f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JZVGb4bMRRt217lfX0jo0HjM",
  "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]: [-0.2451, 1.3773, 0.4271, 0.5041, 0.1352, 0.0006, 0.064, 0.5449, 2.3756, 1.0168, 1.0691, 0.8593, 0.2455, 0.0114]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1274 left_roll=-0.0478 left_gripper=0.064 right_x=0.4937 right_y=0.147 right_z=0.0154 right_yaw=-0.3571 right_pitch=0.3705 right_roll=0.0286 right_gripper=0.0114\nstate[joint_eff]: [-0.1983, -4.5333, 5.9145, 1.8144, -0.0171, -0.0659, 0.9353, -0.0889, -11.3299, 4.4786, 1.536, 0.0708, -0.0562, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2f6604b7e3afd5648bd32e6dd0af2fef9a394fef388e1a02d05d1fd4d9ba1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425ac37edd7130c6c8d09a0d391181f49076f68276a2c248db54d0ab2bc5c98b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042c80abd0d830d11c8e74d845ed341d59782fbf670704334a7671282c57d969",
      "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 · 10.36 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]: [-0.2451, 1.3773, 0.4271, 0.5079, 0.136, 0.001, 0.06, 0.5995, 2.3505, 1.0569, 0.8814, 0.9024, 0.3096, 0.996]\nstate[eef_state]: left_x=0.3658 left_y=-0.1125 left_z=0.1019 left_yaw=-0.3724 left_pitch=0.1312 left_roll=-0.0473 left_gripper=0.06 right_x=0.4849 right_y=0.1678 right_z=0.0088 right_yaw=-0.3416 right_pitch=0.3077 right_roll=-0.018 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -4.9846, 5.8598, 1.8291, 0.0073, -0.0171, 0.9744, -1.3333, -7.4735, 4.1915, 0.5592, 0.0171, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1352, 0.0006, 0.0633, 0.5446, 2.376, 1.0206, 1.0546, 0.8589, 0.2455, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1278 left_roll=-0.0478 left_gripper=0.0633 right_x=0.494 right_y=0.147 right_z=0.0137 right_yaw=-0.3538 right_pitch=0.3635 right_roll=0.0194 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.7658, 5.8735, 1.8632, 0.0171, -0.0611, 0.8425, -1.5111, -8.841, 3.1658, 1.1209, -0.0464, 0.3053, -0.0122]",
      "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]: [-0.2451, 1.3773, 0.4271, 0.5041, 0.1352, 0.0006, 0.064, 0.5449, 2.3756, 1.0168, 1.0691, 0.8593, 0.2455, 0.0114]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1274 left_roll=-0.0478 left_gripper=0.064 right_x=0.4937 right_y=0.147 right_z=0.0154 right_yaw=-0.3571 right_pitch=0.3705 right_roll=0.0286 right_gripper=0.0114\nstate[joint_eff]: [-0.1983, -4.5333, 5.9145, 1.8144, -0.0171, -0.0659, 0.9353, -0.0889, -11.3299, 4.4786, 1.536, 0.0708, -0.0562, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2f6604b7e3afd5648bd32e6dd0af2fef9a394fef388e1a02d05d1fd4d9ba1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425ac37edd7130c6c8d09a0d391181f49076f68276a2c248db54d0ab2bc5c98b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042c80abd0d830d11c8e74d845ed341d59782fbf670704334a7671282c57d969",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_034073f072bcb3fa016ab49193b7cc87d0a7ae4a0f04cbf2b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.03,\"right_z\":0.15,\"right_gripper\":1,\"right_pitch\":0,\"right_yaw\":0},\"note\":\"The second close was also empty; the readback shows the fingertips stayed above the requested table height at this long reach. I’m withdrawing to inspect where the pen moved rather than repeating the same unsuccessful grasp.\"}",
  "call_id": "call_EsJqgxSAM4PCYa3iqfJl3VKj",
  "id": "fc_034073f072bcb3fa016ab49196ece887d0b03de5bd92ee791b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EsJqgxSAM4PCYa3iqfJl3VKj",
  "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]: [-0.2451, 1.383, 0.4232, 0.5034, 0.1352, 0.001, 0.0662, 0.1379, 1.1378, 0.5491, 0.0944, 0.1631, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.3643 left_y=-0.112 left_z=0.0973 left_yaw=-0.3716 left_pitch=0.1172 left_roll=-0.0488 left_gripper=0.0662 right_x=0.3616 right_y=0.0249 right_z=0.1498 right_yaw=-0.0728 right_pitch=0.0709 right_roll=0.0314 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -5.2308, 6.2427, 1.8437, -0.0024, -0.0415, 0.5446, -0.5128, -4.2188, 10.1812, 1.7558, -0.0708, -0.0562, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f47425e5020679f1d18ede708a0e966b030a3f4e885e4d3882c7d4dbbd66a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31eb692444077aba68fbbf3b0e12a28dd3d1b2721cdc4f403bcb2edd3b8b4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda618d9c6687681273bc0095b41976a8586052a4d06e868a8775ec9364bd000",
      "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 · 3.395 s

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

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1356, 0.0006, 0.0628, 0.5652, 2.3756, 1.0321, 1.0264, 0.8688, 0.2489, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1012 left_yaw=-0.3719 left_pitch=0.1278 left_roll=-0.0479 left_gripper=0.0628 right_x=0.4918 right_y=0.1564 right_z=0.0126 right_yaw=-0.3391 right_pitch=0.3557 right_roll=0.0072 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.8068, 6.1197, 1.8584, 0.022, -0.0366, 0.9939, -2.0171, -8.9504, 2.7829, 1.0183, -0.0659, 0.2564, -0.0122]",
      "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]: [-0.2451, 1.3773, 0.4271, 0.5041, 0.1352, 0.0006, 0.064, 0.5449, 2.3756, 1.0168, 1.0691, 0.8593, 0.2455, 0.0114]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1274 left_roll=-0.0478 left_gripper=0.064 right_x=0.4937 right_y=0.147 right_z=0.0154 right_yaw=-0.3571 right_pitch=0.3705 right_roll=0.0286 right_gripper=0.0114\nstate[joint_eff]: [-0.1983, -4.5333, 5.9145, 1.8144, -0.0171, -0.0659, 0.9353, -0.0889, -11.3299, 4.4786, 1.536, 0.0708, -0.0562, 0.9695]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.383, 0.4232, 0.5034, 0.1352, 0.001, 0.0662, 0.1379, 1.1378, 0.5491, 0.0944, 0.1631, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.3643 left_y=-0.112 left_z=0.0973 left_yaw=-0.3716 left_pitch=0.1172 left_roll=-0.0488 left_gripper=0.0662 right_x=0.3616 right_y=0.0249 right_z=0.1498 right_yaw=-0.0728 right_pitch=0.0709 right_roll=0.0314 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -5.2308, 6.2427, 1.8437, -0.0024, -0.0415, 0.5446, -0.5128, -4.2188, 10.1812, 1.7558, -0.0708, -0.0562, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f47425e5020679f1d18ede708a0e966b030a3f4e885e4d3882c7d4dbbd66a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31eb692444077aba68fbbf3b0e12a28dd3d1b2721cdc4f403bcb2edd3b8b4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda618d9c6687681273bc0095b41976a8586052a4d06e868a8775ec9364bd000",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGkWyvUF_j8kXoD8Kgf0xNfTHYrg-s4XpEZxqT3-jvP5-jPYBs01LWdVfpwq_iWYHb70SF2FV1gIBCU2VC3mjwjlkNyfK_6qYqnXD3uCvahK5DyR4Lbx1_Bo4-Mzwb5jOS6x-5JG5_MZfO7RXLY3kc8CqLxtU1cVkdN-FDk6rzC2gKW33c7uUs4NXv34mYuNNM1zBvoN5rwcd-NQGWzxr-Q4DKMrqOC9qRS4l6BVnHSd4NU-_ZZzL5vYF2qLRvGUDlJwxoGSgP3AgvXeM-K1s90cwUr-PgCgSSf0I1SdcNi0ZOPMfHA4XeKCid6vN0-T7gc-ZDyxJhhPDicSUWVzhYwx-2qodKysi-WBMj6hIuTiKhoGuuIQBd1EhEtao-O8S56S8A9gKzWSH9l3E8m2vnEd6PWICtvTY9yyd_0EupOX8hcRL3vjo5ha5NGxmRqUZcsHBIGMh6fHziYtKs-U5KsWAOCwnmp_uptxuDji_2NMnILdkOjcpfm94srLIKSd98XqKT-_wjOYoVDW1D21cDGuIrSHpu9PbL5RsMMH71Ja7sSOrA3KLK8RUoXN2J8xe8Z4Upq2TYY9kzE89ff3pojetEiDHJXOmHKNoWmDBOpQEYcDwdxikjckJER64AK8oBJcTB_n1MwSWOQmqxqRHee_vKvwyG_kOIVhE9f5mGVZU3xfgUjUSX_tG6SZU7DzU8NuUTmly0Ac-eBROkzC2P8LNRJM2jL_jSCcrEUC4viWNTwzOpzp-vvM2mjDR-JjUmRNfvm8jL7eYC-QIFxooMDwYzgZg5iTgkJ7KVLC4C5H5irKtYKm-b1aBzY-vaU3RX7NYU_2izQ65r3n-LtsTnyultm8xTxciEz5NSVc_Ep-XEpvjOxXYKNgVja_-PzI4Z9FP9mol1NcsA5SryXVdNp7Y7zP3GFm9osoLrbSx-MYro8d6VJuExqvhbwCnxbkZeagVgafJqYBKSnzezq9HaswJwtmMhU6H_sSBNVrudlriGi-bKceV0jRE3GljFtadUrQ11gZ3KO212Gvnm4R8clIm8BpWlDLIrVIoHj0SCAnMzP6N7ig1-NNrRDO2BpHpW6orR6OsTU35bmAXgWQcGR7oGr8Odf2WVsLCWZXq90nphwayacxxsrbhIiqVlIy2foDX_OIfqZn3M_UjtWNJ0-dIV0Mih4vvAXrdskClGX-mMyaZ15TDAgSGCU5YGNulPoBVqgn8dLNXy9Qri-fCffJ3NV8t3cMQVFwfBVVOYnDUy-VfmxBCcF7lTNunGHPhSaOOEroZbRPzv89jk8JAa63W7jyDXW7bqS-3f2KHqHVhj9Du8CNAEhcWRdLdNBSA-7b0fQvuyH3-r7qDkJzpSKVyY2AVJ1JLn9l4HDFSmCuj_Leo7NY4lO1_HjIG5owQa_S3eylswDAgSlZEoVyIZ6U3mO4Txzp1knwJ_7IJAZXfU3sXZQP3jqT2Y5olwaGI7wfBMCzR5DS8b5va0JahF3aDogXCKA5ZJEOypSXXdY-5hUhkiHJfpH1o5yBfFUQb3xn60D-Vns5yCf5W2JJvZbpZ_MwIx5mgpuwoVguLCyxEe4XYIQnW5aiamjr1yRnO0pa-hFrGIS0QV_28TVDlty73OfUOQaoKQ1or6iv3LzeCch3CEVjRSE9kpODGFbIhnvCvBcUpnnrlbwbiWC6wk_CWpG6D0vaHzpEpUP13zjUtorXp0HzM6yWTCdUGYXvOy9wateDg85RKxViUri1KckaOFbNH5SND7xaricsIDwfhaOxsZBxbwRyyUL13Mx8muz7QEs963RrBSR7k7MwUyvGxEMCF8fKfd7lYNw4WnARGmfC5pUUWoULGdJ__K7_Bc3jUalkSLf4N1gJE0x725pHY4GYADacidSUvRDLSOg0XwtCPziQk29b5hoS9_CrxvEoNmAbTIAOGbhX3B5pkCnIUiK7BCUDTAfrlr56z5krP2t-OnY0q09PiSoG0UOd_uEe_q4zUs4cqLVqxJ9aZ5OqGwPbWErs2JD0eXiHd8SsJmtVeuWnyq7x0vfDKg1_4TEXqsNARp6nHwuGtD7jwTZvOeqoCASSlUB8len-_HV291OFE1vRgN0w2ysWrDCaR6FhH7hXsL_5pdaQY7INZkkk-38VeMNVh2L2ikKtbt7A3z3qQTB53P0h9N2780sn8YStDUo8UM1Ed8qhjxR5jvS761uJjhiH8Xtk62VNCLqqJsbVEPEmdsIMOo8o90pXID7hMPFTSaHLNIjJR5cpzqFnOJK6ugS0nbi-XGcF3YgGmTVVZq3vyRrQKISzUU1HGbaw03KuS2ZL2GIJAoyZNBloDklAPDSkx8kffaZzAEB5bZ8gT_m1g3jIwogHoAsw1xuQ0lARLDqmcJjtFCLuwyXBzrGFVQpkM2nc6JT-EXGbKAuJg0gOw6FPeOrSCNABuRFDtbkCr5QiAOsRySn8cTSrQF-paF6mCUov4yNouP8w_4Rmy9iCjexXuYw1JmeGKEQP4jI9bIzVG2kHNdsxXg7lpcKFiAzgZIZ945rTCC_gFfdCGhowiuOIevI1F8GLtzd2khh6vBh5rQ0-338HRfeOxtlbZX8uzyIs5obZAHDVnMaQoLvAclhdcekSG8BX63tnXSvWHK4ajS4YF_7FCNDAJvyX2ipAAEP3b5jfaWx87s02RIxnYw760XXB0MjDzKvjhvMRvpQpW6vg9ptYy0aaeTghZ_vvCHuIvuIKNCYXqz6WZeocUrPLXRE-EEP9ToLZxt2KmPtY9Tf67AMEL5-15lP0u3C-vcOXkD1lvNYchBCUPVMNCp7WnZqiFcRbVwrm1x1Un07eMBxvhVB5z9JQwsoz22fsr_VA-9UZF4gPZsV7vte9lUNoGX0YZevk55mQXg4y07iHjGg9mAfnU4APt7BSSVyPBJ0kL8H8Z38YBTmjqEaVko7vF-FqDPnp4RpDKT1wfCvmIZjIKRYv3z2DhGmiY812Ln37xkd-mZ01LrDOiD3r8m_8gIgM4N120HMmFBafGeFD7VVohWux0Bp1X2hmYU8EevfxOirEkUXCyHfLraxXTIA4JWLo05DEfSebyrGFJqrV5oFAeBiTl2fyh3Fye-xrIOnAtFS2HvS7q8UgbTzEOp2R5ZlVhB-t63yMCf-Dr2rqZtEdYXLpPuwwDD3agkBWll-1kQpeNMAvRb4YQxZ3pZ-Lg4xAR8s749JvwliWCOSF5mpBTRms0tuM8UZ19EQlyjWiNmdrgrOUIdzQ7ilSIZBZFodoyqJOcH1eAcVdUfLqlwB52WK1ITrVn0R1wbIMF2fZxA2Hiws1EUO5xq8ZmVEssMFP9-xTLZSSb6_omzBibiDMYv24SqeJoMkwpuxHiDiCvNYcM4AUEQZwDdQWw2DEDPLH87H_9jnoCPFT3RuCiL3nDF24XQPHRkd7cAdiSVFlQZP3lhTkwuoD9G9qDooNWegZZ40uFW9",
  "id": "rs_034073f072bcb3fa016ab4919b270887d0bfdc90b9c6dd511a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.506,\"right_y\":0.204,\"right_z\":0.045,\"right_yaw\":0.53,\"right_pitch\":0.58},\"note\":\"The pen is visible again, with its near end still accessible but close to the reach limit. I’m approaching that end with a more forward-tilted tool to gain clearance for a low grasp.\"}",
  "call_id": "call_kYrCosaKlfmXJ11twvCfbOZH",
  "id": "fc_034073f072bcb3fa016ab491a2dda887d0996aa8ac327efcd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kYrCosaKlfmXJ11twvCfbOZH",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.2451, 1.3888, 0.4198, 0.4961, 0.1352, 0.0006, 0.0695, 0.2905, 2.4233, 0.9245, 1.4525, -0.2256, 0.0143, 0.996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1115 left_z=0.0922 left_yaw=-0.3711 left_pitch=0.1009 left_roll=-0.0512 left_gripper=0.0695 right_x=0.5036 right_y=0.1955 right_z=0.0347 right_yaw=0.4923 right_pitch=0.5129 right_roll=0.0336 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -5.2034, 6.1333, 1.8095, -0.0122, -0.0366, 0.7057, 0.1162, -10.6735, 3.7538, 2.2784, -0.1245, 0.1294, 0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a23942ec8aa00ab9ce6d200188c654d74eadfe4807643486b942099b0ec776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed15e39253f9f269d65b045359a997fc203cb64b6c7c651a34a2aaa1380c5539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af00b7c164836e7befb39f404d31a1ae3dd5194fe95e990ccd12f117a5e065eb",
      "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 · 6.241 s

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

message 62 changed as sent

message 70 changed as sent

message 74 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]: [-0.2451, 1.3773, 0.4271, 0.5045, 0.1352, 0.0006, 0.0633, 0.5446, 2.376, 1.0206, 1.0546, 0.8589, 0.2455, 0.996]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1278 left_roll=-0.0478 left_gripper=0.0633 right_x=0.494 right_y=0.147 right_z=0.0137 right_yaw=-0.3538 right_pitch=0.3635 right_roll=0.0194 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -4.7658, 5.8735, 1.8632, 0.0171, -0.0611, 0.8425, -1.5111, -8.841, 3.1658, 1.1209, -0.0464, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.383, 0.4232, 0.5034, 0.1352, 0.001, 0.0662, 0.1379, 1.1378, 0.5491, 0.0944, 0.1631, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.3643 left_y=-0.112 left_z=0.0973 left_yaw=-0.3716 left_pitch=0.1172 left_roll=-0.0488 left_gripper=0.0662 right_x=0.3616 right_y=0.0249 right_z=0.1498 right_yaw=-0.0728 right_pitch=0.0709 right_roll=0.0314 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -5.2308, 6.2427, 1.8437, -0.0024, -0.0415, 0.5446, -0.5128, -4.2188, 10.1812, 1.7558, -0.0708, -0.0562, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3888, 0.4198, 0.4961, 0.1352, 0.0006, 0.0695, 0.2905, 2.4233, 0.9245, 1.4525, -0.2256, 0.0143, 0.996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1115 left_z=0.0922 left_yaw=-0.3711 left_pitch=0.1009 left_roll=-0.0512 left_gripper=0.0695 right_x=0.5036 right_y=0.1955 right_z=0.0347 right_yaw=0.4923 right_pitch=0.5129 right_roll=0.0336 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -5.2034, 6.1333, 1.8095, -0.0122, -0.0366, 0.7057, 0.1162, -10.6735, 3.7538, 2.2784, -0.1245, 0.1294, 0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a23942ec8aa00ab9ce6d200188c654d74eadfe4807643486b942099b0ec776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed15e39253f9f269d65b045359a997fc203cb64b6c7c651a34a2aaa1380c5539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af00b7c164836e7befb39f404d31a1ae3dd5194fe95e990ccd12f117a5e065eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGpavHFAfDAViJsjq5piPCrADjryTkOPQ8CQY5CrhAHLtj3hrKJADOTbiMMYt-kvA4aQEBcoour8LaYtWbbD4pwKGGvbq7ZCSzm7EkeN0zLYgNnQZk89uKoWuwM_6MZYmxjF_WrpknMy3KVmWGae0BksQqoyBhacyGSn1yTfaOVafKP-PwkojhIXLodNAPVVrg3OQ-CljLUhGtAcqsidrmupLEAVUGnn4saHJuRYcVZJlXo0E7SRw5CjyHW0NN_zy3B03MGU0g69Y1RhB2m1l8PFACVTHdCXXWFUtQOwjE-xXd9nc6HrRPSMbOEFe3NnNWzp1jgg_x43pirHu1T3hp_Pls_C7yg-nEfta5WB2Q37rqsCVTpEPtrA39dIgk-5H90ilfnnQIRU-i4kkImD_KFq7yKOrDKN6HMwtc1qykcDXxdwqDsN42P2rGi8zQnDj2SNfPXysgna92x3F6iI2JsfZwKXGqjqtAz5YUXvpTi6H07J62d3A1RPYMStAqUXT3zaL17ZZ2uQA_UzaQRjNpn4YOCsGETZupxmTd_lyXBE5vWGgh2MDTaFvcHtDGOWvvCrrkaxhILhi-OOEEKA-GiLr-ttxWLxMo0rFkYRDDB9K8u4dTqks1D7214sI01q1izQ5UluNbHMSohP2nEtRb0ai_3lm4IgqtCEZS2gyK2dFG502lMPKcw41WEh2aCjIvAFa1fg7sT37GHeA2zkpqCblx6TKLWGLJmrfZyeO5uFOuSBeW7cIAWVaePENHkhmQbXp30qkC7_1pKfkkTE6_lOJ4GuSqLPo4YFc7BP_fy2Ax4LyH7YKXp8JHuQIJEOiyi-qgqu16gdtwjRd9NGPia6Z1VVQIPYaLjkiOmgX-WkAEleflQ-oby0xE-kDSwiteXChRM8gUqT-SCCo76V5BEUDKftPL7eUBq_rz-vQXfTJ2Im23MM1GUC5DBcNDJNGKWN2cRCTwEzcH5ZRsxyhgiHtoJTU8AHquSHasXx4PFA53aXUbmOYlbBRSDQBygyZnQwHARz6vTOUISCRtpg5yWuk_1mI5_m-DMMbKUTAB5yAfxu7xXwJ3ZIC3JWc9DW68L1YDYEfH2WAv0lrEzjnxjNKQnABhxq2-jyu3dZwGwUUK2YvyqNPd44pE79bEDhZxcE7BpUgJ1luoWiz0_glsVT0WXiH5DWUSICovl_0ABTQw8oqKu_xq5QWz6oBtC0sZsZ4YMVV8xjzUgSBP507wqmcghjX06cxFPPXPZAm9zY6sFKBspa5eTvHcqwDzlBPSCd7-TwM7HO0CBje0kgNOt082J78WckEGYW8wh2_s_3ypgFfandvqSA7326nGTp2yRDwcUxTionDAOND5SQunvFw==",
  "id": "rs_034073f072bcb3fa016ab491a73ce087d0a1b7305b77ac9bfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.014,\"right_pitch\":0.6,\"right_x\":0.501,\"right_y\":0.203},\"note\":\"The pen is aligned with the right jaw column at the new tilted approach. I’m lowering straight onto its near barrel section, avoiding any forward sweep that could move it farther away.\"}",
  "call_id": "call_lRUCHfzs8hruFimyXBIC85W1",
  "id": "fc_034073f072bcb3fa016ab491a7c40487d082d8d8eeef1117cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lRUCHfzs8hruFimyXBIC85W1",
  "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]: [-0.2451, 1.3903, 0.4191, 0.4927, 0.1352, 0.0006, 0.07, 0.3088, 2.5572, 1.1072, 1.5826, -0.2363, 0.0143, 0.9961]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0906 left_yaw=-0.3711 left_pitch=0.0952 left_roll=-0.0519 left_gripper=0.07 right_x=0.5287 right_y=0.2158 right_z=0.054 right_yaw=0.5485 right_pitch=0.6874 right_roll=-0.0144 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.9026, 5.8598, 1.7851, -0.0464, -0.0415, 0.6862, 0.2667, -4.5333, 1.4291, 1.7167, 0.3053, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529658ddbfc3eca6a640139dd4bf82b4593d230f0faff7027ead4cc86aa977d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317bf1048db7ff22ec93cd246eb257553d8a95f580b74201c0b6d78684fe97a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603831a50996fa9170247180e7b1d207bc3850be43aa5f6440534f83b41e78a3",
      "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 · 6.603 s

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

message 66 changed as sent

message 74 changed as sent

message 78 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]: [-0.2451, 1.3773, 0.4271, 0.5041, 0.1352, 0.0006, 0.064, 0.5449, 2.3756, 1.0168, 1.0691, 0.8593, 0.2455, 0.0114]\nstate[eef_state]: left_x=0.3655 left_y=-0.1123 left_z=0.1011 left_yaw=-0.3715 left_pitch=0.1274 left_roll=-0.0478 left_gripper=0.064 right_x=0.4937 right_y=0.147 right_z=0.0154 right_yaw=-0.3571 right_pitch=0.3705 right_roll=0.0286 right_gripper=0.0114\nstate[joint_eff]: [-0.1983, -4.5333, 5.9145, 1.8144, -0.0171, -0.0659, 0.9353, -0.0889, -11.3299, 4.4786, 1.536, 0.0708, -0.0562, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3888, 0.4198, 0.4961, 0.1352, 0.0006, 0.0695, 0.2905, 2.4233, 0.9245, 1.4525, -0.2256, 0.0143, 0.996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1115 left_z=0.0922 left_yaw=-0.3711 left_pitch=0.1009 left_roll=-0.0512 left_gripper=0.0695 right_x=0.5036 right_y=0.1955 right_z=0.0347 right_yaw=0.4923 right_pitch=0.5129 right_roll=0.0336 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -5.2034, 6.1333, 1.8095, -0.0122, -0.0366, 0.7057, 0.1162, -10.6735, 3.7538, 2.2784, -0.1245, 0.1294, 0.0269]\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 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3903, 0.4191, 0.4927, 0.1352, 0.0006, 0.07, 0.3088, 2.5572, 1.1072, 1.5826, -0.2363, 0.0143, 0.9961]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0906 left_yaw=-0.3711 left_pitch=0.0952 left_roll=-0.0519 left_gripper=0.07 right_x=0.5287 right_y=0.2158 right_z=0.054 right_yaw=0.5485 right_pitch=0.6874 right_roll=-0.0144 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.9026, 5.8598, 1.7851, -0.0464, -0.0415, 0.6862, 0.2667, -4.5333, 1.4291, 1.7167, 0.3053, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529658ddbfc3eca6a640139dd4bf82b4593d230f0faff7027ead4cc86aa977d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317bf1048db7ff22ec93cd246eb257553d8a95f580b74201c0b6d78684fe97a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603831a50996fa9170247180e7b1d207bc3850be43aa5f6440534f83b41e78a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_034073f072bcb3fa016ab491ab27d487d0aa817d1a8c201dfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.463,\"right_y\":0.178,\"right_z\":0.012,\"right_pitch\":0.05},\"note\":\"The tilted descent stopped high and displaced the hand rather than reaching the barrel. I’m backing off the contact and returning the fingers nearly vertical at the pen’s nearer end.\"}",
  "call_id": "call_8Y6YiQASmq2g7Diho106jEud",
  "id": "fc_034073f072bcb3fa016ab491ae9cd887d09c246b68e65ed80d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Y6YiQASmq2g7Diho106jEud",
  "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]: [-0.2451, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0714, 0.281, 2.104, 0.8383, 0.7609, -0.2417, -0.1402, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.111 left_z=0.0874 left_yaw=-0.3706 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0714 right_x=0.4644 right_y=0.1818 right_z=0.007 right_yaw=0.5522 right_pitch=0.0697 right_roll=-0.0063 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.053, 6.0103, 1.8388, -0.0415, -0.0708, 0.6862, -0.5402, -12.2325, 4.506, 1.6777, -0.0269, -0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5751ea934f90ecf92be6b445fb4cf2e00f0c7033c3959b877ed2e50f52501a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f581f5d9dfb607e456d60aeac6055330802c64c23ebd7efef3a5ed2b8d0f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c66e2b2c4898767684dc6c2059e99b067e31124a907c4a0da6a71bb167cbf2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.671 s

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

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.383, 0.4232, 0.5034, 0.1352, 0.001, 0.0662, 0.1379, 1.1378, 0.5491, 0.0944, 0.1631, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.3643 left_y=-0.112 left_z=0.0973 left_yaw=-0.3716 left_pitch=0.1172 left_roll=-0.0488 left_gripper=0.0662 right_x=0.3616 right_y=0.0249 right_z=0.1498 right_yaw=-0.0728 right_pitch=0.0709 right_roll=0.0314 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -5.2308, 6.2427, 1.8437, -0.0024, -0.0415, 0.5446, -0.5128, -4.2188, 10.1812, 1.7558, -0.0708, -0.0562, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3903, 0.4191, 0.4927, 0.1352, 0.0006, 0.07, 0.3088, 2.5572, 1.1072, 1.5826, -0.2363, 0.0143, 0.9961]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0906 left_yaw=-0.3711 left_pitch=0.0952 left_roll=-0.0519 left_gripper=0.07 right_x=0.5287 right_y=0.2158 right_z=0.054 right_yaw=0.5485 right_pitch=0.6874 right_roll=-0.0144 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.9026, 5.8598, 1.7851, -0.0464, -0.0415, 0.6862, 0.2667, -4.5333, 1.4291, 1.7167, 0.3053, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0714, 0.281, 2.104, 0.8383, 0.7609, -0.2417, -0.1402, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.111 left_z=0.0874 left_yaw=-0.3706 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0714 right_x=0.4644 right_y=0.1818 right_z=0.007 right_yaw=0.5522 right_pitch=0.0697 right_roll=-0.0063 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.053, 6.0103, 1.8388, -0.0415, -0.0708, 0.6862, -0.5402, -12.2325, 4.506, 1.6777, -0.0269, -0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5751ea934f90ecf92be6b445fb4cf2e00f0c7033c3959b877ed2e50f52501a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f581f5d9dfb607e456d60aeac6055330802c64c23ebd7efef3a5ed2b8d0f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c66e2b2c4898767684dc6c2059e99b067e31124a907c4a0da6a71bb167cbf2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJG4CoviP9QEaCdygR1SbkF3m4IhxJ6Q-uOZm1T_LawR_LuVRM772SFz9wg9ablN8vc_QpJc7w9PzpjPGEPpzFgdSrCrWdztmZd0FAcZEV2pUvv2PJCt1vwvpkI5Pk0S32sGt2bkaibbuJKOEfWTXtSsKxerwH8C1Q8luTKAES6PYoJGD_13921ViEaidse0G_fNlm0kCPIaLzmU9564sqfGgvW3XVg5Y0QuXMjQ08bwEbZNiQHre6Jd6yzdeyjdvebHdcfmw_rou7aLqbcZwEV848tFkOd5m9adyjASnoGR-NpRsGwDvaB9vGZyMOy-gsMBnN9FGLfHnVOAviFDdXXe2JiG2VbbZmfaAWxQ5RCxkMZBcN6BLq4_tOycQyGcJeZtX5quVXvQvDXYH2j3rz_PW75LRcsVdQGoh5wbUU78Dyd3nMmUmChntYnuN7aOguc85Jb3cWxa5Nfw9olP5xpTXS5pBjVUEu8rYzdm1JjRBb3GwCyd0OHv8l3Yf4xRcGooib4e0cBaT8SD0qpyVFKNrYEQ2fMAzcmT_4gWy9YOCWK4Pepdb6qsyJUsR9ZIuoUeQYp3DksaqjV5lB9lI-fJEcSs5zzlAYWjqOe-eRqs2zzfkMreaa7rF9jUoyz1zdEXscnCYBtp4BpPLkeFk-ja700T49vduL1Nfpo8KMxv9FePoQ6nnMbizgo1RGUytpuz7XY19e6qwmzlGw_sDtmin86oofuoZSg_oL7h6bhMGMvFeiHbVD4oQLXy0eD3m82rCKNxlLZPerEUGEO0r434XtDtH4dqB82zr2-xQovivDZmi6Vmfmf22OmIvwo9urE4AIAEpYBeTxFV-YSz1GanOPHOMF6ZWP_q_Bnyxy1TPn2MVWRUSN1RXG_Y514dCwCNLSuQK-Umo79i7kznuJuZY7rxSTZI4V2FuOgxwhCsrPI9End3b7GhrGvsyAPoMZaC_0y1OotlW7jj0ILCKCVMJI6-SrZJEKt-fAMu-AlgeZa6v8l5wE3Tmj7ieYBIdmjx-ix2U90FsOSMOjcP-8voVwU39V26wadh2EGq31loxyAHQdLL1tYzOfhps3w7OsXIKnWFQR0W6iZGwvCkmnGRy18z69jIuckOiUENwKETxQh6ATipIGXdLb3uoVVHMZh1st2Fd5zh3druhNZr1AKr1dPOqYmvvIKF_zbr7WWRyEZLtrjNq1V-_8GsOiIcJO0Z1qmAPg7kP9y-2580wKMsOg_7VXbLaa1SxuqY4LoGp6zFKcsvSlrkJBPJ2xg4GnhQB_QRinOA8VPAPNm_UkwlDKEQ9Gz09zvkKI8DAwCfKf_NrW-hkBkytawt6v-VSWrf1pHEug9YBYj6QZUsxH3y0yk_um6yrrQzToUm6YmPzJCstFPWHKryc-ozAu5yM3lWjDVq0a-oIK5SuoOMWSRBR_bGMs1-oGT86Ka23S4ETTC2iN0OH6zkqrK6gTcWKmfyCR3ej6dL65Zw1HoC6pYRhUhEMwMHvGGLTwzJgT8y3uvdRr2psuyQyax3KkXJ-w09jwyNmwmvf8SWCf4qmidLrtsa2CWasbIHLRjl0CTU8wn2Ddt3RFcoEqj1dlKcbet4vhpecb8YpEx6fJ0A0-7zcCfvmKgrphs0wiAQg2vS2AiP_7e_9QDUwk963KkaSV-Qtn-_rRRNlujZDElgISPNIEueTMF0BXo82rXB4t10Hi1nHX1mk-K9s07Cg_H1fpdSZJWhz8xL1K91hBT_4bgZPBAr1FokCpRVeQUqFCK11ooIiztmLOL2MEI6vAFgaB-JTXzJYC4lCmGagBkz5ernvV_rnVBGUgiWzYd61-xXAv5qebRx22z_lpuRQXUuU_svPy_wuWbl_D7RaJBko49u9LeONf43fTcBSxfJCAiFov0=",
  "id": "rs_034073f072bcb3fa016ab491b4459487d0859700c5d731e1c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.477,\"right_y\":0.153,\"right_z\":0.001,\"right_pitch\":0.05},\"note\":\"With the fingers vertical, the hand has reached table height and the pen is visible just to the right of centre. I’m shifting across the barrel while staying at this reachable height.\"}",
  "call_id": "call_Qf8frLO9iDFV64D5azi10YKq",
  "id": "fc_034073f072bcb3fa016ab491b7296887d098eec8ef1bc7f516",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qf8frLO9iDFV64D5azi10YKq",
  "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]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1352, 0.0006, 0.0728, 0.2173, 2.1067, 0.8532, 0.7349, -0.2909, -0.1757, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1108 left_z=0.0874 left_yaw=-0.3702 left_pitch=0.0854 left_roll=-0.0532 left_gripper=0.0728 right_x=0.4729 right_y=0.1599 right_z=0.0065 right_yaw=0.5484 right_pitch=0.0638 right_roll=-0.0105 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -4.8205, 5.9556, 1.7949, 0.0024, -0.0415, 0.8181, -0.4855, -8.1709, 6.2017, 1.5458, -0.1392, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a142c7bddbd1f49c7bc7e9f312ef4ed37c955e6b9c14279ebb253cb062b581e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9949828497ee433d256bde08eaefc3f3465ba468957785bce5c146c485725d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb986204f9a8fbc6e92be794a1bb430c12615bc82b3ec8a94e3ecd4c5af1db6e",
      "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 · 2.394 s

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

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3888, 0.4198, 0.4961, 0.1352, 0.0006, 0.0695, 0.2905, 2.4233, 0.9245, 1.4525, -0.2256, 0.0143, 0.996]\nstate[eef_state]: left_x=0.3625 left_y=-0.1115 left_z=0.0922 left_yaw=-0.3711 left_pitch=0.1009 left_roll=-0.0512 left_gripper=0.0695 right_x=0.5036 right_y=0.1955 right_z=0.0347 right_yaw=0.4923 right_pitch=0.5129 right_roll=0.0336 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -5.2034, 6.1333, 1.8095, -0.0122, -0.0366, 0.7057, 0.1162, -10.6735, 3.7538, 2.2784, -0.1245, 0.1294, 0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0714, 0.281, 2.104, 0.8383, 0.7609, -0.2417, -0.1402, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.111 left_z=0.0874 left_yaw=-0.3706 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0714 right_x=0.4644 right_y=0.1818 right_z=0.007 right_yaw=0.5522 right_pitch=0.0697 right_roll=-0.0063 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.053, 6.0103, 1.8388, -0.0415, -0.0708, 0.6862, -0.5402, -12.2325, 4.506, 1.6777, -0.0269, -0.1001, -0.0171]\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 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1352, 0.0006, 0.0728, 0.2173, 2.1067, 0.8532, 0.7349, -0.2909, -0.1757, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1108 left_z=0.0874 left_yaw=-0.3702 left_pitch=0.0854 left_roll=-0.0532 left_gripper=0.0728 right_x=0.4729 right_y=0.1599 right_z=0.0065 right_yaw=0.5484 right_pitch=0.0638 right_roll=-0.0105 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -4.8205, 5.9556, 1.7949, 0.0024, -0.0415, 0.8181, -0.4855, -8.1709, 6.2017, 1.5458, -0.1392, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a142c7bddbd1f49c7bc7e9f312ef4ed37c955e6b9c14279ebb253cb062b581e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9949828497ee433d256bde08eaefc3f3465ba468957785bce5c146c485725d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb986204f9a8fbc6e92be794a1bb430c12615bc82b3ec8a94e3ecd4c5af1db6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJG8GHQLGMo8gSLgP0oN7HX81kmS0SQaGcXqbQCLEeESYRI5Ny3gs14oy-Ae9dNuaDZ3WRWFDvVI69q7dVuwP5ntPtXO9W_u1iAWXAbJDMf1vW9QaB30CXNVCFHQtxgFnO72Q-VUZWt_6hamPuhWFp0V2Ux5ATgLcR7eaT7QuGOEdHU4eMy7Lxw6_7ka6Lc_fuUiskw8mcCdzleJSCW0gl9wK6iMPqqZ6EzCJ3IMwpF834bvhctBfbiXWBltwuGCZRHu0dMHOGEhLwonqlku8D0Ko886XGJEAMyAJ4SSCaX7ZxDWsKjpdQDz7PfhL9jKW4Ck6XIJQDt0-v55m0q8A3QRkxgOn0U1ZXnWCVMKD_KOPOwVH3V2kFJHKlFytFfJj5TJaoNqBcKFd6spsrSrQRuGv6dF5LqQJbYMPNwQHr4CkJ5BzKuPRmSQEuqXeCLFLjhVMssdPPfi_O7N8N5XXDoCBCsAUdF2FzlZUNA6M8dY66O9eoMFxvMM9pJbQBoCxcTakN-7zpgt_mqt7Dn0TqNH-dpyQqRwccTGZQcvyUpr4ovByK7XX_zAi50NcC-yW-6kbpgNfeWLX_J9rYdYrfitvb0hpRn1AsOcf_DzzsOJ-t_SlY2_J6EP08vhT0kTv8iTcQ65BLsTR_WkkUFwsXJavjHSeNizJ7vR2Q1nAU9Uf5AtGohIjlZyEenBo-dCsGXLBVeBBIAS00bHjbUSdNXB-H0YfwQFyii8UjMX9DhIdnAtkCLbJNkGTRZA3PH0P-Fa6L5sMpL54IhH6J6u7fXK_CtEh4zbDrGzM34MIKjnduIiTbl4r-wQvdrt6yz6TJq3RqRhGAYMLKXuGaWHDj9LNXvjdV4x8gWeJTiIXzAwoJ2X-iDDXVwYpf8EGVViX2ETixRQWyYvfogN3HmTjkJPojIOvwnTU6corrmgNqyuukREvEgs_n_aNWHKaJ5ZQBFyZNk153JBp-EFCkE3OYyPaPpTrxAtaDhcLkEsm6wh1VdIRjE_3TE6d4RcBjlPd7QaOXI8jpwIhvhpQ7G8btzl9DYlg4o25BqyTU6-Fy1s4h8DvyGYICDaS1yM6Ew_EJIqK76kwsJqqlR-eUARrl8Ju6fU2mWimgF6r0Sz4bwrkfhn__qy0WANUrFaMNIcvdwk7_YGH86GNYYO5ih_Yv7zauMKpgf1xJ8qt3U2FWbN4qUfLo5PZ72GXx1Q3-xB5itseb3Or_Ak5Yn8V8Mymu9I9SuxkTf5-aTzO4QMa9Vi9A0=",
  "id": "rs_034073f072bcb3fa016ab491ba79e887d0aee95ffad3b84f4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.483,\"right_y\":0.139,\"right_z\":-0.009,\"right_pitch\":0},\"note\":\"The pen moved much closer to the jaw centre after that correction. I’m making a final roughly one-centimetre adjustment and a shallow descent to place the fingertips around the thin barrel.\"}",
  "call_id": "call_mo5N4alPoBZdGHAoc7mhD2Qa",
  "id": "fc_034073f072bcb3fa016ab491bb854087d094690ca89a3b4f40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mo5N4alPoBZdGHAoc7mhD2Qa",
  "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]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0745, 0.1921, 2.1117, 0.86, 0.7307, -0.3115, -0.1921, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0874 left_yaw=-0.3699 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0745 right_x=0.4764 right_y=0.1515 right_z=0.0061 right_yaw=0.5492 right_pitch=0.0651 right_roll=-0.0146 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -4.7658, 5.9419, 1.8046, -0.0415, -0.0513, 0.5397, 0.1299, -9.4017, 5.6, 1.4481, -0.0952, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047086f50b4a6e97a58d283a1aea34fb01a8bf92cfb69c32e40a10622180fa32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a11b31c19bea1c1a3bccfe323b524d27170966863cc98d809e2445f54e55269",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:285d38f5c09b63f9042fe0648119b73242c5221ac2155d3ad0ab96f63c6c59ee",
      "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 · 11.33 s

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

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3903, 0.4191, 0.4927, 0.1352, 0.0006, 0.07, 0.3088, 2.5572, 1.1072, 1.5826, -0.2363, 0.0143, 0.9961]\nstate[eef_state]: left_x=0.3619 left_y=-0.1114 left_z=0.0906 left_yaw=-0.3711 left_pitch=0.0952 left_roll=-0.0519 left_gripper=0.07 right_x=0.5287 right_y=0.2158 right_z=0.054 right_yaw=0.5485 right_pitch=0.6874 right_roll=-0.0144 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.9026, 5.8598, 1.7851, -0.0464, -0.0415, 0.6862, 0.2667, -4.5333, 1.4291, 1.7167, 0.3053, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1352, 0.0006, 0.0728, 0.2173, 2.1067, 0.8532, 0.7349, -0.2909, -0.1757, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1108 left_z=0.0874 left_yaw=-0.3702 left_pitch=0.0854 left_roll=-0.0532 left_gripper=0.0728 right_x=0.4729 right_y=0.1599 right_z=0.0065 right_yaw=0.5484 right_pitch=0.0638 right_roll=-0.0105 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -4.8205, 5.9556, 1.7949, 0.0024, -0.0415, 0.8181, -0.4855, -8.1709, 6.2017, 1.5458, -0.1392, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0745, 0.1921, 2.1117, 0.86, 0.7307, -0.3115, -0.1921, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0874 left_yaw=-0.3699 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0745 right_x=0.4764 right_y=0.1515 right_z=0.0061 right_yaw=0.5492 right_pitch=0.0651 right_roll=-0.0146 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -4.7658, 5.9419, 1.8046, -0.0415, -0.0513, 0.5397, 0.1299, -9.4017, 5.6, 1.4481, -0.0952, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047086f50b4a6e97a58d283a1aea34fb01a8bf92cfb69c32e40a10622180fa32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a11b31c19bea1c1a3bccfe323b524d27170966863cc98d809e2445f54e55269",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:285d38f5c09b63f9042fe0648119b73242c5221ac2155d3ad0ab96f63c6c59ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJG_tPWdLdw9WXUbyt_QYTIyBz1Hzd4DpTI0l_T7pjKo4z-v66WGuI5rGEhthesQrDQyVpvLQsniKVFkE6Qxy_lEIy_Xf979ryWYouRSwM5CvrsWXNPjsMWGxsgXakTwqB4Oq4e_AdC3rSyS3cdmoL3n2MD4LmIedeWxT5piZggYhHvjcSFy25Hgmid-1MWJke6g0SUWmPeOnqVk9T4K4_Ra1zHVJaOTRjC67Kkw2L-6Rc76oy93EF-bRIpuBDWoyO0b3-PXPIQIiQYi5vbAXmXM5cAnoB5R3k53f8Wsgkk6cN0R1_rU11NVpKe168eTAgdo4RPXg15Ibse-fkumrLdvmeRGnu3lNsuair2F3oLKiOv_qI2DaRvTxduUz3KrpwbnTOqEWXlLoXBxNPY4bwf81aEWPxAWLjWqMtuBo5Nsia_0dAZIWtEe8cw38FMFBsgSId_YBFuk7ISuHxWNJwJtajXgCKUr5K2Fs2SJVd0aErbEXRtg2UGFLYiv8efR1BLfDzD64zNkdrlx-BVQMDTYTEmmVyclNplmoluzB6ugc7-oKuzbbpPwkqszsO_GaoWeuLp1GOYq-kKbIlqxK3qkjY_lKqMuolEteYw6T3llqZi-C0Y4dqcm97AH13JtUyYmpldHAarXgeR8zzBLblFSCBEZoLFVCp4MR3wAStbOHu1hpfsHYHDegMDJ1P1-bIJ5jOnYexq2HPU_U1mlkOtYXOjkq8XTvDb5wYQ0PfSEzoeAVPaJEEF_Fuu2vMWULugLwKlqzbSA4sjyhb6n1sRidd2z4I7Sro2Z3ZD5FS2vqmJjCfY_x7b7cv9FGMQSvJm1TY-tv6B9Rf0pVDgD-TbWhNr3Q-G9sArdYKWqHDUVUy4BLRWoQrOq72PxDvnNGSAajNVuLWHea1TQxgYM4jH0FZyYIDcbizxNOfxINaD96vH__SQAzaVIfpQzmAI9E6WXtJU2hbkdzNrQAoB0j8ifilpUno22ye4vQkiQrzKN8ZIYhctIZ_D4zrbbTnwaHChn86VLc1Q6jCasKeO3vg802ibPApSPAVkc5v5PNL_noBx2vl9vW5gbgB6T5zt89lsqveHYbaRQGxazOrCeaP_g80fdyXPjwgR1gBEy5iUHYWWI-CzziIuBXebSwzmgLSU6Jl7nyvl8duCh3EsgtbM5B8Esxmq37Gbpb9P5WKWyqhP1JfIHj76uIzG8qCVeQGYM",
  "id": "rs_034073f072bcb3fa016ab491bdfea887d0b0b98b4da8336ab9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The thin barrel is now directly on the jaw centreline at table level. I’m closing gently through the controller’s normal grasp motion.\"}",
  "call_id": "call_rqmXjzUatdobMd5inEfAwxPg",
  "id": "fc_034073f072bcb3fa016ab491be2e4c87d0a7350e771cc7ac01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rqmXjzUatdobMd5inEfAwxPg",
  "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]: [-0.2443, 1.3933, 0.4156, 0.4889, 0.1352, 0.0006, 0.0741, 0.1921, 2.1117, 0.865, 0.72, -0.3126, -0.1944, 0.0493]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0873 left_yaw=-0.3702 left_pitch=0.085 left_roll=-0.0532 left_gripper=0.0741 right_x=0.4767 right_y=0.1517 right_z=0.0057 right_yaw=0.5512 right_pitch=0.0599 right_roll=-0.014 right_gripper=0.0493\nstate[joint_eff]: [-0.2256, -4.7658, 5.9009, 1.7998, 0.0024, -0.0464, 0.2808, 0.0479, -9.812, 4.2598, 1.8632, -0.0757, 0.0122, 1.3602]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202acf0b734a8476c4c9ecdbc465923f961ba4914fcb5836daa8ced227f12f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2580b4c6c8f2d3946ad40759736ea0b06b7f16a443c4ec3d96e2e58f989c22a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdad809e2d96ea2834d0330ee5359e7d9b25464ea3e0c245a5118b1d60a4e006",
      "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 · 10.99 s

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

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2451, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0714, 0.281, 2.104, 0.8383, 0.7609, -0.2417, -0.1402, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.111 left_z=0.0874 left_yaw=-0.3706 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0714 right_x=0.4644 right_y=0.1818 right_z=0.007 right_yaw=0.5522 right_pitch=0.0697 right_roll=-0.0063 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.053, 6.0103, 1.8388, -0.0415, -0.0708, 0.6862, -0.5402, -12.2325, 4.506, 1.6777, -0.0269, -0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0745, 0.1921, 2.1117, 0.86, 0.7307, -0.3115, -0.1921, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0874 left_yaw=-0.3699 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0745 right_x=0.4764 right_y=0.1515 right_z=0.0061 right_yaw=0.5492 right_pitch=0.0651 right_roll=-0.0146 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -4.7658, 5.9419, 1.8046, -0.0415, -0.0513, 0.5397, 0.1299, -9.4017, 5.6, 1.4481, -0.0952, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4889, 0.1352, 0.0006, 0.0741, 0.1921, 2.1117, 0.865, 0.72, -0.3126, -0.1944, 0.0493]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0873 left_yaw=-0.3702 left_pitch=0.085 left_roll=-0.0532 left_gripper=0.0741 right_x=0.4767 right_y=0.1517 right_z=0.0057 right_yaw=0.5512 right_pitch=0.0599 right_roll=-0.014 right_gripper=0.0493\nstate[joint_eff]: [-0.2256, -4.7658, 5.9009, 1.7998, 0.0024, -0.0464, 0.2808, 0.0479, -9.812, 4.2598, 1.8632, -0.0757, 0.0122, 1.3602]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202acf0b734a8476c4c9ecdbc465923f961ba4914fcb5836daa8ced227f12f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2580b4c6c8f2d3946ad40759736ea0b06b7f16a443c4ec3d96e2e58f989c22a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdad809e2d96ea2834d0330ee5359e7d9b25464ea3e0c245a5118b1d60a4e006",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_034073f072bcb3fa016ab491c165b887d0a67e464319400269",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.16,\"right_z\":0.095,\"left_x\":0.36,\"left_z\":0.14},\"note\":\"The right gripper now holds a barrel-sized thickness, and the pen remains centred in its fingers. I’m lifting both pieces to verify the pen is secure and inspect which ends are exposed for capping.\"}",
  "call_id": "call_uv6xyFjIBrEI0vPm0JnWLW1A",
  "id": "fc_034073f072bcb3fa016ab491c9db3c87d0ba224f689057b5a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uv6xyFjIBrEI0vPm0JnWLW1A",
  "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]: [-0.2443, 1.2484, 0.5106, 0.2256, 0.1349, 0.0002, 0.0764, 0.2417, 1.7351, 0.7734, 0.4755, -0.2813, -0.1841, 0.0547]\nstate[eef_state]: left_x=0.3559 left_y=-0.1095 left_z=0.1221 left_yaw=-0.3694 left_pitch=0.0619 left_roll=-0.0563 left_gripper=0.0764 right_x=0.4386 right_y=0.1623 right_z=0.094 right_yaw=0.5701 right_pitch=0.0929 right_roll=-0.0329 right_gripper=0.0547\nstate[joint_eff]: [-0.1299, -5.4359, 9.4427, 1.9609, 0.0171, -0.0317, 0.6618, 0.335, -8.8684, 5.2171, 1.7167, 0.0659, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8265aa30bc62588f828d158cb9ef6c3e712ff23da3f9acd2e556fed8d4ee762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe49bb7cec6aa3b86aa7c8d20850dba7dd3abe082107f613903f5f1d5a63383",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c942d8ecd6f26c6ef201bc5fea8509786ff714e316b48169094fdea16ea0c0d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.591 s

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

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1352, 0.0006, 0.0728, 0.2173, 2.1067, 0.8532, 0.7349, -0.2909, -0.1757, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1108 left_z=0.0874 left_yaw=-0.3702 left_pitch=0.0854 left_roll=-0.0532 left_gripper=0.0728 right_x=0.4729 right_y=0.1599 right_z=0.0065 right_yaw=0.5484 right_pitch=0.0638 right_roll=-0.0105 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -4.8205, 5.9556, 1.7949, 0.0024, -0.0415, 0.8181, -0.4855, -8.1709, 6.2017, 1.5458, -0.1392, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4889, 0.1352, 0.0006, 0.0741, 0.1921, 2.1117, 0.865, 0.72, -0.3126, -0.1944, 0.0493]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0873 left_yaw=-0.3702 left_pitch=0.085 left_roll=-0.0532 left_gripper=0.0741 right_x=0.4767 right_y=0.1517 right_z=0.0057 right_yaw=0.5512 right_pitch=0.0599 right_roll=-0.014 right_gripper=0.0493\nstate[joint_eff]: [-0.2256, -4.7658, 5.9009, 1.7998, 0.0024, -0.0464, 0.2808, 0.0479, -9.812, 4.2598, 1.8632, -0.0757, 0.0122, 1.3602]\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 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.2484, 0.5106, 0.2256, 0.1349, 0.0002, 0.0764, 0.2417, 1.7351, 0.7734, 0.4755, -0.2813, -0.1841, 0.0547]\nstate[eef_state]: left_x=0.3559 left_y=-0.1095 left_z=0.1221 left_yaw=-0.3694 left_pitch=0.0619 left_roll=-0.0563 left_gripper=0.0764 right_x=0.4386 right_y=0.1623 right_z=0.094 right_yaw=0.5701 right_pitch=0.0929 right_roll=-0.0329 right_gripper=0.0547\nstate[joint_eff]: [-0.1299, -5.4359, 9.4427, 1.9609, 0.0171, -0.0317, 0.6618, 0.335, -8.8684, 5.2171, 1.7167, 0.0659, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8265aa30bc62588f828d158cb9ef6c3e712ff23da3f9acd2e556fed8d4ee762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe49bb7cec6aa3b86aa7c8d20850dba7dd3abe082107f613903f5f1d5a63383",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c942d8ecd6f26c6ef201bc5fea8509786ff714e316b48169094fdea16ea0c0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHWukbKxfBguBTJtSslpjU3stZ-dRWiBrGdbclWR1HKasIlheH-XsGrgh2p0Z2vGj2kVJYeC7qNJZtp_32RnUeWo3lLtHmRQGXba-0ahUbLga48GPVtDasolXT8wJLVA5DtiC2LyYziTt15pn1frn2lyBUS8ceP4eUpxs9v2ZK2kP8dvwTAExN4ctFIp7CZTTNAgfdrf4G_EsTWIaVI4K_9Y6UPf_AbzaMXOePJuIRDXXNBWtVNjfFzu6VhhD7iaK7ZpuHhgfzWwPvoS2Rkyx-XrNThIOXl0bR9m0P22aNpZ4rrNYaAOPzp_tpFwfBiAeWpJ6lMxKEWq9KO3b2rDzC6SqHKSEXDKfW6f3oDiVP00THV4JJUiDJZPquHoWaVYbzPMzag5mNvLnD-jnPYvV-vAPfMam1_cuHDejNI_qqzoAZdlPUHgwP-OhU03cB2SxqjJsZvrgqIz-q2W5OoZl5hSje2l_xsE5Iuw6xmDDlOKhLN9P2JrwOttNONHS69mwbnspcF9d0psb37VIsjTLnOvhMrj0T_jStojVKQzynx5xgLpK7UORCDWHsrDxpvqnRvg-S9xn-w_EAsLlTfZg_HKbov-uYmxmtp2OwzODKX410fLOOYGa81kMU_KfuE39j69kSvFv67-qp-g_oddeaQkCvNiEKkWfEnb9XUD2TnGecIOFllmr0P2Mua-zO9LyY0tlPRM3P6bRdsE6xxJotBYqGxPddRUMw1BPmBFVYWmF4kBUYcqR3qhaHEfbywsXSkzRwLRXfzp6YhNDHMJfr-M7sQeyrFJWhBwzJmlPSjcneOe20B2-S4OUVvM3ACNd-CWlhVNiu2sskAYz7n9KAOx5v78rdlc0b0I4rsUj9tkWQVxf_yK7cJb1bqJR6ADylkwhYtu3_L-qMAsAMlx9vo3CJor7Thd5zh-nsqPrEAjKJQnS-6oqe6R4x56LKIhvYyYKuIDLw-lTLdp3loj_fLvzP3LhIQRd83sdEPWfJHLssqMx_f6yfYjdbGSlh3sKjkq0dnkQ_SRDZ0FfZCUf40Up-Xa4oA1EBMP21R-pLGTWG2F797KT0x94xdkd7OOz1DZ9CKQqLToBZ62x_mTq4pM81xcUGC0K9QKM-BUL1AsmJul7rOX3JK_3PUcfxRyMF2e7wwJ0yAGCC8iJmkkKH3h2jM4qB092Wf1jhfVNqGtki51GRh-cCh5kietJSo9XGQgwnymP6xuMloH619N9md8IOwJ7bJrldMFvoA0adoJCn0r-nSgSxiRhw1Dnxrho32AaWhOos1gKjImYQH1qlZeGJE9MSz35xWjaFOSSHvXgDWz3kz9qfDYN-QZ9D7exMVWNFytXxBjxAU-y6Bw1QX3sCGPvZL0VJbVno7CwuDqeaqkmlBHnCUbptuHFoWk_mwqBO_kbUHI1ASeSmkRAftTcn0815MSdapEtZKOOPZpYtn8Eoe0JKGsDBEiGVoDQdXV_xDVzbqcUD1KhAis1pz6AQFkILjlM5LaGGrraOKlLo8WzU-y47DLeMFIflarr4hWdphao1KB4fXkmxQKQL8NQE5jkdXiO5c4wB2MufKP66Utda0ylqxvo2NE4hWBt45TzhI1aNw-6-7zZ3DYpfOIT7NTvIoNgHcD7wOQxnZFlncIXrxHGSVD1NLTdM-wpXJ_zIRlMJNK6nrlr1MJxEan1m_7Dzm7w1sqLYQY10wpnbTYlvzlvzFgwac9OqZDoIuciSflaHXOj9_s2tL8ar8YilkQzRz23cAA4RL4wNfZm_yubzsxi6FimwiX7WPhC1Xw1wzN78G5vDX2hwJxns0NA4Mbvsa-YkrZ-7xyNMDKb2thknLvvcf3CY0CXukZNE_dpNC_0qjFEJhcH0CWhOJXzdNf8hes1uxLLmJjiQb5J9qNiig7xfo5Ve9Bl-adVCA-FajCnaJmb7-Mq34iglRpjBRYYos3mHQYZCB1dECcZv7Hg4kbdq_wq9qyB73cyS9LJywYpg2mTUpKKOUpPur26pg2et9T8RkUwE7dx2ILR-oi3folfZSsOi-_kF3iSfcSPm8sDu7_NHWEwS6kOS75JSV5Z9joirPHTjgu9NXMxHaPKeXLTG59GNcXeKEDqwsYN6womr-6kM6-zJ-DxVU7wODqFpcZ6XV9WHQWHa9-llCMZkrgx2KV0Ynwazt56nZkbDTDuLXQvMtj3DbGUAmUfVUOAKExDFXUVfG9XYaMF7tpZ9CTZ6Q1Rn88UKiGlJO6UQpwqHkk3PYaHgW1YQxTOp-jNfPLCV8uwbhDAOuELFfM-dNqIIeSKbwL6WPboAOLLejF3KbXQ0DvtkP5wVqn5P_Jtxs_3H8mUqu42BgeVDRZqkPzdLtdRAsDQNrWJU4ixfcODxNK-oG-j3wxmASk5WWMrcITnis7fPc-4nxNJA7FLm_mwtXLCrsMdIssaatYjzuwyAZmJqI9xL5v18SqzQxzb1pBPa44Fz2xF4bAXb2vRckOmyZPwKjWfZ_uKvX22EHanKFmr3D6zvYY2ahhm-VPMRbCRZ-zCGww7J8er3IFl47Mricb0tmamjQkugbUvmHyiZ-cxrLw3qJ_VMQsFf8VULh4kG_mJPfziUVNGWOgrSUt_R7b0fDtzF6YbS1zAST36fBmjdJLEtGR79x1uQkW_Lh6LBonaP9tbdqRLoK0h6YEr3zMgcLWi8slJ1hKNlkU3P_5lbvc_QGN6eScs2RLMAj00BdIA49No_tiLffkDOIgBbkDyZalF65IkwwnTUpOgoC9CCx59GtOlXyQvyHuxJmAScN97SfTnBfDmD_WoYpgU0JYJa0DJTCkb0uHighOFT2dvAdsh-cZ9hPijKtaGGTIhlweEIVtskklcaVbWGvhn9VuW0BqAqwUq9QTXUVhLWyFFbwSGVaJrbPlb0lPEoir8zKH_YSLYM6bW23_2mO7O1l4k2yKeMl2mD70aJs0i4c6bZFXSZaj4wRii3aAfGuNQgtEbd0rtN94zIEki2Kc0YhfNpvnVJSvlGjBYYqRH7SLGzCwZbNCx0KXwMhdN33qUsabOt5oIId3G-jISkoRvlbLD6SX3tBprAD1tfOiJtGOArQGar1ycTL4jRdSXtx_hYBfREhxeJ7hI5_kXW71DusfmMXm1T9g16eok-ku7LNccRCW8SAh-CJf9BNMmE2WVA3mljLyZxw-bESEzAsaXKD1VBQRSXAWf1jSnJxAL70_TA4QVyCXxsV0VwDmGWVpa6skxkPt0AXHvPBJzggRBtqV596Ye6J0NSKvzAHAP3WQk-msvaiFBqd1UMnkowyXNgE0lrVtF2fTTtSmtPwMnYHdwXbwrC2KJUhALvl1FPHw3zUDNgT309nRP0Tr3CNboRW9Dsj5ACpW4JNe3eHkoF_sEeN9laIhQgNx-C5IhSMhnxuW9ebbA5iF2B3cRj4ToB9V_jCNcSWTx5DbBZ68oRQYWN26YZ_-xch5VByQNW5wiWNkLB7wJwJ9_7z-vL4wxv8vPt-7DD2gl8MlHUznMwbEgAMbUW7KEtLGPT5pqnYBg4rPZJvpdr3Uw==",
  "id": "rs_034073f072bcb3fa016ab491cd27c887d0afe27388edd81505",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.16,\"left_z\":0.015,\"left_yaw\":0,\"left_pitch\":0.1,\"right_x\":0.335,\"right_y\":0.16,\"right_z\":0.015,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"Both pieces are lifted, but the current grips are too close to the ends that must meet. I’m setting them down parallel in reachable space so I can regrasp the closed end of the cap and farther back on the pen.\"}",
  "call_id": "call_XwXqfwdCnuafEMLwzgnFrY18",
  "id": "fc_034073f072bcb3fa016ab491d561b487d0b44c9d40462c13ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XwXqfwdCnuafEMLwzgnFrY18",
  "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]: [-0.7155, 1.7874, 0.3664, 0.7788, -0.514, -0.3672, 0.0772, 0.6785, 1.7302, 0.4652, 0.6075, 0.4484, 0.2741, 0.0556]\nstate[eef_state]: left_x=0.3251 left_y=-0.1627 left_z=0.0026 left_yaw=-0.1047 left_pitch=0.0209 left_roll=-0.0035 left_gripper=0.0772 right_x=0.3374 right_y=0.1782 right_z=0.0171 right_yaw=0.1503 right_pitch=-0.0249 right_roll=-0.0402 right_gripper=0.0556\nstate[joint_eff]: [-0.1573, -6.3658, 4.9299, 1.0867, 0.1538, -0.1587, 0.7155, 0.1299, -5.6547, 3.9316, 1.6142, 0.4713, 0.1099, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ae3b6ba319ee213794d12435873245df89bad06741d0b869d0d50fc51fef71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1338e89bd90d2a144e2697f55f47e3522afd5fadb9548e50c4662a2638006a51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75018b629087f80ef3b808cd9936ec48cd06c10bd821a87217e63a96f35073a6",
      "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 · 5.854 s

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

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4892, 0.1349, 0.0006, 0.0745, 0.1921, 2.1117, 0.86, 0.7307, -0.3115, -0.1921, 0.9961]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0874 left_yaw=-0.3699 left_pitch=0.0854 left_roll=-0.053 left_gripper=0.0745 right_x=0.4764 right_y=0.1515 right_z=0.0061 right_yaw=0.5492 right_pitch=0.0651 right_roll=-0.0146 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -4.7658, 5.9419, 1.8046, -0.0415, -0.0513, 0.5397, 0.1299, -9.4017, 5.6, 1.4481, -0.0952, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.2484, 0.5106, 0.2256, 0.1349, 0.0002, 0.0764, 0.2417, 1.7351, 0.7734, 0.4755, -0.2813, -0.1841, 0.0547]\nstate[eef_state]: left_x=0.3559 left_y=-0.1095 left_z=0.1221 left_yaw=-0.3694 left_pitch=0.0619 left_roll=-0.0563 left_gripper=0.0764 right_x=0.4386 right_y=0.1623 right_z=0.094 right_yaw=0.5701 right_pitch=0.0929 right_roll=-0.0329 right_gripper=0.0547\nstate[joint_eff]: [-0.1299, -5.4359, 9.4427, 1.9609, 0.0171, -0.0317, 0.6618, 0.335, -8.8684, 5.2171, 1.7167, 0.0659, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7155, 1.7874, 0.3664, 0.7788, -0.514, -0.3672, 0.0772, 0.6785, 1.7302, 0.4652, 0.6075, 0.4484, 0.2741, 0.0556]\nstate[eef_state]: left_x=0.3251 left_y=-0.1627 left_z=0.0026 left_yaw=-0.1047 left_pitch=0.0209 left_roll=-0.0035 left_gripper=0.0772 right_x=0.3374 right_y=0.1782 right_z=0.0171 right_yaw=0.1503 right_pitch=-0.0249 right_roll=-0.0402 right_gripper=0.0556\nstate[joint_eff]: [-0.1573, -6.3658, 4.9299, 1.0867, 0.1538, -0.1587, 0.7155, 0.1299, -5.6547, 3.9316, 1.6142, 0.4713, 0.1099, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ae3b6ba319ee213794d12435873245df89bad06741d0b869d0d50fc51fef71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1338e89bd90d2a144e2697f55f47e3522afd5fadb9548e50c4662a2638006a51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75018b629087f80ef3b808cd9936ec48cd06c10bd821a87217e63a96f35073a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHbEmzkKlF_4zjxwlP5DGitz587beJFtRSGdzxxsWiHK2ppGtmVrPogaN5t9QeUKxmNGY8h-NaXqXzgHJA9XKdx4WFIQaqFVwqwS8KaFwVKNFiI9n7S75WEK0VZYa879wZsNo1opa4CSvX-qMNc5qScu_xm7dNyiN-PQT5AnxV7sQO6QiFGG4kmWuM4QpBM1ongSHfvRyX_2sfDASeSjF87CqnrDgqAuJyK6EuLFq67iEgpMpHHIk3k52rReVatPDdpfai1cJO6VhVWsDgQqxp_aQ4W5wAeIjwQcRL5FLhJxbxHzBvlroUYUsNGpbSyPppMjQnwQNfPhVC3MN89GK6gDVNC8AeF-eIZpkpS1bV2tLZtqtsDRYHdAWPdEwvymBPEB-UnERgGI34MikMRoW5E8uvKzmXTyCrLboeQdA8xxygmmjm5ShEjc2RzuASh1pd7tABTFbysoJ0eIOEwUxjXW9KNkud2CU56EEQSUGx0Rgf32lEVt0jgSBVHMhlckxfe0rE92ddcgZc1IPC9pdNR7GSpZx5yHJppU1__G0yt4jGOpVBbIdcSQe1sGxYSQS8lxEX6ZJkXDPxJSz6PWmwKEO_WnAXfMI_nATufYLbQOBwnu1NeajV27hlLq4NSMsMMNUuO_LBTqLDvyRf56NqRQ1zxdYRoQaHDKvsk3p2_yo2GV47otiBm1w6E5kSDnWZb5L7b2Aj9ibDAaFcEFPBdayughnWdE4sajTcwDjNkIPrwhZSuJrMW34jztq6YrvDPSmQ2bKpUH3NF-rn_32TWiXeefP8ouaG1Di4ji_Pv-Kgr0Cl-trhkRNZtQMJ-a9-wIJB9zqLjxJ05vS4iAA-Z8r2ONXgpI3hYWkvMU-PsWPcQCDo-j3zWJggtB8fe4JTIV5rI8AjgF-LkrPWnUWRR5kmNIr-LwRD5jDricwvLyVBaZvzgBmhwUKOY-sfCFl_cwDUm1fmVJzSivWe2YSZjaL5mykQXAnis4wGwXxz9JY_AFhQ5OPmupB3cJCSgVJFFpGXUDjApK3NEFaUJbCfRS6l6qjPBmzCXMDREMlYAfwzvqaLVVfuDL28ap-L34NBnbrv0dwG8a7uj5toM327TKyQWR0ba0mqXpMVh_AOEdaoVGjOAv1rh5Le8nsDw8oSU5EKNVljeU14mwDg2ftHunFDm1g98BGphhgxLDrDTA-rud7aK8CbcASjI2dee_AcaCR36OABNi5nYFDyvAjtwdcEC2Nz41i1xkYbSDQOJGazQdI9xc4LIZaHw7rSuR4Uf0OHkXUZIRUebA-BbeMxvQA==",
  "id": "rs_034073f072bcb3fa016ab491d9b20087d08df1fe1689d6182f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"The cap is at the tabletop, and the pen is just above it in the cleared right-hand area. I’m releasing both pieces for the planned end-to-end regrasp.\"}",
  "call_id": "call_wTS5LHapvnwzRbqRL1ymEbio",
  "id": "fc_034073f072bcb3fa016ab491da297c87d08b63a04c0a6273d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wTS5LHapvnwzRbqRL1ymEbio",
  "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]: [-0.7177, 1.8061, 0.3687, 0.7929, -0.5232, -0.3729, 0.9953, 0.6804, 1.742, 0.4595, 0.5884, 0.4431, 0.2752, 0.9952]\nstate[eef_state]: left_x=0.3256 left_y=-0.1624 left_z=0.0 left_yaw=-0.0967 left_pitch=0.0222 left_roll=-0.0025 left_gripper=0.9953 right_x=0.3321 right_y=0.1759 right_z=0.0075 right_yaw=0.1552 right_pitch=-0.0582 right_roll=-0.0548 right_gripper=0.9952\nstate[joint_eff]: [0.0615, -7.8017, 3.2889, 1.5311, -0.1099, -0.0073, -0.1832, -0.2393, -7.4598, 4.6838, 1.746, 0.1685, -0.0562, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c174c0d68fa75b41676bfc6f0d29aa51c95c558d7693df008d450a0fdea1394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b59625caedd3866a4a9a30353fc40ba9fd753c8b31aedd158bd4b778dfcd4789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade50310ad61de7d95af4cc496ba8be2a8f6b6517a13d5fb6bd5fcfbadcfdfa3",
      "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 · 4.291 s

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

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.3933, 0.4156, 0.4889, 0.1352, 0.0006, 0.0741, 0.1921, 2.1117, 0.865, 0.72, -0.3126, -0.1944, 0.0493]\nstate[eef_state]: left_x=0.3606 left_y=-0.1107 left_z=0.0873 left_yaw=-0.3702 left_pitch=0.085 left_roll=-0.0532 left_gripper=0.0741 right_x=0.4767 right_y=0.1517 right_z=0.0057 right_yaw=0.5512 right_pitch=0.0599 right_roll=-0.014 right_gripper=0.0493\nstate[joint_eff]: [-0.2256, -4.7658, 5.9009, 1.7998, 0.0024, -0.0464, 0.2808, 0.0479, -9.812, 4.2598, 1.8632, -0.0757, 0.0122, 1.3602]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7155, 1.7874, 0.3664, 0.7788, -0.514, -0.3672, 0.0772, 0.6785, 1.7302, 0.4652, 0.6075, 0.4484, 0.2741, 0.0556]\nstate[eef_state]: left_x=0.3251 left_y=-0.1627 left_z=0.0026 left_yaw=-0.1047 left_pitch=0.0209 left_roll=-0.0035 left_gripper=0.0772 right_x=0.3374 right_y=0.1782 right_z=0.0171 right_yaw=0.1503 right_pitch=-0.0249 right_roll=-0.0402 right_gripper=0.0556\nstate[joint_eff]: [-0.1573, -6.3658, 4.9299, 1.0867, 0.1538, -0.1587, 0.7155, 0.1299, -5.6547, 3.9316, 1.6142, 0.4713, 0.1099, 0.5934]\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 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7177, 1.8061, 0.3687, 0.7929, -0.5232, -0.3729, 0.9953, 0.6804, 1.742, 0.4595, 0.5884, 0.4431, 0.2752, 0.9952]\nstate[eef_state]: left_x=0.3256 left_y=-0.1624 left_z=0.0 left_yaw=-0.0967 left_pitch=0.0222 left_roll=-0.0025 left_gripper=0.9953 right_x=0.3321 right_y=0.1759 right_z=0.0075 right_yaw=0.1552 right_pitch=-0.0582 right_roll=-0.0548 right_gripper=0.9952\nstate[joint_eff]: [0.0615, -7.8017, 3.2889, 1.5311, -0.1099, -0.0073, -0.1832, -0.2393, -7.4598, 4.6838, 1.746, 0.1685, -0.0562, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c174c0d68fa75b41676bfc6f0d29aa51c95c558d7693df008d450a0fdea1394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b59625caedd3866a4a9a30353fc40ba9fd753c8b31aedd158bd4b778dfcd4789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade50310ad61de7d95af4cc496ba8be2a8f6b6517a13d5fb6bd5fcfbadcfdfa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHhetO3M7M4D-0rzf8UXYB34R6rIX17ukfi8b2AC226UiOW8lo3XVAPBjIqwGPXB2xdqxcDvlCskR0dm6kmVQfgE8_jsHunba348638lqCMffm7G-7-Qnx6TlSN0QDMJ8P0pOLih4KobRRxLGrEhw8Phorbmx_bjzSI_UEzKKDzyiQgyDIQCIdgJgTE9QD2BSx6qXxBLRcw4rdpqxUrvQwgxkKbbYQ7YqUSZwKo22ldaYP5OD6tdJJJaWuwlDbHVBim2ArcskcjlbebjcGHOLYqIodW5fmvxDwPfEGO2Qe-K6xCDUkOnYR8BWqHQI4uMHkbUbs-yqvWE7ka386ScKgY5jDv2fbL6kNFZ0b0uT83E2qFG9oSjGYyfOHl0EAd-dj2mSz-ZU2vKUFTOd13H6WBpmO6bgAE-GCnsi6XMy_6boTMySYdSmMJVuwanDEdq3lRWcW9uXzVn4Po-MBBwvflSZVVOss7KPUbhKHd1b7NwKNDx8ktN6lYfGuLtS8WsWbwSdS2Xwg-49cQJ8QVyQYEKS0guN09Slw_0jekHymi3vGYbQFTX6MNA2kk5yMb51ZxOiSkipF5l9-86tmCZh8UpfJV7uMYkqt2qPtHDrNdF1jDLErnXDLaUXfL1_nNo6YCnq_nJxnEgq9DzIFVeRj9BVkr9YwdO9yhNuuOFHcHsSPT97kSZLqhW-AMAt047bOE8Ps0OCfCrHwBxDBjBPLnjBatEb7mp0SkdyJG4nquJns6NPkI3dbOExzDHVA2CsRCwNlNXP3TjDrzrzbLmWu1EHRBf0gk6J1idPmp9wOMymGUQ1aoii4Jlhp6fahRG9GxKB9m8-lYx1dOiLoZlIu212uCbH0dwN69cxOdEvHCAEBTToQrjDsVegwVaXH7nqJtCocjGbYkcXN52P9C23cIv-u_M07aDhwfAp0ThU_YRj5j-zx0UZv3FmtOjCJa0ViJYlV7K0uJKWhXbb7OrFhDZT4PqO2q0-_PWrgjwpBgrn7lP-DtfZLrMXmqNqopWafqOgFf3-pfq6lRjUajtSOtbfZZomQXxymN4Cr6JjJ81JZGAgyE2yVe48UixD5yDzCN0MUs4ZET5NQNpAqqF93PwEv8U4FD8hCkSQldxtpNgGzRv9oQ56XT0eYjqsjigka4c8-uumY8UeURVQcSQ_W6JfwZ2IRXKK_-l0DWQAp6k9U85hV2bxt9GSeoqL28DcQ9887PKC6rLkD8aaQ41m021AtnfPDUaOEQyWJw2B43hmEa_fxgL1gtOm4Nvb8OO3HPymXzK6ZXHARPgEKjNbH_O0Kmz5AyUyCSolRTEj_lwYcEocR-yR9IO2faP1PYVK5McYssKFhcfbyUEVK6ZMciaFMh5Gbp4s6IcR3CQYRxPqmfMxBJAeKsvPrOKyWxVmZ0MeUMJUHmqEfO7pxe_yP_NJMuBRPqUR9mdbDzpf8oFKGtr5O5Mh-TeTdnLsONv37PJpqOQpQxi7tc82DbH2Bf94JRvnRrDBA0DucnYDuJZCiP6IHKd7nh_F180lfrGUzY0XZc54v2qQpW3FVAoABGsd3ilL29desJXtcMqFYS_8zSqbsk6rC_FtPGpPG6GKd2jj0_ugFSRGElVg-U78wDJwLortpAa9caA-GAJf5VCcQ617NgcWvQ5ZsaCfdKjZ1lb_uCwayZ-UBIcXpqPYvylHLPerC7bAYw6s9p2OtBFz_Px1fypi9lScO81bApsXChxYVKAbcjo6HiByJ09L-FfwITzTBoiHLOHXVvSeRCp1lledq-kQAhqRk5IrAQtYASeW36lEwOptgKekS_Zue4xekFu0Ey9Zsvoh6nqtxOzrXvcyUgJMpOwfNFeRvqxtnjRUSXGCBzXDscReiwQqGv0PYuXJK1OE3QKi9zUe7V_B5RKAPVzvA8XH6Q3lGYM71UCLPZnVIYx43q_XkqnELxb3KzHn4UkabnkXK_lNxHPBg=",
  "id": "rs_034073f072bcb3fa016ab491dd9de487d0952836afcd9a5cb9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.351,\"left_y\":-0.164,\"left_z\":0.05,\"right_x\":0.405,\"right_y\":0.202,\"right_z\":0.05,\"right_yaw\":0.2},\"note\":\"Both parts stayed on the table after release. I’m moving the left grasp toward the cap’s closed end and the right grasp toward the pen’s rear, leaving their mating ends exposed.\"}",
  "call_id": "call_gUjViSsRpSNZmLVYbTeWA3Xx",
  "id": "fc_034073f072bcb3fa016ab491e09c2c87d082803ca07d11f710",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gUjViSsRpSNZmLVYbTeWA3Xx",
  "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]: [-0.6605, 1.6417, 0.4679, 0.5446, -0.4904, -0.3565, 0.9964, 0.5945, 1.7805, 0.7555, 0.3885, 0.3458, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.3466 left_y=-0.1594 left_z=0.0398 left_yaw=-0.0741 left_pitch=0.0237 left_roll=-0.0132 left_gripper=0.9964 right_x=0.399 right_y=0.2018 right_z=0.0517 right_yaw=0.1931 right_pitch=-0.0352 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [0.4308, -7.5419, 7.3504, 1.5165, -0.0757, 0.2466, 0.1001, -0.9504, -6.8991, 6.9265, 1.5556, 0.1734, -0.0073, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1daf1f0276b02b6b59f6324bfec4a4a442a7740e23601a4305062044a9ab765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fb11a92bc4d41f5454f7704b70d45b0adcd2441eadaca0c636fec5ac0cf7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c6fc75189f104e55c3ba65e30a97888ae344cabb8162fffb98ccff397a2616",
      "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 · 4.399 s

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

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2443, 1.2484, 0.5106, 0.2256, 0.1349, 0.0002, 0.0764, 0.2417, 1.7351, 0.7734, 0.4755, -0.2813, -0.1841, 0.0547]\nstate[eef_state]: left_x=0.3559 left_y=-0.1095 left_z=0.1221 left_yaw=-0.3694 left_pitch=0.0619 left_roll=-0.0563 left_gripper=0.0764 right_x=0.4386 right_y=0.1623 right_z=0.094 right_yaw=0.5701 right_pitch=0.0929 right_roll=-0.0329 right_gripper=0.0547\nstate[joint_eff]: [-0.1299, -5.4359, 9.4427, 1.9609, 0.0171, -0.0317, 0.6618, 0.335, -8.8684, 5.2171, 1.7167, 0.0659, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7177, 1.8061, 0.3687, 0.7929, -0.5232, -0.3729, 0.9953, 0.6804, 1.742, 0.4595, 0.5884, 0.4431, 0.2752, 0.9952]\nstate[eef_state]: left_x=0.3256 left_y=-0.1624 left_z=0.0 left_yaw=-0.0967 left_pitch=0.0222 left_roll=-0.0025 left_gripper=0.9953 right_x=0.3321 right_y=0.1759 right_z=0.0075 right_yaw=0.1552 right_pitch=-0.0582 right_roll=-0.0548 right_gripper=0.9952\nstate[joint_eff]: [0.0615, -7.8017, 3.2889, 1.5311, -0.1099, -0.0073, -0.1832, -0.2393, -7.4598, 4.6838, 1.746, 0.1685, -0.0562, -0.2369]\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 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6605, 1.6417, 0.4679, 0.5446, -0.4904, -0.3565, 0.9964, 0.5945, 1.7805, 0.7555, 0.3885, 0.3458, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.3466 left_y=-0.1594 left_z=0.0398 left_yaw=-0.0741 left_pitch=0.0237 left_roll=-0.0132 left_gripper=0.9964 right_x=0.399 right_y=0.2018 right_z=0.0517 right_yaw=0.1931 right_pitch=-0.0352 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [0.4308, -7.5419, 7.3504, 1.5165, -0.0757, 0.2466, 0.1001, -0.9504, -6.8991, 6.9265, 1.5556, 0.1734, -0.0073, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1daf1f0276b02b6b59f6324bfec4a4a442a7740e23601a4305062044a9ab765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fb11a92bc4d41f5454f7704b70d45b0adcd2441eadaca0c636fec5ac0cf7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c6fc75189f104e55c3ba65e30a97888ae344cabb8162fffb98ccff397a2616",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHmnwGrqngri1AipmQLwjZtPD1PRCLVWAwUUlbkMGlMomk1KVfmlyUy0M9eP-Ikmw6NTKfN2RXTiez-dkB0VVXmQjjFRxiI_vjdiTwfBRzAbWrYQinQK5QQjWGDz6phmwlFQRwqF-o2BNlXlC4iJS2GGFp-6SVTby_G3IcfDwo1A9UZ1156JCo9TYj7Le9dhX_T3a7E6eQp4KcN6_NU0LaIniDDulNFHKDvDKhO55YA8OGm8hppEY-EB_tStlYYbAkpVK6_7pYT1wKPIIpMcZ9iHG3RTHtOfNnJ6397l5Bxe__tCWDTjaCwjPj6AQ2jIE26SqONsnJUK42TEUbfjNNiEAMjFG6UX0FoYJ5WStPOIiq2gS36lrhjXzQRV6E8v8tDUSZb1mOX0rJxl-EkEgIw7q3mTYMQEdUt9spXZ5ua3b0zQO27pcy55Tidd1wnQ2h387qvpPlQZ-q_WKK6XCOiqkNVC9WfI4Rr_LzC9m1Xi4xjGNOftLVslxm3_Hxplg4B9RuVfs9_ozB-7wrZglfztqw9OdKYctm_kIgdNWhMwK8WiEgWpSsweTaxdnKJitIff4Cx78tHnyXmXAhjfKIFTQZdvQ4cTGc8aCxZLzXlYyn3dsyox7CUzvCg8FAByfhY6ISVRDUEutUX5Cq-sPgu0aYhKBH5LRoChjR5Eo9xX3kt9kWq02SDgCt7dZtnqdYlv9MisiwzjTrAlVEr7gU-XnFL-3_o-OeB1zl2Huf1q21lqGcCgVIAbz08Yaqp4XY33O_CrlvnZQ-vlfNoUQXgpkyByQidJDatVopnZ__5GbDpJzocJsQLDcKp7CYH6SWojd8GtdPQcQDRiDeZQgxZHQ69OiOVuxRV1LTdS31R-M2GtpgDGLp4uftBQ0_-uUbSmZQ-tXH-Rm-a2YejrFhPgfnz1QNasr-yvsGXo7xyRSE70WFpyyact-6WDwroZ4s_od-P27LjvtWzjLNdpfT_x2Xx81QYeIKHiUdn4bKO6MxIHQk3Xcjk2HfMuIBA0GBDGSF7SvBy8eb2fmXqv6JFacok_Z7tzsbXAUym-irU4L4PNHlLSEwFGsNcmZTVhclrtrY3onaFQHCjUAWfAOtZUfPQkV7JLNxbH9e8vz1XOpvaM9de_S9zVEel7khx1aCEO61eIGm-N4RGy7aHEWL1KfScYmYR2or9tAjlgbiS0ydukmnuPOgeP6RxwhXBwGp1Hs0RG_lrl6p8IUS-ddq4jgr1mudHOu_9OKKfZa8JnUufq-x29Kg9MpVE6PU1O1fPUESo9kt6RLUGnD0T1qXS4kPB2Dij1YFBGS4QHSCxt0kkIpwpGaYDlLSjeoAoWLWgY9uH7AseXu58PwQOmsqQQMgfFsk20I5mHIUVeJ6CW0D51YruOir_doAdwCWI7nGw8Q-uet-wEMn9joE4U7nUlnVPNDfm5_c1fS1QAlTVxZQkJ1nD4wJNr0dmDcnRPPO6eYMto5R9ADx-dSlPAl9CvL5xXNyc8Bu1WFfCM7z8FPlh4qghMIw3M7aEE6Co7rxy1JSzq7dyK0eJywf3bVsmHXaCZO2xFlJt5s_3Fuw2mYuEs-LUUoqL7jMZPIuPJnlwU2a8kSCT_aNe83nhIaaM1KRb41Yx2ZRVJhvurpTbWP8JjL4RXY4vEgDcUSi42IJ1LYq_1iJu8TN-J8zapAH1b18D_g1keiye9WbzvBBI_GzdiN5-qby5i1AAdPJ7agFb8Jv3K3ggdXOKstMARRyrqBBWnT4MCxAyyFU1RtVnkKc=",
  "id": "rs_034073f072bcb3fa016ab491e3ee3c87d0b5078f437c25718b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.351,\"left_y\":-0.164,\"left_z\":-0.01,\"right_x\":0.417,\"right_y\":0.205,\"right_z\":-0.01},\"note\":\"The parts are still aligned beneath the open grippers. I’m lowering for the new grips, with the pen grasp farther from its writing tip.\"}",
  "call_id": "call_gUs3sDPp4nK3VvDzsTJs0xnr",
  "id": "fc_034073f072bcb3fa016ab491e58f6487d0bcbf2f0d50f54809",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gUs3sDPp4nK3VvDzsTJs0xnr",
  "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]: [-0.6624, 1.8759, 0.4576, 0.7845, -0.5182, -0.3561, 0.9965, 0.58, 1.9987, 0.7681, 0.6029, 0.3302, 0.1902, 0.9959]\nstate[eef_state]: left_x=0.3525 left_y=-0.1595 left_z=-0.0015 left_yaw=-0.0542 left_pitch=0.0292 left_roll=0.0033 left_gripper=0.9965 right_x=0.4142 right_y=0.2072 right_z=0.0021 right_yaw=0.1933 right_pitch=-0.0306 right_roll=-0.0334 right_gripper=0.9959\nstate[joint_eff]: [-0.2256, -5.2581, 3.1932, 1.0134, 0.4811, -0.0757, -0.0024, -0.8957, -6.7624, 5.2034, 0.779, 0.0317, -0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efedb51a56e9a6b3eb41113297f531cfb3caf1ff96134d8e62b4c644a5b6e31a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764e77b4865ab8c6ee7a31bf0eee297b40e029a19940e0b055245f617990fc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea9697b014f27462984caca9ca3afaec1fece65bbf1f96e64064c549aae7d7d",
      "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 · 5.702 s

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

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7155, 1.7874, 0.3664, 0.7788, -0.514, -0.3672, 0.0772, 0.6785, 1.7302, 0.4652, 0.6075, 0.4484, 0.2741, 0.0556]\nstate[eef_state]: left_x=0.3251 left_y=-0.1627 left_z=0.0026 left_yaw=-0.1047 left_pitch=0.0209 left_roll=-0.0035 left_gripper=0.0772 right_x=0.3374 right_y=0.1782 right_z=0.0171 right_yaw=0.1503 right_pitch=-0.0249 right_roll=-0.0402 right_gripper=0.0556\nstate[joint_eff]: [-0.1573, -6.3658, 4.9299, 1.0867, 0.1538, -0.1587, 0.7155, 0.1299, -5.6547, 3.9316, 1.6142, 0.4713, 0.1099, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6605, 1.6417, 0.4679, 0.5446, -0.4904, -0.3565, 0.9964, 0.5945, 1.7805, 0.7555, 0.3885, 0.3458, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.3466 left_y=-0.1594 left_z=0.0398 left_yaw=-0.0741 left_pitch=0.0237 left_roll=-0.0132 left_gripper=0.9964 right_x=0.399 right_y=0.2018 right_z=0.0517 right_yaw=0.1931 right_pitch=-0.0352 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [0.4308, -7.5419, 7.3504, 1.5165, -0.0757, 0.2466, 0.1001, -0.9504, -6.8991, 6.9265, 1.5556, 0.1734, -0.0073, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6624, 1.8759, 0.4576, 0.7845, -0.5182, -0.3561, 0.9965, 0.58, 1.9987, 0.7681, 0.6029, 0.3302, 0.1902, 0.9959]\nstate[eef_state]: left_x=0.3525 left_y=-0.1595 left_z=-0.0015 left_yaw=-0.0542 left_pitch=0.0292 left_roll=0.0033 left_gripper=0.9965 right_x=0.4142 right_y=0.2072 right_z=0.0021 right_yaw=0.1933 right_pitch=-0.0306 right_roll=-0.0334 right_gripper=0.9959\nstate[joint_eff]: [-0.2256, -5.2581, 3.1932, 1.0134, 0.4811, -0.0757, -0.0024, -0.8957, -6.7624, 5.2034, 0.779, 0.0317, -0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efedb51a56e9a6b3eb41113297f531cfb3caf1ff96134d8e62b4c644a5b6e31a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764e77b4865ab8c6ee7a31bf0eee297b40e029a19940e0b055245f617990fc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea9697b014f27462984caca9ca3afaec1fece65bbf1f96e64064c549aae7d7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHrzUXpge0uMATyf67ofKnvhGuC587-S83iFcS-rmRrW3lWp4WQyOjGiafoWTGhgaELbj3W0ijUQ4AqsfiU6eY3-HLgYuvsGN3bjaNARd_aVb3UUVp3n7IORv3aNGp21bDmk_JpqFQg3Q5xWQJ8nl2wZopPxy9HzjScS-oOPT8Yvk3Qag_lRa-lIzpTquBHxbpb1a6zmW18OoxglacdL6cLgY7HQRj6UmETb4rglgA0SH9TkNPxh21Pumn0Oo1VPZMnODcY033DIbgR9QeRxP4iJXt8-ni9iNzELPqotvPJBfWMhWkKSIcGbHf-WJ-_3OdUcKXkv31xoF-ezvV6qzvscL-AXPZ0Qg76JZ7R6uikW366QvEo5lybEvDJ-t_7moMSHJG-lJQ22LU81OS7XyF-l6jk_KijPX0fmFwHHMAOklG8PniAn41Ze8nkejw-lIgL0Di1NWitnLO7XEL7R7Ta3KG2bDKA5VIN00ZRHBUKS0CnkXQ7FYROzKvz7yh9NqNdmYTl81_NQ7YfhwrJk4t9kyIPJr8VYS13dDq1AH--NePmA_1kCP7Pp5sKRrJGZj3SC9x2lKXQwzt2nc0Df7-2JekDl0hXfjQcYOnaYBk-npp06ahmiIte_iDx5C3H6UQnLENnDry8fp60kidvrq61LZ8FTHzvOsuvmC92I8BiQjKHmE26D9Ad5A1GkHV7MARv9xK3MJ8mtxV4htOheJzXd6r_cIDdPePZ4WHt9Q6K9x2fLcJU4L8NxVM7rDAHC12F7FK2JUzVucr2mk4rcfZUaEdJSoHj70Sy8-Kv4ogHO4k29IfOn3P8glejkn5qZPsBbjJMD0wVa1_ELaBrCQ7Szr5vjSo-UxxLIbcAieLIq0_v4PFZXiNnBum_xpei6M509bnEqQnYR8_YRQPe-3_pWHTUKV89cQXv4Fh2fQ8yhYtn7ka8N-xgMyDa6TKBKCBui1GQ6EKGom4VhHXz927F41_qcTFpQyrECI0y6Vf2-BhXJuDYwOV4vNUOvCnbefRBq99XAZ0GkUp3c5N-75Kf1DHtK08I0JHgK7i2Gvme94JZYVrEUWEyWqNAdfNoyE5IlNuDG67IPB0_JQsHgJDSuVyYl3fSVogK0cDdytUDrIzl5KLDiSpKo4FVJNmAPb--1mMHNbeWsy4OSZj4OnSsvquLB8Ks_9GmrvN8g5iBDM3EVnbuE0HKoASCt8A86Jw03FlLdiyngU44sFqapKYkgLW9GRYhcR4MHxaFvgETVwimElsiGwd0t8lhsB5uqWqQDRjZ1w1Aso01IGtxuTSML0CUxbO3jSw8yx-cvmohqGITTdcmLrrPQFYSYUCueFZuoc8UFg-SQRCHtgeRiNgCkYPkGqIHmomlv4KybXBz03NMCECkmPCdzvd3zMZay_PR2TVAHR2wr_-QWrkbIj7-Xop4RpZAj3QU80o8FL9SAWavxN1YYa0E09y4zOyILcxovOPrWPc2uegBPW0KhqPOVzH3jXrWVUb6vn2HrUHKg4uaLlA8q-gEeFgruGgbAKwrlMVQL9w-78xGtoZKR_8eqg==",
  "id": "rs_034073f072bcb3fa016ab491e92ae087d0a22419dd1db5459e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The cap’s end and the pen’s rear barrel are now centred at the fingertips. I’m closing both grippers for the assembly grips.\"}",
  "call_id": "call_IMNtwomXaXgDLLKB73b8TMa5",
  "id": "fc_034073f072bcb3fa016ab491ea7f1487d0b36e43813c72e8cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IMNtwomXaXgDLLKB73b8TMa5",
  "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]: [-0.6624, 1.8835, 0.4595, 0.8265, -0.5285, -0.358, 0.0084, 0.577, 2.0251, 0.7715, 0.6674, 0.3176, 0.1745, 0.049]\nstate[eef_state]: left_x=0.3571 left_y=-0.161 left_z=0.0045 left_yaw=-0.044 left_pitch=0.0622 left_roll=-0.0144 left_gripper=0.0084 right_x=0.42 right_y=0.2119 right_z=0.0037 right_yaw=0.2091 right_pitch=0.0052 right_roll=-0.0246 right_gripper=0.049\nstate[joint_eff]: [-0.1162, -7.6513, 3.8359, 1.3065, -0.1343, -0.0317, 0.5934, -0.6359, -7.5829, 4.6154, 1.3407, 0.1929, 0.0024, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ff8a5cc19768ee0053a4aeab0dfc5b7bd33525af75a68a2362854618cf18c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9b3f8778210305bce477621ff8f51eaebff80e004d1a3fd3f92bf487433be0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb9b8300158d5feb0f73697b750e372d5918c8149a279989cf9c3eeba338d3a",
      "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 · 3.78 s

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

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7177, 1.8061, 0.3687, 0.7929, -0.5232, -0.3729, 0.9953, 0.6804, 1.742, 0.4595, 0.5884, 0.4431, 0.2752, 0.9952]\nstate[eef_state]: left_x=0.3256 left_y=-0.1624 left_z=0.0 left_yaw=-0.0967 left_pitch=0.0222 left_roll=-0.0025 left_gripper=0.9953 right_x=0.3321 right_y=0.1759 right_z=0.0075 right_yaw=0.1552 right_pitch=-0.0582 right_roll=-0.0548 right_gripper=0.9952\nstate[joint_eff]: [0.0615, -7.8017, 3.2889, 1.5311, -0.1099, -0.0073, -0.1832, -0.2393, -7.4598, 4.6838, 1.746, 0.1685, -0.0562, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6624, 1.8759, 0.4576, 0.7845, -0.5182, -0.3561, 0.9965, 0.58, 1.9987, 0.7681, 0.6029, 0.3302, 0.1902, 0.9959]\nstate[eef_state]: left_x=0.3525 left_y=-0.1595 left_z=-0.0015 left_yaw=-0.0542 left_pitch=0.0292 left_roll=0.0033 left_gripper=0.9965 right_x=0.4142 right_y=0.2072 right_z=0.0021 right_yaw=0.1933 right_pitch=-0.0306 right_roll=-0.0334 right_gripper=0.9959\nstate[joint_eff]: [-0.2256, -5.2581, 3.1932, 1.0134, 0.4811, -0.0757, -0.0024, -0.8957, -6.7624, 5.2034, 0.779, 0.0317, -0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6624, 1.8835, 0.4595, 0.8265, -0.5285, -0.358, 0.0084, 0.577, 2.0251, 0.7715, 0.6674, 0.3176, 0.1745, 0.049]\nstate[eef_state]: left_x=0.3571 left_y=-0.161 left_z=0.0045 left_yaw=-0.044 left_pitch=0.0622 left_roll=-0.0144 left_gripper=0.0084 right_x=0.42 right_y=0.2119 right_z=0.0037 right_yaw=0.2091 right_pitch=0.0052 right_roll=-0.0246 right_gripper=0.049\nstate[joint_eff]: [-0.1162, -7.6513, 3.8359, 1.3065, -0.1343, -0.0317, 0.5934, -0.6359, -7.5829, 4.6154, 1.3407, 0.1929, 0.0024, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ff8a5cc19768ee0053a4aeab0dfc5b7bd33525af75a68a2362854618cf18c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9b3f8778210305bce477621ff8f51eaebff80e004d1a3fd3f92bf487433be0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb9b8300158d5feb0f73697b750e372d5918c8149a279989cf9c3eeba338d3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHyrQZZvUHUsA2jqTTKflWbYwFXMYcAnvL9PdHWNofjT_CxVqnlnStxbntYT17ttWCqb7NKmq6e8Np6VL2ZZqU_rh6hRUa226hMzQLQq7scnUDghGrZjybAsHM4jrXOG1I3xYm2UsLNpueJpoNYGx8l5JT9S7Jb6DDwPiH9LN5wwRM5RiK-SVxGcoef8ETAXCIIZrBhEBWXSqcukpLEjLZ1yfkY-zxcy-XQSwGynL1-ajqRTybUxDPzaYLhWBEbX1HDs6sGon25K5739mzI8TUW-_c8oQ1IAleahcYeqGB6SDTt9r7CofgotdjUykK6jD8HWIHqEOJtqOfi6GifPAbOhw3BaLIxXTIwDloUwEWKap1_8IqeUcJJQpE_fmfZj_PlbDGrUHELENxxFVRA5cUKSbIjsGHnVzz62trBVZWvMC_xtxVDUKLPvy9vEHhn9f2t8qoWjoF59kz6W12GRbWxDpHXqIAvm0IamiCwutsF7ov0UPwo6xe0MyPVLFUT7lY_lGnmj8oDsAKSdf55683cfnhANRxChTT7zCL-9bBIBENOHCjKyAO0veVBxBQMFNCTJ08YyleqIQgxdq458spBQwRqM1brBvh-ag83f5V-EqvvU6b9edO_vQ_VXNmdVOVwwaDs0jfXrTHEFuqMhTaSz9eXjO_6Irh9atilSB524w6KoOxJhqBkxLVl75D-P5QPM9CkWayqCX0_kvWjh4Ux1QkwYlIWyiUk2bFTjtDFwciXqJykED6ReOFLPjOcIj0tZWdDM0E-yVqG7BfCOlIm2KYhlz5Udpnqy8iIAcnngulQujJqkj5jVPcYcf2ykrLP6GhvZ8zDLV-s6AdW2QFSe210hEz6b22mf5TcNqcFKSuMHKLFY049fQ4P8KK6snQzC0Xx_VL8twld3juJI0_6RecVnAHNSOgh0pdTnVbzKkLZp0nCYRlMGG31VPaNF5NdydAX87lw_H7N9sjoYV-7h2B9Z5Rusv-7H-CYXl0_ITyg7heXxT4JQ1okLrCTS60UDUyB8hzG5lJ9YyA7HrgjameO530n3zjYlupPPnJmmupiUu0aL3BSxfM6Xwjv-7fvdo07ZVqfKSWxaobIM1VojJtjKZroIfVHxkSJ50EO_XSnXpEg12weRh1IlSr-1yV-vr13Av4icwskj7sIZarGbpAbXE5BUhhPVt8o2l8pETnR1Ajv3BdDgsKz9dkNlbeoEGcUjvIw8a58ykvhcZ9Kklo_shv2GME8so2L9_DMCL7P_nQfHHENscBiNN7XOOpEYeh5mehIJsKXlxpLKf4A6uweU8xrrY6rXLyCFUu2p8FgCQJvtp3vqYinU3eze78Zbjtid1GYqvvXFA6-F7r_Rz3QpjTco-NMqbPjaPnVeIpOWlG4cc-eGV8b-yXh3pYWo8hFIirKAzU47b8jl_16kmf2JmIRl3c1gpSVD91iavVuA6mJxI9UTJ7se7w_sTx_Idhz4mEVXZ1Q5bm3uHBxuPSA_9ROo1MC1z9gZuQic52GIJYdCP2ogscuPPmHNeURJI2w9SH3LkctOwixWAwH4-O1TcYwCxULWf2g-2N1PrKD7fns9ZElspDg_MMFZrYMIiBZiFqYZxJVrlyiY6TTTdZlhzCJ1gU9ExtYC_aOTUWAtcEdnF1sRt0QsPgKenzVp9fRhKven3Jm6Lv7B03XO0kxZjJQu-noBAZBLddrr7y4soj0JfSNkI5s7EQ_9PwKr1QINLZ_hea9kNqyehTcpSnehwmuMC1sbvft_7gQcvlY_pXS7bxzBxjGu4QtwGKpJjM_8vcUAJjNKM4Cd4fbXA==",
  "id": "rs_034073f072bcb3fa016ab491ee931087d0b5c5fe46f75d19d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.339,\"left_y\":-0.163,\"left_z\":0.022,\"right_x\":0.42,\"right_y\":0.23,\"right_z\":0.17,\"right_yaw\":0},\"note\":\"The pen regrasp succeeded, but the left fingers closed just beyond the cap’s end. I’m lifting the pen securely and moving the left fingers back slightly onto the cap body for one correction.\"}",
  "call_id": "call_0PXTJPzFwztrNvANRGCf7Jls",
  "id": "fc_034073f072bcb3fa016ab491f08e3887d08b7622699b0a7bf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0PXTJPzFwztrNvANRGCf7Jls",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.7786, 0.4244, 0.7246, -0.5541, -0.3912, 0.9952, 0.6949, 1.7519, 1.1553, -0.1089, 0.5331, 0.3454, 0.0521]\nstate[eef_state]: left_x=0.3388 left_y=-0.1642 left_z=0.0144 left_yaw=-0.0549 left_pitch=0.0451 left_roll=-0.0124 left_gripper=0.9952 right_x=0.4187 right_y=0.2368 right_z=0.1397 right_yaw=0.061 right_pitch=-0.0345 right_roll=-0.0518 right_gripper=0.0521\nstate[joint_eff]: [-0.5812, -8.0615, 3.9453, 1.5653, -0.3492, -0.0317, -0.0513, 0.1846, -11.7265, 9.0325, 1.6337, 0.5836, 0.2222, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8376b1df6d14e2dcc55d11000720a1829bbda2679e82b302e351bf65d720bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45cf393bd7c3ed5ec39a149aa98db58474a41504fad6f83e1944f0bf82210bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcea06fd6f8bf5af7c05f31f625ed68bb8b5bea54cd8b93ea30f3292d7e1137",
      "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 · 3.075 s

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

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6605, 1.6417, 0.4679, 0.5446, -0.4904, -0.3565, 0.9964, 0.5945, 1.7805, 0.7555, 0.3885, 0.3458, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.3466 left_y=-0.1594 left_z=0.0398 left_yaw=-0.0741 left_pitch=0.0237 left_roll=-0.0132 left_gripper=0.9964 right_x=0.399 right_y=0.2018 right_z=0.0517 right_yaw=0.1931 right_pitch=-0.0352 right_roll=-0.0428 right_gripper=0.9959\nstate[joint_eff]: [0.4308, -7.5419, 7.3504, 1.5165, -0.0757, 0.2466, 0.1001, -0.9504, -6.8991, 6.9265, 1.5556, 0.1734, -0.0073, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6624, 1.8835, 0.4595, 0.8265, -0.5285, -0.358, 0.0084, 0.577, 2.0251, 0.7715, 0.6674, 0.3176, 0.1745, 0.049]\nstate[eef_state]: left_x=0.3571 left_y=-0.161 left_z=0.0045 left_yaw=-0.044 left_pitch=0.0622 left_roll=-0.0144 left_gripper=0.0084 right_x=0.42 right_y=0.2119 right_z=0.0037 right_yaw=0.2091 right_pitch=0.0052 right_roll=-0.0246 right_gripper=0.049\nstate[joint_eff]: [-0.1162, -7.6513, 3.8359, 1.3065, -0.1343, -0.0317, 0.5934, -0.6359, -7.5829, 4.6154, 1.3407, 0.1929, 0.0024, 1.1111]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.7786, 0.4244, 0.7246, -0.5541, -0.3912, 0.9952, 0.6949, 1.7519, 1.1553, -0.1089, 0.5331, 0.3454, 0.0521]\nstate[eef_state]: left_x=0.3388 left_y=-0.1642 left_z=0.0144 left_yaw=-0.0549 left_pitch=0.0451 left_roll=-0.0124 left_gripper=0.9952 right_x=0.4187 right_y=0.2368 right_z=0.1397 right_yaw=0.061 right_pitch=-0.0345 right_roll=-0.0518 right_gripper=0.0521\nstate[joint_eff]: [-0.5812, -8.0615, 3.9453, 1.5653, -0.3492, -0.0317, -0.0513, 0.1846, -11.7265, 9.0325, 1.6337, 0.5836, 0.2222, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8376b1df6d14e2dcc55d11000720a1829bbda2679e82b302e351bf65d720bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45cf393bd7c3ed5ec39a149aa98db58474a41504fad6f83e1944f0bf82210bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcea06fd6f8bf5af7c05f31f625ed68bb8b5bea54cd8b93ea30f3292d7e1137",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJH21XSJix3ud0AdEVHTVy4aVckay_JSt_KPk9fpwB7OkeLmgXOaoebVVXRc-VvDI1ql3OPVnmdm3f3Lj95eXYw20O1WF8cQLwrAPj8-RU-O4wzHu8nIbqOj-fJLE_N3lwp3dYlSsXeTUpVYxfzOQgX1qxDJ_JjDDo_8EupuHRcMoU-F-3-Y6_YvB0BpwCNyc457UbjQMEFTWyvEBSES3JCtrQLnimpumnAv_6qOSPU6fKeMJuytUra5-ZfXmKKlPqXP2soGc70lNoBpMy_PLzlGs7VfJGkTmR9qweciChUreoZiflpfbqDMjLptguCds5TKxteHupN6jnQo567i3hlzq-KwixowzB3g3Z0vyAasyHuirjBT-53KTBqKfeyI1RfVU9WpypnwEjDt1DoYSGS-pV6SRtV39LVyh-tjbdLTnK-piAyIQQZZIzMzFNFLLd2QC20k4BskB-3vWq3ynatNzKEZQEttxjnyFmauJv7Z1mZkSnagb5wpHUNhtm_aLvnhteaJ15hR_5266B86aPr4mMhkSBdn7bAFaEXIqdwmtlA5k3UK501-0lj-sxzHNKtqxVDcGjaAZWGXQ4JLclyZJ1YMaX4mwquusczN9WtWrOrOpb-PQ8UrevT6CHG1jvneNFtk4494NVtLvLMWDQoPXine8rqe_Tiv3G7BeusW-ylwXlaEIFCfzQ5Ri8HlAlLlEWFbpdVq-qQTxonK3Qt6BLwiimpPBWS8T0i5gO6sjVpMA1aR0vsBxEdoVvp_Il67XZigTlmn42jEpK-OaMoKaxfRUiVgjObaL2dXCPjHG9-vnekqJ3GgEZDbIX5F4Z5Gx7Yl71XBg-MJqOmd_BQ7GKrQSG5JhZ4hslMB1oje1JyBJH41I688A9mxlbkXlzresQMe7QXWA6ytWgEva8b1fCCM9Pq76xpsutZxtNRIkkta7Mb-L9kQghyzBxEmf20xSrzcDc09pxffVyKUnJOmEbkrz8m_0RiEphN9-Z3tQ2ltwe5I60HwzVVoY_97khyXyeiEKP4qW-i4SD7fLv6OcAIDj64_PTk0WNdv_lhqVEOiluqVwWtAlMgFqBuDLgIjcrH3dWtTLiq_GDRDTObc3Vo4zR5V9NvYrA0rOxKYhgY9Dy5dDWwnzzO_DQIr3M4ezHyDf8Qt4_2DP08eimWAtFlYTHrDhtxE2YlHjT1ijD7imzLnfNVEd1tlza6urL_54vtpGnN_uAv3cVUFg26RYyIvFirlTv0CjuH0MmNetizYOzS_vNEjY3ZjSre6ChIPkx_r1-PJ9FLtIktLtOnlibwKoLf90CZgf9YY_bKu84A=",
  "id": "rs_034073f072bcb3fa016ab491f5a1ec87d0bd12fd938cb07189",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.337,\"left_z\":-0.011},\"note\":\"The left hand is back over the cap’s body, but still slightly above the table. I’m lowering the open fingertips fully before the corrected close.\"}",
  "call_id": "call_za978kLBT9MSe440PSEgmi3L",
  "id": "fc_034073f072bcb3fa016ab491f642a887d09bac38dc57f0ab4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_za978kLBT9MSe440PSEgmi3L",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.8603, 0.4236, 0.812, -0.5583, -0.3927, 0.9964, 0.7002, 1.7386, 1.1664, -0.1574, 0.5465, 0.3588, 0.0569]\nstate[eef_state]: left_x=0.3409 left_y=-0.1651 left_z=0.0018 left_yaw=-0.0506 left_pitch=0.0506 left_roll=-0.0148 left_gripper=0.9964 right_x=0.4143 right_y=0.2337 right_z=0.1429 right_yaw=0.0483 right_pitch=-0.0481 right_roll=-0.0622 right_gripper=0.0569\nstate[joint_eff]: [-0.4171, -6.2974, 2.865, 1.7753, -0.1734, -0.0611, 0.105, -0.5402, -7.7197, 6.7214, 1.8877, 0.3639, -0.0952, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46826b029796b3fc445a197bc59bb00f87a90d11838c84b1144b5ccdc755dfe9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:298cecb16f1d58894eac26ec140ee86e60107b9b02f34c9a48ba30127403315d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb44863872712870ca9a523a13c161c2a744cc3b4fa00381448470464af6d8bb",
      "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 · 8.932 s

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

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6624, 1.8759, 0.4576, 0.7845, -0.5182, -0.3561, 0.9965, 0.58, 1.9987, 0.7681, 0.6029, 0.3302, 0.1902, 0.9959]\nstate[eef_state]: left_x=0.3525 left_y=-0.1595 left_z=-0.0015 left_yaw=-0.0542 left_pitch=0.0292 left_roll=0.0033 left_gripper=0.9965 right_x=0.4142 right_y=0.2072 right_z=0.0021 right_yaw=0.1933 right_pitch=-0.0306 right_roll=-0.0334 right_gripper=0.9959\nstate[joint_eff]: [-0.2256, -5.2581, 3.1932, 1.0134, 0.4811, -0.0757, -0.0024, -0.8957, -6.7624, 5.2034, 0.779, 0.0317, -0.1636, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.7786, 0.4244, 0.7246, -0.5541, -0.3912, 0.9952, 0.6949, 1.7519, 1.1553, -0.1089, 0.5331, 0.3454, 0.0521]\nstate[eef_state]: left_x=0.3388 left_y=-0.1642 left_z=0.0144 left_yaw=-0.0549 left_pitch=0.0451 left_roll=-0.0124 left_gripper=0.9952 right_x=0.4187 right_y=0.2368 right_z=0.1397 right_yaw=0.061 right_pitch=-0.0345 right_roll=-0.0518 right_gripper=0.0521\nstate[joint_eff]: [-0.5812, -8.0615, 3.9453, 1.5653, -0.3492, -0.0317, -0.0513, 0.1846, -11.7265, 9.0325, 1.6337, 0.5836, 0.2222, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.8603, 0.4236, 0.812, -0.5583, -0.3927, 0.9964, 0.7002, 1.7386, 1.1664, -0.1574, 0.5465, 0.3588, 0.0569]\nstate[eef_state]: left_x=0.3409 left_y=-0.1651 left_z=0.0018 left_yaw=-0.0506 left_pitch=0.0506 left_roll=-0.0148 left_gripper=0.9964 right_x=0.4143 right_y=0.2337 right_z=0.1429 right_yaw=0.0483 right_pitch=-0.0481 right_roll=-0.0622 right_gripper=0.0569\nstate[joint_eff]: [-0.4171, -6.2974, 2.865, 1.7753, -0.1734, -0.0611, 0.105, -0.5402, -7.7197, 6.7214, 1.8877, 0.3639, -0.0952, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46826b029796b3fc445a197bc59bb00f87a90d11838c84b1144b5ccdc755dfe9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:298cecb16f1d58894eac26ec140ee86e60107b9b02f34c9a48ba30127403315d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb44863872712870ca9a523a13c161c2a744cc3b4fa00381448470464af6d8bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJH6hXZIeNWOiQFolGlzfgeCrsl-9h9Q7EVHkiHMwE3tXaN9XTUvlEAF5Lj4qVyq31ndyIGzpvWNoNaiugCRbkwlpXGQiHt0yYMzfXFDWA7jnm0QBlWo0slkodQhhtopO4SeUtGj1ieD3JSyV3FAb2FWuBwfzrDu6IbZ0zIDdDUWImjKO9PDJtLsswOU_09XVcv9NfE0KW3GJSJbtYnwJZGTw7Xg4pJvn8WTqYf-4COSqIaKI-TupIv5HUcwcx4bUCFt1m6acA_yRB2s5Xe6JZmGo9jP21tFW03atg2MDIRFneg3vkS0zwPuF-WgLcBRIT90FDVMMFFxTa04pFDv8PisG7ReGzXSsHOioRh-CYikOLFPJw53AOzpNoCrmR1-lktMtuZKqK7OTc0excbCTs61e81oscIjzEpzRmi5-XrOwxb5Q_r3kpKKpvEz8ZAYDW2R74jiXgeZAYT5MCiBKIvnz0-QGiQwvXmKv2qElLzx1SQPSOqysTF8vSOEKsFfAGtURzfww1OPqLvVrB593BobE9US0ogSmDiF5TzaIyq1NP2eNOe0m2yeIkoBVCgn2WRCQZN93RIkqxvzAq-EdC9A95PthuoiT4CIj-H_eBiCF7wmRQGKWsNxMoZUEMV3KoSm8IYHKP2vAzzm3K1jaNJ3LCoYOIBXwV47tiGyixQ-NBsiV0TehKBEb-4cXeHw1Elf_E9RgDFhBeT_V2MLU2xhCdrLk8xGV9TbgPJ8xPV6DqiYapXyaAiXzVdfjyXJVZy7C1jEMIrDJmkOiwqAVn4Qki8ccXS-yAL-c-UcDQ9WDh5Tp9voTor0rXkjG9E0QmQUnKFtu8_5_FwYm9qaodJrZ4EdawI2Bmm8hSr-72FVTkskXnrB2UHrOWNSAqOJsa6WipdQgF0Ad-fy2YGaIWCa_KcQsfyskeSH0RIofmwQK8upQRtKc_AE2mVfeRQoECcrbOuGx6GVgWwP-pteRKmTuf7KOC3zZqF-wedi79wXjbO4nN0kwL8cdHEhFDi5jLLutQyzifY9A1gnfeucAqSZigrvHZG4qnqa4Uv9VZ8Mm6C14gLYn8CmPFeOM9Ubk2Tiu9f76WkPJfGCkXARPN87qJuf6kBfvTMaNa8y_S-QMcCN0pGiUxhMTkTfPGTVBmrbl0JFGbN6Yj5c-Fsju0P_JU8q_m1BQJLAPCp71onUTzWz7myxe4bdWVcylxY16Z-XrjbfFkTMzWbcruWU8ouMo66WjeDn28mE86nGqNxHUAmRmmcO4_pyrmkp8k8oZauLZR67Dg2mzPgg00aXpMOOd58JAwsNJgwgdhixM-QRLUQD7MU3wP4KNlI2rJwdxUCEAN3cKBEc-FFE9gYVk_4ktcupBnGa7jjwz6T7KmATYfKc_Ek3GcDnZ2x795XmNhUFHL06cPbKMPNlrokQiDkskRT7ioP5hSXn6cX1pEI5iYF7ofiDeW7oUPu1UozV1WxM",
  "id": "rs_034073f072bcb3fa016ab491f882e487d0a946588d4249a16e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips have reached table level over the corrected cap position. I’m closing once more while the right hand keeps the pen lifted.\"}",
  "call_id": "call_f1sbpp9eyI6YqStmfbaMvA6l",
  "id": "fc_034073f072bcb3fa016ab491f9649487d0ba385c60cecf821a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f1sbpp9eyI6YqStmfbaMvA6l",
  "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]: [-0.7132, 1.8751, 0.4145, 0.8406, -0.5694, -0.395, 0.0087, 0.7002, 1.7535, 1.1515, -0.1513, 0.5236, 0.3485, 0.0604]\nstate[eef_state]: left_x=0.3399 left_y=-0.1634 left_z=-0.0001 left_yaw=-0.0432 left_pitch=0.0581 left_roll=-0.0145 left_gripper=0.0087 right_x=0.4115 right_y=0.2359 right_z=0.1299 right_yaw=0.0706 right_pitch=-0.0766 right_roll=-0.0724 right_gripper=0.0604\nstate[joint_eff]: [0.2667, -7.8017, 4.0821, 1.3455, -0.0757, -0.0024, 0.6422, -0.1026, -10.1538, 7.9111, 1.4188, 0.3687, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7109b741ceef048bb5de388c9287b2241746a670e48f35c6d1edda31556670d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bcbae8f5a542683db6946c30e1b8fd3a29c4bb21ff1bcf857c417e4a1c636e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1c3a74ca15139a0be227c874821ce234a0f687cf6351d1fbee5c11e81c3f4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 5.501 s

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

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6624, 1.8835, 0.4595, 0.8265, -0.5285, -0.358, 0.0084, 0.577, 2.0251, 0.7715, 0.6674, 0.3176, 0.1745, 0.049]\nstate[eef_state]: left_x=0.3571 left_y=-0.161 left_z=0.0045 left_yaw=-0.044 left_pitch=0.0622 left_roll=-0.0144 left_gripper=0.0084 right_x=0.42 right_y=0.2119 right_z=0.0037 right_yaw=0.2091 right_pitch=0.0052 right_roll=-0.0246 right_gripper=0.049\nstate[joint_eff]: [-0.1162, -7.6513, 3.8359, 1.3065, -0.1343, -0.0317, 0.5934, -0.6359, -7.5829, 4.6154, 1.3407, 0.1929, 0.0024, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.8603, 0.4236, 0.812, -0.5583, -0.3927, 0.9964, 0.7002, 1.7386, 1.1664, -0.1574, 0.5465, 0.3588, 0.0569]\nstate[eef_state]: left_x=0.3409 left_y=-0.1651 left_z=0.0018 left_yaw=-0.0506 left_pitch=0.0506 left_roll=-0.0148 left_gripper=0.9964 right_x=0.4143 right_y=0.2337 right_z=0.1429 right_yaw=0.0483 right_pitch=-0.0481 right_roll=-0.0622 right_gripper=0.0569\nstate[joint_eff]: [-0.4171, -6.2974, 2.865, 1.7753, -0.1734, -0.0611, 0.105, -0.5402, -7.7197, 6.7214, 1.8877, 0.3639, -0.0952, 0.9646]",
      "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]: [-0.7132, 1.8751, 0.4145, 0.8406, -0.5694, -0.395, 0.0087, 0.7002, 1.7535, 1.1515, -0.1513, 0.5236, 0.3485, 0.0604]\nstate[eef_state]: left_x=0.3399 left_y=-0.1634 left_z=-0.0001 left_yaw=-0.0432 left_pitch=0.0581 left_roll=-0.0145 left_gripper=0.0087 right_x=0.4115 right_y=0.2359 right_z=0.1299 right_yaw=0.0706 right_pitch=-0.0766 right_roll=-0.0724 right_gripper=0.0604\nstate[joint_eff]: [0.2667, -7.8017, 4.0821, 1.3455, -0.0757, -0.0024, 0.6422, -0.1026, -10.1538, 7.9111, 1.4188, 0.3687, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7109b741ceef048bb5de388c9287b2241746a670e48f35c6d1edda31556670d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bcbae8f5a542683db6946c30e1b8fd3a29c4bb21ff1bcf857c417e4a1c636e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1c3a74ca15139a0be227c874821ce234a0f687cf6351d1fbee5c11e81c3f4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJIEyMi6yA-L8uwYGaHH3q118hPLFP515ANr0xQLQw9L6F0ji7qgnhX3f624YFmNA_YjBZOePFSXezkGUzVVkYnrkuoHXvcUUlWiJJpBM5oGQjc50OIv3aAlXJo1cqe2lMqLrZYTIoSGaHV_m_zTaIA9Vq3FQTAKLsS1Gjfi6XnsNYErRAba-6yBMAr2Hg5p-upsVNW1iGOL8alzunvRA63-26DWzj6yFfFQTS3ic3rgwhz8Rxmo3TyGu_j6aY_1elvSXATOvkUpwxmQHPrFOxelfR1t-VrU9rcdMKq_SE0crT0hf2cwWe7m1BkadIcv_ce6voy_vqmMkrMbn2p6-I61hBKg_oCpSmwUTzS_OlUEcAMB_s34Ye3YVDgklGTtGRLWiwWEL_WW6FUqFCsFluJ6a_wYOtBieqfeOf1-_exlcF8slt8EoquBQ816hO90qPAOZTe-Do8qPZXk-E_lxjxeODiz9pjwszgVvQJPE6MAfgjwwy8KmebbxStCg6kWyLw37yK_suwKSCub10WhNhS54KaM-el1rm7Ke9vobx1lABGjqVM9bO-tHYeLUHftbfHV9iQvB_soDifdPaxUOl3qQRE-38WCgUumtPjOhankLSSD6kRsFY_i5SPCJKYY9syMkACXo5wKuY6eqUc6_ydkoaxcJs7vtN3eqXcAWtek-t4LGkB9BfAUBktYv5LDUJBHzOmMjzQJ5cXr13q6V5RHLq5AG6NibnKaJbPVMjmVYGeRaGHmrbdv35QMRSoQexCDcMC9Sh8C9dBxmWjTa0m0yazUC5MgdWzUPIRPgp50ih1KehF2rZ75nd-U--qcF59cefe-UoUhxIX8wX6eWnO67ALCX99Xz52Cx5reJARhyMojNlIyu5vGcnfhGPLApbG7IfOLPS3UrDgq_9Frd2gkWQdBK5QP1wQUPutC-ah3dwtrJFf3_n7SnfBoJMtbz2wYlIBao-DWUjjiziL2uPvps6zvsCvugHSCAAlZuNJ0od1ZKiLspknJyGbvWkLHHOAj4vibGcbdrVDinitplFJ4ruzm0MWmcNtEXub5__QJCH0cgHWBHRRMCKQbeQTk7lRR8KZLEb5WSXwB1Fx9PVwbWRQ3KVQpJJ7pbZOS2LrKWjmWKIBplFrJ894Lc84lu31czhdNbrPmDqeyvXYTMuudKf0KJDezXUBO2nEmdEGrjj_efzH77yaQdGHeWATVEfDS0anlVFJTWPiMIvoVAoON3EIihMcicnvvOdFo-d1UAF0BmJrBStGOWLdW_2kdkD9x7UT3F4HsjwEGnIwiQLpJENVBla2VfjYADILhUGMTajTzC0oTDP8-N6WYvysAMNdFItSLAS17kXuxl8TrkP0nBLsqcmYDYu8xpOlbkL8wECHnChvINbFQO88EJB3xmilz6RJSMZy_LoulEz4rae-zbQwvS3fHFJP3fzklLNiaekJporke4elGROSPT3TNAYOQ1v4WMfKoG939EeNXG-7UP1dIOIG9ag7sxS1bt19WnBUYvfGvcW33zVaVbwBzMP6xpObeCHVyVxmhxhXo51MpesQh2WSSgofQg0tjD2G6PQDc9li2nYnNtTIas8tpnhpBdERVhLHzKhwS6LXkHSrcFj_c191DHjmjSCYvTl0MN2-kafo8ltumln54JvEGIbJzYOkQ-rWD49aUk0rPn12uV1dUxRrzBNZ5UHXWQrYQHZNpjwspmXR1_17damvf1eaoGOueRASk0e-OkE0Wh2O3lzs3nQXQD7BpGVvG2yHNp3r0qem1AW6iDQ44SXZoXGiKYJB2qZMb8fvQCAsl6Zw4MvGkorEZxPFuWgF5B13Vxr0IFOl278m9Pz99wtC--qoLiUHPsWBrNAPo5B_DiNldgc_9cNO0kfE-kXMPrQW3sZbVcnL7fDH9VGL8LdR_1vAZW20akTKbEQrjyhGpZ-wqXNa_I1-HU1tucChQW0o-u74C4TxQ1HVy-NwEChNyy_ZE_4ahsQRZnTUcSRj-Gz3qHgynjly_qfUTcdYt8T_hfeBLGchCGdj-FqwLBIQn9XNAkDqRdpr8-LUv79Hx0O8VzTeHUtARPdpCC1Ai8whfE3T9M4mvNfCLRquHgMmxM8x9DyGuWnW1QbU-cb4698Im3bXE8UeNTnfrjo4fs0HSAMo5J0CesnRcIUmgWLlku00fu_yAhhaSsdzvYkbjYbdhSL0WKW7h1LcslNJas0TKVkGt02CYz-650seWHhbHKPQ27dbsZDr29_4f586Dlna7l8l6tox88pjakxHZpm1YLJSMGxE-q4CtS5yNajB-F7G-enLnGgmzL0yWDdlrKcZha5H82L16UAvBVARFYNIJdxsv_pSzGAufR85ZhPfJe8Q2s7rRH6knnctGNnSSLr52zViJzOf8ir0tijGC8xAgDFs7guRfPd4Gtyf5ocB3gekirvDi99ETI_7q_sSBXrolGuZCiSnYFg1AUzXuyxOuoMoTuhoSqIptEXH8MUC6uXpU8w_r9Pv_kfehX2EAbj0FBi3bozvV3hVBypI3bmIlp3NeJVyRAwfgMEVK5VdNLBrRY-ZYiT8H7dKKi6ufx6uGHpLSwwF5qpL2JeRjXFHV9Xm_aeTT7UZ90fWiLaU3O9r2GqD1Iw70bZfDfhpH-fvLavcbVbh4dEnNzTHcR1gjFPCQRzrqoLSozZTTOu048IOtQ-m90li4fhaTc4f5OaqM8PWBEgx8FOxQsbA6oaaZewtzVcaCEQKQEYTaK4d1FHazJOR98l2H038SeCVXDXZ760ctbm8j0NtIQSzQk1C7pzOsqw08mDA3xjp8j6iWGBC90ojxosU2bJjmOOXWgxQAr0H_FWP1txfJTHm0lp0CBaKYj2vMPQWDSRC9BpjhzEgu8ki_pl8xLLX4FzKJtgzmGvL0jGB3D4XDoIZdvFfxlHHjhAV2OfBoKel2wvczjx0HTuqz16cpFmYKHBqtPntsCw==",
  "id": "rs_034073f072bcb3fa016ab491fc831c87d081894753f9ec1b72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.346,\"left_y\":-0.222,\"left_z\":0.04,\"left_yaw\":1.4,\"left_pitch\":0},\"note\":\"The cap slipped sideways and is now clearly visible to the right of the left hand. I’m repositioning over its closed end with the jaws turned across its new orientation.\"}",
  "call_id": "call_YXBUC5uc2d1K460FhIJJpyzC",
  "id": "fc_034073f072bcb3fa016ab49202e24087d0870af9e757e4caa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YXBUC5uc2d1K460FhIJJpyzC",
  "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]: [-0.7723, 2.5168, 1.9728, -0.968, -0.9791, -1.9747, 0.9944, 0.5991, 1.7588, 1.1961, -0.0311, 0.6067, 0.3038, 0.0593]\nstate[eef_state]: left_x=0.4519 left_y=-0.2305 left_z=0.0228 left_yaw=0.9982 left_pitch=-0.0663 left_roll=-0.3823 left_gripper=0.9944 right_x=0.457 right_y=0.1944 right_z=0.1712 right_yaw=-0.0721 right_pitch=0.0804 right_roll=-0.0552 right_gripper=0.0593\nstate[joint_eff]: [14.8718, -11.8085, 10.8239, 0.569, -0.7595, -0.0024, 0.1441, 8.8, -9.0188, 2.7829, 0.0464, -0.4664, 0.1832, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c55bb543f6f101cc2d0188e15ec597d243f48d402c7b22e93c99002771ae1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3dc9559ead7e65303bc1064b8aab17dffb2de34a4deb2a2a94fd0164c713674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443f2c2e18e4ad9c69639f883505f2cbd23543f187f1ba2575b3ca9b108def30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 6.575 s

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

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.7786, 0.4244, 0.7246, -0.5541, -0.3912, 0.9952, 0.6949, 1.7519, 1.1553, -0.1089, 0.5331, 0.3454, 0.0521]\nstate[eef_state]: left_x=0.3388 left_y=-0.1642 left_z=0.0144 left_yaw=-0.0549 left_pitch=0.0451 left_roll=-0.0124 left_gripper=0.9952 right_x=0.4187 right_y=0.2368 right_z=0.1397 right_yaw=0.061 right_pitch=-0.0345 right_roll=-0.0518 right_gripper=0.0521\nstate[joint_eff]: [-0.5812, -8.0615, 3.9453, 1.5653, -0.3492, -0.0317, -0.0513, 0.1846, -11.7265, 9.0325, 1.6337, 0.5836, 0.2222, 1.0281]",
      "type": "input_text"
    },
    {
      "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]: [-0.7132, 1.8751, 0.4145, 0.8406, -0.5694, -0.395, 0.0087, 0.7002, 1.7535, 1.1515, -0.1513, 0.5236, 0.3485, 0.0604]\nstate[eef_state]: left_x=0.3399 left_y=-0.1634 left_z=-0.0001 left_yaw=-0.0432 left_pitch=0.0581 left_roll=-0.0145 left_gripper=0.0087 right_x=0.4115 right_y=0.2359 right_z=0.1299 right_yaw=0.0706 right_pitch=-0.0766 right_roll=-0.0724 right_gripper=0.0604\nstate[joint_eff]: [0.2667, -7.8017, 4.0821, 1.3455, -0.0757, -0.0024, 0.6422, -0.1026, -10.1538, 7.9111, 1.4188, 0.3687, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7723, 2.5168, 1.9728, -0.968, -0.9791, -1.9747, 0.9944, 0.5991, 1.7588, 1.1961, -0.0311, 0.6067, 0.3038, 0.0593]\nstate[eef_state]: left_x=0.4519 left_y=-0.2305 left_z=0.0228 left_yaw=0.9982 left_pitch=-0.0663 left_roll=-0.3823 left_gripper=0.9944 right_x=0.457 right_y=0.1944 right_z=0.1712 right_yaw=-0.0721 right_pitch=0.0804 right_roll=-0.0552 right_gripper=0.0593\nstate[joint_eff]: [14.8718, -11.8085, 10.8239, 0.569, -0.7595, -0.0024, 0.1441, 8.8, -9.0188, 2.7829, 0.0464, -0.4664, 0.1832, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c55bb543f6f101cc2d0188e15ec597d243f48d402c7b22e93c99002771ae1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3dc9559ead7e65303bc1064b8aab17dffb2de34a4deb2a2a94fd0164c713674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443f2c2e18e4ad9c69639f883505f2cbd23543f187f1ba2575b3ca9b108def30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJIKmDN-3FY-j0ClswUmP7X0zK-bMDYiiiZjuM88F8ha3FkEQoRvgW3j4poKb-1DkZ3zmc86aX53YPOvRyIPQF_eOPYZDxNbFZHoIXnlRKtCCqOxZkjKHO3BCmdqcl6I2817dNgesrvXLGsVk8Dbl7IL49BGbWSMclZeibAKGELx-EH3UE20qFuDQUa_F_TVG6mTKvxXeY9bpmsiCRAVhvxomjKTo3v5rOQF85G9P2Q-bYWAvG8Z0MS5DsZqmEHJfuA_WGBpYFFFVX07JiYWAgGQXSluYLZ7zmGcOKHK0FDZwgOeIvDGfFqoneH_uwekbcsQ9bfyOH3SrsD7MTmBmySbvDu7X7cXQCyt2b_x7DsScpFmCoIHF0vEya4A9limaTNOaHZOX3hsy14uj1wNOj_Hx18sEbNrvJKD188qHAEFxdyUZfkRQmEhrKTmmuv6r99gQiBX_Vv7AAjOqIv-zUmzEwrj3F5X86obwCF2Pra_vtUMNvyosBwmIuAFYsSYCpL4HAlIHSE10AbpFCjIm8Y9Bqp-933Q35_Zo9VihSl9Gh9DYRMiPyU44wCzwqjOtcFQydZv87pPPfOtXqEOAwkCBNSxf0bBC7FI1bX6XfZ62frgUQ50HfpJsbEUrvD8ETo5Iv2IxxPqZX_8mUGlSHz98ddN_OyN45JlPT_jtPNhNqJm6RCT35gm1hl6aT08HDN6_TGQ541mMqoTUTuY0YPSP2v1Pu7Wf5KQ9u1SVUn9IpGa2blIxVJQ9Ve9KnWvD-ILfevHpObooK-JojQbGN_cPXYh8GRDWrFo8n4KP0MQbdhRnhY5q6rV2iAyOlwKjWx6SDewWbnNoaF5d2YcTZXnAY6JUAKwsKcojAohi_x4Y4MipNBdlQEEQoT2m2QayUjnK7EIv_9MVZcKfZ0WrhTd8S1mWyXzCIAxlBB-5FTvcEM6Q0yXqA18ccZMJfzOSiMfV5EqjyKp6uuR76PuH-rFOznBTyea6xxcjBsiJKpLnP-4c_Xra12HxYoHTci3xd3ggbXdx_govnq6OrY3MIi1xsG5X2xZXNhYLxz3wuFZzh-W05gr2KGcMg4d73aus-Piqye3TlzHFO9TuwV5URX3rKkfOFJLG74AJ7XY5XO11HlzlPOaJg4L23snNW_WXwIiGnosu9eNbminrJf80-NesmtxzAslbaKAMlkFXkWiFhlXTSmZ5OB0cxf6GHbkC_h0GkItbuuarsK6ZD_BVWL5iPprfi5PJPe12pgR4PWF9rUpb3vpkvoH2dOX-_AO7UOtkkk39YmmEPSDxL3A5nBtXi02D_D6xO0qTb_NAWs-wh9M_oGHDeMPbz70lVeexmYP1MtXTVHtwnM-8I9olxvg8qVx6S5Bo-RqtGe0ASJTGeUX1SVLjheeux6AffJ7OGbIrRko7mr3AfPEkgkPQ7BdNbrP9e9YptkKXKXQS87IBTUv4ho_xf0STqA33MLRjHWGiw2BM5QIcy6X_SC4a-4GmgG6mg-rUCcd5uACwZKcRAiU-kYbMug01joAuBBP0b1DnZ5ZhmMmXPED9f_Z7GWbQNllhi3CXNbieBdYXmem7O6JvJwcEmWVATaW76tHjqOm",
  "id": "rs_034073f072bcb3fa016ab492073b8c87d0a4cf554565c27df8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.10,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.32,\"right_y\":0.02,\"right_z\":0.20,\"right_yaw\":0},\"note\":\"The large wrist turn brought the arms into contact, and the measured positions and loads changed sharply. I’m immediately separating the arms and lifting them clear; I will not continue the assembly from this contact.\"}",
  "call_id": "call_vX4TZtwqC9jv3qSFC9E1b11Y",
  "id": "fc_034073f072bcb3fa016ab49208cdbc87d0a6d51a70730a0e46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vX4TZtwqC9jv3qSFC9E1b11Y",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.6212, 1.0306, 0.6964, -0.3309, -0.5739, -0.511, 0.9949, 0.1497, 0.9066, 0.6331, -0.202, 0.1989, 0.0425, 0.0595]\nstate[eef_state]: left_x=0.3078 left_y=-0.098 left_z=0.1801 left_yaw=0.1137 left_pitch=0.023 left_roll=-0.0835 left_gripper=0.9949 right_x=0.3268 right_y=0.0176 right_z=0.2003 right_yaw=-0.0498 right_pitch=0.0927 right_roll=-0.0513 right_gripper=0.0595\nstate[joint_eff]: [0.1436, -2.4821, 7.0769, 1.5995, -0.1636, 0.2271, 0.0317, -0.335, -2.6598, 7.4735, 1.9219, -0.1343, -0.1001, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbfa0e16a624778837d245e62262cc07897c7426db7cbc2ccbe3aaadabd6039c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3182f85061a22cfece5ded5b7dd4ea1959027ba45e91d1129b3afe9959a88d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106afb478e54a1c1b730248ad4bdf1a8ff308101a76b80b0fa70c2ba89a694ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]