adhoc - adhoc_7ed151ef.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: 227.1 s
total steps: 350

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 cap is left of the diagonally lying pen near the middle of the table. I’m bringing each open gripper above its object, with the jaws oriented across its length.

move_to

left_x0.4000left_y-0.2200left_z0.1500left_yaw-0.7000left_gripper1.0000right_x0.4000right_y0.2400right_z0.1500right_yaw0.7500right_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]: [-0.02, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9993, -0.017, 0.7914, 0.6094, -0.3767, -0.0231, -0.0227, 0.9991] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991 state[joint_eff]: [-0.4308, -1.4974, 10.5504, 1.7753, -0.0464, 0.0806, -0.0855, -0.7453, -1.2103, 9.8256, 1.7705, -0.0122, 0.0513, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.15,"left_yaw":-0.7,"left_gripper":1,"right_x":0.4,"right_y":0.24,"right_z":0.15,"right_yaw":0.75,"right_gripper":1},"note":"The cap is left of the diagonally lying pen near the middle of the table. I’m bringing each open gripper above its object, with the jaws oriented across its length."})

tool

executing move_to over 20 steps (2.0s)

step 20

assistant

agent noteBoth objects are near the gripper centerlines in the wrist views, and the pen is aligned lengthwise between the right jaws. I’m lowering toward the table to check the final grasp alignment.

move_to

left_z0.0350right_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4175, 1.5532, 0.9016, -0.0212, 0.1871, 0.1001, 0.9993, 0.4198, 1.5852, 0.9417, 0.0013, -0.2523, -0.1753, 0.9991] state[eef_state]: left_x=0.3878 left_y=-0.2041 left_z=0.1234 left_yaw=-0.6413 left_pitch=-0.0868 left_roll=-0.0295 left_gripper=0.9993 right_x=0.3906 right_y=0.2266 right_z=0.1327 right_yaw=0.7117 right_pitch=-0.0601 right_roll=0.0138 right_gripper=0.9991 state[joint_eff]: [-0.3761, -7.2274, 9.894, 1.9267, 0.1685, 0.2906, -0.0855, 0.3624, -6.9812, 9.0735, 2.0537, -0.1929, -0.0317, -0.1099] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.035,"right_z":0.035},"note":"Both objects are near the gripper centerlines in the wrist views, and the pen is aligned lengthwise between the right jaws. I’m lowering toward the table to check the final grasp alignment."})

tool

executing move_to over 7 steps (0.7s)

step 27

assistant

agent noteThe cap and pen are still slightly forward of the fingertips, especially the pen’s middle section. I’m advancing a little along each object and lowering the open jaws to table level.

move_to

left_x0.4200left_y-0.2320left_z-0.0080right_x0.4350right_y0.2650right_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]: [-0.4194, 1.7573, 0.7315, 0.2905, 0.1875, 0.1059, 0.9993, 0.4206, 1.8072, 0.7616, 0.3439, -0.2592, -0.1875, 0.999] state[eef_state]: left_x=0.379 left_y=-0.2011 left_z=0.0297 left_yaw=-0.6483 left_pitch=-0.1476 left_roll=-0.0394 left_gripper=0.9993 right_x=0.3823 right_y=0.2245 right_z=0.0314 right_yaw=0.7262 right_pitch=-0.1154 right_roll=0.0257 right_gripper=0.999 state[joint_eff]: [-0.0068, -7.6103, 4.9709, 1.9365, 0.0464, -0.105, -0.0122, -0.1026, -7.7333, 4.8889, 1.8632, -0.0806, 0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.232,"left_z":-0.008,"right_x":0.435,"right_y":0.265,"right_z":-0.008},"note":"The cap and pen are still slightly forward of the fingertips, especially the pen’s middle section. I’m advancing a little along each object and lowering the open jaws to table level."})

tool

executing move_to over 5 steps (0.5s)

step 32

assistant

agent noteThe fingertips are now at table level, with the objects disappearing beneath the jaws as expected at the grasp point. I’m closing both grippers to test whether the cap and pen are captured.

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]: [-0.4465, 1.9846, 0.881, 0.4004, 0.1562, 0.091, 0.9992, 0.4545, 2.0697, 0.9886, 0.4152, -0.2398, -0.1883, 0.999] state[eef_state]: left_x=0.4197 left_y=-0.2274 left_z=0.004 left_yaw=-0.6401 left_pitch=-0.1208 left_roll=-0.0237 left_gripper=0.9992 right_x=0.4334 right_y=0.2625 right_z=0.0067 right_yaw=0.7433 right_pitch=-0.0847 right_roll=0.0027 right_gripper=0.999 state[joint_eff]: [-0.7316, -7.3368, 6.0786, 1.0965, 0.1099, -0.105, -0.0171, 0.6906, -8.0068, 5.5726, 1.2674, 0.0024, 0.2222, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The fingertips are now at table level, with the objects disappearing beneath the jaws as expected at the grasp point. I’m closing both grippers to test whether the cap and pen are captured."})

tool

executing move_to over 10 steps (1.0s)

step 42

assistant

agent noteBoth grippers closed to an empty reading, so neither object was captured. I’m reopening and backing away slightly to re-locate them rather than repeating the same grasp.

move_to

left_x0.3750left_y-0.2100left_z0.1000left_gripper1.0000right_x0.3850right_y0.2300right_z0.1000right_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]: [-0.4469, 1.9999, 0.8867, 0.4194, 0.1539, 0.0879, 0.0088, 0.458, 2.0895, 0.997, 0.4408, -0.2409, -0.1913, 0.0088] state[eef_state]: left_x=0.4228 left_y=-0.2287 left_z=0.0025 left_yaw=-0.6366 left_pitch=-0.1117 left_roll=-0.0228 left_gripper=0.0088 right_x=0.4364 right_y=0.2661 right_z=0.005 right_yaw=0.749 right_pitch=-0.071 right_roll=-0.0032 right_gripper=0.0088 state[joint_eff]: [0.1026, -10.6735, 4.7932, 1.409, 0.0904, 0.0171, 0.6129, -0.4171, -12.041, 4.5744, 1.4481, -0.0611, 0.0171, 0.7155] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.21,"left_z":0.1,"left_gripper":1,"right_x":0.385,"right_y":0.23,"right_z":0.1,"right_gripper":1},"note":"Both grippers closed to an empty reading, so neither object was captured. I’m reopening and backing away slightly to re-locate them rather than repeating the same grasp."})

tool

executing move_to over 10 steps (1.0s)

step 52

assistant

agent noteAfter backing off, both objects are visible again near the jaw centerlines; the pen appears to have shifted during the empty attempt. I’ll lower straight down here, without another forward advance.

move_to

left_x0.3830left_y-0.2110left_z-0.0100right_x0.3900right_y0.2340right_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]: [-0.4553, 1.6047, 0.8318, 0.0906, 0.1383, 0.078, 0.9947, 0.4335, 1.6863, 0.8661, 0.1631, -0.2569, -0.215, 0.9944] state[eef_state]: left_x=0.3829 left_y=-0.2106 left_z=0.0934 left_yaw=-0.6263 left_pitch=-0.1023 left_roll=-0.0187 left_gripper=0.9947 right_x=0.3901 right_y=0.234 right_z=0.089 right_yaw=0.7506 right_pitch=-0.073 right_roll=-0.0114 right_gripper=0.9944 state[joint_eff]: [-0.4718, -8.759, 6.188, 1.6923, 0.0806, 0.0659, 0.0904, -0.5949, -9.894, 6.147, 1.6337, -0.0855, 0.0562, 0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.383,"left_y":-0.211,"left_z":-0.01,"right_x":0.39,"right_y":0.234,"right_z":-0.01},"note":"After backing off, both objects are visible again near the jaw centerlines; the pen appears to have shifted during the empty attempt. I’ll lower straight down here, without another forward advance."})

tool

executing move_to over 7 steps (0.7s)

step 59

assistant

agent noteAt table level, the cap and pen now extend directly into the closing area between the jaws. I’m making a second grasp attempt at these revised positions.

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]: [-0.4545, 1.8919, 0.6945, 0.514, 0.1291, 0.0807, 0.9958, 0.4335, 1.9575, 0.7532, 0.551, -0.2592, -0.223, 0.9946] state[eef_state]: left_x=0.3859 left_y=-0.2099 left_z=0.0016 left_yaw=-0.6193 left_pitch=-0.1044 left_roll=-0.0111 left_gripper=0.9958 right_x=0.3921 right_y=0.2354 right_z=0.0031 right_yaw=0.7567 right_pitch=-0.069 right_roll=-0.0177 right_gripper=0.9946 state[joint_eff]: [-0.0889, -6.0513, 3.5487, 0.9158, 0.1001, -0.0611, 0.1001, -0.212, -6.4479, 3.5214, 0.9304, -0.1392, 0.0904, 0.0024] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"At table level, the cap and pen now extend directly into the closing area between the jaws. I’m making a second grasp attempt at these revised positions."})

tool

executing move_to over 10 steps (1.0s)

step 69

assistant

agent noteThe left gripper is empty again, while the right reading suggests it may have caught the thin pen. I’m lifting the pen slightly to verify it moved and moving the left arm aside so the cap can be re-located from above.

move_to

left_x0.3000left_y-0.0800left_z0.1700left_gripper1.0000right_z0.0700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4541, 1.8984, 0.6926, 0.5625, 0.1268, 0.0769, 0.0091, 0.4332, 1.9682, 0.7513, 0.5835, -0.2646, -0.2218, 0.0428] state[eef_state]: left_x=0.3915 left_y=-0.212 left_z=0.0075 left_yaw=-0.6144 left_pitch=-0.0651 left_roll=-0.0062 left_gripper=0.0091 right_x=0.3943 right_y=0.2372 right_z=0.0042 right_yaw=0.7598 right_pitch=-0.0492 right_roll=-0.0201 right_gripper=0.0428 state[joint_eff]: [0.0068, -8.5265, 5.2855, 1.2332, 0.0611, 0.0513, 0.5836, -0.0479, -9.6615, 5.3265, 1.4237, -0.0659, -0.0415, 1.2918] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.08,"left_z":0.17,"left_gripper":1,"right_z":0.07},"note":"The left gripper is empty again, while the right reading suggests it may have caught the thin pen. I’m lifting the pen slightly to verify it moved and moving the left arm aside so the cap can be re-located from above."})

tool

executing move_to over 12 steps (1.2s)

step 81

assistant

agent noteThe pen stayed fixed relative to the right gripper during the lift, confirming a grasp. The loose cap is now farther toward the center and has rotated; I’m approaching its new location while moving the held pen safely to the right.

move_to

left_x0.3750left_y-0.3000left_z0.1000left_yaw1.3000right_x0.3000right_y0.0700right_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0319, 1.037, 0.667, -0.3264, 0.4095, 0.3145, 0.9962, 0.4335, 1.7912, 0.8051, 0.3145, -0.2649, -0.2218, 0.0456] state[eef_state]: left_x=0.3117 left_y=-0.0767 left_z=0.1579 left_yaw=-0.5548 left_pitch=-0.0569 left_roll=0.0026 left_gripper=0.9962 right_x=0.3887 right_y=0.2349 right_z=0.0489 right_yaw=0.7613 right_pitch=-0.0852 right_roll=-0.0076 right_gripper=0.0456 state[joint_eff]: [0.1436, -3.3846, 9.7436, 1.5946, 0.359, 0.1441, -0.0122, -0.0068, -10.947, 7.6786, 1.6142, -0.1099, -0.0464, 1.033] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.30,"left_z":0.1,"left_yaw":1.3,"right_x":0.30,"right_y":0.07,"right_z":0.18},"note":"The pen stayed fixed relative to the right gripper during the lift, confirming a grasp. The loose cap is now farther toward the center and has rotated; I’m approaching its new location while moving the held pen safely to the right."})

tool

executing move_to over 20 steps (2.0s)

step 101

assistant

agent noteThe left arm fell well short of the requested position during the large wrist turn. I’m raising it and reducing that rotation before approaching the cap again.

move_to

left_x0.3600left_y-0.2900left_z0.1900left_yaw0.7500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6998, 2.5156, 2.1044, -1.5398, -0.8452, -2.0682, 0.9972, -0.1413, 1.137, 0.8055, -0.5484, -0.6426, -0.6395, 0.0502] state[eef_state]: left_x=0.4031 left_y=-0.162 left_z=0.0501 left_yaw=1.1809 left_pitch=-0.0917 left_roll=0.0025 left_gripper=0.9972 right_x=0.3075 right_y=0.0668 right_z=0.1657 right_yaw=0.7161 right_pitch=-0.1059 right_roll=-0.0044 right_gripper=0.0502 state[joint_eff]: [-0.0342, -12.7658, 7.3368, -0.6569, -0.3834, -0.1685, 0.1001, -0.335, -4.6701, 9.2239, 1.3114, -0.5739, -0.0855, 1.0281] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.29,"left_z":0.19,"left_yaw":0.75},"note":"The left arm fell well short of the requested position during the large wrist turn. I’m raising it and reducing that rotation before approaching the cap again."})

tool

executing move_to over 12 steps (1.2s)

step 113

assistant

agent noteThe left arm is still not tracking the raised target and remains too low. I’m withdrawing it toward a neutral, higher pose to recover from the awkward wrist configuration.

move_to

left_x0.2900left_y-0.1200left_z0.2400left_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]: [-0.7856, 2.6019, 2.1983, -1.56, -0.8112, -2.0937, 0.9974, -0.1436, 1.1381, 0.8093, -0.5678, -0.6472, -0.6586, 0.0502] state[eef_state]: left_x=0.3912 left_y=-0.2051 left_z=0.0298 left_yaw=1.1241 left_pitch=-0.1173 left_roll=0.0045 left_gripper=0.9974 right_x=0.3051 right_y=0.0671 right_z=0.1646 right_yaw=0.7286 right_pitch=-0.114 right_roll=-0.0043 right_gripper=0.0502 state[joint_eff]: [-0.0479, -13.8598, 6.7487, -0.5348, -0.5446, -0.0366, 0.0073, -0.0342, -3.5487, 6.3795, 1.5165, -0.2369, 0.1392, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.12,"left_z":0.24,"left_yaw":0},"note":"The left arm is still not tracking the raised target and remains too low. I’m withdrawing it toward a neutral, higher pose to recover from the awkward wrist configuration."})

tool

executing move_to over 14 steps (1.4s)

step 127

assistant

agent noteThe left arm has recovered, and the cap is clearly visible near the center of the table. I’m approaching it with a wrist turn in the easier direction, while keeping the pen held clear.

move_to

left_x0.3700left_y-0.2900left_z0.1200left_yaw-1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7017, 1.1389, 1.0748, -0.7971, -0.5888, -0.6453, 0.9974, -0.1436, 1.1427, 0.8093, -0.569, -0.6476, -0.6624, 0.0502] state[eef_state]: left_x=0.2942 left_y=-0.1155 left_z=0.2315 left_yaw=0.123 left_pitch=-0.1109 left_roll=-0.0481 left_gripper=0.9974 right_x=0.3051 right_y=0.0672 right_z=0.1633 right_yaw=0.7314 right_pitch=-0.1174 right_roll=-0.0026 right_gripper=0.0502 state[joint_eff]: [0.212, -3.1248, 7.6786, 1.3065, -0.3004, 0.2173, -0.0073, -0.2256, -3.9179, 6.6803, 1.3651, -0.2515, 0.022, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.29,"left_z":0.12,"left_yaw":-1.0},"note":"The left arm has recovered, and the cap is clearly visible near the center of the table. I’m approaching it with a wrist turn in the easier direction, while keeping the pen held clear."})

tool

executing move_to over 16 steps (1.6s)

step 143

assistant

agent noteThe cap is visible between the open jaws, but its length is still diagonal across the wrist image. I’m turning the gripper to match it more closely and lowering for a centered grasp.

move_to

left_x0.3750left_y-0.2950left_z0.0250left_yaw-1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5369, 1.7061, 1.0462, -0.1749, 0.2913, 0.1688, 0.9974, -0.1436, 1.1454, 0.8093, -0.5701, -0.6476, -0.6628, 0.0502] state[eef_state]: left_x=0.3597 left_y=-0.269 left_z=0.0936 left_yaw=-0.8924 left_pitch=-0.2199 left_roll=-0.0934 left_gripper=0.9974 right_x=0.305 right_y=0.0672 right_z=0.1624 right_yaw=0.7319 right_pitch=-0.1199 right_roll=0.0 right_gripper=0.0502 state[joint_eff]: [0.3077, -8.8274, 9.4564, 1.7314, 0.4322, 0.2711, -0.0171, -0.335, -3.7265, 6.6256, 1.2869, -0.3346, -0.0122, 1.033] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.295,"left_z":0.025,"left_yaw":-1.5},"note":"The cap is visible between the open jaws, but its length is still diagonal across the wrist image. I’m turning the gripper to match it more closely and lowering for a centered grasp."})

tool

executing move_to over 5 steps (0.5s)

step 148

assistant

agent noteThe cap is now aligned lengthwise but sits to the right of the jaw centerline. I’m making a small sideways correction and bringing the fingertips to the table before closing.

move_to

left_x0.3630left_y-0.2920left_z-0.0050left_yaw-1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.432, 2.1082, 1.33, -0.3641, 0.5911, 0.6601, 0.9974, -0.1436, 1.1492, 0.8093, -0.572, -0.6476, -0.6632, 0.0502] state[eef_state]: left_x=0.3796 left_y=-0.2795 left_z=0.0125 left_yaw=-1.3346 left_pitch=-0.2913 left_roll=-0.1474 left_gripper=0.9974 right_x=0.3049 right_y=0.0672 right_z=0.1611 right_yaw=0.7327 right_pitch=-0.1235 right_roll=0.0041 right_gripper=0.0502 state[joint_eff]: [-0.2393, -10.9333, 7.159, 0.9988, 0.8962, 0.2515, -0.0171, -0.2256, -3.8496, 6.6393, 1.2918, -0.3492, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.363,"left_y":-0.292,"left_z":-0.005,"left_yaw":-1.5},"note":"The cap is now aligned lengthwise but sits to the right of the jaw centerline. I’m making a small sideways correction and bringing the fingertips to the table before closing."})

tool

executing move_to over 2 steps (0.2s)

step 150

assistant

agent noteThe cap is close to the grasp line but still slightly offset. I’m making one final small lateral correction while gently closing around it.

move_to

left_x0.3510left_y-0.2920left_z-0.0120left_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]: [-0.4324, 2.1407, 1.3773, -0.4385, 0.6632, 0.8223, 0.9974, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502] state[eef_state]: left_x=0.3703 left_y=-0.2867 left_z=0.0132 left_yaw=-1.478 left_pitch=-0.2586 left_roll=-0.1256 left_gripper=0.9974 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502 state[joint_eff]: [-0.3897, -11.5077, 7.706, 0.9744, 0.5299, 0.188, -0.0122, -0.212, -3.494, 6.6667, 1.3358, -0.3248, -0.0708, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.351,"left_y":-0.292,"left_z":-0.012,"left_gripper":0},"note":"The cap is close to the grasp line but still slightly offset. I’m making one final small lateral correction while gently closing around it."})

tool

executing move_to over 10 steps (1.0s)

step 160

assistant

agent noteThat close was empty. The closed-jaw view shows the actual meeting point higher in the image than the cap was, so I’m backing the gripper along the cap’s length rather than advancing farther.

move_to

left_x0.3480left_y-0.2570left_z0.0250left_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]: [-0.4423, 2.1345, 1.3128, -0.3611, 0.6544, 0.8116, 0.0086, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502] state[eef_state]: left_x=0.3634 left_y=-0.2871 left_z=0.0021 left_yaw=-1.4733 left_pitch=-0.2566 left_roll=-0.1118 left_gripper=0.0086 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502 state[joint_eff]: [-1.1966, -10.6325, 4.7795, 1.0085, 0.3834, -0.1001, 0.5836, -0.2393, -3.5214, 6.8034, 1.2967, -0.3101, -0.0806, 1.0281] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.348,"left_y":-0.257,"left_z":0.025,"left_gripper":1},"note":"That close was empty. The closed-jaw view shows the actual meeting point higher in the image than the cap was, so I’m backing the gripper along the cap’s length rather than advancing farther."})

tool

executing move_to over 10 steps (1.0s)

step 170

assistant

agent noteThe cap is no longer visible in the left wrist view, so I won’t close blindly. I’m lifting and moving the left arm aside for a fresh overhead location; the right arm continues holding the pen.

move_to

left_x0.2900left_y-0.0800left_z0.1800left_yaw0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3927, 2.0506, 1.2346, -0.4286, 0.6617, 0.8623, 0.9948, -0.1436, 1.1496, 0.8093, -0.5694, -0.6476, -0.6632, 0.0538] state[eef_state]: left_x=0.3483 left_y=-0.2579 left_z=0.0106 left_yaw=-1.4702 left_pitch=-0.2781 left_roll=-0.1358 left_gripper=0.9948 right_x=0.3054 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1221 right_roll=0.0024 right_gripper=0.0538 state[joint_eff]: [0.6496, -13.135, 5.1761, 0.8376, 0.4957, 0.0757, 0.0464, -0.2803, -3.535, 6.6803, 1.3162, -0.3053, -0.0562, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.08,"left_z":0.18,"left_yaw":0,"right_z":0.18},"note":"The cap is no longer visible in the left wrist view, so I won’t close blindly. I’m lifting and moving the left arm aside for a fresh overhead location; the right arm continues holding the pen."})

tool

executing move_to over 16 steps (1.6s)

step 186

assistant

agent noteThe cap is now visible closer to the bases, angled diagonally. I’m approaching that updated location and compensating slightly for the left wrist’s observed tilt so the jaws meet more squarely.

move_to

left_x0.3000left_y-0.2600left_z0.0650left_yaw-0.6500left_pitch0.2000left_roll0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3874, 1.0725, 0.86, -0.6525, -0.1074, -0.3336, 0.9958, -0.1436, 1.1511, 0.8398, -0.6384, -0.6476, -0.6632, 0.0543] state[eef_state]: left_x=0.2913 left_y=-0.0945 left_z=0.164 left_yaw=-0.1175 left_pitch=-0.2924 left_roll=-0.1366 left_gripper=0.9958 right_x=0.2996 right_y=0.068 right_z=0.1637 right_yaw=0.7366 right_pitch=-0.1476 right_roll=0.0335 right_gripper=0.0543 state[joint_eff]: [-0.6906, -3.8632, 9.6889, 1.3944, -0.2173, -0.0464, 0.0952, -0.3487, -4.0821, 9.9761, 1.2186, -0.3199, -0.022, 1.033] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.30,"left_y":-0.26,"left_z":0.065,"left_yaw":-0.65,"left_pitch":0.2,"left_roll":0.1},"note":"The cap is now visible closer to the bases, angled diagonally. I’m approaching that updated location and compensating slightly for the left wrist’s observed tilt so the jaws meet more squarely."})

tool

executing move_to over 17 steps (1.7s)

step 203

assistant

agent noteThe cap is now centered in the left wrist view, with its wider body at the fingertip region. I’m lowering straight down without sliding it along the table.

move_to

left_x0.2930left_y-0.2450left_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]: [-0.8131, 1.6444, 0.3698, 0.7502, -0.2287, -0.036, 0.996, -0.1436, 1.153, 0.8425, -0.6468, -0.6476, -0.6632, 0.0543] state[eef_state]: left_x=0.2915 left_y=-0.2447 left_z=0.0374 left_yaw=-0.6133 left_pitch=0.0597 left_roll=0.092 left_gripper=0.996 right_x=0.2988 right_y=0.0681 right_z=0.1632 right_yaw=0.7375 right_pitch=-0.1525 right_roll=0.0394 right_gripper=0.0543 state[joint_eff]: [-0.3897, -6.5573, 4.3829, 2.2442, 0.0562, 0.1734, 0.0024, -0.3761, -3.6171, 6.4068, 1.2772, -0.3541, -0.022, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.293,"left_y":-0.245,"left_z":-0.008},"note":"The cap is now centered in the left wrist view, with its wider body at the fingertip region. I’m lowering straight down without sliding it along the table."})

tool

executing move_to over 3 steps (0.3s)

step 206

assistant

agent noteThe cap remains centered as the fingertips reach table level. I’m closing the left gripper around its body.

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]: [-0.8139, 1.9018, 0.3492, 1.0435, -0.2249, -0.0471, 0.9961, -0.1436, 1.158, 0.841, -0.6476, -0.6472, -0.6632, 0.0543] state[eef_state]: left_x=0.2935 left_y=-0.2482 left_z=-0.0001 left_yaw=-0.611 left_pitch=0.0749 left_roll=0.0774 left_gripper=0.9961 right_x=0.2986 right_y=0.0681 right_z=0.1612 right_yaw=0.7382 right_pitch=-0.1573 right_roll=0.0449 right_gripper=0.0543 state[joint_eff]: [0.1573, -5.8735, 2.7282, 0.7839, -0.1978, 0.5006, 0.0024, -0.335, -3.8496, 6.7487, 1.2723, -0.2711, -0.022, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap remains centered as the fingertips reach table level. I’m closing the left gripper around its body."})

tool

executing move_to over 10 steps (1.0s)

step 216

assistant

agent noteThe left gripper stopped at a nonempty width, consistent with the cap’s thickness. I’m lifting it a few centimeters to verify that it comes off the table.

move_to

left_z0.0750right_x0.3000right_y0.0700right_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8124, 1.9129, 0.3485, 1.0622, -0.2302, -0.0502, 0.0544, -0.1436, 1.158, 0.841, -0.6472, -0.6476, -0.6632, 0.0543] state[eef_state]: left_x=0.2949 left_y=-0.2474 left_z=-0.0003 left_yaw=-0.6033 left_pitch=0.0823 left_roll=0.0758 left_gripper=0.0544 right_x=0.2987 right_y=0.0681 right_z=0.1613 right_yaw=0.7384 right_pitch=-0.1569 right_roll=0.0448 right_gripper=0.0543 state[joint_eff]: [-0.2256, -7.6103, 3.0017, 1.5995, 0.0122, 0.0317, 1.2772, -0.0752, -3.3846, 6.8171, 1.2186, -0.3394, -0.0562, 1.0281] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.075,"right_x":0.3,"right_y":0.07,"right_z":0.18},"note":"The left gripper stopped at a nonempty width, consistent with the cap’s thickness. I’m lifting it a few centimeters to verify that it comes off the table."})

tool

executing move_to over 5 steps (0.5s)

step 221

assistant

agent noteThe cap lifted with the left gripper, so both pieces are now held. I’m raising the cap and beginning a gradual turn so its opening can face the pen tip.

move_to

left_x0.3600left_y-0.2300left_z0.1900left_yaw0.0500left_pitch0.1200left_roll0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8124, 1.52, 0.3901, 0.6701, -0.2321, -0.0513, 0.0672, -0.1417, 1.1587, 0.881, -0.6998, -0.6434, -0.6624, 0.0543] state[eef_state]: left_x=0.2951 left_y=-0.2472 left_z=0.0725 left_yaw=-0.6001 left_pitch=0.1239 left_roll=0.0667 left_gripper=0.0672 right_x=0.2972 right_y=0.0683 right_z=0.1693 right_yaw=0.7388 right_pitch=-0.168 right_roll=0.0536 right_gripper=0.0543 state[joint_eff]: [-0.1436, -5.5043, 8.1436, 1.8535, -0.0952, -0.0464, 1.0281, 0.3897, -3.6171, 8.9641, 1.0623, -0.3004, 0.0855, 1.0281] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.23,"left_z":0.19,"left_yaw":0.05,"left_pitch":0.12,"left_roll":0.03},"note":"The cap lifted with the left gripper, so both pieces are now held. I’m raising the cap and beginning a gradual turn so its opening can face the pen tip."})

tool

executing move_to over 8 steps (0.8s)

step 229

assistant

agent noteBoth pieces remain secure. I’m positioning them along the same diagonal direction, leaving a gap between the cap opening and the pen tip while bringing them to a similar height.

move_to

left_x0.4300left_y-0.2500left_z0.1900left_yaw0.6500left_pitch0.0500left_roll0.0000right_x0.3100right_y0.2900right_z0.1900right_yaw0.6500right_pitch0.1500right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8845, 1.5444, 0.9974, -0.0715, -0.7467, -0.4603, 0.0672, -0.1379, 1.1587, 0.8803, -0.704, -0.6361, -0.6628, 0.0543] state[eef_state]: left_x=0.3594 left_y=-0.2438 left_z=0.1841 left_yaw=-0.0419 left_pitch=0.1327 left_roll=0.0013 left_gripper=0.0672 right_x=0.2963 right_y=0.0684 right_z=0.1679 right_yaw=0.7388 right_pitch=-0.1758 right_roll=0.0533 right_gripper=0.0543 state[joint_eff]: [-0.4171, -7.2137, 8.1709, 1.326, -0.3639, -0.0806, 1.0281, -0.6359, -3.5624, 6.653, 1.2332, -0.4176, -0.0562, 1.0281] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.25,"left_z":0.19,"left_yaw":0.65,"left_pitch":0.05,"left_roll":0,"right_x":0.31,"right_y":0.29,"right_z":0.19,"right_yaw":0.65,"right_pitch":0.15,"right_roll":0},"note":"Both pieces remain secure. I’m positioning them along the same diagonal direction, leaving a gap between the cap opening and the pen tip while bringing them to a similar height."})

tool

executing move_to over 19 steps (1.9s)

step 248

assistant

agent noteThe right arm stopped short and its effort rose sharply as the arms approached, indicating interference. I’m separating them before trying a straighter, less crowded alignment.

move_to

right_x0.2800right_y0.1000right_z0.1900right_yaw0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7921, 2.2879, 2.215, -1.4265, -1.0039, -1.3815, 0.0728, 0.6296, 1.314, 0.7261, 0.0681, 0.2993, 0.2394, 0.0543] state[eef_state]: left_x=0.4274 left_y=-0.2159 left_z=0.1886 left_yaw=0.665 left_pitch=0.0033 left_roll=0.0972 left_gripper=0.0728 right_x=0.3499 right_y=0.1949 right_z=0.1629 right_yaw=0.2351 right_pitch=0.0621 right_roll=0.0716 right_gripper=0.0543 state[joint_eff]: [-4.5744, -9.2376, 8.7453, 1.8926, -0.7595, 0.0513, 1.033, 12.9709, -3.6991, 10.7692, 2.3126, -2.4493, -2.3712, 1.0232] 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":{"right_x":0.28,"right_y":0.1,"right_z":0.19,"right_yaw":0.1},"note":"The right arm stopped short and its effort rose sharply as the arms approached, indicating interference. I’m separating them before trying a straighter, less crowded alignment."})

tool

executing move_to over 8 steps (0.8s)

step 256

assistant

agent noteThe arms are separated again. I’m turning the cap to point straight forward, which should allow the pen to approach from behind without the earlier diagonal wrist interference.

move_to

left_x0.4300left_y-0.2900left_z0.2100left_yaw0.0000left_pitch0.0500left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8032, 2.2929, 2.2108, -1.4288, -0.981, -1.4006, 0.0764, 0.5488, 0.8394, 0.5938, -0.2661, 0.3653, 0.2802, 0.0549] state[eef_state]: left_x=0.4231 left_y=-0.2219 left_z=0.182 left_yaw=0.6627 left_pitch=-0.0196 left_roll=0.0901 left_gripper=0.0764 right_x=0.2879 right_y=0.1063 right_z=0.1922 right_yaw=0.0771 right_pitch=0.0811 right_roll=0.0815 right_gripper=0.0549 state[joint_eff]: [0.212, -12.9573, 6.188, 0.2418, -0.7497, 0.149, 1.0281, -0.1983, -1.2513, 6.8308, 1.79, 0.0513, 0.0024, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.29,"left_z":0.21,"left_yaw":0,"left_pitch":0.05,"left_roll":0},"note":"The arms are separated again. I’m turning the cap to point straight forward, which should allow the pen to approach from behind without the earlier diagonal wrist interference."})

tool

executing move_to over 7 steps (0.7s)

step 263

assistant

agent noteThe pen is held quite close to its tip, leaving too little clearance for the two grippers during insertion. I’m lowering it to the table so I can regrasp farther back on the barrel.

move_to

right_x0.2800right_y0.1000right_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.823, 1.9064, 1.5555, -0.5369, -0.7639, -0.6601, 0.0808, 0.5453, 0.8444, 0.5827, -0.2977, 0.3466, 0.2649, 0.055] state[eef_state]: left_x=0.4203 left_y=-0.2682 left_z=0.1802 left_yaw=0.1294 left_pitch=-0.0233 left_roll=0.0454 left_gripper=0.0808 right_x=0.2834 right_y=0.1059 right_z=0.1787 right_yaw=0.0985 right_pitch=0.0348 right_roll=0.0555 right_gripper=0.055 state[joint_eff]: [0.2803, -12.4103, 7.4598, 1.6874, -0.1197, 0.3394, 0.7888, -0.1162, -1.935, 7.9111, 2.0342, 0.2613, 0.0855, 1.033] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.28,"right_y":0.1,"right_z":0.005},"note":"The pen is held quite close to its tip, leaving too little clearance for the two grippers during insertion. I’m lowering it to the table so I can regrasp farther back on the barrel."})

tool

executing move_to over 12 steps (1.2s)

step 275

assistant

agent noteThe pen is supported on the tabletop. I’m releasing it before shifting the grasp toward the rear of the barrel.

move_to

right_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]: [-0.8188, 1.9053, 1.5379, -0.5415, -0.7521, -0.6571, 0.0846, 0.5297, 1.5532, 0.0597, 0.8616, 0.3393, 0.2539, 0.0551] state[eef_state]: left_x=0.4181 left_y=-0.2651 left_z=0.1725 left_yaw=0.1249 left_pitch=-0.0432 left_roll=0.0596 left_gripper=0.0846 right_x=0.274 right_y=0.0964 right_z=-0.0033 right_yaw=0.0948 right_pitch=-0.0322 right_roll=0.0189 right_gripper=0.0551 state[joint_eff]: [-0.5538, -10.1949, 8.2256, 1.2772, -0.5201, -0.0269, 0.7399, -0.4855, -3.8769, 1.6479, 0.2711, -0.0464, -0.0415, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The pen is supported on the tabletop. I’m releasing it before shifting the grasp toward the rear of the barrel."})

tool

executing move_to over 10 steps (1.0s)

step 285

assistant

agent noteThe released pen remains straight in front of the right gripper. I’m sliding the open gripper about five centimeters back along the barrel to leave more of the tip exposed.

move_to

right_x0.2240right_y0.0920right_z0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8185, 1.9064, 1.5379, -0.5423, -0.7506, -0.6567, 0.0862, 0.5297, 1.5604, 0.0544, 0.8864, 0.3325, 0.2497, 0.995] state[eef_state]: left_x=0.4181 left_y=-0.2652 left_z=0.1717 left_yaw=0.1242 left_pitch=-0.0453 left_roll=0.0608 left_gripper=0.0862 right_x=0.2742 right_y=0.0979 right_z=-0.0021 right_yaw=0.1028 right_pitch=-0.0227 right_roll=0.0242 right_gripper=0.995 state[joint_eff]: [-0.2256, -10.4684, 6.8308, 1.2967, -0.3248, -0.0513, 0.8425, -0.2667, -4.1778, 3.7812, 1.4237, 0.1441, -0.0366, -0.2662] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.224,"right_y":0.092,"right_z":0.01},"note":"The released pen remains straight in front of the right gripper. I’m sliding the open gripper about five centimeters back along the barrel to leave more of the tip exposed."})

tool

executing move_to over 4 steps (0.4s)

step 289

assistant

agent noteThe right arm stopped above and to the side of the rear-grasp target, near its folded limit. I’m changing the wrist tilt to make that lower, closer position reachable while recentering on the barrel.

move_to

right_x0.2250right_y0.0900right_z-0.0050right_pitch-0.2000right_yaw0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8185, 1.9083, 1.5375, -0.5396, -0.7506, -0.6571, 0.0884, 0.7174, 1.066, 0.0074, 0.5167, 0.4377, 0.3389, 0.9959] state[eef_state]: left_x=0.4184 left_y=-0.2655 left_z=0.171 left_yaw=0.1244 left_pitch=-0.045 left_roll=0.0601 left_gripper=0.0884 right_x=0.2443 right_y=0.1185 right_z=0.0404 right_yaw=0.1555 right_pitch=0.0697 right_roll=0.087 right_gripper=0.9959 state[joint_eff]: [-0.0479, -10.5641, 6.694, 1.2234, -0.3883, -0.0464, 0.6569, 0.3487, -0.0479, 4.6974, 1.7314, 0.3834, 0.105, 0.0806] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.225,"right_y":0.09,"right_z":-0.005,"right_pitch":-0.2,"right_yaw":0.1},"note":"The right arm stopped above and to the side of the rear-grasp target, near its folded limit. I’m changing the wrist tilt to make that lower, closer position reachable while recentering on the barrel."})

tool

executing move_to over 9 steps (0.9s)

step 298

assistant

agent noteThe right fingertips are now at table level, centered on the rear section of the pen. I’m closing for the longer-clearance grasp.

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]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7506, -0.6571, 0.0914, 0.5835, 1.0382, 0.0254, 0.2539, 0.3103, 0.3782, 0.996] state[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0477 left_roll=0.0638 left_gripper=0.0914 right_x=0.2277 right_y=0.0899 right_z=-0.0005 right_yaw=0.1009 right_pitch=-0.1587 right_roll=0.0783 right_gripper=0.996 state[joint_eff]: [-0.335, -10.2769, 6.7214, 1.3114, -0.3394, -0.0415, 0.6374, -0.4308, -0.294, 6.8718, 1.2234, -0.0611, 0.1245, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right fingertips are now at table level, centered on the rear section of the pen. I’m closing for the longer-clearance grasp."})

tool

executing move_to over 10 steps (1.0s)

step 308

assistant

agent noteThe rear-grasp attempt closed empty, and I can’t reliably align the small parts for insertion with the remaining safe motions. I’m leaving the pen on the table and lowering the held cap to set it down safely.

move_to

left_x0.4000left_y-0.2200left_z0.0050right_x0.2900right_y0.0000right_z0.1800right_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]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7509, -0.6567, 0.0919, 0.5785, 1.0374, 0.0303, 0.2691, 0.3111, 0.379, 0.01] state[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0475 left_roll=0.0643 left_gripper=0.0919 right_x=0.2317 right_y=0.091 right_z=0.0042 right_yaw=0.0963 right_pitch=-0.1399 right_roll=0.0883 right_gripper=0.01 state[joint_eff]: [-0.1709, -10.4137, 6.5983, 1.2918, -0.3883, -0.0317, 0.3687, 0.3077, -0.5675, 3.5897, 0.8571, 0.0806, -0.105, 0.2466] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.005,"right_x":0.29,"right_y":0,"right_z":0.18,"right_gripper":1},"note":"The rear-grasp attempt closed empty, and I can’t reliably align the small parts for insertion with the remaining safe motions. I’m leaving the pen on the table and lowering the held cap to set it down safely."})

tool

executing move_to over 12 steps (1.2s)

step 320

assistant

agent noteThe cap has reached the tabletop, and the pen is lying separately to its right. I’m opening the left gripper to release the cap.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7734, 2.0274, 0.9882, 0.0982, -0.7242, -0.6197, 0.0934, -0.1509, 0.8848, 0.6903, -0.5285, -0.2104, -0.0784, 0.996] state[eef_state]: left_x=0.393 left_y=-0.2152 left_z=0.0048 left_yaw=0.1341 left_pitch=-0.082 left_roll=0.102 left_gripper=0.0934 right_x=0.2897 right_y=-0.0031 right_z=0.1673 right_yaw=0.0563 right_pitch=-0.1483 right_roll=0.0848 right_gripper=0.996 state[joint_eff]: [0.4171, -8.9504, 5.2718, 1.5507, -0.2515, 0.1245, 0.5641, -0.3624, -1.6068, 8.8274, 1.3309, -0.232, 0.022, -0.1734] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The cap has reached the tabletop, and the pen is lying separately to its right. I’m opening the left gripper to release the cap."})

tool

executing move_to over 10 steps (1.0s)

step 330

assistant

agent noteBoth pieces are released on the table, but they are not assembled. I’m moving the arms back to clear, raised resting positions.

move_to

left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7727, 2.0338, 0.9798, 0.1356, -0.7517, -0.6312, 0.9957, -0.1547, 0.8913, 0.6914, -0.5503, -0.2207, -0.094, 0.9974] state[eef_state]: left_x=0.3961 left_y=-0.2127 left_z=0.0067 left_yaw=0.1572 left_pitch=-0.0502 left_roll=0.0883 left_gripper=0.9957 right_x=0.2867 right_y=-0.0019 right_z=0.1624 right_yaw=0.0705 right_pitch=-0.1725 right_roll=0.0856 right_gripper=0.9974 state[joint_eff]: [-0.3624, -10.3453, 5.8735, 0.9548, -0.0708, 0.0562, -0.1538, -0.0205, -2.2496, 6.9675, 1.7705, -0.0366, 0.0904, 0.1343] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both pieces are released on the table, but they are not assembled. I’m moving the arms back to clear, raised resting positions."})

tool

executing move_to over 19 steps (1.9s)

step 349

assistant

agent noteI picked up both pieces separately but could not safely align and insert the pen into the cap. The close approach caused arm interference, and the subsequent rear-barrel regrasp failed. Both pieces are now released separately on the table, with the arms retracted.

give_up

hindsightFor these thin parts, calibrate the actual jaw meeting row with a brief empty close: wrist tilt moved it substantially, and treating the bottom edge as the grasp point caused misses and displaced the cap. A near-tip pen grasp left insufficient clearance between arms for capping; grasp the rear barrel initially. The left arm tracked poorly during large positive-yaw turns near the center, and the diagonal two-arm approach produced interference even with separated grasp points. Near-base table grasps became reachable after changing right pitch from +0.15 to -0.2, but the rear-grasp attempt still missed.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0647, 0.8261, 0.6384, -0.4015, -0.1234, -0.0971, 0.9964, -0.0429, 0.8124, 0.6785, -0.4789, -0.0624, -0.0563, 0.9976] state[eef_state]: left_x=0.2981 left_y=0.0061 left_z=0.1832 left_yaw=0.0798 left_pitch=-0.0118 left_roll=-0.0038 left_gripper=0.9964 right_x=0.2913 right_y=0.0021 right_z=0.1888 right_yaw=0.0253 right_pitch=-0.0526 right_roll=-0.004 right_gripper=0.9976 state[joint_eff]: [0.3077, -2.1949, 10.4684, 1.7411, -0.0024, 0.188, 0.0659, 0.5128, -2.5504, 7.1316, 2.1026, 0.1245, 0.1636, 0.0073] camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both pieces separately but could not safely align and insert the pen into the cap. The close approach caused arm interference, and the subsequent rear-barrel regrasp failed. Both pieces are now released separately on the table, with the arms retracted.","hindsight":"For these thin parts, calibrate the actual jaw meeting row with a brief empty close: wrist tilt moved it substantially, and treating the bottom edge as the grasp point caused misses and displaced the cap. A near-tip pen grasp left insufficient clearance between arms for capping; grasp the rear barrel initially. The left arm tracked poorly during large positive-yaw turns near the center, and the diagonal two-arm approach produced interference even with separated grasp points. Near-base table grasps became reachable after changing right pitch from +0.15 to -0.2, but the rear-grasp attempt still missed."})

tool

give_up: I picked up both pieces separately but could not safely align and insert the pen into the cap. The close approach caused arm interference, and the subsequent rear-barrel regrasp failed. Both pieces are now released separately on the table, with the arms retracted.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 6.934 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, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9993, -0.017, 0.7914, 0.6094, -0.3767, -0.0231, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.4974, 10.5504, 1.7753, -0.0464, 0.0806, -0.0855, -0.7453, -1.2103, 9.8256, 1.7705, -0.0122, 0.0513, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dce719beb25c4cf1f2fdf23234db62690267ce732057b5648193fcc0bfb4314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d871d9e9fe891afd9e6ad8c682a1d9e1f19264634f3bb634b5c016c2212241fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f389331541b0fb5ddb4df55d0bd7bb232b3ceed89e07ba0a9bf3038bd00207",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.364 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtFkoi9mJkc8gaanNDKnN1AK71-cKnAVjvWt5JS2h96iu__IsdbYvX4YHIkcvQ2Rdqaq-XCBLWnfnFa5vBcDv4ZIkY6VkGZoYIt0LuEL7ulUyN59vECFx606ACcOFSWDRwDT5h-u0BfIGbgVXj7UjZR-BdkNkC8ib9hgDR9DepRPb0q0QAVFRVbgoo4ZdHBEEV9gEWlpwZVT6V65SmK39tGGSp0BP7nPy-J3UI73uVyaqxi8ARxtCfQs597lScssxcFJmpw6bDu85nF2b2y9gA32NdyiwEbmjlOQdY8wXrASYIPLnV1puG2M_wkI4NxaiN0THzeqzy6Huce3Tel5o22dI9rYg4dlmjs-mm8Quk8wMYrZggGJl8qm5Pk53iMzu6i2WcgrXsAcKhvQHpj6sVHjUjlkfmEHQhNHl-JVP5wQfUbfeepm0CPXzsVhOm1xEqwga7ix2-th8Sfi03jdm6y-leANvWye0B07JB94L2J4vzYqvEqxVK-8fzNORakOKVsmQ5gYVZQm51AGJBoB0yIWnio2l5QCTA2FoOuR84YojH7aE4gJKXs7gvlPEZSjjkkynbcjiS7I8o4dcNrpU4OtL3nO2ltCpLxPVI60vnYtOTswogBRs3i2TUCu1QWPr10mfgOMB1hu6wE0PPuoVxhrZmRxxNLcpIKzpqsYm_HruQejNVFELec75DtzMfyPzaywsm7AgfVAAutC-aUdGeQWD0WMliKkraxsrvjqVJoyg6RKMcjtp3OLXl1MP_hT8Y66mCwqldooE_Cmm9UiYCVR58uVkshpMy1-N5hOTztFh81r5U-z4yqNImgdj_b8bNzMfNB_SpkJDxCJd9mn3pMLNGPr4ylHfzwgqcx5tNzxtZFKBiwoThnOqXZ33YBZCJ5EGi8Xm1YsFw06ol3NRGzI6BOy86EnJkd8PE90y8eYWya9peBHh_TvzvA5Lh1PXMTyp4tyCoHezJDhHOe66oP-BCEsNWccaFwjghQRpfWUV7FDAV5vXXnxC2f7FfIz-tXXUUSYnTWNhZsdAfUTRquEg50AnSb9tb88J-cqpbwzkWj0O_EleuSgJEx4oHjnNYT4T0bQuY375xeAbnyd8Cm2lgsUaqBlEedjPQmNngq83nligvbHU3ySCFci4s3uf9WfbeLOsyT0FafImXPf_EGCFeTmYrHdaQcEmBIy-ku9xCws9TvhvSJIIlNTwpyVhFTiaIVptCilb2864W_sxK8i0FUQEeWMe3cDwLH7KX19zhwU2uLQ1GpFC0l1db2DVpWxV1QLRCOgoOQW3RdLFBk1O0ZUpqfO-Iu0ipzGtxJSvrjP3xsHke8EFlIMQsAbgtSlLHGRMDfcsBut92og2R8O-5eTGAitNvwL7eONNYNoZ4X2fXQfsCb6UPy2Nz66-bNIYg8HYRRg0HPJP0wAyVPqh3b4ugjy2FS6396zO1KUot0HNk8IZf8-PV6vR1b09HEYKZaDdTH2_N7jE1wZIBv7cZPet3ev1gdG1kXzWp4DqFi8-ebD5lXN4fOsG4iSl0AgZEc4REOfytLLrSs6hXjXSNOyerKRxRanwK0b-Z0e7QJNfQd_eVRVOtgz0fGWZg8eqLoi4ozZlvxLJILifQhYnnxX08vip9-09osS0CvguLniw0h9XoqiW8OscN4p9VaQ4i3IaiQquwvby15gEDoGCW5oAtHMn0xW0UWj6qq_zjtGlOkCCcFq8vSY-u8L_jCN9jIdpVAmRJ8gEsGdaKgPB8maxpxH5a1WxkIt27I2uBtpUC_EKt74y4T5qL3MzAgFr1myGWJwxfK6RCOGigQ0qGXnCf0GHhjKzTcSrsC1h9cdzsCONX01Ubdn3Wt5zNIhXK1t51spW6-e6Z4y1eT_sHtcZstqVe3VnNiJ8dBs_Mpp3Khy769PbH1oLW-Bj93YNB_ubiWvE5ch-FwguWKxXL0LlIO_op9gbxizWYFCe6L6qZ7f-fx0ZnLt4h5WeeiIUjS_4OBEVLCd3gzOKhuk1zM6YHP8LP8YP8HF9KreluyxXqOJc-oWaT6TsmxCW-sa9yYgDQcIOO9Z54sdKbG0yG35cJjr8X_8IA2QOmojb6GsCv4paglyhpwsU0EilQIHPG7jA0v9jqL0ZKtsLJUqazcMP38-oM-tstN5yQdofstWuBXutvhvIC1D3Gz56_Qfu9v9hrq1fs5myXQ2L-HT2d1Yk-Nj3oMe788VvvXQV3vXtYdFLZB8UYwlaP0DIjVLhPX-8Ob1smRwE0rA65JkW5g==",
  "id": "rs_0f0c42847012e2f1016ab45922ca9087d08cd573047c177e6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.15,\"left_yaw\":-0.7,\"left_gripper\":1,\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.15,\"right_yaw\":0.75,\"right_gripper\":1},\"note\":\"The cap is left of the diagonally lying pen near the middle of the table. I’m bringing each open gripper above its object, with the jaws oriented across its length.\"}",
  "call_id": "call_HG18zRd5IFTak03MvTDapPZV",
  "id": "fc_0f0c42847012e2f1016ab4592728d487d0af8caa9cccdac050",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HG18zRd5IFTak03MvTDapPZV",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4175, 1.5532, 0.9016, -0.0212, 0.1871, 0.1001, 0.9993, 0.4198, 1.5852, 0.9417, 0.0013, -0.2523, -0.1753, 0.9991]\nstate[eef_state]: left_x=0.3878 left_y=-0.2041 left_z=0.1234 left_yaw=-0.6413 left_pitch=-0.0868 left_roll=-0.0295 left_gripper=0.9993 right_x=0.3906 right_y=0.2266 right_z=0.1327 right_yaw=0.7117 right_pitch=-0.0601 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.2274, 9.894, 1.9267, 0.1685, 0.2906, -0.0855, 0.3624, -6.9812, 9.0735, 2.0537, -0.1929, -0.0317, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00936fabf71fa49fd3ccee4442828246739c41953fea63e17618073e89b3b34e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd5af20676cb236425fc808bd1ff62394baa6bf6c53b7252169435b5473d19a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c2e40cf6b86f2cb367b4c19b26e5722cae673831f8cf95c814344f78ac1cb4",
      "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 · 7.185 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, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9993, -0.017, 0.7914, 0.6094, -0.3767, -0.0231, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.4974, 10.5504, 1.7753, -0.0464, 0.0806, -0.0855, -0.7453, -1.2103, 9.8256, 1.7705, -0.0122, 0.0513, -0.105]",
      "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]: [-0.4175, 1.5532, 0.9016, -0.0212, 0.1871, 0.1001, 0.9993, 0.4198, 1.5852, 0.9417, 0.0013, -0.2523, -0.1753, 0.9991]\nstate[eef_state]: left_x=0.3878 left_y=-0.2041 left_z=0.1234 left_yaw=-0.6413 left_pitch=-0.0868 left_roll=-0.0295 left_gripper=0.9993 right_x=0.3906 right_y=0.2266 right_z=0.1327 right_yaw=0.7117 right_pitch=-0.0601 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.2274, 9.894, 1.9267, 0.1685, 0.2906, -0.0855, 0.3624, -6.9812, 9.0735, 2.0537, -0.1929, -0.0317, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00936fabf71fa49fd3ccee4442828246739c41953fea63e17618073e89b3b34e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd5af20676cb236425fc808bd1ff62394baa6bf6c53b7252169435b5473d19a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c2e40cf6b86f2cb367b4c19b26e5722cae673831f8cf95c814344f78ac1cb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFkuTHWgKQCeEztslxhVZ2yhQSGN22UZrutO3-73tzVlT9deozOZP1XkY84GQ-B7QvTIo5kPbY31dXKxW4mKXHVHjgeHsaXF2CTtZUxLk9ZNL9cVL1rAHIB6SUYzu27D-YsE3wSZzeMKz7t__L3Y89v5hEovJCgdZlySDvidTRhlu_mLH42y9mX3cSPjhx--pmeqbBJOPUl7gk1mXQ6qyjjrdouIGVcUh0cIPwfUPkoPYHhNpUQikMnvyK2FGo_EfdvkchiI91wCbgUK7vkDquHY0rYG3u1b8cV-ZWTRddu0zOVHgovLUKfDC7KbIESMXc_bjV55jFFp4JL6vPkZAdhwUJqYb-itATUeVQkZn-yRAsE3MtryIE80Ec1MmsDRjGx12hCfM4f_uvoBtSIbhnRw3Oa8A1XwK0XVRI3TNvzpjTs5hJ-q7aPidPvIdlrPqD5z87y4DfDgJwa8UjKP_W9uJle17GypCIctRte-Xz3_rr5rZxJDtr8cWQG13V_SnAHUCvURUhFIUt8ypPQA9D1N5PEy3g1zyOybTXFusLn0v3SDxHdGshl1ym43lbFaIMhTyIgBJ8gaTqvJfqLYYZhvunQojV1QtMniwYSGZ7qo9IYQXMbKJ-1aXFHIEg1KGi2MKZo6t8brj3xiUbiZCVSKy8VbktGeM5kruAf9dAVAUH29miL1QwZTqNTc-NyQrI5rL1-7okm3tpTX4djs8H9ytBgBSdxCBeDu3PhUvclmfz8EdAuE_Cd8d5b_rNm2Y9gfpkLkNrI16u-ljNH-43lFK0kv4EH666HDVaDzENQM4ZUC3Utf8K-XBaFwaqU_Sqc9iwAvajjOu8Nsl9ivpVcySMcHn_21heGSDTpRwxLWQsGdPG5Jf0sp3HaHkRhWh2p0q3vI2URhUEiJC2C110Tu8x_X_CKYUbon5QnhKatulxvTo6PAnKWNutQzMs21YSEOVISK76y5d67ZeH9RDkdKHx_kRJsQS7QwiSUB_fwfNiqjiCE2LXchR0r8-EfhQSdX8l952XOm6OqFU1egbNcRpFyE0lJQOHAxrMWllZpT0txYjqr7n302oVM_gXOU-Zxu2hu_k265Am_27Wd7r0gjoMF71NMaVRkq95kouSk5uW9Ctq6qO4XUwIDzegr4s7GBHTeIgSBIEtLB1Qd_M8eNXOmA_z0ChO6sJNYrHWo6UFoblTCKL3Op4kFl923ao3nfTz10bsAwABCJ6CqtguX-mxYJWsn-rOa8kJA1ty6dpGd50cI2VHuS6Av01kOcDrssbGGNGsK2vd5Vuc8yLZuDnqkwkT0yabBSxPqC516WkJVzOzS6Fa9UfL-_cF_GJrF0MzLG8A_OHwY5rKkae_E-NN05JEan8r_PiLP14lj7LEezAWlfZYaFTilnTBAr16tx7N0NwSMcFARVvfX1KEOr5nMH9bV9BhowGU-_G7WOigXCs3GnDgVrVQgj527N1Jd037oPtMpIhuOEFbfW1cEJnf9bEjYpmutLbs-G9uObPu0=",
  "id": "rs_0f0c42847012e2f1016ab4592ba46087d08e1e87db60b2fe4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"right_z\":0.035},\"note\":\"Both objects are near the gripper centerlines in the wrist views, and the pen is aligned lengthwise between the right jaws. I’m lowering toward the table to check the final grasp alignment.\"}",
  "call_id": "call_gkSQJN0gMB1aoPLQLQmg2BsQ",
  "id": "fc_0f0c42847012e2f1016ab4592d134c87d09da6bccccf9bbeb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gkSQJN0gMB1aoPLQLQmg2BsQ",
  "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]: [-0.4194, 1.7573, 0.7315, 0.2905, 0.1875, 0.1059, 0.9993, 0.4206, 1.8072, 0.7616, 0.3439, -0.2592, -0.1875, 0.999]\nstate[eef_state]: left_x=0.379 left_y=-0.2011 left_z=0.0297 left_yaw=-0.6483 left_pitch=-0.1476 left_roll=-0.0394 left_gripper=0.9993 right_x=0.3823 right_y=0.2245 right_z=0.0314 right_yaw=0.7262 right_pitch=-0.1154 right_roll=0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -7.6103, 4.9709, 1.9365, 0.0464, -0.105, -0.0122, -0.1026, -7.7333, 4.8889, 1.8632, -0.0806, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5acbbaaac0ad2eceece047553f71f2f8287a0d13bf764a28f69fcc22cfa59494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b3a82515728823648fa1671dea35819c8d1d40ca2af05be57791ad7c542085",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb7b666779d15b92ef40e44300aca6c689c5aa1467c20a8682c2f0b01a9c2ec4",
      "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 · 6.286 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]: [-0.4175, 1.5532, 0.9016, -0.0212, 0.1871, 0.1001, 0.9993, 0.4198, 1.5852, 0.9417, 0.0013, -0.2523, -0.1753, 0.9991]\nstate[eef_state]: left_x=0.3878 left_y=-0.2041 left_z=0.1234 left_yaw=-0.6413 left_pitch=-0.0868 left_roll=-0.0295 left_gripper=0.9993 right_x=0.3906 right_y=0.2266 right_z=0.1327 right_yaw=0.7117 right_pitch=-0.0601 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.2274, 9.894, 1.9267, 0.1685, 0.2906, -0.0855, 0.3624, -6.9812, 9.0735, 2.0537, -0.1929, -0.0317, -0.1099]",
      "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]: [-0.4194, 1.7573, 0.7315, 0.2905, 0.1875, 0.1059, 0.9993, 0.4206, 1.8072, 0.7616, 0.3439, -0.2592, -0.1875, 0.999]\nstate[eef_state]: left_x=0.379 left_y=-0.2011 left_z=0.0297 left_yaw=-0.6483 left_pitch=-0.1476 left_roll=-0.0394 left_gripper=0.9993 right_x=0.3823 right_y=0.2245 right_z=0.0314 right_yaw=0.7262 right_pitch=-0.1154 right_roll=0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -7.6103, 4.9709, 1.9365, 0.0464, -0.105, -0.0122, -0.1026, -7.7333, 4.8889, 1.8632, -0.0806, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5acbbaaac0ad2eceece047553f71f2f8287a0d13bf764a28f69fcc22cfa59494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b3a82515728823648fa1671dea35819c8d1d40ca2af05be57791ad7c542085",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb7b666779d15b92ef40e44300aca6c689c5aa1467c20a8682c2f0b01a9c2ec4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFk2TWKa1o7RmGJbqkPIYFQoT0oUoMbD_QSdvzAmWztpWyQ_oMfP-9YyGmfoHaa7UtaiQp1k0Bqz_h4zEKS-SvGh42s7MsSWFZ4vqTqRUV5yAjc6S4slMJs4Uc0CY-tGOE1w3TseNmwesJ6gN_MoCdP37jRiYGcgd57CJGZRD3FCGFw8y_BQwChgzHQF1NvBLqAUO6CF9EfmyP_D0XoLPmfTsTjB4cVhY4K1TFBZt3o0FxtUk5EHN9s6twj5wZhQThb0Kjhqrl7wbrKVvW2U4mx6ZLB1W-XoOVG0vRIjkd_wXWKhskUejpD5vS1oc6OmJpIibkJN2P4TMi4-d_lOtIs57VaXgGUZkpVxZ6pAQphOipzeclHsM_wxvGvA68S9h0jKepX7thrgbwGwt5aN0oGsRWt_Nu88dtf_L39TNdiuDnF9mSuq3eaQACCzk5S3hXGAoxBeAH6FL0Lwa7AzpJtH-2_2utLDWDac8crRjnl4ghF8_yp8u1NAXCdpaySvKiecFmHANuQc_SbVxsYliOeRqCTiE_GgMga6FQOgJkbQRLtK4LhAWjQP2VbCBAWxPKRCXp81HFFXDAD0DHdPma7Ot_FjG6GwM54ty5l9SvbEh0onPumRkDOMVnCjxAw02xiR_aleZYF4FTo6sTjF_g4265Lfj6tDjqOo2WMy85uqVTcXDE8sdwb1wmmI7kPj07iXsVeIGsTlqRSOzRAkf8TPDeNAFwh0wrs7MNx-0DRJQzNGgr56oWq-xEqok4ZOYscJdEm5F53aJ6HA71IjYmDXlvf2b3iQYxPKxXp7qCd3aq_GgHYSaO68CkYUpAkUIUy4dlKbbpcffEzGgv4OHb-9IsXeL2PovE2HiyDF6e-l-z-Yio_Bm5553LNC8MK0V9YnXiarqiRr9TjAlHjDc9aBxaIyPSo2SQ0bYxsMiyHeW7v6smhP0-z_dUKrUNv4QKXokRDqrkaGAylbyg1x7Texdc31LjQCw4w2GD60tIdMA4c2kuaQgP8JxRyg682J6Rxl-BFMGWRSNgooobH6okWMJUz--mh0cU7TQiBYevR9LlmuBXa5q5d6PlbXmjrX5eALofO_gyU9aFeH5AttKAVC9lcb6yYCeQavXTz7EE3rzi5XtiOudiVmdhkamKMwioAfcOVmrdpPsS-ZIJZA28FP2nMM2svDB9q0-kSbT-PebgW3ggUu7CCAcu9E5NJ4RlJuTepYrWURevL4TWI-1ZYZqmvFt20AoimF-LWOErb2wD5GZLP9cN1C_eH9gV57Wza4Qh5ngz-wZ_WdEZhy40KWqGRyBISiHsTPX4iBNDY3AFjcCfkATXXSd1B1h9guzAQyt95h4np5YOBMY8p62YxUkUUdLMWlYThvV1M-k3H0nSFhGmNibfMHP2WAkvy-Gh7I010RvLcuCxkH1NxsRRcVAFZzFiSuv_Grp8Wzez7vBpbApOZ7S4FRo2aXkD88qrzfQ_tZs3FK_Y7UxTM9Rc7SjN_qOhyQN3ujMkgHOKEFAdXkLZdKICk8Hd_WFpomrg9jfatBDrElUJYf-HjwhVt3sIBp5cjUn8Yjvs_nymrUX3DPnpnxvgbp4ugtWruGjAUprAtu5RvGgbd-6D48UnhyP7XNqmjnI8HYZopACKLDiZMVkUOpPshaXDuCVyl8NGIKPuIAp3DM-MsqFPuNI32mTZ2XJstbW7XtS6KY6utiUY1SZ0bI7ChGfjcdv_lCNm0kJ3giViqDzSDT4CaGhKp0IwfttGub8S9zGrFiaEu51yUXjh95L9H7PrUneTbM7PTtkOYSG9S57U0JsheIpW0n5O4_ISJMBaaa-4It4o6_U8FNeyGSxQtoX-6gp0CIbjf6MJtoZ_NZ-8yg-iLxndVG2Wocy3M5i9uAVk2oqGDfSpBe3C3HXXG-Nu2eENtxoPwkPVkteyx-7go24iIALcU3PqsuDDvKtBxQWqXFYryAZIJdC8VZne176vSM81wdnYSdAGsUaEDEsaWboV5w6i5nhBf0Qv29yXBOZsqoj0SlBzQo_SChamSgOu0pLV4iocWp4neAo-8mWJEGc0TK0vEWUOtmm234nJhUWKyq4olqFwwNLYzXhF1zhjfwvKtTw9H19FN9Lfon5MEgcFJ2IaRDTy4C353U943999W7vrkVOhMjMDCrbAKYg-7vIvTmFvstakPzRKTdWTgYqkFSdRfsXHdnrt5VeQclOfUsR2H32rsLzMdF2KtykWd4M0LdbIk0S7-U8bpw7krNimE1WciT0-gnQLG1QffEBcbZDH_eOJ5VN5JYB3CdhqlSie-B30CT6qR1oNm6lfVz7MfmuEKY5IATJ6geXa7YM-A61gjgBA8=",
  "id": "rs_0f0c42847012e2f1016ab4593090b487d0ae86cc898f35814e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.232,\"left_z\":-0.008,\"right_x\":0.435,\"right_y\":0.265,\"right_z\":-0.008},\"note\":\"The cap and pen are still slightly forward of the fingertips, especially the pen’s middle section. I’m advancing a little along each object and lowering the open jaws to table level.\"}",
  "call_id": "call_i45jvvIeH0tQxStNf9n7AtFK",
  "id": "fc_0f0c42847012e2f1016ab4593530b087d08f8aeeb29aff9f36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i45jvvIeH0tQxStNf9n7AtFK",
  "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]: [-0.4465, 1.9846, 0.881, 0.4004, 0.1562, 0.091, 0.9992, 0.4545, 2.0697, 0.9886, 0.4152, -0.2398, -0.1883, 0.999]\nstate[eef_state]: left_x=0.4197 left_y=-0.2274 left_z=0.004 left_yaw=-0.6401 left_pitch=-0.1208 left_roll=-0.0237 left_gripper=0.9992 right_x=0.4334 right_y=0.2625 right_z=0.0067 right_yaw=0.7433 right_pitch=-0.0847 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -7.3368, 6.0786, 1.0965, 0.1099, -0.105, -0.0171, 0.6906, -8.0068, 5.5726, 1.2674, 0.0024, 0.2222, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c415ac9823ccf3674d89469d0409b33975bc5c71599530b3d1595289633f64b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b519847003ab572cf540c96c647711edfdba8da391538f3cb50f7e3bdef92c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331d2d33c4a05cb14af1d56bd4c0baf5384000460faa3021a296fa0bb7bb4b8c",
      "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 · 5.255 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, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9993, -0.017, 0.7914, 0.6094, -0.3767, -0.0231, -0.0227, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2957 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.4974, 10.5504, 1.7753, -0.0464, 0.0806, -0.0855, -0.7453, -1.2103, 9.8256, 1.7705, -0.0122, 0.0513, -0.105]",
      "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]: [-0.4194, 1.7573, 0.7315, 0.2905, 0.1875, 0.1059, 0.9993, 0.4206, 1.8072, 0.7616, 0.3439, -0.2592, -0.1875, 0.999]\nstate[eef_state]: left_x=0.379 left_y=-0.2011 left_z=0.0297 left_yaw=-0.6483 left_pitch=-0.1476 left_roll=-0.0394 left_gripper=0.9993 right_x=0.3823 right_y=0.2245 right_z=0.0314 right_yaw=0.7262 right_pitch=-0.1154 right_roll=0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -7.6103, 4.9709, 1.9365, 0.0464, -0.105, -0.0122, -0.1026, -7.7333, 4.8889, 1.8632, -0.0806, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4465, 1.9846, 0.881, 0.4004, 0.1562, 0.091, 0.9992, 0.4545, 2.0697, 0.9886, 0.4152, -0.2398, -0.1883, 0.999]\nstate[eef_state]: left_x=0.4197 left_y=-0.2274 left_z=0.004 left_yaw=-0.6401 left_pitch=-0.1208 left_roll=-0.0237 left_gripper=0.9992 right_x=0.4334 right_y=0.2625 right_z=0.0067 right_yaw=0.7433 right_pitch=-0.0847 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -7.3368, 6.0786, 1.0965, 0.1099, -0.105, -0.0171, 0.6906, -8.0068, 5.5726, 1.2674, 0.0024, 0.2222, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c415ac9823ccf3674d89469d0409b33975bc5c71599530b3d1595289633f64b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b519847003ab572cf540c96c647711edfdba8da391538f3cb50f7e3bdef92c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331d2d33c4a05cb14af1d56bd4c0baf5384000460faa3021a296fa0bb7bb4b8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFk9qHwaYHDX5WIv9WWjIHZTwjcVgmD4ppjKuR4QiUUL9VDxNzzOifzOMpNSFMCrKx9pw3lTrOgZ9Qdm2xyMh_l2PrZG3i-ICjRIUR_yrbFlshxwkO3GoD49ai3CdBwgKkwoGf17yFpjZho6eG4mT5Tl-u_HIq_z2tKDEBeljoO6Y4Sse1q_qFYTGw-l4e5dHP2JwyLmGKT4D0q9fw2B5ZskYuHnOE4PwMQ9deFcHs61NT1NCus1l6mVtlj6LXzB6xSuyeJdivm2xfepsWOJ1zQibQzjuhqJ5lHltklSomiDG9Yf_LETVZxFzTbPYN1rEiZVNnKEUz6u7gclVWEuvlPZertUrxf0K0ac64OiVgdZYr_bChsn87mH3ysTTlj-Ph1Jnk6NKgEDz1iGou021SZiU1Rt1MtQKdvjat7pTuuYSJjtX6U6ZVLXi0XRvF_Aa265yDVhXjO45Jnx0_R_DD_3arQDoTKfS2ISHXhFzqywXphd_C8zZvIjQJAywa2tw11SMTMrX5roqxVck-XAXkHLS59G4iki1_6yQqR7y-Y0JvzC0lYo-BNg1w8A7GaXjUGxP86lpkRXfQuxxR0mut-YZGuWEqF3lgrgURnTabNRHgWIGTCWdTP1qzeDs2Nq5-gY3D-Y3qHl77FLUxVZY4o6a9vosfTgyjSaURRkkZmPl9h3riW_PjbKhRBADrhD5Me4TXQYSTavtTMfuFdIK6NbLQ8geU1oeszVTRJaD0UfvTr86OafI18xMeT-NGdxd5-4UQ8VPyu2dcOCxVrdiQszIKCmyigoG8RcNVadiWGBSaYtCi-lbhi7Ev7SCg4BeXqdxTyU2KegFC1iqkNXihDFRrGvLl-UDpt-2NYa1rA060RLONAip7xHwhVX3P1DUnwCxq9rKC1QYBDEuNPLMQzMkSw6VL9m7YCx-Zvg5eN6u_ekFqQ6eAq7KTIjhIGff5DlXsgxgCTi8FvTn41yLz4C71he8DROH83c9gkkgf1aNGxwBtChh9KQEIrVy1WxEm2mNt3v5_Rl1iq5uUc7Cn_myJOGwhRSY8wxi6TDVhR3Z5yVk9DcQwjPIXpH1N_BWwppJi1RcEWzPz044eF-ALqcu-Y0fkdkAbCzjXBKxUeJPUo4kaHfDV71y__UrHOMGAsE4ZFDh7CzqqNmiKsZ6C4DV1J0x9UQfp4dklXI2cTwL7brthCZqV-5IJwP-eWFugF13YOpRXbfu_K0mbnvsGCr013zo0kkXLNr1b7bQk7L8kHWh0hjzKpDAE5JabyG1-POKX68LhseqXVeYr7qYnpRUuXO6XtA4ogjuP4xAOGEZq44OW5pXNrZJfqalqbxgHaj-czDYPP_3fIuByiW7SOGJ8MalQmXdnEXdqMunKHG_yeGLULE17H-sZ3kVhrSh2MCSldnGFP-1879cNabMy1uDLtaA2y7veP1AjpgTI71y3_tQ-pGapPFgrdmQfCrCjiem9Rzo14tY7z_V9Iy7tqNibmomiFTt3Y5tybraL8ydnwgb7mu33kc-BQv7wZQjcZyRHCKMaTIn9GZy9dFrqGRrEzxHRVtYopft2zAF50F1I40q7GRzNbdQ61j7jGENxncOjY1t69MxtoT8eCjBrlttZhLpKTLGJPubiQBzw0l6icCPffYxTdLtYP7jEL-4juvLptwWnjYIzOfLp-PwUZwZWnTqDwr1Ay-VPUATT2MBqV3rTzXN8j9OXTESzaXzDARwvKMZ6MiOgn1AFk0JXMJcjEFatzaLANsWcQKorrYnW88XcMmB645gjZ64zUE1HQqpYx4-4czXagnbiKL__GbPUZ2lUWP2Jo5zVyZwV_AA-oMK2CeIWLdKS9_WjcM44B6-lOa7Udorr7W0A9WYfQ7jh2m6JAT7Zjz2stfAPOp2bngeblqsWRXwv1m6GZVeCXEPqTMa10NVCsL9WAy584A3YE-MN_t5bVX2l9LfAzaNdWVjZQTcQCF5h6nwWKMrKZGuNovbTF1XrXUyItHGkUZp9n4eqlaN9Ib38WydnpC3Obf1XgNZ5JxcloVwnBSf_aQWajFc-rrDEGzN-Y2Rr8yNKmgKkx07GqVtEsGTxDrMX3Gml9oWewKW-NzyO3zYIb59vz_DJ_pO8DrCxDX5DR-rIGdqDagmiDpOeLyQ_b3elIP2goS0DTNXK9MN0HKYDcnhi8xH3rhTHhE4qsQJaV4utXChucROPTE8iA8hfyHrKJ6xZWqrHkZ66GHVV1bK1euJVDIJrXgdOlfocfZwmXBDH-MDD8rhBO99bhPdH95aWiSdfttq-eOv7Uhp5ATjgp8xlT0E0wVinPH0ibI-KR3nA==",
  "id": "rs_0f0c42847012e2f1016ab459384d4c87d0b7fe568d0660f7a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The fingertips are now at table level, with the objects disappearing beneath the jaws as expected at the grasp point. I’m closing both grippers to test whether the cap and pen are captured.\"}",
  "call_id": "call_UQdgeQn4St1PadR8yDPOPZ4c",
  "id": "fc_0f0c42847012e2f1016ab4593c02d087d09f8084fb5c38d345",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UQdgeQn4St1PadR8yDPOPZ4c",
  "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]: [-0.4469, 1.9999, 0.8867, 0.4194, 0.1539, 0.0879, 0.0088, 0.458, 2.0895, 0.997, 0.4408, -0.2409, -0.1913, 0.0088]\nstate[eef_state]: left_x=0.4228 left_y=-0.2287 left_z=0.0025 left_yaw=-0.6366 left_pitch=-0.1117 left_roll=-0.0228 left_gripper=0.0088 right_x=0.4364 right_y=0.2661 right_z=0.005 right_yaw=0.749 right_pitch=-0.071 right_roll=-0.0032 right_gripper=0.0088\nstate[joint_eff]: [0.1026, -10.6735, 4.7932, 1.409, 0.0904, 0.0171, 0.6129, -0.4171, -12.041, 4.5744, 1.4481, -0.0611, 0.0171, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ea1b282101fe1506058ed14afa775125cf2551b00110b16d3de118bbb2ad71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e301f84cb0a7531dfee796ff85ea2c89e2b3242fd74d1d7de9942b8c61950b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c9d9542bdeff1f1bfa35dd1ff694f132671ab9758f9518486e498061fb8c89",
      "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 · 7.363 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]: [-0.4175, 1.5532, 0.9016, -0.0212, 0.1871, 0.1001, 0.9993, 0.4198, 1.5852, 0.9417, 0.0013, -0.2523, -0.1753, 0.9991]\nstate[eef_state]: left_x=0.3878 left_y=-0.2041 left_z=0.1234 left_yaw=-0.6413 left_pitch=-0.0868 left_roll=-0.0295 left_gripper=0.9993 right_x=0.3906 right_y=0.2266 right_z=0.1327 right_yaw=0.7117 right_pitch=-0.0601 right_roll=0.0138 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.2274, 9.894, 1.9267, 0.1685, 0.2906, -0.0855, 0.3624, -6.9812, 9.0735, 2.0537, -0.1929, -0.0317, -0.1099]",
      "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]: [-0.4465, 1.9846, 0.881, 0.4004, 0.1562, 0.091, 0.9992, 0.4545, 2.0697, 0.9886, 0.4152, -0.2398, -0.1883, 0.999]\nstate[eef_state]: left_x=0.4197 left_y=-0.2274 left_z=0.004 left_yaw=-0.6401 left_pitch=-0.1208 left_roll=-0.0237 left_gripper=0.9992 right_x=0.4334 right_y=0.2625 right_z=0.0067 right_yaw=0.7433 right_pitch=-0.0847 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -7.3368, 6.0786, 1.0965, 0.1099, -0.105, -0.0171, 0.6906, -8.0068, 5.5726, 1.2674, 0.0024, 0.2222, -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]: [-0.4469, 1.9999, 0.8867, 0.4194, 0.1539, 0.0879, 0.0088, 0.458, 2.0895, 0.997, 0.4408, -0.2409, -0.1913, 0.0088]\nstate[eef_state]: left_x=0.4228 left_y=-0.2287 left_z=0.0025 left_yaw=-0.6366 left_pitch=-0.1117 left_roll=-0.0228 left_gripper=0.0088 right_x=0.4364 right_y=0.2661 right_z=0.005 right_yaw=0.749 right_pitch=-0.071 right_roll=-0.0032 right_gripper=0.0088\nstate[joint_eff]: [0.1026, -10.6735, 4.7932, 1.409, 0.0904, 0.0171, 0.6129, -0.4171, -12.041, 4.5744, 1.4481, -0.0611, 0.0171, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ea1b282101fe1506058ed14afa775125cf2551b00110b16d3de118bbb2ad71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e301f84cb0a7531dfee796ff85ea2c89e2b3242fd74d1d7de9942b8c61950b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c9d9542bdeff1f1bfa35dd1ff694f132671ab9758f9518486e498061fb8c89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlD5hp_60SLGIEJn6ZUZtOEpyBbY3QBKka4OyMyaqdu4I933yMkAXmqERqZjEcqPyo7zL9Kshxf1g03s2T5zZ1fskTzZ10j2E-5XRJhoK2MV_TkNEV9ZlPwIe4tym0AibrR_sI4XUH8ZAGAGl67tspGhFFYCoTdxb4pV-ht9MggWkS-A0RELabx07G_j8O0vuMUafc5mT4yaWBROy5A8WLZo-H4kIlS6LvhcJuB_09L7zYvHbeQi8WG3Mshm8G0VUzeinpUKoo2bFoqvT43r8tHhtbmAyTAmc8sbDFNWQUxK3J9vFCRIAWPgs3hYGFta3mu4gb8w7vZWCQofaTeI0LeVNYpv9sjOCAbdjvAT0Imh2MRm2vbPK0j2hgkWmEF2gJ-f3Nazem1iqZ6Z68FOHXJl3qFDMwNYgcV1YgQqotKndDn10gDGYY8J6rfh9ZnZ53kGMflb8Pv02wbqGg8JL_WIU0u9cKjsFb06bdr2VjH9EnqJ_SloguE2pULiuZIhKI--AQBv139ZL_ONgN_7L2dFaJSBgjsTs0vSWCGZFvX4jdi19wmOdE8YZ7XoAx4fOIo1ZljBfZTwWxKB-WbGCCYPf4T6siYM11eKmR_1_0EjQZy_QG8nVLrhbNczYwDPq5S5NafwfzoX8QEY_3IQvTpNziLBIgc7IYRo8SwwpWshB7tKBU5qCDN9KwvVj9WDEa0yn3g9cKh083e7SOi3HiqqBmff65ENsk4jgxiU0mYwbX68mz2g9BdafoSWSj98BKrwOWihGW9HzFUVoE23XdVNyaEX2wUNstm2bEkDLq0g_elLOKJlqX4OynPhoYnZrMbooLJ91cwH6vt3tarE_D0Wnh8dfikgkBZc0GRlro5uY0sDm-gk9Wx3oVAZ2cGAKm0Bo5UlUBAiO0V9ZW5OGs2iC1e3lNrTRz8uXluOxXRrrBRUqHAxG4UQ-XeOAJVvjzYaAuiHIve5mf-l0zLgdbeIVvC0axkYdw-sOdvzVQhq1ZV5kDyAT3wUos6Ml1oIKEoUlc1htbYUHf7I9F40pp8V033Yh4J108FFksSYVeGkpDOMA6d1RBRofhJ05T5jooHOHATOyo-o_7NqCf1D9k2puiyG0gqm1e7O_GS3ZuLvlHOG5svkfYaLCZRjKe79Z_uOovusFKhqCY4IE5kYZAsMRxCVycZDCAiih_4yLwgPjCGsO1vb8F6fJX8K3G2jZ_DgL3sI4Q2yjeV3zlYzF4-kqsdCZSLa-f482_eH0oYE4rZ2YrLJuzSD2AkUYdWI6vDJZhlERfX5EIWBpWw--5OvHhrn1UG3jqDX9QKKNj5mbMtmpY9ltENjhrrbSEpUCB6GXPedF1x3bgZ-UMTuDQzHnCycIsGxnDxDLUZQy9E235yHBCUxbJ5Uamg7QqBL1gLFG6c6DdSP9cWj5i0Nc7_JGjSw9l13hNuBi8gCz9CWRhhSMdU1WJ-Mk6Ghd2BBbbuV2Pza3SASGmWuwVFXwHE5H0fmS2nL_vk60BqjPdLYN30mV9b92-HxlvVqNSvHGYzIxRp0Cq-0jDOVPKyhFgqWAiPUoSx7HaBi4mslItpI4PGM6l4mof5VLC5ZsTDvav9ChF0MepRVrtXWwpRyBRgAxh9OCO5VlQY0U3HZTddItKAHVe1qvIH3v_TGhbxkAtA5YAN2XXiLTylDQjDkdWUw9Z7-55YEqMF8FgCGqDldzJ-JvLCMHKDopIQy4TxSn9N7l_4zYGVaBOhKA-Tx_ngp04aqTAGgq9H_m0tVzVHawUDbpCdLDNao2eD517uceZPqBWkhfJ8Lz_Q6aAwSZyucg==",
  "id": "rs_0f0c42847012e2f1016ab4593f8cf087d09f1b4d342a3af3ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.21,\"left_z\":0.1,\"left_gripper\":1,\"right_x\":0.385,\"right_y\":0.23,\"right_z\":0.1,\"right_gripper\":1},\"note\":\"Both grippers closed to an empty reading, so neither object was captured. I’m reopening and backing away slightly to re-locate them rather than repeating the same grasp.\"}",
  "call_id": "call_QmukbWSXW9khZ5newdgFN6G6",
  "id": "fc_0f0c42847012e2f1016ab45941f0e487d0bc83b837ff71c8ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QmukbWSXW9khZ5newdgFN6G6",
  "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]: [-0.4553, 1.6047, 0.8318, 0.0906, 0.1383, 0.078, 0.9947, 0.4335, 1.6863, 0.8661, 0.1631, -0.2569, -0.215, 0.9944]\nstate[eef_state]: left_x=0.3829 left_y=-0.2106 left_z=0.0934 left_yaw=-0.6263 left_pitch=-0.1023 left_roll=-0.0187 left_gripper=0.9947 right_x=0.3901 right_y=0.234 right_z=0.089 right_yaw=0.7506 right_pitch=-0.073 right_roll=-0.0114 right_gripper=0.9944\nstate[joint_eff]: [-0.4718, -8.759, 6.188, 1.6923, 0.0806, 0.0659, 0.0904, -0.5949, -9.894, 6.147, 1.6337, -0.0855, 0.0562, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a2d4f16e7f73abecdfc183f0f64a88e7dbd679ae3d2ec4f4928c9b51c5b770",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0609fa6347e93698d144aac87035a268047c7ae7b8bf68f87220d92735a361",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0daf078761ee24f7f5900fe14107fd572dc000b3d27d5e1ea7ded9f1df0829e",
      "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 · 3.234 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]: [-0.4194, 1.7573, 0.7315, 0.2905, 0.1875, 0.1059, 0.9993, 0.4206, 1.8072, 0.7616, 0.3439, -0.2592, -0.1875, 0.999]\nstate[eef_state]: left_x=0.379 left_y=-0.2011 left_z=0.0297 left_yaw=-0.6483 left_pitch=-0.1476 left_roll=-0.0394 left_gripper=0.9993 right_x=0.3823 right_y=0.2245 right_z=0.0314 right_yaw=0.7262 right_pitch=-0.1154 right_roll=0.0257 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -7.6103, 4.9709, 1.9365, 0.0464, -0.105, -0.0122, -0.1026, -7.7333, 4.8889, 1.8632, -0.0806, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4469, 1.9999, 0.8867, 0.4194, 0.1539, 0.0879, 0.0088, 0.458, 2.0895, 0.997, 0.4408, -0.2409, -0.1913, 0.0088]\nstate[eef_state]: left_x=0.4228 left_y=-0.2287 left_z=0.0025 left_yaw=-0.6366 left_pitch=-0.1117 left_roll=-0.0228 left_gripper=0.0088 right_x=0.4364 right_y=0.2661 right_z=0.005 right_yaw=0.749 right_pitch=-0.071 right_roll=-0.0032 right_gripper=0.0088\nstate[joint_eff]: [0.1026, -10.6735, 4.7932, 1.409, 0.0904, 0.0171, 0.6129, -0.4171, -12.041, 4.5744, 1.4481, -0.0611, 0.0171, 0.7155]",
      "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]: [-0.4553, 1.6047, 0.8318, 0.0906, 0.1383, 0.078, 0.9947, 0.4335, 1.6863, 0.8661, 0.1631, -0.2569, -0.215, 0.9944]\nstate[eef_state]: left_x=0.3829 left_y=-0.2106 left_z=0.0934 left_yaw=-0.6263 left_pitch=-0.1023 left_roll=-0.0187 left_gripper=0.9947 right_x=0.3901 right_y=0.234 right_z=0.089 right_yaw=0.7506 right_pitch=-0.073 right_roll=-0.0114 right_gripper=0.9944\nstate[joint_eff]: [-0.4718, -8.759, 6.188, 1.6923, 0.0806, 0.0659, 0.0904, -0.5949, -9.894, 6.147, 1.6337, -0.0855, 0.0562, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a2d4f16e7f73abecdfc183f0f64a88e7dbd679ae3d2ec4f4928c9b51c5b770",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0609fa6347e93698d144aac87035a268047c7ae7b8bf68f87220d92735a361",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0daf078761ee24f7f5900fe14107fd572dc000b3d27d5e1ea7ded9f1df0829e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlLS-gylmVabYwq4l0UWnA0sSZfRouEzy1dsd11DpTapKpqFgXgYoTdmiKch8myppOXsAr0Fvbb6Y-iOQLEg1rW9SAofzlKaRBUadSyJo3_SwAMcF6Fvf4EsGOXl-cRJYnENO62zVvb4M43WRcphWdUHZB_QQGoCW8kDLgRl01LNv925VlUVp7Diuh2225ILIrkIZKuMcfKBPm7NJ3JI4VH3EEZ7QG37IaC6OsXpFFnRk1TSqRDAQzV2spkVItZ-NLFEClQD0c-VboofWxRHKieQI9zCQCSQRiLoreoagM9raJCsp5dBSgIb464N6Egr6zaZZYkklnsBR020i8_VGLf3Yvicydeu09qdPO5C6B-g6un2RL1j37L_Qk5RpgYPX9J9S3zI94d8MEkzqp4mNuNeciFK0FBVZBxodRXoiRWNFIbsREzJ_HMUVdiutJjZgnrdFdaoHU3-5cn-lGguN2uCbr4vNAoXNj2Unzoa8qp0ilJhbJp9y3TkNW1a4SbdEGbx88RYE2XRH96lB7waUQMa5UlC-8ESvT1Yj8FLRkAd_XDE9wVAgxTkTLMhhfDpxsAtPeWITQ4GZXDamlvrO6ixYzkKvvHMs0yI6JwW0X4qYWS0magxr8mHhldDUxLvfbJvyxwF4uiVsxrhR81XK4qGgJVOY5dyb_EPGBEMhkZS6OYRxm9dtQkZSLjihyqlyemYNZ3x5M7a7QiN5m9CniY3JNAxqevaQqxDqN3K0F4WxdvF6_7IDwIETi9_haxN0LrTO9IRFZEEQb2cUsmhG9tO9uC5ijH47Sb2WncE-YterpXW_s2xrXC8m3NrVIpvRk3KiIlUHVeX-hYB7KC7--aOoxmzB548oR_4GDs0p_dQzDa7kEmJAE_q3SZlmErvv-eH8Sw66emdRlGONQh1yAIzvDwDjeBZTHrZ82-xk7l0s5tTXN2Ay3J1Shj9cMksgBrg5UE_VyiSiGXvfAbKzEfySSAV5ABA8LxdWGSnbvHmB7DW1zjc37Ea2DLTKjOGUzCzD3772tDjXckuqI4wTpVZRhqfK2pVb4PLiBrilzlrQvyogNWb2McYxAnsSoZ62SfNuKyJQucRugK6K7BCd_ymSOSEWeXi1pS-wJWsWk2hk4yOxVSNny0Ccwapni78mrhhLZIUZNEdmbGvO86f8Os5z3KhwcV9vHRx1hMCGvw8gHMeyvxicUr67JbTxub5hct1LQPehXkroSCQjDzIEj3fuMHOi-a3b_aZVize_yxSsBpKXpY0kqfLedpJW8JNkYA9ltLSjfDHu1PWJtOFZOmGSG7txc0i9K5LYUxrp_W3Q_oI5yx09z6f7XVkzPGOAPtmjYydtU01WZ8mEa2IcuwvlUqowPwuL9HgvyRVEz56WCyxT4Gdy4GBczBv6t2gBSKqeE7MLRlIIZu3NbpoHCFe_sFXMi47HO1vhIbR6lF7e2PbFhMUkZIdTnCefzPdG7dELFLKv4bhiR_t--ed4RoRO4arBe-K757Ot6uH7NDriy2mTXmXqesktJjiRqb0vwAJmD1mOYt0bZNIvSUNHbyOgTllH0d9JtTOJfZa6-g6fHNfcQ0GTSpZn4jAnzdzo1WjJZh1UwpzMjmWzuiOD7xpAdMW6ssRNAYHUp8vTmKfsizq0DWpDcX5GMYOxaaoBhFNkCbBG45KHKzMv2NY6GJTbyueUf6_1prIfjDNMN_sDL8c4Sq1tA5TjKRflXZYQ0A1v4VR_-LAvLcHxAbPcEsTtNP_sI2nSih8ULosijewk2JJv2HNIXU1Ug8xxR9I9za_U5nyHGSuFMfyAGOYLiqxCF1iPUUiBFI6w8cWBgwh3RCSRGcbp3QyNXMnyxg77zqbXFmVH-bQG4c3MHcvXi9CPlnDOFwFbhEAlW98MW9gce30IACmpQPqyptMzllcv9rykKe2wW2IIPRA-KUV_hdWoOWVqKZ1V_ZfZr24G-74VDvt4WoSiPt-oshrtAKdlwv2TLxZdH3bsxecCW2oYaNt_IpCeFDYaUeAQVayiZz2-QVnpShUyql1KQbcuJBDCzGYUaH-0SjM7U-1pjDqOMG654xR8YohxtQKem7rgbkzFSA3MZLscqmzd4gHJlpl2GBQ6UykUfkBz5NMKzDLmTcfnwnr0rFMSUbk7EBCDwM5RkZMseXMTUG0mxbAiNssgnMQ_D3Pjea9GODWk94G8_1b7HKBwSso01auFzNRDGfzLkP6-L0chRglwUe3nTD-_Hz1ieyA4DjYK2RaUleSEVBOtkcceeZgR-PTiTYMM19aDr8NA0lGOy8UF0A4vXWGZHn3awoI5zZp5p5bz4GKOaBoKuzTYDi43xdb0gSAdw7G1eh1fGOWWEQ-FEzPHoYKKcpWcZ4SR_hgcOPXR2ik4PXANlSlX0pP8x8Vu6k63eWGF2TEWrEuy7u0lCiTXj77a0iQhsYZzCh70SUfu-nt8odD0iwEJFyZGpeFuMC_1cAqgOQ4FQyxD1NiJCFKTNrEnb8t_ApBAnfNOpQHRJm_YgGFQ==",
  "id": "rs_0f0c42847012e2f1016ab459462bc887d0a62b28060031f928",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.383,\"left_y\":-0.211,\"left_z\":-0.01,\"right_x\":0.39,\"right_y\":0.234,\"right_z\":-0.01},\"note\":\"After backing off, both objects are visible again near the jaw centerlines; the pen appears to have shifted during the empty attempt. I’ll lower straight down here, without another forward advance.\"}",
  "call_id": "call_QnVlWHEgFFLpTBNsgKX5S4JS",
  "id": "fc_0f0c42847012e2f1016ab4594a4d2087d08687485afcb72229",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QnVlWHEgFFLpTBNsgKX5S4JS",
  "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]: [-0.4545, 1.8919, 0.6945, 0.514, 0.1291, 0.0807, 0.9958, 0.4335, 1.9575, 0.7532, 0.551, -0.2592, -0.223, 0.9946]\nstate[eef_state]: left_x=0.3859 left_y=-0.2099 left_z=0.0016 left_yaw=-0.6193 left_pitch=-0.1044 left_roll=-0.0111 left_gripper=0.9958 right_x=0.3921 right_y=0.2354 right_z=0.0031 right_yaw=0.7567 right_pitch=-0.069 right_roll=-0.0177 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -6.0513, 3.5487, 0.9158, 0.1001, -0.0611, 0.1001, -0.212, -6.4479, 3.5214, 0.9304, -0.1392, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4154d089be663a0f4ef532920074a21fa17997ee5c9fab7c3ea256fdb81071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc003975072ebb9e060397d25070f75b72bb6072fe6a6ad360347bdc4ba3e549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5080a1da4a3719734c33523a47fbae4eba1e5e4836a64755fa35fa69dadba5be",
      "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 · 3.978 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]: [-0.4465, 1.9846, 0.881, 0.4004, 0.1562, 0.091, 0.9992, 0.4545, 2.0697, 0.9886, 0.4152, -0.2398, -0.1883, 0.999]\nstate[eef_state]: left_x=0.4197 left_y=-0.2274 left_z=0.004 left_yaw=-0.6401 left_pitch=-0.1208 left_roll=-0.0237 left_gripper=0.9992 right_x=0.4334 right_y=0.2625 right_z=0.0067 right_yaw=0.7433 right_pitch=-0.0847 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.7316, -7.3368, 6.0786, 1.0965, 0.1099, -0.105, -0.0171, 0.6906, -8.0068, 5.5726, 1.2674, 0.0024, 0.2222, -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]: [-0.4553, 1.6047, 0.8318, 0.0906, 0.1383, 0.078, 0.9947, 0.4335, 1.6863, 0.8661, 0.1631, -0.2569, -0.215, 0.9944]\nstate[eef_state]: left_x=0.3829 left_y=-0.2106 left_z=0.0934 left_yaw=-0.6263 left_pitch=-0.1023 left_roll=-0.0187 left_gripper=0.9947 right_x=0.3901 right_y=0.234 right_z=0.089 right_yaw=0.7506 right_pitch=-0.073 right_roll=-0.0114 right_gripper=0.9944\nstate[joint_eff]: [-0.4718, -8.759, 6.188, 1.6923, 0.0806, 0.0659, 0.0904, -0.5949, -9.894, 6.147, 1.6337, -0.0855, 0.0562, 0.1148]\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 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]: [-0.4545, 1.8919, 0.6945, 0.514, 0.1291, 0.0807, 0.9958, 0.4335, 1.9575, 0.7532, 0.551, -0.2592, -0.223, 0.9946]\nstate[eef_state]: left_x=0.3859 left_y=-0.2099 left_z=0.0016 left_yaw=-0.6193 left_pitch=-0.1044 left_roll=-0.0111 left_gripper=0.9958 right_x=0.3921 right_y=0.2354 right_z=0.0031 right_yaw=0.7567 right_pitch=-0.069 right_roll=-0.0177 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -6.0513, 3.5487, 0.9158, 0.1001, -0.0611, 0.1001, -0.212, -6.4479, 3.5214, 0.9304, -0.1392, 0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4154d089be663a0f4ef532920074a21fa17997ee5c9fab7c3ea256fdb81071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc003975072ebb9e060397d25070f75b72bb6072fe6a6ad360347bdc4ba3e549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5080a1da4a3719734c33523a47fbae4eba1e5e4836a64755fa35fa69dadba5be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlPr8pnkeZo0_8q2PBZX8aiqBez0i_ELxlidFtu6v_TeOGglzF5MmSmwVsQstVEKWLcy4Obtc5F3G3q51ozvdP69kam4T3zcMptCdJks1K5RiMWDbx-yUcEM-o-H-mCC69oxqYasSPaxUPtvcY1a482NthdWFoLp--v3y5_JSs3yjQFoE3MGP0IBML1Tx6Yh2MYnDJkp1SIfQ3Xzpw0DTEx9Hjn4njKCgJw71VJogsBCFVBIhmx3km-UVYYhsX3VYXlSgUqW9nwoOsEKtjer_UcDZDK6wK7sn2zOI3-L5vEoU_45vNcuWl84DBUbe1Zxyrn74rlBdcqt-UU-r9e-JOSmaj1mhwe1uaLLhKXk7h4JMjy8qAtYmbtMxVCT4RvmPrbTGlhXx6w9lcML7WnL53GVK3DNDLrhynl7SmdlPYlMXzcB5jbIzpSH1rFLfzFiEg-w47tIMgQEFXhxX7Ehhx6Xq_3Wj0kwFdu15l-S0XYXxniIUnOs7LFz3N0yoD5qiGo4RjwBdmvxm-vVOUEnUS2psTcaKh6ax_oKAUERI-wRmuCfR83c14rW5ubG4mn_M8kZD0Qfs1H8QWr8YPnSVJ_39vq6o2AJw-slrqjJ4gKA_kGqK2Nx5AS_TInrPZSnLp_pAxnQDW8MA5Hv72hNageUk1_zEqZJmN_HtcfRSUGn3i-WyE-AaZIOtkM-kgN1tPWESvFKfpWQSnAhn-ZNRTZ9WRDrsGhD3CmsYnEMy6OWiyZSMFa8TkTmAFDamzWNAqQDqBHQwdRJfQ_AnIgcErTiPu2RAQZMYSZ7yA1MTU2uQBbLshlo48tm5UYzLBjEOckkEhBnxgwYEnxOyHnbXu3dNKKA2J4lziOrdxRHtANs16fH_ZuSljDLNbDv1InCrL45hbdDtD7bGL2SQ4cZ_iZut1sYjMsqnRBZaK_9wHkrRVzidYSoD1ycI_uSaeATzbsZvTeXpZUnx5PB0jpm0fsowMMsDS3yppEt_YLkwwiLyFQra9MfCIGxYq51pz5OE2SpXseUoIoOYLAp0JDRe2ztbiB81XXxwwQEpx1q85fQWbFxDKE17JNDvoVELPLldxk7g5RbCSodiAJWEXUHQ9LCpN6HaJ-rAL9AiS_h4KH6APhyVvtPBFRQUQUJTt_6OuthlnbJvy9mXZWD9PJMzCkRXhoU7ZFJUrqGhAGOQWc2OP2UHPHk7DAzeS5K-blTUqz6VSQNYevIax6MAs-oZwwSV214_mDAyuzHlwV-U-o9m9RNlOBGrt7P4oRVVCno4TswctBDZJOq1Lee3_8vQFq7SQ8aSMufSvxBA4lyGsSTqpJhZPiudsB7YPfxn6VMY9hr-Anga6Hry-x4uWztt7dsz8c_SAsujZLvDT2R0Tv3PQ=",
  "id": "rs_0f0c42847012e2f1016ab4594daba887d0bf3103f6ed3b1123",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"At table level, the cap and pen now extend directly into the closing area between the jaws. I’m making a second grasp attempt at these revised positions.\"}",
  "call_id": "call_5YKzd55ya2hLuLMdPKa7WRqv",
  "id": "fc_0f0c42847012e2f1016ab4594e9d9c87d0bcdf0a3af014479d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5YKzd55ya2hLuLMdPKa7WRqv",
  "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]: [-0.4541, 1.8984, 0.6926, 0.5625, 0.1268, 0.0769, 0.0091, 0.4332, 1.9682, 0.7513, 0.5835, -0.2646, -0.2218, 0.0428]\nstate[eef_state]: left_x=0.3915 left_y=-0.212 left_z=0.0075 left_yaw=-0.6144 left_pitch=-0.0651 left_roll=-0.0062 left_gripper=0.0091 right_x=0.3943 right_y=0.2372 right_z=0.0042 right_yaw=0.7598 right_pitch=-0.0492 right_roll=-0.0201 right_gripper=0.0428\nstate[joint_eff]: [0.0068, -8.5265, 5.2855, 1.2332, 0.0611, 0.0513, 0.5836, -0.0479, -9.6615, 5.3265, 1.4237, -0.0659, -0.0415, 1.2918]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863b9cb9d0fba0d7277e7d2cf85adb467676e3ccad1ddff223d4b2bade1db8b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6166c3a06a59227ee260996984105a624e984d2f3ae1568b8ad304a3a985e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1ef350f3732a09aff78c0b04b7a75015013f9f739b49cbf7d7c6a4af902074",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 9.37 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]: [-0.4469, 1.9999, 0.8867, 0.4194, 0.1539, 0.0879, 0.0088, 0.458, 2.0895, 0.997, 0.4408, -0.2409, -0.1913, 0.0088]\nstate[eef_state]: left_x=0.4228 left_y=-0.2287 left_z=0.0025 left_yaw=-0.6366 left_pitch=-0.1117 left_roll=-0.0228 left_gripper=0.0088 right_x=0.4364 right_y=0.2661 right_z=0.005 right_yaw=0.749 right_pitch=-0.071 right_roll=-0.0032 right_gripper=0.0088\nstate[joint_eff]: [0.1026, -10.6735, 4.7932, 1.409, 0.0904, 0.0171, 0.6129, -0.4171, -12.041, 4.5744, 1.4481, -0.0611, 0.0171, 0.7155]",
      "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]: [-0.4545, 1.8919, 0.6945, 0.514, 0.1291, 0.0807, 0.9958, 0.4335, 1.9575, 0.7532, 0.551, -0.2592, -0.223, 0.9946]\nstate[eef_state]: left_x=0.3859 left_y=-0.2099 left_z=0.0016 left_yaw=-0.6193 left_pitch=-0.1044 left_roll=-0.0111 left_gripper=0.9958 right_x=0.3921 right_y=0.2354 right_z=0.0031 right_yaw=0.7567 right_pitch=-0.069 right_roll=-0.0177 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -6.0513, 3.5487, 0.9158, 0.1001, -0.0611, 0.1001, -0.212, -6.4479, 3.5214, 0.9304, -0.1392, 0.0904, 0.0024]",
      "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]: [-0.4541, 1.8984, 0.6926, 0.5625, 0.1268, 0.0769, 0.0091, 0.4332, 1.9682, 0.7513, 0.5835, -0.2646, -0.2218, 0.0428]\nstate[eef_state]: left_x=0.3915 left_y=-0.212 left_z=0.0075 left_yaw=-0.6144 left_pitch=-0.0651 left_roll=-0.0062 left_gripper=0.0091 right_x=0.3943 right_y=0.2372 right_z=0.0042 right_yaw=0.7598 right_pitch=-0.0492 right_roll=-0.0201 right_gripper=0.0428\nstate[joint_eff]: [0.0068, -8.5265, 5.2855, 1.2332, 0.0611, 0.0513, 0.5836, -0.0479, -9.6615, 5.3265, 1.4237, -0.0659, -0.0415, 1.2918]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863b9cb9d0fba0d7277e7d2cf85adb467676e3ccad1ddff223d4b2bade1db8b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6166c3a06a59227ee260996984105a624e984d2f3ae1568b8ad304a3a985e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1ef350f3732a09aff78c0b04b7a75015013f9f739b49cbf7d7c6a4af902074",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlU5U2GSGWg6hR82o_V5q9H8PjIrMkmBjhmKkfOUvFPS_RRj9fgGwuXmgMoi7Y6Sj2f5bcv6LH9RfYKPcmIZ826PzlAHrZlLKD7x2W6WwY9bka-2il_ymX5rVqJ7888MkGKy_SbKfibBnF34A5cSclYTLsVMje2E72hAHUiSy97pirYDxKWm_2T9axE6INCfrHxYbPcFF8oxyBDcIPBfscZkFMnsIZvxxhfLV1QTWqDsDSa4yKaL4D2nDDSdGr_93ylurmcNcZywyeZI8eAs672uYVBs4eW7LZ5MEwb9P1slzx4sSxE6kstAnqkvGZS4RYp2u06WUO1Td8MPRKdIEkAns4jIImusCSlKnsUHVV67rYGAwF6UfEeE-bXX5b6PDk3YwXf04Zbbx9lFx5loHbDyU1vGYoc6UCpYfjPhruZH2z7dn5Rc8gI__3fBgggivvmVVgorzM7uNvIPk2EDclAVW0EF4uXm_A1v5KJTo-KYAburE_6aKN5CzX-WXfZJdCLCgFqni9LbokiWcV34utndbOp2atiBxSGXcjaKyMtgT2gFtiBSpgjFVvCw8WVZX-bEYWJczc_mDwzUfyxajiXrsVqQ9CsPbNSI2N5TKlJDaes5K_Wiqm5chehTCL1ysVGWqfs7bpq8ahZT_XQU6RcvwAkmQLMZRazoGQFuTZ--vBy59_GyRDVMq8alel24E79x-SkOBSjhcYWAd48idSZt0Y1ob6tVGpRF1PCibOQEVpGqlmAnq7herB98Smd4irp75mg-xSvMdXuABrvHzVCJDpHKFbE7Wkcfe09mHgzVKZTWso5t1rxWS53zKxLP8Eo46r2bi0TU12pYrAe-ZQ_F6oUXW-y8MX6KulRVePBWkbD49DpOtvyJAN2Lk9ohjyBrqToBD23bQkf-3yknMuYAhFPnWgg_FwYtFGhsmpZhtUavAfi-Orcfa_IPDMF15-szcIC7fFClvYec3-b-7P_Ig5xQcmtR0J_fjeNqLtOUFkJfTYeffEu6h_uBFcDk8ZVYyjpG13SZkbfszNSvw51qobmDuUOX1zzRGuvJZPrLhxFaSghZDlTPQyow0vQDmm1j8npZhbi062zJvQ24u5FVT_MxgHklQzpm0FwRSFNsRJfdEQSJfZYRIG-YHR8o1og4ZY9aAJ95kvTzgVmwLLK_nLsoRydzxNh1E-cfd6BydMdgrEsD03Jmyp1kKNpXYXcuSJhg_fYDcti3oxXYi1TseAEiIf7Rd3U-x-VRqGSeWC4VX2QGrLjdIWN9zr98oEFk0_LCwQyRNuvPOiaFlyhHAjuxgL70ft2tXLN0XqOb3ucJgfwprdq2uHiD4eQN9pElrWYcCcl7jPl6Zp7MVhni-DPRsBzsvQotif6AccU7PvVNz1Zd0ED29Ik8gwr_jxn",
  "id": "rs_0f0c42847012e2f1016ab45952108087d0b7181063e2a43147",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.08,\"left_z\":0.17,\"left_gripper\":1,\"right_z\":0.07},\"note\":\"The left gripper is empty again, while the right reading suggests it may have caught the thin pen. I’m lifting the pen slightly to verify it moved and moving the left arm aside so the cap can be re-located from above.\"}",
  "call_id": "call_dNJuAgTwbZ9Jocxr7hvl4eJN",
  "id": "fc_0f0c42847012e2f1016ab45953037c87d0bcb8b9c56878bac5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dNJuAgTwbZ9Jocxr7hvl4eJN",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0319, 1.037, 0.667, -0.3264, 0.4095, 0.3145, 0.9962, 0.4335, 1.7912, 0.8051, 0.3145, -0.2649, -0.2218, 0.0456]\nstate[eef_state]: left_x=0.3117 left_y=-0.0767 left_z=0.1579 left_yaw=-0.5548 left_pitch=-0.0569 left_roll=0.0026 left_gripper=0.9962 right_x=0.3887 right_y=0.2349 right_z=0.0489 right_yaw=0.7613 right_pitch=-0.0852 right_roll=-0.0076 right_gripper=0.0456\nstate[joint_eff]: [0.1436, -3.3846, 9.7436, 1.5946, 0.359, 0.1441, -0.0122, -0.0068, -10.947, 7.6786, 1.6142, -0.1099, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56cb283f7e2d8223b18f67f68a5c18bb76820ac6f47ece7efce275c0ed3da6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8338a475ad48a5b07b4a0643e7148db4a97395b0c56048932429fa7965309d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba1bb16d8003071783bbb8076a18678a4674b842c4650b0353f46c7f68aa1a1",
      "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 · 4.405 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]: [-0.4553, 1.6047, 0.8318, 0.0906, 0.1383, 0.078, 0.9947, 0.4335, 1.6863, 0.8661, 0.1631, -0.2569, -0.215, 0.9944]\nstate[eef_state]: left_x=0.3829 left_y=-0.2106 left_z=0.0934 left_yaw=-0.6263 left_pitch=-0.1023 left_roll=-0.0187 left_gripper=0.9947 right_x=0.3901 right_y=0.234 right_z=0.089 right_yaw=0.7506 right_pitch=-0.073 right_roll=-0.0114 right_gripper=0.9944\nstate[joint_eff]: [-0.4718, -8.759, 6.188, 1.6923, 0.0806, 0.0659, 0.0904, -0.5949, -9.894, 6.147, 1.6337, -0.0855, 0.0562, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4541, 1.8984, 0.6926, 0.5625, 0.1268, 0.0769, 0.0091, 0.4332, 1.9682, 0.7513, 0.5835, -0.2646, -0.2218, 0.0428]\nstate[eef_state]: left_x=0.3915 left_y=-0.212 left_z=0.0075 left_yaw=-0.6144 left_pitch=-0.0651 left_roll=-0.0062 left_gripper=0.0091 right_x=0.3943 right_y=0.2372 right_z=0.0042 right_yaw=0.7598 right_pitch=-0.0492 right_roll=-0.0201 right_gripper=0.0428\nstate[joint_eff]: [0.0068, -8.5265, 5.2855, 1.2332, 0.0611, 0.0513, 0.5836, -0.0479, -9.6615, 5.3265, 1.4237, -0.0659, -0.0415, 1.2918]",
      "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]: [-0.0319, 1.037, 0.667, -0.3264, 0.4095, 0.3145, 0.9962, 0.4335, 1.7912, 0.8051, 0.3145, -0.2649, -0.2218, 0.0456]\nstate[eef_state]: left_x=0.3117 left_y=-0.0767 left_z=0.1579 left_yaw=-0.5548 left_pitch=-0.0569 left_roll=0.0026 left_gripper=0.9962 right_x=0.3887 right_y=0.2349 right_z=0.0489 right_yaw=0.7613 right_pitch=-0.0852 right_roll=-0.0076 right_gripper=0.0456\nstate[joint_eff]: [0.1436, -3.3846, 9.7436, 1.5946, 0.359, 0.1441, -0.0122, -0.0068, -10.947, 7.6786, 1.6142, -0.1099, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56cb283f7e2d8223b18f67f68a5c18bb76820ac6f47ece7efce275c0ed3da6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8338a475ad48a5b07b4a0643e7148db4a97395b0c56048932429fa7965309d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba1bb16d8003071783bbb8076a18678a4674b842c4650b0353f46c7f68aa1a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFle_0_l6aDmjZokN6N_P-EdTrndvj7PX39bXUvOkVO6Hh3fUuazMVTmSkO6VZb5vWtoTqBSVdAbmd3gIfapvqiYzzBEuQsb5tQSfs4VXADRJXYReqdne0dnqJwomQGasuVoAIx68Ha4v0jq6nBVY8X-df--2YZOpzCkXufCCu6wJ1i_C3xSFeAmG02_eqJ8MIMJBec7EuFRBCJ4VFrjz5H3gh33C4Jo5yd5fy7NcDBEZTfoygNQvN6BXWYoB0vnHvDS9Ohk2fa8N_oSkkdWZqS2U3Iy_KKkzVdZic2Nhqd7eh4xv8wWKpDxBrUsJjamPR7wOlzMBsclolmHVe_APriANtm4L3a2NECLhCVKeSkZjVB8F24bNmz_g_leQPSWWNTys8QSpQJN5dc6ar6wfo-Gu66KXMMkua0yijQK78v0FfzLhKZbSl5MzhpEjDcWMis_O4eqlNI9GQaxW7eipF5fj_GPyG_P8xOZBFGSM4AiVqdT3jfZMU6dHisqgFcvox77PPsfIzHTwj4pDf2t7A-M24SvwqSnqy1OIdvyA8WvlJQJhz-v6-eTYleswo_nxKyYSARDuSYdW9x486Ee6hjs1gl7rcforXFdJ4SFnC3Lf2tiJP5rv1JM5KGE75tLmgT67CJzjRPZNoKg59L4V6FOWXFBjXnC-lRxbuSQ_AcJfkq4nml-JWKpVAX20wW3JFnz9cEUjDSF9qF8USgRbbwO7RQMNVrP7TuXKlc7YqwyyXXwbfIRFVhPnlA7zZmP_-vSP2XigQfQdUfN7OxZFC-lv1rsUFpma7UoviSTJTn213bh2Lcbp8VYjvAWan42EX5JBwt1PmXnXcyac7aQgGp9nXcPVGqQXGDCCIlSVE4QM6Ec7q_Eg8BdE6UiQnbD18n6IRY1pQ3SGLZEFuSJVXTUsQSLt8WwMTny-qMxu3Lc2OLwDBp6OxhGuhyf7Ns6mqpx2E1WlKQ6lVQ6MRt7Ju0tc2kXy-Yx__8DhOoKkinmt1iAQ2P5nxlbrxDzq1hI-xtqqj9AfO3rG6pUEuLwwugX8xDJwhAxCQN9tGxmCpJZ1S_8wekqLB3HNFF6SMM0aFu3UTHm6lOtgse0AMlmmby3dpDht6_JfUo-gndLW8QwPj06H8XovWlhHMlh3aBNzLbPFPKTRbZzxHPpsd2L5UdTZQDI-l5c0T-XUmTNmmz7Z1k5aRKaVrg_019GZEy12DQH-1h3-TRkF9F-s5wNoc73OGJSiYRNh-lHliAi7N-_bjEfTAVTF1Ry2MjXCiRgms3YSqXqkncFz5G_Gdg0pviAitw0BQbeaXm3WvgTtF8YrRM62BWcCyxb-jZ9x6tlVHBktNC20n3Bej0jVm95RSuQ5eeUgu_d-o-zmQuXSFX9lgU_BpaWFHgPcerbWt7NmbCcZGWcKy8LRg7XWlLxJu1qcYIaASPoXTMazFjY2ibXAAtueO94JaNy6DQopRpXH8_fjmHWJQeVsff_WCTnzCr2g7C8gRhthJp9sBEcYyTTBvP5Gppy0LwBTRQrt_S_cV5Pf5xn32j-Y1IcB9QD037ofJFzYzG-8VlIGtABDS0iQX8b92TYyc92V_klpojQJZ_O9GOplbawrgUmC4MJVyidiEPQW_jhEyCovLZAxFZihcEwJxpz6rSz8Urs4xdNxtwVPMJ2yyk79umlNwASewJ4l9JZ6_UHuq3oCRF_Kta6qwqBXMre-9BSeBXr5c73DygEVGMuClNc2tqTYc_w6P0E2yzCctLs_nAnXViTI8NleXTcOUE3d0fPNVLLQ9fJLUHR8uHv-Zus_R9NFpibI_Om87fST-JE8NWO3I8KfpHCH1lY5Hu0KW3SSsaeT7vMiwI2lG6CSqjIvkCBVQtmvdtpUROnihbc4dYo3zFwQkCyp27rbo-4rHbmvTD6QCPrquC0xRBdm-lsKZdknHecQLe4w2AafbWjDMY6eFvdydj1p_SyDwVdbOkrA-d5sTBO5xl0k1jqJSPs6vcLAVC8gosRb6Ne9bLII69BzEMkQT60fGkZoTvhokDbnZsY9QveLcnj8hhU8vAaeysEwSDctnkB6rlNBprC4ytmh9g85abcHSjDeo6oMlTVm0HVnLzJlTC407uKcAzs6Y8-jPGFthQueaUNib1iDsrBhxMp0FeMm0acvC-Bl8qphgF0HFU4qbOX8kR-O93bYAjhT7I9N0h1crjlg-D1lzn0utdjCnuYrvq18cN254PwTeZEX0VQErV3KdFKhPjYhRm1i1LmGg-90BTX7iNjd1ptrGZ40zYpmRKcSaaiQl1UCndTG9XfMZvSCE0C7OKoZ_C1MDdTTU3Qapxwiq30Y3LnwiXs-Zim6GRXIwGu7ji4UzbwF3z8en4pFvEKXMXABdjxuRHCTkyU-Qbzyb93Jbe0Yf-yTqJn3OMS25q6eguxZz4kOkk-xcN5JkdULzHRmaNLwXzBTmyio4P9Ria_q0NUnd5XHbsVu759zbSMSwiYiRnkcaq2T_ZH31aroUUEvlItZBdbk7fdxt5-Qofro9X85UPkO84mdnQAry1ROEP2DWp_12nskkHad0aHgwAo-P4aSBoeWfsHOGUBRtzPUM0x6ZGLn95fVl2aL2D4kGE1htDDQe1k2rUVkyLCkKbMuCOBH8CTPm9vdQ==",
  "id": "rs_0f0c42847012e2f1016ab45956f0b487d0864adc02f6790956",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.30,\"left_z\":0.1,\"left_yaw\":1.3,\"right_x\":0.30,\"right_y\":0.07,\"right_z\":0.18},\"note\":\"The pen stayed fixed relative to the right gripper during the lift, confirming a grasp. The loose cap is now farther toward the center and has rotated; I’m approaching its new location while moving the held pen safely to the right.\"}",
  "call_id": "call_yN1N2OzhmSmpOFnRK9vJGMAq",
  "id": "fc_0f0c42847012e2f1016ab4595cde7c87d091bc5f412a251252",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yN1N2OzhmSmpOFnRK9vJGMAq",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6998, 2.5156, 2.1044, -1.5398, -0.8452, -2.0682, 0.9972, -0.1413, 1.137, 0.8055, -0.5484, -0.6426, -0.6395, 0.0502]\nstate[eef_state]: left_x=0.4031 left_y=-0.162 left_z=0.0501 left_yaw=1.1809 left_pitch=-0.0917 left_roll=0.0025 left_gripper=0.9972 right_x=0.3075 right_y=0.0668 right_z=0.1657 right_yaw=0.7161 right_pitch=-0.1059 right_roll=-0.0044 right_gripper=0.0502\nstate[joint_eff]: [-0.0342, -12.7658, 7.3368, -0.6569, -0.3834, -0.1685, 0.1001, -0.335, -4.6701, 9.2239, 1.3114, -0.5739, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921669461419d9490af66f77cb45c4bf557ce7b7ddbb6a66dd1611f5613d0407",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4918f6c302846798e451cbd7d808193137143a699677fdf3bfdbd2b2bb0f6c83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990bf4d2921763e00bd14b4f1f7c3e5cd5665d3bc479ead43089fdfed8ba9a34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.498 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]: [-0.4545, 1.8919, 0.6945, 0.514, 0.1291, 0.0807, 0.9958, 0.4335, 1.9575, 0.7532, 0.551, -0.2592, -0.223, 0.9946]\nstate[eef_state]: left_x=0.3859 left_y=-0.2099 left_z=0.0016 left_yaw=-0.6193 left_pitch=-0.1044 left_roll=-0.0111 left_gripper=0.9958 right_x=0.3921 right_y=0.2354 right_z=0.0031 right_yaw=0.7567 right_pitch=-0.069 right_roll=-0.0177 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -6.0513, 3.5487, 0.9158, 0.1001, -0.0611, 0.1001, -0.212, -6.4479, 3.5214, 0.9304, -0.1392, 0.0904, 0.0024]",
      "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]: [-0.0319, 1.037, 0.667, -0.3264, 0.4095, 0.3145, 0.9962, 0.4335, 1.7912, 0.8051, 0.3145, -0.2649, -0.2218, 0.0456]\nstate[eef_state]: left_x=0.3117 left_y=-0.0767 left_z=0.1579 left_yaw=-0.5548 left_pitch=-0.0569 left_roll=0.0026 left_gripper=0.9962 right_x=0.3887 right_y=0.2349 right_z=0.0489 right_yaw=0.7613 right_pitch=-0.0852 right_roll=-0.0076 right_gripper=0.0456\nstate[joint_eff]: [0.1436, -3.3846, 9.7436, 1.5946, 0.359, 0.1441, -0.0122, -0.0068, -10.947, 7.6786, 1.6142, -0.1099, -0.0464, 1.033]",
      "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]: [-0.6998, 2.5156, 2.1044, -1.5398, -0.8452, -2.0682, 0.9972, -0.1413, 1.137, 0.8055, -0.5484, -0.6426, -0.6395, 0.0502]\nstate[eef_state]: left_x=0.4031 left_y=-0.162 left_z=0.0501 left_yaw=1.1809 left_pitch=-0.0917 left_roll=0.0025 left_gripper=0.9972 right_x=0.3075 right_y=0.0668 right_z=0.1657 right_yaw=0.7161 right_pitch=-0.1059 right_roll=-0.0044 right_gripper=0.0502\nstate[joint_eff]: [-0.0342, -12.7658, 7.3368, -0.6569, -0.3834, -0.1685, 0.1001, -0.335, -4.6701, 9.2239, 1.3114, -0.5739, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921669461419d9490af66f77cb45c4bf557ce7b7ddbb6a66dd1611f5613d0407",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4918f6c302846798e451cbd7d808193137143a699677fdf3bfdbd2b2bb0f6c83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990bf4d2921763e00bd14b4f1f7c3e5cd5665d3bc479ead43089fdfed8ba9a34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFllBf6uF2m_SXlmIrLUdDg-SmtVZP4pdX4IW4TCW9rRxayLEH2cwGt4V58Gk-WMnHHQmAyk20P9D9psdz3B5GeFMhAHLjRfr1W1wvA8LtDwzoLz4BZBVyQWIu72Ys6iIl6me_5U2P6rjTfPE_9NqDF0O3W99lnXYqVcdBwAiZbngJ5rVyIxtgdbX8axV-jFtm5dNzWreowGC7WKjzN_QRTSxViFavdAvuFXVus-gClJ_dEGPeT3iWsvQCgJn4W2WKoHhD1jDt2-JhkQgjUojjQWpWxoER701T5qr0zhCZrsA3vxmIx2s6bhKaxQULvPsdDIXSAGOaPzS0Z7SJkxmlURV_tWBtIsOBFoK8ABmtOXbdtOMdhOz_2y7x1tjWjTC0DwWQ77Xif4uZ5WdcRFeFyQci4tBODxctdHBH7mTOoJoDPWb0bVaAwIHrmfrtGSu5qtYM6vX9pAHPa8yZwG2qhFWKcwmJIIYp2bBAfzL6tulkb-cxDBEh-iOwbfX2uOQENK7TPmtepg2qe5BzDPIsSKM_7tK50wipPF9-xzDrKdOJAYMQZ1zkKEbIdOQ9j9Sdocp7GYjzXVQ9ZReHrYm900ZUpg7hJ2ZxKWn65AWIExp9vl-gXxW_2TDDznMKZntPa2wMkexAvTwwTqZd3ApLt68j25RmknEgsRrqFuZNWnMwBFnuHOaO2y8smLxV-VV7PV7CKDWBA2wiXV6fdPdxk0Qnp2MqMaCQDMqFV9X2Dz3DMTsbRfyI_r6n26E2956CSqAK3aSqESZT7ewB8Kusjq_CvvmZyBAvzoWgkFKzP5fNfiFEt2bMSMRnd0AKKaqaNDEB9hb1D5f4tJSFcHPicWt6k5FW3e2DpUTpX6c45h1C02nKeZ5NeEG1M6GreoKP703KiH_lsKOAeKbGwwXJ6d372hgoYZLQH2BxI3bIlf_lr9eUTcS0RtCyLvR77UGAXjTzGMp4ckKqXSNvqGOKQMmNs4gMrqhiy9lotXsLCT-xYNgAuxh9HhFjxQOcWz-pi2m82wFLLRQUhi87Q3mgnIn2X2-Z0YKouwuti1BdEKUrGN-3LpFnT8klkxvMQq1gQ-3ZMLAaVgumBuPcfjwQTOWlTMp7hcbmS_028Js2ajDS5QZz26vlZGOPqhqurl03iWZLY3Jive7wy47iJLmh6HgKysM7loA6d3_QGL7OkplQ8deaqMCFnCiYNOddZsHhEaztKHPFiZ8vej6esltW9awZFYTbN3KowQNWluRzHaV7arTQW_e4CqCnNOcxeLyKEkjFLOIXDlb6nUE7HhR2HUxkSiao8eUQasCQM2O2Y41pBcXVvdiKt0UN1rURMsVQEH__XIrW6g8nw0lEcP2F9oO1XrSBsSR2H6RBCEGn0LONLaN99bi_kR551xHtBhj7le278h_LGqDzjwlAelKyGIUVJLuH8c4uiwZWzuTCDtDR-3byTM4AB59IoeWTGLYl4vgrIXlvmqFTMcqIIozUdSSpauf2nLnK6fn6c3pMVFm_D0xgJe1zvTD8GYtnjYNVqX7ERqAGVH_FqMNrB-A7zVrTGQnTiVf1cm-RiARxhkIj7f93zuxnpAs59LKKG34U04",
  "id": "rs_0f0c42847012e2f1016ab45962ef4487d0b1cf6df24e91e130",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.29,\"left_z\":0.19,\"left_yaw\":0.75},\"note\":\"The left arm fell well short of the requested position during the large wrist turn. I’m raising it and reducing that rotation before approaching the cap again.\"}",
  "call_id": "call_H1uGSOjLVieHwzTLQeITMbcb",
  "id": "fc_0f0c42847012e2f1016ab459643c1087d0b30ef5ab945eaeab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H1uGSOjLVieHwzTLQeITMbcb",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7856, 2.6019, 2.1983, -1.56, -0.8112, -2.0937, 0.9974, -0.1436, 1.1381, 0.8093, -0.5678, -0.6472, -0.6586, 0.0502]\nstate[eef_state]: left_x=0.3912 left_y=-0.2051 left_z=0.0298 left_yaw=1.1241 left_pitch=-0.1173 left_roll=0.0045 left_gripper=0.9974 right_x=0.3051 right_y=0.0671 right_z=0.1646 right_yaw=0.7286 right_pitch=-0.114 right_roll=-0.0043 right_gripper=0.0502\nstate[joint_eff]: [-0.0479, -13.8598, 6.7487, -0.5348, -0.5446, -0.0366, 0.0073, -0.0342, -3.5487, 6.3795, 1.5165, -0.2369, 0.1392, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13b558c55ffee3196f4cb8fd2ff5362006e87e62be9d07bb8d9c496085850a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16e72e5261479e9fa7de9f263742d4dc0b826a764587edb36b3a6b455461c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443e1f89360a971107fbe11afe805a6fa341cecb1e2e755111c2773df82d1c0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 5.908 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]: [-0.4541, 1.8984, 0.6926, 0.5625, 0.1268, 0.0769, 0.0091, 0.4332, 1.9682, 0.7513, 0.5835, -0.2646, -0.2218, 0.0428]\nstate[eef_state]: left_x=0.3915 left_y=-0.212 left_z=0.0075 left_yaw=-0.6144 left_pitch=-0.0651 left_roll=-0.0062 left_gripper=0.0091 right_x=0.3943 right_y=0.2372 right_z=0.0042 right_yaw=0.7598 right_pitch=-0.0492 right_roll=-0.0201 right_gripper=0.0428\nstate[joint_eff]: [0.0068, -8.5265, 5.2855, 1.2332, 0.0611, 0.0513, 0.5836, -0.0479, -9.6615, 5.3265, 1.4237, -0.0659, -0.0415, 1.2918]",
      "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]: [-0.6998, 2.5156, 2.1044, -1.5398, -0.8452, -2.0682, 0.9972, -0.1413, 1.137, 0.8055, -0.5484, -0.6426, -0.6395, 0.0502]\nstate[eef_state]: left_x=0.4031 left_y=-0.162 left_z=0.0501 left_yaw=1.1809 left_pitch=-0.0917 left_roll=0.0025 left_gripper=0.9972 right_x=0.3075 right_y=0.0668 right_z=0.1657 right_yaw=0.7161 right_pitch=-0.1059 right_roll=-0.0044 right_gripper=0.0502\nstate[joint_eff]: [-0.0342, -12.7658, 7.3368, -0.6569, -0.3834, -0.1685, 0.1001, -0.335, -4.6701, 9.2239, 1.3114, -0.5739, -0.0855, 1.0281]",
      "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]: [-0.7856, 2.6019, 2.1983, -1.56, -0.8112, -2.0937, 0.9974, -0.1436, 1.1381, 0.8093, -0.5678, -0.6472, -0.6586, 0.0502]\nstate[eef_state]: left_x=0.3912 left_y=-0.2051 left_z=0.0298 left_yaw=1.1241 left_pitch=-0.1173 left_roll=0.0045 left_gripper=0.9974 right_x=0.3051 right_y=0.0671 right_z=0.1646 right_yaw=0.7286 right_pitch=-0.114 right_roll=-0.0043 right_gripper=0.0502\nstate[joint_eff]: [-0.0479, -13.8598, 6.7487, -0.5348, -0.5446, -0.0366, 0.0073, -0.0342, -3.5487, 6.3795, 1.5165, -0.2369, 0.1392, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13b558c55ffee3196f4cb8fd2ff5362006e87e62be9d07bb8d9c496085850a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16e72e5261479e9fa7de9f263742d4dc0b826a764587edb36b3a6b455461c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443e1f89360a971107fbe11afe805a6fa341cecb1e2e755111c2773df82d1c0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlp16m3u4niYeASU9hCfArA3k1AB8KKAhF7Yx3umdAu4jOGE7kQE8vm4sPZfKLPpSia05SuJ9dk-eWAUOCKlvSDOytbzEnK98M9I7e7Uhpv94YKb20Fd3hryDw24VyiTtoAlMtFik4g8_B1moDp0WuKXoQCR-vIyheVw4U1J4hB1zaAyjg7Ix9nIqIxWML8PPXIxGZL46CAHZG86tPDP_1z5cd4gLAaXDjM2e7lrX1SzNEFFOGg9u8n6GBL0NAcHZOLTKumuTt8dNHCY_HDKlW-YhLXaCeuHEzgqUKEPU2gYegedxidcihr_E34kBzTBts6iCC8iUQlLSGPNa9FCuq44bnrhrtSOvub1ad3GA9lzoQoz3o54h_xKfvoWxAomWNdPiI7nXD97wlOHdQq9wRxPOsDsrFfLUEHrd-mPEa6AxkV_6luOk-rrBGdJOzQc4GQxLeO6CryXvNZqiFZz6yIZgiTAPTLEqK2pN2gePmuBmzXnxQgXmRvAPrbV6HngO5_CPZAk_yg3EKYvC5Z-HmkkpmYI2Fu6365eHNgLxhpspPvDBvBCtNx-vSolrHmpN1HB0qFb8FXi_Lhj74OCcjB477cs4b3suFqrMoi81o7uvqIr78dFkIMhu9qhwgI4l8UcoS25in1XpUP--x0Le6z1ZPfkvBIaN1qaVtzKucA805VK6PqvfAubpEWFwb7ZmoY5bD2RAplQ_mqFBVVZdIYnqTT25DopvlHR73UFxiJHpGehlukp8ILrG1YKsVfXqXZa1zDNHXy4D0FFyGa9672CywVUuC9DjLgy975-vxXCuVwaIdJ9p1Jfmeez4fEV_ZBYsm4DK01LY6j4RE0jbf8qc5yGCcePhCie5x40PAmCtGbqxTe_TD06xSItx2Crp2A5U6CiRQvd-URoTpalODZHYjc2T7OKCnfpvom6Kjjp37piu5bV3ZkvMLAzEvg-RmzQLCkSCYyrNGxYXBaOcMgfz_FwFFr5n3GVrP1t0CJxXKX59ZL8u6w_u7L_bCdNrXd-D8r4zlfLAaHH3XvB8pjoptCojygfIR4GKMFRmeBQIawq6k7_EQDYnnTcqUdTl8I71910pGVbfU1ZdWLauXdbkh5gXhPsfi1j_bc505dkTxorM8xDYH52nmrxTBWJyhoLFd7QHCmliDJaDdubFwLD8SO35EDa7knU69ioWvh-7gLd8AEqHoYDwqLvpndCQdumi9iczVBEtVizGdtail3DTtWhqNO5IZ-knpeIFdoTPB03KWNDj46ZoxqMlrQnYnz",
  "id": "rs_0f0c42847012e2f1016ab459684d4487d08821ff45570ac110",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.12,\"left_z\":0.24,\"left_yaw\":0},\"note\":\"The left arm is still not tracking the raised target and remains too low. I’m withdrawing it toward a neutral, higher pose to recover from the awkward wrist configuration.\"}",
  "call_id": "call_Xm0UQrwybaihBNXLrIcv0F6D",
  "id": "fc_0f0c42847012e2f1016ab45968bc6c87d08c2031e0ae9b0427",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xm0UQrwybaihBNXLrIcv0F6D",
  "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]: [-0.7017, 1.1389, 1.0748, -0.7971, -0.5888, -0.6453, 0.9974, -0.1436, 1.1427, 0.8093, -0.569, -0.6476, -0.6624, 0.0502]\nstate[eef_state]: left_x=0.2942 left_y=-0.1155 left_z=0.2315 left_yaw=0.123 left_pitch=-0.1109 left_roll=-0.0481 left_gripper=0.9974 right_x=0.3051 right_y=0.0672 right_z=0.1633 right_yaw=0.7314 right_pitch=-0.1174 right_roll=-0.0026 right_gripper=0.0502\nstate[joint_eff]: [0.212, -3.1248, 7.6786, 1.3065, -0.3004, 0.2173, -0.0073, -0.2256, -3.9179, 6.6803, 1.3651, -0.2515, 0.022, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbda7bdda52d9dc3fffcc7e50a757ddd1ba902a51ae438e8a8fd13c38694f74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944951c986f448b5beb0951308c9731f8617e16b849103a2cc104de5a7debfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540d11891003bd233e77229e3de004f3018f0c6658c33c7c0db5878b41dadde2",
      "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 · 5.273 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]: [-0.0319, 1.037, 0.667, -0.3264, 0.4095, 0.3145, 0.9962, 0.4335, 1.7912, 0.8051, 0.3145, -0.2649, -0.2218, 0.0456]\nstate[eef_state]: left_x=0.3117 left_y=-0.0767 left_z=0.1579 left_yaw=-0.5548 left_pitch=-0.0569 left_roll=0.0026 left_gripper=0.9962 right_x=0.3887 right_y=0.2349 right_z=0.0489 right_yaw=0.7613 right_pitch=-0.0852 right_roll=-0.0076 right_gripper=0.0456\nstate[joint_eff]: [0.1436, -3.3846, 9.7436, 1.5946, 0.359, 0.1441, -0.0122, -0.0068, -10.947, 7.6786, 1.6142, -0.1099, -0.0464, 1.033]",
      "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]: [-0.7856, 2.6019, 2.1983, -1.56, -0.8112, -2.0937, 0.9974, -0.1436, 1.1381, 0.8093, -0.5678, -0.6472, -0.6586, 0.0502]\nstate[eef_state]: left_x=0.3912 left_y=-0.2051 left_z=0.0298 left_yaw=1.1241 left_pitch=-0.1173 left_roll=0.0045 left_gripper=0.9974 right_x=0.3051 right_y=0.0671 right_z=0.1646 right_yaw=0.7286 right_pitch=-0.114 right_roll=-0.0043 right_gripper=0.0502\nstate[joint_eff]: [-0.0479, -13.8598, 6.7487, -0.5348, -0.5446, -0.0366, 0.0073, -0.0342, -3.5487, 6.3795, 1.5165, -0.2369, 0.1392, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.7017, 1.1389, 1.0748, -0.7971, -0.5888, -0.6453, 0.9974, -0.1436, 1.1427, 0.8093, -0.569, -0.6476, -0.6624, 0.0502]\nstate[eef_state]: left_x=0.2942 left_y=-0.1155 left_z=0.2315 left_yaw=0.123 left_pitch=-0.1109 left_roll=-0.0481 left_gripper=0.9974 right_x=0.3051 right_y=0.0672 right_z=0.1633 right_yaw=0.7314 right_pitch=-0.1174 right_roll=-0.0026 right_gripper=0.0502\nstate[joint_eff]: [0.212, -3.1248, 7.6786, 1.3065, -0.3004, 0.2173, -0.0073, -0.2256, -3.9179, 6.6803, 1.3651, -0.2515, 0.022, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbda7bdda52d9dc3fffcc7e50a757ddd1ba902a51ae438e8a8fd13c38694f74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944951c986f448b5beb0951308c9731f8617e16b849103a2cc104de5a7debfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540d11891003bd233e77229e3de004f3018f0c6658c33c7c0db5878b41dadde2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlxekWFdFLkZts2zLic3Vi2lqBmPH3cQLP5FAmm7tgN-nb3lgnUQW0ddFatYaiRPrfEKI8OMjLQz9n6CwiKgRruahFdzaKpWE_MzYgvyTkEoccCxQRaWMZ8HVgnoPJEE9TsQL9iqtdybJLKZUqh6j_V3OOvpSV0wIZOjwP1OggGvjCJwLILDpmHrspP6PkXkyyjMqM9p1iwlCzuD7e1fxYlPL1Ci_h-eOVr5Bx55YkvseMGwVcwoXPCY96wowzX_7dncDBHO2YAIVSBbJlkwCzRF03Am9O96vCSyAWYunWtRC-3UMgx_SnWXEWrYhGuamAuUO1i-xLtoSkEuLksfxwhPQZ00en0rs2ZPNfocRzJDFQSktNZAFhekFKeeEDyrg0jsIiUEdbeGo3417JIXjTfZ-zjSovqZhdPvjSMDwtz1QbG6_vqrvYUBQxfUf9d0U9Ge1wO5SEWsD6L6QgPJfAzWJ2kpCjKVrVf3YOfchgjIe4vr5ZvFz9Cbg7TbNMH4C360ZXCpa0gNJd16Ff22OVsHx6QYKyIWvXYD91Hh7DZBkRgU1m_LpoTlAMhbF2JNcw9cXrHO2_QYyCtyV-mON3HroM7Bc1h1h5XMxT1DrfyVZWuQWNT4awTXyt36okSvLyITUF_ZSYI2v6zqtNEoAMTtOVbgkBB5rkfHnPoNUmQvqIvy7S2S_tV7BLT8p8GvYTIUIQMoHd9CrrrQMeroz0ZUy5VvAAnXWnk5kKCltfx7nS-FWTm_drtfzJ9sxagmQ-7q6Yt4iJSnjozpeZYixe399jVUw7b8j6swbs2WVujcccGiAGN4kOxrDzP8FD5F4SOJYO6z7ZwFvtOas0wMqabZC6T_xPCjkNtZ2kuzqlhDpQnx-teEjpSemyXqVJ2HrVFUoUZ4MH401UpyjrV0s9P-A3tEsPqr0_IVamQcPJiDxXxiWgKcB-gxDeoVnrRNlTOzUiby1CbPesYMA4RKAxQL9oaTOjQdSxhRwJA5mIchJU5GPhMWiF472JK4IMN1xY6QzVXIaG2QgX9DOe6CKvvA1bYTwkyLT_3JsBhE1KKNeRGflM-MckNqin9V2YF1U6RlsZxa42r9JDm7ajwtgIcm87QiIDdtwPDZAD2BNM49xR-HanzauqlhMklhkvfbaZ524fg_PYtUhPkMFOYQIRWPwhrFEW2grOXOj-Qkp2zbroTHUxQTr2pVZuDh7YdI3RDAZQmlEy3p27vrGMKRZj_RFEfdy94BLoQh-6FrE5xGxxgClaOSr96rtGUpcSdv_oxjHpimiKnxtCgnsWZvRXeTYyaegyJw2Gkfrwx1xCeaYmFJ3h4HP3BNgLxeKP8Q_SYB27qhLvXjXmvJDELqmynLEl3Hkl_Q-Htft4sk8-uriE5c2kQ_WouG08LEmojRKEGvf3AoktgEnSITKGujxTeq6WSKx9He7V6hFqHLGIvDJceov2fIOyyTsmoT7v5b8KnH0g5uuzw3ehcxl7xAnSYxi7qda5RtSYcob6zqo2dekdnkzNdjH_PIcuvY5Sr0VkrWPffOz7PJEtg6N5xgwQ_sdbsp3tGlu9jAyY7iH4sZlez91n7WCBfYgiabN5XU4KaFqkzFzYpzsAve35_MZ6HskfqI6Z_Ajet67yzAeWcrFFBBaey5dQGYulTE_13gdZQAAXv_Ut7ph281uLw4E5jsTcrAFwOWxH8vMYsdmn8Cdz7OWNpkhQqpN3GQ7M3q95yE7bz6fWlwII7vBZd_cOFiR6CFxcDxv0E0p8JzTT4qfS6d2U_dXIkR0wfMEImhJfYR_n3QIAbZLNIaaiidQ7ONaXcOt9K_tL5vwtVJ17WhQaSlgjnFTXKufqMSHcL_NGUNM98h_7rYy90CJCkbwg5SWGULXdpGPZPN9NhfSdGRebYSYVs5LDW_Xqg8PSWmM2I4KcnOXqdARb-I85RZo0r__l3yo7y-3dszcyLgS6BKEMGuE3YHeuykRUBB1F6VUFllvuAyJmPynlCeXj0MX5-yObSjEl9NFTeuf9jRxJndmYSPEBzvNqx7tPjbtIlWSnecUhQdB6VCznLvP8-RrrCDA==",
  "id": "rs_0f0c42847012e2f1016ab4596d1ff487d08557e3d0413bc3b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.29,\"left_z\":0.12,\"left_yaw\":-1.0},\"note\":\"The left arm has recovered, and the cap is clearly visible near the center of the table. I’m approaching it with a wrist turn in the easier direction, while keeping the pen held clear.\"}",
  "call_id": "call_GD09LTr106bxk0OflxMaGgkk",
  "id": "fc_0f0c42847012e2f1016ab4597019cc87d0a3d30fd2c4479b67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GD09LTr106bxk0OflxMaGgkk",
  "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]: [-0.5369, 1.7061, 1.0462, -0.1749, 0.2913, 0.1688, 0.9974, -0.1436, 1.1454, 0.8093, -0.5701, -0.6476, -0.6628, 0.0502]\nstate[eef_state]: left_x=0.3597 left_y=-0.269 left_z=0.0936 left_yaw=-0.8924 left_pitch=-0.2199 left_roll=-0.0934 left_gripper=0.9974 right_x=0.305 right_y=0.0672 right_z=0.1624 right_yaw=0.7319 right_pitch=-0.1199 right_roll=0.0 right_gripper=0.0502\nstate[joint_eff]: [0.3077, -8.8274, 9.4564, 1.7314, 0.4322, 0.2711, -0.0171, -0.335, -3.7265, 6.6256, 1.2869, -0.3346, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96f7f0a1c9169630e349fbb534efa2fd06c6f8d4daba0258c154e8bce33f88a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af39b9d1e6a3546907bd81fac0d1a1b9458769c9314e325e260075a71afc0d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0a3c44c9637fa39e86d6f084c963feba293e6ed78696e57c717ef2fce5f1b75",
      "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 · 4.474 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]: [-0.6998, 2.5156, 2.1044, -1.5398, -0.8452, -2.0682, 0.9972, -0.1413, 1.137, 0.8055, -0.5484, -0.6426, -0.6395, 0.0502]\nstate[eef_state]: left_x=0.4031 left_y=-0.162 left_z=0.0501 left_yaw=1.1809 left_pitch=-0.0917 left_roll=0.0025 left_gripper=0.9972 right_x=0.3075 right_y=0.0668 right_z=0.1657 right_yaw=0.7161 right_pitch=-0.1059 right_roll=-0.0044 right_gripper=0.0502\nstate[joint_eff]: [-0.0342, -12.7658, 7.3368, -0.6569, -0.3834, -0.1685, 0.1001, -0.335, -4.6701, 9.2239, 1.3114, -0.5739, -0.0855, 1.0281]",
      "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]: [-0.7017, 1.1389, 1.0748, -0.7971, -0.5888, -0.6453, 0.9974, -0.1436, 1.1427, 0.8093, -0.569, -0.6476, -0.6624, 0.0502]\nstate[eef_state]: left_x=0.2942 left_y=-0.1155 left_z=0.2315 left_yaw=0.123 left_pitch=-0.1109 left_roll=-0.0481 left_gripper=0.9974 right_x=0.3051 right_y=0.0672 right_z=0.1633 right_yaw=0.7314 right_pitch=-0.1174 right_roll=-0.0026 right_gripper=0.0502\nstate[joint_eff]: [0.212, -3.1248, 7.6786, 1.3065, -0.3004, 0.2173, -0.0073, -0.2256, -3.9179, 6.6803, 1.3651, -0.2515, 0.022, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5369, 1.7061, 1.0462, -0.1749, 0.2913, 0.1688, 0.9974, -0.1436, 1.1454, 0.8093, -0.5701, -0.6476, -0.6628, 0.0502]\nstate[eef_state]: left_x=0.3597 left_y=-0.269 left_z=0.0936 left_yaw=-0.8924 left_pitch=-0.2199 left_roll=-0.0934 left_gripper=0.9974 right_x=0.305 right_y=0.0672 right_z=0.1624 right_yaw=0.7319 right_pitch=-0.1199 right_roll=0.0 right_gripper=0.0502\nstate[joint_eff]: [0.3077, -8.8274, 9.4564, 1.7314, 0.4322, 0.2711, -0.0171, -0.335, -3.7265, 6.6256, 1.2869, -0.3346, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96f7f0a1c9169630e349fbb534efa2fd06c6f8d4daba0258c154e8bce33f88a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af39b9d1e6a3546907bd81fac0d1a1b9458769c9314e325e260075a71afc0d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0a3c44c9637fa39e86d6f084c963feba293e6ed78696e57c717ef2fce5f1b75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFl3drB0tthQ_69VcLeBLahbEF7OKft2y1cMXGTqhGZ3dE2VBbijEsU6p1f8pgLAvDrQStzRGg9qZrojsyazUJD5egDkHpp2avsVVwmvoTkZxpLKQ7Cuy_u_PCSOH_mJemNZ3U8KB7HLA3ZZaHO6qvA9uxBZBbPHE9wa7uBU5ENRofl_g1yh2gI3nZC9EUomO6-rvgdRmovdD9N1ZuXB3wxXaMXYmOX9aKw00iK2X-kClhuYZuHYAv-tNlDrt19oDj4t-1GnEgJcCXX5A0DivuMiUfTpwKECxuNge_hc2OBiXQk56uagNet891AAr9Nm7pIxMjKe4Jz6so4SFXHUcOgwq74Zsygpl8Qqi_ZZmBVKEiQaunUksp15JxYe80hrmWJ3-ZwwsOsx7uPVf90iGPvDJ5KlaPp8jmWwPavPS_-0kIk-wAOPUIHkrU_Ieasc3x7XNMK_faFNnNCTbKROmQf6vc2nc2Xpn23Y0u8ij-4Ir-op4wkmBL2eVHhoM5lkrPBrW5MidteOxp3qD5r65AvJltj0prwSYvAKwUEnwgM-seBB0CtFqhoBFMF2wnbcfld9LifyPMNyJKDqDVAIUenb2J3ASkXSsJhsEqXxUwuCpw7ItxHAF0JwhLO8k3Ahp6AkcjykPqiH2XgEsDijZCqRDxnulGDe2dVP8z6_zwqHf_3s_-fa1SfX5jGhOZpGN4RNq8usJU-sOkwZ4VxGCTfl5BVGFLnxdyNolJHexLxTmT-FCoRbCSAmzn2P6_TFhORT-y92ZT7NbESv_UcwFA2cczfw9UQxq2_rmusq0-qqbYbNzDlmVZOBvN73XEn262noJIQkz-te1opIQjFMJCl5OUCwQi1I2ed-ItYXHiuWXC7gXSemcjbnplG0-Z0roWe46ukP6fV4WXs_hMl9lDIXuHS-bubK4n6tyKTTNT2r7Wf8qKYSgsQgjdWk7AIpsH0FiELB3PNis5qucbEgEjqDpY9FzJdQsckHeYMrUseNZhUJsJ8VKY5B8F65vQ3DI9GtatIhhFJTr3J47U8QNp28ymFiB6NLwQlrD2c9iKstuICFFjvaEJyydJZZkHhLtpEEYUhJCSGe0FYTgEMbcMpHRqOX-jcRB_3ESPztph70mXexze_SF2AGVPxv3P_j_IaLL6Efu4bjBxOlxn_pg_LCbk6hFM_8f8OQCeHBY8bIWIe_yq_JrDLs6V4TWgiKs1XCp9ISYnhQvym1FYonMllyEBALrYgOdV8n-Y6D9kC6qu4LiuFnOF6H0Qb-S36o0PSOrzCuvlpghduRR6ElXxhrPcDSZQVDyIBRwf-CjRP7VhaUfRBU3EVTGac1upvUq_itcoOwYhIns22e3-PGv6JWnrr4VpVZ-mDEqnq3EU8pw_1C_OYszFc6EQi5KNl5mgAx68e7ZdQ5QqPyX7I7MLeF-te655vdRTNlnSveCTAObe9fvsSpNygADeM44Zig-WoThIWvTFWL7V447x5KWOMH2erjCaXEklt10IxnB9XBVriV2D2pV8TRkHwO7LazZuAqByWkn-kflnjiSR6yzufPhz5QxpF7-H1krxbeD5SnaiJb-TCjzNjFOjYcc1z-6qco0fSCa29kPWdiczhGiJYo0uDreYawlXM0COic8Nzk3_tXjacntPlIBw2EeWwA04fTr0LlVBgwkZl7q_bilyCWcEAIUtWpRK80az04FNwAeuO5xu8GEzhdc_QD6XWnmhgkABrTHtanDhueejXoeeEZtSnSaQJ5AOE_vF0JYYOE_K0OP_FoPjvpi42mRJQV6VdUJ6cY8kO-WJXeDS_2YYsRzWfA1vH0VdKfskGj5y5Tiw9rWDvX-ZylSsclT8Ei59V5h2YmXU-Q-JQ1Ww7PYFmyB_6Z884fj4jXAnZWtv2182XQSrskQBj6t9SbBhsRYhzVp10ijn5-HWqgbgSnwccbwzFqGhmtWBSjN6tGHsnQJY3UPLXi1-l8eP0WRwq_uoilxcJsENariDq-CLZ6Ki6izeQM5pjP2CwNk8odnsILUfoaEdkO11_9kby-nvtoX5VCKDNDk6zkrJINWewdFtNmkau-Vy9NMwVTIvCdl2Fbc84=",
  "id": "rs_0f0c42847012e2f1016ab4597404fc87d0a0f743d10dbce187",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.295,\"left_z\":0.025,\"left_yaw\":-1.5},\"note\":\"The cap is visible between the open jaws, but its length is still diagonal across the wrist image. I’m turning the gripper to match it more closely and lowering for a centered grasp.\"}",
  "call_id": "call_YxApn7IqoXly5DX9cwlFipiS",
  "id": "fc_0f0c42847012e2f1016ab45976e05087d0a5add2d2e866186f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YxApn7IqoXly5DX9cwlFipiS",
  "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]: [-0.432, 2.1082, 1.33, -0.3641, 0.5911, 0.6601, 0.9974, -0.1436, 1.1492, 0.8093, -0.572, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3796 left_y=-0.2795 left_z=0.0125 left_yaw=-1.3346 left_pitch=-0.2913 left_roll=-0.1474 left_gripper=0.9974 right_x=0.3049 right_y=0.0672 right_z=0.1611 right_yaw=0.7327 right_pitch=-0.1235 right_roll=0.0041 right_gripper=0.0502\nstate[joint_eff]: [-0.2393, -10.9333, 7.159, 0.9988, 0.8962, 0.2515, -0.0171, -0.2256, -3.8496, 6.6393, 1.2918, -0.3492, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc73a9bc614ccc67532457014f96e52a2421cea651aa1c970ecd91177f7f0f51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f63528a05b1eede01a20193105082640de23935864f7e156abbcf1db04fca33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e488439c58c0e1468a98cc3e4fdb10e43120f0dce49e8dc12ff4ebbccc0e89bd",
      "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 · 5.932 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]: [-0.7856, 2.6019, 2.1983, -1.56, -0.8112, -2.0937, 0.9974, -0.1436, 1.1381, 0.8093, -0.5678, -0.6472, -0.6586, 0.0502]\nstate[eef_state]: left_x=0.3912 left_y=-0.2051 left_z=0.0298 left_yaw=1.1241 left_pitch=-0.1173 left_roll=0.0045 left_gripper=0.9974 right_x=0.3051 right_y=0.0671 right_z=0.1646 right_yaw=0.7286 right_pitch=-0.114 right_roll=-0.0043 right_gripper=0.0502\nstate[joint_eff]: [-0.0479, -13.8598, 6.7487, -0.5348, -0.5446, -0.0366, 0.0073, -0.0342, -3.5487, 6.3795, 1.5165, -0.2369, 0.1392, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5369, 1.7061, 1.0462, -0.1749, 0.2913, 0.1688, 0.9974, -0.1436, 1.1454, 0.8093, -0.5701, -0.6476, -0.6628, 0.0502]\nstate[eef_state]: left_x=0.3597 left_y=-0.269 left_z=0.0936 left_yaw=-0.8924 left_pitch=-0.2199 left_roll=-0.0934 left_gripper=0.9974 right_x=0.305 right_y=0.0672 right_z=0.1624 right_yaw=0.7319 right_pitch=-0.1199 right_roll=0.0 right_gripper=0.0502\nstate[joint_eff]: [0.3077, -8.8274, 9.4564, 1.7314, 0.4322, 0.2711, -0.0171, -0.335, -3.7265, 6.6256, 1.2869, -0.3346, -0.0122, 1.033]",
      "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]: [-0.432, 2.1082, 1.33, -0.3641, 0.5911, 0.6601, 0.9974, -0.1436, 1.1492, 0.8093, -0.572, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3796 left_y=-0.2795 left_z=0.0125 left_yaw=-1.3346 left_pitch=-0.2913 left_roll=-0.1474 left_gripper=0.9974 right_x=0.3049 right_y=0.0672 right_z=0.1611 right_yaw=0.7327 right_pitch=-0.1235 right_roll=0.0041 right_gripper=0.0502\nstate[joint_eff]: [-0.2393, -10.9333, 7.159, 0.9988, 0.8962, 0.2515, -0.0171, -0.2256, -3.8496, 6.6393, 1.2918, -0.3492, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc73a9bc614ccc67532457014f96e52a2421cea651aa1c970ecd91177f7f0f51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f63528a05b1eede01a20193105082640de23935864f7e156abbcf1db04fca33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e488439c58c0e1468a98cc3e4fdb10e43120f0dce49e8dc12ff4ebbccc0e89bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFl86qLGEyycV3gt2eVejM9MaH4xDvKtVZfDTr4iNaiyZTk9hJolMCh0uINOSrxNe3NnnHxLMFtlTdrm__oT_5YYwdUA-nJn9UV2osOc8wzyw4m0Tsd7XbDWzi8WCfRXC6MFy9ByOGqSnOzDHO9fPpJr5otCL_c0If0odzbgHU7Ia10J2uiud4fiYChp_-ZYugEc20sRyx50hyGdr-5k3ufLxUXia5e9VdVGdAJsrOclW2kc7HZL9pbH9oXVFKLFCN8OQel4iSmDH5UJ8i4V42SqOJ37E5H60jyvCPpEeYn4KnvcKswVpm97OKM5rw9ocmHu3rlGI_Lgnmhe0bZxoTAEfsvZKgcD74L50yTunWlABOQcr3rPssV_QQflP7rEEaKhcnxb18z0Mpqml2DZKYIHfwHx_HkCEqQcm--UVnIX7Uc1_BDwKxtMC1NtFpz6VMfsMMZlALRLbt-BhzOIyusX7Ei14xhPLdBRfOPRj7n53HAMsJ-D0Wo4q4zxgmUdGuCgFWRpLCGrqFtVQZkUPC5UM0dVCJpEchDYKKFKFbhbotO8hR3b3gFbx9Xeo217iZIvLUAt3-c3xcZcwVmud8ZBn_Z6QjiSvfYm5L6KO_jQvBN8s2sXqNkwa_L2DiKLN8GXMop5Dunp26hse4_kR0yJXEeqv9t5dJV5cYTh2O-QF1LzpHjtepcoLPqqcERMj1y1rgopUt1sKX7yBP0s-DkQqAAio5mQgmB5FNAf-uCSyXaZ5NvhM6R3I8TCHfhnjDOFJvzH_kEkNYpWgOGTiYYEuPCsMbqGRybHYHtDa1yFYPEDpR9gxTBiaBt8K-3Ia5ITmPjCTWX2553MDJ91A1EiYw70a401Ba_F1xZFbwaSeRgDXd3TvppxpKMznkJWkwHYwPivcVrJHw9l7KrDjjfKLyqfHoHpsaKQ8Kq5XAr_5R4ENVTtj4jwZoCOvlvT4MJU06nq_FLWrpj48kjJK_ff5YuEDjEw_MHGjS8-d6oqbA8PXQkr2w_kKWNGWS6nUVSlolRqD88OkUpHWvF2K1OEZ1hS6g-Q90JO55CYoNEfts_URQon3sY8KxSJobrzsGlCZocVoHbaDhPSFQZsrIOFOTsY5fw9VDUQRCSWIvUEA275RDPMl2XIl3ix9yTDUCbOicr1PKYkWaF2l4UDsrC6cyAL6iZpGLBxhE0l9s8mJkXyehl1UD0U6VnX3hOR3no0pWCQT69RL0DZk_tSKlATBgfBwsvwoynCSs9_-7X71ESEr0eVw6lNgYI4AtetlUG0u08CVIIVMPF7P9QjT7o-ch9p9t6q6jM1VmSAiAnx8mgARUwktaSQmo3z2j_5WT1CUQ2WRprm1qWcw3pB5RRy8fTkd3XfqXxRJRjiv1bYsCTj1pJMWxTYiPLZBzORPb-sT9E9l69gge1nR30lzQ2GoBdcJ0E4hQ-bF0v7cnMlHAHaL0k43MXYvZpF7fVfxrxlRqYAQUemROO37-1Y3_qVkRHtdHDWY-m6GmVBveU-z-chvfzaw1e_RIed2A42tqHD1aC2QmBbHs2cxw0BjQTPxCjtwGUNlGgxH5_CIPpvrFil1UAbooghQCIF_tqBSEwP0pflI7KIAA51SpWF5j9RyzKFdYp0_C1P_mtleBUm1H-zC-f2R4mDt7p1xTQl0xkGvHsLl-gjtrhTRJ_QophvGm2Hjej5SbK294IvmwVUDTVHXahy20mS8n0PQePUd1NDP97rhOv328HuwZeBSvl99ec_TU-vUbgc-9UlQkwJLL9IlRkrI5x_fwbSpB6gXmMGjgeZPdaxLZENKSJvKmhbAtcLSwuhffec9cdjJ-Q0oMI=",
  "id": "rs_0f0c42847012e2f1016ab45979d28887d091f62d5048574884",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.363,\"left_y\":-0.292,\"left_z\":-0.005,\"left_yaw\":-1.5},\"note\":\"The cap is now aligned lengthwise but sits to the right of the jaw centerline. I’m making a small sideways correction and bringing the fingertips to the table before closing.\"}",
  "call_id": "call_xafJZsA24dUWcU80AUM3tVLb",
  "id": "fc_0f0c42847012e2f1016ab4597beb4487d0bb1e1abd0a0ae0ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xafJZsA24dUWcU80AUM3tVLb",
  "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]: [-0.4324, 2.1407, 1.3773, -0.4385, 0.6632, 0.8223, 0.9974, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3703 left_y=-0.2867 left_z=0.0132 left_yaw=-1.478 left_pitch=-0.2586 left_roll=-0.1256 left_gripper=0.9974 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-0.3897, -11.5077, 7.706, 0.9744, 0.5299, 0.188, -0.0122, -0.212, -3.494, 6.6667, 1.3358, -0.3248, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de2067688bdac233a56588e5c497bc4335596c60560072eaf1e180224fd7a607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377f343d09b6c1e422178130ddc87c955b3dc911f7ea861204a52d6fd1fd11f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa2bcb64b30e164f92f1ece1e048e94e276d1a96cd9cd98bf4b103bfbf06f73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.865 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]: [-0.7017, 1.1389, 1.0748, -0.7971, -0.5888, -0.6453, 0.9974, -0.1436, 1.1427, 0.8093, -0.569, -0.6476, -0.6624, 0.0502]\nstate[eef_state]: left_x=0.2942 left_y=-0.1155 left_z=0.2315 left_yaw=0.123 left_pitch=-0.1109 left_roll=-0.0481 left_gripper=0.9974 right_x=0.3051 right_y=0.0672 right_z=0.1633 right_yaw=0.7314 right_pitch=-0.1174 right_roll=-0.0026 right_gripper=0.0502\nstate[joint_eff]: [0.212, -3.1248, 7.6786, 1.3065, -0.3004, 0.2173, -0.0073, -0.2256, -3.9179, 6.6803, 1.3651, -0.2515, 0.022, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.432, 2.1082, 1.33, -0.3641, 0.5911, 0.6601, 0.9974, -0.1436, 1.1492, 0.8093, -0.572, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3796 left_y=-0.2795 left_z=0.0125 left_yaw=-1.3346 left_pitch=-0.2913 left_roll=-0.1474 left_gripper=0.9974 right_x=0.3049 right_y=0.0672 right_z=0.1611 right_yaw=0.7327 right_pitch=-0.1235 right_roll=0.0041 right_gripper=0.0502\nstate[joint_eff]: [-0.2393, -10.9333, 7.159, 0.9988, 0.8962, 0.2515, -0.0171, -0.2256, -3.8496, 6.6393, 1.2918, -0.3492, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4324, 2.1407, 1.3773, -0.4385, 0.6632, 0.8223, 0.9974, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3703 left_y=-0.2867 left_z=0.0132 left_yaw=-1.478 left_pitch=-0.2586 left_roll=-0.1256 left_gripper=0.9974 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-0.3897, -11.5077, 7.706, 0.9744, 0.5299, 0.188, -0.0122, -0.212, -3.494, 6.6667, 1.3358, -0.3248, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de2067688bdac233a56588e5c497bc4335596c60560072eaf1e180224fd7a607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377f343d09b6c1e422178130ddc87c955b3dc911f7ea861204a52d6fd1fd11f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa2bcb64b30e164f92f1ece1e048e94e276d1a96cd9cd98bf4b103bfbf06f73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmCrO6TDCSvLpQBuIn37R8m6i4ihpv1XuQT8Rzz2jt7bfjTh1rhNaaBXN_WV5RShKMmSfB-K4qbgPJvmfl6pyavVcGZQ85eipGjqWXlYvGm7QRBI1gyigFv4i2eHhsFTj2sALIAMlhwLynlqlXt7eQJOW56Dmkt2R5H4s1vqOu831qrJirgW97-v4yfw6iXATQE6HqraxOt4fQ0KbIZMdtlBUVM2U9fJc4hs_Ohd6QKrXarAvdWdO-MGatZCSYeSYOK9BGLxy3tZAniM9o6tVHxc7Gx-Imw7HvBqmOvFdj-cOYRjXsVXcoQkXJ-q94aMOIUXIDeTgY8IA6ntqAsQ4BRwjoPU2DmFEDe3FdoBroYecBKG_ke8N7YcPV7l73QAw3H6imgpIJVn_24rl3YiPkAjyvajERsCMnCaKATgXKs0XEVpYXwglzUh1VY1F3uO4rKRW1thWRMeyJ7GS4oFKV07Y14gXTQFVso5s6BWm3bJIpN__H02mGZAZUgtjJdcRntYISG8ez1PCaU4bo3aCg5yQaxqZOcVUyblybHK9QOGzDlhc_wTxFJrKbNvwV37VDhT4dBHSCYKhwNfzNEaYgDO_aL7fcV0YinUuuyotAOC88yNFAXY1EmD_xEHg0wWbliINjatCbTFnbtrvNDNgkSfxqhfvzo27gzX9gSh042YniFcRHTT3UFBoKXiD9QzAdIiFS74YSwAC9JJd9oLf3SA8Jd_WbZpoM--IP8gLu-erXC_1tucfgI-mj7qAdF8kxmmXiUR4OAEknd-LD2R-kerXhThaSCvWJynaT5R8cpG3Atq6OvQQ6eIDTvjFP09JyZPQShEdX0FfBqGGi2cjipeP2dm_96Nc_FBKfrLC6omqOL4fSQjufIYG86nFHif5h17C-Tez4GGp62h1KoBhLiFU7Rsc2NOyr3vp92bGRCIfQ10P5qI967o-4CAgjjGI8vErYT-RIgG94ChU8seTa8lUYYrA11wxSyi1Pgk1NbWd6LXTL-2IQurlOD23qSLvQaEaiwY8TnaXwfJJYWZYNHqCO65Y42KcxmhbVjLF_IxQSYS-qPStvKtqvYLQKoQTIxPfZMc3HcvXg1e_6B6cizpWsPV4MOVSOYS6UjosTLTE3KRGEHcIoQ_-4h5HrMkZVBQyqOdP35QXXx3-xnaLinLlf6XS-chVfINxtJm5Fjfx0BMbi5PZn61XX7ktXFkRIKsz-n2MDP3l-jeIG2YJFH6bqaQ11roz2RjD0fSuJXZZYsxjckDGOlCg5K4sorSfKCCSDijDhnw_rIJmda-6_laOjxrJkDwvhhSwV4kqXMNru7_qNcnx10LT5gs7VCA4vU8zlDNYkPRhD4NGpqO6yNgYDlo2jjONM9UhC8UGIIwyjHIxfBPnikC5fOl1SjJPbmvc6LbHCL81_gVqbvI71AqlNwlNLkAeulSpMgo-uXcDq4e1FKxl-8VngJMDEHQ27Ll2xB-5VifRgz_tgvEqlDqCuboROIgCh2RYpIyEPKn4zvBMCnv3cA67tn2oPGVHg7WDyAaQEhaCQOeQmGkLdxe7opfbQyeX65_ow0JCBsHBF3Ur2L30NBASo6yoyryWL9MKIx9otRjkxFhd9xJwdFuknVZ6fAykXcOclnoQ7kenV-00Vvav-ozpG4dYt64vKn4v1x-H7L6anLU16tzSnxOFbi5KsEdDcHPp-FHQXwIMsAMMxhpEO3ieap98ogHwR3JjL-aQjWPSdx4yvVI__Wt5TO04QqlmS4rlSLFy-chakSJVOlmdFgZZfuspCBgeZZA88h2tQsEpVM9qBxwWWQHydfaLn0jd-4j45S0ZDWHrzAL9e7iQEhlErb6IVfHYtIkYw91ZJqzKofsuOmQaz_YQV3LhRBpAQL9F0DIU2wvi4fS4zIKNE-FAktXmAZ620e5iHdKXJyXAHhxfVn6P7uQQ==",
  "id": "rs_0f0c42847012e2f1016ab4597ef8fc87d0b5fcb8a1e7dc9f2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.351,\"left_y\":-0.292,\"left_z\":-0.012,\"left_gripper\":0},\"note\":\"The cap is close to the grasp line but still slightly offset. I’m making one final small lateral correction while gently closing around it.\"}",
  "call_id": "call_Xo86n0nhoVnOxj7jVeaZYpi9",
  "id": "fc_0f0c42847012e2f1016ab45981bec087d0af428b0db4cbd356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xo86n0nhoVnOxj7jVeaZYpi9",
  "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]: [-0.4423, 2.1345, 1.3128, -0.3611, 0.6544, 0.8116, 0.0086, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3634 left_y=-0.2871 left_z=0.0021 left_yaw=-1.4733 left_pitch=-0.2566 left_roll=-0.1118 left_gripper=0.0086 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-1.1966, -10.6325, 4.7795, 1.0085, 0.3834, -0.1001, 0.5836, -0.2393, -3.5214, 6.8034, 1.2967, -0.3101, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b65df1480968f4fd933567e8c91aaaa76430d1c3fb934cb2b31f5298d2779e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758f033b85d7795192ac3c003a6d643dc34c2dec71dbdf65d07fe92e1bbcd8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5752a0f7d710ddb7886f88913014aa3c2ae8cf0723479882a1aee0a499de29ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 5.491 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]: [-0.5369, 1.7061, 1.0462, -0.1749, 0.2913, 0.1688, 0.9974, -0.1436, 1.1454, 0.8093, -0.5701, -0.6476, -0.6628, 0.0502]\nstate[eef_state]: left_x=0.3597 left_y=-0.269 left_z=0.0936 left_yaw=-0.8924 left_pitch=-0.2199 left_roll=-0.0934 left_gripper=0.9974 right_x=0.305 right_y=0.0672 right_z=0.1624 right_yaw=0.7319 right_pitch=-0.1199 right_roll=0.0 right_gripper=0.0502\nstate[joint_eff]: [0.3077, -8.8274, 9.4564, 1.7314, 0.4322, 0.2711, -0.0171, -0.335, -3.7265, 6.6256, 1.2869, -0.3346, -0.0122, 1.033]",
      "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]: [-0.4324, 2.1407, 1.3773, -0.4385, 0.6632, 0.8223, 0.9974, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3703 left_y=-0.2867 left_z=0.0132 left_yaw=-1.478 left_pitch=-0.2586 left_roll=-0.1256 left_gripper=0.9974 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-0.3897, -11.5077, 7.706, 0.9744, 0.5299, 0.188, -0.0122, -0.212, -3.494, 6.6667, 1.3358, -0.3248, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4423, 2.1345, 1.3128, -0.3611, 0.6544, 0.8116, 0.0086, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3634 left_y=-0.2871 left_z=0.0021 left_yaw=-1.4733 left_pitch=-0.2566 left_roll=-0.1118 left_gripper=0.0086 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-1.1966, -10.6325, 4.7795, 1.0085, 0.3834, -0.1001, 0.5836, -0.2393, -3.5214, 6.8034, 1.2967, -0.3101, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b65df1480968f4fd933567e8c91aaaa76430d1c3fb934cb2b31f5298d2779e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758f033b85d7795192ac3c003a6d643dc34c2dec71dbdf65d07fe92e1bbcd8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5752a0f7d710ddb7886f88913014aa3c2ae8cf0723479882a1aee0a499de29ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmIUlhBXBDq4vKkuXfKkEzWzSk9wRYjLs1XsseOQXAdVFNXqOoxzXubCECZjd4HrQ6hJ88i4qPys_i7FPMpQ2cgW9LioA3d_11HyluTgHgftqPwJyHwD-Av7djL6e7RjPinkXh9gRB_6ygMajotyp4jku_yEfOLJGn28XwU7L_xgV6A-QHLH-jPKneOtit4a37OIKO0d-D4w9Q9A9wxpSzDcplR0q7H-3jttKm6bLEVj9vUWnFB-62kT3Bpj6krk2zBd2niSH9ZfV2lwCCAt7vBXkWrW0mURlYHNNL8gUJuW5bTaI6RMDeQTgverca_Tibw4JJFWYTlC7zGX7h4dj5s05sYAH6isaKyA-0y71n_I0R-rwONJ0HT4hdhe1ZxKCZkyTXRM-ogkp_fJSZkjNVja9upFhPKrSI_qRjzM9LbongDvpgECSW4ZwN-v4wxL-1K8D8y0eaXYZyNemktnO3WtBGlnJrYmchjAlQz5dip1q6v4wQg1d9jsxwZBSaAVeEkDy6lW_-GXk_7Tv2uyJ0j4utVe65NosixP2xPB5SLiubS5TRefoqnLf9gV31GzuVFX4qe9kJFV_Ml9HQ0LRrDYg_J96-hZGmGrNTV4pfaOyB9io33FGzk58kOMd6qnxRX5iUfarF8_9-D5KyskLGNGiLHe9-we1goZCgmIl6KegySah4ZciqhsAd1N65Dxv1seizfoKECat8cU5rvCClbGg5jBzVp2AM0SFZXR0tQ5n_9955E3RPsnrgtLzDw0edLALdzG9cO1NHPR9OvVrkZzysuG7rEykBs7CKxZqPtOJaoqqxTTdGnoO_5z8VltP4YRjTjQ2JB7BcZiu2RLyPBsO65PqqSSXSGaAQ_C6azShsCkA3KGKqg0LPXqDQrKJyg1FOOT6O55Iiz3GSyq49VcDywCXY4xUHc8BDsw1_yUMuiiF8srOFsIFDImiXQpMq6kI0bJX_mHhzi9SG8DRccoL7jrxnuVoWyRAxm_cc9YmwGqbgJh48PAlHGsfD8bRJzCNumIqKx3kZcek1HMuUb6_ES8uP3cP0Yi70OWCZVpeadg9lR69HiAvOt1hjQOCLKaSTL87OGWvPQbFiTX1bWMEM-dGmRa4SM7D3s6t4WXUnuGn01W2b48QhuRtPrmp6ViQKnwlhPhgTZWl9mMFRSfrkaJDyHmnkDVFs9lR_WBvU-ZLCLis-EXakPMyrABd6Z5XeSgWFTlWAn3UeBpJbWNsRTjp7MaZ4wAY0NBy2Gdvk3Zqf--H7H7RVbJ7rwk0wVUkMPAQRzX7feOrlILDtTCHascxOUw5W18pwIAeCXaBIB2vpKKJvGKuDssUlbDo85Y0lWhAOBZvWyFduJiHrZt28NuRuRzyNdubcrO1EO8EbRYJjXtcRYDJ0Eh1c9St7-KZ8o_E9tAca5EFWyPjjhKcREua0OLoVDkqT2uRXojw3XdqPHK6WnG8_W9tlxcnUSLl0IIvX7BIfFgwA_UuYfurW7CII85ErgUbjGgDI400DTTCnIgAh9OlmlWQV7Se2n5nVmHmhA7qKi4QimFlMPXVNSa7UegUTojuqyH4Vap-aSNSrXBSMNT-CzfhkBw-fl_ULLf5dfaSRWRxXV_xCaxgbZOHpkXFqVxz3Y1HMqK0ttzizu08Z9Z3FBE2kJwbGD06v1p7rSlgLQefGP8tlhEO6pFI6vYme2YdwNRx3h-d2dK-hN2R4VbHi-T8ve1KR1u8edhC038f5B8pyMNFfs-uhfgLkwQr7T7rTm8SgWtEnld4E4gTICjnWKb6coyx2MbmooP7N_4WPZ6QCtwhOeO-pr__wDryzKGqEvAHB5PUPkPT8pTsfnN6oH3iYvXQgvbj2_9ZwUdolZdzDfIJIpwg==",
  "id": "rs_0f0c42847012e2f1016ab4598525ac87d0978e110832d053b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.257,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"That close was empty. The closed-jaw view shows the actual meeting point higher in the image than the cap was, so I’m backing the gripper along the cap’s length rather than advancing farther.\"}",
  "call_id": "call_zaPCNiznFZelt3uRyPTGRzLu",
  "id": "fc_0f0c42847012e2f1016ab459878dfc87d0ba45db4adb6b93fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zaPCNiznFZelt3uRyPTGRzLu",
  "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]: [-0.3927, 2.0506, 1.2346, -0.4286, 0.6617, 0.8623, 0.9948, -0.1436, 1.1496, 0.8093, -0.5694, -0.6476, -0.6632, 0.0538]\nstate[eef_state]: left_x=0.3483 left_y=-0.2579 left_z=0.0106 left_yaw=-1.4702 left_pitch=-0.2781 left_roll=-0.1358 left_gripper=0.9948 right_x=0.3054 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1221 right_roll=0.0024 right_gripper=0.0538\nstate[joint_eff]: [0.6496, -13.135, 5.1761, 0.8376, 0.4957, 0.0757, 0.0464, -0.2803, -3.535, 6.6803, 1.3162, -0.3053, -0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7523b6a6bf558a725a79d9f3b1f4bc492b0ac1f12b1ac34084eb47d0a2cd1819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327af29a53b51141be468909e3fc3815bf7d72f15e9b2946cd405c114621440e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28845e0ba269d773226b68441d6510883a812a2c30685224d58aabded1e518ac",
      "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 · 8.711 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]: [-0.432, 2.1082, 1.33, -0.3641, 0.5911, 0.6601, 0.9974, -0.1436, 1.1492, 0.8093, -0.572, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3796 left_y=-0.2795 left_z=0.0125 left_yaw=-1.3346 left_pitch=-0.2913 left_roll=-0.1474 left_gripper=0.9974 right_x=0.3049 right_y=0.0672 right_z=0.1611 right_yaw=0.7327 right_pitch=-0.1235 right_roll=0.0041 right_gripper=0.0502\nstate[joint_eff]: [-0.2393, -10.9333, 7.159, 0.9988, 0.8962, 0.2515, -0.0171, -0.2256, -3.8496, 6.6393, 1.2918, -0.3492, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4423, 2.1345, 1.3128, -0.3611, 0.6544, 0.8116, 0.0086, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3634 left_y=-0.2871 left_z=0.0021 left_yaw=-1.4733 left_pitch=-0.2566 left_roll=-0.1118 left_gripper=0.0086 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-1.1966, -10.6325, 4.7795, 1.0085, 0.3834, -0.1001, 0.5836, -0.2393, -3.5214, 6.8034, 1.2967, -0.3101, -0.0806, 1.0281]",
      "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]: [-0.3927, 2.0506, 1.2346, -0.4286, 0.6617, 0.8623, 0.9948, -0.1436, 1.1496, 0.8093, -0.5694, -0.6476, -0.6632, 0.0538]\nstate[eef_state]: left_x=0.3483 left_y=-0.2579 left_z=0.0106 left_yaw=-1.4702 left_pitch=-0.2781 left_roll=-0.1358 left_gripper=0.9948 right_x=0.3054 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1221 right_roll=0.0024 right_gripper=0.0538\nstate[joint_eff]: [0.6496, -13.135, 5.1761, 0.8376, 0.4957, 0.0757, 0.0464, -0.2803, -3.535, 6.6803, 1.3162, -0.3053, -0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7523b6a6bf558a725a79d9f3b1f4bc492b0ac1f12b1ac34084eb47d0a2cd1819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327af29a53b51141be468909e3fc3815bf7d72f15e9b2946cd405c114621440e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28845e0ba269d773226b68441d6510883a812a2c30685224d58aabded1e518ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmPD6feXRG7CjQo3KBiVbzacLaNtfcoVlrTTx_oTiSiejE_mSTknXF9bS5R3pM3GuVSmd_DHI_EsFYmEmCmIumaK2faXtO9laXM6gp8qXnXCos9rYt1mnKrTGMwNjHl6aaq-PT7BRouu7nOejjBpNwgEcf0uNc8NDs5D8adwJbe35CCqvhL_xOVr9lNH4vI5WeBm3_qLf5RktA6R0xFerPXa3Y_DA2OWr9DKyn263D8sV048yUvu2SE_-DivxqkcTDTWDtWq6gag4vvM713GMcxYXUaQ5snpPKaTTaclSqbLEOSMNMTIUmVTDzBRnvq9CwrWYpwWX9HDrGpBCsPtiarskaz9CJUDQSly9-PxDzK7xnwFMAKXL2eppXDEbo3JYOtakSG1xqhtmRVYWU5VM2gIFD-U4L1eTW3-Gt6gvAovPjFOJOkNwKcGw_KhpJGXhgCIS58IM-DLeI2Wzo2w4HafoPo-Bp46kVRkVVhsCOLXGeSb_NX2BUvnDrkoOXCQyiEnJRioz4UeRBzVnncI0ojoAEBQs1G5VFRjjOYxmekmTAI40v81qm8fBw1txgoDaJdoef_SQTQ9XZlHSB7pgil_aJbLms2sFcEiJD2-oiqSRPUW4qavLZVk2hfHrr7w1aX2mCG3db-vRj1pQHWeeNjQ5iXBWvCQmVI_M3Bul1j7qX9k1UgLhg8lbDoMep6UE0L1VR2uhvYa-9gvbqcFA04bjQr8TDKRIsSX5CPJEHwvExW6SOH1mg5e7W2ok6rksnK3bokL9r1Jh8kKZODheuoBe9Ej3yTrkvuoFnzJewd4v02xkjYzqOK6FmT2wzoLULwcBKHaR-7m1TNDwuSPvVFzdrnZggaIsJU1TfEQSWXnHnlF0XK6fSZ4Bdbs80vrvX2Ns3oJN1TGlPquGR2FFHDiQm40xZDXF_Imxf1FgMpk7etQqcBIRzfx2swZRTJ3fatK2xeMlOg2yV8uqGI-mX6kKiZQb1D99iwdNm-NpTeUdpYC4n52LpVLwO6q4uAHrkAfLBSvbZ0bAvLnsedatPtWCk8GPXYodanHO75QU0mQsQhhRARaFE5VkTxK40of12DwneX7ekB-xwsbZFV5c42p9GXcHUUxWE_l2uaywzYUii3kO8YNuOCj_m5FMSjBtqvIlPPNykOZNjv6ZeYfS3nEKtwp6DXm3mBXaQuPoQdt0HJc_i8_1BEMDVc67VT73H4JLnGJsQw4EEs4PTmzSfzc0XnIOzb85wfLIi8cM8flTQbLRSbEhHgrgYPMmKaHfNvJqQ0ky5Ge2MjxHPaV58SYP5HqVt-UVZknKyqXB377PW61qGSfCpztrP2nc2hd2LIiFN9YaIWo1ytjeAUZZKiexkfxCiBCgsayUGGko1Cwy2DqiJyf-KGBXOCaeYCQkeRPZBaWPYS28WFGr0xyIize1HqvTSvuRpfVBc_5VfHM6Hlm0PccgZRaXHC8upNgj7a8l_wO5T6Wg2LjwP3PTDemub7b84KZjIauw_vZsox3Tnmqg9AZL5hk_3s_ZXrZQehF_RbR-uXIuHo7sQM5xf8mnvRupYRRYXPDCRKjsQzyzjLSqCR7KaDGjmSnpLr7aOvulp8O2BXo3ggRV5uKfvX2LD3idReE7wEbgxEd7-Dd9XbsJacs9WfofFGnQ7fzqmyKK7ZJ8HKAb5N3iMvj1_LGdPThIgjKzaae1V9tjATzrcl7MQD-g3mg1S-zTVl7p2mO0PNq0CyBMhbAAhpeOyCcXGmZIlH1wVhc8RDVozIGemr5CKKEuH-9axabOzjBTXf9p7BnUMSkyFv9fnCH_uYcNJOT4ToKOApkdlxFGemWn-MIzrrLu3gVlTJmIEfMiir",
  "id": "rs_0f0c42847012e2f1016ab4598bada087d09e06fc25d6385d3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.08,\"left_z\":0.18,\"left_yaw\":0,\"right_z\":0.18},\"note\":\"The cap is no longer visible in the left wrist view, so I won’t close blindly. I’m lifting and moving the left arm aside for a fresh overhead location; the right arm continues holding the pen.\"}",
  "call_id": "call_wwJ4AuIajpsS8JgGNRKp6Cxh",
  "id": "fc_0f0c42847012e2f1016ab4598dd33487d0aa03d3c312231cd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wwJ4AuIajpsS8JgGNRKp6Cxh",
  "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]: [-0.3874, 1.0725, 0.86, -0.6525, -0.1074, -0.3336, 0.9958, -0.1436, 1.1511, 0.8398, -0.6384, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2913 left_y=-0.0945 left_z=0.164 left_yaw=-0.1175 left_pitch=-0.2924 left_roll=-0.1366 left_gripper=0.9958 right_x=0.2996 right_y=0.068 right_z=0.1637 right_yaw=0.7366 right_pitch=-0.1476 right_roll=0.0335 right_gripper=0.0543\nstate[joint_eff]: [-0.6906, -3.8632, 9.6889, 1.3944, -0.2173, -0.0464, 0.0952, -0.3487, -4.0821, 9.9761, 1.2186, -0.3199, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ef24d28e1f96a575e2b788598880abc7f477808027ad31c3c6b7c3d3be8079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fea804aca817d7eb3a29c85760b62800e25a1ddf3c2892537583fc9a36162ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c887bad9363ad87ee3edade33ed6678ea3c992d037eeeed62e55f486cdce9bf8",
      "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 · 5.888 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]: [-0.4324, 2.1407, 1.3773, -0.4385, 0.6632, 0.8223, 0.9974, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3703 left_y=-0.2867 left_z=0.0132 left_yaw=-1.478 left_pitch=-0.2586 left_roll=-0.1256 left_gripper=0.9974 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-0.3897, -11.5077, 7.706, 0.9744, 0.5299, 0.188, -0.0122, -0.212, -3.494, 6.6667, 1.3358, -0.3248, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3927, 2.0506, 1.2346, -0.4286, 0.6617, 0.8623, 0.9948, -0.1436, 1.1496, 0.8093, -0.5694, -0.6476, -0.6632, 0.0538]\nstate[eef_state]: left_x=0.3483 left_y=-0.2579 left_z=0.0106 left_yaw=-1.4702 left_pitch=-0.2781 left_roll=-0.1358 left_gripper=0.9948 right_x=0.3054 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1221 right_roll=0.0024 right_gripper=0.0538\nstate[joint_eff]: [0.6496, -13.135, 5.1761, 0.8376, 0.4957, 0.0757, 0.0464, -0.2803, -3.535, 6.6803, 1.3162, -0.3053, -0.0562, 1.033]\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 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]: [-0.3874, 1.0725, 0.86, -0.6525, -0.1074, -0.3336, 0.9958, -0.1436, 1.1511, 0.8398, -0.6384, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2913 left_y=-0.0945 left_z=0.164 left_yaw=-0.1175 left_pitch=-0.2924 left_roll=-0.1366 left_gripper=0.9958 right_x=0.2996 right_y=0.068 right_z=0.1637 right_yaw=0.7366 right_pitch=-0.1476 right_roll=0.0335 right_gripper=0.0543\nstate[joint_eff]: [-0.6906, -3.8632, 9.6889, 1.3944, -0.2173, -0.0464, 0.0952, -0.3487, -4.0821, 9.9761, 1.2186, -0.3199, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ef24d28e1f96a575e2b788598880abc7f477808027ad31c3c6b7c3d3be8079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fea804aca817d7eb3a29c85760b62800e25a1ddf3c2892537583fc9a36162ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c887bad9363ad87ee3edade33ed6678ea3c992d037eeeed62e55f486cdce9bf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmZqwEFnfnqqpT0oipxh_PrgmDa1UWGpT4tio9RJhNgSnN4v7yRYOkNf-TCozkkCtbhJKoTV69HNDxzu6qj4Ly21EwQOHvrHLbaev-GWo0dMk3CqBt3SpnvA_hgvtiCzxXsP6R51mGY7RmVvyXPCrX-z5CZOq53XPrLpqmP--u5ukUaAXGyMev7dOYu4hKGx49sjX3kPRRuVn8ahPl6ZPfCI9WHk4lgvDfn5BF5NryTDdyXF1ZMcrIIGhp9CzhHdPEByuWfduk07TBsltt4CoqEa-jQEmKkSMO7nqsZpgGbfnowE5QZAdFPC11qGG1XIRHTybusqXBJn1GOR4_vBCCi8f1iCV31aS4aYu3bUWPGIbqC2oyp5s_U7hZPjsckkzTathnXhpQ81JCjogl43aAjzWeDu_6az8vRCU1F-QXxmS5z8EDTcAeAFn3_fI7lyKKRIzrgaNSR9HxDQHumTD2SuIky7fnI5V4ENcOf1nfARCrO1OG2sZRKnub4R96Vw7nGdCJS9nwXxU9m4c9DBAhpud5K3O_u_lQ_csLnLRnYBpD9-MG9eETSWiEaDXGDAzBhXGSrgWgn--gR3AqZe2PY7q5fPWUlrJa8lLdV5lEZdxv3RHEur9JlcG26nGzzHkdkR0hl6jKcDeYjjfNFkp0oeP1C2kxjG0agsbXCyCDHD8xn6tr8osi1o1uthL3D4MWP8f8V1NYz-aW0SFTyus3YxEQYifCY3tbRDpWVnV1WG3fRMZ0jUmobkaB_sFOPplPdTjsxoc-QjSVK2uS40pC78aGc5tMXQVIgdkLit58dCGMnRRKZqgNHKbGvoAyRSnh7TgHBDamXD-TSoFV9xcUGAT2RGFJorH3LAXprfWITz6tkh06qpidw730nGI1tro4qS9Tx_YmiyQ0IZepyXaKzZXHbpgN1G6E8I_J0cYQxo5DCYe5Zxa-uOJP80t6IGIcgIkF8cyYyCxfjqkYOLm9l8hSY3WlPbPYiKL4izG-H4ayvyIyri2QGRjNrEzvXNXQAAr1iK-RsLq8-_Eq_T8_2T_6LOVhYn9aaXTloL8q2XtmkQD7b4QU39ple2zIFYE3luKd9u_2W5LbGFf4Pk7BClkK8gLKFxxMHT1X8yG3AKNbeYc4sEbNJZAZBWoSGEBa1PbkFwDrk9zH-Zg5HxZlI1NGR0G7KltwFFT4qHglgGHySeD08M5mHuqlj7jlX3YN8cZeP9Dgp_djcg4u34q1Xq5FIO8oJ4E2yi-Ozq5OaXZiPJQhjeLOC-xFULn8yTaIjje_XRoFT-xoAebKXLYfInxWXYHuXt4mwwoNbFS4W7a9m_gi8RcZ-z9BNawFKXvgKAx2WmskoVBq70pzqm-OCaWxDEzrdWtvzlC5aINHFiyXxRX1k7Foc7b60ec2oAfgd1BRC7pnMtAWThwSdYmvLkQZCTzkgCslcfpyXc-FAzUmI9gTi1zfiBIpyY2kuWi1CtDp-VQk8Z1e9stJW6xc3pDO2gSVL6qsRJGcCiFrasF7lRfOiUZioqQLlHGtKCvwk4h74Tlkkle42IcFCpSjrKxsivbUbG3GPq1NyusbQvpQW2aVMP7V4tcZvh-QUUrr8vpvl8WT-B79VLSb5UqH1yG6mzo53vtt5iYm20CYrLfD81QGS_FVcjDAvW1gJtwNZeQrE4fCz4eKj_vKUPCZW8buauJsos3Nj4CD5WLXVSZ-4w4EZnzRishN7wwvcG8YBI-fWJswa66ED3p52Ln9na_NJbchadCFdhL4fDTnSjZC0yAGgQBgZVgrHNSCx9IjGaIuzQmsxbZtFm1SuY4I920nU0yIp9uBcsctFvIZ9smSuwV0_6TTVKP0MqDoSWhSL-DWW7OkccJmbMddR5cCHRkuIKxfSp4nzr_kHGnkOYv1QG1dI1JMuKcel3vl9BbBvWhAQnxsa0OmUAgX0t_4X04Wi7y7zLJmMFZH_MF2PJBaE55QlvaXmz4dxfAvdjjfZxnf-vgcF4XDvYcV5RtCvsw12v0Chl22KHCnNO4sMysHwBQEnuxskV4ZbDKwhXSMwqO-Yeg0szz3RQPuG55Nt7TvglQHQf9qXKHV3SBv6-J04Bd6xubBnPXRYTwC2eypwPh6C0R6aJdL6bqrTjw0XJYHisBLSp4IQI1lzNfIA908EZCCWc3eDWt9-bGNhPyK78c2GWXEiIRp2jjGtF34F2CV4ehUzM5A1883uQCVCB9Pc6VEBaww_sPXB38ddbbeb8qr91_PYY5FjOGT4WUFk3rsNrzIz5rdWvLdAeFMNiKoNRxsFghqorrhzfOHoUIl3RiOsWhreV7cQBDnPOLVD481qd1y3ioF-CoeOcQoeCXhKhnTXQWCCSnR8eqFdHHllGvp6YS44MW5gjc0_xpvQJ_R0JT2sChQxdEmRiBMIRli5i60zOerCDpvEnYVjDIVKsNOCAdE6XYKEj7TWsl87gYrEJjmXQmyMfSpIN3QlQxnh_118HfTDl85mRGJLOWDXcMqDonmx58raSYkn8h3GGi1sWUgAqssTlPcaD3Z6Wbmmwwd5kjicVSqffcr6sTfCE3jXEwF3CjKu8DXFqCORP01RH1MnI5qTneHPstVfRM8L90OkCnt0m1ZCUTxwy8gVKSj43TlUsTVyNUbB3mrqJk7Pg3MlgOQo-BRx93VLzhIsNIA-ZFIh8Ehf7KnhDQ0ucMAOgAKJ0rF4Ol59m0DxyHPEDCy8Xe3WRlVwVhnOCa9g5T6dqiPfrsuFioBFIR98kApPPL2EqgA3HEbh4TsaMFbDKhFj5_E3fyqOoeK_tAEHpD_FqULSeyie547ofhoSPjXHGEAyJ0YpPrQlTB7Yf6pcsPqxqAvyp55WkZ9X4mJV4iLCr3O9w1BW4O0u4V5eBMK4evkK3fH_UoaKe4Ldv_0LuBQ_R3E8urv39PV7fq23FSjxxddTL10c_xDAprOVx5xC2DmEfeJyTGF9EcusDr1AoX3xjt3btALJgxySpSM=",
  "id": "rs_0f0c42847012e2f1016ab45991fe9087d0b399c7d23f20044a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.26,\"left_z\":0.065,\"left_yaw\":-0.65,\"left_pitch\":0.2,\"left_roll\":0.1},\"note\":\"The cap is now visible closer to the bases, angled diagonally. I’m approaching that updated location and compensating slightly for the left wrist’s observed tilt so the jaws meet more squarely.\"}",
  "call_id": "call_VpTCdUrM1kXWekmmzMdSCtLM",
  "id": "fc_0f0c42847012e2f1016ab45998365c87d0a2899334f143ed9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VpTCdUrM1kXWekmmzMdSCtLM",
  "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]: [-0.8131, 1.6444, 0.3698, 0.7502, -0.2287, -0.036, 0.996, -0.1436, 1.153, 0.8425, -0.6468, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2915 left_y=-0.2447 left_z=0.0374 left_yaw=-0.6133 left_pitch=0.0597 left_roll=0.092 left_gripper=0.996 right_x=0.2988 right_y=0.0681 right_z=0.1632 right_yaw=0.7375 right_pitch=-0.1525 right_roll=0.0394 right_gripper=0.0543\nstate[joint_eff]: [-0.3897, -6.5573, 4.3829, 2.2442, 0.0562, 0.1734, 0.0024, -0.3761, -3.6171, 6.4068, 1.2772, -0.3541, -0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68fac37d3f75b56af761e3bc4e93fe0f77fa9b5b7e40e0ef7d6daeb20d03aab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59009b9f64338a64145d66f5cefc227de75949e0e109fcbe1ec358081707c667",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01172b6fa701d9fab1c2fb1fcdb85457351bb54711e20874583b0075721f4bcf",
      "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 · 2.235 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]: [-0.4423, 2.1345, 1.3128, -0.3611, 0.6544, 0.8116, 0.0086, -0.1436, 1.1496, 0.8093, -0.5697, -0.6476, -0.6632, 0.0502]\nstate[eef_state]: left_x=0.3634 left_y=-0.2871 left_z=0.0021 left_yaw=-1.4733 left_pitch=-0.2566 left_roll=-0.1118 left_gripper=0.0086 right_x=0.3053 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1223 right_roll=0.0027 right_gripper=0.0502\nstate[joint_eff]: [-1.1966, -10.6325, 4.7795, 1.0085, 0.3834, -0.1001, 0.5836, -0.2393, -3.5214, 6.8034, 1.2967, -0.3101, -0.0806, 1.0281]",
      "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]: [-0.3874, 1.0725, 0.86, -0.6525, -0.1074, -0.3336, 0.9958, -0.1436, 1.1511, 0.8398, -0.6384, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2913 left_y=-0.0945 left_z=0.164 left_yaw=-0.1175 left_pitch=-0.2924 left_roll=-0.1366 left_gripper=0.9958 right_x=0.2996 right_y=0.068 right_z=0.1637 right_yaw=0.7366 right_pitch=-0.1476 right_roll=0.0335 right_gripper=0.0543\nstate[joint_eff]: [-0.6906, -3.8632, 9.6889, 1.3944, -0.2173, -0.0464, 0.0952, -0.3487, -4.0821, 9.9761, 1.2186, -0.3199, -0.022, 1.033]",
      "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]: [-0.8131, 1.6444, 0.3698, 0.7502, -0.2287, -0.036, 0.996, -0.1436, 1.153, 0.8425, -0.6468, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2915 left_y=-0.2447 left_z=0.0374 left_yaw=-0.6133 left_pitch=0.0597 left_roll=0.092 left_gripper=0.996 right_x=0.2988 right_y=0.0681 right_z=0.1632 right_yaw=0.7375 right_pitch=-0.1525 right_roll=0.0394 right_gripper=0.0543\nstate[joint_eff]: [-0.3897, -6.5573, 4.3829, 2.2442, 0.0562, 0.1734, 0.0024, -0.3761, -3.6171, 6.4068, 1.2772, -0.3541, -0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68fac37d3f75b56af761e3bc4e93fe0f77fa9b5b7e40e0ef7d6daeb20d03aab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59009b9f64338a64145d66f5cefc227de75949e0e109fcbe1ec358081707c667",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01172b6fa701d9fab1c2fb1fcdb85457351bb54711e20874583b0075721f4bcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmg0JsJ54WmZC11s8wc3Fw81bZMETFbf_KL7rBVk4vNshseKtSl_oGuWiVRhJcgiliqeM4IUULy6a11oou3n6J8v8JgMS1pe5mfUMIaHCoD9ajpK8h-am6v8IUzlh3H79IGVtTayX2n7wDYjcFjo3TgUd6dAxvaiZFSEb4XKWlfQnmcnihirUza6uquab75xSVtvYb7TJxSDBb_cFItgFvrtEcL9eRsyheAHowjOZv1lJnB-BXVzdwqx47CR2mUAMBocFCnEELEXTu5cvYKfCiOaqJeLCaRK4Ain_kBmnHoeLObZMO8FifH_n04LmAPcxlQmK4r0nT1DJIMtOuD050MMlrKd95bk35-YrVftmPXJ3uqiuGrAZsuwwK-D7qZs8uTo2Yawk0JVZ8L4Ul2ZCzIN5MwCuNyDW5V9ct4XI43WKBTB5xhKO6SuNQtvoeUBLSS9NpPwgM0bsH1UZNzA79d_JuoYCoyqi3Oz9II8t9H9YG4BLlR_hbRBdXKN1oAd6I2Iy8Tcp_kh5Qc4m-ZlE_ra0sn6_iXFIskIBKv_QA1Lzx-dzvL0rHC6_vF5PwZvCWKvfBTyPkETDovdKnuyhmSJlMYY9OEggtRWHqWci38HtXxw7FFyKkB6tXwO8Eb4YOYfoENuU8uX58nuxknMB4kuOfZIUUEImKO6XgwxhTSGICsYT-8digpBzRubdLw7vsrKsjIjVM-OiLS6_5SO3WhILDxcmvG4FjsV9_0hUTt_TX21KmLQKz1vgiXkOL-ZzUMi4pxJICU5nl8VOuXbuGBE9i5R9q7J0w2QQN1iCJ2f1aVifliiRmVFUwcQk64mytIjULhZzF1ehwJdRY8rmWJZ9oJAFGNd3i5lk32w1NlK7Wf7fCY5boUV-zTqj_aEpiEbU37PJzd_tzIF--2SCu_O2xzSxE-nUeFblTq9n2ijF5GEZc41i0Bgw3n6Roga3OvEfIlBAfKilUXXkffdprE3iJve2IfczErqGzFIaPWj4Ja8hdTAXYrpl7ZPr7oAmUtxkhj7Dl2Np7X4Sro_PVl24HclYNo6YNRrigf0hgK_K3u5uu1PsODBqFxQEepojPqf6bUTBfAAmTnlYyARK4WKjNtoUKTY5AmVQk5yfcbb_9jZkECLSSLvr2f2v6en668iK1QZfeY_hrmvBvXe-GhMUa2jo6hggfKiZ7vcb6bHajvvc6eWt5YIPBO3gErkRPGPAXam-842nAJ92dsYv0TM1v3fTCblYHkjLjWdH4vW_D1OBwvar7Zldn7Fto6Tg3U8BXE5WqU_899oDL9KdaSk_uM3o0w54_BEofZHcWD4GYycwG7tqcpO9-fsjgK6gcXzcv2DzpSifPS6_8BZgQy5vM2e_xcRCPltxRlDGIsG5t-kWNkbrvMFNd6nMh4bC-ZTnU9TGKfjRrt_zX4oSVhoamIel-FKMmG9_IxpMX4Vmwmq5CDFL4U_4rc54Qbtw1E6lbN2jiodhyGZ5MTnEygM9DXTV_vcQ_Z5jV_r1y-_VnwY1cQNvz5pcO07CFiKpeL_oBrkRIdhpTzj2XHUWpjRt6zhlc22Gz_V3-oYLVyDxbVJegCDgQEowH4U1DoEf35RORwOtIuPqocyDLSrj5tJI01EZOljW_qVNC9VyFkI4a471dnRKh9TkizryBUex1V0Z94S7YV8ENTzi_jIb7g5u9yOXbtIbizYt_eeH5moaR6AeLUwMv4D8Sa05koJJ8lb9h3QIAVdQdMk7rm2V7d1y2HbBtvohNbFl12yiVCX5V6yQxrA44Ajv3yPhrcZ7Rda5I3T99tGOdqhJIoQfBxrnEpMwaLrW0h_4zwmni2dmGA983AZCMqrGTmQJLttc_wBvzGwUk3FxouXlGpnqF0hfE6GF0tO6H_MSSwao4SdP70mPHgsFVuAmdamy1sI-Nb1a5iYRZswD_kWE6mxaKBX8n8dhqVRoJOSTHbKgFfk0wCS1kzhDYqDwwlIwzchUYmSG0S_beUXih69jaep6xzDXjAwRuCqTPCEoVHNj2gsHHh3LiOaVEH5nogWA0ihX0WVJasqVS_hGcWB4eJiNsaY0iEoTj6ped-5WSJUA9JrGg_Q7b_YpQVG9H3JcjeefDUmPFId9DPwegcKtPf03_fLFcRhGXahvYXhVI0okkhewwzrArZxz7DBu-GJAJqcZ5EeYyyM4zZR5zuHeYEXVLmbLUMS8xyOi3s1mwMzE4AXoU=",
  "id": "rs_0f0c42847012e2f1016ab4599cc8e087d0b627cf78fdd70006",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":-0.245,\"left_z\":-0.008},\"note\":\"The cap is now centered in the left wrist view, with its wider body at the fingertip region. I’m lowering straight down without sliding it along the table.\"}",
  "call_id": "call_1qfjeLD1NzqYX8VJcps4HQxt",
  "id": "fc_0f0c42847012e2f1016ab4599fdd3887d09e07b7f5f8ba4fa5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1qfjeLD1NzqYX8VJcps4HQxt",
  "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]: [-0.8139, 1.9018, 0.3492, 1.0435, -0.2249, -0.0471, 0.9961, -0.1436, 1.158, 0.841, -0.6476, -0.6472, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2935 left_y=-0.2482 left_z=-0.0001 left_yaw=-0.611 left_pitch=0.0749 left_roll=0.0774 left_gripper=0.9961 right_x=0.2986 right_y=0.0681 right_z=0.1612 right_yaw=0.7382 right_pitch=-0.1573 right_roll=0.0449 right_gripper=0.0543\nstate[joint_eff]: [0.1573, -5.8735, 2.7282, 0.7839, -0.1978, 0.5006, 0.0024, -0.335, -3.8496, 6.7487, 1.2723, -0.2711, -0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df1c217b8e15c6415fcd09bf6ceee8f33046bf23e438d9a54a4f505df889602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb59ae6ee7beff441138b47c83b8afa2d64f32762ac57ece67403e0b474d2266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad4e6bfc8b0a20ed0104f6323e342038a785a179183ff737ab85a7892f8220da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.021 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]: [-0.3927, 2.0506, 1.2346, -0.4286, 0.6617, 0.8623, 0.9948, -0.1436, 1.1496, 0.8093, -0.5694, -0.6476, -0.6632, 0.0538]\nstate[eef_state]: left_x=0.3483 left_y=-0.2579 left_z=0.0106 left_yaw=-1.4702 left_pitch=-0.2781 left_roll=-0.1358 left_gripper=0.9948 right_x=0.3054 right_y=0.0671 right_z=0.1613 right_yaw=0.7325 right_pitch=-0.1221 right_roll=0.0024 right_gripper=0.0538\nstate[joint_eff]: [0.6496, -13.135, 5.1761, 0.8376, 0.4957, 0.0757, 0.0464, -0.2803, -3.535, 6.6803, 1.3162, -0.3053, -0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8131, 1.6444, 0.3698, 0.7502, -0.2287, -0.036, 0.996, -0.1436, 1.153, 0.8425, -0.6468, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2915 left_y=-0.2447 left_z=0.0374 left_yaw=-0.6133 left_pitch=0.0597 left_roll=0.092 left_gripper=0.996 right_x=0.2988 right_y=0.0681 right_z=0.1632 right_yaw=0.7375 right_pitch=-0.1525 right_roll=0.0394 right_gripper=0.0543\nstate[joint_eff]: [-0.3897, -6.5573, 4.3829, 2.2442, 0.0562, 0.1734, 0.0024, -0.3761, -3.6171, 6.4068, 1.2772, -0.3541, -0.022, 1.033]\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 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]: [-0.8139, 1.9018, 0.3492, 1.0435, -0.2249, -0.0471, 0.9961, -0.1436, 1.158, 0.841, -0.6476, -0.6472, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2935 left_y=-0.2482 left_z=-0.0001 left_yaw=-0.611 left_pitch=0.0749 left_roll=0.0774 left_gripper=0.9961 right_x=0.2986 right_y=0.0681 right_z=0.1612 right_yaw=0.7382 right_pitch=-0.1573 right_roll=0.0449 right_gripper=0.0543\nstate[joint_eff]: [0.1573, -5.8735, 2.7282, 0.7839, -0.1978, 0.5006, 0.0024, -0.335, -3.8496, 6.7487, 1.2723, -0.2711, -0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df1c217b8e15c6415fcd09bf6ceee8f33046bf23e438d9a54a4f505df889602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb59ae6ee7beff441138b47c83b8afa2d64f32762ac57ece67403e0b474d2266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad4e6bfc8b0a20ed0104f6323e342038a785a179183ff737ab85a7892f8220da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmjZp7b4IeNz6gc7bfFMKN3i-E3yPL098CAj633_6xqC86j3Fm5wk_R4x_3TW-O9hy9ygaiV6bG_7tdmJvKrkbmezYWrzJRMAcy7s9w7EQOPc68IzlcOZ-SjzNxSV1AmUafcaZpQSYG8fCLJGlyVd4T6R0r_HAJG0Kg_g37GLfaNAgnLvlDdZdjIrZkBT3bVBpg5FSnYF7wQtRkDgc64VLnFfV4uRfkExU625zM080bdlh_6IdydgV2gcW3fI5MYnG_mBZoMjGp7SbaahyuYR563NnMePfPZTtDN9RgyuzCuHVUOwe2fVO2OCAcKE_C5PGrA2ylRI_OkVdwO8A5OYn7T8KZ477B9prQk4UURctg0UcoAvYLbYw0R7v_rQCswgBgGKMrKqU6cqPXamqT-JihPQYeOGGN9gW3yft6PKEaA9qx6Y4glBEg4Ww-WVfffVlHhQkRNaA5r77-G61cr1_bsNGxJZNPFkh76MXpptaDaNIre6BRkpZgRR6uSkNElAAV440E6zjMk0XHsPJrMsEVJurrzziIrCKPj9FzbWFnBmC5vG8mXIQhDsL4a3yYYzQsorw3lpe1aK2IbnhrpAYGu8ZxC7c3uOMOyc-qAwq4WjB_1UBTSYxPYfokbZN0Kugf5D971sfkx7Ygq0lOLo9JY_Gn8Ma1L6A6LsL_6pK9zBsQ6wsFWgWb4kY9SxceEeqCC2jHU3i21X-VmRbLI0GK8XQSLGkiRxar5VoayeRxIQP2Pru2HZBW3y3mi3tdwY_TB0zLGNIHhWKVbBV-UkXOX7ZZjGYzFKBZoJqbcKPSQNWY0CWhCFKQL50GmwdKeXrttrljCuy5EB9mlNF049G55tiC0BvGGCM84pPWTr55RJvuutc_V-462SsAHb5yhtuXUplKa1fHwaWoIUx76IHnSyOtj7HW5psz_xzbM21n955yhS7FYyXkX2EeHA1LbeaPz9CXbIzuvf0jhjBCbf3cb5ImlUC99OcN6nFA0zeHmtIdNF4bKRohlWUZjWeeG7WFqZPJJIbcmRBy0Elho12deQ2y5WTttwrrSpk-WI20cntu6TdUb5MVhNhX-iVhbIk_waafinPuBLzwNGMKxYGUDjvB4HkGjipp6e4aLVKUiKr3OeuFgKuNQTtaKJut5KAOaoCw9qLxlZg1EwCqOfotIJapu07Ks7gfooJ0lm_HYRPXg9FXqZOAmRJy2Pwpylm2s2D7fW8gQ0ukqH0UOrZpj2IfoK5FhfmaqkGblep1QUk=",
  "id": "rs_0f0c42847012e2f1016ab459a2766887d0846b93c88238acd7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap remains centered as the fingertips reach table level. I’m closing the left gripper around its body.\"}",
  "call_id": "call_a4yRKGO9Zb35JL4yvsAsPgtc",
  "id": "fc_0f0c42847012e2f1016ab459a2c31487d0a29150ceb9623c88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a4yRKGO9Zb35JL4yvsAsPgtc",
  "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]: [-0.8124, 1.9129, 0.3485, 1.0622, -0.2302, -0.0502, 0.0544, -0.1436, 1.158, 0.841, -0.6472, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2949 left_y=-0.2474 left_z=-0.0003 left_yaw=-0.6033 left_pitch=0.0823 left_roll=0.0758 left_gripper=0.0544 right_x=0.2987 right_y=0.0681 right_z=0.1613 right_yaw=0.7384 right_pitch=-0.1569 right_roll=0.0448 right_gripper=0.0543\nstate[joint_eff]: [-0.2256, -7.6103, 3.0017, 1.5995, 0.0122, 0.0317, 1.2772, -0.0752, -3.3846, 6.8171, 1.2186, -0.3394, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69f49dddbd4858ae8e9e7c0c391451ff941835f8d50bfd14286d8cb527592ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86cff78eb1349c2512146d9e4eba548f29a98e49237e26ab9bb12f5f5981cf79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad30b52491226da2e13c8b8ddc150eb4401bdb8f2513a577f2913517aa2111d",
      "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 · 10.33 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]: [-0.3874, 1.0725, 0.86, -0.6525, -0.1074, -0.3336, 0.9958, -0.1436, 1.1511, 0.8398, -0.6384, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2913 left_y=-0.0945 left_z=0.164 left_yaw=-0.1175 left_pitch=-0.2924 left_roll=-0.1366 left_gripper=0.9958 right_x=0.2996 right_y=0.068 right_z=0.1637 right_yaw=0.7366 right_pitch=-0.1476 right_roll=0.0335 right_gripper=0.0543\nstate[joint_eff]: [-0.6906, -3.8632, 9.6889, 1.3944, -0.2173, -0.0464, 0.0952, -0.3487, -4.0821, 9.9761, 1.2186, -0.3199, -0.022, 1.033]",
      "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]: [-0.8139, 1.9018, 0.3492, 1.0435, -0.2249, -0.0471, 0.9961, -0.1436, 1.158, 0.841, -0.6476, -0.6472, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2935 left_y=-0.2482 left_z=-0.0001 left_yaw=-0.611 left_pitch=0.0749 left_roll=0.0774 left_gripper=0.9961 right_x=0.2986 right_y=0.0681 right_z=0.1612 right_yaw=0.7382 right_pitch=-0.1573 right_roll=0.0449 right_gripper=0.0543\nstate[joint_eff]: [0.1573, -5.8735, 2.7282, 0.7839, -0.1978, 0.5006, 0.0024, -0.335, -3.8496, 6.7487, 1.2723, -0.2711, -0.022, 1.0281]\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 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]: [-0.8124, 1.9129, 0.3485, 1.0622, -0.2302, -0.0502, 0.0544, -0.1436, 1.158, 0.841, -0.6472, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2949 left_y=-0.2474 left_z=-0.0003 left_yaw=-0.6033 left_pitch=0.0823 left_roll=0.0758 left_gripper=0.0544 right_x=0.2987 right_y=0.0681 right_z=0.1613 right_yaw=0.7384 right_pitch=-0.1569 right_roll=0.0448 right_gripper=0.0543\nstate[joint_eff]: [-0.2256, -7.6103, 3.0017, 1.5995, 0.0122, 0.0317, 1.2772, -0.0752, -3.3846, 6.8171, 1.2186, -0.3394, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69f49dddbd4858ae8e9e7c0c391451ff941835f8d50bfd14286d8cb527592ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86cff78eb1349c2512146d9e4eba548f29a98e49237e26ab9bb12f5f5981cf79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad30b52491226da2e13c8b8ddc150eb4401bdb8f2513a577f2913517aa2111d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmoWF2yub_0U_N2OZppYpzzxJ8W-MceQKnitV1engXQU1rmujhriUQzwnsJ59S68Y_cTH5V31dWLskrVIKk2DxPiyf0OIsV8XecUO-oOHbtxhprK6oBzfm_3aKFV-b46J06dNMBq_HhNmBh4k2CBOpZ9uzxcr8M3keLW-3fw_CYynQm0OlTiSAFHb1BAer3alAomsE3kGuOyjhnxuPsZNhCUGiIGVagtfGiIVrAE0evG-QKwkIfRXPjGamuHv9iB8HOLyImTity-kbYFvYez4wpB2atLhYYZ20XMPoTdGcVTYzIZLu7tS1DrxhzZKGLdtr0hEawZgDIP8G-rSdJXQ5eNQAB1dzRH8ZZ7AKUSwP4Sl-D9zxRTwE6UA4TnCD6D0zp8yYNUA8kByLXOL6mE6lqegteuGIVKk7ICw4fFEB1W4WtHNVNBaqUOjy7XXQjiNgvy57G4Q0j-sEDux6j4sb5QEMuDTATU-zxX16JSlDU0TRc-VXNJSOjjmNvxOfLKbe07RhuwMgiO4RW7wngxIH-uB8OjyQk0arYpWAjnFcPl88fMIwFSo3yn5k_65JYwdrZC-JQpXpXT3npSIQH4xHpUzr6gkE5TYP3g4N7t4Gq5ecqKZrCVEIGfILLMvkUbFEbarGq8iw4qQZSU_pot8iot_8ErKj1LUxFrrSJszhFIZP5Pl8xntTlGYaqOjjf6DrpC1nBMZbMvedUV-NGRpTIjA3i5KRbJFThFAeyw2CA_5fucGaM-iUyz2J-DGHV6ocpXHYvDwVWYqEZmep8SJydHfsbZn6hAb3jbJs1zEJm5618kxC8d0Kl3HXRv57d_r7JWnFykyNmMeufUAN6oXH2koOL9NRMKueJlpVHGTpQjTM0_Me9UCB-foJWhv_RYMIG9-7Ej-NS0V7EMnZP_1-8lzl7fFl7UzqDDtn-QuOf4wEHELcNiE-VMQcJtZk10-WdhCm87hb6bcQfXBxbn93zO8VRxS9O9ynw4XAZCxcrPdPzb9KOImqxv3mILwOn8KebnUnz5lkRoIBViQ4tfUKiNTDcrpwSrhsNCoSnp9l613Y21SCe25i2Pcl2Fsjg9f4mu8wTyg0aladWf-EoXypOcosddnVdGPdVXaPLH67W5Rph_qkaHSr3Er4N9HFt-f_2RUEYllMytT2CaqjCHaeARTpU3Jy_bqHAUD7tMGc76eOG59DJALjKS8JbuyzOi_3TW9i8LcBjxvJbeYYfZnC0GPr1BlFvkOCxZbKCbJQDLok=",
  "id": "rs_0f0c42847012e2f1016ab459a666d487d0b2032909b0f2466f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"right_x\":0.3,\"right_y\":0.07,\"right_z\":0.18},\"note\":\"The left gripper stopped at a nonempty width, consistent with the cap’s thickness. I’m lifting it a few centimeters to verify that it comes off the table.\"}",
  "call_id": "call_gQdnzlZnQcB27xNut0NLt86m",
  "id": "fc_0f0c42847012e2f1016ab459a6b65087d0b279f06d43f4e71b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gQdnzlZnQcB27xNut0NLt86m",
  "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]: [-0.8124, 1.52, 0.3901, 0.6701, -0.2321, -0.0513, 0.0672, -0.1417, 1.1587, 0.881, -0.6998, -0.6434, -0.6624, 0.0543]\nstate[eef_state]: left_x=0.2951 left_y=-0.2472 left_z=0.0725 left_yaw=-0.6001 left_pitch=0.1239 left_roll=0.0667 left_gripper=0.0672 right_x=0.2972 right_y=0.0683 right_z=0.1693 right_yaw=0.7388 right_pitch=-0.168 right_roll=0.0536 right_gripper=0.0543\nstate[joint_eff]: [-0.1436, -5.5043, 8.1436, 1.8535, -0.0952, -0.0464, 1.0281, 0.3897, -3.6171, 8.9641, 1.0623, -0.3004, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bdc60b2ce7d046245f1d41136dc689f17e05a21d9f4789f1ab648a3befa323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2e40f3df145120bdf52d22d6f51ae581d7c142c7ae36e4eabc0d7bf3ebd9a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4f3e9878001098fe654d7b5da4d0ed2d5bf905b7ff88f36244daff94dcd083",
      "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 · 4.856 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]: [-0.8131, 1.6444, 0.3698, 0.7502, -0.2287, -0.036, 0.996, -0.1436, 1.153, 0.8425, -0.6468, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2915 left_y=-0.2447 left_z=0.0374 left_yaw=-0.6133 left_pitch=0.0597 left_roll=0.092 left_gripper=0.996 right_x=0.2988 right_y=0.0681 right_z=0.1632 right_yaw=0.7375 right_pitch=-0.1525 right_roll=0.0394 right_gripper=0.0543\nstate[joint_eff]: [-0.3897, -6.5573, 4.3829, 2.2442, 0.0562, 0.1734, 0.0024, -0.3761, -3.6171, 6.4068, 1.2772, -0.3541, -0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8124, 1.9129, 0.3485, 1.0622, -0.2302, -0.0502, 0.0544, -0.1436, 1.158, 0.841, -0.6472, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2949 left_y=-0.2474 left_z=-0.0003 left_yaw=-0.6033 left_pitch=0.0823 left_roll=0.0758 left_gripper=0.0544 right_x=0.2987 right_y=0.0681 right_z=0.1613 right_yaw=0.7384 right_pitch=-0.1569 right_roll=0.0448 right_gripper=0.0543\nstate[joint_eff]: [-0.2256, -7.6103, 3.0017, 1.5995, 0.0122, 0.0317, 1.2772, -0.0752, -3.3846, 6.8171, 1.2186, -0.3394, -0.0562, 1.0281]",
      "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]: [-0.8124, 1.52, 0.3901, 0.6701, -0.2321, -0.0513, 0.0672, -0.1417, 1.1587, 0.881, -0.6998, -0.6434, -0.6624, 0.0543]\nstate[eef_state]: left_x=0.2951 left_y=-0.2472 left_z=0.0725 left_yaw=-0.6001 left_pitch=0.1239 left_roll=0.0667 left_gripper=0.0672 right_x=0.2972 right_y=0.0683 right_z=0.1693 right_yaw=0.7388 right_pitch=-0.168 right_roll=0.0536 right_gripper=0.0543\nstate[joint_eff]: [-0.1436, -5.5043, 8.1436, 1.8535, -0.0952, -0.0464, 1.0281, 0.3897, -3.6171, 8.9641, 1.0623, -0.3004, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bdc60b2ce7d046245f1d41136dc689f17e05a21d9f4789f1ab648a3befa323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2e40f3df145120bdf52d22d6f51ae581d7c142c7ae36e4eabc0d7bf3ebd9a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4f3e9878001098fe654d7b5da4d0ed2d5bf905b7ff88f36244daff94dcd083",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmzad_txVLYSIslDG-ksrzwmEgY693Cc42irMV821RoF5J1DcNrOE2ramNVJNXot8UGjQpCENB0OJPnxbgnNhnKlNpNAzqFsin8BXRJDWanBGtaaeVfqIa9EYZS2xNm2nwsyZClaPCDSzT6oaOta4pG1-aHRmesSc38FqtC7xbyoZ_mCFvN8zmqwWs-OLKO_hwqoZ9bzaL6yYJSVakSq05h0cqbXoGQFKAO9p0lpOkSwBvawiQ7uYzybHpXN8WyW-9QFXJvuEpWmD021LypSCehFg_h5QJg8pWynD_TMzXzszvvuauVvBNlKMXzfJT20FmeyJAnUtM-mn0qEiapTWBcmgHe4fOl-tzuSqJcLrAQqo9kuMwZzGySs0L3W9xZv396n8qdiluz9byy23f-2XKINETehj-XdlfOKkyyxjWMHCAhIvqs5vZa_OgdRntRVwihGm0gucRGJWU8hxbCtF3TDc7fIhiKriS60C6qVY0_vExib5h-NjkuTn8AxzRfTZ7JBz4wvu4f7xkhKKgMOBCquCph4MxCmVKXpw-znaXtqgP8bYLHZtDwJn42rq6i_Gt7_2MqG361c46fIrzwafD-dW59oSGFbUGV8jQphNWzxrRysfQu63t2AwbHs_w3l0jlmGgEpuY4mxKk-cDGPtZv_qs8CcFIje1VsHAUGee1cNIkN4tiX8RBpDm5B36jfcVh0pLFzvWfPrWzJoNWt1K0Cf10V3tqfxV3DwXxmZ6GHR4V6zBhXaHgYtkEVBhl7_2SNPHCtM3NMy8bYCM5C0SpxYEX4VneNDNpjr6RjfDweuTTOJA7CcezI9gz6r4WygQdERQ1qOwLFuvBXct7nYrxn3wfAbDLXHDpCZywn98zcdyp-y1ZVLD-sHivqenGcxOSYaWuz46TCgJFXU6kRKlJ6NCfWB7yEaIEorwWwVNrjf3C8NVnjZVpl4i2-2KvbKSMcnnkB0FrpyFPG7omtPBYUFjxI9ma9myU_o9mf6cwRXbkliNV-Qlw6UhaKF7bjuj20EtgJVJGPEfuCLh75-OOkHdj73wLWNfHvA2DEYrDp0DwCHAouXrWPzMyFPTAkTTWDxhmJUsrUfPNyYBtwnVg6u3KPIwV_ZWcxVrb-xABQfaPV7Jnf1U5wEzlwLPA_EhvcRXWeJAuYHpzNPaSqH0YZR5Nd7dDApiJkp9-EA-FoMqibvdO1zaVTzTzcLpFCHA2BeLLT8JVvYLqsghQbDHKNyjCuFN0KgSroW3ZY47MkwRarG_mXsugrPu1Y32r8LOV4PwZyM5QNpTAQP6lXArqWhxvc5owtbdp5FStSqmSaMQ3X4UYD9uxqGzHabXhvqd5Fcy_aR9PO8gaYXBcHlMUq20T_mzFIzp_Qstkbax9VeDIyWi96V5mwXvD4vLr8_UYmd1r6YucsnRx4gbLm8uLqseVkIcuOZjls4dchSxJ3n1ezMFlrNAoOoo_SnOXHMmi_ZEntyB-VYq21SxPYer11kl-8dHB0joq9a9OLRBEF4tEnMkUVAEeypEXA4MUOt7UOO5WEMgyWN2ZxXuMQUGXjcDVKhBiCcciloKw4xnrrDl53uWAzEqNmv4oOpCV52MzO5rNzSAocS4XzscON_M48J-IJE1h2IMEWr-BFPHLzi6HNe4i663aMryJiW4Zfl4ri23Of0mA3sx42H-Q_wizs3DjPddJZwfBgzXI_jn3svKdQ_0DAKdqiuoryoeJZFFKhREmLxq-jNZAsHNmbahj4GUAMkRbSSDZ1SgZlZJXtVcL5f2AQXOXruoqxHuzwqEI9yLd7T9HshIW-6AdTcCxKfzfpndhKysuwe0mvHQhdtuytSfvAMGVSyhLicu9IwpyoCxJHNpDLn1VoPpGhJ-ZfoCDGT0o119gozyZEPylKbkseeS9h2t6QDepWonPM35eoWYnzynKmsXaK1KIUx63dzFPyD96O1r7Cq8LOV4m2mlC8AYH-UW7MkU-4IsEcbFon7edyGlIO5BRnc4x5s6fJC8KdxVTfH9nrXlFRLLN5VvPhiu213WHUsYHg8xu_Sd7xtXHz_IElXCNCftol3kFlocbFeo3eOsj45u35XteEjPptzpz2v67iSqIFyPzCRqDkfgw8VJal8OGf9iB-PmlJN4xnVAryaiQR_5B6nlzSXX_ed6i5NDYTuqLAeDdmEM9NZqL5bsD40i-WqKKtX1zq9hjD7Zxn7T9OCnTdTqLc-Y-srAfBCmfPp_VgEUS0uTA9WPnswt0j3uDE_OXzCsjGp_tcHnrfUnR06hSbJh0TSC4Ql-vw13gjmMEIBJ8mrMABLWG2r3S60LOy9W-rfaU4jYJr8E1tu_RuQUddc70_fHWqq7Q7MA6RvVFifhAeIPuOhmTS2P1GvHPHi1zTcUyvZTQFE-ZUpqBBtKV9DLbbAVjq8LQLUHmj7rgcqPV4NXgzK1_rooz-mvoyZ3dI87Fa4TBfa--hEzUKHGSZJaSiWhKlavKIuRXsd0u6tI3QfMrY4_XSvWxqHnPnV3VV31KHJVs93kYm3s8xzLeopmA8KXQQonMs26EQXCD6xBy7AJwAiNTpjqqqG6llEC6aTNXhkfAdR6VpnSujsHyk9e-rvylweZkQCj54qlsYMlmq4iui3ZnsjMrYHTVQWfN1AEie37KEfL8BiCF8YYmh5jov2NSm70OQKYnIh0dEUpsVJUzixogO81gOUAS2KXUJB-sp_DsoNj-E-MOQOL46XWHbRZv5qG1cdprxn_Or0rxsOCB7lGDLVQp13eYlngG14Nm2N6IURqtvQgPD0jJY-h_qv_OZ5NM-tGJPKZo4ypnEjiX8nIZnI4p9xmAYwoiF60FyqIEXNGIYwxi-xfADNKhrsF5Xr8cs6REWVktRkyBuNYyntUh90f-E0Vlg-Ejias3FVenGnPg366ausP-YCarq-mRxcsJ00EDofJOPBtJQK78JOma6b6rmpPJ-8GRIupmmjeXoKdIHTnVxmkVv-VZw6lB0KInvWAYgq3yhesUlL4tRrP42CgKEZjyyeQ-VWi3JbkUla9NEBSpC-EePdbRqDy8bvlpFQXzzmFKmpAEQSefzgwgN1r6ukAU4WsuGAZ1O6AfnYGiY6RNjRWFc6KukBH4aGT9xOl_6BpuSbhmkU76l3Q2R-7k3DuYzY1FFxYQeA4iejP1Y7LfLNNZOK1hB-49SeIyBndrpn_iJh8Dm5W_waFjWcSqxr4F62gYy0VFAkh_CGBq_zQh_s7ZRHBjFyDDFYdJlzBFdJRY6Bcgkhsm_zZpqaNOkTXzj7HaNoDgsbXyb39Bdf8HbSgeueYje6CUdqubnY26GLxsC-8Rm7cbhtOOz_KVdDnnPwjX3xtRiylxtyoeHOgyiiMOF8eTZjsGfDHY6qp_roDhxGoNxWFQYg4inTRQy9P89q3bu-zQmuPTrvIxjRabCl3rL7u0MAt9ZxaKnghObUwzSJql8AGSds3uFJJaG66DhI6wV_b0MiLwn-oR-cGlRzf56MZa6Obw4AAr6ixmC5ElxuOIIr2axxi0WM8MvVMzHzOg2cdzzhtxis0uB-s7CGJhuCXlDkuvOr9Te1CV9sEt-912AsZQp1GYo18WVi3WbyWX_ZRhUDK5XRE5iUQpMSetYbqvQvFWwhpQHKMo-CDYFDJ-t-HwUpuK4XfEA9Y7hamNsl25btbjVJE-0xBrA8fY8YfIh5pJOFla6bi-pQRIyeumR2R5U4lIVCxU7xKR0Fd6fT5BFshogbLLYNFjFElZcExVG1P-kA74eVAcLQiBFtw5dLDCA6rmFnSQatNZ2qOBbBxG0rHeb9ibBjxEKkey0V7YNXkGRBLDXXbfFdxNNCSp6sfkN4HKPidV-PJwMxv0fBEE9B17ftK4SuHVSQfq2TpclMO4LklohWgJuxKedt0r6egYyLRTA9-1ekQUsJp_TBXL8CPh7MYemCvLlicdxVjqLqHPO2Gk0clJDgy1_H-wxWJRj7wow5HtFVpJxE15L4FTU2gtBfpJtMgut-2dHa3YW5ghTLnAwTT0UgWDciQB0EJq",
  "id": "rs_0f0c42847012e2f1016ab459aa1fd087d0864cb91d52f14036",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.23,\"left_z\":0.19,\"left_yaw\":0.05,\"left_pitch\":0.12,\"left_roll\":0.03},\"note\":\"The cap lifted with the left gripper, so both pieces are now held. I’m raising the cap and beginning a gradual turn so its opening can face the pen tip.\"}",
  "call_id": "call_XCI8pb0H4kBdYMnG8zJuHuou",
  "id": "fc_0f0c42847012e2f1016ab459b1dca087d09b882950f3d462be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XCI8pb0H4kBdYMnG8zJuHuou",
  "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]: [-0.8845, 1.5444, 0.9974, -0.0715, -0.7467, -0.4603, 0.0672, -0.1379, 1.1587, 0.8803, -0.704, -0.6361, -0.6628, 0.0543]\nstate[eef_state]: left_x=0.3594 left_y=-0.2438 left_z=0.1841 left_yaw=-0.0419 left_pitch=0.1327 left_roll=0.0013 left_gripper=0.0672 right_x=0.2963 right_y=0.0684 right_z=0.1679 right_yaw=0.7388 right_pitch=-0.1758 right_roll=0.0533 right_gripper=0.0543\nstate[joint_eff]: [-0.4171, -7.2137, 8.1709, 1.326, -0.3639, -0.0806, 1.0281, -0.6359, -3.5624, 6.653, 1.2332, -0.4176, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:449b6d27b37d0a885fc8435fd7e0fae26858169e88a551c2722e7311e1aeea94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba80695ab121662db9ff0023aef36a6d97814389bb43282a916b3239ff03709",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de02dfebb9765fd74a1137897fca5c2524df7034c186134e78ce4473953d461a",
      "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 · 6.337 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]: [-0.8139, 1.9018, 0.3492, 1.0435, -0.2249, -0.0471, 0.9961, -0.1436, 1.158, 0.841, -0.6476, -0.6472, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2935 left_y=-0.2482 left_z=-0.0001 left_yaw=-0.611 left_pitch=0.0749 left_roll=0.0774 left_gripper=0.9961 right_x=0.2986 right_y=0.0681 right_z=0.1612 right_yaw=0.7382 right_pitch=-0.1573 right_roll=0.0449 right_gripper=0.0543\nstate[joint_eff]: [0.1573, -5.8735, 2.7282, 0.7839, -0.1978, 0.5006, 0.0024, -0.335, -3.8496, 6.7487, 1.2723, -0.2711, -0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8124, 1.52, 0.3901, 0.6701, -0.2321, -0.0513, 0.0672, -0.1417, 1.1587, 0.881, -0.6998, -0.6434, -0.6624, 0.0543]\nstate[eef_state]: left_x=0.2951 left_y=-0.2472 left_z=0.0725 left_yaw=-0.6001 left_pitch=0.1239 left_roll=0.0667 left_gripper=0.0672 right_x=0.2972 right_y=0.0683 right_z=0.1693 right_yaw=0.7388 right_pitch=-0.168 right_roll=0.0536 right_gripper=0.0543\nstate[joint_eff]: [-0.1436, -5.5043, 8.1436, 1.8535, -0.0952, -0.0464, 1.0281, 0.3897, -3.6171, 8.9641, 1.0623, -0.3004, 0.0855, 1.0281]",
      "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]: [-0.8845, 1.5444, 0.9974, -0.0715, -0.7467, -0.4603, 0.0672, -0.1379, 1.1587, 0.8803, -0.704, -0.6361, -0.6628, 0.0543]\nstate[eef_state]: left_x=0.3594 left_y=-0.2438 left_z=0.1841 left_yaw=-0.0419 left_pitch=0.1327 left_roll=0.0013 left_gripper=0.0672 right_x=0.2963 right_y=0.0684 right_z=0.1679 right_yaw=0.7388 right_pitch=-0.1758 right_roll=0.0533 right_gripper=0.0543\nstate[joint_eff]: [-0.4171, -7.2137, 8.1709, 1.326, -0.3639, -0.0806, 1.0281, -0.6359, -3.5624, 6.653, 1.2332, -0.4176, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:449b6d27b37d0a885fc8435fd7e0fae26858169e88a551c2722e7311e1aeea94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba80695ab121662db9ff0023aef36a6d97814389bb43282a916b3239ff03709",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de02dfebb9765fd74a1137897fca5c2524df7034c186134e78ce4473953d461a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFm45kpxxoy9w8Tm-v4z_O3Iq56hr-l3A1e7VeJBuWFFg5kWu4br4Gpr4GCelRSOpX7ago_jsHm4JctXdirkRB9-ytPSToaxXRnPbvYVNRmuTapRZtcnE3ypm_HHvFXcyX6GGkQGG-7I7aQdRTlhF6Fa7V6xRRTu6fIF9aAYRvvp_syO_esA4MepyzYPBGC-QnwnrUN7wYLS-lviiqShLWdutYcV6YQwcHlpStRmH_V0yV61NfcgMpJ2nu2Jpzcf3FDK6bXXWKXcyxFzlLGOBx65ThhCMMwtJyOScWn3f_496Bpbt-O4NIKCgcQ01IYX8YBApR-_n_360-tFIEvwjk1dvB-nfJzSbaBDG9vBT4CLHrrzrNFVn0huthOTFTiZc4Yw8xtA9KxzwQw42MblqpH4i2QdyZVoIzKCuRidPN3PnRC52WkTLmzEvgbnGuUGnoZHDqQWYJPTiVZI-sasrjb8elghuGnSC_1jkwG87fv3Y329ssR5wIXQtdpqJXTry8UalDQPJi3ZpQH8LQRWNGIYv_Xrrv2atzMzKdJsXJSUDwzFcXG9Y4Yg6jV85crUKaqjJ0VLTsOGSTkFWyivAaN1PWrtlUJMhP5hTTakf338A4nGn1Q3c0Y0pV6g_toPKSMaDu0G5GPGbI_ynG9dQeXg51QQAvdTfEsgsFRRag4ZyqV0LXR1jNS7mNQlnrV8PAWlDWajzLiEADAsAXiObVhw9xSpIt_xHSDZr2amcZoxnr6ltm-FQ5yRltbTai4BGuVdT2dJMqpkORVwp8Fc3nyXnBmpZP6069PigB0qZEU2QcdEJvYYvtCruk3vs2QwnUVp0FcpYxS6ParT_dlK1SbMJT67_q-vi-kj8jcKnwbbHeTLITZDfT6drFKtA-9hqOODSvn4Xyaz4o24RvyCNWwLjliZmlmxt7a9pQ_tBGF3IlybvEeKzZiyinUJscUtfjeIgMiUq1IVBR9G5kKSJRkzPV80BCVTqijkhKCYNPzKXv6hC132MfjWmglV-cRq86H8ojdNvsNUhquPgjRy9RJX75MoALX1cxGbrgMukLYV0PcgZ8A-FL3OcwIBi4pvHaOV6HC7VdbT3T0paxInuKF02s4w_m0FZGCbVJ3aUV_c5sNr3guLjne234-IqLH2Vb1N680CxROT_6faxvB_4ZUbvLauKJMaEarlQbBxGZDhDSNndD9gvm4ssq0Bcpbk6o2-73UX4QaeIeN4v0FBZOYbwtt1p2oEL2YOLC4Iv4kB6qa0k9xHjALxEOJhyGHZQrE6WFm2cInxjstrOHT6b9uIghVNF4YsCgw-cloI_AbBZc5sZ19VF0bXjmw_3lSo2Bi00X2wV__HNxc0oWDHzZawAV-2zTpU4BPN88VaFERQwsgUm_dtIBt2sDt0hRp2H-aMReJjtx0a29vqNklSGvq9Npgbxm0RnXArmL_wKypj8DD4walN_k7KGESMbnKBBMaXGfVVBV-5gvbloZgdaYqUARF-suA29v8-fqBQPTzSCodQk4QtR3hlz0_WJ3kgvOFhrqYPbfI_O4e9EzQ8Om6BvX1y8nK-N05UYWJHwB8BWGN5kJMlQzP8YqeGA_JKCsTYH38Ad6xfBFFBxnoRJOhm5PTBKEX8JSDLlV3vSnEBszLuGZhCo9DBbVJ2Xxe2OPS9LNVhCydNZWvOBp7UC7bLkjv5XoREgjtUUlEo0TKcCYDOpWDznHX9qjW1s8LXVIchRRh2Ecw_HlzrBXjgL0CUNhn3hLlk74EJZRhD9d1Y5Lk=",
  "id": "rs_0f0c42847012e2f1016ab459b531ac87d093b54fc56895b822",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.25,\"left_z\":0.19,\"left_yaw\":0.65,\"left_pitch\":0.05,\"left_roll\":0,\"right_x\":0.31,\"right_y\":0.29,\"right_z\":0.19,\"right_yaw\":0.65,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"Both pieces remain secure. I’m positioning them along the same diagonal direction, leaving a gap between the cap opening and the pen tip while bringing them to a similar height.\"}",
  "call_id": "call_to8M4miQSwZ010on2mSpKTip",
  "id": "fc_0f0c42847012e2f1016ab459b7189887d0bab052af2ebc6bd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_to8M4miQSwZ010on2mSpKTip",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7921, 2.2879, 2.215, -1.4265, -1.0039, -1.3815, 0.0728, 0.6296, 1.314, 0.7261, 0.0681, 0.2993, 0.2394, 0.0543]\nstate[eef_state]: left_x=0.4274 left_y=-0.2159 left_z=0.1886 left_yaw=0.665 left_pitch=0.0033 left_roll=0.0972 left_gripper=0.0728 right_x=0.3499 right_y=0.1949 right_z=0.1629 right_yaw=0.2351 right_pitch=0.0621 right_roll=0.0716 right_gripper=0.0543\nstate[joint_eff]: [-4.5744, -9.2376, 8.7453, 1.8926, -0.7595, 0.0513, 1.033, 12.9709, -3.6991, 10.7692, 2.3126, -2.4493, -2.3712, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612db2595ce7c49cc3fca6776c9cc52d583f618cd82845e7a7c976400632f6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60632a4b93081564b88105de601fa5cf7d164fcdd3d9549f3f054c6d3b3349ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c68fcc2cdee93a31d000d53bd652c1b1e896e8c3e1605f8b3f33d445239765e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.453 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]: [-0.8124, 1.9129, 0.3485, 1.0622, -0.2302, -0.0502, 0.0544, -0.1436, 1.158, 0.841, -0.6472, -0.6476, -0.6632, 0.0543]\nstate[eef_state]: left_x=0.2949 left_y=-0.2474 left_z=-0.0003 left_yaw=-0.6033 left_pitch=0.0823 left_roll=0.0758 left_gripper=0.0544 right_x=0.2987 right_y=0.0681 right_z=0.1613 right_yaw=0.7384 right_pitch=-0.1569 right_roll=0.0448 right_gripper=0.0543\nstate[joint_eff]: [-0.2256, -7.6103, 3.0017, 1.5995, 0.0122, 0.0317, 1.2772, -0.0752, -3.3846, 6.8171, 1.2186, -0.3394, -0.0562, 1.0281]",
      "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]: [-0.8845, 1.5444, 0.9974, -0.0715, -0.7467, -0.4603, 0.0672, -0.1379, 1.1587, 0.8803, -0.704, -0.6361, -0.6628, 0.0543]\nstate[eef_state]: left_x=0.3594 left_y=-0.2438 left_z=0.1841 left_yaw=-0.0419 left_pitch=0.1327 left_roll=0.0013 left_gripper=0.0672 right_x=0.2963 right_y=0.0684 right_z=0.1679 right_yaw=0.7388 right_pitch=-0.1758 right_roll=0.0533 right_gripper=0.0543\nstate[joint_eff]: [-0.4171, -7.2137, 8.1709, 1.326, -0.3639, -0.0806, 1.0281, -0.6359, -3.5624, 6.653, 1.2332, -0.4176, -0.0562, 1.0281]",
      "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]: [-0.7921, 2.2879, 2.215, -1.4265, -1.0039, -1.3815, 0.0728, 0.6296, 1.314, 0.7261, 0.0681, 0.2993, 0.2394, 0.0543]\nstate[eef_state]: left_x=0.4274 left_y=-0.2159 left_z=0.1886 left_yaw=0.665 left_pitch=0.0033 left_roll=0.0972 left_gripper=0.0728 right_x=0.3499 right_y=0.1949 right_z=0.1629 right_yaw=0.2351 right_pitch=0.0621 right_roll=0.0716 right_gripper=0.0543\nstate[joint_eff]: [-4.5744, -9.2376, 8.7453, 1.8926, -0.7595, 0.0513, 1.033, 12.9709, -3.6991, 10.7692, 2.3126, -2.4493, -2.3712, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612db2595ce7c49cc3fca6776c9cc52d583f618cd82845e7a7c976400632f6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60632a4b93081564b88105de601fa5cf7d164fcdd3d9549f3f054c6d3b3349ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c68fcc2cdee93a31d000d53bd652c1b1e896e8c3e1605f8b3f33d445239765e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnAK0fAMqMsJjxEymRxQ_JXh3CAo4Kuzcwd6RjbQAvjrT5ELNHuX1VFQYtQtyh-DhX-tAydvUU2zDisvyATnuFHluJDn0fPf-mpIfDvbgeheX88VRtdV3gGwm9d3Rn59_cd61K_DfuS162LIzw2XqQG6bY9Q9cTXLwwvSJ-Psmsar0XBkjDhCLNO_nWmNncBny_1uFOPQhISX9X0qrZEHysIOPFw2X6y7FnbGiIO4d_g6wWK1NaMb9ZGF9PleH-iFCIW6-1ekta1J53Qs6W7J0hdD9mSQHaSAruFrTx6PmcX_7LMJ-dv_FwXI8RiBwVWKhYyrmVUv-yU0HvWn5wGUHLT58XgEiNCjPpIVtuZ_yqfEjuvCZFX6lQiwpfEKk-d6uwgPRzVh_9UAUhDNwnuoZH8auH0JtYda1UWyRvSJwLRUbjAVASZ0cm8RQhiwRYbEenSYvJ1D7-Xv71Pz_j0LLM3uv3WwsI6VFi0MfiYtaHTUdzLIFp7UVk1Tfgy0oRgh5tNKiBIMwRAnTqhhq_cdDwhIUbuD7xZKGZ9UU1rEEzi5ltkE4fL0umDauNsD_9cxfNrnvjymBL1vwAiEyS1ZKS821dheCVlfXnjKnngyFh3wT6gYFX4Olr0uYMjPXqHEankLoe7lIkykWHKlcozdf7g5KzLLneezI3d0ss_TgBxbV9UNX5rLNgS2tWue81vg1zV_lKrVxBF_Wc4j6aXPT2qSDT52hBnrL2W9BAxF6XQFTcvBCoDo17EOY5Lwp4SU6OLEKLbeHcK9ItpVcGHHr48mO2DZbd9QxHuI14W8wU2EolE8HPnY0a1byfv8FFZX77GhZIbUSiHffTZ7kK7vkQ4Ceaad6IA0fJl25ofwfgM-AB4DSStZGBi3qDTY66ApyMbUvisHASCMblPqd9_bipZG2ubCNk3zDEOsWNkfh_OMxzdaOpJj181GHg4Nin6-nRumkiXcJPXCFUG9TzHNH8el-wFT6EY-KtmOhdsnSKfRq37Q1A-hRiEknHNPFmzJ1dEdiu9BT6O6THmCWmnE97SqxdXsYeyB_pJCsSCZ-PDbrrdW5T3l9RUv4UDQOEA2vwC9Ah1wtw3fsiMn5ROyH1bub_3x2WXOqStwYiZ93sTh5FMZzKabUWe1zX3MjgRcys4gPtK2MiIDo8Znx6-0ZwCwshxKIV1x7vIhlnhb_KsXdOxNnJEvCrgXtY9CKxtR7iyXHOoZUYkjCq6rLnq_IEtsFGT1XWRNcO_Vhyy5bqq4KVhGiVIbuzL0uUEVZsGQfm8XXKPe5Jpzif6rJ6e0DZfmC_cg02hXkmajTRpJ3NLej9V5WiYx0e-tVZKHvzyBAIWat8bEH5iO4_eUwv04o6sKZptXAWdwfI-JR11iQ7Px4BbdTIjy7zx1w-4999MnvgO4GUZeOyC88vNlYVHPT7Kb_cHt5FBRYqY9RW9HoMZHrLrTnEMSTA53Up-6L3zTkzP6MeIlmbMMsBXpdQDuFtdWs8KLspsxpbwlUBkmYMuoQtEy3dmV3_L5NBqGlgWRvVprPmbevcubKEqE033cEbKCJCaGeHEsprBJ3bewX-uzaPOpIMkTJzxwqUj6wYUZImUvSSagTzpg0biSakbx4TATvqdxK4ri1jO1mx5jXclqRi431HrxOwiW8OXOVrC5o8LXJStAfZTIj5I1caY5GcFsRK_8BcZ4IyhG2CyePYW_gf5H3IyeQ18PdNddrZCHJHT-aGiKIvGR_tza7yX9ZzKUp8gcWfIhZWqpW6olfqY5nUqruDnJAaxRPBueLSkfA4fIW1oT8PD5dHFHOfIbrLI5d79Yg9JdgIvonGnbut9gVLmCPGLXUOIg5_LjXmmteN4zQZkiklj7g0t3Ws09FaJzF3WPRHrx2OUkdZGbxVHmu8VQRfEBjaEUKPar0zcsI4jsGr-gQ2AS7MaO9r_O_EifH6HUS88Wo1cRkEQ8ETCzAoawpFeih7DOTsIpEH9V1nhCW7qkq2QPtiZhjvwOj-ceZ4zIilsM5HW_44Z5u9Cso-2brYuFf4X836qGWErDaioc-ZRRqaazzT6XM2izOAAqKOlJXFIM17EBJHnqfOOmo4m8y7NbNeiP5-ibSYdyGQOmu8eEGdQb0v9IOlR9ZIRw1Ek7mgomayMqVGbgVHk20eB80RovE9KgNPrTN69NzzF0xxv10cERvUAJl8eJuCLYISDzyQcZpwKDEg8Wx9OtnY0qV_SUpGyfRMoJ3OuBO6owoMAAWdxxO_ZsV6bR1YhAoF9s4Gnux1MqcDOQl14tBMBQqHyQxPGm7r4p8UOMYGQ-FoqT-j9rnP1xyyv41vxa5MnNZ44rGfkq-gP1CwCMk=",
  "id": "rs_0f0c42847012e2f1016ab459bbeb8087d0997c6cd01a1e402a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.1,\"right_z\":0.19,\"right_yaw\":0.1},\"note\":\"The right arm stopped short and its effort rose sharply as the arms approached, indicating interference. I’m separating them before trying a straighter, less crowded alignment.\"}",
  "call_id": "call_pPxEvCrN4sipQC3e0PRfABjW",
  "id": "fc_0f0c42847012e2f1016ab459bfa22087d0b4ae9faac04e66f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pPxEvCrN4sipQC3e0PRfABjW",
  "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]: [-0.8032, 2.2929, 2.2108, -1.4288, -0.981, -1.4006, 0.0764, 0.5488, 0.8394, 0.5938, -0.2661, 0.3653, 0.2802, 0.0549]\nstate[eef_state]: left_x=0.4231 left_y=-0.2219 left_z=0.182 left_yaw=0.6627 left_pitch=-0.0196 left_roll=0.0901 left_gripper=0.0764 right_x=0.2879 right_y=0.1063 right_z=0.1922 right_yaw=0.0771 right_pitch=0.0811 right_roll=0.0815 right_gripper=0.0549\nstate[joint_eff]: [0.212, -12.9573, 6.188, 0.2418, -0.7497, 0.149, 1.0281, -0.1983, -1.2513, 6.8308, 1.79, 0.0513, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51a231b27c4b7388cdadd11a88817ae99c829760a3b551d9566bc24dd8d2e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6373eae32a384ba48537f4d8d4a9f86b659061b34b7dd57e5f25da5458f715b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf328662e881eafa4c89a7f1076b5642f8bf9ead9a91a3289dbcbe2c59222064",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 9.883 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]: [-0.8124, 1.52, 0.3901, 0.6701, -0.2321, -0.0513, 0.0672, -0.1417, 1.1587, 0.881, -0.6998, -0.6434, -0.6624, 0.0543]\nstate[eef_state]: left_x=0.2951 left_y=-0.2472 left_z=0.0725 left_yaw=-0.6001 left_pitch=0.1239 left_roll=0.0667 left_gripper=0.0672 right_x=0.2972 right_y=0.0683 right_z=0.1693 right_yaw=0.7388 right_pitch=-0.168 right_roll=0.0536 right_gripper=0.0543\nstate[joint_eff]: [-0.1436, -5.5043, 8.1436, 1.8535, -0.0952, -0.0464, 1.0281, 0.3897, -3.6171, 8.9641, 1.0623, -0.3004, 0.0855, 1.0281]",
      "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]: [-0.7921, 2.2879, 2.215, -1.4265, -1.0039, -1.3815, 0.0728, 0.6296, 1.314, 0.7261, 0.0681, 0.2993, 0.2394, 0.0543]\nstate[eef_state]: left_x=0.4274 left_y=-0.2159 left_z=0.1886 left_yaw=0.665 left_pitch=0.0033 left_roll=0.0972 left_gripper=0.0728 right_x=0.3499 right_y=0.1949 right_z=0.1629 right_yaw=0.2351 right_pitch=0.0621 right_roll=0.0716 right_gripper=0.0543\nstate[joint_eff]: [-4.5744, -9.2376, 8.7453, 1.8926, -0.7595, 0.0513, 1.033, 12.9709, -3.6991, 10.7692, 2.3126, -2.4493, -2.3712, 1.0232]",
      "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]: [-0.8032, 2.2929, 2.2108, -1.4288, -0.981, -1.4006, 0.0764, 0.5488, 0.8394, 0.5938, -0.2661, 0.3653, 0.2802, 0.0549]\nstate[eef_state]: left_x=0.4231 left_y=-0.2219 left_z=0.182 left_yaw=0.6627 left_pitch=-0.0196 left_roll=0.0901 left_gripper=0.0764 right_x=0.2879 right_y=0.1063 right_z=0.1922 right_yaw=0.0771 right_pitch=0.0811 right_roll=0.0815 right_gripper=0.0549\nstate[joint_eff]: [0.212, -12.9573, 6.188, 0.2418, -0.7497, 0.149, 1.0281, -0.1983, -1.2513, 6.8308, 1.79, 0.0513, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51a231b27c4b7388cdadd11a88817ae99c829760a3b551d9566bc24dd8d2e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6373eae32a384ba48537f4d8d4a9f86b659061b34b7dd57e5f25da5458f715b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf328662e881eafa4c89a7f1076b5642f8bf9ead9a91a3289dbcbe2c59222064",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.29,\"left_z\":0.21,\"left_yaw\":0,\"left_pitch\":0.05,\"left_roll\":0},\"note\":\"The arms are separated again. I’m turning the cap to point straight forward, which should allow the pen to approach from behind without the earlier diagonal wrist interference.\"}",
  "call_id": "call_z2yY11sraO6D2UK6dL3JtTSx",
  "id": "fc_0f0c42847012e2f1016ab459c3019087d0b846f38d73e02cd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z2yY11sraO6D2UK6dL3JtTSx",
  "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]: [-0.823, 1.9064, 1.5555, -0.5369, -0.7639, -0.6601, 0.0808, 0.5453, 0.8444, 0.5827, -0.2977, 0.3466, 0.2649, 0.055]\nstate[eef_state]: left_x=0.4203 left_y=-0.2682 left_z=0.1802 left_yaw=0.1294 left_pitch=-0.0233 left_roll=0.0454 left_gripper=0.0808 right_x=0.2834 right_y=0.1059 right_z=0.1787 right_yaw=0.0985 right_pitch=0.0348 right_roll=0.0555 right_gripper=0.055\nstate[joint_eff]: [0.2803, -12.4103, 7.4598, 1.6874, -0.1197, 0.3394, 0.7888, -0.1162, -1.935, 7.9111, 2.0342, 0.2613, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38bf1d82aa5a83ae496d8bb001d3f95a5ba2e0b5ed7c14177e8edbbeb2dee7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f57e3e08133d569b8cd6a373cde57b413352aeb864812009af4ad9c7c0170b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3895c5f24327577a4f4780be6c01c0eee9e741a137611691a877b72f2fd046a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.461 s

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

message 90 changed as sent

message 98 changed as sent

message 101 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]: [-0.8845, 1.5444, 0.9974, -0.0715, -0.7467, -0.4603, 0.0672, -0.1379, 1.1587, 0.8803, -0.704, -0.6361, -0.6628, 0.0543]\nstate[eef_state]: left_x=0.3594 left_y=-0.2438 left_z=0.1841 left_yaw=-0.0419 left_pitch=0.1327 left_roll=0.0013 left_gripper=0.0672 right_x=0.2963 right_y=0.0684 right_z=0.1679 right_yaw=0.7388 right_pitch=-0.1758 right_roll=0.0533 right_gripper=0.0543\nstate[joint_eff]: [-0.4171, -7.2137, 8.1709, 1.326, -0.3639, -0.0806, 1.0281, -0.6359, -3.5624, 6.653, 1.2332, -0.4176, -0.0562, 1.0281]",
      "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]: [-0.8032, 2.2929, 2.2108, -1.4288, -0.981, -1.4006, 0.0764, 0.5488, 0.8394, 0.5938, -0.2661, 0.3653, 0.2802, 0.0549]\nstate[eef_state]: left_x=0.4231 left_y=-0.2219 left_z=0.182 left_yaw=0.6627 left_pitch=-0.0196 left_roll=0.0901 left_gripper=0.0764 right_x=0.2879 right_y=0.1063 right_z=0.1922 right_yaw=0.0771 right_pitch=0.0811 right_roll=0.0815 right_gripper=0.0549\nstate[joint_eff]: [0.212, -12.9573, 6.188, 0.2418, -0.7497, 0.149, 1.0281, -0.1983, -1.2513, 6.8308, 1.79, 0.0513, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.823, 1.9064, 1.5555, -0.5369, -0.7639, -0.6601, 0.0808, 0.5453, 0.8444, 0.5827, -0.2977, 0.3466, 0.2649, 0.055]\nstate[eef_state]: left_x=0.4203 left_y=-0.2682 left_z=0.1802 left_yaw=0.1294 left_pitch=-0.0233 left_roll=0.0454 left_gripper=0.0808 right_x=0.2834 right_y=0.1059 right_z=0.1787 right_yaw=0.0985 right_pitch=0.0348 right_roll=0.0555 right_gripper=0.055\nstate[joint_eff]: [0.2803, -12.4103, 7.4598, 1.6874, -0.1197, 0.3394, 0.7888, -0.1162, -1.935, 7.9111, 2.0342, 0.2613, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38bf1d82aa5a83ae496d8bb001d3f95a5ba2e0b5ed7c14177e8edbbeb2dee7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f57e3e08133d569b8cd6a373cde57b413352aeb864812009af4ad9c7c0170b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3895c5f24327577a4f4780be6c01c0eee9e741a137611691a877b72f2fd046a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnOryfrek67mxUwl88yy_ZimL5Tn8_DeaJHuLGSh_q-FvkdYjUi0aJXpEbH9QZ-aGN4FZ-Nv2tvEpuyuP97R3TBr-nR8kVCe4IMWF524ZV1qklJbDElb7lcVMh3ETW01iVixWj-6Ato1nJG364czxE9ZQWD1PK1NWbmSEvXPrjH2sVKMJn68uDnCKmAE_QZISbVqj-8ZrYBe6-UOhz0PYP7kz5UL-LTmccUpC4ns9S9DZGYgdDvVHhVfsSgatSlVowtAVclNBBzX7BZ7wmTopdHPcdgm3SSu02Z-qxOZ-ZYWcUVjnMAhGPhf5BMdAdPlWbG_XC0IeTvcv2xECuHMMOCIHPT01XfTowf1Ss9FLKCj6Oh5hkd44IoRMa4fDTDhYCDNV541UnkZIWIHWm7Ut_t8aSIK9QqF4cHlnFL5mTw2-l3UXoYUwdxgd2NoJpMlhgl4-TvSRBm41es0nmwocM7-uwBwiwOlErypo6_QBJd5Ea5vGR7G7drdIyaLNi2yUGDdwnJta0mGUhKes9GYl9gw8_kE6MoMpmH_Aoxm5yZw_-VLsh-A9ZblJRxEVm5NAQuhfYBfYL9fMqPA1OB8oJ69iAm3dTL21bbycmFg4qV30T0Xet3QvwaGVKqhKwgKgYbUvdYsQVtDhnx3_13IzdqAIC29msGmDyt_NKQecsFXBjio2Uoz1KneOD0ZTTZ-oJKFgb9c_MLmyTQW8aaLcV0MLSIOVRqzX4R0rpxHTIyGvFVqhDlr-sEt46JRbcPGdKugHhupeEVjWDHBgNZEk0UhEo-lIyCvGcedRj8AnCywUUBZEnc0cd36eIXZRoXLVa98ePuQ57WZQjC6yLxDrE8NRXXT4XJbZa6VVdBZW1aOOiHZ4Pi0moNMOuGh9HZfBuBRO-xbjBMacxRpIk6OqTEGiFb-jeHEk0CkukAPgNq_wkWL4vDQq6FJl5E8rxOj9oLl0assoU_JHXkgOS5eYGgLFMEevWmN60Y3XDBQXxuxExvBf9YhUaRlD97xYeLrVcesEiMq3Z9dEAPGiOCQKyrv3Z9SMppwOLwV7wW-MO3kI_GC27wFKyI1hQpIHyjTH-DlZ59rZTnUIhC0l3hMoZ3rVTlREmWjdpMQaWbI3FllUF8ZKKCuJUoXoNkQgW31VaBxdHm1fY0Dplx6Kh6rW1vFJEOoAURq7RmolxvnDnOmlt-QMjisQPfRB2z7I3CR4LAMeIt6R5lkWEVhB0_74jsN41RjaNrBmJ-bt-y5Hhh8gWNuQ-RI3aBJaNw_29xhh2TCHGKjhofLe_RkVfhzgqrdfQqEbAFp0juVyvUx2zm2J23Xw9nwvnLnae7eeuIblUfelZXdMLxCkMlpI68GTH3E-XyAj6ePpbSl3gvZf_9JnL5-xmEMtgBNq-OX0OQX1jelzwYqU7kSQ12HDoph_zRyOhWrYLJxQTqXu7GEe1mU4DBjbw0JWfqtaG6A3a_f_MpKO57PkX1hSMfAzG0WOg0tIo8_IU5P_mTbaz3jKlQW_9LNHjczdzPSlRkfS55PNRP-3JzO_tE9yvyNwoEp6DtXmwsbRkrqn3GThRR8L8lv1oXYXES_pkSpEQV_gJI2zJipnrTaTTOV0at5qstetaPL_VJCg137xnFsY2vjgZHaGlCiFoORjg8EmQtXBpnFtEBzCkLmaoNY_JxAHVmfsMKinoee9UXgyyjqUSuWLEG8Q0xUcupD-oJndTIwNYE2xFAhRyaceIv94J1ZZn5a8OmYQQHaXp24M-z4YCAgO0DdkSTNnvAR0Ge4PcSQPuBpGACwFOnbMFWVTpG8dmabqx7bh3RRLBGKJwT1L2r6cHE_kNR3k8YujhOAjp5Kab_Qq_wZ6TL3gwjw750kkTlLzqzdmdJcrQ4ulK9HhpxeJ7w813fjUA2mzx5nj2R-86vlbk_i_N_Ty3ekbXOaFPGwE9ZWbUWoYx6eWkBn0K7eXVHBXbyu8RxlN2iQ-jySNHyKPCW8-RrZPxr6HRmFfy6pwB8SlfOCSa9yccY7zkMvqHYy_9rxJlXfDGzZ19OOBSzkqzDrlxBUQ4Mos2JFGrEehpUvoIBdBT6bb4K-dMZZ65lAcrXbO2B5K1AJIViEGcISfBTd_sUiEKmakeaBQqSREPu47rDn_4q-apxFlgGLAvIIzvQFdln6q0OA1Z35p--9vUp-aP7axeDuyedw9Fvqbv8YTx_zyNj0E2dwhjs9o60F2HFBFhg7QQxNny3Sy9hIaezJDkxop8O-ZiN76Y5oIn6idvOC9jZ0IckJqrXcIZJL_AtTDha4ZCPpXwcUIPHRvQOe9KOSqmCDwRDEbK-1r7S68aa7AEXmGCdGe_G4nk3vZzwLyly8Ak6lAgZdmBGZ9RjZTXzJUfGvrGQQ2zvdaUJm4NfNCD5a5zebjj5GiJsv7jJkUX7qqJV98O0GgCz7cQXHiJpHFv70Ws7_ngaiNgAgIVTvRghemvHIJrTBOiqNnWGYYitg8TtG4MGid_afL-dQFpNLz4yE8RE_IUI_LDEQcfYL_WtchVc6omEvVW-G0MxTVjEE8YDmQh5xDI5G2s4qK8wLJUWcyIb431swqakcjvJbxj9Ra7HdJ7MSIA1yB6ROzrlrBicZciNtMD67CPlr6IMnK1cpyetbbeW8c9BrJ_KhTltr_vlBNB-yN96WWCshoS1pfakHH8RNTFN7YanVwjuhgyhUEcgiFyv6e58CEDJOnrxZ1wQO-EblM_qLdyXoK1StY6cSrhhWgHjvCTdo3G9drd6GRSO8fboSKaxb8N80s4oWnKTfOD0DD3MdC0OKvZOHKakzlFJgPATAteDjset7-TZt_VJ1oHwhKOvX5HBUpYBPO59tMu3FnrmSZ4J5rlPMwfK-A84YHtjxkk3i76XfHdHSq9mA-nyQoF2a1mYSmPXaq1g6BxyyrKdqKDf8yLjgwEtTxR2aVMSNi6a8JOXRQxe9D0O2QCWNDGihgA1i8guu1ae_efkQ3ASTfnMsY9SdJIubztQHxGspcwAaHPOE2x4G_VF_2_3ha7qutKk8FBwpau5N1_Sqn3xryYpS1P-RffWbV5REvUQ7gI4jmKdZyJt9TQ7eb3fZejj9nV6Qds11oVZLdTKM0S4Dqhd6--gU5KL7yH199qXP3ncd-zHcD9nzbiEZN_Yk25-oJHLOYbQxrsaKqrTM632v-7p66uWXP03XMi3rNTlZmQi_tPh8vfOCDDK5DE2RgeZWMPgWEh_6IMiD7lTnjZ3Er1ne-kzEekyWxveAm77CTpHj3ofd0zUG6hJwC1lcsxu6dwzMQeZgzKmG0kNNUbtKCjz8khkoaucQiZqIf5kyD1d098K5QxsR3ISkthZsRdI4iRVgyJ0dD-3ecyZPtAdksXJnFyfZ2JlqFC_83ROM88eCxWrx4RuckiWnbmJ7jFhfQ==",
  "id": "rs_0f0c42847012e2f1016ab459c5ef1087d0b03621cb3d307e9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.1,\"right_z\":0.005},\"note\":\"The pen is held quite close to its tip, leaving too little clearance for the two grippers during insertion. I’m lowering it to the table so I can regrasp farther back on the barrel.\"}",
  "call_id": "call_5BCaO2a5DbB0WUaYX6WpJTqX",
  "id": "fc_0f0c42847012e2f1016ab459ccd5bc87d0a667182eaeed6c0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5BCaO2a5DbB0WUaYX6WpJTqX",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8188, 1.9053, 1.5379, -0.5415, -0.7521, -0.6571, 0.0846, 0.5297, 1.5532, 0.0597, 0.8616, 0.3393, 0.2539, 0.0551]\nstate[eef_state]: left_x=0.4181 left_y=-0.2651 left_z=0.1725 left_yaw=0.1249 left_pitch=-0.0432 left_roll=0.0596 left_gripper=0.0846 right_x=0.274 right_y=0.0964 right_z=-0.0033 right_yaw=0.0948 right_pitch=-0.0322 right_roll=0.0189 right_gripper=0.0551\nstate[joint_eff]: [-0.5538, -10.1949, 8.2256, 1.2772, -0.5201, -0.0269, 0.7399, -0.4855, -3.8769, 1.6479, 0.2711, -0.0464, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee51581deeed938e0fe069ffac50f890f209fafa7709eda043cb5ee9d7b867fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fce75a2d1af6c87b6cf5f85776856e15ad0482ca9aa20e9b8c6d0b25d9e524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d18175b9d7a86e0ad6b277102fa90951e722b471c56507aae9740b67229ae44",
      "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 · 2.897 s

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

message 94 changed as sent

message 101 changed as sent

message 105 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]: [-0.7921, 2.2879, 2.215, -1.4265, -1.0039, -1.3815, 0.0728, 0.6296, 1.314, 0.7261, 0.0681, 0.2993, 0.2394, 0.0543]\nstate[eef_state]: left_x=0.4274 left_y=-0.2159 left_z=0.1886 left_yaw=0.665 left_pitch=0.0033 left_roll=0.0972 left_gripper=0.0728 right_x=0.3499 right_y=0.1949 right_z=0.1629 right_yaw=0.2351 right_pitch=0.0621 right_roll=0.0716 right_gripper=0.0543\nstate[joint_eff]: [-4.5744, -9.2376, 8.7453, 1.8926, -0.7595, 0.0513, 1.033, 12.9709, -3.6991, 10.7692, 2.3126, -2.4493, -2.3712, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.823, 1.9064, 1.5555, -0.5369, -0.7639, -0.6601, 0.0808, 0.5453, 0.8444, 0.5827, -0.2977, 0.3466, 0.2649, 0.055]\nstate[eef_state]: left_x=0.4203 left_y=-0.2682 left_z=0.1802 left_yaw=0.1294 left_pitch=-0.0233 left_roll=0.0454 left_gripper=0.0808 right_x=0.2834 right_y=0.1059 right_z=0.1787 right_yaw=0.0985 right_pitch=0.0348 right_roll=0.0555 right_gripper=0.055\nstate[joint_eff]: [0.2803, -12.4103, 7.4598, 1.6874, -0.1197, 0.3394, 0.7888, -0.1162, -1.935, 7.9111, 2.0342, 0.2613, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8188, 1.9053, 1.5379, -0.5415, -0.7521, -0.6571, 0.0846, 0.5297, 1.5532, 0.0597, 0.8616, 0.3393, 0.2539, 0.0551]\nstate[eef_state]: left_x=0.4181 left_y=-0.2651 left_z=0.1725 left_yaw=0.1249 left_pitch=-0.0432 left_roll=0.0596 left_gripper=0.0846 right_x=0.274 right_y=0.0964 right_z=-0.0033 right_yaw=0.0948 right_pitch=-0.0322 right_roll=0.0189 right_gripper=0.0551\nstate[joint_eff]: [-0.5538, -10.1949, 8.2256, 1.2772, -0.5201, -0.0269, 0.7399, -0.4855, -3.8769, 1.6479, 0.2711, -0.0464, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee51581deeed938e0fe069ffac50f890f209fafa7709eda043cb5ee9d7b867fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fce75a2d1af6c87b6cf5f85776856e15ad0482ca9aa20e9b8c6d0b25d9e524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d18175b9d7a86e0ad6b277102fa90951e722b471c56507aae9740b67229ae44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen is supported on the tabletop. I’m releasing it before shifting the grasp toward the rear of the barrel.\"}",
  "call_id": "call_SSNz7r7aW0pjJ04y4QhQYHEh",
  "id": "fc_0f0c42847012e2f1016ab459d13bfc87d08f3e930c0eb9dbf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SSNz7r7aW0pjJ04y4QhQYHEh",
  "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]: [-0.8185, 1.9064, 1.5379, -0.5423, -0.7506, -0.6567, 0.0862, 0.5297, 1.5604, 0.0544, 0.8864, 0.3325, 0.2497, 0.995]\nstate[eef_state]: left_x=0.4181 left_y=-0.2652 left_z=0.1717 left_yaw=0.1242 left_pitch=-0.0453 left_roll=0.0608 left_gripper=0.0862 right_x=0.2742 right_y=0.0979 right_z=-0.0021 right_yaw=0.1028 right_pitch=-0.0227 right_roll=0.0242 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -10.4684, 6.8308, 1.2967, -0.3248, -0.0513, 0.8425, -0.2667, -4.1778, 3.7812, 1.4237, 0.1441, -0.0366, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2bb82aa970c0796e7645d1f14becbdb0833ae032f76b3d4ae281e76e4acfaf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c476fa9b03257e0d8a6878771a8063023562b8745d825caffe0cd85301688656",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103ec8a70481d5711380c5d60ece3bdabb57ef375c31130565ce62d020a0e718",
      "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 · 7.156 s

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

message 98 changed as sent

message 105 changed as sent

message 108 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]: [-0.8032, 2.2929, 2.2108, -1.4288, -0.981, -1.4006, 0.0764, 0.5488, 0.8394, 0.5938, -0.2661, 0.3653, 0.2802, 0.0549]\nstate[eef_state]: left_x=0.4231 left_y=-0.2219 left_z=0.182 left_yaw=0.6627 left_pitch=-0.0196 left_roll=0.0901 left_gripper=0.0764 right_x=0.2879 right_y=0.1063 right_z=0.1922 right_yaw=0.0771 right_pitch=0.0811 right_roll=0.0815 right_gripper=0.0549\nstate[joint_eff]: [0.212, -12.9573, 6.188, 0.2418, -0.7497, 0.149, 1.0281, -0.1983, -1.2513, 6.8308, 1.79, 0.0513, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8188, 1.9053, 1.5379, -0.5415, -0.7521, -0.6571, 0.0846, 0.5297, 1.5532, 0.0597, 0.8616, 0.3393, 0.2539, 0.0551]\nstate[eef_state]: left_x=0.4181 left_y=-0.2651 left_z=0.1725 left_yaw=0.1249 left_pitch=-0.0432 left_roll=0.0596 left_gripper=0.0846 right_x=0.274 right_y=0.0964 right_z=-0.0033 right_yaw=0.0948 right_pitch=-0.0322 right_roll=0.0189 right_gripper=0.0551\nstate[joint_eff]: [-0.5538, -10.1949, 8.2256, 1.2772, -0.5201, -0.0269, 0.7399, -0.4855, -3.8769, 1.6479, 0.2711, -0.0464, -0.0415, 1.033]\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 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9064, 1.5379, -0.5423, -0.7506, -0.6567, 0.0862, 0.5297, 1.5604, 0.0544, 0.8864, 0.3325, 0.2497, 0.995]\nstate[eef_state]: left_x=0.4181 left_y=-0.2652 left_z=0.1717 left_yaw=0.1242 left_pitch=-0.0453 left_roll=0.0608 left_gripper=0.0862 right_x=0.2742 right_y=0.0979 right_z=-0.0021 right_yaw=0.1028 right_pitch=-0.0227 right_roll=0.0242 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -10.4684, 6.8308, 1.2967, -0.3248, -0.0513, 0.8425, -0.2667, -4.1778, 3.7812, 1.4237, 0.1441, -0.0366, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2bb82aa970c0796e7645d1f14becbdb0833ae032f76b3d4ae281e76e4acfaf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c476fa9b03257e0d8a6878771a8063023562b8745d825caffe0cd85301688656",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103ec8a70481d5711380c5d60ece3bdabb57ef375c31130565ce62d020a0e718",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnV5NMwqMbwm3GtP9CJ6FpMc25SGP78H5VVEgvjMWGGKVruFJq1ULihLEVczilRJfz67mYpK3RwGBguUBAGhoHiovfiAnpCfkESCaERd0yI0E6VZv65oBKWkJ8rzGqGbx0JaB_PT0vMdh_ic1xCPjhOnli_lanJTe3x9MAZZaRi8Rham2twbbbqV9-WOBUIMVnWihgALyV9OCrspOITDBsSOp0xomAF_QeVwiLs_KEqhPhh_VrH6xYQ-9bj46nvL_2hQ9Wx2SkdoeAE9ZYlHlkGnStR41jlh7J81Zfy31Is4XUea-n4E1LAx2aTwiTuUsmKl1M4HVoK0sTDeIlqpI9guOUk1Sz1cwlrFfdVsMyN1Qa3iULNiVX-45zPt2ZMFlSCN89E9iE8nK7KtsBb0UevFLjDyUJnjyllXMiHsyv6UUH79JJ42LVw1oOYUbPI3u21xlGR5ldn16W-K2iihdDcLy9ao6GZ_d8BDY3CLbwou2jxpmoQZjwBLE_L-3XQFDfGidTsAvIq6DPXqi1skvHwtjJbyz8J2jnC4I0JOpd-4GsVEeOXalbiQ8oCjQFKA5Mgc3lLdm8dsmgXQ_8eRNvxdNuLa2mZNyFiKj5W4PuADqVV1G52as4qEAc8XcDSn6PcctkSZLrWWAoGI_BHF7uaY_dXiTJ9oIUxf0uhxGuM1bgHII5ZysfcfieDS69vIBqOGTmdYRuTMNBuZXEG7LDZ7NCPwgM4MIa3gAoWEXKCTs2m_PpHrLYXAUJhiK6QevTfOsuOqbwIrZsj4QteN6IeleHxTOMIVIhpMNK-VGqGd0LUdy3fQrs1m9_CYObOihbrBQgH65GXiLRapcceMPO1ELWp47PJ_HbOYuTpcW7eR8UlkLfpTioDZufVHRWn9XLSOvh5X8hEnQvwsY3pi1jeBPqA-zSs5z1_z69dGFdMW9ne9QD9gwgURfjq4KA0DMxMjaSwYk33hvoFW5JFpHA08HfOr7cIA5QMRuxl-peEEYBNAtaz_DIFOy9xqRrvuE2UiO5y7bzQ4ekNvdm4EFrfpF0w0aXWf5-MKqfoHXdnYsh46g3y1H9e7ioTUAmPN37RSsCJAKbTA3yPGdgmAtgwwbTkyp5eENRmO-NvC8_q-2w3jdHeCgHXNCTZoC7PUHwK1RzflQJx8ZV2I1JTTNQzaSF8j6BV72bAsJd8eIpJO1TEEI3vGnRWXitTCVyeBYHJ7y2TbYnNQHEjZoCe1sFG8eV3qtoWQHukdDeqNGgkBHKVJyxGo8C04NweRP9RwgRr0K8dD0rLCD1RqBtrjHrK5brGNdaCurRDuGtF8MT2QTo=",
  "id": "rs_0f0c42847012e2f1016ab459d462e487d09885ee3ef77eb4f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.224,\"right_y\":0.092,\"right_z\":0.01},\"note\":\"The released pen remains straight in front of the right gripper. I’m sliding the open gripper about five centimeters back along the barrel to leave more of the tip exposed.\"}",
  "call_id": "call_SRkEuOxLwqWswpVnUbn41zvY",
  "id": "fc_0f0c42847012e2f1016ab459d4fbd887d09974b28dead8e4da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SRkEuOxLwqWswpVnUbn41zvY",
  "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]: [-0.8185, 1.9083, 1.5375, -0.5396, -0.7506, -0.6571, 0.0884, 0.7174, 1.066, 0.0074, 0.5167, 0.4377, 0.3389, 0.9959]\nstate[eef_state]: left_x=0.4184 left_y=-0.2655 left_z=0.171 left_yaw=0.1244 left_pitch=-0.045 left_roll=0.0601 left_gripper=0.0884 right_x=0.2443 right_y=0.1185 right_z=0.0404 right_yaw=0.1555 right_pitch=0.0697 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -10.5641, 6.694, 1.2234, -0.3883, -0.0464, 0.6569, 0.3487, -0.0479, 4.6974, 1.7314, 0.3834, 0.105, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c777282e5fc12bac0f495d76cb0173c2a636e16ddb57d9293dc12694c2a7b96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab161fd7681b3d0809721af7647e742b7084b6aed95046f83783f2b631359c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c53a876524ea205d20489538ca664c5131d2ecfd5367aa9e3a06a52c60468c",
      "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 · 3.036 s

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

message 101 changed as sent

message 108 changed as sent

message 112 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.823, 1.9064, 1.5555, -0.5369, -0.7639, -0.6601, 0.0808, 0.5453, 0.8444, 0.5827, -0.2977, 0.3466, 0.2649, 0.055]\nstate[eef_state]: left_x=0.4203 left_y=-0.2682 left_z=0.1802 left_yaw=0.1294 left_pitch=-0.0233 left_roll=0.0454 left_gripper=0.0808 right_x=0.2834 right_y=0.1059 right_z=0.1787 right_yaw=0.0985 right_pitch=0.0348 right_roll=0.0555 right_gripper=0.055\nstate[joint_eff]: [0.2803, -12.4103, 7.4598, 1.6874, -0.1197, 0.3394, 0.7888, -0.1162, -1.935, 7.9111, 2.0342, 0.2613, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9064, 1.5379, -0.5423, -0.7506, -0.6567, 0.0862, 0.5297, 1.5604, 0.0544, 0.8864, 0.3325, 0.2497, 0.995]\nstate[eef_state]: left_x=0.4181 left_y=-0.2652 left_z=0.1717 left_yaw=0.1242 left_pitch=-0.0453 left_roll=0.0608 left_gripper=0.0862 right_x=0.2742 right_y=0.0979 right_z=-0.0021 right_yaw=0.1028 right_pitch=-0.0227 right_roll=0.0242 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -10.4684, 6.8308, 1.2967, -0.3248, -0.0513, 0.8425, -0.2667, -4.1778, 3.7812, 1.4237, 0.1441, -0.0366, -0.2662]\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 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.5375, -0.5396, -0.7506, -0.6571, 0.0884, 0.7174, 1.066, 0.0074, 0.5167, 0.4377, 0.3389, 0.9959]\nstate[eef_state]: left_x=0.4184 left_y=-0.2655 left_z=0.171 left_yaw=0.1244 left_pitch=-0.045 left_roll=0.0601 left_gripper=0.0884 right_x=0.2443 right_y=0.1185 right_z=0.0404 right_yaw=0.1555 right_pitch=0.0697 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -10.5641, 6.694, 1.2234, -0.3883, -0.0464, 0.6569, 0.3487, -0.0479, 4.6974, 1.7314, 0.3834, 0.105, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c777282e5fc12bac0f495d76cb0173c2a636e16ddb57d9293dc12694c2a7b96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab161fd7681b3d0809721af7647e742b7084b6aed95046f83783f2b631359c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c53a876524ea205d20489538ca664c5131d2ecfd5367aa9e3a06a52c60468c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFndKJ7yyr0ahVBWRZy_kAJwXyIqJv2OkLESZTmtyP_ykMVkjqu86-moO3805LstRU0e6BwFXYEqaZiHwJWJkS5C1Cc_WKAvk2oAbWW9mIg-Mf6q8gzDudcrhCxu3JRbTFS6pS_FWMqjz6pVBBx3UBwe_OT6D78_ME1-yd5tfiML0Ufzt8TIGhoC-0keh-w5znFXxidiw1wQLM-aN86OGMP34K4jPAMLs0ZwhinkXn4nYgPOdumYGO-hQjeQsCP6r4Ad07zbT-bIVJMvbwk44qdxSUWOMbXz2ZBsdIvkPJeen1QFBUAYSBOzTE1WuNO_Pn2egmnBzdiBVgUa6a-VKlKv-ZsofWZUOkyh_-vq9T2PnI9l8uTGDAXSO7LP23MRXAuNbweUzy11xVw6CSGVwq75ufQgeYtkTGDloe5wFyzAPXtVINuz6bdqinqlzvDmcN2G9pUy_5whj5zrbSB4IKTntmNGqMPWeHO5vy_EAeucQTP_cIt5LXaJRPQMZzyGy04xPn23ZKgf8NcTqEFekOU8HMec49yMHSRuQ-jFA1iYdf5njczhtbTeZEuIp8-rZwUeRx1VzOAbPLsCxiJJmfg_cPmRxQCP-8PXLSSXS3Ae7c2XQnToHzmQNn6rMzNgtgS1M6kmAy4fFT2EWDgooKTCI4UFCEBAKBLwdVWgHY08AAWhGp_kjYGLs9L2U2_4ye_sKryIWM4HkefLGdBq7_WDXQd6OuAzAWVi0qAyjjlXM4noPmvEveMWHnkgnLqo0_9b_AtC6Gpoo_PpTsSyH8E854UrhReIPsXhjKhkPWFXawt2vrCnUkykjf2hpuYAODGlOzSIpcw5NjmfzgpNF8zZSXhP1Eh0lef-eiQBhiuIzazEFgERgLYd6tOhzvO2sVt4P4N8V0E6DLJOJ9HzhUPjW0Q-NUg_yZRFf8veiE9XSDge2G6eIFXqA1sQtZSUAoHQXKn7RUsyhYpOFI70Vw_MDeywYnXglDo9kk8kimOrNfxdERjID4X6yAmXQj1s6H3iUZkv30iBEnrCHyTff-uSviMREQubqi1lzrqEv7MBWvEdnEmz0jX8SvfSv762JIv8bvpCivhQxyA5dNpk_EiTcgdIDkgLtmj8A3WmBxScM4w7gazzC2Zj1cXP42_iBuJjdYkY1oevAXFeiuXNZpYv56GAhpLTxnFlVdLnFSeOzCi12fIJav7vAJFEvxuOLSEyA6avBNyv5Bs7EIqqBB3u8Tj5F8swg9W2zXx4a2GPwzYQ684Lg0YUqehnKgbNxeqsDmC8ZiT51m9sjgFbWR7GkXJPaL9s_B-u_M5SyxHu73ys5hRj7o2uo1onxAd2d8hsy_dx5GTybeaZif0gVVEGp1akTFJx4OQgY_QEF9y8fqHKGS4yUbsB6YMCFiHRqKExtTZ9Kt0S2M92zj9aXha4r58GDvjTjFpFC8t3D5QJFvp1BoWC9jANmCkFVTsNEnmGJCr-Bna81_EJ_aeLZvKkblD6La5mhWM9KbtGQOnOToYTSxDFR79DCO38OxHZlELfWJrNMLZCUg6wsI-JGAD0o9fLRnUc7mK_yLuXW5-WS1s5ICFA4OO530iB4KSwM7CvbQN9715DGKm9LCW6Uz_IOzqW6hBAp58zGFpLo3Y64xaz1giJpnzl1lww-6CoXdW93Xx6KSYNCs81WApigQdECbfeW1Z2mvKnYbT43_zJdxgGyj5ZV0fsSYqlIIeAMJV5",
  "id": "rs_0f0c42847012e2f1016ab459d9c4d487d0a71b76d3a87f3191",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.225,\"right_y\":0.09,\"right_z\":-0.005,\"right_pitch\":-0.2,\"right_yaw\":0.1},\"note\":\"The right arm stopped above and to the side of the rear-grasp target, near its folded limit. I’m changing the wrist tilt to make that lower, closer position reachable while recentering on the barrel.\"}",
  "call_id": "call_b14PRVjP2vxx3Id38OvMcFTX",
  "id": "fc_0f0c42847012e2f1016ab459dccce887d086f698ac5caaf37c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b14PRVjP2vxx3Id38OvMcFTX",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7506, -0.6571, 0.0914, 0.5835, 1.0382, 0.0254, 0.2539, 0.3103, 0.3782, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0477 left_roll=0.0638 left_gripper=0.0914 right_x=0.2277 right_y=0.0899 right_z=-0.0005 right_yaw=0.1009 right_pitch=-0.1587 right_roll=0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.335, -10.2769, 6.7214, 1.3114, -0.3394, -0.0415, 0.6374, -0.4308, -0.294, 6.8718, 1.2234, -0.0611, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a162024442c65bd97210e4a91b192a5381dfbef88b36603787de98a65dbe1e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d79b42eb914e139cc974b1aa1a6d08e3f1e575434c4e8623512d94f0aa8184",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a921beb17e7542913142c3c172daf6e6e07fffa21591a9a7462df06e5db539",
      "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 · 13.13 s

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

message 105 changed as sent

message 112 changed as sent

message 116 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8188, 1.9053, 1.5379, -0.5415, -0.7521, -0.6571, 0.0846, 0.5297, 1.5532, 0.0597, 0.8616, 0.3393, 0.2539, 0.0551]\nstate[eef_state]: left_x=0.4181 left_y=-0.2651 left_z=0.1725 left_yaw=0.1249 left_pitch=-0.0432 left_roll=0.0596 left_gripper=0.0846 right_x=0.274 right_y=0.0964 right_z=-0.0033 right_yaw=0.0948 right_pitch=-0.0322 right_roll=0.0189 right_gripper=0.0551\nstate[joint_eff]: [-0.5538, -10.1949, 8.2256, 1.2772, -0.5201, -0.0269, 0.7399, -0.4855, -3.8769, 1.6479, 0.2711, -0.0464, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.5375, -0.5396, -0.7506, -0.6571, 0.0884, 0.7174, 1.066, 0.0074, 0.5167, 0.4377, 0.3389, 0.9959]\nstate[eef_state]: left_x=0.4184 left_y=-0.2655 left_z=0.171 left_yaw=0.1244 left_pitch=-0.045 left_roll=0.0601 left_gripper=0.0884 right_x=0.2443 right_y=0.1185 right_z=0.0404 right_yaw=0.1555 right_pitch=0.0697 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -10.5641, 6.694, 1.2234, -0.3883, -0.0464, 0.6569, 0.3487, -0.0479, 4.6974, 1.7314, 0.3834, 0.105, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7506, -0.6571, 0.0914, 0.5835, 1.0382, 0.0254, 0.2539, 0.3103, 0.3782, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0477 left_roll=0.0638 left_gripper=0.0914 right_x=0.2277 right_y=0.0899 right_z=-0.0005 right_yaw=0.1009 right_pitch=-0.1587 right_roll=0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.335, -10.2769, 6.7214, 1.3114, -0.3394, -0.0415, 0.6374, -0.4308, -0.294, 6.8718, 1.2234, -0.0611, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a162024442c65bd97210e4a91b192a5381dfbef88b36603787de98a65dbe1e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d79b42eb914e139cc974b1aa1a6d08e3f1e575434c4e8623512d94f0aa8184",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a921beb17e7542913142c3c172daf6e6e07fffa21591a9a7462df06e5db539",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnhglSzfkTRJ_UlQue3JLVT4jBgqjBiRVrkGG3P35jrj9cS_Q8RnDTcJmK8sp6Nh2BDhJPPPi7CGH3hcdX0ViAlbLs-7guc_7NYNeVSibQSixRMfv19lZCalIdEyLqygipTBhMg9ZBxGH1C0a18bieXqI6kjXWtWUuLjT0xMls7w6Fbm_-PDRhUn6O8jOkHVWscIEm1L1BE-Y5zKu8IhmQn32wthrPXCrE21fVKGB4yU89rkaMUwP0U0NAhJqlx30jJpK_y5DwUS32oeuKYhfI0ZF2k_NpLBkwyauqeQ2VpnK5zA4BfUEGBt4PbPEUdBpmEaBu8RnYFP3g9sOSjch6aeb46igULTqewC3crl9vTZ7BpsHOAGL3GMJIuqfGnvWbKnf10YFMwdnXOVd9h2G8frsgVP8ggvi5O0Iow2XlqQFTBcsRKzYwhPcYgG-YupMytJqu6hzJ91HKcAETb68bCFxWPMbRKq-eY8iad4EU3ArczeNcpVAdr-PTPz5jjc-24ZwAjQ1VHDgIQLb7On-_rn5gM8zI2Wn3KNsNRVmDpg-bNfWqe8dtRMPctFVg-XFwxQSguuQmWmRU7U9pzof0eY7rDAYLEIjyBs3pu8R4QEzy5mzvodyz8PoMDfd-tlXhyIhew5X_I6zZFPl911yd5CjNBfjvmbMiDEFx5fEPAahYN35ZZMoHNGwKL7-ziTX5XA-Qshb6b_xPX3Eqz9CSyQP_xelgNv39XCRV7chQAAbIEAnIV2hdjVNCvkkr7aiuutzb3OlLo5UPQlbjcvoLKO0o462TiVfnKB4vWgFO5-hz2RIpCerxgSIOeEMybNREPCUHRrTW2vS9Mxrw8VrQXllcHs5_YYUWuQX0ehLbqXR_UA7stbFxPlNyawrke9HhaJqMSaxmcWTQsS-tLqU60yHaSoHKAACfCkpX_P2yoDx_QwUltJq2momzoweHQqIhB0Asqc-sAVjjlGsUIhm0qb5g_B26no5cDef1QeGy698McAiCe6io6P8a1szyatc8TDOG-fSkWZBHShhxjQj65EDxAzwFIUJBK6tM7QvqZtToA-U8cQ_H3C8xMq9UZyTzmssnF3h9Cz4Jx5V7sWIksZfnoSSQNnXUa7QDzV8TWzGlq5eJhK9UeGxb_70Rd_9Viz-s6TQQggT0gB9D6xi61PPFg5JMUL0zjCfVPk0YHRDPOEurUQ4ibxOV0UMWp_5-MVJGSAi73hxNTBACeEN_KGmfu9KY8rQm17w3yQupmsfRvaubAPLFnssTsOUoFWACcJNIv8jUqsmFO3ypFYQ-KkhaA5yRWV3epUEd0F7NfutA=",
  "id": "rs_0f0c42847012e2f1016ab459df991487d0819cba69edde4ca0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are now at table level, centered on the rear section of the pen. I’m closing for the longer-clearance grasp.\"}",
  "call_id": "call_I5hDJHWErjbBwgSIfsEejC6U",
  "id": "fc_0f0c42847012e2f1016ab459e04c7487d0ae0f34b6bd2e4147",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I5hDJHWErjbBwgSIfsEejC6U",
  "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]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7509, -0.6567, 0.0919, 0.5785, 1.0374, 0.0303, 0.2691, 0.3111, 0.379, 0.01]\nstate[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0475 left_roll=0.0643 left_gripper=0.0919 right_x=0.2317 right_y=0.091 right_z=0.0042 right_yaw=0.0963 right_pitch=-0.1399 right_roll=0.0883 right_gripper=0.01\nstate[joint_eff]: [-0.1709, -10.4137, 6.5983, 1.2918, -0.3883, -0.0317, 0.3687, 0.3077, -0.5675, 3.5897, 0.8571, 0.0806, -0.105, 0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ecb2e8618ed984e5bc12b0df910cd89e4d4c86dab94841abf7526522b5cd7ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2963071528175879055fc6de7b3722028345a5b0eecc7a6966ebbfa1a96066f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff28951c26fe8e73b17ad844f6c212cfcaedb9708c003d904d5101417fa42d25",
      "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 · 2.487 s

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

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9064, 1.5379, -0.5423, -0.7506, -0.6567, 0.0862, 0.5297, 1.5604, 0.0544, 0.8864, 0.3325, 0.2497, 0.995]\nstate[eef_state]: left_x=0.4181 left_y=-0.2652 left_z=0.1717 left_yaw=0.1242 left_pitch=-0.0453 left_roll=0.0608 left_gripper=0.0862 right_x=0.2742 right_y=0.0979 right_z=-0.0021 right_yaw=0.1028 right_pitch=-0.0227 right_roll=0.0242 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -10.4684, 6.8308, 1.2967, -0.3248, -0.0513, 0.8425, -0.2667, -4.1778, 3.7812, 1.4237, 0.1441, -0.0366, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7506, -0.6571, 0.0914, 0.5835, 1.0382, 0.0254, 0.2539, 0.3103, 0.3782, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0477 left_roll=0.0638 left_gripper=0.0914 right_x=0.2277 right_y=0.0899 right_z=-0.0005 right_yaw=0.1009 right_pitch=-0.1587 right_roll=0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.335, -10.2769, 6.7214, 1.3114, -0.3394, -0.0415, 0.6374, -0.4308, -0.294, 6.8718, 1.2234, -0.0611, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7509, -0.6567, 0.0919, 0.5785, 1.0374, 0.0303, 0.2691, 0.3111, 0.379, 0.01]\nstate[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0475 left_roll=0.0643 left_gripper=0.0919 right_x=0.2317 right_y=0.091 right_z=0.0042 right_yaw=0.0963 right_pitch=-0.1399 right_roll=0.0883 right_gripper=0.01\nstate[joint_eff]: [-0.1709, -10.4137, 6.5983, 1.2918, -0.3883, -0.0317, 0.3687, 0.3077, -0.5675, 3.5897, 0.8571, 0.0806, -0.105, 0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ecb2e8618ed984e5bc12b0df910cd89e4d4c86dab94841abf7526522b5cd7ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2963071528175879055fc6de7b3722028345a5b0eecc7a6966ebbfa1a96066f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff28951c26fe8e73b17ad844f6c212cfcaedb9708c003d904d5101417fa42d25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnvMEiZGXdmNsmbCuxyHoqkkPPe075Rj472HLYf2d8ZKijtHOaNwQ_DU5eKN436_pcQe18KOu4sbilDsIbSttsoPodrGMDIDXoLM37dm8RjxdBR0nOg-dpAzhtF9mjSQjJXWHV3BPvyAycSbE7cj4tQxm6Kl4LrZd_SfHNn2Z1z_rbKTXucwJEBNr_sDNTfY5-BQH4Ydrm-m0QGbPya20CDeI92mcnVELVpaqdYeNmdV_J1p1zPIC7c9mTyYPgOt7-DETClBiSVIwEq3CDJ5hYAYD0uVyyBUqex4I62_wAjUflCT1DeypkK0o5QmXTvoZlG1kN5XrUiAqh2A4RFCOrO9FQGd1VyqH8fhpxOFo1F0dHMBAIykhOTrdGc44nDgkN4m9m1wvQSVPVjxdOv3Z-JFXmwymh3uiru4cLkC0kGMj_anQKknvn7LsUDoDB-qXgtBpnZyVsuJ1GLoPsMhz14ayzED3TwMR_Bm5FksZnypQ7-OaBljhQuBH_9TbBbOlAY8Wl6mJ_j31GM8ccpfEXNUZET6Kb0mY9ArzUgGrz5qQPijzM4wlhl6MD0muMAqmkTdX3TfRloR07Q08svZeJsHAVbmocZE8gyxWMUj6I-EYOdQniEEDKJNBkoBMAm0u2Z1DKApzJIpN1H1DH5pYb1oguwoJ6n9jGSIhZQ6u6vCA39N7bXBmWSOkMEwIvz0Dk6Yuah3Xix71yI0CKUHnZK3p4zg2-38-f6ip84-8o4_vsgCowH9DfIGkF5XQbbnsJTyfoxcZ9tjjtU685XRqanJzQqYxe-viAZWEuB1kPOxIrlA39mJAEgja3NZe-826mnQn6JP-CcxGSTwPlb7rjjwWUU7ce8EPXRX8uVV7BKH6pfLXxfNWqAVdpLb-OAu0i5Rl7QbIbtG5RlWeSazl-JS_6-0Ewg90Ll0kHGyI2iwIqElBfA8ys94_eo6dVvY3nqyphjflUM3veJClbjq-gA7AQRpmDQvFiNjm9ztfA5EvhujhHAvqJZEoo6QJKKO1IZzLlHFaOzEE4CK-ToWc7SWAxSqm1VGGok_sR4NzGy8YJdDbUdhRoK8Bpa5MRrVa-xErDTcnRe9xh99rQz-PucmxbpawUkaQMHbNPiHpvkzQnlRti3b8GE0bJjlPnUYKD5R1fJq2fMsmPvQY-BJSCecdt_sqHw8YnLKGRXtAjbizJ6Jg0w_hauDD0Frl4CBNGYovEe7OL1C9TNziX3h_FNLDYDOjcpEHa5o8DXrHoUSLZ8SR2zRvgZ2YO_ohJha_nQjlO6QCaw_KVhCnaAGc_j8EdhxieU7rL1CuGGIWYOZ4pY4CVwyvGVgFQRzQ2BMmHcBlm5wchWhwU9Efk-Gxwy7Mh-_OaVbQxomrSX-M0lSA7YERvJrcFgpqDlbcAl47ZfmjjP3bSTYbM6I_eyFCtNtBA2YzfI0ts1cXC6Bb5L8Q9eVovuxJWtZJAeAPPMcSCJc4l2IqJwxiYdPbGvOzaj_-rrv_-jhBowV4JJpuaejfQAHCYH8GRPP_aSPuBtbaqsOdjDLGSEiVKagacNVjUJ87enJuWDFHig4kX23nQyClrceBsQZeWr8XGh9EKNUW-pIsECTiDGluhnlraSQNMlGjaTmtViChR7TUl9NMAUkzqmFT9VCBkotMHQ-UWOTDCC4qb6mw1NkVgVvpJWRK9fC0cilsTNb_Due8MVczuiB3_2STIxq7wPg4lUx4vvhk3J3nV9xXS_NCWAfLel_iT4Xx3U8LXAaRWneA_hzFui2weTn6xhxQ1QQvbmFH8XNp3gDbWjw-Z4FS8NOaIU-hkqlf-Ii3t6UMrvA-2f7ISUBP6ytL7JDqmirLz5toXn7nJuZo3UlGuAfq1-3mnA8UUaHLDYUZW2kbHVxtFZNYiyrxliDs6jMwGRW43cTxiBirY296LeWj71SSJQEmvJFIo2Bj3cnO3zxjik_-QR29fy11DP93gWHX2sxbtmHlPg1V7CuZdGNDdDAWs4v9EX1dBZH6C4f4zVAGPO3FrcoXTIVN0hs5RfMmqOKnEpAuwhHc6BLsNq_TY1h-HQhKSMbfQCOwKrFqZXO0Cfyv45UeJ8at4VwZ2q8m99blzEokcO7laNSROmzwQNRwBxZU7uB0NjFR4xcJ_crUs6WoWgwRIZ_IkH4axlFCDvqr6GF98766_0atOL1ypHd5VOT2yhlpBqj-WECTZhLjTUFFaOlpUaChF68xuKjQAXNeOfqajqCWiMKEjgV5M1eNHYc9suVz07woLIw8tZ70hUrZPLehFhKi9qsg2GJd4Qu4Icwe7j3rFozVC401QU4xTS_kN6gcSJapROTT00KhGbUz4vjPJfU4SiZUxjqIyobHXDev8aTeS0uBLqBoD5Pf8er7pZ745hNgj7nX6T2ce41dPa5lMXJys5Qo7Z7TQOS5K36wDmeYYjWitGDw8b-ebgS_hnyfmadUQch7mGHJIWjZFXtIyuRiyctFurtetnZAZhM61bGSwFMyS6_JuB2S_VtQOiyq_bjHVFNd6zFQEw278EYC7Mge1TqTJLNBEP8bH2INk1RW2j5I6M92BDofQHI_s2UOuC4vASFmNgKGcA3th1hP1TIj_sBiTHtY3N1O2qWp7hnNYzXsA4Wzbr7oCcq-Ya2cr2M2Ku_wsyCGe09elnc2Oi8iMmQaM9NJA6gpEN4aDeTOreOajkYUAmV2FTojXKl-LrgxHu1qVdlTM_J28vccdLpIlGS333e_Ri4NsLWrMxAxELFcbNDIoZ8_AkMEicUMCONVd0eoV_upmYCHiLDGt7hrixEn4o_EzA8yHuwL9vZnF5fDEpk36oVy6NWmz2V0yoV7AlRmpDWJfEHFQvhrjhfspnl8mh-9viMViAeBj1waGUHMuAuIAu1nOWapMt7m71MlPa9ubWIX7f4UaZp7u48odmXiCDj4ucquZ91NyVNR3wWtxlDMZp0AutbiVY6QQo7Z2jOUSQ5srJw4z-Q-nNqPEkeDAH79-aHbdnvT8IFMYTed0dKT9ta4bum9ZHxKVWaw==",
  "id": "rs_0f0c42847012e2f1016ab459e4cea887d0b87847bb8009d2a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.005,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The rear-grasp attempt closed empty, and I can’t reliably align the small parts for insertion with the remaining safe motions. I’m leaving the pen on the table and lowering the held cap to set it down safely.\"}",
  "call_id": "call_oOBL9UhW1FUbbR7WSKT7w71o",
  "id": "fc_0f0c42847012e2f1016ab459edc4e887d094cc79008495b85f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oOBL9UhW1FUbbR7WSKT7w71o",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7734, 2.0274, 0.9882, 0.0982, -0.7242, -0.6197, 0.0934, -0.1509, 0.8848, 0.6903, -0.5285, -0.2104, -0.0784, 0.996]\nstate[eef_state]: left_x=0.393 left_y=-0.2152 left_z=0.0048 left_yaw=0.1341 left_pitch=-0.082 left_roll=0.102 left_gripper=0.0934 right_x=0.2897 right_y=-0.0031 right_z=0.1673 right_yaw=0.0563 right_pitch=-0.1483 right_roll=0.0848 right_gripper=0.996\nstate[joint_eff]: [0.4171, -8.9504, 5.2718, 1.5507, -0.2515, 0.1245, 0.5641, -0.3624, -1.6068, 8.8274, 1.3309, -0.232, 0.022, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16720e025b6f3f33d6ac26b8986ea1e771d20fdcdc0d0a7a21e5a710b632b807",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b0ce503ef6aed0f8c4f3c4c8a895eb189ff97c8959e09d3ece8130067ac855",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c1b32f5a5506285a284aed4ab8c1ef2d297f58b099a889e5c4af8d0142f172",
      "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 · 2.605 s

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

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.5375, -0.5396, -0.7506, -0.6571, 0.0884, 0.7174, 1.066, 0.0074, 0.5167, 0.4377, 0.3389, 0.9959]\nstate[eef_state]: left_x=0.4184 left_y=-0.2655 left_z=0.171 left_yaw=0.1244 left_pitch=-0.045 left_roll=0.0601 left_gripper=0.0884 right_x=0.2443 right_y=0.1185 right_z=0.0404 right_yaw=0.1555 right_pitch=0.0697 right_roll=0.087 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -10.5641, 6.694, 1.2234, -0.3883, -0.0464, 0.6569, 0.3487, -0.0479, 4.6974, 1.7314, 0.3834, 0.105, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7509, -0.6567, 0.0919, 0.5785, 1.0374, 0.0303, 0.2691, 0.3111, 0.379, 0.01]\nstate[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0475 left_roll=0.0643 left_gripper=0.0919 right_x=0.2317 right_y=0.091 right_z=0.0042 right_yaw=0.0963 right_pitch=-0.1399 right_roll=0.0883 right_gripper=0.01\nstate[joint_eff]: [-0.1709, -10.4137, 6.5983, 1.2918, -0.3883, -0.0317, 0.3687, 0.3077, -0.5675, 3.5897, 0.8571, 0.0806, -0.105, 0.2466]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7734, 2.0274, 0.9882, 0.0982, -0.7242, -0.6197, 0.0934, -0.1509, 0.8848, 0.6903, -0.5285, -0.2104, -0.0784, 0.996]\nstate[eef_state]: left_x=0.393 left_y=-0.2152 left_z=0.0048 left_yaw=0.1341 left_pitch=-0.082 left_roll=0.102 left_gripper=0.0934 right_x=0.2897 right_y=-0.0031 right_z=0.1673 right_yaw=0.0563 right_pitch=-0.1483 right_roll=0.0848 right_gripper=0.996\nstate[joint_eff]: [0.4171, -8.9504, 5.2718, 1.5507, -0.2515, 0.1245, 0.5641, -0.3624, -1.6068, 8.8274, 1.3309, -0.232, 0.022, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16720e025b6f3f33d6ac26b8986ea1e771d20fdcdc0d0a7a21e5a710b632b807",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b0ce503ef6aed0f8c4f3c4c8a895eb189ff97c8959e09d3ece8130067ac855",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c1b32f5a5506285a284aed4ab8c1ef2d297f58b099a889e5c4af8d0142f172",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cap has reached the tabletop, and the pen is lying separately to its right. I’m opening the left gripper to release the cap.\"}",
  "call_id": "call_Ird8ERPTJnAbShKdbWTBDIvO",
  "id": "fc_0f0c42847012e2f1016ab459f2396c87d0b1e8b6fc512f9cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ird8ERPTJnAbShKdbWTBDIvO",
  "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]: [-0.7727, 2.0338, 0.9798, 0.1356, -0.7517, -0.6312, 0.9957, -0.1547, 0.8913, 0.6914, -0.5503, -0.2207, -0.094, 0.9974]\nstate[eef_state]: left_x=0.3961 left_y=-0.2127 left_z=0.0067 left_yaw=0.1572 left_pitch=-0.0502 left_roll=0.0883 left_gripper=0.9957 right_x=0.2867 right_y=-0.0019 right_z=0.1624 right_yaw=0.0705 right_pitch=-0.1725 right_roll=0.0856 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -10.3453, 5.8735, 0.9548, -0.0708, 0.0562, -0.1538, -0.0205, -2.2496, 6.9675, 1.7705, -0.0366, 0.0904, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68279c37a3e774ca50844ef870a61f4265a10a52e5cc126c029575490d2553ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627d8b8191aa1ad105a9893e54816021cd55f3cf236b410a19c9f1d359c24dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6bcf1460924a26a05a4375ead42e091de86e0fcaa38d1762808917ffa5c806",
      "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 · 4.249 s

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

message 116 changed as sent

message 124 changed as sent

message 127 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 1.9083, 1.536, -0.5426, -0.7506, -0.6571, 0.0914, 0.5835, 1.0382, 0.0254, 0.2539, 0.3103, 0.3782, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2649 left_z=0.1701 left_yaw=0.1246 left_pitch=-0.0477 left_roll=0.0638 left_gripper=0.0914 right_x=0.2277 right_y=0.0899 right_z=-0.0005 right_yaw=0.1009 right_pitch=-0.1587 right_roll=0.0783 right_gripper=0.996\nstate[joint_eff]: [-0.335, -10.2769, 6.7214, 1.3114, -0.3394, -0.0415, 0.6374, -0.4308, -0.294, 6.8718, 1.2234, -0.0611, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7734, 2.0274, 0.9882, 0.0982, -0.7242, -0.6197, 0.0934, -0.1509, 0.8848, 0.6903, -0.5285, -0.2104, -0.0784, 0.996]\nstate[eef_state]: left_x=0.393 left_y=-0.2152 left_z=0.0048 left_yaw=0.1341 left_pitch=-0.082 left_roll=0.102 left_gripper=0.0934 right_x=0.2897 right_y=-0.0031 right_z=0.1673 right_yaw=0.0563 right_pitch=-0.1483 right_roll=0.0848 right_gripper=0.996\nstate[joint_eff]: [0.4171, -8.9504, 5.2718, 1.5507, -0.2515, 0.1245, 0.5641, -0.3624, -1.6068, 8.8274, 1.3309, -0.232, 0.022, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7727, 2.0338, 0.9798, 0.1356, -0.7517, -0.6312, 0.9957, -0.1547, 0.8913, 0.6914, -0.5503, -0.2207, -0.094, 0.9974]\nstate[eef_state]: left_x=0.3961 left_y=-0.2127 left_z=0.0067 left_yaw=0.1572 left_pitch=-0.0502 left_roll=0.0883 left_gripper=0.9957 right_x=0.2867 right_y=-0.0019 right_z=0.1624 right_yaw=0.0705 right_pitch=-0.1725 right_roll=0.0856 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -10.3453, 5.8735, 0.9548, -0.0708, 0.0562, -0.1538, -0.0205, -2.2496, 6.9675, 1.7705, -0.0366, 0.0904, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68279c37a3e774ca50844ef870a61f4265a10a52e5cc126c029575490d2553ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627d8b8191aa1ad105a9893e54816021cd55f3cf236b410a19c9f1d359c24dc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6bcf1460924a26a05a4375ead42e091de86e0fcaa38d1762808917ffa5c806",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both pieces are released on the table, but they are not assembled. I’m moving the arms back to clear, raised resting positions.\"}",
  "call_id": "call_UiRS7rZv5wg5K1Jxmkb4O15k",
  "id": "fc_0f0c42847012e2f1016ab459f5675887d0ad51bd62a3654d9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UiRS7rZv5wg5K1Jxmkb4O15k",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0647, 0.8261, 0.6384, -0.4015, -0.1234, -0.0971, 0.9964, -0.0429, 0.8124, 0.6785, -0.4789, -0.0624, -0.0563, 0.9976]\nstate[eef_state]: left_x=0.2981 left_y=0.0061 left_z=0.1832 left_yaw=0.0798 left_pitch=-0.0118 left_roll=-0.0038 left_gripper=0.9964 right_x=0.2913 right_y=0.0021 right_z=0.1888 right_yaw=0.0253 right_pitch=-0.0526 right_roll=-0.004 right_gripper=0.9976\nstate[joint_eff]: [0.3077, -2.1949, 10.4684, 1.7411, -0.0024, 0.188, 0.0659, 0.5128, -2.5504, 7.1316, 2.1026, 0.1245, 0.1636, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03c5ae3ce0665d172cd6d1f670265edaa6402c6fc5a626286e9dbd27486b3c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3e3f6b189327c76420f9338f23b6f98081a46b933cb16bed29ab03d7144469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4c44242db13467993488cd354fcec7e55338729813549795971f418675ccf1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]