adhoc - adhoc_a9cad465.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: 281.1 s
total steps: 246

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 pen lies diagonally near the center, with its cap separately to the left. I will bring the right gripper above the pen first, keeping the left arm parked clear.

move_to

right_x0.3400right_y0.2500right_z0.1200right_gripper1.0000left_x0.2950left_y0.0000left_z0.1900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7937, 0.6025, -0.379, -0.0223, -0.0254, 0.9993, -0.0185, 0.7921, 0.6098, -0.3767, -0.0208, -0.0124, 0.9993] state[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.4034, -1.4974, 10.4957, 1.7656, -0.0415, 0.0757, -0.0855, -0.7453, -1.3197, 9.8667, 1.7656, -0.0708, -0.0806, -0.0806] 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":{"right_x":0.34,"right_y":0.25,"right_z":0.12,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.19},"note":"The pen lies diagonally near the center, with its cap separately to the left. I will bring the right gripper above the pen first, keeping the left arm parked clear."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent noteThe wrist view shows the full pen just ahead of the fingertips. I will advance slightly, lower toward the barrel, and turn the jaws to grip across the pen rather than along it.

move_to

right_x0.3650right_y0.2400right_z0.0350right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.8055, 0.6052, -0.4305, -0.0269, -0.0288, 0.9992, 0.8951, 1.6241, 0.9024, -0.1177, 0.688, 0.5541, 0.9993] state[eef_state]: left_x=0.2886 left_y=0.0006 left_z=0.1671 left_yaw=-0.0011 left_pitch=-0.0606 left_roll=0.0011 left_gripper=0.9992 right_x=0.3322 right_y=0.2408 right_z=0.1052 right_yaw=0.0338 right_pitch=-0.0538 right_roll=-0.0514 right_gripper=0.9993 state[joint_eff]: [-0.4444, -1.5658, 10.3863, 1.8877, -0.0904, -0.0952, -0.0171, 0.5402, -7.4188, 8.1709, 1.6484, 0.6227, 0.2027, -0.0806] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.24,"right_z":0.035,"right_yaw":0.6},"note":"The wrist view shows the full pen just ahead of the fingertips. I will advance slightly, lower toward the barrel, and turn the jaws to grip across the pen rather than along it."})

tool

executing move_to over 5 steps (0.5s)

step 26

assistant

agent noteThe pen barrel now runs between the open fingers near the bottom of the wrist view. I will lower to table level before closing, with a small sideways correction toward the barrel.

move_to

right_x0.3600right_y0.2200right_z-0.0080right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.8078, 0.6048, -0.4374, -0.0269, -0.0288, 0.9993, 0.5987, 1.7504, 0.6586, 0.3573, 0.1787, 0.0814, 0.9993] state[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.165 left_yaw=-0.0011 left_pitch=-0.0701 left_roll=0.0014 left_gripper=0.9993 right_x=0.358 right_y=0.2106 right_z=0.0186 right_yaw=0.396 right_pitch=-0.1618 right_roll=-0.0606 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.3744, 7.0222, 1.8046, -0.0562, -0.0806, -0.0073, -0.5812, -7.4598, 5.2855, 1.7314, -0.0562, -0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.22,"right_z":-0.008,"right_yaw":0.6},"note":"The pen barrel now runs between the open fingers near the bottom of the wrist view. I will lower to table level before closing, with a small sideways correction toward the barrel."})

tool

executing move_to over 2 steps (0.2s)

step 28

assistant

agent noteThe barrel is aligned in the finger gap and the descent has reached the pen/table region. I will close the right gripper and check its settled opening before lifting.

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]: [-0.0269, 0.8078, 0.6044, -0.4389, -0.0269, -0.0284, 0.9993, 0.5518, 1.8164, 0.6544, 0.5114, -0.0109, -0.0727, 0.9993] state[eef_state]: left_x=0.2874 left_y=0.0006 left_z=0.1645 left_yaw=-0.0013 left_pitch=-0.072 left_roll=0.0017 left_gripper=0.9993 right_x=0.3659 right_y=0.2317 right_z=0.0178 right_yaw=0.594 right_pitch=-0.0918 right_roll=-0.0525 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.2376, 7.1179, 1.6581, -0.0464, -0.0464, -0.0171, -1.0051, -6.5162, 4.3966, 1.5897, -0.0708, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The barrel is aligned in the finger gap and the descent has reached the pen/table region. I will close the right gripper and check its settled opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 38

assistant

agent noteThe fingers have closed to a small nonzero gap around the pen, which remains centered ahead of them. I will lift a few centimeters to verify that the pen is actually held.

move_to

right_z0.0750

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.8108, 0.6041, -0.4389, -0.0265, -0.0284, 0.9993, 0.527, 1.8545, 0.646, 0.5282, -0.0311, -0.102, 0.0435] state[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.1635 left_yaw=-0.0016 left_pitch=-0.0754 left_roll=0.0016 left_gripper=0.9993 right_x=0.366 right_y=0.2235 right_z=0.0026 right_yaw=0.6023 right_pitch=-0.1216 right_roll=-0.0614 right_gripper=0.0435 state[joint_eff]: [-0.0342, -1.5385, 7.0085, 1.6435, -0.0415, -0.0611, -0.0122, -0.0205, -6.9128, 4.4786, 1.4188, -0.0122, 0.0024, 1.2039] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.075},"note":"The fingers have closed to a small nonzero gap around the pen, which remains centered ahead of them. I will lift a few centimeters to verify that the pen is actually held."})

tool

executing move_to over 5 steps (0.5s)

step 43

assistant

agent noteThe pen stayed fixed relative to the right fingers during the lift, confirming the grasp. I will raise it clear and bring the left gripper toward the separate cap.

move_to

right_z0.1700left_x0.3600left_y-0.1700left_z0.1050left_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]: [-0.0269, 0.8127, 0.6041, -0.4389, -0.0269, -0.0288, 0.9993, 0.5266, 1.652, 0.7231, 0.2569, -0.0315, -0.1024, 0.046] state[eef_state]: left_x=0.2876 left_y=0.0006 left_z=0.163 left_yaw=-0.0011 left_pitch=-0.0773 left_roll=0.0016 left_gripper=0.9993 right_x=0.3665 right_y=0.2237 right_z=0.0614 right_yaw=0.6024 right_pitch=-0.1132 right_roll=-0.0621 right_gripper=0.046 state[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.6386, -0.0464, -0.0464, -0.0171, -0.294, -8.8821, 7.7197, 1.6386, -0.0415, -0.0513, 1.0281] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17,"left_x":0.36,"left_y":-0.17,"left_z":0.105,"left_gripper":1},"note":"The pen stayed fixed relative to the right fingers during the lift, confirming the grasp. I will raise it clear and bring the left gripper toward the separate cap."})

tool

executing move_to over 16 steps (1.6s)

step 59

assistant

agent noteThe cap is centered ahead of the left fingertips and lies at the opposite diagonal from the pen. I will move forward slightly and turn the left jaws across the cap before lowering.

move_to

left_x0.3750left_y-0.1600left_z0.0250left_yaw-0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6651, 1.4933, 0.749, -0.1032, -0.4999, -0.4488, 0.9993, 0.5266, 1.4883, 0.971, -0.2085, -0.0319, -0.1059, 0.0502] state[eef_state]: left_x=0.3452 left_y=-0.1586 left_z=0.0848 left_yaw=-0.0142 left_pitch=-0.149 left_roll=0.0444 left_gripper=0.9993 right_x=0.3632 right_y=0.2218 right_z=0.1425 right_yaw=0.6052 right_pitch=-0.1669 right_roll=-0.0604 right_gripper=0.0502 state[joint_eff]: [-0.5128, -6.4615, 9.1556, 1.6484, -0.4762, -0.0904, -0.0855, -0.3761, -9.1692, 9.4838, 1.7216, -0.0366, -0.0171, 1.033] 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_x":0.375,"left_y":-0.16,"left_z":0.025,"left_yaw":-0.7},"note":"The cap is centered ahead of the left fingertips and lies at the opposite diagonal from the pen. I will move forward slightly and turn the left jaws across the cap before lowering."})

tool

executing move_to over 5 steps (0.5s)

step 64

assistant

agent noteThe cap is beside the left finger gap, and the previous turn has not yet reached its requested angle. I will finish the alignment while lowering the fingertips to the cap's height.

move_to

left_x0.3750left_y-0.1600left_z-0.0050left_yaw-0.7000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3202, 1.6947, 0.6239, 0.2226, 0.075, 0.1055, 0.9992, 0.5259, 1.4849, 0.973, -0.231, -0.0311, -0.1059, 0.0502] state[eef_state]: left_x=0.363 left_y=-0.1306 left_z=0.0032 left_yaw=-0.4579 left_pitch=-0.2754 left_roll=0.0201 left_gripper=0.9992 right_x=0.3605 right_y=0.2197 right_z=0.1406 right_yaw=0.604 right_pitch=-0.184 right_roll=-0.0595 right_gripper=0.0502 state[joint_eff]: [0.1436, -8.0205, 7.8291, 1.7949, 0.149, 0.2271, -0.0171, -0.2667, -6.3658, 6.6256, 1.7558, -0.0513, -0.0562, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.16,"left_z":-0.005,"left_yaw":-0.7},"note":"The cap is beside the left finger gap, and the previous turn has not yet reached its requested angle. I will finish the alignment while lowering the fingertips to the cap's height."})

tool

executing move_to over 3 steps (0.3s)

step 67

assistant

agent noteThe cap now lies along the center of the left finger gap at table level. I will close the left gripper to pick it up.

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]: [-0.2951, 1.7161, 0.6292, 0.2768, 0.244, 0.2722, 0.9992, 0.5259, 1.4849, 0.9726, -0.2329, -0.0311, -0.1059, 0.0543] state[eef_state]: left_x=0.3636 left_y=-0.1514 left_z=0.0095 left_yaw=-0.6673 left_pitch=-0.2099 left_roll=0.0239 left_gripper=0.9992 right_x=0.3601 right_y=0.2195 right_z=0.1401 right_yaw=0.604 right_pitch=-0.1863 right_roll=-0.0593 right_gripper=0.0543 state[joint_eff]: [-0.3624, -7.2957, 7.0632, 1.8193, 0.3492, 0.1783, -0.0122, -0.2667, -6.5299, 6.7761, 1.5849, -0.0415, -0.0366, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap now lies along the center of the left finger gap at table level. I will close the left gripper to pick it up."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteThe left gripper closed nearly empty, so the cap was not securely caught. I will reopen, advance about two centimeters along the cap, and level the tool for one corrected grasp.

move_to

left_gripper0.6000left_x0.3950left_y-0.1700left_z-0.0100left_pitch0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2951, 1.7161, 0.6277, 0.2794, 0.2405, 0.271, 0.0076, 0.5259, 1.4849, 0.9726, -0.2348, -0.0311, -0.1059, 0.0545] state[eef_state]: left_x=0.3638 left_y=-0.1508 left_z=0.0093 left_yaw=-0.6637 left_pitch=-0.2097 left_roll=0.0258 left_gripper=0.0076 right_x=0.3599 right_y=0.2193 right_z=0.1398 right_yaw=0.604 right_pitch=-0.1882 right_roll=-0.0592 right_gripper=0.0545 state[joint_eff]: [-0.0615, -7.0906, 5.1761, 1.4969, 0.1441, 0.0415, 0.5836, -0.2667, -6.694, 6.7487, 1.5946, -0.0073, -0.0659, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.6,"left_x":0.395,"left_y":-0.17,"left_z":-0.01,"left_pitch":0.15},"note":"The left gripper closed nearly empty, so the cap was not securely caught. I will reopen, advance about two centimeters along the cap, and level the tool for one corrected grasp."})

tool

executing move_to over 12 steps (1.2s)

step 89

assistant

agent noteThe left fingertips are now lower and farther along the cap, with the tool much more level. I will close again and use the gripper opening to judge this corrected attempt.

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]: [-0.2878, 2.0796, 0.5335, 1.1091, 0.3138, 0.1806, 0.5974, 0.5259, 1.4849, 0.9722, -0.2386, -0.0311, -0.1055, 0.0568] state[eef_state]: left_x=0.3984 left_y=-0.1711 left_z=-0.0015 left_yaw=-0.6648 left_pitch=0.1548 left_roll=0.046 left_gripper=0.5974 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6039 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.0568 state[joint_eff]: [0.4444, -6.5162, 2.7419, 1.0525, 0.1294, -0.1245, -0.0171, -0.1436, -6.7077, 6.8718, 1.5702, -0.0464, 0.0024, 0.9548] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left fingertips are now lower and farther along the cap, with the tool much more level. I will close again and use the gripper opening to judge this corrected attempt."})

tool

executing move_to over 6 steps (0.6s)

step 95

assistant

agent noteThe corrected close stopped at a small nonzero opening, consistent with gripping the thin cap. I will lift it clear of the table to check whether it follows the fingers.

move_to

left_z0.0750

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 2.0933, 0.5308, 1.1446, 0.3145, 0.1772, 0.0461, 0.5259, 1.4849, 0.9722, -0.2386, -0.0315, -0.1059, 0.058] state[eef_state]: left_x=0.3992 left_y=-0.1718 left_z=-0.0001 left_yaw=-0.6655 left_pitch=0.1727 left_roll=0.0496 left_gripper=0.0461 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6044 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.058 state[joint_eff]: [-0.0068, -9.4154, 3.2889, 1.5018, 0.0024, 0.1441, 1.2234, -0.3487, -6.694, 6.7214, 1.5458, -0.0611, -0.0122, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.075},"note":"The corrected close stopped at a small nonzero opening, consistent with gripping the thin cap. I will lift it clear of the table to check whether it follows the fingers."})

tool

executing move_to over 5 steps (0.5s)

step 100

assistant

agent noteBoth pieces have lifted off the table. I will turn the pen so its exposed tip points across the workspace toward the left arm, creating room to bring the cap straight onto it.

move_to

right_x0.3000right_y0.2300right_z0.1800right_yaw1.5500right_pitch0.1200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 1.7706, 0.5327, 0.8356, 0.3111, 0.1738, 0.0477, 0.5259, 1.4849, 0.9722, -0.2405, -0.0311, -0.1059, 0.058] state[eef_state]: left_x=0.3965 left_y=-0.1704 left_z=0.0657 left_yaw=-0.6617 left_pitch=0.1869 left_roll=0.0535 left_gripper=0.0477 right_x=0.3589 right_y=0.2188 right_z=0.1386 right_yaw=0.6041 right_pitch=-0.1943 right_roll=-0.0587 right_gripper=0.058 state[joint_eff]: [-0.2667, -8.0068, 7.788, 1.7705, 0.0562, -0.0073, 1.033, -0.3214, -6.6667, 6.735, 1.6337, -0.0611, -0.0464, 1.0281] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.30,"right_y":0.23,"right_z":0.18,"right_yaw":1.55,"right_pitch":0.12},"note":"Both pieces have lifted off the table. I will turn the pen so its exposed tip points across the workspace toward the left arm, creating room to bring the cap straight onto it."})

tool

executing move_to over 11 steps (1.1s)

step 111

assistant

agent noteThe pen is now pointing toward the left arm. I will raise the cap to the same working height and turn its axis toward the pen, leaving a clear gap before alignment.

move_to

left_x0.3200left_y-0.1800left_z0.1800left_yaw-1.5500left_pitch0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2886, 1.7702, 0.5346, 0.804, 0.3111, 0.1738, 0.048, 0.2317, 1.552, 1.0485, -0.4522, -0.9344, -0.9077, 0.058] state[eef_state]: left_x=0.3942 left_y=-0.1697 left_z=0.0597 left_yaw=-0.6598 left_pitch=0.1595 left_roll=0.0426 left_gripper=0.048 right_x=0.3165 right_y=0.2244 right_z=0.1674 right_yaw=1.4245 right_pitch=0.052 right_roll=-0.0507 right_gripper=0.058 state[joint_eff]: [-0.3214, -7.2, 4.588, 2.1123, 0.0171, -0.0415, 0.9695, -0.4171, -6.4889, 8.2256, 0.8767, -0.823, -0.1099, 1.0232] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.18,"left_z":0.18,"left_yaw":-1.55,"left_pitch":0.05},"note":"The pen is now pointing toward the left arm. I will raise the cap to the same working height and turn its axis toward the pen, leaving a clear gap before alignment."})

tool

executing move_to over 8 steps (0.8s)

step 119

assistant

agent noteThe pen tip is visible in the left wrist view, but it is offset from the cap's approach line. I will bring the cap closer while correcting its front-to-back position and tilt, stopping short of contact.

move_to

left_x0.3350left_y-0.2650left_z0.1700left_yaw-1.5500left_pitch0.0000left_roll-0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1001, 1.6463, 1.1931, -0.4698, 0.9524, 1.0561, 0.0481, 0.2295, 1.5681, 1.05, -0.4629, -0.9318, -0.9237, 0.058] state[eef_state]: left_x=0.3746 left_y=-0.1787 left_z=0.1845 left_yaw=-1.4033 left_pitch=0.0736 left_roll=0.2178 left_gripper=0.0481 right_x=0.3169 right_y=0.2233 right_z=0.1611 right_yaw=1.4281 right_pitch=0.0404 right_roll=-0.042 right_gripper=0.058 state[joint_eff]: [0.2393, -7.5556, 7.4188, 0.8132, 0.6667, 0.1197, 0.9744, 0.1709, -8.294, 6.2291, 1.2137, -0.4371, 0.149, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.335,"left_y":-0.265,"left_z":0.17,"left_yaw":-1.55,"left_pitch":0,"left_roll":-0.1},"note":"The pen tip is visible in the left wrist view, but it is offset from the cap's approach line. I will bring the cap closer while correcting its front-to-back position and tilt, stopping short of contact."})

tool

executing move_to over 8 steps (0.8s)

step 127

assistant

agent noteThe cap and pen tip now appear nearly on the same line in the right wrist view. I will close the remaining gap gradually and match the cap's angle to the pen's measured angle.

move_to

left_x0.3380left_y-0.2850left_z0.1700left_yaw-1.7200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3241, 1.7939, 1.3571, -0.7048, 0.9199, 0.9398, 0.0511, 0.2295, 1.5684, 1.0492, -0.4637, -0.9237, -0.9249, 0.058] state[eef_state]: left_x=0.335 left_y=-0.257 left_z=0.1593 left_yaw=-1.5416 left_pitch=-0.0151 left_roll=-0.0818 left_gripper=0.0511 right_x=0.3175 right_y=0.2226 right_z=0.1597 right_yaw=1.4243 right_pitch=0.0335 right_roll=-0.0437 right_gripper=0.058 state[joint_eff]: [-0.3214, -8.4581, 9.4974, 0.862, 0.5495, -0.1197, 0.7448, -0.1299, -7.0632, 6.3932, 1.1355, -0.5348, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). 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":0.338,"left_y":-0.285,"left_z":0.17,"left_yaw":-1.72},"note":"The cap and pen tip now appear nearly on the same line in the right wrist view. I will close the remaining gap gradually and match the cap's angle to the pen's measured angle."})

tool

executing move_to over 3 steps (0.3s)

step 130

assistant

agent noteThe close-up shows the cap mouth slightly beside the pen tip rather than over it. I will shift the cap about a centimeter sideways while holding the approach distance, avoiding a forceful insertion.

move_to

left_x0.3250left_y-0.2800left_z0.1700left_yaw-1.7200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3626, 1.9545, 1.5887, -0.8948, 0.9249, 1.0462, 0.0524, 0.2295, 1.5692, 1.0454, -0.4641, -0.9169, -0.9249, 0.058] state[eef_state]: left_x=0.3466 left_y=-0.2785 left_z=0.1573 left_yaw=-1.6426 left_pitch=-0.0436 left_roll=-0.1083 left_gripper=0.0524 right_x=0.3174 right_y=0.2218 right_z=0.1573 right_yaw=1.4204 right_pitch=0.0264 right_roll=-0.0412 right_gripper=0.058 state[joint_eff]: [-0.6769, -11.2068, 7.7744, 0.3883, 0.7839, 0.1685, 0.6471, -0.2256, -7.0632, 6.653, 1.0818, -0.4713, -0.0464, 1.0281] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.325,"left_y":-0.28,"left_z":0.17,"left_yaw":-1.72},"note":"The close-up shows the cap mouth slightly beside the pen tip rather than over it. I will shift the cap about a centimeter sideways while holding the approach distance, avoiding a forceful insertion."})

tool

executing move_to over 2 steps (0.2s)

step 132

assistant

agent noteThe cap is still passing alongside the point, so I will pull it back slightly and refine the sideways and height alignment before trying again.

move_to

left_x0.3170left_y-0.2580left_z0.1800left_yaw-1.7200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3737, 1.9781, 1.6123, -0.9699, 0.9199, 1.1122, 0.0537, 0.2295, 1.5692, 1.0451, -0.4641, -0.9173, -0.9283, 0.058] state[eef_state]: left_x=0.3373 left_y=-0.2793 left_z=0.1507 left_yaw=-1.6917 left_pitch=-0.0646 left_roll=-0.1259 left_gripper=0.0537 right_x=0.3172 right_y=0.2218 right_z=0.1573 right_yaw=1.4224 right_pitch=0.0265 right_roll=-0.0436 right_gripper=0.058 state[joint_eff]: [0.1026, -13.0393, 5.7915, 0.6764, 0.5495, -0.0562, 0.6667, -0.253, -7.0222, 6.3795, 1.116, -0.442, -0.0317, 1.0281] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.317,"left_y":-0.258,"left_z":0.18,"left_yaw":-1.72},"note":"The cap is still passing alongside the point, so I will pull it back slightly and refine the sideways and height alignment before trying again."})

tool

executing move_to over 2 steps (0.2s)

step 134

assistant

agent noteThe readback shows that the left arm did not follow the last small correction. I will raise and retract it into a less awkward pose rather than keep pressing the same stalled target.

move_to

left_x0.3000left_y-0.2450left_z0.2200left_yaw-1.5000left_pitch0.1500left_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]: [-0.3729, 1.9778, 1.6047, -0.9554, 0.9157, 1.0981, 0.0555, 0.2295, 1.5692, 1.0447, -0.4641, -0.9165, -0.9283, 0.058] state[eef_state]: left_x=0.3386 left_y=-0.279 left_z=0.1487 left_yaw=-1.6818 left_pitch=-0.0676 left_roll=-0.1292 left_gripper=0.0555 right_x=0.3172 right_y=0.2217 right_z=0.157 right_yaw=1.422 right_pitch=0.0257 right_roll=-0.0435 right_gripper=0.058 state[joint_eff]: [-0.1983, -13.094, 6.2564, 0.5934, 0.5592, -0.0904, 0.4567, -0.1299, -7.0496, 6.3385, 1.116, -0.4322, -0.0464, 1.0281] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.30,"left_y":-0.245,"left_z":0.22,"left_yaw":-1.5,"left_pitch":0.15,"left_roll":0},"note":"The readback shows that the left arm did not follow the last small correction. I will raise and retract it into a less awkward pose rather than keep pressing the same stalled target."})

tool

executing move_to over 8 steps (0.8s)

step 142

assistant

agent noteThe left arm remains stationary, so I will use the responsive right arm for the fine alignment instead. I will withdraw the pen slightly and move its point toward the cap's centerline.

move_to

right_x0.3290right_y0.2050right_z0.1800right_yaw1.5500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3729, 1.9778, 1.6047, -0.955, 0.9157, 1.0977, 0.0577, 0.2295, 1.5692, 1.0447, -0.4637, -0.9165, -0.9287, 0.058] state[eef_state]: left_x=0.3387 left_y=-0.2791 left_z=0.1487 left_yaw=-1.6816 left_pitch=-0.0675 left_roll=-0.1291 left_gripper=0.0577 right_x=0.3173 right_y=0.2217 right_z=0.1571 right_yaw=1.4222 right_pitch=0.0259 right_roll=-0.0442 right_gripper=0.058 state[joint_eff]: [-0.1162, -13.094, 5.8872, 0.6276, 0.5836, -0.0708, 0.2222, -0.294, -7.0222, 6.4205, 1.1404, -0.398, -0.0415, 1.0232] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.329,"right_y":0.205,"right_z":0.18,"right_yaw":1.55},"note":"The left arm remains stationary, so I will use the responsive right arm for the fine alignment instead. I will withdraw the pen slightly and move its point toward the cap's centerline."})

tool

executing move_to over 2 steps (0.2s)

step 144

assistant

agent noteThe pen and cap now appear close to a common line. I will make a short, gentle forward insertion with the pen and check the result rather than force it.

move_to

right_x0.3290right_y0.2230right_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]: [-0.3584, 1.9728, 1.5787, -0.9405, 0.9546, 1.0985, 0.0593, 0.1951, 1.6634, 1.2129, -0.6624, -0.9493, -1.071, 0.0616] state[eef_state]: left_x=0.3372 left_y=-0.2764 left_z=0.1491 left_yaw=-1.6775 left_pitch=-0.0325 left_roll=-0.1444 left_gripper=0.0593 right_x=0.332 right_y=0.2157 right_z=0.1672 right_yaw=1.4776 right_pitch=0.0095 right_roll=-0.0389 right_gripper=0.0616 state[joint_eff]: [0.6769, -10.9197, 5.5316, 0.9499, 0.7692, -0.0855, 0.149, -1.6889, -8.5949, 6.4068, 0.5153, -0.8425, -0.1392, 0.735] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.329,"right_y":0.223,"right_z":0.18},"note":"The pen and cap now appear close to a common line. I will make a short, gentle forward insertion with the pen and check the result rather than force it."})

tool

executing move_to over 1 steps (0.1s)

step 145

assistant

agent noteThe clearer left wrist view shows the pen point is still short of the cap, not seated yet. I will advance another small distance while keeping the grippers separated.

move_to

right_x0.3300right_y0.2450right_z0.1750

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3485, 1.9762, 1.5654, -0.9234, 0.984, 1.0981, 0.0598, 0.152, 1.7092, 1.3041, -0.8509, -0.9848, -1.2465, 0.058] state[eef_state]: left_x=0.3382 left_y=-0.2755 left_z=0.1487 left_yaw=-1.6744 left_pitch=-0.0048 left_roll=-0.1514 left_gripper=0.0598 right_x=0.3301 right_y=0.2031 right_z=0.1727 right_yaw=1.54 right_pitch=0.0053 right_roll=-0.0415 right_gripper=0.058 state[joint_eff]: [-0.294, -11.2342, 5.9829, 0.8083, 0.7302, -0.0464, 0.2027, -0.1573, -8.3214, 7.2274, 0.6813, -0.7106, -0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.33,"right_y":0.245,"right_z":0.175},"note":"The clearer left wrist view shows the pen point is still short of the cap, not seated yet. I will advance another small distance while keeping the grippers separated."})

tool

executing move_to over 4 steps (0.4s)

step 149

assistant

agent noteThe right arm also stopped short of its requested position. I will preserve its measured orientation and ask for only a small straight advance, which should avoid the awkward pose change.

move_to

right_x0.3310right_y0.2250right_z0.1670right_yaw1.5170right_pitch-0.0180right_roll-0.0380

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9459, 1.0985, 0.0613, 0.1818, 1.6955, 1.2716, -0.7788, -0.9466, -1.1717, 0.058] state[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6712 left_pitch=-0.0429 left_roll=-0.1504 left_gripper=0.0613 right_x=0.3306 right_y=0.2102 right_z=0.1663 right_yaw=1.5169 right_pitch=-0.0176 right_roll=-0.0381 right_gripper=0.058 state[joint_eff]: [-0.3624, -10.6598, 6.8991, 0.5495, 0.5055, -0.0513, 0.1441, -0.1573, -7.2547, 8.2667, 0.7497, -0.7106, -0.105, 1.0281] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.331,"right_y":0.225,"right_z":0.167,"right_yaw":1.517,"right_pitch":-0.018,"right_roll":-0.038},"note":"The right arm also stopped short of its requested position. I will preserve its measured orientation and ask for only a small straight advance, which should avoid the awkward pose change."})

tool

executing move_to over 2 steps (0.2s)

step 151

assistant

agent noteThe small straight advance did not track properly. I will change the wrist tilt modestly to move away from the stalled configuration, then reassess the alignment before any further insertion.

move_to

right_x0.3200right_y0.2450right_z0.1600right_yaw1.4000right_pitch0.3000right_roll0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9463, 1.0981, 0.0628, 0.1829, 1.6955, 1.2755, -0.8009, -0.9466, -1.1873, 0.058] state[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6711 left_pitch=-0.0426 left_roll=-0.1508 left_gripper=0.0628 right_x=0.3276 right_y=0.21 right_z=0.1662 right_yaw=1.5267 right_pitch=-0.022 right_roll=-0.0334 right_gripper=0.058 state[joint_eff]: [-0.4718, -10.5778, 7.1453, 0.5788, 0.5397, -0.0611, 0.1441, -0.1436, -7.2547, 7.9795, 0.8181, -0.7888, -0.1148, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.245,"right_z":0.16,"right_yaw":1.4,"right_pitch":0.3,"right_roll":0.15},"note":"The small straight advance did not track properly. I will change the wrist tilt modestly to move away from the stalled configuration, then reassess the alignment before any further insertion."})

tool

executing move_to over 11 steps (1.1s)

step 162

assistant

agent noteChanging the wrist tilt restored motion, and the point is now close to the cap but visibly low. I will raise the pen while holding the approach distance so the point can meet the cap opening.

move_to

right_x0.3200right_y0.2450right_z0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9295, 0.9379, 1.0981, 0.0636, 0.2234, 1.6672, 0.91, -0.1211, -1.1313, -0.6407, 0.0599] state[eef_state]: left_x=0.3388 left_y=-0.2732 left_z=0.1414 left_yaw=-1.669 left_pitch=-0.0502 left_roll=-0.1476 left_gripper=0.0636 right_x=0.3124 right_y=0.2386 right_z=0.1384 right_yaw=1.395 right_pitch=0.2155 right_roll=0.1827 right_gripper=0.0599 state[joint_eff]: [0.0205, -10.4821, 6.0103, 0.6178, 0.4811, -0.0757, 0.0708, 0.3761, -8.4171, 5.9556, 1.2967, -0.5055, 0.1441, 0.9255] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.245,"right_z":0.21},"note":"Changing the wrist tilt restored motion, and the point is now close to the cap but visibly low. I will raise the pen while holding the approach distance so the point can meet the cap opening."})

tool

executing move_to over 5 steps (0.5s)

step 167

assistant

agent noteThe close-up still shows the point offset from the cap rather than seated. I will make one small sideways correction and slightly reduce the height before advancing further.

move_to

right_x0.3350right_y0.2450right_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9279, 0.9203, 1.0985, 0.0648, 0.2317, 1.6333, 1.0874, -0.3332, -1.1259, -0.617, 0.0594] state[eef_state]: left_x=0.3403 left_y=-0.2717 left_z=0.139 left_yaw=-1.6649 left_pitch=-0.0663 left_roll=-0.1415 left_gripper=0.0648 right_x=0.3229 right_y=0.2437 right_z=0.1872 right_yaw=1.3876 right_pitch=0.2089 right_roll=0.2045 right_gripper=0.0594 state[joint_eff]: [-0.253, -10.2496, 6.3385, 0.6276, 0.6471, -0.0171, 0.1099, 0.1299, -10.5504, 8.1299, 1.0672, -0.4274, -0.0366, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.245,"right_z":0.20},"note":"The close-up still shows the point offset from the cap rather than seated. I will make one small sideways correction and slightly reduce the height before advancing further."})

tool

executing move_to over 1 steps (0.1s)

step 168

assistant

agent noteThe pen has slipped from the right fingers and is now lying on the table below the arms. I will move down to recover it while keeping the cap held clear.

move_to

right_x0.2300right_y0.3000right_z0.0700right_yaw0.6000right_pitch0.1000right_roll0.0000right_gripper0.7000left_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]: [-0.3538, 1.9778, 1.5654, -0.9287, 0.9203, 1.0981, 0.0648, 0.2317, 1.6146, 1.1183, -0.3904, -1.1187, -0.6174, 0.0596] state[eef_state]: left_x=0.3401 left_y=-0.2717 left_z=0.139 left_yaw=-1.6647 left_pitch=-0.0665 left_roll=-0.1425 left_gripper=0.0648 right_x=0.3215 right_y=0.2428 right_z=0.1979 right_yaw=1.3822 right_pitch=0.2007 right_roll=0.2089 right_gripper=0.0596 state[joint_eff]: [-0.253, -10.4274, 5.9966, 0.5934, 0.5934, -0.0659, 0.1148, 0.2256, -9.1009, 7.8017, 1.1648, -0.5104, 0.0024, -0.0366] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.23,"right_y":0.3,"right_z":0.07,"right_yaw":0.6,"right_pitch":0.1,"right_roll":0,"right_gripper":0.7,"left_gripper":0},"note":"The pen has slipped from the right fingers and is now lying on the table below the arms. I will move down to recover it while keeping the cap held clear."})

tool

executing move_to over 9 steps (0.9s)

step 177

assistant

agent noteThe wrist view locates the fallen pen to the right of the finger gap. I will move across to its barrel and lower to table level for a new grasp.

move_to

right_x0.2500right_y0.2750right_z-0.0050right_yaw0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9835, 1.5639, -0.931, 0.8974, 1.0981, 0.051, 1.0626, 1.4963, 0.4084, 0.5346, 0.1955, 0.1329, 0.6959] state[eef_state]: left_x=0.3411 left_y=-0.2694 left_z=0.1331 left_yaw=-1.6599 left_pitch=-0.0905 left_roll=-0.146 left_gripper=0.051 right_x=0.2091 right_y=0.3122 right_z=0.0584 right_yaw=0.821 right_pitch=0.0176 right_roll=0.0112 right_gripper=0.6959 state[joint_eff]: [-0.1983, -10.906, 6.3795, 0.6227, 0.6422, -0.0464, 1.0281, 0.1573, -5.6137, 6.4889, 1.7998, 0.3785, 0.2515, -0.0317] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.275,"right_z":-0.005,"right_yaw":0.6},"note":"The wrist view locates the fallen pen to the right of the finger gap. I will move across to its barrel and lower to table level for a new grasp."})

tool

executing move_to over 5 steps (0.5s)

step 182

assistant

agent noteThe pen barrel is between the open fingers with a small sideways offset. I will center that offset and close around the barrel.

move_to

right_x0.2560right_y0.2670right_z-0.0080right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9842, 1.5635, -0.9318, 0.889, 1.0981, 0.052, 0.9764, 1.8172, 0.345, 0.8848, 0.2985, 0.1829, 0.6965] state[eef_state]: left_x=0.3415 left_y=-0.2685 left_z=0.1315 left_yaw=-1.658 left_pitch=-0.0989 left_roll=-0.1456 left_gripper=0.052 right_x=0.2457 right_y=0.2772 right_z=-0.0021 right_yaw=0.6221 right_pitch=0.0012 right_roll=-0.0093 right_gripper=0.6965 state[joint_eff]: [-0.1162, -10.4957, 5.9829, 0.5543, 0.5055, -0.0513, 0.8669, -1.0462, -4.8479, 3.3026, 1.033, -0.0269, 0.149, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.256,"right_y":0.267,"right_z":-0.008,"right_gripper":0},"note":"The pen barrel is between the open fingers with a small sideways offset. I will center that offset and close around the barrel."})

tool

executing move_to over 7 steps (0.7s)

step 189

assistant

agent noteThe right gripper again stopped at a nonzero opening around the pen. I will test the new grasp with a short lift before bringing it near the cap.

move_to

right_z0.0650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9854, 1.5612, -0.9295, 0.8768, 1.0981, 0.0532, 0.968, 1.8442, 0.3393, 0.9531, 0.2924, 0.1974, 0.0466] state[eef_state]: left_x=0.3422 left_y=-0.2673 left_z=0.1289 left_yaw=-1.6552 left_pitch=-0.1107 left_roll=-0.1436 left_gripper=0.0532 right_x=0.2494 right_y=0.2789 right_z=0.0004 right_yaw=0.6109 right_pitch=0.0332 right_roll=0.0185 right_gripper=0.0466 state[joint_eff]: [-0.2667, -10.441, 6.188, 0.6325, 0.5006, -0.0562, 0.696, -0.7043, -5.2171, 3.6718, 1.6825, 0.1978, -0.0611, 0.9792] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.065},"note":"The right gripper again stopped at a nonzero opening around the pen. I will test the new grasp with a short lift before bringing it near the cap."})

tool

executing move_to over 5 steps (0.5s)

step 194

assistant

agent noteThe pen is following the fingers during the lift, although the arm has risen less than requested. I will bring it up in the wrist configuration that previously moved freely and aim its tip toward the held cap.

move_to

right_x0.3320right_y0.2500right_z0.1800right_yaw1.4900right_pitch0.3000right_roll0.1500right_gripper0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9854, 1.5581, -0.931, 0.8661, 1.0981, 0.0556, 0.9684, 1.7531, 0.366, 0.8448, 0.2901, 0.1974, 0.0495] state[eef_state]: left_x=0.342 left_y=-0.266 left_z=0.1265 left_yaw=-1.6531 left_pitch=-0.122 left_roll=-0.1452 left_gripper=0.0556 right_x=0.2522 right_y=0.2839 right_z=0.0184 right_yaw=0.6131 right_pitch=0.0417 right_roll=0.023 right_gripper=0.0495 state[joint_eff]: [-0.1846, -10.4, 6.3385, 0.6911, 0.4811, -0.0415, 0.5104, -0.0889, -7.8427, 6.612, 1.9853, 0.1001, -0.0464, 1.0379] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.332,"right_y":0.25,"right_z":0.18,"right_yaw":1.49,"right_pitch":0.3,"right_roll":0.15,"right_gripper":0,"left_gripper":0},"note":"The pen is following the fingers during the lift, although the arm has risen less than requested. I will bring it up in the wrist configuration that previously moved freely and aim its tip toward the held cap."})

tool

executing move_to over 11 steps (1.1s)

step 205

assistant

agent noteThe pen is securely raised, but its point is offset sideways from the cap. I will correct that offset and bring the point a little closer, keeping the insertion gentle.

move_to

right_x0.3150right_y0.2600right_z0.1800right_yaw1.4900right_pitch0.3000right_roll0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9854, 1.5543, -0.9356, 0.86, 1.0985, 0.0488, 0.2348, 1.7138, 1.0454, -0.0002, -1.0851, -0.5499, 0.0495] state[eef_state]: left_x=0.3408 left_y=-0.2648 left_z=0.1245 left_yaw=-1.6529 left_pitch=-0.13 left_roll=-0.1514 left_gripper=0.0488 right_x=0.3586 right_y=0.2501 right_z=0.1742 right_yaw=1.3741 right_pitch=0.2645 right_roll=0.0604 right_gripper=0.0495 state[joint_eff]: [-0.3214, -10.3453, 6.2564, 0.6618, 0.4225, -0.0659, 1.0281, -0.2393, -8.5812, 6.1744, 0.9841, -0.8474, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.315,"right_y":0.26,"right_z":0.18,"right_yaw":1.49,"right_pitch":0.3,"right_roll":0.15},"note":"The pen is securely raised, but its point is offset sideways from the cap. I will correct that offset and bring the point a little closer, keeping the insertion gentle."})

tool

executing move_to over 4 steps (0.4s)

step 209

assistant

agent noteThe pen now runs into the cap's finger gap and the sideways alignment looks much closer. I will lower it slightly and advance about a centimeter to try to seat the cap.

move_to

right_x0.3150right_y0.2730right_z0.1700right_gripper0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9424, 0.8444, 1.0985, 0.0495, 0.2504, 1.7184, 1.0271, -0.1287, -1.1713, -0.6167, 0.0537] state[eef_state]: left_x=0.3403 left_y=-0.2627 left_z=0.1217 left_yaw=-1.6503 left_pitch=-0.147 left_roll=-0.1554 left_gripper=0.0495 right_x=0.3275 right_y=0.2555 right_z=0.1618 right_yaw=1.446 right_pitch=0.2631 right_roll=0.1622 right_gripper=0.0537 state[joint_eff]: [-0.335, -10.3726, 6.106, 0.7839, 0.5543, -0.0366, 0.9158, 1.2376, -11.4803, 6.1607, 1.033, -0.8767, -0.0317, 1.0281] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.315,"right_y":0.273,"right_z":0.17,"right_gripper":0,"left_gripper":0},"note":"The pen now runs into the cap's finger gap and the sideways alignment looks much closer. I will lower it slightly and advance about a centimeter to try to seat the cap."})

tool

executing move_to over 2 steps (0.2s)

step 211

assistant

agent noteThe pen tip is now hidden where it meets the cap, but I cannot yet confirm the cap is attached. I will loosen the left fingers and check whether the cap stays on the pen.

move_to

left_gripper0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9524, 0.8413, 1.0985, 0.0494, 0.2512, 1.7176, 1.0271, -0.1314, -1.1717, -0.6167, 0.0537] state[eef_state]: left_x=0.3388 left_y=-0.2617 left_z=0.121 left_yaw=-1.651 left_pitch=-0.1526 left_roll=-0.1643 left_gripper=0.0494 right_x=0.3269 right_y=0.2556 right_z=0.1619 right_yaw=1.4465 right_pitch=0.2627 right_roll=0.1642 right_gripper=0.0537 state[joint_eff]: [-0.0752, -10.3043, 5.9556, 0.6667, 0.398, -0.0464, 0.9548, 0.6359, -11.494, 5.9829, 1.0574, -0.8523, 0.0024, 1.0281] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.4},"note":"The pen tip is now hidden where it meets the cap, but I cannot yet confirm the cap is attached. I will loosen the left fingers and check whether the cap stays on the pen."})

tool

executing move_to over 4 steps (0.4s)

step 215

assistant

agent noteThe cap fell onto the table when released, so it was not seated on the pen. I will return the pen to the table and move the left arm clear rather than continue an unverified insertion.

move_to

left_x0.2950left_y0.0000left_z0.1900left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2560right_y0.2670right_z0.0050right_yaw0.6000right_pitch0.1000right_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]: [-0.3538, 1.9854, 1.5528, -0.9546, 0.8337, 1.0985, 0.395, 0.2577, 1.7176, 1.0271, -0.1322, -1.1866, -0.617, 0.0545] state[eef_state]: left_x=0.3389 left_y=-0.2608 left_z=0.1199 left_yaw=-1.6497 left_pitch=-0.1604 left_roll=-0.1644 left_gripper=0.395 right_x=0.3233 right_y=0.2583 right_z=0.1636 right_yaw=1.4621 right_pitch=0.2726 right_roll=0.1686 right_gripper=0.0545 state[joint_eff]: [-0.2803, -10.3863, 5.9009, 0.5788, 0.4811, -0.0611, -0.022, 0.6359, -11.4803, 5.9829, 1.0769, -0.6667, 0.0024, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.256,"right_y":0.267,"right_z":0.005,"right_yaw":0.6,"right_pitch":0.1,"right_roll":0},"note":"The cap fell onto the table when released, so it was not seated on the pen. I will return the pen to the table and move the left arm clear rather than continue an unverified insertion."})

tool

executing move_to over 24 steps (2.4s)

step 239

assistant

agent noteThe pen is back at table level, and the cap is visibly separate nearby. I will release the pen so both pieces are safely supported on the table.

move_to

right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0368, 0.8127, 0.6472, -0.3927, 0.0448, 0.0074, 0.3954, 0.9134, 1.8687, 0.2821, 1.0912, 0.1986, 0.107, 0.0545] state[eef_state]: left_x=0.2989 left_y=-0.0153 left_z=0.1921 left_yaw=-0.091 left_pitch=0.0123 left_roll=-0.008 left_gripper=0.3954 right_x=0.2495 right_y=0.2721 right_z=0.003 right_yaw=0.6825 right_pitch=0.0745 right_roll=0.0006 right_gripper=0.0545 state[joint_eff]: [0.3624, -1.8393, 7.0359, 1.707, -0.1783, -0.0415, 0.0317, 0.7179, -5.0256, 3.5897, 1.7411, 0.2759, 0.1197, 1.033] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.6},"note":"The pen is back at table level, and the cap is visibly separate nearby. I will release the pen so both pieces are safely supported on the table."})

tool

executing move_to over 6 steps (0.6s)

step 245

assistant

agent noteI picked up both pieces, but could not reliably align and seat the cap. The cap fell away during the attachment check. Both pieces have been returned to the table, separate and released.

give_up

hindsightFor these thin pieces, successful full-close readings were only about 0.046–0.055; lifting and checking the object was essential. The first cap grasp missed, and advancing roughly 3 cm along its axis with the tool leveled enabled pickup. Near center, yaw around ±1.5 rad with little tilt produced repeated Cartesian tracking stalls; increasing the right wrist pitch to 0.3 and roll to 0.15 restored motion. Grasp effort decayed over the long alignment attempt and the pen slipped; explicitly re-closing restored grip. Neither apparent tip occlusion nor close projected alignment established attachment: releasing the cap revealed that it was not seated.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0376, 0.8181, 0.6456, -0.4229, 0.0338, -0.0147, 0.3955, 0.9169, 1.8824, 0.2817, 1.0977, 0.1993, 0.1047, 0.5953] state[eef_state]: left_x=0.2952 left_y=-0.0135 left_z=0.1836 left_yaw=-0.0705 left_pitch=-0.025 left_roll=-0.0221 left_gripper=0.3955 right_x=0.2481 right_y=0.2721 right_z=-0.0005 right_yaw=0.6866 right_pitch=0.0672 right_roll=-0.0035 right_gripper=0.5953 state[joint_eff]: [-0.1709, -1.6342, 7.1179, 2.0244, 0.0855, 0.188, -0.0073, -0.6359, -7.3778, 2.7829, 1.7118, 0.0415, 0.0366, -0.2027] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both pieces, but could not reliably align and seat the cap. The cap fell away during the attachment check. Both pieces have been returned to the table, separate and released.","hindsight":"For these thin pieces, successful full-close readings were only about 0.046–0.055; lifting and checking the object was essential. The first cap grasp missed, and advancing roughly 3 cm along its axis with the tool leveled enabled pickup. Near center, yaw around ±1.5 rad with little tilt produced repeated Cartesian tracking stalls; increasing the right wrist pitch to 0.3 and roll to 0.15 restored motion. Grasp effort decayed over the long alignment attempt and the pen slipped; explicitly re-closing restored grip. Neither apparent tip occlusion nor close projected alignment established attachment: releasing the cap revealed that it was not seated."})

tool

give_up: I picked up both pieces, but could not reliably align and seat the cap. The cap fell away during the attachment check. Both pieces have been returned to the table, separate and released.

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 · 6.713 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, 0.6025, -0.379, -0.0223, -0.0254, 0.9993, -0.0185, 0.7921, 0.6098, -0.3767, -0.0208, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4974, 10.4957, 1.7656, -0.0415, 0.0757, -0.0855, -0.7453, -1.3197, 9.8667, 1.7656, -0.0708, -0.0806, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efdaa21736ba0ab5cd00531bca3c975dcaf5f9d9ee84a3633153ca5e0a9941c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7aa933a3d8af02b6a7883049d3aef0ddb683b9e1cdbeb535f315ae8e4252fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b826b9cad1b7579475624f5ac413096186817858d3516624774c8ed80641c790",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 6.915 s

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

{
  "content": [],
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  "id": "rs_0f3bcb0992814ecf016ab46509eef887d0b14f079b0051741d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.25,\"right_z\":0.12,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"The pen lies diagonally near the center, with its cap separately to the left. I will bring the right gripper above the pen first, keeping the left arm parked clear.\"}",
  "call_id": "call_eQHa56oFpTNluxFVvsatKW8T",
  "id": "fc_0f3bcb0992814ecf016ab4650e1a7c87d08595fd9053d4181d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eQHa56oFpTNluxFVvsatKW8T",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8055, 0.6052, -0.4305, -0.0269, -0.0288, 0.9992, 0.8951, 1.6241, 0.9024, -0.1177, 0.688, 0.5541, 0.9993]\nstate[eef_state]: left_x=0.2886 left_y=0.0006 left_z=0.1671 left_yaw=-0.0011 left_pitch=-0.0606 left_roll=0.0011 left_gripper=0.9992 right_x=0.3322 right_y=0.2408 right_z=0.1052 right_yaw=0.0338 right_pitch=-0.0538 right_roll=-0.0514 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5658, 10.3863, 1.8877, -0.0904, -0.0952, -0.0171, 0.5402, -7.4188, 8.1709, 1.6484, 0.6227, 0.2027, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b2b57a6ff54c231fa7427a2c3a14c5db1ee3c501c7e5ae891e2b9fbbccc693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2b29d27719c2684f75e97dd02c238535adab7c407b0a91b89e9eecc2420ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19230dca211d52dbc2ab45ae1ad7ae91b6f94e038e6af2c961cc5406fe4c2404",
      "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 · 3.903 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, 0.6025, -0.379, -0.0223, -0.0254, 0.9993, -0.0185, 0.7921, 0.6098, -0.3767, -0.0208, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4974, 10.4957, 1.7656, -0.0415, 0.0757, -0.0855, -0.7453, -1.3197, 9.8667, 1.7656, -0.0708, -0.0806, -0.0806]",
      "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]: [-0.0269, 0.8055, 0.6052, -0.4305, -0.0269, -0.0288, 0.9992, 0.8951, 1.6241, 0.9024, -0.1177, 0.688, 0.5541, 0.9993]\nstate[eef_state]: left_x=0.2886 left_y=0.0006 left_z=0.1671 left_yaw=-0.0011 left_pitch=-0.0606 left_roll=0.0011 left_gripper=0.9992 right_x=0.3322 right_y=0.2408 right_z=0.1052 right_yaw=0.0338 right_pitch=-0.0538 right_roll=-0.0514 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5658, 10.3863, 1.8877, -0.0904, -0.0952, -0.0171, 0.5402, -7.4188, 8.1709, 1.6484, 0.6227, 0.2027, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b2b57a6ff54c231fa7427a2c3a14c5db1ee3c501c7e5ae891e2b9fbbccc693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2b29d27719c2684f75e97dd02c238535adab7c407b0a91b89e9eecc2420ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19230dca211d52dbc2ab45ae1ad7ae91b6f94e038e6af2c961cc5406fe4c2404",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGUYPW_FxChJbKeN9FFoG5EG1hRnWig5cT0GdhwXsZSDYR2mPX57Cbj1zSswsPDx58JvIT1-payZuYa36PNpU-XEf0HqIxg0o0VxyE48iohNG_NkQuozSy9N7zd77wG1ZLi8_d83mUzQHhtHKBX1AfUclNAcgX5hgX2fBmSgLYaciaWDXeL2Gr9O-itryhn2lgAxSL2EhrMJCX2cs2M6ph14VWfNiugKKMH3DOrpPSsGTH_KRCOnbIRMkzdwb9YCKDp6Z5wqbB6kr9zmvGbzZA3PVVqPcLHOKyfU6Yt6TNO9deApFnh_b-kNrm0WsO1degPh01MoLP5nu86ffP_p2_g6otGKDTf-KB9xT11egec6ycD5-Zx3Z_UuZ8tkDRO_JUlpKW-cG23fLAH-XMAME_bfD71v2-MYbYo05jppFcSX_LyZhk1G4Xfc-AVp4-I2IK4grEjcooslXnaKDGIjVBIBPJNk7SDbABjswzFbcB6EqQqu3V43v1n6kVYSD62TTMp8YNp8_NEhvDXpqQk1mVS6v7SxFQfwcSgosi7TVYjtgp6PRZHjH9gb0OcIzvJnB8nc0DAxhfHVa-w2XkAuGxTL8AYQZ3hhijSm3IkGLuxq_ksaGko5m5NH2fS2OgA5p7ft6IztMVvqVi_5nVbnWN2G4OoHL90b4gP0BwTx5u_g0TSDQzQy86udZ6IYOHGs_YNHrt0M4yl9FDKwr5TVZ03YQfdgK0dz7I5HTs4zV8hJ3pQps_F37tMPLVFlyp89MltbIwxSqbmRFJG8qIBA9auWrvLxmjCnHqgjQT3keVv2FmHN4ExkVns6vBn0LnnYTDKu8Hz5rTDKClNYDvWT1taRePzmr5FNLtjbAMyAjnW1XiT3oW_inQdgcphIpLxPFP6T3zVki3O7C7XNkmQr0tFGboIw2AXQi0zoKaeD007KyCvE0hr6K6txvhZ4gLDuj0f_YQ6f3uHr9cuLidqnXu2X9ttjLAsTmdUsgG3Hyhb2MkANMVlb1cS0O8NKmdtWSW06zVf8HwrGMhf3Py6Bxwff6N_nlXcaLdtixseH4vvhT9ysN-dCoPJpBMYr2L5NZ-x06lkPf3r4Ga8_CfVU27SW1hVxwKNFDiBX3xWl2zaEA_xF2Fd4JugNqjd4h7MH2iA8eep9VclwMlHMcB8hkMs4tz1CLngXNT5tH5ODueztvoawTz_P-uVbNmVeiEkV7PueOKHKqneGkjPgiFiy9lA-Zg32roWTK9C_jOu7YHgbIdxpzfNWwQlyNCeRnoxZ0Q9NbOqchNW0ETyVcZce_4y3lGFo0PtF5LmHsaZkA1GOrAznFWXqVWHCtrt83fX7JsySjfJcSG2lHRhlCADQKZOty1bQDZc07DLc8THjaDGxlY7-xyyuMqjuFeEhAy6-kSgxMWkdM700VKKOM-nYAdZBbfqp9n9JknIqH2Y8ZZmRjV6Rwrb1QkPwE2O4k9M8tMUQbaM-mvMJ-zG5hLWxtEqgE2kWtJMhAz2McBcRSaL2arq7BbpgGJRYTTepLFBKN5Puk9nocicgvfnoDQNQEwBA3AMowOXWYfy6-amK0fuM8_xpUjfnXeznkijJZsVQDHV9CnIhNjM-3I1yZ0RJYJnYuLDnl7Oz9zd5FSTqKvJr49Xwlywbr3qfXPcaFq6fU_JS-ysWXS1wz5egirRDkwv0KUKawxOYq2VvBmk4ydygP9606ihPz6O0s-b4QGKkE79NH65V46kx3LAD_KfZ_M5x541YAa0I-ntFUSRw9H6I3eO1vzN7nogNMPIxrAYHMUjMQ7mP4BrEREoN9-hi7BstZmYRxpgPcEvzV43E-CWqAS-UE3p2LlhdJ114__gRug9LcRzYbVYg-kkXnY1sGkJ8-F1PvFzsSnzPRYI5nHNYz6a4JLWjbJL2yWMhkA4U1-YaIKoTs6_-JaejcNJw7phy0dQHdaHjtPQhF81yYvyR8h4YMRjSDBVSben7-50Quuo7zTwH1n4iLj7Y_6yTGJDpzyN3XMv-7Ed9AH3dUTTClJ58B49YamlhrqWH3fMuTd29gCGDcKgy-aNLTXzWumux08YE7j48SWz1myMyPCCB8H_yfbKtrb_5EWCfFLhRwpM21P235Y5EaDpudvSj7LCJJmWQtEsEgGw-reC2ls76wR8Y8wDJd3XvRUU0iP2EwAA2CCwhiuoiKMQkxK1YJJQUFiTZ_VqvHvvtXSn2SEVlsdtywjKmdWy7jjTwysMeaVVZxoYqCspV4BCgpKUa11OlJC9zp4p56rN8vXlK0pxcS_thojr-1QzDiyq8ZFZRIYOsz68ueu_K39Wd5aflrOurXbnVuuX0Zyp4UzQ_8uhb9NhbbczbhZ0B9J4G6QcNRbeV",
  "id": "rs_0f3bcb0992814ecf016ab46512ffe087d09e775b0a20b9bae9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.24,\"right_z\":0.035,\"right_yaw\":0.6},\"note\":\"The wrist view shows the full pen just ahead of the fingertips. I will advance slightly, lower toward the barrel, and turn the jaws to grip across the pen rather than along it.\"}",
  "call_id": "call_uOsFcw3RhuExWTmqYWebQZZV",
  "id": "fc_0f3bcb0992814ecf016ab46516f5c487d098ca79c1031f353b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uOsFcw3RhuExWTmqYWebQZZV",
  "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]: [-0.0269, 0.8078, 0.6048, -0.4374, -0.0269, -0.0288, 0.9993, 0.5987, 1.7504, 0.6586, 0.3573, 0.1787, 0.0814, 0.9993]\nstate[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.165 left_yaw=-0.0011 left_pitch=-0.0701 left_roll=0.0014 left_gripper=0.9993 right_x=0.358 right_y=0.2106 right_z=0.0186 right_yaw=0.396 right_pitch=-0.1618 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3744, 7.0222, 1.8046, -0.0562, -0.0806, -0.0073, -0.5812, -7.4598, 5.2855, 1.7314, -0.0562, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c1f6395083f35329ebea7d5eaabf65e5e5eb7188b7e86b3af4224fb975a7ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048f986c6139d866c1c85eef5dfc0ded6000129a7b6bcfd02bde32737d53b916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cdad8e65a9fc791ae9901019e132290f0f8d807827efa3851a6556a9b08293c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.902 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]: [-0.0269, 0.8055, 0.6052, -0.4305, -0.0269, -0.0288, 0.9992, 0.8951, 1.6241, 0.9024, -0.1177, 0.688, 0.5541, 0.9993]\nstate[eef_state]: left_x=0.2886 left_y=0.0006 left_z=0.1671 left_yaw=-0.0011 left_pitch=-0.0606 left_roll=0.0011 left_gripper=0.9992 right_x=0.3322 right_y=0.2408 right_z=0.1052 right_yaw=0.0338 right_pitch=-0.0538 right_roll=-0.0514 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5658, 10.3863, 1.8877, -0.0904, -0.0952, -0.0171, 0.5402, -7.4188, 8.1709, 1.6484, 0.6227, 0.2027, -0.0806]",
      "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]: [-0.0269, 0.8078, 0.6048, -0.4374, -0.0269, -0.0288, 0.9993, 0.5987, 1.7504, 0.6586, 0.3573, 0.1787, 0.0814, 0.9993]\nstate[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.165 left_yaw=-0.0011 left_pitch=-0.0701 left_roll=0.0014 left_gripper=0.9993 right_x=0.358 right_y=0.2106 right_z=0.0186 right_yaw=0.396 right_pitch=-0.1618 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3744, 7.0222, 1.8046, -0.0562, -0.0806, -0.0073, -0.5812, -7.4598, 5.2855, 1.7314, -0.0562, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c1f6395083f35329ebea7d5eaabf65e5e5eb7188b7e86b3af4224fb975a7ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048f986c6139d866c1c85eef5dfc0ded6000129a7b6bcfd02bde32737d53b916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cdad8e65a9fc791ae9901019e132290f0f8d807827efa3851a6556a9b08293c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGUcZJG8aSrTMDKKhHNtJuz1KXsfMRT2F_iR_Fppc4gpHnTH77mVJ0LyChToDNbizXR9gl7_qKlz2VDRslySP5Iv0cpQzHSpwMAPmirZKWYtduWkq_cxt01aWAqRnEAscjOAAZWY_coNkOsumnBSJ0OXEI4TN9PWYlSQbR21bi7fyUWXnEymEsozw0CUjU7qdKWtFhkHKvSL2ksE8XUXC210ras6IX_CfY3S44uVmVrBROsdYqnR9M8oyonGWczU9batmyRu_cebpBuzCXhdHdNdgobsimApm3MfYW8Egc0i7he3yNRf9dI-rrC2_l1YY-A5p4JVCY7AL2Iwox_Tl5wbKYL9fbeVxzCAi2md4tv9c7qlDfBiVts2Dpx4n3jzwzYnQjbUYLp4pfaUfTfAGGcOngiL2I30vKK839KRYkQ3guYQiyzzB1s3_r6-h5qGp9vFiw85l5-6TGmYVd6w0sWHoDU57BG_a_3V9BKQ_f8gvhTnMpNQy3l91uHDE7UmkPLzjNDMsg_Ls0benzn-qBG0eREkSB5dzR63O6oZVEui3KgloQLRTpzV3HSQRcvniGNeqO9tzNoinOdVZkajbhofN_k9G68lGx8_2ulLcEBJNDQWkYF2GY_qTQEElKKn1RjRdn7EAJasKec-3vLZjYGnmlSuXHNqVLjlA0hIGhQIK6vE7x3QzV_TJGWsZz0uFkzgs5JKpOGHz4pGRJzFuv_4e-YufzdB6JgKAccf__TFvm_nyL7AEoqG-x5MLVwcKhpzBfDV1JPFeg7NK79X6Z-AIEP7yRrfjljOMzYLoR6c8i5eYDxCskUOBm-oulQa70vhubrkJtLdd5He21opwm8Az409P6P9FuABeNoljMAjASOX8quOn_OtMYU3zp9EgkgBt4bmRjmmouk5hriL64zrfMH_3pwssRz4VqHR3xqb2pgpn1dCAppI2_DHWc-i3eDEsyIh5Q2VvIyoCO9RL_Qd7MpguUgCkylHJ4zn7ITMr_UX0oJzYqoYiRraplmjXk-kPfQ88vPBZWN3vUX1qqkUcteh_F138xJrDi5FKrN9m_Pc10U9Mz2543CBI861prqytNz4F32Vh2XEfxsl7T3XLmLNGiaD4IU5pKjQ_g7nwNWZ9QJc2yppd42BLWK393z-MsBdDC4gPzbKHw4n2ZkiCHH5GqyVmEDD65vIpO5TStZY1mtk6Ldm7y6OKiQQn-TWcM9Jo9TCCGLYv4bBV9CEdHeJL4WSohySoKErxOAnpj4o0Bvckl6IBi7Fay67d5UTcsGEc6h3IsKcj__iKkFC8Sa0VMS4eAhoaCdenhaF7erYYXKphiJ7-5TCmIn9GYAgODKTUlLDUmVH0jOgtV7mz5jvswV55V6uroTxVz8Zio-6VCFYYeJF3acq2n-g4S_n3KqkSrm_0c-bV-w7oF1v000hWhjK5j6bS_9SaW0zb91nQEa1zr5ZU3vkzvxR5A6wtxBOOSKinH9s0aZYIJYamzSabj2G4OqTEU4UjZtYBJPCiwQ-5Qb4VyWqlNpPkhIDp8SPsFwlsHdt4Hm4XcrsXQ0XTB4Q9EMr5dwR1xzgAbE=",
  "id": "rs_0f3bcb0992814ecf016ab4651a2b9c87d091fa1ce45591b5b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.22,\"right_z\":-0.008,\"right_yaw\":0.6},\"note\":\"The pen barrel now runs between the open fingers near the bottom of the wrist view. I will lower to table level before closing, with a small sideways correction toward the barrel.\"}",
  "call_id": "call_hCKAC6SEn93ggvJC9hAPYzEi",
  "id": "fc_0f3bcb0992814ecf016ab4651b9fa087d0880ffd6826794cfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hCKAC6SEn93ggvJC9hAPYzEi",
  "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]: [-0.0269, 0.8078, 0.6044, -0.4389, -0.0269, -0.0284, 0.9993, 0.5518, 1.8164, 0.6544, 0.5114, -0.0109, -0.0727, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.0006 left_z=0.1645 left_yaw=-0.0013 left_pitch=-0.072 left_roll=0.0017 left_gripper=0.9993 right_x=0.3659 right_y=0.2317 right_z=0.0178 right_yaw=0.594 right_pitch=-0.0918 right_roll=-0.0525 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2376, 7.1179, 1.6581, -0.0464, -0.0464, -0.0171, -1.0051, -6.5162, 4.3966, 1.5897, -0.0708, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1a076b8c83413770dedb49593a676e8ac366f2f498a965ea3efa9a121f43de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b6c96744ae27cbb2d317bb6a5adb9af0b995663bd605dbc67bc7e81c1b03367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:414ec44307b66efa8fd7a1fbfaf9255c56af05a7a1dc179ebdfbd551042cd96d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 3.361 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, 0.6025, -0.379, -0.0223, -0.0254, 0.9993, -0.0185, 0.7921, 0.6098, -0.3767, -0.0208, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0018 right_z=0.1838 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -1.4974, 10.4957, 1.7656, -0.0415, 0.0757, -0.0855, -0.7453, -1.3197, 9.8667, 1.7656, -0.0708, -0.0806, -0.0806]",
      "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]: [-0.0269, 0.8078, 0.6048, -0.4374, -0.0269, -0.0288, 0.9993, 0.5987, 1.7504, 0.6586, 0.3573, 0.1787, 0.0814, 0.9993]\nstate[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.165 left_yaw=-0.0011 left_pitch=-0.0701 left_roll=0.0014 left_gripper=0.9993 right_x=0.358 right_y=0.2106 right_z=0.0186 right_yaw=0.396 right_pitch=-0.1618 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3744, 7.0222, 1.8046, -0.0562, -0.0806, -0.0073, -0.5812, -7.4598, 5.2855, 1.7314, -0.0562, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0269, 0.8078, 0.6044, -0.4389, -0.0269, -0.0284, 0.9993, 0.5518, 1.8164, 0.6544, 0.5114, -0.0109, -0.0727, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.0006 left_z=0.1645 left_yaw=-0.0013 left_pitch=-0.072 left_roll=0.0017 left_gripper=0.9993 right_x=0.3659 right_y=0.2317 right_z=0.0178 right_yaw=0.594 right_pitch=-0.0918 right_roll=-0.0525 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2376, 7.1179, 1.6581, -0.0464, -0.0464, -0.0171, -1.0051, -6.5162, 4.3966, 1.5897, -0.0708, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1a076b8c83413770dedb49593a676e8ac366f2f498a965ea3efa9a121f43de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b6c96744ae27cbb2d317bb6a5adb9af0b995663bd605dbc67bc7e81c1b03367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:414ec44307b66efa8fd7a1fbfaf9255c56af05a7a1dc179ebdfbd551042cd96d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGUf3Em_3MnmRKvuc9Vic3XBbmiSvfxx7XhtcBleBxqibHoL-Dkr-Ovvm8KWYE9gw4CNWCUSGNjv_cdrGdOnF4mTgFJ1FQECWcIBmsYEexSjsXEHPWFpSpJaM3qJBzw_n2aDJ9gGOnLO6dvgKNlXxCphXQRGEn3lGzRtql5iaEtJgpth8YnwkJfockggjp7hOBLnYJb-IjXwKGbKjSNtxqgk5Zx02Zq74DyI77mapmWdGAv2i4Ijs5T6UmUbIBMxzwK8MufXXEBhu2FOfKEi3JT5qvT26ighqsWgReE9bwX5DLZoamS5x7qY9mk_ViPf-k4f-hQilOKf5HAO5PjIMF461xYCRWbI1Eo4Im35Ys9BTx1fVSSCKJZ7Bp3RFvHVnok5nMLMnooBh3C9ulG2rnXwRkLcsynclXNDpmd7c06beqc5wUMK7luKQNP2pp9EmGNN9wLPe6da_MqXsFMefDgTJawfgQaLHVS9Dk1zZTqCYTZfof84EvoJExUpcroak16C9EWFPkkIWSB3MSAFqxJx3i20p1LTvM-74yhvYrAfYQ-zY7W6zSWEXiXPt3fnmY0bXi20mhoIDm2B7FWxGZxLI7I_W7QwWTjrW5bIziObMMRkJ-gnNvc4_cj7vcPjOq2Xid17yVuGfBWs937jqjlv0lFZ05W4HzmqrOG4zVqGmuVWAv5lELiW3e8V2-VT8ZJj5uWBXslASIBtGI_nzANSd9cBZzQ4OyeTxeD0qgEzeGRiqEgeFP6ANP7fyXhxyQ1m6CQLmtvNs8_97unqoA82dASLUBz9ZnBV28EMwv7cInJ_xJM3i_wCYbbvyd2Vnk7QyosJUaxlox8w5wEl-zC9pqs1vXLPNFYXe0IQNnskeZCXQVLGWYxBpE8L-7Fv2gvaHO8iIm3NgE49nxyrcInUNVBlPQ5NJOV8iVanHmvqdB8dgPeCHcHucUX63XImak6aT-pnSFiMS9vJgC3VdYJ3U1ppvhaliBw3RICIOT02keczxK_GBP2XVYrW1j9EEOMm93m2qrIGmshjO3dUz7M-TuCmzaH5C_BRHcDLAxwaGGHBP-EHIYwtVqArsRBR7cZfp8JoKW06NNCtbuRmzieKqRquY5hgg5JQ34L0-D_f2Ubv56K0JbxxR-RAdCYIM2dXNa2m9AdGc3BjO3NXB6PpHByXzGYGvGTGtpy8Ivwtgcdnezzf9l-m3ZW9sbvmya0kR0R62vYpXXp9Xyh1o1GxR7kzsg1jxxyeBU7Pfq2Tvg9rM0dBwXOSD9owbqPpIqH5CgjM7YL3dTLn9VLOiSitInuGF1ndfRTjfYJ2ZvwX5PZ_1BDcAqv3C-5ONnq41Yrm",
  "id": "rs_0f3bcb0992814ecf016ab4651e31bc87d0b9e08b2ef62d7cb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel is aligned in the finger gap and the descent has reached the pen/table region. I will close the right gripper and check its settled opening before lifting.\"}",
  "call_id": "call_rTXAD3EJRH2w2aA5wkQ93psu",
  "id": "fc_0f3bcb0992814ecf016ab4651ecda087d0b5bbb33c5d07fa20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rTXAD3EJRH2w2aA5wkQ93psu",
  "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]: [-0.0269, 0.8108, 0.6041, -0.4389, -0.0265, -0.0284, 0.9993, 0.527, 1.8545, 0.646, 0.5282, -0.0311, -0.102, 0.0435]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.1635 left_yaw=-0.0016 left_pitch=-0.0754 left_roll=0.0016 left_gripper=0.9993 right_x=0.366 right_y=0.2235 right_z=0.0026 right_yaw=0.6023 right_pitch=-0.1216 right_roll=-0.0614 right_gripper=0.0435\nstate[joint_eff]: [-0.0342, -1.5385, 7.0085, 1.6435, -0.0415, -0.0611, -0.0122, -0.0205, -6.9128, 4.4786, 1.4188, -0.0122, 0.0024, 1.2039]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef59d12c93637b8c211314414763a707e6d2e51931ca2990b70b1e497a8f9c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:539a7dbe768d9d16eac0ce523b1bc1ec16965c81924e3857d0b436bfcf94fb26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e348e11430b7f304eb16468385b50bb953ccb3b60aed059c6c7a9d6bf1ec628b",
      "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 · 6.968 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]: [-0.0269, 0.8055, 0.6052, -0.4305, -0.0269, -0.0288, 0.9992, 0.8951, 1.6241, 0.9024, -0.1177, 0.688, 0.5541, 0.9993]\nstate[eef_state]: left_x=0.2886 left_y=0.0006 left_z=0.1671 left_yaw=-0.0011 left_pitch=-0.0606 left_roll=0.0011 left_gripper=0.9992 right_x=0.3322 right_y=0.2408 right_z=0.1052 right_yaw=0.0338 right_pitch=-0.0538 right_roll=-0.0514 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5658, 10.3863, 1.8877, -0.0904, -0.0952, -0.0171, 0.5402, -7.4188, 8.1709, 1.6484, 0.6227, 0.2027, -0.0806]",
      "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]: [-0.0269, 0.8078, 0.6044, -0.4389, -0.0269, -0.0284, 0.9993, 0.5518, 1.8164, 0.6544, 0.5114, -0.0109, -0.0727, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.0006 left_z=0.1645 left_yaw=-0.0013 left_pitch=-0.072 left_roll=0.0017 left_gripper=0.9993 right_x=0.3659 right_y=0.2317 right_z=0.0178 right_yaw=0.594 right_pitch=-0.0918 right_roll=-0.0525 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2376, 7.1179, 1.6581, -0.0464, -0.0464, -0.0171, -1.0051, -6.5162, 4.3966, 1.5897, -0.0708, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0269, 0.8108, 0.6041, -0.4389, -0.0265, -0.0284, 0.9993, 0.527, 1.8545, 0.646, 0.5282, -0.0311, -0.102, 0.0435]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.1635 left_yaw=-0.0016 left_pitch=-0.0754 left_roll=0.0016 left_gripper=0.9993 right_x=0.366 right_y=0.2235 right_z=0.0026 right_yaw=0.6023 right_pitch=-0.1216 right_roll=-0.0614 right_gripper=0.0435\nstate[joint_eff]: [-0.0342, -1.5385, 7.0085, 1.6435, -0.0415, -0.0611, -0.0122, -0.0205, -6.9128, 4.4786, 1.4188, -0.0122, 0.0024, 1.2039]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef59d12c93637b8c211314414763a707e6d2e51931ca2990b70b1e497a8f9c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:539a7dbe768d9d16eac0ce523b1bc1ec16965c81924e3857d0b436bfcf94fb26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e348e11430b7f304eb16468385b50bb953ccb3b60aed059c6c7a9d6bf1ec628b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGUjzvztpZyjpNwaClsXKQWPkma0CKVmYQ6J3FNpLLKW2sTplYouOFdKgJYwIybm-krO7Ktk6FYwsKf844BZM5q_DDm8Xj93SscuRE0vxoSq7Qn19acsnLIR7uC9KpYJWDkCBwDHUEedK3djPkLKK4BePkwJx4odj9x2TprHHp-wPPojTvSqicPOpkBwrp9aH_pz3fmvjBJ9v9jZCeeep-CAeDugNGNMGXwaC0B03PgybVCmxAoIMoY-yhS9EmYPsuo5pNpr8uG1H7eGDGRKjjBV6lZepu7PpEzUCY8TNJIAwjQEoN02vOEGUD2EBUYe6liFvuldWIeIqUw2bC7jDmKcyf1608kAzwSBASncdi-WirAUMkLGumCD9Q2mjg1UnHZjF3zPrYC7H4_S7cO2d9GoJHAOkAcOSJW2jViVre-UcWGG2YMIDF8JQpPGihkfnLM6m04JPGp1bctiUcyrccQPpMkKXp1rORXBpq8Z0XIsUjIdtOD4_oyPbdqGXB6xBPGbJJaiEwyUKOzI3z0bdVN9C2_0mcbZ-w3SrPgbaWK21La6wPi9HPKJCDKXSs4Rz9IProIZcNb_VW0skdkEHxmVky12fCndLAvUP9_bvIYbB4TAmXsHEd0GCnjoFvMqS5i7ZFivsa4sfHchFQcBWvPHiI3YZOavfLorIaPqZUgKScifdi8ly5MS01EHF974Dnvmdcvgvwigv79MZygOicOgNsYQQWZlCcwscFHV1_Y9MRLp3ED7wrKVbhnXxIuwK7pqks6alza0sdJekMBYIizopXqnJw6dLB33v7L0wmVvgIlwuJ7GG5R1b325mZIuIBrKHR0oCiSkXfNmgZAFNsJxyd6n-Iq8xuyReKCaeCxAQ7i1bq-DXZN35hUkr6d2IQwjluiEPFzAnKzd5nP4K8hp4OQOsYhHdRphLYEdiHEq8-88fhNVZ5gYDOXRRj2c60Q5WW2gvY6BSJSliydgEOncUgtvFDGTIk22pC3j_g2OEewdUcJEDGV547FFWJlZ2clRxRQzJOK7jamUyhitLbWrjr4rzIJponX9xb6Gw_GXZJUP8mowMiVbCJHwCpv4h0kj_xcVlq6NvySg9EonlrOgp-or2c686VYl1Q7Nnj-S7iQxesIbVHkcWie0U1RbDLj8Xyegrwz37wvhcrwL_Xr3_OsLxOqwdteZ0bCqkl-PMyJmPWqOh1z56Ug3wOEFPayN32D2ZV9lMygRCYudoaqGoTwVo4l8kl56UBs2w2777bvRj4MEE2_ujWVkeO4zWfcArEYcikpakV5WvEuZTOGJ8KI0z3tIwFRg04eA-mcetXEB2oJm_JdjtFyJfPrmd9GsXpDyVip4JQ-9wvA813oJJoHwyFkLD0gIrCld0Z4PEgs=",
  "id": "rs_0f3bcb0992814ecf016ab46521de7087d0897b06670a1cc523",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The fingers have closed to a small nonzero gap around the pen, which remains centered ahead of them. I will lift a few centimeters to verify that the pen is actually held.\"}",
  "call_id": "call_wlczH2qg74gNruoxRSIYzX3x",
  "id": "fc_0f3bcb0992814ecf016ab46522a29887d0aa8ba26495a12ed4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wlczH2qg74gNruoxRSIYzX3x",
  "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]: [-0.0269, 0.8127, 0.6041, -0.4389, -0.0269, -0.0288, 0.9993, 0.5266, 1.652, 0.7231, 0.2569, -0.0315, -0.1024, 0.046]\nstate[eef_state]: left_x=0.2876 left_y=0.0006 left_z=0.163 left_yaw=-0.0011 left_pitch=-0.0773 left_roll=0.0016 left_gripper=0.9993 right_x=0.3665 right_y=0.2237 right_z=0.0614 right_yaw=0.6024 right_pitch=-0.1132 right_roll=-0.0621 right_gripper=0.046\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.6386, -0.0464, -0.0464, -0.0171, -0.294, -8.8821, 7.7197, 1.6386, -0.0415, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6073ed2e5e62ad7d39c87ef2e6a4e26c09d13564b10d18f0a60142721c10c31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf4aef84d97648f435fc9d6501504cca15524b20a1e643435e3ddc268d5a192",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e869147928ece6d34d09d303e4a4a39256ae7921e363d4166fc3e29a1f5e9b5d",
      "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 · 6.808 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]: [-0.0269, 0.8078, 0.6048, -0.4374, -0.0269, -0.0288, 0.9993, 0.5987, 1.7504, 0.6586, 0.3573, 0.1787, 0.0814, 0.9993]\nstate[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.165 left_yaw=-0.0011 left_pitch=-0.0701 left_roll=0.0014 left_gripper=0.9993 right_x=0.358 right_y=0.2106 right_z=0.0186 right_yaw=0.396 right_pitch=-0.1618 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.3744, 7.0222, 1.8046, -0.0562, -0.0806, -0.0073, -0.5812, -7.4598, 5.2855, 1.7314, -0.0562, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0269, 0.8108, 0.6041, -0.4389, -0.0265, -0.0284, 0.9993, 0.527, 1.8545, 0.646, 0.5282, -0.0311, -0.102, 0.0435]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.1635 left_yaw=-0.0016 left_pitch=-0.0754 left_roll=0.0016 left_gripper=0.9993 right_x=0.366 right_y=0.2235 right_z=0.0026 right_yaw=0.6023 right_pitch=-0.1216 right_roll=-0.0614 right_gripper=0.0435\nstate[joint_eff]: [-0.0342, -1.5385, 7.0085, 1.6435, -0.0415, -0.0611, -0.0122, -0.0205, -6.9128, 4.4786, 1.4188, -0.0122, 0.0024, 1.2039]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8127, 0.6041, -0.4389, -0.0269, -0.0288, 0.9993, 0.5266, 1.652, 0.7231, 0.2569, -0.0315, -0.1024, 0.046]\nstate[eef_state]: left_x=0.2876 left_y=0.0006 left_z=0.163 left_yaw=-0.0011 left_pitch=-0.0773 left_roll=0.0016 left_gripper=0.9993 right_x=0.3665 right_y=0.2237 right_z=0.0614 right_yaw=0.6024 right_pitch=-0.1132 right_roll=-0.0621 right_gripper=0.046\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.6386, -0.0464, -0.0464, -0.0171, -0.294, -8.8821, 7.7197, 1.6386, -0.0415, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6073ed2e5e62ad7d39c87ef2e6a4e26c09d13564b10d18f0a60142721c10c31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf4aef84d97648f435fc9d6501504cca15524b20a1e643435e3ddc268d5a192",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e869147928ece6d34d09d303e4a4a39256ae7921e363d4166fc3e29a1f5e9b5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f3bcb0992814ecf016ab46525ad1887d08fdb06f77d74a0e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.36,\"left_y\":-0.17,\"left_z\":0.105,\"left_gripper\":1},\"note\":\"The pen stayed fixed relative to the right fingers during the lift, confirming the grasp. I will raise it clear and bring the left gripper toward the separate cap.\"}",
  "call_id": "call_RQeW2cUVnv5MSk8dotiQ5R5W",
  "id": "fc_0f3bcb0992814ecf016ab4652a4e6c87d085ac4884fc198be9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RQeW2cUVnv5MSk8dotiQ5R5W",
  "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]: [-0.6651, 1.4933, 0.749, -0.1032, -0.4999, -0.4488, 0.9993, 0.5266, 1.4883, 0.971, -0.2085, -0.0319, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.3452 left_y=-0.1586 left_z=0.0848 left_yaw=-0.0142 left_pitch=-0.149 left_roll=0.0444 left_gripper=0.9993 right_x=0.3632 right_y=0.2218 right_z=0.1425 right_yaw=0.6052 right_pitch=-0.1669 right_roll=-0.0604 right_gripper=0.0502\nstate[joint_eff]: [-0.5128, -6.4615, 9.1556, 1.6484, -0.4762, -0.0904, -0.0855, -0.3761, -9.1692, 9.4838, 1.7216, -0.0366, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d001ae72e668709c7c5758e7435d87d15b31837beda18b8652c724b845315739",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7955c246fec5a76555499735ffe3c85e6daf62e30f1025efe95f65fb50a3b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0360256198381807e8f10075285f383718b24bbd69dc6d45c296d7c4f649d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 4.594 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]: [-0.0269, 0.8078, 0.6044, -0.4389, -0.0269, -0.0284, 0.9993, 0.5518, 1.8164, 0.6544, 0.5114, -0.0109, -0.0727, 0.9993]\nstate[eef_state]: left_x=0.2874 left_y=0.0006 left_z=0.1645 left_yaw=-0.0013 left_pitch=-0.072 left_roll=0.0017 left_gripper=0.9993 right_x=0.3659 right_y=0.2317 right_z=0.0178 right_yaw=0.594 right_pitch=-0.0918 right_roll=-0.0525 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2376, 7.1179, 1.6581, -0.0464, -0.0464, -0.0171, -1.0051, -6.5162, 4.3966, 1.5897, -0.0708, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0269, 0.8127, 0.6041, -0.4389, -0.0269, -0.0288, 0.9993, 0.5266, 1.652, 0.7231, 0.2569, -0.0315, -0.1024, 0.046]\nstate[eef_state]: left_x=0.2876 left_y=0.0006 left_z=0.163 left_yaw=-0.0011 left_pitch=-0.0773 left_roll=0.0016 left_gripper=0.9993 right_x=0.3665 right_y=0.2237 right_z=0.0614 right_yaw=0.6024 right_pitch=-0.1132 right_roll=-0.0621 right_gripper=0.046\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.6386, -0.0464, -0.0464, -0.0171, -0.294, -8.8821, 7.7197, 1.6386, -0.0415, -0.0513, 1.0281]",
      "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]: [-0.6651, 1.4933, 0.749, -0.1032, -0.4999, -0.4488, 0.9993, 0.5266, 1.4883, 0.971, -0.2085, -0.0319, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.3452 left_y=-0.1586 left_z=0.0848 left_yaw=-0.0142 left_pitch=-0.149 left_roll=0.0444 left_gripper=0.9993 right_x=0.3632 right_y=0.2218 right_z=0.1425 right_yaw=0.6052 right_pitch=-0.1669 right_roll=-0.0604 right_gripper=0.0502\nstate[joint_eff]: [-0.5128, -6.4615, 9.1556, 1.6484, -0.4762, -0.0904, -0.0855, -0.3761, -9.1692, 9.4838, 1.7216, -0.0366, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d001ae72e668709c7c5758e7435d87d15b31837beda18b8652c724b845315739",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7955c246fec5a76555499735ffe3c85e6daf62e30f1025efe95f65fb50a3b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0360256198381807e8f10075285f383718b24bbd69dc6d45c296d7c4f649d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0f3bcb0992814ecf016ab4652ef4c087d0a3d0b22107c70f61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.16,\"left_z\":0.025,\"left_yaw\":-0.7},\"note\":\"The cap is centered ahead of the left fingertips and lies at the opposite diagonal from the pen. I will move forward slightly and turn the left jaws across the cap before lowering.\"}",
  "call_id": "call_rHR51NK8peiwlA0dwt8Hs6ws",
  "id": "fc_0f3bcb0992814ecf016ab46532935087d0a08694f990889b2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rHR51NK8peiwlA0dwt8Hs6ws",
  "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]: [-0.3202, 1.6947, 0.6239, 0.2226, 0.075, 0.1055, 0.9992, 0.5259, 1.4849, 0.973, -0.231, -0.0311, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.363 left_y=-0.1306 left_z=0.0032 left_yaw=-0.4579 left_pitch=-0.2754 left_roll=0.0201 left_gripper=0.9992 right_x=0.3605 right_y=0.2197 right_z=0.1406 right_yaw=0.604 right_pitch=-0.184 right_roll=-0.0595 right_gripper=0.0502\nstate[joint_eff]: [0.1436, -8.0205, 7.8291, 1.7949, 0.149, 0.2271, -0.0171, -0.2667, -6.3658, 6.6256, 1.7558, -0.0513, -0.0562, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d99cfebc31480a3a2aaff800df611542dfc18660ebe19b9f640fe7ba1454af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e2af7b3d2f18f95f7acc866224a84d408105d23f58666b406a0c80fc8f7597",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db119c73c608096eba608b012538757240b515b25e0ad6f55b539e2391965645",
      "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 · 3.432 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]: [-0.0269, 0.8108, 0.6041, -0.4389, -0.0265, -0.0284, 0.9993, 0.527, 1.8545, 0.646, 0.5282, -0.0311, -0.102, 0.0435]\nstate[eef_state]: left_x=0.2875 left_y=0.0005 left_z=0.1635 left_yaw=-0.0016 left_pitch=-0.0754 left_roll=0.0016 left_gripper=0.9993 right_x=0.366 right_y=0.2235 right_z=0.0026 right_yaw=0.6023 right_pitch=-0.1216 right_roll=-0.0614 right_gripper=0.0435\nstate[joint_eff]: [-0.0342, -1.5385, 7.0085, 1.6435, -0.0415, -0.0611, -0.0122, -0.0205, -6.9128, 4.4786, 1.4188, -0.0122, 0.0024, 1.2039]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6651, 1.4933, 0.749, -0.1032, -0.4999, -0.4488, 0.9993, 0.5266, 1.4883, 0.971, -0.2085, -0.0319, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.3452 left_y=-0.1586 left_z=0.0848 left_yaw=-0.0142 left_pitch=-0.149 left_roll=0.0444 left_gripper=0.9993 right_x=0.3632 right_y=0.2218 right_z=0.1425 right_yaw=0.6052 right_pitch=-0.1669 right_roll=-0.0604 right_gripper=0.0502\nstate[joint_eff]: [-0.5128, -6.4615, 9.1556, 1.6484, -0.4762, -0.0904, -0.0855, -0.3761, -9.1692, 9.4838, 1.7216, -0.0366, -0.0171, 1.033]",
      "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]: [-0.3202, 1.6947, 0.6239, 0.2226, 0.075, 0.1055, 0.9992, 0.5259, 1.4849, 0.973, -0.231, -0.0311, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.363 left_y=-0.1306 left_z=0.0032 left_yaw=-0.4579 left_pitch=-0.2754 left_roll=0.0201 left_gripper=0.9992 right_x=0.3605 right_y=0.2197 right_z=0.1406 right_yaw=0.604 right_pitch=-0.184 right_roll=-0.0595 right_gripper=0.0502\nstate[joint_eff]: [0.1436, -8.0205, 7.8291, 1.7949, 0.149, 0.2271, -0.0171, -0.2667, -6.3658, 6.6256, 1.7558, -0.0513, -0.0562, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d99cfebc31480a3a2aaff800df611542dfc18660ebe19b9f640fe7ba1454af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e2af7b3d2f18f95f7acc866224a84d408105d23f58666b406a0c80fc8f7597",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db119c73c608096eba608b012538757240b515b25e0ad6f55b539e2391965645",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGU4prpkclH4LI1Gz4yu2HGfCgi9eHPFvWM1rhgz0TyEpojuwi-gKO61BgCxtXN_7sdc1770dw-mdVnoInijZWNYv699tbBgPetqPe4ZSmX9EbiE8u4esMkSgmQ1Y8OdKGjlpFV4h3Yb5os2gLZ20rKZrdJ70Lz3vF9BvTtUbvT1Yy3CHoLtCnZGVRRp-I3vWwihpf5fxhHUp7P_OUw6gOrlTxkKS2BHKsPrkl9PavMGAeWmQEwLGx6l971T7K52oQebD__3gH6DguombPLUZbuWPR1vGNSB636LkmTl_la1JaLH_V0HoikG2V_jUKKF3kmrclQjZPL0f_rdlxYk79Qvef4ap7J3IWWq0wOnWlBiwlgl72IwkYn7fn_owrPAA_OUaQJmm3FiFmxrjX4eroMaFtIC_UYPJKaP2XRb_XwmcIXD222ASeB25MLAlCCb9Inxhgi7IffvFd1pTQXGW9nrbLlogoEjNS2dSGqS2XrBh0z7DIDOg5W_b_iUFI6mAZfRarrGLv36ab3lHMywrYRmqhSnzCy9NTRdFb0o4t_KiqE0nttNpM7QgLjQylszErJ1S47EKrvVstu20mucBs8br8BVvnLwKzc34gG1ZQQIZNTcGBkKgmx5X97J8PJ9T9DPKm6xu44bsxv6bZSaZ7nTRso4IluryQmGStDFB9I1ZVn9JIbbR-gbFeLii4iy9fD0c1btQGr8U-tDkuwFodWmm8vmap3YkSkoFyfSpl3FN2PNJnnuzAaPAvq2UjdFE0wC-2SJIkQOXtQOiX4ZqqhOh7EQ5qbvVScQNTRDsZToDL6lwkFEHFrUoVvXZK8YjGHfmDh2f0GK73Iqmco6B-hxCs0z-Anv2sHovSxhENA3KCRfv2SyCyiRtzCdloS1jLBoCGT8hj6hD7PUGndMOwHrBVWP71nqWaMQECTZGRPSiwfgVjftktF3m6jHYWQKmKZiZBL0ai_ZAC6FrZoe4u4LKIP0IG-OwtWWOCq4h2WUiuc57Y3vcbdev4eeaCNnw60AIZWJEZzV_vYrF4fIbyah5k4Q-MNpjYCebcz2L3M2xbjzoJc3sPYxMsQY0u3Xr4l71DTZz09t2ywjx2SBNBYDIRiAEtZ44jfzh5qbUUtaZzoTfus1Hvl_feEEn3MFyKf2kGinfNA7ScoKXuMj4JKgUgLGoQZ8DWTlTV6KTkhCp-eno9gy0GVlBhbvHsFUsWAzXLpqu6Ie_NqDmHWi1LJAY_O7sJF564-4w9ZXFGJnLSSAo2Eswt97OAZovoH-Gb_rxVv4NA4dd8hSNWHHOIDjtTJjYrUU0nQ7Z9KPsGBTPjQEp85h5TdKwcfU3WpLeZmInvbRjT6fZma6WPyHK-EjZmO4vTUewvOxiGopLfkZXASZZlECxoJaA2jnPZTt7qYspIp76qaYTq5uFSQoUqdxEsP05iyeWnkUnUWaUXmm-9v3N0t4anCiNbWFR4VkZ5CEiz1gzyOknD1tsOi4MD3yjrL8JCJZ6U_ibIltQunSChSyWIxB5PrWME3URvKJdxCxt2XjRxgT8gTe-aQwwfxorA==",
  "id": "rs_0f3bcb0992814ecf016ab465359ce887d092f058bd77bd768f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.16,\"left_z\":-0.005,\"left_yaw\":-0.7},\"note\":\"The cap is beside the left finger gap, and the previous turn has not yet reached its requested angle. I will finish the alignment while lowering the fingertips to the cap's height.\"}",
  "call_id": "call_PNmmAsSpUcVvaRTRzdWtBYgM",
  "id": "fc_0f3bcb0992814ecf016ab465376e5c87d0917b37544683dcf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PNmmAsSpUcVvaRTRzdWtBYgM",
  "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]: [-0.2951, 1.7161, 0.6292, 0.2768, 0.244, 0.2722, 0.9992, 0.5259, 1.4849, 0.9726, -0.2329, -0.0311, -0.1059, 0.0543]\nstate[eef_state]: left_x=0.3636 left_y=-0.1514 left_z=0.0095 left_yaw=-0.6673 left_pitch=-0.2099 left_roll=0.0239 left_gripper=0.9992 right_x=0.3601 right_y=0.2195 right_z=0.1401 right_yaw=0.604 right_pitch=-0.1863 right_roll=-0.0593 right_gripper=0.0543\nstate[joint_eff]: [-0.3624, -7.2957, 7.0632, 1.8193, 0.3492, 0.1783, -0.0122, -0.2667, -6.5299, 6.7761, 1.5849, -0.0415, -0.0366, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c42f0fa3bec81cc01d93c900a84b2887f8971160815c874279414a38ab5d0a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b906e24103359317f2c63472125451b47032efde15aec0fe902c3303e9229dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e6f969fb737ae0de24c5dcb7c351828f3e1537f0a8cb0091b229ca9480572a9",
      "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 · 4.55 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]: [-0.0269, 0.8127, 0.6041, -0.4389, -0.0269, -0.0288, 0.9993, 0.5266, 1.652, 0.7231, 0.2569, -0.0315, -0.1024, 0.046]\nstate[eef_state]: left_x=0.2876 left_y=0.0006 left_z=0.163 left_yaw=-0.0011 left_pitch=-0.0773 left_roll=0.0016 left_gripper=0.9993 right_x=0.3665 right_y=0.2237 right_z=0.0614 right_yaw=0.6024 right_pitch=-0.1132 right_roll=-0.0621 right_gripper=0.046\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.6386, -0.0464, -0.0464, -0.0171, -0.294, -8.8821, 7.7197, 1.6386, -0.0415, -0.0513, 1.0281]",
      "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]: [-0.3202, 1.6947, 0.6239, 0.2226, 0.075, 0.1055, 0.9992, 0.5259, 1.4849, 0.973, -0.231, -0.0311, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.363 left_y=-0.1306 left_z=0.0032 left_yaw=-0.4579 left_pitch=-0.2754 left_roll=0.0201 left_gripper=0.9992 right_x=0.3605 right_y=0.2197 right_z=0.1406 right_yaw=0.604 right_pitch=-0.184 right_roll=-0.0595 right_gripper=0.0502\nstate[joint_eff]: [0.1436, -8.0205, 7.8291, 1.7949, 0.149, 0.2271, -0.0171, -0.2667, -6.3658, 6.6256, 1.7558, -0.0513, -0.0562, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.7161, 0.6292, 0.2768, 0.244, 0.2722, 0.9992, 0.5259, 1.4849, 0.9726, -0.2329, -0.0311, -0.1059, 0.0543]\nstate[eef_state]: left_x=0.3636 left_y=-0.1514 left_z=0.0095 left_yaw=-0.6673 left_pitch=-0.2099 left_roll=0.0239 left_gripper=0.9992 right_x=0.3601 right_y=0.2195 right_z=0.1401 right_yaw=0.604 right_pitch=-0.1863 right_roll=-0.0593 right_gripper=0.0543\nstate[joint_eff]: [-0.3624, -7.2957, 7.0632, 1.8193, 0.3492, 0.1783, -0.0122, -0.2667, -6.5299, 6.7761, 1.5849, -0.0415, -0.0366, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c42f0fa3bec81cc01d93c900a84b2887f8971160815c874279414a38ab5d0a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b906e24103359317f2c63472125451b47032efde15aec0fe902c3303e9229dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e6f969fb737ae0de24c5dcb7c351828f3e1537f0a8cb0091b229ca9480572a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGU8k5eUGWN7KIqhwENgKUhNrflRo9ZxKgSO0DrGAo2UwKwA4YVEUs57rQy4PqSa1zXc6NJftkeY37VooiQuTbQYQe16SrZWxRf4K5L5Jvm079anHiexa5UHWGFihTG-MszwVGty3OhwgZQsxb3dCcp51GAgi5i_8NxWUFJ5hOjgz_82_dUMqYigVS3R3twxwaZCKqZzL9u8pMDP9YlW3CgyA4qcC8C4IczN-2q8Mylf7F7CA8-ZdBL4jaXF9yYXHCjJRKnsNCxFOGhVpo8YmSIY9NclBx2b-_YsHv7evNxsn4mkiAj8uk7Ml61rAW8DHXvLjGbEsGp5BLbZBlvTyIqcrD9IHt1HwqAurZBzEQoYNEuQk4_Gxvgk82Cko0P0rV4YhmjYthgodnPb7s_6_5alqc0ekkZGn5oNgWEBQA3fj0dmGH70IWfpCSYtefXdLjuUn92ZD-BtwYiA4-IVIEtywc2DHUI8gf23GtfXa4UrvYinxwjWulGvdqQWHmlVWchRCOdBdsilbhhaHx-rjQAjycmMMv3qmcF25Jabr2Bt_CpulWpo6uXuzTKvAUkbQv2gMUMie7hElM07W7KSBefxsTs_urJWUWwbXKoYwc8yk0MVcorYVYqSwPcZcYkkmf_mqfFXzE60YyVdgjyTmYp4yZ8aY6MzfVYK9RcEh-NRiJbAVGb-il9iNQ6QVlgIv12WgbCuMgFqle2a89kMxPEGuAc1fsuHGdy7OdxGI0lnZ9P_E90Foobu7Sl-Gedfu24KCHtYMwVtNyoVFJVZYVdstlevFua_Stvfr6nO9fZrETZl8A_k3iy0mQ9URXGD3xBvnRy0gpFqq4jpFum9p9282RM6LS012HcnQd9auSSEGTZGY8z9FVt33csJObNNDVOwOzD6Xqbf74j5JdGpiArWUedIv2mELRv0Oh0_-xiMvPUcIsig9UvsFN5AvMBR10LQWQ7vAeRmZuCANEzv_2kjchvJvYbY8Eysq1pk1eVeC5RFXAPANr7xZQXlQTbOz3P-wIFCmvIWyfEJDuIw-9ZZzHSCPRu3dfW67vLNQJTbaCxu2ZJrAl3Yps1Ya_lGcaaSSWATVgL7VBnTg8xNe45K9NTDbH5BK2OXcVjanRuIe5pHRC5d2f-Vwx-hOEuSbBZl5bFjY2p0Bkp8Xjna6vlt5w7hwmH36lsmlI4DilgfPaSIKKzdOr3U5cvSLGzW2po0PO6wYyiTYGMHSHhtGjiKEnTfz8lPYTWvGBFZNcQj6YNVBozjlL7zN519-u3cWJJB",
  "id": "rs_0f3bcb0992814ecf016ab4653a28c487d0b39b0492cb3abff0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now lies along the center of the left finger gap at table level. I will close the left gripper to pick it up.\"}",
  "call_id": "call_3raZSJIDx51GzOdaNxjc9tnI",
  "id": "fc_0f3bcb0992814ecf016ab4653aaf7887d09740a728c78a466c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3raZSJIDx51GzOdaNxjc9tnI",
  "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]: [-0.2951, 1.7161, 0.6277, 0.2794, 0.2405, 0.271, 0.0076, 0.5259, 1.4849, 0.9726, -0.2348, -0.0311, -0.1059, 0.0545]\nstate[eef_state]: left_x=0.3638 left_y=-0.1508 left_z=0.0093 left_yaw=-0.6637 left_pitch=-0.2097 left_roll=0.0258 left_gripper=0.0076 right_x=0.3599 right_y=0.2193 right_z=0.1398 right_yaw=0.604 right_pitch=-0.1882 right_roll=-0.0592 right_gripper=0.0545\nstate[joint_eff]: [-0.0615, -7.0906, 5.1761, 1.4969, 0.1441, 0.0415, 0.5836, -0.2667, -6.694, 6.7487, 1.5946, -0.0073, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4549ba5e6838f2868db1034bf5d0c2ad30030f84b81995cab25348edf911df85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f7d6bcb650a312815b7ef68aa781e5158664d9e27abed0e281aac9b7eec2df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e7966fed697eef61c0b279c1a5c28f3ea6114b875d7baf2facc88ef0e5dcf8",
      "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 · 2.191 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]: [-0.6651, 1.4933, 0.749, -0.1032, -0.4999, -0.4488, 0.9993, 0.5266, 1.4883, 0.971, -0.2085, -0.0319, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.3452 left_y=-0.1586 left_z=0.0848 left_yaw=-0.0142 left_pitch=-0.149 left_roll=0.0444 left_gripper=0.9993 right_x=0.3632 right_y=0.2218 right_z=0.1425 right_yaw=0.6052 right_pitch=-0.1669 right_roll=-0.0604 right_gripper=0.0502\nstate[joint_eff]: [-0.5128, -6.4615, 9.1556, 1.6484, -0.4762, -0.0904, -0.0855, -0.3761, -9.1692, 9.4838, 1.7216, -0.0366, -0.0171, 1.033]",
      "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]: [-0.2951, 1.7161, 0.6292, 0.2768, 0.244, 0.2722, 0.9992, 0.5259, 1.4849, 0.9726, -0.2329, -0.0311, -0.1059, 0.0543]\nstate[eef_state]: left_x=0.3636 left_y=-0.1514 left_z=0.0095 left_yaw=-0.6673 left_pitch=-0.2099 left_roll=0.0239 left_gripper=0.9992 right_x=0.3601 right_y=0.2195 right_z=0.1401 right_yaw=0.604 right_pitch=-0.1863 right_roll=-0.0593 right_gripper=0.0543\nstate[joint_eff]: [-0.3624, -7.2957, 7.0632, 1.8193, 0.3492, 0.1783, -0.0122, -0.2667, -6.5299, 6.7761, 1.5849, -0.0415, -0.0366, 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 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]: [-0.2951, 1.7161, 0.6277, 0.2794, 0.2405, 0.271, 0.0076, 0.5259, 1.4849, 0.9726, -0.2348, -0.0311, -0.1059, 0.0545]\nstate[eef_state]: left_x=0.3638 left_y=-0.1508 left_z=0.0093 left_yaw=-0.6637 left_pitch=-0.2097 left_roll=0.0258 left_gripper=0.0076 right_x=0.3599 right_y=0.2193 right_z=0.1398 right_yaw=0.604 right_pitch=-0.1882 right_roll=-0.0592 right_gripper=0.0545\nstate[joint_eff]: [-0.0615, -7.0906, 5.1761, 1.4969, 0.1441, 0.0415, 0.5836, -0.2667, -6.694, 6.7487, 1.5946, -0.0073, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4549ba5e6838f2868db1034bf5d0c2ad30030f84b81995cab25348edf911df85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f7d6bcb650a312815b7ef68aa781e5158664d9e27abed0e281aac9b7eec2df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e7966fed697eef61c0b279c1a5c28f3ea6114b875d7baf2facc88ef0e5dcf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVBwM_rfFQQnBY_cLcu_cjF7RwUw299Q6OXf89eyhfn9mZgDSMzXgdqgH69uZ9LCvLYd9QvEfVWuhXmYSmIqMdPlf3GIm1N7cWOacvWqYi5nu0IUrWWYcnbf_pB59kzn4hA0Qcd5zN0GhJkCVtxeZqxOCzV-dmwgs10kwJcGAvYCIuoXVC0h7aZDdUmPnQ7cHvqdxaYICd8W01EDCxJFX8ezxRsjDfRiL8aUXrDAOqaBZ_rOg302pL9AtHCuRkqqsxkP0OoWrvKdyGkk8I8IDCsRTU-Y1jab5BrjjnvUTUyuzEBmHi0EADOFhsBjHvzLLRUWYNJ7dbdHrwSmBChlrwZnCTiBpZcq4rd9LAQ9z1FFK0Xcc63-hyjGsdwNGSzZVdQDAuK7dYLShTk74xeXurYw1SV8q67iwI5Yk7O_8eLlR_hzyJI6kUCAk6tOCShF5jchSjZBZcm82obxKjLBBwUzXSooJo9CvHKK-ipb3BYMRKhEpwX5DHNmOMB42mBBkiGjKWIGsihMQ9FcKc-8v2prAZlx5flXVYN6fly3ctQN9qgOPwDyBpmvYi1U1-2COak_tVZwvQ3jWb5r8eRnAFdVlzZ1DgMowUY4Gjx_j-lBjiEWRY-oDO1_C3eIkfPXsPgZLhMkETa1YLbpB5T_NK7hbHS_sp7wbUik0zqyvDwPCc2ftY3Qy7aQVorGWjiIvaAvTLZCeiE66fqTOw7oat08xRhFziLtsRG24EphePhL_wcYPW8ZSKtt8h7llVDjSklpdquoYveEv6r5cbNhjEiLzvtITSDfI41j0uYzroWVJ_hB5TbV-Jcs-gWMPhEryw28jl4PjGvdYF1ouimwWWvFe1FY9n2tl0c2mo-b8PnMF1uTQdOJu4VXZV9aZZUUE5nTyRV2rXj4duDKd0bvaQFL2JYCayOGu6FZi5e9WdQ6FeQkRLL_cYL-P3Go5UGp8EavHPuicNvsxeKBBba6h5Sg9niQ77tU3LddCHgnsBV5-dUxQ6KfxVPMeFPwcJa9gVAmTB5AFnzKdCwlS1vrCDxLXqyAPuyUmrX78NN8uFRMSgTOlwqdMiZi_y4Sf0iCwqqROom9cEVHK8xBP3wcmT8IZhjfENRF2U2NecW0RS1mihzdCyhnTpsKCT9s6oui24aK8XzoAJlgT205-wu_MsX8HCYle-PXIwyS4OVKy19y7OKM7n9_iP3p5EcgH9fRPG2O8-5FwqesdnotXMAJB-wsu9nW78GQDwgmBmXrT08BvQCDPK16nnjf8D5d3YA5SppTCkJh_JOP8qt-HzlEZGVXUhFKudaBq4aopAJV5iB5cVL_HSEj5BmZ0bx2NrGZ6Hyl_b_Qx1ujGnwjCokcJVhFply_KLfGwFRjxnxdsdIoaWxkYAtWzpz-FhoX2cgLU7kRopeByS5uq7I9iWYJaNEHL06F1Gx6zO7t_bWUk62uAeGd-fwLZlY0Be7ixn-nGuXtyD2jQAOFmXCj4veIxeyHcCjcwmyWiLNG-xBCbWa7xnbEE2CcnkONPdOoBuGfiOO13gX1YXCG8ja1UdgV-0SUWWA3a7ZaT2Dh4PyWgOk3Fj7IjueVSLwhN8Y0sZHtvfMuDiTIBZwTy46RL9bsiH9zfIL-0cuIGDuNGuOEc-1EGcnNS4DpSyiz11ETCVS_nENKOrskpnkrf0ieYE2OkgXB4r2khe68qmnbzGohcho-NYRU20dM--ghseSKZAZrm_YYq6YdhbadKNF-hdR062qrO1UidjPoWaTFipyysSt4UtUJP-v9IbbRzwvVwpAU78-mxvkRuxN7qMt6I8dCdf4xWDH_HH7a7P-Ioscs7phtDhUIyCPVCDqHgrlHd_gube9dKW8wlVGuLhAvtvmrYl1SQ==",
  "id": "rs_0f3bcb0992814ecf016ab4653e936c87d0880ef193cf0b2203",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6,\"left_x\":0.395,\"left_y\":-0.17,\"left_z\":-0.01,\"left_pitch\":0.15},\"note\":\"The left gripper closed nearly empty, so the cap was not securely caught. I will reopen, advance about two centimeters along the cap, and level the tool for one corrected grasp.\"}",
  "call_id": "call_RWf2rnsWLKSOgHCRVVScdnFG",
  "id": "fc_0f3bcb0992814ecf016ab46540bc6887d098229160968cb668",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RWf2rnsWLKSOgHCRVVScdnFG",
  "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]: [-0.2878, 2.0796, 0.5335, 1.1091, 0.3138, 0.1806, 0.5974, 0.5259, 1.4849, 0.9722, -0.2386, -0.0311, -0.1055, 0.0568]\nstate[eef_state]: left_x=0.3984 left_y=-0.1711 left_z=-0.0015 left_yaw=-0.6648 left_pitch=0.1548 left_roll=0.046 left_gripper=0.5974 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6039 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.0568\nstate[joint_eff]: [0.4444, -6.5162, 2.7419, 1.0525, 0.1294, -0.1245, -0.0171, -0.1436, -6.7077, 6.8718, 1.5702, -0.0464, 0.0024, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053b4356d9e2e186741fe353b76e088f62fb6fb7519fd6ffdb4687c915ad9a91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36f5319249221ff6b508b2d1b2c7c454fa8ab8f185772af7f4997eda3fa7f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c0119180f8ba4d8c6ab11e6566adef57ebd8109a0b8a86b50a42d4dfc19c41",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.587 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]: [-0.3202, 1.6947, 0.6239, 0.2226, 0.075, 0.1055, 0.9992, 0.5259, 1.4849, 0.973, -0.231, -0.0311, -0.1059, 0.0502]\nstate[eef_state]: left_x=0.363 left_y=-0.1306 left_z=0.0032 left_yaw=-0.4579 left_pitch=-0.2754 left_roll=0.0201 left_gripper=0.9992 right_x=0.3605 right_y=0.2197 right_z=0.1406 right_yaw=0.604 right_pitch=-0.184 right_roll=-0.0595 right_gripper=0.0502\nstate[joint_eff]: [0.1436, -8.0205, 7.8291, 1.7949, 0.149, 0.2271, -0.0171, -0.2667, -6.3658, 6.6256, 1.7558, -0.0513, -0.0562, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.7161, 0.6277, 0.2794, 0.2405, 0.271, 0.0076, 0.5259, 1.4849, 0.9726, -0.2348, -0.0311, -0.1059, 0.0545]\nstate[eef_state]: left_x=0.3638 left_y=-0.1508 left_z=0.0093 left_yaw=-0.6637 left_pitch=-0.2097 left_roll=0.0258 left_gripper=0.0076 right_x=0.3599 right_y=0.2193 right_z=0.1398 right_yaw=0.604 right_pitch=-0.1882 right_roll=-0.0592 right_gripper=0.0545\nstate[joint_eff]: [-0.0615, -7.0906, 5.1761, 1.4969, 0.1441, 0.0415, 0.5836, -0.2667, -6.694, 6.7487, 1.5946, -0.0073, -0.0659, 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 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]: [-0.2878, 2.0796, 0.5335, 1.1091, 0.3138, 0.1806, 0.5974, 0.5259, 1.4849, 0.9722, -0.2386, -0.0311, -0.1055, 0.0568]\nstate[eef_state]: left_x=0.3984 left_y=-0.1711 left_z=-0.0015 left_yaw=-0.6648 left_pitch=0.1548 left_roll=0.046 left_gripper=0.5974 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6039 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.0568\nstate[joint_eff]: [0.4444, -6.5162, 2.7419, 1.0525, 0.1294, -0.1245, -0.0171, -0.1436, -6.7077, 6.8718, 1.5702, -0.0464, 0.0024, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053b4356d9e2e186741fe353b76e088f62fb6fb7519fd6ffdb4687c915ad9a91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36f5319249221ff6b508b2d1b2c7c454fa8ab8f185772af7f4997eda3fa7f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c0119180f8ba4d8c6ab11e6566adef57ebd8109a0b8a86b50a42d4dfc19c41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVFgwXmNOGxipotbNOuBznHInbghImWYMYS639UyZM-CHfpkQR-V-PGdL1EjeUvqqqBaMiXBk3JfaOSRhoV4Hxm7At9IqiGTps8-IWu5g9JvyQxEEhUQXS1kaNQWwl1NVsHn0f-aPDzJQZY5TwzJ6e0DQxcT3JyEkAXTCRx-SOeRYSW5UDWtSqyZJkv811e9XOdmp3AHDcNZjEtdFDgliuPkkdIy2e2Uhsa1Hlzouof0Wr0T1rOSFIqSxptgjJN9eapvO1APvAj3Y6njg_g8T7p2nvyT0RmCttJO3M-_VAWcVP6MIfgbtJoPuA8LutO-oa2IG0kLnF0LKuPUCq-hdHPS8_pk24dEDHySpbPYYfUGwfkuWZcg7gO7tn2iLkGsZHWrfTQXaZZkDmoMS-6qqeeCozgGLIjSSVzJPPUkQiXDz1sEqI00xb7JurKqaqGQi0lHzbVdmiA6jIQKx5oX1jZ8n4qW3cEMcHGHTBb0BYLdVC9fCXMglQFWRcRiBsp_EqMKStn7619-US6OKMtu7NkWettMlX_RTtwZ607Y0hX9ZNNvOHQ6S_1qSfuFVTonGAIuvRkPmLRqqFGYQN0niNRSP-nM2Uk9fT-BULFEAkVkUIiT547TtnJDQ-kjxDMxycC7J_9_jjE8t35jnFgbpWlYpLd55ED6YJCeGjD99o1q7r-VRydlf-OTPxrfvcT1wdZYve6jCEohd2QwFgvnNvD7-tWXq3qp9zNHpQkfVc-YegYdU955RbkAis53VWZuwxqTuvzQDZsKqfNa33ez3fIk9hwrhlF_NlSsi31QRQZk6x8IkCSyA-1dGpLIfHNtvBtLI36waTuA7AhwO7QiCPwKfAGbuDX1X6mnzxw6px1-lL5VKGZXjnOB2A-w2OsOsylUdw88sjtCcJuQLNy9tffvZoaCq0sn-Se5V76AFiMEX_dzZukGZiCOMaPi4rD_njToPDa4vyRpL-40vRoCe6E6IlDYvtftkrdKVXWtasG99CUjlOAyDSsLepFUnAURmGHeQ_UdPnOrle5WU-xFUyYl9XveIZ_lTo3Wp-8LgBrV7L1z5nDhToPhxG919ckg94jUkRK-WrEfJSh-8H6TXXFCp1XfpeUoaPJSZ-BiVe7EBzASZ5smiFuwxQ33NMjGkEQCvSR28HGTXUT1jf87HKepiHkfXJTs4PM42uzSeNDKVVjtN3KMz6AwzfYx_z-bKUF",
  "id": "rs_0f3bcb0992814ecf016ab465441f4087d0af4602811f02cf67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are now lower and farther along the cap, with the tool much more level. I will close again and use the gripper opening to judge this corrected attempt.\"}",
  "call_id": "call_TYtHHXdBZ1wryrO7Y09BlTCB",
  "id": "fc_0f3bcb0992814ecf016ab465445d8087d0928a1d26e6080ddf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TYtHHXdBZ1wryrO7Y09BlTCB",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 2.0933, 0.5308, 1.1446, 0.3145, 0.1772, 0.0461, 0.5259, 1.4849, 0.9722, -0.2386, -0.0315, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3992 left_y=-0.1718 left_z=-0.0001 left_yaw=-0.6655 left_pitch=0.1727 left_roll=0.0496 left_gripper=0.0461 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6044 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.058\nstate[joint_eff]: [-0.0068, -9.4154, 3.2889, 1.5018, 0.0024, 0.1441, 1.2234, -0.3487, -6.694, 6.7214, 1.5458, -0.0611, -0.0122, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29258677602c89b583ccec9f03ac6e63e706c198ea683c05bd3c23d4fe1f32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b617422448c2516fef4b7b74801ba1551388a8aaba20a854ea884f9b2d40719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d372428d6fd2bc41804f0cfdec6329f6f8f3674a8cc7b6b3e616b9c30fad28b",
      "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 · 18.5 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]: [-0.2951, 1.7161, 0.6292, 0.2768, 0.244, 0.2722, 0.9992, 0.5259, 1.4849, 0.9726, -0.2329, -0.0311, -0.1059, 0.0543]\nstate[eef_state]: left_x=0.3636 left_y=-0.1514 left_z=0.0095 left_yaw=-0.6673 left_pitch=-0.2099 left_roll=0.0239 left_gripper=0.9992 right_x=0.3601 right_y=0.2195 right_z=0.1401 right_yaw=0.604 right_pitch=-0.1863 right_roll=-0.0593 right_gripper=0.0543\nstate[joint_eff]: [-0.3624, -7.2957, 7.0632, 1.8193, 0.3492, 0.1783, -0.0122, -0.2667, -6.5299, 6.7761, 1.5849, -0.0415, -0.0366, 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 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]: [-0.2878, 2.0796, 0.5335, 1.1091, 0.3138, 0.1806, 0.5974, 0.5259, 1.4849, 0.9722, -0.2386, -0.0311, -0.1055, 0.0568]\nstate[eef_state]: left_x=0.3984 left_y=-0.1711 left_z=-0.0015 left_yaw=-0.6648 left_pitch=0.1548 left_roll=0.046 left_gripper=0.5974 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6039 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.0568\nstate[joint_eff]: [0.4444, -6.5162, 2.7419, 1.0525, 0.1294, -0.1245, -0.0171, -0.1436, -6.7077, 6.8718, 1.5702, -0.0464, 0.0024, 0.9548]",
      "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]: [-0.2886, 2.0933, 0.5308, 1.1446, 0.3145, 0.1772, 0.0461, 0.5259, 1.4849, 0.9722, -0.2386, -0.0315, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3992 left_y=-0.1718 left_z=-0.0001 left_yaw=-0.6655 left_pitch=0.1727 left_roll=0.0496 left_gripper=0.0461 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6044 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.058\nstate[joint_eff]: [-0.0068, -9.4154, 3.2889, 1.5018, 0.0024, 0.1441, 1.2234, -0.3487, -6.694, 6.7214, 1.5458, -0.0611, -0.0122, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29258677602c89b583ccec9f03ac6e63e706c198ea683c05bd3c23d4fe1f32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b617422448c2516fef4b7b74801ba1551388a8aaba20a854ea884f9b2d40719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d372428d6fd2bc41804f0cfdec6329f6f8f3674a8cc7b6b3e616b9c30fad28b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVIdCqkq4BYuKjIru5KvaIvxTCpMGWCeZYumsw6PTW_fM1e3T6T2sWB1Xx87DQdKuaHfUH9G2dA_RqsZ8z1TX74Q9VCV2NkMLgzV8RbhNLP_0GEodIN9E0RogteIg7JYis58G7E5EZ6WhpCXP9vv9hhRD1nUie9A9ALENrDQrXd6rDoIiN7176HkQNV7_Ld9_Lj68DnnrRo2YmoqtUzMy_sjA9cTiEkirFWKkTZAJUERlNHNBH9Wsx1-5j4XlDI_jf6o4GL9NrrgITqG9OaVo6KCR1Y0rQnD0-_o5Imj1MJRABa3Dwv26S0eDM45IsQ6k32by3X2VIglA8_eEK90z1BTc6_H7J0Lac5NsfWkKodNbgsWA_QH6zIxpLXm18PfP60ELDrSpW4bAqH3jf9noj0Ruv2TP27teqefOFS4QUaWZkl26BwqiakkLvSHVuvOkwfRivjvjmOkuXk784vpYcZWMmrZlepTVivLJQ7Cs2JSZC8ahPX6kmxyBUDpwNRkfwuKieWqfJohzAT75LiI6atwWJ_vf-A1DWXvUi8nI3PzUoAkHoktVmggRSriVsXnRgsGJaPUmtXgsEuaiUauccihSBnzSeCfoMa5E9BzCZ4Al5V3pVIySlNenINgaKBlc4fDH57SlQjesQ0rk2-4Jw0rKWXYWN8ozGGXZYB37wT-L0Yky9n58LeOOK8Wut-v-kv_pEWCJjxo_yy4eIml7L6DIGaezL5O-ovPAdRGbpJYhzq8MjqKRKiS00cOwOQHx1JkgWvRql6uEKaFk7MQtfk6XoVAJJPJhCO70qVjh9FZIwv634vR9TBllcXerjM6An7WP5K3s40h-83Ms_5i0LH5OzHNLCv6ZI_E0-r-KWs_jxFUSygtuEkgR5Z5U1AuNER8f42tkPNJhNu5FC7ZKwCe4c3teWU1PIOHu047NHfzVPty1sohzdC6O-6aXz6r6kMo5rNgxVJLlIESSVpfRrmr02g-qbDVOEtsoztOKjUAUAbpcvgOV8PYIKnRu75JjAgOtlrq79qfXL87ez-tVLbpTOyA54HPr1cm-qU0BiIUSrWVGD6OIXRmJ4HsM8uKqUjT_fvWd9MunRpEv-XYMNRr8Q9PARN4TbJA6vKS3-lZtc-G5qBAYJ5WwDz-mC0rJh-jtfgpVJyC17jZ_mOriywR4k-IHF7DSiFo6dxIql4qJenk0odFRNasKbg-L0dO7gU",
  "id": "rs_0f3bcb0992814ecf016ab4654714d087d0b10259470fbbc5cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The corrected close stopped at a small nonzero opening, consistent with gripping the thin cap. I will lift it clear of the table to check whether it follows the fingers.\"}",
  "call_id": "call_ribVcV6DYzRinbvcdwXhKRjL",
  "id": "fc_0f3bcb0992814ecf016ab46547429887d0a18aa18cad72962c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ribVcV6DYzRinbvcdwXhKRjL",
  "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]: [-0.2886, 1.7706, 0.5327, 0.8356, 0.3111, 0.1738, 0.0477, 0.5259, 1.4849, 0.9722, -0.2405, -0.0311, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3965 left_y=-0.1704 left_z=0.0657 left_yaw=-0.6617 left_pitch=0.1869 left_roll=0.0535 left_gripper=0.0477 right_x=0.3589 right_y=0.2188 right_z=0.1386 right_yaw=0.6041 right_pitch=-0.1943 right_roll=-0.0587 right_gripper=0.058\nstate[joint_eff]: [-0.2667, -8.0068, 7.788, 1.7705, 0.0562, -0.0073, 1.033, -0.3214, -6.6667, 6.735, 1.6337, -0.0611, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db63d2d8b1a6ec76ac0f2f9515b94f7aefa33234ca07fc5283d3cd8848df2537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2958490d4c59bced32e81f464837aee0d3bfc4e643ccc4db612e9f6925062137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd2bb837662bb4dd4fc4b5c8e9f44720f8120ad3ea419eabc3a5991c143eb7c",
      "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 · 3.91 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]: [-0.2951, 1.7161, 0.6277, 0.2794, 0.2405, 0.271, 0.0076, 0.5259, 1.4849, 0.9726, -0.2348, -0.0311, -0.1059, 0.0545]\nstate[eef_state]: left_x=0.3638 left_y=-0.1508 left_z=0.0093 left_yaw=-0.6637 left_pitch=-0.2097 left_roll=0.0258 left_gripper=0.0076 right_x=0.3599 right_y=0.2193 right_z=0.1398 right_yaw=0.604 right_pitch=-0.1882 right_roll=-0.0592 right_gripper=0.0545\nstate[joint_eff]: [-0.0615, -7.0906, 5.1761, 1.4969, 0.1441, 0.0415, 0.5836, -0.2667, -6.694, 6.7487, 1.5946, -0.0073, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 2.0933, 0.5308, 1.1446, 0.3145, 0.1772, 0.0461, 0.5259, 1.4849, 0.9722, -0.2386, -0.0315, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3992 left_y=-0.1718 left_z=-0.0001 left_yaw=-0.6655 left_pitch=0.1727 left_roll=0.0496 left_gripper=0.0461 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6044 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.058\nstate[joint_eff]: [-0.0068, -9.4154, 3.2889, 1.5018, 0.0024, 0.1441, 1.2234, -0.3487, -6.694, 6.7214, 1.5458, -0.0611, -0.0122, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.2886, 1.7706, 0.5327, 0.8356, 0.3111, 0.1738, 0.0477, 0.5259, 1.4849, 0.9722, -0.2405, -0.0311, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3965 left_y=-0.1704 left_z=0.0657 left_yaw=-0.6617 left_pitch=0.1869 left_roll=0.0535 left_gripper=0.0477 right_x=0.3589 right_y=0.2188 right_z=0.1386 right_yaw=0.6041 right_pitch=-0.1943 right_roll=-0.0587 right_gripper=0.058\nstate[joint_eff]: [-0.2667, -8.0068, 7.788, 1.7705, 0.0562, -0.0073, 1.033, -0.3214, -6.6667, 6.735, 1.6337, -0.0611, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db63d2d8b1a6ec76ac0f2f9515b94f7aefa33234ca07fc5283d3cd8848df2537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2958490d4c59bced32e81f464837aee0d3bfc4e643ccc4db612e9f6925062137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd2bb837662bb4dd4fc4b5c8e9f44720f8120ad3ea419eabc3a5991c143eb7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVbe_xehO42pkUZT2OwPgLe6fTib8Few8IXdlDY6rgErFLEhq30Mz4JderYLxqMUEug53eHo_Xl8H-1Nfrtfs7_QW6yR6rv8h-zRGZWprmYkx1MlGqTUNVGFJT1LBV4SFUWvj2ie1Ls_Y671AE-hdazcox7vOy3hSCD-xsJ1hR56AUHebQ8Q4mvj6w092ype0xx5R1RhPgx4b1geNLj_DVMc6arc6aNPVlYXjx65EjkID-O1hc_E9OuoU6yCBFIqKnWN69cCgUMQSOM764UkBrzdl15DBiAtVm8SoMh9YOlBpXtsW7lWR2bO5Tsy7tpxfz0Z3n8rRe2zbnhE8AYv1ikE0IhkNpCsXUhGdLP97bEpQYQa_engEC0F_TBX8EvO0Br_3HeFLXN9fW7aWzDUZRQ9ru_T6vCJe4ENqxg7FDcpevmzCNnI0Q6F4th8RdwrqxfLr99GCkfqt2eoUmOIATrMpTKXk7NuQ7ABI-f8asj3aF8r7PixhsdB3YntqxDcDuiZXGwgWrTidUDRHzQ55ddj3KdYL1329e9XOIBTZH_71LAmz4Rb32KbKFbzwVgwvY0SXBR1s97jHi96in_k_ixK1ducvs8jsPdtJNs_PRf0gKMSmjBlFDzgJ9T6e7vfQXV2SNztlSx3ZRHaCNClvuNukU0poQMSMfg9UMsnFb4ROZ3HIPnZ464Gh3tuSzreVbPaQQ7hfkAT7X21tJ-tsklg2OWeSDUd56ieMdI7o3nFGDyEqaeMnqm0l5ADh7o1vfeRTqeO6EY1bD16MIoBAb8aGZOMgno6g-ockf9n_ZUidC5rEbkaWTC49nnSUWUGb02TDXbb0oLWVHgT_LWg85Qh3APkUExlbN5m7hFD7aHwpkP4O_OZbIGYdz2kBhF5wiPXWV7sfUvStLAzB5QVWgVSpX_DoMS4I5slduIbMk7zHR4DuyFg-4uvzFCFaJjGrDmBgheeaaVhgpAe8nSO5bNRil5yfsGRaDlIbL2qoKh7F4XuXnhDVFRcNWIJCRErqonlj9RQSNj8SDw7RpmbsLMRj34R0GlWDf52BqE3LWUVWUSwrgJ2QtKz9HieMy2McICTqu79sXGTH7D6dzRbsGdbLcnD3flWac2enPcq9upUrVXbhfmCOfWHq0417fEyk-97cwc4H-Do4viVVkpkNrwEOPtS821O1W-dAovlwpfTDoFeDhITIsnCnr-Q3EYnWM5DlTPNnIAb-hCYJWgGBhsaQzg_7jPLwwYzKPn62jYAPxzMq9d6qiDJI1DArV1g85dlBuEgCb2FizzS8lz5Sn0pd2zcl9Lo2wSfxhLncHZghLtKi9nJLv9urQnptk0A1FtVhuZwWYrbBQDJnJ6O4Bi9mOitwqB11v7eJ2bmxsBR3Qi5MPNGSFPSBjQrqyaU3AKHc0WGesZnP7ebzob86InguUEtgxxqUtBjxYAdYCX1iAaWyqQYBOd8bbmud3UggJVlmvEk6g_4rW-yFrd5JBdoM-0KqcyOCC6rEOevljPRb9HXFYuuPgNeyukwiNCcD-eaVt-TGB30VIKTreM63VZ3r0vj-lFFFb3MOVesEs7T0LkBgfT8yf-yKjhFVCWeCZc4QQMAH8ZWqxte_E_7hNgZ83L1658caSOUsAhc8S7IWWWOQLzLIAjKDQWNvNlXYO3_HblAF--XSRJu7SOovZHGeKUWDcquX8NYZCCuPDEu-v50xKYPx342yMNOvKdCGsAx-X479K9798Y6SB9E6aVAD0TvLf-sVgPnHEXNDkoDUWNnvzEQYXBcbeRWOUGWK9fVqj2IJ5kRPqOBDM01_zPMGPhAWQge7ntXDDaLAod1qF-G-fpMv_KFaFXknjNknEzITjDj2KnbNyQkSw9oNyPjSNeTjZwhnN4bWvM4aYT4yYcuuqKFUSpILav7zbzhKByd1wsAbNtFhQIyF38rwmBg4z3qAEzQgyszqk6NgtFsNpkD-HrtWnFX4FfHZrdv3gUj5cE40Hqsu-2vHgsp5RZEn_JkdcYV-l13Ph679m8NlaTen9EkSjHVlS0VL2tTA-CfwbUd4xE2e1_gvQQnUsGNikp2zq-iI3S64rghMVtD3BJkSifQTpNI68eNvN7b31D1AQ7sw3Xm7kj-2s_5A1B7iNMgb84Yv5af5F1Zl39d5xbp1E8SCOV5FUdE5cqzv9BFXapnrT0a7ncxJa8AnV1K8Q3hunFJfFc1EPEYXmcsAOchp9ZMXtU4h7LNX2JYxyOOt5BQEJdz_2q2V27pPx4ai7klKZ2oczhcips7aMOdX6s-GS8NMwSegvE7B6-fYgSee1aDbshwdQpJzCaFkcWXif5P0uLtLXX9QwStYXl_gMKtSLhLiCPVszXkLZfWUjg2dp-1NyUOQFIHGKFewsqIzn8rznJEgCK8gD_uPJev-dzyDTSSyHl4YPMTeyjlVB_nER0z7n4gpSPlRV0Ng6NwkEKJmMW18-7UhQGlcN_fxbeCYjr7EuYzb-nLuf6jAjHPBWH7KhaHa6sWyGiMOKtjN2X-p5VXAgWAgXzupBZ8rcxhnEurk6Lsvh0KrkWACaxweTt0Rw8KPhgnkCPffcvctBBhInfoVIT6X6ncfZ1DxrjWJSu-KsrmPxTQ5447VHMKWoOex5gbG2oa6caq5nYmQpym9USbLtuTep-Gc5kSq7vSYr8zDhpUiUTvPPU8Z1icYHtbYtpt18tnid3F85JpWFzZBVrM1CxfqqpEkt1OxYxLMjIkGUYOVaVXpx3EBPp-bxM-1STb-XWCK4CpfIeBUmopuoyAhxvx7uNqYOsbl_FOdZTv50isrR0PrgSOfbEbI01gMDko2nbxL4-JE1E12Vs1glqZj1NGxAu-PBcyC8Nngjf9iqT5G2ClcEvwO96mtVRf-kYXLLvoCEXbAIHiOrpmbTA6jO0KjI9CgTr0WnPEmqPpZsZz7h62ED07IYM8L8DmFe19x6jjwRYT7e9jvFl86XYV8jti_SSfK4VMB1QO3MvgLy3cH0N3LPtWoKn5EOZ-jjCGtLCHOndUDfdS5hW82pe7IJG9GKlRLTBxIJZhaeiHaG_UL13yGk57QkQJHK1OCj_htFPbSjBbTo1O6ZBg_lW4a71-dXtBSxgPMRx0ZyaX1gnwUCqqdfV4k7W0bb10FCza81uHDntjPGn2965zlXTo-HLaZXeh0EbCdlWM0NJ7wq6bilqnh5aPPUj4EAkRfpmXktMLH1UOUmxw4SvEXypLjlXFZrvV98fJUNGQ31ubrGIagP3ZbZL4bJsowXHZz9G-xzyhV9Bk81wS0TL96hidQKJMDjpwyxu6lAWL4wUuOeFf-_mEZ3G_zX3-42mdjXXSspRDoOfhMUvoC9_Dp3XchOwauWIWZ6dCL6UXQipHO1AZHfWJU1kLjwcdWj5nwDT6IQblD5K1mJWylFMyPN1tGaHnjdpvL8bcOFrp3M0RSd2qcyoTxrgYIRGNa85kEqc9aFeZg-e_E0kUNwXj66fyGLrzbip11m7twI2FkcWCMSaL0Z26ODqf5_XucDb4GjTsgHV1IlnCey5IamEjatETzZH3Z855sLHDC0RhpR1pzRWHl9thH_dHd1P3ruDS-Pt-ce2NHhbJvwtV7YUPBwn8IUs0mHhWjW0mUAZvZYSpekosRSlgfRGATVYQ_iLFr6f5F4GDRxa2w40U2ChQMRu8YPjRcuQgCWSMoC2yX2b4pSPyv_UKnCXMv4l3Gk1iFb5Zok8axXhtMJlVrkvB30G5E70lJVSH318q2YzsYK-UNlZ5DhFr_OzJ8GMkHgBur58Y78LswJnITfH0EF6cdw-kF6u3ZGtkvzcIOFLnBPujdYHRUfaqPe_gi1CRVuENkJ2WqeuX_1uXGTIPo7azp4Mt0mWZd60ykaR2iw=",
  "id": "rs_0f3bcb0992814ecf016ab46549d5d087d087a58661ecc54ec6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVbc3RqQ7piLLWsjDzpbXidSh-35sn6b-JxSzLMYlX6pwfH2SgbSLNvkb7EoNJfpFz1srDCQpl9MopMkAxqeKiyIwg1dlxmheAktbq6n7arNbFRKRyrY1deU7wcUJ7oj9WKkBthSkk0FU0pE4ZXBfbt7VYW3IAAdVFwWi6uXoQ2bEbMbWGiJlEBg0xbYHbetf07CR8UW1oT1A9es2KiAvtiIfHQcgvQN7-wDL3noDmq6SVTE6wObhUNNqcLj3jNKNVrvhrmV2xxU4Ye1mxM9Xb10yYQeni1D4qcwB0ehZ5NSDlEFXV6Y71rVw1ER3i8Q4L8HvqId9pJS4obJpDryWY8a2d-vqsIMZgx8DQZ1jNlDjCVvvzE6CFxpA0XwFXE8eA-_zIlg3lbcwADQ1mMDnZ8sZL1LxE5sS5DrbgW7CcdOl8QU4sBYpkNdi_HCn7OeZUV0sow156kCdWUVjFQ9jYNqx_uga7l0iFrBY_n3szq6fqoJ8PqFuGC4TXduG2otVtEYkiW7FhH1xsuRP4j4sMhm3QEe-QrorRwBQcg14mTY3lyGKFIIB_aRdykOT6TfYoSHIAHTczbFRQGhrjEvv0gtIGflLEIlOIQVxRn8QjYKMX_znBm7p0CwmFdIRpguIi0VZ3AROT9j9X6zUxIGT9F9arb6C4SKxSuc9AMvmRs5_NcE3jj8q2b9AvCQ6f-VC5bLI4PTP5sq5yOq7IidPuDSkdtSZJEXmLYdiKRTb6KuW7aSVt74epXUPExbjd7qdMeG2nT2mVAUy-1bnjtvPKwXoMnTxTMUnobFi7bbQV-d0SViJYkY3f_P4ujk9ScvE9La9TQwaMdVPblSkDP1bK-uao2Jwi1Jw2-3i94rxorS6FoGokncLPFrnddjhiX0smEVSoU_1cl8dY_09ASMpIk2f2grHT7iQTpKQI7dIgSI6oUupjWmTvq2bStjkr4myxzpnuizijB_RdzK4XG2sOHk6KqIyr_1XrOLe1Sgm5hynVvpgBM0KZDEbg88fWNvgc6NRg_Rjl5_KkX20k-Vi_jXlAyPt3cZoG3vQ3cOuEp-z5ZcMavm8iHKy1BZX2HsdgfFAViRTbZdvP7trJ4SEdrdqvrLZnD4lEY3DtXluxpCxEsf0QnvzZTebKCO7VCocUo5YKKd-E0bnIOsl3GyspL_921vlnnbFFs6Ow1bqudazhyzSvP1CQ9kUKDnd634kF3fJ9HJMI-aEbd04S9ij8hLIn3X-JXTcjLj7q2U_pV_eAEuwKqFUHp8csfpfFyqOtko_cznbHNbyD-gEHKqOT7LbAlz4QAkpruFhTIeaEwyD8ns6eJk_IbljdnAPGaUijUgJ1eMf1RlJqnmC7vC0mwXexxLMzOl3Yf_t004sAZvsEEqn3vv88B3rYV_jFqN6EOW4Yw50tkSBmWxrNKTHngY2VKp0UEuxsVrgGYC9_bUoQ5gmZJFWCEWg8RyOBXCK3NEuX2yvbfQZw26_YcXWWV_ekR0RN7WoOCCtEoal1Xf3U3V8KPJXN0qYXuTFsmzO96X9WHgoFGJTVW8Ip9Z9S0uisFSBLeSH5Up8seIE8UAjyUFNpfc47Xr2QyIF0kWQn33UHiXJw6kBme6Wh51fGk26aEHmO8FSzVHUxYm5vlyka_gA45rbSZE3k97HN0klwvcx2OYzB5vgkZZdz518kEeinYbECmINaSbwJ9zMqkDRntEuHL6g4TXjdpOo92INWptbC3Bn3FyGT-w3sS128RZGKgvG0SbSVWLqY_4SCKGFF-AGSPi0SP6MTclQRb9W5WUZYKKfyui_okP951TbfcLHNY2YY7-8OLi75ojmCC2D3hjKeoczxjbWQEWR8qRDM_2UtIZEXGS47khpLj1gEOQcl28Sd9ny5VUZ6gIJVsORCH0fNjoC1Nah5jUB2o23tWrqn-f9zLrB2KOANynXHTQN9zx4F0rgkuiKSY8idODJ5vA9UxAE0Dv-95J2Tp_BD8zC7vFq0LDEKWa-Vijm_jK0rHmwJ4c15E2lBoHbgabbn_JBsb7Do_fL-BSvwcvK9kk4mETj70_dRUmwkTCdjsfgYM1fI5J5FRF6pOD_NMid5uDpvcBAxERt7i-pNcyGunR0bp6wAUDrS_0zvSFQJPjrCDBbV5telkhFvBPgE-OuRGNQWlny81IFG7tR_J2oylJbvhgYAW9wDx-BoTrG6M8ftPBzGd4Omqfj2EmVGy08STsYaVrq0aPf-7zpuqZ8AkSvgrlu2_dB7c_z771znzdkabFsRwufYooBDxcURbTT0uVr9_DJPqqAc7Yr_4O6hkyiZ8UetkqTxuHK5koUrh3B6JNRekHpkaqwdXffdlZHb67rdqAeJePlNipBq2OqQcup7POBMqnA_3wE5ccYjSHOIMhfTRrIhMiiyUZt-vp0Y2yoSBE4WIBZGz9nWoUikzYXVVMSlCrRKqpNnmmYZv1f33Kg16mnPBKY7muVLKG5josNxhyDlvDX5SYpULum_xLGwiwummgN9zocVfW_u1Sd6vhByU4o9YtZLrs-5YsJTjlzZ4Ge1hxPCmvS66xWS_",
  "id": "rs_0f3bcb0992814ecf016ab46552ee4887d09f689489c19524c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.23,\"right_z\":0.18,\"right_yaw\":1.55,\"right_pitch\":0.12},\"note\":\"Both pieces have lifted off the table. I will turn the pen so its exposed tip points across the workspace toward the left arm, creating room to bring the cap straight onto it.\"}",
  "call_id": "call_gWddxKMNKXoWfVrldhdHtYQf",
  "id": "fc_0f3bcb0992814ecf016ab4655857a087d0bb62ade9b4da9b82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.7702, 0.5346, 0.804, 0.3111, 0.1738, 0.048, 0.2317, 1.552, 1.0485, -0.4522, -0.9344, -0.9077, 0.058]\nstate[eef_state]: left_x=0.3942 left_y=-0.1697 left_z=0.0597 left_yaw=-0.6598 left_pitch=0.1595 left_roll=0.0426 left_gripper=0.048 right_x=0.3165 right_y=0.2244 right_z=0.1674 right_yaw=1.4245 right_pitch=0.052 right_roll=-0.0507 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -7.2, 4.588, 2.1123, 0.0171, -0.0415, 0.9695, -0.4171, -6.4889, 8.2256, 0.8767, -0.823, -0.1099, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b71d05c75b9612a4b0f5d46db200434783c1bd1f9dfc20cae18229eb746a86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94db07c05efd3c9f505c4569a9698ea16b365861f506882755dfabc10eac12e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92efe79859766101577a8cc4b94953ebaccc557918aab98fc1e905052a3f9c67",
      "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 · 8.168 s

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

message 42 changed as sent

message 50 changed as sent

message 55 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]: [-0.2878, 2.0796, 0.5335, 1.1091, 0.3138, 0.1806, 0.5974, 0.5259, 1.4849, 0.9722, -0.2386, -0.0311, -0.1055, 0.0568]\nstate[eef_state]: left_x=0.3984 left_y=-0.1711 left_z=-0.0015 left_yaw=-0.6648 left_pitch=0.1548 left_roll=0.046 left_gripper=0.5974 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6039 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.0568\nstate[joint_eff]: [0.4444, -6.5162, 2.7419, 1.0525, 0.1294, -0.1245, -0.0171, -0.1436, -6.7077, 6.8718, 1.5702, -0.0464, 0.0024, 0.9548]",
      "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]: [-0.2886, 1.7706, 0.5327, 0.8356, 0.3111, 0.1738, 0.0477, 0.5259, 1.4849, 0.9722, -0.2405, -0.0311, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3965 left_y=-0.1704 left_z=0.0657 left_yaw=-0.6617 left_pitch=0.1869 left_roll=0.0535 left_gripper=0.0477 right_x=0.3589 right_y=0.2188 right_z=0.1386 right_yaw=0.6041 right_pitch=-0.1943 right_roll=-0.0587 right_gripper=0.058\nstate[joint_eff]: [-0.2667, -8.0068, 7.788, 1.7705, 0.0562, -0.0073, 1.033, -0.3214, -6.6667, 6.735, 1.6337, -0.0611, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.7702, 0.5346, 0.804, 0.3111, 0.1738, 0.048, 0.2317, 1.552, 1.0485, -0.4522, -0.9344, -0.9077, 0.058]\nstate[eef_state]: left_x=0.3942 left_y=-0.1697 left_z=0.0597 left_yaw=-0.6598 left_pitch=0.1595 left_roll=0.0426 left_gripper=0.048 right_x=0.3165 right_y=0.2244 right_z=0.1674 right_yaw=1.4245 right_pitch=0.052 right_roll=-0.0507 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -7.2, 4.588, 2.1123, 0.0171, -0.0415, 0.9695, -0.4171, -6.4889, 8.2256, 0.8767, -0.823, -0.1099, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b71d05c75b9612a4b0f5d46db200434783c1bd1f9dfc20cae18229eb746a86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94db07c05efd3c9f505c4569a9698ea16b365861f506882755dfabc10eac12e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92efe79859766101577a8cc4b94953ebaccc557918aab98fc1e905052a3f9c67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVgLzBtRc1iVEbo3e_Zqp4Dq-2nxu4BBPlN2BdVlvgABb0fLS-dVgt8X4jNHXPx1VZYujORvXyT060tt1gMj7MsGljhjAeiiE7I32RiGakETi0kdrp6vTICHW0kKIBxPwB_jf2ruEI02yJz1XngvudNu7cY5S7wRxLCeUy5U5HP48yqxyqdmihwukXDMltwWpLtQO5ROFs0TPGNQR43ExSkxurOsQL94ors0KF21EDDAmB85LfUrnCEXGb1x_2H08KQo6fOj_XpiyJND37huaJX-L9cFThSXXqe8skre6AJ_ZMsJaG33_-29CKgqWLz_VRmZuom6FjsJ9Rbf5Uz5RCpwXzKXRomXm9fp_weuh2TTxCeBFzSH5HD2biC7Hxh09-cHdHiKy6g6B4HkODNRYlOiY1vwRwwI5Nwp9zWHt6OnR-_bRve6PF5k_s_n6yaSd2sStT_f4fGerTI7Sms31QylbImFVyn9V-v5CrHkH_P07d5XpHkSgWVY2KCJkjo772IUvU42zyWrsIMO6AMj3XL4R6nBxqHt1E-ovGWZEUgfoFizLl6G2vh2wb3KMnNtG9rc_8BAX_STcpxGbwMPaakXx3PMI63iEGVa0T5LLyMvOuQG2ZwWqUndzEdeI1_2yP62omvvWkf3udndHQu4O_YL3zr7kz7YrTAiGREaq0jqB5_3kiF8VPIyJsF9ZosPKchRPA3w_PMuxTgeXz3Y685Yb_QMX4IbnKvOn0DrFXJHUMK_IUlANREvXji9T85_eHZ8HFHryBs45JtsHf72u9hYhl4-t4Pa-XyjOVM--CzDA4njN2cxU37JfctM6Kb6fl98NCRicPp-ZeB9vq2UH_Qv3L7CqCyDJEhAebIO0o93MTLdIQv-bK663XPKRzoCWKDcLEZq9llG0mSy3bnGchit2QRGZIfFg4ry37ua8MBZaODEyGKi2Jhw40EjW8vw4ei7fSn9abO19vzGwZP1K7gxkTgSJKCb0jVczjQtZ2UuI4DuFLkPZm_X9h5mxS7wxTF_YK2zkWuoc778XyhJXkp1O3hmVbvh3VlWhuNj_7KC4Qt519tl_JMKMsOg2t9bLxkiRkkEXIKQJ02pmE6xyPEKb1Rpc6LVVMT4xEZNdiFkO7DhrOYbGNStz8tyVFkLOS0qHVIeHNlbvduXmAwDZXkFnv_ePQJtziAaDkd1JgdlRNmL9LBzoYrZLdlDFyUKvhG9YbDoLNBAhEpP1cIEhYjmF-DzNMbqLE48GPWL9LZgSrMOMVDSZRTM-wyLhwNfbyPoW_wsL8EZ448Sx4uZf_BDYO8QErxoPO-jWJdMoufix_U-iwbLrA7uPIM6Tt7vCqjMoRzfne64yB7_EiNEPRdkY8UfikulBWF3pdH0HWap6dAgsh2CrJkXutQfGqR2QAQWYANp0pg9fbkF5q5P4zTFTKYChgQDPo1Be1gQFlkd83JvDXDhG06qcfFy_KO_4XXWcNWRPz13RZLzV-4EuEC3LuzsMgBKSmp99fibjwTVlO1m1QV8IF7KpQEDf0ey5qcO8jg4-JIrr5oUIC4DCQfqA==",
  "id": "rs_0f3bcb0992814ecf016ab4655d999487d093b89f2dcd7517a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.18,\"left_yaw\":-1.55,\"left_pitch\":0.05},\"note\":\"The pen is now pointing toward the left arm. I will raise the cap to the same working height and turn its axis toward the pen, leaving a clear gap before alignment.\"}",
  "call_id": "call_3mPQ162RVcTK3GnOnLixwqZa",
  "id": "fc_0f3bcb0992814ecf016ab4655f00bc87d08d49e51bfaf514be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3mPQ162RVcTK3GnOnLixwqZa",
  "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]: [-0.1001, 1.6463, 1.1931, -0.4698, 0.9524, 1.0561, 0.0481, 0.2295, 1.5681, 1.05, -0.4629, -0.9318, -0.9237, 0.058]\nstate[eef_state]: left_x=0.3746 left_y=-0.1787 left_z=0.1845 left_yaw=-1.4033 left_pitch=0.0736 left_roll=0.2178 left_gripper=0.0481 right_x=0.3169 right_y=0.2233 right_z=0.1611 right_yaw=1.4281 right_pitch=0.0404 right_roll=-0.042 right_gripper=0.058\nstate[joint_eff]: [0.2393, -7.5556, 7.4188, 0.8132, 0.6667, 0.1197, 0.9744, 0.1709, -8.294, 6.2291, 1.2137, -0.4371, 0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02003aab4686f6ce1a4c5238bcd9f6c16f287129ca462b1f36865dec62178221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0912520ea4fe8738ecafa1f69aa56ce3ff4d41e2f512e33653b7bc2d9585d0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43984514b868b2a2ac3738a09ba58b0d638b70b631b08e963534618c6748170d",
      "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 · 10.24 s

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

message 46 changed as sent

message 55 changed as sent

message 59 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]: [-0.2886, 2.0933, 0.5308, 1.1446, 0.3145, 0.1772, 0.0461, 0.5259, 1.4849, 0.9722, -0.2386, -0.0315, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3992 left_y=-0.1718 left_z=-0.0001 left_yaw=-0.6655 left_pitch=0.1727 left_roll=0.0496 left_gripper=0.0461 right_x=0.3592 right_y=0.219 right_z=0.1389 right_yaw=0.6044 right_pitch=-0.1924 right_roll=-0.0586 right_gripper=0.058\nstate[joint_eff]: [-0.0068, -9.4154, 3.2889, 1.5018, 0.0024, 0.1441, 1.2234, -0.3487, -6.694, 6.7214, 1.5458, -0.0611, -0.0122, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.7702, 0.5346, 0.804, 0.3111, 0.1738, 0.048, 0.2317, 1.552, 1.0485, -0.4522, -0.9344, -0.9077, 0.058]\nstate[eef_state]: left_x=0.3942 left_y=-0.1697 left_z=0.0597 left_yaw=-0.6598 left_pitch=0.1595 left_roll=0.0426 left_gripper=0.048 right_x=0.3165 right_y=0.2244 right_z=0.1674 right_yaw=1.4245 right_pitch=0.052 right_roll=-0.0507 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -7.2, 4.588, 2.1123, 0.0171, -0.0415, 0.9695, -0.4171, -6.4889, 8.2256, 0.8767, -0.823, -0.1099, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1001, 1.6463, 1.1931, -0.4698, 0.9524, 1.0561, 0.0481, 0.2295, 1.5681, 1.05, -0.4629, -0.9318, -0.9237, 0.058]\nstate[eef_state]: left_x=0.3746 left_y=-0.1787 left_z=0.1845 left_yaw=-1.4033 left_pitch=0.0736 left_roll=0.2178 left_gripper=0.0481 right_x=0.3169 right_y=0.2233 right_z=0.1611 right_yaw=1.4281 right_pitch=0.0404 right_roll=-0.042 right_gripper=0.058\nstate[joint_eff]: [0.2393, -7.5556, 7.4188, 0.8132, 0.6667, 0.1197, 0.9744, 0.1709, -8.294, 6.2291, 1.2137, -0.4371, 0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02003aab4686f6ce1a4c5238bcd9f6c16f287129ca462b1f36865dec62178221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0912520ea4fe8738ecafa1f69aa56ce3ff4d41e2f512e33653b7bc2d9585d0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43984514b868b2a2ac3738a09ba58b0d638b70b631b08e963534618c6748170d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVoRwJmE1wbFR-b0oGgnWnav2gd9yX5PpHNB7w5cHWY_bghvJQQN3yfaDs7RSr1w16eITMnUOFvGCE7hyNsTk7IU2GB4f2umczJqos3T8yYBJyi10r5ZG1GIJ3mtki9NzQW9QEKPaAaOlp6LZ-xi9bSQPtivN5RH6oGCp_Szi0dpnxkWy3U26db8BG5cMuBxDFL_4zEvCrUbmFm3f7VyFVyb8yCUIGxOFtCGlufouiad_aICnRBa76ZoupBAym-_4gVfzfLP-3sLtB80F-rBgBnz1BLDvV6YHCEDIvD7ByIgLGxfiKTFFKJAtGKl7wBPsZqvQPFjlq0HVMsX7Ry9g0lzDt1Ij0Y04TxPIpYqakkyVABgAtmitpbpWW2KSt9dYlCXBKbuqYHiEgLl_HQHY4nOIWItN-NsNbvvqumoqTbR3A4Er2h_cM3f4vYuHm-7WxM4qkebIfk5EOoQ8aixmOQVOcAxC8k10LmL4cHJAldqcvVK0ZNKSRZ-qTRQL8l4wVc5EGPXV6_zyu-o-ItguXS2Afzaheuieo0Yx5PmVy91c0YiH1OP-53jTBWEZn7KROoewoj94vM2KCvTSynum7kW6cvxKcDC8i7dnqmgkLyfseolyLPJrXIV7lohdDGc4AG0nBNR0iQiwJsmCYPHfJHZVkWHQ04UkoMb0N8rRtJwr727V0KaeB-5fgdXBJ889iJfZd6rtYEX78WZahc00uKr1gvlFMljM8EcAqAFLlaQRnOkiiV1dDA_wugkve5TYyqTfbxF7VtB9Fp18NKsH97dwjkg4KY1H1SOBLpr2yCDy7bwu0uqtX_VT_9ACzSVLoObmCihPYQ7mFrBNEtjs-8jSNBGx7DJD1BZcjNZFOucRRBt5p8LDd0oN63CGNYRepKwPztBvxWaKZxgbQeLQd-MVgOQgTTH-2GjhOELrotCSr8YuML0T_GvrAtEEty_hIIDXQMFtzDaiqQf3I3bS6gXEbGQD5Wjvhz_p81yIsnLyxRGw-rMdYPvBk8JoL-1u5E3necpFigyWL7FmxcsjXobxNvrmKHpx2pjdHTaK0kYSeSJ156lcd7dWjixw3lbmCXjHojjccfZZ4IGyk41tvZwdWAhrXAcb9jiX4NqEFoMjibzdJzhRsYp9gGFiYlWgh-gpHuL3IsuoAZcxq59q312HV62SOsSOYo2S39RgrbtCXQxzqgGKYVp-WXBnnqxpN5NAHIFr3xp5cOp32lemDtZI8CeAQIZD2jwEOs7JBfryYxiOKlOXZTXTs6ur2iDCBtXs7Nya4_R4WhYl9WMb0ODOs0VsHwJwTDLzouagfIirkwu9eAE26Oh2H3K_87wL5Irt94MkUR09UzDGrkxtChjT4hNiKMPpmwcFbo2WiTp_c5nhghfgRQz9UxZJ12n05MHq2wRrPaHrf5K3FnqekNWYFoSdgoaIS8YmzeLkBlIIaqfeU2ROJ7KB4fj3aekr0dGKUtZt_noq84PBz6Ig9X0P2eJAw8n3S7XK0AA4RATP7COSsWAoineUtN90CjNEZXWSJciBgxdwVW9j8c_Mr--uo_Pio4MmiWbj_-Ek0ODPfCqpxj6Y2jJw5vfK9zs_S3lnYSZGDTsbCnfxD1jk73AmJ3Oi5vCpzuTGhjnpGxjhIqtEXl0qFZM8Ng0y4Waqjigr3yKQ3yf1BYcQWsMaSRnwk7xlTqMoISwWFRFk5ef_FifyyMAALgk1OVZB2KAjJeQekSxRH28I2Iwd9TtVK2E-oVtnFQLJEZrI2JcGq0YfiVLLoKuSVdiXIR28YpGVfHnVLLFX36yGC_z0Ky2Cg_ZWB-rWJVnSRQego5PdKyr5X37rv64cJD1sUH8OJZixfhrK1xLjku6YESPhh4empPq6pWfW8HCl0GDXPM_S0BwHKOgkymQ02XM2cmE8kVadYmQaIpXtUyVLHZnjVCZYSxfGo_u6bXaybTIREFV2UuTI9pINoxNI8pDFUBabqsHQwzPKdr-5cj056Gpx4YCthdCva93K2F_IUdHdPVTljLgVh6I9yizhu-yPnvoLjADHtrzRsxkSL044Nef3bBGfI1ufRQjVit4xVE6h0U377lSrj0z8FJo7tuBtyPsqFBelexfJqrdxSGyfJ_pHIPa2djJYcwk9r9W9fJiSe46Dn8a8qLm4gkYxJqjDTh1vN6n1Cktw8BKhHHtOPuzzOBafagM5-kQ83hO2TVu797SpglaOAtXL5MrtoG-sdFV636ZX1dd3LIVSXR2rebX1cNZNWX8h-_890450SmHbt6oQkLPwLKNRxrJNTrJHpA-vONG1X6z-xYBuaZXr3UFD-u8lkbTXplFSlZfU6WpKQQ22atuGn6E90ayL2ciYbdBjGNqec3xv6jWTQipl5b-k7hXWRuzDhYLnR4MX8UD56F4lyYCRWm4u2_iaBO0BOhKWrReWTim22jOE83syqDYbTuqXB-DJCJYzmhGUCBBZJi0mQVRI4ygnkSv7AkOeZTL_RXC7pOnNhWUM0-G-tuSVZ8MibPCrC3T-klfmOUq0giK6UcixC6uE8iMVgt6rHZlTZgAK845PLk5Fepo6G84zlDxO0HdR0TjTkEV47J4FSmOWZ3blVrwC9cBUtDbv9F136pfv37_Z9sdqThO81Vrs4IQ26NbZQMaAEXZMmu6je-e_yN6adh2k7gCszC4QCdxxcV65v41SXoY97rqQsmIN-HgLP-_HeCPA2GQEV1P8I8UXeYn-n8lH3-nLBBLJRwApN7O90m",
  "id": "rs_0f3bcb0992814ecf016ab465622f5087d0a111391604333b11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.265,\"left_z\":0.17,\"left_yaw\":-1.55,\"left_pitch\":0,\"left_roll\":-0.1},\"note\":\"The pen tip is visible in the left wrist view, but it is offset from the cap's approach line. I will bring the cap closer while correcting its front-to-back position and tilt, stopping short of contact.\"}",
  "call_id": "call_OM3sKUKujtzpethtcMdTNSfq",
  "id": "fc_0f3bcb0992814ecf016ab465679db487d0b081202f2bbcce93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OM3sKUKujtzpethtcMdTNSfq",
  "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]: [-0.3241, 1.7939, 1.3571, -0.7048, 0.9199, 0.9398, 0.0511, 0.2295, 1.5684, 1.0492, -0.4637, -0.9237, -0.9249, 0.058]\nstate[eef_state]: left_x=0.335 left_y=-0.257 left_z=0.1593 left_yaw=-1.5416 left_pitch=-0.0151 left_roll=-0.0818 left_gripper=0.0511 right_x=0.3175 right_y=0.2226 right_z=0.1597 right_yaw=1.4243 right_pitch=0.0335 right_roll=-0.0437 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -8.4581, 9.4974, 0.862, 0.5495, -0.1197, 0.7448, -0.1299, -7.0632, 6.3932, 1.1355, -0.5348, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054a80f9f52f67e7f595f5bb279721410f17785ea215827bf0991375110c37ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d2bd1fcc1f6f31678b79b48ec667906d7f885083d41c8b3c8b7ee5ed46b033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7473ea741eaa4682bbc0a18d18fb4273d2de7a871319894f6c209a8a0c4fa7",
      "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 · 7.639 s

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

message 50 changed as sent

message 59 changed as sent

message 63 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]: [-0.2886, 1.7706, 0.5327, 0.8356, 0.3111, 0.1738, 0.0477, 0.5259, 1.4849, 0.9722, -0.2405, -0.0311, -0.1059, 0.058]\nstate[eef_state]: left_x=0.3965 left_y=-0.1704 left_z=0.0657 left_yaw=-0.6617 left_pitch=0.1869 left_roll=0.0535 left_gripper=0.0477 right_x=0.3589 right_y=0.2188 right_z=0.1386 right_yaw=0.6041 right_pitch=-0.1943 right_roll=-0.0587 right_gripper=0.058\nstate[joint_eff]: [-0.2667, -8.0068, 7.788, 1.7705, 0.0562, -0.0073, 1.033, -0.3214, -6.6667, 6.735, 1.6337, -0.0611, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1001, 1.6463, 1.1931, -0.4698, 0.9524, 1.0561, 0.0481, 0.2295, 1.5681, 1.05, -0.4629, -0.9318, -0.9237, 0.058]\nstate[eef_state]: left_x=0.3746 left_y=-0.1787 left_z=0.1845 left_yaw=-1.4033 left_pitch=0.0736 left_roll=0.2178 left_gripper=0.0481 right_x=0.3169 right_y=0.2233 right_z=0.1611 right_yaw=1.4281 right_pitch=0.0404 right_roll=-0.042 right_gripper=0.058\nstate[joint_eff]: [0.2393, -7.5556, 7.4188, 0.8132, 0.6667, 0.1197, 0.9744, 0.1709, -8.294, 6.2291, 1.2137, -0.4371, 0.149, 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 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3241, 1.7939, 1.3571, -0.7048, 0.9199, 0.9398, 0.0511, 0.2295, 1.5684, 1.0492, -0.4637, -0.9237, -0.9249, 0.058]\nstate[eef_state]: left_x=0.335 left_y=-0.257 left_z=0.1593 left_yaw=-1.5416 left_pitch=-0.0151 left_roll=-0.0818 left_gripper=0.0511 right_x=0.3175 right_y=0.2226 right_z=0.1597 right_yaw=1.4243 right_pitch=0.0335 right_roll=-0.0437 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -8.4581, 9.4974, 0.862, 0.5495, -0.1197, 0.7448, -0.1299, -7.0632, 6.3932, 1.1355, -0.5348, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054a80f9f52f67e7f595f5bb279721410f17785ea215827bf0991375110c37ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d2bd1fcc1f6f31678b79b48ec667906d7f885083d41c8b3c8b7ee5ed46b033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7473ea741eaa4682bbc0a18d18fb4273d2de7a871319894f6c209a8a0c4fa7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGVz0Xss_Qi6Qijv0iZ_nzoSc86JH69ARYBKWqBXuCLBoxz9O1tZfl0WmoIcGVZr3PL5lhSPDjEc_CUubvbmwKEVpwNmLWThbn30UFVpNpIVpbpGsY-RxhyXhiRq4AH1pZhvb4rdN1uR74JSFmYu_IFeOR8ZI-JFQRE1R6FnPn3geoV_Ldmsha8Bldddt4aE8KEehEwKRHbAs6El-CwE5H1derovEGd6ARLMVltY1W_waeyxqQcPdGvmgx0bqhCv7U3xZvjywQnQETtyugzxkk_TwINuEQcbPXV_bwA7bl96fr1Ccz6Fw9nwTchlejjeIi9OooNNR0S8iGzyXmDeLdC9wf6hUvOFmByOxkcqAFEi0mIrIcVebNdG6tYtF1RJnlFxKIz6B7XxKCUhxt-EGBMtnTFRHmvJNZvPRxo5u3_iBhLUrxxDxs26nn82cxc7-VPardMBjhPLWYs3X3rpALfOS0WAjUJPyPIm4v-MSQIslspmv7IqzZMPDqIcCvgZy4eQTaPIpRrJZyi-xVSClgl6WAbVoIZD7UsHVPG9Wb6N0FXFZKAa78g23mhYpdWEBPFGhLEA0zNdFGSFGxPtNEqkm7HlWKL0zYn3zg2yaviucge7wG5kGI45-8bRhkD3tN8are1-24gCBCRr3ob-UoYFG4S0w2kGkgTvncaLgi-44WOy1BVZp2DotrDpeM5moCwLhtHIT2ueJSGp0dwSpPW4NWcf9A2qyLmQq8O9-2_b9r5MOupxo-0thxebCe86WW13d5-w4TIPj9oEFjP4y0yXW00e9Hgre6RqV2qOmv4QCL812-dx5IzJb6BuujCue1Ecsp7jazIh4bGoV6ihLzXhwQJWV8JLmAdyfYFIIpM7OlBMYBaw7FqfcmLuMLgcciknLMo-h7rjqZc-FBefpesuW3EOzmi3bOhuDWmYBbT0M6oi08Ir4tP1ImSEvnyJQkd8je8OjqAt33QkcQ7HBvJAMg4oovZ3Q9T5uwZ-7EbguThZdX6EQVBASGyhhKgo0SUZMsHWPmEK3gC_M2OXc40Qa_HZBrMUWeEKCXNImJ-3gUiPddErn2Gr84kXje3dM8vHZqgSxBxUQhmEmsGxoREOUE6BDOUDv0IX9-yIjHJdHQtFLn7uW8-FmHKMbvVvQhr3WmAYfBiwoSk9vXGPrJyfSo_3YpVcUGHLJlmhrRVVSbqZI4NFvmz_3Uq2LYCh-v5-VdaBhTZTeuZgizProplg1JNjsTKoNrKdXmQubGc6UPqD17GBXzUpcn-8JAO3dUgK2WR4PO0WBeTIsdFOgg__ayMhCUN2TtLKzQ6DN7j1HIETqSthyW13oQUlScqRHNoFX9odDb1wwR-YQE9o46ZxWDyKv8zNcDAdSLzgyn4Xf1-vkI9jW0Su788lBE9pHa4IPWl72IupE_FqZA2DavViipF3QubQMcb3xaXk9nAa39EK7k66YpCB0a-8r9A8mfPhhbTv2FwWoD8dQStlGB_RRiUq9o4XzKfVpOJdzTEBrRsc7iQlglb7WJylQPimhXEzttE0z2NKRKexqZOKTM6tQZH1cy8PTk-WZ94uUhmcQCZVxhSaa5QH-xgdGF-i5vOnwgJ9kE65GuUfuOFWb-cIgyVqxn16UA9a8EFujIySTjYYBkxNbO1Swe4ZuPqoiP4yWJBw77kOCoh2StekJHm1Q1Nu6PEpAnys0pbQ0etA-9o8qLqbLP7YYBm4l4FuwBHkxeCbz5gh1oHObVIhWdAgfnDY56OtduAAO5D-VKYAisRSLXX230alOvsg346IEQs2kJIRkxHXlbc3UqUBKfErWJt-dbcW7Wz5aWazUBJ_qProoI5DMsKvqEMeNqLIgZyrsLDFNX24BrXCVyg5fwBdYm6Gy66Nygdrn0s96iXwvQwxYXfsvJWXfBfbecCGljK8-WDnk09NizXsYHzKCyuFCvc2p3voYRWNflZAP8iOSZWyul9JsAgqd6fEi0u3SWkWKs9Co95m81Yco1l0RUoiDgtM5LrU-JREE2G_ahSAMM0TfkiUq2qKsYbl0VtccdzvrUySUuH7fObAxeBZO8yr79jk59ig8Fummw_g0ERVSlxaXbMGOu5DKyFl7wQhAewOK0F3cUndiN9lhGCsktht2MiPIfZqWAY_t-NJTujqREtoN-kEXOeea05ZLRkgmrjGrVt_QMcEup5v_UYoOvHTGu9Rxxef4wSMt8O2g9blp3BtIy0333H2QepClB8_HmrSIOSgZou8Mr5bn6ET2d0TdpVzvOBVhEffePOcXce6dtt5er7zhqmqgcg2CW2IrDRq7C4KQyYanW6TF4oc57hNaVGNWVRcxDkLnPPfCslRlY7STtZEDWfUyngWVZ0AT1Lndfs2LP1NekOMXyYlBrHKPGPnUkfkJoFD8Mtq-psmKhoWYbEWuxHUm1oQf5ZwuiArCTUIwx2DIrPRjQYG1-WXtI3VeZW5YvLyqQtzY0_qOhQbXY_DepssZ7YULNrBTBVGsJN9MyPFArdDSbCGiM7gbPOoNLuv2ASefYkDcYmBHFjrj375-jRONqEDs_74eb-TFBhkIJWGk-iatkvdNmFWikHmQToxZc-1-qK2UFNp55R64yTN4yQXLdqzYtXujycbl5ITthFKWMXCan85Jzn8IwM4XGskgBKpFhHCSkMeStYUT8Sbs6LGNSm2bCnqacH0CbjxRdTgFUFSmj-CKBMFK9_kl9-tp_K7yWxnhkb9D6dtSSxo4544QmUwoG4yb1fz8vGQcAOXGUSDVUVtdAazKNuzXpmy_17lFnThgBfPUGOUww2Z7dTatnkMOb-SX191MYENqaTGB4BOzY0sHvjg5KAu45ovMliJfmL_og5tzc__eBNYbgJDazD4sxuOs7MpSkOepWIMVtGD1olBdUfqdF7Vtgg5beiWq2M3Fc9irmIKLYsRwkTHueD8gNIJYQuTyhFZJJyXd2JRV_D9umpVP0CVSA2RQ7Y3vJ-FauIlK7OnIym3M1MlxESDb4wXvyQzzGqmKt0FTBmp3F70khQzFY4usBDMBYygeWZg_J4-Hm8oeqvCRVWpo0ahcYSKmraL4tYDJo90AseTcV9Iwjvvmy4tImZ2bykgeABgm_XlIVzBe_zBtTFi1b4xvDUjXz9NMWvxP93JBpm5OMt4IDB3kF1N1ilz0w1-8fKHDkAKsqCn-VFi2UPm15__Hr0GXSe41o1caMA2hQocz91fi0CDJbxdGTAdr7mrdw8_MXwbOzJsjaCwDGPmjnFt6Vv3wCzfLEIzF83u9fUBydM1OWYgZS7RSszmdPLbp5_yX0el4ncb5IVPOeMOROTkTbr9IbkQTblzCFrd_UgGpNZAIM4jq0-YuzwQs0FiEj1GF-9JjPcgdj7NfcDel_RV2uGknf9b",
  "id": "rs_0f3bcb0992814ecf016ab4656b1d4487d0bcdfaa6c693e0473",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.338,\"left_y\":-0.285,\"left_z\":0.17,\"left_yaw\":-1.72},\"note\":\"The cap and pen tip now appear nearly on the same line in the right wrist view. I will close the remaining gap gradually and match the cap's angle to the pen's measured angle.\"}",
  "call_id": "call_uGY1yqTX6baO62cReCaXGrlk",
  "id": "fc_0f3bcb0992814ecf016ab4657303a087d0805dfef8644bcfcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uGY1yqTX6baO62cReCaXGrlk",
  "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]: [-0.3626, 1.9545, 1.5887, -0.8948, 0.9249, 1.0462, 0.0524, 0.2295, 1.5692, 1.0454, -0.4641, -0.9169, -0.9249, 0.058]\nstate[eef_state]: left_x=0.3466 left_y=-0.2785 left_z=0.1573 left_yaw=-1.6426 left_pitch=-0.0436 left_roll=-0.1083 left_gripper=0.0524 right_x=0.3174 right_y=0.2218 right_z=0.1573 right_yaw=1.4204 right_pitch=0.0264 right_roll=-0.0412 right_gripper=0.058\nstate[joint_eff]: [-0.6769, -11.2068, 7.7744, 0.3883, 0.7839, 0.1685, 0.6471, -0.2256, -7.0632, 6.653, 1.0818, -0.4713, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d41fad117fcd59dd35afde1628ac4343b418e1cf899ee8e7b19ee318bff2a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11540cb19f1dd5de98bca6275899d4719807c8c673f76b5fdd7b42742d1cabf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a873d5871c7a0b3aabe88d326c61de278e300f8f972220136bca121ba365933",
      "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 · 15.07 s

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

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2886, 1.7702, 0.5346, 0.804, 0.3111, 0.1738, 0.048, 0.2317, 1.552, 1.0485, -0.4522, -0.9344, -0.9077, 0.058]\nstate[eef_state]: left_x=0.3942 left_y=-0.1697 left_z=0.0597 left_yaw=-0.6598 left_pitch=0.1595 left_roll=0.0426 left_gripper=0.048 right_x=0.3165 right_y=0.2244 right_z=0.1674 right_yaw=1.4245 right_pitch=0.052 right_roll=-0.0507 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -7.2, 4.588, 2.1123, 0.0171, -0.0415, 0.9695, -0.4171, -6.4889, 8.2256, 0.8767, -0.823, -0.1099, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3241, 1.7939, 1.3571, -0.7048, 0.9199, 0.9398, 0.0511, 0.2295, 1.5684, 1.0492, -0.4637, -0.9237, -0.9249, 0.058]\nstate[eef_state]: left_x=0.335 left_y=-0.257 left_z=0.1593 left_yaw=-1.5416 left_pitch=-0.0151 left_roll=-0.0818 left_gripper=0.0511 right_x=0.3175 right_y=0.2226 right_z=0.1597 right_yaw=1.4243 right_pitch=0.0335 right_roll=-0.0437 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -8.4581, 9.4974, 0.862, 0.5495, -0.1197, 0.7448, -0.1299, -7.0632, 6.3932, 1.1355, -0.5348, -0.0611, 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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3626, 1.9545, 1.5887, -0.8948, 0.9249, 1.0462, 0.0524, 0.2295, 1.5692, 1.0454, -0.4641, -0.9169, -0.9249, 0.058]\nstate[eef_state]: left_x=0.3466 left_y=-0.2785 left_z=0.1573 left_yaw=-1.6426 left_pitch=-0.0436 left_roll=-0.1083 left_gripper=0.0524 right_x=0.3174 right_y=0.2218 right_z=0.1573 right_yaw=1.4204 right_pitch=0.0264 right_roll=-0.0412 right_gripper=0.058\nstate[joint_eff]: [-0.6769, -11.2068, 7.7744, 0.3883, 0.7839, 0.1685, 0.6471, -0.2256, -7.0632, 6.653, 1.0818, -0.4713, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d41fad117fcd59dd35afde1628ac4343b418e1cf899ee8e7b19ee318bff2a73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11540cb19f1dd5de98bca6275899d4719807c8c673f76b5fdd7b42742d1cabf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a873d5871c7a0b3aabe88d326c61de278e300f8f972220136bca121ba365933",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGV7va8IFtSDrVuGnSouybNNE9xs1zFAqP950lDqhsV4177NjTPVXHwS61JtzFNsgwtTcWBw8pECxtnsn7HJj7c1LoOReHnYVVxWGgFSFCjzWx2zUdPssowk67PmCUasZ4TA0VMFdxdcv8W6UBBaVMGy0Ugc-xERVKHqJeKU5Inxsp36noiBR4f6I_P7hpE0OP0hq1iiiB0HpSKCMhB0iE49-271fvfNX9EoWXiAsq1wxAyhvLrzRTZvWY_CAsUQCNKaYeexXC1gEHhpyeGwDoTOKozwHDsZEt-2_JqLN8IKMo450Iae5Qz1ufkveBK8QT41hgRwR5MtHdQF_Lm72VuXXv2_K38eUKWWY5RvmMsoQU48PL8_Swv-vmPF7kKQX0RW-BU9VwxIj1mhqjwRczgeyRmpoXJ7eqlvEgLTsczbjIzyJGksN9NShfaSbOPmpFzqkeSVw9RJDj97NCxhB29Yf8Faasq3h3ou23I8oOGXyZJ8VXiVnk939yc9UFu9dFuyGmiu4s7Zg77NlZ-36SLz0LINlg600pwoG1R6eI4IewPxtswTfM30ljRqQBKKfEwfeXYVHX6BmfEkHdiZ-4nvxuVRJGITNJf4WLHvmizsZcDe-BpkiQHJMuYzaor9_2Vu-5oKc3CCCQgAsbxInxEkQQxQ7zDCEP-5SqOb7jsYVfJMt71i1JiN22i-KG4wpZ5O1A5sgAsIHZGtGvMKGWvbXfNM86aBpmuOUgB0B7iRz4PB3GcUJMkHUErXur4zCsT83TECPtNVozKJeC3LyhqVgN9M0g1dANqw8Bw5qjHys6seM_p6Q_zHB96vLcjZGIEvIB3EhkbOsQcwppjWRNvE_ZVBKbYYXUjzu4eZ_An4PhoKqXCn0y3jZN-DcE0hYZPt4F4PU2pE21-xD_ZL67t8XUyJxPtBMS8EWXs26oKip8f_8yj90eHY52VYzpFc3Aqx_1ilcE1t7oDq8snXu64XXPbZb5hveGcIxo1wjHH-F5bMaTV28P0GOLuO1F01nCm3Blp2R5-7fw8QUH6VRoG-DtDn2gBijxsQYCt7-Jyrhk5mcC1sET0GEfxrbTBDURO1SBsEU_-ueTP3fOuIDzZkHKUvXytf74NctdXUzaVTLdv5ue0Tj_ZlVM7lsaSOKT1rP7jYgBcNOjo_bJyvoOCs7pcI_MfYQM8TNhNtpHNYVOi5J5FH54LBY7wSfQG-NJLPvQYqQ7AKR-rK2benhuMlieuhlOJncr0a9kNEa3ZSeXPOoyYvWbY9gln0SV1NySYUofyYIhLksCW3fNFi1YSDB93wj0DniDFk4A6BpsBFg-1b4G5kNpu5J9EJSnm4lBg6nc0P7Q7IiipVUzRbZSKM0GAbmDb693FcgsfxaanZMe674Cx88UkxpP0lkSDWXQW3XeIfSKmEv5pfnJ1bwH_LNDsNcX_fTQVwfzApQfV81srqSvHOZGUWiR18AgEpPlldHZC0BHGZWaXWJuThZBMK7vzEvLQbyTvRKVeS4x8KseGZZifFjvJk91-rCB-6g38n7d6KPOLmP5odF-Oa_n6PgXBkjSJrR-Z93A4z6--0WA7xm7h6deZSOrPlDsuCsVAmEfiockXsKYQWuKd9F0CI9dvknqM2Df7ByE2APWpzSO-VF8DMHYp2at6LUCZm-DZxqHcs2UvleXbaZ_sBYyUcD4C9WPFkir2d-ggrGEPvILZCerr1i3G9inOMhe0wNSfkgc7HXDas6ri8MjPXpbq5OfC3UreFfzPfHEVnirhH2zrZR8YyVT1ExscWlbX_e_e-xPHRjH9p5I75bDx2TPwvq7bJcHtqzJ3JSkS-aBTtYRvwVi6Rni-NO0sahG31DVnce88hG-NVDsB-ik0nSEn4jd72gfF03rJzQWW7V0EUYXo4XeAAokr-3l6mugG5DqDSi5v2XLa7tRTJBQlAnGcf_aQ4BfsnMF5s6zlRoQtmMUn9GNgl1WV1eM-ZTu3PVGJY2dp3V9DwA9b3Fw48Gw7MjcJ_pcJwJkK0_YtviYQetq969iCF8lPSzRp5zJInxcgmrYWerFf6Vd7qfxfgftx3F9lfhRfZjPkkzTO1ZzbtmHSogZ6qFE5TxfH47USdqkXUEF19kZbQAFbtAFqY_Mk4gL49kUwJV6lw5dL5Py_TLM4UGcLFtsoQHL2F11NAm1MlpyRaHMI7-OktO9KB0dL_bxgoI7H2iEpk4yRcwXM-Hyf_H0LNFY86WVqB5nIzy_QUnY0ENC5p9beXSdRkYutKnvU8yErjzV-9jTURjWNAQTZb9DzwPI6w5hzuCRw1gal0icrf__Kbd5r088PsgK1bh4u5J70jJym3DcwRRy5ZEJWpzT1iHobEKkHqiAqg7hwFDqfw1aHdzJfD3wOGGCI2vzsgd1udYOPvUx_58poS9eTIdDfVRlUCbWsOsN00M1c_pASxx4eh4hJhID9gMOfCdjIaxYh9xMNBOC1745hJz628kJWty4HLLVyZA_Ads_vCN7smphbHJ_OKycy9_kQc4Bg-cmHsx8JyDoISkexT0k6B7jczNRfRwiM2CtlWYIzWW9l91JeU-vXOKMOD-91nnFFhfP2KGD8PMRxrRlplsmWGwtwpXPMn7iUALBJHRV4-mgOdJusq0JZipEerHVy34p8taShTJ0mNFaMcN8k8WYyRtlFrX6j3eEp60jvBiJ0o",
  "id": "rs_0f3bcb0992814ecf016ab46575778087d08867551c9fe97dda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.28,\"left_z\":0.17,\"left_yaw\":-1.72},\"note\":\"The close-up shows the cap mouth slightly beside the pen tip rather than over it. I will shift the cap about a centimeter sideways while holding the approach distance, avoiding a forceful insertion.\"}",
  "call_id": "call_XlpAEEgnoAkXcrITMmh1HuG5",
  "id": "fc_0f3bcb0992814ecf016ab4657a73c487d09d413ef74541a306",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XlpAEEgnoAkXcrITMmh1HuG5",
  "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]: [-0.3737, 1.9781, 1.6123, -0.9699, 0.9199, 1.1122, 0.0537, 0.2295, 1.5692, 1.0451, -0.4641, -0.9173, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3373 left_y=-0.2793 left_z=0.1507 left_yaw=-1.6917 left_pitch=-0.0646 left_roll=-0.1259 left_gripper=0.0537 right_x=0.3172 right_y=0.2218 right_z=0.1573 right_yaw=1.4224 right_pitch=0.0265 right_roll=-0.0436 right_gripper=0.058\nstate[joint_eff]: [0.1026, -13.0393, 5.7915, 0.6764, 0.5495, -0.0562, 0.6667, -0.253, -7.0222, 6.3795, 1.116, -0.442, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a94ef25749422c999a5cb467dfb910db24c1bf8a9306c7e5e347f2054831fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5781730bd79ffbde84c2b31d96bfea7cb7a868c2d335dae9ee156a5e4dd91611",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57159953805ef2b86f5aff1a0eafc5b399fceae8ccaf6ba70a42a6ccf7c5fd4d",
      "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 · 5.221 s

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

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1001, 1.6463, 1.1931, -0.4698, 0.9524, 1.0561, 0.0481, 0.2295, 1.5681, 1.05, -0.4629, -0.9318, -0.9237, 0.058]\nstate[eef_state]: left_x=0.3746 left_y=-0.1787 left_z=0.1845 left_yaw=-1.4033 left_pitch=0.0736 left_roll=0.2178 left_gripper=0.0481 right_x=0.3169 right_y=0.2233 right_z=0.1611 right_yaw=1.4281 right_pitch=0.0404 right_roll=-0.042 right_gripper=0.058\nstate[joint_eff]: [0.2393, -7.5556, 7.4188, 0.8132, 0.6667, 0.1197, 0.9744, 0.1709, -8.294, 6.2291, 1.2137, -0.4371, 0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3626, 1.9545, 1.5887, -0.8948, 0.9249, 1.0462, 0.0524, 0.2295, 1.5692, 1.0454, -0.4641, -0.9169, -0.9249, 0.058]\nstate[eef_state]: left_x=0.3466 left_y=-0.2785 left_z=0.1573 left_yaw=-1.6426 left_pitch=-0.0436 left_roll=-0.1083 left_gripper=0.0524 right_x=0.3174 right_y=0.2218 right_z=0.1573 right_yaw=1.4204 right_pitch=0.0264 right_roll=-0.0412 right_gripper=0.058\nstate[joint_eff]: [-0.6769, -11.2068, 7.7744, 0.3883, 0.7839, 0.1685, 0.6471, -0.2256, -7.0632, 6.653, 1.0818, -0.4713, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.9781, 1.6123, -0.9699, 0.9199, 1.1122, 0.0537, 0.2295, 1.5692, 1.0451, -0.4641, -0.9173, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3373 left_y=-0.2793 left_z=0.1507 left_yaw=-1.6917 left_pitch=-0.0646 left_roll=-0.1259 left_gripper=0.0537 right_x=0.3172 right_y=0.2218 right_z=0.1573 right_yaw=1.4224 right_pitch=0.0265 right_roll=-0.0436 right_gripper=0.058\nstate[joint_eff]: [0.1026, -13.0393, 5.7915, 0.6764, 0.5495, -0.0562, 0.6667, -0.253, -7.0222, 6.3795, 1.116, -0.442, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a94ef25749422c999a5cb467dfb910db24c1bf8a9306c7e5e347f2054831fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5781730bd79ffbde84c2b31d96bfea7cb7a868c2d335dae9ee156a5e4dd91611",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57159953805ef2b86f5aff1a0eafc5b399fceae8ccaf6ba70a42a6ccf7c5fd4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGWKpaGXhOXkIqa09Ky8eExfl1iJNZLdhR9KPBUYwxSS1pdPafQciHlKK0MDnc-APbrAFtTXimwNCDLy7M4MGJKy4jsmwDHg17K_D4Y1-bga2VVqChp2vZsNmAj8q7fTBBq_vyxQmpZgyojdZRU69ARQrBY9lbABh6fvDx3lRDZ6kRIFlD480sZrj5Cfb1ZTtMSg-REwfGB_W5trFOUPwyQABbo-44Xpaa1FKqrkmt7Pk44eSHSudC7ikxpDkKkS0VwZQ_SBKEJNF3G1pKAl712_2f5_QzonVZjuCg1gZ68y7czaxx15PtKbbh1TfiuOoZi_JV4naqybUh8jwfU5FkgMP6UIPDUIFDwuj_gmUXUmmIYHW1FweLvqRXziF7nYlOS7_xI3Up_dCMi6KEQRBAvtAExUIrZclOQNM-EkYwjupv83byDgsUR22UpCb0fuaUinriYlhddDpTjluA2UgY8RXvaie9rGmSLhg0pE8Ok3yh9Zvz0jiANz81GWoQoRYd9yAuTdng5dv-ttrmNLuLpl-omnTEXN6lR0IQspquA2eljC9vaE7m0G9DSGrGFVMEyw-7MMBz8AHetlsDMWfNvkmYImoPPFddEmLEt2BpYFkp_rKEMoUGq9T3u_Y3qHtDQ2oT75ryxuEvrsnvRIGSMhagRJ1tHRiKqpi9oy5sWsHaWCFD1HYA321SnutyxxN8-qkeBhgJWC1zfyZR4Y5j-bel0SpDdRK9t87H2rnQH9ibvQu1AVJnlLRYpRdsn8R-IfO_4yVINcxpfimZFPYJ6uiHDtuQ-1bRvwbiZWEzOB8YKEJgS8dGXmEkVlMm2PcGOjroqp9cT4XhQMXBJS5rW81Hmt6HLlE8Q15DjT-cMWU6AwvtThJvc6IHAYF_YLIf9OByc4C9PEocBzIC1TwpFz20zLXDfqahoNA0viuzUGDeDeJia3gf5bXlqxv7bZVaUKsOonIBV9gU89MylGLLXlwhYq9ef4rrtk_bNrlBIkTPPi2sWLIkKMbQCJOS-6sdsPpqNOx2SzuI7g6PpaY5Z1y6JkzpA2EYewQG0gMsk4VWiBvHmdw3NzxMQCdrK3ErN0khXan5p9h-m0ZnBiyx_tpnwztTEOY7ZEpm64JmbzakIfGic_uLDc0FgonHImL5wvcefWIq7_3RWLIPbOdrcSvTCBYkaveLKLE9iHDHlTK0Skbp_LIgd02IFP07316g7DF085DGwMQ9X2iVJhDiVFwsdwVg20T4n80lzbh0ZQWg6kOT0DM6zzOfheis4-g8NVS0aZco8wcSKeZA0-wAMjCg0faPYCxFX49Tik9kyYE5ElN0BvrztWnJkB8aaNFGmiyeNfOD6GiwQ5HM1Vp60PZtGqGXExNcKd_5RcegjKZ1KBOzSpe4HeBEAyrLSaKTxvt0aUwAaa6KhD1roQv9FOOxfkNZ-v1K_taehMmJbKhbAdW8RwFvgskh7jHXGEQwVsZWUorAblfCDS8uegNU3rwE7VqQ4QYs-iiJWo57sTiiNBNeseGcDDOiPnqfXekloRyfx4AvR__Kk4EZsTF6b2txGU7PykZR55GHmEd_gYqFUWvAhNjNXQLrdzfAASOmW1R_HjyWi7CSUF1WRkVttcKdOmIPweLJMr32DvxtiOq-_dUPACStBG7Wgvi3TYIKOJqr3DjEF7aMCRs85ZLtbqxwRj54jT51aYPAPCKlYcxc7_yUyEzRgAXLsucXhitlx7o-XSx17iq4NcvpCuIAGdlINQkmoO9xnehj60KDnS0bGDJxzX03NHJl9_kdwt-xDAI6jGnpe085e0P0LpdXJjM_P5ZNm8Bl3QAB38VmwAuELJFCHa-ROGWaHWR4qJt-o8dLBx-tTfWKJFBetPBTWtunRynDU788oZ5H5vd0gu_B5Y_3DqR-SpZmXsZ5PwA25NOe7pmsrKuPKPQMsxN7I801sf_JW2gsBeykmpukOEJC6WqfH2324YTmq23TQI-_BCZs37ZpkR3BSVhuP4Ns7ig3PvilpDLA7I90t2I_Pe7GaO5K8gnunihrvqdFj4AuuFVqlzoaW7D3FpU8XQmAgtqynGqFCAyWrsjVR0VeHizmYn6lAr9uuVRO3g9-Q283AL9LvT1o6DrXoGrnzo67a6x727rsJLSR-fdh3OzmnunIkfsGT--ptUAP3nOV_kLzFZdotBxet8SpVPt9VNzLmoY2kTQMAt9V611Li1LRUkFdOxPMmtWnLdfZgc8eCvdVE_Y7QWOF8BHgTBmb9JPUgxw0feG9UjcY8GGiIBY3it_B9yDoLRQnOtIUduMdbIFClIqp8PsXknyfLNDcRX8HJ8XI4wpe_rdWbUEjMlzVUtYJlAj82sVXmirDUysS1ce_OI-nr98FhNQr71LO4NtnqxioRFDexLYW1YSsb87TvCgSrvuhaAqHcps7W25tOM8G4yYCBdLZVSaTwTij_KgrIBev1zJad5Pxb63OsFaYL49uzAYTYySJm5NZNAg9Afxf_oAqqoi3amCGX7S45DwQbpDr279Oc0NUERdwLhBFUjQETImQWkxdf27M9q9x9toh6j8kRaSoBjSgtkqKHCINOcm1_8NWZFMruUk4_VajP9ici3CCX61KWDbMpTLkzwtFj9BZiBx6hUOHtPoWroeBOPJBkY7RQpFR7yLQrgn6LIZRG6laWH-i5LumZepArj_w63GBUna0oVKMbluxF3iDHtdU_6Wy9N6ZQDva5ZcoNkQ_xA1XeURxBU_uodtXu1umIdcAfb3uazbsN-MIt_1lxSFXUzQamRPV0s_Cb_lj1X8VInUJoCEvDrX4LmSUjxuF2isutDJ31cuZQcVb4xcAZa0ZGaxAnkuiKN6dBNMnI5za8IBuKStDbKZISKpksrJXLDERfd-AfpaHYsk5S4fYwqxsoTX85OnFl7ogcOGYK9zXr47P1mvMV7_IKnDqo3sq76WPDOVkMmKIwYgf383FImIpUzKv5ZNlvnIipq4Sy1RqPD_RjcDMEK9gOKb9_8sGyj1BFgFwr3qo-vGeY2GlptkZzo0qm7NzZx43BnKDO9o7p95AZyQqjje55W8LXBo-PL1ZwBGKlgR1j0iHiOjHGXKOOodc-2m6sHj1Ow6qHE5ge_Dyu36tYIcvulE5Lt9JoCiC3kg8_VUOi1E0yFAksfy_EYCEULZiBIqHOCRk4UcpkUhmxW0fmaFaAZKaN2g30bmf8q-ZZ7iADGzW6pCGGlDa52YK2MJTOEcVGAy3ryot2XgFMGqv063162vG03FTKnNcuqQ6pxOk8dNRhblMPXISCjs4-6aW-JIIqp06ei-ImdXMylO2sLvkiLpBkoYDdIgKGXeYeHpAkqXLxffSsVwS-YLq5VjhsUm-0UoW2B2DacZNzTgzST0y-n3pR7wlg_4zfLoq2-GEkF2Kc6tNu0QaR3duYnC3HpVIjKVeuuS_8OgnhYVTGOphFyWwmqBTF89-D6cA6Ffw0xpMog2ww1hJhYxVvdQvOiDrFxmqZUdZj8mI1hvhaYUe46CSwcOs5ijhGsAlh18D2U6l9X8tGicFC7zxtq35wKWQvj4lQ4tDa8tNs5a7yUHWS-A-W8gqLNyT5qMN8qeG9mgJsjh5r6RdK-K882BdmI7WXbPyMI47bE_wJ6gLid3_SKL_GRIWvrU0dbYXkyImebtWJUoPXqHP4t_YLLM_0Pbf9dJXMnWdsfcxk9eAMwTceR7cap_KgufvjXDOXkXZQ-vXAwWN6ecW6Lc2oJoK6tpQI2KCvbbI-5d_oGo2PBhd99yFw4RsvhvWSM9CHtlakoQAurU0z9iJuLHXIuvGwYd9Od4-pOTWqbbDu1Nu0ClSuyFcLdFlcy1TN4yTVDxc2oAtn3WbnZLAdngc96WeV43SsqJBUIUCnbiOyOR_X4QWVrWIpwwySReoGsywFompejPwZ7jtLDjqzOP_AH22QgA8WEuLXN10xr-cw9mTheQ8YewBGLx4HWGrFZ2hcnTJFIQ-ipNWXG6voPDcGCITC-wLGj9iaFuWLG4exXIxT2ue9Hak6lyUIEab68AcJRkaGqp35qzcNQSFzqxjH0_xLSikG9iUe3sH8=",
  "id": "rs_0f3bcb0992814ecf016ab4657d47e487d08a9ad91474d7e05a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGWKQrc34WGXBoCv9nWerPhOOisPSlGZpQuDH4IRcsez0m2qun3J3gmY3ZUcVozyZcHWZ7BP1v6BVIUxwqtRAvN61BTsTIcDKfEMfieOTlQnG5DftO0W5m-3m_Y5NZP3mEH2JEcxQJ0JXFS30lfIEc62BjBpCV8tCBq8deJ5opTXDLMCpbup2lv14AMudDQdqT5zu1aRJTAKsE_k2P5_RJNynJZfneC87LbvPhECSBwzHJwddA1nTOXm_weudpzwqz9-hgctzqRMP_fmRz8v4hqxMiWCsOtdyQAWflt3AOMR36Izi3k7obVsXVAmmm6j686bljEL4Ay6SC9TcBaOPD60IMnnpGIHLSfxq0bb4rX_dWMVvrCx9I-oolwpN_ttQWkyZ_dn7neI3aYb75uPnCrR37If8B-uVaBOp-OKRRCImvGhIdeF5J2Zg0A05t7aEePa_BPFGN_-PVthqO9zibafIpNaIPswgl1EHc7i9MmVxRB7mXLKJ11fuRGN579_vTXFzwrkGVOyUPax72h5n8vM-i62CbTYRK4ti0hqXkD8hDt3KkbZ9u2mk6w3Gf0d5SDPVHqgqe94DelnGHiUVmr0NXkyuKZ35snmymQPrh7svvJa46Gq3WljfsAJ7q1VQXb1XD77v6om04RsxuIP3tHyCnx-9BYKtD6uj9kM3iC8n3b2thdyZTUGMzCqyETx8AeW81hO4Ys-ViFbanY0YFhBtI_OpCIO2GvE2aC3-4lcyFyDFp-jzObcEWIGjSzvkI58nhnjS0kOexQrx5_fQQx4BPMgKz0bpFid6o9-o7uvIl7iKfQZKECriNJYPGd2W_EeCIOseRQvtbH-0xkaB5HxYeHt0l4pZMNvFS8KPpdyd__oPUG7WccVn9DNAKWwsgnCfDaKLFpOeQgwsHem1RkpZrXdBQvvIqB-p9dSCKUj-_grAxYSQrA5UwmcBYsVh2rzbDyD3167EtrSaDe-k_3iK5O27BLi8rsq97recmRW5g3X9vZnsJTe-D8UBBgkE8-6cDI1X4L5q8VN5_XMKA51hPbC4rRBUBpB68VIDuC7bAUlmMbo80JMwF291kOopKLTC0hzBjbByLZA1qvLZzPl4JMKBGUFmfyCEhOaE53EzX_U3LcnVhB2uaeAi4jwS8qSh2Q1C7_7FI3a89Vjy0GMnR0X6on8mQF8_0ydfGfaAijJn5XOlgx-FC5IHiKfq-iX2XjkI1otol0XVT12XODA2KUQxburBpztnetfrHnBevtOVeQS8QXgMWRHW-c0DrKxOZe5v8oAT6NecG1x9j6HQQiLZfOH4YWG2Duds1IqS1R8yZwiOsLh-p7IgCF9ngpRvalK2nID4xRHF_MWllyCELIGYjlbD4sAge2b8BXERsn6qsdv2YbBlyfx_y4s-LOlm04T7wjf5Z_nw5oNDt3ZcMY9MZYwlsr1-0V9gV8U7HKZNlyFDr7xlFyMNAaafABn5-hSIa4ZGLw2EPM3tgFc0W-AGo_qTRxXp50rdmpvV3HMQGl3JN5IU8Ol7TCTvVyVjdVEyFG8FdTU6LDTK_dmuLUno7IiHdZ7O_qIg4tA2MOMVCl5hPUmeYPsQ2Lz5QOqzHvigiAbua_-e8ek53rrxKD5rvz6pxAGEUmBqWNhceL9nYFlFFSx0uF5ZNzPO6ETQOALiYbIUHoEu7heStypF71g8blv1A-GsJyglzF9cHpDB4ZPtZNGHOggV5sKvDD3qDMMN48o-73HHfk6HHeLRQ_WUapbClstu70rAmHnzK3E7a9FF0g4-iXe6qWlWiOSPtRdGSWZgNitGCh4h0fTMfqyg2UWg2IX_xVf-s105BE0NW84pY_AXx77oh6gMnMYZEBA0PyEePM3p3i2DL-3_m68BRK6O2smugJ3RduSIjhBT4S0WyHSkOSOVHTwbcibX5P7eaVRFij0QV-qinfPc1i81JXpIgfS4vZciPyjCNb0WRPAL_ze_bzqOdspfmrsC1KQ_PMD_Cus0sEpmioFc1tM7j0pNEnYT_lAJZ7YLuuZLUrd9Ivf4vOO83hDY2N1hKVQCNQwc7iGHHJsPahCM2TGVrZstLiwwi993DzQWF77PrWPUywaplwDvAOMkilsdx36pj2ojRwsTMDnhQv9wCwCKmCmwMjBc0uBaciFOzpRFHxB5nEEvmYba5XjREqKhJ4N0lhi_LTa-JSAuQ0r0ObchVMg3UfOY7e1rCpHuuSEIMRRdhw6CFU2rNzcLjdD92cE5YLj3ykUdLxd3wYhsy3-JE2hlaKcYyvq5Q46-L9fJG5JyJQl_ch2Uxgqs4NpveWh09HmwL5YNTYFrUpEhQ==",
  "id": "rs_0f3bcb0992814ecf016ab46586321887d080d131f8e4c3ac86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.317,\"left_y\":-0.258,\"left_z\":0.18,\"left_yaw\":-1.72},\"note\":\"The cap is still passing alongside the point, so I will pull it back slightly and refine the sideways and height alignment before trying again.\"}",
  "call_id": "call_ZlnQWnpBSSo70zb4gMTYyXSW",
  "id": "fc_0f3bcb0992814ecf016ab46589f8b487d08eb62016ada20256",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZlnQWnpBSSo70zb4gMTYyXSW",
  "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]: [-0.3729, 1.9778, 1.6047, -0.9554, 0.9157, 1.0981, 0.0555, 0.2295, 1.5692, 1.0447, -0.4641, -0.9165, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3386 left_y=-0.279 left_z=0.1487 left_yaw=-1.6818 left_pitch=-0.0676 left_roll=-0.1292 left_gripper=0.0555 right_x=0.3172 right_y=0.2217 right_z=0.157 right_yaw=1.422 right_pitch=0.0257 right_roll=-0.0435 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -13.094, 6.2564, 0.5934, 0.5592, -0.0904, 0.4567, -0.1299, -7.0496, 6.3385, 1.116, -0.4322, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8482dd7f8aa826758ba134612d02643c2b3d48275cfb4c548e6dabe9cdd028",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ff5060813584ef923cd6523337e7e08f69e1f2b65720a9d637f7ebd7f8cdb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b6b2e43bb310dc4bf721148c1f8258651ffd0ea222b205b0762c89c4ba3966",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 7.908 s

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

message 63 changed as sent

message 71 changed as sent

message 76 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3241, 1.7939, 1.3571, -0.7048, 0.9199, 0.9398, 0.0511, 0.2295, 1.5684, 1.0492, -0.4637, -0.9237, -0.9249, 0.058]\nstate[eef_state]: left_x=0.335 left_y=-0.257 left_z=0.1593 left_yaw=-1.5416 left_pitch=-0.0151 left_roll=-0.0818 left_gripper=0.0511 right_x=0.3175 right_y=0.2226 right_z=0.1597 right_yaw=1.4243 right_pitch=0.0335 right_roll=-0.0437 right_gripper=0.058\nstate[joint_eff]: [-0.3214, -8.4581, 9.4974, 0.862, 0.5495, -0.1197, 0.7448, -0.1299, -7.0632, 6.3932, 1.1355, -0.5348, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.9781, 1.6123, -0.9699, 0.9199, 1.1122, 0.0537, 0.2295, 1.5692, 1.0451, -0.4641, -0.9173, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3373 left_y=-0.2793 left_z=0.1507 left_yaw=-1.6917 left_pitch=-0.0646 left_roll=-0.1259 left_gripper=0.0537 right_x=0.3172 right_y=0.2218 right_z=0.1573 right_yaw=1.4224 right_pitch=0.0265 right_roll=-0.0436 right_gripper=0.058\nstate[joint_eff]: [0.1026, -13.0393, 5.7915, 0.6764, 0.5495, -0.0562, 0.6667, -0.253, -7.0222, 6.3795, 1.116, -0.442, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.9778, 1.6047, -0.9554, 0.9157, 1.0981, 0.0555, 0.2295, 1.5692, 1.0447, -0.4641, -0.9165, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3386 left_y=-0.279 left_z=0.1487 left_yaw=-1.6818 left_pitch=-0.0676 left_roll=-0.1292 left_gripper=0.0555 right_x=0.3172 right_y=0.2217 right_z=0.157 right_yaw=1.422 right_pitch=0.0257 right_roll=-0.0435 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -13.094, 6.2564, 0.5934, 0.5592, -0.0904, 0.4567, -0.1299, -7.0496, 6.3385, 1.116, -0.4322, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8482dd7f8aa826758ba134612d02643c2b3d48275cfb4c548e6dabe9cdd028",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ff5060813584ef923cd6523337e7e08f69e1f2b65720a9d637f7ebd7f8cdb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b6b2e43bb310dc4bf721148c1f8258651ffd0ea222b205b0762c89c4ba3966",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0f3bcb0992814ecf016ab4658c7d2087d08f58ddaf5a4633ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.245,\"left_z\":0.22,\"left_yaw\":-1.5,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The readback shows that the left arm did not follow the last small correction. I will raise and retract it into a less awkward pose rather than keep pressing the same stalled target.\"}",
  "call_id": "call_VU909pZ2knq06tJ20orvJrV8",
  "id": "fc_0f3bcb0992814ecf016ab4658f204487d09f6bbe652867e1a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VU909pZ2knq06tJ20orvJrV8",
  "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]: [-0.3729, 1.9778, 1.6047, -0.955, 0.9157, 1.0977, 0.0577, 0.2295, 1.5692, 1.0447, -0.4637, -0.9165, -0.9287, 0.058]\nstate[eef_state]: left_x=0.3387 left_y=-0.2791 left_z=0.1487 left_yaw=-1.6816 left_pitch=-0.0675 left_roll=-0.1291 left_gripper=0.0577 right_x=0.3173 right_y=0.2217 right_z=0.1571 right_yaw=1.4222 right_pitch=0.0259 right_roll=-0.0442 right_gripper=0.058\nstate[joint_eff]: [-0.1162, -13.094, 5.8872, 0.6276, 0.5836, -0.0708, 0.2222, -0.294, -7.0222, 6.4205, 1.1404, -0.398, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b5aaeeea02d3aa2177b4e7320e33db2a0dfb314782f73a5a798e6426108f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284e13b6e445ed902938949f701cd4ae54ce8da85595245834a72b7f3dc7907a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15268343dc48bcf94a1af73430954498d3220702bf40706dc06ad3b318d825f4",
      "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 · 11.07 s

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

message 67 changed as sent

message 76 changed as sent

message 80 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3626, 1.9545, 1.5887, -0.8948, 0.9249, 1.0462, 0.0524, 0.2295, 1.5692, 1.0454, -0.4641, -0.9169, -0.9249, 0.058]\nstate[eef_state]: left_x=0.3466 left_y=-0.2785 left_z=0.1573 left_yaw=-1.6426 left_pitch=-0.0436 left_roll=-0.1083 left_gripper=0.0524 right_x=0.3174 right_y=0.2218 right_z=0.1573 right_yaw=1.4204 right_pitch=0.0264 right_roll=-0.0412 right_gripper=0.058\nstate[joint_eff]: [-0.6769, -11.2068, 7.7744, 0.3883, 0.7839, 0.1685, 0.6471, -0.2256, -7.0632, 6.653, 1.0818, -0.4713, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.9778, 1.6047, -0.9554, 0.9157, 1.0981, 0.0555, 0.2295, 1.5692, 1.0447, -0.4641, -0.9165, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3386 left_y=-0.279 left_z=0.1487 left_yaw=-1.6818 left_pitch=-0.0676 left_roll=-0.1292 left_gripper=0.0555 right_x=0.3172 right_y=0.2217 right_z=0.157 right_yaw=1.422 right_pitch=0.0257 right_roll=-0.0435 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -13.094, 6.2564, 0.5934, 0.5592, -0.0904, 0.4567, -0.1299, -7.0496, 6.3385, 1.116, -0.4322, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.9778, 1.6047, -0.955, 0.9157, 1.0977, 0.0577, 0.2295, 1.5692, 1.0447, -0.4637, -0.9165, -0.9287, 0.058]\nstate[eef_state]: left_x=0.3387 left_y=-0.2791 left_z=0.1487 left_yaw=-1.6816 left_pitch=-0.0675 left_roll=-0.1291 left_gripper=0.0577 right_x=0.3173 right_y=0.2217 right_z=0.1571 right_yaw=1.4222 right_pitch=0.0259 right_roll=-0.0442 right_gripper=0.058\nstate[joint_eff]: [-0.1162, -13.094, 5.8872, 0.6276, 0.5836, -0.0708, 0.2222, -0.294, -7.0222, 6.4205, 1.1404, -0.398, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b5aaeeea02d3aa2177b4e7320e33db2a0dfb314782f73a5a798e6426108f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284e13b6e445ed902938949f701cd4ae54ce8da85595245834a72b7f3dc7907a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15268343dc48bcf94a1af73430954498d3220702bf40706dc06ad3b318d825f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f3bcb0992814ecf016ab46592705487d09033d6f7e5071e03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.329,\"right_y\":0.205,\"right_z\":0.18,\"right_yaw\":1.55},\"note\":\"The left arm remains stationary, so I will use the responsive right arm for the fine alignment instead. I will withdraw the pen slightly and move its point toward the cap's centerline.\"}",
  "call_id": "call_7K3379LxkquTREEoPyl02S0X",
  "id": "fc_0f3bcb0992814ecf016ab46597e6dc87d0a868703727f28aaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7K3379LxkquTREEoPyl02S0X",
  "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]: [-0.3584, 1.9728, 1.5787, -0.9405, 0.9546, 1.0985, 0.0593, 0.1951, 1.6634, 1.2129, -0.6624, -0.9493, -1.071, 0.0616]\nstate[eef_state]: left_x=0.3372 left_y=-0.2764 left_z=0.1491 left_yaw=-1.6775 left_pitch=-0.0325 left_roll=-0.1444 left_gripper=0.0593 right_x=0.332 right_y=0.2157 right_z=0.1672 right_yaw=1.4776 right_pitch=0.0095 right_roll=-0.0389 right_gripper=0.0616\nstate[joint_eff]: [0.6769, -10.9197, 5.5316, 0.9499, 0.7692, -0.0855, 0.149, -1.6889, -8.5949, 6.4068, 0.5153, -0.8425, -0.1392, 0.735]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359c3ecaa4ed17a2fb56afb0ce77ebb2bb3c33f5c8ed95aab79ac96d7d06d008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e15c4a1f35848c3e0f3a57fe163fe20583a55e9ac055c027565f7ce20e833a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad4497d4d281b983d4da9fd5659c3eee0c7fdbcb2c742fae603d8c79ebb157e",
      "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 · 7.09 s

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

message 71 changed as sent

message 80 changed as sent

message 84 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3737, 1.9781, 1.6123, -0.9699, 0.9199, 1.1122, 0.0537, 0.2295, 1.5692, 1.0451, -0.4641, -0.9173, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3373 left_y=-0.2793 left_z=0.1507 left_yaw=-1.6917 left_pitch=-0.0646 left_roll=-0.1259 left_gripper=0.0537 right_x=0.3172 right_y=0.2218 right_z=0.1573 right_yaw=1.4224 right_pitch=0.0265 right_roll=-0.0436 right_gripper=0.058\nstate[joint_eff]: [0.1026, -13.0393, 5.7915, 0.6764, 0.5495, -0.0562, 0.6667, -0.253, -7.0222, 6.3795, 1.116, -0.442, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.9778, 1.6047, -0.955, 0.9157, 1.0977, 0.0577, 0.2295, 1.5692, 1.0447, -0.4637, -0.9165, -0.9287, 0.058]\nstate[eef_state]: left_x=0.3387 left_y=-0.2791 left_z=0.1487 left_yaw=-1.6816 left_pitch=-0.0675 left_roll=-0.1291 left_gripper=0.0577 right_x=0.3173 right_y=0.2217 right_z=0.1571 right_yaw=1.4222 right_pitch=0.0259 right_roll=-0.0442 right_gripper=0.058\nstate[joint_eff]: [-0.1162, -13.094, 5.8872, 0.6276, 0.5836, -0.0708, 0.2222, -0.294, -7.0222, 6.4205, 1.1404, -0.398, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3584, 1.9728, 1.5787, -0.9405, 0.9546, 1.0985, 0.0593, 0.1951, 1.6634, 1.2129, -0.6624, -0.9493, -1.071, 0.0616]\nstate[eef_state]: left_x=0.3372 left_y=-0.2764 left_z=0.1491 left_yaw=-1.6775 left_pitch=-0.0325 left_roll=-0.1444 left_gripper=0.0593 right_x=0.332 right_y=0.2157 right_z=0.1672 right_yaw=1.4776 right_pitch=0.0095 right_roll=-0.0389 right_gripper=0.0616\nstate[joint_eff]: [0.6769, -10.9197, 5.5316, 0.9499, 0.7692, -0.0855, 0.149, -1.6889, -8.5949, 6.4068, 0.5153, -0.8425, -0.1392, 0.735]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359c3ecaa4ed17a2fb56afb0ce77ebb2bb3c33f5c8ed95aab79ac96d7d06d008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e15c4a1f35848c3e0f3a57fe163fe20583a55e9ac055c027565f7ce20e833a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad4497d4d281b983d4da9fd5659c3eee0c7fdbcb2c742fae603d8c79ebb157e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGWk_Repw_ci2pe3O2Fifoa9JesUq_GYYbs_zt6a5BkKZibZCeS44h6RGl9-kklybSpnXQ_c9AkFhls25fIYKsBmdZgwf2EyGSfJ-rJzhxrBIqg0OuKMoH4vYru2bGqL4DOMm_Xf0BFbutDp8egOBtyHY-8YLYptCZuFTV9trIJRqnQVr-QMCCQyrBbqKT1g-c0CYb2nT7zbTHXW3Zdmxp2_Ge8vPX2Ae_4hjI-ej7OHntQJRY_0gBH47uW6ncSAkr43UzkHIrHs-yJjJdabq4Uu7e2Wvtg0zLhSQWqIjBP3zRsnhPFuwvOjVDsuF4DaurdR4V6xkae-ZSSeJ5T6A7lJMophao2lW7MN0SMTZY3WcpbqdQ0wYm29zyikLFbmllKcEbgct5Z05qfXdz1gB2lo087gNoGZFE8INHAN6XFgW5lOIv8_3oMmZSlrqipDWRGy07ie9yBcOgJT2c_AGs0d9TmlKWRtXgoZFjFh4bLfuQcoKYYINrhWx5DDxvDODAFcOQEwMX3ifaFNRBjNnnn2yC5m6zJ2t2dOQrQDxUrzgG3d4UAvxMcx6YzrBGhFmWb1oSZnOesxdYvvCvhtNvgzoNnhRtusUEVvm05OWujzkZQ6zJurk31ylvhl9pFcMo4VnhmQ74DT7i9zuQ5I0aFkFgkzqZnEM4sUFPjwF68tUVKamSef9jTKt3lor2R1n5jTZKw-2Um2-VZ_u1FJFQ-LdNO-mjHOnnWpYfrhHh1PHoVf2WbNJjqnAN7lObnqyoWi8scgFJWaqeDUKWtUWmmr_HRg5ghwt5V7cIvoPm1Wy68fwNmw3tMQ_vavpUGvPZNpeNYEhZSnxjEpgQw6m4sEDfXIc_6AH4owo4w0gbDXPkF6Lc634Sj4EMNG_K6o4on7oSeF4q1Q6QASkxgReDkBldAhRxD3OVatk25Ckuqz1qRp3Q2X0sPpg6wlOjSimzfkdZve5BsYYabyQAMG69HkZKMlhgofahMBFWFp3F6fNnClat2vqiW7qcDS0jRUtNE5lhCLTxf0SzCL2jm4YAMDVVPqlntzUEMaH-YeL4KzCcsxIe-yoADzj7wj7g0l7f74axho2eSmrJgj9n7bAEaDv90E9p5b6q5XzhzdE_rITn4tG4leKxdSYvPIgB_5PUKIIsec_PH_tBChyeeZDZLeVkb98ItKT2Et6MynzBS5LPsJ7P4_5wpo1BkhvhYu_hZQzu5bQbFcNMuQPVIUINuVGzmuZratTFSePKMckBatooojIYFJeA1Jb2dtIAYIXYvhpdfEflQQQm8DZCuxhPsa7JB8YdP2sRF82umDMTc-5HT3qVHU669DTz7ddKEX5qP7hK7rNKKU4X2eo3Wm8-MWvCsx11kSe3AUfeWSWAKeUHJygSZDIF_W9J9UnIyfggvdi4_nhhRztEQ9VpdcQbaOn424uQE7XbS8yIZlXtQEgkcXh0h2secIUNlc0Bwd65qAur2ng0MDzkcD0mhOB08IsbMLh2Wbrk7vtbaDYxw6l-qkEb2sb1K0tdPDryLs4AREYxG3BnHqz067vVt0EU5PzYSItdEbDnmLAOpZVHqqOqTTK6NwWE4QYFvUQn1WrZIVbCGeJYbpgp7EIMhx44rvdyDmeHVs4FrtZKqFY5lvo1dgkl8FRaLg1Wyakf53gDpyysMN8v7lrAoitiNlJu-CqV3g5e--GITsbNJH-U0-KT9nL4DjLaruqoGj4c4t6acSJFgNry6PkfEVRbT1z5pTtiq3OjCX-Wp_5ornGZ6U9x73Yn9Ko77M592L3BKMuXUD_iHMy80I4voFqLaYKtAsjYoQfTuP_CurgoJWVCKdizm11sAT7bCm0J-kqXw-YRifl1KdE7s0PeGp6G0d3COSvtu7QqFWX0lnqXjf1cJDdOULJavg0MmDLkfHbQj2W1xeU3nxzawAqhqjEKMn_qDeUtpBcSUv6j7aCEsgrK8nUl2PWlYbggrt1hWJhhWDS8Dm4CkdGVy5SVuXPOEuJaDJ7tOWagtngZxVSGycLRBkTxo5-pMABgpVxxgzyBjOaRbjABb6PLt0G2PAFlDDvYx3KVDF3rO-GUnOuVWQCO53KfjQNQNKUD33stVa4Pbbd3rrxscxfhR92HuT09CMxmgrq-qJNPfOa9FIgAXo4kqy7OjNo9wId6EA-IQjAsbDD9OgoqvWYPjiXUUXJoqF4njXTkueoeFYm27O7htbOzgneX53-MBIc_0W8KD1JxFhbquEVqA2c_qmceSba3_uHeWR1nrGehfUvVlClXOcGAvcPAJ2Jo5rqIc36DEazxVfS0FM_Uz--GQtBvdf8oXeW4zpPr8zBMmq890ofiqa_7SxoQQ31rpskvuzyVDSDYM5ZnPO7YSFXN8ga-9mygCOVJdbi8w2S1R06RPSq0MuKtxphZPyFKLi3Pzd3gjXM0cbp7mwTNbS9fyOn_jgQ-OXcNKV2ZvYxIuS5b6rea4uOn6OPiVJ3JSsOMhCXNZsqmmNPOLbT17sLDknrQGZASXhO8LoqUh1Pkr8Kny6dWJC6Yre9mm_XehHBKFtaR0mVkIy7joqsgFWCxqWLX964tSl5dNIHekom7cO0S-BGZ0OR2LMb36kc_pBDICJPxWjVcXdeAljka8Pry0xUiWBkLaj3TChXjeczIEQ_NxrY_gjYJHMl0lt8xjVSC9bC1LonjtXiZL_H-l2Wqq_FT__5l7S11z2LSzhujT-VfmziUMyMMjNgyzP6wgzXOdTZHGM4JUWZKyhE0BkTJV4PajP-Edl4vhl2kPZjCyN_GF9bT_N7xJPC9IZojsL31HY4gEOyAjbSUn16-Vg66uRA1dgs7JQN3Hpd0JxZf4oxgd6CbrJToXO_eN6GSJiRye1SmHYFLoniibpOkguwShewNXqc7E3a6PYn7ywGIAo5SuS_N6CE-21h0yk17Od9X9igqoxKyAIgqh9OXlnWZn_45H6g8Sg8I9SZLFdW2V-wYikrcNUlrSjwOfmW1mvDpV_gJL4SuLo_ct6f30yNgLpIDHSf_SWtQVheq9P-VJm8Fjd4TZnDSxsMH-Wzqz8_xtnKaodxInsSyYQp2Rlb1Vz0xZhVFguROkPfTQJswyA0kpJL0p1yQtcbKzBqlTJP67nqCtuovFZxDGELBChSTparOinornl8BdK87EOFuOeyAxNUbfcl_alDnS_gTD7pnx9yoqOnMAm76-oKyo9VoowkSewL0n1SkNiIVg8cYXS3DgMJI2Ug9iZnwuTU3FAd2zAzgErdLDU_MAfldHDRTQgUlarTlf2qbU8rkCujzB5AAEIvd_-P1qVgu7uhgHh9qXZUctZLz4o1-UIOe9cDGEZA9CG1TCpVwyaDHeqHBoYxP-htqNmzmGLGIxcQxDgHfxTdUyaZMC2ojMOUU0v_F7wiCjE8pquATeVIm0lwX0ZxuOVFxli-Dxe55MibltR1-kWVudabOhkbFB6BWkFy-bLspA6jslnLM0jwD40w-QJwUpsKnCgtjkR1atQS1yq9MaWUcAF1ODgkMPWvS3N1GPzyJdpLUmeW-0WKjVPssGPr4Y_CcsCzOIEwgn1lZPNlBcc3KOOvZTaDmCo2thDLxo9cOjiDgW-SEHk-g40UDCrd0N3kfrob7cGTmKN4Te3K-pl9J75gBf6pYgXvXbrD7zU_Xrgn2ciueEszA==",
  "id": "rs_0f3bcb0992814ecf016ab4659aa34487d0b5156baa583a3433",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.329,\"right_y\":0.223,\"right_z\":0.18},\"note\":\"The pen and cap now appear close to a common line. I will make a short, gentle forward insertion with the pen and check the result rather than force it.\"}",
  "call_id": "call_FWi3zZNzmDoW7Off97ubB9l0",
  "id": "fc_0f3bcb0992814ecf016ab465a2c43c87d09f256df84318c690",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FWi3zZNzmDoW7Off97ubB9l0",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3485, 1.9762, 1.5654, -0.9234, 0.984, 1.0981, 0.0598, 0.152, 1.7092, 1.3041, -0.8509, -0.9848, -1.2465, 0.058]\nstate[eef_state]: left_x=0.3382 left_y=-0.2755 left_z=0.1487 left_yaw=-1.6744 left_pitch=-0.0048 left_roll=-0.1514 left_gripper=0.0598 right_x=0.3301 right_y=0.2031 right_z=0.1727 right_yaw=1.54 right_pitch=0.0053 right_roll=-0.0415 right_gripper=0.058\nstate[joint_eff]: [-0.294, -11.2342, 5.9829, 0.8083, 0.7302, -0.0464, 0.2027, -0.1573, -8.3214, 7.2274, 0.6813, -0.7106, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5da8fba18fec2d24a7f41888613eeb428583c10c1db73e8529cb87da176a64d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49279536d5e3079af93c157fac0af8d59a1b81c6ca525cfc19f910b17093b7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f04cd5cf6da21f0ed8be8d1c69942d0045e5c19d23a07c24c74f2a8f5525d68",
      "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 · 9.718 s

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

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.9778, 1.6047, -0.9554, 0.9157, 1.0981, 0.0555, 0.2295, 1.5692, 1.0447, -0.4641, -0.9165, -0.9283, 0.058]\nstate[eef_state]: left_x=0.3386 left_y=-0.279 left_z=0.1487 left_yaw=-1.6818 left_pitch=-0.0676 left_roll=-0.1292 left_gripper=0.0555 right_x=0.3172 right_y=0.2217 right_z=0.157 right_yaw=1.422 right_pitch=0.0257 right_roll=-0.0435 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -13.094, 6.2564, 0.5934, 0.5592, -0.0904, 0.4567, -0.1299, -7.0496, 6.3385, 1.116, -0.4322, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3584, 1.9728, 1.5787, -0.9405, 0.9546, 1.0985, 0.0593, 0.1951, 1.6634, 1.2129, -0.6624, -0.9493, -1.071, 0.0616]\nstate[eef_state]: left_x=0.3372 left_y=-0.2764 left_z=0.1491 left_yaw=-1.6775 left_pitch=-0.0325 left_roll=-0.1444 left_gripper=0.0593 right_x=0.332 right_y=0.2157 right_z=0.1672 right_yaw=1.4776 right_pitch=0.0095 right_roll=-0.0389 right_gripper=0.0616\nstate[joint_eff]: [0.6769, -10.9197, 5.5316, 0.9499, 0.7692, -0.0855, 0.149, -1.6889, -8.5949, 6.4068, 0.5153, -0.8425, -0.1392, 0.735]\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 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3485, 1.9762, 1.5654, -0.9234, 0.984, 1.0981, 0.0598, 0.152, 1.7092, 1.3041, -0.8509, -0.9848, -1.2465, 0.058]\nstate[eef_state]: left_x=0.3382 left_y=-0.2755 left_z=0.1487 left_yaw=-1.6744 left_pitch=-0.0048 left_roll=-0.1514 left_gripper=0.0598 right_x=0.3301 right_y=0.2031 right_z=0.1727 right_yaw=1.54 right_pitch=0.0053 right_roll=-0.0415 right_gripper=0.058\nstate[joint_eff]: [-0.294, -11.2342, 5.9829, 0.8083, 0.7302, -0.0464, 0.2027, -0.1573, -8.3214, 7.2274, 0.6813, -0.7106, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5da8fba18fec2d24a7f41888613eeb428583c10c1db73e8529cb87da176a64d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49279536d5e3079af93c157fac0af8d59a1b81c6ca525cfc19f910b17093b7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f04cd5cf6da21f0ed8be8d1c69942d0045e5c19d23a07c24c74f2a8f5525d68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f3bcb0992814ecf016ab465a62b0087d0a357b01bf393e2b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.245,\"right_z\":0.175},\"note\":\"The clearer left wrist view shows the pen point is still short of the cap, not seated yet. I will advance another small distance while keeping the grippers separated.\"}",
  "call_id": "call_RAGORcTQwbUe8VyZrDvKrIcQ",
  "id": "fc_0f3bcb0992814ecf016ab465aa388087d0ac21e7c1cccdaac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RAGORcTQwbUe8VyZrDvKrIcQ",
  "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]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9459, 1.0985, 0.0613, 0.1818, 1.6955, 1.2716, -0.7788, -0.9466, -1.1717, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6712 left_pitch=-0.0429 left_roll=-0.1504 left_gripper=0.0613 right_x=0.3306 right_y=0.2102 right_z=0.1663 right_yaw=1.5169 right_pitch=-0.0176 right_roll=-0.0381 right_gripper=0.058\nstate[joint_eff]: [-0.3624, -10.6598, 6.8991, 0.5495, 0.5055, -0.0513, 0.1441, -0.1573, -7.2547, 8.2667, 0.7497, -0.7106, -0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6028c23e22aca35f556a794857c0099fd1332a6194db13e1dc47122d980cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f638f503f0a0123aed3cdb693ae14248ee50d253c908beee3fac735c4acd44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5803694a2fc7cbda3f427d6441eb93916f4ee2e9ba1dd17f8916678568157b85",
      "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 · 10.29 s

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

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3729, 1.9778, 1.6047, -0.955, 0.9157, 1.0977, 0.0577, 0.2295, 1.5692, 1.0447, -0.4637, -0.9165, -0.9287, 0.058]\nstate[eef_state]: left_x=0.3387 left_y=-0.2791 left_z=0.1487 left_yaw=-1.6816 left_pitch=-0.0675 left_roll=-0.1291 left_gripper=0.0577 right_x=0.3173 right_y=0.2217 right_z=0.1571 right_yaw=1.4222 right_pitch=0.0259 right_roll=-0.0442 right_gripper=0.058\nstate[joint_eff]: [-0.1162, -13.094, 5.8872, 0.6276, 0.5836, -0.0708, 0.2222, -0.294, -7.0222, 6.4205, 1.1404, -0.398, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3485, 1.9762, 1.5654, -0.9234, 0.984, 1.0981, 0.0598, 0.152, 1.7092, 1.3041, -0.8509, -0.9848, -1.2465, 0.058]\nstate[eef_state]: left_x=0.3382 left_y=-0.2755 left_z=0.1487 left_yaw=-1.6744 left_pitch=-0.0048 left_roll=-0.1514 left_gripper=0.0598 right_x=0.3301 right_y=0.2031 right_z=0.1727 right_yaw=1.54 right_pitch=0.0053 right_roll=-0.0415 right_gripper=0.058\nstate[joint_eff]: [-0.294, -11.2342, 5.9829, 0.8083, 0.7302, -0.0464, 0.2027, -0.1573, -8.3214, 7.2274, 0.6813, -0.7106, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9459, 1.0985, 0.0613, 0.1818, 1.6955, 1.2716, -0.7788, -0.9466, -1.1717, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6712 left_pitch=-0.0429 left_roll=-0.1504 left_gripper=0.0613 right_x=0.3306 right_y=0.2102 right_z=0.1663 right_yaw=1.5169 right_pitch=-0.0176 right_roll=-0.0381 right_gripper=0.058\nstate[joint_eff]: [-0.3624, -10.6598, 6.8991, 0.5495, 0.5055, -0.0513, 0.1441, -0.1573, -7.2547, 8.2667, 0.7497, -0.7106, -0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6028c23e22aca35f556a794857c0099fd1332a6194db13e1dc47122d980cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f638f503f0a0123aed3cdb693ae14248ee50d253c908beee3fac735c4acd44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5803694a2fc7cbda3f427d6441eb93916f4ee2e9ba1dd17f8916678568157b85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGW1Q0UIQ5lkCgt-DE4o6Lxaa8rVRx0vOKiW2FLJWT7BfkxGYtqBkbvznkjiCDY-NYM3woI5eYnXLmTLVN8ZgNv_4hgFrt0baV03P1Sbn3u7bvCWA7DgB1jMknf2wkmwDHwhag5_mga17epuQPq0Yi-4KhLPlhsTw20l-ny-AZnmeRxiWQzRYpSV8sxUrSyR9cstndeoPuCW4bLRHoqeWpQ_awaTdg0VTltN8_UF2dU0C1uQ6b9fbnZQDQvEcCd6I0uKpnwnPOkNiiD_Mn-0-Psz8oyq7NvWE0Hst_X9vjvFqJQ0aANIHkxcEilGUS_vQpE77_Ylv-hKqJzSu0QuAstwAwNCsEAJ02KQ2h5KqwBpDU_w7jBWsuuypXQ10ouVeqnbRG8w_maKTJqfaBe4tWGz88d5FNST9GDUATIsceMLYaBYC9RVK_uDy9cfRzL6erspXvun3LyaHyz0ZuJK92Lq1k58bTZKHhiacgoVYiWtxx53GobkxQ11g6OhuPv-pMSajwIaeESLvD4go9qn8KCi9kDODo37drN9mr_a4Qqbe5Vb2H41Z7kqJs5Re4aHw2Ec9_v-LuXzifsu9IX6z-lRpwgg9p8R7XKS2weS4wlaeNmKFbdnVDTmE_sIawgXmDZpplBvI7h0uPiIeRqFiR6EBOr2piE2nkn45V9rcrk7p5O9gJlfM-sXOtE6HFfBPsTgUFuiJtVTaYoyPvtvekZIx9sPIMkrvS06Vsb33CmJVkvP9ZyUQiYN5d7CjwUGdjdsMJRY07pv1MxXx8ht6H1wpdDxko57ZjdVxjreEx2oqRUyyCIRGfbXRbT9BvgbjcJBTRGagZpFVqoeygSaHU5UUcpueLuwD2wF9AsCUli7vcRjhUjJMoSQqjqev6O_1Js1smcA049oR5GVQDZR5GlCeiMDnmbAxW3aE6KsYvOh48OevqlnSgFq244EM0Y9D8sev8ptPCiSYiwtSrxwzlPwRK00OCXALNA45NR-fuj-_bthIf6VxfVaMuhaQWDgGHzqwcCgg_EjhexiuUF1kfgJtmUqD4hsJx-Z0fbbprdFPfNNiCuxv7TzVn8jVHWw2uiJZJzxKIl8lUIGnJSwYRTQepGtNHiBTCMw1-EgPx4xF3ZNw0_ZKHxTXX0Qo0Gz1J1T_9H2kNS3zzvg76XJnzwl5czEGJWxjtvj06WjD2pbDlcFQd739VPx0Ilkx-yRQlLN5zfX9kbN96wH2Q6407gWwOUXJA4ipcIU0jjD2J3T5xp7l_G1j4Y30irc55XUnprqxe8j-wnNiyWPqhgQEEtlyktKkZ53eaR32h1tWxpTOx2O_Gp8brTSKldDqPoUMWjn-B7lyFrWXnNCFW9fz5SFsnyf-HlXz-6ExcxzjoSPT0Xg2FA91fNXl6931j5jUIT2BUc1LbL7P2AQOZVpxyiLnLJhWy_fSOK0GwDUMyKhapihTU4jpns1SB1NePRH_ICKWQbTirxr30ep_BTwynQr6gJBq3uuFkb8MbNnP831zw08_XlQ-IomVKQNYgYdyslmlUr5wx_jWOm6ool2XB8s2L2UN9qTzB7RoAaFklTjwC9ApV64xcWSsari3fRXJuWreNcLAYXyTEt_sRjuZOGYqj3z0d0YhdDdu0rd3FkS2WeFgeh4yX0bqhYELNrdA06Zl-T2lbvf6WCE-rwtVxcrdOn1OJV2HUfk9fbhyqSh3Mua3yVGngsAm-_EeVGE2WraLutN4rATH4AWHjDzCoSPnL5wrt0md6MmFmgKeG6T75yUDG36QOvfKpGwqWCuDh27EnLplCib8tFTqusm2EE7Mv0D1r1LAhwCkUnEcpRt_b88rUDy0BHHf1iQxnh-4QWSyD5akpkWM_SyyQDU5g7VKNwrg5kSKT-ZNYDa3fvIFN04FJMoidNfF3EVd7CMRjTu9tMWC_yacp0ytO8fKdDOFR4vSyxg3hb37U8KfMW4thzoSw99NpEcv8T98vTu2FO5Bqt4x6qiEjsJgAnyWs5_KDak_qnz2XCBJnJkAd3FzFNlBp2IpvqGq8JHmEylkHesm9JCZmduOZyh2r31zd_ullKcn8otOySCFEZ8uXbXNJ6JrbwkuTj9KlTvheVxKE1JvzWmAmYjyL2cmMoHI4kk901XGxt8qdvW7h1Px-fHqYqryII1p5WH1zpO296cK2InWICUjEC4f6bmYh2qSeieLRd9pbiip0ANBl3TwILY1K_IJfeTQniHq9mX_zVDqeLp5FmnuLjpJPSQRvfVg2UzG5OhY6ibtFHsbO-o9Omcyj2CCmgCX3BWG8SBRbOpTChtLkxGg2P2vdxB0MmyIR_6XCD7V4p71_vm3NkQsGYTPZSaLhMvonQi4l_i1mv0aP8nrSvI7SNXP5b5vH0RRn7dpVKjtZE1PyFHe5QynRsoTQyOgq6NjKCcV7sAA-nGve94_ELXIy_6aqy8scnGI874SuUpy2EhgAVO5erpGqCFA7Mo28Y3eU9OmlCHWRdqQb0FiLdH0tx4VWRJG63oD8Dg7_KQjEtc6OWcPd78slCO_6mLnHSzUVGHUiPpallreRbovkqjZod3KcCZzl0T_D3HYibUoCLOHdVI8xWIXjYx2k6_bNCwHo9R_oKHxacIDBBos558fBmV05wx9PL_5KFCGjds7e4pSo47xp07komx5kXxVMUkNvN1dygcI7fETXFJMNuZQ7wY0FW-jGoZZD0igfkb34Wi2GOOmeo5r76t5vywduPJvWp7pKl9itZdhzF3p1ccK1ny8Wc10wlN_-K_DibuvZfdpKQXW8f0FmJYBYWIe2GED1t4pgU_1sOJ_pHh212nvcLvCmwEt011LL7kDxA8mon5KPlFQyOxuDMfvPu0XH8sqkamhcGHOA4FV4Y6PoMnLS97rfDzZQPEPoH6SE8mAckMnYFkDpYbi8WvjkOMXvol9bWvIfcZWK6qoIQEgtbr640IZV2vombAdyScIetgp32ssQc61zhF_X5FpvHQg3ZT4u7pa1waxt5Fl3pW-ofWfSFBi9Ln748-RACtK2We8njHT3e5s0UyCVnezrnVeucYrB0VW7B7htoOib-wwiK0SVm77oS9RQ2c5dtv5RIi84Bd4XfmdoGy_2YgTzvURL0lCnaGZ53EJdVJrtZkJs1P2epHw3-VndpzrgjP3zd5VehVucEJQwYLnNzX59TMSaInzgnmO1nZqZtblMLq4SFZi3LjW1BH0-LAna7rJE9lmIRvo5K1Yt_jT2rcn0YXGz-Ygh-m8pBXCEiq7BHRrt_BeRVQ2rBdqodaFxcf26yBXCthqUTJERiaSt7L3Dy4cnSiqzxTUhAJMVGxa76k",
  "id": "rs_0f3bcb0992814ecf016ab465ad0ca887d0b4fcacd8a5be3cdc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.331,\"right_y\":0.225,\"right_z\":0.167,\"right_yaw\":1.517,\"right_pitch\":-0.018,\"right_roll\":-0.038},\"note\":\"The right arm also stopped short of its requested position. I will preserve its measured orientation and ask for only a small straight advance, which should avoid the awkward pose change.\"}",
  "call_id": "call_FXbMOntABy4YpwXIXK9Ciceh",
  "id": "fc_0f3bcb0992814ecf016ab465b34a4487d0aff03e631f2523fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FXbMOntABy4YpwXIXK9Ciceh",
  "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]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9463, 1.0981, 0.0628, 0.1829, 1.6955, 1.2755, -0.8009, -0.9466, -1.1873, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6711 left_pitch=-0.0426 left_roll=-0.1508 left_gripper=0.0628 right_x=0.3276 right_y=0.21 right_z=0.1662 right_yaw=1.5267 right_pitch=-0.022 right_roll=-0.0334 right_gripper=0.058\nstate[joint_eff]: [-0.4718, -10.5778, 7.1453, 0.5788, 0.5397, -0.0611, 0.1441, -0.1436, -7.2547, 7.9795, 0.8181, -0.7888, -0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2449e5b8afeb0f59f6c9335326350e30c156e0b0e77cefb618e73ac9f7af062b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a41d3f24fa48004f3a52c0b653855b70e6724839a2646aeca24ed73a1fa48c39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74fd2691f5c92c79c7d84c51bff1b4fb2c8343de335f366077af3075a55bb39",
      "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 · 9.51 s

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

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3584, 1.9728, 1.5787, -0.9405, 0.9546, 1.0985, 0.0593, 0.1951, 1.6634, 1.2129, -0.6624, -0.9493, -1.071, 0.0616]\nstate[eef_state]: left_x=0.3372 left_y=-0.2764 left_z=0.1491 left_yaw=-1.6775 left_pitch=-0.0325 left_roll=-0.1444 left_gripper=0.0593 right_x=0.332 right_y=0.2157 right_z=0.1672 right_yaw=1.4776 right_pitch=0.0095 right_roll=-0.0389 right_gripper=0.0616\nstate[joint_eff]: [0.6769, -10.9197, 5.5316, 0.9499, 0.7692, -0.0855, 0.149, -1.6889, -8.5949, 6.4068, 0.5153, -0.8425, -0.1392, 0.735]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9459, 1.0985, 0.0613, 0.1818, 1.6955, 1.2716, -0.7788, -0.9466, -1.1717, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6712 left_pitch=-0.0429 left_roll=-0.1504 left_gripper=0.0613 right_x=0.3306 right_y=0.2102 right_z=0.1663 right_yaw=1.5169 right_pitch=-0.0176 right_roll=-0.0381 right_gripper=0.058\nstate[joint_eff]: [-0.3624, -10.6598, 6.8991, 0.5495, 0.5055, -0.0513, 0.1441, -0.1573, -7.2547, 8.2667, 0.7497, -0.7106, -0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9463, 1.0981, 0.0628, 0.1829, 1.6955, 1.2755, -0.8009, -0.9466, -1.1873, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6711 left_pitch=-0.0426 left_roll=-0.1508 left_gripper=0.0628 right_x=0.3276 right_y=0.21 right_z=0.1662 right_yaw=1.5267 right_pitch=-0.022 right_roll=-0.0334 right_gripper=0.058\nstate[joint_eff]: [-0.4718, -10.5778, 7.1453, 0.5788, 0.5397, -0.0611, 0.1441, -0.1436, -7.2547, 7.9795, 0.8181, -0.7888, -0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2449e5b8afeb0f59f6c9335326350e30c156e0b0e77cefb618e73ac9f7af062b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a41d3f24fa48004f3a52c0b653855b70e6724839a2646aeca24ed73a1fa48c39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74fd2691f5c92c79c7d84c51bff1b4fb2c8343de335f366077af3075a55bb39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGW_ouC9-XFNZ3RSv17TaO0Dr8MTB2jKqqmnC2ErIRZNH7hXtINOjEbYmrZqXDdPz0zSKW1NPP1Toy8gQo0xtKueGOAiJQuaVfSr2hSmkcFd2C1QqhZH11LPMPEjLHrJqkGSitiv_HLUYLWtKkm34YbIDqNCLmOYg-T5i1xRWMMHCth0Kopv2GbgfWLjpnfKxsPWnagQGnRRzpD9i5o2zCEeX7ngOK18WSCCpQlGl0WXfXE5EbY2cmUmfTCw3_XtcGjucs5IDDpfKTe0_LdiZTLrhkgIlrRsiL61OkP3ln9vftMCgo3M7BzulFb0hgNlOj9e5xsCHYWY2sNM8i0l-U0NvQxXLFWDI1m9k7gmq4g1ZuwZQg7d6gWKuA6paKub-yrYhchoJEq4UgSbhWxqw3_-J4MarXYZiQkgmps8nmlK5OMZvv_nr7gD9pHGTB_11_2SykIizCTgsKLELm2T5M4mFriypHm9TUthUaiLOlUj-zmh0CgDS0fnB26eQe-RbMRfGP_Wbv4LFMDwmXLQ3wRapwWrfxOpBET8Q1z4Tadv4OWdbKZ4neVEv2G1EDbOpf349ijD7rQtyeJyYpW9__YRjgbRcW1ni0gEyl1yuTW7y62xSLB17Q-_59MyjEVYZ5rFDrykgUe8-ab5lL-JJ1hmImZoxdwi8V7AAlqQ0DfR5tx2gOf0EZjss-tONdPzGgpWNUPypbH5srC5jpl368caeQowByZNE5Ru6NWAd1eSVg_4ct_CJMOvHaiKbfKCp6r83lusyN3sdPlEG4K2L6W4kB6H0OoRb4SBquoqbM9clTcPELU3jno5sbFohpspQlHe400J1Ig66Aa5k4bIT9QvkDs5JK3P-xXWwDCFBmNX4OAnhj4dCn8oIdFruGcHnbS9GQV_iz5UE33ox6quJdlrh2x3NFOSmQk5nM1ldTcWUMTZWcIrE7iSba_45sllqu89vHRL3M1VAEMBS7mBa-17hc1-CfGGFfmW3oVQowke8YRAqyt5fvzPVaw7YdjBliyd_QQ8ppAl-BFuGhz5HjyD3co8S04cOatdYcw-DiwTzoUvQYRtYtyCmYfeeIb_PX69-BZZakvB9FXnwSsOyySAvfF4gsuUpd4nsJ5fOrjV81MH2V6OA1GB9PXaqSbKGwUBG-Lz_8b955Skn-zND9HlKOjPyH8a0DUqF30rwF1tBdwXoHF5zJpYEbNgNW4nU7LOuQQUMeacWGyfrxGu1hg8CRPrWMipMV4l5I5fq0d90rg5wYpBPWMxD_Zp6yF4Io8K6nUrMTlj-03ZMznQzOtwlrYKzXh8MIKdVDI4aW1Nz1bPxqsePkurjiUzdHaYA5qO049sqQvv6Blh7dR2PO9Z5IzQlHXJY0H82hMffRFkfPRIYgtynaIsw2_jTgQr4dlkqtno1XhiSd93R8oN5hPHO_km-MznzGCl-kfRjr8gHs2_g_C31SWUDeJdk6gXv1h6d2dbcN8R6SvNEHtOnDMgx6T6Ma_xHqPsfVfDBYY_6qeNfyUFxkzhYdelv5sGkac9rkgFaTa9Q4ATFP7ERaLmnTr8tF3SirqvjZUQvHVwU2UNl5uCEHkmeHvXAiDxQedyyKI0aUWTELn7hBfONpvQ_u2PLaAxjdEs12xodAPZ8glz7j-cWCv318uN8BSEiWBs6r2gMMrMIiOmnIPkHv0JoI_xuFIsGR1UNBcyyfmVnRcUMhxmWv4n8rPJUrTW009O3tJ9yAXPc0IAAfo3a0TR_wc209W5ZnI8UTffItsL1G1ruKlG4mWV6HU4r3qb78xc11S-9zsiVeBEQMRilMeNSGk76smbb21FduHbz88SFfrnYPJCEXYkbmc7MDWCbrE5RIBmjzLcNv9ALNoRsggy9ohONgjy6cY0o9q8Yqoanv6HZz1uhnHxuCGYT7J5fQB8TBVxqg91NG_JPkthz0ZuzZfA3Ig6xeqox8nIV11QtNb1fcd49-R0_aOkDjVG4F3Ukn9dEhVmc_mjdVh1wUMByD447_oUatfUnNjcMYo-uwEPUrlz6ALkE9Ku5B2qi7t3dRlTt23QoP_iipbi_bkj4pBhWqSX_jnjBSaM3APAsCb8HFfTmXF80NiEKqV5cLHR3IpWgKACTNWNul4lcW_Kfan7Uq9snqcRfMJmv1y-CP6Cma3Rt5CEZDsEVEx20bBCF-n7R2vN85C67uYxT6XdzWb4PuOiR_rQqBHcT0Juccxf-fjMGfB6Edq9vzk_EwT8CcioQ_E_MS2OZE_bT1YHSRfmwhSissQyW_PQOY_4vFm53ESgphZl83nVFYe3vXEVOPrvmzJ2yBCsr596PUy1UIjDuYse9XTAnXVKfoLw2N-8931zCkJ-MHA0RUx6_ui2bY2L-YUKMrMyXBhIrQVoEQKvVjZS156TPaUsrt75ADnMTl6Rq5euASJklvOzXRmuy2iA18Bm3MIE_-hREorLJQ9Lv7c6eGDiRf13eumNz3nYcjcZaER2iy5mfGu-BH51y2IVPUKo_C8yRUKUDtvOSnZtU9J9I-YLzVhUgitOghfBsNkMKrSjtu0yUpIq3TbSlFMXi4rgHTIQ0jedxvGMsKhKeNeQQiYPg2qChz0hoTgNMBTneOKuN4psxzGmlS79",
  "id": "rs_0f3bcb0992814ecf016ab465b7f48487d0981380d2420f4ea5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.245,\"right_z\":0.16,\"right_yaw\":1.4,\"right_pitch\":0.3,\"right_roll\":0.15},\"note\":\"The small straight advance did not track properly. I will change the wrist tilt modestly to move away from the stalled configuration, then reassess the alignment before any further insertion.\"}",
  "call_id": "call_KnorK2U4139oscAfDaTGlH7M",
  "id": "fc_0f3bcb0992814ecf016ab465bd298487d08f0e0f1d3b0c8cd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KnorK2U4139oscAfDaTGlH7M",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9295, 0.9379, 1.0981, 0.0636, 0.2234, 1.6672, 0.91, -0.1211, -1.1313, -0.6407, 0.0599]\nstate[eef_state]: left_x=0.3388 left_y=-0.2732 left_z=0.1414 left_yaw=-1.669 left_pitch=-0.0502 left_roll=-0.1476 left_gripper=0.0636 right_x=0.3124 right_y=0.2386 right_z=0.1384 right_yaw=1.395 right_pitch=0.2155 right_roll=0.1827 right_gripper=0.0599\nstate[joint_eff]: [0.0205, -10.4821, 6.0103, 0.6178, 0.4811, -0.0757, 0.0708, 0.3761, -8.4171, 5.9556, 1.2967, -0.5055, 0.1441, 0.9255]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2936a8759eb9df1058581a20d7611f2470fad06c24293af4818fb133bdc78574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb55ae77699f632d3019f94ee304f3cf7f2717747934fa577fcfd49291de29f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3124c34aceae5914b0f0d5ec08d35c04940123c7485c285bc40ea1125bf0a9b9",
      "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 · 14.23 s

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

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3485, 1.9762, 1.5654, -0.9234, 0.984, 1.0981, 0.0598, 0.152, 1.7092, 1.3041, -0.8509, -0.9848, -1.2465, 0.058]\nstate[eef_state]: left_x=0.3382 left_y=-0.2755 left_z=0.1487 left_yaw=-1.6744 left_pitch=-0.0048 left_roll=-0.1514 left_gripper=0.0598 right_x=0.3301 right_y=0.2031 right_z=0.1727 right_yaw=1.54 right_pitch=0.0053 right_roll=-0.0415 right_gripper=0.058\nstate[joint_eff]: [-0.294, -11.2342, 5.9829, 0.8083, 0.7302, -0.0464, 0.2027, -0.1573, -8.3214, 7.2274, 0.6813, -0.7106, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9463, 1.0981, 0.0628, 0.1829, 1.6955, 1.2755, -0.8009, -0.9466, -1.1873, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6711 left_pitch=-0.0426 left_roll=-0.1508 left_gripper=0.0628 right_x=0.3276 right_y=0.21 right_z=0.1662 right_yaw=1.5267 right_pitch=-0.022 right_roll=-0.0334 right_gripper=0.058\nstate[joint_eff]: [-0.4718, -10.5778, 7.1453, 0.5788, 0.5397, -0.0611, 0.1441, -0.1436, -7.2547, 7.9795, 0.8181, -0.7888, -0.1148, 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 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9295, 0.9379, 1.0981, 0.0636, 0.2234, 1.6672, 0.91, -0.1211, -1.1313, -0.6407, 0.0599]\nstate[eef_state]: left_x=0.3388 left_y=-0.2732 left_z=0.1414 left_yaw=-1.669 left_pitch=-0.0502 left_roll=-0.1476 left_gripper=0.0636 right_x=0.3124 right_y=0.2386 right_z=0.1384 right_yaw=1.395 right_pitch=0.2155 right_roll=0.1827 right_gripper=0.0599\nstate[joint_eff]: [0.0205, -10.4821, 6.0103, 0.6178, 0.4811, -0.0757, 0.0708, 0.3761, -8.4171, 5.9556, 1.2967, -0.5055, 0.1441, 0.9255]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2936a8759eb9df1058581a20d7611f2470fad06c24293af4818fb133bdc78574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb55ae77699f632d3019f94ee304f3cf7f2717747934fa577fcfd49291de29f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3124c34aceae5914b0f0d5ec08d35c04940123c7485c285bc40ea1125bf0a9b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f3bcb0992814ecf016ab465c2aac087d088d35a0630535f01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.245,\"right_z\":0.21},\"note\":\"Changing the wrist tilt restored motion, and the point is now close to the cap but visibly low. I will raise the pen while holding the approach distance so the point can meet the cap opening.\"}",
  "call_id": "call_i4JXkJW4VpYzA7OEgg9sMzL9",
  "id": "fc_0f3bcb0992814ecf016ab465c923e087d09f1c67d474fbd9e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i4JXkJW4VpYzA7OEgg9sMzL9",
  "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]: [-0.3538, 1.9778, 1.5654, -0.9279, 0.9203, 1.0985, 0.0648, 0.2317, 1.6333, 1.0874, -0.3332, -1.1259, -0.617, 0.0594]\nstate[eef_state]: left_x=0.3403 left_y=-0.2717 left_z=0.139 left_yaw=-1.6649 left_pitch=-0.0663 left_roll=-0.1415 left_gripper=0.0648 right_x=0.3229 right_y=0.2437 right_z=0.1872 right_yaw=1.3876 right_pitch=0.2089 right_roll=0.2045 right_gripper=0.0594\nstate[joint_eff]: [-0.253, -10.2496, 6.3385, 0.6276, 0.6471, -0.0171, 0.1099, 0.1299, -10.5504, 8.1299, 1.0672, -0.4274, -0.0366, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4a27fb51fd06d074a3c1f5e6ae5fe5924b9dda6eae338ac2858c3dc5204b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a1b28dc799da2ae1d70f69c4a67620a0a37bee3047034b2393d43034c2cad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cf66d3c2f3870f699ec17ac8420c1d9f5d090277ace565b5b83b76926f31ad",
      "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 · 9.087 s

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

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9459, 1.0985, 0.0613, 0.1818, 1.6955, 1.2716, -0.7788, -0.9466, -1.1717, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6712 left_pitch=-0.0429 left_roll=-0.1504 left_gripper=0.0613 right_x=0.3306 right_y=0.2102 right_z=0.1663 right_yaw=1.5169 right_pitch=-0.0176 right_roll=-0.0381 right_gripper=0.058\nstate[joint_eff]: [-0.3624, -10.6598, 6.8991, 0.5495, 0.5055, -0.0513, 0.1441, -0.1573, -7.2547, 8.2667, 0.7497, -0.7106, -0.105, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9295, 0.9379, 1.0981, 0.0636, 0.2234, 1.6672, 0.91, -0.1211, -1.1313, -0.6407, 0.0599]\nstate[eef_state]: left_x=0.3388 left_y=-0.2732 left_z=0.1414 left_yaw=-1.669 left_pitch=-0.0502 left_roll=-0.1476 left_gripper=0.0636 right_x=0.3124 right_y=0.2386 right_z=0.1384 right_yaw=1.395 right_pitch=0.2155 right_roll=0.1827 right_gripper=0.0599\nstate[joint_eff]: [0.0205, -10.4821, 6.0103, 0.6178, 0.4811, -0.0757, 0.0708, 0.3761, -8.4171, 5.9556, 1.2967, -0.5055, 0.1441, 0.9255]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9279, 0.9203, 1.0985, 0.0648, 0.2317, 1.6333, 1.0874, -0.3332, -1.1259, -0.617, 0.0594]\nstate[eef_state]: left_x=0.3403 left_y=-0.2717 left_z=0.139 left_yaw=-1.6649 left_pitch=-0.0663 left_roll=-0.1415 left_gripper=0.0648 right_x=0.3229 right_y=0.2437 right_z=0.1872 right_yaw=1.3876 right_pitch=0.2089 right_roll=0.2045 right_gripper=0.0594\nstate[joint_eff]: [-0.253, -10.2496, 6.3385, 0.6276, 0.6471, -0.0171, 0.1099, 0.1299, -10.5504, 8.1299, 1.0672, -0.4274, -0.0366, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4a27fb51fd06d074a3c1f5e6ae5fe5924b9dda6eae338ac2858c3dc5204b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a1b28dc799da2ae1d70f69c4a67620a0a37bee3047034b2393d43034c2cad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cf66d3c2f3870f699ec17ac8420c1d9f5d090277ace565b5b83b76926f31ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0f3bcb0992814ecf016ab465cc423487d08a0dc2ca20a14d4b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGXYH_r72GjHXNXgIRlQoZovthQ0O-8y8FuGuKz5Cy0aAp1eTPSARxh_Pkm5FcsujkiFH3a6FnKw15IjR-A2J4mzmsnenHimz1UKU6hoKXYnZXnItzHGVrOh7ylmVOaG9bf85dMcwY5n49taVsjRKN5sqLmrf2gpTde1xfteIWjamqb8RQfcDTVbk86h-M-RAqgi67zVIT04EP3nvLEhcOY7EbZryir4JIoAtvt44T0WTKTnrDWsDY5n_Qwn09sXbJfMIIxYCtMAaXhh03TZ9tkXACa6NSMdzwAhbavmYXlccLzVC3F6IFjwxKP0FQspNI_r3B2bgctOYK8PmVw72o2N3ji5dsFBPeujxaCF6Hr0vLxn1_JbQGp-9G8mEKFwQknqPgINA3snZEOr_K2s_vldBjMI235oVbx-BO6JGjiZhX4zNu-uNt2fiKIbodQI1HvYXRk9mltVGuFXj6vXZJH29oMp9NPP5XmXeEw8_rtI7Sk-BbGlffyOWgJnqXFc4NVJizvfxvERjxwAmMWxr99RYKiut6aVOPgkjbP-XBjmaqTjXrHZPyyGKdZtZUPc3knlr6pn_ged4c8BAwAaRkRAYN815CDOpVTKSDweMWItN_bPhZqJts4YPuei0rNaZjKuK7idBl9n1ozKR5MIYO-YFHw3W62lGhzvTvqBvDWRUr9wZRBET_F-TjhcGQ9EFm3p2CAYMxk9PbCcHLtyOpTJBiD8p7GYb5hWRHsPUY37EWeEDr4ABqo-10dnBpp07-3nFXc_QTa5gePRQfBztn4EYtxrcGAXcQkBAZxgaYzBgO0kvxFYlwdX4g2UmCm-uM7VrGuv2b5rTIAWjVMVZg5fhgUwIjsyPEhFAFb3JIoaWsyqaMxrEW9PrAcISWyFWw2ujWe5si1Y5TIcoHM0lz4FZsij2-Zcslq6r7rDPXtJZlwwLTrgBbT2O05n1BLvJsECjdYOJzPs6fED_OcTyWOgBl-2DRU1FQnDrOg3ef4vMVwULL8gfOMs_fG40Zx1Eua-Zv4SmAgsCf15SH6R_iG4mjLJkZHe-iqc5sCplUoy6CHEUvuafOlfz9uf6PiTOYojU8HI-tN-0ICBbrYL1Hn2jkrOVbwSNxRRygLGl6iBU-myJ5ThFWlG25zZVmd00xOpGb0siXp_VNKuTW9oaJx1uXQ3172sqfz437dXf9o1yj3ye5oqx6yArFRr0sM1MzsccXOCed09YfYyFrqhYraW0flfDt3Em-wyDe1HDHtYHSEOKqhJlEYKmN1o9yg9BhhtBbqf0U1mnwKTWvJgK_aEBt3QvBI0OMHCpuH9mZxqi0xSgl4e0nciazmy356PdZBG681_k0bM1P_G3NCHf9XmzVjO4GW5Pbrap7BUj4Uoq9YfH3ndiz1EqpALbV-YKhX56DiIbJ_mV5NxRC-QW6kmwZyLfKapixlkX3zDA52wqeBAqaBhO_4KZrjb7vG0iZSi22emNj3cL6N-v7YbXONPOyNw9Eq9vAo7hz4rkppbaYZHOgzqC4mfKDc2_5ZdVpO7TbBmRq9gIRmoAS5m6eY76Q8qD9qvMqLybebTZd5KZKA6Ddn-EqZ9YWZ8uWK4ULPgMevXp980VP965W-bjjtWTxB5sOBQSpnDyAr49yt3i2TksW547xQkEcz-t3Co6jrZMzSiSr2MukMnUp5rcElx0--lJFgWCzLhnzYJoywjF3ZCzjZ1Pyrp-KfxZg_nQt09JNv1oe4VLUdQMcBjFUea5LTYDRyunH94xP_qVHef2oA=",
  "id": "rs_0f3bcb0992814ecf016ab465d56a8c87d0ab4030d59352e930",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.245,\"right_z\":0.20},\"note\":\"The close-up still shows the point offset from the cap rather than seated. I will make one small sideways correction and slightly reduce the height before advancing further.\"}",
  "call_id": "call_Xqrh7RhtVJX90AxM8xVKA6Mj",
  "id": "fc_0f3bcb0992814ecf016ab465d7bce087d0984c26b6781a9f85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xqrh7RhtVJX90AxM8xVKA6Mj",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9287, 0.9203, 1.0981, 0.0648, 0.2317, 1.6146, 1.1183, -0.3904, -1.1187, -0.6174, 0.0596]\nstate[eef_state]: left_x=0.3401 left_y=-0.2717 left_z=0.139 left_yaw=-1.6647 left_pitch=-0.0665 left_roll=-0.1425 left_gripper=0.0648 right_x=0.3215 right_y=0.2428 right_z=0.1979 right_yaw=1.3822 right_pitch=0.2007 right_roll=0.2089 right_gripper=0.0596\nstate[joint_eff]: [-0.253, -10.4274, 5.9966, 0.5934, 0.5934, -0.0659, 0.1148, 0.2256, -9.1009, 7.8017, 1.1648, -0.5104, 0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b753d4352e964a6f8b35d8c12783ae23aa62437b26462430487845fbfd99aed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7ac301a8b7dcd669a8403453e32cc715e7c7b75450b93093e1cc787161ad8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585264d6e59292c4d19bc1150c9caa2e329fc78bd0ddf0ffb39c381f00140ab9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.97 s

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

message 96 changed as sent

message 104 changed as sent

message 109 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9762, 1.5654, -0.9321, 0.9463, 1.0981, 0.0628, 0.1829, 1.6955, 1.2755, -0.8009, -0.9466, -1.1873, 0.058]\nstate[eef_state]: left_x=0.3378 left_y=-0.2737 left_z=0.143 left_yaw=-1.6711 left_pitch=-0.0426 left_roll=-0.1508 left_gripper=0.0628 right_x=0.3276 right_y=0.21 right_z=0.1662 right_yaw=1.5267 right_pitch=-0.022 right_roll=-0.0334 right_gripper=0.058\nstate[joint_eff]: [-0.4718, -10.5778, 7.1453, 0.5788, 0.5397, -0.0611, 0.1441, -0.1436, -7.2547, 7.9795, 0.8181, -0.7888, -0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9279, 0.9203, 1.0985, 0.0648, 0.2317, 1.6333, 1.0874, -0.3332, -1.1259, -0.617, 0.0594]\nstate[eef_state]: left_x=0.3403 left_y=-0.2717 left_z=0.139 left_yaw=-1.6649 left_pitch=-0.0663 left_roll=-0.1415 left_gripper=0.0648 right_x=0.3229 right_y=0.2437 right_z=0.1872 right_yaw=1.3876 right_pitch=0.2089 right_roll=0.2045 right_gripper=0.0594\nstate[joint_eff]: [-0.253, -10.2496, 6.3385, 0.6276, 0.6471, -0.0171, 0.1099, 0.1299, -10.5504, 8.1299, 1.0672, -0.4274, -0.0366, 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 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9287, 0.9203, 1.0981, 0.0648, 0.2317, 1.6146, 1.1183, -0.3904, -1.1187, -0.6174, 0.0596]\nstate[eef_state]: left_x=0.3401 left_y=-0.2717 left_z=0.139 left_yaw=-1.6647 left_pitch=-0.0665 left_roll=-0.1425 left_gripper=0.0648 right_x=0.3215 right_y=0.2428 right_z=0.1979 right_yaw=1.3822 right_pitch=0.2007 right_roll=0.2089 right_gripper=0.0596\nstate[joint_eff]: [-0.253, -10.4274, 5.9966, 0.5934, 0.5934, -0.0659, 0.1148, 0.2256, -9.1009, 7.8017, 1.1648, -0.5104, 0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b753d4352e964a6f8b35d8c12783ae23aa62437b26462430487845fbfd99aed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7ac301a8b7dcd669a8403453e32cc715e7c7b75450b93093e1cc787161ad8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585264d6e59292c4d19bc1150c9caa2e329fc78bd0ddf0ffb39c381f00140ab9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGXig3ypEG8fD9Q6ERB8vSOg0M-v7nyuPWQL36lqTm8UCrxqYdNvgJ6ZncsP2B-wSdpLx3g3wp932UxPvwRlq-3N7BwGvDHJbPUacC5zhUjuuWu5tRuDMCiPdOhx7P4I1_0ZPb4yQ_hiczQQSpa90DQlu-Z_xQaLmR4UAhXeWJ2zwhbV1UaTASXDQVC1lGIS9DQMmOh_-SecXCWRP7uZ4waSXUW9-Jv5lUxW4QtsB_1yW_MFoDB-HVR5qlB2ZErzti-ugF0KMZQLQuj7wsZyDv9OM8I5pHPkr-z3Gb1dXxbwFWENW5OFfdMU6xzxoSychhI78iyQHfAviAyHlMIWWfKiTgeEWxLR0gYoMIB5XsV60REgD6fxLFasE23NgBIDe_6pRbd8GKeBmxo1W1Vz-Mb_-NEd4qaTIuVfe5v6ZcWgdsiG6OBMnJmORBH3XPCQI64troXn5hjauOLtUh0JIJnLYI7i-XlJnBNnuzA8IkGFO6IJ1zOeQejHzYJzaqWH8FIaU_xTW1H0GLjA6dknK1qCtH5tnzToKosLkJAl7zRjbgx3A9TwsuHGmq-f8q2ILz9kW4CZx1QBKoDbgMx15itCHGfcQ0VgyehHpgximrg5EnmaTZgyy4_D3J-VAfNK39EhGysR5eulqVEuaKLYnAqahJ-2xl92OwyI_xgd07sOdetP1vPjqBJltnEic4OwQbxrvRwCjdYGi9kTPBfH7I0W4Ccj_8YTk7mjfwbDn3Ys_voKYyXOm26j5jtTdusemIkeNr1oPOGWxLejbs7uGEm8-jHLm8X6f9arjKs58zY3O955AMhy4xDH8crQ97VZk8mJqsZ1vkL67P7PttQd4_GufAX-SkhSlaOynYWFhZNE5X-4u0o9zvtmBKNuAZyuwvM6Lk6_v8RF0MQBqAFJH3esCEnFkzrOZ7J3QnR4GQmbyVBGL8j4kwKlWLORhpfU22Golf3cpnpUznEG4ArcA8KaklJtJBFKCdTgFqS_UVaU3PctyQ75A1pQJup0pKk0vVhKLb8JitIQnbmqnBon0DE346LQidZ9urLChy5iuliiZkX5WEsqWH-44slR6sJwwei04wg7MpauSNBRoaS7HhxIEYfRGGAw4N-qrs07CMBXrS2uBZRTyTxR2wy7QgArBt5F0OOlF92soC8eFni_Id18CGsA91YZcuT_7L7U3JlPBNSDVTKVbvOuoDTLQZADXzLGadyEZLAKly_Q4EihlCfBh9ka4R--lIHzhqfsVQjgRdLmJFq4WyRgPM7ecNqL0zrQahN6zJcb3bUVH4TptGkQCsJ-gGbOhMcqnbDKfvxfs6UMUpeOWFabGtgomuVTTe5RJKoWGm3q2563x_DcMvsQA1fW228z--IyjXwAy9ZfLqUhcvNB8OZ_-XUc94cIc6JmUDOPdLCtr5bESPx5Cojy_gzTvS1L6wilsZXZkk1VggCAn3dDgTVspKN0HrvVdfBEo2lS0jyTtpIytEyBWMbzfMJuK57mc4PoFfplY9XQiGNZz8XV9wQDNP87PBZ_Z99yTlpIv3VHbPTMXcHaWzEzyaWRbuSaGM4dYTLnxQB7Wx3LRn9Y_OKfTjUcKzH4eyaYTh3a2CHvq4cOq7Kwyf99PcPPp0vt0KNZuqsjBSYDnpbb0p-Niea21uxzDiQOFpI6F2gzDB-_yvOUQL7CTMzakSCjYmumTfyKI2_4F9xKGHfbxssZYi0CXf6YE6RQ6HqIn4YWy_d77sias4MLk7LqFBOTtgi2VbzrCjjIU_y1gQvNXwY5Lb8u2uMHLE7ZyG6btAlcWe__0YNLFARdp4vdFIOIgteUIo9SRfSfLhZK9ED1MXqegGqwE9Mjg6ZkQHPxspNzpLbxkFhzu7GAxqsj0SPu8gsvPREBS9ExlQDAGtXpdowJRPCPMgd-1i-sXxi249Pf1Uhr1Wj8YlxtHFTj0fGxWfjmIKxaYpjKpkBXxPVAshA7dMvLtj6pIst8dpFUemez_lLVZGJJOpqF6APWWHQ1rqfgvp7tj9TEhWebiiPsdKOiexhhbwrBb3JlTXLNJNlqQS8r6I3urDQfPydaowmK26Nm4a4Pw0PjCKHyLIQ1n4F9m5aod3mOjtbEZqm-RyBkxwHuXCax1-TQJ-vtdva9JZgAPxeGHKX85T3n1ZeGlWzkUzFD3Ksqr_1b_Q_NI8xsNGLg4MDrBQeRVyAEoLZPdC2won6xZGcJ_6OZY19CavEDrB2aclPXL9bfg_yjXZ_MLtYc88j_BaoQkKKyaiOIrRjQ6Jb16-UBpC1wvAk17tJjDCwV1x8JPjddWNsIZCDv5P7v65sCBwYyv0Vgr__k2MCxNNN2rrRU1P8mHnr7UJaJBAiN2xNonKtPP2cgs8O-PKC5SxsboKFYf6Z1H3yVhlfzhNtmI1BH9NEPVDHPzeLuRV1c8PMf2Dkyofqk3eCnRNnf6JMZ8p4bq_1fXbexBwov-YIPelUu39h_hD2v21CTUtLl5Q9PoOIXzYzOR3bHvnIpObjov6nK3WoAoIKoVk97GWlaXDgj4lL5UxN-NaQ04x6tRLcCdFobL4cuL0WshJSgZbbOuG6DN2x9eYBErvNPBUeKgq7joLuAa54tLUtWggm9YGdYxquC-0f91A7xgtXmUsBrwUnquoOw9oxqmPvbrJksNdZagWx0fJBFSqcmOn4wO2qqnMTrljUvGrGSZ1_WqEJC6UzC5IC94k9vfl4kWDkgE7IN7WpNQFtHTh9IaScmUizBvtDaw0RGSfMZ6Q90mKG-3Hwm1ZSKTcs4wewwkHVAm0gfAkfFeWls4Ui8puiDr5UT716gcVPB8U4Sh-OKBk3ef_Znz3kWDGi1FtUWFf5Plmd8c6mP_gpQKk0R_fYFh6qW2TkmDixhk7lGClLa_lId2Pi5rF4y4gZxZB1hPi5wgEaHnseD2Wjn4qTkKp7fKYL1-1D9wsilpUhpmfoProdUIZ-4ixl73vCebZeObwWfaiQ8mJmi0t4=",
  "id": "rs_0f3bcb0992814ecf016ab465da81b487d0bfaf0552e61d4db2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.3,\"right_z\":0.07,\"right_yaw\":0.6,\"right_pitch\":0.1,\"right_roll\":0,\"right_gripper\":0.7,\"left_gripper\":0},\"note\":\"The pen has slipped from the right fingers and is now lying on the table below the arms. I will move down to recover it while keeping the cap held clear.\"}",
  "call_id": "call_Stx0F2DqoOlDTbzEyBlkrt9d",
  "id": "fc_0f3bcb0992814ecf016ab465e0adac87d0841976abb05961f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Stx0F2DqoOlDTbzEyBlkrt9d",
  "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]: [-0.3538, 1.9835, 1.5639, -0.931, 0.8974, 1.0981, 0.051, 1.0626, 1.4963, 0.4084, 0.5346, 0.1955, 0.1329, 0.6959]\nstate[eef_state]: left_x=0.3411 left_y=-0.2694 left_z=0.1331 left_yaw=-1.6599 left_pitch=-0.0905 left_roll=-0.146 left_gripper=0.051 right_x=0.2091 right_y=0.3122 right_z=0.0584 right_yaw=0.821 right_pitch=0.0176 right_roll=0.0112 right_gripper=0.6959\nstate[joint_eff]: [-0.1983, -10.906, 6.3795, 0.6227, 0.6422, -0.0464, 1.0281, 0.1573, -5.6137, 6.4889, 1.7998, 0.3785, 0.2515, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d07555f160d42e7402bbfde824949fbe88426148809b818ca5dd06aaf329c19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0151684ea81ab9ce6b6f6a69df7988c5ca493bd8fe3e98d806d523be5ab39c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6a9df49a626e8974d9f1635dbb6d5ac863697a16fa1ee52330fd49cafbe880",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 4.674 s

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

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9295, 0.9379, 1.0981, 0.0636, 0.2234, 1.6672, 0.91, -0.1211, -1.1313, -0.6407, 0.0599]\nstate[eef_state]: left_x=0.3388 left_y=-0.2732 left_z=0.1414 left_yaw=-1.669 left_pitch=-0.0502 left_roll=-0.1476 left_gripper=0.0636 right_x=0.3124 right_y=0.2386 right_z=0.1384 right_yaw=1.395 right_pitch=0.2155 right_roll=0.1827 right_gripper=0.0599\nstate[joint_eff]: [0.0205, -10.4821, 6.0103, 0.6178, 0.4811, -0.0757, 0.0708, 0.3761, -8.4171, 5.9556, 1.2967, -0.5055, 0.1441, 0.9255]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9287, 0.9203, 1.0981, 0.0648, 0.2317, 1.6146, 1.1183, -0.3904, -1.1187, -0.6174, 0.0596]\nstate[eef_state]: left_x=0.3401 left_y=-0.2717 left_z=0.139 left_yaw=-1.6647 left_pitch=-0.0665 left_roll=-0.1425 left_gripper=0.0648 right_x=0.3215 right_y=0.2428 right_z=0.1979 right_yaw=1.3822 right_pitch=0.2007 right_roll=0.2089 right_gripper=0.0596\nstate[joint_eff]: [-0.253, -10.4274, 5.9966, 0.5934, 0.5934, -0.0659, 0.1148, 0.2256, -9.1009, 7.8017, 1.1648, -0.5104, 0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9835, 1.5639, -0.931, 0.8974, 1.0981, 0.051, 1.0626, 1.4963, 0.4084, 0.5346, 0.1955, 0.1329, 0.6959]\nstate[eef_state]: left_x=0.3411 left_y=-0.2694 left_z=0.1331 left_yaw=-1.6599 left_pitch=-0.0905 left_roll=-0.146 left_gripper=0.051 right_x=0.2091 right_y=0.3122 right_z=0.0584 right_yaw=0.821 right_pitch=0.0176 right_roll=0.0112 right_gripper=0.6959\nstate[joint_eff]: [-0.1983, -10.906, 6.3795, 0.6227, 0.6422, -0.0464, 1.0281, 0.1573, -5.6137, 6.4889, 1.7998, 0.3785, 0.2515, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d07555f160d42e7402bbfde824949fbe88426148809b818ca5dd06aaf329c19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0151684ea81ab9ce6b6f6a69df7988c5ca493bd8fe3e98d806d523be5ab39c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6a9df49a626e8974d9f1635dbb6d5ac863697a16fa1ee52330fd49cafbe880",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGXmTB9K5U_jWeP6vViRBk7h9LBzaN8kcoxxrAPcRna3WGGYDGJfP8BstjTRQAV18QF6RuaCYzagA338IJpEI7aeymyHekIhef_9Im-ZGEkI-_4dcvsrmbvP6cNCQUi6tBgYl6mZmnOOIFfgc4VIl2rH7ylxS7Esp0yDrOZlziUnxwhzqAwgzJtKxCdszB5Pjrjsoi2AFIoxgh3pUL-uahT-qrZUDW53oralDuKoQbjKChbXLWNbINAa48dXEw68AaASo42wpGLSthwadmwFAQnt2sndDzsf4nqUSNntTDBkldPelzc_nPMi71q1FaTLBGamwmBIOVzWdxo9UN1jHLUPFvfL7K5mvQL3-qybARP87MDIfIkKlEw9-rD-CuPoMNe41U4oNzNyo-ZUEARA1QjOwRFVGIvH_gjZy4D0dd2uTpK_wqZAbLeXG0Ga2vdN_C2KxN4j15B9rSeSGlSL4pD9eBqA0s6yMTXaEOHRC-AHEFERXEL_9Rp5uPAbSE3agIkBcSmAtHobjtE7gQ6FKiK9jKbK8D2g6LBSX77IRgaVKGzVfO-n7ZoKN9LLQ3xtRcmt1iox5xxvwIUb6AS4zT6BK8fOF2ocnDN_VNXSVa8dJXpl0eCVc7dgTmBZ7sIj1LwL7_6OjERr0yufN15vhIbPpSUDw9MSfJKoHA35A9SC9aWIZveNfaFO2NY_EsN8Zk_KGt6q4NxePykDR_bvr4kTKufO7AYlpfH9xwp_CZlAAwg_iQUArz91N6F8w6Qatc7I_sBidf3koBFSmAA5jiERHI9AHk88LzHKVPmw51QRxhSw8Y96wC9x2iT4EUF5jNyBt3pMpvvxw94NJ3HsbJ2zElDdm4anLcqxx4kAiNx4i9qegv4_sXXHq9Uh2umHhElYrNG4ZaPUE-IoRTiwcHUFIJ_7nleRVe0KLodHH-eBTcZx_zgooa4lHrnPYw9XIyw1gUdEMipYVLJ9No7fM1cxyD54rwVd0y1_0jbW-yoShJKBd2Sw2xOIwV3R7jt_jeMgeSdw4YrXNY6IAbX6kgl_KLTGYy1XSh02Od1JWFtpygXy3OnrkZxu1UROgOoix9odIhInyKb2yEuex2Y9J-nbUohcYTBeeYKoD9d80jqQ4nDotm5bkF6TnwcRlei6NB_Ur3zjQMzG7of3G2rqVWivIznBBsdm9eImoRO2miKiv923zePTVg9zjLIaiVUZded02NdG2unkUqdIm9Ue2PicaIlqi-e9CD9uUemqWepy_yhsqo-WuVI3qQUZ2SZyC8qpwJdv8fJ_NvimylXVXlPfH9FtL256waW1YWY9eRJ3VJiec_8h8hK1usmfldrCOMdT6VY8SdMH1Tjx0sxXk7OtGFTvUKGhekhCbCNCEbc32Lf4Xqk3lTm-VjGBMndsMNdQAcLYm43B7mHzJeiTmPfOcHQRpf-fqSW3-A6YqGEsYfu1vg3N--m8THdbw0YvrBu_XhcMtdWc2s1rcoc-mvMGhb-tkbk9NsKta020wxNhZjE0AXSNRpj_7gwYfwuRFmWjwRQ5hwzTLhbbdakNOYs7MSF20DCSFg66rAj-0fkmSuju4YBKWC9vPdbJfbcej0Gl",
  "id": "rs_0f3bcb0992814ecf016ab465e462c487d08bfdf570b0e27bc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.275,\"right_z\":-0.005,\"right_yaw\":0.6},\"note\":\"The wrist view locates the fallen pen to the right of the finger gap. I will move across to its barrel and lower to table level for a new grasp.\"}",
  "call_id": "call_Mp9nND33g0N3Gl262b2vNF7x",
  "id": "fc_0f3bcb0992814ecf016ab465e5cf8087d08027a7a1d37109ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mp9nND33g0N3Gl262b2vNF7x",
  "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]: [-0.3538, 1.9842, 1.5635, -0.9318, 0.889, 1.0981, 0.052, 0.9764, 1.8172, 0.345, 0.8848, 0.2985, 0.1829, 0.6965]\nstate[eef_state]: left_x=0.3415 left_y=-0.2685 left_z=0.1315 left_yaw=-1.658 left_pitch=-0.0989 left_roll=-0.1456 left_gripper=0.052 right_x=0.2457 right_y=0.2772 right_z=-0.0021 right_yaw=0.6221 right_pitch=0.0012 right_roll=-0.0093 right_gripper=0.6965\nstate[joint_eff]: [-0.1162, -10.4957, 5.9829, 0.5543, 0.5055, -0.0513, 0.8669, -1.0462, -4.8479, 3.3026, 1.033, -0.0269, 0.149, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55937b323fff4b549c2f169baafd27ccb5b6940e9d4560148f4d4e09970a9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfdf365e9e6eda9d174dd30fd81b3a66542f3e2b0f864d7655a49fc96b26c90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995d29af838419ad6ee53aeb194cba6c434ca95811a7426003af1881fb5f146b",
      "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 · 3.214 s

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

message 104 changed as sent

message 113 changed as sent

message 117 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9279, 0.9203, 1.0985, 0.0648, 0.2317, 1.6333, 1.0874, -0.3332, -1.1259, -0.617, 0.0594]\nstate[eef_state]: left_x=0.3403 left_y=-0.2717 left_z=0.139 left_yaw=-1.6649 left_pitch=-0.0663 left_roll=-0.1415 left_gripper=0.0648 right_x=0.3229 right_y=0.2437 right_z=0.1872 right_yaw=1.3876 right_pitch=0.2089 right_roll=0.2045 right_gripper=0.0594\nstate[joint_eff]: [-0.253, -10.2496, 6.3385, 0.6276, 0.6471, -0.0171, 0.1099, 0.1299, -10.5504, 8.1299, 1.0672, -0.4274, -0.0366, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9835, 1.5639, -0.931, 0.8974, 1.0981, 0.051, 1.0626, 1.4963, 0.4084, 0.5346, 0.1955, 0.1329, 0.6959]\nstate[eef_state]: left_x=0.3411 left_y=-0.2694 left_z=0.1331 left_yaw=-1.6599 left_pitch=-0.0905 left_roll=-0.146 left_gripper=0.051 right_x=0.2091 right_y=0.3122 right_z=0.0584 right_yaw=0.821 right_pitch=0.0176 right_roll=0.0112 right_gripper=0.6959\nstate[joint_eff]: [-0.1983, -10.906, 6.3795, 0.6227, 0.6422, -0.0464, 1.0281, 0.1573, -5.6137, 6.4889, 1.7998, 0.3785, 0.2515, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9842, 1.5635, -0.9318, 0.889, 1.0981, 0.052, 0.9764, 1.8172, 0.345, 0.8848, 0.2985, 0.1829, 0.6965]\nstate[eef_state]: left_x=0.3415 left_y=-0.2685 left_z=0.1315 left_yaw=-1.658 left_pitch=-0.0989 left_roll=-0.1456 left_gripper=0.052 right_x=0.2457 right_y=0.2772 right_z=-0.0021 right_yaw=0.6221 right_pitch=0.0012 right_roll=-0.0093 right_gripper=0.6965\nstate[joint_eff]: [-0.1162, -10.4957, 5.9829, 0.5543, 0.5055, -0.0513, 0.8669, -1.0462, -4.8479, 3.3026, 1.033, -0.0269, 0.149, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55937b323fff4b549c2f169baafd27ccb5b6940e9d4560148f4d4e09970a9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfdf365e9e6eda9d174dd30fd81b3a66542f3e2b0f864d7655a49fc96b26c90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995d29af838419ad6ee53aeb194cba6c434ca95811a7426003af1881fb5f146b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGXr5ucmk-jgaRRS-_6JvSdQADooCcKYhTskzL7CreNzTu9_C5FFoft554c7tFyV6jPcchtxpgo2VjPWX55amVrm7byt8NLkXT3nSudraKdCkDhj7QJV36hSKpYbSJpSGLbOZJ3KwUZ1qatiZh9pZ7Xroc3xGmLxIsBa9nX5VmMLkfRWj6H7cI3fuZBkQCugx9024533RC_fbePexTY_O04pmXwUiRtY_N5LXH3gRVUf7fSkW-Pb9CR1twjCaG-7qjN3Cgo0wgHEged8xmwXXVUPFIL6pbja3VSWBnwTYs68HI1crrxaKmzoM64dvwHX2H7soMsj48djOo6aVslUgf8Lu6mIQWjjHAX3bnqY9f-_tV1tPayZ8WPyw3bciMmItAC7OGfgLw6il0B9nina2kwIxoW5QlcX9jfYXS65UtSI_8cRzedwDSjV-4WjmXi4zoLd1MTsvgXrpYmBGRqObeKD0nzPx5RI9pXJ6_O3WAu3Wn7vJ6qfxMMppr5bDOhGOAe91id_yVYnJebcyvgjQf0_EnyD28YXTT95AUG4-nb37y0dkA3GZ3cHNtZTJ_ji_TSjdYrPrCuF-Tqrv7D4oCcuWfQjf94CS5Ous_hSC6Z1C3BYeEP7lL3X8BIeugs3KB67IPbBovqp_S6Wt_kRXOlZGpdYLcVqKHHXWN0ai2QsJsDDVwD8pmLoXGBjVlpXnyYo_ALFpBKZJ9_9u3SonhM1kALN5g7Dl7OPrDFevKZilbQzfvr5WrJG4Sa7ZLvY4vyxqEvYKUri1kTBa2xR__u48lkAIC_8N7U757vsZGNc1jyuiq7ijNaN5UQWjQ_TL5igj2g2roilb8Lo4lOPa8FK-qABjtlWsAlCz-47tSpBVIlJCFaUBJEBWtupPzsoHu6xX9-1LUP2X4UfcJs5Ftzfe7grT2dDwzGjuQ-8jW7NWHG-tJJvgHAy4EsP2OjuCaTf6ekfdmBiTTEMgR05lZxXmi3APtoS8E9AnkcfddPOvORZf-8NeTEfqz0Y2kvKmkw4H2Xw9o2ZcdvntGshZJqbGkwA3w6Ub4qZS2VGgWLx7wz3WZ4zqRYf5ei-IRjc7Mkv271ORzHcFD5atD6Js-9c0M13JdqjdRWauoxIskGKbOnh5Fy5ekCXOEgCIbN3qq4c2Zk51fTHyiWEPcLPfTdgrt5vZsTVdUL9jN7gRGoYAifASyqLEWMS1Ortf7rEDR3fPNxf0erxQN1oknxRKo5hHaVUxp2OXbLUwVU7KmUXzQmh_REWoMBjM0dLY6ZOoTG_zMintYGnNsflp6X_4-YpbEI9R-HR2dp4rMWfKWGwPLDmgcf2UN_h8QTW99lW6gT5zCEJ5NyzTldn6S59td4DqzOU2WPWZZBBVlhrlzs9v5EUIH--N-fMlBOrO8K_5PhgCs3Vede9s_lLJjnxn1n5auLBb8TdfoO8mosP1lX4bSFD1FBQ16GufdyLdhqE5V-YQ-YAFfIimlpmPyg2Wa35fYHQ_7G7UlOda26uT5yhGIx1w4L72R179pd1OeuHkJ6K1YPM056Cy5AYXRfqJ5S59MFrG-UFzkywlGjD1R3rgIMuTTH5-_0wYjsrszmqXsvNxlOE1hPb-xbbU0tNfpWe5-WXWdHXITs2yM9wVwkt1Uagy1V451TyPv0SKO1pfydw3KEDsHbbWy_mgWO9EE5XHaBCuPZ1e9sSKbDsI1Zg8PCh6bvRR24I6gDMPhRXZinlFggHMuvadgYaT_-MPwa6zQ==",
  "id": "rs_0f3bcb0992814ecf016ab465e8950087d09333b5a933f46580",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.256,\"right_y\":0.267,\"right_z\":-0.008,\"right_gripper\":0},\"note\":\"The pen barrel is between the open fingers with a small sideways offset. I will center that offset and close around the barrel.\"}",
  "call_id": "call_H0olAFQnXpOqZK7Ejd6TB0Nn",
  "id": "fc_0f3bcb0992814ecf016ab465eaf3fc87d0bb73d1442d124a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H0olAFQnXpOqZK7Ejd6TB0Nn",
  "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]: [-0.3538, 1.9854, 1.5612, -0.9295, 0.8768, 1.0981, 0.0532, 0.968, 1.8442, 0.3393, 0.9531, 0.2924, 0.1974, 0.0466]\nstate[eef_state]: left_x=0.3422 left_y=-0.2673 left_z=0.1289 left_yaw=-1.6552 left_pitch=-0.1107 left_roll=-0.1436 left_gripper=0.0532 right_x=0.2494 right_y=0.2789 right_z=0.0004 right_yaw=0.6109 right_pitch=0.0332 right_roll=0.0185 right_gripper=0.0466\nstate[joint_eff]: [-0.2667, -10.441, 6.188, 0.6325, 0.5006, -0.0562, 0.696, -0.7043, -5.2171, 3.6718, 1.6825, 0.1978, -0.0611, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b012e94a354265a79bf39488ffd0d0d220d88605b7a98791333492d22a9736c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59cd14330a13dc6356df130132f9f12e69c8c5d5591fe22961d543a8350bda9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e908e859d6498d42d1ca4b11d9450087a717450cd8078656ae05a223f08fc40",
      "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 · 7.717 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9778, 1.5654, -0.9287, 0.9203, 1.0981, 0.0648, 0.2317, 1.6146, 1.1183, -0.3904, -1.1187, -0.6174, 0.0596]\nstate[eef_state]: left_x=0.3401 left_y=-0.2717 left_z=0.139 left_yaw=-1.6647 left_pitch=-0.0665 left_roll=-0.1425 left_gripper=0.0648 right_x=0.3215 right_y=0.2428 right_z=0.1979 right_yaw=1.3822 right_pitch=0.2007 right_roll=0.2089 right_gripper=0.0596\nstate[joint_eff]: [-0.253, -10.4274, 5.9966, 0.5934, 0.5934, -0.0659, 0.1148, 0.2256, -9.1009, 7.8017, 1.1648, -0.5104, 0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9842, 1.5635, -0.9318, 0.889, 1.0981, 0.052, 0.9764, 1.8172, 0.345, 0.8848, 0.2985, 0.1829, 0.6965]\nstate[eef_state]: left_x=0.3415 left_y=-0.2685 left_z=0.1315 left_yaw=-1.658 left_pitch=-0.0989 left_roll=-0.1456 left_gripper=0.052 right_x=0.2457 right_y=0.2772 right_z=-0.0021 right_yaw=0.6221 right_pitch=0.0012 right_roll=-0.0093 right_gripper=0.6965\nstate[joint_eff]: [-0.1162, -10.4957, 5.9829, 0.5543, 0.5055, -0.0513, 0.8669, -1.0462, -4.8479, 3.3026, 1.033, -0.0269, 0.149, 0.0562]\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 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5612, -0.9295, 0.8768, 1.0981, 0.0532, 0.968, 1.8442, 0.3393, 0.9531, 0.2924, 0.1974, 0.0466]\nstate[eef_state]: left_x=0.3422 left_y=-0.2673 left_z=0.1289 left_yaw=-1.6552 left_pitch=-0.1107 left_roll=-0.1436 left_gripper=0.0532 right_x=0.2494 right_y=0.2789 right_z=0.0004 right_yaw=0.6109 right_pitch=0.0332 right_roll=0.0185 right_gripper=0.0466\nstate[joint_eff]: [-0.2667, -10.441, 6.188, 0.6325, 0.5006, -0.0562, 0.696, -0.7043, -5.2171, 3.6718, 1.6825, 0.1978, -0.0611, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b012e94a354265a79bf39488ffd0d0d220d88605b7a98791333492d22a9736c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59cd14330a13dc6356df130132f9f12e69c8c5d5591fe22961d543a8350bda9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e908e859d6498d42d1ca4b11d9450087a717450cd8078656ae05a223f08fc40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGXvLiCEM5EPOBYzzfhM_ozAL0vBWdd2Jqk4znw0Ifb8u8SmHNQD8P5VZkepZ1W5wlcEJZSGUCGNER9pZCShvmPr6Wl_s5cMZHBGSa_DLqi3TR6XyKx1xK_wPvjunXba9Ilh_EiZ9kd-CHKpE0rGTZLJ9uLTQ3hNKZ5cXMEo6XditDLmcfNF3irvehEPqG2GOuVglJNJT-DJpcYVNcfqlIIwINPgYxKHX5LLhOwb27XCGRIq0-FuB9EAKcvnhql9nP8l067pBYB5CEaoIsGCczBUlQD6Cv2TXhRheBpfdYbf1F3YUAVgOI5Xel1-Vym6JiFVZNT1Qg7CMQW845VpWcnamxsKly41mNsBZSFYQ_eKGUvUCt3ZZljpZnzBK07QImFF8RPHJR3d-U3ygNPl0_ap9g8lLbiP9a2-xS55CVyAWb6k-kPsIxUZqHkn36vCCRU0jxJ7pHTR6IHWikPqECVapBdKEaJNnsFlX4WWT3kfDjM6hhhgguYO7MN12u7a2G17G3VtzaOy0646Ey25f-w0dmx_RMncP3i_EvrV3JkkMZh4htsM9qY8uzRZbwEWz584__zCv7_pki5iIveibaxDLLeuWyI-76W-Aw5Q3oCOlVxTpNXb003vnRfH8wKBwJPSs84WbTX8z-pFEPx2WRo6kmMrBS-gCIcw4YSA3Ze4XTIf04VqbABRpwk725Oc_cgi862ic-Nqx2WTf8B2-kF7llDdrUW-2tp29-LgEGPzxGrqD3oabboQ3NbdVPuC0bT86uhrdrMj-ZyExnrlBOwQ2v39c4KrB3kjGtKZxXG4-xzCvNBfaE-CDtt_Ka81mVuK6l3LGQ-lR_gs7aUQVJCkigpnmCXC1q574na6dhJ3mc4nj-NnpsqAxHTHjiZ6-vhgyKaVrZLSgiHa0z260VIOBDkk34PTSjfn5u0zcn9knd6sWm-d39J8ugh-6dUoG0ZBO4oeh-kNXs-sYM3HVdFFucQ2zVkUijZAFPkuGWBpWh4nZz8oC89G188Xif-oc8hsTUz_DqCiofwA_hoCaYgnfw5D9F8ondNkksWjCgDwiDI7K2QSV6PUWKhmmqjHPXcYmHwOJbjuGqhZrjzbURCyYJOTeZVgeBAkzjAQY8uHv1bn2isfO61IUanBfpU99te-6WaLuSFxRt2TxHHGL_Ril8MHmQ-usj-kKwuFwzvsykBU90fvFhAc2Zc-LRTI9SiOnqiOk_AQPcduKK1AncfYL_QpqGDgg3hA5m1nAoD5unOtcz57zw3x4lByFSz0hx1PZN3gpStPGPgDucPoZcCRIJx_N7sksArXy8PugRoBjEgy33IlfPIrVkamsgPyWiLFQkCuyyUhEhk7b91FfTkM24Gw9Wuldu-LqLpZ9o90gONdvK80pYqukcTwckD4KXcaYvNF8UjDpbLs20NOdJxTGYNSd-OoAJqP84CADJPeEfG5BO2jCDVrhBzi3XDaUX9n",
  "id": "rs_0f3bcb0992814ecf016ab465ee217c87d097f5c83d1499b4d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The right gripper again stopped at a nonzero opening around the pen. I will test the new grasp with a short lift before bringing it near the cap.\"}",
  "call_id": "call_ipcVEQFVObrpCmA3zXmbocZW",
  "id": "fc_0f3bcb0992814ecf016ab465eee48087d089d07a2897e075ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ipcVEQFVObrpCmA3zXmbocZW",
  "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]: [-0.3538, 1.9854, 1.5581, -0.931, 0.8661, 1.0981, 0.0556, 0.9684, 1.7531, 0.366, 0.8448, 0.2901, 0.1974, 0.0495]\nstate[eef_state]: left_x=0.342 left_y=-0.266 left_z=0.1265 left_yaw=-1.6531 left_pitch=-0.122 left_roll=-0.1452 left_gripper=0.0556 right_x=0.2522 right_y=0.2839 right_z=0.0184 right_yaw=0.6131 right_pitch=0.0417 right_roll=0.023 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -10.4, 6.3385, 0.6911, 0.4811, -0.0415, 0.5104, -0.0889, -7.8427, 6.612, 1.9853, 0.1001, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4918303b935bab46b01d50a6d6a4f708be73296f28354531435a43e8ac80760f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e635770069041c26c98c992de0d0c0cc7262104a25096da558306718ded961b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c8cd93ab16943ea1d7147f4bcd168e13efd47da7e6b7b65f0478950dbedeab",
      "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 · 7.592 s

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

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9835, 1.5639, -0.931, 0.8974, 1.0981, 0.051, 1.0626, 1.4963, 0.4084, 0.5346, 0.1955, 0.1329, 0.6959]\nstate[eef_state]: left_x=0.3411 left_y=-0.2694 left_z=0.1331 left_yaw=-1.6599 left_pitch=-0.0905 left_roll=-0.146 left_gripper=0.051 right_x=0.2091 right_y=0.3122 right_z=0.0584 right_yaw=0.821 right_pitch=0.0176 right_roll=0.0112 right_gripper=0.6959\nstate[joint_eff]: [-0.1983, -10.906, 6.3795, 0.6227, 0.6422, -0.0464, 1.0281, 0.1573, -5.6137, 6.4889, 1.7998, 0.3785, 0.2515, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5612, -0.9295, 0.8768, 1.0981, 0.0532, 0.968, 1.8442, 0.3393, 0.9531, 0.2924, 0.1974, 0.0466]\nstate[eef_state]: left_x=0.3422 left_y=-0.2673 left_z=0.1289 left_yaw=-1.6552 left_pitch=-0.1107 left_roll=-0.1436 left_gripper=0.0532 right_x=0.2494 right_y=0.2789 right_z=0.0004 right_yaw=0.6109 right_pitch=0.0332 right_roll=0.0185 right_gripper=0.0466\nstate[joint_eff]: [-0.2667, -10.441, 6.188, 0.6325, 0.5006, -0.0562, 0.696, -0.7043, -5.2171, 3.6718, 1.6825, 0.1978, -0.0611, 0.9792]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5581, -0.931, 0.8661, 1.0981, 0.0556, 0.9684, 1.7531, 0.366, 0.8448, 0.2901, 0.1974, 0.0495]\nstate[eef_state]: left_x=0.342 left_y=-0.266 left_z=0.1265 left_yaw=-1.6531 left_pitch=-0.122 left_roll=-0.1452 left_gripper=0.0556 right_x=0.2522 right_y=0.2839 right_z=0.0184 right_yaw=0.6131 right_pitch=0.0417 right_roll=0.023 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -10.4, 6.3385, 0.6911, 0.4811, -0.0415, 0.5104, -0.0889, -7.8427, 6.612, 1.9853, 0.1001, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4918303b935bab46b01d50a6d6a4f708be73296f28354531435a43e8ac80760f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e635770069041c26c98c992de0d0c0cc7262104a25096da558306718ded961b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c8cd93ab16943ea1d7147f4bcd168e13efd47da7e6b7b65f0478950dbedeab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGX3fx_CJRGCF4Q-EG_y5GXGWWgMxKL9W0eTvOb0gEjCu_J-M8OYxAiXpB0we-Z9mflVUgHjhUJENUYZIJj10HqipNmOFDSKy5lv9BNItpEUOZzZaOYETM0g4m770ktf7Qwf8ZA3wKw69vIObfAI68euIiZdi2X5hdpmTVuBXhKFcUeBUNZdhl2nLhxea3DTsvVcPI4q7tYr9hXFet-AdDs-yBGqZdQ4N5u7GvSIa2N9lsHzlGYr4A3UUmcT9b5-y_XiPHFYsFMPsfKEteV5hgoV8VBesE9CBCdWPCaIDfYzjkzSSNNKxeEq09pNCUHtAS5WpHwRp2wdx17VE_rOx3GLE1G269aPLHEfyFBmmfpljwvFGSkp4b-79AJFddaWb-nEUz8fY8DUxPLtF7MNTuynXAf9YYDnsZ8-LP4LofsZSJF5SDJ-UZHwy0_HQTXIc2gRH_Dv8vscUx0qN4ehQ-vwluqGXPjuOSxPQmv2KavktSLCRJUwbZx0c5XrJ6i_LItcC2X7HUQNYGLJa7X4tZN3m8AOYS9oWcSvdI-ZDEjCFgHSrUuWXvpr00lPQsSfCAEemtAEBIUQ1six1SNSfPqFdVP0NmqIfH8wbkk0ZY1TCpyuF8EfF-Ntfc6zA6K0ZpksHjDsHUN0OEw9kDizx8T3DbnbNYaBgPLmM53_A0ChR5mDXkTBeRlcKdqwo7F6GYGPkitmRtBFNdDVSsacDIJA5unxDmpHW_8m9gHxLPNTVvSwX7zMAxFD7deckPB3_rrQxsPvSsSBXYAbMFovCTYetqs-jofl2A7NBEm0PWCBRCnG2m2HFCzXqITOIjHQakuxzu4t7gZ76Nj1ufVF79hgcVry03QNFZBL39idaTEQ1VRuIVDv_0PofaMUlrh4Yl_LLuGTr9ucjNBsYhXVwOiTWurt7wailxCtIcKZS4-YVmxwoShEIXzRmQxh3FaHuW3GGbt1m6sT8elIwLaw2epZaq9AShjitOF2S0igkWzD4DBT5lbH7IbPHd8HzkDSMr0-njuOKpwzHDz5IL4-1Bd2d3lvbR3McXlKCPRhi3EWX6kPeKa4MvIIdjwAvlT40CHJxhOSyvzl1Un_-zi4bstFD7bsBp4zFYIc1CAuyM0RN7Rus_JGvGZ6QMupbzlrendVbV8CAK5Q-Y9QDB9fC4Esk9PcGlLlxethXu6nlv4eVSVMM_YGciRyGd_lViH2rbOqc_MxXQWDRR_oiogAGJXNZsa8sC8kyqRPB7vCJB1wk5Gv6Lru64Tr7fUDhywA2Z-9QOVzDsyZLV4o9Zj-hfEqNy9cPFSMmIOT1cZpsxtjq6Q2NBUTwfgDQHyKzxFXpiBnj3bSgb-qNGenvVWLkxlX3-WIYNMZnWlQSVDApD3vlTtaFqC4z01s6OCnF0bS8ukNkcUH3nSsI9D3BuXjdIaalhvnm5BoshmIhG5d2Ev50EmBnQnv3JUISReG38a8v9sUW1tNvBKAYAL6QvWP-wfXhfXTtqiBPWTKk8cRh3h9UabbiQR7xXfqQYWxGGZVaQqkWbpcFeD3JlEgOEWMq0gV5LkdwDWvWDxVUYtkQZZXAeYeSIMFUl3Q21IdPRciSyTqYHDrGi4Rfeu_JKXz16__9x8_RFnXnXb5W0u-ZmEv9TFGb5XoDK8UwqLZwfpb83mRyIH1dYx-OxglK94Mu1r9tgzYxYFgTCRAX8G6Zad0SXQpQIf5KDVAcWdTdFUvIj8KO_2V7tMa5_3B5SqYpFFuyDFU7Rmmvzg3I23LVwKRy-vKPmvWL40RRnM2gQgqpTddYK7hWlMmWR8hE3-3X1XgpfUqJtQDBijRARBfsVUt3IBV0_yyykCsGb3PVyP-fEQ7OjfJKJuEx2lyTNQLJoGOkgZAAYURnc_GeKVzIj54yKfCFk1J_NxizDSSBnN2tTWSdz8LxE6zlpMiZBjxM1JHYIfKIF50ZpMAGYwYyqNg_E88SrnnuKmAUbR2eQGrEJRtAX7VjWZlbIPOloBbgoodtoEvgYTALPPkGQlTshBeZ17JsfF0zS6HgzWA5JQlZ2sxf-wAnxyehyK1CTabd3EvUFRi7Dpb127Bg8IawJV5jmpHawa3S1fpgllUdRlC55VVFSVyIjjgsXzPUaa0eVTjcAhSfinCZBkW8l31bbtEZwj3c3VqalnwkCtu79fBsoWNm_FShcaRBrQ13tD6BJ9wYQlG33IX2VcMjW1mVnnJ8XvkDkgkhqInlrTpyu7lDNVkWpONsKqEb-dra2joPsdU3g0vinbeOEtnyH1YLwmIeGbNAja_URpTheaqYCcm4G4AOL8ai4O_K_diFXvyXR1YbnqkBzYc-1nKYf-eg8NJ6y-xNfW-XbSL2yYvs-UiGbk1mQP4_ifUqgXCt2X55AeEP7BeLvqa_xgD8MOAjfjibeo=",
  "id": "rs_0f3bcb0992814ecf016ab465f1b1c487d0895aace1ec3cdeac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.332,\"right_y\":0.25,\"right_z\":0.18,\"right_yaw\":1.49,\"right_pitch\":0.3,\"right_roll\":0.15,\"right_gripper\":0,\"left_gripper\":0},\"note\":\"The pen is following the fingers during the lift, although the arm has risen less than requested. I will bring it up in the wrist configuration that previously moved freely and aim its tip toward the held cap.\"}",
  "call_id": "call_DmxqZn1sKRoKQcaGwFaLgl0d",
  "id": "fc_0f3bcb0992814ecf016ab465f6a9a087d0983247f309ff825c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DmxqZn1sKRoKQcaGwFaLgl0d",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5543, -0.9356, 0.86, 1.0985, 0.0488, 0.2348, 1.7138, 1.0454, -0.0002, -1.0851, -0.5499, 0.0495]\nstate[eef_state]: left_x=0.3408 left_y=-0.2648 left_z=0.1245 left_yaw=-1.6529 left_pitch=-0.13 left_roll=-0.1514 left_gripper=0.0488 right_x=0.3586 right_y=0.2501 right_z=0.1742 right_yaw=1.3741 right_pitch=0.2645 right_roll=0.0604 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -10.3453, 6.2564, 0.6618, 0.4225, -0.0659, 1.0281, -0.2393, -8.5812, 6.1744, 0.9841, -0.8474, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b02cbd4c188e82be4cf3a096ebd42e66bb4c7a65c73a074e231ec1db2da67d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb0aebc7aff396ee668c42d97fd9a12487d605cae2d932bb1313af8a863fcd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15689a861e7316c01d9fe5d29e0ca0ab386a732f99cbfb22e6215bd5215cd42b",
      "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 · 4.819 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9842, 1.5635, -0.9318, 0.889, 1.0981, 0.052, 0.9764, 1.8172, 0.345, 0.8848, 0.2985, 0.1829, 0.6965]\nstate[eef_state]: left_x=0.3415 left_y=-0.2685 left_z=0.1315 left_yaw=-1.658 left_pitch=-0.0989 left_roll=-0.1456 left_gripper=0.052 right_x=0.2457 right_y=0.2772 right_z=-0.0021 right_yaw=0.6221 right_pitch=0.0012 right_roll=-0.0093 right_gripper=0.6965\nstate[joint_eff]: [-0.1162, -10.4957, 5.9829, 0.5543, 0.5055, -0.0513, 0.8669, -1.0462, -4.8479, 3.3026, 1.033, -0.0269, 0.149, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5581, -0.931, 0.8661, 1.0981, 0.0556, 0.9684, 1.7531, 0.366, 0.8448, 0.2901, 0.1974, 0.0495]\nstate[eef_state]: left_x=0.342 left_y=-0.266 left_z=0.1265 left_yaw=-1.6531 left_pitch=-0.122 left_roll=-0.1452 left_gripper=0.0556 right_x=0.2522 right_y=0.2839 right_z=0.0184 right_yaw=0.6131 right_pitch=0.0417 right_roll=0.023 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -10.4, 6.3385, 0.6911, 0.4811, -0.0415, 0.5104, -0.0889, -7.8427, 6.612, 1.9853, 0.1001, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5543, -0.9356, 0.86, 1.0985, 0.0488, 0.2348, 1.7138, 1.0454, -0.0002, -1.0851, -0.5499, 0.0495]\nstate[eef_state]: left_x=0.3408 left_y=-0.2648 left_z=0.1245 left_yaw=-1.6529 left_pitch=-0.13 left_roll=-0.1514 left_gripper=0.0488 right_x=0.3586 right_y=0.2501 right_z=0.1742 right_yaw=1.3741 right_pitch=0.2645 right_roll=0.0604 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -10.3453, 6.2564, 0.6618, 0.4225, -0.0659, 1.0281, -0.2393, -8.5812, 6.1744, 0.9841, -0.8474, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b02cbd4c188e82be4cf3a096ebd42e66bb4c7a65c73a074e231ec1db2da67d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb0aebc7aff396ee668c42d97fd9a12487d605cae2d932bb1313af8a863fcd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15689a861e7316c01d9fe5d29e0ca0ab386a732f99cbfb22e6215bd5215cd42b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGYANhsDrfiqxHhRTC0Qf_hPyh3TLeVUleInoAk0OVsWnUWNMlPnT7T5Xi36y6p4PSkgtLH2Nb1NxpEbsniiCzRqr37h378sIEgwV_TLPsQVp2uJJ2Liz4sw47-o1iKe8pVUfYbc9fYSmnEUx3G0cxYz5Ebvu_k-8pNbfdjHOTFjbVql-7LrbguU4U2jsvxR9JL1-x5w2xMLmm4sfM5h6rvooB5VhKtBXN4JePjL0ZsZLCfNaP2L9ytY-FGiLE7p6rAAz-_eNL1L6YJd10WUuB-5kQGx0U1tCO9UY2RKE_iEWTWou8omHtuY06Mi8O2BsxQU-QGlcpMegOpSTbhk0wWYAV-bBrKKz6m7mDHw3cyv5dILAaSrQDMJjTDoMNGS1hZYI4jWqmPlk7J2SSz3Z0DKzrtO6RYzZCvd3Q3CQxjKsUrxyYTv0TSjSjalh6YRZc5iNz3v2fU8lCDPPfj-uojciRgdat1ckBsnQ2wixxxMwwwF4WBJ63fSc0q3iFuaJlEGPUURMhmp-3kldyiztoIsS_aNykRaGaQTZaSNTvO4oC6qOvngtSuh8dpwHuD8UVCl_dC4QVmDrhw1v4Bb4lbaSxeZ-k3hB4KNCKBSN0BNHDyuy4gGmR5vJwiL3zGXAZW1CMf5WXF1G8rBGfjFNOP5eYI5UBLEBjU0rH1vZHSwQYTzHATCnQO-fpfzxc7bF1bGu0iGtJjJ82R4bIdKi7FQIDL86WfK6naEeC-bWf6aMZAw3TFzhoRgdR6bXYCzEQqV_ASjVvi0kXVLQKvkSPaCbKDnqDMcpXdguUruWV8d8OkYC7JL-3QvCDExgtbIE8OIhHCxKv9Q6XUm3ivCC1N9Fesyv7SZ_Bx1f50664Te6aS2OOQ6kEHLK4WMU5j1eUbRjkdTSMS0J5ROwdnt_VLtkr6hMUL-rnux9OmxMm1Vz3hhQZAMT0h5CLouTv9VG52_D5ZS_9W9ldisZfPcKKHVLlLTWx0_nugeDU0ksOTwPLkF2Qy151pvGBfaVN9CIxgUDDqNvCSAh0uPmBAnvLWPuHKu_vc-MpsiS8IUllpNsaTuZ5O_yyK2a9eumL_VaAjtcSMxAav9BnJ-q6phgBJsX8zc-w75QIBZxsM2Id_h4xSp4HDmmkFnjCf6tKBWRpzHeb8XzoWmGTn2aWKZ6wmw1OM8CoDK-vYYITbxK-8_MPJYlHb9_v8UhVvCTil8-r76KhLki0TL3zzKUi-Pp8wnuGADf27LTEMkG3UHOQveMxvXXQXWRGDFIyXbKVpVf2d73sYdN6wZjn-KYDkt5OE-J4m8tM1BYBfaZMV2kRKLMNO4J3o65k76vhfEVFHyqpWw0uOyHqOlAb9hIY6ZsMvXT02hj80BoDVRs6vgeSI8ZFmWhpcxg0saF7HfCrIYTY13hdk2mc6EW0p_KZClq_KU1U0BUpIoEbmlGySP1O2mL3_JNKODim-rDEVAUHlY1VDh2HIpq3Y9_lOXWqyGUea_B8sXPgXnzSrp2EDCo4tj0V7XyrAfkTYYIH4GP2ADNUojBf1RB0d863aF1IYi_heu-RZ3wjqkqaRfFPBXLMArVNgLpXagjCMZxezvfts17FGKpDSlNnLdy19inDkxy1GH2KPpw-tivzvWjG-kspHGmBUm2klLAQ1HNa6w2nEEW5I0sroP72f2zmAR4EatQ6PDQPa5SdwGKXg-MgzP_oGjoo3y1ZL0hOuLik23zonzvguImd9QSFI2iYwH4Oc-h7fgumrSl6slo3v8aXOc_8ulZwHQtOoecVOliyI04Q-RlNICPVjHvLdhPPSr2_FSAeZySAZh3cp64tQTYcZsK7CXDXIa5chIAnNJ-Jk-1v2a0BkQy_XxTZSZoOnuu27y4N5NSdfX8yZ7TwgjhCkcZm9afmLvXMGukYsh1Jv4iktuyH-niPua1bCyX3hamd5UhZuXuuZz6x1PXDeCPf_4XYITrXlzZq5XBGzdN6zI9mrhkWldzZE36Os9rK205d8EwIC9JmEZ4KTtoV4KNs7Xkgf-Q4IQPX4t3ek-XxudoMtTq05ukPlXMvaCb7R5dXti1gm5bfDCd-dhq1XLDNWHIgVj5X4hFwCb7WNRvRvfi8Ec5B3v9xuduGGqCaqWh6GzY-Ucl-r3pmMoFlo0PpBumoCzgmkLDqPoa7TtpuPGVyWMnvnA6lEVBMYktaD4GAni6graukLc9yqulfN4bJGUoIF-fOkfzd8w174ZJbPZqlnTVlAWMy403CcLOFpsQbp9RrefCOcFqTmYzEkEsU2KWypUZjHLUWPi85yqwpqUYgu65HVA2gWzlF6KYz7gBdojfZLvM8oVWbUaM5-jasiZeVjB-2a7SMYiRYxlfsIZ9GWoDL_vjsa8ZSMo3QbyzD5DbtEOPL_9tZKGD2ZJVWKxcHSQ2iHvUOsaueDys6CEceq09ctWw8q8P8LMztOlQRfaeewdgQ==",
  "id": "rs_0f3bcb0992814ecf016ab465fa9d6487d09185581dec1bd259",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.26,\"right_z\":0.18,\"right_yaw\":1.49,\"right_pitch\":0.3,\"right_roll\":0.15},\"note\":\"The pen is securely raised, but its point is offset sideways from the cap. I will correct that offset and bring the point a little closer, keeping the insertion gentle.\"}",
  "call_id": "call_bNh2FduzVLgU1RRS44SvLGaZ",
  "id": "fc_0f3bcb0992814ecf016ab465ff4cd887d09a3a4c3e1b3363ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bNh2FduzVLgU1RRS44SvLGaZ",
  "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]: [-0.3538, 1.9854, 1.5528, -0.9424, 0.8444, 1.0985, 0.0495, 0.2504, 1.7184, 1.0271, -0.1287, -1.1713, -0.6167, 0.0537]\nstate[eef_state]: left_x=0.3403 left_y=-0.2627 left_z=0.1217 left_yaw=-1.6503 left_pitch=-0.147 left_roll=-0.1554 left_gripper=0.0495 right_x=0.3275 right_y=0.2555 right_z=0.1618 right_yaw=1.446 right_pitch=0.2631 right_roll=0.1622 right_gripper=0.0537\nstate[joint_eff]: [-0.335, -10.3726, 6.106, 0.7839, 0.5543, -0.0366, 0.9158, 1.2376, -11.4803, 6.1607, 1.033, -0.8767, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8adf83c603a5310504e5d7374f481b972be6ce137fa801018622c2f9c2f46e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b305701cdb643263c79b4839382145fdd9d57ef228b44c3057f1a77acf297e60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f6c0c16b04640fa17de81364ff22afc1611dc7ebeba0bb9dada689c56d531e",
      "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 · 4.384 s

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

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5612, -0.9295, 0.8768, 1.0981, 0.0532, 0.968, 1.8442, 0.3393, 0.9531, 0.2924, 0.1974, 0.0466]\nstate[eef_state]: left_x=0.3422 left_y=-0.2673 left_z=0.1289 left_yaw=-1.6552 left_pitch=-0.1107 left_roll=-0.1436 left_gripper=0.0532 right_x=0.2494 right_y=0.2789 right_z=0.0004 right_yaw=0.6109 right_pitch=0.0332 right_roll=0.0185 right_gripper=0.0466\nstate[joint_eff]: [-0.2667, -10.441, 6.188, 0.6325, 0.5006, -0.0562, 0.696, -0.7043, -5.2171, 3.6718, 1.6825, 0.1978, -0.0611, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5543, -0.9356, 0.86, 1.0985, 0.0488, 0.2348, 1.7138, 1.0454, -0.0002, -1.0851, -0.5499, 0.0495]\nstate[eef_state]: left_x=0.3408 left_y=-0.2648 left_z=0.1245 left_yaw=-1.6529 left_pitch=-0.13 left_roll=-0.1514 left_gripper=0.0488 right_x=0.3586 right_y=0.2501 right_z=0.1742 right_yaw=1.3741 right_pitch=0.2645 right_roll=0.0604 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -10.3453, 6.2564, 0.6618, 0.4225, -0.0659, 1.0281, -0.2393, -8.5812, 6.1744, 0.9841, -0.8474, -0.0317, 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 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9424, 0.8444, 1.0985, 0.0495, 0.2504, 1.7184, 1.0271, -0.1287, -1.1713, -0.6167, 0.0537]\nstate[eef_state]: left_x=0.3403 left_y=-0.2627 left_z=0.1217 left_yaw=-1.6503 left_pitch=-0.147 left_roll=-0.1554 left_gripper=0.0495 right_x=0.3275 right_y=0.2555 right_z=0.1618 right_yaw=1.446 right_pitch=0.2631 right_roll=0.1622 right_gripper=0.0537\nstate[joint_eff]: [-0.335, -10.3726, 6.106, 0.7839, 0.5543, -0.0366, 0.9158, 1.2376, -11.4803, 6.1607, 1.033, -0.8767, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8adf83c603a5310504e5d7374f481b972be6ce137fa801018622c2f9c2f46e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b305701cdb643263c79b4839382145fdd9d57ef228b44c3057f1a77acf297e60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f6c0c16b04640fa17de81364ff22afc1611dc7ebeba0bb9dada689c56d531e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGYFZH7RMiBRc3dsJbNxo4Nso0VN-k-M_1wR38Zgv51_HRs4kdYVCaWoTE-GN6Je-Zq6tfIg2hQqS1crSWd1CAro3MFuyz69sr8d8vyXCvycP4hhBfwdj__R96PajKtJPc6oDy0f_sBUhso-iRQas90XrPvUNFsYuUbdDuo8QZ9JwVtBcnLMmgEz6i-AQfssvqD0XJlibyKPSNc_v4dDesc13GBl8i20WsiXXneax0-7HqkIvUBpJO4EhoBEVoxAg4PvLnTbCOrXXXo6IsB6kWET2VUYmI5wLC1KuOqH649rh0oN7aElmL4iOQigZUcqgnH9XiXztbyh7yiZgdO4bClKCu_mW8d3u-LLQqI4PH5Tv3d2g3C4AalEiv_CKWnyJiBXgNJpGb0ZKjgnA6YtblJvmm_7j8fy3FX6FJpGdiJylWG9x_wpPyL2PjFrBxJqtkyQWdPm0E6EPkKrPO6Oy0lKooy7z4t877w-C9k8YJkiTgi4oB2yqC_5TaOU01vtJx_11S5AZLO3HpbDXmCFYFIUNKrjnK2005XIABo_DiGF-p7aqCygxXNzfWU1xbaIsYpES9DG23f--IX1xJRsuFUa5s1paIaqwZ48A67xu6JtYhnjt2yhdBCMmK-6vuyBwbaQ6D-6ipw2997gcXAzP9hoNZRkdKg62PG6IYGSMxPuyv1jgjs3PhjWxaD408eyuUmYmfusaJ7nnQMFuDty1ihtUNgDXYO5KWPEiS1mEKGN5JpAfIxFuXN7aDuBsKqdh7DaGIJ38hAQ9t2SWosFCmCZPGsBRAMGSJ071ARoNDydz6V0FjGWtHWc77z2TtIotE6Im71yM9gAEKfuXksqWNxRkQWk1LyT6jnY-SDCcZmw9M0afKU5RiIaDqueBUjNYw20tKZDQKWQPRfIPzlHgHimQJNijpayJKbD5JU97ygmKUmzwAayfgCQmrhOCXDgt89M14xt0X6a2dy2HyW_5DcsbcPj4_w55UWOwnrvXa15VyaGyFCmLCBdFWjNA4nxjd7xBu09z9O3OdkioUYM7kSX8tGzEIpRpo0P6pDJDU9SDKFbn0BBFvidLPFAOKU_tDlbyrREB62XIwyv2IIVso2-eFombbr08dxmFHkRsd_tZd7ilj-N8U2Ze-t1YAUSxSizKekd97Mmv7u1UxpepNVjWfqbAOgGt_qVub532hY9jbkGwimXHAetOS9OW-oTlGUvrvwotZuXyDAVhP-THsXGkvG9RkSLElH7hMu5bUQJZXC89i2j_iehyLnTN8vDhL5nwTzMobRcbginO5d0R87zgmA0oyabdIMU1RUAd4_Ev7t-kHMfhWGK7D_2fehRlU8PWEXR191MZYK2IHQugq2kMh_2wnL0xKlaZfgwg3YTyV8az548I6bqVvdlCCdIVjF9epxeH6qfyXzE4OKdmmfGeJbapFBiPSJGsdEBsAAnqVmY7ofsMNqeFITdII7sF9kwKhfnFwxBv7TYzIvCoRX05DaFQ6EpfEMI64Q2mUsYvscTgTXayZicYS9vHY4HuCeSLfABUXm3VgpZqLvkSoiWKCMUNTROqhRW5wkcVec24dfKz1y8p7moiIETb14uNRT1e2jt9DmFxuf9jSN0B09HaEkYzJ7D2OUenJUkyoEr92Z4tQ6C96mSnafZOpRZ-khLg43eNtqPIoS0wrlZE4z9KxACJ01w-2I-XlYWNJSIyIP5YMiwbqPJBvpuDCvqOB7HHUjNHOA5VZp8m1fSKDHD_NuSK-8T-D8D3_qFyYxZMXe-J4fWs4CSvS628VdAbRQP9p6iwWyi_7FYiX2UCa7xnw==",
  "id": "rs_0f3bcb0992814ecf016ab46602492c87d0a76b4ef8949cdebd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.273,\"right_z\":0.17,\"right_gripper\":0,\"left_gripper\":0},\"note\":\"The pen now runs into the cap's finger gap and the sideways alignment looks much closer. I will lower it slightly and advance about a centimeter to try to seat the cap.\"}",
  "call_id": "call_pXyyvDpMbIfGSbamjrGPaaBo",
  "id": "fc_0f3bcb0992814ecf016ab46604802887d0b6cdc32fd27d4204",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pXyyvDpMbIfGSbamjrGPaaBo",
  "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]: [-0.3538, 1.9854, 1.5528, -0.9524, 0.8413, 1.0985, 0.0494, 0.2512, 1.7176, 1.0271, -0.1314, -1.1717, -0.6167, 0.0537]\nstate[eef_state]: left_x=0.3388 left_y=-0.2617 left_z=0.121 left_yaw=-1.651 left_pitch=-0.1526 left_roll=-0.1643 left_gripper=0.0494 right_x=0.3269 right_y=0.2556 right_z=0.1619 right_yaw=1.4465 right_pitch=0.2627 right_roll=0.1642 right_gripper=0.0537\nstate[joint_eff]: [-0.0752, -10.3043, 5.9556, 0.6667, 0.398, -0.0464, 0.9548, 0.6359, -11.494, 5.9829, 1.0574, -0.8523, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919d6626ed2778f3f2c5f4454954bf65d4c23cccb86727bb50698bae9d83e998",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f106d8bb2ad298b7750c02259c0f3283e46e57d02959da9188f996db0ed6e860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b2bf7960fc2fd47036b41d8144c3aa20d2bd2266cb0f3fb04b345093887ce6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 5.835 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5581, -0.931, 0.8661, 1.0981, 0.0556, 0.9684, 1.7531, 0.366, 0.8448, 0.2901, 0.1974, 0.0495]\nstate[eef_state]: left_x=0.342 left_y=-0.266 left_z=0.1265 left_yaw=-1.6531 left_pitch=-0.122 left_roll=-0.1452 left_gripper=0.0556 right_x=0.2522 right_y=0.2839 right_z=0.0184 right_yaw=0.6131 right_pitch=0.0417 right_roll=0.023 right_gripper=0.0495\nstate[joint_eff]: [-0.1846, -10.4, 6.3385, 0.6911, 0.4811, -0.0415, 0.5104, -0.0889, -7.8427, 6.612, 1.9853, 0.1001, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9424, 0.8444, 1.0985, 0.0495, 0.2504, 1.7184, 1.0271, -0.1287, -1.1713, -0.6167, 0.0537]\nstate[eef_state]: left_x=0.3403 left_y=-0.2627 left_z=0.1217 left_yaw=-1.6503 left_pitch=-0.147 left_roll=-0.1554 left_gripper=0.0495 right_x=0.3275 right_y=0.2555 right_z=0.1618 right_yaw=1.446 right_pitch=0.2631 right_roll=0.1622 right_gripper=0.0537\nstate[joint_eff]: [-0.335, -10.3726, 6.106, 0.7839, 0.5543, -0.0366, 0.9158, 1.2376, -11.4803, 6.1607, 1.033, -0.8767, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9524, 0.8413, 1.0985, 0.0494, 0.2512, 1.7176, 1.0271, -0.1314, -1.1717, -0.6167, 0.0537]\nstate[eef_state]: left_x=0.3388 left_y=-0.2617 left_z=0.121 left_yaw=-1.651 left_pitch=-0.1526 left_roll=-0.1643 left_gripper=0.0494 right_x=0.3269 right_y=0.2556 right_z=0.1619 right_yaw=1.4465 right_pitch=0.2627 right_roll=0.1642 right_gripper=0.0537\nstate[joint_eff]: [-0.0752, -10.3043, 5.9556, 0.6667, 0.398, -0.0464, 0.9548, 0.6359, -11.494, 5.9829, 1.0574, -0.8523, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919d6626ed2778f3f2c5f4454954bf65d4c23cccb86727bb50698bae9d83e998",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f106d8bb2ad298b7750c02259c0f3283e46e57d02959da9188f996db0ed6e860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b2bf7960fc2fd47036b41d8144c3aa20d2bd2266cb0f3fb04b345093887ce6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGYKFR6z4SitZ5gGTxwW4elfLc1U7PCUkZVFvrgqm-4iGJnNEjwYKjo_xnZQ_jFkzmmPc7OYk4kO_JDYeEyDqrgcr6Da-6mTpYfNA_GgQ2u__CEUgc8Ts93AeL2oT99tPa9IjQ2kRaiWDze3jO1JpqvGp3Pu4Fyc41WZkvJxEXkp3b8EpBl3crKNMXT-MvCpXSvcZjYrqasOOPX7NDk3fGs-HRy3qVdsgH0warttJkTnftUJnibe50XrGuzADfuV_fyoioY8Dq91aixWoxD7EbbCsh8A0LfY0ZpO_zS1JCqlvkd3mnxSTUekdYWEaZ5AeHY94Ck6Bkl_PeGrYDkOU-wSJHbUrI3zCcKqwlPYjsmttzjjXX-9jRHaYAds27cA3H_Tgemqh__pI6FHMXTIHFzIpBWio1jRaDu345W8yb3A-jT41dPywywwsCVyQXaUk2hSB9GMo9x0q_zBeR_5VXmiE2mlbLOFyp_tb2cIBSyseiwo-gK-y32ydFK0yINBXROl8j7GqVMXwGhM4wOrl0_rfB9_i9-Hruj3P0DBBNxxUQ7rgvrt9pSzCJDO--EKUJzW326bfwvGXj_dqO3OkeNd-qcNTnVKQTnvqbK0jO0g_Ip-qDsnVU2XD30Gmq-DzqLTRQEReqC1hCaLSwPIK4WDdUI3a3-_Ga2HeIWp0ich8Nc5ph2tvSft05gfMxrj8Ct6VfhtBoB6st2MVsgd-Qpm83pyWpNsVB-gOn9EFQHar34x2Oun2yeWiHLAtGyz1OPVAruEaK61whdgzhQ6pMgDvzbbdo_MSrvse8b7fCStJls1Pg5wIq2LY2iIn0NmNPEw-RT_ZrdgrQfvbxRgfPMx-YNTkyGF8pk2tWSSrk9EioveG0zhaFM4T07gLcDXRKeRnFb7K1QuStvmnOP6P3HyLwxF46ylQxspKXkCJblPOFKIQ_BSJS7_ya4MJo3C917SNhFnTn-sPyvhPqFh9mcXEFeqd4eFABnD6nArIK0BEPJ0wLT-ViYYnzUB0eWHP1obCGCJnEOM6YFHDZPs7uZNJf1e1_nxQHp2K4q4oFkYvT6mA_9tgyKp26MM_3If-tCmOgpfyUEPw8ohrKGNTl-3Cn6fklDVytozIa8OzfLSCy7K5h9yPsZRJNlEGNBkCnHD76F0Hjrgsxv8zbUnLw0ZxApcJ0Fq4d0mVEaOqo1LqnMuNnSruogmgQvwY7uF-xO6CvvaMrwtNEXfOV5f82wYQGxtLf99kKiaAQtfO75ypqmvU5nuALPtlLew4gNLpmBzH_ulwfCnLZM_e2yii-8llraLGtuMN88nPISji5yxIo9mEeFSURkgJw0mXIc_-tBvm3_j6B_XPnulYxWPQg3nDozKA4vyAejpTRn2y42DQCbo22jimJWoHAw-2tWWlKP2cS60gcmKevAfPWghLQIoSsIURtUzM_ah1RtF4WcDcvsmV_wR75I2_JsI_q3Vw4c_m01TB5B9zYvR94k4WSBRE89iMpu-veLrR-VCCHHuo-7DsTUqaRM7bv6ZQxqjxC4cHdLFHkZ69cQU2qinoWpOTgz2vwpZgvtDchrtPEOknUIAdml-d6Vj3BbFty-J-Ewi0Y-MTejiIAy7XfKm11ri41HYADlnuk_rPfg5Hs-tyz8hWcEBqQuskRexKhnMCKJ1r8a9LbsdgtFr_05AwF_kY-hBuZy5TWoxxx-1R2T3rsQgt5lbJffTuLjKvv0uTkngjFnkjYaLZTbMJA-gZHRWlHjIy8OTF8r-ukHUjQBOjsPYT-sTuEm9-6EBCH15H24SRcLWsfSYzbyEuDPdE9kHa1947aXuSGkCLvA58IJJjD1RcXxru3DW-s1TT4AWiEbJVlbcLnsP0DKUoc-7CZS1npCZkmNVwIDta0b12SnAXDOwNU6Pf0xdoZgiALDBE2Givnim8hwchOaFxfCbYFnE5g==",
  "id": "rs_0f3bcb0992814ecf016ab4660747bc87d0b94d3a2d9a7e021a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.4},\"note\":\"The pen tip is now hidden where it meets the cap, but I cannot yet confirm the cap is attached. I will loosen the left fingers and check whether the cap stays on the pen.\"}",
  "call_id": "call_TKMfeQMW6j3h0E2gnYzouWEx",
  "id": "fc_0f3bcb0992814ecf016ab466095ba487d0a39159c601745536",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TKMfeQMW6j3h0E2gnYzouWEx",
  "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]: [-0.3538, 1.9854, 1.5528, -0.9546, 0.8337, 1.0985, 0.395, 0.2577, 1.7176, 1.0271, -0.1322, -1.1866, -0.617, 0.0545]\nstate[eef_state]: left_x=0.3389 left_y=-0.2608 left_z=0.1199 left_yaw=-1.6497 left_pitch=-0.1604 left_roll=-0.1644 left_gripper=0.395 right_x=0.3233 right_y=0.2583 right_z=0.1636 right_yaw=1.4621 right_pitch=0.2726 right_roll=0.1686 right_gripper=0.0545\nstate[joint_eff]: [-0.2803, -10.3863, 5.9009, 0.5788, 0.4811, -0.0611, -0.022, 0.6359, -11.4803, 5.9829, 1.0769, -0.6667, 0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:916275520f1d83762e9bfd755066b513730811756e203675b17e2b8a10b5144c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd352d249ef8ef0edb2f0bd08323e8d003f85236adb7d9e14238c81c5a3defc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e167f97a689237e27f3d2eb2f4c511680e741bd05147bd1d000b4cdf58a38707",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 2.212 s

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

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5543, -0.9356, 0.86, 1.0985, 0.0488, 0.2348, 1.7138, 1.0454, -0.0002, -1.0851, -0.5499, 0.0495]\nstate[eef_state]: left_x=0.3408 left_y=-0.2648 left_z=0.1245 left_yaw=-1.6529 left_pitch=-0.13 left_roll=-0.1514 left_gripper=0.0488 right_x=0.3586 right_y=0.2501 right_z=0.1742 right_yaw=1.3741 right_pitch=0.2645 right_roll=0.0604 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -10.3453, 6.2564, 0.6618, 0.4225, -0.0659, 1.0281, -0.2393, -8.5812, 6.1744, 0.9841, -0.8474, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9524, 0.8413, 1.0985, 0.0494, 0.2512, 1.7176, 1.0271, -0.1314, -1.1717, -0.6167, 0.0537]\nstate[eef_state]: left_x=0.3388 left_y=-0.2617 left_z=0.121 left_yaw=-1.651 left_pitch=-0.1526 left_roll=-0.1643 left_gripper=0.0494 right_x=0.3269 right_y=0.2556 right_z=0.1619 right_yaw=1.4465 right_pitch=0.2627 right_roll=0.1642 right_gripper=0.0537\nstate[joint_eff]: [-0.0752, -10.3043, 5.9556, 0.6667, 0.398, -0.0464, 0.9548, 0.6359, -11.494, 5.9829, 1.0574, -0.8523, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9546, 0.8337, 1.0985, 0.395, 0.2577, 1.7176, 1.0271, -0.1322, -1.1866, -0.617, 0.0545]\nstate[eef_state]: left_x=0.3389 left_y=-0.2608 left_z=0.1199 left_yaw=-1.6497 left_pitch=-0.1604 left_roll=-0.1644 left_gripper=0.395 right_x=0.3233 right_y=0.2583 right_z=0.1636 right_yaw=1.4621 right_pitch=0.2726 right_roll=0.1686 right_gripper=0.0545\nstate[joint_eff]: [-0.2803, -10.3863, 5.9009, 0.5788, 0.4811, -0.0611, -0.022, 0.6359, -11.4803, 5.9829, 1.0769, -0.6667, 0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:916275520f1d83762e9bfd755066b513730811756e203675b17e2b8a10b5144c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd352d249ef8ef0edb2f0bd08323e8d003f85236adb7d9e14238c81c5a3defc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e167f97a689237e27f3d2eb2f4c511680e741bd05147bd1d000b4cdf58a38707",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtGYQAf9uQza3CtYItSPQw8TdtD3tzFFmpag-oYQrn8EFF_fMh7ak6PElZdaClNdDu57R9NmLbcXC3WWVTzOZyiHqF6S9gLOblojyVy6SuBNV4jBnbPDN_q_y-cWHt8eXSQ_G4758xIWSPDJ99Jls6d6SAKUNP3d_KhQ_7xrDUulBLRE4Wg8eymRxjjDAZzXZTeMOom96HxFyZaw1TY3dXIE-dAAKcu3OmMu4JWu7Cz8R56pVMbvRBgQwfuTfT_5iwP716zH5tN8BwPzohWBgHmrXLhaJ9nOGpW0i1TGx4NrTjO6U7IH5ZG4weDWGW8Vnl63-YUsfF-MRkHd-XlUspIp0QvAJHELBofbWBLZeJcR-qaJ_gKLDPwWk-dqYxkvLhXl44ifY9j9IQpep_gqX02PFdnYQd3o8My3uKa50BRgUmu58_B2bCQ1cCtJJc4Q0rwxIXdxTSbj0-FASt298SeBKdzn2PCH0AgX-WuX9Wd_0lEdx8sYVELurPeCVvfAB3lc1N2piNFfOqe8pR25B6fWQ-RHNA5JYn7NfQo8uDwDd2gJA_JqpYzczY5ME3VPNljnoxotgnTUGykSHsBbK_eUXLr646aTE557bk2xQv-21f7D49hQ-24AhndLxREPQ34zQNkA-uB2cF7fJizoqK-0wwUYNKLsa6_PAcqj7HCzcAnl2FVpSCGYjpnU7KUcO-IymE0NSCviUjD_KJYExEbCfaOJ9-BWP36MQP9n0yGZZzcNwTcuNymiErB-3Duoui1kb87sUmDGhsWcJJKERPu8_1tpWx05X25HTHHkJT5ehkYsYWp39mxXtebuuzxwcVDY8pyzBq0A4OHm0tkojUMsJs6j2FUv0mvOlw83pgWO0Qx8OR7KSkSVbbyi_SLJe8y9-tPqQlSw0UggWpqfP2638rPj_gxiN78rpuVmoQBWrHdr5fSatJTzc4inXBI6UssR6b0AvNxFSxq1bPTqFfDGSNdlpk4mtsVmuDkad-b1iEkfWbMHblJN6FoJ2bRyOxiqSLOjSHUIeyiEJiD7scHwJMhC9-h2WBd0-W4UPqVPtJ1adsuGAQu9LMzxtmSG11hR_M0CEoHMCIX0RJ39o2sQzFRPY9qFv55MHRJLDoMX39l52KjkeZd1MR6ie2K6yjwQ8KfMHebr0rxlIeJYh_Zu5FqVrkHau5xcUCv5GXHtHRQkWYAEiTsU6F-HqlBDlc7DKwisLzwt8w0Z8aoDGnbFQvb9-cDMcWMAYcDwt0GCGT_WpsD-ubz8pUEdZxyGRJq_41TpKmgMReNEX1iH0tm-VNxPf-_rR39uS7dkI1V0O8BufQqgU6l1OXTGoFayQyqt0wp9msNmhR81UFe4jB2nO0cgixX63g21Qb5YhN3Ill1zJo8C9TqA4SJNIvi-cVox5Vq-TBRTbDo90D0lwe4t7Bw6FGo-e4yW-N2JfUcc-QO7iBijoAoeQOyCGRJYlWrTLjx2vfgxrJt4QEqcG-71Y331kD2taOY4gekxRVZn8XHHv05NPclzUQgzMxvlzX6yoYXMVeubFqRri9Xe98lTk-aniCrxJ2VSiyEKQSbg55vMjMPF0NAMYWjuuwDrOkK3jLztIHFONBiQc7cSxD0_3LSeEEZMaVClq3tRIjHqw5-cxIWttFdfKkQ43X2_K_rkV6LdvhKkQiU7pWgIDyU7u11rN48GHgW1yYxjnyk_kdbDTi7I5V363VIhkWQpqm2QPnMkEEgIQGoNGJ12KYTqVGaH6FfUkXC7jhxBM0_vCfg_Poc0j0YryVrxhJSRFWAQTG6x2l5Ud5GiS_4AitaOFjblb5LWCOe_X9AEdX9zA0K36lDBFiDE6e0Y5fNgjNR_swV96nMcuWvG37RUY-KQOJAqFMrQnUoHGLTYkIRvfqSSP3w1vVBCX3sCSqeyAqbQ3D7T71PFyLH3-fc90aRoQ2eStHuWesLaePscDji5hJJ5Flz2J-yKPlkQtiPJZD9pbFx6UfJAzMiBq2XYfiJTPyh6CahVrpIK6BIFAW9PrAb4=",
  "id": "rs_0f3bcb0992814ecf016ab4660c13b487d0a1747e0ead53aa79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.256,\"right_y\":0.267,\"right_z\":0.005,\"right_yaw\":0.6,\"right_pitch\":0.1,\"right_roll\":0},\"note\":\"The cap fell onto the table when released, so it was not seated on the pen. I will return the pen to the table and move the left arm clear rather than continue an unverified insertion.\"}",
  "call_id": "call_yxPI2KZ7bNM8ycxBYMMgcgbl",
  "id": "fc_0f3bcb0992814ecf016ab4660f2dbc87d09cc67bee28e83b3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yxPI2KZ7bNM8ycxBYMMgcgbl",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0368, 0.8127, 0.6472, -0.3927, 0.0448, 0.0074, 0.3954, 0.9134, 1.8687, 0.2821, 1.0912, 0.1986, 0.107, 0.0545]\nstate[eef_state]: left_x=0.2989 left_y=-0.0153 left_z=0.1921 left_yaw=-0.091 left_pitch=0.0123 left_roll=-0.008 left_gripper=0.3954 right_x=0.2495 right_y=0.2721 right_z=0.003 right_yaw=0.6825 right_pitch=0.0745 right_roll=0.0006 right_gripper=0.0545\nstate[joint_eff]: [0.3624, -1.8393, 7.0359, 1.707, -0.1783, -0.0415, 0.0317, 0.7179, -5.0256, 3.5897, 1.7411, 0.2759, 0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4acf37ed0dccace6635ac10ba1cd65c4224f87933f57bfdd1966a81ba7d021df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdfb641066d977a82ad8eb0ba560a2a1abd1a1ca26eb80c3ebbf4896bac0aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823036e7812b0f507449143eb5e0f53107a8c0221878aaa2123bfbc2b5522dbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.258 s

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

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9424, 0.8444, 1.0985, 0.0495, 0.2504, 1.7184, 1.0271, -0.1287, -1.1713, -0.6167, 0.0537]\nstate[eef_state]: left_x=0.3403 left_y=-0.2627 left_z=0.1217 left_yaw=-1.6503 left_pitch=-0.147 left_roll=-0.1554 left_gripper=0.0495 right_x=0.3275 right_y=0.2555 right_z=0.1618 right_yaw=1.446 right_pitch=0.2631 right_roll=0.1622 right_gripper=0.0537\nstate[joint_eff]: [-0.335, -10.3726, 6.106, 0.7839, 0.5543, -0.0366, 0.9158, 1.2376, -11.4803, 6.1607, 1.033, -0.8767, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9854, 1.5528, -0.9546, 0.8337, 1.0985, 0.395, 0.2577, 1.7176, 1.0271, -0.1322, -1.1866, -0.617, 0.0545]\nstate[eef_state]: left_x=0.3389 left_y=-0.2608 left_z=0.1199 left_yaw=-1.6497 left_pitch=-0.1604 left_roll=-0.1644 left_gripper=0.395 right_x=0.3233 right_y=0.2583 right_z=0.1636 right_yaw=1.4621 right_pitch=0.2726 right_roll=0.1686 right_gripper=0.0545\nstate[joint_eff]: [-0.2803, -10.3863, 5.9009, 0.5788, 0.4811, -0.0611, -0.022, 0.6359, -11.4803, 5.9829, 1.0769, -0.6667, 0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0368, 0.8127, 0.6472, -0.3927, 0.0448, 0.0074, 0.3954, 0.9134, 1.8687, 0.2821, 1.0912, 0.1986, 0.107, 0.0545]\nstate[eef_state]: left_x=0.2989 left_y=-0.0153 left_z=0.1921 left_yaw=-0.091 left_pitch=0.0123 left_roll=-0.008 left_gripper=0.3954 right_x=0.2495 right_y=0.2721 right_z=0.003 right_yaw=0.6825 right_pitch=0.0745 right_roll=0.0006 right_gripper=0.0545\nstate[joint_eff]: [0.3624, -1.8393, 7.0359, 1.707, -0.1783, -0.0415, 0.0317, 0.7179, -5.0256, 3.5897, 1.7411, 0.2759, 0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4acf37ed0dccace6635ac10ba1cd65c4224f87933f57bfdd1966a81ba7d021df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdfb641066d977a82ad8eb0ba560a2a1abd1a1ca26eb80c3ebbf4896bac0aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823036e7812b0f507449143eb5e0f53107a8c0221878aaa2123bfbc2b5522dbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_gripper\":0.6},\"note\":\"The pen is back at table level, and the cap is visibly separate nearby. I will release the pen so both pieces are safely supported on the table.\"}",
  "call_id": "call_ZjJO6rnHOnlrqhlmrKE3kkPL",
  "id": "fc_0f3bcb0992814ecf016ab466142b4087d0975e7d6898271b24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZjJO6rnHOnlrqhlmrKE3kkPL",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0376, 0.8181, 0.6456, -0.4229, 0.0338, -0.0147, 0.3955, 0.9169, 1.8824, 0.2817, 1.0977, 0.1993, 0.1047, 0.5953]\nstate[eef_state]: left_x=0.2952 left_y=-0.0135 left_z=0.1836 left_yaw=-0.0705 left_pitch=-0.025 left_roll=-0.0221 left_gripper=0.3955 right_x=0.2481 right_y=0.2721 right_z=-0.0005 right_yaw=0.6866 right_pitch=0.0672 right_roll=-0.0035 right_gripper=0.5953\nstate[joint_eff]: [-0.1709, -1.6342, 7.1179, 2.0244, 0.0855, 0.188, -0.0073, -0.6359, -7.3778, 2.7829, 1.7118, 0.0415, 0.0366, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d35c1466442c5115630919e45463848ee0d07b50fe3535189275789935c2c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c752e67cd6bf54e845222eeedb5b4ff79fe7d276501f3c781e30a4a2a08d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4546122577577717e796d2eeeada113f89e0708182b85c77ef46abb72a2c44f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]