adhoc - adhoc_ed692530.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: 334.4 s
total steps: 266

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe short black cap is left of center, and the longer pen lies diagonally to its right. I’m moving the left gripper above the cap first while keeping the right arm parked.

move_to

left_x0.4000left_y-0.1800left_z0.1200left_gripper1.0000right_x0.2960right_y0.0020right_z0.1850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7937, 0.6025, -0.3805, -0.0219, -0.0246, 0.9994, -0.0189, 0.7918, 0.6102, -0.3756, -0.0204, -0.0151, 0.9992] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2959 right_y=0.0016 right_z=0.1844 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5812, -1.4701, 10.5094, 1.7705, -0.0757, 0.0952, -0.0708, -0.5949, -1.2513, 9.7983, 1.7216, -0.0317, -0.0171, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.18,"left_z":0.12,"left_gripper":1,"right_x":0.296,"right_y":0.002,"right_z":0.185},"note":"The short black cap is left of center, and the longer pen lies diagonally to its right. I’m moving the left gripper above the cap first while keeping the right arm parked."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe cap is visible just left of the left gripper’s jaw column. I’m shifting toward it, turning to follow its diagonal, and lowering for a table-level pinch.

move_to

left_x0.4120left_y-0.1620left_z0.0250left_yaw-0.4500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6273, 1.6024, 0.8478, 0.0044, -0.503, -0.3882, 0.9994, -0.0189, 0.7979, 0.6132, -0.3882, -0.02, -0.0151, 0.9992] state[eef_state]: left_x=0.3861 left_y=-0.1703 left_z=0.0986 left_yaw=-0.0123 left_pitch=-0.0697 left_roll=0.0354 left_gripper=0.9994 right_x=0.2951 right_y=0.0016 right_z=0.1815 right_yaw=-0.0003 right_pitch=-0.0156 right_roll=0.0001 right_gripper=0.9992 state[joint_eff]: [-0.3077, -7.8427, 9.1556, 1.7265, -0.4322, 0.0269, -0.0757, 0.253, -1.6752, 7.2821, 1.8046, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.412,"left_y":-0.162,"left_z":0.025,"left_yaw":-0.45},"note":"The cap is visible just left of the left gripper’s jaw column. I’m shifting toward it, turning to follow its diagonal, and lowering for a table-level pinch."})

tool

executing move_to over 5 steps (0.5s)

step 22

assistant

agent noteThe cap is still slightly left of the jaw center, and the fingertips are now at table height. I’m making a small sideways correction before closing.

move_to

left_x0.4080left_y-0.1200left_z-0.0080left_yaw-0.2800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3836, 1.8072, 0.6907, 0.3573, -0.1028, -0.0536, 0.9994, -0.0193, 0.799, 0.6132, -0.3912, -0.02, -0.0151, 0.9992] state[eef_state]: left_x=0.3991 left_y=-0.1376 left_z=0.0058 left_yaw=-0.2777 left_pitch=-0.184 left_roll=0.039 left_gripper=0.9994 right_x=0.2947 right_y=0.0014 right_z=0.1805 right_yaw=-0.0007 right_pitch=-0.0198 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [0.335, -8.4171, 5.3675, 2.0733, 0.2076, 0.2418, -0.0171, -0.1436, -1.3333, 7.0222, 1.7558, -0.0366, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.408,"left_y":-0.12,"left_z":-0.008,"left_yaw":-0.28},"note":"The cap is still slightly left of the jaw center, and the fingertips are now at table height. I’m making a small sideways correction before closing."})

tool

executing move_to over 2 steps (0.2s)

step 24

assistant

agent noteThe cap’s lower body is between the open fingers but still left of center. I’m bringing the jaw center over it and closing gently at table level.

move_to

left_x0.4100left_y-0.0980left_z0.0000left_yaw-0.3500left_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]: [-0.3431, 1.8462, 0.6872, 0.4503, -0.0105, 0.0231, 0.9992, -0.0193, 0.799, 0.6132, -0.3908, -0.02, -0.0151, 0.9992] state[eef_state]: left_x=0.4089 left_y=-0.1403 left_z=0.0052 left_yaw=-0.3583 left_pitch=-0.138 left_roll=0.0319 left_gripper=0.9992 right_x=0.2948 right_y=0.0014 right_z=0.1806 right_yaw=-0.0007 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [1.1282, -7.0222, 4.7795, 1.4872, -0.0269, -0.1929, -0.0317, -0.0889, -1.2513, 7.0496, 1.7656, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.098,"left_z":0,"left_yaw":-0.35,"left_gripper":0},"note":"The cap’s lower body is between the open fingers but still left of center. I’m bringing the jaw center over it and closing gently at table level."})

tool

executing move_to over 10 steps (1.0s)

step 34

assistant

agent noteThe closed gripper reads about 5 mm, which may indicate the cap is caught. I’m lifting a few centimeters to verify that it comes off the table.

move_to

left_x0.4140left_y-0.1210left_z0.0720right_x0.2960right_y0.0020right_z0.1850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3145, 1.8549, 0.6861, 0.4541, -0.0525, -0.0097, 0.0539, -0.0193, 0.8017, 0.6132, -0.3939, -0.02, -0.0154, 0.9992] state[eef_state]: left_x=0.4142 left_y=-0.1212 left_z=0.002 left_yaw=-0.2761 left_pitch=-0.143 left_roll=0.0345 left_gripper=0.0539 right_x=0.2946 right_y=0.0015 right_z=0.1792 right_yaw=-0.0005 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9992 state[joint_eff]: [-0.212, -7.2274, 4.9846, 1.3016, 0.0269, 0.0659, 1.2674, -0.0889, -1.4838, 7.0632, 1.8046, -0.0415, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.414,"left_y":-0.121,"left_z":0.072,"right_x":0.296,"right_y":0.002,"right_z":0.185},"note":"The closed gripper reads about 5 mm, which may indicate the cap is caught. I’m lifting a few centimeters to verify that it comes off the table."})

tool

executing move_to over 5 steps (0.5s)

step 39

assistant

agent noteThe cap appears to have lifted with the left gripper. I’m raising it clear and bringing the right gripper over the rear half of the pen, leaving the writing end exposed for capping.

move_to

left_x0.4130left_y-0.1200left_z0.1750right_x0.3970right_y0.2650right_z0.1250right_yaw0.6000right_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]: [-0.3145, 1.6691, 0.7521, 0.194, -0.0525, -0.0181, 0.064, -0.0189, 0.8082, 0.6132, -0.4122, -0.02, -0.0151, 0.9992] state[eef_state]: left_x=0.4105 left_y=-0.12 left_z=0.0538 left_yaw=-0.2715 left_pitch=-0.1512 left_roll=0.0285 left_gripper=0.064 right_x=0.2924 right_y=0.0016 right_z=0.1737 right_yaw=-0.0003 right_pitch=-0.05 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [-0.0615, -8.8137, 8.9094, 1.5702, -0.0708, 0.0269, 1.0281, 0.1436, -0.7043, 9.0325, 1.7607, -0.0171, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.413,"left_y":-0.12,"left_z":0.175,"right_x":0.397,"right_y":0.265,"right_z":0.125,"right_yaw":0.6,"right_gripper":1},"note":"The cap appears to have lifted with the left gripper. I’m raising it clear and bringing the right gripper over the rear half of the pen, leaving the writing end exposed for capping."})

tool

executing move_to over 22 steps (2.2s)

step 61

assistant

agent noteThe pen is visible to the right of the right gripper’s centerline. I’m correcting sideways and lowering toward its body while keeping the held cap elevated.

move_to

right_x0.4120right_y0.2250right_z0.0250right_yaw0.6000left_z0.1850

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3145, 1.5093, 1.0447, -0.3256, -0.0525, -0.025, 0.0703, 0.5625, 1.6585, 0.9504, 0.0399, -0.0151, -0.0128, 0.9993] state[eef_state]: left_x=0.4064 left_y=-0.1187 left_z=0.1444 left_yaw=-0.2671 left_pitch=-0.2182 left_roll=0.0265 left_gripper=0.0703 right_x=0.3875 right_y=0.2517 right_z=0.1085 right_yaw=0.5757 right_pitch=-0.1111 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [0.0752, -9.0872, 10.5094, 1.5556, -0.0659, 0.0659, 1.0281, 0.335, -7.6923, 8.3897, 2.0391, -0.0366, -0.105, -0.0904] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.412,"right_y":0.225,"right_z":0.025,"right_yaw":0.6,"left_z":0.185},"note":"The pen is visible to the right of the right gripper’s centerline. I’m correcting sideways and lowering toward its body while keeping the held cap elevated."})

tool

executing move_to over 6 steps (0.6s)

step 67

assistant

agent noteThe pen’s body is still to the right of the jaw column in the close view. I’m moving a few centimeters right and slightly toward the base so the jaws straddle its rear section.

move_to

right_x0.3940right_y0.1910right_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]: [-0.3145, 1.5043, 1.14, -0.4725, -0.0521, -0.0288, 0.0751, 0.4549, 1.8763, 0.8429, 0.2913, -0.1001, -0.0753, 0.9992] state[eef_state]: left_x=0.4014 left_y=-0.1171 left_z=0.1613 left_yaw=-0.2648 left_pitch=-0.2646 left_roll=0.0258 left_gripper=0.0751 right_x=0.4018 right_y=0.2202 right_z=0.018 right_yaw=0.5752 right_pitch=-0.1807 right_roll=0.0129 right_gripper=0.9992 state[joint_eff]: [-0.3761, -8.2667, 10.2632, 1.6386, -0.0513, -0.0073, 0.9109, -0.7043, -8.294, 5.0803, 1.8486, -0.1538, -0.1294, -0.022] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.394,"right_y":0.191,"right_z":-0.008,"right_yaw":0.6},"note":"The pen’s body is still to the right of the jaw column in the close view. I’m moving a few centimeters right and slightly toward the base so the jaws straddle its rear section."})

tool

executing move_to over 3 steps (0.3s)

step 70

assistant

agent noteThe rear portion of the pen is now within the open jaws. I’m making one final small rightward correction and closing around the barrel.

move_to

right_x0.3870right_y0.1680right_z-0.0060right_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]: [-0.3145, 1.5055, 1.1431, -0.4892, -0.0525, -0.0284, 0.0779, 0.3916, 1.8988, 0.7616, 0.4156, -0.1593, -0.1295, 0.9991] state[eef_state]: left_x=0.3991 left_y=-0.1163 left_z=0.1594 left_yaw=-0.2644 left_pitch=-0.2795 left_roll=0.0271 left_gripper=0.0779 right_x=0.4003 right_y=0.1995 right_z=0.0035 right_yaw=0.591 right_pitch=-0.1535 right_roll=0.008 right_gripper=0.9991 state[joint_eff]: [-0.253, -6.3932, 6.5573, 1.6435, -0.0952, -0.0659, 1.033, -0.5402, -7.7333, 4.0137, 1.0916, -0.0562, 0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.387,"right_y":0.168,"right_z":-0.006,"right_gripper":0},"note":"The rear portion of the pen is now within the open jaws. I’m making one final small rightward correction and closing around the barrel."})

tool

executing move_to over 10 steps (1.0s)

step 80

assistant

agent noteThe pen barrel is centered between the closed jaws, with the writing tip exposed. I’m lifting it to confirm the grasp before aligning it with the cap.

move_to

right_x0.4020right_y0.1940right_z0.0800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3145, 1.5063, 1.1431, -0.4908, -0.0521, -0.028, 0.078, 0.3706, 1.8992, 0.7441, 0.4488, -0.1776, -0.1535, 0.0509] state[eef_state]: left_x=0.3989 left_y=-0.1163 left_z=0.1588 left_yaw=-0.265 left_pitch=-0.2818 left_roll=0.0272 left_gripper=0.078 right_x=0.4019 right_y=0.1935 right_z=0.0038 right_yaw=0.5979 right_pitch=-0.1359 right_roll=-0.002 right_gripper=0.0509 state[joint_eff]: [-0.1709, -6.9402, 6.7624, 1.4676, -0.0757, -0.0366, 1.0281, -0.0068, -7.706, 4.5607, 1.2967, -0.0269, 0.0073, 1.2039] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.402,"right_y":0.194,"right_z":0.08},"note":"The pen barrel is centered between the closed jaws, with the writing tip exposed. I’m lifting it to confirm the grasp before aligning it with the cap."})

tool

executing move_to over 5 steps (0.5s)

step 85

assistant

agent noteBoth pieces stayed in their grippers during the test lifts. I’m bringing them to the middle of the table, with the cap ahead of the exposed pen tip and their long axes pointing the same way.

move_to

right_x0.3000right_y0.3000right_z0.1850right_yaw0.6000right_pitch0.0000right_roll0.0000left_x0.4350left_y-0.2570left_z0.1850left_yaw0.6000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3145, 1.5063, 1.1431, -0.4911, -0.0521, -0.0284, 0.0797, 0.3706, 1.7145, 0.8307, 0.1814, -0.1776, -0.1547, 0.0571] state[eef_state]: left_x=0.3988 left_y=-0.1163 left_z=0.1588 left_yaw=-0.2647 left_pitch=-0.2821 left_roll=0.027 left_gripper=0.0797 right_x=0.403 right_y=0.1939 right_z=0.0644 right_yaw=0.5984 right_pitch=-0.1322 right_roll=-0.0037 right_gripper=0.0571 state[joint_eff]: [-0.2393, -6.8855, 6.9402, 1.4725, -0.0855, -0.0708, 0.9939, -0.0068, -9.6615, 7.8154, 1.4432, -0.0757, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.3,"right_z":0.185,"right_yaw":0.6,"right_pitch":0,"right_roll":0,"left_x":0.435,"left_y":-0.257,"left_z":0.185,"left_yaw":0.6,"left_pitch":0,"left_roll":0},"note":"Both pieces stayed in their grippers during the test lifts. I’m bringing them to the middle of the table, with the cap ahead of the exposed pen tip and their long axes pointing the same way."})

tool

executing move_to over 13 steps (1.3s)

step 98

assistant

agent noteThe pen hand is lower than commanded, so the two pieces are not yet level. I’m correcting the height difference and bringing the cap closer while leaving a clear gap before insertion.

move_to

right_x0.3050right_y0.3020right_z0.2050right_pitch0.1000left_x0.4180left_y-0.2860left_z0.1650left_yaw0.6100left_pitch0.1000left_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]: [-0.8036, 2.2539, 2.154, -1.1057, -0.9127, -1.2011, 0.0806, 0.8421, 1.4322, 0.8646, -0.1368, 0.1844, 0.123, 0.0624] state[eef_state]: left_x=0.4502 left_y=-0.2604 left_z=0.1858 left_yaw=0.53 left_pitch=-0.0377 left_roll=-0.0576 left_gripper=0.0806 right_x=0.2933 right_y=0.2854 right_z=0.1347 right_yaw=0.6124 right_pitch=-0.1331 right_roll=-0.0234 right_gripper=0.0624 state[joint_eff]: [-1.6615, -11.1795, 5.2581, 0.0269, -0.6618, 0.022, 1.0085, 0.1983, -9.0735, 11.494, 1.9609, 0.2564, 0.0659, 1.0281] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.305,"right_y":0.302,"right_z":0.205,"right_pitch":0.1,"left_x":0.418,"left_y":-0.286,"left_z":0.165,"left_yaw":0.61,"left_pitch":0.1,"left_roll":0},"note":"The pen hand is lower than commanded, so the two pieces are not yet level. I’m correcting the height difference and bringing the cap closer while leaving a clear gap before insertion."})

tool

executing move_to over 8 steps (0.8s)

step 106

assistant

agent noteThe right hand is holding steadily below its requested height. I’ll align the cap to that measured pen height instead, approaching only partway along the pen’s axis.

move_to

left_x0.3820left_y-0.3070left_z0.1300left_yaw0.6300left_pitch-0.1000right_x0.2850right_y0.2830right_z0.1450right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8799, 2.3909, 2.2936, -1.3262, -1.0485, -1.4593, 0.0813, 0.8524, 1.4261, 0.8501, -0.1623, 0.1837, 0.1127, 0.066] state[eef_state]: left_x=0.4303 left_y=-0.2745 left_z=0.1717 left_yaw=0.6267 left_pitch=0.0547 left_roll=-0.0412 left_gripper=0.0813 right_x=0.2852 right_y=0.2826 right_z=0.1262 right_yaw=0.6277 right_pitch=-0.1664 right_roll=-0.0386 right_gripper=0.066 state[joint_eff]: [-3.5761, -10.0308, 6.8581, 0.3297, -0.8816, -0.0269, 1.033, -0.4581, -7.3778, 8.6222, 2.1905, 0.1538, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.382,"left_y":-0.307,"left_z":0.13,"left_yaw":0.63,"left_pitch":-0.1,"right_x":0.285,"right_y":0.283,"right_z":0.145,"right_pitch":0},"note":"The right hand is holding steadily below its requested height. I’ll align the cap to that measured pen height instead, approaching only partway along the pen’s axis."})

tool

executing move_to over 6 steps (0.6s)

step 112

assistant

agent noteThe cap hand is still ahead and above the pen tip in the right camera. I’m lowering it and correcting sideways, keeping a gap while I check the alignment.

move_to

left_x0.3750left_y-0.2940left_z0.0980left_yaw0.6500left_pitch-0.1200left_roll0.0400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9073, 2.4016, 2.3047, -1.3979, -0.9302, -1.6081, 0.0814, 0.8619, 1.3952, 0.7704, -0.0849, 0.1856, 0.094, 0.0695] state[eef_state]: left_x=0.4086 left_y=-0.287 left_z=0.1511 left_yaw=0.667 left_pitch=-0.07 left_roll=-0.0981 left_gripper=0.0814 right_x=0.2776 right_y=0.2792 right_z=0.1186 right_yaw=0.6466 right_pitch=-0.1386 right_roll=-0.0479 right_gripper=0.0695 state[joint_eff]: [-4.0684, -11.0427, 4.8615, 0.1832, -0.4225, -0.1636, 1.0281, 0.4855, -7.5692, 7.1863, 1.9707, 0.3785, 0.0073, 1.0232] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.294,"left_z":0.098,"left_yaw":0.65,"left_pitch":-0.12,"left_roll":0.04},"note":"The cap hand is still ahead and above the pen tip in the right camera. I’m lowering it and correcting sideways, keeping a gap while I check the alignment."})

tool

executing move_to over 4 steps (0.4s)

step 116

assistant

agent noteThe hands are crowding each other and the pen hand is dropping, so I’m separating and lifting them. I’ll turn the pieces more across the table to make a clearer side-by-side approach.

move_to

left_x0.3300left_y-0.1700left_z0.2150left_yaw1.2000left_pitch0.0000left_roll0.0000right_x0.3000right_y0.3000right_z0.2150right_yaw1.2000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9279, 2.4195, 2.2017, -1.3876, -0.881, -1.6409, 0.0814, 0.87, 1.3983, 0.7177, -0.1127, 0.1635, 0.078, 0.0701] state[eef_state]: left_x=0.39 left_y=-0.2873 left_z=0.1099 left_yaw=0.6737 left_pitch=-0.1182 left_roll=-0.0121 left_gripper=0.0814 right_x=0.2606 right_y=0.2699 right_z=0.0905 right_yaw=0.679 right_pitch=-0.2238 right_roll=-0.062 right_gripper=0.0701 state[joint_eff]: [-3.0017, -12.0, 4.3009, 0.0464, -0.5543, -0.1001, 1.033, -0.6496, -5.7641, 10.6051, 2.2344, 0.3541, 0.1197, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.17,"left_z":0.215,"left_yaw":1.2,"left_pitch":0,"left_roll":0,"right_x":0.3,"right_y":0.3,"right_z":0.215,"right_yaw":1.2,"right_pitch":0,"right_roll":0},"note":"The hands are crowding each other and the pen hand is dropping, so I’m separating and lifting them. I’ll turn the pieces more across the table to make a clearer side-by-side approach."})

tool

executing move_to over 11 steps (1.1s)

step 127

assistant

agent noteThe arms are not following the separation command, and their joint loads have risen. I’m backing the right arm out to its own side before attempting any further alignment.

move_to

right_x0.2700right_y0.1200right_z0.1600right_yaw0.6000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8383, 2.4245, 2.1914, -1.3952, -0.8585, -1.6444, 0.0849, 0.6563, 1.417, 0.9909, -0.4953, -0.4431, -0.3725, 0.0739] state[eef_state]: left_x=0.4099 left_y=-0.2504 left_z=0.1023 left_yaw=0.7693 left_pitch=-0.1398 left_roll=0.0091 left_gripper=0.0849 right_x=0.2418 right_y=0.2864 right_z=0.1435 right_yaw=1.2381 right_pitch=-0.2506 right_roll=0.1017 right_gripper=0.0739 state[joint_eff]: [-10.1265, -12.7521, 4.9983, 0.0855, -0.6764, -0.0464, 0.8034, -7.5966, -3.7402, 16.2667, 3.5629, -0.6569, 0.5836, 0.779] 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":{"right_x":0.27,"right_y":0.12,"right_z":0.16,"right_yaw":0.6,"right_pitch":0},"note":"The arms are not following the separation command, and their joint loads have risen. I’m backing the right arm out to its own side before attempting any further alignment."})

tool

executing move_to over 14 steps (1.4s)

step 141

assistant

agent noteThe load has eased after backing away, and both pieces remain gripped. I’m returning each arm toward its own side and untwisting the cap hand to recover a comfortable pose.

move_to

left_x0.3300left_y-0.1400left_z0.1900left_yaw0.1500left_pitch0.0000left_roll0.0000right_x0.2900right_y0.1000right_z0.1800right_yaw0.6000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8185, 2.4233, 2.1757, -1.388, -0.844, -1.6447, 0.0872, 0.564, 1.2713, 0.8307, -0.4568, -0.4454, -0.3222, 0.0743] state[eef_state]: left_x=0.4124 left_y=-0.2422 left_z=0.097 left_yaw=0.7914 left_pitch=-0.154 left_roll=0.0167 left_gripper=0.0872 right_x=0.2384 right_y=0.2451 right_z=0.1348 right_yaw=1.1172 right_pitch=-0.2326 right_roll=0.1262 right_gripper=0.0743 state[joint_eff]: [-1.9487, -13.1077, 6.8308, 0.1441, -0.652, -0.0757, 0.5397, -0.3897, -4.8479, 7.4735, 1.8388, -0.2173, 0.0806, 0.8913] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.14,"left_z":0.19,"left_yaw":0.15,"left_pitch":0,"left_roll":0,"right_x":0.29,"right_y":0.1,"right_z":0.18,"right_yaw":0.6,"right_pitch":0},"note":"The load has eased after backing away, and both pieces remain gripped. I’m returning each arm toward its own side and untwisting the cap hand to recover a comfortable pose."})

tool

executing move_to over 13 steps (1.3s)

step 154

assistant

agent noteThe current grips leave too little clearance for the gripper bodies during capping. I’m setting both pieces down so I can regrip the cap nearer its closed end and the pen nearer its tail.

move_to

left_x0.3400left_y-0.1400left_z0.0050left_yaw0.0000left_pitch0.0000right_x0.2900right_y0.1000right_z0.0050right_yaw0.0000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7506, 1.3296, 0.9447, -0.4995, -0.749, -0.7139, 0.0896, 0.025, 0.9691, 0.6712, -0.4221, -0.5404, -0.2718, 0.0747] state[eef_state]: left_x=0.328 left_y=-0.1365 left_z=0.1778 left_yaw=0.2217 left_pitch=-0.0312 left_roll=-0.0084 left_gripper=0.0896 right_x=0.2866 right_y=0.1017 right_z=0.1691 right_yaw=0.6119 right_pitch=-0.0498 right_roll=0.1271 right_gripper=0.0747 state[joint_eff]: [0.4308, -5.2718, 7.159, 1.746, -0.3297, 0.1734, 0.7888, -0.335, -3.6444, 6.8444, 1.8291, -0.3883, 0.1978, 0.9109] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.14,"left_z":0.005,"left_yaw":0,"left_pitch":0,"right_x":0.29,"right_y":0.1,"right_z":0.005,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The current grips leave too little clearance for the gripper bodies during capping. I’m setting both pieces down so I can regrip the cap nearer its closed end and the pen nearer its tail."})

tool

executing move_to over 12 steps (1.2s)

step 166

assistant

agent noteBoth pieces are resting at table height. I’m opening the jaws so I can shift the grip locations without dragging them.

move_to

left_gripper1.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6537, 1.7332, 0.4244, 0.5468, -0.5716, -0.4438, 0.0926, 0.5762, 1.5311, 0.1539, 0.6849, 0.3855, 0.2684, 0.0766] state[eef_state]: left_x=0.3321 left_y=-0.1295 left_z=0.0006 left_yaw=0.0441 left_pitch=-0.049 left_roll=0.035 left_gripper=0.0926 right_x=0.2821 right_y=0.1084 right_z=-0.0021 right_yaw=0.1026 right_pitch=-0.0758 right_roll=-0.0258 right_gripper=0.0766 state[joint_eff]: [0.7316, -4.9026, 3.3983, 1.0379, 0.0904, 0.0513, 0.6813, 0.3077, -3.6718, 2.906, 0.7155, 0.149, 0.0611, 0.8864] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"right_gripper":1},"note":"Both pieces are resting at table height. I’m opening the jaws so I can shift the grip locations without dragging them."})

tool

executing move_to over 10 steps (1.0s)

step 176

assistant

agent noteThe cap shifted toward the right finger as it was released; the pen stayed close to its centerline. I’m lifting the open jaws and shifting to the cap’s far end and the pen’s near end.

move_to

left_x0.3600left_y-0.1600left_z0.0500right_x0.2450right_y0.1000right_z0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.651, 1.7454, 0.4141, 0.5831, -0.5758, -0.4522, 0.995, 0.5774, 1.5372, 0.149, 0.6964, 0.384, 0.2729, 0.9951] state[eef_state]: left_x=0.3328 left_y=-0.1281 left_z=-0.0001 left_yaw=0.0541 left_pitch=-0.0365 left_roll=0.0214 left_gripper=0.995 right_x=0.2812 right_y=0.1085 right_z=-0.0032 right_yaw=0.1026 right_pitch=-0.0759 right_roll=-0.0211 right_gripper=0.9951 state[joint_eff]: [-0.4034, -7.1863, 4.7932, 1.1795, -0.2466, 0.0464, -0.1099, -0.4308, -4.5744, 4.3692, 1.5018, 0.1148, -0.1392, -0.2466] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.16,"left_z":0.05,"right_x":0.245,"right_y":0.10,"right_z":0.05},"note":"The cap shifted toward the right finger as it was released; the pen stayed close to its centerline. I’m lifting the open jaws and shifting to the cap’s far end and the pen’s near end."})

tool

executing move_to over 4 steps (0.4s)

step 180

assistant

agent noteThe cap’s closed end is just ahead of the left fingertips, and the pen remains lined up in the right view. I’m lowering at the new grip points to expose more length between the hands.

move_to

left_x0.3650left_y-0.1720left_z0.0000right_x0.2400right_y0.0980right_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6792, 1.6814, 0.6048, 0.3439, -0.5926, -0.4736, 0.9961, 0.6582, 0.9752, 0.1596, 0.239, 0.4202, 0.3107, 0.9961] state[eef_state]: left_x=0.3593 left_y=-0.1587 left_z=0.0425 left_yaw=0.0497 left_pitch=-0.017 left_roll=0.002 left_gripper=0.9961 right_x=0.2615 right_y=0.1157 right_z=0.0673 right_yaw=0.135 right_pitch=0.0351 right_roll=0.0468 right_gripper=0.9961 state[joint_eff]: [-0.335, -8.2803, 6.3248, 1.2527, -0.2564, -0.0611, 0.1001, 0.5402, -0.5402, 8.0889, 1.4628, 0.4322, 0.1099, 0.0952] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.365,"left_y":-0.172,"left_z":0,"right_x":0.24,"right_y":0.098,"right_z":0},"note":"The cap’s closed end is just ahead of the left fingertips, and the pen remains lined up in the right view. I’m lowering at the new grip points to expose more length between the hands."})

tool

executing move_to over 5 steps (0.5s)

step 185

assistant

agent noteThe pen is centered at its rear section, and the cap needs only a small rightward correction. I’m closing both grippers at these more useful end grips.

move_to

left_y-0.1840left_gripper0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6975, 1.8645, 0.6067, 0.4908, -0.6079, -0.4976, 0.9962, 0.6727, 1.4105, 0.0105, 0.7086, 0.4351, 0.3187, 0.9962] state[eef_state]: left_x=0.3613 left_y=-0.1665 left_z=0.001 left_yaw=0.0564 left_pitch=-0.0351 left_roll=0.013 left_gripper=0.9962 right_x=0.2445 right_y=0.1042 right_z=-0.0053 right_yaw=0.1324 right_pitch=-0.0595 right_roll=-0.0122 right_gripper=0.9962 state[joint_eff]: [-0.759, -6.0923, 4.8615, 1.1111, -0.2027, 0.188, -0.0024, 0.3897, -3.7128, 2.947, 0.5153, -0.1832, 0.0024, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.184,"left_gripper":0,"right_gripper":0},"note":"The pen is centered at its rear section, and the cap needs only a small rightward correction. I’m closing both grippers at these more useful end grips."})

tool

executing move_to over 10 steps (1.0s)

step 195

assistant

agent noteThe left gripper closed empty at the cap’s very end; the pen grip is secure. I’m reopening and moving slightly back along the cap for one retry while lifting the pen clear.

move_to

left_x0.3480left_y-0.1840left_z-0.0050left_gripper1.0000right_x0.2500right_y0.1000right_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7395, 1.8828, 0.6491, 0.4782, -0.6533, -0.5411, 0.0132, 0.6739, 1.4136, 0.0093, 0.733, 0.4297, 0.318, 0.0509] state[eef_state]: left_x=0.3643 left_y=-0.1821 left_z=0.0078 left_yaw=0.0711 left_pitch=-0.0046 left_roll=-0.009 left_gripper=0.0132 right_x=0.2462 right_y=0.107 right_z=-0.0022 right_yaw=0.1388 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.0509 state[joint_eff]: [-0.2803, -6.8581, 5.5043, 1.1355, -0.1734, 0.022, 0.5739, -0.2803, -3.0017, 4.3145, 1.3602, 0.1978, 0.0317, 1.2088] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.348,"left_y":-0.184,"left_z":-0.005,"left_gripper":1,"right_x":0.25,"right_y":0.1,"right_z":0.17},"note":"The left gripper closed empty at the cap’s very end; the pen grip is secure. I’m reopening and moving slightly back along the cap for one retry while lifting the pen clear."})

tool

executing move_to over 12 steps (1.2s)

step 207

assistant

agent noteThe cap’s clip is near the fingertip line, but its thicker body is closer to the base. I’m moving back to grasp that body rather than the narrow clip.

move_to

left_x0.3170left_y-0.1760left_z-0.0070left_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]: [-0.7799, 1.8938, 0.6102, 0.5224, -0.6819, -0.5755, 0.9967, 0.6212, 0.749, 0.5442, -0.4469, 0.3832, 0.2794, 0.0576] state[eef_state]: left_x=0.3516 left_y=-0.1861 left_z=0.0016 left_yaw=0.07 left_pitch=0.0059 left_roll=-0.0204 left_gripper=0.9967 right_x=0.2517 right_y=0.1034 right_z=0.1589 right_yaw=0.1447 right_pitch=-0.0405 right_roll=0.003 right_gripper=0.0576 state[joint_eff]: [-0.6769, -6.1744, 3.5214, 1.4432, -0.2808, -0.1197, -0.1245, -0.7043, -0.9368, 8.9778, 1.4872, 0.1245, -0.0415, 1.0281] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.317,"left_y":-0.176,"left_z":-0.007,"left_gripper":0},"note":"The cap’s clip is near the fingertip line, but its thicker body is closer to the base. I’m moving back to grasp that body rather than the narrow clip."})

tool

executing move_to over 10 steps (1.0s)

step 217

assistant

agent noteThe cap is gripped on its thicker body again, and the pen now has much more barrel exposed. I’m turning the hands inward across the table for a less crowded alignment.

move_to

left_x0.3000left_y-0.2200left_z0.1700left_yaw-1.3000left_pitch0.0000left_roll0.0000right_x0.3000right_y0.2800right_z0.1700right_yaw1.3000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8425, 1.8584, 0.5011, 0.598, -0.7422, -0.6289, 0.0523, 0.6212, 0.7547, 0.5457, -0.4786, 0.3805, 0.2794, 0.0576] state[eef_state]: left_x=0.3253 left_y=-0.1799 left_z=0.0007 left_yaw=0.0794 left_pitch=0.0387 left_roll=-0.0411 left_gripper=0.0523 right_x=0.2482 right_y=0.1014 right_z=0.1523 right_yaw=0.146 right_pitch=-0.0731 right_roll=-0.012 right_gripper=0.0576 state[joint_eff]: [-0.4034, -7.4462, 2.865, 1.1502, -0.1441, -0.0757, 1.2674, -0.1983, -1.1419, 6.8444, 1.9219, 0.0904, -0.0562, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.22,"left_z":0.17,"left_yaw":-1.3,"left_pitch":0,"left_roll":0,"right_x":0.3,"right_y":0.28,"right_z":0.17,"right_yaw":1.3,"right_pitch":0,"right_roll":0},"note":"The cap is gripped on its thicker body again, and the pen now has much more barrel exposed. I’m turning the hands inward across the table for a less crowded alignment."})

tool

executing move_to over 15 steps (1.5s)

step 232

assistant

agent noteThe two pieces are now visible facing each other in both wrist cameras, with room between the hands. I’m straightening them across the table before making a short insertion attempt.

move_to

left_x0.3070left_y-0.2220left_z0.1700left_yaw-1.5500left_pitch0.0000right_x0.3070right_y0.2800right_z0.1700right_yaw1.5500right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3092, 1.4006, 0.8951, -0.2802, 0.6651, 0.5343, 0.0624, 0.4698, 1.4685, 0.9474, -0.2329, -0.5976, -0.4622, 0.0619] state[eef_state]: left_x=0.3171 left_y=-0.212 left_z=0.1583 left_yaw=-1.1476 left_pitch=-0.0191 left_roll=-0.0071 left_gripper=0.0624 right_x=0.3038 right_y=0.2697 right_z=0.1569 right_yaw=1.2018 right_pitch=-0.0448 right_roll=0.0215 right_gripper=0.0619 state[joint_eff]: [0.1983, -5.9145, 8.8, 1.2821, 0.4762, 0.188, 1.033, -0.3487, -7.0359, 7.9111, 1.2674, -0.5104, -0.1392, 1.033] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.307,"left_y":-0.222,"left_z":0.17,"left_yaw":-1.55,"left_pitch":0,"right_x":0.307,"right_y":0.28,"right_z":0.17,"right_yaw":1.55,"right_pitch":0},"note":"The two pieces are now visible facing each other in both wrist cameras, with room between the hands. I’m straightening them across the table before making a short insertion attempt."})

tool

executing move_to over 3 steps (0.3s)

step 235

assistant

agent noteThe pen tip is passing beside the cap rather than entering it. I’m backing it off slightly, correcting the sideways offset, and finishing the opposing rotations.

move_to

left_yaw-1.6500right_yaw1.6500right_x0.2910right_y0.2650right_z0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2565, 1.6146, 1.1477, -0.6102, 0.8539, 0.8822, 0.0688, 0.4038, 1.6585, 1.1831, -0.44, -0.794, -0.7322, 0.0654] state[eef_state]: left_x=0.3207 left_y=-0.2181 left_z=0.1553 left_yaw=-1.4099 left_pitch=-0.0463 left_roll=-0.0477 left_gripper=0.0688 right_x=0.323 right_y=0.2789 right_z=0.1626 right_yaw=1.4202 right_pitch=-0.0324 right_roll=0.0148 right_gripper=0.0654 state[joint_eff]: [0.1436, -9.2376, 7.8291, 0.7155, 0.8816, 0.1734, 1.0281, -0.253, -9.1145, 6.694, 0.8474, -0.8718, -0.1343, 1.033] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":-1.65,"right_yaw":1.65,"right_x":0.291,"right_y":0.265,"right_z":0.16},"note":"The pen tip is passing beside the cap rather than entering it. I’m backing it off slightly, correcting the sideways offset, and finishing the opposing rotations."})

tool

executing move_to over 3 steps (0.3s)

step 238

assistant

agent noteThe writing tip now appears aligned with the cap opening, just beside the cap’s clip. I’m advancing the pen only about 2 cm along its axis and watching for contact.

move_to

right_x0.3050right_y0.2830right_z0.1600right_yaw1.6000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2459, 1.6524, 1.1866, -0.7609, 0.9176, 1.0573, 0.0688, 0.3656, 1.692, 1.2278, -0.6529, -0.8837, -0.9901, 0.0675] state[eef_state]: left_x=0.3034 left_y=-0.2171 left_z=0.1518 left_yaw=-1.5269 left_pitch=-0.0389 left_roll=-0.0651 left_gripper=0.0688 right_x=0.3026 right_y=0.2659 right_z=0.1544 right_yaw=1.5753 right_pitch=-0.0498 right_roll=0.0165 right_gripper=0.0675 state[joint_eff]: [-0.4991, -8.6359, 8.6496, 0.8278, 0.6325, 0.1441, 1.0379, -0.335, -6.8034, 8.841, 0.8327, -0.6569, -0.1636, 0.9011] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.305,"right_y":0.283,"right_z":0.16,"right_yaw":1.6},"note":"The writing tip now appears aligned with the cap opening, just beside the cap’s clip. I’m advancing the pen only about 2 cm along its axis and watching for contact."})

tool

executing move_to over 2 steps (0.2s)

step 240

assistant

agent noteThe short move rotated the pen hand more than it translated, taking the tip sideways again. I’m correcting from the measured position with a small forward-and-inward move.

move_to

right_x0.3290right_y0.2990right_z0.1700right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7597, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0897, 0.0701] state[eef_state]: left_x=0.3033 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0386 left_roll=-0.064 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6346 right_pitch=-0.061 right_roll=0.0266 right_gripper=0.0701 state[joint_eff]: [-0.1846, -8.4718, 8.5265, 0.8718, 0.6569, 0.1197, 1.0281, 0.0479, -7.0906, 8.212, 0.7692, -0.735, -0.1197, 0.9206] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.329,"right_y":0.299,"right_z":0.17,"right_yaw":1.57},"note":"The short move rotated the pen hand more than it translated, taking the tip sideways again. I’m correcting from the measured position with a small forward-and-inward move."})

tool

executing move_to over 4 steps (0.4s)

step 244

assistant

agent noteThe right arm is holding its pose instead of tracking the correction, so I won’t keep forcing that target. I’m moving the cap hand toward the stationary pen tip to correct the remaining gap and sideways offset.

move_to

left_x0.2800left_y-0.2370left_z0.1700left_yaw-1.5300left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0702] state[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0702 state[joint_eff]: [-0.253, -8.8, 8.6085, 0.8181, 0.6325, 0.1001, 1.0281, 0.0342, -7.0769, 8.212, 0.7643, -0.7497, -0.1148, 0.8474] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.237,"left_z":0.17,"left_yaw":-1.53,"left_pitch":0,"left_roll":0},"note":"The right arm is holding its pose instead of tracking the correction, so I won’t keep forcing that target. I’m moving the cap hand toward the stationary pen tip to correct the remaining gap and sideways offset."})

tool

executing move_to over 2 steps (0.2s)

step 246

assistant

agent noteBoth hands are stationary, with the tip still beside the opening. I’m preserving the cap hand’s measured tilt and requesting only a small positional correction, rather than asking for an unreachable orientation change.

move_to

left_x0.2860left_y-0.2300left_z0.1520left_yaw-1.5280left_pitch-0.0390left_roll-0.0640

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0714] state[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0714 state[joint_eff]: [-0.3624, -8.6222, 8.6632, 0.8523, 0.6325, 0.1294, 1.0281, -0.0615, -7.2547, 8.212, 0.8181, -0.7595, -0.105, 0.8767] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.286,"left_y":-0.23,"left_z":0.152,"left_yaw":-1.528,"left_pitch":-0.039,"left_roll":-0.064},"note":"Both hands are stationary, with the tip still beside the opening. I’m preserving the cap hand’s measured tilt and requesting only a small positional correction, rather than asking for an unreachable orientation change."})

tool

executing move_to over 2 steps (0.2s)

step 248

assistant

agent noteKeeping the measured tilt allowed the cap hand to move again. I’m finishing the sideways and height correction before sliding the cap toward the pen.

move_to

left_x0.2710left_y-0.2230left_z0.1700left_yaw-1.5260left_pitch-0.0520left_roll-0.0720

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2726, 1.6283, 1.1397, -0.7185, 0.8982, 1.0199, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0713] state[eef_state]: left_x=0.2947 left_y=-0.2221 left_z=0.1453 left_yaw=-1.5256 left_pitch=-0.0517 left_roll=-0.0716 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0713 state[joint_eff]: [-1.0735, -9.388, 6.2838, 1.0379, 0.5934, -0.0659, 1.0281, -0.2803, -7.2684, 8.212, 0.8523, -0.779, -0.0952, 0.8816] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.271,"left_y":-0.223,"left_z":0.17,"left_yaw":-1.526,"left_pitch":-0.052,"left_roll":-0.072},"note":"Keeping the measured tilt allowed the cap hand to move again. I’m finishing the sideways and height correction before sliding the cap toward the pen."})

tool

executing move_to over 2 steps (0.2s)

step 250

assistant

agent noteThe tip and cap opening are now almost lined up in both views. I’m correcting the last few millimeters sideways and advancing the cap about 1 cm onto the tip.

move_to

left_x0.2850left_y-0.2370left_z0.1550left_yaw-1.5210left_pitch-0.0730left_roll-0.1110

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3016, 1.5848, 1.1103, -0.738, 0.8787, 0.9703, 0.0688, 0.3595, 1.692, 1.2343, -0.7513, -0.8978, -1.0889, 0.0712] state[eef_state]: left_x=0.2787 left_y=-0.2254 left_z=0.1463 left_yaw=-1.5209 left_pitch=-0.0729 left_roll=-0.1107 left_gripper=0.0688 right_x=0.2889 right_y=0.26 right_z=0.1512 right_yaw=1.6324 right_pitch=-0.0658 right_roll=0.027 right_gripper=0.0712 state[joint_eff]: [0.3897, -10.2359, 7.3504, 0.8523, 0.6081, 0.1099, 1.0281, -0.0615, -7.7744, 6.2154, 0.9109, -0.486, -0.0366, 0.4176] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.285,"left_y":-0.237,"left_z":0.155,"left_yaw":-1.521,"left_pitch":-0.073,"left_roll":-0.111},"note":"The tip and cap opening are now almost lined up in both views. I’m correcting the last few millimeters sideways and advancing the cap about 1 cm onto the tip."})

tool

executing move_to over 2 steps (0.2s)

step 252

assistant

agent noteThe cap hand moved a little sideways during the height adjustment, so the tip is still outside the opening. I’m correcting that measured offset before applying any insertion force.

move_to

left_x0.3000left_y-0.2400left_z0.1550left_yaw-1.5210left_pitch-0.0820left_roll-0.1160

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.318, 1.5681, 1.1324, -0.7692, 0.8669, 0.9501, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8944, -1.0893, 0.0745] state[eef_state]: left_x=0.275 left_y=-0.2285 left_z=0.155 left_yaw=-1.5213 left_pitch=-0.0817 left_roll=-0.1158 left_gripper=0.0688 right_x=0.2891 right_y=0.2596 right_z=0.1506 right_yaw=1.6314 right_pitch=-0.0691 right_roll=0.0265 right_gripper=0.0745 state[joint_eff]: [-0.5265, -5.7915, 8.3077, 0.8767, 0.398, 0.1343, 1.0281, -0.1846, -7.9795, 6.147, 0.823, -0.5299, -0.0317, 0.7448] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.24,"left_z":0.155,"left_yaw":-1.521,"left_pitch":-0.082,"left_roll":-0.116},"note":"The cap hand moved a little sideways during the height adjustment, so the tip is still outside the opening. I’m correcting that measured offset before applying any insertion force."})

tool

executing move_to over 2 steps (0.2s)

step 254

assistant

agent noteThe pen tip is slightly high and sideways relative to the cap mouth. I’m making a small correction with the pen hand while preserving its actual orientation.

move_to

right_x0.2800right_y0.2740right_z0.1470right_yaw1.6300right_pitch-0.0720right_roll0.0260

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8913, -1.0889, 0.0756] state[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2893 right_y=0.2594 right_z=0.1502 right_yaw=1.6301 right_pitch=-0.0718 right_roll=0.0259 right_gripper=0.0756 state[joint_eff]: [-0.0615, -8.1846, 8.2803, 0.9841, 0.4127, -0.0269, 1.0281, -0.253, -7.9658, 6.1333, 0.8034, -0.486, -0.0171, 0.7302] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.28,"right_y":0.274,"right_z":0.147,"right_yaw":1.63,"right_pitch":-0.072,"right_roll":0.026},"note":"The pen tip is slightly high and sideways relative to the cap mouth. I’m making a small correction with the pen hand while preserving its actual orientation."})

tool

executing move_to over 2 steps (0.2s)

step 256

assistant

agent noteThe pen hand followed that correction, bringing the tip closer to the cap mouth. I’m making one more short sideways-and-inward adjustment, without forcing the pieces together.

move_to

right_x0.2670right_y0.2850right_z0.1510right_yaw1.6300right_pitch-0.0800right_roll0.0300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3836, 1.6878, 1.2098, -0.7139, -0.8764, -1.058, 0.0767] state[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2851 right_y=0.2653 right_z=0.1448 right_yaw=1.6307 right_pitch=-0.0801 right_roll=0.0295 right_gripper=0.0767 state[joint_eff]: [-0.0479, -8.1846, 8.2803, 1.0672, 0.4176, -0.0513, 1.0281, 1.2513, -9.2923, 5.7641, 0.989, -0.6471, 0.0269, 0.7888] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.267,"right_y":0.285,"right_z":0.151,"right_yaw":1.63,"right_pitch":-0.08,"right_roll":0.03},"note":"The pen hand followed that correction, bringing the tip closer to the cap mouth. I’m making one more short sideways-and-inward adjustment, without forcing the pieces together."})

tool

executing move_to over 2 steps (0.2s)

step 258

assistant

agent noteThe pen tip is no longer visible outside the cap, and the shafts appear aligned in both cameras. I’m advancing a final short distance to try to seat the cap, then I’ll check whether it stays attached.

move_to

right_x0.2730right_y0.2990right_z0.1600right_yaw1.6340right_pitch-0.1020right_roll0.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7582, 0.8627, 0.9241, 0.0688, 0.4355, 1.6737, 1.1736, -0.6701, -0.8444, -0.9939, 0.0796] state[eef_state]: left_x=0.2759 left_y=-0.2341 left_z=0.1407 left_yaw=-1.5252 left_pitch=-0.0999 left_roll=-0.1674 left_gripper=0.0688 right_x=0.2727 right_y=0.2765 right_z=0.1373 right_yaw=1.6337 right_pitch=-0.1022 right_roll=0.0502 right_gripper=0.0796 state[joint_eff]: [-0.1573, -8.0615, 8.294, 1.0769, 0.3883, -0.0366, 1.0281, 1.3607, -10.2222, 6.2974, 1.0232, -0.4225, 0.1538, 0.5934] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.273,"right_y":0.299,"right_z":0.16,"right_yaw":1.634,"right_pitch":-0.102,"right_roll":0.05},"note":"The pen tip is no longer visible outside the cap, and the shafts appear aligned in both cameras. I’m advancing a final short distance to try to seat the cap, then I’ll check whether it stays attached."})

tool

executing move_to over 2 steps (0.2s)

step 260

assistant

agent noteThe closer view shows the barrel beside the cap, so I cannot yet call it seated. I’m correcting that final sideways offset while holding the insertion depth.

move_to

right_x0.2950right_y0.2860right_z0.1600right_yaw1.6390right_pitch-0.0940right_roll0.0520

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7586, 0.8604, 0.9241, 0.0688, 0.4664, 1.6615, 1.1683, -0.6456, -0.8413, -0.9535, 0.0787] state[eef_state]: left_x=0.276 left_y=-0.2339 left_z=0.1404 left_yaw=-1.5244 left_pitch=-0.102 left_roll=-0.1669 left_gripper=0.0688 right_x=0.2667 right_y=0.2857 right_z=0.1413 right_yaw=1.6389 right_pitch=-0.0943 right_roll=0.0522 right_gripper=0.0787 state[joint_eff]: [0.0479, -8.1573, 8.4855, 1.0183, 0.4176, -0.0122, 1.0281, -0.3487, -9.9487, 6.0103, 1.0232, -0.4225, 0.0415, 0.5153] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0.286,"right_z":0.16,"right_yaw":1.639,"right_pitch":-0.094,"right_roll":0.052},"note":"The closer view shows the barrel beside the cap, so I cannot yet call it seated. I’m correcting that final sideways offset while holding the insertion depth."})

tool

executing move_to over 3 steps (0.3s)

step 263

assistant

agent noteThe pen hand has again reached a pose it will not move from. I’m making the remaining lateral adjustment with the cap hand instead, keeping the parts at the same depth.

move_to

left_x0.2530left_y-0.2340left_z0.1500left_yaw-1.5240left_pitch-0.1020left_roll-0.1670

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7586, 0.8604, 0.9241, 0.0688, 0.4664, 1.6615, 1.1683, -0.6456, -0.8413, -0.9539, 0.0798] state[eef_state]: left_x=0.276 left_y=-0.2339 left_z=0.1404 left_yaw=-1.5244 left_pitch=-0.102 left_roll=-0.1669 left_gripper=0.0688 right_x=0.2667 right_y=0.2857 right_z=0.1413 right_yaw=1.6391 right_pitch=-0.0943 right_roll=0.0519 right_gripper=0.0798 state[joint_eff]: [0.0068, -8.1846, 8.5265, 1.0476, 0.4176, -0.022, 1.0281, -0.4034, -9.9487, 6.2154, 1.0232, -0.4957, 0.0415, 0.7057] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.253,"left_y":-0.234,"left_z":0.15,"left_yaw":-1.524,"left_pitch":-0.102,"left_roll":-0.167},"note":"The pen hand has again reached a pose it will not move from. I’m making the remaining lateral adjustment with the cap hand instead, keeping the parts at the same depth."})

tool

executing move_to over 2 steps (0.2s)

step 265

assistant

agent noteI picked up both pieces, but could not reliably align and seat the cap. The tip remains beside the opening, and repeated Cartesian corrections sometimes stalled or shifted the tool orientation. Both pieces are still held; I’m stopping rather than forcing them together or claiming success.

give_up

hindsightThe cap’s narrow projecting feature is its clip; grasp the thicker body, not that projection. Opposing inward yaws around −1.5 rad for the left hand and +1.6 rad for the right give much better clearance than having both tools point diagonally forward. Short Cartesian corrections near these poses can stall or change tilt substantially; preserving the measured pitch and roll restored some motion but was not accurate enough for insertion. Regripping the pen nearer its tail increased the exposed length and hand clearance.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.345, 1.5791, 1.095, -0.7441, 0.8406, 0.9062, 0.0688, 0.4664, 1.6611, 1.1675, -0.651, -0.8463, -0.9539, 0.0819] state[eef_state]: left_x=0.2673 left_y=-0.2321 left_z=0.1382 left_yaw=-1.5169 left_pitch=-0.1164 left_roll=-0.1628 left_gripper=0.0688 right_x=0.2652 right_y=0.2856 right_z=0.1414 right_yaw=1.6418 right_pitch=-0.0923 right_roll=0.059 right_gripper=0.0819 state[joint_eff]: [-1.1419, -9.6205, 6.3385, 0.652, 0.7106, -0.0073, 1.0281, -0.4171, -9.8803, 6.2427, 1.3309, -0.2711, 0.0464, 0.5495] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both pieces, but could not reliably align and seat the cap. The tip remains beside the opening, and repeated Cartesian corrections sometimes stalled or shifted the tool orientation. Both pieces are still held; I’m stopping rather than forcing them together or claiming success.","hindsight":"The cap’s narrow projecting feature is its clip; grasp the thicker body, not that projection. Opposing inward yaws around −1.5 rad for the left hand and +1.6 rad for the right give much better clearance than having both tools point diagonally forward. Short Cartesian corrections near these poses can stall or change tilt substantially; preserving the measured pitch and roll restored some motion but was not accurate enough for insertion. Regripping the pen nearer its tail increased the exposed length and hand clearance."})

tool

give_up: I picked up both pieces, but could not reliably align and seat the cap. The tip remains beside the opening, and repeated Cartesian corrections sometimes stalled or shifted the tool orientation. Both pieces are still held; I’m stopping rather than forcing them together or claiming success.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 8.07 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6025, -0.3805, -0.0219, -0.0246, 0.9994, -0.0189, 0.7918, 0.6102, -0.3756, -0.0204, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2959 right_y=0.0016 right_z=0.1844 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.4701, 10.5094, 1.7705, -0.0757, 0.0952, -0.0708, -0.5949, -1.2513, 9.7983, 1.7216, -0.0317, -0.0171, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74790bff53fec7ead949059ca674e75b49a10bb23e70907a946ff9653f6eb9c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d23ba9e020ec5b983f6151b104e8bdd0d524af9c90f77f9016d04340ac803ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c031e3bc26ca892a62be0ddc62f0830bee1b10e668e03753f3fd97f1a06817b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.227 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSCDkpoQAPUkc6BJe9HTRpG9BJXs7GhE6F-t1VHcf6oQg1Fdf2UWd0OWb0pf8caWxggTms4Q7_CaysOFomkh81FXDU6ndz5dBvStsIuav5GC9RM6kOyi06gWgg_ohvTXoyRFlxWFrpjMmqcf0ItCZ-NdEPS5NPfl6_b0LFz5dlM3ylRAHrZ6tKly8sKaWLwEU8N7u-Y0aPexFC4GXA0gpVlgho32Qpuce0UbgVgm4MIpiLN5X63v_xPmuGehYcYzB5r_yYShy8f0KGh2ll73-u79lmW688_5I982dVioRXG2YMsNy-d73ZSRx9w2N-EfEuw7Es_Zy6whf_1qstSdPSdg-60k-Pxqa21bjrOkuHSbYxf3dZXKJMtpHRpycNHgbmCxgHVI22RXYhqixFCE3aWznktNzKR7G11mPN75UeRgBPDV7SyfYiapt1FhfQKr4WLI4wAPAVAdRt6f3VsGqJtK1d7Z6YnJqGrdshUrhwwIlHlP1yYyKoG7fQ3wFys5qVN_0rmf1Ri6zW66PcpMdl2VfQMJPQ0cth_iI1xYy0l6HcEtlVzirvRXdRZXLFaD_CkPwUeGO-3mdaeUSeAG1ipXnndRYs6zJY3KKXgBG_dj_MV935s655nRYRLlLP7J6JeJB3Z1gdanp3LDsdhpoj_PKy7D1eRfQ0qBaw4Enq-ZVRKJqEidkfV0T6KGTIzCCXKbpbKBrK65khpaZjgv_DjBVdr6kuHllGFaccfAzX-yoxG6nYiu5Ox0fIMbiHa_xMSsrpc8jthjMLNU03mN7Fzlt7XigWXrft2sFlXxfp9lbuiWFwfqCGY0nSdmUbWXvGAgzQ0Jj82xlUcQGv6uOuchQv4l0HO7YlkilF1GhxDQawC-f7Vhfeq75K2b0gWkoBkv7r5Yf-H7j82PD8VB6cW0JYXWMaK6TrOMCv3jL0QviCbPIT6puPd08smSIzpoE7OTKdiH2W72uBwkgwcp6Y-DcwAzlVasz8syHIyXUkVZea_fHSTk-Yq4K9n6O9N31mAiKvf_sJALqJIFZu6K-8HheGz_ZoTcvNtpyxA6YbbewlYNYE82rLLEpiDh-RZe2c5RFclpR4fuq-SxkiYe3YWkOjc1dByb2j5MHThUk1NelkqeZdIAoZzxXrKSgXvWw9oznSXTiW0l07RlNiH92gH--UM43F02ZOxfssWP8KaxmZWCbxJq_oCk-Wger5I3jrbyZdZEwCY9d3a79mayJVERNRb8RjrApoJFCM1C_HhntXpl9DYiCNH3s9bNcZ_WtMHFjpaHZdlTRsxXqY55dOGMwwWs7sGjGBP1WaPAt_zg-AoeoX1fcknqzNqtbaCz6wpw30AsTKAZLS88cgMnj3neF4w08mSXUVDivrY1b52kbm4ISI03NopNVGltd-mc12ImQ2BmtmKeqK-aQ1Yu1GrTDYZ-4dyXt_wifJyj5HGY7fFOOA7ExZe2K8PXUTOh5badVVJnc1HABPlvOs1AnS0WTK6HGG3_Uj94OMeIGD2XglMCAiVMLrTRNDS_s8j95lv7-hxu5Y0DzdxL_0Yf9wGPpkMfOaBQaKKWUaFH2i2ObQ5427Bm-TlkMuyWqU8-ITEAT2KhNn2zwUpX70-Sx_646eMYHfFc4GEuAqBoi6avyTOZGTsuwB_MX43XMAKGVwTXhdKTEy5BJGlLbhYyo4eoDvpFlU3JUu9AeTU3XQ4sOLT9RQNL7_Sb3Bmp5EKmiUXtBQWXJA9GNxpapJZqpirCw-szekkcu6osaE2KY8hSY_opppD2b4HjRIyHbxDo0XdmIF2XNFpo4_XU7uK1eRLG3iGPCtJDFBHAyy6irYx-uV7veSt7Fv4P8LfHCReTK-1DyqCD_E_xqiaazQIwaeGklglQ7DQ_Iiyg4yt57wDFynCw16bLAbVGuhrgBBW041-KThPaEZcjX9EGvjSPScd9vueSFQ2wAXcHjswJg3FRkAAM_Ph-83w-gCly8pRaiW6SDPBjzcjsnil1kUzk4dnL6wek9Q2gmFchhHjsX2W3N4efvvxWP7xmzKJpAdeloXes3j1VHI5Bkhi2D0jbMbvFbtZs8l-bo6v2poHIBMa6MT8p-GT2rJLbZB3RJQpFyWJINOFTjSanbSI_dESAZfCt8Qjw4PKFT5edxtXj8Dp6CAmtrIlxXwUwRglWpXEDoKveZO92iHGBNqt9Cgn0BRS4Yhf5YPM3uCQFi9IU-RWzojbS86vAJsYV8MXJD59UPZj-XSSJfs0r38IEsAnvH8_BLEhKjni5PyW2Fm9ZjGV_E5he369Wa2XFbvI7BgLMuVpM1Y4BMETfwIes0bDEwejExdWlhE4YpipPl__VPXfEmIqQDf8Yc_KGHFc2HmN-6g1uZ-tpMRaHsY-4RN04ibPy0F_KPQeDUx2d4OwTIZy3nALGLrsDEprJGvAS7fbuYlgSMAMPPm5fYY-khKmpPnxBQ==",
  "id": "rs_08aed949cb8eba3c016ab4947c69b487d08dde1646f9f9722a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.18,\"left_z\":0.12,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The short black cap is left of center, and the longer pen lies diagonally to its right. I’m moving the left gripper above the cap first while keeping the right arm parked.\"}",
  "call_id": "call_EYlSyq9oRIP422sAVK3Ijnp8",
  "id": "fc_08aed949cb8eba3c016ab49481a9f487d080555b8afab3fd05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EYlSyq9oRIP422sAVK3Ijnp8",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6273, 1.6024, 0.8478, 0.0044, -0.503, -0.3882, 0.9994, -0.0189, 0.7979, 0.6132, -0.3882, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3861 left_y=-0.1703 left_z=0.0986 left_yaw=-0.0123 left_pitch=-0.0697 left_roll=0.0354 left_gripper=0.9994 right_x=0.2951 right_y=0.0016 right_z=0.1815 right_yaw=-0.0003 right_pitch=-0.0156 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -7.8427, 9.1556, 1.7265, -0.4322, 0.0269, -0.0757, 0.253, -1.6752, 7.2821, 1.8046, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a9470ff816e74683780fa118486ed404d542aea4922a5f0b80de4d34d68070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9995d2cb56798ec84100a9c779bd41c97647108ff66574f38d298c22afd519",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d13c2f7c6f82b71dcd750ea2643347464395135f3053e48e8b58f2a6b7caf10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.27 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6025, -0.3805, -0.0219, -0.0246, 0.9994, -0.0189, 0.7918, 0.6102, -0.3756, -0.0204, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2959 right_y=0.0016 right_z=0.1844 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.4701, 10.5094, 1.7705, -0.0757, 0.0952, -0.0708, -0.5949, -1.2513, 9.7983, 1.7216, -0.0317, -0.0171, -0.0904]",
      "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]: [-0.6273, 1.6024, 0.8478, 0.0044, -0.503, -0.3882, 0.9994, -0.0189, 0.7979, 0.6132, -0.3882, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3861 left_y=-0.1703 left_z=0.0986 left_yaw=-0.0123 left_pitch=-0.0697 left_roll=0.0354 left_gripper=0.9994 right_x=0.2951 right_y=0.0016 right_z=0.1815 right_yaw=-0.0003 right_pitch=-0.0156 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -7.8427, 9.1556, 1.7265, -0.4322, 0.0269, -0.0757, 0.253, -1.6752, 7.2821, 1.8046, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a9470ff816e74683780fa118486ed404d542aea4922a5f0b80de4d34d68070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9995d2cb56798ec84100a9c779bd41c97647108ff66574f38d298c22afd519",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d13c2f7c6f82b71dcd750ea2643347464395135f3053e48e8b58f2a6b7caf10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSJ2OTQYs0_hBcte8zsLpsTCRy6VHgxaWHNPZD1AakhuWa-s20uBnZFzD5OBfGXR-8IrfDbudGOIeLFVk5ikbUhyj0pGweH6ora2EdAKe_UeHPLBYmyUVxu338sHk5Fa3IohKz_qma2sQoY_-NMRUG6GufHqtY4Tl7_dKhr4i1DXmy2kvEklTyaPD4MqgeD1C_3Yh26nNQH3Ml5_gefI5WiaJXwoDwd_u-m3uDjg-5DDFZ5mXctnRSNfkQgpLNShLiogygfqQK-jZdlzkZQO2uaF1CI_asCqOt0s2mJGpgu76ZCv3CtWDt0j8hxIGgO-_Qp9wBEceXMN4NRCcUthXFSSHacd1khrWoeDGkYZOkTi_t4eeeLaAMB9GVLf0z0B-sZwObUcplW7djot8ciAQ5aBoSbI1MOcqE1bqtGql80UFnX8MmXjxcqZBJqIK0EvmsaVjYwockezU0NqJqsi5LwSz1ifS3B0wMBjymhwKUBXo6sfwui2LdNTkJkD-pPjxwJLaD8EoZt8flXYDcA4-oYsh2Ra-wnBO2DTJHn0OE_dn8soX-BluO0Odd0JsSeSldaRYZ_fuXkIxOc7gNU0AcWFjiC_5Aa9lx-EmxOQMYCpKiISkmJ8PXFKLBw0DhvH_LTTQFAgqREr14lWStjByjal30MNB9Ck5B_RWiNDW3Y12lfakRR146i4DvP9_nSWPlR30vvky1L7o5aCW4vfIpuKNpKl1CNLl29hsP8rWzmJ-ZolwaLm761-bJaGqmsXKQgGyxBMVy3W1xV1TkjBhNeWvulQZMBA7qymvt50hqXaax11aR-wQeGsXfM-0BkQtXrObBP1vU3msxE1wdrfOtXaZ1X10qwYRjorplR-08BPnQ91Uf8NU-rUVlcRYxUX534kC-jw4xZbl9NQfzspnxtdXasr8NRPaF2eGjqCiUYjYe5mhCWenAcrJeiKf8TCgUjCRzwCMUr_Yur4e0mJR8OyNL24jW8gT6T-Nj6jG4MishOWk4R3tAGAej1ZIuHfXXwov0ctZ04N8EjEOtrVRSwkxULXt2KnrDFdmHapUo0-wCneD1yIFzwXzPQHv52L2CBo3mgdBWJqOugj9ixJEuQgR3iyAehToIPv5KB6kJi1GFBqbN6xDslMC0p20ni_bqqS3w1N0n7OUYm79VhsZ6MmmU7NZfTn0KRpwYswT2IXicF1ZSIKmXcwM0tJD9c4L99XpkSBs-MnIk35SsPw5tZlU7nwaJvQLTZbG1py89NcXE73_rAmEUYFS5MdTyPPaLuZimHB0CCoq03XAGLZICn1pT-xxNqCl6yOvISJBhMJZsWUwJgaq-3u3TxMOaY-u8PTqqUvQdOR9f34ElcGPWV8tyo1lcs4yAhFCDxnmIr2cuq02lroa3EV0xfg-s97czSHro3OqOO76QxFzSRv0uC8FGhO5182qWXhs-3mtwsmdPQTi1V5hmCe3LPqGV1ie38gO_PkrCcAUYWZpRBuO0tkW2lCXRMSAhQw97HoORKl6KW7BNdHTcDWqVnJrp-6GTsFKxLuWPNqLZp0kPjl7s7fC6zZyKfdXWj10YR1O1okUTZYIKFYB_BwiTcp_YmWK4gZbBL8lWJJFzDKVdJT_T_S1iFxAJ0YRhU94VKZzQlRiX3eBIQ20ZPCnG_PXYbkNxx1X1wE58CuIzQhFGgEvBKVHIzRuh0NXyCgbTr_kECit-92kc-LK2wK7QAk2J1c8D2F5TJazrotogLr9zeb9e1vEsoLNvzcL9uAz5RRPjyl_7R3Krm6xejqUcN-NUQyd0PZCuUOCdXEdl8QIQwbe-gbdyKGslqS4tBpJ2SL08BjZ5076aMwf0sj2GKomnHi7_XHiJ5UcK4jLeeUNESXJjrRNdtGGYrjLbDPv1VfR7MrHz583tyerWXhJjpfzWO-y9TySTqEy0wwaGAKKdSBdo1a0zlT5OacLdnwNTWaDOhC4dtqwpd5QnZhohgSK8vhWZ9-LzntSdVdRJipRFLavu8ww==",
  "id": "rs_08aed949cb8eba3c016ab49485cc8c87d0a2949acd8ccabe4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.162,\"left_z\":0.025,\"left_yaw\":-0.45},\"note\":\"The cap is visible just left of the left gripper’s jaw column. I’m shifting toward it, turning to follow its diagonal, and lowering for a table-level pinch.\"}",
  "call_id": "call_8EZj7g1SJZrfw5NoLZ1Besox",
  "id": "fc_08aed949cb8eba3c016ab49488c98c87d0aeaa709214676549",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8EZj7g1SJZrfw5NoLZ1Besox",
  "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]: [-0.3836, 1.8072, 0.6907, 0.3573, -0.1028, -0.0536, 0.9994, -0.0193, 0.799, 0.6132, -0.3912, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3991 left_y=-0.1376 left_z=0.0058 left_yaw=-0.2777 left_pitch=-0.184 left_roll=0.039 left_gripper=0.9994 right_x=0.2947 right_y=0.0014 right_z=0.1805 right_yaw=-0.0007 right_pitch=-0.0198 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4171, 5.3675, 2.0733, 0.2076, 0.2418, -0.0171, -0.1436, -1.3333, 7.0222, 1.7558, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcba700324d6cc0ebd5b41bbf54105b0a966933b30f922f763a3e09c5c8f92a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfea320b92d9d6a85f1b2a4336c367ca3b78d9c3f019ce96f277eed984365196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a57fde40b0533257300d5de1f2c6446b6a9aeded74d80098892eedba93f56ba",
      "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 · 5.983 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]: [-0.6273, 1.6024, 0.8478, 0.0044, -0.503, -0.3882, 0.9994, -0.0189, 0.7979, 0.6132, -0.3882, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3861 left_y=-0.1703 left_z=0.0986 left_yaw=-0.0123 left_pitch=-0.0697 left_roll=0.0354 left_gripper=0.9994 right_x=0.2951 right_y=0.0016 right_z=0.1815 right_yaw=-0.0003 right_pitch=-0.0156 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -7.8427, 9.1556, 1.7265, -0.4322, 0.0269, -0.0757, 0.253, -1.6752, 7.2821, 1.8046, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3836, 1.8072, 0.6907, 0.3573, -0.1028, -0.0536, 0.9994, -0.0193, 0.799, 0.6132, -0.3912, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3991 left_y=-0.1376 left_z=0.0058 left_yaw=-0.2777 left_pitch=-0.184 left_roll=0.039 left_gripper=0.9994 right_x=0.2947 right_y=0.0014 right_z=0.1805 right_yaw=-0.0007 right_pitch=-0.0198 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4171, 5.3675, 2.0733, 0.2076, 0.2418, -0.0171, -0.1436, -1.3333, 7.0222, 1.7558, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcba700324d6cc0ebd5b41bbf54105b0a966933b30f922f763a3e09c5c8f92a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfea320b92d9d6a85f1b2a4336c367ca3b78d9c3f019ce96f277eed984365196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a57fde40b0533257300d5de1f2c6446b6a9aeded74d80098892eedba93f56ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSPsPvnKVtzhZf60dwS5LN1FnSSJvxPv7WdbyQtXnMWGAh6y2Ore-NIgwHsmWaEfQ8zViIRaLnAlQS5lrxoBlpixwccjdVpaYIV_iIlyctu_Ll1zgQRD7efo4gWs9bq9vbzlGce3uONggEFXZyzPCYK-pcqkGh6ivowtX3495eq2nhnhlqoKQIQAAAA6ICiQzDAcUqVQYnBashqmEyyQKbMD525RqHef7lkg4CKl3i-DQ5YiltCpXoXSDSrVGVYHrOmNqnT20iKm86v1z3SFh3nW6N861HPxXlCMaDXM_xgm98f-xk_nto8of3radHf0umLDjfjgFKzclnoXvA1wWT0TuFQ3-swvlvn2fjlJFqyMhH189r4bM2uGTOwBZqYu25F0gCbggJMzyEzNk7_eYwD5RpvZpy62oN0rg7_uvjb9SsZ9F6f67btZE_ieCkIUBTV7VE47K_mbWhM8Xz9dGP3EodEkuza0j3YBnW2sWybohyRI5SrgUWOvqGLKYHxvJZwvataV48o2AqL-DMKcFx-h-FAEj0tALvNbzL3ra-hPHBja7niA9e7FMyz5RbsZcCHvEer5d-YEXesgvXIa8QpO8YWJt52xoGe2P3pEp4sBN0vYWeRc9_mSe9sOCoEmbVcE1RPQ6Pr8Ha-Bj4rxjQnBiZREXuJHlOBy_lMm_ydzBGPfvHqZRdKe1RITs_exeWxGF3GbyxaWrSBb09kpmXPmHZnKMvmecxVbWpg10HrEniuHwAN59OneIVkLrulAoh_ilGgMfUCTQbZ0CQoXqLNv9a7n09TZGDvM5AfA9QxCHaRVNDajsz-k74KXjEDQT-4jZfT-zqWL1b3jL6ycZM5PFEnoE6N5IjxcgQ5nhAWOENTjdspVwEEpBAUXTTT64bRqTOoSdeogJlwagPnbhpBfA-rtmRwl9WAuBUJFpWULQ5JgSYIT12sMnU6DVxZiQ4roYZOtt7Ztwj1lKje4QbgF-haE-sNnJFAvmJJUIni9_87aqJlPIiR6i2P7qJzeXFxu3aEjFkgUuDVJ_PgYgzMfHRQy8vMv7NMxaVk2GEp_4axiipzX4rK8wzCRLtTuQxMVrLu24LyBdO_6i6irh44_wwT9iYznWUM2mMklCJ0D_ycXHjdMBtsKnYEltznO4g5DUp3_3g3u6YXqjCBd3EIdKCPsF0-oDG_Umzj-oMZhmvbrcNwE1A8YaAEzjFa_CZmrwk4qxXSTpAcDKf76n6zcxq9ZZO-rBtxKVJpNmpeMik94Rsy5mLs-A1E78PBJU--yXiBNT5S-rmE2FMYbp3udDdzgY8-PpZU4PZkh8Etk5G-fh8z2OBAcfPqSV5SwI7fkhU3J_7-CTgmuEx9y2HmMRmI4WfF_UJXt2XZhfKASX3LKjMlGPjj_-_iPftDI75ZStZD2g1W9Oo0t_kHcz6onBiN0ZaiKQG_FNdQmzlluBnlrRD5opzODOg0E8vzlX5GfWrNCK420QGdlHC8n3p8lUIfNE1IpokUqp6lTe1S_3IF83mkVzbZTKXib4COBL1tUV8ItAflDMKao5Q0kkXiqb13xDvkzCeM0Rph4EI-G3CG5H9-LKNRZr9anp66gpVk7ylWMxBSTcaqavihXamjrSi62LFmz7VOcTgTQs8XnWwAsKyvX7fQdet65ktL3Z8slFpC_huER2trE_BK9J1iZdsIk9m5DwWe3jgcMiXjkFAE1gQPvrJ9YXqEhtxnNonb9yhGDt_je1vuaVobr6g4T554WUON77SxCl3CQaO3PpAw1yAIVUHqiWlmFTri5DgNhhnZTJeBifCxk6vCU6CYkOp6eQ5opwUgn4x1BzXFxT7CYn-TV0s4Y2JO2g3moEhutPzdFUNzTtNGiPlytmVD8b79K8cKez8sbja43ky4S3dMu8Zdf_9ey3ZIulCMN4aSfIzXLeCaqTDWef_XOGmUJupi_ap0niVOTCZpvMs0Tb-Kssgv60ZIKBG6C5GdyiCN",
  "id": "rs_08aed949cb8eba3c016ab4948b81ec87d0849bc8ca60386752",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.12,\"left_z\":-0.008,\"left_yaw\":-0.28},\"note\":\"The cap is still slightly left of the jaw center, and the fingertips are now at table height. I’m making a small sideways correction before closing.\"}",
  "call_id": "call_ngE0dkjaA5eu1MDF5k3bgc7N",
  "id": "fc_08aed949cb8eba3c016ab4948e55e487d0af3f464ab9fd1f9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ngE0dkjaA5eu1MDF5k3bgc7N",
  "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]: [-0.3431, 1.8462, 0.6872, 0.4503, -0.0105, 0.0231, 0.9992, -0.0193, 0.799, 0.6132, -0.3908, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4089 left_y=-0.1403 left_z=0.0052 left_yaw=-0.3583 left_pitch=-0.138 left_roll=0.0319 left_gripper=0.9992 right_x=0.2948 right_y=0.0014 right_z=0.1806 right_yaw=-0.0007 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [1.1282, -7.0222, 4.7795, 1.4872, -0.0269, -0.1929, -0.0317, -0.0889, -1.2513, 7.0496, 1.7656, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead75d6b9f8a1b03e42901ef81dc0893affe7140a27092169d655ec6ec757d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e441825e304a1087fbd57f143f8b07f5bbe3b0382d0b42b41b5d84980678acf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f107f57fea7170e77f98971eca4e4fb982988f91cd47affd20771de6d92dff4b",
      "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 · 3.231 s

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

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6025, -0.3805, -0.0219, -0.0246, 0.9994, -0.0189, 0.7918, 0.6102, -0.3756, -0.0204, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2959 right_y=0.0016 right_z=0.1844 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.4701, 10.5094, 1.7705, -0.0757, 0.0952, -0.0708, -0.5949, -1.2513, 9.7983, 1.7216, -0.0317, -0.0171, -0.0904]",
      "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]: [-0.3836, 1.8072, 0.6907, 0.3573, -0.1028, -0.0536, 0.9994, -0.0193, 0.799, 0.6132, -0.3912, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3991 left_y=-0.1376 left_z=0.0058 left_yaw=-0.2777 left_pitch=-0.184 left_roll=0.039 left_gripper=0.9994 right_x=0.2947 right_y=0.0014 right_z=0.1805 right_yaw=-0.0007 right_pitch=-0.0198 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4171, 5.3675, 2.0733, 0.2076, 0.2418, -0.0171, -0.1436, -1.3333, 7.0222, 1.7558, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3431, 1.8462, 0.6872, 0.4503, -0.0105, 0.0231, 0.9992, -0.0193, 0.799, 0.6132, -0.3908, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4089 left_y=-0.1403 left_z=0.0052 left_yaw=-0.3583 left_pitch=-0.138 left_roll=0.0319 left_gripper=0.9992 right_x=0.2948 right_y=0.0014 right_z=0.1806 right_yaw=-0.0007 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [1.1282, -7.0222, 4.7795, 1.4872, -0.0269, -0.1929, -0.0317, -0.0889, -1.2513, 7.0496, 1.7656, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead75d6b9f8a1b03e42901ef81dc0893affe7140a27092169d655ec6ec757d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e441825e304a1087fbd57f143f8b07f5bbe3b0382d0b42b41b5d84980678acf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f107f57fea7170e77f98971eca4e4fb982988f91cd47affd20771de6d92dff4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSVoE67zGMFYyQDpbKD5lmyTnSohFSQVUJee-lNZexj4qltl9J3gMlnKF0Ug-zlXsJjflIQhigt_e_58Jph7Hs_vWxF9QTKWauJWqW4o71rz1HoM7OYMz1fsVvSmFrLAon7v_Tz3OwIA0OLkoBDtknc0ZUQ7LBwLK6OFsDmu3gOv2J2Wa9I2OWMvYdtIy7wM7dNmPADHifcXFhZTPby_U9gBosCmY5rnnOSRqGxTg-nI1ifFPILJm5A6Zv0ftTlkSRx47OThPwpQrHpcPYM_7hA9WYfN2D_Df-l9PAiOqB9WfSLgPHb9bpbZb2I0prhGxLnPG7zGYjhM0f3P1Ikq8hWEpnFHhRwuZK7d5usnP47TRkTbyXC41vy-gsGT2_ulINpZ-ihWSzNnr_Yprxwg3jAaSIvlyEmryb5CScr7jBvFYDcksOyA2AqkqNRVAKhfHqFuxmJBTLFc8GzVwU1mDF2hoVp7tbtB4YblSuJwS8baP8Cl4-bKY700vasXZtZU6bobtUe6V4NMBJq6rUmhs_7c-bL_Lxw26gtBh5Hmy0HQlu0P342GMnURwN_q_RMIH74ihmWE_xoiD1ed-Zm0hZxOThdMOBHfLLj5_EOo6kNM--IEv9YVTLhEKYV4KCeQhNxzZpBcngoSJvXB-SqMg_R-vrqiTiOP_TM-D2K4WGycWG6EZLSNJI5R5fIXK7DJNjFbej10TqGLcaH8WE4XRAzy0Lpodpmz7royWEOFQfHXLwcKfPUPkCGOjmHDUm7eP-XpxLKaEdr-CKd4JiihGeX2Kc_2TjKNbiHGANzFjs1v-kpIA3QD-5E6A7E_IOihxlAcW0rGsg5lkaOLDU61ozNR7XjMTtuFcviYOUoTzPPNfJCuP02dE_X01tqmeBZmVPmeFNzMehE12hhMx5HWdPoQULzJmNyRWmdckPAyUQPZk_YbyAPGkNJRiEky2IdmZ_jKH3tKXfNSUlmdtnCHJcr0ebm3XHwM6fceW8IIX4f-z6IVq76eqKqOOo0xn67VdMmvA6tuZm2HImxEYkcC4uqi9GGW1LT7vt5upELZfjraQc5tbQyfTFW1AicB3TsWrB3iOLNs68Oced7M2jGWDWuAuFQUhmVibbDxyptZ3Rqwrv-9fyUGbVkLiuOBDoH5iEp9gNQbheic3oUMaKXqRQJnA2FhS-FZzDD0UhlZO3L1f0Atg4jMVVkwVkUgC-Mo0GPu0svSi2LyEu7YBs6GdDcqYc6HxnbfW847ioTmVnXsuEZt5iBtMRvIw0v_M-sb-2fHZyr6Fy_m6qBenL894BSIk-nslLntO3caCguAR-yjocLOLCeQR9ZYXqVrSsthq-xE9FRW7-PDxiLtzVleROeS1T0cYvXxN45ViIyYnfdjdVw4aplfIZymq-kwymeiej6-wEPsc2jC8uTfp6gmjh-pPI46BOrZrGTbRyMRqAlxFpMoUrTC9PgqNnfOLAZqj-HsFWw0WjulAyxNpr6qJUm5qjBM7_djpU1zv_lqLdxHXNSolLzxuqegvLjOMTD4_z7kAskOLzcNw3jcakb_rF33PZ4g525eLqqA3JA7NtvJoZt2gqS1lE7doudUKXUA0YTHAqLbXvsVzZLdKIJmx7VVkODFOQ7q9vqslZJ2G404Qrz08yXxKRrZ_y6R7cHxymbCpWcROT8qWD_M_wdGbUBinDiqtGkx7xbmTHvSRhm1BODnK5IrXhYDNmvHwJDs-CsQ7ZCRMDy7SM-JKDwv4BkpIF699TQK_h18mpd3fK5_7f90aEOizs-m1pVftAX59L7",
  "id": "rs_08aed949cb8eba3c016ab4949214d487d0bd1aebde962ae052",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.098,\"left_z\":0,\"left_yaw\":-0.35,\"left_gripper\":0},\"note\":\"The cap’s lower body is between the open fingers but still left of center. I’m bringing the jaw center over it and closing gently at table level.\"}",
  "call_id": "call_RopdahPy3u6gMOfTN8oGBJrv",
  "id": "fc_08aed949cb8eba3c016ab49493d02087d0954da0309b4e08b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RopdahPy3u6gMOfTN8oGBJrv",
  "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]: [-0.3145, 1.8549, 0.6861, 0.4541, -0.0525, -0.0097, 0.0539, -0.0193, 0.8017, 0.6132, -0.3939, -0.02, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.4142 left_y=-0.1212 left_z=0.002 left_yaw=-0.2761 left_pitch=-0.143 left_roll=0.0345 left_gripper=0.0539 right_x=0.2946 right_y=0.0015 right_z=0.1792 right_yaw=-0.0005 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 4.9846, 1.3016, 0.0269, 0.0659, 1.2674, -0.0889, -1.4838, 7.0632, 1.8046, -0.0415, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1589d6f98b1d45cb6d75fb34c11307a3b41b22bbfa298f98cab62b89a6de7bdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9935e2de90d88d57e34bf7ca5b99cb2f8d36eb5ea00075d79ce66ab8b138a5e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f70e2fd2d57d478507e8529de22cbc9461a492acac02e1d55f3a09e05046fe7",
      "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 · 8.597 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]: [-0.6273, 1.6024, 0.8478, 0.0044, -0.503, -0.3882, 0.9994, -0.0189, 0.7979, 0.6132, -0.3882, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3861 left_y=-0.1703 left_z=0.0986 left_yaw=-0.0123 left_pitch=-0.0697 left_roll=0.0354 left_gripper=0.9994 right_x=0.2951 right_y=0.0016 right_z=0.1815 right_yaw=-0.0003 right_pitch=-0.0156 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -7.8427, 9.1556, 1.7265, -0.4322, 0.0269, -0.0757, 0.253, -1.6752, 7.2821, 1.8046, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3431, 1.8462, 0.6872, 0.4503, -0.0105, 0.0231, 0.9992, -0.0193, 0.799, 0.6132, -0.3908, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4089 left_y=-0.1403 left_z=0.0052 left_yaw=-0.3583 left_pitch=-0.138 left_roll=0.0319 left_gripper=0.9992 right_x=0.2948 right_y=0.0014 right_z=0.1806 right_yaw=-0.0007 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [1.1282, -7.0222, 4.7795, 1.4872, -0.0269, -0.1929, -0.0317, -0.0889, -1.2513, 7.0496, 1.7656, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3145, 1.8549, 0.6861, 0.4541, -0.0525, -0.0097, 0.0539, -0.0193, 0.8017, 0.6132, -0.3939, -0.02, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.4142 left_y=-0.1212 left_z=0.002 left_yaw=-0.2761 left_pitch=-0.143 left_roll=0.0345 left_gripper=0.0539 right_x=0.2946 right_y=0.0015 right_z=0.1792 right_yaw=-0.0005 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 4.9846, 1.3016, 0.0269, 0.0659, 1.2674, -0.0889, -1.4838, 7.0632, 1.8046, -0.0415, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1589d6f98b1d45cb6d75fb34c11307a3b41b22bbfa298f98cab62b89a6de7bdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9935e2de90d88d57e34bf7ca5b99cb2f8d36eb5ea00075d79ce66ab8b138a5e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f70e2fd2d57d478507e8529de22cbc9461a492acac02e1d55f3a09e05046fe7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSZIRS4yUdUGWz0sf4jdv6TueNhFDnPACPm2FCPlHWdWx4wv_LmiGlwVfEIcPY84xl4sx_iXd-g6sQph3cokZ2DV_WlFo8kCMKxluJr3Q04AmsfWTrrhObS145ZiR0DipSSCAxod9Hl7G6WlpYUsFbFmlqULNZH2KNU6AW_Tr0BLzmxvequKd_9s7gXnZ4lU-6i6yCupEoKFzQy9E1YRaulstK3wkYNuX_yYZwpmfC76C6__-lGaRMnFmAGZ331u44iZFDuDRA3rFjBlaUALir03qJxqQymOGGPZGAcxoiA-LE2BIkfOUMrgW1RUKx7Yu1nCeS8_UeoO43lN0W8nmrifv3U4eJwITKcQT1Bcb1YsF2zqOWegM24PlBZlBlR0efUFEZtfXD6ygY3M3Ld243JwyaYQwsSZO6zo4yBY4bobGKMONFXxv1VngPf0Ngza2dUBbiDSZjKLApewVHRZpKVCASgQwV8ZsaH2ZDtNOb7D47-15eSMtPoc4AM9M0JnO7V5MFcPgQ441siyTqMV6UfUrBmGYOhZXloXggfEiQsyP55pMgdVEzuNHbI2Zx3KCJ945pYv1SBYveNE0-181i3aDh-Kbz4gh0bNRmLthpyhTQ6YnVuBdn4O9Ky7lp54STroAhq8WqgkpSxytqtBoubALdtDtShrj_oarVq_RUiocz3kqBTlOXyJSnjWQX1OB_1r7lulvAqWrwpijMeX3S0husskmPdRbEsySFYsNBBwCneJx4kwVBtEycuFarHN4Gneug-UdJIFS4GhhsjJ4uSIby1xvAWxDtEFhyHpVUnOG-ItLtKLp67ltIFpaWY9KgRNiWKS10Kwe2LIQUVNIGHVxbHF0M8c9Z4DGo6z3MMDeTqGVOlvmYxtXqERZ6n690qq-dn2DOQ1gbsw625Fo8T8QXIxyL4-E8a02YO9xrIaWatZbqywZW0QBBALJZvpG7dEDExIEGqzPO69Ygj4gZ88CC2PSw0Omn_DCxAmZkKXUIeVj4XC8Gqp4T9JsJbcLvx-sy8TjFpLtPzZP3aIbDlEcxuXK4j6rKIXiBhdIbNqB4ZWduFu_Rzg9Dqv7OkpJTM2VevzFvsRErJ6FRJhGRnm5pRiauFPWzIVcbcTtxWhNPWZNBGV0wBoO6TAJayBAa4MRlTGa-mSPJVK-8jBjncBAnHIUGLqyAepWRgas7QuyDCGwGwiO0xkv_dx-PzsiJVh2QPNQACyF4fnuGcF_GQBp1VibYYKjZZYhSPs4Adhf4=",
  "id": "rs_08aed949cb8eba3c016ab4949814b487d0963cdd0f667ca089",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.414,\"left_y\":-0.121,\"left_z\":0.072,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The closed gripper reads about 5 mm, which may indicate the cap is caught. I’m lifting a few centimeters to verify that it comes off the table.\"}",
  "call_id": "call_2GHfoRSsTwyyibRi1mNPiMoN",
  "id": "fc_08aed949cb8eba3c016ab49498703487d0ad1ccab1a6973b1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2GHfoRSsTwyyibRi1mNPiMoN",
  "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]: [-0.3145, 1.6691, 0.7521, 0.194, -0.0525, -0.0181, 0.064, -0.0189, 0.8082, 0.6132, -0.4122, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4105 left_y=-0.12 left_z=0.0538 left_yaw=-0.2715 left_pitch=-0.1512 left_roll=0.0285 left_gripper=0.064 right_x=0.2924 right_y=0.0016 right_z=0.1737 right_yaw=-0.0003 right_pitch=-0.05 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.8137, 8.9094, 1.5702, -0.0708, 0.0269, 1.0281, 0.1436, -0.7043, 9.0325, 1.7607, -0.0171, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee65db0fe006e62bc1ff81fbeacf4e5970fb79f6a4789255367576a8d8fe4129",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc2b06057f1520694f16c33e9b5d2dbe317dcbbd78891cf6648491b93e18983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2da4fc2fd50f461d5ba1bcac64d32bca34367a90bb64927b5fd451c903cf35",
      "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 · 6.263 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]: [-0.3836, 1.8072, 0.6907, 0.3573, -0.1028, -0.0536, 0.9994, -0.0193, 0.799, 0.6132, -0.3912, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.3991 left_y=-0.1376 left_z=0.0058 left_yaw=-0.2777 left_pitch=-0.184 left_roll=0.039 left_gripper=0.9994 right_x=0.2947 right_y=0.0014 right_z=0.1805 right_yaw=-0.0007 right_pitch=-0.0198 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.335, -8.4171, 5.3675, 2.0733, 0.2076, 0.2418, -0.0171, -0.1436, -1.3333, 7.0222, 1.7558, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.8549, 0.6861, 0.4541, -0.0525, -0.0097, 0.0539, -0.0193, 0.8017, 0.6132, -0.3939, -0.02, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.4142 left_y=-0.1212 left_z=0.002 left_yaw=-0.2761 left_pitch=-0.143 left_roll=0.0345 left_gripper=0.0539 right_x=0.2946 right_y=0.0015 right_z=0.1792 right_yaw=-0.0005 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 4.9846, 1.3016, 0.0269, 0.0659, 1.2674, -0.0889, -1.4838, 7.0632, 1.8046, -0.0415, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.6691, 0.7521, 0.194, -0.0525, -0.0181, 0.064, -0.0189, 0.8082, 0.6132, -0.4122, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4105 left_y=-0.12 left_z=0.0538 left_yaw=-0.2715 left_pitch=-0.1512 left_roll=0.0285 left_gripper=0.064 right_x=0.2924 right_y=0.0016 right_z=0.1737 right_yaw=-0.0003 right_pitch=-0.05 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.8137, 8.9094, 1.5702, -0.0708, 0.0269, 1.0281, 0.1436, -0.7043, 9.0325, 1.7607, -0.0171, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee65db0fe006e62bc1ff81fbeacf4e5970fb79f6a4789255367576a8d8fe4129",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc2b06057f1520694f16c33e9b5d2dbe317dcbbd78891cf6648491b93e18983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2da4fc2fd50f461d5ba1bcac64d32bca34367a90bb64927b5fd451c903cf35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSiBJaCVf0A8HG96i_PYThFeIX6EdCSjex5Un_mTGBqwVb3rzqEe3olDkqs5Y1OcrE2hR7eKH916dKNtFlT4Xco7xFzKsAUytotklsJ3eutHWDQ10UXK1blWMPZJe_uI3O5x6I06cN4wDUqHh0vdUiKDnGPWmP3-XAf73ezfaZeoUmv8fSZxjR9jL90MO4RZ3YzZTNuiBtNoJ-nyLXA0jJlEHLm4HYJqBzL2T5UQVivAY33rNAjD1gvf9XrHU5L7Xg5ecInDkGUnkq6ohKYiOartdmACr-3nJpismOr2eoqaEjYPO2LRiFDeHpy8tbWmeAdI_oB86390Kw209fJSyq_xmONcW1xLL767e4-XouondBYXKoCAz1cNkWKvLT6veVSndPWNLr08nwjl17ECkeOEX9YdWIPw9VME3uI7m4CpZZbBal1VUfqusKYW45cMNAXNJkg1sPIYHRuxvZjbwDlFjzV78X-GCPWBFYim3NiiqdsD9hfGG-h2Y_yFy6Egjp5DWW8n7dGTKH980xFrw0YYR0oRToEk-UKYsipEB6JKbMpagZGyGyuMJ-copiMoenqRqezwBsFnjUzR95hLclh4dWht2HgpQQ_IgIYs84N4vkN-zQFCKTClbbusJ40ca3CpW0SaSmbyaWf2V17ERSarzhmfssE8Ib1bqu9PRFWXqIE92bK8vAxTgQNQAeNxnim9_ROrSNjpOyMo48jw4zRtMosFTO-7FyDskxrAbw2QdMMuVsvmXdZQFmNPzBvXwVDPJBvqA8biRLf6pNbkO90a7Tb-ULqt5qzY8I-wrV7qwHjHkawAwe_FCLhuotrHANJR4s-T5FVcIZoDR-JrVmJlLRwwmAHMhJGOaMR0Xa0R154uMP5LCn1l2F2zvbHCveatf-NoRLvNxHLsisfkTlI-fkGE2PZcCNXRSmVQi8p1ftvdH5dpribzkN23y9DV6g_EzHCTCBBHfHqPfM6kko2bbVq_MnNxxqEd-oyvpMb8_xniPR-0mdHeimkmLWVuOQpV4Xz92E1Esveknl0nrhEEQWX69d_8Q8eOxar1G17r40jBcFt1HYpZozbo6sEpsH2fe7vp5Oi6qCmYAd_iHVCj20k3Cq-d0lZ0WXeUhlCQ2grinbq4CkuERBjHxUNY1-S9q3s3cnK3uaiXUOHj7cxvW6OFUQkVMHXf1ub9RSiSVkgLYQqVDPCoHaVynsOhyvSjx-IvoByneezWSrXItQorC3V2vqpbmV_FavGgxlu-d7BMIc67ZNJ10T6k_mAODp-aJtcGgb0IZtyrwTVBocg7JK-7vXRoCQr_ppqAWJ47x2yfeBjSy9AG4Yg0rGVzkFI2o-_NrJAVypMOa2tnvgUucuRDF1gvZW-UCtSVwaBEjSCFGYLTxcsSSbOa2G4I18xasKaChrV4BS1Qf8D3DTGYDcS4TlWNCjQgI_7IlliDOywmNCTt5SVChog06fEMzM4gEjsK57yIVtsz3TPhFq7m3D9FdbxPSuqr-REBVVWxj1Lcz3Ou5OxsWXZOZ5WvxOSbngp9tQyIsVfF16e-JucCffLdjZMMMQJnabg7fczlk0z6ewMchPtb1ext47jZsXB8T95aNS6TKAfx-s_aRXSHqStUGSAmz6CpZ6_yRxE0VML38Q5dxbR94S4tD2a0ClQrg02Vy97dzFen0C8nhyka_TGmrP8AZ5EtavU3iT1g3reiTp0RF4OasWPmXYJNEg0pzcZDJPYrQKPMAH42LA1ab9pkULOC4kORcgXb_eG3Z08B90n6sdG6BAc3OgfZXQvWPlDrvXsA_2HSRkrGbfgN8hO5qE6ltIL83yLQQmzh3D_gAWrFNRtX4dVuDcIk9aBEYjTJ2YuI70nLH9xHybiHLsSpyOuyE6rkng2mSJGOUb1m686WIV-MKcT1RyVxEKM7J6lGqTVdzAGrFnKojiM6hABbCEymJvoSeZSwhQZxNoZ-2nP23UlbPjvfmH08esOx65RwCNnrQ_59bVi8vZsTb-NtGX_IFdwI333jxoQhi_0OiAXIWXjp0nvLHlvb9rRw7UF69PK_dhxZ0Xg-vYcfxUiQ8QI2Mz6JrLFYYVsFQ95zkuZIPAGX2Wyenf0qt5cOJ-3BM7tCRcXDMFEi2fH6lm00IFcAg5tTIA1uSris8QSR-5eWfd_RoX6IroCZBdpJMkybpo7Nu4YSkzKYOWsfS4fQSHRoShDqas6ktzB_i0JYLfPUAvpEuPo5IEoHk3f2oxlvW3S-7-Ld-hjUHQ1Q8cSpvyP_FaWX8lK_V2LeIs0ija7LinSwJYvMnK04tP9kSgc5q5JQu7gaDzqc--pCliAqPJERRKoMoqF6RC8of5yC8oCer_f0KkIOqmd5nYhc_iF0J4bTggtZtDOUW5BoAhy4Lj6mwwIYIW1pCgaQLNJnVycYAPIui4GUnM6wWQg4F1tPbVqEwY-RvZVjsA8R05RmSMsVMY1ODkzF7URdfqUmudU-w977nmYd1oYtEhXwMn-tDbbu9s6tdpudrI85snvzWLo7K2SU4qjeTff1nu3y0wBhvXsIZnXHn0AfuFRl4enlrtf8BKvxu0_NREH9eQNi07hUhA3KL3UGODo8QjVArDG9k6VIscvoiYStiNXy2Q2cup4jOvQ-t4xYgzUPjlnxxcZAq2m8oQzvcrRmiEc1YbiDEn6Q5Z9tIy4Z_cpvFqmc4I63KmO-FynMyXQskK2rYKXYafFolo3pSeKgWnrqfcqkec9psyCjSnQrehOzRov84CK6JK7bgC046uU3CRH76FIfv41mt5RoMlm6Fp39ycGZJcNdetPqmBkHtL-mKV1592gwI6EcyA8--qqQ23jufke1-hBc3yg21eNhKUcWko4yQmiVJ-RYFygWvfsWjnEzl89FuQUm3E6WHQqwb8-A3gp-iCzcjLfqOpi7kwgeN_Q-ZNLGkvw7Wsj-QehRHtkMOqSZiA7fZofXLWV-ryacw9oOxT2QYKbaAULSejnbJbYNDKUCFLzCjF00-snQ2Pkfr7DhGRJJDMC6MsW9caMcSESCH4qrPhae69SEi4=",
  "id": "rs_08aed949cb8eba3c016ab4949b8fc087d0b636f0da2905fae9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.413,\"left_y\":-0.12,\"left_z\":0.175,\"right_x\":0.397,\"right_y\":0.265,\"right_z\":0.125,\"right_yaw\":0.6,\"right_gripper\":1},\"note\":\"The cap appears to have lifted with the left gripper. I’m raising it clear and bringing the right gripper over the rear half of the pen, leaving the writing end exposed for capping.\"}",
  "call_id": "call_aWeIYKUChKqJIZqkBjOAMKG8",
  "id": "fc_08aed949cb8eba3c016ab494a187b087d0b6d000fd553fdd66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aWeIYKUChKqJIZqkBjOAMKG8",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.5093, 1.0447, -0.3256, -0.0525, -0.025, 0.0703, 0.5625, 1.6585, 0.9504, 0.0399, -0.0151, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4064 left_y=-0.1187 left_z=0.1444 left_yaw=-0.2671 left_pitch=-0.2182 left_roll=0.0265 left_gripper=0.0703 right_x=0.3875 right_y=0.2517 right_z=0.1085 right_yaw=0.5757 right_pitch=-0.1111 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -9.0872, 10.5094, 1.5556, -0.0659, 0.0659, 1.0281, 0.335, -7.6923, 8.3897, 2.0391, -0.0366, -0.105, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f625cef7f96aa5be8b1d327ca7f7cda5ecd1bbd4e8775a6ee6bc975cef868d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa98b3c1bfc363ef9e29554f8513617d29bc03e950aa2af34192d06d90e5621f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:399c1c9a47e939278601794fa569b6112243570193ef6edd77d4e02b9eb58ec7",
      "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 · 4.9 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]: [-0.3431, 1.8462, 0.6872, 0.4503, -0.0105, 0.0231, 0.9992, -0.0193, 0.799, 0.6132, -0.3908, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4089 left_y=-0.1403 left_z=0.0052 left_yaw=-0.3583 left_pitch=-0.138 left_roll=0.0319 left_gripper=0.9992 right_x=0.2948 right_y=0.0014 right_z=0.1806 right_yaw=-0.0007 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [1.1282, -7.0222, 4.7795, 1.4872, -0.0269, -0.1929, -0.0317, -0.0889, -1.2513, 7.0496, 1.7656, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3145, 1.6691, 0.7521, 0.194, -0.0525, -0.0181, 0.064, -0.0189, 0.8082, 0.6132, -0.4122, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4105 left_y=-0.12 left_z=0.0538 left_yaw=-0.2715 left_pitch=-0.1512 left_roll=0.0285 left_gripper=0.064 right_x=0.2924 right_y=0.0016 right_z=0.1737 right_yaw=-0.0003 right_pitch=-0.05 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.8137, 8.9094, 1.5702, -0.0708, 0.0269, 1.0281, 0.1436, -0.7043, 9.0325, 1.7607, -0.0171, 0.0171, -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 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]: [-0.3145, 1.5093, 1.0447, -0.3256, -0.0525, -0.025, 0.0703, 0.5625, 1.6585, 0.9504, 0.0399, -0.0151, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4064 left_y=-0.1187 left_z=0.1444 left_yaw=-0.2671 left_pitch=-0.2182 left_roll=0.0265 left_gripper=0.0703 right_x=0.3875 right_y=0.2517 right_z=0.1085 right_yaw=0.5757 right_pitch=-0.1111 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -9.0872, 10.5094, 1.5556, -0.0659, 0.0659, 1.0281, 0.335, -7.6923, 8.3897, 2.0391, -0.0366, -0.105, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f625cef7f96aa5be8b1d327ca7f7cda5ecd1bbd4e8775a6ee6bc975cef868d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa98b3c1bfc363ef9e29554f8513617d29bc03e950aa2af34192d06d90e5621f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:399c1c9a47e939278601794fa569b6112243570193ef6edd77d4e02b9eb58ec7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSr8_TOfDcPiQ5w2rGeZ5BX3c-6cSf0A4_axftkT4PUy6BmL6H3uiTwM-6Q4I8znfe6ZNJjanEjEoLymRwWEK-LxH0z2LHf596JajiEA85_08Lt99NjoZJF9S96vkt6-epEQwDsUwZzfcVfgqESCbajM73TFHLn3HOSPKOdflGiRjSPBhGmEvAyeIrn8jvljxD4J4ItjIq6iKu_gdhT9EeCGMrtn79MfgDUHBiqR0cYZoqANGxvsXoI5T-HRp8z6HfahhySS2BtxaRETfZWD6-bRfknhHVnLAfssmz8lgiru764cS2NVmVg8S98gfLSTFSvKStzPRXcm23cW8wUJlIzTNehkHiaF4XsFJPKlR57EU2Td3aZazHW__sdfuCOojwpHsT7QPkStXle16NWvfpkUzTXRfhmDQyQgiBxpfG8SfngiClFN8s9Qqf9Us28HrdaKuv6j_-qgPSpAS0ZV3KJdUvl2H2x49lbg4NPOvvTxrgOpXHblA34UOuBYODlWFQ_UlxIuvGB0JpBzxp89zPQWXFxr1gkx_q19qwTK8EUOrNQEGiqpdL8zurgXVCfE2A9kWRHkTUZPNoPDdb2se0ua9_m24yWXW0JC_bvjmMxsvhtI_pUPEoIVaKPMRGan4duNolGHVvKdZOXWN_tP2yPyzUHCyO09UhMUfhTSsLv2VLL7H2GwRu5b9V-3EwsAx30yz1rSLg-oqHDTVTJzD1l5HT6TCUVmgyZkjhP0hb_b7EuNnGeCmU4D4zml262fC5UkTkEZ4TPGtDRW18Nsh7aWQEgMY2Bu0DdnDHFV0Yz9qRJnk_SEAdQR4QjsVgt36xLajAAxUn70mMVBkvz_S6XAwYIc8mvWzH6Cqb9IHLQhVHObcndEm2zU5RZKDyIHxJTBgqE41-x5lp8RXpPBpcp6fPxAJnnUH_1x4knvggBZQghjDcSyJBNtB3Xc3JeJ6ovNlQXlq4CpyGkgx-2su9BwlPoLa7236Bng80TVmsKkXz6oEjtkcaYWd0h5zDz_tuUDglovgCt3SLz4ZJsJTLs3SyqX_lTlbBhb19HBOd-eBs5O44AuLswU9rXAQJqKLAth-kCog3aDgi0XmY_Fm--Ck-kvaF5Di7DeM0D1tIIFfp6IZmjBRlwzBkT6LDbU-6RdkGEipdX2NMn8jASuIZbLLwcO6R6JwznbkWED9mRi-QUcZfhCboplW1UEs6e_tTq7BpIw8u-pA0-3n6WgcRB04H6ecK141TBvWw4aQcYX8OmmKmCfbIxz6o8NhWGe_DM9mbGb4RPvenOWyMjWhpYaW01b_KVkxnIFP7eeZmzerG6vwW1I_FWF1KZ1ggxm7SbRHgvhvhZJ1XnVSwMevwgmKlSjJdeQRlw6uydMCYl_viq-wSDiNj2td4IQTuyIu10EWPt8t1zKOK650x1ZvTr-xnXr6g-TenAwneNupfGpDiTyJDiOGM-IfEzReor3IJXmFxqSBu_0AS0igUzDcSG8DHIpeNJ8Y182XeAU31metE=",
  "id": "rs_08aed949cb8eba3c016ab494a865ac87d0a985054ba84b3faf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.412,\"right_y\":0.225,\"right_z\":0.025,\"right_yaw\":0.6,\"left_z\":0.185},\"note\":\"The pen is visible to the right of the right gripper’s centerline. I’m correcting sideways and lowering toward its body while keeping the held cap elevated.\"}",
  "call_id": "call_lGFheR7ui38Z2RkLwp5SBUPT",
  "id": "fc_08aed949cb8eba3c016ab494a9c11487d0bf7617ee46339366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lGFheR7ui38Z2RkLwp5SBUPT",
  "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]: [-0.3145, 1.5043, 1.14, -0.4725, -0.0521, -0.0288, 0.0751, 0.4549, 1.8763, 0.8429, 0.2913, -0.1001, -0.0753, 0.9992]\nstate[eef_state]: left_x=0.4014 left_y=-0.1171 left_z=0.1613 left_yaw=-0.2648 left_pitch=-0.2646 left_roll=0.0258 left_gripper=0.0751 right_x=0.4018 right_y=0.2202 right_z=0.018 right_yaw=0.5752 right_pitch=-0.1807 right_roll=0.0129 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.2667, 10.2632, 1.6386, -0.0513, -0.0073, 0.9109, -0.7043, -8.294, 5.0803, 1.8486, -0.1538, -0.1294, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:781632b1e57d3ae64240d034e8d7258a0768b07bd9c0e5440ca2da7198529ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cb00b9904694e820bed8b57e9dc70658483802d24528e5b6467e2735634960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b131e5ffe0b2bd6eb5df7dc9ebd0cfec3d81c3541fcf808eb081618c345b47",
      "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 · 5.486 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]: [-0.3145, 1.8549, 0.6861, 0.4541, -0.0525, -0.0097, 0.0539, -0.0193, 0.8017, 0.6132, -0.3939, -0.02, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.4142 left_y=-0.1212 left_z=0.002 left_yaw=-0.2761 left_pitch=-0.143 left_roll=0.0345 left_gripper=0.0539 right_x=0.2946 right_y=0.0015 right_z=0.1792 right_yaw=-0.0005 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 4.9846, 1.3016, 0.0269, 0.0659, 1.2674, -0.0889, -1.4838, 7.0632, 1.8046, -0.0415, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.5093, 1.0447, -0.3256, -0.0525, -0.025, 0.0703, 0.5625, 1.6585, 0.9504, 0.0399, -0.0151, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4064 left_y=-0.1187 left_z=0.1444 left_yaw=-0.2671 left_pitch=-0.2182 left_roll=0.0265 left_gripper=0.0703 right_x=0.3875 right_y=0.2517 right_z=0.1085 right_yaw=0.5757 right_pitch=-0.1111 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -9.0872, 10.5094, 1.5556, -0.0659, 0.0659, 1.0281, 0.335, -7.6923, 8.3897, 2.0391, -0.0366, -0.105, -0.0904]",
      "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]: [-0.3145, 1.5043, 1.14, -0.4725, -0.0521, -0.0288, 0.0751, 0.4549, 1.8763, 0.8429, 0.2913, -0.1001, -0.0753, 0.9992]\nstate[eef_state]: left_x=0.4014 left_y=-0.1171 left_z=0.1613 left_yaw=-0.2648 left_pitch=-0.2646 left_roll=0.0258 left_gripper=0.0751 right_x=0.4018 right_y=0.2202 right_z=0.018 right_yaw=0.5752 right_pitch=-0.1807 right_roll=0.0129 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.2667, 10.2632, 1.6386, -0.0513, -0.0073, 0.9109, -0.7043, -8.294, 5.0803, 1.8486, -0.1538, -0.1294, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:781632b1e57d3ae64240d034e8d7258a0768b07bd9c0e5440ca2da7198529ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cb00b9904694e820bed8b57e9dc70658483802d24528e5b6467e2735634960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b131e5ffe0b2bd6eb5df7dc9ebd0cfec3d81c3541fcf808eb081618c345b47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSwHLUZ4sgCn4ivnJyZ1fDUodyJoTGNBdBTqID0wgkTeYqYMGdWG8jvshNHd3sdQa6e4h0VgJ8W6j1HKnnoHiAYlhvIAXRLDjZgNX5lg1NFq93H_c8OU5p6G5eLsurnCra-PsfUFJ3dxJzhLtWQSL9TxLCjNk-feo1HHFDXXH62ziXUZLn3LrTIt4ODNvh2ZQ3Owma8jeqLENyDyF5XDrOwsWa6_LO2bFvV2QK9MAFibuPezPNYvJC3Sv0fGRoCwvhxB__9fP6sok6_a3LM3L99rBz--bjiilffH145PKZuIrAA5GIZ52xOi-zyuGoBb43Iv-jbziS2q1Ht8KkwUbkWCKLjWNEzzsGKKe7-EmI_e3VBLdIp8P_hmbZYGrht83zhQdcspsZi48LHlIHrS7sSehHEtH4hp4nTYqGu0ANCw0XPbqrPV_t7orYo3C3cV3O7pbZWIm3eV8cS4hYyHNeyybvljPW-sxwCdKlVl8WHQ9OCYPtwXVY-zdmkLq4NF15QRGyjsomLaodSKyPye6cDMPo5TOCQkmD8W_LDN40M00lR7qN3EBinq7kECTf3GD0R7yJaVQs7GT2R8zxy7_7q5TjAcxC8IT4Ysj0LWgF0bMXCNJ0UzDHSGsx3iqNh77g6Qm0Ljpn7avn3JwaZi0Ng0ckdi0-OorcKI803fjNzHndnymaN7SSz-dzz_WKNfAbHXWeMzNW4Vvk6x5KJK7BCS9m5tHfculkfIjbl-2zYzVziQlpTmRU9dXpu1EVN_Q_XrMItQPC2q9brCFERObuijYUmfskxP_gBYpb7b1AJ-LeH1H0vgcE_j1mWmH-WSR8ZqL4aYCmcuDZcLFANDbe0mD0I6GRFsA518bClCx3wANCm49rujwVI4NWSYmURZwCOteK00nPLWfXFEz8ei1TpdU0gLrFS6yiohcSl2e54p4WWCoXY4DDrwQO7B56c5nCIXNFmyShevM3EW6KjHCtwtEJliPc8riRQZUQ97tD3F4OER2rqUG2qct4z6muZLQRFpg2jEuQiasl3en5b_OduwP_ztU8pUFOfiVtS2UkYz6fU9mqUuurohWZzdHf9A-FFjSnX54B41qob47cVmnyy347ucdJEvsCy5Qyx_8sZr7fuZc9ylyyw45jSjffF-m6pTpefn5lLqF4bVcZK9HPrri26vls8aL_yoHOxkhBykkB1nCgneqQ6meFaTwr4tOhw9bnVNK8AJ7ds4DVzXC2vEHQW0sz5b_uxdYmnm4JilB7mRFsieIVLjtkd0bLwrP9Lzfra8OKj-_AoiOMd_fyyDW620wjt-lWkPKEFnNdO_icTjHEtLxw0yj68snLfASldhxvWdTFArs332V2CwA4rAYfPdwT56wIyW9HiUayNeruVlhByn4slNODQh6qglgDRQe0SP8zJ4CpZbDKd3E63bM_GigX0b14FLiQVzmHsdWbhD4iy4WiD6tgCEoAzvR-qjKFy1k9YOwgXVLELWDTMgl6Pk8M_ZchXQ8xaN6kS7PSUUPu8_6jZgiDz94DdJfe6Vb2LlNbSFDWrXB1FhhWNi2lAutX48O-YxJ28cGJBxLhTW-aSRLmuvoFnYi5tTRbaFuyydkiz58_KzZ_gd49so4mAcOb_Il0obtWLOPS0t_8txTIO0aNqTlGzFzYegpurS89Y1cNwZ4N-Cc4gBdxvTELiToU2aRAQouo9TUXWPSJW-KB6mwjk8eRFY06J832--TB1yWkVPSC7rRU9lTHdkXtQ3HhMSGRWDlFosmNBcXS-ZEfHxs5RxiY-8O0Yzen2IdYvHqhwC7NEfmkt5GcQEXScfP1Eo2YBIRwQTmbDgk1qO4RrIw4N-57hBkzJ7IGVAK-TaLov94xMwHYfvcM_VN7GPW3BA9IHXg3HOXQ3YkCq4d08tY8LKccX_r5mG1u4J6dB4pN5LS7XC-kg-nARYQE-lpPLOFMLHVDARhfv4O0=",
  "id": "rs_08aed949cb8eba3c016ab494ad006487d0b2060d70d6b324e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.394,\"right_y\":0.191,\"right_z\":-0.008,\"right_yaw\":0.6},\"note\":\"The pen’s body is still to the right of the jaw column in the close view. I’m moving a few centimeters right and slightly toward the base so the jaws straddle its rear section.\"}",
  "call_id": "call_0m4nb6Qexc2qv5O6z4Z2COHO",
  "id": "fc_08aed949cb8eba3c016ab494af718c87d09db7d841fb1bd503",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0m4nb6Qexc2qv5O6z4Z2COHO",
  "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]: [-0.3145, 1.5055, 1.1431, -0.4892, -0.0525, -0.0284, 0.0779, 0.3916, 1.8988, 0.7616, 0.4156, -0.1593, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3991 left_y=-0.1163 left_z=0.1594 left_yaw=-0.2644 left_pitch=-0.2795 left_roll=0.0271 left_gripper=0.0779 right_x=0.4003 right_y=0.1995 right_z=0.0035 right_yaw=0.591 right_pitch=-0.1535 right_roll=0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -6.3932, 6.5573, 1.6435, -0.0952, -0.0659, 1.033, -0.5402, -7.7333, 4.0137, 1.0916, -0.0562, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e51a5a52bb492571cddf91b32ceb5ff83cdd88c5d1d17bb977615cbebd679a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c795c9c862859e868cfe48a56fb014aeb0788b2137a1c35c0520aa74d0b81b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f730cdfaf4403ace582c24c168a033ecea16989b253c25d742a1d939e6b1bd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.431 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]: [-0.3145, 1.6691, 0.7521, 0.194, -0.0525, -0.0181, 0.064, -0.0189, 0.8082, 0.6132, -0.4122, -0.02, -0.0151, 0.9992]\nstate[eef_state]: left_x=0.4105 left_y=-0.12 left_z=0.0538 left_yaw=-0.2715 left_pitch=-0.1512 left_roll=0.0285 left_gripper=0.064 right_x=0.2924 right_y=0.0016 right_z=0.1737 right_yaw=-0.0003 right_pitch=-0.05 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -8.8137, 8.9094, 1.5702, -0.0708, 0.0269, 1.0281, 0.1436, -0.7043, 9.0325, 1.7607, -0.0171, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3145, 1.5043, 1.14, -0.4725, -0.0521, -0.0288, 0.0751, 0.4549, 1.8763, 0.8429, 0.2913, -0.1001, -0.0753, 0.9992]\nstate[eef_state]: left_x=0.4014 left_y=-0.1171 left_z=0.1613 left_yaw=-0.2648 left_pitch=-0.2646 left_roll=0.0258 left_gripper=0.0751 right_x=0.4018 right_y=0.2202 right_z=0.018 right_yaw=0.5752 right_pitch=-0.1807 right_roll=0.0129 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.2667, 10.2632, 1.6386, -0.0513, -0.0073, 0.9109, -0.7043, -8.294, 5.0803, 1.8486, -0.1538, -0.1294, -0.022]\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]: [-0.3145, 1.5055, 1.1431, -0.4892, -0.0525, -0.0284, 0.0779, 0.3916, 1.8988, 0.7616, 0.4156, -0.1593, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3991 left_y=-0.1163 left_z=0.1594 left_yaw=-0.2644 left_pitch=-0.2795 left_roll=0.0271 left_gripper=0.0779 right_x=0.4003 right_y=0.1995 right_z=0.0035 right_yaw=0.591 right_pitch=-0.1535 right_roll=0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -6.3932, 6.5573, 1.6435, -0.0952, -0.0659, 1.033, -0.5402, -7.7333, 4.0137, 1.0916, -0.0562, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e51a5a52bb492571cddf91b32ceb5ff83cdd88c5d1d17bb977615cbebd679a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c795c9c862859e868cfe48a56fb014aeb0788b2137a1c35c0520aa74d0b81b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f730cdfaf4403ace582c24c168a033ecea16989b253c25d742a1d939e6b1bd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJS2-8lwLsPl1MnccmukIftoXL5C8Jf53HkymKOd0hlyDBp7ECYS6LvHsaDzi2W0MpO9voyn4EwojkgTs3vtTlJ3uscu8pLla_MjowHAqWCFclpAzE2EqJDqw7gP7L2tIj2Y7s00SFiJySRkx84I70FYDhQBDKctM5jDounGOVEhKhZ5jYz7Hzi_XEyJ-o4coWwPKw_sj4Ww_9sfDnnKZ1mU7CVIWe4Qe39saZokpyYmdiW6JaIwC9wPgwGH3SoPYhgAUnEYDAWif9YcyI-WsgV6l1lCkPjesp-b4K-dUy1l2hVwcmOvB3BuejjF2sEewAgpTrZfy9RoCFJRK3uj3Q8f8MF5EYMKzw_tEN6yD6MhhaUdc_yF_1_B_pzsk6dSo93VO-rca4z_Un4iZJyvQDG55dALmZPy3Z2yFXDNvexs6JiI2YbiZNuaMQ9Nb7V-Ye8C7Kr_vNFgN8oVnx_6OR-MIOBCrtzJY0TGfdRP4vUR6eB8BCQ0O52fePLw8e-5eNzI61nK3LKfn62GoyB1PJRQDKeyk7Gp0pm3rnR8vGqBsyFYHp2fU4mUIoU7a2QBhInLgqlWFBmYNXWUM6nHZrRUn5HgRZD9lZH0btrvtwyCsrCNRZLaxAsr9dFVFkc6lu4T9EB9SwR54BT7lFWxEo16lCb478w9F1FYEXk9uBGCabXR5K57qLVyhp915wcXfPrw_60Q6AX5yoKcdrITr46-R_IAYwo2BZuEVj1h-_BWtzrcw_h0mkskScfTgOwhwK0mFUsbD2J0O-buR8GVbT7hVtjcH5Jk432p8B77AIyDKvHMwu2TcTWBdPIdAyKETvpHjCvRd_wtJUj_nG_a25GxacUP3Qq41HbBsybkLXA_VByF5YV5brWNJfTGPJfoMLc3MtNYnjy7AYorXOdY2Cchka597iIvnY8zjobDBgG54IXZq8f8MJcme7o-zgNAxU8vVfqJROHInkV8BXTxjIqFMelR-54DEG32kJJOhPjJbPloHZWek5h9NURR-412JfEbyGQi9TAS3oiKeUhfEl3KpeIrd3je8yCiZlt-EU71ifUinja17oItvBCd3KIIdG-mWTYNOz1h0I8R38lIzzZuStxS5HMb7g9R02vkEfLSFnI0qsP2JDyrZE-FuXKTv7DILWZx6Rlqq-ICukXd2RNQKhCR7CWXVwr-J9zhg0dW6BsJ-xUyM9TeGXmrPK9ZWhoWyJUoeBdziOa1u-SVdM2T_PKAGnccwzAC-YenCFlxeUYgHfI1xfBoB4FAE4F-k3UNNZSfRKKpn_i481JzaJEJVuauuAkeg_IQepWZ-5gC5AVEZ_Va5bcQM5M3Y98C3DTxQfjsQ7foiKRoI2Nj8lHgi-3EGZpLglRLE7POam4F1o3tRKlr2aP1AN7_biQJY3D6CCpZOioi7_IWftGsGtY4TwPqB7h6nJmWkGKB2ZmBr6csP5qSDWsCIzng9vaeH79FUA0iydI0Y-TCQsFbUdEIdIN1MQrMudxgwkJwXTF2sqva3ee2iohRer25_5TkgRnoOfiRLYPGVis5Hd7FOxQfsHW0KT9AbZ_Wtzi_7e7a1t4BWkYZzvaeeGWjaisXZwgDi4LiPJ6vOOGIrP87B5cnOW89XemO-IWBLTi5JLbVZSw9KnPqhT0jywkTE9dQy43iwUwpmdrw5TmQRstvvgXV9vvcEDV_cwpEkEms1h32sJWPDsbszEJriHXLQFpzKcv__DosBaWZr9Wq5wjdHyHph_1fASxFeLu97rWfRR2SEbHwG6ATS9k9NkvPhE2eE5w1WOJ2Qc4poPrNhfbGr9FSApSg8o8IRDvWySFFY78-yLX9kMUFTby50GWI-h86CMKzYG84OnUa0VckiFrO3YjygO8rkTPDvvP-UcUO26OJmyvrvsi8YTeW36KnIgAXJ_-FzOM34pjpu7pChUKWLSjUBOOzilgQkkhV-XYfJp9N2_U=",
  "id": "rs_08aed949cb8eba3c016ab494b26b2487d083a96cb52e933a1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.387,\"right_y\":0.168,\"right_z\":-0.006,\"right_gripper\":0},\"note\":\"The rear portion of the pen is now within the open jaws. I’m making one final small rightward correction and closing around the barrel.\"}",
  "call_id": "call_Vq5BGWvRRxiKVdRlD1tIlhXp",
  "id": "fc_08aed949cb8eba3c016ab494b5268c87d0a7a43795ad7aa9c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vq5BGWvRRxiKVdRlD1tIlhXp",
  "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]: [-0.3145, 1.5063, 1.1431, -0.4908, -0.0521, -0.028, 0.078, 0.3706, 1.8992, 0.7441, 0.4488, -0.1776, -0.1535, 0.0509]\nstate[eef_state]: left_x=0.3989 left_y=-0.1163 left_z=0.1588 left_yaw=-0.265 left_pitch=-0.2818 left_roll=0.0272 left_gripper=0.078 right_x=0.4019 right_y=0.1935 right_z=0.0038 right_yaw=0.5979 right_pitch=-0.1359 right_roll=-0.002 right_gripper=0.0509\nstate[joint_eff]: [-0.1709, -6.9402, 6.7624, 1.4676, -0.0757, -0.0366, 1.0281, -0.0068, -7.706, 4.5607, 1.2967, -0.0269, 0.0073, 1.2039]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e3f4d85d143c9eb378f049f90444e993ba92838f272bd525d0cc151ccd0f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f622e5f724c860e1f39d68ae59118cf7351fecba38375c815651d3d3edc1140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4472140b72aebb639600073004bb19833fa1d815d9fdc0a584124b1f940c0d0",
      "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 · 10.67 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]: [-0.3145, 1.5093, 1.0447, -0.3256, -0.0525, -0.025, 0.0703, 0.5625, 1.6585, 0.9504, 0.0399, -0.0151, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.4064 left_y=-0.1187 left_z=0.1444 left_yaw=-0.2671 left_pitch=-0.2182 left_roll=0.0265 left_gripper=0.0703 right_x=0.3875 right_y=0.2517 right_z=0.1085 right_yaw=0.5757 right_pitch=-0.1111 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -9.0872, 10.5094, 1.5556, -0.0659, 0.0659, 1.0281, 0.335, -7.6923, 8.3897, 2.0391, -0.0366, -0.105, -0.0904]",
      "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]: [-0.3145, 1.5055, 1.1431, -0.4892, -0.0525, -0.0284, 0.0779, 0.3916, 1.8988, 0.7616, 0.4156, -0.1593, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3991 left_y=-0.1163 left_z=0.1594 left_yaw=-0.2644 left_pitch=-0.2795 left_roll=0.0271 left_gripper=0.0779 right_x=0.4003 right_y=0.1995 right_z=0.0035 right_yaw=0.591 right_pitch=-0.1535 right_roll=0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -6.3932, 6.5573, 1.6435, -0.0952, -0.0659, 1.033, -0.5402, -7.7333, 4.0137, 1.0916, -0.0562, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3145, 1.5063, 1.1431, -0.4908, -0.0521, -0.028, 0.078, 0.3706, 1.8992, 0.7441, 0.4488, -0.1776, -0.1535, 0.0509]\nstate[eef_state]: left_x=0.3989 left_y=-0.1163 left_z=0.1588 left_yaw=-0.265 left_pitch=-0.2818 left_roll=0.0272 left_gripper=0.078 right_x=0.4019 right_y=0.1935 right_z=0.0038 right_yaw=0.5979 right_pitch=-0.1359 right_roll=-0.002 right_gripper=0.0509\nstate[joint_eff]: [-0.1709, -6.9402, 6.7624, 1.4676, -0.0757, -0.0366, 1.0281, -0.0068, -7.706, 4.5607, 1.2967, -0.0269, 0.0073, 1.2039]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e3f4d85d143c9eb378f049f90444e993ba92838f272bd525d0cc151ccd0f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f622e5f724c860e1f39d68ae59118cf7351fecba38375c815651d3d3edc1140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4472140b72aebb639600073004bb19833fa1d815d9fdc0a584124b1f940c0d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJS6G8Su2-i6IQEhD55yuT_5I1Mmbuj79ZkTLn0sUWI4lh98W5cY58c_WVvUH7SXobCe7hyXOpT2nVVYqMS8b36vxyv_SZRLK6uRB72DN2yXrnFf3Cn9qPnn75wvzcJ0WL5Wjbw1m_6tFIrq9iM-B4YM58BkN0SChOM5Q4ZwPAEoOl3Va_UBaoBty8p_momdzTjV24ZteJwZI4kAW0iShnDrgpehqQkJ47wJBykuF0J0MO3HO75cGwFQK6EWxDe2NsQgM_MEhjPzgjF22FdLkRZpe7TNGRjlxSJmK2JodE1jZGOtjuaVt_-zl_fW9pd-GUl_xQKaMdT8UxHHdGpMWjkqlsj5J8MiBMdmrTvWUNRbjT6HzeXL1Ug-jWD7VZCUlD5lY5qBOHQ7pYq1fCMkCTu66b5O27zFbG9Ff6Otq_6BFM1a7YCYh8rdY-5SUIpMaBdLXlh7DU2SWh223iV3QDshtLxDMytpMKIBMP6GA-VWYcBv5K5c4xuIODAkJ1AgZY0tBe1MT4UnezFRgci7Z8OFhmhScGL2mzm96ArCQ5R84hdCoNQTHfxTJWK8GK3tv5PRozdWOlk-UfH-snoP9HPjFaEPRb0sLcokWQR_i6FN8Dbc_fKktuggKs-VytZDqtzb_yBN25S2Y1H0XWKq5wRGLg30BqHMmNI-Ez0Qv5CJhTCfOvc_BzBSF0qAiIBuQk9NIbo9n_07SXUo-JtSVjZwWwPhrx8oLD0N_BGk58amBqjSZBfNxkowXj8Gtg4aV5NRZX3fgiQ8dMKDxZhVQFVnaWrsehlZ0yQ8uvPsHwT2sXLcdnD1bvtvZAeqcKa1A_-E04AIVDS_68wDul5MgizWDoZJRb79pLOIgZG58tsvb-jHYvaigVGbcJZ81Zq0EfKbloi_y0OVDPHUALpLZpXK5Y0qY6qctTzbGNUUFd9Uzd_-XFBSL1arXvW7qg_vNAfMwdUzmFWOA8fIA4FeBsxnvIzDTGNO3IFwymTVrIGI4x0WMVIb5fFdLwfZh8aRiwrZF-8GXwDUtimpgoox6JE6lENamp9DIrI28eJPO72EXeGG7ncytf9-9sFYg-NLaOLU816q1pukw-40i4XMK5lZtjuIdfoD5y65zZdR_Hl5DSQ84CFhGOFuejfkAmZ71Oe0F2uvi92UxM_08UwM9ncZLIA-F9feI1OALfpCvnHtDExira7pUrpNxfLfyLUTydTd-EumBIQQq6jqOhd02D4ewjA5i2CR5Huk76LNIbat18ypO16amvIcNfQw_8zP5w4hbZIbZRachSjSCdqTZ6yrpbI8vE49suVtt5ZA4DSJo3-c9rcz0HeK7HJQeQA8SOiph7SyNKWxjPnfGW8JKXCoIagl_-YlHIM4LMXc5Yv05b-j3HyOSffrHYeIRNuOGaejilGYStxWNly5Q7xHqtVXh89Rzlc0DECWgqBaK--EuovlOcRE-iTPzwLC4ypS8hl32OsO_r3n-J0rN8fq_BL910TJoVWHYtCpP8JjtDbzmY9vZ0zgrj_bp-d8-5hgdC7z8U6ip-g5zk0HFMsw68QwZw==",
  "id": "rs_08aed949cb8eba3c016ab494b8ada487d09a5ba17ace5b8e6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.402,\"right_y\":0.194,\"right_z\":0.08},\"note\":\"The pen barrel is centered between the closed jaws, with the writing tip exposed. I’m lifting it to confirm the grasp before aligning it with the cap.\"}",
  "call_id": "call_kW806pjOBfSj387fvBwKDVgX",
  "id": "fc_08aed949cb8eba3c016ab494b9d4cc87d09b3556c546b9674f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kW806pjOBfSj387fvBwKDVgX",
  "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]: [-0.3145, 1.5063, 1.1431, -0.4911, -0.0521, -0.0284, 0.0797, 0.3706, 1.7145, 0.8307, 0.1814, -0.1776, -0.1547, 0.0571]\nstate[eef_state]: left_x=0.3988 left_y=-0.1163 left_z=0.1588 left_yaw=-0.2647 left_pitch=-0.2821 left_roll=0.027 left_gripper=0.0797 right_x=0.403 right_y=0.1939 right_z=0.0644 right_yaw=0.5984 right_pitch=-0.1322 right_roll=-0.0037 right_gripper=0.0571\nstate[joint_eff]: [-0.2393, -6.8855, 6.9402, 1.4725, -0.0855, -0.0708, 0.9939, -0.0068, -9.6615, 7.8154, 1.4432, -0.0757, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1990121fdde1448c6355897891b5bebb17a908c39da7e2a088821fca670ca441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd56bc6780d0e62e9d2a19f8c85276a7524bc1c0227bf4410657b229f93bda1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87343519f742dc37c857ba20e0f0045536a9c6d4ed26771f7febd6bf49960547",
      "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 · 12.05 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]: [-0.3145, 1.5043, 1.14, -0.4725, -0.0521, -0.0288, 0.0751, 0.4549, 1.8763, 0.8429, 0.2913, -0.1001, -0.0753, 0.9992]\nstate[eef_state]: left_x=0.4014 left_y=-0.1171 left_z=0.1613 left_yaw=-0.2648 left_pitch=-0.2646 left_roll=0.0258 left_gripper=0.0751 right_x=0.4018 right_y=0.2202 right_z=0.018 right_yaw=0.5752 right_pitch=-0.1807 right_roll=0.0129 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.2667, 10.2632, 1.6386, -0.0513, -0.0073, 0.9109, -0.7043, -8.294, 5.0803, 1.8486, -0.1538, -0.1294, -0.022]\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]: [-0.3145, 1.5063, 1.1431, -0.4908, -0.0521, -0.028, 0.078, 0.3706, 1.8992, 0.7441, 0.4488, -0.1776, -0.1535, 0.0509]\nstate[eef_state]: left_x=0.3989 left_y=-0.1163 left_z=0.1588 left_yaw=-0.265 left_pitch=-0.2818 left_roll=0.0272 left_gripper=0.078 right_x=0.4019 right_y=0.1935 right_z=0.0038 right_yaw=0.5979 right_pitch=-0.1359 right_roll=-0.002 right_gripper=0.0509\nstate[joint_eff]: [-0.1709, -6.9402, 6.7624, 1.4676, -0.0757, -0.0366, 1.0281, -0.0068, -7.706, 4.5607, 1.2967, -0.0269, 0.0073, 1.2039]",
      "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]: [-0.3145, 1.5063, 1.1431, -0.4911, -0.0521, -0.0284, 0.0797, 0.3706, 1.7145, 0.8307, 0.1814, -0.1776, -0.1547, 0.0571]\nstate[eef_state]: left_x=0.3988 left_y=-0.1163 left_z=0.1588 left_yaw=-0.2647 left_pitch=-0.2821 left_roll=0.027 left_gripper=0.0797 right_x=0.403 right_y=0.1939 right_z=0.0644 right_yaw=0.5984 right_pitch=-0.1322 right_roll=-0.0037 right_gripper=0.0571\nstate[joint_eff]: [-0.2393, -6.8855, 6.9402, 1.4725, -0.0855, -0.0708, 0.9939, -0.0068, -9.6615, 7.8154, 1.4432, -0.0757, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1990121fdde1448c6355897891b5bebb17a908c39da7e2a088821fca670ca441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd56bc6780d0e62e9d2a19f8c85276a7524bc1c0227bf4410657b229f93bda1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87343519f742dc37c857ba20e0f0045536a9c6d4ed26771f7febd6bf49960547",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTFGeZ1uofnrrOEeSQMtPkRIda7CmF-kQjugmhHT7q4ja9l8hnLkTQFlHC0Zxp2NnA5U5dfNALnSX3xeehtOl25lieKqX9m7jQTfGVxy2H7GvHgHbPKYuR2bkIXMfawJfTAaDxR7gz2HA4tUqvMfGIBcPiTiDA7T_AqsjZeIi_Z0PTwES-gcj1Oa0uUyLLmwGq-cX_4FV3NX-tOMNWXnjNjUZAGhdruRXK-_pjYY2Auag67A7nY0WYcCLGt6oFVRH2JLKYLRDZum3Rq2HYatMsm8oWst6n8q6R7t0f-vgYir4IY4FPt95uQKffQZs2dpRN_4ztMYzln8fJAcgIraZAN9EvOyQgVnC9biAAtZzEup9FWPAU3-VIm31ZYv6hxznJcoSLMvYbuZ-61AzLqcEqysi1XNMSAAmNJxU2zQizzGEu8Rjn7-66h4WARmdeoZ8Q-H0jnXZ3VJjvAB6WWTY0CwMcwq09cGtnkihFnPSsdiifblrPQkR_8W-_zJE5lwicR-AfDtsxDKxkj0y1JoRtGXregGC27BX57l50ylgm6-GPFr45uZ7vSXU9BgYvENqK8uS_rTBKSQI0LJ57LSmKZZgUOiUfHSZ9bDyfS2lvphkyVY1V_k3jopZnKZqLcFkJ0CdYimYJbuBZtPwoQmtaieekFFfEtWkn0DEvgH6PPSXCUlvHrihecRz_48F4-iIDPGNXSb_Kkv4GyRj3wsvUu7qoNvsu9HiHxpcrmyV5yGU1i31vnH76DUSP0tspY8rt9hcEavB9fywTuZMe4X_Ez0uC8nmFZUHdw3hDNag8551hfOGEs-Mp7c69DL5iIJaJAhKCGibFI2TFzadmLkA-4reob3ocBPr0VlUfaOqvRGCIiA6lt-iZ9xtpToWGK5uMm1shpCVfYN8O0h2PgOXta8UYwOZbGibv6KRBPtspS4NAG3ZgrjtHX0tyWdVW_ehWDJOo0me3Auybt2PC-W7a7_uytwRBBebGJryXW5AOKKx9Vk9y3fYIbOcahVmF-aaY42GeL4bnLOTzS_D8GWEjVC4bJmJkd81SxBbR1XlSIgLt_SXmhB4MQrMQmNnW2Cas358QENZHGTRQlIdcP8KTSVsABioa4Dw7zI1PeIpccWYihrx7NeKS9CXDZ6nItGRkQBKIymleHeKbqqfhjui8tQmMbHtdKjhsWdeLWLN-YJvF7anOvbJzIsk_uz1S39qgrCQFq8_ifKhf5q_sbMtYdQNx3fFQxsynyYshJvDrBxZ5pFfO5J33np-UCEu4fPFbJkRzWvriPSFM2wkNVzSThUOu6l2RS5yfqB_nt3e0tNeYLTuS8Lcd0pBfnJQHjKSdM8URzxtW_qusgj98tcwXsnPdY6X-9jAJUdWcT7V5e1zYJsQFo0ik_WEhIqxjrnOcm_Pr2riZnQPJHFY8Q6yqxBAJKUeqQ6KnT1PIrAoIE_g4n0mPEtw7TAai8bDXZP6MT69eTNPhdHKstp5Vc-bl1ueC7NSUygzBcoS2I3V4A0_EkIfsP2-RpMT_O4OPbLRY6LBQ92xBOqfWPEAvo0Dgj4zaaQ20qnqUe314ar7SZ3FTzvna2KSGTHHCBYQwZDWSFQXL_Mi_GSzzc6X9WxqE-rwbfgHzcI6bCyR-DY9KOFyN_rlL2xCx7x5rRUGr4N9i4TegcU0yETPWgL1sZzW3qXb3nEoHEl5I4XZqD4Za1RCtnDmnSOWLUV3F4PNDvxX2hvPeGG561PVpMknp5wbhM9U6tU3CftKUHta1rr5JgIV-V5Ihcm4OyNAz_DESxg38Wbr9BLlhn1HFuinS3MmnWx9dIcpxfELFMvWKCYKUmUepCao9NchqH7ECp4YqylTwDyEw84w-87a6csPqGO3BXeDzAUZ4dlqepcqYr0YMbJOXTGpVJ9H0SYZuzKjC3Yaie9TNMaUdWkcLxpNYlH_5ZP6gA_iquBiIqFrrAUbLmZSMT-53625GjgP48r0_sQNze2_8RYyYFAys0CstI3CcfFw2KKB9CZ6x-wl4Y6nQ7MIS_Y6gtFwrJnmW1u24k6-Q_UcC2DmR6xgsuJCgjah0fTXOnWbdFvYMty0KL1pkXZYd7VybhA13N8Vjc9_BPqAMK6CFG4Pbn-1Z8Z3CqzkfA4AZQgIzHsNcv-b5ldaukIC-EAMJslp8fiJB_yGJTmO2Q9XcqzsXcgYwpIMhbnwyK9tSuDw1BuFsFic9zGDq-LVKsnRWinMwZNKnOvfS8glsaCI5pGBz4Xt7qsvHaxhbTrE8Gln4q_UeT4Ey-O-FDAf99fGnQ9yvvsaoumino7seQT3I_8Dg5pFfVVngh4rpBSBF9dNkR8Mfqg3AVMbYj8UiZBuT5WJleZEJtg4i-fvouE2QrkLexzfafLQixVI4lH05vewS4LXkkMiK2rUZu8a6DgC0eSN9tb6VPqdYEUgRH6c0qxvvyQ0RAVzjewizpGuSp-QuTZopyMBrVT-oK3S68khSWBvKdTE2tpt0mqDardqVRLnsGydT9fWWfZe7jUvVkof9Yi9hfKB63gJWPCQQWyB_tX-ZDgOGeLShxaoJUjthRLL-ZTmbFC1-dfiifMNKvblZr0Xd-K_9e2quxhuzTTNqo6xkPWeYZyfzwtU-loUxj736Mc90QtgVXZxnWgI8OUq7x-nQg9gz2iTBK-ycFA2bNZ0KlwFDG98qnUNknMnYOz6IspGJ1jybnGx0Xi04PWeYoJpH05kR6-7kafPyCCt9RTCllegXLBM0Qk547TD311mko5vuEhp4bxbnujsVxgy7tQ5dqQuSfEo8VagZGNMpGvpf0gAakcDhx7Oi_imNOaJU0gSlqGE8QBeY0NAn4KmGCiMxA8Sch3yBEO_UdjtB7HAVKkYY11CnZo_VRfqVdHc1Pn7gcTUcuv8F07hO8HOBuX5_Sywoil1hYIxOVXuZqYDQiVK3ifxqwm8qK59t3pgWXHeNTfoI-Gr84AGHWBj5khOR-sqdAQE02Guvf0zcwiPGydCZLCEOppy4mzIkMd2wXJsPeXqdB7YwooNbYQcK6HeUUG0Q2BCXLNmRExUIwSJeQtvyWiINRsylwUNv-fNSNDeohCfaVQJfxyQMJvtoK33rLwXEOcCcptHmpwRkYmggD8J_Eqo_F8hRMK1XfPQnIAiBrz4z0_GXKhDtqxQ3IFigUr_JwujmmnMFmWjWbatt4ghXSnXfUAVy2wBvQQAIfgxwVjmCh3R36BsegEyARyIRooSvGnHfKS9lL5XBoQoxv3_WW6v9z1TZ13r1v4qGRVd-gMuOqrRZ-yLz_6iOlrIusZw1zydgC4xy4XmlmldlW-rtom9LBxTwbdI-DOkH7s0euRc-Jvxy73eGRam6S0C82kntQpF46UXJose-XhWwgGGeAaN--CXg9tTvSZuWsvvdzftU1jxc39NdK4KEYHc3Gsx_UcM0rmMt2o4Y47Ypfza79mISlytpggHV6m-oBoquPOQIuaSJ94YYGJxZXQkfMDJWT0tODswjDlCvxHHewzShb8uzZzOOEyISyjFZw9mxIVZIDDx91eqMWReZWGs2Dy5DcFo_dcmdX-KTH9AU78WFcbTCIzafIt-diqBOTdzSgLYiuM4XUEgddRujJBT8QCdDcVDClGC8_4AJen1imS_iBHSurYOLnvsaqfATnTycnd84fOSaDshPkxihcHya_BSafvo02jAg=",
  "id": "rs_08aed949cb8eba3c016ab494bc62c087d09375d96da42efb1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.3,\"right_z\":0.185,\"right_yaw\":0.6,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.435,\"left_y\":-0.257,\"left_z\":0.185,\"left_yaw\":0.6,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Both pieces stayed in their grippers during the test lifts. I’m bringing them to the middle of the table, with the cap ahead of the exposed pen tip and their long axes pointing the same way.\"}",
  "call_id": "call_VNjj7nxGWVV6qKSqe1c3K8f8",
  "id": "fc_08aed949cb8eba3c016ab494c3f92c87d083cde183d725cf59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VNjj7nxGWVV6qKSqe1c3K8f8",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8036, 2.2539, 2.154, -1.1057, -0.9127, -1.2011, 0.0806, 0.8421, 1.4322, 0.8646, -0.1368, 0.1844, 0.123, 0.0624]\nstate[eef_state]: left_x=0.4502 left_y=-0.2604 left_z=0.1858 left_yaw=0.53 left_pitch=-0.0377 left_roll=-0.0576 left_gripper=0.0806 right_x=0.2933 right_y=0.2854 right_z=0.1347 right_yaw=0.6124 right_pitch=-0.1331 right_roll=-0.0234 right_gripper=0.0624\nstate[joint_eff]: [-1.6615, -11.1795, 5.2581, 0.0269, -0.6618, 0.022, 1.0085, 0.1983, -9.0735, 11.494, 1.9609, 0.2564, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea532a12802c656b7367046e769c2de3d36aaa58c3a02e883132f7aa51d7b12c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40fc023905f0d49006445a1c1a22d534f791ac1ba2a9aca995797961ea8b510",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7feca04f0ec68e68c92d73f53ec86d855cfe9e5b6e2eda23cbb425f8c55e112",
      "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 · 9.884 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]: [-0.3145, 1.5055, 1.1431, -0.4892, -0.0525, -0.0284, 0.0779, 0.3916, 1.8988, 0.7616, 0.4156, -0.1593, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3991 left_y=-0.1163 left_z=0.1594 left_yaw=-0.2644 left_pitch=-0.2795 left_roll=0.0271 left_gripper=0.0779 right_x=0.4003 right_y=0.1995 right_z=0.0035 right_yaw=0.591 right_pitch=-0.1535 right_roll=0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -6.3932, 6.5573, 1.6435, -0.0952, -0.0659, 1.033, -0.5402, -7.7333, 4.0137, 1.0916, -0.0562, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.5063, 1.1431, -0.4911, -0.0521, -0.0284, 0.0797, 0.3706, 1.7145, 0.8307, 0.1814, -0.1776, -0.1547, 0.0571]\nstate[eef_state]: left_x=0.3988 left_y=-0.1163 left_z=0.1588 left_yaw=-0.2647 left_pitch=-0.2821 left_roll=0.027 left_gripper=0.0797 right_x=0.403 right_y=0.1939 right_z=0.0644 right_yaw=0.5984 right_pitch=-0.1322 right_roll=-0.0037 right_gripper=0.0571\nstate[joint_eff]: [-0.2393, -6.8855, 6.9402, 1.4725, -0.0855, -0.0708, 0.9939, -0.0068, -9.6615, 7.8154, 1.4432, -0.0757, -0.0171, 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 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]: [-0.8036, 2.2539, 2.154, -1.1057, -0.9127, -1.2011, 0.0806, 0.8421, 1.4322, 0.8646, -0.1368, 0.1844, 0.123, 0.0624]\nstate[eef_state]: left_x=0.4502 left_y=-0.2604 left_z=0.1858 left_yaw=0.53 left_pitch=-0.0377 left_roll=-0.0576 left_gripper=0.0806 right_x=0.2933 right_y=0.2854 right_z=0.1347 right_yaw=0.6124 right_pitch=-0.1331 right_roll=-0.0234 right_gripper=0.0624\nstate[joint_eff]: [-1.6615, -11.1795, 5.2581, 0.0269, -0.6618, 0.022, 1.0085, 0.1983, -9.0735, 11.494, 1.9609, 0.2564, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea532a12802c656b7367046e769c2de3d36aaa58c3a02e883132f7aa51d7b12c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40fc023905f0d49006445a1c1a22d534f791ac1ba2a9aca995797961ea8b510",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7feca04f0ec68e68c92d73f53ec86d855cfe9e5b6e2eda23cbb425f8c55e112",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTSTx-z4QkS2z4-z4gq2ERVRbVkQ5IlzzFTDWP-G_ilNE38QncZ8ydSKj9OR4VSolZ848--nVd_nh3dbB87qCELzk8sjrs_74UrR5-TiMDKOYfX0WAGIVHyqmeEMZuuTz_GHzcw80Z7HYMDI0igxJZb1kMW0-RKen3CDd3DrVBdlQauRJxUvax95w2RDqLgLRQGC9Q0esYpUtGbquHMV9_1BPBG77qq1mmEfb3FwWWftRpE8QEjBm9yE--z543Z-Fksl8nh_SZd6l3o0GiLmpD5hxY7tgQAGAz9E6ZmiuvZ2OZ_caHnIYg76HPF4zQrX0Db--glT6F1x7aD8qfRG5eH58Iao8DLLsTCzoQ3pytJbDxiMhaYFGEvu7N5cI0uHEBk_sUga713UMh1U3seHsOc5e-oBhBEx5dmXNHO7u0stccRyI8oK2TeNN8w-D7tUa5_7gNMCIlgV-Tv1TszHx2G4usuIaNIHIzKmWkTPDfTQu59MvREGO2zbEXxaOpjJjqv1SNpgqsxbPf7V9pDENctwg5ZtakDQZYGRd2QTmazpe4O3YNmUgljWy11oJSe7m6R6wkiOYXNOnIMDq6-9WmvevsNgGnAdKx6hBkTmGUcy-9-wZ9SyNbFP5oGgWOC-2_gV604Yxvdo7WGCSaxItt6ZHb57TodBaIm1gIJ5TwCP6GbBknzkk5IvSw48OqcoCXJu-mqz2pCZaJUXzbLYnpiH6txIuLJCCqdYYbTg6OySn7yZZMR-aot-kv3-zW7KPOIRrSVhXr8vNUZ64BSZkVKn9Z_VCWYjZia_86p6gyPzBd4LGZku9rn3I0L6Iv8E7PV3XBo9ue9xWxpWakGv1D5BOcmuTx0QouWh4tjftZ1s8JMJbU3jvbw7M52GyfGjG0VjvqUuQh2E3DjTQakqRHvFYHDCl2oFq7b9kvlUP3_Qlm_9PnQ5NXm_Q5UHwIl2rUVG9Ta_X7i35oSgR6lpR3_ClOXFl5ZzvKO4czCzO0IbCXO5vL0ukcR2AgHLbw9P3Qwf9Inj9D0Guv655_JhVNRQV7rF3q8fywGnp-PgNELWWu4p2gu0Vmk2amqUrT0KIULu_v8n5rKsdCMIjkXksQDEBAWTZXj6xz8WYhJ0OeC8IprJAyo-S1qQeIITNlCSSgd6CpNXM1MFTUJM2BpTB28FPJ0mkHpjmVyZVfrmKZFgTSDE0rGf2U9qrxQEV_ykWx8wsx94nuQIPrfvSQMUDGtypuNysjpVk2ThkjHnNDYh5lkFWt1Gj56FO9umrl5MvIgkeEhScOYih5eRuqLTYQBaWn2jrirrkuKepS4XqRfHbSgtVmcjS4-SabNnMVFBA6ertGI9RQ2I2Y6DyA06d8cYym-bLj6IxpRPrXtseIX0rJ6F1QwWHnUKnMa_fpOTfQaNL4TPWH6OgVoS3VYORe5203ruLp7QM7kxwpq0b4ArrxJS9saHQErUF5w5IgO2rsTrahUkYFaPLmsXYrObIkvHOIJtO2lV_Uv3qrfj2y9dfNHORsLroSSyRYTXYqmNcMSDDQlpDY54lfEcZ2jnmKzGLywU3DdkMdvr0LgySQBa0r5VfkXiq5K3nSkeEKSS9Wcp7lmnuywubAd1yI24C3I5jM2a0ua8yW7NswjGHlr_M0vqxxacIRaLrVWO-UxhYfro9I0QtsK1jvToIOTlKtTGBLvugAGBRPd-b2zOmwRVJ5roTAN4sKdV-pxx9_93RoT0JPUP90LOhnDVR7xQB8sPdSqXavlO_C2BtdTj6oGbbPYDX-h_b4cSmH8QwyAGM34DHMlZ56otwl5fOeiDR3QOAH103sSSXI-ZhIas8rwsI8_WLU_ltmFqgBzsbf22HM1TE7rqZItRFDnXk3B4CsEEdAroAtNpT8XhZeZcqGoEqn_Z_N-V7H3DhNmjBZ8aH6HlkZy-bE7z7QCkGJ-iUG5_6oAeON1YSMFQdM5iMnX5Q7dbYmIZQoojGbNP5ivbJugF6-BMU4QMtik1wGIHkL9buNQlrLFilEXeRCIehXLBD0BxmTsAGN4Fi48sBnAYCZt_4DTyFSEPKnY37akPLDteCeBWmxX1aBXjq3FCFe3b3CPtTFvUenQzB5wnpsTwhGyxUUpgUQgvYa4MI5urEmW6l2abUPOH24ehSKQOfgSJE7EYokyDHgtvKlTGHaGJCDQSo1wl12F4TfUtmqSK2li4x1MMqe2YI5_SKbtB4xTB_XzVm-7J2v_Z0jHuIx8McKvhGZOmc_xtJnc6OBdpXl7YlOpZdcyRs1Zcfa62lCKydp7MNnRZFmGehEM_3pyjoJ0Z0d4XYq2pvDaq8dGJFxa0GkLMG5nsygAfvZtqKw_3GRH38vu2XF5fsnnfW_Tc07HJekp4Q8S8nWxyXkMVwJUF1FMNB5ACgFfXNtfRa1M1I2pEIoolaYSIzAqkeVD3zqnAsGTEP_54m0eug4Eb9ZdFodR_y95Txi10mziW-0iQpgtpQa4WC8UQ1rz-y7BBpjDnEqV3dh0CT42BXnIfqkP0e_pAqcEc3HWLQK9v65LBjuLFdMLEoVXgidL2mxJfN_kCnMI_heitekWwlru64S1xE0Ogtoc-eDst2HHg_rFdamRf68UKffqjWF3VP5_TAKBVCShHyCuxAzmlh0pGhHQ8e5scT6GZAqaw4GsRXO1olw6mxW1riUYz0Vr3_PJ1S6H9KqEx7Fp2RxYvrY-PHXkb1r7k2v9kvOGk2aGUKytj8iH3WOcWsBeTCZbIiZEOq-i6_V1hKBy1XM-htsqrRJAC4F6QgXF4bTPhp-Q4OUGR0mZoeTgZ1RIQXEy1bkvzsmsXV2JFVl-kWT3CU3G5klKD-_WqGs1dLbeKkRc_abEuhYq4CBG5M5VIlXPhIwjnbmV12I46LKq1VFpgfRWQRdiberm3RabjBQ8JmyECb6YR8pOBl5a22cifKY6EL4DnR-mfhEY_otKJEOZedsGtQv2BsRVN7YywEok06L5i-oEdFs3KHN4uB3UotHegtzzidAFOE1V82GzEsPN7MJhoSb4XQ097Y4aMNfCKIcH36JZKqc7GR-uUML8uELfQTw6VzpNoVDX1ISRgsD73O12a5MgRz_cZ3uARqjrmLdal963r-x5THoHAuYevYrVX76ly-vHiphc7Dpc4iGG3vEBQvq_HpO_X-bcR3097RFGcDCX9GfDEhNR5eOR2MySnAYOfgZboTlvsUUgkcLcLUOonmhI8Sc_WaTFpYSXhmvamrXEd5J-13Kz60FnzJiVgX5na223CwUv6v0Pw4yfZ8cOHPH9nCTgSWh30QKPqmTyCI-U-ngoGyok6tbsI1MPLlRWPi2UkN59BTFTA__Uk8yZF3ly9E7L3kfXSQcvzgm3lXkI3Cc3ePZDowG0fUlCIDKUq3GydF-eg2aFC-uHR-5NpHF2XoF_Gx64i0OX1R4kk_Sx--efUO9F0Go9FxrjpRo-amVBJRXo58yG92KLIJ-N0Ezu_YY4r2kOl-2s4mm4F8lV0lelLkghtW1G-aH5QwvF8FFQmw9LXhsStRrPMEHEGs8d3AlyYZNacxhStuGM1emR5aHwKx8HdfRJcEAiFinnw4Q8",
  "id": "rs_08aed949cb8eba3c016ab494c9146487d0a6513903fe51f7ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.302,\"right_z\":0.205,\"right_pitch\":0.1,\"left_x\":0.418,\"left_y\":-0.286,\"left_z\":0.165,\"left_yaw\":0.61,\"left_pitch\":0.1,\"left_roll\":0},\"note\":\"The pen hand is lower than commanded, so the two pieces are not yet level. I’m correcting the height difference and bringing the cap closer while leaving a clear gap before insertion.\"}",
  "call_id": "call_3zsW7dQL453DvrhIJA6UF4ns",
  "id": "fc_08aed949cb8eba3c016ab494d077b487d0be0967a7a490e497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3zsW7dQL453DvrhIJA6UF4ns",
  "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]: [-0.8799, 2.3909, 2.2936, -1.3262, -1.0485, -1.4593, 0.0813, 0.8524, 1.4261, 0.8501, -0.1623, 0.1837, 0.1127, 0.066]\nstate[eef_state]: left_x=0.4303 left_y=-0.2745 left_z=0.1717 left_yaw=0.6267 left_pitch=0.0547 left_roll=-0.0412 left_gripper=0.0813 right_x=0.2852 right_y=0.2826 right_z=0.1262 right_yaw=0.6277 right_pitch=-0.1664 right_roll=-0.0386 right_gripper=0.066\nstate[joint_eff]: [-3.5761, -10.0308, 6.8581, 0.3297, -0.8816, -0.0269, 1.033, -0.4581, -7.3778, 8.6222, 2.1905, 0.1538, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf9f709fa6d01e0e8eb9f1347d15c12a2c6e1c9c9cdc1021730a18177b241f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bff2be3765ca8ae9476d808d5433ae268536df03d2378861a23854844106bd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902a2c17c1057e2c7d301dfaec0fdf8aad55db15f3af8c2ad1882dd57b639f53",
      "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 · 7.068 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]: [-0.3145, 1.5063, 1.1431, -0.4908, -0.0521, -0.028, 0.078, 0.3706, 1.8992, 0.7441, 0.4488, -0.1776, -0.1535, 0.0509]\nstate[eef_state]: left_x=0.3989 left_y=-0.1163 left_z=0.1588 left_yaw=-0.265 left_pitch=-0.2818 left_roll=0.0272 left_gripper=0.078 right_x=0.4019 right_y=0.1935 right_z=0.0038 right_yaw=0.5979 right_pitch=-0.1359 right_roll=-0.002 right_gripper=0.0509\nstate[joint_eff]: [-0.1709, -6.9402, 6.7624, 1.4676, -0.0757, -0.0366, 1.0281, -0.0068, -7.706, 4.5607, 1.2967, -0.0269, 0.0073, 1.2039]",
      "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]: [-0.8036, 2.2539, 2.154, -1.1057, -0.9127, -1.2011, 0.0806, 0.8421, 1.4322, 0.8646, -0.1368, 0.1844, 0.123, 0.0624]\nstate[eef_state]: left_x=0.4502 left_y=-0.2604 left_z=0.1858 left_yaw=0.53 left_pitch=-0.0377 left_roll=-0.0576 left_gripper=0.0806 right_x=0.2933 right_y=0.2854 right_z=0.1347 right_yaw=0.6124 right_pitch=-0.1331 right_roll=-0.0234 right_gripper=0.0624\nstate[joint_eff]: [-1.6615, -11.1795, 5.2581, 0.0269, -0.6618, 0.022, 1.0085, 0.1983, -9.0735, 11.494, 1.9609, 0.2564, 0.0659, 1.0281]",
      "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]: [-0.8799, 2.3909, 2.2936, -1.3262, -1.0485, -1.4593, 0.0813, 0.8524, 1.4261, 0.8501, -0.1623, 0.1837, 0.1127, 0.066]\nstate[eef_state]: left_x=0.4303 left_y=-0.2745 left_z=0.1717 left_yaw=0.6267 left_pitch=0.0547 left_roll=-0.0412 left_gripper=0.0813 right_x=0.2852 right_y=0.2826 right_z=0.1262 right_yaw=0.6277 right_pitch=-0.1664 right_roll=-0.0386 right_gripper=0.066\nstate[joint_eff]: [-3.5761, -10.0308, 6.8581, 0.3297, -0.8816, -0.0269, 1.033, -0.4581, -7.3778, 8.6222, 2.1905, 0.1538, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf9f709fa6d01e0e8eb9f1347d15c12a2c6e1c9c9cdc1021730a18177b241f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bff2be3765ca8ae9476d808d5433ae268536df03d2378861a23854844106bd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902a2c17c1057e2c7d301dfaec0fdf8aad55db15f3af8c2ad1882dd57b639f53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTdt4K8zArDTOcWHI3fIlc6JKPwavuKSmOM3zcAut1fXEwmxNGiRAEy-7NVp6HkA9dfeXXxZNxAFS_WBSR5nbCkkL-WdJIVOakcnGUU3aG-dXl7L3PWhIae_TkP_3BA7CSiCMhr9WFWCeWMmM0Z5Ig3qdE0VJ7gHeV2SF27wu4UuIh9dmD_q_cMxlH7OBDaYA5FbKkjwZ0wohQovTQsfu1OYmUJZ07R8pbFBqAX9WLKqshDaWXVpKxFdDdnK14D4A6i_VXjYPkr8GBSVFHXrxat4Bu6NFh5Zxdj4PjNlKGaGCyXtwleglVCRi0O3LmMJEwbpndDcDbwyNlspVswhkWbqSVmEDly7aThqXM15uhzlIPC7X-Sr3dsJ0UojOgw0tq5zh-WVJ0P9uBVuwn8ojq-UQ5T2SxP8K5zXsFUazIbRsk-25uTExL2mkX_Du-fd-c5LbR8NkJS_-BA8pVvw_uWgW_4vdnOUkOdP7_vrtMhH5K4-0OYBX_FZBvjSRGoaCfsje-ZeyoSBDOInF-LtMTrccrCJkWy9qXMfjgqNUbZSai3sn5LvbXTESdyAckQTWXSVrL18QuDzhHervakea6cNZW07jzRIHXQwCQeMisyyZX9cIELRHMd4AUiGKMwZbVmCyihVv0vZqg59wnjQ9rRnYT_yx78nDTublmUlh773iP0YlKaeszwkM9bAP_ti7nb7jibSXqW5BNI-7fHKL1RpWu5DZhkX0LN2UjxPfm9Yldn12yjVW5J-VCe7J3VzunNUl1o-L9Bt-3C6bEa3NYvuJkSaMLk7m_knDcR2t4056Cn7F17wza2q2G54l0mBG8Jr02QbuEGaTl5fPX6OqfWB-wJ4DM61NMXUIC7f4RLaSg_e1icWYc7aU89iC14smXS2bZiKMc2SHKeMbJaW3Cv2HL8lLep8iFYSBRJNq_fus8zStEVd51zSmR5XzKkAPZZgGxKfWlPChaI9XvmUAPqHRoV8nEXAB3dGXXdf3Iumb8QCKCECmJ1MBkemdznGZyWJIl_dlgR9JVSVcI_m1ZeUltdsiTD_ZVzIRlPbzL_Ec16Csv1OuZhKkZUG7aWXYsllxevmLjJNnvnEeMF0oHpqpoPFkswY0zUAaEfWwaWnBEviuJ_wdT0BEkB9BvP2QQ2oi7rpET5pEn2mi5pdoEWE44TGCdzIrZDyJPQmGHrLQdfdv-HPVJlAZDVd-h-uRyQsi7NRbBW6puRiXtt307XZqTk4YsvH_EDfhaBmaR8zEg_xgMFvi7ccMh8us2KTXJmdb-EIdZz6LQDOyN58xIn6gXu_8923VlHTG6eHYolbhJZ1qs5wBoRtpaU907N8QbLflxQbhct5zk-WNJB6Py_8Kaw-jkvI1vlJ6uHZjjRriCO4mh0hoJKQ6CbJBqUW4NAsmm2QrMUtfvzxvF-zcT9mNOMwiYexbY-B2XEmQUK96e5PTszO5ygEQ0qDebcyIpz1SKDJZ5R0p_JKfaloOWqeEmVRAfztKlifStqpT9WRpM16cFktoVOuc-nPj79qQ4QrqI-Dy7k6Qn1jY0dPSKdMI_gDUYwbuUKNh_7nNYN9F3BBt1C04Cunj4VuRaaYepCgyv4CMSkVtN8AKX2Qyr06xVXKgIwDsk0LgNubFdBw9mrfIdTgA8ZQoLKiO-1W9sZuf3nspA0OulftSjh27qfLozhgvBi6DWrOkUm5eFxp8IwU9yAvf0atOjqA3Z0QbgnBKhLLeekEENb72O4pcCadBF6Ko3l-cUd4bcg4GEQX6j9rLOr5PFfbnG9veV-zoLivASwwpjyDH-aE-YicxTghNDsxA8MZT-ijBWhAUNHOVGIJmMhrIHPmEIVUf34PMo-91WVOXPjyigff1Wk8zqlpZX_HGy-iVnRGTJM_oNXUF4V7rY4Xe6x9O_4n7ACE5Q3qSmdgdNA9zzIRE_rpmX43hgnm67byVWFxt-BpFELNaWFPcvje0RuL45iel9KYOdYw0ujM9vFXy62SZRzW3X0Ijmic_NxYDY3ODv27DyhVk6kOhj5yzarxKoKVTfgL0tkkjQgQ9SIIGgvXP-pmuBkSY-IU_2QF72C0TPTX5JoaY0tp4jPtJvqwZldC06096Gn4H9YKldO_-ipmIz_0H_NI8EKruYlMOQcErwXJnt0BOE8e8OWFLNfO4UvPE7Dq2Qm3E65ZP4JsQflGAbWmrOOJ98TBFzUpHfpYF3UNR9hU09N3bAwDVJnbE3qRnona9jW7dWxQ4JEXP5kYGwUgKtJKRBg5glwyX3wX05CRr3O7RrXNmgWq7cD-tLi4bHDnFMRQAjRINLaRlY8Q_t0Wy6PnACa51eJxy3ZPcBTLFvaDp1VUqYG02l8fNCBF0KxZgZVKpbFSYFz9WkPbfTy822-EHXGGI__rhfAMo82MzL5_qatwij_BXKxVvmE7opUGAJWmI2BOKU_zRw9tot69TA-qLt4YUcDt1SycrVAzN-s1BwzMdC5uJkq81QUzG6FktJd06HzxNksQee1cNM7NRoNWhobCakWY3pFU5T5k_fzPgRBHWKCZRG4roZi3ff9oMclVj8Dygu41-tqbfatwtokYtlXlMEuPsVmbQQkEQ1cBjepVMvZrpneEWkRkJ0lh89jGh1IDhdjME077YSRejbDmP3u7lf-QZZnllIcZpv0mH8UQ6EapJKmG-P-GdoWs7-QOOoJag0yGtwUPFqaNLMcBQKJT33TIdnOASiiyAoq0cUSqOZ3W2-nmZDRjrDYJOQH-wjzZTZSN6ASiq6tUASQi1QWStVHlubjzU7ZqIDzH2uEWtljFdWTs8zacCfHSm2KnM4edKDxAMXzwT8oShjuj_VuatLlpelN1LkdZK_IQHqXGhPSwVTWkPusEY47KMOvQBYMrDKD1gHaWz9NCFj3mV3v0t9js0ILF-6Qb6d6XiLfmehrnp7sfbe3ErlCoceWequci_Y4_eFUfMZ9nhQWjtaJ5zSs6umFcf2oURQK1kAASptDRzn0M5B8xeo3n9ARSgOGIfwEDlGxrOi0ji17Vq4HvlRXC6T9wSD5D6lUNbm9q9_M9oxDxRbG-8_XELYKyjafE_05trr9Wy6rQFgf-wZ8bbes7FXPPyFxU-XeqQMJro2ZYZPt6IYJhJCThRE5z575b4MQV-ZhQCWriNCAZI7t9AOnD_Z5JxQgjoCn9sTxJtVo9wCfg_n_h1DGhcShigvzJj8LqSLEfGKpxGDGTddfVL6BJZaCIpmNWbriPpA=",
  "id": "rs_08aed949cb8eba3c016ab494d52dcc87d08612ef40042262aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.307,\"left_z\":0.13,\"left_yaw\":0.63,\"left_pitch\":-0.1,\"right_x\":0.285,\"right_y\":0.283,\"right_z\":0.145,\"right_pitch\":0},\"note\":\"The right hand is holding steadily below its requested height. I’ll align the cap to that measured pen height instead, approaching only partway along the pen’s axis.\"}",
  "call_id": "call_KZx7aZ0Dj8YeYp6TdazB68Eg",
  "id": "fc_08aed949cb8eba3c016ab494dc275887d0a447171c582fb417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KZx7aZ0Dj8YeYp6TdazB68Eg",
  "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]: [-0.9073, 2.4016, 2.3047, -1.3979, -0.9302, -1.6081, 0.0814, 0.8619, 1.3952, 0.7704, -0.0849, 0.1856, 0.094, 0.0695]\nstate[eef_state]: left_x=0.4086 left_y=-0.287 left_z=0.1511 left_yaw=0.667 left_pitch=-0.07 left_roll=-0.0981 left_gripper=0.0814 right_x=0.2776 right_y=0.2792 right_z=0.1186 right_yaw=0.6466 right_pitch=-0.1386 right_roll=-0.0479 right_gripper=0.0695\nstate[joint_eff]: [-4.0684, -11.0427, 4.8615, 0.1832, -0.4225, -0.1636, 1.0281, 0.4855, -7.5692, 7.1863, 1.9707, 0.3785, 0.0073, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354cb22fcb16a5af9ad87c596aa3fdf55d5ea9e6564407d41791e78b1b3f02e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f6b28d4bc390acd50a69a12128ab9cb034f77085649e6e010b760ba6ea9500",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f3132015c2c1dc9494b8a1cc50ef45598732678c0eeec5d0406f4d39970199",
      "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 · 12.5 s

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

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.5063, 1.1431, -0.4911, -0.0521, -0.0284, 0.0797, 0.3706, 1.7145, 0.8307, 0.1814, -0.1776, -0.1547, 0.0571]\nstate[eef_state]: left_x=0.3988 left_y=-0.1163 left_z=0.1588 left_yaw=-0.2647 left_pitch=-0.2821 left_roll=0.027 left_gripper=0.0797 right_x=0.403 right_y=0.1939 right_z=0.0644 right_yaw=0.5984 right_pitch=-0.1322 right_roll=-0.0037 right_gripper=0.0571\nstate[joint_eff]: [-0.2393, -6.8855, 6.9402, 1.4725, -0.0855, -0.0708, 0.9939, -0.0068, -9.6615, 7.8154, 1.4432, -0.0757, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8799, 2.3909, 2.2936, -1.3262, -1.0485, -1.4593, 0.0813, 0.8524, 1.4261, 0.8501, -0.1623, 0.1837, 0.1127, 0.066]\nstate[eef_state]: left_x=0.4303 left_y=-0.2745 left_z=0.1717 left_yaw=0.6267 left_pitch=0.0547 left_roll=-0.0412 left_gripper=0.0813 right_x=0.2852 right_y=0.2826 right_z=0.1262 right_yaw=0.6277 right_pitch=-0.1664 right_roll=-0.0386 right_gripper=0.066\nstate[joint_eff]: [-3.5761, -10.0308, 6.8581, 0.3297, -0.8816, -0.0269, 1.033, -0.4581, -7.3778, 8.6222, 2.1905, 0.1538, -0.0171, 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 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9073, 2.4016, 2.3047, -1.3979, -0.9302, -1.6081, 0.0814, 0.8619, 1.3952, 0.7704, -0.0849, 0.1856, 0.094, 0.0695]\nstate[eef_state]: left_x=0.4086 left_y=-0.287 left_z=0.1511 left_yaw=0.667 left_pitch=-0.07 left_roll=-0.0981 left_gripper=0.0814 right_x=0.2776 right_y=0.2792 right_z=0.1186 right_yaw=0.6466 right_pitch=-0.1386 right_roll=-0.0479 right_gripper=0.0695\nstate[joint_eff]: [-4.0684, -11.0427, 4.8615, 0.1832, -0.4225, -0.1636, 1.0281, 0.4855, -7.5692, 7.1863, 1.9707, 0.3785, 0.0073, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354cb22fcb16a5af9ad87c596aa3fdf55d5ea9e6564407d41791e78b1b3f02e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f6b28d4bc390acd50a69a12128ab9cb034f77085649e6e010b760ba6ea9500",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f3132015c2c1dc9494b8a1cc50ef45598732678c0eeec5d0406f4d39970199",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTl13oVPHLqOvhDIggAFSvNYJJBTaN47cwZRwRpkRhcM8FVaWR6bMorlHWWrmUqn28gJ09EtB1Wc1h4OYDveYLW3zbF_k_2VOMCxsow4uvexmm5v_I35iNz9qq8VwX0_n8wo5G63sNeYa7aGxsvW3677MzvIolMVxf-ooYBnKPV-Lc0Z2L9hyc66rEikq1a8XqoUdysRwGz3Iyoigb4shgWOiCXEG1dyvvQSybYpfvuB2bMXO7HCDSboofiM4VxXUzTpsTYynn47mX21-uwxkuiSYks4aBu_P42yG7_sj_0qxhY61AC1kYVhbs5urUEOcE2RJPFZIsJp0mt1niy3TfeJSGtlrfMj6eSKBInZq6M649l7TjLYYZhu6FJ-7O1cvaLPtJIOWuuA-FYi2QZDXSv44f0CmE_fGUK02NNbGIHn_owY7_g7XiT_J03jAoSYc6wpdhHFnrB8JgSahF_2_jIf0S-R3kVANyXdelySY10yNI5JW47QX1cP4eMRuPf677ZBiH1UtOBQ6l2Q3Fa8JKWfkSXnFn0QpJk2x3hdMa3PcKqgZCzcNnDNtb7DE_vRHpptIhFS7wp8PZNmy7P0O2wxJ3k14hk2iFyq2UDtcBJwOLpOoSRigmxqH-cTUed20NTqf_w35r3nN4hlPUJxYMkOA3WR8yNxLIiTHNrO6tKvpu8IKuv6tQj5Md93sUMOV2LeY95t0qJslojdRQGXglgHyA3GndJb58QexF6EZhsUlXzNKwmE9-2_lKoSSEpXL8BQqlvwNMSy7Ovgeol751PBYaZeKtIBMusnA9o4W4B8vRV0Rr5QSLg-10e3xjKK0-wp0GBmrmaB6cvgZa30Uc8eRPoIEoDntlorbfukCm9uL9kbjDhhGtVD1rI7XeCzMql-wakRE_TXnX_q-IVgEklLPPWyS_y7WPAYXwxniuSKvmb_5cwrgALKxxnLi2PSrS_J3Gx9aW3zxomi8p3llq6QKFtvZXwnNjb1g2qjQq7Ov_aKj9EG1FIxhCLBTsgM1YR15BxdTrztIzLDk3FMtSqdB8-n7Ok2lo0nUpImQk_Ylolyy6uaB7QY-llXKcQU5q_pG2x0griyXLIRhfSYgtU2O6jeABs-bV1szGgrZGND4wqWFjSw4b9zm-eAlqbeg1mTYDjexSqKpN1g7VZhpRBlGXvyKjw91cl7AtUDhqXVrwnb8Jyu_fWUTDFit5MkN0EWotL2GDKe4R44_qeUoUVsqbjSe1KFXtNKMS84fo2Wf7RmKeooO2iAgUOIM0gmAMTwUqLbb2jW72E-3R0HlhJhfZdTb7WcGdxTvlA7EMn3tKaGo-JD6Lmtp42GC4Dmb0uNFlQk_IiD50mLuBCEyQPeUXUES_LQ8TtBk4Q6Gmz9cQqHWdPXIP_6pboqDxMwwRMaIS4WfsXJf5lFjOY5YRRxAo4t-2EBzD3bjBcs4pKX5WEoT1TmqLZfJwzKR47iIbhJq9xS5zb7xErfhQg5w946b1vN4mDMgS62Xu8lV-uYb5VMnJFTnfVBRIwEQX8Bb1DreCebi4R0EAHgy6oad7Mx2wMdnUsLth-6MoQcsS12sE9iErf4IEAhPriZO7uLD5OG38JrHPKKyfJ9tOYvC7G0Z7_y5XcP8L0CPqYKmnkb64rvMoa8S4-s-Oxi79yrOuohiwTk-fcyfKkywWb9FC4fyo1u49xSoRxOKDMyVoh1CrAx11k8Ggw_fVogc9arBEvdrKFe27obuuZpi9FRtrWaN7rSj_fmfZtLjNYzA7XG3M8JEo157dPK0VZsiPnHnp15JsDTFlzs7hb3t2IlK26upp5iTT65RpV5ZK_E-l6yKhQRD2Z9QixuN5D5HZGuBhRUkmgryXfSoG5HzFMFnmTblTZhHjHLmURDeg0JyqSEgxQQH5B1P2V0XjbjRXw05YLZzaS8-9zaniSSh4_BM6PJXnaK7tk0jm3z6G69e7c4roZFS1ymyYTpuqItnOkkCTZdOHWIaF2NZSnHVbYBbOSOJ4R-Bciwd49IiFtv4FzxSbtCwceSZDu_FvV5xSj_BDDIV18wKjPIuF3CJ69dAVwemsVRenCyQbve1K9wGK-lX5U7RxNUYD0WUkaFGkB4pRxMoyS_SFds9udPJJkwFrNxUg7jOo7CngqQKg9_flHOa4luTTEhIqjx5jhqsetu-BWR2DUazEZU7eJrB8EQRp9aMFaUFf0URoVjnsP43wSERw_4xTY2BHpGYY7I8W1iLUqNuBoKud1r55inYG8VqThw9VZ-irpWEWGZx0uDBXvmYPW7jygBJdkHlKTvuGtXfCtjYh5BnGJbTPXksCa9ZjpWQFGRm11T6bWoqem3ZqcuRN_4cDBYdtB7xpndWx5A7i-cgm6eTbIDhAUPM2GVTasl9Xexe2ooZVICp-QNxfVpZKq_HuOPmcOi-kK1_rO1ygCaogmP9SrWBW7fWeU0Rk0sUxYciWIZ1ONY0IMWmCR6uyi3WPi4JfMKpVYOJsd3ArHRPTkK_2_8gFUST8YfVEaBg==",
  "id": "rs_08aed949cb8eba3c016ab494e0150c87d0b060a2646c5480c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.294,\"left_z\":0.098,\"left_yaw\":0.65,\"left_pitch\":-0.12,\"left_roll\":0.04},\"note\":\"The cap hand is still ahead and above the pen tip in the right camera. I’m lowering it and correcting sideways, keeping a gap while I check the alignment.\"}",
  "call_id": "call_kiUaFaFafi25LGih3oir6zkL",
  "id": "fc_08aed949cb8eba3c016ab494e422b887d0acc67aaa5629576e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kiUaFaFafi25LGih3oir6zkL",
  "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]: [-0.9279, 2.4195, 2.2017, -1.3876, -0.881, -1.6409, 0.0814, 0.87, 1.3983, 0.7177, -0.1127, 0.1635, 0.078, 0.0701]\nstate[eef_state]: left_x=0.39 left_y=-0.2873 left_z=0.1099 left_yaw=0.6737 left_pitch=-0.1182 left_roll=-0.0121 left_gripper=0.0814 right_x=0.2606 right_y=0.2699 right_z=0.0905 right_yaw=0.679 right_pitch=-0.2238 right_roll=-0.062 right_gripper=0.0701\nstate[joint_eff]: [-3.0017, -12.0, 4.3009, 0.0464, -0.5543, -0.1001, 1.033, -0.6496, -5.7641, 10.6051, 2.2344, 0.3541, 0.1197, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7df70f363050250e40e7b221a0f96896b04f01242397d713ecfc0c57970c2b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b4744ab8a6af39680b900e812d49be47d2c02760845e27d3d5c71a7e63bc37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a37a928145f63cca6698e359bbff1bc6b9b4131e886f38abb9e78ae205244c6",
      "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 · 3.407 s

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

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8036, 2.2539, 2.154, -1.1057, -0.9127, -1.2011, 0.0806, 0.8421, 1.4322, 0.8646, -0.1368, 0.1844, 0.123, 0.0624]\nstate[eef_state]: left_x=0.4502 left_y=-0.2604 left_z=0.1858 left_yaw=0.53 left_pitch=-0.0377 left_roll=-0.0576 left_gripper=0.0806 right_x=0.2933 right_y=0.2854 right_z=0.1347 right_yaw=0.6124 right_pitch=-0.1331 right_roll=-0.0234 right_gripper=0.0624\nstate[joint_eff]: [-1.6615, -11.1795, 5.2581, 0.0269, -0.6618, 0.022, 1.0085, 0.1983, -9.0735, 11.494, 1.9609, 0.2564, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9073, 2.4016, 2.3047, -1.3979, -0.9302, -1.6081, 0.0814, 0.8619, 1.3952, 0.7704, -0.0849, 0.1856, 0.094, 0.0695]\nstate[eef_state]: left_x=0.4086 left_y=-0.287 left_z=0.1511 left_yaw=0.667 left_pitch=-0.07 left_roll=-0.0981 left_gripper=0.0814 right_x=0.2776 right_y=0.2792 right_z=0.1186 right_yaw=0.6466 right_pitch=-0.1386 right_roll=-0.0479 right_gripper=0.0695\nstate[joint_eff]: [-4.0684, -11.0427, 4.8615, 0.1832, -0.4225, -0.1636, 1.0281, 0.4855, -7.5692, 7.1863, 1.9707, 0.3785, 0.0073, 1.0232]\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 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9279, 2.4195, 2.2017, -1.3876, -0.881, -1.6409, 0.0814, 0.87, 1.3983, 0.7177, -0.1127, 0.1635, 0.078, 0.0701]\nstate[eef_state]: left_x=0.39 left_y=-0.2873 left_z=0.1099 left_yaw=0.6737 left_pitch=-0.1182 left_roll=-0.0121 left_gripper=0.0814 right_x=0.2606 right_y=0.2699 right_z=0.0905 right_yaw=0.679 right_pitch=-0.2238 right_roll=-0.062 right_gripper=0.0701\nstate[joint_eff]: [-3.0017, -12.0, 4.3009, 0.0464, -0.5543, -0.1001, 1.033, -0.6496, -5.7641, 10.6051, 2.2344, 0.3541, 0.1197, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7df70f363050250e40e7b221a0f96896b04f01242397d713ecfc0c57970c2b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b4744ab8a6af39680b900e812d49be47d2c02760845e27d3d5c71a7e63bc37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a37a928145f63cca6698e359bbff1bc6b9b4131e886f38abb9e78ae205244c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTyHrxwoCxCvJ-u8cvfcXxaOlDbATdAKDkIeptMrXfpeCsahU0t5AQx9aafl9HJLVnLKtw16ScvAV_oXLDuaIZa7rdgPKXNU6BemoJBKXgpNOMLKk2N4Mx-6yQtSZZ9s2_U-qgv_jrVRF6zawhs8F-zBY67aPBTI9L0tSSL6-LlCJb7RNbWDhXbH54_LFQcdH4pJYWAEWsNDDUbfRTUMTQLgv4uiARKsNdYSeCwBzeEcqfvoJXZR40wvYzdwmYwt9xbwXyJUIgpfuVFFy9-2I8KIKFq1xDzkZP2gjixw0WdrCtivKGciK7c-u9LX5GOgmeUs_kcEvWfzVeE9Q0F2_OAP_nweZ1fgMHuidLUkq9ckonKF6f345MbMXrhry7Iwr0zJxBFS8EYJ1JqOwkcneHw3bYlMweTHQaZnYdIUl7gbLaqD5DuzXovLT5braQzzcC_T40LpAcU_v89oDT7kwwIxUpMw9KbhGTl6bn11eHNpi2iXz1x3AzupI1sbtELddEzhraS47tv7gZXdw-7QvKSAm6EOfOxVeHW7-dx8JBpXjFezxnTe31EElW-01AtTckA02ab4fOsqswk6v8DcmCjXzWM9doglnMY5lGRm-7-JBWBLPkPsebcflrshUu5V_nCL0L1hnIiDQL_NGOagMY0IKUAnH5awofaqZR6-tz_sVIuYqbsaX-R-y8wGfeaottdihIQOsvAqU9VOZe7QjGAhiiu9wO-CNXv890wH3kggBhfJ0c2UD6Fq26qpPohfdIEnreD4WUzs_9B4BVLmFL4MhN8Fa94tdTW4WwkYGGGtMilznqYGZJ6vgnBZsjJAkSRrOzh0JyoeIbXrXJOs1G-YSVC_8kbxm88Ei1ZpmHen1gC_QHufK0tDNhDIm6OQ_U_iVWEZfVSYgN2DE56V9j-BiqEdEIIWOn9UcoGMyjs2m40uIk1gwAqRldoxHAPMgBTPFRmQ6tBQFt34xC_QR3dXkVBSfIwaK-1uTAePtQ5YgbQwuVFzue5n6fjx005Ni8iMe46PujbZ4CJheK5rA9lEV6xEy4bketr_rLdLQ_B5oxEQ97B8ETRUpTSrUSR9xSMWA-dZC32P3ouf695NFGItxoWwQkM3Z1wZPX-QeB5EgAKjbiHG2l4zN5-nuqzWnenItv3UNQBN2NjZ6hlRreiqn_6mG5CbBZBvV5KX8FW8RQJzk3yJoRETHqdbnwEWrk_cxq5RdNEfCSKNhUWTizk9UjrpbL27vN0VjStU0P8ruGTpC6v2yuQ3_-O_4w9qsXkNoL538vK_J7Fqw20mI_w6oL8gLS6WDt3yPp5F9Kzr29btyyD_gI4w-F2f0r9cVrCxAMbpmgK_Rp82BbH8rlF5b0ikcev7-g0xhEw-RdYoTwvTFZOgCD1CY1ZDZ4a2pjzrxS2TDW4-qX3PlMsL1OwcqUXg6GNKCKsWtOO-1jFuWjItEQyvkq0S19VEwN0ST9B_c_7FkkTIoHBYqJjyDJmQxhKZyzGto12t_ZLxFIT0NDw3xAJsoPHYnhc1E_77G2Jpxc6PekrBAIWp_fJwuHhv9UpRhZOciE-EiDuofO7p3s46gWIx5RLhBRQwL-TLYRYQ3k7dR7U0WAGjlQnmbN_-geg7K7oH7L52GKkLdKrgbnoMqIahJrYmanrcxQkRTmrYLUj3RmX4qe7Fq1mMKc3dVPRu-1hoFscU8JUTOClOs4rC4ammIn2kuaJH5GGXxH_4J6JOqD422svOMCBWxUB7dUmbBHFkFiwLJGn90qHjA1zFDQLOW5OHC3xxTWdzpxZqggWUy5W_2yNCe5PKEC0bqfjLSz53dNgZmYfpDxZmNixrfaNKV_pFzNTo8g-NdRaeyJ6zQU1hIJQaYJHawXkHd-CvzwH-cDeVrdtqqL8IjvAXNw35VqGRdQoZ73wHpP8bWxrNxM6KLJWuvm1aEA9VBqBAc4pzHmUbMI34XmgGbaL3AEW-4Q6zGkKhrgwHNkhgexVy6VrmukkFxiCYPDjvY9CwVgID6QBpoQxYaukKLq1IwiLDEYnoIAkKpOrViPVRDdYPcDP2MBoVaFH03vbMow2YEtIAzoAltcGJxVe4zMn-gyOFWUfUjTtDy82sobkaEtQbp3VhOMhQtT4Mff0AmUVDwZIf8Zj_haZ5UrvRZXpch9_bZmry5GOW1ZzQLKxfutPUyo3TpPQqf1kGZvwdwW5epgH_ud5pxYnF0oFPTOk8WBCtit44eA6Y89xB7w0VQeZc6wSFtBARQQVnAn8aD6GwUaig1tpceyZvh28pBQD7lkvB6Cb3WpA4yHNrqVpJsBdyP-nv_YV9_chzOnBhHeZjE3XDN8xB1LPMCKfEqETtt2jGefkVQlqNxBxbHN-yvrpkG57Q_DlitUMntZ_lV3Qfj7dLtZEN1mHT0Z_lYA8vf0-Txq452YW9uBt8sJ8iPjgyCGSMBElNo9TxtduAgqaDuE3J2hhNG3DJrvNPF5TflEVLQF59vxqJzTv4ocs0mpK9z5jDzkRqMQ5gSN3L48Hnsx7M8vUFYuV3TdPK6ph82n9V2P8rjymr7B9qkzGq2mHC5ZGhWJ5wJWpkmh4SdCQ4qIpD8U5oDAQIL0fEuxTH09NMaWnGRPeVSZXR11JyZm6W23nAUbjzcyCSlbXw-zY5gAQag6-lebUUKDufPOwiq30y0_3B43x4L74vhDC44MAPdZJNY7lVGfoEkvnoDEWvW-PBJWWv6zj3IBEgMh6SoW-KipDwftTei_WvwAx5W6zFlDyPFcBzKRVJy0KI5aMPlEl5YDbLKwBQyxO2hvZckPc2tssqhOEsc3w9X1zG74G4yulA3bdsA3Aq8MMYzejXGUMiH-JPLhfECtvfG5ig4PzC6a6XZHB5N5K4HVaxgyPz3daZAcGoYO__WERDrsAN4sK8iomCi183ANOz4Y-8CHVvqSIDlN7cMZyn2f04WJVJAmf8n4dl8xQfGWSd1n0zoESxRD7dqUa2iZyPYk2FAD-kNkDF4Ni6ymYFvqf_JuyPuP9l3hGR3d15uEjHkaFz1pfiIrj-LGZRHSwdRq7ng0KF4ZbgO77RHJXb6UDvftYRBFcZJsPyEuaNFI5h3TlmmTp45WejWtzGSKinp70VUU6VT4XareDjKjGBEBEmGSIw1vZWt7bWZi8IY5eCyYEpeg4ycB6Zkehej-sBBBAtaRpwNRYHSS_6XbOR8gMP9XBTr23H_mbC3wXH_TKTwCPw2iSiIdGmgP-TcBYzHJwa3_mlf6uCspriqe6kzstudQKHK8OWDOb3vPYOldgE6JbWm_vScgLkeMDOG7J_pnURXqflaJWf01hirpKeqQ5V53BLq-s1GntCs7m3YTU44rCP4AhG_vCsfMi96Kf8z_wFG44Edkoa7nztPGajETejN6mLxvS2Gi62v3vTT6APbJ_Xy4ahQfJhO6T-8mffe5H9EaGr9I_Y3SyHqja-UiKBpbCczpBYD05QobRfMRTAlLBu1Xmw4rtxx0pZfgcWCo2shdFRJ5sOSpHtHPqmQbpZM9sQDR8rTG-G13uf3LdE6K_FxfV9X_u0Sz1Tt3Eu8G5WDhn65wgPRxU3gn0bGGjxAmh49FgcSilthbr4nkMcIWpqVhmjJQ6hMndPGIeQrUgiEdiKjQhfZSlKvIHgJ7yWr_dqtUrq-keOZ6PZud9KkweRRLdQXe7gpZTOROkF5xG_xSOTv_CCYTWMSkpRlyOlzGA_xaespkbmFErPc2v-JNtM4gTQH3nxQ-xhS3TRl1u5g-zrQax7yIelsW1JXuGtXyHriVsYtZ3CXtndOdn9_QHHoOcBqrDP-QoPtclA_eo1CB-vVBZhuNs4INOwbsXo8RHvr-TGOH14Ml-sanNPhv-FKFCk7ZdR8jDLTI_ZlGgs0jRVFXWy9fgc9H8tg9rkx_yVrZONwN4lvsZvkFfCzxhdocT9xq_eww-9QTs78b1AN3OLERP6NkU7pc38YDBJdQhyAdEAJtLF4LeQSRIJm26QJYo8j-SXXw4dgAg6p4Z4-XbNeuhzGIuMyotJuu201K6I2l61-qqo2RF4EB7kg==",
  "id": "rs_08aed949cb8eba3c016ab494e75d1087d098394c5b03d895c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.17,\"left_z\":0.215,\"left_yaw\":1.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0.3,\"right_z\":0.215,\"right_yaw\":1.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The hands are crowding each other and the pen hand is dropping, so I’m separating and lifting them. I’ll turn the pieces more across the table to make a clearer side-by-side approach.\"}",
  "call_id": "call_oZ3iZdPhFHGKqPvgkYGWJVRt",
  "id": "fc_08aed949cb8eba3c016ab494f04b3087d0945ee0d5bb3c0f4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oZ3iZdPhFHGKqPvgkYGWJVRt",
  "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]: [-0.8383, 2.4245, 2.1914, -1.3952, -0.8585, -1.6444, 0.0849, 0.6563, 1.417, 0.9909, -0.4953, -0.4431, -0.3725, 0.0739]\nstate[eef_state]: left_x=0.4099 left_y=-0.2504 left_z=0.1023 left_yaw=0.7693 left_pitch=-0.1398 left_roll=0.0091 left_gripper=0.0849 right_x=0.2418 right_y=0.2864 right_z=0.1435 right_yaw=1.2381 right_pitch=-0.2506 right_roll=0.1017 right_gripper=0.0739\nstate[joint_eff]: [-10.1265, -12.7521, 4.9983, 0.0855, -0.6764, -0.0464, 0.8034, -7.5966, -3.7402, 16.2667, 3.5629, -0.6569, 0.5836, 0.779]\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,$blob:aed99ba239f2d7575bf293e3e82eed4dc6fc823f2cfd76c8a8c1582a910bfb10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7409e584a412de0f2adf1c4703d04aa709dedc45b06c7bf001ae77e34b85caa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013e2c16e9bbf9d3a1b94e7f9d027cfa46bb8ae508fab45fccf18cd6636fd1a5",
      "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 · 4.663 s

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

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8799, 2.3909, 2.2936, -1.3262, -1.0485, -1.4593, 0.0813, 0.8524, 1.4261, 0.8501, -0.1623, 0.1837, 0.1127, 0.066]\nstate[eef_state]: left_x=0.4303 left_y=-0.2745 left_z=0.1717 left_yaw=0.6267 left_pitch=0.0547 left_roll=-0.0412 left_gripper=0.0813 right_x=0.2852 right_y=0.2826 right_z=0.1262 right_yaw=0.6277 right_pitch=-0.1664 right_roll=-0.0386 right_gripper=0.066\nstate[joint_eff]: [-3.5761, -10.0308, 6.8581, 0.3297, -0.8816, -0.0269, 1.033, -0.4581, -7.3778, 8.6222, 2.1905, 0.1538, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9279, 2.4195, 2.2017, -1.3876, -0.881, -1.6409, 0.0814, 0.87, 1.3983, 0.7177, -0.1127, 0.1635, 0.078, 0.0701]\nstate[eef_state]: left_x=0.39 left_y=-0.2873 left_z=0.1099 left_yaw=0.6737 left_pitch=-0.1182 left_roll=-0.0121 left_gripper=0.0814 right_x=0.2606 right_y=0.2699 right_z=0.0905 right_yaw=0.679 right_pitch=-0.2238 right_roll=-0.062 right_gripper=0.0701\nstate[joint_eff]: [-3.0017, -12.0, 4.3009, 0.0464, -0.5543, -0.1001, 1.033, -0.6496, -5.7641, 10.6051, 2.2344, 0.3541, 0.1197, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8383, 2.4245, 2.1914, -1.3952, -0.8585, -1.6444, 0.0849, 0.6563, 1.417, 0.9909, -0.4953, -0.4431, -0.3725, 0.0739]\nstate[eef_state]: left_x=0.4099 left_y=-0.2504 left_z=0.1023 left_yaw=0.7693 left_pitch=-0.1398 left_roll=0.0091 left_gripper=0.0849 right_x=0.2418 right_y=0.2864 right_z=0.1435 right_yaw=1.2381 right_pitch=-0.2506 right_roll=0.1017 right_gripper=0.0739\nstate[joint_eff]: [-10.1265, -12.7521, 4.9983, 0.0855, -0.6764, -0.0464, 0.8034, -7.5966, -3.7402, 16.2667, 3.5629, -0.6569, 0.5836, 0.779]\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,$blob:aed99ba239f2d7575bf293e3e82eed4dc6fc823f2cfd76c8a8c1582a910bfb10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7409e584a412de0f2adf1c4703d04aa709dedc45b06c7bf001ae77e34b85caa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013e2c16e9bbf9d3a1b94e7f9d027cfa46bb8ae508fab45fccf18cd6636fd1a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJT2UpWtkWu2JbIE2SNwxiJok_lOqa8y1B2fJYcc5XCsPsZuZ5op8nr_SZoRoIhL5MNTy0Pxya6uEoslhVx7uGXRb_fUlVKIcLkbuQxeux5lQgLFpzjkMRBAB8337gVKzI3hM2Yz7BMQH3UnoQlvQoP3Iug4qOo4hvfZCCSekPXaue1l86KgjQMTI7zH8Eh65GkYz54P7XMMbdhZ3rQZldZJz_te0a5ycuCWLqyND90FpehiBgiJoUm_mAzJNX4AtvpAW92TRWHmujMacWdh5PLw7rZQ-ETAAH7eyRJMJgotErMLndyKiVIPtCp7h-LUtxxyPbH7aM6CeZ47QAtDW0uDp4dxeZkXrJDwu00WBc5ov05HA4Ku8Fdqt2ox5uoBkg0yq8RbLI8a90sOFbd1JsY-MBzlsXNkYY5-QY1StabZDzUxTLl9W5XAcAIEOG2y7xNZ-9DFrqz1LTCINdALu9z2Cn2Ce3CweydgXC7mRlxsauVqGfzTqZUkjG710Tv-wWVSSpW68QKv5_4Z3HAyCRhuhg2PTKO-uLT3bxt7vRWQJvHL0N99l0EWPRLfZ3PwiQm_hbKBllUoSvKBkKN395RtN4AFaxg8QrwO0mu3xUpEqvXXkJbGLK9SDf7bKgM55qrar3mypBKpquyWBN6kulZvH97WDOYrHc9XeaVstF_FjshXhV5HFEAXPvHgb2MZs-qqSxx9nzUYEzSaMMVf3HT_E027B65pKEIqQjKteAihJFlA9zdeUefIWaRwKCSydw2XjEzT9z_kGu7D1fBc2gv3vsI2ijJ3bzVbIYpuUTYS9d8JOZlFmQDqMP7oUpTaj4rryC8aZd-oDud_Mj7O7sEkW0Z7R9Pgv8flp7Sdx38HconqDmUXNTzHBuDNOmBZBsnqUTmIyrAPMUFCMIdLC43ox4wPwMUXSVUryP1dzjvv3hgsynfD1sW5VfxE7bCAejO7Tnt--4pBkLIlkVwbbH65XRoBdDCLt-1n-J4Ii9IdjkUeP-V15yXnGFQ8XJfIwKyejRmSvqDG30LuQqXi1mCBkc-g0MWVpuje6fq__thlpN_DnpNRT4OBBUdULfy_oiP6fJcIslWlNuFSoDMUp3DxVs_XeGK5SB52HI9Mdg-yxZDkYIwHky54YUBmMybMMLkEWqoEfP7KOU3_QDrNY9f63EYRuAJ8yrEZKqKik8FnmNQE6pybbjeQ8mHKQ1BcimFoe_GLPcSOnqNkEnWHekEOnCnwVaAdX_Ev9vTCbGU085nF5BAth6Eks1Q4ftm_84ZvcfJTD8TOCyRGS8K50F4kpJz0CvaBCxpWD9hvBfKWCaVEgpNzmXULNkOWedVgYrsyTXbI7huKsF8r-lMJBWwyuqRMArz0gqWgN67i0q9KbtKbnSPKMSrZJ4l9I93X8jSMVUCURjYeel5xHstps0l2p7bx2qYOebFhmRWzqubNdu0=",
  "id": "rs_08aed949cb8eba3c016ab494f486b887d091c4da8c4f594f22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.12,\"right_z\":0.16,\"right_yaw\":0.6,\"right_pitch\":0},\"note\":\"The arms are not following the separation command, and their joint loads have risen. I’m backing the right arm out to its own side before attempting any further alignment.\"}",
  "call_id": "call_ZglA0hl72V7Qz0tLLcAZOPqr",
  "id": "fc_08aed949cb8eba3c016ab494f5746487d0864205b0e9d59ffb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZglA0hl72V7Qz0tLLcAZOPqr",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 2.4233, 2.1757, -1.388, -0.844, -1.6447, 0.0872, 0.564, 1.2713, 0.8307, -0.4568, -0.4454, -0.3222, 0.0743]\nstate[eef_state]: left_x=0.4124 left_y=-0.2422 left_z=0.097 left_yaw=0.7914 left_pitch=-0.154 left_roll=0.0167 left_gripper=0.0872 right_x=0.2384 right_y=0.2451 right_z=0.1348 right_yaw=1.1172 right_pitch=-0.2326 right_roll=0.1262 right_gripper=0.0743\nstate[joint_eff]: [-1.9487, -13.1077, 6.8308, 0.1441, -0.652, -0.0757, 0.5397, -0.3897, -4.8479, 7.4735, 1.8388, -0.2173, 0.0806, 0.8913]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ee01508c10fa36a6676230431047623918f361777319a86ff822b6cd33c7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d2422a95b8a321648799bdcbd39d415a5749d6c58ca6427dda7b101587feb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dffbae2e30b82fa27cd86d4b6c21ee99bc616990ffeae12b36d98b6303372b34",
      "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 · 19.82 s

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

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9073, 2.4016, 2.3047, -1.3979, -0.9302, -1.6081, 0.0814, 0.8619, 1.3952, 0.7704, -0.0849, 0.1856, 0.094, 0.0695]\nstate[eef_state]: left_x=0.4086 left_y=-0.287 left_z=0.1511 left_yaw=0.667 left_pitch=-0.07 left_roll=-0.0981 left_gripper=0.0814 right_x=0.2776 right_y=0.2792 right_z=0.1186 right_yaw=0.6466 right_pitch=-0.1386 right_roll=-0.0479 right_gripper=0.0695\nstate[joint_eff]: [-4.0684, -11.0427, 4.8615, 0.1832, -0.4225, -0.1636, 1.0281, 0.4855, -7.5692, 7.1863, 1.9707, 0.3785, 0.0073, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8383, 2.4245, 2.1914, -1.3952, -0.8585, -1.6444, 0.0849, 0.6563, 1.417, 0.9909, -0.4953, -0.4431, -0.3725, 0.0739]\nstate[eef_state]: left_x=0.4099 left_y=-0.2504 left_z=0.1023 left_yaw=0.7693 left_pitch=-0.1398 left_roll=0.0091 left_gripper=0.0849 right_x=0.2418 right_y=0.2864 right_z=0.1435 right_yaw=1.2381 right_pitch=-0.2506 right_roll=0.1017 right_gripper=0.0739\nstate[joint_eff]: [-10.1265, -12.7521, 4.9983, 0.0855, -0.6764, -0.0464, 0.8034, -7.5966, -3.7402, 16.2667, 3.5629, -0.6569, 0.5836, 0.779]\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 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 2.4233, 2.1757, -1.388, -0.844, -1.6447, 0.0872, 0.564, 1.2713, 0.8307, -0.4568, -0.4454, -0.3222, 0.0743]\nstate[eef_state]: left_x=0.4124 left_y=-0.2422 left_z=0.097 left_yaw=0.7914 left_pitch=-0.154 left_roll=0.0167 left_gripper=0.0872 right_x=0.2384 right_y=0.2451 right_z=0.1348 right_yaw=1.1172 right_pitch=-0.2326 right_roll=0.1262 right_gripper=0.0743\nstate[joint_eff]: [-1.9487, -13.1077, 6.8308, 0.1441, -0.652, -0.0757, 0.5397, -0.3897, -4.8479, 7.4735, 1.8388, -0.2173, 0.0806, 0.8913]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ee01508c10fa36a6676230431047623918f361777319a86ff822b6cd33c7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d2422a95b8a321648799bdcbd39d415a5749d6c58ca6427dda7b101587feb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dffbae2e30b82fa27cd86d4b6c21ee99bc616990ffeae12b36d98b6303372b34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJT8Rs0n2WLjI8SrtGqMljV0xQ0xIRDRzNbC4X1UaMxU57KIgSYZ9bTKrXMvmRDXX2kDcr5IQZCJP9BAt9RRfIheYL2IKjzi10hf1-efh3noeHwXqQ7-5LxsNsV-vbH8Bh5kk4BCKiGfu4tFn0bgZNam0XkxnNrNjk7Mm1UTn9bhxr0oITqFKsCHW4MQw2OrjPVhl6kQlT6_XruQX7WIxQ2NxOQDbMpdeKxoMX9FYcEziU5t8sY6UHUfGQJgnoOz772n-o53Dg6guhW4HOHjVeJ7WJtNeIp6cVhGu_eyhMSj20ltGUBGvXB0eqISonECM_7l5QjtjQFps3-Xf5V_2SYWk6f0JG5GSYNuBFoeVpT3NJ45Y90W-vaa_O99TrSQI_N0s9PiXb2VKenXoJ-bWdou82GhtYG9pVw01y69sMqmSVCNIuLYsyhD9zaCmP0z9bKTWgLTp08N8qGrfoxvuigvUIAaehsqX5eqkBjXa8y66DhDsvlnhcv7eiAXzzK74Za3xWrJd2hhpWYaXERQCs-BN_FbBkSL6XUMYE9bAW_kg60pxhrtiFLGRvho5z84XrJB79mbLB-nxx2yJu7zs5YEYj677_L3J-1jDZmjzXlpo41oMtWLVNB0cKEN6kvE8ALAkpOGnPyZvfC9PDpTpBawWGAh3Em71tPLdhYDCKoA1gTe7gjoyGh5qtlJxuppZgZybW6A3GyjVMDMAMXDRQJNTT6YY8XHMzyXNN7C3HI1KNNhma415qHwhUhPEPz1h4-WaKc5eXMI513dTsZjNYXolgJTHru7GmvFRSczVSfpK58pXJonML-WV84InjQ1XUrHGTcxv6X_-kEBIJfvkQtuSatP9IgSeIeRXKfWntINcf9U9uzqaAZ70sarROcOPn78O--KS1DVne-vY4FXJTKM9EC5VjMBB8cgMeJPCkd5lXBimOmR2c_RWmS7qDuD3G0XtjOdrJKzeUMfmNEivU1jd-V1E9GsSMwHVoQwdsGsckRHDnaBYndH1Hw_sITsApIIFWvD3syuTk0MJFKOxqztZ8w9X_M2LTokakQfKBAJRktV0bajJm5EXf6NfI0Vk7ddg7LoidvOM42CIkKh5QVQfIDEBWkBSJqQcNo2xjSNKFdgw7O4vo7jrL3VD-PRQkXOrlOKZqM0ie6qOX5CELbdvQYE0uxo6hMQunmsr2lxjTlN1MIjd7AWw9sxtzAo9XIfz87msxGmY5qGER5UIPaEcHYkVQ7InbPl_NEgjHqJ3e9HturJLAjTcanDuhamQ54tR0PFOOszEX36omvVdWT-TI6xbmQYP8hQK2n_vOEghNZvq6l1XeA0eC5oMoRdKhngIns4C53MhKxSGvn_g4q8Un7p5JNskSpWp9CzMDVVFIbGlZgH1xs_CHohoL6IOTpFbUst1yiOlNFW2x7XO1Xj2g==",
  "id": "rs_08aed949cb8eba3c016ab494f9807c87d08222647af013561c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.14,\"left_z\":0.19,\"left_yaw\":0.15,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.29,\"right_y\":0.1,\"right_z\":0.18,\"right_yaw\":0.6,\"right_pitch\":0},\"note\":\"The load has eased after backing away, and both pieces remain gripped. I’m returning each arm toward its own side and untwisting the cap hand to recover a comfortable pose.\"}",
  "call_id": "call_RLScx9O3E2ryxMNBw0sJgYO9",
  "id": "fc_08aed949cb8eba3c016ab494fa624487d096cbe0c893565d7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RLScx9O3E2ryxMNBw0sJgYO9",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7506, 1.3296, 0.9447, -0.4995, -0.749, -0.7139, 0.0896, 0.025, 0.9691, 0.6712, -0.4221, -0.5404, -0.2718, 0.0747]\nstate[eef_state]: left_x=0.328 left_y=-0.1365 left_z=0.1778 left_yaw=0.2217 left_pitch=-0.0312 left_roll=-0.0084 left_gripper=0.0896 right_x=0.2866 right_y=0.1017 right_z=0.1691 right_yaw=0.6119 right_pitch=-0.0498 right_roll=0.1271 right_gripper=0.0747\nstate[joint_eff]: [0.4308, -5.2718, 7.159, 1.746, -0.3297, 0.1734, 0.7888, -0.335, -3.6444, 6.8444, 1.8291, -0.3883, 0.1978, 0.9109]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf8d71defaf3957e86438338236a889cea568a89f13c2100219d9cd81968017",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fbf9f0bbcdc54d0671f967f11beb66d8b2ff871db277055ae455ec912d54b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9735307cbf2bc5f28052d14a9d1cf0f8dea4dfcb253629ed3d1994a6d24eb2e8",
      "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 · 2.457 s

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

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9279, 2.4195, 2.2017, -1.3876, -0.881, -1.6409, 0.0814, 0.87, 1.3983, 0.7177, -0.1127, 0.1635, 0.078, 0.0701]\nstate[eef_state]: left_x=0.39 left_y=-0.2873 left_z=0.1099 left_yaw=0.6737 left_pitch=-0.1182 left_roll=-0.0121 left_gripper=0.0814 right_x=0.2606 right_y=0.2699 right_z=0.0905 right_yaw=0.679 right_pitch=-0.2238 right_roll=-0.062 right_gripper=0.0701\nstate[joint_eff]: [-3.0017, -12.0, 4.3009, 0.0464, -0.5543, -0.1001, 1.033, -0.6496, -5.7641, 10.6051, 2.2344, 0.3541, 0.1197, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 2.4233, 2.1757, -1.388, -0.844, -1.6447, 0.0872, 0.564, 1.2713, 0.8307, -0.4568, -0.4454, -0.3222, 0.0743]\nstate[eef_state]: left_x=0.4124 left_y=-0.2422 left_z=0.097 left_yaw=0.7914 left_pitch=-0.154 left_roll=0.0167 left_gripper=0.0872 right_x=0.2384 right_y=0.2451 right_z=0.1348 right_yaw=1.1172 right_pitch=-0.2326 right_roll=0.1262 right_gripper=0.0743\nstate[joint_eff]: [-1.9487, -13.1077, 6.8308, 0.1441, -0.652, -0.0757, 0.5397, -0.3897, -4.8479, 7.4735, 1.8388, -0.2173, 0.0806, 0.8913]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7506, 1.3296, 0.9447, -0.4995, -0.749, -0.7139, 0.0896, 0.025, 0.9691, 0.6712, -0.4221, -0.5404, -0.2718, 0.0747]\nstate[eef_state]: left_x=0.328 left_y=-0.1365 left_z=0.1778 left_yaw=0.2217 left_pitch=-0.0312 left_roll=-0.0084 left_gripper=0.0896 right_x=0.2866 right_y=0.1017 right_z=0.1691 right_yaw=0.6119 right_pitch=-0.0498 right_roll=0.1271 right_gripper=0.0747\nstate[joint_eff]: [0.4308, -5.2718, 7.159, 1.746, -0.3297, 0.1734, 0.7888, -0.335, -3.6444, 6.8444, 1.8291, -0.3883, 0.1978, 0.9109]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf8d71defaf3957e86438338236a889cea568a89f13c2100219d9cd81968017",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fbf9f0bbcdc54d0671f967f11beb66d8b2ff871db277055ae455ec912d54b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9735307cbf2bc5f28052d14a9d1cf0f8dea4dfcb253629ed3d1994a6d24eb2e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJURJiI4n47xPZsUTLFeZldjPXaQcNncwDJSt_6Ku5nZ4mu4BxCd6CIs24oMKqy81jQA_T-J3in3dqoM6RZuiZsvN0qGhYUbkoINqXa0C82B5_OrWeFIAyGI1bmhsFNXPql14r7eWY3yovtz7UUTNXNGxqXDs8C-RTKyxeBMAAXUIjyvH_BMt1SD60L8egmmQ2d1GheZKycN14R7dBdYnXuPVff_n2_JgGE3cdKsE-EOU4W0pW20SG9_xpFPpZBzUhG-Eiac7btnYrjOSIVm8JRqi3-zDqYWDF6YdkOHqZ6yz4mqGwF98VyT57gWZIJ58cfXakYIuIhQHxJwomsdLGKhOKgRNLoNHhKiv5t4JlEhIbNd83MkgUh18rUrBsVXF7js6xaGAJqypIdZVvULZnqaFFZZYIzmJfQ4UJlhOQv_BhkderhsuOaPVqtuZO5AhBUiw6ObX3Dq52tSAg0XToWfU3fPpmOkfDcLEJkFQ9BwF2Warl80bAGQP0sOxvx6QptE0RsmaS982QmQkbZK7RYUOoVwSGUDLkEccAkSn7QyFtYy-31cOwau2AoYpIDD-obiejVClrf4jKVgYT0MLl6OPy-kZyXjUBQs1-iLig9O5K9tcAddFyWqnzRWf6h-y1agRv1irXX_u2K8GVtwkWTU1P7bYQ2WvLGzAM0ihYNOLO-IfKJK_ScU1j0TCU0J6BZvKCZv3xTugdzMLIjvMjQ8dcq01ZTZd4gScnUBBhDG_BeACVIVRydGYT6R-jA6ti09eheip6VzKJgpmMtodRELmM8eD5hGWICKQYbXP8pHJp_G9Q3J1nKHIwJBnDoXxwYLCMRRu8ut9zjn5LkFvhIBUEOM2uMxKJEGBE-JHB9x_1AB0Hv7J-3CPmE7um51H2XVFfvgWAUZsUeHfNoejfPUJRoL6WDvM5eyBqT78IxvCaz1-kJdKxbEYIZr1159-CB0lstNagK052jCvl-RHPyxr14W_h_8WxxNMD6o9cGR16zWaSU-ImeNf5Ptr8Cx1k0thmPBwtKYHjplGyCM1ZPZ71axKi4-e3tzV-ZCFqvywLBcvgwxc2QITzCzbnwBxrsHOXxcSzecmtujE9G9b_YYSlhU2PvRiNpZTJ0Kt4P-2KwjZNRGIvh09LoK9vOIN25sxd0eRV2qAoCTQnnxSCXzgwdhacEys7hOxIgGN_tUiOcKtiAEJEfXyFpYRYIkQ1y6y8sC-GG46wpNTyLTJy7VfPig1TISgdGjv23H1sDMjy1vcmKSXZwPffuraiVtevkbv1SbyNHoh2_b3itpceUu6YuaaZgt5U7C_ZEGHaZd89uzbh_xPDHKKMaF8VdUzMPe4TimJwTylfzJxi045cIRJqcg1zr-ylmITGeQjabF4Wsqo5MB-_g78EkhvcvlHObRHuEJ9O4ZXX8s7qJSs-0NzDGSInS3PMsaNpgNlEuWFpGa7cgC3oQ74S8itE2X1o-oGuXGVm8SmsnAb2EiCgYq3JRCRAWP0ux8xzyVbXp8eKtvxnqx3w_YlGbWSj-Iue61eBl3keGQ3vAyXMF2os_Dh-i6D8u-zdwow7iXWFOeFy3OJA1ZGMYCX65qdoYb3vrqHD4g9z8HBfiKDPxEyatzaqW0sYELqeBh3RsVFmXiV6CS6KXdxp8rwQzP8-Hc8p7Ekagw3vByD2_4F3ZzglF3VwoWb-FGGW6XzG_i9Kb-L-z9egWQOMWUnfzdaKbSiP-hnAbiCdE6mjcQGMobBQ0zSDojZH1IBkIJf89F0HM2QKAX8KLm8Qr-WeG6nYLvwpcxSxX3ahC07ds8JFgG6D6jP_aYR5WuxX-jQk-0G0eSmnRZ40E86-uioPgBUOX2KIBNOPEYH4LKg7NCJldR8gnx-lLE3NhBAJYnD7uaxogu36XZ-dK9SmgZ4FuJvmCSBu87HdnKwxqWcv4hUF9LxboToK11Nfnz_trplvbycCbITZBzm2lDZulwpytMn7tvFn1ezc_Q8aexMdiIOUesuyeu_kcOnh84Qb3ZvWTKxIm3cJyy5FxOlHblx9FH_vlUpDySBkDjU377TdmTsVHR1tz8Upt9lsz4ZgRWj-3k5IkOi4vPF4Q8jbs-oXooZ5WAtO0lKhI7BDO7Fr28ipVSEsdguoMkyjZkeVI2LPcOHmeJTaNtQ6YMdnouNDqJLtMpNmCqqRwNq0DWIacjxqXYwFw05_yelcaf_pbRJU3YWiLWW1VLc_aSf_vc3kCHaVwv3lzdkVcwDhORq3eHWZg9JCQjdpkl0IPKY2VpU7gAVH0uQyoXTDxqDdLTBUadRCZEQJbH-RzGnM3JYPnyCLfprWVJzEKpOsLcncOIz36Ni4IIzfdooS5W8sf7OhVH1gMPx2XhfYC6M_kD4lG9SpfdR_uCPmxj1jR2UKGwohNxlvsyIUjBRcyYiLRHS2B6WS86sHWkusG9XT0snIcATzsXyZhIO6MJS5ZiWs7Uinph6hd-abDZrMKcjNBh2-OmbBKs6Uvjsq23T5NGb9am2Chvb_ZITxN3LdVymxLolP3AaprBUpeclPybUTxCQEknrFfvuZh0KpysrIamqAfH7bSNw8ky1OtgCOP_5AkZZhfxXX66ij_WYF5MTvkOoYls3PdEaXeWtPhpANEJfb8_5-q0o1Q7waol5U6hjWuEJhA6YkH0XIgAgdk7tit3drBBxhzBXSJYkdRoalx6wHAfxEdgdLSL_phDiJ4R38A5lBt2p_7IQHM-z4XPqfSRVj1T-AcKIEYDLWhXRR0EToVaIerx1MWeMvwYccbst-uQ9tm8yNWT5yOSV35tXX5Ojs54kXjv4Kl2lsZ_VZV4vuo7sTnIuGkiDZX22cO-2edvof9maeoWvZuk-IVkGBQTON085_0-xqsoiFz5CX8o3UHk41ABZ1Vl5cHPGHHqfHx8lZ0E4t5oEIZrz1I3vylrPG8ESHkioosJvx_r35HsUW8sbFqRzkP-Buplq7QE-V4HcdfaoN0uAyDDbe_wYGUUOqICLYDaKG_H2fzjfKA9y1Z7FOiQq7yjk6J3-MBv-sOAvwY9AYHPhom18bC-H0b6LfhVGd-6LOeoYed2v3z-3dOvlRaYyTgO5BhEjs9h8jB0PjO_g8NTmj3cTRN6e1Gps_4NYsqhYeJwb-JVfj5uBT-WsiUA_zFoQPsXShGpIJACQn_LgR3N7XYKIgqwlbTJgk1v8PSe1PPkOFrx8e3IFnTVu4y2O7fBbsllRMwBSc8aBl5q_SEhdyrp0lpiJGhLcjXvgCIv5xXFaFRrtBVYQ-UBvMQNSshQhZXEJC_a91TwmtINDbxacrMUcl4Nk3Rw54uv-SIOSLNiFYeDEzIhkNmgMukN_2-K2kduDkVeestczbY_iYKmG_2kmWZYamZu_dfm68i6ET3gXqTRd-HjjGCPxxfZW2aorLqY9kpc9_fyPmCwlDVFsMQ3olHvnmoWOWsov-XUftEFJZebK1jDmpsQt-AyX192_dgW9uOydUNhdNKsnc_A84qa9c5tWb41e7bz-9tHOaobElQvbJxZHNVaw4Dc-4EWdOTTK-fzISJbRww8fkf2VFb2WKD0x-hKqy5-HX38WLtVWvxt7jdbSHGOAe8HN1t16MdsZfeyG1Vx8p8TRhiWi87DXY4OiaqYIIxwDjVJIxHVwK_MhZv-l0Xsahh-HZnwaOAWC2f0HHi3kedEceYjYZuaWJ016Le8VogzbgTtuVBEX89lDsOpA45svETG2REHMLrOrxdxlnqjsTZ_KY09AclTkD2eZpFKmAWMjK3c8rcFXvWPZgAkMtEF0GOZJY5IGDIUWU3vcyy0WPuKF73kAISY13z71IC_3ExZHm06isdyc_DibVQbsUOz9TjwY-hmk0StWfwPm5dpvhuquQapc7H66XvPTMmHNOsWla985fmRbvfPSwwzd-i_JB46D_LJVSkuW4XowXan9SOZSu_si7qK9OSlxty3vUXFTDuxg8ZL0ql1u_63jTuo1xrgAtcyWKgGDxNQ6jd4TFNKpACClwM=",
  "id": "rs_08aed949cb8eba3c016ab494ff131487d0bc348265933a0dd6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJURJSXpQm0GMf7wP2lsMdqzqlOPUbDuHpBzgwRFmpo9G1ak_eFNrYg7vxXNf2HiofQm0kizdIsiIgAek9e6mP9XyA76oZbTs6MuROBnL5ZRNaKfpfGEHS0tEG9VzTb3oAjyjFAxVak0YqQe6upnJtQ-oN5BH5R95sD8WYxxSAvCrNeYbgfs9VINVBHqOCAnbbXG0B-fOSrsHwJGiJ4m9ba4Bt_dJupz8LSRRvRu7u0y9M_cC3kkV-l0Lc8aYm8C5dfaFTmgB5XA9Z6DojjTUdDnq6CRxdpcd_DBFXyBgu2wk4Cxnr40xjHiktTCY2qCjFnizh6K7G9MLJBj2OYyy7LkfGzhi766lnC70Ake1z8MDBPALxuJFOOXRDtyhDEdqObof7k015MoMIVGWRtx3JIPMUx-9GR-7mS20-h3xAalAXYWJtIkZrBm2_92ck42xpFz5xMwtc8r4BqeGUbG5ZtwE0BPOytbZhIHpSJKjg0YMEVMfFRPC5dUT4GFEztkG5RuwKsRxF_4RYLEpBNdD8RfPYWn1oygUabvb6uS_9EvXtPib2oOR6uFpJ4rXyehYSg0gA4olU31SDWHIhR5Q9c5sYx2zkWakASj4VgBN7VQGn7gVON4YOe0iL-RGXK3hzjmFzVucAKtVRHrJbBrT-F-37uq5W6L1fw3dlQh2ggr-kiCvg7ffwWsAJW4TOdcjdmBFSAuQbWPnBsFrIYyZqnbfHKhQ1XZzUYlj1o___itFNmEA_auhF0bbOiHMd1o9w6XxxQo63e9n_ujj4moDDV3hI5pNIV3Q_Z4BECIhmw8dHU215MLP0KJDo5SUEUVVznh9Ngpw7xss1j1it76lXMllu3wpIeKRARBt_xUymNv75plPfKKxKexIpRH3GZ0LR0gKYBl800wS4yoa71qYIsYM0CrakItjad2L4oWszaaAhHR3O1Nb507is1tzQFmsflrNrhh1cpmqtlZjYgV2_PuPJXsXzwuGSvrCI-ZDpzSX-YsKVVfhEYloD7yUMXyaazE97A0hcbPbWxbnS07jMsJP2skhFUULVppH9qe_4y2jS_uBJmzT29zJBilGb2-jPM8GVnod1FX4jpKMh5mlr8u4uSPOh700WY2p-pkqhmg0le8ruPGMtOhA9tLFUPP3PvlZb4BoJ6rjzbs0csXpsKIMDRLPJsH0KglAY-nyvd9fD_7Pc0lhx4oS2gZ0rG0_161VaJDUK9Q5V7YWannDrCOsmOuJlxr54wRg62fsoK7rFB9y9t3RjFu0tnoErwb3uhd24OkjE3nvnyS0Y0PXG9RBuVP3o2O0U5rGC2N7smlELs3XtiUGesBcMHNm5j3pjELRh6oak14Y1AbXl-vqr100ZXPC2vLb0yNmPPNlJiiCTfyPp6_NpQAOpwts9FWkiQhgzj96mAhnJzKnSLSpmzHyT0G2szv_fWfxpjfR4YP2Rp_yXtdGLa6WqZAKTHC6Dh0IYRP7K6NbaGptD1T3RpYtxrENqf0Xh0o6gtk40o7dCvabHHIHBzPEsbQwemfZBO5qnZnlq837TQ0SQD8czR5GL0zVtHyWyHS-Stq_-AQ4EU--Sh-xvRkk3vtt2fq9VloCe3lOid2rLiV1IrJYUqH_llhGnHDxkzCKZhjkDMA1bu80osZYePcQGjuM2TU6M9CikK2PTvbnFtzZHK-3FoBY8P3EoTxaGE--_9NKgoiLJcnL6ZBsNbVkUGKToaYnB_pIFWH0UE45vv2cWFD7SlBloJDovwrapi_X123ltSHmRWVEgGJdLklyUmQlm1jCDvLyi8pcc7TYZo8kOk2K3-eIQ3ccGxqqSUE0n-vb-VgLITcrVQAuaYnZ2p5AZK-w6eKQibCEBH_dTFAaXrqaA5NFQis4_RhlSUi5uRDaaU1XUHUAiqFw51TGzIRLtP777UIDE9X_Pr_vdTeHpzmHoEjGaldjFS4YSal2zLbKdotZCWGdI-0k1PLdVvsKhxA1evHbPd-O-R6dJDZyEsXqLhLU2bQlNQQBmRU_V5XvHKeWwfDvtAqkPex8JY3P5E21OTz9wTzTMUqW-KfqJtofsPmneUXZKkRnyURMlwMbNWvQ49vI_mwDkps23Axqi7tVM4Rjs-0-5tk6XBlbkfHRG4a_5aVoT2DGvyjLP4rJvrq0iqHylZp_64OSpblQOn9f2PZMgHBE4A2bv1rfXyqQbtArDBQjBA2COmdvaAkiFLphi7TvfIDgJ1Mk5kBxidChT_BMY1LRaxkOqFR79p-ItuhYSRc6ypSpSAmPNq2LWlBiO3vX4feDGgFIMOWsFhSDg0lMFb3Bb2Uf0ieP0sCj8Rx2m0CXWQ-LbyJUadxQJqezIO1F6JbeNldhOYazIN4WELjGBbIlpew36hyc5RfawBTkL1TGXlZ97WOO7fHvSkzwjso_atLIR3zP__6HgCd6V8zqLe3ewl9wxRdZ65WxfcjZlLXlat40WOBWMTsNcFAsfccswiEcROMGf_SLTvNx5fhvCRMqbBy7mK83WyyP0SB9ctXKtTAfdfs6wI1eUULdo_KVQ9FXOLL_o4hYa6FrS_zMsDpy8B_RFxMvMtuVhJA1oePH5WC0Mx_TKoUuS0f3VU05Msc63iw5pPR1-qqJp5quEd0JkF5XSmXfaP8NQnxLNmh14SINlzrugjNTJlsMm8j4NZlhYLPS3HE6SuRlgcatte-vH0ZW26G8QB4Shru0wLJKXPN5Jlyin_dcB-ozdZiChujYkoqID8Adh6tP37AMw07I9-iuHOWxTs_JaqV_nlild48iLEzSJLoH_2tQcihwLQvJPrx7dg7JYOfvAiofMXk-YEM7qiK2IsN1PMdLW6GM59wWI8gqP4jzYIoA8jNmK65OF60ejcya343mtxJgDsI2XmgOkj67mCoUYY3x65-kXFL-7yFNjJ1gCoEmd1UvnRVlqG2IkeNrRYYL1ChtvrRt2dEKP_wy_aNUgFHR3Y9jFWO6woNYss4WPD9z9Q1umL7sF-gJIDlxcNIv44z7JQTK4YkmGGta_KTkBzcZd_i3lldO7k39q7tdMyixkWDowRQH1BOFwv0JNoMepdzrM3KCBRlwwNjGNkjoqkIzuDETVAQIcHovq14558dsb1yZGOrQXXgl05lCbKowq_Vr5bXieHwHqQkGNOs_VvIpxwjgIM6WIa5jAdW7XK3NVCglOE0hFeit5Tm92cEmWaCWQIaRO1jr_1Yt8Uhe3eUwu4yHpTc2kFIzpVaQiPWIw7so0idO_rVNM6saDV2G7QiMiOxus137XXaOZG-e9P4ydbG2EScjVpCsVusgu4TusMwtlN-0F09JpA0c2q6Y13bCtl6YHWTYv19T84NWXj_UZS9eGaspkfLiWcGSSnc4J1J0fcdvzGjWk6Aym2HtRTGTdnbjmDl_VddqTPN0T2pLJb4uoc0r_wYMQdFZLyJfEQI_R-BFtwtGwGNxZAKR-VVumZrhnKALkjLT43nVjysVaZqz6eRpBYygNoWj6gkqLHnqusXZ2krhubYkQbgMNuCXF7D3sl148XdzVFHAH2QwuCAVcIkbkuJBmeECdpQubVByp3tq8GeGVCXVOCrU1o96_8lXEQkIkr_fYq9HhxsXHWE_JCfE-IpQ025W-t9Z3sf7IEmP2nqFZSHAawFokMQgXvvgMa9GjHhdXQjp0qNkfl1D5ay1dG6X7fKU_qXNAeyPGGFpzeF7uHryX7PA2ZBApE5v7ZOnIBfEW5-8d_e2r50JAgfBLSyj2H449ioqVbqCBbGZ95ZpOtI5ZJozg-fKV-Go4yEPeIxbOEaGr3PPA==",
  "id": "rs_08aed949cb8eba3c016ab49507e04c87d08edffbd24dfd3ca6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.14,\"left_z\":0.005,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.29,\"right_y\":0.1,\"right_z\":0.005,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The current grips leave too little clearance for the gripper bodies during capping. I’m setting both pieces down so I can regrip the cap nearer its closed end and the pen nearer its tail.\"}",
  "call_id": "call_cKABPVZip1v4pH1fwvcVvCbP",
  "id": "fc_08aed949cb8eba3c016ab49510091087d09c51ecbb1c72c8a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cKABPVZip1v4pH1fwvcVvCbP",
  "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]: [-0.6537, 1.7332, 0.4244, 0.5468, -0.5716, -0.4438, 0.0926, 0.5762, 1.5311, 0.1539, 0.6849, 0.3855, 0.2684, 0.0766]\nstate[eef_state]: left_x=0.3321 left_y=-0.1295 left_z=0.0006 left_yaw=0.0441 left_pitch=-0.049 left_roll=0.035 left_gripper=0.0926 right_x=0.2821 right_y=0.1084 right_z=-0.0021 right_yaw=0.1026 right_pitch=-0.0758 right_roll=-0.0258 right_gripper=0.0766\nstate[joint_eff]: [0.7316, -4.9026, 3.3983, 1.0379, 0.0904, 0.0513, 0.6813, 0.3077, -3.6718, 2.906, 0.7155, 0.149, 0.0611, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df91f843f1cf5ddc05a467353dbc7cfaf922bdb9206074bbf6f2ddf3a5ee19fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7042f37029ef35e07352ca53c910448cd018e845a1a1c0de55db952709f05066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cefb982645d4c83d07c838e88f2d3175cff804de0bc6cfe04d689932d5c179",
      "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 · 5.453 s

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

message 62 changed as sent

message 70 changed as sent

message 75 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8383, 2.4245, 2.1914, -1.3952, -0.8585, -1.6444, 0.0849, 0.6563, 1.417, 0.9909, -0.4953, -0.4431, -0.3725, 0.0739]\nstate[eef_state]: left_x=0.4099 left_y=-0.2504 left_z=0.1023 left_yaw=0.7693 left_pitch=-0.1398 left_roll=0.0091 left_gripper=0.0849 right_x=0.2418 right_y=0.2864 right_z=0.1435 right_yaw=1.2381 right_pitch=-0.2506 right_roll=0.1017 right_gripper=0.0739\nstate[joint_eff]: [-10.1265, -12.7521, 4.9983, 0.0855, -0.6764, -0.0464, 0.8034, -7.5966, -3.7402, 16.2667, 3.5629, -0.6569, 0.5836, 0.779]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7506, 1.3296, 0.9447, -0.4995, -0.749, -0.7139, 0.0896, 0.025, 0.9691, 0.6712, -0.4221, -0.5404, -0.2718, 0.0747]\nstate[eef_state]: left_x=0.328 left_y=-0.1365 left_z=0.1778 left_yaw=0.2217 left_pitch=-0.0312 left_roll=-0.0084 left_gripper=0.0896 right_x=0.2866 right_y=0.1017 right_z=0.1691 right_yaw=0.6119 right_pitch=-0.0498 right_roll=0.1271 right_gripper=0.0747\nstate[joint_eff]: [0.4308, -5.2718, 7.159, 1.746, -0.3297, 0.1734, 0.7888, -0.335, -3.6444, 6.8444, 1.8291, -0.3883, 0.1978, 0.9109]\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 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6537, 1.7332, 0.4244, 0.5468, -0.5716, -0.4438, 0.0926, 0.5762, 1.5311, 0.1539, 0.6849, 0.3855, 0.2684, 0.0766]\nstate[eef_state]: left_x=0.3321 left_y=-0.1295 left_z=0.0006 left_yaw=0.0441 left_pitch=-0.049 left_roll=0.035 left_gripper=0.0926 right_x=0.2821 right_y=0.1084 right_z=-0.0021 right_yaw=0.1026 right_pitch=-0.0758 right_roll=-0.0258 right_gripper=0.0766\nstate[joint_eff]: [0.7316, -4.9026, 3.3983, 1.0379, 0.0904, 0.0513, 0.6813, 0.3077, -3.6718, 2.906, 0.7155, 0.149, 0.0611, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df91f843f1cf5ddc05a467353dbc7cfaf922bdb9206074bbf6f2ddf3a5ee19fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7042f37029ef35e07352ca53c910448cd018e845a1a1c0de55db952709f05066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cefb982645d4c83d07c838e88f2d3175cff804de0bc6cfe04d689932d5c179",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both pieces are resting at table height. I’m opening the jaws so I can shift the grip locations without dragging them.\"}",
  "call_id": "call_4PltPOX3uRXPWUmrdXWgJVkK",
  "id": "fc_08aed949cb8eba3c016ab49514202887d0af55da83112b941b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4PltPOX3uRXPWUmrdXWgJVkK",
  "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]: [-0.651, 1.7454, 0.4141, 0.5831, -0.5758, -0.4522, 0.995, 0.5774, 1.5372, 0.149, 0.6964, 0.384, 0.2729, 0.9951]\nstate[eef_state]: left_x=0.3328 left_y=-0.1281 left_z=-0.0001 left_yaw=0.0541 left_pitch=-0.0365 left_roll=0.0214 left_gripper=0.995 right_x=0.2812 right_y=0.1085 right_z=-0.0032 right_yaw=0.1026 right_pitch=-0.0759 right_roll=-0.0211 right_gripper=0.9951\nstate[joint_eff]: [-0.4034, -7.1863, 4.7932, 1.1795, -0.2466, 0.0464, -0.1099, -0.4308, -4.5744, 4.3692, 1.5018, 0.1148, -0.1392, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b586fe32df602c781274a03493621c9e86c85a5dfbcd9c0bffa81b8e69a895",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b491c59a6d727fa93d2b8184ee0735d6f24a4f2a790ae4ad5140c489654d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e459fea8c6cac382d6bfb44f2f4a3c28cc3299c0e0bf517b786ca58466f5b444",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.133 s

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

message 66 changed as sent

message 75 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8185, 2.4233, 2.1757, -1.388, -0.844, -1.6447, 0.0872, 0.564, 1.2713, 0.8307, -0.4568, -0.4454, -0.3222, 0.0743]\nstate[eef_state]: left_x=0.4124 left_y=-0.2422 left_z=0.097 left_yaw=0.7914 left_pitch=-0.154 left_roll=0.0167 left_gripper=0.0872 right_x=0.2384 right_y=0.2451 right_z=0.1348 right_yaw=1.1172 right_pitch=-0.2326 right_roll=0.1262 right_gripper=0.0743\nstate[joint_eff]: [-1.9487, -13.1077, 6.8308, 0.1441, -0.652, -0.0757, 0.5397, -0.3897, -4.8479, 7.4735, 1.8388, -0.2173, 0.0806, 0.8913]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6537, 1.7332, 0.4244, 0.5468, -0.5716, -0.4438, 0.0926, 0.5762, 1.5311, 0.1539, 0.6849, 0.3855, 0.2684, 0.0766]\nstate[eef_state]: left_x=0.3321 left_y=-0.1295 left_z=0.0006 left_yaw=0.0441 left_pitch=-0.049 left_roll=0.035 left_gripper=0.0926 right_x=0.2821 right_y=0.1084 right_z=-0.0021 right_yaw=0.1026 right_pitch=-0.0758 right_roll=-0.0258 right_gripper=0.0766\nstate[joint_eff]: [0.7316, -4.9026, 3.3983, 1.0379, 0.0904, 0.0513, 0.6813, 0.3077, -3.6718, 2.906, 0.7155, 0.149, 0.0611, 0.8864]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.651, 1.7454, 0.4141, 0.5831, -0.5758, -0.4522, 0.995, 0.5774, 1.5372, 0.149, 0.6964, 0.384, 0.2729, 0.9951]\nstate[eef_state]: left_x=0.3328 left_y=-0.1281 left_z=-0.0001 left_yaw=0.0541 left_pitch=-0.0365 left_roll=0.0214 left_gripper=0.995 right_x=0.2812 right_y=0.1085 right_z=-0.0032 right_yaw=0.1026 right_pitch=-0.0759 right_roll=-0.0211 right_gripper=0.9951\nstate[joint_eff]: [-0.4034, -7.1863, 4.7932, 1.1795, -0.2466, 0.0464, -0.1099, -0.4308, -4.5744, 4.3692, 1.5018, 0.1148, -0.1392, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b586fe32df602c781274a03493621c9e86c85a5dfbcd9c0bffa81b8e69a895",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b491c59a6d727fa93d2b8184ee0735d6f24a4f2a790ae4ad5140c489654d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e459fea8c6cac382d6bfb44f2f4a3c28cc3299c0e0bf517b786ca58466f5b444",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJUbjiHR5Ll_1jRmL0ZuI9spea8T2kntPYDK5w-gR0uvpsRCPsz2W4J1ZpmjyTBc5HDXuePGD45H12pedjupzMTvTP9ZpXPKmIZTZn2cLmYqZBwHDY1sl2VZRFDGd8HLXNdpiswiP3pVsW4lJhM_jg_6T6ztfbHQDcnrv2hK5qE9Tb6lrbPWd_ZOeHp-V8CergdX1v8-Uuh6f3EGj_AxJA5ZutyROj4jDEP4Fg2lMiylHjBOhj6BWbak6nTalBRqCxDJBLqByAgTSwh4wirYeb5zc8C2T4v08_gKg_WsTHeprTtr2U2-4aaIENbQKGpPMZYk6Q3iQVKoo3w6CPthErbdQoGIm8y993WBeL9rQ3nAEGjwoDBFjj-H_sd4NJMwtnmpC--HRL-SKxKWtMD83qhsoXsQukXjiHVI5tp9bVCZKZns--ShE41VElK_ZkX60Ul0h6Vwtl9l387t1eoqESZbc5UJIlgU-t_NTAfvXXnsEDMlpKBmOIJmEEbA5TOPFd7dmn-k7JdyKZ637_gm61u6Qu1FwZOiAQscB0aVwS6CsL9IXaHalfDr6-RaMSW3c6TNk3fuMI6Fa6FZH8is4881eqpdofN-cXGICiBsBlyE1CVlhmLXzKN6UW-kwVPUvPAeluxy01DUhAzMkGnuN2jA9AdJetDqq6lNtd72krRaJn2NzyLJdLatUmfBHvkz0577GSU_lggOE0EN3GT7yUBqFjm1dDQ6_Dpa7kwHROiO5ODGRT2TsskGR6sqhUTQ-U58moEnYhO09EeqCHRQEwBzIq4PaSt6TViGULzTGZhuwAYWfv9bPD75pV_NWB0WaDc7a8_7ZEjJr7WfENumWc9J5fpJ4YRrsI6Os1NIqmWt9XyFAbjDRu92g5ScmiBUVZrt-PUOudNDhkVCKQbX0Tx56QbXr03ibePxDSpFes5PMyXTYdB_UTIKHGOq8wSUzx56Bief71PnrfD-1rYq_0-E2x4N1IjcY16l3JUWHiSKziAV0tl1LPB9_wv6_1eR4dozMl28DH0FTz1mO-snD3hd5fwf1j7AIoshA9oq9TXMT9zWtI_wJ5OHf8uBQ5DiJu9298hQGNnvlaZ8iN7-N8UnGzI2kBLqN6Egadn2IWkxsEa_A3AztwFt5eS-p_xCWnmvlPgRyJrNfXe-Uv2lH7Aiyxrn4Vhv_xlTDkD4L5FRTadqu1Uw5lP4Au3SXDaewrmgq2J3KdiImdMiYkD5vhEJZaSQ6FrXVH--ccH0PbA0MCNL63H8zZfRwHTn4sBp3JK3qJ3hqkYJfCmIVmRNYCzDv2Mi6__oJkCHf3gpW0t6C_GL6ppgCRbxNFHf6ZTSuqYHzrkuN-CxvSkDRjZ0MkS2Mk-8EWzrx-7-jW6Ahe1kxZcjNXjnkBXNEgm64RfP5SQk42IdQMFPmvvL60ZZQQdhLBrRfpYfSQa4oGqhxdFYY_z35LlitYv-qJt9NogjGX3qQFzk6pokFO38e2OrdfXRj1iSNr4nY0VwMyytwXw6i6x_kOGyyHEVUtLiql10Z1zTaTaRHlzhCND3kEz5zcO2gepirxIf0NnzGHTzUMvKlQvNGdOU28Bl19T2ewVPvuzsiF7yQ65sMhrdmR7izu33guUmgGejGx-PbmpSfzfmxYkfAcbMWJoOCVPPjDzU8oHxUvpDand3xMODotx5K0s2o70Ga9h-tXQxr-_ENNmCeQX081ChT1FOCQTjUL7lWTve0GFenedEQYP3R_-LipkFniOHMDKzoB1RkNVKhmutDlHhRXOFGZmgrhGA_s5XO-8d1RcH4nS2-UPj860K65O-O4tLI4Xz2ypnc0ICIhkH1Ue1J90_RDvbNRLLc4oAF1iyPOs6J3n6JccaSpIRiX_OfPGEsw9GfE7LrO2a3br24wyrAG01XYK6njx9NDIvoLBdzurUEW9BZNaq5lf4nJuxp3d7s8eMnW__FXKGkHiIa6ECgVLXgOlpHv1eBWlk4VvU",
  "id": "rs_08aed949cb8eba3c016ab49517a9b487d0a429894449b1fdcf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.16,\"left_z\":0.05,\"right_x\":0.245,\"right_y\":0.10,\"right_z\":0.05},\"note\":\"The cap shifted toward the right finger as it was released; the pen stayed close to its centerline. I’m lifting the open jaws and shifting to the cap’s far end and the pen’s near end.\"}",
  "call_id": "call_fx9ELICwszRQeXvAS4aTa022",
  "id": "fc_08aed949cb8eba3c016ab4951a051c87d0899db98eacbc8169",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fx9ELICwszRQeXvAS4aTa022",
  "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]: [-0.6792, 1.6814, 0.6048, 0.3439, -0.5926, -0.4736, 0.9961, 0.6582, 0.9752, 0.1596, 0.239, 0.4202, 0.3107, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1587 left_z=0.0425 left_yaw=0.0497 left_pitch=-0.017 left_roll=0.002 left_gripper=0.9961 right_x=0.2615 right_y=0.1157 right_z=0.0673 right_yaw=0.135 right_pitch=0.0351 right_roll=0.0468 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.2803, 6.3248, 1.2527, -0.2564, -0.0611, 0.1001, 0.5402, -0.5402, 8.0889, 1.4628, 0.4322, 0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f970e1ea4db1dd7c0152008baebc5884e7d20284d86a9392402758d64de17b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f3961e11541989153f23a906b636180307d392e22b7e57808e2160e5ad7ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e11d9b51feb6ff6e633086b1f661bde4c04bb74df6d55a280e3b721da3b08b3",
      "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 · 5.085 s

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

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7506, 1.3296, 0.9447, -0.4995, -0.749, -0.7139, 0.0896, 0.025, 0.9691, 0.6712, -0.4221, -0.5404, -0.2718, 0.0747]\nstate[eef_state]: left_x=0.328 left_y=-0.1365 left_z=0.1778 left_yaw=0.2217 left_pitch=-0.0312 left_roll=-0.0084 left_gripper=0.0896 right_x=0.2866 right_y=0.1017 right_z=0.1691 right_yaw=0.6119 right_pitch=-0.0498 right_roll=0.1271 right_gripper=0.0747\nstate[joint_eff]: [0.4308, -5.2718, 7.159, 1.746, -0.3297, 0.1734, 0.7888, -0.335, -3.6444, 6.8444, 1.8291, -0.3883, 0.1978, 0.9109]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.651, 1.7454, 0.4141, 0.5831, -0.5758, -0.4522, 0.995, 0.5774, 1.5372, 0.149, 0.6964, 0.384, 0.2729, 0.9951]\nstate[eef_state]: left_x=0.3328 left_y=-0.1281 left_z=-0.0001 left_yaw=0.0541 left_pitch=-0.0365 left_roll=0.0214 left_gripper=0.995 right_x=0.2812 right_y=0.1085 right_z=-0.0032 right_yaw=0.1026 right_pitch=-0.0759 right_roll=-0.0211 right_gripper=0.9951\nstate[joint_eff]: [-0.4034, -7.1863, 4.7932, 1.1795, -0.2466, 0.0464, -0.1099, -0.4308, -4.5744, 4.3692, 1.5018, 0.1148, -0.1392, -0.2466]\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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6792, 1.6814, 0.6048, 0.3439, -0.5926, -0.4736, 0.9961, 0.6582, 0.9752, 0.1596, 0.239, 0.4202, 0.3107, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1587 left_z=0.0425 left_yaw=0.0497 left_pitch=-0.017 left_roll=0.002 left_gripper=0.9961 right_x=0.2615 right_y=0.1157 right_z=0.0673 right_yaw=0.135 right_pitch=0.0351 right_roll=0.0468 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.2803, 6.3248, 1.2527, -0.2564, -0.0611, 0.1001, 0.5402, -0.5402, 8.0889, 1.4628, 0.4322, 0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f970e1ea4db1dd7c0152008baebc5884e7d20284d86a9392402758d64de17b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f3961e11541989153f23a906b636180307d392e22b7e57808e2160e5ad7ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e11d9b51feb6ff6e633086b1f661bde4c04bb74df6d55a280e3b721da3b08b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJUfg1ha4-Xpk6NKYh7SReyMx7FfqSLbC8HNYSfTuShQp8l-yF3e4Jcwt8NobV5ADIURhNzTHc2EwabyzaFY5xoyv0NZ3CqzEHKu6AjMXckef8ZVxTImNOYtylvKWyQifzrymCV7CCcQz2GPh4IwddDFKXlPuMehlzwBCxmiaS-HEyLW6B4lQ7VId22soKTbMVEv6ViYOYtaPK46uIOf1ZgB6CRc4ndxxozXG5AWDy0upZGkZJSoRCQEGSDqC1fS71zQjbaB_TILAJaZDkx-xthH3TDPKE5n7MaN-GXQKNgPTT6w8I6dF5E2nCSqa1EFoxcYYhDRBxznZdyEeGvmcocpgMRm0kmA7nJxFNZmZ5poA2dF7JnR8vZDW7UaBLelo8gU2-bqUD1uHH4Hfkn6IAWIEUv1v-JfLelMRlG6fPNwX12-CembxaZfh7H1JyTfpQWaK3k_pI5V5J7HuQ553paPKylVIyHN2epYgRG8_MRPvR9e6u853mrwo4KrihHep3qLrCXjkX8OnFJ95LjZaYqCm4536G8U0A2PWNZorGlZXco7kJ-iFmvpz0-fbO739dFPz5OuZjOVI847wYIfb2czyLMBVkxQjx0rubwxMvYEj0qRLyT-47y-KeVzvx8f4Yr-Ofx6JAmzbODZSB3yReWxDbVWmhh4HqbOEk90zDke8OcgQKIcSpYeYKti5zFjsS5TcB4B2fgGzW9nxZmYdCRjd87qzr-MLoXCNYcWa4Mw9rBZmoBEZMOEbPfp_MzurjeU18nF2wCQkHhP3xhYbZJWwNnXzH8UY5b_ZzaL2frEczCaQPOD3sc2jF6LKtzn0BF35hu3Mm_Q_EdBnN9UHwkb9NGHQMTtBd0QZs-G6TgHiYcnEE9a1yBlviW_VWg_NlurZrl2Z0SMCZ1uLomnBL8xWTzCQAQA40Kc3qt50tLCqnLMiZ5OcBq98z-tS9R7RsYNjUEvCrymVuS-TwIpTPXNtyxCd58XcEMbwL8yUI6P1f32oz5pxv3UWgeC5zk8UBIkIYJOFfxwAYp7D6f7FH7izGBYmDe_0DmIyE8GTQOyxkJAMqwyfvJ4upfdGEbTAGfKt4gUUrU3kPnIH4WQtR_k4l1iJSEJajla0A78lVRGQNmTHaTVbmI1WuqarB9XE5VnUrIUc70EY7g35VLeM6wbWtH8ik_r0GXh84l6227IiGdnqnCFWr5lG8I8okNklmO_HJDymP-VgvUD9MYy8Licb17Y8HbCUmCNtx1tnHTecTvcU6Z7JvY6ZjSJe_2jmE9zHXnjDmIAn448vuxOhoPfaBAvWHkATummbpwzUSTR2UeSE7QNL2SCRwwWoKay9YoJ-wPmmaaaU0_ztQcIwc3KuvC1fbdAlfKSHkM9cynAQDInAv5QtsyNFEfvn5psELQXHdOnepN4GcnE6rYNIE8qjQUgFJiRl4eHO2V1t_zhHrk08_x5WnNSdyLr6R8kIm0Cb_K8nGybLGkpxyRlu2HftTFVYGCddEq6hj6VFtCKShALxlG9p4YU_AZi5204JGcBchemsPbu4MNf-bOHkzfUbTAS1scmgolJVehU1qo0RCe_Oij4Circ5CPUDOw27TGLmGxGn7xXGORQpr2iwaCQQYAH83e9pNXwGgHRLjtCYnNK2iTla1uL2RHUqWg2uxxMO8n08H3_Rnxdok5QEEksgg==",
  "id": "rs_08aed949cb8eba3c016ab4951d2e3887d0950b6c1a095ef393",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.172,\"left_z\":0,\"right_x\":0.24,\"right_y\":0.098,\"right_z\":0},\"note\":\"The cap’s closed end is just ahead of the left fingertips, and the pen remains lined up in the right view. I’m lowering at the new grip points to expose more length between the hands.\"}",
  "call_id": "call_azYSWxokXC2w0jrXfzhTVThN",
  "id": "fc_08aed949cb8eba3c016ab4951ed9ec87d09d8cb587d1561088",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_azYSWxokXC2w0jrXfzhTVThN",
  "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]: [-0.6975, 1.8645, 0.6067, 0.4908, -0.6079, -0.4976, 0.9962, 0.6727, 1.4105, 0.0105, 0.7086, 0.4351, 0.3187, 0.9962]\nstate[eef_state]: left_x=0.3613 left_y=-0.1665 left_z=0.001 left_yaw=0.0564 left_pitch=-0.0351 left_roll=0.013 left_gripper=0.9962 right_x=0.2445 right_y=0.1042 right_z=-0.0053 right_yaw=0.1324 right_pitch=-0.0595 right_roll=-0.0122 right_gripper=0.9962\nstate[joint_eff]: [-0.759, -6.0923, 4.8615, 1.1111, -0.2027, 0.188, -0.0024, 0.3897, -3.7128, 2.947, 0.5153, -0.1832, 0.0024, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd5502ab568acff37f58a7bc03808d97a50d84b35cebefdd4ff1d0d713b5085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac26ed7fc558e8376d41186f9e06f520daa7d6ed1b3c716c55cb3a0a6036fd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a18b9cd2009d2814c93379c1aebe761bfb8a841c29b9852ec86ab1bed48e69d",
      "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 · 6.267 s

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

message 75 changed as sent

message 82 changed as sent

message 86 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6537, 1.7332, 0.4244, 0.5468, -0.5716, -0.4438, 0.0926, 0.5762, 1.5311, 0.1539, 0.6849, 0.3855, 0.2684, 0.0766]\nstate[eef_state]: left_x=0.3321 left_y=-0.1295 left_z=0.0006 left_yaw=0.0441 left_pitch=-0.049 left_roll=0.035 left_gripper=0.0926 right_x=0.2821 right_y=0.1084 right_z=-0.0021 right_yaw=0.1026 right_pitch=-0.0758 right_roll=-0.0258 right_gripper=0.0766\nstate[joint_eff]: [0.7316, -4.9026, 3.3983, 1.0379, 0.0904, 0.0513, 0.6813, 0.3077, -3.6718, 2.906, 0.7155, 0.149, 0.0611, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6792, 1.6814, 0.6048, 0.3439, -0.5926, -0.4736, 0.9961, 0.6582, 0.9752, 0.1596, 0.239, 0.4202, 0.3107, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1587 left_z=0.0425 left_yaw=0.0497 left_pitch=-0.017 left_roll=0.002 left_gripper=0.9961 right_x=0.2615 right_y=0.1157 right_z=0.0673 right_yaw=0.135 right_pitch=0.0351 right_roll=0.0468 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.2803, 6.3248, 1.2527, -0.2564, -0.0611, 0.1001, 0.5402, -0.5402, 8.0889, 1.4628, 0.4322, 0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6975, 1.8645, 0.6067, 0.4908, -0.6079, -0.4976, 0.9962, 0.6727, 1.4105, 0.0105, 0.7086, 0.4351, 0.3187, 0.9962]\nstate[eef_state]: left_x=0.3613 left_y=-0.1665 left_z=0.001 left_yaw=0.0564 left_pitch=-0.0351 left_roll=0.013 left_gripper=0.9962 right_x=0.2445 right_y=0.1042 right_z=-0.0053 right_yaw=0.1324 right_pitch=-0.0595 right_roll=-0.0122 right_gripper=0.9962\nstate[joint_eff]: [-0.759, -6.0923, 4.8615, 1.1111, -0.2027, 0.188, -0.0024, 0.3897, -3.7128, 2.947, 0.5153, -0.1832, 0.0024, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd5502ab568acff37f58a7bc03808d97a50d84b35cebefdd4ff1d0d713b5085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac26ed7fc558e8376d41186f9e06f520daa7d6ed1b3c716c55cb3a0a6036fd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a18b9cd2009d2814c93379c1aebe761bfb8a841c29b9852ec86ab1bed48e69d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJUlN2T3e8qEzNFHkWO4o_duEJY0UHazXCKz-HdcCsD15db8eRkI-I5ggCnLJsrylYI0EzVS9TmNwML_S-TzSDKEk_geCkqUa-_bFesaRSU2STfXtaBCFpif-RL2mx4ju115kssU18MKTyvF3uyrqWYMRLkQREcE4GQKUvG9B8VTBmHs5xKaD8usObP_Hz7-Z7Wy820Vgypttx2BeHuXK0eVukZ6xcfT0gGxKAQ9ZOeiDatPAK6j4LdpQ91VIy-aYBFCeCfWp2nee5hmhlzNF2QmAdjnN___JwECVH17nFczBvniKoo17yAfwe9-v7nL3PkVZ5XVymBDM50_Hb2T69VD2e2LsiRDM-GWeQE5sOuZmAbIl0qdpWCwgzLsAYN6pX6cFVYcrGBLXqvehh3iyHgUc1Z6B7waAK3MsGMUt-GKmmbYxCVPbYzputHQL7yp8sVG2onK_hCm1vl2ggE8i1IkiTpBhNKWSsGXMdAb2rPAIKrsUB4b07mNI6sWP1qda0mjCrm4WsUvkVF1ChgqQJOJ33umx-CpP-D6SHNUrH3JK9y0weG8H7Q0bWUq-oxL9YieabvD2E0bABqT4q5stu2MDu8xOG5Jg-wjyopD7K1mHcp89p5soFeeAw5afXy7EQGK2MRCM639eX30TUln0V7EdJKNv5KNV7ovjUQIcNUpGw_GQomwBzDy4YUR4tIV6TKxSy11YHrdfH-DH1YfsrB_47PXLJ4FFJ1rCfJz1DHVkVG7vmxRllm_-0qAPePkM5qv-HKcsIRb80x1cMXRBwn0XvRwRoAgVfUWyvvffw8FzRerkLpCiwUZ1cQPLQUh_Khjj9S0pAlM8YYDHA7oEJ-lpulbhK4lhvLIyFd0iA7iovCpDEA9B3SiiuLZNAi58XRJ5SNpNA950zRaCj7N9lbFX_VzsKaCl7YbrkaDwBqCm-Ix1kq4hGpJqG_JY-M45RgxLLFIMGgX1PQJm6HehhpCExnPceICTl8N1lA8Ye7Us1eKTqHBaj9BzlOH-ueS1-nKteCaaYmBGkyy-BIhoTGaEtf5YFLROpSysli6wRNcPwNVivsJzviDk6ddU1L7qwzE9SMs1zy6YzZ11N0l1sN5FrsA7iSOgZ0rR340Z2Jb8cXJU0wo1GqksbG8PEhdol2n5dZAesd6z2q8cHWz7ioKc2vj4g_w7FqzspiUE_ixe5cfQqjXq-gEDPcjwRHrDUDye3GW-0Xih79y2HCd9_Uz5Ewv_hwp9fOkb6HU-IWLY2SrGMpaR-rPltwGrtofLFgepxjehr2RXdFX8At18xyojx5241MOcOoh4Wn1FQcZQC3nS8k9BEFU_NT6OomMz-R6BCNbCxuhtvyk5lJ0s0EZx5qE3QYFpNyLQkSsU2NS01TCFwFSEeSNWOwdo5tI0hqJVxlwvSka7kAUT3jwBzAZ4uw0tmuhqU27knIUK7UkXnrcRV5W0UKBrnlsis8smbbqPCS8CWJETI7iplWRf6jrmU7aqGY3f0uu-16cHvx_8urXic6fldW3_ubT0rPSFRs4S-e9x_9oAFiOdOEYbTRDBmfzPh1P3Dyk8-HK3IcEE6Rc9HYh4QMkR7lESzZVyU-m7hAZ9KkHY4oqLlAXBYHcgx640bI7Q9WrfhYJ5n_CcpahM1S2v2AVs2utDE8TN8P07pQBoxKyhR2yr1m9FU3aHjjFJgWoOtbGgoVJZO-Rs77Oy5hebZIMyzvJ0Ed0lxY_",
  "id": "rs_08aed949cb8eba3c016ab49521be4c87d0bf94ce51edc6a3e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.184,\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The pen is centered at its rear section, and the cap needs only a small rightward correction. I’m closing both grippers at these more useful end grips.\"}",
  "call_id": "call_m1rG6ipjdahrVU0NWe5SUXjU",
  "id": "fc_08aed949cb8eba3c016ab49523c04087d0bdb61999752e04cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m1rG6ipjdahrVU0NWe5SUXjU",
  "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]: [-0.7395, 1.8828, 0.6491, 0.4782, -0.6533, -0.5411, 0.0132, 0.6739, 1.4136, 0.0093, 0.733, 0.4297, 0.318, 0.0509]\nstate[eef_state]: left_x=0.3643 left_y=-0.1821 left_z=0.0078 left_yaw=0.0711 left_pitch=-0.0046 left_roll=-0.009 left_gripper=0.0132 right_x=0.2462 right_y=0.107 right_z=-0.0022 right_yaw=0.1388 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.0509\nstate[joint_eff]: [-0.2803, -6.8581, 5.5043, 1.1355, -0.1734, 0.022, 0.5739, -0.2803, -3.0017, 4.3145, 1.3602, 0.1978, 0.0317, 1.2088]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca32da5fa507f6aebca8f655d2846b128c289c1ecd245d47ecc0454bb6577f62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15e29e613bc93c0c30ef5d765ad7d9eccfc5c785e2703e121a6736473ad0c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9031591a61c8686a2f3e8fe61e04819163fc3925f61772eeea55bfd66eee69f",
      "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 · 4.692 s

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

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.651, 1.7454, 0.4141, 0.5831, -0.5758, -0.4522, 0.995, 0.5774, 1.5372, 0.149, 0.6964, 0.384, 0.2729, 0.9951]\nstate[eef_state]: left_x=0.3328 left_y=-0.1281 left_z=-0.0001 left_yaw=0.0541 left_pitch=-0.0365 left_roll=0.0214 left_gripper=0.995 right_x=0.2812 right_y=0.1085 right_z=-0.0032 right_yaw=0.1026 right_pitch=-0.0759 right_roll=-0.0211 right_gripper=0.9951\nstate[joint_eff]: [-0.4034, -7.1863, 4.7932, 1.1795, -0.2466, 0.0464, -0.1099, -0.4308, -4.5744, 4.3692, 1.5018, 0.1148, -0.1392, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6975, 1.8645, 0.6067, 0.4908, -0.6079, -0.4976, 0.9962, 0.6727, 1.4105, 0.0105, 0.7086, 0.4351, 0.3187, 0.9962]\nstate[eef_state]: left_x=0.3613 left_y=-0.1665 left_z=0.001 left_yaw=0.0564 left_pitch=-0.0351 left_roll=0.013 left_gripper=0.9962 right_x=0.2445 right_y=0.1042 right_z=-0.0053 right_yaw=0.1324 right_pitch=-0.0595 right_roll=-0.0122 right_gripper=0.9962\nstate[joint_eff]: [-0.759, -6.0923, 4.8615, 1.1111, -0.2027, 0.188, -0.0024, 0.3897, -3.7128, 2.947, 0.5153, -0.1832, 0.0024, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.8828, 0.6491, 0.4782, -0.6533, -0.5411, 0.0132, 0.6739, 1.4136, 0.0093, 0.733, 0.4297, 0.318, 0.0509]\nstate[eef_state]: left_x=0.3643 left_y=-0.1821 left_z=0.0078 left_yaw=0.0711 left_pitch=-0.0046 left_roll=-0.009 left_gripper=0.0132 right_x=0.2462 right_y=0.107 right_z=-0.0022 right_yaw=0.1388 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.0509\nstate[joint_eff]: [-0.2803, -6.8581, 5.5043, 1.1355, -0.1734, 0.022, 0.5739, -0.2803, -3.0017, 4.3145, 1.3602, 0.1978, 0.0317, 1.2088]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca32da5fa507f6aebca8f655d2846b128c289c1ecd245d47ecc0454bb6577f62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15e29e613bc93c0c30ef5d765ad7d9eccfc5c785e2703e121a6736473ad0c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9031591a61c8686a2f3e8fe61e04819163fc3925f61772eeea55bfd66eee69f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJUsR9mFBdelF62WFfufMw2Kl-JmPwIAgRZTO_uhsp9Z1O-12VAvYfvb-eqbiO__pvO3k6syIhLOFhpgDvZ18GU9J8rYkncJjEkTLEyk3K-bQtIVgwQQ_93i4RjNE4kr81MukDnkNzdPfnEEf-QrOuFw9u7PeZYq73JEFoe77Xky8jprW_J2BleEcqMFRlShOM6AwJX30wzZ79fVRhTZwt_Fh4OGHNDRKJAut6qzVk-j9OARClYslz2v14AJhuqZN3je250vDFNuQPyuNhFBpzcuRfxAIM6dfkRQ-3fH2-JtQLZZi7Hpw4ybFt4jxDJIV5ctypMDBvrqmmEAdRxIDEbnKDIJf_i6KFw-1rS8SYZNqtPGDksQ623CqmMsRPtkDEMd-Jm5oTJQy-vbj68ui5OKyMQuJ7vAe-yCPGTzT4DLnpPrWhod4fB3paH7vCD5CvOg16mU0qp_Kv2O_rZMsmSQLgNRENcy2ot0v_iWDeVafn8yBs9dJLbUObBVSywAQ0hWdUw9gMegT5dNwsrOzEWt401zBLd-otUJMgEzoYIdqzsHL_vLgknYRNk-rpiNMBabTR2dcjXIeVUcb3SConbY72d5qoLX2n0mIjbfqWviHMaFnoBVs7_QWSENCob0BeOfLkUl1LNo_5aKXn1l1JbtrOKwBtJGri4XcugLxAEZsUBczigREiAceebi9L1ecmlmxoC1pXsl3x5q-7zVmhCfB47PEyGNT22GUGPtYbf4NBSTPWu011HDBg18rrtHtFT1RHB7VyACl-JQNiNV3X82Uwp9v5bp0xXt0sx_-R3sdVgveXqFKLQe0GzCes1naXdwKhebP7Tz7hcp-biHZeOUSC1g1JFR2XT2a-AJ52ChnC5ugazNeowcsz-UK3FOM_dkUBZaaKdboHsJiiijv5fVpPng1ntPKgp7WDpuRSTcaC5-aHw2V92XyZtvwCx6B9AaoIpQc0ogzldUo8UC29BN_wWMaVqMqTEQWnCUBrEIZLF7HMNbnaPuh9qhlYq5kDKYymI-Z4D8_yzG3-Ht1dT4Ut2GWe8Bs-iqL7vRCeGQMm3epcjOGYQsqOlQiN8AlY8vHOW87zyaN3CibDD1G-A8Vpx02YjlXfeVYg4gfLtIcTJJOeKW3U8yExm0yd-Rft8_EzVJ8ZwnvMWjrA_Uo-lOotaBr5w49UqB2HTeyNI1ucmUYXyDohXM_1iXpsMdPZvtz5s0zrTymMGz-VR_rCUQbGKYmPzPSMS3dQ40JQPQa8HnVty8xcOspoaNVdI2cTSy_wHrnAfmwmZKgBPGGtCRrVgopcNJ_5vEvfAw1tq2qAT6ZSdEEU2UJ1qALQLqNz6cLE2dHYuzBtap7mTko4YDNRHyQCFO0GgrWbZN-dbsDfzX0YF9tHhf0RoM7KwGtjik60DD4ItI5p0EZVQmD66yK-kQziqfHZ8FCuEMJDCuq1OBqh5uF0q5UyBTuLZ-tuedgf22m-MGOaS0FYZtoJQML32ty59AScd38Mun0FVmaQ-LBzYdktxiUkHLbZzYxcvfB3HSa7n5Y8dZQBSHkgymVuQJ3X-pti1DuVC2v8dX8z_EXzer8GUmQJ06H3a5uU_jh7ihOvgF5Y72nB990byB8u-LkZRM2cJzKTffMAWPMbqcWAzBM_5O0JySjL5uTrolRGVNKclvfa-RACTH2l3g7IK69u8cu8Cb80W7jPhhek9Qz8WTauMCn7eEryOHq9GVIYaGgBEuxVQgl2r1_jstWtOUxxfOqGYupZoQhq3_CYm-6UWXdCPRba_zYPd4zmPmyWoBTU7XgUrb14x6AZ1Zq4sWcuL-dE90ib0vpyvZcBO33fRmO3Rl5qldb27e5IMDvD8Vx0lWTTsqnwJaAok-y7VVfHmEt6OesLi1F1bOLJ_AXm15j_N07rZ43ttduBEgT4pN9DNLkRD_SlzJmm6jT-4K22DSmStej8DRsHXq7nL6qhhRwlt6_-UQZzgJ2KfO0RYVoSz7092UPFXAIHiw8fEsN5XS8ltKaQ2GjUhHKIqLTIfoC1rr66XzgWpFxYvIZ44gX8KHMcHPj4RF_fz19WxW14iQ5Y-RTOplRQhGPhah_0BF-t9_BwsW4aUYwYMTmbKVCCJhk6l_Hemdfi9pTjyinmcmpdMuTULUX2NFIpPwDbBkJyGcWfm4gfT2mepN",
  "id": "rs_08aed949cb8eba3c016ab49527e05887d08e4a21ba488ac82e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.184,\"left_z\":-0.005,\"left_gripper\":1,\"right_x\":0.25,\"right_y\":0.1,\"right_z\":0.17},\"note\":\"The left gripper closed empty at the cap’s very end; the pen grip is secure. I’m reopening and moving slightly back along the cap for one retry while lifting the pen clear.\"}",
  "call_id": "call_57hvyazp7V7oXwiLzg8EDqVK",
  "id": "fc_08aed949cb8eba3c016ab4952b443487d08cb736470b52a60c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_57hvyazp7V7oXwiLzg8EDqVK",
  "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]: [-0.7799, 1.8938, 0.6102, 0.5224, -0.6819, -0.5755, 0.9967, 0.6212, 0.749, 0.5442, -0.4469, 0.3832, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3516 left_y=-0.1861 left_z=0.0016 left_yaw=0.07 left_pitch=0.0059 left_roll=-0.0204 left_gripper=0.9967 right_x=0.2517 right_y=0.1034 right_z=0.1589 right_yaw=0.1447 right_pitch=-0.0405 right_roll=0.003 right_gripper=0.0576\nstate[joint_eff]: [-0.6769, -6.1744, 3.5214, 1.4432, -0.2808, -0.1197, -0.1245, -0.7043, -0.9368, 8.9778, 1.4872, 0.1245, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e99050edd4cd6aa723829e5fc6d7ce7e33f584512c0987f2b1fb4bf3195d44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6dea9b068956d48fb43f346524c0df3a3ba4877f64180842f062abcf90a6be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e8a160a03db4d421c4ddd924e3486d47b6938166487a568ac09c23d99b2c3d",
      "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 · 11.62 s

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

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6792, 1.6814, 0.6048, 0.3439, -0.5926, -0.4736, 0.9961, 0.6582, 0.9752, 0.1596, 0.239, 0.4202, 0.3107, 0.9961]\nstate[eef_state]: left_x=0.3593 left_y=-0.1587 left_z=0.0425 left_yaw=0.0497 left_pitch=-0.017 left_roll=0.002 left_gripper=0.9961 right_x=0.2615 right_y=0.1157 right_z=0.0673 right_yaw=0.135 right_pitch=0.0351 right_roll=0.0468 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.2803, 6.3248, 1.2527, -0.2564, -0.0611, 0.1001, 0.5402, -0.5402, 8.0889, 1.4628, 0.4322, 0.1099, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.8828, 0.6491, 0.4782, -0.6533, -0.5411, 0.0132, 0.6739, 1.4136, 0.0093, 0.733, 0.4297, 0.318, 0.0509]\nstate[eef_state]: left_x=0.3643 left_y=-0.1821 left_z=0.0078 left_yaw=0.0711 left_pitch=-0.0046 left_roll=-0.009 left_gripper=0.0132 right_x=0.2462 right_y=0.107 right_z=-0.0022 right_yaw=0.1388 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.0509\nstate[joint_eff]: [-0.2803, -6.8581, 5.5043, 1.1355, -0.1734, 0.022, 0.5739, -0.2803, -3.0017, 4.3145, 1.3602, 0.1978, 0.0317, 1.2088]\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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 1.8938, 0.6102, 0.5224, -0.6819, -0.5755, 0.9967, 0.6212, 0.749, 0.5442, -0.4469, 0.3832, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3516 left_y=-0.1861 left_z=0.0016 left_yaw=0.07 left_pitch=0.0059 left_roll=-0.0204 left_gripper=0.9967 right_x=0.2517 right_y=0.1034 right_z=0.1589 right_yaw=0.1447 right_pitch=-0.0405 right_roll=0.003 right_gripper=0.0576\nstate[joint_eff]: [-0.6769, -6.1744, 3.5214, 1.4432, -0.2808, -0.1197, -0.1245, -0.7043, -0.9368, 8.9778, 1.4872, 0.1245, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e99050edd4cd6aa723829e5fc6d7ce7e33f584512c0987f2b1fb4bf3195d44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6dea9b068956d48fb43f346524c0df3a3ba4877f64180842f062abcf90a6be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e8a160a03db4d421c4ddd924e3486d47b6938166487a568ac09c23d99b2c3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJUykLxc9xXjDaKHXjdUBR4XuG4PdWIRu6uqBzF39XgKx_XHbb30cYdCQf7T2FQPFa3ddxyb6H5I73I7BosCmy_C8v6LE-nRIyTKEzMzVdvK8NIulZcdtmppgCxM7Wv3dslOIisAoypzyG3IU6OPwOD5yAkYl7LRfgzTXQuGzloyL-pgX4A_AifX6kNVE_fsjvTTDa6Sa9CJne-yvZ7HfEYQEuQM5hM99EHH9QA1DMN3qednWZchjhegwcMDovgo4eXn5zTtosrhO-QSxvr-hx8VThyDYukEeyI7F0DOrf4iz3sh1aVInKHRqFXuDeQ9b-2KvkgqLhgnz5Kr0CTs7AdSHQUCKgbsFD6lWF97hmbS5D0kGqVY50Zekb91d3SNFXtYX6LGWBv0eqzyJZagqksi1yFxa2ge2qR0but-yPCTHLsm-7LStzGxGjUJSir2-Ypyjp8iQNSuLRB-Bqa6XmstP74-oDmICWwnpN-_EcY6oZjepo3RS7mlLdp82i1bqL-L92_cIdiZemJuAulK0k3XE7TrSz3lBi1t0MH8-NRkJhDIrCcprwk0K9qbtT_MEg68B87eKr5xcP1HwaF4MPWaimM0Qvfe67dti0asN4efWNRd7EK7O1OO4ec63W3C2EHgc1pSCEehlm4DCdwSLaz11w7ixdtU6pV9mWr-WIJsNEnUwy4sWLMTEUs0BJLJhmvTa1L13z-xrEjTe5RJMORdU83hfvDIPF2lGHvbw1gu0PGM0BvWyd5Y4I8xzIGd9gbBZs1lAH2nBBN6yI525ZmnGAjnKhzm_nHCSZGMW8ZVH6Aqa3oB3RH4w_Fn1KKYbilW6hK8pfE9lmV06-KjSWu1TZr_E9qRnK9VybzPsJc5eHfx8D3z60yTbhYR2AvfuqI9AcR4aotVgyQYjoKghF629M1Dl01XCpoRnjH5DcRuDhea0NVNw_q80IFXF8WvHNQSwSBJ1xp4d2wenFpJHFqEMX1Qmo27QGsK8TorfHIcJC3USDIloRI0yMiLWbv9YiBvI2N_iTdCwC8SMEkIPgyXH3iXXB7HBOMpRyM75n-V_VDAs_ZSoiQ0ddhkAF732NeN-Fw89YyvmJH5xDyy2E0itD37FhtDcbYPBdgZyKcla9W60IBE_79GX3vcuHL0_PpESrI6RucObqIznQy8PsyuTPsH18OJRo6usyjT_Tcr7syfrtFxLPUjRFF1fO40Ag5QLhwnyWIkFmhJZrChA85EXF1xJkFiMPjwLKBEm4xSSUVqDXspFCjlhqEDQDgOa7DHJk1kNhmqAWChSwaKg4bPxiDHiFBNpzTIKzyyppKfxLV-eOq9uaRSgnvDXXmBM4mj98LIV_qJYxX0vZ-xjErAPG0RsNseZKZUHxJfCQPGlltIWqD1owanYa5DhX1lSuNIoddGpPc7u6YpvBgY9jOcoUR99ClKTsVk_8DEazXpwb-3mPhhCjAdlySG4asQIb_u-68OgY1THmBvpe3RssYtzfI_ypJLDc_rpSCsF5S8KY3whdfDKi4wN2QH1wTtJGZDSGCfiKypb4ajQOsH-oNu7SIuJ2lMTTHDBbxerw3ODQuSjjRFrWRtBqfrWhrrZzwb9rW32-ykM6V5sjOCWYpmPrLb3w6mAb5m1gM1hSOsnpxzalQI81XXtHk-75Zm7K1a4B8crwt5Gs5clkQxQBTzCXgBu-2rQLh86p4OVATv5K__-ucZmAI6kQ6sDeU6bJq_a3P5obMEW4zFn-uMCkfy4ajaNHvnfeBiG2ONzMDKISnsZ2nnpc_6xADdOofB5yJASiIelxwx5jL-2M9S_lKBuKkqua8imG1XQKUy7p_RgzQq_sGpNZ43Fu6tF-iEGAqWk9mFDHE08gpY1B0NeRUfJe3Zc6RrH7yrf9MYGzB0Lr_JF61n5JvMG0DvIHc1VLbkSg2ePqErJ9R0TXK6NkqwkoWiaDm1IOLV5topZxiwp5I=",
  "id": "rs_08aed949cb8eba3c016ab4952f455087d09b918b514a5a9330",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.317,\"left_y\":-0.176,\"left_z\":-0.007,\"left_gripper\":0},\"note\":\"The cap’s clip is near the fingertip line, but its thicker body is closer to the base. I’m moving back to grasp that body rather than the narrow clip.\"}",
  "call_id": "call_YZugy6j1XEcf2D6ebVbDQGI7",
  "id": "fc_08aed949cb8eba3c016ab49531969887d0badb659ef842445a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YZugy6j1XEcf2D6ebVbDQGI7",
  "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]: [-0.8425, 1.8584, 0.5011, 0.598, -0.7422, -0.6289, 0.0523, 0.6212, 0.7547, 0.5457, -0.4786, 0.3805, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3253 left_y=-0.1799 left_z=0.0007 left_yaw=0.0794 left_pitch=0.0387 left_roll=-0.0411 left_gripper=0.0523 right_x=0.2482 right_y=0.1014 right_z=0.1523 right_yaw=0.146 right_pitch=-0.0731 right_roll=-0.012 right_gripper=0.0576\nstate[joint_eff]: [-0.4034, -7.4462, 2.865, 1.1502, -0.1441, -0.0757, 1.2674, -0.1983, -1.1419, 6.8444, 1.9219, 0.0904, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:768003ddebb37f639bfb27cdda48d33a3386684ae4c00558c431ab5fdc4ea4c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c6ccfbf790a9bd654d827f816edbab7c8c77b4c16d7dc52ca043c5d2efa0f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6616abc8742712e8138c9b617c1be45a6f1fdd1d3864c396c2b702ff9f5e80c1",
      "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 · 10.64 s

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

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6975, 1.8645, 0.6067, 0.4908, -0.6079, -0.4976, 0.9962, 0.6727, 1.4105, 0.0105, 0.7086, 0.4351, 0.3187, 0.9962]\nstate[eef_state]: left_x=0.3613 left_y=-0.1665 left_z=0.001 left_yaw=0.0564 left_pitch=-0.0351 left_roll=0.013 left_gripper=0.9962 right_x=0.2445 right_y=0.1042 right_z=-0.0053 right_yaw=0.1324 right_pitch=-0.0595 right_roll=-0.0122 right_gripper=0.9962\nstate[joint_eff]: [-0.759, -6.0923, 4.8615, 1.1111, -0.2027, 0.188, -0.0024, 0.3897, -3.7128, 2.947, 0.5153, -0.1832, 0.0024, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 1.8938, 0.6102, 0.5224, -0.6819, -0.5755, 0.9967, 0.6212, 0.749, 0.5442, -0.4469, 0.3832, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3516 left_y=-0.1861 left_z=0.0016 left_yaw=0.07 left_pitch=0.0059 left_roll=-0.0204 left_gripper=0.9967 right_x=0.2517 right_y=0.1034 right_z=0.1589 right_yaw=0.1447 right_pitch=-0.0405 right_roll=0.003 right_gripper=0.0576\nstate[joint_eff]: [-0.6769, -6.1744, 3.5214, 1.4432, -0.2808, -0.1197, -0.1245, -0.7043, -0.9368, 8.9778, 1.4872, 0.1245, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8425, 1.8584, 0.5011, 0.598, -0.7422, -0.6289, 0.0523, 0.6212, 0.7547, 0.5457, -0.4786, 0.3805, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3253 left_y=-0.1799 left_z=0.0007 left_yaw=0.0794 left_pitch=0.0387 left_roll=-0.0411 left_gripper=0.0523 right_x=0.2482 right_y=0.1014 right_z=0.1523 right_yaw=0.146 right_pitch=-0.0731 right_roll=-0.012 right_gripper=0.0576\nstate[joint_eff]: [-0.4034, -7.4462, 2.865, 1.1502, -0.1441, -0.0757, 1.2674, -0.1983, -1.1419, 6.8444, 1.9219, 0.0904, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:768003ddebb37f639bfb27cdda48d33a3386684ae4c00558c431ab5fdc4ea4c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c6ccfbf790a9bd654d827f816edbab7c8c77b4c16d7dc52ca043c5d2efa0f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6616abc8742712e8138c9b617c1be45a6f1fdd1d3864c396c2b702ff9f5e80c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJU--FNTxLkcFiot_0IoOmx5GC0sxuAEY1hRpfaTjS2zPpEB3LybwDdwJXx_iAX22-0IDE3LgxLCPe1u2gHfQQT4vvFhFR_OOAP2Yk5dYMo9hf5Yi6y2B67lnGlN57lRrWx3oaX1EciRkubgZWKJYkC1B6qj36N4o7IRvidFXmvDMP9OnnDIAzakj_l2IW-DUM_bPUSMo4PChJYNfLsdiTClqW4tnRd8V3J9tUFhk0uL-EsePETCExmjo7ipGSFv0ejnc30decr0kAFzX4lZZXv6a1ixl2wTvwRRBzLTDH6j0VV5lTPGYtYAJN4RXJUsw2Cf5k_1IpkEWX5ECzu5RImnbK_JtsAEgtK2h3nuqLBThgow3UvcbqwCmA5-Uh1SzbnXqq9xgXlzLYognIRt7S-HpiIUsaY8Sxg82ygkAlIL8dqAUvX6eTQ11pb0rEka5EYgCJSK_lLTz54tbnooEl6EGCJtN717VBHMmGJE7VGc5Zd5rlfNOOxv9qNKyBsY_M0hgFgsYzwjFcH5uer-gkkKde-VHIRBRRZ7bRlvkxSbPoYiyu4FbcWf1UJ0v4GZSEwDJxiKcTEu1chckaYIpQ1G3pP4dDezL6zvJrVP1uxYyaoZpxiTkhZNxGGu5sHjMF0NZlGLrZ74QJYEkCteQX_22Aq_p4-bqZrPhHvz3kDk5u1C5837VFcr-pBay0ilVi1g6kV4DuUC6yzghaoJ2bVuri0VNWutDxbL41Lg_1eS9mxid1IjEh745UotsapHaB1wJrA9GvlxeTVCuGH5nNyddqAVcEuGTJci4lLO1-VyJNMvD5W0ho0lv1_qszT7qdP3FsDrOUyuqy3EiNH32vVGPcsJ9JcOSoOwGYAVbiLqcHTDdYhXJSxj0x4C9LnF3D3Lg2mHcUx9vyf2NlmBSszbfnk1nxsJyYtNFZ3DUHNw89nMLWxD89WITccq78W1pf1AeAdnAWfyn6mhdZOlk63-Xu-CCOVVra4SwiarqlPUm2oElc698FpIXPZ-RcMuLd-N58GubsXKZ8acxmRdEIqpbU6OIKaqd0R_H15DIcQmlgQhP8CV3oFsgRfODp0exxj5_70E7F-inE5CMr-I3x23utvec7YWeZnFd5hE1gBATNnZkhZcPssZcHz--ntbOvPZ4Vlu3Jxmpoe5iwWdbrOtLZsmSWVrVHiaPxlrZFKyCxfi1OaTtyTBWW6-X8xhG7cxydITDLJNIpYr-YLSwdX8JWdghLBs9Bhd5xfAsmwL5dn1MW5fdEmiJ3fPSALIM7b9-eaMK7YwAz7I2yIRANeWZmEr195Dbg5pSyU5o-MS34fn3enoFiTn0XRcjtq5bzU5lPhL-eclKuFUUYED62RhyklJyVm5O9MDcRcJ8n6Jit7xlvM11v4EEvRtbNZTHjMOHu9euUo2Emayy9xgYUMJUOhxnelJ1yNW4J0uKS2baKmeG-GKw7bVrKtfP6rm_nZm3ekSM4ne-IStH1-JJGgykwDvLs0aYgA1JKvOVXa_2PyzGdwawLshEtD7BfulxuSd_nfejTH7-ey0r6Auu5-G0pPFBAifoSb-yj1Ru_B7OqKmSKmwXtSm8zshVSuomfbv-ixyl0uFZY9SgZWWicosI0CpylJrR_nAHm23sd-qOWaKZZNvxsYh3ETQF_oGZtsQM8ksGLgGr-9TPsx0KQTP8hyJwCrpdML1y6DgZYrygrACcFRmFoKINLzd2ajI2hJppFzTWIPK7w1xHKdl4TstV1ZVTX9v81ABpzn4A5Gk2whA4dmn2wByVqpNQTs7m6B51vWMIA4rIpMjiX4CuYvdnNbzSy7ZJZBTOOLowyP5u6eBlkFrAswm76FlzsmEpxyKr4JuBCQba_Eb4VKQKhnzp-AL8La-tArxOI25Doawrdu4YIIqXnxFFXXay_NjtjxkV-I_RY5eSU0HOUEOuJJjPs6tV7Rf9wa_s2F1IAfq1vI-vJWClVnKRCq_3g2djtQe8fCSO3GMz7IXY9btIpoYyhIkst6fcneIOBvZBbZ_NVvJznd6CvyuOvWCbz4S9EMsoqdJh3F8dwfJKoOGQBGz6cKR2zf0LovwpzFX0KROEdUkIb65EZOHuQ7vTm4uO6OpLp5_IQFhoKa6F1K9g0URQU4c7YgQQgcU4y7TREUW-tEI_oGGkcf6AdJcyHYb_HcN7OVXRZPRmVZvcZTEh9615E2hOZNI5W-qURyZ5o-qvYt_Nnf0J2OIN89mQEl8u95SdsCiNsaF60sBEdkahD8Rsd7lJQi1NWP6RYGUi8RN35qrNSFRho2f1wDWZ2X3UnAF7xDOGaOMU1JhCTRaKlkGpSAXHvGrHc1Ukj6NykON4Yv-itXVxXzVTRt1wJUqGwTjuHVwoYbQdz8AtCtEYUazz-Iz-6ICNkeuUi02hPg9GhIVp7T7JYvg3Se3ppuEaIXOqLQpGhmkYL1qCxvK7IgmT0JCudUuJ1kiiA3QzfX9ScXohA6TCnSztZsDLP-s1j2x9mmuDKCetNxZ8xCpa7QCY2I9yKmYeSQTWbZUVMwWN6gZC_uZTWri_rsId6ymuJtw0ua4RGLOIqFMHifYFr1EznMRXAyrjCQUVzE_wIWWYpJKhjJghgXa7HntfX8lgmVeLyVUKZYqUwf4mNHIiqOrba0NzEqWNuhTEaYGcg_h4DTFmHQdh2yrGPIWldYj217kDPGHmPQXuVVPnfkEt9kbCxi3vg-Td_9v35YOk67RoukkY4JEzDcIwvQRvhVMWrDVh1uS2Uc0xsS18-eElNpTqibRp9Lq84FMRCxUoB2qVxYHOpp0_ArklJfDDM06jMCsXjGCrkoInrw0PMeHS3ZUceuYZf-1nzkM8l0ZfMCkd-jCES4AWneGdRFQnIZLFEwZ_HEQ6d2OaNv4YT1aJ7P-5QIE0SCzLu6uJBXbd27advimY_BWvDWgVsUUV3j8deHRVyeQcCk3p0tUETyVZ4Qz4H9lKlEOTI2tcoBDSrA0XMI_cKGPLm3yjc04Ejh3f9dPwggvGLzUbkNSLMKHHLUSeYCziPxsWVVc_KLD-TDs0Tsc8BjHRkD7uiEd5WlOoDiQwT2AnYXVuTRNKvbQK8AtM6hxKQ3VDPMc5k1iQ2eVwnhA6ZsZJErEVyKBDSd70ebA0MB9F7Yup1cN9jya0lEsscLTOdG97lDFdms7MePr0DmlGO2f9tX2g9RLzMIdHuCa98ejpEJCYFykdhL1T09152L3khmGrTK9WzOYlr3XytS8HUrzUGhGhm7-tzMEywiLsunRSwI3SAftz6fGeZ-DbXGZZ_cx1pYjqD9WcNwrrRu2LcdMEFwRGA4aUKGJQRxePJJlnzh4PUgxkCRYK0dOXAuaSG84m3hjOC4gDuQyYttatgRKzR-koQkGJPqSyOGfizEghh6QCzPCqYvLWvbtsAUH1wIFALmu5t9C5lxjLvtDM85Bh96RK_h_o91rexTBjNRiyadBQquvzA1ispbQlAbAtlDRwNh1wBkEEcZ4HlyyuhWenX7qthzfLAUu7d2-AZnuf-lzrJmuZRHeWHPLGaCMotkq6ell0J_-Xje5Wa1FXv7sc7j2y7ool1UaK-u6gXY-djwKORYXTzanaXsXm2oqY26qWEpKGUhLI9FcP3thFcF77x4omcrRDFinTnBT30H6cUXAHEP0wkeXvl3ah5muPaNoDSOnrztLTs5eiEpEdr-zftPK2glB95hespPFbRbT3BT4vpLSTy_feB0ArEy76tZFNxhUlZxxViaS4U9tUSehx28Bx4L09B97qOcLqBeLiEm0CF_mHvrn-_aQUbtevzzjMT_4MjTbhsm_WqMMNNXeVESUJoqsw5DpT1TFR0g_nBNIk6Yq-z-0sXXpw-IfLsuSYFko2_8dfW5S5JRH7GY6fpEu_UeD-7NupkvyHWiQKNDL2lmXBibSSWIh6Vsz2l4cqTvSgxV4I8g6olDBUUh_mtgUCY-lApYyRlwbgmLMnPB0miivEBwoULP24BoeWH4tSi0HQ_0gYvP-Gpu2tEox8CHN8HeurQNd1eEM3uhLk-saegD5YVRlUFb1bsufPEkgpsLOAbbN3QIiagF0D3ol_FOZmeAoKBRiWc4z9hvmuB4W9vMYYPvAZezJgIApoXUXQMYs6EKYy25KsZ_heWkyfn2KQgylTxNrBJ8cJvYg-TkDi2Pgh9VKhDO7Vir_O0Se3pn3UNnEOPFDyMmCHRgiLeOeyhUZLdOyl74C",
  "id": "rs_08aed949cb8eba3c016ab495352cf487d093e5b47b51824661",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.22,\"left_z\":0.17,\"left_yaw\":-1.3,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0.28,\"right_z\":0.17,\"right_yaw\":1.3,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cap is gripped on its thicker body again, and the pen now has much more barrel exposed. I’m turning the hands inward across the table for a less crowded alignment.\"}",
  "call_id": "call_XfgwEGdCZziwqK8P6ulo8xZJ",
  "id": "fc_08aed949cb8eba3c016ab4953d778887d093eac9654fd3a3eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XfgwEGdCZziwqK8P6ulo8xZJ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3092, 1.4006, 0.8951, -0.2802, 0.6651, 0.5343, 0.0624, 0.4698, 1.4685, 0.9474, -0.2329, -0.5976, -0.4622, 0.0619]\nstate[eef_state]: left_x=0.3171 left_y=-0.212 left_z=0.1583 left_yaw=-1.1476 left_pitch=-0.0191 left_roll=-0.0071 left_gripper=0.0624 right_x=0.3038 right_y=0.2697 right_z=0.1569 right_yaw=1.2018 right_pitch=-0.0448 right_roll=0.0215 right_gripper=0.0619\nstate[joint_eff]: [0.1983, -5.9145, 8.8, 1.2821, 0.4762, 0.188, 1.033, -0.3487, -7.0359, 7.9111, 1.2674, -0.5104, -0.1392, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd0fa8bfa729b0050ab7de65000c69f4ebe1eb74e91f6d853b49116a876565b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62532941b210bff2f23275aef53491e79f18c53a9d99cc29e40a5f046c377d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e00d0a8d92444635742242dab4f987dd06fff3fb91d1a4613ba9f3133b90cd4",
      "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 · 29.13 s

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

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7395, 1.8828, 0.6491, 0.4782, -0.6533, -0.5411, 0.0132, 0.6739, 1.4136, 0.0093, 0.733, 0.4297, 0.318, 0.0509]\nstate[eef_state]: left_x=0.3643 left_y=-0.1821 left_z=0.0078 left_yaw=0.0711 left_pitch=-0.0046 left_roll=-0.009 left_gripper=0.0132 right_x=0.2462 right_y=0.107 right_z=-0.0022 right_yaw=0.1388 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.0509\nstate[joint_eff]: [-0.2803, -6.8581, 5.5043, 1.1355, -0.1734, 0.022, 0.5739, -0.2803, -3.0017, 4.3145, 1.3602, 0.1978, 0.0317, 1.2088]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8425, 1.8584, 0.5011, 0.598, -0.7422, -0.6289, 0.0523, 0.6212, 0.7547, 0.5457, -0.4786, 0.3805, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3253 left_y=-0.1799 left_z=0.0007 left_yaw=0.0794 left_pitch=0.0387 left_roll=-0.0411 left_gripper=0.0523 right_x=0.2482 right_y=0.1014 right_z=0.1523 right_yaw=0.146 right_pitch=-0.0731 right_roll=-0.012 right_gripper=0.0576\nstate[joint_eff]: [-0.4034, -7.4462, 2.865, 1.1502, -0.1441, -0.0757, 1.2674, -0.1983, -1.1419, 6.8444, 1.9219, 0.0904, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3092, 1.4006, 0.8951, -0.2802, 0.6651, 0.5343, 0.0624, 0.4698, 1.4685, 0.9474, -0.2329, -0.5976, -0.4622, 0.0619]\nstate[eef_state]: left_x=0.3171 left_y=-0.212 left_z=0.1583 left_yaw=-1.1476 left_pitch=-0.0191 left_roll=-0.0071 left_gripper=0.0624 right_x=0.3038 right_y=0.2697 right_z=0.1569 right_yaw=1.2018 right_pitch=-0.0448 right_roll=0.0215 right_gripper=0.0619\nstate[joint_eff]: [0.1983, -5.9145, 8.8, 1.2821, 0.4762, 0.188, 1.033, -0.3487, -7.0359, 7.9111, 1.2674, -0.5104, -0.1392, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd0fa8bfa729b0050ab7de65000c69f4ebe1eb74e91f6d853b49116a876565b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62532941b210bff2f23275aef53491e79f18c53a9d99cc29e40a5f046c377d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e00d0a8d92444635742242dab4f987dd06fff3fb91d1a4613ba9f3133b90cd4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJVLo4l6boWmi77xMEDku5KoEwzIx7kIdW3eE0ZfStLgg9Rdou_y_ZS5DEeYiXgmuvkaOZV2BkRUpfx0SSfvw90L_JtYX8t6Lo-LBuQ1Wg5jSG_UOC5KMrB0zaJGBagd0JL7s8B2MTKqMlixhKEGSjh1MI2rxetXLRIEMtRKhMLePRPZp3XXdAaIS66KEelScYaFJqR-kG7Q0Mar7bz_AuN6xGm5QWTFPp-7gtLy48FYP-xYYH6pNMvw4qw6ybHVN1emEGjL_RSdzT9gavrBqMMxITSBZtNeAq83H-QOOMk9uULe24ONxmQzsXpuotSQmjDPfx9YSifgLPji1wEjrHlUHzCpWQx6yE-CV_Ok6b_y3l9ZW3NPn3eSI2enGrq25SWEY7ZMWkzshZt90CJvx6S6PiiBD1-5CPs1NLafa3inzYIywD3gDd4VTyJ-e4VqSX1mPBYTsp19ykCgc-8XQ6dpcMYku6qG1akRRxWPdZI2O9M_wajbUUot6rekd0I-k0wh4baK9L9-IAB8X-o07Qh0oy1PZ9CQFyrZJXwLKDwHFn6IVJTdH1vsEUWj3LjBQv3Xv_o-liqISSR1byxGwJLVA2sWv5rQPfFPU7Ok2zbhiWGUxededkfQjq-WVTHD3gUqPvVEM01eLynOjAOmYdqMVhN338Zyanr1bC0Dhp-ildMZ8ZHO8pNt30ngczC4lkba8jLAbfDO0A0cphAzGT9epkF_OdzCodTN-Qo3FQahsgN2AsFIo5kGVqffgprxWOAZpfcd1pcMivxBUSxOldmI-IN46SgJzoByr_1yQ7wQWbjgDL9sRxtT_IylXQaOBRS0wjLyPcgYVxa6lbG97O3Euq1glGzosO3hc3r8sROz25bZdGhMv-AAP4nCB_ZGAUgd-vpZRWWBV9RDirvojhZp8tFU5WewgUF9wsNnb3orckKLB_hFvsyNYZXRzp01WfunMDZLsghB9xDc6KQ4IPTfQwUkzH_Y3fxd6zmubUFb3aFrBZOLzjR3kD-4yjJ_9b2a_Bckh-ubTZirq6iSzycoLB6Jd3Rx83WuFIgXK4ApJRov0OIFxmQXAhhn7FImCPSXnaX06oL1pvs6lyvdFLnSQny1q56yI0osBBVKb3OC6XDhppewmZozDStydKU9dY0UxU3ppYXhdmza8-6VPWvLoeBBZ3F-NnXNy-MGIxdWDhm2ZiGbKikcsgaEPWIvoxTe5gtAbY4ewFdGRvyZy8tHAMk4fYB6MH2g2WcjotkAJcZNkjbXe6TjVdn6dLDpS6YXI8KJ_7HS3pOxvmYDN2bGeTHVjtZL94ibw0QubQrqh42UvG-Gi_Nizqe5b-DZ4j6daVuDvb04O8JyRoHZRc75uWO1XExw4B0I5hDGzXTHoiFB1MsEaW3KFDC4SfSKft5rpwIeVdyc-z9c7XlDU-GfLUZ65xWbJpjodvaQ4roY5CWJZnrSLPvHKfjszTGW5RdENvoWJP4idgWdzCmPX1eGBexm5bKKEtK03L2OGp9cThvmh6KOZd4UIk0uqGWGEDNVszXp6C7OCRU_IQn6NLtq3T-VZdtVCr03OL93_8VCt5Wjd8WIYi2CWojK0AKTx-_TPb1npmK-E9WWxG8a69xAfF4rxIJRl2dwaU6pWLhDscMLfbXH80GSvKmf8sPPjkWo2IEuh-2MjLvIoGV7YM_FkEsStokGKw5bw_wcfHWHhN4ieWn3gChKZDvraMxclChV-uVIyUObIIbQEhu7rpPilboKbF5oYoWVGEympyeoqYSOBABAeCG1LdlT0--RHat7hITyAmzk3OvpFo9UDdg50xdvG_PNQnAB53Cm2fglrj8z1vmSsw05V5Sf7DLDIEoe_KIoafnNDM6ewu8jNGsqJCw95olpOc6sZCXD-TkhJZWa3tst4K1OGJop3LweMdhL9Nh8EUzDsiFpuviLs-aPTqfKSPylelQFngV3DvNpIpvIuVHN0jl5UXvnW-PXErjkDMolgNdKatqBHgWqqPwndWGNV_M1ETJBzK25F5v5Cyf-MIGo8I-bjpjkk0ng56kx5jR80cFG5aQHTg8pGp84TP7U1hNMBNM7tb3l4y1stdrtpLom4weGfLO9vbtmK278okhKWtUIboGEWURChsGggcGupm3TZjekU9W1UvmI27tbezo1fiDghnQy_HTzlekxNsmCJLzoA_EbF5gX_AKxED77usQ6rl0406mniy-s7cbyag_r1hiIcQKqVDgCCYEn11qmcNtLxJRQjNLHn3vJTGgR-7JzbTtTgSb7CS2XN_xs4Z4l95eAAjyFHh4iQTAj3Vy4vcF0be7DAhc9JX5Re16DfvswpXtGcwla0yRTEtDxMRjuQ1pnm2OjN6e7pIGYjDpzQziJdTrFuo7JhR8FHrAoBrt5iHQ3dIvt9K02Zn-p3ldc0Rfhr_m0-fawRn1WhYoGrn8rxvzYiSZG0q2ApWVd4vZ2Znp_JLsIu-QslMftzhLjE5XbK8AJNfJxyRzjX1d9Xh1E1QIkow1zkOgZQz1ycwG8j6tTE8WHQeN6-MlpEl_ErUOuDeXXqdWV4gPkoADg0b6jBBXyQcQWyrnc8ZDX3NzpByHjLQ97mjnBstrxAFAtGvnA6KCA-6Lap8qAupuJpkjSJUgwtSwAY-EMdaXQQG7tU8ldCta-5IuK_jPz6EBQUftOR1DuAaTs8WdoNxmLtwSRFZxn3kGIwV74b5pYf2-mWetxstJdPnLMqAvDgtVTkZtRjN--8FNIj4yf32wIxoYEmFdZS8XJLh3AzEl84lOrAR2liKs9lKe99lk13GYePNL7-cIRvgg_rwj9FaP4y-4Ceayg68Q8TyMzd5w0ud8-u-YNqcy3dpfkqZdbuFrNZWgGZS07j_dZKLcmHHZPY74Kjcop4r9rQa4ZDTtMTxaLPi4HQVauTk_mw91KP8ticiRNuRbsbbDuFeKRKGngcW6dUVxdDxMrixO1dQIkJHmV2XM0I4s6gBGNEb1Tkb-pI0UEdHEXEOj-l9qYNEJ94BPY6tMyoRmx1zdkA37mdO-gVqSa9diYod0IMfqlSpAs1xKl9mySHZbC_6l8W0JmorflBydWuulanKsQ56rIWolI8dPWP5Zp9N3d9jdWuBhEgP3np_75-3_9DujtZ8toPUH3nwRv7fFkQsJVKkAVAmmFniQctstNgEUDblFU4MpSqYEe5yyk5KaYLf0rYRPro5qdk4UR2Uy_WKLzI5zJy8HYrhSI3sv79gsQ_ekwIfjgzJu9W0C4hDC4SHA6PH6o-TZ3KColypz2syAPn7O0rPgJs-idtYLe5sQ6Vyq03wVMWgOjH6Vgn_jz7OumGxe_vFJQPOnw93baab5Fgg==",
  "id": "rs_08aed949cb8eba3c016ab49541e98887d0ab4260757c5266cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.307,\"left_y\":-0.222,\"left_z\":0.17,\"left_yaw\":-1.55,\"left_pitch\":0,\"right_x\":0.307,\"right_y\":0.28,\"right_z\":0.17,\"right_yaw\":1.55,\"right_pitch\":0},\"note\":\"The two pieces are now visible facing each other in both wrist cameras, with room between the hands. I’m straightening them across the table before making a short insertion attempt.\"}",
  "call_id": "call_5OPw7D2qH7s248nPWNw9eNgp",
  "id": "fc_08aed949cb8eba3c016ab4954a542887d09346784c97bcdafd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5OPw7D2qH7s248nPWNw9eNgp",
  "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]: [-0.2565, 1.6146, 1.1477, -0.6102, 0.8539, 0.8822, 0.0688, 0.4038, 1.6585, 1.1831, -0.44, -0.794, -0.7322, 0.0654]\nstate[eef_state]: left_x=0.3207 left_y=-0.2181 left_z=0.1553 left_yaw=-1.4099 left_pitch=-0.0463 left_roll=-0.0477 left_gripper=0.0688 right_x=0.323 right_y=0.2789 right_z=0.1626 right_yaw=1.4202 right_pitch=-0.0324 right_roll=0.0148 right_gripper=0.0654\nstate[joint_eff]: [0.1436, -9.2376, 7.8291, 0.7155, 0.8816, 0.1734, 1.0281, -0.253, -9.1145, 6.694, 0.8474, -0.8718, -0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09119c13cf49d67abd6cf2a4357dbc07baf7b00c1e2fb76e6ac4ff7b14c1e10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8467b9b657ed7dc4c83bbeca2c8ed112381338a299483cc1f4b00ad2c9ab73e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326c3b316c83b34541a0ece4620493659c1dd2aab2736acd85b6db8d12ad398d",
      "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 · 6.766 s

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

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7799, 1.8938, 0.6102, 0.5224, -0.6819, -0.5755, 0.9967, 0.6212, 0.749, 0.5442, -0.4469, 0.3832, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3516 left_y=-0.1861 left_z=0.0016 left_yaw=0.07 left_pitch=0.0059 left_roll=-0.0204 left_gripper=0.9967 right_x=0.2517 right_y=0.1034 right_z=0.1589 right_yaw=0.1447 right_pitch=-0.0405 right_roll=0.003 right_gripper=0.0576\nstate[joint_eff]: [-0.6769, -6.1744, 3.5214, 1.4432, -0.2808, -0.1197, -0.1245, -0.7043, -0.9368, 8.9778, 1.4872, 0.1245, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3092, 1.4006, 0.8951, -0.2802, 0.6651, 0.5343, 0.0624, 0.4698, 1.4685, 0.9474, -0.2329, -0.5976, -0.4622, 0.0619]\nstate[eef_state]: left_x=0.3171 left_y=-0.212 left_z=0.1583 left_yaw=-1.1476 left_pitch=-0.0191 left_roll=-0.0071 left_gripper=0.0624 right_x=0.3038 right_y=0.2697 right_z=0.1569 right_yaw=1.2018 right_pitch=-0.0448 right_roll=0.0215 right_gripper=0.0619\nstate[joint_eff]: [0.1983, -5.9145, 8.8, 1.2821, 0.4762, 0.188, 1.033, -0.3487, -7.0359, 7.9111, 1.2674, -0.5104, -0.1392, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2565, 1.6146, 1.1477, -0.6102, 0.8539, 0.8822, 0.0688, 0.4038, 1.6585, 1.1831, -0.44, -0.794, -0.7322, 0.0654]\nstate[eef_state]: left_x=0.3207 left_y=-0.2181 left_z=0.1553 left_yaw=-1.4099 left_pitch=-0.0463 left_roll=-0.0477 left_gripper=0.0688 right_x=0.323 right_y=0.2789 right_z=0.1626 right_yaw=1.4202 right_pitch=-0.0324 right_roll=0.0148 right_gripper=0.0654\nstate[joint_eff]: [0.1436, -9.2376, 7.8291, 0.7155, 0.8816, 0.1734, 1.0281, -0.253, -9.1145, 6.694, 0.8474, -0.8718, -0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09119c13cf49d67abd6cf2a4357dbc07baf7b00c1e2fb76e6ac4ff7b14c1e10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8467b9b657ed7dc4c83bbeca2c8ed112381338a299483cc1f4b00ad2c9ab73e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326c3b316c83b34541a0ece4620493659c1dd2aab2736acd85b6db8d12ad398d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJVoXoNx9cJf04ShpRAW1jhpTFFeVDr6lIsnn3Jkj_ayOZwCU84N4M4MI9ouJsOqgB4RLyGgBe4aVd5L3oGhebnZpA798UaiBNX19iVx8WmNSzbOc6oKDWyax2uSl0jkMg6ECTI05ba5EcfKp2D3gHJPrwskOIGAPCD4HIxhHhs0-__8beaRSFqmxtIMXwb2xddA610lru9NDvRSu5sEiyWjZhGBH4p-9NIrefn0hB7fB4PIm2c-7iuB1eDYJsGGP3XSznZHX5ubLrpn4w3h-Pf4kay8xSfbq-ddmKwdsu911YNk0zNj9cNIxUTxx3_tjRNjwL7bZc_Zh0RjzwSO9O5V585BwAgfRzmGD_Tu9gZjEYOe6M8bSt6fPwrJxwLK21ptMb-kk6vwYN35HNv4AEK2y1QfYm6N3pTr01a4fj8WxMX4tdXtD4cXCK3v_k4ODA24iU7FC94tl9m_fpztv-EC5-0AJxDqbnh2NhCr19IPDwmMpKTIgM6QeJfi-p0QCBL69NyAkR0lFURb1lxYdh3qrx0-jtXf4S3qFhkZ9AcNKbJFOihZ1p_6D0RasCR2nXENrIsCjXsjE77SZzGnlo7OwXobTvR9Ul73QG-pR-QYh_h8EFdT-bHYs8EX0Cb6JJFX93xtya2WzaL_qaMvnyTvcg7brxXqR_PBIaKemfaJxxD2VFJAPFmsu527H0l7DnTHlHO3uRsS9tqWAe5UVMhesVmUHi7ujDPzFvBPBaDNSGfwsCIb1G_la0_fhSWeeIhgMJGp-LkSYEmiT4FiHTHpO1zZe65qw_dMpFqZpRDvAyWThvp6qqAp89Ma_LUBTTYYAwbKZcD8w2oTH-ZLx83yZTzkdvIuVZ94g_ynuUdJWQ4_p_PuYAQxzSfL0Clqd_YXU-3agwTssgJjJh5-1eHJkQWlj_2Z__dkG3jLWbA8O_VB1tpLx9qqtQnNetQdBipDuG2ZZwTQCsefiUVyeHMSoUDsY4AfS24MNov_5UrR7yFp-7PhIte5Wj3WeXtIM__ODtmMcFlToHiC1HwQxXdL-0lnlkC2kw6UyjWd2F88ArQVXXEMqpTDFQUAigs-6SPVpy9YmXicCb0zPA_BTlq25vAW3c0m92WB1TK6LGsvs5eUO1IAeIYOTcWimAl20cS66YIWMaTxzJiWoFb_0pxjYqIV_bHXMlKzNiyHcAbYJd1Ol1oRlD61cpM8DLJ8QlJ5D6m6nVPSwPSnpeaI1KxkNQv8wX84H-yQFbnQE5IwfWbVdLOOBKODfoyHWQMr57-KTGuO2fRTorOiaYseEy4s-aFujx9sJ_lcro9ZojfOM6a3dLomrrBeAz8hflEHqQcL4N267Y5fqUpBTlniV-iOKm_hcsy-D11kUtKIoJdO-g9AiW5aAYebKTD5-IsjooPIBF8_b1pK9HbutPeXKvgo5pjKazWzzUNy1Sx7wWouvn9csrY3Y4EVxpUudxEpcMRjrJ4AZ6fieplOzCviGoHAlzijAZzt7qvHn42Jr8jkrznu8u90Fi07jicsYuIkzigW_GhoIM5DY388iCkGxNnn-X-H7Pyx8boBCbiWxfJ65Ft2usoNGV43MqSYpw2zKOqBmEqq3QkVhjVo-OmbI_uP-5t3dPvEm2Ii1Eeboi4t9iKqLxhtDBA6EXhL8aoalbvJbljcsV7wEYjl5Oih2dkLc6Li0LVdXJSYJ5bFYlejDVSTzxYbzEDk2pFVhk8r98IB5OWTJIRTt94A1ybRtOoo0LNRZTiQxhbyAcUlV8hQkr8H0-KFMbILwyC5DtD6Rv8phuw6EfmDAYCkVqVWzJxZ80A5bkeWKqVC5wxEZMFgB6WhZwV4Y5Vxuznza6JXdGJCVm0-S6WPVXao1akJdpi5Ec2IeBKIgl1ctwd04EICcaAEnjkMAf3k9bHf13GFmlb0EMY73btn5KOxhIf34F54b2jqoGzgg4ayvQ1W1dPG2l7PN7qdlnC3JkA1zMAUnxDlhshq1wPNzvOMBkurgrBhb5ZafaokTwVmuzyGhdX25D3KcmGm4htD5caakV6OJpNHGssCsBnJMMQWV8oca_IsFoyoewQJfshmFaD73xXVlHFvK-WczHAoxD85fkeNp0K-YnTQR75VSOhamNYc4lakwudZTMceuwnHeIoMOtE542IOPMvBR9HOghqGeXzN9qHebAV3Zxi5Vn0T-MMdrch6QW8k5Zb7Pg5fbx7XsYOPo7iRP9Ozv5yVj82jlbbctfzX7Pwvdi1neQT-jkoXqAIMaGyX-oDiDrsiSv9IZAdPFveuXwDJWl5slv4EkRkGQfApaaOLMj90J0dq7hbC0Z_erBOdRhblOeQVqUXV1rX-rc6xuBNd6TP9tJ1cTOHqWrNxOJ45HIXcOYqJnwkVI4XZP-PHrLbWr4PQxyB8GQuxExNcVD-MRIip8_nBpe2pcQTap4WCXFoOXVQ63Fr7DGP0nis_OUCpcyTpJ5-PPcupGG-yQ_MznEC1f2Y2tnbo1IpUNamP2JxoR79aMtE4GiLIgjdaZqZBFPWsoaMFaH-G4zrFfrjGiAdNcwYsGQekBRXwsvj1WlF3hsZZGkc-3ASBneormyADxTgryVnZg0wtUYiLP3xdOHndKVRKQtJeKmnk82iuX9y295KAOdYJoa0bRB-tFnzkMdTf_oh1LMgvSHFUEfB2HfiAhdDbe3odR70UvP2g0Sqp8Wqq8YvJpr7p8hStssCcmYPYzzH48KHAGX0ZMlcrfbEWpvYOEnLCdrYU8Nu9T1apUoyHmDM8R4stLT4dopA1-2iSbviq7DQ6mTYxQ-bHka9YSVUvvehXzLAVNLESQkhJEl-e7RkAopGV7Enevn0jR5N1wI8CJU6mn0gpHv6r6uoVrSYBHF3fTXEmq9_cHy0oFeVNhJQ0sVvT8-zHaW5K3s8dP6r9jmz5Su5ZlQVg0Mk1wsTf8y-Q_L3WJFuGqmJbzDkmPFdVhU_R2VblG5_eK1pRq746WTfh47F4hfNGu7w4-UVyL-7gN7SiFmkEDU3CscZ_HvDoqg1CZH1hRFsjx6ZGdVmOaB5NYeDKJtORyXcb9bxmjNkYf7DGVayZSzZM2f83mm0dC_nJQK0KVWXRAWqk6-DgtX3a3AK3RcXARZepEJ6xDdqX6OB27doEzitFeZh_MsTTjGsYcYRTKnFK8MrvpYyu-BStFXWLRGZVL_Mc7U6TiNEoetXDoWfUIAi8v9_4WwHO2oBiH3HhVGPFvTyT5gsZqQhS7gtlr8wYQ5KZJ2HHUW89ntL5HPrYfuqmIF6gugiGPpio3iKJ5fD7GHguYROie493r32olzM8Wfslkg-T-p325T18GtCMx8t0V_GSW9kj0SLVrA==",
  "id": "rs_08aed949cb8eba3c016ab4954eef4c87d0ab2c7cdc93e61897",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-1.65,\"right_yaw\":1.65,\"right_x\":0.291,\"right_y\":0.265,\"right_z\":0.16},\"note\":\"The pen tip is passing beside the cap rather than entering it. I’m backing it off slightly, correcting the sideways offset, and finishing the opposing rotations.\"}",
  "call_id": "call_pNjoHSctTsZD4fmYUVMKvnAj",
  "id": "fc_08aed949cb8eba3c016ab495676d3487d0aadf6bb5f1004d8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pNjoHSctTsZD4fmYUVMKvnAj",
  "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]: [-0.2459, 1.6524, 1.1866, -0.7609, 0.9176, 1.0573, 0.0688, 0.3656, 1.692, 1.2278, -0.6529, -0.8837, -0.9901, 0.0675]\nstate[eef_state]: left_x=0.3034 left_y=-0.2171 left_z=0.1518 left_yaw=-1.5269 left_pitch=-0.0389 left_roll=-0.0651 left_gripper=0.0688 right_x=0.3026 right_y=0.2659 right_z=0.1544 right_yaw=1.5753 right_pitch=-0.0498 right_roll=0.0165 right_gripper=0.0675\nstate[joint_eff]: [-0.4991, -8.6359, 8.6496, 0.8278, 0.6325, 0.1441, 1.0379, -0.335, -6.8034, 8.841, 0.8327, -0.6569, -0.1636, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127a216b916d65624550393c4d6b9fc22210a8d41fdd7098f8148fef9499cb16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f3758db77f69778c462fd36ca3647314e03585d60787bf74916e64a7ee3ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309dd63448b94aa0d074cc413285dbc57eb7815fa4e7732d33df1cd38a0d9efe",
      "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 · 3.858 s

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

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8425, 1.8584, 0.5011, 0.598, -0.7422, -0.6289, 0.0523, 0.6212, 0.7547, 0.5457, -0.4786, 0.3805, 0.2794, 0.0576]\nstate[eef_state]: left_x=0.3253 left_y=-0.1799 left_z=0.0007 left_yaw=0.0794 left_pitch=0.0387 left_roll=-0.0411 left_gripper=0.0523 right_x=0.2482 right_y=0.1014 right_z=0.1523 right_yaw=0.146 right_pitch=-0.0731 right_roll=-0.012 right_gripper=0.0576\nstate[joint_eff]: [-0.4034, -7.4462, 2.865, 1.1502, -0.1441, -0.0757, 1.2674, -0.1983, -1.1419, 6.8444, 1.9219, 0.0904, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2565, 1.6146, 1.1477, -0.6102, 0.8539, 0.8822, 0.0688, 0.4038, 1.6585, 1.1831, -0.44, -0.794, -0.7322, 0.0654]\nstate[eef_state]: left_x=0.3207 left_y=-0.2181 left_z=0.1553 left_yaw=-1.4099 left_pitch=-0.0463 left_roll=-0.0477 left_gripper=0.0688 right_x=0.323 right_y=0.2789 right_z=0.1626 right_yaw=1.4202 right_pitch=-0.0324 right_roll=0.0148 right_gripper=0.0654\nstate[joint_eff]: [0.1436, -9.2376, 7.8291, 0.7155, 0.8816, 0.1734, 1.0281, -0.253, -9.1145, 6.694, 0.8474, -0.8718, -0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2459, 1.6524, 1.1866, -0.7609, 0.9176, 1.0573, 0.0688, 0.3656, 1.692, 1.2278, -0.6529, -0.8837, -0.9901, 0.0675]\nstate[eef_state]: left_x=0.3034 left_y=-0.2171 left_z=0.1518 left_yaw=-1.5269 left_pitch=-0.0389 left_roll=-0.0651 left_gripper=0.0688 right_x=0.3026 right_y=0.2659 right_z=0.1544 right_yaw=1.5753 right_pitch=-0.0498 right_roll=0.0165 right_gripper=0.0675\nstate[joint_eff]: [-0.4991, -8.6359, 8.6496, 0.8278, 0.6325, 0.1441, 1.0379, -0.335, -6.8034, 8.841, 0.8327, -0.6569, -0.1636, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127a216b916d65624550393c4d6b9fc22210a8d41fdd7098f8148fef9499cb16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f3758db77f69778c462fd36ca3647314e03585d60787bf74916e64a7ee3ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309dd63448b94aa0d074cc413285dbc57eb7815fa4e7732d33df1cd38a0d9efe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJVvGinZeeX6TIB0Cblh3Em-91n3Y0YCT1YX0KZejM4gMAeUDPNkaLunUs9KtRrWKa0mzAAYAJPlOUExlI44DjsBbBaDzvElOTRGUhWXG46vgCMnvYV81Vj-tB94KAYidR93miJhLBrNflOfeq1ibo_v9mEyKU4PTVW6TtN65hMnI8BzT8uEDd_pyuEcref_oLYFEvKAYv-6TfbMUJ9IPFin-O3hjPi6NpRTz7nvKQKyKZTXRaPCD6AS5XE2gN56t_BIkmtgYQx7cV9xmvXTEgnGe3ZpY91kTBjmnvvkJiVa312WGay0OfV1MdJ6QpHgoAam40sCcBXfyhGbMYLxZgwNLmmlsL_1ZUNqnITKJH1z9w2gPZYI5wUwEVwE6iwgDkrs5Rkr6aUnRQbEHGvqtLsa4TN3bCynXF93l279QB4ihxPfRwE7Zo6y9gNag9EyeUIMLEGgULDrIxL2QIvcx2MukMd50wuF3riWItSpJYrjjt5EQR0eRpkKTBtsSXywNJpEjCYTsZ_adUyOM9Eq1qiLS_mj8RPl2P1ViwjagwbBWA5iOclxLeMRIxnkVepJR2VbL5lEd2CYFfbXRCDQ9Qarno9ioZPMFFeKoiYoJXMRt7nYrZDIcKrqEW_ust8xkHhLnymmQDGAkBKU2i0yc_36tnH7afULl8IA0JuHbzThZmQGyK-6pQYRRgc59Oes8HMYVBYNgTC66DglpuhUDfu-NnjVwpwoi-y8qOnyf5iKJHt6pSQSzCxo5fjooZ4LubwwGiYB4be8fGsRFnIwGxhBhoKDsjg-P3PnPR9M2kaoxWLoHS9yX_RIxClcw0eZaFxRYVg8rBayi7Ftuaf52cGx-2ImZ5uFjM6Gt6qxxlj-1l2xmxpxENd-ftb8frqCA7LNaCErNs25MUcU7UHjGhhCNA7XHD-Qetn1cdxwepZINWx4i0Plwr0VaDEdmE78ZuARzGXgoezLCHP0MigESOY-ukmEYZXOJ_NHzUHzS7b6KT8jR69wHB67AYMn8Ggblgbs5DR4Iko0biTvyXemUKa7i4Rl6MTZVFjQm1r_0ckuWYvko2_6ybq05UP4PYK5bBibgWeBPTEgfeoIwz_rnsmpZH4sSkG7BJaeqVHPmzjAtPzw-KS6AO_dYfkXup6rGNuxx5LTw1hSRY9QSjARPO0eQyqwrHfW2a1l610lmdmn42dM0dbo_DgYjZYSPC5mR1OzybN2U3S8klo8GcZ4YWVdCqvjQOqaWcr66p7Bv8LWOuH_z-eq15zmnTOoF0AUr2ipIwlwl_oY_vmHBxdvaXkoDb_7_pIgE7AoxhOQxilOgESFZvqRXG5Je_xvkgylF7WH7WKJqibill-MvEkKP8FQAIASZ1dCP3XXmVhFHa8jP_4aP9aJLehagp5pDWkIrYfi7McAai3NRAcBXqbc6mZXjHLX6dINSkdHWWGwjryhPMk2k2mOd6w7wF39M2FNK6amZ2SovWaqr19m-HGWLUjnlvQ9L09O3f-ygnDC-J2AOc3Z0am9IBL_JjcUlqw2oBmVBay-hqU5d8VB0L12XZ_u9hvXmGBh0kQxSt6hCn2HMbvwyB2wFpxMd_PpKdaLukoO173J6jp50UorlO6ch2ATsoOa_XJLTlrNhP0F5bHgiq0L1b4brm0cWvy_zUQ5A8G9t1pncwqckngFeAf3X2DWPKocw0nriJBQMwnUaccS0UJ6-1Ta1b8kvzDRHa748FLifldAoimxRooa3XQ90X0n2x2M5qPygJYilW2FFgUhAPRo5grxqYp72H6Zq66qR_2pu9JKg1iPySwXehCVKfJ7foZ3_Z-CPJmh8LMgE_FId9vlGBxcX9tCraX4OqJO2uaAedg6W6ho-XCch2KispVGrLyv4Bo0lY_rdddOHyJFq6Gw74dS7w6xcliOuDNbi8PnTDIoSBPeGhh7OjCgKd-kdYcSBJzp67fzutDsXw_WhDG-tqq6v-f04itTeRBIoI7DBT66eCPbpzc4sKAll6O0mgwgJgvM84qbl1cUP0Q-rfGclDmvypD7_qF1Rv8kg2DODkIZQxGy2wSkCTsxIzewdTSHN3wEZ6a__1EoMTBTIJtZXw26Cl-EEQU7_7XJ2BsK8Igb9y1A4bpUvGtNR6yy-9_eqQUZhwkgtaw6e0qxJNN7UiMP4OEbC8ymHSUuc6SfjpGXDlDNZH5-C9I9yFvQKz6VJwsFPIDVSCifioJuG4mbq-cTfUHeXAr-LNoCKeBfZh-1MJEriHT_ctcNrFiJ5-TMg-EcCUKyLOkt-F8CXxU3rjh9qFA0wZ8ZTDeBHzK-TDM-DbxiqU8r_KRTkpAa4A0QYSjp9zinqUVldyZmnLVjCf8Wg04FilslYBjfJ3G_aqzCTW64Rw4yAg18hNAfvCzoXOlW970yt773M2jCqocIsjnvPt09d4RUqTeDLxEc",
  "id": "rs_08aed949cb8eba3c016ab4956a89b487d0beae6bb029bc2f17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.283,\"right_z\":0.16,\"right_yaw\":1.6},\"note\":\"The writing tip now appears aligned with the cap opening, just beside the cap’s clip. I’m advancing the pen only about 2 cm along its axis and watching for contact.\"}",
  "call_id": "call_nVzsIkLoTp5JQ5quQrW9zIOx",
  "id": "fc_08aed949cb8eba3c016ab4956e60f887d09d9efdf04b31a18e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nVzsIkLoTp5JQ5quQrW9zIOx",
  "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]: [-0.2474, 1.6524, 1.1866, -0.7597, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0897, 0.0701]\nstate[eef_state]: left_x=0.3033 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0386 left_roll=-0.064 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6346 right_pitch=-0.061 right_roll=0.0266 right_gripper=0.0701\nstate[joint_eff]: [-0.1846, -8.4718, 8.5265, 0.8718, 0.6569, 0.1197, 1.0281, 0.0479, -7.0906, 8.212, 0.7692, -0.735, -0.1197, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc9fb4059413510a95fe7f11c10ac2e06d6a18aad83c6a1be75b943870ea73f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7ee82328f6a94f8403228a8b6f44dd5147569d6eb57406652f751aff270257",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba886e0f344f9b05cdf5dbc7f5eb54dfd37e059d38f008ed7c9c85200737ce53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 5.751 s

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

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3092, 1.4006, 0.8951, -0.2802, 0.6651, 0.5343, 0.0624, 0.4698, 1.4685, 0.9474, -0.2329, -0.5976, -0.4622, 0.0619]\nstate[eef_state]: left_x=0.3171 left_y=-0.212 left_z=0.1583 left_yaw=-1.1476 left_pitch=-0.0191 left_roll=-0.0071 left_gripper=0.0624 right_x=0.3038 right_y=0.2697 right_z=0.1569 right_yaw=1.2018 right_pitch=-0.0448 right_roll=0.0215 right_gripper=0.0619\nstate[joint_eff]: [0.1983, -5.9145, 8.8, 1.2821, 0.4762, 0.188, 1.033, -0.3487, -7.0359, 7.9111, 1.2674, -0.5104, -0.1392, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2459, 1.6524, 1.1866, -0.7609, 0.9176, 1.0573, 0.0688, 0.3656, 1.692, 1.2278, -0.6529, -0.8837, -0.9901, 0.0675]\nstate[eef_state]: left_x=0.3034 left_y=-0.2171 left_z=0.1518 left_yaw=-1.5269 left_pitch=-0.0389 left_roll=-0.0651 left_gripper=0.0688 right_x=0.3026 right_y=0.2659 right_z=0.1544 right_yaw=1.5753 right_pitch=-0.0498 right_roll=0.0165 right_gripper=0.0675\nstate[joint_eff]: [-0.4991, -8.6359, 8.6496, 0.8278, 0.6325, 0.1441, 1.0379, -0.335, -6.8034, 8.841, 0.8327, -0.6569, -0.1636, 0.9011]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7597, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0897, 0.0701]\nstate[eef_state]: left_x=0.3033 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0386 left_roll=-0.064 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6346 right_pitch=-0.061 right_roll=0.0266 right_gripper=0.0701\nstate[joint_eff]: [-0.1846, -8.4718, 8.5265, 0.8718, 0.6569, 0.1197, 1.0281, 0.0479, -7.0906, 8.212, 0.7692, -0.735, -0.1197, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc9fb4059413510a95fe7f11c10ac2e06d6a18aad83c6a1be75b943870ea73f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7ee82328f6a94f8403228a8b6f44dd5147569d6eb57406652f751aff270257",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba886e0f344f9b05cdf5dbc7f5eb54dfd37e059d38f008ed7c9c85200737ce53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJVzvVhNToA_pmdTfGBziUjnjY1nfEfBL1qeCdQIla3_W26Z-nhVGTqSEKAXSnINGwyD3-LWtU3iHJ9DpwLkDYKY5UtumXPolzks0jiOUoKpB1MNZRF3sMsdRy8WOD4pGv5mCeQ58ajkZqjxPeQc5b29MbhFnM-KOjwX--Vy7fQr8ondzCaVp52pbO-SfPKTyaYjE9SiXEzhJU2xs6nlyb-jnqQDAnR-wJ2ou0surBYM2GAivo_zm6QyJqYcKPwSW821mxBWvt0slJ4228D1fR0xBPf-EQxa24HPrCHd-_5zYP7B7bGHwrvHFtHr6MZs9tT1yzVA6Kj-f7xT6-sM1Oh_pc2zj-o41oFMgBlehTYoA_6nkOxaqDg5g9jO1GYtAl10is8sqWB2r2Cj-1Z_xFrPTGCn3UI3nuagGpsyqVbLFN35WLiiGoC8cQC52wIQ3ifhcyWaGILzTYz9XDFRcJh4Xkr0hQcYIGKl8B_WSZ4DpxPxknyKCenJsWOcwmbtNs59bKqS3ANWrscJ8i7pMN79HrX-iZT_yNMvj3x5hTE-bznRdUPmWFMqwxHOrdLcWx_zjyjff_Hj2MG2WYaNn_5nmZeSBUvvBmPgcMn8kHd_FgT_GTHdlIEVlzhYjyB-ikrZGACXDm0sJpOph5Q56bRj9uf4EH8jSfxsFKJx2sQUOLF4fn8pwxLvsA93gtOwIlwvlc81AGW5I-4wxwjCvZscvAYdlJZJkFaG_OUWmxW-dAkvAaQDNWYG383-GKz-p4tRji-hmXBZFjEIAhZtxosZHfkmCLFxBl4cqWgYfbPypQn1w0nTCrUTdLgBLk12jIOvILW0Nr1tjc-Vqnx05GXC_5Nuq1Ict0QseXQUGwU_QObpJZl_7PKoHkzryrF2_foq0dgYw0w2kPo5WaOwE60RQU0trKhGYdUDvPqQwBztWwyFoEvoCPx_zo9lgeYt4yPWOvia7fdLoQok-v-r1DJbtDfvo-GD4MVdqc8qPbap_SNwO6j19B9IAh9ou2yD9W60nEqA51JmQAxayU3rxu_QcoM66SG-LEin-tdq78CbQrIUJderemgPBmQIeu0RWxe7iBo35tkRSFQneFcehay-OJbRHHsFlbGZ5DlWg7bLD_Qw3qOM_X811oF8wnD4n_fyAb4cWf8l_0aXuRP2BQ9K8H5PyTZQxPai8VKDD5I1ClJaMVnHFaF96wb9KjcxGNH1mDuSt3PRaT3f_zRM4gGIf-D5ZiWctbhT0Wor8DDLeacKc-Tx7pU86bcZvdgXqeopqgQ9S1eKB_XdP3q1wJlj4DvLu_NqLzzrqEaC69CsUfhIrjhlRX_06xe4QdEJUPpe-mEn9JVDOGQcHJm2ZoX6RlBuFUDO5X05QkM849KpQrLWfZdJCf9BcWreITUZzCbW8bICk4eE7n-6mu5E_vTrGMLQ4huB3LZwoi4FzzZ8mdvIPWZ6507oqU6dE_2Vpredov5UiV6ynLAGVHKTgIkmqoNMM020nccJwPTdDqco-L6ZIxli8gK9EmDhrHZSQ4d520_S8wXX12f69LAOrcoNeX5NUjPGoE261SEkXM9VrsE=",
  "id": "rs_08aed949cb8eba3c016ab49570ee4087d0b8bac7f9765d5905",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.329,\"right_y\":0.299,\"right_z\":0.17,\"right_yaw\":1.57},\"note\":\"The short move rotated the pen hand more than it translated, taking the tip sideways again. I’m correcting from the measured position with a small forward-and-inward move.\"}",
  "call_id": "call_NH6NYyOR4bwFmmHfsn6Z0CPf",
  "id": "fc_08aed949cb8eba3c016ab49572342487d0abdd7d44ee8f2eae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NH6NYyOR4bwFmmHfsn6Z0CPf",
  "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]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0702]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0702\nstate[joint_eff]: [-0.253, -8.8, 8.6085, 0.8181, 0.6325, 0.1001, 1.0281, 0.0342, -7.0769, 8.212, 0.7643, -0.7497, -0.1148, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e28aa46d0605e8dc01eac432d3cd75a6ff77acd58f9e514a17bd796a15823191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600efa6bf70385bd3f80d6b879d224cf35701c6168573e5e45c6684183ef43f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b565b8169b1e803a0fcdfe300565adad3e25906bbda65196920685b1fc8c179d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.931 s

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

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2565, 1.6146, 1.1477, -0.6102, 0.8539, 0.8822, 0.0688, 0.4038, 1.6585, 1.1831, -0.44, -0.794, -0.7322, 0.0654]\nstate[eef_state]: left_x=0.3207 left_y=-0.2181 left_z=0.1553 left_yaw=-1.4099 left_pitch=-0.0463 left_roll=-0.0477 left_gripper=0.0688 right_x=0.323 right_y=0.2789 right_z=0.1626 right_yaw=1.4202 right_pitch=-0.0324 right_roll=0.0148 right_gripper=0.0654\nstate[joint_eff]: [0.1436, -9.2376, 7.8291, 0.7155, 0.8816, 0.1734, 1.0281, -0.253, -9.1145, 6.694, 0.8474, -0.8718, -0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7597, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0897, 0.0701]\nstate[eef_state]: left_x=0.3033 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0386 left_roll=-0.064 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6346 right_pitch=-0.061 right_roll=0.0266 right_gripper=0.0701\nstate[joint_eff]: [-0.1846, -8.4718, 8.5265, 0.8718, 0.6569, 0.1197, 1.0281, 0.0479, -7.0906, 8.212, 0.7692, -0.735, -0.1197, 0.9206]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0702]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0702\nstate[joint_eff]: [-0.253, -8.8, 8.6085, 0.8181, 0.6325, 0.1001, 1.0281, 0.0342, -7.0769, 8.212, 0.7643, -0.7497, -0.1148, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e28aa46d0605e8dc01eac432d3cd75a6ff77acd58f9e514a17bd796a15823191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600efa6bf70385bd3f80d6b879d224cf35701c6168573e5e45c6684183ef43f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b565b8169b1e803a0fcdfe300565adad3e25906bbda65196920685b1fc8c179d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJV55Qq3-NCXum-kZfo2tr-PTbFc2Gm5uL_bouepHtrpInlq8cKq3da6Zvz924053f15Z7bU0zpgKloC0lw41-FpM5Kt75zIsvQ6I5niOjKmPBOgPtU7FQkbUpdh7fBWnwu6pLKQkjXKjCBUgySnWIrIhaU6IBze6lPv3Wis5r4wJyMXDD1_gsLCPwpXmp4ZSNy7ElvYa8n6wqyi0dHtXlVjjQaEPEonkg6MsBfbsQp6KI7iaEK2reM_Z-J8Q2mG0iIQXNl0nv4kU7C3igQmHZrMZuwPUhAKKt2AM4W48P2uV_OVnjTz1Jrpj4E5FYlZ48HGx3z5JafdSseWPYZ0HG0ldX8rMkP0rZBB46AkyI_KTXaMfT8KgUezVq8jA3y_Vl2r7xKSf48CP-6Ocq5vwk8GDXvzzFdYulAFWuQkrjKgHfKt_uykrqsoYnOC0zLziivkvWv1SWWFF1ZfM6qoYzLcSS0KzolfUJ4w51Mw6K7Z1vO9-N4Jp6C_mKbB8IoL8A-WlURDmw6r55NL1Bn9CkumzaezPKPOpCc779gJ1QY7VaXQfpZVb8AKGiVkiuJ6W73NJP0rZhRV1NWnAdB1lvO0Y1FO2Z0K_2fad7XOvQG_4i4psAiGicSKvgtslmh3BlWhAWcZw7qdrChPK4oudmYZ_QuR7EQegfSMEsmxpzK3oK0xIVnPuWp1Ek8niikWJRTukkDP3VzPnwejE5rYnlAkhLvZq7Wp5ETB-ZDo5XrTu9Ajy8xCJEooQPAbHMM98MALizzxaa1ywgtMHr0AuYR2l-F5YI6VcIRohSF1Ul6xeea9kt5T49vt42rDsHe4FSFIxGzx8AW6Q3KKmz0H7UcrTpzAhPcrSUBsT4KvJm0GELEOfvw2A5NrW-XRn1e0Ou7ybvSma8L3EUPdu-XTjFj-MECqqR1mHLXft_XtVwiK3mpP9kqCLe5TYLE8nE0cVGr0pKdGLg63xF_xAdTAzoY626C1tr3PsMnXs5MMVov5Vz4vBkJbEt7-ZM81nBYeZxF5Qj673cDxHiSTKiSH6_WlbggLye-X8NU5bBJGNoDya5O2G9fs82zPwEU2sbti-efHxXmMUUnQBVu-Lewe541eyqWFyAE-FzcbAIBrfD3VUgPf8GD_LSP3OJskixdgc8ZLV2uxC5NPM1Eu_1AZFF2gI3WEbI7YxIDApuvZtB0H4mmL126IOCjGJXxi-fBPYdDGVj7t6qIcpYzpPYA9QKvzlslDEuf5hLakQj_7eO1TAU9xLDf1zxzewG9oSVU3winrtc504yr8fVjNMCtj-Otm25vS0XtQykUhHfuLNDfWid4MN6GosbLq2XV261cvJTPqbrkisBFXlOnax1Ip_6fAZilkT484HiSNJI-HbQUkkNlhGCBW8dRv70upugBK3Ba9s3OU25_ql_jMPX0Zcct-Po6PvnvRUd7J1FVNDnF_g1j-FI0xq3rtuJR_S7j0RX7F8KP56Yt6XzKddqIxxMP2jnU9VsSOy8EG1AZ0kp0flisyjtho4uFOWQ8Ki-PU7kKqXrDLAn6xik2d5juIgDbehQHZRwg0hxCbi3WadwEXetx_SbnNMrSUbohjr454rXlUBVSBInyWXB6wHspOGId22-3QLJdiJEALao1JEzsnutPS0ANUElTyxDIA05o4YoIPX8hocRF-3rdWH_3Dfae3WWK47dY7OUPR6NwBti3ldJTq2Fjpj9fRTkidYayaT3nHMYH7eGfdJ5NI0Nt1un3zF8-h1tD1Ne7vAzU1iodF3mx4JORJ6f38qX5j55gNm4qGRLXfw0EOn8KnBO041S8d56NcjZVbItWQVAPYRqECLsCYFIlaf4x9pz_KjgrMVZzDJfVMtaYbxyMzo_hgo8JMEXTxBARHdWUJBTjU_nGaKchhBQZ6Vc5zrtuE32Hemcs7aQczw1gk6MlSDeKhfVwPStMwHTAdBBmllZwTHopD3t5f1-Qr2W8ZTF3MstVW_nE4ORIvIDY70w-IbCMVhhXqvE4XmoszdTw2hVfxb_QEDbTsp8WJQY_MXijxTviP7F7I",
  "id": "rs_08aed949cb8eba3c016ab49575391087d0b7fd0f2bc1cf3f3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.237,\"left_z\":0.17,\"left_yaw\":-1.53,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right arm is holding its pose instead of tracking the correction, so I won’t keep forcing that target. I’m moving the cap hand toward the stationary pen tip to correct the remaining gap and sideways offset.\"}",
  "call_id": "call_dYoXY9wqYFChs8CJRnemiYT1",
  "id": "fc_08aed949cb8eba3c016ab495788a8487d0a352569e2407c595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dYoXY9wqYFChs8CJRnemiYT1",
  "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]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0714]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0714\nstate[joint_eff]: [-0.3624, -8.6222, 8.6632, 0.8523, 0.6325, 0.1294, 1.0281, -0.0615, -7.2547, 8.212, 0.8181, -0.7595, -0.105, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479519c4920173106b18f7b455a099c38c07e994b36e2126bb3d7df8a93fc169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63193ea3f481c2a0e23530fd3a43094007742b63abc4699f57ea1cc26818d7a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d333ac94e608f230f2859a5d65aa31392cb23d3296343155b3edb7389b3effb7",
      "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 · 7.26 s

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

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2459, 1.6524, 1.1866, -0.7609, 0.9176, 1.0573, 0.0688, 0.3656, 1.692, 1.2278, -0.6529, -0.8837, -0.9901, 0.0675]\nstate[eef_state]: left_x=0.3034 left_y=-0.2171 left_z=0.1518 left_yaw=-1.5269 left_pitch=-0.0389 left_roll=-0.0651 left_gripper=0.0688 right_x=0.3026 right_y=0.2659 right_z=0.1544 right_yaw=1.5753 right_pitch=-0.0498 right_roll=0.0165 right_gripper=0.0675\nstate[joint_eff]: [-0.4991, -8.6359, 8.6496, 0.8278, 0.6325, 0.1441, 1.0379, -0.335, -6.8034, 8.841, 0.8327, -0.6569, -0.1636, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0702]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0702\nstate[joint_eff]: [-0.253, -8.8, 8.6085, 0.8181, 0.6325, 0.1001, 1.0281, 0.0342, -7.0769, 8.212, 0.7643, -0.7497, -0.1148, 0.8474]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0714]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0714\nstate[joint_eff]: [-0.3624, -8.6222, 8.6632, 0.8523, 0.6325, 0.1294, 1.0281, -0.0615, -7.2547, 8.212, 0.8181, -0.7595, -0.105, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479519c4920173106b18f7b455a099c38c07e994b36e2126bb3d7df8a93fc169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63193ea3f481c2a0e23530fd3a43094007742b63abc4699f57ea1cc26818d7a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d333ac94e608f230f2859a5d65aa31392cb23d3296343155b3edb7389b3effb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJV_rc23ONb5BHbn3HWojG1nqbRe0f9q3ludydzUSfHm_wAnaToEuJ3FLiQKrmw1qBV3oouPm7UFPqwjTektdPCiyS-HqANZLQlVCTNK74DULBSUFWBMqLTOVIWpPT_8RNk8b5Jn4jPI8Cz_WsVwx1D04mbwbIddDZAjy3KdDKKaFqDj2TQxExPxzUsH1j4BkzEDk8nWjNH6kxgxl_8kIKmgL-CWvx6VIISBfeI0Ke4PYtU8gSPNDfqoGlf94yhJK9T5gxMKhFHvIopUUqH1TLyZFpTpu340KhVmDYzL5Q0mI5GLfUAlb1IjJXNLXzFWDCGcw30Z1OqH6urJoeKGDoz7ZfMcRrwLYOMz3Yd_NFbVWFXGEmPY2aUJnjJNl1L1E4sHtJHfVGp2P-nngD_BJTiy5D4YU329RTUeEDV2Mm4rLBgEZbne5eMdjRbvv7zZDOmXNMcNTLAuRT9bAsCgDdINrcEtzDQBSDbeTYkBSRMXMRagLNF11WR42aE6wqJ-xQ3Itx9ZdK4ktr2tcExgZ72vz5Mdsw15-1eiMzXT9QKoqR3-T6nFAYwk3bK9d7Z-Ai1EWzQRd8FE8AtUlsZyvXHMhU_KXpPvbs-wDoXA4jxW7A516O4mTBShcQzb9KDQGfwoBfyZ-CPr-9O9NjSE4UoBFMRB5lhzZmEyVX0ceVnS5wHfo2g0sTuLhDJ3b7Ou2u0XBhPRs6-g9WkpV5o5V7-xJVqvh2EHHU_qoU8k42RbSqHHGqWkUXDspaQo5CP1r7DRKBQxu0wwkjrmDV57ipL3Jw0sthQna707cP9ko3Pp02qUOpf1skfFXRosMqvyMZx1fTq0XRnzJfmA1nWRUW8v4xDZddGWdnkdqNWkGEyXVJAczqnbDpbK51gSUraW9HgWzNsfgS4JsaKGwCLXRWQ_5xxxLnjRE9tELxtgUWmLiiGM6w6wuLy0L9Bx1UkB8rXNpO5KIhShQ42KJU-ffqsiZ6MQb3UMGJPI0kXguqy2z3-hqvkQVKOVwryrvmAx7yV1RG9ntfHBJRcnJ0Q6IO5RKpy4z92b_TtPOEOz_jdAzHrjJtyueJLtWiCSbepcVdl3F5cEC7lUNe8V18pGt9YbrWP8if5FMgTjKc0vRGwYF1H8sAhjLPTqBSwYSvQBLRq3A1HfDbEhk6RmwElRLdCBMaspFyCyUdo0hbJu3w3BYwuHVrkIGc6G78W1Rb1rjOnEYT9gpE0FgIyh1Xp5gYfN9ssWmeNahfCpPgVWhe9EVxlbrKfsAtsqgLgeZ8r1C1svbqmeLbtwN0K2rZ9DEVsQR44T6PsdA7sivcNDTiLaTiACbnZ3HaxYX6rCJhPsLK9L_N7Kmx1GFq-O2Uf_naWzAjZriMlkJZirYuTW62dpln1ixyy3N-glaX6X9u9ArYgFLk3SmH51GJPoV4dlKN0S1y_QjldiBlZ57zxtZ7lkcisi6hzXjvatahURUtGm1TjVTQ3-t0CdxwTuBOqnHLSXPHz3fClMIjLpP4unv_r1EZq8rrFPpHQ8z8gKEkizMUShuuqJkPs4RPEJVWGqZnooexTcspMIgdlwZjsDqR3z8bPTaVr9EWL3pe7PbGEcvf0uNJaayYHCaWOmkbNMDt-SjlWXM240WXYB8SjL5aG__gLpfkZnsBc6VOX9bVeJZZ7JQfZ19-uxHfs0Az0f9NBonkx_lb_2KuovrYuITbgHCEsOK5NTBBbb1a87qLdp1KtC1BQpDowG04xgl7hoobLF89SVCLNZfnd1kg7cAAzUWa0vRlooCEpuZUSmn9uJ_l2XzdDiSsn7_89jR1Hh8WwAkEsZ7il1rq_-NYmwr9CY4akTeKD9kPC22HWAgGU_HSCiw2QeG_v6AgS8vsA8fgMaNVaE2muLOXgpUrUYXG92fu5ojcQ1kDfJ2l5Q8NKqXxJGWYfB1aGwheSi_kb0_Qyo7C2tqsrtJUkt47MAcMVrUCP3H3bozAv4Qmc7zbQ3U9T50oia8Gi35gDfKkW6KI_Qyhc9FKzXirR2Z3Jr1sr2L9JeF0TaTfqjaip5yzZ0ezeCNEXLHimnIpUHPDnbpvCB-M7mqprmxYw3unXhePFgrZhajhJVgx0sO0jGiFjCLZKYX6_YhthNr6PuJfQU3g8755xgTzoinh0CVPf7MIKo3bVRJr3TuZ-ZIBgVQNBasF57S_Ovj-Xy4RlneiRK-ZnhtGTAp9vJ3U5mjU8pGNnEts0fYnWYsmY9r2ttq8goUBQBti34TSTv-jvKrLD0a5waS4UNe6YtCXXqc5GJoqXqKgE=",
  "id": "rs_08aed949cb8eba3c016ab4957b0e0087d0ace17ac53b8114b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.286,\"left_y\":-0.23,\"left_z\":0.152,\"left_yaw\":-1.528,\"left_pitch\":-0.039,\"left_roll\":-0.064},\"note\":\"Both hands are stationary, with the tip still beside the opening. I’m preserving the cap hand’s measured tilt and requesting only a small positional correction, rather than asking for an unreachable orientation change.\"}",
  "call_id": "call_sPhmXTHEXJ86mJeVdbS0RNKo",
  "id": "fc_08aed949cb8eba3c016ab4957e5b9c87d0bf93432a19a80cda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sPhmXTHEXJ86mJeVdbS0RNKo",
  "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]: [-0.2726, 1.6283, 1.1397, -0.7185, 0.8982, 1.0199, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0713]\nstate[eef_state]: left_x=0.2947 left_y=-0.2221 left_z=0.1453 left_yaw=-1.5256 left_pitch=-0.0517 left_roll=-0.0716 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0713\nstate[joint_eff]: [-1.0735, -9.388, 6.2838, 1.0379, 0.5934, -0.0659, 1.0281, -0.2803, -7.2684, 8.212, 0.8523, -0.779, -0.0952, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1129cda65e1381122d76c7a7a7940184ce03d5201b89b393f1d8861aa1de1c67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748d05fa3237b9412246d4dbe6670e5a097fefdc60730deffd31d959f8133071",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8d770c41f81cd30495226a18e3d700b65e1cb4d7ca73a823b29a81d9d59132",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 8.629 s

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

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7597, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0897, 0.0701]\nstate[eef_state]: left_x=0.3033 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0386 left_roll=-0.064 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6346 right_pitch=-0.061 right_roll=0.0266 right_gripper=0.0701\nstate[joint_eff]: [-0.1846, -8.4718, 8.5265, 0.8718, 0.6569, 0.1197, 1.0281, 0.0479, -7.0906, 8.212, 0.7692, -0.735, -0.1197, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0714]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0714\nstate[joint_eff]: [-0.3624, -8.6222, 8.6632, 0.8523, 0.6325, 0.1294, 1.0281, -0.0615, -7.2547, 8.212, 0.8181, -0.7595, -0.105, 0.8767]\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 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2726, 1.6283, 1.1397, -0.7185, 0.8982, 1.0199, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0713]\nstate[eef_state]: left_x=0.2947 left_y=-0.2221 left_z=0.1453 left_yaw=-1.5256 left_pitch=-0.0517 left_roll=-0.0716 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0713\nstate[joint_eff]: [-1.0735, -9.388, 6.2838, 1.0379, 0.5934, -0.0659, 1.0281, -0.2803, -7.2684, 8.212, 0.8523, -0.779, -0.0952, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1129cda65e1381122d76c7a7a7940184ce03d5201b89b393f1d8861aa1de1c67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748d05fa3237b9412246d4dbe6670e5a097fefdc60730deffd31d959f8133071",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8d770c41f81cd30495226a18e3d700b65e1cb4d7ca73a823b29a81d9d59132",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJWGOJqqS__A6h44KDxvEukl_aTYtfuDHDKesb9LQrbxALiqfWV3r9wZF5C8ihU-T46guxRkn7tciU7H9T6lYt2Y9rmnahYBcryQhHtxoW9BbvFdwygAFSJ-WG7bQdqcJ8re0eD3n0R-sWZYZ496T7u3NoJpM9434Tegez2HOSlMEVO6Wf1HH2mIY8szeGfDlPhcpDRnk3REO69Hi5xHZ-NJ4xIDL_4boDA_neVeUBLvF0A5NXLIc0RJFnoMFT73EWN-hmz4z91kELvUujIismJPFVt90no8Qpi0eZHipLREQj6fptkiR0ztgymxsAn7YhYB7RiI_2ZlY-_BCn6FxWnbCUeA-4A0A1EP3Ut-WLsjHOqMYOjVFVkr0AhJY7g9WhjFMd1g3PJbFpSNX2d5-98YGQ0jre2yl3oGllGmc5gMtFquWq0ZWEEs6SZwpLcSglT5m4_5XE5rc0UbHnn9xXwrbQJ0eeeRzDpTNww4kbgvruymyjbaF6qfGInJws0R3TYQ3gh8AwbN8QMDJyCmCewcvnHAaxxJtnvSitNtJJzddDv9auiA_4T1DUlokg-1AoGbhA0ew8uOloOuJzKe-icWevwE2-9B7UXAEf31bSSdvW-WiXGmQKX2paZ_cuET7w4-Jyl9IS26_aBfoS4uA4_eH0NQB_wdpcEdLc4GtvLd0eQUAhhNXEUM4-luS-UW2Av94hmYG5ZercS_Lzltz9ckmu7kqyhJAsL3rvkkS1kIsfPDI1iB-6XPsiM_SeEHTDeq8BfDd_QaXF6ZDAj-sfkh1OF5Ig2jeG4TJHVgPCgSbqyHLYmD-pG2tVsigkPwCOorerXgxlsvZHq2CU-TaD4rIMe4vTzBp2IN7CdmDs0mEJfLduDVGBLd0N7TsUVL927gBbUHL29uZ1uCKVst_4Y--4JeftkA1phMyzYZ3EttcY1XmHSlz6RPmbIFbS3yGABRFvV8qyJHaSV_Mi0AJfW0mHytVBrhzFkj5NW4MpEof4OCPf_SgeJSfmikO2xHdIUJ5Oq7jdiUUA70tnAN-wegHc2WNesv4x3_8VDEG-p5j2VtDpjJy3g9g4vzSEOwTwR27_W8i7K3PuS6ioQKRtzKCp_Dz4rQrMMps-zJTIkRKGMds9IB_V14XPc-v_Yo_TD96kXmEljApDhnfyUbwosiwYwwFQeoS-HQbvZ769AJNGbxBoMa3WVm_8iVB9yzCC7mg071vY1tqLaawF1hyAaG9o8vymghD7URPf1iFrsdrr8E_9XgJyczl6OQHiKzumCtnVG056AQ5X24yJICsmo0KRf_R7DO12V8XhkbUDWqRp_hbkbMD92_8ZNKsLkaf0j9xVPS21LfPmpzAZp3yipbeNXPHogqge4CTCmv23ysuXC-NaKBABjH-C7DrG98KpInbbAN08cK6FUqEphCJKJAfVgiocMh9OCTHqffpZngaBMxRVGisUKvvjcUUVVWIjOa88e2quy-c42l4cy9EeIqaGybBesYp_UlMWCdEzE77A5Yz5RirPe7gSgO5LOqmVDlN7SyXiCt0WDolsGA59ZELwq-4818si-GZORI_meZp3FGefZ9QMBf1_QrMbY2O6J3Rp8e6A-hQCQwF9-naP2-nag6AZ47Ehb6v_sza8Z2vWvZSHlmvq7rMzvunuezfRaiPKsB6YdnBu7HlbszIjTNYiGcr16i-XUHK6zXVPhXSZQD1VrPj94wVtLmrjXDspj4MJ-lLbRUds92rLtNphNC7ryJndPYV3aWES6DqCY731LGY26NJn0mdZo0C-OcR4hZn8Bk3LEhS4HQjPXVu7kpG85Kf1XGuGCDdC3u3aZx05AAjbzdMj9kAf7QuXyM7ouqw21UyRuuKf-2uJaMLx5J-U3DCYV9Ycrj54je2g8fmFlEZJvpsNxY7w_uP7XCG7N3wQE6SntSUmErHZJlCQvtrG0mwOWaLD_50GRPFKkLahHu6vWGfnmQ9MtlNKOUomXDKWUxG1aTlaA8C-TcZBFhFIf4GWXqdpQmXExcE1fE1xpgMCKRG0tsyLXR0OS2xxOcCWHQsNNGnfbXt_j1HFU0ulzBcrpqGcygZK9V1v2xjHE170BLFnPQfsGFMLhAHQ7MtaRT_6BErjjj0o9jKu0EWXMIA99EUZMI6uVt70frVZonTJUjspevZGNKsJrlvsXJs2eDgUCEOU27XsStbYlIujPSxsZRx-tOceNMYZCChHiq657hT5o8ujkA6fN7K9_s_c0lrk0ctL4XjQHQu40pIw9uL1LyBmBGwDaTHg8b40L8seNaNaHv0u7JhYkn8KvDp_qhQ-7D9mSX1NNlsI42RsKwoBKgemXX98_AsRVR-JL4VUpB06EFhQ68HTyaAGhDXy4caPd5iTUrHFAwkzj6TOeSqC_V_uUdvCnCP1gorJxPaNzNY4Ed2RswSbHFWxk4Bix1EhpBnot63NI9lT2al2LJD47qW40kqnY_PsIKZOS8_F2R91YH0DUSzIfL3UrFpkD0OotC8-hep_Y3hMJ_yhb-1YiGW8kUQO63UB4me5A=",
  "id": "rs_08aed949cb8eba3c016ab495812b4887d08322db8bc78ef077",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.271,\"left_y\":-0.223,\"left_z\":0.17,\"left_yaw\":-1.526,\"left_pitch\":-0.052,\"left_roll\":-0.072},\"note\":\"Keeping the measured tilt allowed the cap hand to move again. I’m finishing the sideways and height correction before sliding the cap toward the pen.\"}",
  "call_id": "call_fge8Mt13aGVUaWbk6RcGyeIK",
  "id": "fc_08aed949cb8eba3c016ab49585d6fc87d0a61368604f8cc78d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fge8Mt13aGVUaWbk6RcGyeIK",
  "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]: [-0.3016, 1.5848, 1.1103, -0.738, 0.8787, 0.9703, 0.0688, 0.3595, 1.692, 1.2343, -0.7513, -0.8978, -1.0889, 0.0712]\nstate[eef_state]: left_x=0.2787 left_y=-0.2254 left_z=0.1463 left_yaw=-1.5209 left_pitch=-0.0729 left_roll=-0.1107 left_gripper=0.0688 right_x=0.2889 right_y=0.26 right_z=0.1512 right_yaw=1.6324 right_pitch=-0.0658 right_roll=0.027 right_gripper=0.0712\nstate[joint_eff]: [0.3897, -10.2359, 7.3504, 0.8523, 0.6081, 0.1099, 1.0281, -0.0615, -7.7744, 6.2154, 0.9109, -0.486, -0.0366, 0.4176]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815202fcb3f5a71123443d1e76e44c27a15e90b4fc82f6f103f5716c9a3f6f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e709af6bfca27beb48b75e30a52da0d5f227e67d031219cd1a940233c70e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee35ef77a7c7a3d8a9d61d07ad447b72962aec574cb5b9eac9e993d8fca65e8",
      "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 · 4.01 s

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

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0702]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0702\nstate[joint_eff]: [-0.253, -8.8, 8.6085, 0.8181, 0.6325, 0.1001, 1.0281, 0.0342, -7.0769, 8.212, 0.7643, -0.7497, -0.1148, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2726, 1.6283, 1.1397, -0.7185, 0.8982, 1.0199, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0713]\nstate[eef_state]: left_x=0.2947 left_y=-0.2221 left_z=0.1453 left_yaw=-1.5256 left_pitch=-0.0517 left_roll=-0.0716 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0713\nstate[joint_eff]: [-1.0735, -9.388, 6.2838, 1.0379, 0.5934, -0.0659, 1.0281, -0.2803, -7.2684, 8.212, 0.8523, -0.779, -0.0952, 0.8816]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3016, 1.5848, 1.1103, -0.738, 0.8787, 0.9703, 0.0688, 0.3595, 1.692, 1.2343, -0.7513, -0.8978, -1.0889, 0.0712]\nstate[eef_state]: left_x=0.2787 left_y=-0.2254 left_z=0.1463 left_yaw=-1.5209 left_pitch=-0.0729 left_roll=-0.1107 left_gripper=0.0688 right_x=0.2889 right_y=0.26 right_z=0.1512 right_yaw=1.6324 right_pitch=-0.0658 right_roll=0.027 right_gripper=0.0712\nstate[joint_eff]: [0.3897, -10.2359, 7.3504, 0.8523, 0.6081, 0.1099, 1.0281, -0.0615, -7.7744, 6.2154, 0.9109, -0.486, -0.0366, 0.4176]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815202fcb3f5a71123443d1e76e44c27a15e90b4fc82f6f103f5716c9a3f6f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e709af6bfca27beb48b75e30a52da0d5f227e67d031219cd1a940233c70e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee35ef77a7c7a3d8a9d61d07ad447b72962aec574cb5b9eac9e993d8fca65e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJWPivQrHsbYGyoGxOvg3oJjYKVe3DsJF9HzQGibRfhJVJcZUtQLFcBVgInt5fKbiYs-q1tBnBHYUjZUKm96KKbxeDcATYOom7sIOaK4JyAGlUQin-zuV1Qn6urDPF-MwohsF-BrpRoWcOxWNao4BGmL2N1fgmxkONvD1C4oC6VcTnzoLXPKKuEiGhq2v6eCK7v3dCtZK6gbf39gmAMwLfY8zpzsTpQEP5dae2cvPdnHyaehOsgsRLzPOM27F2uZ5jXmXXAg-d4gjuM8st8CMFESZ_JalBgeICDZLVY-3mh5J24YmXDf-YbRO7GLlCBEWWNLpZxDPXaLeHZnfx6tCltasb5yHxf9JNbnGqcIbM32IWU7u8oVmi2Ahf-nelZh98Ofo-huGUT7EsKdXwN8L4DywH776TVyVMLuz7pqSbCtTyivmhSQ98Gwb99d8_L6ShWGTqLgd_YFQ3w7L9BKG1Q-F73oCqYJBFhnPNO7ugr3qhDxAKIEC-H9HbVk8bvTbC16qEjlDFS3VRlY7RcYndfeM95L0Ll78ilnkFn6wiJ0pQmDxDX8qv5Nmvwp8VqkEUGhsazvueQ0n_Lz7EOTFEr3jG-THwRixNhJKqP5eBdikr9poNx_kbr6bx9DTMA6ACbFhs7IXtv39ORSD0lQlIcAgpsfUevV37HUI0e67Q15opAHATB1Qm24jg4TA3Cm4wBOGC1pigaLspwgyVsBbAIynX_9eDYGqV5PBQieo8dBqSJ4nBUdZJaMDKqBNKj8_1pZvG26BjqMII7Cjq6AQj54eoyeasRWV2UGbcqnK5v66WxE4BR6_BYSd4y2wwHrDWDCeB458AMSG_mwj_I5PeE0ps_P_2Q7diah3iSBrF_Ia0pnzi4jn9Nu5QV1gcpF8MvkJgXMcCIE9zWO3q0WhJGwZ8ONs-pu5qskfIyr08Txiv9QUDntnsMhzISZqsuy33PJzViyLztwtk-j-SNacdpoqrkGHWQ9rMFjSYmkencM8xvEnV3gExe9YWjss9StHJ0oV7I5KoELZWSyhZPa8hzhz4qNTkbPX2X0gK9zj0b5NVXSv1muNissqWIOoUdmRqV9lg_XzKkZVMhZeseEXpJL4LuoC_2lCRcAF7B9gs0mHKWfwV4HnQY3vt1if_-leIWInnS3CDYrCvLGMMiu2pbKapWj5kImOkjpFDRtZWDLSUd6rERfxxw07nej_E7WxvlQ40VbbM_xxJ0L10biT1Zce9f5b5r0c5NTUG8CVxTpSiec7gBj0n6n2fuG1zD0MAp2rOfIXINBPjcTl8D6ZZu5kCUZqWEYVflp8H9ncm78ztC30jv4qCN4MtcRlq9JX4aGpwKjCgg8pddYoe2f8RuEqLtcBpdmz6TsFK-HDrjXW6wWrVVp2g3Jf0YMZ_Ds_DdZQ9DRlSqpgVFdOznx_rpsyz8-91Jc5X9stpXzeA0r_Jt1u-gbX23q0qWQMO6b0xNTVpR_5DKDnqsfXflivYGVZWZqDO8eRmWbiF_RXzBoRAW5ePtzEqqNY9KzRkgq8jn2YwzAlgarAan_Z-EPHOL6aiYw_5mRbJs4v-Z-ezAqGF7eWHJvqbS0a6NrNEJ-NQn4hjubMVjQuSNJrboHL-GDzepDX1G8cIpaVXD3YOjHCiYJTyT8CXh0RznUDEOdn_rKZ-wLKYzJdPjsmmGdAdICHD47eIj_taVqoCBlSTDexse-tpodnjxqiDRkEftSr1J-aYqSBk0YLOrsd0rVHt7EDfiBvD7rehDVzYTuVf66dhA6nCA2Ql5yhXTT34PfvpiEZ3Z5F5T07g1d4ikZXki3TnjnbzHrV3hhU_DYAsdx9VSsN9iAi-z0a0XDn1wB_pS3ZHAPKuNgWBMpuO869jgxjW4Uf6TzxeJLRZhErqeIk7x-kLd7P-_rMg_6NTC-MGouLHr7RU8ht6t6mK7fb6JpCYjdPu8RVUP2zJIwvjHeUEOsaUuYofAAwnYplM-scMPGIhYRi40XaBAdBJkgQOtwI3cER-98CbJ-nAufW9ctNtsoQzxKAuDFV6jqabzyqMQEIjJINfJevE3fiFPYxGUyJFuFgqvOZvcszA5QCtbpFXI-zdL8pyiTIZHg8vVnZdMyPV4d8f70X9-6lpyw-D6k1VRnaVnabhc_D5bmDg2pk27sMZC1PG0HcIIrenBjy6QxBLtmJSZa-ksaFhUmBJ7eJn-Xxzf9dQgwznDxTxIr4-nMeI4uPLWY7T6ApwJDU0mWiYWacKr4juq4HHp4au3ws97TuIvjkjSevkWOzawUBYTE-53p6o3FJu9hRMkdF5XUDmo_AX89S3UeIW6KyUaSxNawF_HQAtP6qy89nNERqHvrgyGYcsTbuTR475Pf3akm6bne1rdHIPg3j9AVCLS72AsZrVMvuJE5B9hQx_yepLVXdS0NivIjh3ivP9IP_NQJND6R2xOAWrCxUC8vOkX_isovS-r_kE8R23uZXX3TW2bPuFK-ORO7x88A65TUIcu2x6BZkzw3f7F7zUEXol9eVe9tgiSC3VXeHHD9DenCxC1JGlMciq24onenWbFsT6DOzV6IQ-adBoR3bjVXXfTJ5TkaZ33DNoa5HirvCbwhm5G8NRrUW1sLOZPzCcYqo8xX_0skSYfl6PrVaEzy6EVww-8IjIr3OtyTdzOLrYQo1uHBzA2E31auukV96i_Itp4cKn_etFunObcqjWYzM-TYgwGQn-yhdaD9VYltQBn2CQxqbbc7RdFptrMzIpkjbKIpFs83lM6GUHjijgZHim5LIIJ98ZH2egNey_q1oNYZfkf9eUnwd0uMIswbrM6lLNaOSzrMrlkklOO1RoyCQkouCX5uQmL2uCTnTdXqXVx2M3TZUaTzYJnHZfumC6aXJFYnzyl9FZav9WTQK0taVncsunz-_3BbqgFMuH19xY6UfehR3rfZJ996dat2Ut841IX1P0md059PlEVeFJ5cRbP2K9sndM2gTE6ik7yTrtyXkF8tZY2wpzKwvLYhvzcT4JhhbOdVDMisX1ZQMEUdI1sWHg==",
  "id": "rs_08aed949cb8eba3c016ab49588796887d09ada69c80f871f2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.237,\"left_z\":0.155,\"left_yaw\":-1.521,\"left_pitch\":-0.073,\"left_roll\":-0.111},\"note\":\"The tip and cap opening are now almost lined up in both views. I’m correcting the last few millimeters sideways and advancing the cap about 1 cm onto the tip.\"}",
  "call_id": "call_NYZ3oIFSC0IILPWcRrAI3li4",
  "id": "fc_08aed949cb8eba3c016ab4958e8edc87d0a60cf6dc70645c3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NYZ3oIFSC0IILPWcRrAI3li4",
  "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]: [-0.318, 1.5681, 1.1324, -0.7692, 0.8669, 0.9501, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8944, -1.0893, 0.0745]\nstate[eef_state]: left_x=0.275 left_y=-0.2285 left_z=0.155 left_yaw=-1.5213 left_pitch=-0.0817 left_roll=-0.1158 left_gripper=0.0688 right_x=0.2891 right_y=0.2596 right_z=0.1506 right_yaw=1.6314 right_pitch=-0.0691 right_roll=0.0265 right_gripper=0.0745\nstate[joint_eff]: [-0.5265, -5.7915, 8.3077, 0.8767, 0.398, 0.1343, 1.0281, -0.1846, -7.9795, 6.147, 0.823, -0.5299, -0.0317, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff87db2a62c2b81ca237cd1354bfdc54e9658e32a642331d62a3a42be30031b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d2780fa1bc6a191dcd46693cc2d102b486e39f146a47b11a9e55563041c676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d20ede2c9a6f2c84008d689a63a7a8ba395f52fe93f267fe889af8f5986012f",
      "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 · 15.88 s

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

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2474, 1.6524, 1.1866, -0.7601, 0.9176, 1.0573, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0714]\nstate[eef_state]: left_x=0.3032 left_y=-0.2176 left_z=0.1519 left_yaw=-1.5284 left_pitch=-0.0387 left_roll=-0.0644 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0714\nstate[joint_eff]: [-0.3624, -8.6222, 8.6632, 0.8523, 0.6325, 0.1294, 1.0281, -0.0615, -7.2547, 8.212, 0.8181, -0.7595, -0.105, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3016, 1.5848, 1.1103, -0.738, 0.8787, 0.9703, 0.0688, 0.3595, 1.692, 1.2343, -0.7513, -0.8978, -1.0889, 0.0712]\nstate[eef_state]: left_x=0.2787 left_y=-0.2254 left_z=0.1463 left_yaw=-1.5209 left_pitch=-0.0729 left_roll=-0.1107 left_gripper=0.0688 right_x=0.2889 right_y=0.26 right_z=0.1512 right_yaw=1.6324 right_pitch=-0.0658 right_roll=0.027 right_gripper=0.0712\nstate[joint_eff]: [0.3897, -10.2359, 7.3504, 0.8523, 0.6081, 0.1099, 1.0281, -0.0615, -7.7744, 6.2154, 0.9109, -0.486, -0.0366, 0.4176]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.318, 1.5681, 1.1324, -0.7692, 0.8669, 0.9501, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8944, -1.0893, 0.0745]\nstate[eef_state]: left_x=0.275 left_y=-0.2285 left_z=0.155 left_yaw=-1.5213 left_pitch=-0.0817 left_roll=-0.1158 left_gripper=0.0688 right_x=0.2891 right_y=0.2596 right_z=0.1506 right_yaw=1.6314 right_pitch=-0.0691 right_roll=0.0265 right_gripper=0.0745\nstate[joint_eff]: [-0.5265, -5.7915, 8.3077, 0.8767, 0.398, 0.1343, 1.0281, -0.1846, -7.9795, 6.147, 0.823, -0.5299, -0.0317, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff87db2a62c2b81ca237cd1354bfdc54e9658e32a642331d62a3a42be30031b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d2780fa1bc6a191dcd46693cc2d102b486e39f146a47b11a9e55563041c676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d20ede2c9a6f2c84008d689a63a7a8ba395f52fe93f267fe889af8f5986012f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJWTXt4Vm0MH3uE7EmUY8LsiAqSSdj6762hw0WMp2f9MnYpq5skuVupExsnwFpHjdH7xYxtnq-hD56Cv2FxFJ_kBxkAKT08MUOb8Mvfqnpu3KlmSCA3btb_giEqDz0mNJtwQyRjeKP0VKWVsFzdbmPF4OJQQLRb6ZtrFlCAlZ4lu2MPEkMHeQvuR1fk1ijRI88qDBvyiTkV0TcwTXFABgiLWAsSuA70VI0UR0VgMWVKAp6BxUfw2d7ZdAyuYMnpPhQ89b0YjJpfzRPh4A2NR9_k1nna--xuCLMgC0nNc4UREdZRwYiSjQhtgJH_rFeygXAti_k2x1PEtwyZYF96gN56e3ZSfM4l9geLtTqwdOOX9i-qwM2wsJDP13QS1IyyfeyIhC1t3iKC_-U_U-Ze-0RsDqfd5bmP1Ucg4s0OT2g2GEK9akS-9YLTNLP5PR0KgHn9Jjj0BCoHm8YaFfq9dJkF8Vom8ihifUmWyDy6O4-knqZZvGysfGmsK05hCV2YoyG8Q7bPwuDVqVfiviidCUimLC2HNDaXHeixGKpylJQ7VbPkrri6PjCoSC79kNplVjTiXkBXisKKerV9Qt9dNhPDvy-9qLcyVzIZoTm4djIEcCvLC4zJt8vwViQC7zrjvZYJKw-OHbeuADIVajVsUZo2qdKuUmE6H-1f67aZJgSczEbf0iUO-ZKWS5didCKOYGfQb5tuz0OSsnHJ7rmP--FgWB4R0TQQ13vyOp18lpvXtEdsygXoC0neV_3DlKb-YG48VBunV9BrajqPpRjdNXMD65PSvGHTx5RMecjpaidFi0ulH2wXaazMvTQRuXgIaXoiKk5gcD76YADt-oV9cV6Vy2gcdc60vuNtcdRAvT2gh5snT3DwAgNuHHOYeiUTBDtekGOwABAE7HQkoIzX4ztVdrf1DrdXcs3xlcM5TAq4TAHINQ-j9bfh4WTubW4AOUVbahJFF438JHT3G666Mb0fdkye8kQR5R8WT67Ds8C8PGnFghQ1k-3aNlEWF-OGcflJz-To4xKlRsMbM8wplzMf2tc9qwub33B86QbiSBshdhYTEN84vmqa7P900lpShFfbTNO7gaBbGzxnfK3B8mbNrQrkwjX2fvU7pbGjSKAUFE63U46qAd3y5NtvfB1MqDsOxFMhKo27Ik4UGIXp05I8C8sPv8kyL6e9bGzH3i2hEdwhkC40o9UqLxdk9tuzS5LtQ-FUof4xL-O-UuR57b4GKZ5crxj_ExIi6a0PH2CQ3Zvf4kvhcPEy28DLOJxrByMwUWNDUjVEVCJtNyh0DFF_jVWnS_LAmWFpF87Qk46dlhLsDzkdf69dY23s-K94sf0fTFM5Yu8WoieYJLfrzQ8uNOH7QpOgKrKDPUwgi50ULAidhQp3lEN-0uVHon0MksvRqcB5JAbihbrkgHMPTuhBQGJ9_2FpOi3tx7PpbgvCs0GUlDBTA8vvs6ll68BoO9JbX6iq1nRM6bnYQrddgK06pzgO0f9Mrrau4izm1Ez903Pr7k5c3UMNZha84Js0AAkMG1ZDgknylgNUYsXFinpdzZQv2g56ItZ_bVIWD24HZCuP0A-neiGi4zktbwYsg8tUX",
  "id": "rs_08aed949cb8eba3c016ab495916c9887d0b73fe49dcd48d1ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.24,\"left_z\":0.155,\"left_yaw\":-1.521,\"left_pitch\":-0.082,\"left_roll\":-0.116},\"note\":\"The cap hand moved a little sideways during the height adjustment, so the tip is still outside the opening. I’m correcting that measured offset before applying any insertion force.\"}",
  "call_id": "call_f4vPaAQvBjpXXk2KyELZNp5u",
  "id": "fc_08aed949cb8eba3c016ab49592b3c087d0acc32cba622b8a96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f4vPaAQvBjpXXk2KyELZNp5u",
  "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]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8913, -1.0889, 0.0756]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2893 right_y=0.2594 right_z=0.1502 right_yaw=1.6301 right_pitch=-0.0718 right_roll=0.0259 right_gripper=0.0756\nstate[joint_eff]: [-0.0615, -8.1846, 8.2803, 0.9841, 0.4127, -0.0269, 1.0281, -0.253, -7.9658, 6.1333, 0.8034, -0.486, -0.0171, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e503a49e16f7c492e34f2ef4787159e19aaaece1d495399e8c3963fda6b53915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9aaa24bd97641f1fe4ea470f0854db3d2ef4c0baf18dcd2d699355e039e91f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d804615e89486320a0c058d35537c0a26f8391aaef7c73fc3ad830813b8ca5ae",
      "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 · 3.985 s

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

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2726, 1.6283, 1.1397, -0.7185, 0.8982, 1.0199, 0.0688, 0.3595, 1.692, 1.2335, -0.7494, -0.9028, -1.0893, 0.0713]\nstate[eef_state]: left_x=0.2947 left_y=-0.2221 left_z=0.1453 left_yaw=-1.5256 left_pitch=-0.0517 left_roll=-0.0716 left_gripper=0.0688 right_x=0.2886 right_y=0.2605 right_z=0.1517 right_yaw=1.6344 right_pitch=-0.061 right_roll=0.027 right_gripper=0.0713\nstate[joint_eff]: [-1.0735, -9.388, 6.2838, 1.0379, 0.5934, -0.0659, 1.0281, -0.2803, -7.2684, 8.212, 0.8523, -0.779, -0.0952, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.318, 1.5681, 1.1324, -0.7692, 0.8669, 0.9501, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8944, -1.0893, 0.0745]\nstate[eef_state]: left_x=0.275 left_y=-0.2285 left_z=0.155 left_yaw=-1.5213 left_pitch=-0.0817 left_roll=-0.1158 left_gripper=0.0688 right_x=0.2891 right_y=0.2596 right_z=0.1506 right_yaw=1.6314 right_pitch=-0.0691 right_roll=0.0265 right_gripper=0.0745\nstate[joint_eff]: [-0.5265, -5.7915, 8.3077, 0.8767, 0.398, 0.1343, 1.0281, -0.1846, -7.9795, 6.147, 0.823, -0.5299, -0.0317, 0.7448]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8913, -1.0889, 0.0756]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2893 right_y=0.2594 right_z=0.1502 right_yaw=1.6301 right_pitch=-0.0718 right_roll=0.0259 right_gripper=0.0756\nstate[joint_eff]: [-0.0615, -8.1846, 8.2803, 0.9841, 0.4127, -0.0269, 1.0281, -0.253, -7.9658, 6.1333, 0.8034, -0.486, -0.0171, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e503a49e16f7c492e34f2ef4787159e19aaaece1d495399e8c3963fda6b53915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9aaa24bd97641f1fe4ea470f0854db3d2ef4c0baf18dcd2d699355e039e91f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d804615e89486320a0c058d35537c0a26f8391aaef7c73fc3ad830813b8ca5ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJWjIrfmNHWFoncD6lFBfrwvNjsT12OFJjcVzcUUzSKdW8ohQy9J9eV_Zes-PRbfoan4MXf_juOhrOdki5dQcowEgwufEGxLp99uXwFwSdFRZUO13sEPtclC0E4w8_q7lNBSXBbw2PxSA1I2rH3kwDz2DfnBN2GL4DZQOetab70IVrk46lzFypSBYd5nGwsBJRuuxqKPZ6B1qnkewI7CHrF-XGqu3pxtRer_dcRJZAuTPxcgNFuU6G56hgH9dEdIFV-kSidp1XCiCh7FjPBvLdnIxxNWMTVYYVOS-VdqaCaCs65v7gFpcLTuPUXH70C58X--cw3MYKqxJHscB5SJ1M3TKxFxmFur_doaEYc_CGVUcFhRdeOHnSsdeXmFetxL9smDbK3sUKTYXQ498isxdz8RP9X2pj8-PuOriY6krKeIY1GUOAvqggD3uN62xafT1xADT2Ghh2i4W8ilvCeENa1pd61-sX8cLuZBQdZM7OwKE9xBSyJTfKTfu6xe4E6U3hoNeXbZO5k0RRn1Z2pMcJf5rj7EadXfrAy6LopAtQphOvRH0A9JCzLO-_cvY58GJfBr3-jWGduPyL2eHLyIS8ZnSyjRsdD5uqvVmbGwYRIhqONYmgnSuFxIdDWgqXFcpoZCNU7FDUSFVBNw_-v3G-MteWMVUINaOp_GDH67Bc5s6RETzpdoBIPWW2ChusgMDJOXAH-7qXvYLuWUrFWyvD6XNNfK8pQGvRBcFdCWuv6CYuBNGDhQZ_p9xEZX9x_BfDOXCIaUA0qRdmQ3jcreyN_jhl64vav_YjQ_2YNO2mm0reClsTV-vtITysWiirIYa-8dLXGSNgpgh66YahvgsvJMxblmptWdFPuDBX1aP9FKj0tuBJvnrI6E4Ydh0Z_apYvotJpornE4lQZdAAowVK-D0DUeihexvsOSrklJDhjeWNf1kdRFLxBfaXey7kroxx1VTLGmF1NZIy3F0pRU-geFs4xXImK4czLo8_5QMa7KuSiYTjDAmd0xdYII6OnU6pPEcq3OltipFl4db8SxIqpkuorFDCZvEH0BXmy-5WThseEq4fxmVaoPITgBmmmNaEwS2NJo9l0dqorYkYXcs0hr184I-zbjRJeHUWOUoMy83asXK6R-StyLz-zkZ7hq6RboQO3kYq_X7mMV4gwiDCg-UTZAqHjJaRn12jTfgYKpYb0xwDuNquPtbfnBFBcn8hjKcNb0_2h6k2zgkDGXVu6Ns1-7pli7WxfImHqV5PV9qeSMpUJntTmfrefwmCzIukcHSwrsX7d-jAlHaIWmp9Ezs2P1dh3JvHWyO63c3m7d0JpMewpzVfo6oyaC3BLMFMjFciOpF1eHk0WB1vXYHnRPfjZlOKQvuJWFmr-Y8W4aJAf7ANeTCOe4QPA2IpTtLVWfNjudzz60Er6mqW7KVh2DDcZBUoCCNE-Yal2LhCFthk2MSnJeg90_nFzbr-fnMf5vyydhDzG_U3gP2aMOnKnuCk7sGBAFV4lsHMchT2r9G4R6hWIt0ciMhxjeHZFA7KS_jefXAAQtcyFONfWHCDsjXMi1MN0PuFDNTLACMPq9R1dIuo5GmGH7Eq4Iy9P4oLqzsqgRahHXAIL8bK7ZoYf8T4KGbIC_-1KfIxJv0PSL_6ab-mV0lhIVbe2q-qgViLOP9rlE3hfjyGHBxXVZjuwMuX54qwnxRmXaLofHcRrQvktMexI6vBcEyIlnMzhVaQvIqpY_0oZ1SiDLdYFKWO7Qehx4iLcKsO2UKIDMg-9X5-CnExodrJH2vbVikG_O7IDtAbgLVPWN7OTaow5YBrq_QoGWjQTkdkby6kmJZkrjIJpq-vtzvM1b65X7VUrR_R3Ca34srEIIJzXc9vCtReVv1Qo5_WiHS4CUB1Z1Y6ROAC7gZ-Lim1LF81-bhlOmhmiwPpMrmZbGoIpTZkEUvdnxIh64MwFBN_SpynOBW9ywVn6FZpub290bJZczVmpiAqT6am59nSdYq9yjafXP-kVI50ug9Gt4QpKkAl0HSM_ndJj2igw6hFo1WCtxeY3wMdcTVR9tILIlwz6E9SyHVVLSm6EbGca54H5w3qYc8Ns_GcxY1qBw2xGnzY65DMLMjPN0U6J4kbP79AVngaHrXCdG_VGrtBAXiNL_vrwYtnGd-rFx49YTyRqGnovnX5ji-qtoWiINLiDHJHvTzEOV_8OUJzLWrqz0Eh6bLYofA2MyTN7Y_P6C8n9lfwzDsj9RuIjDGZsJxH1ZM6j9GC_KrvlEk35sGIKzAMiHq2z6NJ4RcuyxKM5-j3vuGiVCp_0WU91pJAlsKiBGwrONboYY6xS9308MN_MDrjmJrPY4110LnL42GqCUm30oxQ89IbLVcwh_EsgULtlF9eOtk_DJre7LIniXmGLV9G7zC1OhZ5Me1koZqdlrpXcYlNz5F_45aISW07LtoZQQXWByAosA5Xp9nBxwWw1-pN8WUtRsVvYL00PUDcCgufZpr43t_rmOVpkJ0Yz9zYLRpa6cU4T28LLInCAt1mRxwMlDYIAx0SjhTeFZCOEa948WgKa_8fqCsVsLhDpcOLQ1dTvisvjxbQi2VyQczyd3sOZPBCSQ_fV_r3QxJ8Cy4KJaXEWpN7QmChwkGqb9tXjhG1xFmsQwWsjJ0vEOCS9j-oy3znIFiufOAlqxdd6KUhk9evv_MAwdOyHwKlBFeDsInSdr6WCLhMsXXgl3tiZ0NNyo_hAkk3iGAXVIe_beEHg9URSYtCmXdhWZeQodvmf2vQ-b_7oWbpzay6UdEGjdNjuzG08yab9Tix2Kkf8HVCuvAJ5y8n-UJPdrWp1lL0YzBCo__Feuu-_VB04pROVv3RWRD2iMZCIMq5n5RQ9ngTgjKmSORn8GqF13I1SF0i87WSN4SwPuzjwaBvm4JTs4ZjwmLmh6-3f5hufdsgirQY-rFKvMXy58zq5J5meuHMk98WY44I-X1nd_5WXNSsP8hL7POQPKmWxnfVA_YT_7ZZkvyyd3JvrwnPsE8327atR-7nKAruLzGh5bsfIRo5X8pcR3Xl7GR5WIOgmfvRmUbd648dHQyctjuazgcR40wWf9745WA-9ZXE-BdvCbh_KDCkYBepqOTc3ZxSYbWCJ_b1pmhnYCYUk91FwKVk460mu5QHQcdf6z3iQ76dZdcoc22JqQrS332ME6gYmM-bXgnkKoOGVF1p_r9iR-P6vEouoeIr_zoT7Yp8uAxfjY-IG7bKh8OEYYaC3G1hZxJc6tIMBwROXFbAqQyCWIVKwK5EiePSvUwUDrz4cTFbRvA7XCtJis-zivDdcmBeFIK1tndmiWGbZms_bhpiI-tbhB1TS20TcpinFyRu1Q9i_-2fk0hLAyRBNI2In2dC_pPFC1bG9T4xd7d2oelRk6gY5lS3xi7I9nSmb_pULzbSpwFx0Dhu09y5wn1E5yRjwiFClWey4OnNIxeOqpQ98AG6MFFs1qfvmfvJgVwV7fTc33SoT2MZbr5HNXbPY03lFy8V1e2AskoY08AMV9IoZk36kZX-yJMguFFDVTJ1OKiYNLb3VFHn_BrzZvMFkyGTgO9bZupWF-0QSSXZgWOzMXJ_53F7BycLnBDfJI5uDoVKvJwO9UT07q38HW7RFFG7Pskc8Sdf5OKy2hBxqD8x1m0-xqcNBzdzz9IsbU51YOSmF6xsvcDQf_-hs_8elKRchrgQTV_c0NzBPdCmJiyHOluarSvBl2Dhv7ow-leTInX8xxqDpKc3rkxB2vWqHE-7EkvE6nUD4W2ql2wyBiVCvI0Ul7Cu9nae55EPEekSvUx6JpnmbD1b4FsEPSCa1QPpAbbQ862CUQQytlCLmotAakqZD_yKRsq-eC_zrqaHDmsLtNUhYXiqw6cgfyVHUs-3U=",
  "id": "rs_08aed949cb8eba3c016ab49595f76087d0b65258f273a657b9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJWjBymbDVnLNXYM-01p-2d_iT_RKs2_H8Vo0pFXngFP4hhAaxEoFXtOYcszsRqOhwK0vGdQQPv2zUsJuB7T4maQY3HDMp3pVm7suH_31GBy5zHWIbBHkUL1OpGoNqpo8EJTj6-q525pRAKEfGo-i544EiVGqXli24pMBF0Y1GQ6xlJNgcIuTA6VSgqEof27tPK723LRgWp2YYn345UbthNPhqvZHejS86n_w4etKXUMwmArOUCuEwxdKVQiSM4yGdRyQ0-SStf-Jpi_K_yTG9zUUC1YegGazrmuqziEyH8RZ9LblLhcjjupkcdU8IrbxP688TkNqse5a_M0EEN-kgPTGFsa1oudPRX1ZsJKnC9oMwu_C7r9YpZNdcTPfVzzulJQyJQmgb-12Ut3n3k6b_wzPxeHS_d6I4X65himG8b0VZ3xNy85Pe6nhG9il1x5ndKaD_mEdSligfautxd8Cpxaxio4as8s7_6NVSuSic_WOtKDcSRpxZ3bb7h2RZmYNTYWmwVZ5PA0OjIGIU4CKqTTa45ibuU0bUatrb0wiwmroGHVmT_2EipVQT6F_bA3a0mG-IckuLlQ7_iLbQAYBiwYEEy7ZRqD7V4xPw_G32SIH2ZXbydyJeWleIWwoZS9q6geNAd1all816G08oXNA02_W_DkMTW4R3hrObu35KOPVI0pXTGVgLtDntq74uRbcNRz_cuzR4V0V0lrGr_kzfAyFnREIeocD_1-0_5e4lFuJm00gjjBmiVXECOl5NwGVN5Gv9Yjg8cDNW7loM5sPTazUunReRp6xUR5FiZJkPQCVCUtkERdX5roTt03qNG6rc50W26rhREF3DJnozpnO-RythwDPh8n3BNB80RfrQpiipqT1jMCrKyXMtU3bxSpJusrTqZQeUzNj7hgRvsdQY_r6jnImnP9DPhi0yDdISWUBzmh5bOZANM5O7XYSbClof004RgJ2N9lzAOtwXvmqlLdYOWzlv-B-A_Z748wg1bxTuCgNrxBKr8wOrtduGGaEUbW49qILtEQFC4ushC7GoJklWN-bPjMRRaka5Vf0Jlu2Lr_IeGYT4nfIG-HhE6zoSdvTpgJC77b4gMVFiUmJaSbEyOtoJ87txmP4-B7_gsiDtg7MzKYrv2OJwe8b7fmsB42Wp0vGgbO9EnXno5nL_U-l4Zu8lcd55kmzeAmrK3sZswfKO22zntJsly6AuVWGH46-dz_f6Xr1XfMFHErXmc8XrT0TlnAQWV5J9yfmSXHJ1_CltV9CTdZBYYdExAPnZOyvlvLQbEh2oAlGFSg0UPms7aWzeNUBjHt72Ua_KJvELBEk3ldYTrrUvuROcyTBJDfREt3peLVaQ03r3EMMpg761t2EY1BTWDTlQD7vGKF1gs9kk51T_5MMqagjRoMyxzrzObeMwbDiOfsjyyxjEB5FYsCE8C-VhoXaRjpSTbAUP_gtCUhaAGLbeeWOxFNx7_JrWe3B64XvJu-OFg_LD65iy2GecHrhI_59AarGyUhFjcDtBf25s3VBg5yTR_H2G493Ku9wW-wRA5Y-y5S_s1wrk1OomaiOmzJibtaJ1qb2CVyWqpxa4WyMSZG4GoEpmhqjExIJcrVILkZTpHC6EQAJVCihEMbcg50aVk9WDyNoFsDfxUt9Bfwy8EJAsUr6paRK8ds0snbNL9fWIGkkzTRx_-TLnxIcl5vrgZe3NmGMuUVetHF1riIYlUx2RyUJY6yMYApC_vn0lQ6u3K2gTmQvnGOV-C078YxGI0-NR0s9ESZUE7hk3-xcXP-1LPvjvWD0krNCf2neyKSeZBeSxP7bzIgOToHWzbh30cBJ65nXc9Sj6TjHJ0w8fCrLJaea3ND0daMLvBlQZr-tUVVZhQ6Vb2jugMrFhKYghrAu1xoSLK9lFi40TO7vVfZvxcnx1mKZThHOD-PCZLg8m9SlpddL4Trn9xkRR4GfzW-LtTAT8EH1mkIB6yAm0CrFPEXrZdLLreZTQjz_CPEft9qj8oQPch7ou3tJOQyGbM6mFFkT3FQHL0jAuNiDDJoYhMDl6l1turrOz0bnqH3qsRQEna4hOtx2W00QAJNrb1Xfh3TkwmRUIoovArNSr22GLYVkFSfmrF_lqq3UA4kgcNPiwOAh37xGWo2RHlGJ7F2kQBzHI_QMuCROOUPpWUSJXWASYG2nRwLzMfyjrrx9f6ZExwKewi69Buy4URcPYTyTHrq5ok=",
  "id": "rs_08aed949cb8eba3c016ab4959f31bc87d0b47871692fed26e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.274,\"right_z\":0.147,\"right_yaw\":1.63,\"right_pitch\":-0.072,\"right_roll\":0.026},\"note\":\"The pen tip is slightly high and sideways relative to the cap mouth. I’m making a small correction with the pen hand while preserving its actual orientation.\"}",
  "call_id": "call_aA1gQgQDVd7xFnUeZfD0nota",
  "id": "fc_08aed949cb8eba3c016ab495a2b4f887d0922cfa6b52c57b5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aA1gQgQDVd7xFnUeZfD0nota",
  "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]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3836, 1.6878, 1.2098, -0.7139, -0.8764, -1.058, 0.0767]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2851 right_y=0.2653 right_z=0.1448 right_yaw=1.6307 right_pitch=-0.0801 right_roll=0.0295 right_gripper=0.0767\nstate[joint_eff]: [-0.0479, -8.1846, 8.2803, 1.0672, 0.4176, -0.0513, 1.0281, 1.2513, -9.2923, 5.7641, 0.989, -0.6471, 0.0269, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6514d649dcadd35b46a1100c32337852b37d8c1f6f9df4cd2c748da3bb76a57d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbd50a36e0f1221b841f8eff038ad0b116936354f79df27249c89b06c8c5efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c712d16e4b03db869dbf37c2e83567129b293e49b376683e38a8f52e6c364f",
      "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 · 8.168 s

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

message 130 changed as sent

message 138 changed as sent

message 143 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3016, 1.5848, 1.1103, -0.738, 0.8787, 0.9703, 0.0688, 0.3595, 1.692, 1.2343, -0.7513, -0.8978, -1.0889, 0.0712]\nstate[eef_state]: left_x=0.2787 left_y=-0.2254 left_z=0.1463 left_yaw=-1.5209 left_pitch=-0.0729 left_roll=-0.1107 left_gripper=0.0688 right_x=0.2889 right_y=0.26 right_z=0.1512 right_yaw=1.6324 right_pitch=-0.0658 right_roll=0.027 right_gripper=0.0712\nstate[joint_eff]: [0.3897, -10.2359, 7.3504, 0.8523, 0.6081, 0.1099, 1.0281, -0.0615, -7.7744, 6.2154, 0.9109, -0.486, -0.0366, 0.4176]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8913, -1.0889, 0.0756]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2893 right_y=0.2594 right_z=0.1502 right_yaw=1.6301 right_pitch=-0.0718 right_roll=0.0259 right_gripper=0.0756\nstate[joint_eff]: [-0.0615, -8.1846, 8.2803, 0.9841, 0.4127, -0.0269, 1.0281, -0.253, -7.9658, 6.1333, 0.8034, -0.486, -0.0171, 0.7302]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3836, 1.6878, 1.2098, -0.7139, -0.8764, -1.058, 0.0767]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2851 right_y=0.2653 right_z=0.1448 right_yaw=1.6307 right_pitch=-0.0801 right_roll=0.0295 right_gripper=0.0767\nstate[joint_eff]: [-0.0479, -8.1846, 8.2803, 1.0672, 0.4176, -0.0513, 1.0281, 1.2513, -9.2923, 5.7641, 0.989, -0.6471, 0.0269, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6514d649dcadd35b46a1100c32337852b37d8c1f6f9df4cd2c748da3bb76a57d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbd50a36e0f1221b841f8eff038ad0b116936354f79df27249c89b06c8c5efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c712d16e4b03db869dbf37c2e83567129b293e49b376683e38a8f52e6c364f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJWnvcnHW6Yo0bA4neyb3T1B5-mGFHb3hrP6dRvMMXs6cZrXvpTiqXpgoHUWjVDTH7fjDNq5AttYT6x4oqC6Y8ZjLX6bnu1XDhv42XmXSdTzRV5jBECZTyrFeM8SoDVbx0sEMo4RIl-TAs4WrryuQ9GrBQveVk1xiXl4tQjgksE2r32rkLRbPWJJt0QC5RjjlE4jXvz0e86VquvfhiGDKEZz7e91toVbGuLs6y4c8XYtcrs8IM5AjjSOymqfjAqFL7gHpCkWwuOGjYvHhdDtbZOQ4akdaf9KQpujuqaCRgmWB7Gw5kmMB8r-KRFDGt5nWe8CKblYxVTZKtgom3l6kUdZNYnBwB1RG5HMDLG6FRHCHeXxQTmWMWuYK78xAoWXvjHCExSamrTf3O_W_H7c8xQTIiMoWIoSGCujuIr0ShFzJfVACakpYmpYXvKVmavgCUmmGnKUmS1RtUFRsHVo4c4UMQXFsz-nfTPCbJFyUifOJDmvqbwFFaEYXm4g7Z5KwYlR5QTvXF3DCKleThWD7YKPDaGXEAXCmHEdcr2pMkztI-9gmHZbROEVC70VaNenmcW3PAhRHjOw0ZJC9OF9Vz5kOSJrwArhyFO8R8eOQ4Uw4DYQxDGTwulXBJtjebgImYi5liW9zQwNilh2_I71xqK1p0H8ev3tC464Bku0UB5XXcMcChfqOSrGxsCztTJLIgA6kFsBrPu01Xt_c8W1s1pcpcyv_uA3Wq9z25lMA4_ll7E8hF4VqyE65pT1gj5B5yyYYRE0kUDcW5ibAbARXMXw2RUnMMmA4fjnGDwPDW6Cl8i23OZ1hcqK3390L4frTzRrvjeEeagScCkQdv8OPnDvhtJXMn9RNluh7OZ421qTL7OEP27M5eOZGPcs3daGzSFGPUglEWztchHlERFntlCBcgeVi8pi4JbzDIaGgeDSJ84595qH2lIbWJO7l3Gk9vCEV20gg7E1eshxTsbBNsLfsZPfdn4I8BvHjx-byR88CKb8YP1pSMiUvbHehbYOgunYqursbeKLK5CmeBXopfpL-dTdGy8ds-sOHB0PjKuyNYdiAAiUSrIcxbNItl3ZWPxYLRjOdzBvnOHRfKOE1k9uxg6eq2ZD0Nouslo45KeBx32e3lN9INayxaPfwoZ3ktPTzTjTyevp4xunN0XcrVQ3n4O98HjbDkxm1YBgoemoPshpj0DG2cTZViM36gZ5p2GSxxcq_ey_nn6O0-Q-C3-T1AWAf0U4QdOCskSNJGZQ-WUrr2V7Zx32oj-eEb0C6MFWXa44BzFc8Hb9ARI7loz31ykgMIxga-1vwkqQf9S8yMEnkJdesJU47BF0P4_yJnYLqfqrulqXJR7z6GHq5nasNd7S7KbQYBSyYJvrhudS6tVWTjozyEXYbPc3Xsr_FWsZx_Kvc-6HyT7qRllqAsCv5Q==",
  "id": "rs_08aed949cb8eba3c016ab495a5bb1c87d0add2df9e6be1a7ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.267,\"right_y\":0.285,\"right_z\":0.151,\"right_yaw\":1.63,\"right_pitch\":-0.08,\"right_roll\":0.03},\"note\":\"The pen hand followed that correction, bringing the tip closer to the cap mouth. I’m making one more short sideways-and-inward adjustment, without forcing the pieces together.\"}",
  "call_id": "call_70yRDrwBVOlLonZXoEA031YX",
  "id": "fc_08aed949cb8eba3c016ab495a69e6887d0bef786cbcfd7b406",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_70yRDrwBVOlLonZXoEA031YX",
  "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]: [-0.3344, 1.618, 1.1366, -0.7582, 0.8627, 0.9241, 0.0688, 0.4355, 1.6737, 1.1736, -0.6701, -0.8444, -0.9939, 0.0796]\nstate[eef_state]: left_x=0.2759 left_y=-0.2341 left_z=0.1407 left_yaw=-1.5252 left_pitch=-0.0999 left_roll=-0.1674 left_gripper=0.0688 right_x=0.2727 right_y=0.2765 right_z=0.1373 right_yaw=1.6337 right_pitch=-0.1022 right_roll=0.0502 right_gripper=0.0796\nstate[joint_eff]: [-0.1573, -8.0615, 8.294, 1.0769, 0.3883, -0.0366, 1.0281, 1.3607, -10.2222, 6.2974, 1.0232, -0.4225, 0.1538, 0.5934]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9c3298c584a34fd8a0f435ed2daf293a890df6e3bdc0d367fcdddf9b3628a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e694022d28851726f0cda9a30bdb17295e11d90dda741bc83ee926d2a8f7ed03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1606c83055009479ef7bfec3fcfd236afcce2881d377085fbdc3a0ba62cb85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 5.813 s

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

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.318, 1.5681, 1.1324, -0.7692, 0.8669, 0.9501, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8944, -1.0893, 0.0745]\nstate[eef_state]: left_x=0.275 left_y=-0.2285 left_z=0.155 left_yaw=-1.5213 left_pitch=-0.0817 left_roll=-0.1158 left_gripper=0.0688 right_x=0.2891 right_y=0.2596 right_z=0.1506 right_yaw=1.6314 right_pitch=-0.0691 right_roll=0.0265 right_gripper=0.0745\nstate[joint_eff]: [-0.5265, -5.7915, 8.3077, 0.8767, 0.398, 0.1343, 1.0281, -0.1846, -7.9795, 6.147, 0.823, -0.5299, -0.0317, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3836, 1.6878, 1.2098, -0.7139, -0.8764, -1.058, 0.0767]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2851 right_y=0.2653 right_z=0.1448 right_yaw=1.6307 right_pitch=-0.0801 right_roll=0.0295 right_gripper=0.0767\nstate[joint_eff]: [-0.0479, -8.1846, 8.2803, 1.0672, 0.4176, -0.0513, 1.0281, 1.2513, -9.2923, 5.7641, 0.989, -0.6471, 0.0269, 0.7888]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7582, 0.8627, 0.9241, 0.0688, 0.4355, 1.6737, 1.1736, -0.6701, -0.8444, -0.9939, 0.0796]\nstate[eef_state]: left_x=0.2759 left_y=-0.2341 left_z=0.1407 left_yaw=-1.5252 left_pitch=-0.0999 left_roll=-0.1674 left_gripper=0.0688 right_x=0.2727 right_y=0.2765 right_z=0.1373 right_yaw=1.6337 right_pitch=-0.1022 right_roll=0.0502 right_gripper=0.0796\nstate[joint_eff]: [-0.1573, -8.0615, 8.294, 1.0769, 0.3883, -0.0366, 1.0281, 1.3607, -10.2222, 6.2974, 1.0232, -0.4225, 0.1538, 0.5934]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9c3298c584a34fd8a0f435ed2daf293a890df6e3bdc0d367fcdddf9b3628a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e694022d28851726f0cda9a30bdb17295e11d90dda741bc83ee926d2a8f7ed03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1606c83055009479ef7bfec3fcfd236afcce2881d377085fbdc3a0ba62cb85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJWw6l086eBGts8GV6rJITzDKTVlQy_qspMP_BqN7goYSV_88PUO1WNhXtN6ILWyV-dMYpUsvV8j6qyVSv9hC1PLsVvdJnX877jF6hzI8xr6IgDgsxGI2udVlyxBoCBtac83gZVixUSxpGrcRHOqjWT849A0Ll63hqlrt7VsJGwG2Ur9sk-1rj-Nq5f-zxW7bLZFgtX--XBAkJtDEPHrP7wo76_mPePtqfrNHaJL7Q1LyLbhrvrnaMDpWeD0Z7sjBlNIStoxiClGrNmuqUjafVJVomeruQOVeNFJTJtDyRw4rdb3vxFa4hh-HkN7fGB_wWhaGnw5mP6_zqjmh4aexBLmsI3i9YtOYRSq9TRkk2N3HPWcSdwuZkaNSdvrmogSlIyXaIiWdJsnu4SULlQdAAODweL1mnmdu1QOztVOVVZRmbhugOW27lPmumd_KsnrVyLSmRsSz2VyJZdsIsA_3n3YPHKyhSL4F3xhGBGAZxE6wQaPtOWCddZ9788MgokOxAL1t_KkB_a8B7zVJZ0Fn7Txqp73cBdYlQWcqJgd73Nv87X-ucLNYOjuX41hgPAxuX-N35eiNCO_K7m6uywMC5TfHWAy0f98FH4zKHWLXB62LalAd6WnP9PCHUzwzB-WservrYCqpKM3OjN2PX4vj6M06TCcAHicVzWO3pBhkCJTyyLCLcqbB54uVHGGTfH1SJSAnyeL1CggbwQTSrac8X0prnaMfRPMaDFXQU5smaFmsvOXM9F3Hi13uC0hX40aFd4XqEua5KZJgUcmIyaWtJ0S-W0V73msm0V6JXYGDXz21NhrtuXanzbAizRq4dQt0nf2TE6NpI5He1P_iJALrk2DFtUQ9cax0sPOwF8AKMcTXB9ebpD6p475U9MOQsJJQADF6crbOPo5h3VY2RID8H4W2mv8fUx_eWw5B8cCjuSO_EP7DrvOpYH9ZiBUw41-eH_rEByx8cX26YBQjrHBQbkOsDE-dQ_E7rjaXGVxSncvXwZ-0vt79pAlTPmDnvZREVFC9Q6ziWzyF04QAjTq4YXCNzARXtZyllaZh0sPC6LNwHOhQYxSdFaAwxSTxU4iT59fg938V5kTym-HwavOzoETo7jtsldz9KrjW-swK1iVld5LSPwz15nzJAeu-nOd3u7eyu4pIKOXtq6DkgJLvWTDYXwuWZBfhHx8i5kbAAj3YF8-OphrBgvYHhtvNVJvHZTo5EXYnBBf-1VzIfN3gbjC0rpP4bSCnB6PgFmYe4pyeNHy7dLnXrPZ5TJVrbyHhP1eQ9P4ZTstzMBs6a7r8u8zPGVnkqjgj_ya4Gxc2DxKZu-F2eUIU_jKOZd1xMHnVELkn6ST8nu6xbwkCFM1c9qscA_g0B3PNYgGVHYF4v5yhqzDEb_VT4vxw2i2IrI8VTSCLlZpGmqv8YG4xl8tgUHGP15d39xP10fi5u_AL1ZaqtExqe5LvJkX7VNuIwYXvt_S2rZKnRYWDqlUCXtfsmRVgmaOCnYqqfOJdWJP3dNqUTbhFwnpdss3Pf7F4ZBZpla3RGZn22tFXWuILJitx79cT3ycOmS2REvzswElHqsr6q0G_sMQEir_6tyVCY6sYSxNdEPgXOpu1mGOnhOd5wkTGttvQsvUz1V7ZN58OhSoIRknG4w3oLBvQAFQrYcQt7XfAu4ysiWgnBSy_tj0cT3NbF-wELMwOqlUSM_XOGni3V6Lh38CXeEjCujIErNL3U7EMOm8pId4MoVKBsG5B7FGhJKywaWkQQXDFf4MWuJq0FVYe-_i60pKH1DsUJNIW24MjIMSSRlp0G4lKvmrYxAKF5wRPvAtbHiY-tAPVNUx-iFolGyR-8KLjdwUzVQODK_UStCZhyvu1iSGEIMHMjFypvEDgEMIByN6YisG8IbXe_Dkqrc-ufuh5SzDPhZ-XojF0qGZyjhCAJn5VnuLKBw-VBvB-8oiQYyB8XXvXD0q0KguefbiUznc-NIvG5JzbV1kzQUb3oSZIMVwsTQT-oIkC2FHxZV3g3wDFuVzrrg31snFf8JsUcWxZkFJjgjT9G8AdY7Nx890wlNFl-Ezc4Ql8AiGYreZ41ULcChiC2GOPteg6HWdXQ2N6DyIqIsRGRu08DeMivUpSMMrkjcCcYFNqqmKYKiQmUd7ID5l61e-Lr0-YwSnAvVzGXuE5qvFbhzO6LW3Gl2TScbl6UiI4wxo0isHlQZFqm0W3YYqbOJpgAFWhXppwZiOveIG3VoCj6784SyzYH6ZxZJJ9WKu-wNqe8_tx0SRPUNvB5ORqIcgX7iQpUgTNLZlpEfkUon77LKNv3gagvXarPLYmzwK61q5bw==",
  "id": "rs_08aed949cb8eba3c016ab495aa1b3887d0afd6f7fade29322a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.273,\"right_y\":0.299,\"right_z\":0.16,\"right_yaw\":1.634,\"right_pitch\":-0.102,\"right_roll\":0.05},\"note\":\"The pen tip is no longer visible outside the cap, and the shafts appear aligned in both cameras. I’m advancing a final short distance to try to seat the cap, then I’ll check whether it stays attached.\"}",
  "call_id": "call_kJDrPJDHDz5MANHMF2A8kHTj",
  "id": "fc_08aed949cb8eba3c016ab495ade8ac87d08908bcbe0012080f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kJDrPJDHDz5MANHMF2A8kHTj",
  "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]: [-0.3344, 1.618, 1.1366, -0.7586, 0.8604, 0.9241, 0.0688, 0.4664, 1.6615, 1.1683, -0.6456, -0.8413, -0.9535, 0.0787]\nstate[eef_state]: left_x=0.276 left_y=-0.2339 left_z=0.1404 left_yaw=-1.5244 left_pitch=-0.102 left_roll=-0.1669 left_gripper=0.0688 right_x=0.2667 right_y=0.2857 right_z=0.1413 right_yaw=1.6389 right_pitch=-0.0943 right_roll=0.0522 right_gripper=0.0787\nstate[joint_eff]: [0.0479, -8.1573, 8.4855, 1.0183, 0.4176, -0.0122, 1.0281, -0.3487, -9.9487, 6.0103, 1.0232, -0.4225, 0.0415, 0.5153]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86bb3365a577641f049dde57ad27f06d6252ecac323476e67ec916ad38c4007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0403ad02ecfb47be6ae29ef22e095d22d0d28d6dc72ed3bf085b35763d0f625e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af16a191d2ad91e8ec1c3eee28e0eef23dec931c54b393b5fb9aa6970886c171",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 4.44 s

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

message 138 changed as sent

message 147 changed as sent

message 151 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3595, 1.692, 1.2339, -0.7517, -0.8913, -1.0889, 0.0756]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2893 right_y=0.2594 right_z=0.1502 right_yaw=1.6301 right_pitch=-0.0718 right_roll=0.0259 right_gripper=0.0756\nstate[joint_eff]: [-0.0615, -8.1846, 8.2803, 0.9841, 0.4127, -0.0269, 1.0281, -0.253, -7.9658, 6.1333, 0.8034, -0.486, -0.0171, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7582, 0.8627, 0.9241, 0.0688, 0.4355, 1.6737, 1.1736, -0.6701, -0.8444, -0.9939, 0.0796]\nstate[eef_state]: left_x=0.2759 left_y=-0.2341 left_z=0.1407 left_yaw=-1.5252 left_pitch=-0.0999 left_roll=-0.1674 left_gripper=0.0688 right_x=0.2727 right_y=0.2765 right_z=0.1373 right_yaw=1.6337 right_pitch=-0.1022 right_roll=0.0502 right_gripper=0.0796\nstate[joint_eff]: [-0.1573, -8.0615, 8.294, 1.0769, 0.3883, -0.0366, 1.0281, 1.3607, -10.2222, 6.2974, 1.0232, -0.4225, 0.1538, 0.5934]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7586, 0.8604, 0.9241, 0.0688, 0.4664, 1.6615, 1.1683, -0.6456, -0.8413, -0.9535, 0.0787]\nstate[eef_state]: left_x=0.276 left_y=-0.2339 left_z=0.1404 left_yaw=-1.5244 left_pitch=-0.102 left_roll=-0.1669 left_gripper=0.0688 right_x=0.2667 right_y=0.2857 right_z=0.1413 right_yaw=1.6389 right_pitch=-0.0943 right_roll=0.0522 right_gripper=0.0787\nstate[joint_eff]: [0.0479, -8.1573, 8.4855, 1.0183, 0.4176, -0.0122, 1.0281, -0.3487, -9.9487, 6.0103, 1.0232, -0.4225, 0.0415, 0.5153]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86bb3365a577641f049dde57ad27f06d6252ecac323476e67ec916ad38c4007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0403ad02ecfb47be6ae29ef22e095d22d0d28d6dc72ed3bf085b35763d0f625e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af16a191d2ad91e8ec1c3eee28e0eef23dec931c54b393b5fb9aa6970886c171",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJW2sc2UMYZWp4faWUoWqXWk5m7-5iOnVqfExykIzUHgmAyI9SsWRVgOECnVvorQ4M3gcKmNekH8-awMOK7nCrIuLsuomSdxtLfcB8LOAvyWUTEd5oqVPxqMt9xK3Lss1RRvDcQicHVeN7_4h1HI4ZbNX5exWQjfJComELekwdrZnuO7hWy1wj20SduSIGd-gn1eZLmSV4eyaxs_ZfC2YAriAYAOnBg5XK7Rn2RSpdKxJhd2daEgf4Sx8qmD8xNVa3e3LkLljAHdnuMFQUmD9cf9OjYzdNhNJWf6wM-TzcvduD7NWn4uRVvnRoquLcoOFrd89rdx8frORU2ugKtW-hOStmLh1jT5uJLkehwj7-_RDxFoSByaaL87H4a010g--OrKzwA5meaaNZt9ykqegNh89K28YgwG_C4bETTPaYudp8L4bZDSnKgi01bYPITxBnOwz3lheqiL-QDIOW-zqX2HqjQ7PRd3-SWtrA4KtZrPUGYDF7BjIbR7yT3gySF2vpWssf4_Bkoi6qZq5LUXDDh4NVzma6K7xMu88gSSMwAGcd6SjW4lGkzBApE01d5pXTf3QgzYUzdt-DWhm19736t1TkOhNiJC_yW3rOsC4YkykhykUCGtVhAlwhR6S54kE2N9woLFCoSVsCS0gR2StnPmKkqFWfuTUBUEpABTAicmOxOv7ZHzMfO9Dxmoyo_hXgspao5GsU8AsHlMcKC1Bg7nuwTWXpQ1ylE0kRvjwPW8tAwxb117WlWpL148bSxwHRn92_4QUmb8aTNH1ZTvT5FA7n4g2d10-KHJu52J-TSXythL1OcOikpzUUTQjekshwca3Kha2iPpG2l_iC4qtdld4lxj3SMMNanv0s-EUKasTzj50OXUpeCbMCDTCZTe8PDyMq7ZG2OrnoUsww_cttySbIvQn40O7gxC0J8sSXSQfirgGQJ4BGm8_U-71ds8l4VBY0f3sBhrjszp01n8kGDEILVoHjEULQZJT5CulXVRn1PGZJQQpjK2fi44UfPbTSxFM8i0F-AbATtok5ljF3RixdVZnQkvwHuzhDQiqnfXyun39On-NQT70js2EPsi2L1LZQ3hROouari_VD6MIw3DXTJNn-z_GEwx2fXbl4dNC1YNgW5z2brJZanlzmKkEJjI-DNS5hiXtaaSqgbCdrAgukTU9cFYY8Sff3l7xhmCbB7SHOgsR8xcJXx-Z8l7h_ybbXSH1YgLB2gUSO8fsFKYPtPYB2pJeIn8l-ux18Yp1jz0Z6PkHvjCBdokCRnMtDY3gUMzDlzIyeJ4WRcALmgaPCUgRAYjFPLJWNNnoGR_7d698buyJVinp1dydrZL0JJQ2ebCGeh6XCS5p8L6kAotxJe7gTXZsRoyDFn3GlX6-5ZXAS8Iy3wZTaKUti5eNGyP5IdhN1h43s7mwp27NrEq6k5t7v3F0lQJ9gEDdrluu010Wa58Po9BmWhwNUYl_wEB_6HOauA6VItSrqJq7PSRSXE1mBF8f03VgKsvucICKxeZ3jTT5UWb2RdMs7yMGwMzhbjXPum5Nd-G37Ux9jPZNIXE1L7PQtSrbqasOrZiOxLxlzQ9t_V234o0p1ZkfYLfXIlDE8Xo_Wp2yy3e4Du3d5bZhnj30f93MIRXBzbCGiWN7o2rn4p0csFOm_V-0IsguPpM8W5kkGPyGYnlZvKZHtiYlI7HfmxYQ0doaDiHqlvB4jyyyA964m8uniexwQj0l42vi2oSAaHrmNjlNvnxt_hTY1LGln9H6Fudw4byUHcFzMhX2TNvVN2RRF6jUv8Y-UqZ4gNqNqWlpVhS9q4lLHcNrScomkStZQ9kLyDHiYN2xxTbZ-gmThumrguE8vjvk0iGLcIQLR57kq-dobIir_YhM17ZIUNp-ci6IGkdBK__mNNNyUvHG9QtSgsys7w9Qyw7LCaN3VwhEmuRrcUg5OJ-ON1dYJYgoZ6IRuQcLzLkVYFy8GyTr678LvIKLGwdNfsEzSJLoFMbc_VbSWBv-Ggiewdu2ltkHNwka-56wf0ykBza7TpHp0zvOi59uhFm9XmRGVImApHO1Un4z7v_jbbAmHdyxkxUGXzRS4tpIVA=",
  "id": "rs_08aed949cb8eba3c016ab495b1fdb087d098898cd0ea6ef5a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.286,\"right_z\":0.16,\"right_yaw\":1.639,\"right_pitch\":-0.094,\"right_roll\":0.052},\"note\":\"The closer view shows the barrel beside the cap, so I cannot yet call it seated. I’m correcting that final sideways offset while holding the insertion depth.\"}",
  "call_id": "call_Cq4RgcUMLMe3uc3cTv2AEY3I",
  "id": "fc_08aed949cb8eba3c016ab495b4e73087d0a0aabb062d64ad8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Cq4RgcUMLMe3uc3cTv2AEY3I",
  "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]: [-0.3344, 1.618, 1.1366, -0.7586, 0.8604, 0.9241, 0.0688, 0.4664, 1.6615, 1.1683, -0.6456, -0.8413, -0.9539, 0.0798]\nstate[eef_state]: left_x=0.276 left_y=-0.2339 left_z=0.1404 left_yaw=-1.5244 left_pitch=-0.102 left_roll=-0.1669 left_gripper=0.0688 right_x=0.2667 right_y=0.2857 right_z=0.1413 right_yaw=1.6391 right_pitch=-0.0943 right_roll=0.0519 right_gripper=0.0798\nstate[joint_eff]: [0.0068, -8.1846, 8.5265, 1.0476, 0.4176, -0.022, 1.0281, -0.4034, -9.9487, 6.2154, 1.0232, -0.4957, 0.0415, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61ab12877196b261c46b2844c40b391ce598ea2590d0241a2f23e11dc1c9d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2c0a89e1efb31860a843ac10076cca2a3e08bc7adfa0b19f6f318740e33294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:662ffd4f1f072f5a7194ee886d300f1fd726a7bf2187211bdb211ff376857666",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 6.22 s

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

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3336, 1.618, 1.1366, -0.7593, 0.8608, 0.9241, 0.0688, 0.3836, 1.6878, 1.2098, -0.7139, -0.8764, -1.058, 0.0767]\nstate[eef_state]: left_x=0.276 left_y=-0.2336 left_z=0.1404 left_yaw=-1.5238 left_pitch=-0.102 left_roll=-0.1678 left_gripper=0.0688 right_x=0.2851 right_y=0.2653 right_z=0.1448 right_yaw=1.6307 right_pitch=-0.0801 right_roll=0.0295 right_gripper=0.0767\nstate[joint_eff]: [-0.0479, -8.1846, 8.2803, 1.0672, 0.4176, -0.0513, 1.0281, 1.2513, -9.2923, 5.7641, 0.989, -0.6471, 0.0269, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7586, 0.8604, 0.9241, 0.0688, 0.4664, 1.6615, 1.1683, -0.6456, -0.8413, -0.9535, 0.0787]\nstate[eef_state]: left_x=0.276 left_y=-0.2339 left_z=0.1404 left_yaw=-1.5244 left_pitch=-0.102 left_roll=-0.1669 left_gripper=0.0688 right_x=0.2667 right_y=0.2857 right_z=0.1413 right_yaw=1.6389 right_pitch=-0.0943 right_roll=0.0522 right_gripper=0.0787\nstate[joint_eff]: [0.0479, -8.1573, 8.4855, 1.0183, 0.4176, -0.0122, 1.0281, -0.3487, -9.9487, 6.0103, 1.0232, -0.4225, 0.0415, 0.5153]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.618, 1.1366, -0.7586, 0.8604, 0.9241, 0.0688, 0.4664, 1.6615, 1.1683, -0.6456, -0.8413, -0.9539, 0.0798]\nstate[eef_state]: left_x=0.276 left_y=-0.2339 left_z=0.1404 left_yaw=-1.5244 left_pitch=-0.102 left_roll=-0.1669 left_gripper=0.0688 right_x=0.2667 right_y=0.2857 right_z=0.1413 right_yaw=1.6391 right_pitch=-0.0943 right_roll=0.0519 right_gripper=0.0798\nstate[joint_eff]: [0.0068, -8.1846, 8.5265, 1.0476, 0.4176, -0.022, 1.0281, -0.4034, -9.9487, 6.2154, 1.0232, -0.4957, 0.0415, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61ab12877196b261c46b2844c40b391ce598ea2590d0241a2f23e11dc1c9d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2c0a89e1efb31860a843ac10076cca2a3e08bc7adfa0b19f6f318740e33294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:662ffd4f1f072f5a7194ee886d300f1fd726a7bf2187211bdb211ff376857666",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtJW6NkVNIpN4vWtcxZ5SvhdOBc3P87TrEEwm4HSVanBZ_DmlJSNTK01uusUuSqtGcgoYoQsq4MziVtiW0wWR78qrZgiBJ5QGix6TlKscD64cpAwB4BhhUyP9p4MyXtXNSvsrPPWU9gd2_hwI7J9skugk4kbtIZQfFNQHQalQsjz0rIGdvtWgNtyCJUTpftWDQWzl7H-ucSnJB5IV7_GdPqLXNlTITx7P_31GBCPvlgSA45Ov9I9Wa_6M4pWEAQz2aqZJj2g-oweWW5j7G_ohJBD_7kUAqrahKeGbUHlObCVv3G2JBchJuUwTE_23S8E_5Jwsc-hEdhWRxHHmWL25I-XcmjoJKcm5WG6dYh44-XW0rLRukFRb-yZBHDshOPNS-rrbYhUhAnIXvj1PyhU9Mq6UZ3JFQd_fom6p5uzghMmOUZCdVPNIV-I4CdfRspxQl-4hUDKA0CjzSHi0pZjlssMpdbdideXUrwJjdE4tftehmkuLGVYciPlLE0fCRamTBJjrB7y7lzuU_VAXyjGYN-TsHSyFm51H5R3opKOHifMnAxYhbpIsrtUBx7gzRX6plJKXo2AxDIu_jHTqYcX8SWhlgTwih_Izg2_FFjydx6NEu48PWDzwXFla2VZ9_x1qnQk24buc0hBd_mrfH968sb-INEfyVOocp9dWVzKWtnXGwwPZhdi1J-_2WC01z4UwA8tTnAu10VeYuGT0Y4XPIxOdWpsL5Obx8av3zgDq0xnktwiafgh6gaCL_KXbUWS5p8vAg_DZ8S024GUjOAlOUOhPYcmyFFt89v106_Z7smXoVR9aqKX15gG-O3DT73UJ-41Fhr38oJ1T_RmYUCIJxOjtNAYdX2m4fDYkPkLoHLGuwd53WRF7jT8HJioq1ojI0F0QkpfERCosM45xnzErSWxb9h6gzo4UZX1aMaacThSJaYZeGRs5ifUVSm4UJs8cZS1tyx0biR8DPaeN2HWLXvaYUGuK0D36QVRm6zjrd2mteZ3m1j-_vK067KdLA3JG4GYpiS6WAPae2VNchl8lcoM7-Ja5Wal7FQN2D_72G3HXyFE9IGyLhPotUWMFt4nDQ2_RuR4hamH5pdq-iiUz62ae5cemIm8TcEktGVnwrCaW9Mqpjh8M8IsQkibO_WTmPp9JHaj1Ul9FEW9_HedWqa4qzXsLnojAzeCU_patp6On_sCW_ba8CYWagRaxU_bYOyQ3KbM74pIVbUvJyvC5ZkTscVZgcTshIgvCUaNK9bH60TEoBgvhX556_oASDTZAUL49JhqwxzcQCqHdEOBphQgAhCSdHiQsRyD3KOuzhwaZBLiL7Wiu8a5JqRNo_NY7nNLjMDRFEy6S9ny9IVMLIF8brXs17vd95ntxm4lLG971Zp7rwCWeahA8Xdo8fFWGJAjDxAwwcQb9NtG91nJ_wBYeZytJg0TsBrE31bHCKrJjlClnAH-xpqxsJhNOI-RSxHn3b775xBS1VrvyKqugdzRFLxWJHs_E5N8TtXUEP_JwGgZ9X16GrWhB4nMiiBI5TLv5bqPGrDex028yx6ttU4SrDKm4FJkMxHTTuJuwHdYN7PwUOzYeCqsLAFDuJlej-rxiv8QeHzg1-F7bZf3qqvHptJxdYjpC_ANqVujhoy-8AbS-nLy4iL_cPWQeBJWcjXg2",
  "id": "rs_08aed949cb8eba3c016ab495b82ac087d09b5374bfe41135d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.253,\"left_y\":-0.234,\"left_z\":0.15,\"left_yaw\":-1.524,\"left_pitch\":-0.102,\"left_roll\":-0.167},\"note\":\"The pen hand has again reached a pose it will not move from. I’m making the remaining lateral adjustment with the cap hand instead, keeping the parts at the same depth.\"}",
  "call_id": "call_u9Nrp3k93Zmy8j7hQxp7iOHl",
  "id": "fc_08aed949cb8eba3c016ab495b99a4487d08ec26e80b38926fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u9Nrp3k93Zmy8j7hQxp7iOHl",
  "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]: [-0.345, 1.5791, 1.095, -0.7441, 0.8406, 0.9062, 0.0688, 0.4664, 1.6611, 1.1675, -0.651, -0.8463, -0.9539, 0.0819]\nstate[eef_state]: left_x=0.2673 left_y=-0.2321 left_z=0.1382 left_yaw=-1.5169 left_pitch=-0.1164 left_roll=-0.1628 left_gripper=0.0688 right_x=0.2652 right_y=0.2856 right_z=0.1414 right_yaw=1.6418 right_pitch=-0.0923 right_roll=0.059 right_gripper=0.0819\nstate[joint_eff]: [-1.1419, -9.6205, 6.3385, 0.652, 0.7106, -0.0073, 1.0281, -0.4171, -9.8803, 6.2427, 1.3309, -0.2711, 0.0464, 0.5495]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2d7711c8d51609b6706c0f0bda9916f3b6cc85dce9719f1a60314429206782",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fec2e47fc67c6aa0d7753eee04d640350eff3d60dfeb53553e55d984b1aeb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26ad7b2d8e3146df460393a24f655e6174235ce0810f6a0d11cd75076bd4d62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]