adhoc - adhoc_6b26663f.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: medium
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
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 270.6 s
total steps: 279

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 long pen is on the right half of the table and the separate short cap is to its left. I will bring the right gripper above the pen, keeping the left arm parked clear.

move_to

right_x0.3800right_y0.1800right_z0.1200right_gripper1.0000left_x0.2950left_y0.0000left_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.794, 0.6029, -0.3801, -0.0219, -0.0246, 0.9995, -0.0158, 0.7921, 0.6102, -0.3756, -0.0208, -0.0124, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.296 right_y=0.0026 right_z=0.1843 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5402, -1.5521, 10.3863, 1.79, -0.0366, 0.0757, -0.0659, -0.8821, -1.3607, 9.8393, 1.707, -0.0171, -0.0611, -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":{"right_x":0.38,"right_y":0.18,"right_z":0.12,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.20},"note":"The long pen is on the right half of the table and the separate short cap is to its left. I will bring the right gripper above the pen, keeping the left arm parked clear."})

tool

executing move_to over 15 steps (1.5s)

step 15

assistant

agent noteThe pen is visible just right of the jaw column and lies diagonally. I will shift toward its shaft, rotate the jaws across it, and lower partway for a closer alignment check.

move_to

right_x0.4050right_y0.1520right_z0.0550right_yaw0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.8085, 0.6479, -0.4488, -0.0265, -0.0284, 0.9995, 0.6384, 1.528, 0.7753, 0.0261, 0.4896, 0.3412, 0.9993] state[eef_state]: left_x=0.2917 left_y=0.0004 left_z=0.182 left_yaw=-0.0011 left_pitch=-0.0384 left_roll=0.0006 left_gripper=0.9995 right_x=0.3666 right_y=0.1731 right_z=0.1021 right_yaw=0.0393 right_pitch=-0.0692 right_roll=-0.0455 right_gripper=0.9993 state[joint_eff]: [-0.3624, -1.5248, 10.441, 1.7167, -0.1001, -0.0904, -0.0171, 0.294, -6.7487, 8.3897, 1.707, 0.4322, 0.1587, -0.0904] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.152,"right_z":0.055,"right_yaw":0.5},"note":"The pen is visible just right of the jaw column and lies diagonally. I will shift toward its shaft, rotate the jaws across it, and lower partway for a closer alignment check."})

tool

executing move_to over 4 steps (0.4s)

step 19

assistant

agent noteThe pen shaft now crosses the lower jaw column, with its pointed end visible farther forward. I will lower the open jaws around the shaft near its rear half.

move_to

right_x0.4050right_y0.1300right_z0.0020right_yaw0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0265, 0.8108, 0.6491, -0.4618, -0.0261, -0.028, 0.9994, 0.3096, 1.673, 0.6819, 0.2672, 0.0475, -0.0147, 0.9992] state[eef_state]: left_x=0.2901 left_y=0.0005 left_z=0.1793 left_yaw=-0.0013 left_pitch=-0.0526 left_roll=0.001 left_gripper=0.9994 right_x=0.3978 right_y=0.1222 right_z=0.0394 right_yaw=0.2677 right_pitch=-0.1657 right_roll=-0.045 right_gripper=0.9992 state[joint_eff]: [-0.0479, -1.2923, 6.9128, 1.7851, -0.0806, -0.0317, -0.0171, 0.8, -8.0752, 6.6667, 1.8632, -0.2369, -0.105, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.13,"right_z":0.002,"right_yaw":0.42},"note":"The pen shaft now crosses the lower jaw column, with its pointed end visible farther forward. I will lower the open jaws around the shaft near its rear half."})

tool

executing move_to over 3 steps (0.3s)

step 22

assistant

agent noteThe pen is nearly parallel to the gripper's forward axis, but the measured fingertips remain about 4.5 cm above the table. I will make a small sideways correction and complete the descent without changing the orientation further.

move_to

right_x0.3930right_y0.1330right_z-0.0100right_yaw0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.8116, 0.6487, -0.4614, -0.0257, -0.028, 0.9994, 0.2882, 1.6985, 0.6804, 0.3481, -0.1547, -0.1589, 0.9992] state[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0533 left_roll=0.0008 left_gripper=0.9994 right_x=0.3989 right_y=0.1504 right_z=0.0451 right_yaw=0.4957 right_pitch=-0.1033 right_roll=-0.0311 right_gripper=0.9992 state[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6679, -0.0562, -0.0611, -0.0122, -0.1436, -7.9111, 6.2427, 1.7949, -0.1441, -0.1685, -0.0122] 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":{"right_x":0.393,"right_y":0.133,"right_z":-0.01,"right_yaw":0.42},"note":"The pen is nearly parallel to the gripper's forward axis, but the measured fingertips remain about 4.5 cm above the table. I will make a small sideways correction and complete the descent without changing the orientation further."})

tool

executing move_to over 4 steps (0.4s)

step 26

assistant

agent noteThe last descent did not move the arm, so I will not keep pressing the same target. I will shorten the reach slightly and tilt the wrist forward to approach the pen from a more reachable posture.

move_to

right_x0.3650right_y0.1400right_z0.0650right_yaw0.2500right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.8116, 0.6487, -0.4622, -0.0257, -0.028, 0.9994, 0.2882, 1.6985, 0.6804, 0.3481, -0.1547, -0.1623, 0.9992] state[eef_state]: left_x=0.29 left_y=0.0003 left_z=0.1788 left_yaw=-0.002 left_pitch=-0.0541 left_roll=0.0008 left_gripper=0.9994 right_x=0.3989 right_y=0.1504 right_z=0.0451 right_yaw=0.4975 right_pitch=-0.1033 right_roll=-0.0338 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.2923, 7.2, 1.7411, -0.0171, -0.0415, -0.0122, -0.1299, -7.9248, 6.2291, 1.8437, -0.0904, -0.1197, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.14,"right_z":0.065,"right_yaw":0.25,"right_pitch":0.2},"note":"The last descent did not move the arm, so I will not keep pressing the same target. I will shorten the reach slightly and tilt the wrist forward to approach the pen from a more reachable posture."})

tool

executing move_to over 11 steps (1.1s)

step 37

assistant

agent noteThe shorter approach restored motion. The pen's rear shaft is just to the right of the jaws, so I will shift right and forward slightly while lowering to grasping height.

move_to

right_x0.3820right_y0.1150right_z0.0050right_yaw0.3000right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0265, 0.8158, 0.6479, -0.4732, -0.0257, -0.028, 0.9994, 0.4313, 1.6596, 0.3481, 0.8684, 0.1345, 0.012, 0.9992] state[eef_state]: left_x=0.2886 left_y=0.0005 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0701 left_roll=0.0012 left_gripper=0.9994 right_x=0.3589 right_y=0.143 right_z=0.0486 right_yaw=0.3012 right_pitch=0.1184 right_roll=-0.0464 right_gripper=0.9992 state[joint_eff]: [0.0342, -1.0735, 7.2137, 1.8242, -0.0562, -0.0317, -0.0122, 0.4581, -5.3675, 4.4513, 2.0733, 0.2076, 0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.382,"right_y":0.115,"right_z":0.005,"right_yaw":0.3,"right_pitch":0.2},"note":"The shorter approach restored motion. The pen's rear shaft is just to the right of the jaws, so I will shift right and forward slightly while lowering to grasping height."})

tool

executing move_to over 3 steps (0.3s)

step 40

assistant

agent noteThe fingertips have reached table height with the pen shaft between them. I will close the right gripper to secure the pen.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.82, 0.6468, -0.4862, -0.0261, -0.0277, 0.9994, 0.3031, 2.035, 0.3504, 1.2644, 0.0528, -0.0162, 0.9988] state[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1709 left_yaw=-0.0018 left_pitch=-0.0884 left_roll=0.0022 left_gripper=0.9994 right_x=0.3789 right_y=0.1125 right_z=-0.0025 right_yaw=0.2576 right_pitch=0.1378 right_roll=-0.036 right_gripper=0.9988 state[joint_eff]: [-0.1709, -1.4427, 7.1726, 1.8535, -0.0659, -0.0464, -0.0122, 0.335, -7.0085, 1.4701, 0.5641, 0.0855, -0.3687, -0.0464] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The fingertips have reached table height with the pen shaft between them. I will close the right gripper to secure the pen."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe gripper has stopped at a narrow opening consistent with the thin pen, and the shaft has centered as the jaws closed. I will lift it a few centimeters to confirm it is held.

move_to

right_z0.0750left_x0.2950left_y0.0000left_z0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.82, 0.643, -0.4877, -0.0257, -0.028, 0.9994, 0.297, 2.0449, 0.3466, 1.2942, 0.0456, -0.0219, 0.0453] state[eef_state]: left_x=0.286 left_y=0.0004 left_z=0.1689 left_yaw=-0.0019 left_pitch=-0.0938 left_roll=0.0018 left_gripper=0.9994 right_x=0.3797 right_y=0.1115 right_z=-0.0005 right_yaw=0.2607 right_pitch=0.1536 right_roll=-0.0377 right_gripper=0.0453 state[joint_eff]: [-0.1846, -1.2103, 7.3641, 1.6728, -0.0317, -0.0611, -0.0122, 0.3761, -7.9795, 2.8923, 1.5556, 0.0464, 0.0464, 1.0867] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.075,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The gripper has stopped at a narrow opening consistent with the thin pen, and the shaft has centered as the jaws closed. I will lift it a few centimeters to confirm it is held."})

tool

executing move_to over 5 steps (0.5s)

step 55

assistant

agent noteThe pen rose with the right gripper, confirming a successful pickup. I will hold it clear of the table while bringing the left gripper above the separate cap.

move_to

right_z0.1700left_x0.3950left_y-0.2000left_z0.1200left_gripper1.0000left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0269, 0.8791, 0.7361, -0.5655, -0.0257, -0.0284, 0.9994, 0.2966, 1.6173, 0.3668, 0.8989, 0.0429, -0.0265, 0.0496] state[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1794 left_yaw=-0.0016 left_pitch=-0.1376 left_roll=0.0026 left_gripper=0.9994 right_x=0.3818 right_y=0.1125 right_z=0.0774 right_yaw=0.2648 right_pitch=0.2061 right_roll=-0.0392 right_gripper=0.0496 state[joint_eff]: [-0.4581, -1.5932, 10.0444, 1.5311, -0.0611, -0.0806, -0.0122, -0.3077, -6.1607, 6.8855, 1.8291, 0.0659, 0.0171, 1.0281] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17,"left_x":0.395,"left_y":-0.20,"left_z":0.12,"left_gripper":1,"left_pitch":0.2},"note":"The pen rose with the right gripper, confirming a successful pickup. I will hold it clear of the table while bringing the left gripper above the separate cap."})

tool

executing move_to over 18 steps (1.8s)

step 73

assistant

agent noteThe cap is centered in the left wrist view and lies diagonally across the table. I will advance toward it, turn the jaws across its body, and lower close to the table.

move_to

left_x0.4250left_y-0.2050left_z0.0250left_yaw-0.4000left_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7216, 1.6596, 0.7132, 0.3485, -0.6464, -0.3359, 0.9994, 0.2958, 1.28, 0.5388, 0.3492, 0.0406, -0.0338, 0.0545] state[eef_state]: left_x=0.3804 left_y=-0.1882 left_z=0.0926 left_yaw=-0.0226 left_pitch=0.1033 left_roll=0.0584 left_gripper=0.9994 right_x=0.3776 right_y=0.1113 right_z=0.1498 right_yaw=0.2701 right_pitch=0.1655 right_roll=-0.0464 right_gripper=0.0545 state[joint_eff]: [-0.3077, -7.6103, 8.5812, 1.9414, -0.2222, 0.0659, -0.0708, -0.1436, -6.0786, 9.4154, 1.9853, 0.0122, 0.0562, 1.033] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.205,"left_z":0.025,"left_yaw":-0.4,"left_pitch":0.2},"note":"The cap is centered in the left wrist view and lies diagonally across the table. I will advance toward it, turn the jaws across its body, and lower close to the table."})

tool

executing move_to over 5 steps (0.5s)

step 78

assistant

agent noteThe cap body is aligned with the lower jaw column, but its near end remains slightly ahead of the fingertips. I will advance a small amount and settle the jaws around that end.

move_to

left_x0.4380left_y-0.1860left_z-0.0080left_yaw-0.3200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5224, 2.0258, 0.635, 0.8879, -0.2775, -0.0925, 0.999, 0.2962, 1.2827, 0.5385, 0.3256, 0.0406, -0.0338, 0.0545] state[eef_state]: left_x=0.4153 left_y=-0.1792 left_z=0.0033 left_yaw=-0.251 left_pitch=0.0872 left_roll=0.061 left_gripper=0.999 right_x=0.3753 right_y=0.1108 right_z=0.1432 right_yaw=0.2706 right_pitch=0.1389 right_roll=-0.0471 right_gripper=0.0545 state[joint_eff]: [0.2256, -8.253, 5.2581, 1.6581, 0.0562, 0.2955, -0.0464, -0.0479, -4.7932, 6.612, 2.0147, -0.0171, -0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.438,"left_y":-0.186,"left_z":-0.008,"left_yaw":-0.32},"note":"The cap body is aligned with the lower jaw column, but its near end remains slightly ahead of the fingertips. I will advance a small amount and settle the jaws around that end."})

tool

executing move_to over 2 steps (0.2s)

step 80

assistant

agent noteThe cap now extends between the left fingertips at table height. I will close the jaws to pick it up.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4908, 2.0884, 0.68, 0.9581, -0.1711, -0.0322, 0.9989, 0.2962, 1.2827, 0.5385, 0.3222, 0.0406, -0.0341, 0.0545] state[eef_state]: left_x=0.4299 left_y=-0.1916 left_z=0.0033 left_yaw=-0.3403 left_pitch=0.1262 left_roll=0.0561 left_gripper=0.9989 right_x=0.375 right_y=0.1107 right_z=0.1425 right_yaw=0.2708 right_pitch=0.1354 right_roll=-0.0475 right_gripper=0.0545 state[joint_eff]: [0.759, -8.7043, 5.7231, 1.5702, -0.1832, 0.3199, -0.022, -0.0752, -4.4786, 6.5299, 1.8584, -0.0562, -0.0611, 1.0379] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0},"note":"The cap now extends between the left fingertips at table height. I will close the jaws to pick it up."})

tool

executing move_to over 10 steps (1.0s)

step 90

assistant

agent noteThe left jaws stopped at about 5 mm of opening, consistent with gripping the cap. I will lift it clear and confirm that it follows the gripper.

move_to

left_x0.4150left_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]: [-0.4915, 2.1067, 0.6861, 0.9817, -0.1768, -0.0425, 0.0556, 0.2958, 1.2839, 0.5381, 0.3206, 0.0406, -0.0341, 0.0545] state[eef_state]: left_x=0.4323 left_y=-0.1921 left_z=0.0022 left_yaw=-0.3304 left_pitch=0.1382 left_roll=0.0474 left_gripper=0.0556 right_x=0.3749 right_y=0.1105 right_z=0.1415 right_yaw=0.2704 right_pitch=0.1324 right_roll=-0.0476 right_gripper=0.0545 state[joint_eff]: [-0.1573, -10.7009, 3.2889, 1.5946, 0.0708, 0.1587, 1.4432, -0.0752, -4.6017, 6.5709, 1.8877, -0.0659, -0.0806, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_z":0.08},"note":"The left jaws stopped at about 5 mm of opening, consistent with gripping the cap. I will lift it clear and confirm that it follows the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 96

assistant

agent noteBoth parts have lifted with their grippers. I will begin turning them toward a common sideways axis, leaving ample separation so the cap can approach the pen tip without the hands colliding.

move_to

left_x0.3500left_y-0.2400left_z0.1800left_yaw0.5500right_x0.3500right_y0.1800right_z0.1800right_yaw0.8500right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5121, 1.7958, 0.6594, 0.7082, -0.1978, -0.0513, 0.0686, 0.2958, 1.2842, 0.5373, 0.3202, 0.0406, -0.0338, 0.0545] state[eef_state]: left_x=0.418 left_y=-0.191 left_z=0.0715 left_yaw=-0.3282 left_pitch=0.1505 left_roll=0.0462 left_gripper=0.0686 right_x=0.3747 right_y=0.1104 right_z=0.141 right_yaw=0.2702 right_pitch=0.1308 right_roll=-0.0473 right_gripper=0.0545 state[joint_eff]: [-0.6906, -9.388, 5.9692, 1.7167, -0.0562, -0.0708, 1.033, -0.212, -4.0957, 6.735, 1.8779, -0.0562, -0.0317, 1.0379] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.24,"left_z":0.18,"left_yaw":0.55,"right_x":0.35,"right_y":0.18,"right_z":0.18,"right_yaw":0.85,"right_pitch":0.2},"note":"Both parts have lifted with their grippers. I will begin turning them toward a common sideways axis, leaving ample separation so the cap can approach the pen tip without the hands colliding."})

tool

executing move_to over 7 steps (0.7s)

step 103

assistant

agent noteThe pen remains secure, while the left arm moved farther inward than requested during its turn. I will move the cap back outward and continue aligning both parts sideways at the same height.

move_to

left_x0.3500left_y-0.2100left_z0.1800left_yaw1.2500left_pitch0.0000right_x0.3500right_y0.1700right_z0.1800right_yaw1.4000right_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]: [-0.9798, 1.9701, 1.4967, -0.2985, -1.0664, -0.9642, 0.0686, 0.2287, 1.2861, 0.627, 0.2195, -0.4549, -0.2424, 0.0545] state[eef_state]: left_x=0.3986 left_y=-0.31 left_z=0.1886 left_yaw=0.3441 left_pitch=0.2124 left_roll=-0.2369 left_gripper=0.0686 right_x=0.3551 right_y=0.166 right_z=0.1656 right_yaw=0.7361 right_pitch=0.165 right_roll=-0.0352 right_gripper=0.0545 state[joint_eff]: [-0.4171, -9.1829, 5.0393, 0.5299, -0.5983, -0.0562, 1.0281, -0.6769, -3.7812, 9.1419, 1.746, -0.1245, -0.1001, 1.033] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.21,"left_z":0.18,"left_yaw":1.25,"left_pitch":0,"right_x":0.35,"right_y":0.17,"right_z":0.18,"right_yaw":1.4,"right_pitch":0},"note":"The pen remains secure, while the left arm moved farther inward than requested during its turn. I will move the cap back outward and continue aligning both parts sideways at the same height."})

tool

executing move_to over 9 steps (0.9s)

step 112

assistant

agent noteThe sideways cap orientation is not tracking reliably, so I will switch to a fore–aft assembly approach. The cap will stay farther forward while the pen is held behind it, keeping the grippers separated.

move_to

left_x0.4100left_y-0.2800left_z0.1900left_yaw0.2500left_pitch0.2000right_x0.2700right_y0.3000right_z0.1800right_yaw0.6000right_pitch0.1000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9775, 2.2581, 2.1162, -1.3472, -1.0924, -1.9572, 0.0686, 0.0711, 1.681, 1.2289, -0.6525, -0.8375, -1.018, 0.0578] state[eef_state]: left_x=0.385 left_y=-0.284 left_z=0.1901 left_yaw=0.7916 left_pitch=0.0448 left_roll=-0.4121 left_gripper=0.0686 right_x=0.3697 right_y=0.1615 right_z=0.1533 right_yaw=1.271 right_pitch=-0.0835 right_roll=-0.0354 right_gripper=0.0578 state[joint_eff]: [1.6479, -9.894, 5.8735, -0.1343, -0.6618, -0.1685, 1.0232, -1.2376, -9.7162, 8.4444, 0.5495, -1.3944, -0.149, 1.033] approver: 2 step(s) modified (delta_clamped ×2). 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":0.41,"left_y":-0.28,"left_z":0.19,"left_yaw":0.25,"left_pitch":0.2,"right_x":0.27,"right_y":0.3,"right_z":0.18,"right_yaw":0.6,"right_pitch":0.1},"note":"The sideways cap orientation is not tracking reliably, so I will switch to a fore–aft assembly approach. The cap will stay farther forward while the pen is held behind it, keeping the grippers separated."})

tool

executing move_to over 12 steps (1.2s)

step 124

assistant

agent noteThe cap is still held, but the left wrist is not yet at its intended forward pose. I will straighten that wrist with a modest forward move before bringing the parts together.

move_to

left_x0.3900left_y-0.2400left_z0.1900left_yaw0.0000left_pitch0.2000left_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]: [-0.8955, 1.7123, 1.2613, -0.9855, -0.8833, -1.375, 0.075, 0.8627, 1.3239, 0.7223, -0.0608, 0.3016, 0.1452, 0.0579] state[eef_state]: left_x=0.3145 left_y=-0.1685 left_z=0.1402 left_yaw=0.5414 left_pitch=-0.1098 left_roll=0.0256 left_gripper=0.075 right_x=0.2841 right_y=0.2567 right_z=0.1321 right_yaw=0.5219 right_pitch=-0.0712 right_roll=-0.068 right_gripper=0.0579 state[joint_eff]: [1.9761, -1.5658, 5.8325, 1.1306, -0.5983, 0.1538, 1.0281, 6.5709, -8.7726, 10.7829, 3.7143, -0.8034, -0.7741, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.24,"left_z":0.19,"left_yaw":0,"left_pitch":0.2,"left_roll":0},"note":"The cap is still held, but the left wrist is not yet at its intended forward pose. I will straighten that wrist with a modest forward move before bringing the parts together."})

tool

executing move_to over 11 steps (1.1s)

step 135

assistant

agent noteThe cap is now pointing forward, with its opening toward the pen. I will align the pen to the same direction and bring its shaft toward the cap's lateral position while keeping a gap.

move_to

right_x0.2700right_y0.3500right_z0.1800right_yaw0.0000right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8364, 1.6444, 1.0309, -0.0708, -0.8074, -0.5137, 0.075, 0.8536, 1.3342, 0.6994, -0.0708, 0.3012, 0.1501, 0.0579] state[eef_state]: left_x=0.3811 left_y=-0.2263 left_z=0.162 left_yaw=0.0741 left_pitch=0.1181 left_roll=0.0276 left_gripper=0.075 right_x=0.2819 right_y=0.2489 right_z=0.117 right_yaw=0.5091 right_pitch=-0.1117 right_roll=-0.0784 right_gripper=0.0579 state[joint_eff]: [0.335, -10.0991, 6.6393, 1.7363, -0.1978, 0.2418, 1.033, 0.5402, -5.7915, 8.5265, 1.6923, 0.0806, -0.0611, 1.0379] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.27,"right_y":0.35,"right_z":0.18,"right_yaw":0,"right_pitch":0.2},"note":"The cap is now pointing forward, with its opening toward the pen. I will align the pen to the same direction and bring its shaft toward the cap's lateral position while keeping a gap."})

tool

executing move_to over 11 steps (1.1s)

step 146

assistant

agent noteThe readbacks and joint loads suggest the arms are interfering before the parts meet. I will back the pen away and move the cap farther forward to create more room between the arm bodies.

move_to

right_x0.2500right_y0.2000right_z0.1700right_yaw0.0000left_x0.4600left_y-0.2300left_z0.2100left_yaw0.0000left_pitch0.3000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7376, 1.6127, 1.0161, -0.1463, -0.8562, -0.5152, 0.0778, 1.1809, 1.7905, 1.1519, -0.5484, 1.084, 0.831, 0.0579] state[eef_state]: left_x=0.3914 left_y=-0.1705 left_z=0.1622 left_yaw=0.2031 left_pitch=0.1084 left_roll=0.0928 left_gripper=0.0778 right_x=0.2806 right_y=0.2816 right_z=0.1303 right_yaw=-0.0394 right_pitch=0.0881 right_roll=-0.2803 right_gripper=0.0579 state[joint_eff]: [-8.1983, -4.6564, 7.706, 2.3321, 0.8962, -0.0464, 1.0281, 6.5573, -7.5282, 15.8838, 3.2161, 0.2271, -1.6386, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.2,"right_z":0.17,"right_yaw":0,"left_x":0.46,"left_y":-0.23,"left_z":0.21,"left_yaw":0,"left_pitch":0.3},"note":"The readbacks and joint loads suggest the arms are interfering before the parts meet. I will back the pen away and move the cap farther forward to create more room between the arm bodies."})

tool

executing move_to over 7 steps (0.7s)

step 153

assistant

agent noteThe arms are separated again and both parts remain held. I will move the cap toward the centerline while keeping it well forward of the pen gripper.

move_to

left_x0.4600left_y-0.3300left_z0.1900left_yaw0.0000left_pitch0.1500left_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7063, 1.771, 1.1336, 0.1551, -0.7609, -0.2398, 0.08, 1.1675, 1.3899, 0.8902, -0.6159, 1.0561, 0.7624, 0.0579] state[eef_state]: left_x=0.4471 left_y=-0.2166 left_z=0.1815 left_yaw=0.0438 left_pitch=0.2238 left_roll=0.115 left_gripper=0.08 right_x=0.2501 right_y=0.2035 right_z=0.166 right_yaw=-0.0126 right_pitch=0.081 right_roll=-0.2655 right_gripper=0.0579 state[joint_eff]: [0.6496, -8.9094, 9.4564, 1.8486, -0.0757, 0.2662, 1.0281, -0.3214, -4.8615, 6.3385, 1.1062, 0.4518, -0.1587, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.33,"left_z":0.19,"left_yaw":0,"left_pitch":0.15,"left_roll":0},"note":"The arms are separated again and both parts remain held. I will move the cap toward the centerline while keeping it well forward of the pen gripper."})

tool

executing move_to over 11 steps (1.1s)

step 164

assistant

agent noteThe cap is now forward on the centerline, with its opening facing back. I will bring the pen tip toward that opening at the same height, stopping short for an alignment check.

move_to

right_x0.2950right_y0.3250right_z0.1900right_yaw0.0000right_pitch0.1500right_roll0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8375, 2.0277, 1.562, -0.1459, -0.7582, -0.4374, 0.08, 1.1664, 1.388, 0.8768, -0.6193, 1.0428, 0.7475, 0.0579] state[eef_state]: left_x=0.4576 left_y=-0.3211 left_z=0.1788 left_yaw=0.0018 left_pitch=0.1404 left_roll=0.0219 left_gripper=0.08 right_x=0.2483 right_y=0.2013 right_z=0.1603 right_yaw=0.0003 right_pitch=0.0621 right_roll=-0.2878 right_gripper=0.0579 state[joint_eff]: [-0.4308, -11.0974, 9.7026, 1.5702, -0.1929, -0.0317, 1.0281, -0.294, -5.0393, 7.3231, 0.9744, 0.5934, 0.1099, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0.325,"right_z":0.19,"right_yaw":0,"right_pitch":0.15,"right_roll":0},"note":"The cap is now forward on the centerline, with its opening facing back. I will bring the pen tip toward that opening at the same height, stopping short for an alignment check."})

tool

executing move_to over 11 steps (1.1s)

step 175

assistant

agent noteThe arm bodies interfere again in the fore–aft approach, even though the pen tip has not reached the cap. I will separate them and try the sideways alignment from a less extended posture.

move_to

right_x0.3000right_y0.1000right_z0.2200right_yaw0.6500left_x0.3500left_y-0.1500left_z0.2200left_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]: [-0.7437, 2.0365, 1.5639, -0.1699, -0.7513, -0.4446, 0.08, 1.1461, 1.6855, 1.1206, -0.5289, 1.0477, 0.886, 0.0579] state[eef_state]: left_x=0.4841 left_y=-0.2766 left_z=0.1706 left_yaw=0.0914 left_pitch=0.1168 left_roll=0.0357 left_gripper=0.08 right_x=0.2853 right_y=0.2682 right_z=0.1533 right_yaw=-0.0967 right_pitch=0.0936 right_roll=-0.1319 right_gripper=0.0579 state[joint_eff]: [-7.8564, -12.2735, 6.6256, 1.7411, -0.3443, 0.0122, 1.033, 1.9077, -6.106, 14.2017, 2.6154, -0.0024, -1.5702, 1.0281] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.1,"right_z":0.22,"right_yaw":0.65,"left_x":0.35,"left_y":-0.15,"left_z":0.22,"left_yaw":0.6},"note":"The arm bodies interfere again in the fore–aft approach, even though the pen tip has not reached the cap. I will separate them and try the sideways alignment from a less extended posture."})

tool

executing move_to over 15 steps (1.5s)

step 190

assistant

agent noteBoth arms are now clear of one another and the parts are secure. I will turn them another small increment toward the sideways alignment, checking that the wrists track this time.

move_to

left_x0.3500left_y-0.1500left_z0.2200left_yaw1.0500right_x0.3000right_y0.1000right_z0.2200right_yaw1.0500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8379, 1.7649, 1.441, -0.9833, -1.0698, -1.2152, 0.08, 0.1009, 0.8955, 0.6689, -0.3054, -0.2855, -0.2947, 0.0579] state[eef_state]: left_x=0.3604 left_y=-0.1634 left_z=0.2005 left_yaw=0.5483 left_pitch=0.0871 left_roll=0.0609 left_gripper=0.08 right_x=0.3068 right_y=0.0847 right_z=0.2001 right_yaw=0.4894 right_pitch=0.0462 right_roll=-0.114 right_gripper=0.0579 state[joint_eff]: [-0.4991, -10.4957, 8.1846, 0.7302, -0.8425, -0.0952, 1.0281, -0.3761, -1.5521, 9.9761, 1.8535, -0.2711, -0.1245, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.15,"left_z":0.22,"left_yaw":1.05,"right_x":0.3,"right_y":0.1,"right_z":0.22,"right_yaw":1.05},"note":"Both arms are now clear of one another and the parts are secure. I will turn them another small increment toward the sideways alignment, checking that the wrists track this time."})

tool

executing move_to over 4 steps (0.4s)

step 194

assistant

agent noteThe smaller turns are tracking better. I will finish turning both parts approximately left–right and compensate for the cap arm's lower measured height.

move_to

left_x0.3300left_y-0.1500left_z0.2400left_yaw1.5000right_x0.3300right_y0.1200right_z0.2200right_yaw1.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7368, 2.0525, 1.7424, -1.4506, -1.0538, -1.7397, 0.0813, -0.1383, 1.1667, 0.9089, -0.5705, -0.7551, -0.7422, 0.0579] state[eef_state]: left_x=0.3752 left_y=-0.1282 left_z=0.174 left_yaw=0.9026 left_pitch=0.0628 left_roll=0.0526 left_gripper=0.0813 right_x=0.3171 right_y=0.0817 right_z=0.204 right_yaw=0.854 right_pitch=-0.0105 right_roll=-0.0854 right_gripper=0.0579 state[joint_eff]: [0.6769, -10.9197, 6.5436, 0.0464, -0.5543, -0.1148, 1.033, -0.4034, -4.6017, 8.3077, 1.1502, -0.5543, -0.1294, 1.033] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.15,"left_z":0.24,"left_yaw":1.5,"right_x":0.33,"right_y":0.12,"right_z":0.22,"right_yaw":1.5},"note":"The smaller turns are tracking better. I will finish turning both parts approximately left–right and compensate for the cap arm's lower measured height."})

tool

executing move_to over 5 steps (0.5s)

step 199

assistant

agent noteThe left wrist stopped partway through the turn, indicating a posture limit. I will tilt both tools forward together so the cap wrist can complete the turn without forcing that limit.

move_to

left_x0.3200left_y-0.1200left_z0.2000left_yaw1.4800left_pitch0.5500right_pitch0.5000right_yaw1.4800right_z0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6991, 2.0834, 1.7638, -1.56, -1.0286, -1.8851, 0.0813, -0.1131, 1.6875, 1.462, -1.1423, -0.9539, -1.4296, 0.0579] state[eef_state]: left_x=0.3688 left_y=-0.1077 left_z=0.1687 left_yaw=1.018 left_pitch=0.0559 left_roll=0.0468 left_gripper=0.0813 right_x=0.3521 right_y=0.1086 right_z=0.2093 right_yaw=1.363 right_pitch=-0.0467 right_roll=-0.0883 right_gripper=0.0579 state[joint_eff]: [-0.1436, -9.5932, 7.2, -0.2564, -0.525, 0.022, 1.033, 0.5265, -8.294, 6.4342, 0.0806, -0.8913, -0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.2,"left_yaw":1.48,"left_pitch":0.55,"right_pitch":0.5,"right_yaw":1.48,"right_z":0.21},"note":"The left wrist stopped partway through the turn, indicating a posture limit. I will tilt both tools forward together so the cap wrist can complete the turn without forcing that limit."})

tool

executing move_to over 19 steps (1.9s)

step 218

assistant

agent noteThe cap wrist's turn caused a large unintended sideways displacement, so I cannot safely align the small opening with the pen tip in this posture. I will move both parts back to stable, separated orientations rather than force an insertion.

move_to

left_x0.3500left_y-0.1000left_z0.2200left_yaw0.7000left_pitch0.2000right_x0.3200right_y0.1200right_z0.2200right_yaw0.7000right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2024, 2.0903, 1.5047, -1.557, -1.4281, -2.0937, 0.0813, -0.1761, 1.9633, 1.4391, -1.4597, -1.4391, -2.0663, 0.0579] state[eef_state]: left_x=0.3655 left_y=0.1072 left_z=0.1761 left_yaw=1.4007 left_pitch=0.4491 left_roll=0.0739 left_gripper=0.0813 right_x=0.3516 right_y=0.119 right_z=0.2001 right_yaw=1.4844 right_pitch=0.4358 right_roll=-0.0831 right_gripper=0.0579 state[joint_eff]: [0.2667, -13.0667, 4.6154, -0.5934, -0.7204, -0.0415, 1.033, 0.3624, -8.2667, 5.4222, -0.5006, -0.8278, -0.1099, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.1,"left_z":0.22,"left_yaw":0.7,"left_pitch":0.2,"right_x":0.32,"right_y":0.12,"right_z":0.22,"right_yaw":0.7,"right_pitch":0.2},"note":"The cap wrist's turn caused a large unintended sideways displacement, so I cannot safely align the small opening with the pen tip in this posture. I will move both parts back to stable, separated orientations rather than force an insertion."})

tool

executing move_to over 19 steps (1.9s)

step 237

assistant

agent noteBoth parts are secure again in separated poses. I will return them toward their original table areas so they can be set down safely.

move_to

left_x0.3900left_y-0.1900left_z0.1200left_yaw0.0000left_pitch0.2000right_x0.3700right_y0.1200right_z0.1200right_yaw0.3000right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7479, 1.718, 1.3209, -1.0935, -1.1946, -1.3853, 0.0813, 0.0658, 1.0134, 0.6613, -0.0765, -0.6277, -0.3622, 0.058] state[eef_state]: left_x=0.3477 left_y=-0.0935 left_z=0.1994 left_yaw=0.7246 left_pitch=0.192 left_roll=0.1056 left_gripper=0.0813 right_x=0.3172 right_y=0.1285 right_z=0.2195 right_yaw=0.7843 right_pitch=0.2126 right_roll=-0.095 right_gripper=0.058 state[joint_eff]: [-0.3077, -10.2359, 8.9094, 0.4322, -0.6618, 0.1685, 1.0281, 0.2803, -3.7402, 6.8171, 1.6239, -0.1392, 0.1734, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.19,"left_z":0.12,"left_yaw":0,"left_pitch":0.2,"right_x":0.37,"right_y":0.12,"right_z":0.12,"right_yaw":0.3,"right_pitch":0.2},"note":"Both parts are secure again in separated poses. I will return them toward their original table areas so they can be set down safely."})

tool

executing move_to over 9 steps (0.9s)

step 246

assistant

agent noteThe cap and pen are above clear, separate areas of the table. I will lower both gently before releasing them.

move_to

left_x0.3800left_y-0.1800left_z0.0180right_x0.3700right_y0.1200right_z0.0180

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7475, 1.6428, 0.7536, 0.239, -0.8314, -0.3779, 0.0813, 0.3298, 1.3457, 0.4198, 0.4751, -0.025, -0.1173, 0.058] state[eef_state]: left_x=0.3776 left_y=-0.1672 left_z=0.1085 left_yaw=0.1104 left_pitch=0.1445 left_roll=0.1346 left_gripper=0.0813 right_x=0.3555 right_y=0.1301 right_z=0.1024 right_yaw=0.4047 right_pitch=0.105 right_roll=-0.0948 right_gripper=0.058 state[joint_eff]: [0.3077, -6.1333, 6.147, 1.8681, -0.2906, 0.188, 1.033, 0.212, -5.0803, 5.9692, 2.2735, 0.2466, 0.1441, 1.0281] 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":0.38,"left_y":-0.18,"left_z":0.018,"right_x":0.37,"right_y":0.12,"right_z":0.018},"note":"The cap and pen are above clear, separate areas of the table. I will lower both gently before releasing them."})

tool

executing move_to over 6 steps (0.6s)

step 252

assistant

agent noteBoth parts are now at table level. I will open the jaws to leave them resting separately on the table.

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]: [-0.7685, 1.9671, 0.6918, 0.5419, -0.8337, -0.3893, 0.0849, 0.276, 1.8065, 0.3397, 0.9302, -0.065, -0.136, 0.058] state[eef_state]: left_x=0.3745 left_y=-0.1752 left_z=0.0124 left_yaw=0.0897 left_pitch=0.0923 left_roll=0.1886 left_gripper=0.0849 right_x=0.3602 right_y=0.1177 right_z=0.0055 right_yaw=0.3944 right_pitch=0.0207 right_roll=-0.084 right_gripper=0.058 state[joint_eff]: [-0.4855, -8.3487, 4.3419, 1.8193, -0.4371, -0.105, 0.8718, -0.6906, -6.4205, 3.9453, 1.8632, -0.1441, -0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_gripper":1,"right_gripper":1},"note":"Both parts are now at table level. I will open the jaws to leave them resting separately on the table."})

tool

executing move_to over 10 steps (1.0s)

step 262

assistant

agent noteThe released pen and cap are resting on the table. I will lift and park both empty grippers clear of them.

move_to

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

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7685, 1.9816, 0.6888, 0.5648, -0.8387, -0.3996, 0.9951, 0.2707, 1.8164, 0.3363, 0.9333, -0.0795, -0.1387, 0.9954] state[eef_state]: left_x=0.3749 left_y=-0.1747 left_z=0.0099 left_yaw=0.0991 left_pitch=0.0993 left_roll=0.1775 left_gripper=0.9951 right_x=0.3581 right_y=0.1177 right_z=0.0017 right_yaw=0.4027 right_pitch=0.0113 right_roll=-0.0776 right_gripper=0.9954 state[joint_eff]: [-0.1846, -9.5658, 4.5333, 1.2186, -0.2418, 0.0562, -0.1343, 0.294, -7.1453, 3.6444, 1.8242, 0.0952, 0.022, -0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0},"note":"The released pen and cap are resting on the table. I will lift and park both empty grippers clear of them."})

tool

executing move_to over 16 steps (1.6s)

step 278

assistant

agent noteI picked up both the pen and cap, but could not safely align them for insertion: the fore–aft approach caused arm interference, and the sideways approach hit a wrist posture limit with large position errors. Both parts have been set down separately and both arms parked clear; the pen is not capped.

give_up

hindsightFor these thin parts, successful table grasps used a slight forward pitch (0.2 rad); settled openings were about 0.05 for the pen and 0.07–0.08 for the cap, confirmed by lifting. Grasp-point separation alone did not prevent arm-body interference near the centerline during fore–aft assembly. The left arm could not reliably track positive yaw near 1.5 rad while reaching inward: a wrist joint reached about -1.56 rad, and increasing pitch produced large unintended lateral displacement. Use a different grasp/orientation strategy rather than forcing these assembly poses.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1707, 0.8268, 0.6353, -0.3763, -0.3004, -0.0071, 0.9961, 0.0269, 0.8108, 0.6289, -0.3691, 0.0303, -0.0818, 0.9961] state[eef_state]: left_x=0.2999 left_y=0.005 left_z=0.1903 left_yaw=0.073 left_pitch=0.0219 left_roll=0.1633 left_gripper=0.9961 right_x=0.3002 right_y=0.0063 right_z=0.1891 right_yaw=0.0357 right_pitch=0.0051 right_roll=-0.086 right_gripper=0.9961 state[joint_eff]: [0.1573, -1.853, 9.7983, 1.7509, -0.0513, 0.1734, 0.0904, -0.5812, -2.0444, 9.3607, 1.6825, 0.1343, 0.1392, 0.0659] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up both the pen and cap, but could not safely align them for insertion: the fore–aft approach caused arm interference, and the sideways approach hit a wrist posture limit with large position errors. Both parts have been set down separately and both arms parked clear; the pen is not capped.","hindsight":"For these thin parts, successful table grasps used a slight forward pitch (0.2 rad); settled openings were about 0.05 for the pen and 0.07–0.08 for the cap, confirmed by lifting. Grasp-point separation alone did not prevent arm-body interference near the centerline during fore–aft assembly. The left arm could not reliably track positive yaw near 1.5 rad while reaching inward: a wrist joint reached about -1.56 rad, and increasing pitch produced large unintended lateral displacement. Use a different grasp/orientation strategy rather than forcing these assembly poses."})

tool

give_up: I picked up both the pen and cap, but could not safely align them for insertion: the fore–aft approach caused arm interference, and the sideways approach hit a wrist posture limit with large position errors. Both parts have been set down separately and both arms parked clear; the pen is not capped.

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 · 7.175 s

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

{
"content": "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.",
"role": "system"
}

{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6029, -0.3801, -0.0219, -0.0246, 0.9995, -0.0158, 0.7921, 0.6102, -0.3756, -0.0208, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.296 right_y=0.0026 right_z=0.1843 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -1.5521, 10.3863, 1.79, -0.0366, 0.0757, -0.0659, -0.8821, -1.3607, 9.8393, 1.707, -0.0171, -0.0611, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00232906a29b5c2f93ec254efbe4d46a10aa38b17962b294b1a31308f7008f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99db86125ec7120b7983f4784a41694a5b0c7e0bc94bb0d3a70b3a7be0a8834",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469822b01042bbf2a2f65746167b56f48c1a9d861612c6fcbedf978f39889a1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 11.24 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqssBiUQLo5LxMsepjnBOuYPShkOld7XQ831aaBBIIzteFax1gvi30CG88pL-yy2DLa0p4Md5WWdLR6KBRjA0DxtG1GXyN4ITVe1_uLwkZpJi9rl5KB8WJFDHfcj1JvxtkTvbXcKQpsfyF9Lt80E3lsGTGSVfA_ssoE2P-w2XRNZF3aJf2dGZmlfcg4lnorDnV-4pUkmxNhsWK_Wy7VSj8csd-FCGb7AA0R5wd2HDoPa9XZc9-q5yrjO2hekO-u0-LHClfKjaaJe0Rpa5xCgVTWKY9FVMszGdwDljy_fUwku6Bg4R-cxZfe3ChPL08uPUQt5s8ZbXGTe2biGkuUqS7VKe5tmhP7W95xkNwLvnlToSO7fNnZvmUKSyRBxNiOPfFZpVdi0IlfDJY1t5tj-_odpRbtQuXlzXd2Lv5_qsJSoJ1wub7RBRioCrKONuHyBbvOvfasbnDpmi6ejrLPfSm-UFs_7lTWYeSygtvhKLzFRMF7JO43S4qiMxjgtD4_flPSTWS0Exogg6FPg6GWWK-MlsysFCBHrrIuVqWDUp9ASrFAVRSMo7BfjahIGvniCShSjPRth8Mw5764ZWtYMsPCtvESOXYV24pj9pR3D0rJXm7dlWeD8frIgi-Rcq00SuC-q8NeM1Aw2E_eTVrtz4deVByI2-cy_xEwv8QAut-a12Id0I9CeZ7dcxWPobs6tdLVxX4ycNEqTn6s89T_fFn9BcuZA5UKIgpKFE78QNaJsTfUTxVExFtob-Nu5_prAQ5YOFcmg4dTPszVIWB3s9kK8mvtniCSJ-tPCVTd3NyVNp1s59RJ3MfH0Wz27JgXyxs-BQYyAEUf9ejM8T23ry3Ax552ixWGGJEi0REj_ZD7JYvKEQIEm42cYaSWM2ypoQ1HyGy_3BsPnSwZc4Uk9GGuh893LCdeh8MYPw_ET4385Kf8q465pH5f3LDG01RsWftABi31HHrKvYFgueHn07LXX-7s8wNRDUP6v5_XhuDnQtpWDN1WWgBzuCMEWP5ieuIqO2hUG4gOEiPpJSsgS13CxagzYsO_R34G1oAv6nWS3hwWfYHNii1eyXFdqQnxjVrHOyAtJDgYz1CnMfGJIqQ9FT7swy-6dGpTvn7yG1bbVLlTGkZFfNYJXsDbcikyykP8Czet6pgStgZFe12h-iFtawa9Az8-IOVW23s_WBxMphkuc4Mz5_CTZnD0Yc8kzbLBQcQulzvWAmC9GwlFPCedSeurBslZRzsYmU5UJzfVdtDdB8YUkzXmuLslrdrEcvGkLRtyjZSQwX_IgsTyVJslW0Zh5WT89jBwvo16UNeQKFfSS7KWeIe0PKiz7ZWibU0IUJphoe6kpCAMdOt9p6CVjMghtWA5l6Rxc13DaOzKxUxlX2oQeVbVM8rc2VWHj29b70kh31oloos8extWgehykexqw==",
  "id": "rs_01b449e7201fc581016ab2c05d551887d0bfac0fee049b6374",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.12,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.20},\"note\":\"The long pen is on the right half of the table and the separate short cap is to its left. I will bring the right gripper above the pen, keeping the left arm parked clear.\"}",
  "call_id": "call_Ytbj9Mo3NlVpMtuAoj9uHkIh",
  "id": "fc_01b449e7201fc581016ab2c05fe79087d083ab4839d112aac0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ytbj9Mo3NlVpMtuAoj9uHkIh",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8085, 0.6479, -0.4488, -0.0265, -0.0284, 0.9995, 0.6384, 1.528, 0.7753, 0.0261, 0.4896, 0.3412, 0.9993]\nstate[eef_state]: left_x=0.2917 left_y=0.0004 left_z=0.182 left_yaw=-0.0011 left_pitch=-0.0384 left_roll=0.0006 left_gripper=0.9995 right_x=0.3666 right_y=0.1731 right_z=0.1021 right_yaw=0.0393 right_pitch=-0.0692 right_roll=-0.0455 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.5248, 10.441, 1.7167, -0.1001, -0.0904, -0.0171, 0.294, -6.7487, 8.3897, 1.707, 0.4322, 0.1587, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a6c1c514b2bba9e9d8f4cbda91254f755e9983aec6883b39102523c58a0996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650aea66c4c57b78d29184fa68999c8a22447b9225893bb5922c7df49a3b85b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294241e41d57cedc87df70f9d029ac69c5f6800fa16f736194ba186e0ec99c33",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 6.421 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.794, 0.6029, -0.3801, -0.0219, -0.0246, 0.9995, -0.0158, 0.7921, 0.6102, -0.3756, -0.0208, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1794 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9995 right_x=0.296 right_y=0.0026 right_z=0.1843 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -1.5521, 10.3863, 1.79, -0.0366, 0.0757, -0.0659, -0.8821, -1.3607, 9.8393, 1.707, -0.0171, -0.0611, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssBuc_ez4pH2LMmrsNs49jpp3qIes7Bwo4RMxL4eP8VED7YrfyJr03e4aR8-1Qee1llUHjV7LbXUIZ09Da98sNoFrdiAzc0hrGh-feaOLZwiJHI7E7LOuqVg1M3rZcyGeO1hEcP7OAYMO31QDKUWUUUpThvcH7Fe0ElU6X5SyyubmSqJJbHSMIPWRqhKrr1USI32SSxXHbiRWVEbV-oUz-GFmA_dVjL2PJ9tnC5yq7k0J4PmlijMG2lQAJ72hMN9Haum_1t7ynjx_k5dUKJfZWj03odQMK29JqfBc2U5X2782y_rzkZvO_KUve4boY8wTlk4YBnGuyILlmHdADdRrPTUwhIJWu-s6WblrnEDsreC4zm8bxvaJgXnoLw6dvV3itmMWeHlYKKYanhszyzvgxEiPNmTJP6mIxR_9okr5EI2IudRGh65Q_koZEOqNeLIL7k4CmPmVP1QqlrthsRchT-2CpXzRBracRUL5P8T3CzkmW-5vHIhF1EvYGr2rnbKqzs7cZqLdqb3gMxvvOUTlqNSQZAVrlvN1WrwmlsdGpSHFOyxmpnCxoH34vVbhFTkRRztSOFe_cxhuQW-OHbO4q9YnZcrrfqC-efK41-1zC373oRvoLUBYMsWXXLVlzzhELTfYcmZHWCxTgYwjm1jiqTnjMgbfoPD39Tvcar3LI4NGyEF8h-33ullvMwDr3XSIOOKI8PQpFidEvcWSqiIVIM2cRUHANA93lIPyjGQNe0GbE2CEUp7I4_F9c6e5A_j8ST1iRxGqk8HQAcEyLHqAmfwVSqSTrxHcmSG8lK0FifBKpiIIRavF6E9gZ6PUClXr5CVIKHSt9d8VCEUErmIsZ92H9ASl5pIp6fq3s9ZO9FE0UO_WPuTY4Fe7QG573GtUTOZ4uRrEMxNfgEOnMNKCuZP3lzXFIzDLcL7h5z9Yu_QVPfoZSU3joQ5_mKTZgRqv-1dlMnEqSFkEHiFl2IYZ2CpB6vkMTGfsTVPQImlOmeVJeTAIfj3rgtnC9PBUhp6uNLioiGERvxu6mdsGrpo6TO5jtSrLEyrjyUfvNd-Lmy5r_q-lZRgavJmHYSTNT_mCiUGNqD_GQj0U37Ld7-W0-V4brrHCbKQS9lJM0G2Gp5Rt8XDNf_vO_ZWm17IORjRTYJSpglpjT3hNELtZGarW3Kj0HwhbjPmFSUrzELN_Zrelql3r2Rk9u9ZUHLImW-DyF9SjvCKHEIOQzT_HkiITYqsMceETpAFdjO_ZG02ghxgdo-oUuUOj95mRwCEhFNbKZtgvgFyhgr7dlDpugh28bA8HOqHvwLFy9KYxwDxMtpn5SM8xjN2KFDTHGzK6OlxqnI6L2m6Yh9oPM5mKkqep_o-ncqAFIJPz_UR1MT0fUDL17qW8hNUufxx11d1cUCDNpJ5wBPYWvUK-jpC2RZVpOHJ0ZJdAuoWWg40GRmMO5r6piPMtU5zLLHSVmuRAhMWzdSdonCJJl848DQRN4wedlPhXV7udcGTZeq2GljwhYE1JXnuNw1T5yMeUTD0zahSDCXZhbq8eDTl9T3VDNKeuTjS4drCBlIrw78FiMo8P23emgy7tCA_ng4f_jYy3fJSFGQOB1TxDYQ-LP2bYGC-jwWIei-4pcI8nw002h086qfMozdYP7rzqmBQhecSNJYvN5TJg2rYg0eCU-M1h8y0f5R8CDsd6hWas0vG4n8pAPqHT1Yqhv4NVVXsxeV3kRoriZwKh5hBm25JOwI7HgXnWieq6EVIpshruL8JADkOLxN3gfl2D2dabUutNGZcIL55lwnHl8W30SGaVEU5JXhaI6GAQ1RWvyB0-VpvxFPm0pMLH4k=",
  "id": "rs_01b449e7201fc581016ab2c066d6e887d09aae0bddff64cd33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.152,\"right_z\":0.055,\"right_yaw\":0.5},\"note\":\"The pen is visible just right of the jaw column and lies diagonally. I will shift toward its shaft, rotate the jaws across it, and lower partway for a closer alignment check.\"}",
  "call_id": "call_LvJN2TjE5MOX3CduVlKbIdRK",
  "id": "fc_01b449e7201fc581016ab2c06c90e887d0ba04c77ca734b728",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LvJN2TjE5MOX3CduVlKbIdRK",
  "output": "executing move_to over 4 steps (0.4s)",
  "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]: [-0.0265, 0.8108, 0.6491, -0.4618, -0.0261, -0.028, 0.9994, 0.3096, 1.673, 0.6819, 0.2672, 0.0475, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2901 left_y=0.0005 left_z=0.1793 left_yaw=-0.0013 left_pitch=-0.0526 left_roll=0.001 left_gripper=0.9994 right_x=0.3978 right_y=0.1222 right_z=0.0394 right_yaw=0.2677 right_pitch=-0.1657 right_roll=-0.045 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.2923, 6.9128, 1.7851, -0.0806, -0.0317, -0.0171, 0.8, -8.0752, 6.6667, 1.8632, -0.2369, -0.105, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a419387e7a5ae08b36d6159607363ac6a97886bcd1988d305197123fa2ec5aea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af1a159a6c3ddec277b72156199a3131b899febb561b9c82c33928bd0db0c53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7a1d1bb19f33e9a8da4df326d5573d0398c39d16d46f6a3ff724f273ca20a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 5.162 s

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

message 6 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8085, 0.6479, -0.4488, -0.0265, -0.0284, 0.9995, 0.6384, 1.528, 0.7753, 0.0261, 0.4896, 0.3412, 0.9993]\nstate[eef_state]: left_x=0.2917 left_y=0.0004 left_z=0.182 left_yaw=-0.0011 left_pitch=-0.0384 left_roll=0.0006 left_gripper=0.9995 right_x=0.3666 right_y=0.1731 right_z=0.1021 right_yaw=0.0393 right_pitch=-0.0692 right_roll=-0.0455 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -1.5248, 10.441, 1.7167, -0.1001, -0.0904, -0.0171, 0.294, -6.7487, 8.3897, 1.707, 0.4322, 0.1587, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssB1giAww6f4iX42ybIADCrExT_n1MkgB6RHA_F4KeeFn7Uyob-4Oa30bZBQ7f40n2q8RlQ4AgyXweDtHt3-A5ncve-npIkYrP3N4OZTTyHmUkAKKxLcds4xDOTqCanP-AFWVk-g0Szcd3bLkrHJrO4C1ONqJaoV3Ibh-EXhlMLkKMubCx1RLKFCFOJSnnAW5vtHRiC89gADUca98AEaCcFsPB5soU_L85SRQyEcEp_Mge6E6czjD6EPlg8cpI6Rd5F4i6AGd4CCd6696z-0Ig7yXJE3-rEWvSAUussOnVTZ63xgwwV7ZLkCJlpkoaIewgr6-GuvXpZEJDsJheD2I4sKZ8TIdCuXUgnBuIYVQTAC_a4n-kwvE3d7V8u0ij4oyXFxv5Q8zwZvoY7ZpEDxcVSOZUozRDXq-oPOhAY8ikKwUubEhct4hsOH8aLaM-d3b9_l_Amq19MQfGZOh4ycA_-uM5MwO3EP3RXAQTJTeeZKvpUNCS0TpgWZ8L_mPTJmX6QJWY8yDmbyq9mU1LTuW_oRgJ8jfT6h9Nyn9W9PhrdXxM_HxnjvjP3Qwo-GHJGrzH6oVlyWPPVDZ6VpL4UJjcX_UHDAJ6B6-3xmJlU_ZIcDUipuGXFsY1ShlI8bwlYzocC3Ba-TdJ_xbFZ47kp7-_ZbLboF3cULsfaiSh5rdDbGvjvV5cosG01tYjQtPj3Hta-MPwrfQMnfxKhMmzXT6Gx19i7mKWooKzszEUMdIUcA-OPPG96wFW3CF0Z2mtHS6hLD87Q01J1fN-6YhXNPNHS-XeVx96HbxjkG7qThAY1tdlo5Hsa8dCvYjECCO7dCIMIrOw4MQfLZf40JJhLe3WrgK2EBSNhg35eGaYBmsFc693lhnxqY6w4djYx0EXzFw_r7sbH4zk9jxH2AnjqNCpI1T20D70f3975Q2DApckPYjlo4x0vG4WP9KdldKDvv9g8-P4rgsrRLPClBFDlTNSeciIGCRLZ-j1QOCM9s5AeEsNfKkoaKhrTFvyCkzuUlc2mXiGQrbxVBXbXYlNgL7k6rxXW15LufuS-ymmo2VY5ITvhuCk8ww1y4GoCS-O8Ph1hKnfsk4ySyxHRx80pqyAG0L6FC9mQqyPIg3Xy1t9FbbkpzYNozlRSS-YG146Jbsvnlkx6LOezauTOOpzJHr5EX8w-StVzc8uvjIuH_NsGZ3L9g2JrIsHdmh0jyhpTH6dUnJwBaPlpnp-WpG9FTFCQ21yngGRNwRoEY0_IRZuf3L5CF_L2YlwxKyMLQjFrxz7A2marBPAYDDB7trsp9v7bb-PK7a3k2OskxPUpxiGPGzZlC3RzobL4sfYpAENuCpwOl3pWQa2Bk86TRzQSLHtW1lmyWHPqMSJKhGOyuYu6AONI=",
  "id": "rs_01b449e7201fc581016ab2c071a94087d089ef1d311ac8f757",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.13,\"right_z\":0.002,\"right_yaw\":0.42},\"note\":\"The pen shaft now crosses the lower jaw column, with its pointed end visible farther forward. I will lower the open jaws around the shaft near its rear half.\"}",
  "call_id": "call_oxneGtUgyr55Gi6QSn3KKdJZ",
  "id": "fc_01b449e7201fc581016ab2c073965487d0a8fc887bb2b0f9ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oxneGtUgyr55Gi6QSn3KKdJZ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8116, 0.6487, -0.4614, -0.0257, -0.028, 0.9994, 0.2882, 1.6985, 0.6804, 0.3481, -0.1547, -0.1589, 0.9992]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0533 left_roll=0.0008 left_gripper=0.9994 right_x=0.3989 right_y=0.1504 right_z=0.0451 right_yaw=0.4957 right_pitch=-0.1033 right_roll=-0.0311 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6679, -0.0562, -0.0611, -0.0122, -0.1436, -7.9111, 6.2427, 1.7949, -0.1441, -0.1685, -0.0122]\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,$blob:82aba4a2169fff1d8ba14aad9fb83cd28b741956360dc1f56fd903e4b41b631a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469b33654217fdd5afcb1b7668c20b0d2c9f66b3fe56782d03ce11b3156962ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bba12d25fae930db7dd8ac7fa3e712c1ed123548ab25de4fc22fa99911f29c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 7.784 s

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

message 10 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]: [-0.0265, 0.8108, 0.6491, -0.4618, -0.0261, -0.028, 0.9994, 0.3096, 1.673, 0.6819, 0.2672, 0.0475, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2901 left_y=0.0005 left_z=0.1793 left_yaw=-0.0013 left_pitch=-0.0526 left_roll=0.001 left_gripper=0.9994 right_x=0.3978 right_y=0.1222 right_z=0.0394 right_yaw=0.2677 right_pitch=-0.1657 right_roll=-0.045 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.2923, 6.9128, 1.7851, -0.0806, -0.0317, -0.0171, 0.8, -8.0752, 6.6667, 1.8632, -0.2369, -0.105, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssB6UFwdC-xhsDh1ZeuQu7ADDnv4NpipHu8cjmmb6ve9H2Y-gagZ02Q70BSbIbTx3ZbWN2du8gah1fiOKtBKAB59M0PHz8boa5gNONdUEIpl_tCNXV9m1x0Up1HFT9_c3AEzNzdy-qAHL-6rgmXvdssTMbUgv1y2lvxuCvZFEAxflz5XkVesYhv2ojSko8Fb7_qIwq9QQ89ZokfjYNblRWDQ6Y9eR0I_ZUE4S9freL5lePAYzwQ-HIoyHMmZg-EHwCefb4bt5Bw71O1D4RQ2JRb1b8y7cifCH89NDdTUe00J2uAa28saeG7RUT3RLFfw5tysfIvKCu62VqfJ-r4dNKq5W-6nS-gTCxfKLndcTEBAgjijExUdtGjhaq0B4BxNTxsN5yNPIGPbGVLj-a1Gm1eKyaDqNvVoqxf8qrophoJiZUPWbieL9Ixq2O17nW_Lya42KQhynnc6HSGg6_lmZqZlYtXG2LrmYnb5S_rbZMDbeqO_W6RUzbrbuwZLI_Rk06qtkwVPewSZN-XZvVyGAbchMQFwYV5zT3Ms_6bcWNDm0p71w0nalepO1brPH-hynZRqAvJc82yhfGTfiAwKPAcwx-iLfyBIjt2fijSV8kHHAaFkYKlFAy6tsVMdCXwfbyXgGFU4Kx_IqMkqwYREiSzSsXeBghMWFLMoMHfLR0qERiFU0djJZInDLYjP--CoMI4opwQc5nFiuvaoyQxV0Y40SuNVO7kciYhUjO25uDLv8vBcRWmGYJLBNMoB3ltgALRDH7MoIH5_1skG9bq_PKnCzlgHxHenmXaX5OtkaVyljhA8JSIoFMJ9GgZt0NFt2zeSQ0h5aGjcHVti2oQP57OikZFYgm8kjsljzpcMz1HoK_5V53DexO3NXNNO0BldIBMzbAZiDd9HDqbspnXRaKPv0fc99FwzunLg15mPm-j8TZbV8hIQPjm7Lg-UfirI66oatZ_MDsJrPAfY_ShpZma3mEuvaR1dIX5onvBkZ9PILDWD595KF6BThxUmOe2Kb2_36SEnI82SYAjWsUJ85PQZoggbTVYawu-RgLRXf_8StAimWbphodbUgXB2-DiSs6vOoS2_0v-ZEbh3m64cxg00E1NZJOIuxsa1y2hUegAkMOcob1iwA3j7KiYs_--d4WJkLTO-jrouDb6ay11vRbYlgKPbjvoVNF0AHiQVmhclVXAsFMAdihemNNOceV-CrRpmW9c_GBAhX6MaZf-M0M7DSuSrwxS7lUCqbXFOM40jjhXlIfGZjYV_nzvNSkSTckWDchBJaD2qPG1U2Vc3WQTyNg==",
  "id": "rs_01b449e7201fc581016ab2c077f92087d0b25196e2b0401498",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.393,\"right_y\":0.133,\"right_z\":-0.01,\"right_yaw\":0.42},\"note\":\"The pen is nearly parallel to the gripper's forward axis, but the measured fingertips remain about 4.5 cm above the table. I will make a small sideways correction and complete the descent without changing the orientation further.\"}",
  "call_id": "call_Bp0koRjJRgUIxrJO128DWMCG",
  "id": "fc_01b449e7201fc581016ab2c078c51c87d098a74b1da40ae222",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bp0koRjJRgUIxrJO128DWMCG",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8116, 0.6487, -0.4622, -0.0257, -0.028, 0.9994, 0.2882, 1.6985, 0.6804, 0.3481, -0.1547, -0.1623, 0.9992]\nstate[eef_state]: left_x=0.29 left_y=0.0003 left_z=0.1788 left_yaw=-0.002 left_pitch=-0.0541 left_roll=0.0008 left_gripper=0.9994 right_x=0.3989 right_y=0.1504 right_z=0.0451 right_yaw=0.4975 right_pitch=-0.1033 right_roll=-0.0338 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.2923, 7.2, 1.7411, -0.0171, -0.0415, -0.0122, -0.1299, -7.9248, 6.2291, 1.8437, -0.0904, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd3727eeff1df5aa4dc1969f979fc05a7e85a40b393133f56f9716e76c03a96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72420508e83220e75ec32778dc84ed7b93959cb42b1e682620cbe06996e48c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb6ebe6191e61840693fb2f879e97acf2260db0dcce1ee34a78a9773d7c0d8f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 6.728 s

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

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8116, 0.6487, -0.4614, -0.0257, -0.028, 0.9994, 0.2882, 1.6985, 0.6804, 0.3481, -0.1547, -0.1589, 0.9992]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.179 left_yaw=-0.002 left_pitch=-0.0533 left_roll=0.0008 left_gripper=0.9994 right_x=0.3989 right_y=0.1504 right_z=0.0451 right_yaw=0.4957 right_pitch=-0.1033 right_roll=-0.0311 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6679, -0.0562, -0.0611, -0.0122, -0.1436, -7.9111, 6.2427, 1.7949, -0.1441, -0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCD3OYijMCnWS3jyACPEAcEBmuksnXT_Wdf9ycREfsKaDULRPxwKOvFi_NwAGps51Lade4jlQB2CEheM2TkvQ0JLekGRvS3K9kV4YICjGnj7pb_iTGdSIliTCHDVRbOGiVnxHU0Kr7ESVBOUZ4bnrnmWnKjyAwlbNynZccg5Fna07tRDY6x1WQMpNQcUe5GfRfS1U4CgtzawTwMzaJ8dN38D6G5Gvbrq-7A7YTNly6-OA_xmfIl50seZ2KblPNzGyvddAFEf1ltrRWM6Fmc0o2cwHHloiYJ2WSn1mqX3tt2WLY3bw7COQHNBrblxzoG5oEhRyDUnOwDCw4Hoy4W-cN021OZHcZoGBSrNxNR3eyRE_L9lvSIU3Mai7_dSwG9hVR9fXoiRmEMj3Emlk4JFJMrSHu4Dvwg3R6pt7BO3bc-Qd7SfApTzZmXDSvQ6q8BHC8r3rBy9Kb0tihP-UUFn-Tpe5GVdG1ioUbx0GZdrkB3NN0oKFBUq4DpSEag5TWAQ3KUEXbX6F4iw9FhZPZnfdXTLZGpXgNe-sZG7ctXPZMZRb6AVuwO_Ed_d00KJwFe61WoK-c3h9HMksdoqRsPUCbmQ8ahtDoKjr3vGv1WEhIdp_Tyfi9L65nyWLNLC75zMhHy3Dzepky3PKsie0Z3B5J8v1Zm0wytDdhmOtZBW5-Tqq0LEzZUZhsIGd-OBWL4Td9Iy7ZOm3NBEFgzEctOcvqcw5zwL3FSuJDQDR3muxlZZZ_VktYj1vXsH_XBcbE2ZpIKTKQUJkz8PV1Y65KCqiT3H12-EeQMClWwDyic0mJsuSMmXBL1Ng7SFAoj6fAR4xkAkIzcp6GO6PDzLo82Yh2rDy30vC3Io_ICZwizGY3Xk4QxvH9sbELWUCqxvVWg47CqbrgxpixEJb409iLwt2jx3rLH94GFvlZQDW3FYvrT-fKeVC1_0ZDV_wAYLlmBv46iR9YxTvJc600psnSzXKLiW7vNfOnTDy19Gz_nm70YjcZrMlCL2_Y3fNUEhxihkU8xKk_AjDz-sVPkiAv0YF1W1C8-hZsOYRVPWosSnEtmmA6Hwq2x2bBz1D-TtvHHjOwajnIMnqV-ftDxSCXEWqX68gP_8ETxUpfXT1gSOciJYwNtFebHr8dmhqEIhX40bm8yoz19tfzrwiWr5FvrF_0xrBasbwqJWays0ek8TbS2Usfv2smnlXkxLBjzLWk6cCOlYRcLPQ0efWJ46HLCxn8vSZIMspLVNu-AtzzfEd4Jc7C2-uhi86wvD8b0qvz1gngK2Zsvm30WfE47UnAPdFbnvZEh_FgL2AN0naILu8Ek661dokDEEdnICy_8ZK9fzksDiNcOPNt--MuQmeDLWYF4Ww==",
  "id": "rs_01b449e7201fc581016ab2c07ebb9c87d0b8851464be6dd72d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.14,\"right_z\":0.065,\"right_yaw\":0.25,\"right_pitch\":0.2},\"note\":\"The last descent did not move the arm, so I will not keep pressing the same target. I will shorten the reach slightly and tilt the wrist forward to approach the pen from a more reachable posture.\"}",
  "call_id": "call_Z97B1Wgzy9E3PAQ7ZIy2NCCv",
  "id": "fc_01b449e7201fc581016ab2c080a0cc87d08c383ef525d03c22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z97B1Wgzy9E3PAQ7ZIy2NCCv",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.0265, 0.8158, 0.6479, -0.4732, -0.0257, -0.028, 0.9994, 0.4313, 1.6596, 0.3481, 0.8684, 0.1345, 0.012, 0.9992]\nstate[eef_state]: left_x=0.2886 left_y=0.0005 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0701 left_roll=0.0012 left_gripper=0.9994 right_x=0.3589 right_y=0.143 right_z=0.0486 right_yaw=0.3012 right_pitch=0.1184 right_roll=-0.0464 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -1.0735, 7.2137, 1.8242, -0.0562, -0.0317, -0.0122, 0.4581, -5.3675, 4.4513, 2.0733, 0.2076, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1799db20d6ccba3adcbebce66816ca2d51ed37b4eaeee2156883a5a717a5b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b8e3c41f46c7e37c46401599383eefb0ae7bdc0752439bda738ec92e9fe306",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:097c5e218b0bb8eba7789e58c6c93890683885236b24a59172c61c3dd3fdbeea",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.181 s

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

message 18 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8116, 0.6487, -0.4622, -0.0257, -0.028, 0.9994, 0.2882, 1.6985, 0.6804, 0.3481, -0.1547, -0.1623, 0.9992]\nstate[eef_state]: left_x=0.29 left_y=0.0003 left_z=0.1788 left_yaw=-0.002 left_pitch=-0.0541 left_roll=0.0008 left_gripper=0.9994 right_x=0.3989 right_y=0.1504 right_z=0.0451 right_yaw=0.4975 right_pitch=-0.1033 right_roll=-0.0338 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.2923, 7.2, 1.7411, -0.0171, -0.0415, -0.0122, -0.1299, -7.9248, 6.2291, 1.8437, -0.0904, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCKGt5d3-gTLBmopBDi0DFBf-S5N8sf9gQsHE0DGxkCcrtDFgRKkxwqUPww8tRJMmYIh6048FlmF1PIcAenxt4LaBzMCTc9RCXOPhVCmaJXFmOHW0-lJdQUZjQp8n8vls4Py0rNu6S_V9xllj4JbYFPcxmd52HW1UprlZDAnaXjzD9kqcsIU_zKiinQ3M-o_9AhWlA7tDCJUWG0WNehpmoXIotUolbgs-PWRO91QmazcMQf01isP-YUuBpa0k-sqmKlJRXN0UdQ3maU96NpXOi0KCTLgza2QJHyx2hLarl4mTASYtd1kJFFq9d6r78U4Bw68rOQA-W5sQZ_7phPU4CynbtS2ajlURvrrpoRI5q0Q-XTf7Lq3AC94YerSamco9AKrcoQ2di48nsPwOAzSO59IKOEqQr3nMD1xmSvW96LOxAh1DaJSE9dUtKHBmgiquuu03G6fzOk8o2mfsWbRF04t_6poIAr4EyTInGK87vuK4sKM_MJTl5Njw9y1Dm94DkNKoSqBKE9cis4tnsSP2Jm-c8alHpbqUmpcxyDsiGHHMJVTiGk2FQX22MystWoqoMo649c0T9-T7xd6ERmFK3rsid6zWPGOvnJ0wb8-uBKxQaLvzRVXtCubp71_yO6Eoi2l9lTKIFP1SNJpkhTKGCgmObyyDsbgZComkDBDZFRQLK8cMxQ0nJvSUkFGkH-SVQEghyFFEL_AMkF9EDBUc_r_y56Td2XLZwA1jVDQrjFv9WttwTTJKpQ_iGgHXhoD_YrZCGfbgX_bU9na4pcG5pEUy0pqD0vhM1bbpYXmu2KiUULNEwK4LMZ9qKhW8V2q_0CMEpZDqGW_CW8k5BKiOdPvqdFn1FsfeuuHgSBnNH6uloOcZYKWG_5_JO2gyTZPiCnJDrpkh3J5a3qnZhAdYtt1yzy2SOjH2M3BB8pH8rxjd28ePLMQIt5BgX20p4li7bJJFFOhqVJy4V9ecyHvDD7FnYP5EAnakOil8J2-JpMDTuOpJqNAGmliPYTaf5uFfD6hEqfEOFWXC_xC73EZDY4EXb2K39_re-Zsk4-mTDxqEjLJTgvymjoGslCUZJLj9MyvA9IMOEVp34Ulfrtd4eUiKYFguCyiPgWfSkSFnbTU_OBdhFxrzctK2RLXcDmXxVDNTfwhl7lYbSWV_GNqAXzluzg6FDrXiHf2DifLbohFe6xA8mCy93dZGy93d6ESS1qCAkCxGnOffQjoeZqqCoB-qyWMfRUoWKHwajc6KCNsozTbJpk0FCM6yB7-RvXNqW4iEopZMr56NHmnXuYaR4u4g==",
  "id": "rs_01b449e7201fc581016ab2c08756f887d09b4c2fdca6e9346f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.382,\"right_y\":0.115,\"right_z\":0.005,\"right_yaw\":0.3,\"right_pitch\":0.2},\"note\":\"The shorter approach restored motion. The pen's rear shaft is just to the right of the jaws, so I will shift right and forward slightly while lowering to grasping height.\"}",
  "call_id": "call_Vt46ov2Umg5NWyOH2Np6p5bl",
  "id": "fc_01b449e7201fc581016ab2c08892e487d080ab7ffdf3ef6f39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vt46ov2Umg5NWyOH2Np6p5bl",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.82, 0.6468, -0.4862, -0.0261, -0.0277, 0.9994, 0.3031, 2.035, 0.3504, 1.2644, 0.0528, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1709 left_yaw=-0.0018 left_pitch=-0.0884 left_roll=0.0022 left_gripper=0.9994 right_x=0.3789 right_y=0.1125 right_z=-0.0025 right_yaw=0.2576 right_pitch=0.1378 right_roll=-0.036 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.4427, 7.1726, 1.8535, -0.0659, -0.0464, -0.0122, 0.335, -7.0085, 1.4701, 0.5641, 0.0855, -0.3687, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0035cbbe89e1612317caae95a6e9fe52374ac34db94440f936c80b217800fd19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fec5bf58d5592c77255a352494847d3a9038f8b92ef976e1f0b35a75c2eb6c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3d1ddf588cf48a296e679fa305200b9f7cc74891d487c5c19cb15f7a2369a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.88 s

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

message 22 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]: [-0.0265, 0.8158, 0.6479, -0.4732, -0.0257, -0.028, 0.9994, 0.4313, 1.6596, 0.3481, 0.8684, 0.1345, 0.012, 0.9992]\nstate[eef_state]: left_x=0.2886 left_y=0.0005 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0701 left_roll=0.0012 left_gripper=0.9994 right_x=0.3589 right_y=0.143 right_z=0.0486 right_yaw=0.3012 right_pitch=0.1184 right_roll=-0.0464 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -1.0735, 7.2137, 1.8242, -0.0562, -0.0317, -0.0122, 0.4581, -5.3675, 4.4513, 2.0733, 0.2076, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips have reached table height with the pen shaft between them. I will close the right gripper to secure the pen.\"}",
  "call_id": "call_5b0WcKdT3rfRBOmSkvVdcHZF",
  "id": "fc_01b449e7201fc581016ab2c08de63487d0b30c459ff6c31ebc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5b0WcKdT3rfRBOmSkvVdcHZF",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.82, 0.643, -0.4877, -0.0257, -0.028, 0.9994, 0.297, 2.0449, 0.3466, 1.2942, 0.0456, -0.0219, 0.0453]\nstate[eef_state]: left_x=0.286 left_y=0.0004 left_z=0.1689 left_yaw=-0.0019 left_pitch=-0.0938 left_roll=0.0018 left_gripper=0.9994 right_x=0.3797 right_y=0.1115 right_z=-0.0005 right_yaw=0.2607 right_pitch=0.1536 right_roll=-0.0377 right_gripper=0.0453\nstate[joint_eff]: [-0.1846, -1.2103, 7.3641, 1.6728, -0.0317, -0.0611, -0.0122, 0.3761, -7.9795, 2.8923, 1.5556, 0.0464, 0.0464, 1.0867]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454b199ceb065413a944a9dfe01ad4af48f5f4edd283aa429dc0753e3e580add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3193bb34840a966fafc297a1140e88f54b9aae653ff10fc43c3ed52fca227ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fbdd9bce0a74b26b8348f503077e90c3b3835c36d4a74edf39a4c57bbb111c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 5.558 s

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

message 26 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]: [-0.0269, 0.82, 0.6468, -0.4862, -0.0261, -0.0277, 0.9994, 0.3031, 2.035, 0.3504, 1.2644, 0.0528, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1709 left_yaw=-0.0018 left_pitch=-0.0884 left_roll=0.0022 left_gripper=0.9994 right_x=0.3789 right_y=0.1125 right_z=-0.0025 right_yaw=0.2576 right_pitch=0.1378 right_roll=-0.036 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.4427, 7.1726, 1.8535, -0.0659, -0.0464, -0.0122, 0.335, -7.0085, 1.4701, 0.5641, 0.0855, -0.3687, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The gripper has stopped at a narrow opening consistent with the thin pen, and the shaft has centered as the jaws closed. I will lift it a few centimeters to confirm it is held.\"}",
  "call_id": "call_QrEEfz0G9zPmLNPDWuar9zNa",
  "id": "fc_01b449e7201fc581016ab2c0920d9887d0b1380790480d5977",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QrEEfz0G9zPmLNPDWuar9zNa",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8791, 0.7361, -0.5655, -0.0257, -0.0284, 0.9994, 0.2966, 1.6173, 0.3668, 0.8989, 0.0429, -0.0265, 0.0496]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1794 left_yaw=-0.0016 left_pitch=-0.1376 left_roll=0.0026 left_gripper=0.9994 right_x=0.3818 right_y=0.1125 right_z=0.0774 right_yaw=0.2648 right_pitch=0.2061 right_roll=-0.0392 right_gripper=0.0496\nstate[joint_eff]: [-0.4581, -1.5932, 10.0444, 1.5311, -0.0611, -0.0806, -0.0122, -0.3077, -6.1607, 6.8855, 1.8291, 0.0659, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da945b7ac45f9d0dc92bad1afdc20166726c073e0893dc869cf5f92188b76a78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90434bac913764441fcf41471b17511f6013decc1dbae7e5a2bb7c35b7b1445d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53ebc22d6e7bf0a6b19c7305ef8da5d3f394a77465bc8bc03adf56baab55ed4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 7.35 s

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

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.82, 0.643, -0.4877, -0.0257, -0.028, 0.9994, 0.297, 2.0449, 0.3466, 1.2942, 0.0456, -0.0219, 0.0453]\nstate[eef_state]: left_x=0.286 left_y=0.0004 left_z=0.1689 left_yaw=-0.0019 left_pitch=-0.0938 left_roll=0.0018 left_gripper=0.9994 right_x=0.3797 right_y=0.1115 right_z=-0.0005 right_yaw=0.2607 right_pitch=0.1536 right_roll=-0.0377 right_gripper=0.0453\nstate[joint_eff]: [-0.1846, -1.2103, 7.3641, 1.6728, -0.0317, -0.0611, -0.0122, 0.3761, -7.9795, 2.8923, 1.5556, 0.0464, 0.0464, 1.0867]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCaexXrZMDZpQ7Tk2wfiL722CPsimnFr6kcz5aVOF2W9vR_6ZRQ5fqiDbyCszDCwBUED9pe_GEwBEk1LUXCJlDYECiWxvl-RxoEvOgJrERNQkQJ8HEyOsOgXkx1SXVx9TTKqSVQ1yhC1NdBhGzP1-FRazd6dI-y2h4skZ6YQ98WAPko5aRfJIO7SS02e-iJH3qPsFlYytaR6H5VPgA1QWWS0f-miWOCT6cq6vm0kv3XX32gLPjzPCg5QzhhfVZw5P3o55Sz3uV_XG_UlFNZwQF9CgGGltyHxIINff_O-ufvl8OOa788gDZr5nWxLIOa6uDwlX3ndRfkt_dGu2H3aXgDhjnBVGLNKMHZEC3GPmrmSQ51sdrm76lXW-d5c6sXGsRPbGafbTZqmv5R0OUwIGbMCZ6MnhHmXjXI1rT1jL_mBC1KCjTwOuW_js56TQSKY8ZBFxZ8ggc0CEvauZJW1gwC6iYpUdsJtfLs_WiI1_tKx53EhNVGJzFKEg9YVEK1cRA0JmA6ISMGqXXnJz0evPmLHaZlp5O2I4mh1Xb1dZK_hV41eGCr9V0sYVg6dcpaPpqYcpk6J_BZdHiXtooHI9hSFlYd_-CtmIjKPmqTD6eYYXqiaLxXlUEvTjU1KPWfNNnGPye9OXZ9FEgg_fByi-E2NMSMWJ8bfRAWx14kYZctm3UuqvHCD5NeJutQwiSXK20ziLlx6TAeW5DHU6N6UQAzkUEnfcvVU_y_Z2k30_SMhzkk9uGVeNOT9pnaY5yIU4kcm2x1HgLAbSg8lk8OpJfwLCGkdNg8K1eP4YaoQ6J5efzdSuCa2GYFXfHB-GSpjMr7yvFpZeqs8aPZasBdKetPxJK6XCpluFZfejbeCmYfvLm-DgaKL5EjYaqkvVYkDTM1wmPOcLn9PyIk9lhH27yCQwU5OwDsH-injLH_lTGmXH6bGvbzJjVBUlz3aYZUDNAQ0oRmCX8VtmIWEJ0UGQNnPuKhu7EsE2E0xAvRikmtSVyotxlnHotJbfVSFnTYQqbw4Qo509QTvrinn2P9Bktut95RSbjdTF4neSJoCG13ZeM-sSWBopJeGQcvnpQRK5SzTcG_kWETQ1oWu2rXv3I4vn4Jk6oBlor_Sgo91bo_RKVna-4aCH52xDJEvgkV3Tc8JQN4Z_3rk9Xtq4p2iKrFKjXpuRDVBEcV3XJQqkb2YdBKiN8fcLQKAAfma3TsqlS4GoY-cpWgnRv6eskDLrLRr1DLTJasuKG8i2KuL6Fbs2rPqc-7OWMmYCltIs5qzy2yKN2oU2SAXQGu5PZlRTq3lx2f1BIuuwADr6-cT3bosnU=",
  "id": "rs_01b449e7201fc581016ab2c097640c87d0a9995630db2de887",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.395,\"left_y\":-0.20,\"left_z\":0.12,\"left_gripper\":1,\"left_pitch\":0.2},\"note\":\"The pen rose with the right gripper, confirming a successful pickup. I will hold it clear of the table while bringing the left gripper above the separate cap.\"}",
  "call_id": "call_tC9gXJ0zaTaUbZcf1J2AXU1f",
  "id": "fc_01b449e7201fc581016ab2c098163487d08204aa0520b52489",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tC9gXJ0zaTaUbZcf1J2AXU1f",
  "output": "executing move_to over 18 steps (1.8s)",
  "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]: [-0.7216, 1.6596, 0.7132, 0.3485, -0.6464, -0.3359, 0.9994, 0.2958, 1.28, 0.5388, 0.3492, 0.0406, -0.0338, 0.0545]\nstate[eef_state]: left_x=0.3804 left_y=-0.1882 left_z=0.0926 left_yaw=-0.0226 left_pitch=0.1033 left_roll=0.0584 left_gripper=0.9994 right_x=0.3776 right_y=0.1113 right_z=0.1498 right_yaw=0.2701 right_pitch=0.1655 right_roll=-0.0464 right_gripper=0.0545\nstate[joint_eff]: [-0.3077, -7.6103, 8.5812, 1.9414, -0.2222, 0.0659, -0.0708, -0.1436, -6.0786, 9.4154, 1.9853, 0.0122, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6406dbc2651f21f694ad708bed2dca7dd239f9d18965265e5daa3e5e089c5094",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d733cabf37deb39f96f4872b337f86e004587448c92f95cb293a2fcab00966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f66fa4d1fb869093b6a1f462a4dc1616ab7facfe97463cab335fc9104c134f34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 8.459 s

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

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8791, 0.7361, -0.5655, -0.0257, -0.0284, 0.9994, 0.2966, 1.6173, 0.3668, 0.8989, 0.0429, -0.0265, 0.0496]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1794 left_yaw=-0.0016 left_pitch=-0.1376 left_roll=0.0026 left_gripper=0.9994 right_x=0.3818 right_y=0.1125 right_z=0.0774 right_yaw=0.2648 right_pitch=0.2061 right_roll=-0.0392 right_gripper=0.0496\nstate[joint_eff]: [-0.4581, -1.5932, 10.0444, 1.5311, -0.0611, -0.0806, -0.0122, -0.3077, -6.1607, 6.8855, 1.8291, 0.0659, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCjwyqpaXT1yboMCF3NlVq3P1QIfaG6g5hDWyDbdPZENCGb2KPn6fQNbYBg1F4zHuH3d0w_O5fLi58pyjRIZ7x6VHChmzi1uiA2OYGd40csWjk-zW8nxXSWMZlC2k8xwr36jF2kyMpsQlXEvKdG8ZVmf1di28nyyzHjtZ1FZwoGNYqOAWWpYPMtFe1JR0DdU-nVUo5POgj2SB_RrVCHofDSCMPP0nDNVCev89iMdtrjpPHUMWLqNcx6A8xFvzV-ZPMBUwltXPhFvJf3QZnMHnpTDxZ_ytLP7_o1-_iBr9_f9Z5V5P9lY_l-TH8m-Amb9wEMP5fUsPgwyfZRaBfGCKTI9Fwb33Sx0Je3FAico_M_TX6p0TUVyOG34K_lUWphYFgVggDZmwQjMqxvOfPa29N7Tq6AaQFhNiyuhVDIQnDkwEAzxYm0nZb6wocepp-q_Ljxo2EKpzR0fkCI2UAJSacvIqfI23TKEKep13XJU4sKY9p_u7jHY58XD9iITCoqrTrPFrNU02qYWdc8D3vWOyja-mGi1erAMACrTbNmdGBsCK9DklyK5RtGLDtSmLnON6qjDvrEV93HjWbbJDYLBU8suBSeCNBpygPffD4RId1nPBW743_qwxsjJYuiGE-KrdWsWZR3ZN3MKauoAcNky8SGDW5dEuJHAfSRoj_fhBdnFCMHe-UaQ2zcUD_Ep2PKn1ux-NGz2sQ7AXLDNIAIjQnOlnsDWr2wFyqgOXgoNIGKjWkfXpdUewr-WOLGedA2VekicPmgQ9BeFuubMyLPxPOXHaKj7tBxS0Dwe9_MSqV9XngvVfikgydCja2RVDBCMDaC8te7d1XbCYjgRF36vGiwcbfiDPjjoPkYiplY1NDwQ8A5JCueHSvvxuMhmv-rOmkliy-cHngnpHIRhVGpa26-tTLHtaZtLS3GiaPsUs7RNhQDBT5-awQyK3_q1Cld8jACQLhjedSxb7VLqejv5ZosoR7q2UtzSBWrAU3McPSjkd_7sF7Z9oPwRiZpzzzipYkIUJfJ3SJFPjrlpFwZoAHK59PzpowxfK5QzzkcR02SI7YR3fE49TOAVSOX89rdnccKc7zlF6wslT_YXcREFWOiyENSwYKxO5X0_mB7fM-RjEg6YsI9xgU103o7PX_HkPSbhwhjs3qvoDhNkf-eqQxNwhDB69m39PyrdsZFUca62gHxWQ4sMSy43lvtvXX-VugomK-OjNZ4KZCVr8eI2GgNMYW6Wpyn8AIyw7kCvVVr484wwVogZdPL83NHpj7hlM9InDTVcZhaU94-e8pvZh8I7EMwxRc6yO1sAj5DgFh_wFPGl7PiwZCP5c3ELTB_sVvwpYS8Egwh_qG11KLuQNuURd5favRU6Qagd8eddoyUcI4nSxy10VXLjQf9oShc7_bDHbq4l2LnDnYGnr86SQnpprX9R9i1Pvfio0RFXvQS1RbkGJFZYdv_5ZMQlQSY9K0omK0BaSf_GZEyX5KtpBSH8tHQqBSNZejERUpgVNJnI815lmW7GGMoIOlPCsaQt-lYZolJQ2cixY0oMqjB-1pj2HNbYnHYph7WadfMVozlE2vuZtNceofpwIR9h8EKVr_x1rhESBkwwbihXPtaRhAP5A==",
  "id": "rs_01b449e7201fc581016ab2c09d7a8487d0805161f23d0fe8c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.205,\"left_z\":0.025,\"left_yaw\":-0.4,\"left_pitch\":0.2},\"note\":\"The cap is centered in the left wrist view and lies diagonally across the table. I will advance toward it, turn the jaws across its body, and lower close to the table.\"}",
  "call_id": "call_14Wmk7xnEVaspgPogEt6jYrK",
  "id": "fc_01b449e7201fc581016ab2c0a100b887d0a4428f85525f2958",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_14Wmk7xnEVaspgPogEt6jYrK",
  "output": "executing move_to over 5 steps (0.5s)",
  "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]: [-0.5224, 2.0258, 0.635, 0.8879, -0.2775, -0.0925, 0.999, 0.2962, 1.2827, 0.5385, 0.3256, 0.0406, -0.0338, 0.0545]\nstate[eef_state]: left_x=0.4153 left_y=-0.1792 left_z=0.0033 left_yaw=-0.251 left_pitch=0.0872 left_roll=0.061 left_gripper=0.999 right_x=0.3753 right_y=0.1108 right_z=0.1432 right_yaw=0.2706 right_pitch=0.1389 right_roll=-0.0471 right_gripper=0.0545\nstate[joint_eff]: [0.2256, -8.253, 5.2581, 1.6581, 0.0562, 0.2955, -0.0464, -0.0479, -4.7932, 6.612, 2.0147, -0.0171, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06353e661e02424ec173f57e8ef4f5722d60b71f461724ff39a162f3b1bc700d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56cb7d33907f2f6e681dd37a5679ba689102d8a210bff87e2f1669730fe8e50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f69096826059091b8f653569bae99096edc800494b955ab5665b12978452749",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.213 s

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

message 36 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7216, 1.6596, 0.7132, 0.3485, -0.6464, -0.3359, 0.9994, 0.2958, 1.28, 0.5388, 0.3492, 0.0406, -0.0338, 0.0545]\nstate[eef_state]: left_x=0.3804 left_y=-0.1882 left_z=0.0926 left_yaw=-0.0226 left_pitch=0.1033 left_roll=0.0584 left_gripper=0.9994 right_x=0.3776 right_y=0.1113 right_z=0.1498 right_yaw=0.2701 right_pitch=0.1655 right_roll=-0.0464 right_gripper=0.0545\nstate[joint_eff]: [-0.3077, -7.6103, 8.5812, 1.9414, -0.2222, 0.0659, -0.0708, -0.1436, -6.0786, 9.4154, 1.9853, 0.0122, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCrs1MuRf8FwADGb76Yh-hUIlRNj7fG5Kyhd-NKiWs1fi9cdtuC3rfQ6vtRHF-hHo6qDoO1bbGLpCgMYxaH2KlBQ4FzeWzxXagZnuizGwTfdTU-MS5MRgFCc7rQ_wjML9gYtuELAOlaUSbb9qB3fHqtQFaBEDSI2Ocqc28Mei3r6IGjgvRsynKWd2Sl3tQDNyAHvwG1u7tAF9hQoBsJSt_LuJiKvp0gkTeufM3g5k2wGu5MtvSLfjt5tYgAYm2GNERFWCvCUsUA6CTtdASp_5eVef4frfpwVuxwx9U6Kdkjs8b_cNyAGCM0zta7yvjj5fGiKDSjA_lKBRIkMWXxrfILs_7epJjvMqiXHdsxQYD5P2sAAqpjyLBCrGmTZLsxDJYhJjK3dbmyEG45Xn8mG3x5qRjyz792XmE5FLLU3DgMyLJVnVLprkjHvP5HWNpa5xL1NT4acSSWsClpUWnZrGZOWJY7If552P_sd9wkS1uFnneDLmv-PBQogKif0qWzd8CalqumyS-I6eRu_eRXP7zr41PFfAOWNPEGia31_2d1NZvK48pft0YYgNlGCTHI9wX7qOSZZpfprGhgkDju5zcbVHttyVhcNnUgXSrW23RN89zymM-ZE28C4hI8nipJUZqG68KfR7QgLq7Wn_ElDMEfNQS46U51TRDtpWiPMOJIObbrc6SZLk6u_hpAF3VPM1eu2mlOVdS5Vmdh-ikaQ4IXBPTtR8uX-MrAJnnEEO7fLiZD1it_nPlLwfEqoSynryWspUFHDdlkVTBWVGS6STUKBpcYqPdEpExHy9fJmj9xb2LCX2dI-Z5JwPrGsjj8nrNY2zb-XXEP0RPfUMQdJZO90a6hCj2iqdfbQmYQQIohNg49kN-121iqRlVC9W9AOGy9Xu1MO2R3iSaRAKqEjvDYvLIiEBM2iCnshyQcoGx8L0Bc-rRKvSnZ9kJrJTMo_AZupqA9LEr-ByQjeSVLKRdiR2OX-BCQwsVDB3NHybnBu64Cbv8ER0crg9uZK4hB5Rg9T81Sjxd5-4fr6tSe5wPe_cBr8QcTiJQkjeCQW9tAUK2RSVtlFg7Z2Huwga2MGKBU1WyRjlALPb1vzzwbbbGl_CmETayU0cJk2T-iD_powdzCJwrZRf4vPZwHRvHLos8WIoXJDnMnQHx9xxhgzDa2JgxF-e7d7Y5X0xJcyPDP5y-13jfOc4e9XhCLfZGLXJ43TNLwe8I01OJXM5mF4kIEBUB7PpUx727CRotVUww59G-MInk4Kteo0OO-tsvQYG3aHFYIe5itN2tN-fCZe0UKYTZY68l9nFXq-F5FB7IW7gvxCzW6HZLWE1Z_LIUCzvZPFrC6SRh1WIaK1vKTQbWkXZAAcEIubPZBgzu6l9vrma6FTJcZsFfxk6ldq-ekswlc9SaC7ZWw6qgU6Au42gGeNRm4Jean1-LwjSAFujQTAU-ld3lUtNpKOUNhUuEaJETxZrXHiLj7i-vAlRN4IDDJ_9w66SLkSUxvcdYeD-eDRtM3bCsHF5AeqdrX0yi0A7IjvO37hC5SR3nEDGjjE_ldLg==",
  "id": "rs_01b449e7201fc581016ab2c0a7896c87d0950be4e71d30c9d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.438,\"left_y\":-0.186,\"left_z\":-0.008,\"left_yaw\":-0.32},\"note\":\"The cap body is aligned with the lower jaw column, but its near end remains slightly ahead of the fingertips. I will advance a small amount and settle the jaws around that end.\"}",
  "call_id": "call_0c3w161h3OpjFEs7IunKTeU3",
  "id": "fc_01b449e7201fc581016ab2c0a990f887d09515402d808f7563",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0c3w161h3OpjFEs7IunKTeU3",
  "output": "executing move_to over 2 steps (0.2s)",
  "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]: [-0.4908, 2.0884, 0.68, 0.9581, -0.1711, -0.0322, 0.9989, 0.2962, 1.2827, 0.5385, 0.3222, 0.0406, -0.0341, 0.0545]\nstate[eef_state]: left_x=0.4299 left_y=-0.1916 left_z=0.0033 left_yaw=-0.3403 left_pitch=0.1262 left_roll=0.0561 left_gripper=0.9989 right_x=0.375 right_y=0.1107 right_z=0.1425 right_yaw=0.2708 right_pitch=0.1354 right_roll=-0.0475 right_gripper=0.0545\nstate[joint_eff]: [0.759, -8.7043, 5.7231, 1.5702, -0.1832, 0.3199, -0.022, -0.0752, -4.4786, 6.5299, 1.8584, -0.0562, -0.0611, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5532a8abb284ded404bf3e6c3b4212a44297a47fbea28ce45f776a5fdca99ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb1e444a80cd24890f2dbce3b7352cb27c889975563080eee8d9f97d134bb3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ac77afb3ba8903bdfb0f3ae8994e443028c1f78ae260551c4463df4622bb07",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 4.459 s

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

message 40 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5224, 2.0258, 0.635, 0.8879, -0.2775, -0.0925, 0.999, 0.2962, 1.2827, 0.5385, 0.3256, 0.0406, -0.0338, 0.0545]\nstate[eef_state]: left_x=0.4153 left_y=-0.1792 left_z=0.0033 left_yaw=-0.251 left_pitch=0.0872 left_roll=0.061 left_gripper=0.999 right_x=0.3753 right_y=0.1108 right_z=0.1432 right_yaw=0.2706 right_pitch=0.1389 right_roll=-0.0471 right_gripper=0.0545\nstate[joint_eff]: [0.2256, -8.253, 5.2581, 1.6581, 0.0562, 0.2955, -0.0464, -0.0479, -4.7932, 6.612, 2.0147, -0.0171, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now extends between the left fingertips at table height. I will close the jaws to pick it up.\"}",
  "call_id": "call_Taql1mnDv7BMVFCN6AQvKESs",
  "id": "fc_01b449e7201fc581016ab2c0ae07a487d0b1913c2eb73b5fd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Taql1mnDv7BMVFCN6AQvKESs",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.4915, 2.1067, 0.6861, 0.9817, -0.1768, -0.0425, 0.0556, 0.2958, 1.2839, 0.5381, 0.3206, 0.0406, -0.0341, 0.0545]\nstate[eef_state]: left_x=0.4323 left_y=-0.1921 left_z=0.0022 left_yaw=-0.3304 left_pitch=0.1382 left_roll=0.0474 left_gripper=0.0556 right_x=0.3749 right_y=0.1105 right_z=0.1415 right_yaw=0.2704 right_pitch=0.1324 right_roll=-0.0476 right_gripper=0.0545\nstate[joint_eff]: [-0.1573, -10.7009, 3.2889, 1.5946, 0.0708, 0.1587, 1.4432, -0.0752, -4.6017, 6.5709, 1.8877, -0.0659, -0.0806, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d649725d5b5b0a33d2a9416241bebdf5eb2165a817ef5f01ebb531268a867db9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543cee23f9064c8f9a248ee3e33ae20e48778a862ea701997d0ac2d818df67f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0470971d951fc56d28d729ecc68d83f99fc85ac3f3fba3b8dd9e75dcb03430f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 15.77 s

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

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4908, 2.0884, 0.68, 0.9581, -0.1711, -0.0322, 0.9989, 0.2962, 1.2827, 0.5385, 0.3222, 0.0406, -0.0341, 0.0545]\nstate[eef_state]: left_x=0.4299 left_y=-0.1916 left_z=0.0033 left_yaw=-0.3403 left_pitch=0.1262 left_roll=0.0561 left_gripper=0.9989 right_x=0.375 right_y=0.1107 right_z=0.1425 right_yaw=0.2708 right_pitch=0.1354 right_roll=-0.0475 right_gripper=0.0545\nstate[joint_eff]: [0.759, -8.7043, 5.7231, 1.5702, -0.1832, 0.3199, -0.022, -0.0752, -4.4786, 6.5299, 1.8584, -0.0562, -0.0611, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssC00rbGDtyQY2-VWZqsV9KUYGChgkg57HMXR_MPkNlXncZ-4oR0EZZHF7bXeISqGpJi09bMQoQA8HDB96mTXoc8ZjlINPIqbPwsNzvJRjzl68Mjw_yFUNtIRvV67vtlNTJoPm_kYb6R6JFDwxJ_rSdMDt51wVQIHqYqo4pznCHPV6v6C8lJBNael8p2aE7Z96jTc6O_wfayJJ4sS4j1CyUO7jara-aflm2wJ0x1M2pHYnktE5IuBG1JKAluxC91GxXtOJ0HKdZQV1BavqAWXqJ7pVjjxIc9x7kVF1iudn_WtGhYfT9EnWXw4BPxQ4ZOeIZBSG6lMNCxkdvBYeAF_XMQW3QHaywtJE3zNKr4z_PnL3ecDhM91pTYCzAdcSQW0AgNsyR4kqqHn8Mx0jw16Jtj7I0FyT0jdaID5ns2Y6d9qqpDIgPpvQP14IcIPtGn0x61eUt44uM3sqSzDpZ9ulqFmQFOh1nGUdI0OC4s1dZ_PwypMfxphQL3pCE76KOv-_1uKRZG4jkOyj6QRI20EtLNnCM29oW6djQ3PzBY7UUqGnryvEOul3G5ZXA_GJCGHiR4lP-RH8fBkvArBhHwrxrlscYSsr-FtomlX2Tk9PYAvf4Nmiz7RVCvZjNmLVsaZMfj3DxZw_8pqTGhsWRzdP7NpBX52Th6eeW0DgLilgv1YI2VzhLT5RW6q7BuiRSGwQd9k1CNWs12SoIEgXhvXMN9rxJ5sBtrQ_gNT4Q4RW9nD5MZEuVYbTyp8TRb9E_0H_eDWoqZDdQ2m-3uWkiRZcdJARJ1sZLQV9budki1IpAK5ut5jim4ZPwdgyaQicX7dtoO_tdrPQ74QXfUJztPYPAgTGVABBLz6vukqdDOqnd02kMfDsHWRVBvVe3_JPkGJ0751MaGqg5r80xFiwi17FJ2Tr6fOFjfYPSg7A8lWlN10cbHFoziFjLpezYX9Bt5qoBq7f9KTNvCUoM977ev8nbsrG4Klq4iWXf6TtDgFf0f4Y6gmMUEf4tL0dI4uKkkwPtH0LnkPTSQRhOOC0S_VDLW6jM-RpamVSsYS5lYqM0ffrcOPALxh8MUIbmvohUgxe-NYj5GcNi2w6H0CTjr6NZeCZFx7REH9yyB8ZDnv8TMBt8LggoNEGJpMG7LbWhjUNy1Z187n_7YEkVyX_txx1iCl68Y2bmctltjJm1cptvHbOe1YjbHO_gSJL7T7dNfZsDQuHF7pehMBn0gWpd2NY2wHFloJrLkc7CySN-CRH4v6BYdiFfLO10MtLBz77im-braJOmYb12xKnqyvqv1eez7x8oS_AlkKCT1drPTXepc7iGoj2bSZ_7UqoKkUsWxuTy3_CDqhGIq0v-plMsRYtlrdjpVpCb_E6F9brnW7pWU5Vw=",
  "id": "rs_01b449e7201fc581016ab2c0b2332087d0a45109a2858dc507",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_z\":0.08},\"note\":\"The left jaws stopped at about 5 mm of opening, consistent with gripping the cap. I will lift it clear and confirm that it follows the gripper.\"}",
  "call_id": "call_IHqDVFL86nMLQ5kAUgJkzf2z",
  "id": "fc_01b449e7201fc581016ab2c0b3145c87d08abf1a8ef07cd4f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IHqDVFL86nMLQ5kAUgJkzf2z",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.5121, 1.7958, 0.6594, 0.7082, -0.1978, -0.0513, 0.0686, 0.2958, 1.2842, 0.5373, 0.3202, 0.0406, -0.0338, 0.0545]\nstate[eef_state]: left_x=0.418 left_y=-0.191 left_z=0.0715 left_yaw=-0.3282 left_pitch=0.1505 left_roll=0.0462 left_gripper=0.0686 right_x=0.3747 right_y=0.1104 right_z=0.141 right_yaw=0.2702 right_pitch=0.1308 right_roll=-0.0473 right_gripper=0.0545\nstate[joint_eff]: [-0.6906, -9.388, 5.9692, 1.7167, -0.0562, -0.0708, 1.033, -0.212, -4.0957, 6.735, 1.8779, -0.0562, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c183ddccf6160c4b638fc766b141573b212fd5abcf8ff366d379777e39f07ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daadb12518937bef89ae9ee1f97b7ef5d7f287b1dad88b3a7b263833c2d6c9d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3434938ca89d99ab3b554ee17b0ddee1e2df7ce1f13e6fcc7c84f42bd38faa9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 6.392 s

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

message 47 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4915, 2.1067, 0.6861, 0.9817, -0.1768, -0.0425, 0.0556, 0.2958, 1.2839, 0.5381, 0.3206, 0.0406, -0.0341, 0.0545]\nstate[eef_state]: left_x=0.4323 left_y=-0.1921 left_z=0.0022 left_yaw=-0.3304 left_pitch=0.1382 left_roll=0.0474 left_gripper=0.0556 right_x=0.3749 right_y=0.1105 right_z=0.1415 right_yaw=0.2704 right_pitch=0.1324 right_roll=-0.0476 right_gripper=0.0545\nstate[joint_eff]: [-0.1573, -10.7009, 3.2889, 1.5946, 0.0708, 0.1587, 1.4432, -0.0752, -4.6017, 6.5709, 1.8877, -0.0659, -0.0806, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDE5DmWemiA3o_iStmllFFFjqk8LWk915kQp1hK5tX1DvfQ_2d6JVafDmPhPmTcNjBwVx6LTTjqyDXQoJmuKKLu03w4Ue2Qv0mW2slAsr7_2jFPderIrTs3NljivBlXbiRfFdhKjxZc3EbdgLVQErWY0S9ABLkwMfGaUimEbOguH-S-9fVEpqJtBBeoUMa8HehrMYYDs-A6I155lRPskeB-PYm0j-HXwmjnu6TsHt8KEM_O5hOzLjCs98IjBSPMfrKcFylyOm8-c6EDVfOo3Uz0tapxWmyzlnD84KEE55GN2OK81UYiJ0dFdK4HFY4Hjj5uiaOi7lCSwq3SKi_9E6vgL6z44P_-0a7CtrMIFQ8yX4l13QvtnCy2-iC8rIkrGg3CCTlZVDVmN-bdTFyzxGec43nw8OlWISQlbk1OX4NAfN5OZ68TInkgS7vEMpn5sv8Gm7DH43q0qtjuyjrCdhciuxFq6wZ6RdAXm2Y7NYXZJ6aAYSrRzT7DBjKV8Iy2X994XTqKskD7Yd4QiExlOKqxtPU6N94oyhdpEqdR9eWY5bBPF4kuN4DdtQuQN-4bX3dvSKq-E_t1puG-zL1Zr4q9QImXTnHCEPUaVvvxGSHoHuykFsV6Ipl4cGNoo32I0akYETUK5wbpyBUZmURbC4NXs9PXOz2PmWdb6UZqjaUZwX_GORxeC5w4G5g810-LWtaP1cybTN3i27dSfilZx7jhq0nDuyqE4ovS1CnPBp9WzC0tDNfp6xMI8KJY3qbMXrdRX8z7uBQKtzYaNLkNTkLHwXk3GofqVJ0wDF1oa4h47l92NdmhC5KB5etZsRMMNi-9p3mvZQw1vaWpOoGaxkKDVNChAH0LdPGJgJaW3RZ3_7eahyZsKr1q2YHIgDuWazlHG8gSPI3KUxjKxYQfA0GyBArKEcrxw5ENeSqk8HPzVieST3KwdI2BUYvBg-b4r_Yr7AMZZQi3xKE1HDnZIPBlU5w3JcAejoiZ-R9sPGWLXP2x9syUzhSW3ag1YRoDMs0coCHRuoWXT0qgwdqpA7Ru1XRF3qNXTOca8ERVfPYmgY_vGJqxAZuiIQBIXEVhIHLdXfJQ75BxRtDmiI3AiFgHj_OjXPeXnoqaAH2SvsJmvcjq8UET7I1Ah8pnJyx1Lz-rADmRZpKaopYDJkZgA6DXVMyhjN1JjffYB82iznsCvcDXPdRkKeEVmTurGBFHge5I9Y01gIqaXt0TJTs33gscQOluhne_8wDTzSd6JPEngtP6v3g8pMUu9pAVzw1y0vMQ4yLKRWUL9nR2Ua8m3QEWOKRksOJ1xy-3o-1B-nw8cuSyTpUOJIETeAKddqgdrl6NveCDuWqbEvvjl8midn-7oBlcQ8iZ6UMrLlQTc6-HI7YouwXRD9TtaEErK07WhkFG--hBXI_oY1TeYrFZKV8X-6f1g7HQaHrv6k--hqSPOVq9nSXGVMtKtA-EVB5pnvs3ATRpQUuRCWKRCohlSrif5eLTlcKdqLb9ho-maL0JvVnU_VeiS9kEORsHW02K32MBubl6GmNFTm15KP7UBHN7apri94-86MotjoUsOv-3Fnsg3JWNO9H4HeeKxFnONLLou5gWu0eQBJl_Om8GmATVPwFB2-aDRiZJxgO1x3Cjh89EivW6mV0NGqDawlOHg9JAWUM6Z4HWx0QzLe8EJb8_Eh6w6ICiqWv2ylcvPk6olxTNwo_fD2ZsbDbFt46FC2UvE80kCkUjmHmBJg3AkYzNLEwHhQVMtwInQjXXnn5S7rxRPz4ggir_5fhWIkC1Gz8hzJhCc0ozuYm-C9tvJu-__NwIjFURBZJGMAbR7SrYjxCW0STVdIw49lF-5iN72xnYCObILZs8hld0rOP02IiJ2pGtvW4RqYyyBylW-ok8AOoiqkkNovpHgdCPcMkjr8DZ8yZkCBh6rdLpcR_XNPigAAQbhP2GDqkMa52JBaNaFTi5FYa4cRkbZyULfH_YuvoPz7HzLiPdOB70QKN47qTEp4Vqss9Pht9_DWi84e4RhkfydY34edDgWIhuWFTK7ULKuoOdB6KEx2nBzMnaf3hBDjyfvbB1W2xMfNtNfZoJWGXMes8X5EzEN73W_snCMStKo9s69JOj21OcKKjC5kH3pORTm2IjglYIns1MMaWUNmn3utruNqZMdt04uCokFhVM42HWWioTyHHPlsqejSGUd1anSGRb6aFJ42ZPC5b69dQNMLv-jdkx6GhtMwh49tPxx4DI2fboRisJIXIfTRbQCxtUfCoVWT3tpDKtMFHNJ6GgdgPIDJPlcPEGAZWtpaTnQQWkZoXvosYetYr8HNweHkzqKZOfsZgiq992s1qRHt9VhJ43_qzng6qeBsa_EugvXzQx7tSZt08UxZp6mN3v7ojdT22lLMflfK7J3bH5k4_oI1lkchoApMgu_GHeIJciSfYuypCt5AXbjPa5-z8pxZlW1lKHmqtDWNVvq5vyiNQ4nQZNIXRfmfA2WTd_xE7bdLA19VG9IAjVGN4BpjNxtfjqCWZTWYOP1-rvEJ3krAG93SNNw0Wrs9-a3WlZpZLTnRO21siSs4hNxSPqeKHKlbltA2MCFxPOhuPGBoLh5ML_Kz3SSO-_HYcc7dfDKpnx0ftdzeL_3unCoXISxna66bMTJ37FSBKUiyWYQckkk_yq0mBXItslLxtKRMkSelers-rcrMZYCw4Sxn69vKY6OX-GdflN2IyUkxhAchyQ57-l0kZc3nFbY5M-QIqge8_I",
  "id": "rs_01b449e7201fc581016ab2c0b729d887d0a1189f6b5d7aed8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.24,\"left_z\":0.18,\"left_yaw\":0.55,\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.18,\"right_yaw\":0.85,\"right_pitch\":0.2},\"note\":\"Both parts have lifted with their grippers. I will begin turning them toward a common sideways axis, leaving ample separation so the cap can approach the pen tip without the hands colliding.\"}",
  "call_id": "call_1WWdUixcw1ldBeL3AsT9E9ZI",
  "id": "fc_01b449e7201fc581016ab2c0c1e8f487d096354b70561f357d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1WWdUixcw1ldBeL3AsT9E9ZI",
  "output": "executing move_to over 7 steps (0.7s)",
  "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]: [-0.9798, 1.9701, 1.4967, -0.2985, -1.0664, -0.9642, 0.0686, 0.2287, 1.2861, 0.627, 0.2195, -0.4549, -0.2424, 0.0545]\nstate[eef_state]: left_x=0.3986 left_y=-0.31 left_z=0.1886 left_yaw=0.3441 left_pitch=0.2124 left_roll=-0.2369 left_gripper=0.0686 right_x=0.3551 right_y=0.166 right_z=0.1656 right_yaw=0.7361 right_pitch=0.165 right_roll=-0.0352 right_gripper=0.0545\nstate[joint_eff]: [-0.4171, -9.1829, 5.0393, 0.5299, -0.5983, -0.0562, 1.0281, -0.6769, -3.7812, 9.1419, 1.746, -0.1245, -0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55da3ebbe72ea4922e7abd8927d800cff0d817212dd6939875c793ec5980f297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaeb2d416263f5b69f3bf190e4a05cfdeeed6329ea62a94a453058a3eeb0373",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9731dd1afd9a1182b474e3694d620fd67e53259fa048701f08b87a5bd9e87b53",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 10.99 s

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

message 51 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5121, 1.7958, 0.6594, 0.7082, -0.1978, -0.0513, 0.0686, 0.2958, 1.2842, 0.5373, 0.3202, 0.0406, -0.0338, 0.0545]\nstate[eef_state]: left_x=0.418 left_y=-0.191 left_z=0.0715 left_yaw=-0.3282 left_pitch=0.1505 left_roll=0.0462 left_gripper=0.0686 right_x=0.3747 right_y=0.1104 right_z=0.141 right_yaw=0.2702 right_pitch=0.1308 right_roll=-0.0473 right_gripper=0.0545\nstate[joint_eff]: [-0.6906, -9.388, 5.9692, 1.7167, -0.0562, -0.0708, 1.033, -0.212, -4.0957, 6.735, 1.8779, -0.0562, -0.0317, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDLj8QnfQydv09QWu1KvUu89cOQeG48Aty1ZOYNKvgHUKLtRz-m7hTRsgK_7ek_8QyHd27mM_hsohhUE15R3R2qnZIklx4hcSNjX2AfkUustuBjMPLhe4oFV0ceww__9h3GdHFymBfpuWAH-tVdPKWXZerN5Od4tXqATk2DT4s48Ce5Vr_idp1wnZcdvNhs13EbPHf6BPtN9vSoFq3OvW1CGJ-7j7eg7kSYq4VsH8LQBLxeFv9xh7-XBXtzrDdezbMuThNw-WP5K-v38xCGPPHIYNAwyb41I18uOp61BUsRd6n7MNCXyd1Ku48MFZaNOPjfkuPeVxDwXkmDRNWQoQzdooHQxf-etlNZleSt2KCrm6oP86JxsvhOMvdT1lZaGVpe5mlyZ6gxxZ9uQW6MpjL6tDLjKvyFf7DwvasETlJWgUTtZdeB__ojf44riKZgt_ZEd0MOAYJNKXNQq8k_X9D6wd1QV74rcLwQiL8ENk2mGqlZ1zwsY0i4hMXt_H6z-tLBdRVlUabiD5xNdckcusDMeRJ9_DbgZSIq_2V3cw3rsCRpXzOOi2aVMkObxBgN6P4xZBy-wa1-9gFNwSRAjXutyyjDGo5r0pBpvuK-niW96srBLfI0thQ99o_bMupNuSpxyTep5LPLLa1M3plSVocghKd6c05rK7NFPDm2BjWVJxY7URHi651wlQLIRkUceifdcfJem9Yex_a_XU2rCKUok-71IV2cd7MVSS-RFM8ZPGuuduE0auQdqMpACJABD5AoaMe4O6bnkalvVDtjIEJXVqNYdxDfJaXoFo0Qs5sBi5d20yRrnxoKodEbtw2xA913Zx_S7Nz2UECn8ll_j43ZqsRgnCjYV7lwX9svn-mdpllDTLxjVR9-UfAdDAO3gFw3yEupYYJucKuxV69Jdg4m_aVNtEw_dmOGHZMCHTBBmZcJRNjXqZ1-XSU6PtEn93N6MQYsshD4zd83ryVp-k1pkSBDBhzcMfySHXc8Y9Wt0xBj180YzVPKBOHkk3UT1GD09VPgSX2JKiNMQ5TK2SIYllu4nqxhx3V8MzLTANuv8vkHoa9dD2I5yh4oQgGIz60WmdjqSjqxY7_Cdz0fkcwMDv6fAkJ-fGgndmlUgA6KGyNP1nTHnLN8M4AApeT0RjqkEyPxe4qugSoFheIOOCwtLrkAMdsvPikYnVd94KXSnZO9QGN0vJSGhYEqlsY8cdAPCXk49tLmfKW3c_otwNCKiySZ0RC9n6ftO5t25qXf4N1L51NlXyVCWPoWKR3i5b3Yw7Dg1PDuqQdUhRV366a5NlBHBke0mY5Ec0vb2koeP3t78vLt2H2MpTN9fK-cHYDy",
  "id": "rs_01b449e7201fc581016ab2c0c80f1c87d0b611f3b11309c33e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.21,\"left_z\":0.18,\"left_yaw\":1.25,\"left_pitch\":0,\"right_x\":0.35,\"right_y\":0.17,\"right_z\":0.18,\"right_yaw\":1.4,\"right_pitch\":0},\"note\":\"The pen remains secure, while the left arm moved farther inward than requested during its turn. I will move the cap back outward and continue aligning both parts sideways at the same height.\"}",
  "call_id": "call_H5mXdkekV8irGQaFUXYMS6oX",
  "id": "fc_01b449e7201fc581016ab2c0c9148487d08e5c98a8eac16446",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H5mXdkekV8irGQaFUXYMS6oX",
  "output": "executing move_to over 9 steps (0.9s)",
  "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]: [-0.9775, 2.2581, 2.1162, -1.3472, -1.0924, -1.9572, 0.0686, 0.0711, 1.681, 1.2289, -0.6525, -0.8375, -1.018, 0.0578]\nstate[eef_state]: left_x=0.385 left_y=-0.284 left_z=0.1901 left_yaw=0.7916 left_pitch=0.0448 left_roll=-0.4121 left_gripper=0.0686 right_x=0.3697 right_y=0.1615 right_z=0.1533 right_yaw=1.271 right_pitch=-0.0835 right_roll=-0.0354 right_gripper=0.0578\nstate[joint_eff]: [1.6479, -9.894, 5.8735, -0.1343, -0.6618, -0.1685, 1.0232, -1.2376, -9.7162, 8.4444, 0.5495, -1.3944, -0.149, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b55c3be58dbe2d04c46bece44901fbb85e16366f824feb49a6e54beb82ec769",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23de7f2c7b0a367f56145ff4f0a0568bd72b1fee6474496909a8fae2a558fb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aca7af10a746061b191dd50442bdd2072180101c709f724f44d390572bc23f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 7.635 s

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

message 55 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9798, 1.9701, 1.4967, -0.2985, -1.0664, -0.9642, 0.0686, 0.2287, 1.2861, 0.627, 0.2195, -0.4549, -0.2424, 0.0545]\nstate[eef_state]: left_x=0.3986 left_y=-0.31 left_z=0.1886 left_yaw=0.3441 left_pitch=0.2124 left_roll=-0.2369 left_gripper=0.0686 right_x=0.3551 right_y=0.166 right_z=0.1656 right_yaw=0.7361 right_pitch=0.165 right_roll=-0.0352 right_gripper=0.0545\nstate[joint_eff]: [-0.4171, -9.1829, 5.0393, 0.5299, -0.5983, -0.0562, 1.0281, -0.6769, -3.7812, 9.1419, 1.746, -0.1245, -0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDX2FfMfBfJImSwcmoGT1CmuMNGR5IydT9RShVdM0OcWDrfYrJ9qXbsZpWujTMPFsjTfCDgbN2NMTdvpiCjAZBMv1zAfGF985Bc774F08zi60K4gBzGZOV3N9bbAPmH1Fg9UtxQ4v5CbSp_RS5SynBV5reo_d1HZ-p0C1IX27RTkS-i3rttfL7Z67PtT_-dRxFNuo2GKr3jsluvGuvxdqsOFBFvP4cFIvc2NayIo8TrYrgUQrZnj_CM8XcrtpUwB6QgeykLGkCmMyXm_feZpuqlFXwE6MVBs3YjQvczQB0FCnRSyesSzbxU4xDoFj1rFoNPD0sOrjphL_9RGSN4xnVQ7QJA62CayhAGwdBSJx-FABhwGNAGnk_tErf7jHDd8ClAEitOll-qq6c7LgOlpQ-oeo1hKgECGoMcCavjvgCOifHv0nkouJr7XwiEG3HHUdOn_viK4h5Fq2HU0QSZQlVJPHGGXz9v13JIuYGWZ9dkk47dENpF-_x-ScOwatT6DeyrRskPlfSCp0lWG7NxlvnHBGzbQgB3aHg1zg6alg_HOlYjvLE7VX-vEr1WMMS-k8TZ8BS10iyMgVorzkSkK1q2CsIAl8V2Bf-t-ay6cR9apY3xIqxMhBbOYcX8Mzm2cfxL4ifuz_4DfZar3svRlHXnv0NAoUGhUrqd8kfIoHXwaumL9MSuZlc5_u00w4Nqi_IVDywQa3noyC8cl76cg3ufcnxbWBlduPhnfMPqghVn7-c3dEu2XGm8fTx7AiKoQUuCX_fIBMbOVK2_5P9jTLVoMTxmyAuNJ0xckQ5Iht_SpiwyF-2_QJrvaYyUud9UnwB0ejqVxOQtGNdVFHv7L6G2TSWO5xqRNOupfCIx_uO-jCXDWV1pp_RKPBwrSKzpqb64Re8Kw6mVUptT-K1F2T2SRnAGmB7Zxrqq7lfL7noIIBDRjKGk7RwNH4TBMOAsprTkf_yahFO5KeSUKnngnUMKCo9fCYiEpLAyPL75JT1GGlRIhfnOhNd4j73UrmCYd6AAQ-beYAFXXdbWwWp69cAt_La8bZtOgDmujQOd8CN7vqIwoEaCl6hRkCnj2rJ3UCIn3XOFzigCCiGYgmIGME4xFCYBnnqEXSw4wQD1NtbKC1tneT_dEroOWo5IrDLFTKo5sQYcsxZ_CIrZkWMVuApDzDRQpydUzMPr18vhCFVIVpTBjLSwPWH3K11aDMoFXMhi1iHm5RtoDpBdCVoY-aUxeVa2etFpnZJACTTFdqzgsMbdMwAvb0JcJKqxjvlJsUYsdbdoCsYEsLnsGque7ujLS5u6P3RijC9wbLTukqDdhXoBhOWkH6Wuucp4nqJ9SxDRnxz5j4TSkwYjX6DbYHwoCxKvAgM-5lMNCdwV4hjkVMQ9gkxj1SXnJsOJV_DbX8wOLN2FkZcZtykOrw1mPUHn9iFGaMQzwsHLsy6k1TfjKh_oI0sS72OgNxP0Wnezupc2bfCb33lTN2NYOmwjZYe90ebfzDP0Mc57O0wwYT1uhD9eZ78fF0FkuGlut02ely5y4tPnnQZVuFlk9eITtsSSeLT2XNy3heEHDlL-pnIhueQIPPa-2OIF3zyAjMOzl4LZg2XryPyNm_NyP_xFTTYXCY-asT-YvW2gHCtjOi-jb4bkCqGfco9FW7mRbMzJiMzz1ovkmbNyxF4jS-ENarqa9V-CoNLZ5WBymO84WecbkTW0ToI0qzWdhoIU8-4D1WyTw8gEU8p86zFVW23Yh2FVsWnGiKT_HqkoTvkCcCHkRJfV5YgPIvdLJdbQwzM3ZWw1H8O1iUxOc6zYgpngJKKufvTulyFCSPHupHA2Ig92neY79HBWV7iY0WHBrOVNHNhbdATeZir9WOgSyh9oln42y8VGbLTVbGg-rskLPbXwbqqqKsVnJoqTHw9xSLWiaRefFElqF1usd9RMmSSmIJFNX0TKnlum8WeLNq0BiN47DiMuume7pWM_WaQDYgO6Dcbb_1EvuTzHnbGXEceTokkANrJSzI0NsGC9F7eMFPL7XMbvcAlHu8-wWav-4xVaZJmYjbE24WE9AgwtAs9OvOpqipxUgcOGu-uxrd-_1YuE8triDla0rFAyAuwaMB5d_ZPqRIeDuaH5wat2dWrRfdiWoQ==",
  "id": "rs_01b449e7201fc581016ab2c0cee09487d0b7204fb7e1e892e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.28,\"left_z\":0.19,\"left_yaw\":0.25,\"left_pitch\":0.2,\"right_x\":0.27,\"right_y\":0.3,\"right_z\":0.18,\"right_yaw\":0.6,\"right_pitch\":0.1},\"note\":\"The sideways cap orientation is not tracking reliably, so I will switch to a fore–aft assembly approach. The cap will stay farther forward while the pen is held behind it, keeping the grippers separated.\"}",
  "call_id": "call_GMltJVP3gKif9SNVS5Im7gSt",
  "id": "fc_01b449e7201fc581016ab2c0d5360087d093d9df76b43a69d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GMltJVP3gKif9SNVS5Im7gSt",
  "output": "executing move_to over 12 steps (1.2s)",
  "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]: [-0.8955, 1.7123, 1.2613, -0.9855, -0.8833, -1.375, 0.075, 0.8627, 1.3239, 0.7223, -0.0608, 0.3016, 0.1452, 0.0579]\nstate[eef_state]: left_x=0.3145 left_y=-0.1685 left_z=0.1402 left_yaw=0.5414 left_pitch=-0.1098 left_roll=0.0256 left_gripper=0.075 right_x=0.2841 right_y=0.2567 right_z=0.1321 right_yaw=0.5219 right_pitch=-0.0712 right_roll=-0.068 right_gripper=0.0579\nstate[joint_eff]: [1.9761, -1.5658, 5.8325, 1.1306, -0.5983, 0.1538, 1.0281, 6.5709, -8.7726, 10.7829, 3.7143, -0.8034, -0.7741, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d3d187536b09faccdb8aadd400e4c1764b22032eac5125d3f89bd14c61f7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e849c4db37ea67bfb316a06dbedaa680f56fcdaf8272163e9df7438827ba3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4293a0178784fb0de403253ac51d49c75fb9352387624ac972ccf85fe23947ba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 7.957 s

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

message 59 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9775, 2.2581, 2.1162, -1.3472, -1.0924, -1.9572, 0.0686, 0.0711, 1.681, 1.2289, -0.6525, -0.8375, -1.018, 0.0578]\nstate[eef_state]: left_x=0.385 left_y=-0.284 left_z=0.1901 left_yaw=0.7916 left_pitch=0.0448 left_roll=-0.4121 left_gripper=0.0686 right_x=0.3697 right_y=0.1615 right_z=0.1533 right_yaw=1.271 right_pitch=-0.0835 right_roll=-0.0354 right_gripper=0.0578\nstate[joint_eff]: [1.6479, -9.894, 5.8735, -0.1343, -0.6618, -0.1685, 1.0232, -1.2376, -9.7162, 8.4444, 0.5495, -1.3944, -0.149, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDgd1V6bejMDdcrI2TRuC887ZwIkDSRYl77PFJY8B5huxKVeoO09GkUM6y3yBReivHJr7qk2UXOHQj6SPgVAGJHWneLC5Qb30WLXzp93LY9f_ZIRuSQEyaQVnMYMQIK9cMGxfjd43vl-gw1nSq3W77f0fYnLxa5n0kSPKoMBFrChD1rTdpKvA94EC3arPEtf_Qyol5wLs2P4q2layqAD6vXGKspqZUi54aTl9hRSwNkF0Sy9dQVVR7IA3ZCFeOLO_xGW64GGnHOWpGiVcUUeLel2-24UygmHulUXq_uab6qJ3hSAlsM78vYmrfzWQrNwQPruG4ENct5POv200TW9cDV6xHGyjb883D8sa-QVveQWSPKmJaM0Ei982jFQFsFmDZf9eqNu6FZXc8YE0oWWnIuXEWD4M7Egeli7BT4vCg4utDRzGofa6D8fAwFf_drUbEQWBPn1DyXOe2hRc1V-UJMDoDqypf0AMBKkfnoTGE2tpmodcGCzZfOEVH2gGNKKU11lOluQHDFnp_A9WqZPUKXuWQwQZhB_0NjI-2yAgDeHpwzKe5KrqzmCfFXezvfCPPjYJ79bnWj6rM2VwMfiYOt62PBjqOmAmMlXMf_ioqFqZsfEgWF4K6KtuvrMKeOevxi1gmN4pZlPYiab6S1ZdL_nJbJAfLnGHKmkHSIwOu50-saOgrkhs1fyheZ_JaKdaUT4ShRNTo93AyWoIPlh3bII6VMavaOrxY8mJX7i0J7Ba7e4LNbbtfaAhQQL7pHB33lFXeUnX849YpwYxbxG5nsyOo_D5aweKhCiPmyCUElUKZEUETGGCCCsmY0HIvlJ1hagX_YJdOJnDRksIenyTLBqt6_RQABfAdtQg1rdAF7hfjjiEvdj1pNu9tZKkm5obxcfP-R01Ss_4PXkfU4bUc2EqsPBnnYmm_cH0FvtcVPiTLWGkdgmxZUol7iYhv3xTeCTSZY-UWbXf4whGvjNA2UfNrpGGatQQvT0BFxdO5ldy7gPvJER3RRHbHR_EFMrtvS5dU2wI40HCw_LEwhOWLXXHWFdrdzJLSkqwNSK5BVpadSRxy_bILVlPLoDMxps1lywJjVoMKvR8Mk5MSqDlT5D_3rZzWZzO7lW-t207DiOa06NkU2hFxBq-5BGlce6vlFGoJaQFECNv4ZU01TFsVwEvWl291sxYQzGwuJFQf1ysYh9pp-D4wa5TRbYjsWXneH48p8t7fq2EOHr2Nzny_auMR4qPNIF8iIMm-HvKW_LcVZ2DBEgW5drxTLDfnvw4e8Wn1U2cuYNwAlDnV0lNdpzgIoX9_YwKYqmUTXS1g01cRV7BT4uNPcM5EHJumW7rVH",
  "id": "rs_01b449e7201fc581016ab2c0dce17887d0a9cef554331e3a38",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.24,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0.2,\"left_roll\":0},\"note\":\"The cap is still held, but the left wrist is not yet at its intended forward pose. I will straighten that wrist with a modest forward move before bringing the parts together.\"}",
  "call_id": "call_PaVRLN6SmF82idnkNUzznDIT",
  "id": "fc_01b449e7201fc581016ab2c0de49e087d09806e0d6c881249c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PaVRLN6SmF82idnkNUzznDIT",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.8364, 1.6444, 1.0309, -0.0708, -0.8074, -0.5137, 0.075, 0.8536, 1.3342, 0.6994, -0.0708, 0.3012, 0.1501, 0.0579]\nstate[eef_state]: left_x=0.3811 left_y=-0.2263 left_z=0.162 left_yaw=0.0741 left_pitch=0.1181 left_roll=0.0276 left_gripper=0.075 right_x=0.2819 right_y=0.2489 right_z=0.117 right_yaw=0.5091 right_pitch=-0.1117 right_roll=-0.0784 right_gripper=0.0579\nstate[joint_eff]: [0.335, -10.0991, 6.6393, 1.7363, -0.1978, 0.2418, 1.033, 0.5402, -5.7915, 8.5265, 1.6923, 0.0806, -0.0611, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c2a5a8992bf150b1d70047bfa3a678c529449b6d35ef046cf69ad22feb126d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36efcb21002e220d3e92957e467d6c9493c6b8b3e6e5a98cb1461e3a58da3874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab5ad5c2a80cb0f9e4bd0fbef8007d30848d78c84813855a952b89657fd898a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 10.71 s

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

message 63 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8955, 1.7123, 1.2613, -0.9855, -0.8833, -1.375, 0.075, 0.8627, 1.3239, 0.7223, -0.0608, 0.3016, 0.1452, 0.0579]\nstate[eef_state]: left_x=0.3145 left_y=-0.1685 left_z=0.1402 left_yaw=0.5414 left_pitch=-0.1098 left_roll=0.0256 left_gripper=0.075 right_x=0.2841 right_y=0.2567 right_z=0.1321 right_yaw=0.5219 right_pitch=-0.0712 right_roll=-0.068 right_gripper=0.0579\nstate[joint_eff]: [1.9761, -1.5658, 5.8325, 1.1306, -0.5983, 0.1538, 1.0281, 6.5709, -8.7726, 10.7829, 3.7143, -0.8034, -0.7741, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDptBKW4sLxYN_yaipGz2GOLVvcbRp-2oAQBQaljvh8prZayFB-UVtZO3egpTT6Cv3hD0rkYXy59UAfxQ1tuSNBF3Q9EomPFOk9t0AsRjQhP_YVKkd46ZomkooqFEvNEB1UQPi9WSSlbLJCllIezZQLVYWU10QZ1dchD8AJ3uB7JoYYFhicHYQtan0t2bK6exBIsaRv5pIEohVQmPSyXGTzhqQqYC3EvaacuTbeNWZgW1cN1uX7Ueu2_cnOG5aNnfsAbEZKETdA6t9GQQ3Yike6i07wcyaWb6Z6cfARLjok5tyCsTvjmYpj8V36kYCfwN9c0O7-wVJMdgoNx0YDj1317eCei3ouRdJ1kVVsffwcjFXfk8xkttOZiBkGtsG6gmNQy5ct_50z76ndDuOTdC4_ng2Dcy8-BVLH0ocZpPaP20MAJidGA2pGQItl2oBRGjq3hl_Wt11VjLiGl3H1Ma-TAn6z71hvp2NRliV4Tt5aiPWnsdxbsLb_Ctmnk-0_QAp4E0Nj1k_1I6B30r0RSO76sARRtX02BrfZuFbquh53ywO0LgytO0ej1Ndok3i9fFlNPZqOY5PNulWYWSG0P8WwBfTZNR3eks9UzeLz9EF3KgTCAk74DUjNPsXtt0y5r9545asyURyV0CdfkMnpslc4Vf3S9W4ZijGBRyJgwXBkMfc4zZQpthUfl09yl-zH0ScQ0Cc5GLh7AbxdWNyAI2M2TriVgJmhDPjvmSIxDWa4CTymDMt49RX7FiZHTcz5lz7ZHFk_LAAVSUvvgirlSKQcstrXJhzmVC1eeHd2Ep5aQ21MzwnpHQCI3NgnSjaajFmhOIfAc5W5hZm4m2-fZ1tU09oi_2TYzfgrG1a6xd97dVn9PyefBCcAOFl9x2Klx0tiNLz_gbswNaQHbmlyNxZBnMHpttAZ9jg_4Kjl12LXO7JV_JT4PIevuDRGx6C2YpvkUwpUmWqllTEVwYuhIYO7DfmKgdAEFpJKrSjw93gAhlqkgYenUeB0l3ulWdqULz3XLA5ZBXWJMlG_Rgg-sRkv02OOqALYDambMUXgtLiVYAJTJ4zbsFYP_M3Nbrc55IFiQFT9vhUkWNz1JPePjpn1rrWUr2LmQBdFfPWYc7IQFM1VXsHR7OirAOVaO2Sy5g1QmyWqMSUyY_yHtzDm8YXuNpYkA5PhS84TCaFKdvFR6qUf4BH_jCz2eXXmcF9TfqJG5iXrsHjXzXivlfmkCogiAz8cvvcHDgC2eqgLRq5goR5CG_0TT8CRCSE_gcptSI0pls1ncKDtXmP-cwoE21_IegM6LA7Lt3_Tt7dyqJkThAN78VdUM9RJcaUrPQGEN9Um3oLM8e49WwcSfMCrJy7lFJoYIZ3ZKwSJsDqo4QRzzGqAe_0ZyEC1Yx1hO-JEl14NLI6SKOPamm1GLOOcIr2KEZPNHMGVOwkkImXB3Z9gCqW1kC2kYFwttrfS666vMRy9a7ZqcCb3tWKi8vP4aOFmg5C_v8tC5ASCfcmSwoBblTzaz8Jk3FFNqnGJV0kMWzeq6r4XNqmN4hYBuLpQxwEIYNQAM0Tbb1oRngAfCGkxVWtCiuHecxJnXuOFb5P0Mwkqrk35jYOzOYBNzfuy4cqwXF5zrMPR423qvAvptTlo_o_ack8sZG4pzYYD6uI_DImJhDFM4UFTWEp3rDNuZAJotQ==",
  "id": "rs_01b449e7201fc581016ab2c0e3a74887d0b4b5222ba26a88a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.35,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0.2},\"note\":\"The cap is now pointing forward, with its opening toward the pen. I will align the pen to the same direction and bring its shaft toward the cap's lateral position while keeping a gap.\"}",
  "call_id": "call_97tRzY7cDzJgYsMsRyoy79OK",
  "id": "fc_01b449e7201fc581016ab2c0e75a0887d0bc38cc4f0768dbd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_97tRzY7cDzJgYsMsRyoy79OK",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.7376, 1.6127, 1.0161, -0.1463, -0.8562, -0.5152, 0.0778, 1.1809, 1.7905, 1.1519, -0.5484, 1.084, 0.831, 0.0579]\nstate[eef_state]: left_x=0.3914 left_y=-0.1705 left_z=0.1622 left_yaw=0.2031 left_pitch=0.1084 left_roll=0.0928 left_gripper=0.0778 right_x=0.2806 right_y=0.2816 right_z=0.1303 right_yaw=-0.0394 right_pitch=0.0881 right_roll=-0.2803 right_gripper=0.0579\nstate[joint_eff]: [-8.1983, -4.6564, 7.706, 2.3321, 0.8962, -0.0464, 1.0281, 6.5573, -7.5282, 15.8838, 3.2161, 0.2271, -1.6386, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e636b9893888ac01c42120e2ded937f6ea9b868737f8ed24fa326e52808618e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d5e1f1cdf6342cac442366951cd0b6f38a4d10dcf4002cdb13ec84a61b3bee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8714a36b8a8415900de9c9fbcdaee32ea6eeb53a966de46e8a8fa73f6325269",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 6.779 s

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

message 67 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8364, 1.6444, 1.0309, -0.0708, -0.8074, -0.5137, 0.075, 0.8536, 1.3342, 0.6994, -0.0708, 0.3012, 0.1501, 0.0579]\nstate[eef_state]: left_x=0.3811 left_y=-0.2263 left_z=0.162 left_yaw=0.0741 left_pitch=0.1181 left_roll=0.0276 left_gripper=0.075 right_x=0.2819 right_y=0.2489 right_z=0.117 right_yaw=0.5091 right_pitch=-0.1117 right_roll=-0.0784 right_gripper=0.0579\nstate[joint_eff]: [0.335, -10.0991, 6.6393, 1.7363, -0.1978, 0.2418, 1.033, 0.5402, -5.7915, 8.5265, 1.6923, 0.0806, -0.0611, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssD169SYc_FY0LNpg8270SFt7MnsIZA6X-AkqOzfyARbAuKcDaWm0U5LF8sxzFswV5M2Dw9t35F-ofGf2PxLh8vSPnZdmRaXmDonfuJMBbhYfCtWANxuDstxfUigZrzEE6YhITULZwuTymG9uDKtEnsSKmu-utKWA0FVENAUnI5I_P9o6mNVZG9d1MWBHVhoBsI2ZMjSoBHZvi9omkkcgtMzrPqh_kvak_le_y818vKf4bXALykrMuPR1XzRujNDKxiKXl6e5DXA8ZafHdU-qQxrbjceDoUIAn8D_KEGSVrFUL-ljKNeK0frPQy-pdsQC0RNYZbWIFUNWhROpgNowisaFv6USME8ptbYOYA5fF2ktVRjI8oMlvxHeXtG_WEQKSslbK1cKq30HQGVmljj-MZk1QmCGQqZupE9xi6A6nE6Znyps5CLA2kOZjcHWBvrkfKHUMDy6M3lFdlf3v4F4wqXtzVPxHWP80HfYLFesOYuMWg8mK_eKsdu-iQ_9HzIGlP5Z0TZfQP1CfuLwsnFF4_YvQC0Gy-KPlITarPxesl1njbaMF1IbJRXORh2Xf058bnHOMx_hEcQqFl_SRd0l9XJ8Y7CGo7CRKEXGaSWAmGzsRGh0LQjrT7BkuE2caxnt8xJ2cWOIeEHzehslUjBTb0XOrPzIPs30ZhDqzIzn_8babEYgKhGRT3W7G1BwbJNIzswKj8UquOxbuCP53i1TdpNQCEZ8iU-Y6UXx2iOh1tif_144kkhL31RIyLpuxEHH8XAeIHHNHed3n6OZDg0QQyntWglCjsnCS_cmZZDxmgyyTripia7uGdeiEMIrB739cQsua_WAzcpL8hQBua3aGXJJEppbiqnyPulMukrQL_gbPYLP6N3_DsM4-badD-3Goh3AMUiBXczuoUJ-2Ot6hhV7bXL2POhrNJ4fJT1EGf7xJqFIcUg-my_MxQa8kZ3Bcqmra5p4qdR5rsP7Exc5B-pnBV_8DqV5vpD2Hn1NBSqjjPLyoR6ujVCl-z2plKr9YRtQ_7Y0EfeVGJgGAhwLWgiuE6QjSNWMM4WkO9sJpCtTwLTtc6W12-dzW12za01cwDrta_t15PALK3N96gLSfFigiB8H6Vjb8avoG_oaKBJJBsgWO7uLmP6ilg3krtHhT6KdgGUxNnnN638nrOgxH2Wm-yVscWhuPlfIpk20NiyIiR3h5TlH4qHdssaS_i4YLZvHOJSRPXyFfAM8rRJD4exFMwm2a0bMdeIUfr_WDYwTeasdkdx5bdg7fbjF5gggZwrZchqc70br4MYIQ5aQ0DTRM26KRjLzOcHNcEYa1aertgQvTbEpDlM4cPG2E80PMEHVgT9hJ0IZ2vGPtg2UjScrKcgOfCqGXzM9pDnSrGiCVKNPefO9mpDeySbm28O9c6yoIYT7C9Cg8OlYrhaFvMqLSHm7BqPG3I1JyikPXcHGjrP4AWxBS7h_a2t0EuCBRxHZjoowtDw0zxpoSNWnXatxiKl0STS98xwHDxw7Q3kYilomf2-Kulk_CyEO4gio-Cg-UOcj7XSlOyOI7YjJNAc_zncPvhN7rDjU2fOIK9RFxAJH_BcRaaNHKkgHesS1rPGs7-TT8m21Qxj2K97uexanqEtwokof_K63C2KpmobNyZpT_JdYmqR0r2uT48fWYmfzaEGx-tbgftdy-jdd0eHetwg01l0YblPVuFme5qp7PHdJc7VR38tycXfUTkHHTo9-aZVIyrtm7V6-GpXFqzNJM7G5mtMY_rK8Dk3F99Z-05fRjWq2SBtxOeDFMYBrgzk3jrE9bdhONe-eiLrdgdk8LI-71zODPYPBqHAto-ZEZjPaMCEY-NHl5qxe64_Oi_tXk7Lq5shhntM4C7q4K2ZQUWId1ovD8A3alAjXGoUTs0zHSs3bMokGxi_uhgZEzJfIjgFmeGgeXtvvlEyjn1DHguD0dZBmQUyVhVn1c2cqR25ijUDvxu9l_NfR3PhXegN",
  "id": "rs_01b449e7201fc581016ab2c0ecf03087d08b2e25f2c5fd0c3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.2,\"right_z\":0.17,\"right_yaw\":0,\"left_x\":0.46,\"left_y\":-0.23,\"left_z\":0.21,\"left_yaw\":0,\"left_pitch\":0.3},\"note\":\"The readbacks and joint loads suggest the arms are interfering before the parts meet. I will back the pen away and move the cap farther forward to create more room between the arm bodies.\"}",
  "call_id": "call_KDDRs3V0dqf9JD77vjaW4K4s",
  "id": "fc_01b449e7201fc581016ab2c0f29ab087d08a8899c0290fa30a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KDDRs3V0dqf9JD77vjaW4K4s",
  "output": "executing move_to over 7 steps (0.7s)",
  "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]: [-0.7063, 1.771, 1.1336, 0.1551, -0.7609, -0.2398, 0.08, 1.1675, 1.3899, 0.8902, -0.6159, 1.0561, 0.7624, 0.0579]\nstate[eef_state]: left_x=0.4471 left_y=-0.2166 left_z=0.1815 left_yaw=0.0438 left_pitch=0.2238 left_roll=0.115 left_gripper=0.08 right_x=0.2501 right_y=0.2035 right_z=0.166 right_yaw=-0.0126 right_pitch=0.081 right_roll=-0.2655 right_gripper=0.0579\nstate[joint_eff]: [0.6496, -8.9094, 9.4564, 1.8486, -0.0757, 0.2662, 1.0281, -0.3214, -4.8615, 6.3385, 1.1062, 0.4518, -0.1587, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72535a4fa6c95179850ff87fef4e1e5c49dbc40359284204accb827160f7c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb19d134b1f19e6ea2582de0b16069bc3289fc291d577b3b179c50e56d0df34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4ca3f70cc11abebf2585f9a35b4b0d43210aa4612fe4b1571f3f753224e1f7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 5.22 s

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

message 71 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7376, 1.6127, 1.0161, -0.1463, -0.8562, -0.5152, 0.0778, 1.1809, 1.7905, 1.1519, -0.5484, 1.084, 0.831, 0.0579]\nstate[eef_state]: left_x=0.3914 left_y=-0.1705 left_z=0.1622 left_yaw=0.2031 left_pitch=0.1084 left_roll=0.0928 left_gripper=0.0778 right_x=0.2806 right_y=0.2816 right_z=0.1303 right_yaw=-0.0394 right_pitch=0.0881 right_roll=-0.2803 right_gripper=0.0579\nstate[joint_eff]: [-8.1983, -4.6564, 7.706, 2.3321, 0.8962, -0.0464, 1.0281, 6.5573, -7.5282, 15.8838, 3.2161, 0.2271, -1.6386, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssD8RBOR_ZkilfxVwuXRgoHpiX6bQyTLrCds7GWALsWGytaz_u5sCI8byEhxdP0-lRpMJpmVWFMF5RK8R6J1DS4lZwnQO7MN_pq67qNoxOPi2yJbC-QXPL22QB2ss3JlAZYEXyrXA2dhSNjXoqyAPN8fy48HAzORtuyj2UV8_-JoYYdKHZr5LGji_pQlOuJSnRJ7bPabAmxisbFxTCjR0IuYRYhcsd3tUOdT5DYSTncoEq8XwxirDUvBi9t2w1k5e72wha1M6Gk2hwyD5OcJunA7JOzJ7EcPqdmh5uN9e_IAFsWFuC3nK-cyGVdi79XNdhSbibPmuvUzkAI1Jtl9vm7je6I1rsdusaiQfkeSgKT8fUcUj2scpaPE3g3RuysNCe8qEfHw0pvBWr_Tian6rpVLdZRh3d6Nfsi8hKDfBt36PWuLPDeB5JaaIBOdzryaBY-lLtgCKuDBF0Lbffc4R8wU6qP3D4EMNgS42pCZfg8K_tQEaxJDjOREM4yo-cb07oxZvMuqUCn0gZf5sD3K8uCnRCIn2RbM1vfsQIQ1t_9xLmPO5bOmnrlhbCS6rnQvtmB2kd6-qllzSQ2HyL9umdoQ5PG4VivILQRChn4j-QoCwstpLPsD16HJW5xlRg-bnBLLKVjkRrdD_-26yCuGeE8ZZilhsFMDwiGLJavk6YR-JKDfTjZIZk85SABbXw4aEh4Jin6SRPHC273MeamJkhkvf06PXh16lVkugZws8YWxQJ3r3voGQbg3fgtNPEC7jCPFtpOFHEMgr__jIdFQKhAhYhHnfmf_z7v7BgKf6vj_fWAC3UU8qa8KlReFAoKFwR3vCdiS8AkVTWDVQo2YmYgp20Ej7y98Pa9zTUyTAFsHEPlTMYNoVRU_4Fct7ZoqJUJbHkEsOn2oTc_y6ncIKtcr7uNwBlislDUnJNa3Q7s7-z3IU-fDhnU3wt4hasMSI9CWXi5wiwL1oFu_59dnwANgLvMoopwb4UuhREwUrHwR0aoUAuJpIDUw8yy_o5eZSwrcOG5iZKTy-8lexNuK8xzp4lRv6LKQVMwJscjH8ELojUabzk7xil6pe6HPSDOYagmBoBPzaszW2x3jNGDAudykQlp0D_eFZJ07Y2wXVMzPQriU1U9ql3PvZPdUQuWxDmG0E9gEx_XPdyitfIBAqDpW1TUl1bGTSiMUXaW7FF3At9JpVqVxxpaZDKt1__LL3zDczwCoPDgk6BeTjXVh1uOZM_RcrJwPHpEHIpsY1eJQ4SebK5G2horfGNislN_-BMaObz5CFtjxJlFIdX9OsXJZCCpXlLFtfcCBmmbl6-dhbq72McQ1k7PeI1SbxbakweVX_o1Hm6SQi7JN6spRnzPUXJ1CEspevz3ZXMLpHJDodX6k-oXluurJ7tjq5cM2B3jJXoRFrdS5UJFLMsUSGJqJelUMigooCOpMjjju-1lvyNJKAgM6KDdleyOTvW7RjSwcOUps6Q-rPcI6k8fEqAve_h-fotN29N123KW1MXTy21M=",
  "id": "rs_01b449e7201fc581016ab2c0f9388c87d0871b40536b77842a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.33,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The arms are separated again and both parts remain held. I will move the cap toward the centerline while keeping it well forward of the pen gripper.\"}",
  "call_id": "call_pjGrfvWQonpI8SErO6xHUIDb",
  "id": "fc_01b449e7201fc581016ab2c0fb1db887d09a2adaad7ae24577",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pjGrfvWQonpI8SErO6xHUIDb",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.8375, 2.0277, 1.562, -0.1459, -0.7582, -0.4374, 0.08, 1.1664, 1.388, 0.8768, -0.6193, 1.0428, 0.7475, 0.0579]\nstate[eef_state]: left_x=0.4576 left_y=-0.3211 left_z=0.1788 left_yaw=0.0018 left_pitch=0.1404 left_roll=0.0219 left_gripper=0.08 right_x=0.2483 right_y=0.2013 right_z=0.1603 right_yaw=0.0003 right_pitch=0.0621 right_roll=-0.2878 right_gripper=0.0579\nstate[joint_eff]: [-0.4308, -11.0974, 9.7026, 1.5702, -0.1929, -0.0317, 1.0281, -0.294, -5.0393, 7.3231, 0.9744, 0.5934, 0.1099, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4471664281760ff4e9c6af817e497db35eea0e19c8a9592b7ba713891273e4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315c7dfa508c9d9b37f684d0a4b8783420ab3cb3ca6073c88cad9ef60593d473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e230d20f348ae2a58b0464a4ab85008f703af134b4af0b46b4d85d2c8fa5e1c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 16.64 s

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

message 75 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]: [-0.7063, 1.771, 1.1336, 0.1551, -0.7609, -0.2398, 0.08, 1.1675, 1.3899, 0.8902, -0.6159, 1.0561, 0.7624, 0.0579]\nstate[eef_state]: left_x=0.4471 left_y=-0.2166 left_z=0.1815 left_yaw=0.0438 left_pitch=0.2238 left_roll=0.115 left_gripper=0.08 right_x=0.2501 right_y=0.2035 right_z=0.166 right_yaw=-0.0126 right_pitch=0.081 right_roll=-0.2655 right_gripper=0.0579\nstate[joint_eff]: [0.6496, -8.9094, 9.4564, 1.8486, -0.0757, 0.2662, 1.0281, -0.3214, -4.8615, 6.3385, 1.1062, 0.4518, -0.1587, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssECd_xVe1Obz5hnuhvJ8IWWOAqJRKCsOn5VA3yztxJHIdlePu3Ui7JwCzU8ys_a-NL9dnMtyHOubamisGCTn_jW94X4tQzHL3eaRK1-HmAA18iEKpDiEQjcD3U2hAuCMtZSLFTtDZrgffa9Etu_ZQEx53J_AJTROau6rQv5basVqxoNslCBxAywz92FuhLNHSOapQ7285XnE55U84NWZLoMDuIN3GEa8-ZG4XdccYLpa8GWL81jYtim09IYKyHp4sOLa96Suq9aDz12M-iMgcv99jU94pwTImPnT64HuS7NqVF8Xy20XDDQ7J1Kp0IxI6ZTjpdxPPH_haSLURHQkiIjN48S7kks9OF89DlJd5zJdGksut0AHy4fFadJ3eAZ0LUuMTViq-kxyVp-i3EegItgESEsxH-6YZzxYBRcEpnKLWICQCCTQYWQaf-NXpSZxdah2jtnruiKiHEXDlALBQfR5ZKW7eFfQILis3slVVWttvtmIHAaUCVJHu6WGexv7ltWSyPXVR8y_fHLMl3RvUVRIT9KRhGwZzcktBKWLc1T52qsftC2KkRRzj0N3fobOt1N6HAC7j5rcLwJ-tZuFOnlzVej9fTUdPq-jZZ5APuQZNdkBBEyRI8yPqUEugV213D1sIdqoYYzn8lzodGH96ui_U7UpnK21nCv27to_wHabCDE_9I5hipFNsT10N47MyoEHCKMlHfTXaJj4r6Mu9FOh0aCByxx2vESvXUE0Gwjp1ufzMNN69Ov0t4trnhbgi6O1bKDMol-YJjYJANUEcu34RATuuc6F0_JSbKLx0pVoFi9tSeNjyPcLEaGBChsQxleAM4qFzfB1cDP5c4C8Nf75aytU3ugNXz3cF6OgHWE8JzsCwsVyrSufcb_bPNW5_sAxCLeKSouCKgfnlu4uA6xIqxfVutPyisFfHyg8XSaf62OCTOK1-4_m_n2GJso8GcwMxCbukihuxOjLE-rpE2y_nWw8plGFi98KhOKZqdEzZ68idXCTpMx1MhQ1x4S-BH7Ayc7wbddYl_mdhaiY0hOIS99moxoxbs8haxUo60QXaxJf_mmdJXw_S9cSChfBWgdFWo4O_IqKhewIqsSrWYBehARa52JqMyQpVeU5dKqfe0P8CDT9TL0EwkT-GIoRwm8nTdBh6LHZiWTM0TazB6A-HHIG-WsX78WkQQr9ONnzlY8GcOmRw5DLWMVw6Jmer3wji5gLy5syr7TzDUIqxrR3RTXAgzBlfW3heQv4Z7n9JJfG97J1DmKBizPM3yd_T20PnibV12Jye6Xgrvb5gBjgw==",
  "id": "rs_01b449e7201fc581016ab2c1000fe887d0b096337499ed52f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.325,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The cap is now forward on the centerline, with its opening facing back. I will bring the pen tip toward that opening at the same height, stopping short for an alignment check.\"}",
  "call_id": "call_egQOfOjg4mkYAdbafXs8Tm8p",
  "id": "fc_01b449e7201fc581016ab2c100f68887d0898a649d35abef11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_egQOfOjg4mkYAdbafXs8Tm8p",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.7437, 2.0365, 1.5639, -0.1699, -0.7513, -0.4446, 0.08, 1.1461, 1.6855, 1.1206, -0.5289, 1.0477, 0.886, 0.0579]\nstate[eef_state]: left_x=0.4841 left_y=-0.2766 left_z=0.1706 left_yaw=0.0914 left_pitch=0.1168 left_roll=0.0357 left_gripper=0.08 right_x=0.2853 right_y=0.2682 right_z=0.1533 right_yaw=-0.0967 right_pitch=0.0936 right_roll=-0.1319 right_gripper=0.0579\nstate[joint_eff]: [-7.8564, -12.2735, 6.6256, 1.7411, -0.3443, 0.0122, 1.033, 1.9077, -6.106, 14.2017, 2.6154, -0.0024, -1.5702, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7d58c0c2a8d273997b540cbc64b1a42ca01e6e8288684bdc44b34d513d0a96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9862e6d7189f57f22701b0bf394c8ebd6ba70097dcfa7234c6bc640a98422a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad66956af1a57da70e7d6303b2a918e31f195aaf1d05b929ee7d96671e8a73b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 5.267 s

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

message 79 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8375, 2.0277, 1.562, -0.1459, -0.7582, -0.4374, 0.08, 1.1664, 1.388, 0.8768, -0.6193, 1.0428, 0.7475, 0.0579]\nstate[eef_state]: left_x=0.4576 left_y=-0.3211 left_z=0.1788 left_yaw=0.0018 left_pitch=0.1404 left_roll=0.0219 left_gripper=0.08 right_x=0.2483 right_y=0.2013 right_z=0.1603 right_yaw=0.0003 right_pitch=0.0621 right_roll=-0.2878 right_gripper=0.0579\nstate[joint_eff]: [-0.4308, -11.0974, 9.7026, 1.5702, -0.1929, -0.0317, 1.0281, -0.294, -5.0393, 7.3231, 0.9744, 0.5934, 0.1099, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEU_wMjoJAESexokfk_mmBjCmQXuPRs6ryUSrbT-1by18RX_vLj1PqmENkcIFzEUPa_2Vz7gVgO_6B8yPcrjxFCCAYbIRY7w-A_C_Pte1oHzPOjNtkJ_aNYvE-uRkQubyccJT15J8XBk8Oz9eOeVW96DPhjwaPmY2UZ3mDZ5PSFsBkRMIXafS_11JfhR-HngmgVXCo9NxabcAfryIVioX4VE-pEsGXmKbTznfNYJiQTrMBSkYpdqelFmj-fnGY106wyXCj9p-HDFZYDqRJttHg-JNQewwRAxPT-h2ZvN6zT49LG1TawEtmaqvSbCUcvkb_uXqeKxw-6_DMsgGDvEN-08TDAdPliO02oCETRccx2Wc7AYYqCRfOrOUsNpRcvHnLPuN8PXNMHcG41v6YNQz2NNsudtA5TrNHGYeD5PPqCT3CHwwKq3myCMPOf39gy3pZFgWiAggXytSpB9-MIQpb6ksZmKlMygH0VJ6CkXCdnIXuvpCLnQeBxDrJFi7JUtpxXc2YqFg_oH-L9Jo13Wv9dGTmXp6KdjJ5fHEBrpCGZbeoxd2uLgCn4RLKt6SBXphw0wcM8UB6OTbdLm2V-d6RJPRLgTWRnR-gS9RRN-mZn6Mv-lP3LbXqsB5K_zJt7JBgXHmrU4Rw3MFwNHNx4Mg8iqsHUGCXVUG0IzdcuGaATJeieLpzh8ztJx_DWHNnoS9mfyF1mxrZaDNGNhcjbpFKAb-T25RyyOxb32xJc_uwYO9vVPYvFkaEvbRUO9mkUcoZDXiP4FjPYJXlckDoAmUz35lg_vBP6AdzTsR4G0CQLKGlbCroEzAfxJkLErggmH6II_GuEgQbkrkYBR_M9ocu7andOSwor4c4BESoPm4s7Et0edCBRs3Oy4yOYKdOEx8-BHmjzrHxTw9NdTYt1sX3CNFrXn-iU_u_XDeK2Can7-DBC0EHcSROE24oPcOs7sOvCa2IKnQeuKzc2f-0oVv1kT9KqrM2-pDNPIb0foe_NyVfiibFEKMdB8LgavrhYj-_9mWM-_1kdIV_PCjx1CVVROtM79njASjpcZM4Ui2hh3hIWnrxB7pgMXx9vlIBJYTHqCA30FWX5BtOvxEwPoCJJzb47t-3AHNFwISm5rGPlPARDgzB15UAnZSMoWWifrbPZ0aPbdRJMZM_O-G4ajcxoT6NcVISHHg87HgpomlSVK_0tVt__S8Fbg89DbuczCz00B-91hIzu1HThNQy6FDAWVJaqyZCofo7do5pV8jCYC77YlZYw6IcvcpNhyJ09KPfsVw8h9m3iMvd4d2I9k0tP0DcdUXFl9RoYt_14G7L9hjZBIVfk-yIZ8rSpdtPcjht5o7luPnHksnkHDg_LP6l_Cg8hbMdTbd9CS3E8CIrvlCkqHNUn1JQG_p-LHRLLSqVkaJRf_CVVpSy0LLhcwCOXi-elJRaAdTFfrdXnR7zpYDX6y9ayC4jW6N_D8ORkhlIWmTWIPrbC9gFqyOI03TIwopc-_26u9kxULpByJGFET5S2FlYThAt172pCSUK4z0VzuCtQqpZmIzIKJbSVq5QKs_0pq6tsAKtQOnrfjWVmYkwj0OqrlBd3IzAfLwsBWeYADKqobHKP7XugjEJoMdFP0hsC12LSnWk1_JxH5ertD3JprXTI75foiQdX3JCRaCBpENUNlSEqi0L7mnRHSdKj7g5kJRH_-ju7zSfjDa07zEx0jrzKt7XHTCdXjizp_8loBMUHg5872wHYLevgDYj5pjdVkpV4JWCdbShdDCbsLCLSnqYUF7PZEEfOiNzp0U9fcIVW9Z1gCRe3Ka19_cg7z8bWRX0aOoUu8yzu5pcc_E_R9Aq0ccSMRGIL7OsCfnyp-aezZ4RXs-AiwgL2OrR5kIzu11dcAAkmASXqXB3zzR02HiBDWPCwkw2xIn1kFlY0jLbRfegiDXc5xGWbkhq7s2HX_COlxWSnFQS6QY6zx8NcaGErBqThMBhIhPX8NnDx-0f5WYWl0epPWos4ALpEzU-U7MKbDGSzc1RbJSBebZL-vYZF8Pt69RLGyCCabCSHBRFMU79vpmotUWzYAWJ9Q9JGE5xCEuPptg8It9IP_DElyJPs6cPd2ufeLFABRpJ95Kf8h4CuDZYfhIU19GoFT6sNi2QEq5WlJ2a0JA6Zzu-PXGDWkUIMGZgs0R52wiB9M4RE_lA5bMyLVZbi51HrzKm8JRO_nBjHf7dUFV9C1Tw76GH9AnVKzJcY_3POUKFAox_1vELaW0AqsZpV3NOvT6L63C5mPFBhu1D_olDjIFcqBw1sHXc2MFbc1gX1WOej5R-9MtaMO3tCZiVplxFndpsCsxpCa_Yi8_dFpVyO3uPB10jwke6GVmhBMWCOUW9fDdl1uQkvQjX5Of-tscolnYmDiJq4gD6WbFm-2uu7ayLH3R-LxKE9QpIuHwFojcBdKh_7gjJrB5B6duiLlELi-iSWumIhBlvHN5sLkf1SYl4rI4zhyROoPmgDaHGPlNBA0R9Qru_kEKcCnoEhkyPfXf6olmi0amDccf1H62Iolwv5rFV4r-Pkns3L4BEjEZwx4ck1PFNLL6zIzIt3Gwsco1V41ejteVIpya_J_C14QR53m86vF4Kyu9X4gi9zovp4q3CYTSMM0uMbC9vjo7M8PTyKtTJbBf8qJZxt0w-CjDKcPGi4WDprv-U0qpRBlmpiJ0vJfcgWWqMKvkn_UofrDz1jvQhAt_qyZ-nINALFb-u-llAvXLFT3R01dIVth7t1GnfD4wgbMyu7i5Mze7vNDfxRh6oUgJlsIuY8NZw2kBaUwpelnRHhH5cDE_lqn-D2uEDfdGOdK39JYkTfi6LzSyRTeWzH-lnvvM10r5vJUldBVSKJkTdRfrmIGLzWERzkDMROP-BjteBFg2uTg8LYsJ9L7fR9R3zof3E20ubU6is20Ey80wNvCQ7uxBN7X_RaaWKp-7lSNNkZjfDN-ibowxpO4_eFGvwCJtmndyW4acD9kTXjnmvTMTv4JVVmwyuqoNSDH_ibIZDZLxSWOl-gC_dzk6mjmphTAT03C3sh5jgNdur3NIOvUyzeZ7f_NkmU",
  "id": "rs_01b449e7201fc581016ab2c106650087d0b63d892cf816503e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.22,\"right_yaw\":0.65,\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.22,\"left_yaw\":0.6},\"note\":\"The arm bodies interfere again in the fore–aft approach, even though the pen tip has not reached the cap. I will separate them and try the sideways alignment from a less extended posture.\"}",
  "call_id": "call_3nUso8rxDUKLNfuC5JVtamlu",
  "id": "fc_01b449e7201fc581016ab2c112486c87d0bc5d09ea6b8869ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3nUso8rxDUKLNfuC5JVtamlu",
  "output": "executing move_to over 15 steps (1.5s)",
  "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]: [-0.8379, 1.7649, 1.441, -0.9833, -1.0698, -1.2152, 0.08, 0.1009, 0.8955, 0.6689, -0.3054, -0.2855, -0.2947, 0.0579]\nstate[eef_state]: left_x=0.3604 left_y=-0.1634 left_z=0.2005 left_yaw=0.5483 left_pitch=0.0871 left_roll=0.0609 left_gripper=0.08 right_x=0.3068 right_y=0.0847 right_z=0.2001 right_yaw=0.4894 right_pitch=0.0462 right_roll=-0.114 right_gripper=0.0579\nstate[joint_eff]: [-0.4991, -10.4957, 8.1846, 0.7302, -0.8425, -0.0952, 1.0281, -0.3761, -1.5521, 9.9761, 1.8535, -0.2711, -0.1245, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258412076e67c036558ad62c9d06ccc975c3ae11fd7ff89ec56c2676db56b147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70faa54148e852448794d922e95a751bd36d5c2a9408f0818392fecc8782904",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d07ff6758a07f5006ecb6e4a580687f349fbe4e76e5953683424c159b5f5e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 4.462 s

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

message 83 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7437, 2.0365, 1.5639, -0.1699, -0.7513, -0.4446, 0.08, 1.1461, 1.6855, 1.1206, -0.5289, 1.0477, 0.886, 0.0579]\nstate[eef_state]: left_x=0.4841 left_y=-0.2766 left_z=0.1706 left_yaw=0.0914 left_pitch=0.1168 left_roll=0.0357 left_gripper=0.08 right_x=0.2853 right_y=0.2682 right_z=0.1533 right_yaw=-0.0967 right_pitch=0.0936 right_roll=-0.1319 right_gripper=0.0579\nstate[joint_eff]: [-7.8564, -12.2735, 6.6256, 1.7411, -0.3443, 0.0122, 1.033, 1.9077, -6.106, 14.2017, 2.6154, -0.0024, -1.5702, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEbZOhXsiJXwzRlreWyNS8a09wBc1tP56aIfSfPJ72PaAH2fjX-GePgY9lJswY88W_piBbsFG_tEE2hIEA9ZfdNzOx_YRSNno9ldBKFerT6JFMbpNQmpkXlJT1eThvUeoeDLbJrQQPalCOWV-PNU6Z6RbNNBEszKPAhixcUuprNGmymjN5ni-qCG5twTPd9itGu32XeLXYtRR7Pey3OKZX_VDW4GaubsaMNaUB3wKQIEP15HRBPqfBQMXFJ4uzOL2j2nkaygM3fwUMbT8n6CnqGCRy3UkvI8BUn9pLpDqCQ_PtxLieizzTcLglaqfYSGcqCQ3zKQQJPugo9E5Pe1ecPYpvu0e0GoTn0ZmZjQWFhs63yKy3fcNRa3dZSMyUV96fdN2ShlGp8K8kZgAdZhxIARI8zzbSPe6FWBL4Ken_SqZcoJH8xzTkuOqraHE6EEZptt7ar863PtulF0xC1XC-EQ5ioZm33SG5q80G1_yEA6Z7hy6XvnRfRko9wEUirFLWd7yn7qzKABTYgSfDLDBkhMUfu7v_x8rUGBFpPGJb-5Y0ySjmA7CUyVPCTP0x-8NOelSFHLTju6I44N1XQwBSemCnb6D9rrtsguxyz7hOpjWxwXWg4tTueoPkUy8UGEb-v8h5fsV4s4HgovShzTM1FLnwydPVoDwqzc8GNrf2aowNKDTkUocZqRd5nY0O6WNfl_EgWIJht-60lA172v_GBqsotLZEHkyyomUKkxyflDTPdnnYeaG2TsBOXu1SwJGOBVZfo9LEpwl1m81bmVtQDOQsEm1bA6i_l4AIsF3KHmFiHeHWO2h5zDr7g0adOxgtE26Ja19rw_eNSakno-vZR8rToxqkc0-Ursd7UEEGD_hMFCiIKaUijK7M-d03qsdC3O9tVgwixibre98Nxs0cxuvQDLZ3dpLbjv4-WlqnOsFSFMct1sTqz85uVlkH7HOSI1Ellal1HYDA6irdP_G5kUvt-8RIlCA7NpjO3fVMhhwk9mfcHa3QlX3pE4bEnvg_sPtV-JWkHzNXQHrQiCyRFjZHilv3WHw66f0DA6lVNx1bc4sG6bn1yO9cpIqTTNr_U_-QjzWHySCzHAWU7FN_RWBMgOEUK-ZibkZCr3JUguGU-TrxTnwRpTtxu4SXVqAys9HRll10ckATck4tpvhsYodeaare3BxK65FVHRM3d9TkiK-XKunhIH2D7AIj5LAj9g4lTSzCAgmTmCcyp4DoQve1SAQuSsAsAI-rhajY7Sy5AbfQhkky4Qjfl4WtkJdIc",
  "id": "rs_01b449e7201fc581016ab2c1196ad487d0bb6fda0c689c403a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.22,\"left_yaw\":1.05,\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.22,\"right_yaw\":1.05},\"note\":\"Both arms are now clear of one another and the parts are secure. I will turn them another small increment toward the sideways alignment, checking that the wrists track this time.\"}",
  "call_id": "call_KLI2FNdOqsTHMorBo9RK9RHT",
  "id": "fc_01b449e7201fc581016ab2c11a899c87d0bec4e4eaff60249f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KLI2FNdOqsTHMorBo9RK9RHT",
  "output": "executing move_to over 4 steps (0.4s)",
  "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]: [-0.7368, 2.0525, 1.7424, -1.4506, -1.0538, -1.7397, 0.0813, -0.1383, 1.1667, 0.9089, -0.5705, -0.7551, -0.7422, 0.0579]\nstate[eef_state]: left_x=0.3752 left_y=-0.1282 left_z=0.174 left_yaw=0.9026 left_pitch=0.0628 left_roll=0.0526 left_gripper=0.0813 right_x=0.3171 right_y=0.0817 right_z=0.204 right_yaw=0.854 right_pitch=-0.0105 right_roll=-0.0854 right_gripper=0.0579\nstate[joint_eff]: [0.6769, -10.9197, 6.5436, 0.0464, -0.5543, -0.1148, 1.033, -0.4034, -4.6017, 8.3077, 1.1502, -0.5543, -0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b048730ea5443a0df62a159ec5920e56bc0281b4d1d6435dc53ec6b7affda18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6e4fa3ed597d262c0ae38a59b72e4426253112c09e083c3fc14234f284b9a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92586665148794bf0b662f71fc5da31c9704d3a95e5708a13133d72cd593930",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 8.683 s

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

message 87 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8379, 1.7649, 1.441, -0.9833, -1.0698, -1.2152, 0.08, 0.1009, 0.8955, 0.6689, -0.3054, -0.2855, -0.2947, 0.0579]\nstate[eef_state]: left_x=0.3604 left_y=-0.1634 left_z=0.2005 left_yaw=0.5483 left_pitch=0.0871 left_roll=0.0609 left_gripper=0.08 right_x=0.3068 right_y=0.0847 right_z=0.2001 right_yaw=0.4894 right_pitch=0.0462 right_roll=-0.114 right_gripper=0.0579\nstate[joint_eff]: [-0.4991, -10.4957, 8.1846, 0.7302, -0.8425, -0.0952, 1.0281, -0.3761, -1.5521, 9.9761, 1.8535, -0.2711, -0.1245, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.15,\"left_z\":0.24,\"left_yaw\":1.5,\"right_x\":0.33,\"right_y\":0.12,\"right_z\":0.22,\"right_yaw\":1.5},\"note\":\"The smaller turns are tracking better. I will finish turning both parts approximately left–right and compensate for the cap arm's lower measured height.\"}",
  "call_id": "call_zHlrCqXQ8GClZGVDi7D55EtB",
  "id": "fc_01b449e7201fc581016ab2c11e14f487d08a1cf0d90d249042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zHlrCqXQ8GClZGVDi7D55EtB",
  "output": "executing move_to over 5 steps (0.5s)",
  "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]: [-0.6991, 2.0834, 1.7638, -1.56, -1.0286, -1.8851, 0.0813, -0.1131, 1.6875, 1.462, -1.1423, -0.9539, -1.4296, 0.0579]\nstate[eef_state]: left_x=0.3688 left_y=-0.1077 left_z=0.1687 left_yaw=1.018 left_pitch=0.0559 left_roll=0.0468 left_gripper=0.0813 right_x=0.3521 right_y=0.1086 right_z=0.2093 right_yaw=1.363 right_pitch=-0.0467 right_roll=-0.0883 right_gripper=0.0579\nstate[joint_eff]: [-0.1436, -9.5932, 7.2, -0.2564, -0.525, 0.022, 1.033, 0.5265, -8.294, 6.4342, 0.0806, -0.8913, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa06518224c312a4a641d4d15f61a94ff678e9707d338f2ba13e58b5b9d8d93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35583f59e9bd431360e2f957cd4eb8ecc9d1a6ab786ddd517c53896875fbae5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1021478a54ab612484430a011fcd16c52495f9f235256fc303774507f8c5cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 10.15 s

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

message 91 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7368, 2.0525, 1.7424, -1.4506, -1.0538, -1.7397, 0.0813, -0.1383, 1.1667, 0.9089, -0.5705, -0.7551, -0.7422, 0.0579]\nstate[eef_state]: left_x=0.3752 left_y=-0.1282 left_z=0.174 left_yaw=0.9026 left_pitch=0.0628 left_roll=0.0526 left_gripper=0.0813 right_x=0.3171 right_y=0.0817 right_z=0.204 right_yaw=0.854 right_pitch=-0.0105 right_roll=-0.0854 right_gripper=0.0579\nstate[joint_eff]: [0.6769, -10.9197, 6.5436, 0.0464, -0.5543, -0.1148, 1.033, -0.4034, -4.6017, 8.3077, 1.1502, -0.5543, -0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEpvhhcvT88xQIjvz3_PuJsAdrBO8HXan-BSvqcEVwkUpvOHS2GND3EtjRwtp4W6Qq8tDHuSYQRRPhyVdYPhMMUPOXH8wnS8gzdh9o6ZkdN_WgBknT0SE7gqBt2lXX4ZVaUFZg_gwO61rnphdlH4ganHi2FQdfJGBTFdFg4Z_d2fzhn9GFmyakl2EDEBKw5P7OFovgPMQ9Vx1K643CEZtzHd2ZvFWiYhEUbzNAPdLrJN9ZtgXOhGU856XB7hio6lQigkKjbJVh_Ki3L5yoIU1F8BiNA2ujBbIsfMxSM62eumCnhiIXpzWi0HaSWuDi9KFLpCpbpLv9tvgaPPmaY_eUfiCGh5-_1nQcxJLRQY_4NOQ2sCmRYmiWDY6bS4eVyHbM3reNkfwtdO4PTB-YNApqZpwCQmTrbCNjtPORcaCobr4ZJxhCdOSeOJekuEg05zdrqruy763v7FSKf0rBY_CcsUoBOG2XTzEI8d1ZhsU29uleBoMvr3hFyEDbeGyG05aG7Jdi5_Y5csQCyMztrQUBYMWT0QHx3PnrN1XsRvXN4XsaBV-rz8YsvKesQJKF_6sSD-T42OiDoxfxVzj-Qoy74AcRjHguDuc-WLloNpU_T_lWeK981gf6TMwhSPaTyYmJ2UywMXUH_UZT8RrVKbBDjnp6vCIBGclsHOJ8xo3GWtaz3Zx6DohwRRnpmhQZKn9JOKsEnJrSTkqMzZ6eF9oWLTxGy2QXE7wy77Sb69DZWHcrHtBWEudB-qru6xg5w7qK1NjnY71RNlK6-1QhNkfWxOhVCr6mt-cXfwjTpKLHYouORPZ892sX1XrVtof1PLurlooLIgJMuTiys-nSGS4FZOky_XTWWPb-g_q52hdzWoPpd0hZvgDfoEd_D2gHjtui8PEkskxNTFvlF7mvxvVCSaq-_2wkpSGyClP0fsDpqPUAXCyY8BbcULpznRq7oH78GUWofk9Vt4-WKOf3GphQPN-_1nDPuAn6pYUVtGPoSxl3EGDHSsH-UiAApCVT5njyBjnqeRzRC5xpKs1Ek2eQXdRaoauqS03-nLtCH1rPJEua3V6m2x_K3boIc2WK4eQWmMuE1eDaqL0jkvO13EPW-JqbUPZE_Sq6wQdmBD_Apy0e8f6uF9wXMdwyA7UweZilIQ0jSgZqDrTUBSAih6XOJHwI8T3tFV3Gd-kpFlt8tKr9u02KPK0IjXDof5xe3d_zIvCpwEzVbdzc_6jwoggEjpcXugSArBzXpT2iPzx5jhJP1GS8a9okCPlZ05FGRpYmvTQWfp8_VA7OxC36RGEU03Zk7hU-uVr_Cdcl4RijpfaiwW8IAq-FIQENrkwt_SiZXRzYi-K898ZYbMr1oUC6HUzselGotlhH5RZ4pwkEiSOYvOUafmh-5bQaO-JVVeJ3cRdINmr2BCNOG7JTcU3xe4sEFm5JJeMkXYQCa6U9yUWVlmN7tma49NVpz9Bm1otk__dntIwkmfdCPqpG5Z8pIln4SiJ-SSfZaKNxh3zfLjlJUHzTfK1CxgYYaoRx1020pODMZLXKjkxS2j489W-ZxCyGfozpd6kvspiEKUGRGNJ8tJC5kAujBr8K1cSoddUlL",
  "id": "rs_01b449e7201fc581016ab2c123110887d09b11dc698a02f39d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.2,\"left_yaw\":1.48,\"left_pitch\":0.55,\"right_pitch\":0.5,\"right_yaw\":1.48,\"right_z\":0.21},\"note\":\"The left wrist stopped partway through the turn, indicating a posture limit. I will tilt both tools forward together so the cap wrist can complete the turn without forcing that limit.\"}",
  "call_id": "call_nzejtwlyu1tiO8rPxiSfYYQd",
  "id": "fc_01b449e7201fc581016ab2c126843c87d0acbabe232d12639f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nzejtwlyu1tiO8rPxiSfYYQd",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.2024, 2.0903, 1.5047, -1.557, -1.4281, -2.0937, 0.0813, -0.1761, 1.9633, 1.4391, -1.4597, -1.4391, -2.0663, 0.0579]\nstate[eef_state]: left_x=0.3655 left_y=0.1072 left_z=0.1761 left_yaw=1.4007 left_pitch=0.4491 left_roll=0.0739 left_gripper=0.0813 right_x=0.3516 right_y=0.119 right_z=0.2001 right_yaw=1.4844 right_pitch=0.4358 right_roll=-0.0831 right_gripper=0.0579\nstate[joint_eff]: [0.2667, -13.0667, 4.6154, -0.5934, -0.7204, -0.0415, 1.033, 0.3624, -8.2667, 5.4222, -0.5006, -0.8278, -0.1099, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a9044da2a642da78acb684947e496736a484ae241e79b9c51b2b7719c7ff01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f26217eb48c5643544b3a5ed7d34be7c9109b3dad6cd436d6b1bdfcf528d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4909f29611714721d58adefcaf06ef850a79f7f8be15c35a6f146c72d1ed9141",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 15.32 s

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

message 94 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]: [-0.6991, 2.0834, 1.7638, -1.56, -1.0286, -1.8851, 0.0813, -0.1131, 1.6875, 1.462, -1.1423, -0.9539, -1.4296, 0.0579]\nstate[eef_state]: left_x=0.3688 left_y=-0.1077 left_z=0.1687 left_yaw=1.018 left_pitch=0.0559 left_roll=0.0468 left_gripper=0.0813 right_x=0.3521 right_y=0.1086 right_z=0.2093 right_yaw=1.363 right_pitch=-0.0467 right_roll=-0.0883 right_gripper=0.0579\nstate[joint_eff]: [-0.1436, -9.5932, 7.2, -0.2564, -0.525, 0.022, 1.033, 0.5265, -8.294, 6.4342, 0.0806, -0.8913, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssE1uhy2L6u8BYzalv1fh17pHTI_V0KtIifjIXW0qcawAgrUcjWMVAAYrTR51pocSxu1XUDry_p23vW5ys4Z0fX0unUQHkKRVkSH3cX8Y_H9d97ZLk0vDupT4Is9ED1xeCql9LaDxqKCEbrpH3fa1AWeC7nnPCnKieCUI7QiCogs47DSePgdgF4-XqDByDEPKOvhV2mKb-SV4Q58WwkuNk1LfBV5bL78KpKADfHpk5ydXaf37cwZvHI2hPYsoX3rXSDjDDveJSe6Y-R5XjKpzE1MgjcKhEI_bZK59Fk2hYwXRaK7kzXuteId94RoLvekHEYEsLu_hcJtk4B1AduSqZxybBR25Yyvq5wYr7--i79W4pvCWFl3eoy21ZZ1drRSkwlCr7DYnth8MAGsiXQmMPzV92SehfmjRL2xZc3yZx3p6q6dr-2OdtgC6Xr_eb7LQ0Q47kfH4MM5t-2tQUw72nzv8kik7DesTDKc4bxDDwOHUAzJHVk8E031_YX8krKG0irlXPVrB2V8SFzhTECqwMqoxOa8sRjGLFbb3-0VluJflUb4Z4wWJUkh4kFMxuJdG06aQFmt95gtd4Sg3wOVVEBVlnpQN3o3ETQ5K82rVKLbsl18lJQkD9xvLxezJ5Qun4nczKfcD1i2HzjQgttaqujoaE8FJYq_HPE2sjjA-HfZ2jtwZpf5hEEy_1wIn9LOCpjNFI2sZ1uGJp-f4bMj5eq_X4sibiHUYM38pSyTYvL3OAEUMzFGU8HSgicPYZK0RPGXZnkbdVEzYoWIHl2wFapG9vHKG9hvs27_YMOJZPRpyNBCKMb1Pbk-QlzjAJcNxJaB9wabAck7xyeklq60wpAlALS2e1ghTs4g8vmiN_9nkpaCAPntrQNpCAwyQ-rndUvV6uFFPhdGCDDQt9O9Twsiz22Z6APFEuRVqTcWEVlkGSJi311ewRikLhzA0G3yvw9HaKM90wxla9Ca2J6V4p-ZcKBaRmf0uBhRa4kQjdkyB4mAevQaolS6im80zlvRfBmomP6FeYhixsAY3Z5ezPoqFhpsw7QfXAAd62BOhQi58LjvkzYyx5ySDImF4SEOV7Gu0OeocIEEJtaj5wVgda-E9wg9KbXY9BVRjBkdaQ9uiFzRQJ2q44F3yO3XXYZIHPOmDeJM2GGreArA7EFG1yp0uJMS4lUzECRpFR-jZGunI1ZlCh7ddsVygmDYC9W5djeTBOdSoGee_t5PFe23X2jdlTdH5L52K91HtfHYDD9L_Cik4q5Z9EWoIijJmW_P3ujPZtGeEV51sRIbIgYtlyXwXrHg1jWSnCQVGBaH7HM29cxk0qOZDxwSP7r8l7t-RcQk9FCl8COe8Fj7McGP8yXxtG_iKLEkwcSKmwiC7AiVIDr8n7snrav9xephN5ruvw3z3dnY8M9am-HV1EgPW-naS4nPYklgyGsucSezMSEgOnWdjREFJuSbx9U2u9LcsIXcaQsXFCloISOqIz347T7TcqeXMTrEeuZz21_pLaM4MA9_wWRihmg-87y-XavTzt_onKWlhtJqIE_IXJGlWfGSCA6r0sX-xF_OAcmhStkjO9nyde_BlcZXNIl0p37eUhxc7La6cY_U5OhNzsEl8W-ueM-LGQFjxVPd1SJYd06Q7bRjufLo3QvV_iLi3loLwQnPn7R2sQExztlh4jYQaARLE-PZAGIhX3mLbbH-tCNXDvsBdaEIotjl166_cYCNQtYWRutf3n9GYSZedPrDA6_Cz1RfTSeQgQFeldzqNXSWpjAuVm-uFeAtqhrw5sluqKyq",
  "id": "rs_01b449e7201fc581016ab2c12f21d887d09b31dc290faedbab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.22,\"left_yaw\":0.7,\"left_pitch\":0.2,\"right_x\":0.32,\"right_y\":0.12,\"right_z\":0.22,\"right_yaw\":0.7,\"right_pitch\":0.2},\"note\":\"The cap wrist's turn caused a large unintended sideways displacement, so I cannot safely align the small opening with the pen tip in this posture. I will move both parts back to stable, separated orientations rather than force an insertion.\"}",
  "call_id": "call_YgvGYrmIWYq6lGGkjXFa588N",
  "id": "fc_01b449e7201fc581016ab2c1329b0487d083406ffc789fc720",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YgvGYrmIWYq6lGGkjXFa588N",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.7479, 1.718, 1.3209, -1.0935, -1.1946, -1.3853, 0.0813, 0.0658, 1.0134, 0.6613, -0.0765, -0.6277, -0.3622, 0.058]\nstate[eef_state]: left_x=0.3477 left_y=-0.0935 left_z=0.1994 left_yaw=0.7246 left_pitch=0.192 left_roll=0.1056 left_gripper=0.0813 right_x=0.3172 right_y=0.1285 right_z=0.2195 right_yaw=0.7843 right_pitch=0.2126 right_roll=-0.095 right_gripper=0.058\nstate[joint_eff]: [-0.3077, -10.2359, 8.9094, 0.4322, -0.6618, 0.1685, 1.0281, 0.2803, -3.7402, 6.8171, 1.6239, -0.1392, 0.1734, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26b94dd96c97a03ab9725f73ffa523016ccccaa21fbf31b7574922af3983078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f0355cbd39815d9523a15cf70a802f2f019784a14d2fc50095b7889578c22b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93c3acb175a5918d1b1ab7a196e873a453a6be9ae0e7757aa8ec83318db3efa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 4.598 s

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

message 98 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]: [-0.2024, 2.0903, 1.5047, -1.557, -1.4281, -2.0937, 0.0813, -0.1761, 1.9633, 1.4391, -1.4597, -1.4391, -2.0663, 0.0579]\nstate[eef_state]: left_x=0.3655 left_y=0.1072 left_z=0.1761 left_yaw=1.4007 left_pitch=0.4491 left_roll=0.0739 left_gripper=0.0813 right_x=0.3516 right_y=0.119 right_z=0.2001 right_yaw=1.4844 right_pitch=0.4358 right_roll=-0.0831 right_gripper=0.0579\nstate[joint_eff]: [0.2667, -13.0667, 4.6154, -0.5934, -0.7204, -0.0415, 1.033, 0.3624, -8.2667, 5.4222, -0.5006, -0.8278, -0.1099, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssFGjAewpJLtZUOlImiAy4yK_FUzYAUKJawKpi3vURCx7ExGWgGjQ9MY7_T3sZPiZGQF3s8mgjlHDQolqG2NC9JkXO7t12TPIxz1vVvCl5M0A12RXmkXAX3bP7pE_0hCot2dqPntdXrM4nKIISZMkhSe_m7ohi8DSGYlnxc3rOgw7N0t26oRrYMF4ngRHZFQUc7Bn29hVP6VM3FIEM_RZeH9pMiRfZwm5u2iLkynjJJVGI6YcfX5PY_TF4rfRVwnzjYaqo-OrQTySNlcV3FYh_D1duSsY2H_9chDIgvrL8Ge8Mg8Ov2ibbnJnk-ed1PHBhTKWZD_UjTBKYsuODN4RMhhXwyvnZn0Ix_Vnkrpp1JLD3qMy8FWVldbC8cTt7B17_x2cVrDivf_l5c_8bK2WoYl8V7BZdyS6km81e-KekpQaRAL_dKEN-t5j4EAsBIiwhghW2EYGTrfWccfY12aIJHpKDvoJTKBlY8AdxDbQAh9T2oLEEdnxMZ9jqksRNaH2UCkbLREGjuKnw1H8WhcqcG1wxFCYbdxNg-kjYgfTF10JYPcZ3yzxIJvrjusUVdjrCF6MGUFDT2AQ8VlDAt9ItGSZMwnRMKGanxQZMn0iNcp9hajdZeL781NsX6UelC-NVzD0VrbuyZHXfJ7b9O5rye1Iv-fI6ua2ond0ZX97-GfpnIzFsQi8O0E6Qqh3i5MxBdn36bCB3fC68fo9kIHFkh-iRjElpRhZsds1pGgO6Vg8hSbUUXE31Hz__lgCoRI2Gv_40hvZjtVy7oOx7Gi_7nx0Sxkfkd-Tsl7xKcWSROKUwuBntZkkoGbRmoCYUl4BK61OZbNKqvE0mwrQ6zkZx95ma5RWpbpyRpruSE53SuHgS5Qa12pE2AwI2bRNYSXwaamiVECbTEiQ3GLTymnKasBNYvgnxhprQ7xqpRTRPOWLXlWOj0sWVHvRtlvNnqUk56HFGKRfACbsYOtVRATg9FZISj9MShEkrpW5UA-t35IsIJDmb93gCn78HBNds4f_Lir3Q6PixPypH44VWOB2bHPtm-cXMNB3vAsMmlMw_ZODKJozWB_pMMffV1ECuuMHhQ90xqPdREVAuW8Pr4HcWRxkKLB5WjTfVoiz4Sy9uJYjf20KplczJt7BMR5WrMU4bgB8uSo4lSIyul-xIEUxFelfz9Sdo5DE2lrOpAspeMzvMQJgPujiP1lcwHHbsLMEvhJZElTEJzuAjLntnMYYnktOL7hwUGrYY6PioTL6X4TlW-IpuB6UiB0nDPtvqhWEGCrKCWa-t72J_p7lBKIkHQFP_IUEQxSA_Y2aqqJlv_3sYWmU_lIzG03o4p8IJxxRYMTPBSvFtWrNRYYiINHU-lOm0nQxtQBXdWvgAPrLnS01Yv9bIeQbPLCPv-EU_kHfL15f8tNnndLlXtKNVBQ5DI4x5tk_xcUI4uO_lwAZy4Ko5h3WiC4LhsCbF2E923VtQYX6aBqOigt0yKV4yvRBJihH5VX2j51euJFGq522qVhcFFRIpM_det_4S7oLmsVuO74HPSEoeH7WkHl1Z5Ojf_c1scdPT6j-GNDXuuGrde2uykFPFZVj2QkwElDnA78Pekbk62UeNaVIdrNlvW4poVBDHIhPyv7dsMLANxOkvz9WhX4lUYeWjRZVUMJXcsnVBvAgMQN8i_cw4lW3XXpnCsnQmyPcVz8HtqHwBpu-XPy8LpDWhEYxKvZGDtkJKEn3KG2ckrukfNbPc8NmhACZO8Vhvs31H-cDrdUXCwrKUMphW6ujkzoGiTq5d30l-ApDf99XnqcTuIiOUbMhkQAt8eWt41h0ZVq6Z9dUY5kiCz0B8BGDHJ7DQfIky2yRBTHwHx4N0HsiGQ1zDjmuO2Eb6lkxjpKNr0rWZWyLkcIw1LypHacnI9-qaG8v4xnNq0xRIY7UrkmksA_27XMGsUJHDEuWvLhbnot2qqPN8k2ifFv231V6gWQh8t3j12JyWTD-mMasWMYx283LlTUfZw1MiGohMYTIVcJvkHv-6KzQlXmdGx88BEVTX1bpsveLPWHqeh-AEj5nZm-m2TxGEgTQHAAVR3_E0bRK03rYJpME065BTBXiXAJVeiZ0mbgdLM439HMD-a7UcFAX_yjWrYwBPTiNRmcdPx1ffJKIwkR0_wThQYK_T3wu5krM6jQ5mvl7pnag0Aj_HbKxFCdaywch_3LX2isRjljyWj-xsl8Hl6QvasxbOb3WD_nJnUYpGfMv2IgI_qjCcyazLtGsGgsmvS_mCaWnNN1SUbpDyMv4yfnH9C35iZPoHsi9ivg0SKlsinmEISvLLDBeoSKPdodMm7bqbT8_NOsAyv7XJbFfnmjRuxIhUAMDa58EvZm_DJFVMZe",
  "id": "rs_01b449e7201fc581016ab2c13b620887d08d8a7a9b1708d367",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.19,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0.2,\"right_x\":0.37,\"right_y\":0.12,\"right_z\":0.12,\"right_yaw\":0.3,\"right_pitch\":0.2},\"note\":\"Both parts are secure again in separated poses. I will return them toward their original table areas so they can be set down safely.\"}",
  "call_id": "call_8sa4Wbgo0seTsx81rrmh1rEu",
  "id": "fc_01b449e7201fc581016ab2c1443c8487d0a916511b91278b25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8sa4Wbgo0seTsx81rrmh1rEu",
  "output": "executing move_to over 9 steps (0.9s)",
  "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]: [-0.7475, 1.6428, 0.7536, 0.239, -0.8314, -0.3779, 0.0813, 0.3298, 1.3457, 0.4198, 0.4751, -0.025, -0.1173, 0.058]\nstate[eef_state]: left_x=0.3776 left_y=-0.1672 left_z=0.1085 left_yaw=0.1104 left_pitch=0.1445 left_roll=0.1346 left_gripper=0.0813 right_x=0.3555 right_y=0.1301 right_z=0.1024 right_yaw=0.4047 right_pitch=0.105 right_roll=-0.0948 right_gripper=0.058\nstate[joint_eff]: [0.3077, -6.1333, 6.147, 1.8681, -0.2906, 0.188, 1.033, 0.212, -5.0803, 5.9692, 2.2735, 0.2466, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8468a22ee616d398326e05532f490e167ceb2ec649addfd0e67ee23663ee47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476a0ea3ccb204234a9103f36437a087a4a80ba8d56fce94020f049627550b57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8a4a337f4bac9767d77c8469bcf20704491cc8dd3e878850bf2f6a8dc72c12",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.559 s

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

message 102 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]: [-0.7479, 1.718, 1.3209, -1.0935, -1.1946, -1.3853, 0.0813, 0.0658, 1.0134, 0.6613, -0.0765, -0.6277, -0.3622, 0.058]\nstate[eef_state]: left_x=0.3477 left_y=-0.0935 left_z=0.1994 left_yaw=0.7246 left_pitch=0.192 left_roll=0.1056 left_gripper=0.0813 right_x=0.3172 right_y=0.1285 right_z=0.2195 right_yaw=0.7843 right_pitch=0.2126 right_roll=-0.095 right_gripper=0.058\nstate[joint_eff]: [-0.3077, -10.2359, 8.9094, 0.4322, -0.6618, 0.1685, 1.0281, 0.2803, -3.7402, 6.8171, 1.6239, -0.1392, 0.1734, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.018,\"right_x\":0.37,\"right_y\":0.12,\"right_z\":0.018},\"note\":\"The cap and pen are above clear, separate areas of the table. I will lower both gently before releasing them.\"}",
  "call_id": "call_OE5gUOJt5ZfdVQ6Uhfg7pKVv",
  "id": "fc_01b449e7201fc581016ab2c149c9f087d08e998ac0795311ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OE5gUOJt5ZfdVQ6Uhfg7pKVv",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.7685, 1.9671, 0.6918, 0.5419, -0.8337, -0.3893, 0.0849, 0.276, 1.8065, 0.3397, 0.9302, -0.065, -0.136, 0.058]\nstate[eef_state]: left_x=0.3745 left_y=-0.1752 left_z=0.0124 left_yaw=0.0897 left_pitch=0.0923 left_roll=0.1886 left_gripper=0.0849 right_x=0.3602 right_y=0.1177 right_z=0.0055 right_yaw=0.3944 right_pitch=0.0207 right_roll=-0.084 right_gripper=0.058\nstate[joint_eff]: [-0.4855, -8.3487, 4.3419, 1.8193, -0.4371, -0.105, 0.8718, -0.6906, -6.4205, 3.9453, 1.8632, -0.1441, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e85b396ceb2152925069b0bfce76d96b45517a13c3a15a26d34bc9b28605a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08a75d1b403eaeda9ad332f9fa5e61e0e52f481a84bbba6122e519280a2775c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07739a4f91935259da690abb27a22e096e0f3105b58663aa37c910fb534f6eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 4.619 s

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

message 106 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]: [-0.7475, 1.6428, 0.7536, 0.239, -0.8314, -0.3779, 0.0813, 0.3298, 1.3457, 0.4198, 0.4751, -0.025, -0.1173, 0.058]\nstate[eef_state]: left_x=0.3776 left_y=-0.1672 left_z=0.1085 left_yaw=0.1104 left_pitch=0.1445 left_roll=0.1346 left_gripper=0.0813 right_x=0.3555 right_y=0.1301 right_z=0.1024 right_yaw=0.4047 right_pitch=0.105 right_roll=-0.0948 right_gripper=0.058\nstate[joint_eff]: [0.3077, -6.1333, 6.147, 1.8681, -0.2906, 0.188, 1.033, 0.212, -5.0803, 5.9692, 2.2735, 0.2466, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both parts are now at table level. I will open the jaws to leave them resting separately on the table.\"}",
  "call_id": "call_EKsQEqwERmP1g6FNPuSjdoRq",
  "id": "fc_01b449e7201fc581016ab2c14e90ec87d0969b07fd594b54db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EKsQEqwERmP1g6FNPuSjdoRq",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.7685, 1.9816, 0.6888, 0.5648, -0.8387, -0.3996, 0.9951, 0.2707, 1.8164, 0.3363, 0.9333, -0.0795, -0.1387, 0.9954]\nstate[eef_state]: left_x=0.3749 left_y=-0.1747 left_z=0.0099 left_yaw=0.0991 left_pitch=0.0993 left_roll=0.1775 left_gripper=0.9951 right_x=0.3581 right_y=0.1177 right_z=0.0017 right_yaw=0.4027 right_pitch=0.0113 right_roll=-0.0776 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -9.5658, 4.5333, 1.2186, -0.2418, 0.0562, -0.1343, 0.294, -7.1453, 3.6444, 1.8242, 0.0952, 0.022, -0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:144830ef2117ee54db1c931e9f437d5644436430abd5b2daf404b30c401ddbcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d81b714c069ed8061567dec3aa332453cba44925d09c6abe52db2baf71e882",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fcba508df19edae35993de0db0c4753a39bb43239f8f2d3b64a05bd7e3f54a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 10.67 s

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

message 109 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7685, 1.9671, 0.6918, 0.5419, -0.8337, -0.3893, 0.0849, 0.276, 1.8065, 0.3397, 0.9302, -0.065, -0.136, 0.058]\nstate[eef_state]: left_x=0.3745 left_y=-0.1752 left_z=0.0124 left_yaw=0.0897 left_pitch=0.0923 left_roll=0.1886 left_gripper=0.0849 right_x=0.3602 right_y=0.1177 right_z=0.0055 right_yaw=0.3944 right_pitch=0.0207 right_roll=-0.084 right_gripper=0.058\nstate[joint_eff]: [-0.4855, -8.3487, 4.3419, 1.8193, -0.4371, -0.105, 0.8718, -0.6906, -6.4205, 3.9453, 1.8632, -0.1441, -0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The released pen and cap are resting on the table. I will lift and park both empty grippers clear of them.\"}",
  "call_id": "call_PHpaHgEceSiKLXlPo4aNsDGF",
  "id": "fc_01b449e7201fc581016ab2c153c65c87d0920cfec8d1b1ac61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PHpaHgEceSiKLXlPo4aNsDGF",
  "output": "executing move_to over 16 steps (1.6s)",
  "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]: [-0.1707, 0.8268, 0.6353, -0.3763, -0.3004, -0.0071, 0.9961, 0.0269, 0.8108, 0.6289, -0.3691, 0.0303, -0.0818, 0.9961]\nstate[eef_state]: left_x=0.2999 left_y=0.005 left_z=0.1903 left_yaw=0.073 left_pitch=0.0219 left_roll=0.1633 left_gripper=0.9961 right_x=0.3002 right_y=0.0063 right_z=0.1891 right_yaw=0.0357 right_pitch=0.0051 right_roll=-0.086 right_gripper=0.9961\nstate[joint_eff]: [0.1573, -1.853, 9.7983, 1.7509, -0.0513, 0.1734, 0.0904, -0.5812, -2.0444, 9.3607, 1.6825, 0.1343, 0.1392, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78edb0b65af1e1bd26598baed3195860ee926c5551fd6d84b52d0cf952096c7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ac47458afae18de10f7685479641a717355ec324e497e6d836191267647ea0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d33d3766d9467758e96e46eb9e800560213774ecc463af7fcc47057513c5c69",
      "type": "input_image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]