adhoc - adhoc_01625f20.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 250 s
total steps: 309

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe short dark cap lies left of center, while the long pen lies diagonally just right of center. I’ll bring the left gripper above the cap, rotated to grip across its length, and check alignment before descending.

move_to

left_x0.3800left_y-0.2200left_z0.1500left_yaw-0.7500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0158, 0.7914, 0.609, -0.3813, -0.0227, -0.0128, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1827 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.5538, -1.5111, 10.4957, 1.7802, -0.0366, 0.1001, -0.0513, -0.9094, -1.2923, 9.7709, 1.9316, -0.0317, -0.0513, -0.1099] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.22,"left_z":0.15,"left_yaw":-0.75},"note":"The short dark cap lies left of center, while the long pen lies diagonally just right of center. I’ll bring the left gripper above the cap, rotated to grip across its length, and check alignment before descending."})

tool

executing move_to over 20 steps (2.0s)

step 20

assistant

agent noteThe cap is low in the left wrist view and slightly left of the jaw column; the pen is farther ahead. I’ll shift the left gripper a little toward the cap and lower it carefully before closing.

move_to

left_x0.3750left_y-0.1850left_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4217, 1.494, 0.8471, -0.0315, 0.223, 0.1261, 0.9996, -0.0181, 0.7967, 0.6128, -0.3912, -0.0235, -0.0124, 0.9991] state[eef_state]: left_x=0.3689 left_y=-0.2044 left_z=0.1235 left_yaw=-0.6889 left_pitch=-0.0881 left_roll=-0.0319 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0118 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.4171, -6.9402, 9.8393, 2.0879, 0.3053, 0.2271, -0.0171, -0.1026, -1.6615, 6.9265, 1.79, -0.0269, -0.0464, -0.022] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.185,"left_z":0.035},"note":"The cap is low in the left wrist view and slightly left of the jaw column; the pen is farther ahead. I’ll shift the left gripper a little toward the cap and lower it carefully before closing."})

tool

executing move_to over 6 steps (0.6s)

step 26

assistant

agent noteThe lowered wrist view shows the cap running nearly vertically, but its center is still left and ahead of the fingertip position. I’ll advance and shift slightly left while keeping the jaws above the table, then make the final descent.

move_to

left_x0.3950left_y-0.1600left_z0.0450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3569, 1.7081, 0.6655, 0.2726, 0.2485, 0.1455, 0.9996, -0.0181, 0.7979, 0.6128, -0.3943, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3653 left_y=-0.1787 left_z=0.0243 left_yaw=-0.6593 left_pitch=-0.1708 left_roll=-0.0592 left_gripper=0.9996 right_x=0.2942 right_y=0.0025 right_z=0.18 right_yaw=-0.0013 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.4718, -7.2957, 5.2171, 1.8291, 0.3785, 0.2662, -0.0171, -0.3214, -1.3607, 7.0085, 1.7265, -0.0611, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.16,"left_z":0.045},"note":"The lowered wrist view shows the cap running nearly vertically, but its center is still left and ahead of the fingertip position. I’ll advance and shift slightly left while keeping the jaws above the table, then make the final descent."})

tool

executing move_to over 3 steps (0.3s)

step 29

assistant

agent noteThe cap’s lower section is now on the left jaw column in the wrist view, at roughly the fingertip row. I’ll lower the open jaws to table level so they can grip the cap rather than pass above it.

move_to

left_z0.0030

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2813, 1.7252, 0.7425, 0.1883, 0.2787, 0.1749, 0.9996, -0.0181, 0.7986, 0.6128, -0.3946, -0.0235, -0.0124, 0.9991] state[eef_state]: left_x=0.3858 left_y=-0.1584 left_z=0.0313 left_yaw=-0.6263 left_pitch=-0.1863 left_roll=-0.0657 left_gripper=0.9996 right_x=0.2942 right_y=0.0024 right_z=0.1797 right_yaw=-0.0016 right_pitch=-0.0172 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [0.1436, -7.8974, 8.1436, 1.4872, 0.4225, 0.149, -0.0171, -0.2803, -1.2376, 7.0085, 1.7656, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.003},"note":"The cap’s lower section is now on the left jaw column in the wrist view, at roughly the fingertip row. I’ll lower the open jaws to table level so they can grip the cap rather than pass above it."})

tool

executing move_to over 2 steps (0.2s)

step 31

assistant

agent noteThe first short descent did not bring the fingertips down—the position readback is still about 3.7 cm above the table. I’ll continue the controlled descent and use the actual height reading before closing.

move_to

left_z-0.0180

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0025 right_z=0.1792 right_yaw=-0.0013 right_pitch=-0.0198 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.3487, -7.706, 7.3641, 1.3944, 0.2222, 0.1294, -0.0171, -0.3487, -1.1009, 7.1726, 1.7607, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":-0.018},"note":"The first short descent did not bring the fingertips down—the position readback is still about 3.7 cm above the table. I’ll continue the controlled descent and use the actual height reading before closing."})

tool

executing move_to over 4 steps (0.4s)

step 35

assistant

agent noteThe arm has stopped lowering at about 3.7 cm even with a lower target, suggesting the angled jaws are contacting something. The cap sits between the open jaws in the wrist view, so I’ll close once and check whether it is actually held.

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]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0235, -0.0124, 0.9991] state[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0024 right_z=0.1792 right_yaw=-0.0016 right_pitch=-0.0198 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [-0.335, -8.0479, 7.3368, 1.4481, 0.2466, 0.1441, -0.0073, -0.335, -1.2786, 7.0085, 1.7607, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The arm has stopped lowering at about 3.7 cm even with a lower target, suggesting the angled jaws are contacting something. The cap sits between the open jaws in the wrist view, so I’ll close once and check whether it is actually held."})

tool

executing move_to over 10 steps (1.0s)

step 45

assistant

agent noteThe closed gripper reads 0.01, so the first attempt missed the cap; it is still visible just to the right of the closed jaws. I’ll reopen, shift right by about 2 cm, and avoid dragging the jaws across the tabletop.

move_to

left_gripper1.0000left_y-0.1780left_z0.0450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2623, 1.7252, 0.7769, 0.1413, 0.292, 0.1856, 0.01, -0.0181, 0.7986, 0.6128, -0.4114, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3912 left_y=-0.154 left_z=0.0361 left_yaw=-0.6249 left_pitch=-0.1945 left_roll=-0.0714 left_gripper=0.01 right_x=0.2919 right_y=0.0025 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [-0.1436, -7.4051, 5.7094, 1.5018, 0.188, 0.0611, 0.7595, -0.3624, -1.2376, 7.0085, 1.8242, -0.0073, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_y":-0.178,"left_z":0.045},"note":"The closed gripper reads 0.01, so the first attempt missed the cap; it is still visible just to the right of the closed jaws. I’ll reopen, shift right by about 2 cm, and avoid dragging the jaws across the tabletop."})

tool

executing move_to over 10 steps (1.0s)

step 55

assistant

agent noteThe cap is now centered laterally in the open jaws, but the left arm remains about 3 cm high and its shoulder has stopped moving during downward commands. I’ll tip the tool forward to change the arm geometry and try to reach the cap’s tabletop height.

move_to

left_pitch0.2500left_z0.0050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3344, 1.7252, 0.7826, 0.1143, 0.2409, 0.131, 0.9953, -0.0181, 0.7986, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991] state[eef_state]: left_x=0.3808 left_y=-0.1731 left_z=0.032 left_yaw=-0.6259 left_pitch=-0.2287 left_roll=-0.0819 left_gripper=0.9953 right_x=0.2917 right_y=0.0024 right_z=0.1761 right_yaw=-0.0016 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [-0.294, -7.9111, 8.7316, 1.4872, 0.1001, -0.0171, -0.1099, -0.3077, -1.265, 7.2274, 1.746, -0.0122, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_pitch":0.25,"left_z":0.005},"note":"The cap is now centered laterally in the open jaws, but the left arm remains about 3 cm high and its shoulder has stopped moving during downward commands. I’ll tip the tool forward to change the arm geometry and try to reach the cap’s tabletop height."})

tool

executing move_to over 16 steps (1.6s)

step 71

assistant

agent noteTipping the gripper forward worked: the actual grasp-point height reached nearly table level. In the wrist view the cap is now just behind and slightly right of the fingertips, so I’ll lift slightly and reposition toward its middle before the next grasp.

move_to

left_x0.3550left_y-0.1830left_z0.0450

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.292, 2.1113, 0.4587, 1.277, 0.342, 0.0521, 0.9963, -0.0181, 0.799, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991] state[eef_state]: left_x=0.3822 left_y=-0.173 left_z=0.0027 left_yaw=-0.6249 left_pitch=0.217 left_roll=-0.0648 left_gripper=0.9963 right_x=0.2918 right_y=0.0024 right_z=0.176 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [0.7179, -7.0496, 1.894, 1.3846, 0.1636, -0.2613, 0.0904, -0.3487, -1.2786, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.355,"left_y":-0.183,"left_z":0.045},"note":"Tipping the gripper forward worked: the actual grasp-point height reached nearly table level. In the wrist view the cap is now just behind and slightly right of the fingertips, so I’ll lift slightly and reposition toward its middle before the next grasp."})

tool

executing move_to over 3 steps (0.3s)

step 74

assistant

agent noteAt the higher pose, the cap’s middle appears low and left in the wrist view. I’ll move a little toward the base, shift left, and lower with the forward-tilted tool to center the jaws on the cap body.

move_to

left_x0.3350left_y-0.1600left_z0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3542, 1.8729, 0.3702, 1.1763, 0.2996, 0.0292, 0.9964, -0.0181, 0.8024, 0.6128, -0.4129, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3598 left_y=-0.1848 left_z=0.0473 left_yaw=-0.6416 left_pitch=0.2588 left_roll=-0.0573 left_gripper=0.9964 right_x=0.2919 right_y=0.0025 right_z=0.1749 right_yaw=-0.0013 right_pitch=-0.0393 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [0.0752, -5.5043, 3.3846, 1.4432, -0.0904, -0.0659, -0.0073, -0.3761, -1.0735, 6.9812, 1.7558, -0.0024, -0.0855, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.335,"left_y":-0.16,"left_z":0.012},"note":"At the higher pose, the cap’s middle appears low and left in the wrist view. I’ll move a little toward the base, shift left, and lower with the forward-tilted tool to center the jaws on the cap body."})

tool

executing move_to over 3 steps (0.3s)

step 77

assistant

agent noteThat short move barely changed the readback, and the cap remains below the fingertip row. I’ll continue to a slightly closer-to-base, lower pose while monitoring whether the arm actually follows the target.

move_to

left_x0.3300left_y-0.1550left_z0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0235, -0.0124, 0.9991] state[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1746 right_yaw=-0.0016 right_pitch=-0.0408 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.0068, -6.5436, 3.6718, 1.8828, 0.0611, -0.0269, -0.0122, -0.0752, -1.306, 7.0085, 1.7411, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.155,"left_z":0.0},"note":"That short move barely changed the readback, and the cap remains below the fingertip row. I’ll continue to a slightly closer-to-base, lower pose while monitoring whether the arm actually follows the target."})

tool

executing move_to over 3 steps (0.3s)

step 80

assistant

agent noteThe arm did not follow the low lateral target, so I won’t keep pushing against a possible obstruction. I’ll lift clear of the table and reposition above the cap, then approach vertically.

move_to

left_x0.3300left_y-0.1600left_z0.1200left_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]: [-0.3672, 1.8221, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991] state[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.0441 left_yaw=-0.6231 left_pitch=0.2129 left_roll=-0.0625 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991 state[joint_eff]: [-0.0068, -6.6667, 3.6034, 1.8535, 0.0513, -0.0562, -0.0122, -0.1299, -1.2923, 6.9949, 1.6972, -0.0269, -0.0464, -0.0122] 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_x":0.33,"left_y":-0.16,"left_z":0.12,"left_pitch":0.3},"note":"The arm did not follow the low lateral target, so I won’t keep pushing against a possible obstruction. I’ll lift clear of the table and reposition above the cap, then approach vertically."})

tool

executing move_to over 5 steps (0.5s)

step 85

assistant

agent noteThe combined lift-and-shift was also held, with no change in the arm’s readback. I’ll try a straight vertical retreat at the current horizontal position to clear whatever is blocking motion.

move_to

left_x0.3550left_y-0.1830left_z0.1600left_pitch0.2100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991] state[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991 state[joint_eff]: [-0.0615, -6.4615, 3.5077, 1.8535, 0.0806, -0.0317, -0.0122, -0.1573, -1.1692, 6.9949, 1.7314, -0.0611, -0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.355,"left_y":-0.183,"left_z":0.16,"left_pitch":0.21},"note":"The combined lift-and-shift was also held, with no change in the arm’s readback. I’ll try a straight vertical retreat at the current horizontal position to clear whatever is blocking motion."})

tool

executing move_to over 8 steps (0.8s)

step 93

assistant

agent noteThe straight retreat succeeded. From above, the cap is still near the lower edge of the left wrist view, so I’ll advance the raised gripper over it and check its position before descending again.

move_to

left_x0.4050left_y-0.1800left_z0.1500left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.3672, 1.3384, 0.524, 0.4435, 0.2649, 0.0223, 0.9964, -0.0181, 0.8093, 0.6128, -0.4141, -0.0235, -0.0124, 0.9991] state[eef_state]: left_x=0.3537 left_y=-0.1818 left_z=0.1449 left_yaw=-0.618 left_pitch=0.2124 left_roll=-0.0644 left_gripper=0.9964 right_x=0.2922 right_y=0.0024 right_z=0.1728 right_yaw=-0.0016 right_pitch=-0.0473 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [-0.2393, -6.0376, 9.2513, 1.9023, 0.0659, -0.0317, -0.0122, -0.1436, -1.4017, 7.1179, 1.7363, -0.0366, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.18,"left_z":0.15,"left_pitch":0.25},"note":"The straight retreat succeeded. From above, the cap is still near the lower edge of the left wrist view, so I’ll advance the raised gripper over it and check its position before descending again."})

tool

executing move_to over 4 steps (0.4s)

step 97

assistant

agent noteThe raised left gripper is close to the cap in the overhead view, with its jaws slightly nearer the base than the cap. I’ll advance a few centimeters and descend with forward pitch, using the height readback to confirm table-level reach.

move_to

left_x0.4200left_y-0.1800left_z0.0250left_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]: [-0.2996, 1.5307, 0.6151, 0.4477, 0.2985, 0.0235, 0.9964, -0.0181, 0.8116, 0.6128, -0.4156, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3867 left_y=-0.1701 left_z=0.1105 left_yaw=-0.5753 left_pitch=0.1225 left_roll=-0.1023 left_gripper=0.9964 right_x=0.2921 right_y=0.0025 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0511 right_roll=0.0015 right_gripper=0.9991 state[joint_eff]: [0.2803, -6.735, 9.894, 2.3175, 0.3736, 0.1197, -0.0122, -0.335, -1.4974, 7.0222, 1.6972, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.18,"left_z":0.025,"left_pitch":0.3},"note":"The raised left gripper is close to the cap in the overhead view, with its jaws slightly nearer the base than the cap. I’ll advance a few centimeters and descend with forward pitch, using the height readback to confirm table-level reach."})

tool

executing move_to over 6 steps (0.6s)

step 103

assistant

agent noteThe diagonal descent tracked poorly: the gripper is still about 12.6 cm high. I’ll keep its current horizontal position and lower vertically, which worked better after the previous repositioning.

move_to

left_x0.3970left_y-0.1750left_z0.0050left_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]: [-0.2947, 1.5478, 0.646, 0.4911, 0.3222, 0.0265, 0.9964, -0.0181, 0.8154, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3973 left_y=-0.1753 left_z=0.1263 left_yaw=-0.5944 left_pitch=0.1803 left_roll=-0.0928 left_gripper=0.9964 right_x=0.2918 right_y=0.0025 right_z=0.1701 right_yaw=-0.0013 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9991 state[joint_eff]: [0.0342, -7.2684, 8.3761, 2.1221, 0.1832, 0.1441, -0.0122, -0.0752, -1.306, 7.0222, 1.7509, -0.0073, -0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0.397,"left_y":-0.175,"left_z":0.005,"left_pitch":0.3},"note":"The diagonal descent tracked poorly: the gripper is still about 12.6 cm high. I’ll keep its current horizontal position and lower vertically, which worked better after the previous repositioning."})

tool

executing move_to over 8 steps (0.8s)

step 111

assistant

agent noteThe left gripper has reached table height, and the cap’s silver body is visible near the jaw column in the wrist view. I’ll test a close here and use the settled jaw opening—not grip effort—to tell whether the cap is held.

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]: [-0.292, 2.0342, 0.5186, 1.0531, 0.3309, 0.0315, 0.9964, -0.0181, 0.8211, 0.6128, -0.4206, -0.0235, -0.012, 0.9991] state[eef_state]: left_x=0.3904 left_y=-0.1736 left_z=0.0012 left_yaw=-0.5994 left_pitch=0.1322 left_roll=-0.1075 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1683 right_yaw=-0.0018 right_pitch=-0.0656 right_roll=0.0018 right_gripper=0.9991 state[joint_eff]: [0.6632, -5.3265, 1.5521, -1.0037, 0.1636, -0.5299, -0.0171, -0.1299, -1.7709, 6.9949, 1.7216, -0.022, -0.0122, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left gripper has reached table height, and the cap’s silver body is visible near the jaw column in the wrist view. I’ll test a close here and use the settled jaw opening—not grip effort—to tell whether the cap is held."})

tool

executing move_to over 10 steps (1.0s)

step 121

assistant

agent noteThe jaws stopped at about 1 cm open and the cap disappeared from the wrist view, both encouraging signs of a grasp. I’ll lift it clear of the table and confirm that the cap moves with the gripper.

move_to

left_z0.1050

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2928, 2.046, 0.5125, 1.0859, 0.3222, 0.0265, 0.1084, -0.0181, 0.8223, 0.6128, -0.4198, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3911 left_y=-0.1726 left_z=0.0015 left_yaw=-0.5907 left_pitch=0.145 left_roll=-0.1039 left_gripper=0.1084 right_x=0.2921 right_y=0.0025 right_z=0.1682 right_yaw=-0.0013 right_pitch=-0.066 right_roll=0.0017 right_gripper=0.9991 state[joint_eff]: [0.0205, -9.0188, 3.7265, 1.5409, 0.1294, 0.0073, 0.6374, -0.0068, -1.5111, 6.9812, 1.6484, -0.0366, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.105},"note":"The jaws stopped at about 1 cm open and the cap disappeared from the wrist view, both encouraging signs of a grasp. I’ll lift it clear of the table and confirm that the cap moves with the gripper."})

tool

executing move_to over 7 steps (0.7s)

step 128

assistant

agent noteThe cap is no longer on the tabletop and the left gripper remains about 1 cm open after lifting, so it appears secured. I’ll keep that arm raised and bring the right gripper over the middle of the diagonal pen.

move_to

left_z0.1700right_x0.3950right_y0.2800right_z0.1500right_yaw0.7500right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.6199, 0.564, 0.6048, 0.3187, 0.0231, 0.1091, -0.0181, 0.8249, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991] state[eef_state]: left_x=0.3872 left_y=-0.1709 left_z=0.0885 left_yaw=-0.5862 left_pitch=0.1411 left_roll=-0.1066 left_gripper=0.1091 right_x=0.2923 right_y=0.0025 right_z=0.1675 right_yaw=-0.0013 right_pitch=-0.0683 right_roll=0.0018 right_gripper=0.9991 state[joint_eff]: [-0.3487, -7.8701, 8.4718, 1.8779, 0.0757, 0.0269, 0.0611, -0.1846, -1.3333, 7.0906, 1.7363, -0.0073, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.17,"right_x":0.395,"right_y":0.28,"right_z":0.15,"right_yaw":0.75,"right_pitch":0.25},"note":"The cap is no longer on the tabletop and the left gripper remains about 1 cm open after lifting, so it appears secured. I’ll keep that arm raised and bring the right gripper over the middle of the diagonal pen."})

tool

executing move_to over 24 steps (2.4s)

step 152

assistant

agent noteThe right wrist view shows the pen almost on the jaw column, low in the image; the held cap remains safely off to the left. I’ll descend vertically with a forward-tilted tool to reach the pen without sweeping it sideways.

move_to

right_x0.3870right_y0.2680right_z0.0060right_pitch0.3000left_z0.1700

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.4265, 0.7109, 0.1913, 0.318, 0.0223, 0.1107, 0.5247, 1.6611, 0.7723, 0.4835, -0.1959, -0.0654, 0.9991] state[eef_state]: left_x=0.3799 left_y=-0.1686 left_z=0.1389 left_yaw=-0.5829 left_pitch=0.0708 left_roll=-0.1281 left_gripper=0.1107 right_x=0.3866 right_y=0.2676 right_z=0.1268 right_yaw=0.7176 right_pitch=0.1657 right_roll=0.0168 right_gripper=0.9991 state[joint_eff]: [-0.3214, -8.1846, 10.0444, 1.8291, 0.0611, -0.0611, 0.1441, 0.4444, -7.4051, 8.5675, 2.0928, -0.1099, -0.1099, -0.0171] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.387,"right_y":0.268,"right_z":0.006,"right_pitch":0.3,"left_z":0.17},"note":"The right wrist view shows the pen almost on the jaw column, low in the image; the held cap remains safely off to the left. I’ll descend vertically with a forward-tilted tool to reach the pen without sweeping it sideways."})

tool

executing move_to over 8 steps (0.8s)

step 160

assistant

agent noteAt table height, the pen runs along the right wrist view’s jaw column and extends past the fingertip row. I’ll close the right jaws around its barrel and check the settled opening before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.3972, 0.7551, 0.0547, 0.318, 0.0227, 0.1121, 0.5232, 2.1941, 0.6361, 1.2526, -0.2123, -0.057, 0.9991] state[eef_state]: left_x=0.3725 left_y=-0.1664 left_z=0.1417 left_yaw=-0.5824 left_pitch=0.0105 left_roll=-0.1457 left_gripper=0.1121 right_x=0.3859 right_y=0.2697 right_z=0.0094 right_yaw=0.73 right_pitch=0.2647 right_roll=0.0103 right_gripper=0.9991 state[joint_eff]: [-0.212, -7.4462, 10.3316, 1.8974, 0.0513, -0.0317, 0.1343, -0.5949, -6.7897, 2.906, 1.1453, -0.0171, 0.105, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At table height, the pen runs along the right wrist view’s jaw column and extends past the fingertip row. I’ll close the right jaws around its barrel and check the settled opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 170

assistant

agent noteThe right jaws closed almost completely, so the pen was missed; it remains visible at the fingertip edge in the wrist view. I’ll reopen, lift slightly, and advance about 2 cm along the pen before trying once more.

move_to

right_gripper1.0000right_x0.4100right_z0.0650

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.396, 0.7563, 0.0402, 0.318, 0.0227, 0.1127, 0.5236, 2.2089, 0.6376, 1.2873, -0.215, -0.057, 0.0132] state[eef_state]: left_x=0.3709 left_y=-0.1659 left_z=0.1398 left_yaw=-0.5824 left_pitch=-0.0012 left_roll=-0.1492 left_gripper=0.1127 right_x=0.3867 right_y=0.2709 right_z=0.0112 right_yaw=0.7339 right_pitch=0.2857 right_roll=0.0065 right_gripper=0.0132 state[joint_eff]: [-0.1162, -5.6274, 6.7624, 1.8535, 0.0855, -0.0415, 0.0513, -0.1026, -10.2769, 3.1795, 1.5946, -0.0317, -0.0464, 1.0867] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.41,"right_z":0.065},"note":"The right jaws closed almost completely, so the pen was missed; it remains visible at the fingertip edge in the wrist view. I’ll reopen, lift slightly, and advance about 2 cm along the pen before trying once more."})

tool

executing move_to over 10 steps (1.0s)

step 180

assistant

agent noteAfter advancing, the pen appears left of the right jaw column by roughly a centimeter. I’ll correct that small sideways offset and lower the open jaws to the barrel’s height.

move_to

right_x0.4100right_y0.2820right_z0.0050right_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]: [-0.2932, 1.396, 0.7559, 0.036, 0.318, 0.0231, 0.1135, 0.495, 2.0426, 0.6937, 1.0225, -0.2451, -0.0689, 0.9949] state[eef_state]: left_x=0.3703 left_y=-0.1657 left_z=0.1388 left_yaw=-0.5826 left_pitch=-0.0056 left_roll=-0.1502 left_gripper=0.1135 right_x=0.4015 right_y=0.2695 right_z=0.0442 right_yaw=0.7356 right_pitch=0.2467 right_roll=0.0137 right_gripper=0.9949 state[joint_eff]: [-0.0615, -5.6821, 6.7214, 1.7705, 0.0904, -0.022, 0.0708, -0.9094, -11.6308, 6.4205, 1.8242, -0.105, 0.0269, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.41,"right_y":0.282,"right_z":0.005,"right_pitch":0.3},"note":"After advancing, the pen appears left of the right jaw column by roughly a centimeter. I’ll correct that small sideways offset and lower the open jaws to the barrel’s height."})

tool

executing move_to over 3 steps (0.3s)

step 183

assistant

agent noteAt table height the pen is still left of the jaw column; the small positive-y correction moved it farther left in this rotated wrist view. I’ll lift to avoid dragging it, then shift the right gripper the opposite way before descending.

move_to

right_z0.0650right_y0.2520

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2928, 1.3975, 0.7555, 0.033, 0.318, 0.0227, 0.1141, 0.5079, 2.2414, 0.7406, 1.1961, -0.2317, -0.0814, 0.9954] state[eef_state]: left_x=0.3699 left_y=-0.1654 left_z=0.1375 left_yaw=-0.582 left_pitch=-0.0104 left_roll=-0.152 left_gripper=0.1141 right_x=0.4085 right_y=0.278 right_z=0.0063 right_yaw=0.7453 right_pitch=0.2669 right_roll=-0.0082 right_gripper=0.9954 state[joint_eff]: [-0.1162, -5.7641, 6.6803, 1.6532, 0.0952, -0.0464, 0.0513, 0.4718, -9.8393, 4.588, 0.1001, -0.359, 0.4713, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.065,"right_y":0.252},"note":"At table height the pen is still left of the jaw column; the small positive-y correction moved it farther left in this rotated wrist view. I’ll lift to avoid dragging it, then shift the right gripper the opposite way before descending."})

tool

executing move_to over 4 steps (0.4s)

step 187

assistant

agent noteThe combined sideways lift barely moved the right arm, so I’ll first retreat straight upward at its current x–y position. Once clear, I can make the lateral correction without rubbing the pen.

move_to

right_x0.4110right_y0.2810right_z0.1150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0322, 0.318, 0.0227, 0.1142, 0.5114, 2.265, 0.7494, 1.2503, -0.2302, -0.0677, 0.9954] state[eef_state]: left_x=0.3695 left_y=-0.1655 left_z=0.1367 left_yaw=-0.5824 left_pitch=-0.0126 left_roll=-0.1526 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0103 right_yaw=0.7424 right_pitch=0.305 right_roll=-0.0044 right_gripper=0.9954 state[joint_eff]: [-0.1983, -5.641, 6.7077, 1.6923, 0.0659, -0.0611, -0.0073, 0.3214, -8.5128, 3.6991, 1.9951, -0.0806, 0.1001, -0.0171] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.411,"right_y":0.281,"right_z":0.115},"note":"The combined sideways lift barely moved the right arm, so I’ll first retreat straight upward at its current x–y position. Once clear, I can make the lateral correction without rubbing the pen."})

tool

executing move_to over 7 steps (0.7s)

step 194

assistant

agent noteThe right arm is still stationary near table height despite the straight lift, so this appears to be a pose constraint rather than a pen grasp. I’ll untip the tool while requesting a higher pose to let the arm back out.

move_to

right_x0.4110right_y0.2810right_z0.1400right_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]: [-0.2932, 1.3979, 0.7544, 0.0319, 0.318, 0.0231, 0.1142, 0.5114, 2.265, 0.7494, 1.2507, -0.2302, -0.0677, 0.9954] state[eef_state]: left_x=0.3694 left_y=-0.1655 left_z=0.1366 left_yaw=-0.5826 left_pitch=-0.0129 left_roll=-0.1524 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0104 right_yaw=0.7424 right_pitch=0.3054 right_roll=-0.0045 right_gripper=0.9954 state[joint_eff]: [-0.212, -5.7094, 6.6393, 1.6923, 0.0513, -0.0317, -0.0171, 0.0205, -8.5265, 3.535, 2.0, -0.0952, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.411,"right_y":0.281,"right_z":0.14,"right_pitch":0.0},"note":"The right arm is still stationary near table height despite the straight lift, so this appears to be a pose constraint rather than a pen grasp. I’ll untip the tool while requesting a higher pose to let the arm back out."})

tool

executing move_to over 11 steps (1.1s)

step 205

assistant

agent noteThe right arm is clear again, and the pen is still on the table; the first close appears to have turned it so it now runs mostly front-to-back in the overhead view. I’ll approach its rear half from above with the jaws across that new orientation.

move_to

right_x0.3550right_y0.2700right_z0.1500right_yaw0.0000right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.3983, 0.7544, 0.0277, 0.318, 0.0227, 0.1142, 0.5198, 1.7721, 1.0222, 0.1795, -0.2157, -0.1356, 0.9954] state[eef_state]: left_x=0.3689 left_y=-0.1653 left_z=0.1357 left_yaw=-0.5824 left_pitch=-0.0173 left_roll=-0.154 left_gripper=0.1142 right_x=0.4111 right_y=0.2829 right_z=0.1167 right_yaw=0.764 right_pitch=0.0074 right_roll=-0.0008 right_gripper=0.9954 state[joint_eff]: [-0.2667, -5.7778, 6.8034, 1.6923, 0.0513, -0.0611, -0.0122, 0.212, -12.1641, 9.1009, 2.0391, 0.1734, 0.1734, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.355,"right_y":0.27,"right_z":0.15,"right_yaw":0,"right_pitch":0.25},"note":"The right arm is clear again, and the pen is still on the table; the first close appears to have turned it so it now runs mostly front-to-back in the overhead view. I’ll approach its rear half from above with the jaws across that new orientation."})

tool

executing move_to over 9 steps (0.9s)

step 214

assistant

agent noteThe pen is now clearly visible near the right jaw column at the rear-half approach point. I’ll lower straight down; the wrist image should bring the pen toward the fingertip row as the camera nears the tabletop.

move_to

right_x0.3500right_y0.2840right_z0.0050right_pitch0.2700right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.3983, 0.7532, 0.0265, 0.318, 0.0227, 0.1142, 0.9333, 1.6886, 0.8524, 0.313, 0.7109, 0.3168, 0.9954] state[eef_state]: left_x=0.3685 left_y=-0.1652 left_z=0.1349 left_yaw=-0.5824 left_pitch=-0.0195 left_roll=-0.1547 left_gripper=0.1142 right_x=0.3496 right_y=0.2844 right_z=0.1309 right_yaw=0.1641 right_pitch=0.1747 right_roll=-0.0404 right_gripper=0.9954 state[joint_eff]: [-0.3761, -5.5179, 6.6803, 1.6874, 0.0562, -0.0708, -0.0122, 0.2393, -6.9265, 8.9094, 1.6288, 0.486, 0.2222, -0.0073] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.284,"right_z":0.005,"right_pitch":0.27,"right_yaw":0},"note":"The pen is now clearly visible near the right jaw column at the rear-half approach point. I’ll lower straight down; the wrist image should bring the pen toward the fingertip row as the camera nears the tabletop."})

tool

executing move_to over 9 steps (0.9s)

step 223

assistant

agent noteAt tabletop height the pen crosses the right jaw column near the fingertip row, with its rear extending toward the open jaws. I’ll close here and check for a nonempty jaw opening.

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]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.3176, 0.0227, 0.1142, 0.9867, 2.183, 0.7944, 0.836, 0.9131, 0.379, 0.9954] state[eef_state]: left_x=0.3683 left_y=-0.165 left_z=0.1345 left_yaw=-0.5821 left_pitch=-0.0207 left_roll=-0.1548 left_gripper=0.1142 right_x=0.349 right_y=0.281 right_z=0.0047 right_yaw=0.0284 right_pitch=0.2357 right_roll=-0.0723 right_gripper=0.9954 state[joint_eff]: [-0.2803, -5.7368, 6.7761, 1.6435, 0.0708, -0.0611, -0.0122, 0.6769, -7.7607, 4.4103, 1.1941, 0.1001, 0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At tabletop height the pen crosses the right jaw column near the fingertip row, with its rear extending toward the open jaws. I’ll close here and check for a nonempty jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 233

assistant

agent noteThe right jaws closed empty again and pushed the pen so its barrel now ends at the fingertip edge. I’ll reopen and retreat with an upright tool, then re-aim from above rather than repeat the same close.

move_to

right_z0.1400right_pitch0.0000right_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]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9878, 2.1944, 0.7986, 0.8722, 0.9241, 0.371, 0.0118] state[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3508 right_y=0.2825 right_z=0.0074 right_yaw=0.0193 right_pitch=0.2567 right_roll=-0.0589 right_gripper=0.0118 state[joint_eff]: [-0.1983, -5.641, 6.6803, 1.6581, 0.0317, -0.0708, -0.0122, -0.2256, -10.6872, 3.2889, 1.1941, 0.0659, 0.0708, 1.0427] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14,"right_pitch":0,"right_gripper":1},"note":"The right jaws closed empty again and pushed the pen so its barrel now ends at the fingertip edge. I’ll reopen and retreat with an upright tool, then re-aim from above rather than repeat the same close."})

tool

executing move_to over 10 steps (1.0s)

step 243

assistant

agent noteWith the right gripper clear, the pen lies diagonally beneath it and a little left of the jaw column. I’ll make a modest raised lateral correction toward the barrel’s middle before another vertical approach.

move_to

right_x0.3400right_y0.2630right_z0.1400right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0231, 0.1142, 0.9554, 1.7805, 1.0962, -0.1207, 0.7681, 0.5396, 0.9946] state[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5826 left_pitch=-0.0206 left_roll=-0.1547 left_gripper=0.1142 right_x=0.351 right_y=0.29 right_z=0.1198 right_yaw=0.043 right_pitch=0.0171 right_roll=-0.0752 right_gripper=0.9946 state[joint_eff]: [-0.253, -5.6957, 6.612, 1.663, 0.0317, -0.0171, -0.0122, -1.2513, -11.9179, 8.294, 1.5653, 0.3541, 0.3004, 0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.263,"right_z":0.14,"right_pitch":0.25},"note":"With the right gripper clear, the pen lies diagonally beneath it and a little left of the jaw column. I’ll make a modest raised lateral correction toward the barrel’s middle before another vertical approach."})

tool

executing move_to over 8 steps (0.8s)

step 251

assistant

agent noteThat raised correction left the pen even farther left in the right wrist view, so the change in camera angle matters here. I’ll keep the same forward reach and move the gripper toward the pen’s overhead position, then recheck the actual wrist alignment.

move_to

right_x0.3380right_y0.3150right_z0.1400right_pitch0.2500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9695, 1.7023, 0.823, 0.2474, 0.8654, 0.3767, 0.9953] state[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3377 right_y=0.2609 right_z=0.1144 right_yaw=0.0619 right_pitch=0.167 right_roll=-0.1233 right_gripper=0.9953 state[joint_eff]: [-0.0479, -5.5043, 6.612, 1.663, 0.0464, -0.0464, -0.0122, 0.759, -10.2359, 6.147, 1.8535, 0.5397, -0.105, 0.0659] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.338,"right_y":0.315,"right_z":0.14,"right_pitch":0.25},"note":"That raised correction left the pen even farther left in the right wrist view, so the change in camera angle matters here. I’ll keep the same forward reach and move the gripper toward the pen’s overhead position, then recheck the actual wrist alignment."})

tool

executing move_to over 5 steps (0.5s)

step 256

assistant

agent noteMoving toward the pen brought it from the far left edge to nearer the right jaw column. I’ll make one further small sideways correction while descending vertically onto the barrel, keeping the two grippers separated.

move_to

right_x0.3350right_y0.3500right_z0.0050right_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]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 1.0554, 1.8072, 0.9771, 0.226, 0.9371, 0.3618, 0.9954] state[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3353 right_y=0.3104 right_z=0.1293 right_yaw=0.0978 right_pitch=0.216 right_roll=-0.1399 right_gripper=0.9954 state[joint_eff]: [-0.3487, -5.6957, 6.6393, 1.6386, 0.0757, -0.0415, -0.0171, 0.5675, -8.0479, 7.8701, 1.4969, 0.6227, 0.0952, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.35,"right_z":0.005,"right_pitch":0.3},"note":"Moving toward the pen brought it from the far left edge to nearer the right jaw column. I’ll make one further small sideways correction while descending vertically onto the barrel, keeping the two grippers separated."})

tool

executing move_to over 9 steps (0.9s)

step 265

assistant

agent noteThe right arm did not follow that close-in descent, likely because the cap-holding left arm occupies the neighboring space. I’ll park the left gripper farther outward and higher while keeping its hold on the cap.

move_to

left_x0.2700left_y-0.0400left_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]: [-0.2932, 1.3983, 0.7521, 0.0261, 0.318, 0.0227, 0.1142, 1.0611, 1.8191, 0.992, 0.2165, 0.9619, 0.3622, 0.9954] state[eef_state]: left_x=0.3681 left_y=-0.1651 left_z=0.1344 left_yaw=-0.5824 left_pitch=-0.021 left_roll=-0.1551 left_gripper=0.1142 right_x=0.3357 right_y=0.311 right_z=0.1303 right_yaw=0.0859 right_pitch=0.224 right_roll=-0.1532 right_gripper=0.9954 state[joint_eff]: [-0.3487, -5.6821, 6.7624, 1.663, 0.0855, -0.0659, -0.0122, 0.3214, -8.3897, 7.9521, 1.5067, 0.486, 0.1099, -0.0122] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.27,"left_y":-0.04,"left_z":0.20},"note":"The right arm did not follow that close-in descent, likely because the cap-holding left arm occupies the neighboring space. I’ll park the left gripper farther outward and higher while keeping its hold on the cap."})

tool

executing move_to over 12 steps (1.2s)

step 277

assistant

agent noteThe cap-holding arm is now safely parked at the left edge, leaving room beside the pen. I’ll try the right-arm descent again with the barrel closer to the jaw column.

move_to

right_x0.3350right_y0.3450right_z0.0050right_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]: [0.2756, 0.9703, 0.7631, -0.6327, 0.691, 0.4011, 0.1143, 1.0607, 1.8519, 0.9688, 0.2165, 0.9459, 0.3611, 0.9954] state[eef_state]: left_x=0.2805 left_y=-0.034 left_z=0.1848 left_yaw=-0.5103 left_pitch=-0.0488 left_roll=-0.1688 left_gripper=0.1143 right_x=0.3326 right_y=0.3084 right_z=0.1073 right_yaw=0.1074 right_pitch=0.1841 right_roll=-0.1958 right_gripper=0.9954 state[joint_eff]: [0.0068, -2.865, 9.7299, 1.2821, 0.5397, 0.1392, -0.0073, -0.0615, -11.6991, 7.5966, 1.4188, 0.3883, -0.0073, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.345,"right_z":0.005,"right_pitch":0.3},"note":"The cap-holding arm is now safely parked at the left edge, leaving room beside the pen. I’ll try the right-arm descent again with the barrel closer to the jaw column."})

tool

executing move_to over 7 steps (0.7s)

step 284

assistant

agent noteAt table height the pen runs just to the right of the fingertip center, so closing there would likely push it again. With the other arm now clear, I’ll lift slightly and shift the right gripper rightward to center the barrel between its jaws.

move_to

right_x0.3390right_y0.3000right_z0.0700right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.276, 0.976, 0.7658, -0.6621, 0.6849, 0.4011, 0.1143, 1.1023, 2.2639, 0.9958, 0.72, 1.0279, 0.3054, 0.9954] state[eef_state]: left_x=0.277 left_y=-0.034 left_z=0.1799 left_yaw=-0.5072 left_pitch=-0.075 left_roll=-0.1885 left_gripper=0.1143 right_x=0.3381 right_y=0.341 right_z=0.0152 right_yaw=0.0944 right_pitch=0.284 right_roll=-0.1754 right_gripper=0.9954 state[joint_eff]: [-0.0205, -2.6188, 6.4479, 1.619, 0.2613, -0.0806, -0.0073, 1.0598, -8.4171, 4.2051, 0.7155, 0.3101, -0.3199, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.339,"right_y":0.3,"right_z":0.07,"right_pitch":0.28},"note":"At table height the pen runs just to the right of the fingertip center, so closing there would likely push it again. With the other arm now clear, I’ll lift slightly and shift the right gripper rightward to center the barrel between its jaws."})

tool

executing move_to over 4 steps (0.4s)

step 288

assistant

agent noteThe pen now crosses the jaw column in the raised right wrist view, with a better lateral alignment than before. I’ll lower straight down to barrel height for a final grasp attempt.

move_to

right_x0.3390right_y0.3040right_z0.0050right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.276, 0.9771, 0.7658, -0.6659, 0.6838, 0.4015, 0.1143, 1.0527, 2.0422, 0.8482, 0.6827, 0.9897, 0.2714, 0.9954] state[eef_state]: left_x=0.2766 left_y=-0.0339 left_z=0.1791 left_yaw=-0.5069 left_pitch=-0.0791 left_roll=-0.1911 left_gripper=0.1143 right_x=0.3389 right_y=0.3037 right_z=0.0599 right_yaw=0.0844 right_pitch=0.2853 right_roll=-0.1665 right_gripper=0.9954 state[joint_eff]: [-0.0615, -2.1675, 6.6667, 1.4042, 0.2808, -0.0269, -0.0122, -0.4034, -10.0308, 4.8479, 1.3504, 0.1343, -0.149, -0.0073] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.339,"right_y":0.304,"right_z":0.005,"right_pitch":0.28},"note":"The pen now crosses the jaw column in the raised right wrist view, with a better lateral alignment than before. I’ll lower straight down to barrel height for a final grasp attempt."})

tool

executing move_to over 4 steps (0.4s)

step 292

assistant

agent noteThat short downward command did not lower the actual fingertips; the right gripper is still about 6.7 cm above the table. I’ll increase forward tilt and request a slightly lower target, then check the measured height before closing.

move_to

right_z-0.0150right_pitch0.4000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.276, 0.9771, 0.7658, -0.6674, 0.6804, 0.4015, 0.1143, 1.0458, 2.0083, 0.8421, 0.6575, 0.9672, 0.2565, 0.9954] state[eef_state]: left_x=0.2764 left_y=-0.0335 left_z=0.1786 left_yaw=-0.5046 left_pitch=-0.082 left_roll=-0.1903 left_gripper=0.1143 right_x=0.3395 right_y=0.3031 right_z=0.0668 right_yaw=0.1029 right_pitch=0.2767 right_roll=-0.1725 right_gripper=0.9954 state[joint_eff]: [-0.2256, -2.0444, 6.694, 1.3309, 0.2711, -0.022, -0.0122, -0.0889, -10.2632, 4.4376, 1.4237, 0.2662, 0.0122, -0.0073] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":-0.015,"right_pitch":0.4},"note":"That short downward command did not lower the actual fingertips; the right gripper is still about 6.7 cm above the table. I’ll increase forward tilt and request a slightly lower target, then check the measured height before closing."})

tool

executing move_to over 6 steps (0.6s)

step 298

assistant

agent noteThe right arm has stopped at about 6.7 cm despite two descent targets, so the current tilted pose cannot reach the pen. I’ll try a final upright descent and close at the measured alignment; I’ll judge it by the actual height and jaw opening.

move_to

right_x0.3390right_y0.3030right_z0.0000right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.276, 0.9771, 0.7658, -0.6693, 0.68, 0.4015, 0.1143, 1.0458, 2.0083, 0.8421, 0.6579, 0.9676, 0.2562, 0.9954] state[eef_state]: left_x=0.2761 left_y=-0.0335 left_z=0.1783 left_yaw=-0.5045 left_pitch=-0.0836 left_roll=-0.1914 left_gripper=0.1143 right_x=0.3395 right_y=0.303 right_z=0.0668 right_yaw=0.1027 right_pitch=0.277 right_roll=-0.1726 right_gripper=0.9954 state[joint_eff]: [0.0068, -2.1402, 6.8855, 1.3504, 0.2173, -0.0366, -0.0073, -0.0479, -10.3179, 4.5197, 1.4383, 0.2906, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.339,"right_y":0.303,"right_z":0.0,"right_pitch":0,"right_gripper":0},"note":"The right arm has stopped at about 6.7 cm despite two descent targets, so the current tilted pose cannot reach the pen. I’ll try a final upright descent and close at the measured alignment; I’ll judge it by the actual height and jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 308

assistant

agent noteI picked up the cap, but repeated right-gripper attempts did not secure the pen: its settled jaw opening is 0.013, indicating an empty grasp, and the pen remains on the table. I cannot reliably put the cap on an unheld pen.

give_up

hindsightAt right-arm x≈0.34 m, y≈0.30 m, a forward-pitched tool stalled around z≈0.067 m; changing pitch to 0 allowed the gripper to reach z≈0.008 m. A closed gripper reading near 0.01 is empty even after table-level contact. The left gripper held the cap at an opening near 0.11; park it outward before bringing the right arm toward the table center.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.276, 0.9771, 0.7658, -0.6697, 0.68, 0.4011, 0.1143, 1.0096, 2.0708, 0.939, 0.3149, 0.8093, 0.4545, 0.0129] state[eef_state]: left_x=0.2761 left_y=-0.0335 left_z=0.1782 left_yaw=-0.5043 left_pitch=-0.0839 left_roll=-0.192 left_gripper=0.1143 right_x=0.3375 right_y=0.3034 right_z=0.0076 right_yaw=0.1145 right_pitch=0.0283 right_roll=-0.1759 right_gripper=0.0129 state[joint_eff]: [-0.1846, -2.1538, 6.8581, 1.2821, 0.2418, -0.0611, -0.0073, -0.7316, -8.1709, 6.735, 1.2869, 0.2173, 0.0708, 1.1013] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I picked up the cap, but repeated right-gripper attempts did not secure the pen: its settled jaw opening is 0.013, indicating an empty grasp, and the pen remains on the table. I cannot reliably put the cap on an unheld pen.","hindsight":"At right-arm x≈0.34 m, y≈0.30 m, a forward-pitched tool stalled around z≈0.067 m; changing pitch to 0 allowed the gripper to reach z≈0.008 m. A closed gripper reading near 0.01 is empty even after table-level contact. The left gripper held the cap at an opening near 0.11; park it outward before bringing the right arm toward the table center."})

tool

give_up: I picked up the cap, but repeated right-gripper attempts did not secure the pen: its settled jaw opening is 0.013, indicating an empty grasp, and the pen remains on the table. I cannot reliably put the cap on an unheld pen.

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 · 9.111 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0158, 0.7914, 0.609, -0.3813, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1827 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.5111, 10.4957, 1.7802, -0.0366, 0.1001, -0.0513, -0.9094, -1.2923, 9.7709, 1.9316, -0.0317, -0.0513, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c7d0cfe825300eff5213b442c4679f5a4aae0193f8d01d96c1d8aa1b74fddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b69e66708c02f27748552e97884d46be03dde0c0eedd0e6619bb91c0975108",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f4704b5bb7e42d0aa0529d90604c4b15902fa686ef0fa66a9823e39d50ad4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 9.267 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtCITGV8uw1CF9ikx-1lI3h-nUWhDBjn6bgtPN0smEFLbPMKG8gz8AbPqqMgbEuZiZBim8R8B3-lotlftDwTtR58_Gur4_jnSQyIOMhhpArBJZTX-RVXnQnyK5yuwLZV8Tl9WKTYhuaIjLZOmPHS2QC_9t65ixJgedrwFCP1wRViH107mB--YB4cGA1rHZ1WJrPSY7__1oFEj-bZio5OEMVYpy-3CquabLSINzSUaCoQgpf-a_rGukyvRzEEfwdLids0c37pZHd2OFEpFrfN5civFAQGcpLtPijgk_EJKGQKKW9WAmDmbnkaLyLmCizfYiy-Y4S6OAwogDwlGNTStcUgddxAhFV7CXoENMM74lXNH0-gGy4CEiOkf8PxOmvRAj6UsRbvvjFwdYXNymAaNFB5SciCu3AqRHMiAev3kIOG9HVzvwHjGW8tddL0Ia9uAcfwfxekIo5zGJ5TmZ5yntbSo4CwtnVv3FioJR6Za4tebaSZRRqv3hbr8PhCGqBQxaYSNzk3F8EfJBpg0s04091yt2q95OekW1JcHh3doMa--YzBVrwLwGthEa0sM4ckwC7tDuyaJdu3eOboEgqak13HTsun7MVWE2gjJA40aUh1jyglvah11NGFjYN0mtqPDRvCYqR6-XDNfrDbXYkOW9m8DU8SUmocvuI9UW4_6D8azy_tDko6qxD_Fk43fQplmImZ3mHaGr1xRx6kIU8XmCZplLJWefRGXlLuVhzWN7q2qvsh-876MUdT5DZkmH9Uef7NuiuAeGsz4m4WuQKwBrhIIt3i6puVd4VA6J3aCXwmWwrsjfqHGrKWHFv4edlEKYaDb34h361zq4f-VQ041UiUTCjFwX0CwTxWHmZ84qUw27kAItA0q3pvPEDkccd227jdulF2qQf8NsSXjJxgLYaHlohxgy6e47SIkbj12GAXr-4s1WqM5o_4PeJFd-EzxYQkIrS2FS5ukuIKbRI2dEYcqyZjq0phjinXFF-yKWVhP6VV4DcDn76ShuNQF717P-pIDO5nXzZ9wqTDTrwSlYj-JOpcTCXtXEwnCSAlAQ8hjod5Mdi3jHkRpqkVie_aTVfRthp5qGm5TJzhlW0lq04qQ8Z3VONipJuNyZM43-iMuHc4T1GTZShpgKUbt_JquAHVhqG-fmR7IO-5M12HOltxCYMgEVzbCIA-C5lkOOUghrO5cIYgltXI0Q7eEtTBhHBUe2Si71rLb_IPh26D6zNQMeE7IOhdT-5HdyAYKxin5czLmoB2pCgkK_ELNU24azS515mz_z7yMh30OTipU4CjrKbcD0RkKKU6fMxpE_TX0lv2cYe8zeG8ZGcZNbH8ZNE6Cmmrm5E_9CzDOCRbmxDglL0eiGjQSnRJ8ztWZZNJVBdhU8-P2FOKhjeoj4MIMp3NLCGZdjBzaj9VQGi1mUHetsNtPBmcUmSODorLycATwjHWrziUdpu9JTwSGml9lDL_aVdJnhyQYwmCTZpl2rUZs1q8MTNRcn2xs_6YvPK3zTufyR4LmdhFDAwx3WqcpY-WU35St5pTcCTy-79A1VIOUzCyFo0iPTHutwL6BxqP1amBJPFVyNMwWYpgEw6WmQtKjDQ-XcJqr9FACWWVPWsyv71qsX7DRamnwbfKU9xktCHXsmhRIVA-R93u0SMN9r_bQVcXmuOKK0QKjcFndjxHc1S60hEFcrNcblbIvnpJfgE3mInCdSoo4fTbSGtJl8smB82pXjE0sFRPorklkSz6ODitI2IMCEuPnG4r6H-w06WLPMMxA-BzqgvPP9erAma5x0XB4KgYMSYQlLDd2k7O1ig3T6GTkQLlaeRDjw1w-zISETZdFToz4PTD5Vl02eKSKyvMrJPenF7uL5cNBFQjH9nKARkzvCc1QR32x8LsUNDaprIZwu7eHiF4OCjuZr8ryYTZtyo2Aru8F6X1sG6bX_frtbA1FcAU3LYESvso9JTHDEFHbBR-YexdVTqN-qMNzIqWBv_2M-GJkbl6fzFKvoxLkKEI6h4CZKf5W6KLLfpes5-i8FB07Yv--xdUNCdQ_viJJouSS73GX4B86TJZAPVguL92jDov6ddakjVxf3og8SkQn10Y-rMnvPaiL9qbBdMBvV6dy6_vXZI7sJsd15XK3g9LH8iMCysjPTdeqSNhDoAB5VDiGpFxi_Fa6rodQHImiqLRsJ56zGNVGSuqLxXRC1_2xG8z5p2UmB7314s_M-pNJcvQhYzZQgAvZUEfIN2Yd1wh1UBuBFOALVkh7MXboMzeDh65ZydfLZb7SbINcGq4UTeVpYMlrZGa3JYAz-Vklr_6IEUvwjO1Nz6H-CCgcgReGBMWlJgSbzRHTqXZ3ERmChSmjCIb7c7G9l5BGZu-beJ4nG8rNVcEJjvxX8aXRlsScV2YFqGwnLaOiMajB4791ZClfREOQWjxluhBRzg0uxe08UBdgruKHPAGVKSXYch_7ee1Q3FsgknzVCQBqre5qoQBMGzG4hled4QSTF0XYrWrseokhkI9yqc27KQFQJ2UsFqc2bYfCQmadroESHnn-xEJWSUCxZK5-7o9i7j_sietC-AdXlGszarNWgpwbzTQeke-n7DbqWHOYAHBJIRw4BxBARKfeWM9haahJEQ0MnlTCtMHK4MPTc4rMjjRp-PAZf5ouQEYY1FZq-WfK0potSywVRwctzos9E1n-pQDF6gqCVu-FKfIp9LxKxjzs3tMIARPJQte2QB8yqYicSZswe__tyFHe4mIW0vJdcFRAu644etfP7a0srLN20TmfLp2nG6dNiVZ2JmtR_n4APs1RU5dfZCZ9RI-h7ZO-GnlpnQCSSoAjFUmciJKcxJ4umzSmC2-kFALCHicaZb5dY1ykPCOUFGjRurC6L3w956ruN-rAIlH6ytqV792WUGnnb3g9rSV4iftEiTjsu31sv88YNakMMe6kgfylnUoRRSbFkTJyAoIJjmP_zRYLcGcTafoNejEYGfze7UB_1HX3aoSbEvDdVMmtpam-nbKI0-ui8IqCUvuz1PRJc2ha0cRMhERW0y2tZ9RUgiwfi_92FoSaXPWcbmRxIUR-1FlxymkSGOd0Kn4I5GM0aB3ijhfOne21JKIUILVPirVpfR86TUTTfMTJ8v3vJU3KEhuYu5MBRofDMWjBKUWA8pdmrXbq8SB5TEY5p1snFxvGCgL7f0OkztF3BcMPKp_0-V9O0Z6YhQTMRWH3atePu9vAJ6Te27euCYAk6OcVFG5HQ4onF9pkLuuFYuKY6e2iL1JE4Qo3W-RFeXsfkbZFz9g_jELIBC24V-vWAAIOEno3_JqjbRP38pyngCdkNEdtNc0leoDbDvE97mYbvZ3TB_Y6Al31X2zqoRUi_GuSt2OnEppf_VbPlq9GptScXpV4boLHPK0DHDxoFQ7SAA-3O_XRl1sJ_cquX2WWm6AkQOz9-Q2yxaZUIht-vRHQZlsyeKpjxkrZzQJByE6F0TBpWbu8PcUJyk76Yf_cj8pZbAgJfuFAq3fL8XQiZ1i0v2B5qwxjy67G8Ll7fU_ZuMyAV5WzmVP0Yfryn2JJ9zgbeFdwHNw1MSw75-waPQAUNE2AitsXwBfTLn15KZ5gXO02uSmiwSxx2Q6l20Hx2oCz-GEV2KMEZD84RP3iBIbaWqaG7ZGCIRSkypb_tOihRzJx89wU4e-w80LI4ktPFyt8MoQylnhdQKpjIquGbse7rdNs2LcK",
  "id": "rs_0e499b92252e534a016ab4220b758087d0b817ba395eb96c6e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIT7s4vYP1nC6OlBI2XD5M8wVmVKmW-IXB_oPQGTaJZtmy38vrqyxd-nM4lRAVLXE9tUA923IUcX3zsZdSLPXPTsQr48dJRzrcl9O5UfD_CJjZpimS5KfgQ0Ax8HVFPLFAy6bbY__Bm2MhtLPiLx3q5LmejuoxuYljNuo3zxAZg9ugHPuO0HwcjVHHE5QLd27UkfH9oHpVBey922WMb6tV8ae_8BcWrFjPdytInfR_IvEjRZ_2Z5AmmXzPh8ZXi4VhVt2W3t79kD24kdgHYOlKmsZEFqw3wP-nPhVOu0OD4LjJYXn955pMqzDjuwLyZ0W9X44h8vF2UFOmWujCG5SpsfTllemEMoGu7dlHHju1gG5GoZQR1yEWTA56KMyoCi06Xn_DHJwHEOxJtm0A6ijc_xGHtQbYpewL1zMuiU0XxyX0fPMFTIyqyHO_vSYyr_ZiQQbooDCnGRmWSNDaML9znGrMwFfM2BzhDIMjFBf-xtkCx4DSYt-eIHvpPGIe1uaQ50vbT4e0J816sdwWlb2ai9VdG3itJ6U0-JI9uKtlpQG7qVpFposA91sV3TPT6SW8s97zOuNAf3y1ZNHs-1BVfEUoqu29I-JQB1Iz38VdBKA9nhqqwSLZA1NRF5MaNzzoi6mTO4hppTeqR-6feVwMPGOwnm-Gpw4vUa4nSTrs3vtktLH4prrZMk18GpJ0jek807eCBoxaiaVK6tb6UlFU1uPsz4rawgt-_gJwPmZwgOx8QaHJxKLW-rF5nFFJ9jz_r5D_wfSnmMVm5-IbxKCSHgIAFex8YFa_YE-H9CZha6v7gVtiAIfUHoC7iZaWw00sk2p1bW5PjE5wkBdDOEPVIo0hOwltw3_l1duD-xGcZ4pnJ5uNya5G1_2gYtiIHfuDziCrW1nJ2KRZ5-86MHFjI235fUhTkpCUqmUxm7lcD4vqaZX645JtB7fk_fPVPW4k2RsRsrrjzFqJvP18E1kv69-wkyTofqzO2EJQqMcUlHUQPgCnXF6ord5LOCARZtBl7I39q5qCRihOVDSufNGAtb4kNlyCF16hvSiSj5IEMPxCN5bbuW64Qi-TDvJDMGDhqFknbxZhueEG9o-VxudZJESalpBLSbaTqoGh8oMJ6rmU4shLW-GI53EPsvgroeEZJIBic80pX2UNyNyl7BfAAyVJjAbAKFAzHwhNPFY6m-b7g6olBxxkTOt4Npo_OSlv1cPQjSTMcZQSCNHUtdH3kHv0Cim9q6wqdKVIg2TPsvDPfePI1mjYQDKsFTDVBrS9mSiacvAnOfF25IKlEQRAIlGTQJKp27mMA4atFXk9SYeTva2hT8FZ_bhPLnIJdGcrMR8MfxGomS4m2LJRzSJKd6dzC1e0QWLDfjW6i20hBObOdvNEDEJe-k-gnLK_kXh9zy10xf2I993acK7HJ3mHV1TZaiSSzEeiQQ5HVRrYUlZhs89x06RTqTA-Y7Cy6whdLwdqEAOQCighlnw5k_c53Rc7ZBmTmUD3jjHSmLxFUjg8ZpTv2S4xwdd0CQhDkCutBSrDg8TikHF-gmkafpg-5OD82GZ7KAyVhj8KqwgSGUi_GEbrrfNqgcdFMtHVwk7Gpye0z_eQg_Ljs-bqZOe-ohwpNPwR9DfU_rB5MTkcwOV6fvXyTwr3DcC5YvZ0Z6S65hWZ7myQVe1knpdmot7olS4kJKYdhf6PsSSJP8m3upS_i-DIklthPxiqjT7EIUKF8jhpaSaLQHgA0Q6lz-CWdgPADC6fyddBXGxW7Roif5vZBsm9iQJs6QG8qD9ZBKHHeJQsL56Z7ZTE5DCUd_bJ-qrJKTn_ZikUt99BDFkMFyur_dVPa4KhzkZPecmvzPdXnfVqWVkcAyLQen8cOoesvRnrZ4bfgQECSzywn7yfwl1lHuMSRZ89Kw1egMThSVkmLRm0xz3QqI0ESoytgc2zRLITV-p9_pQbL0FQF2JWkzhg6QJXPH2Zjp3YjJdLkA1fVLieqZc4gVT-J4edkj_D6gmbl8DVjFf0-y1-QmV051LxL8a1iUTAblYx0c9YsSGl5ckdT6xUkWN0qAds7Op5j37Ed-Sk_F98jnjUGWmRVVMxN8arRe59qtXyjP2TDsYoC7Cy-FzUwtpiMAuqyGNEXCDWd6Y0J6SUd6YPDOlSK9jo2jHqvW6YW4YPL_SXudFpxapU_EXVbytp57Syf6BFcDEbYE4AJSiR6jg_x_EFn74GPZe802dSx_g76aVfCtL_oY0vqqJLaR5no3MUKPYNlEG2W4N2Nic7ou0CnWr67aA_n_NVjOwtldiAsZuit5yQReyBt5Jr2KHEjtJozyiEcvff1KaYL1LmHWJNrGFWr3gxvCXJvOqUw-dUBhxVxcUDI2gPkglxgOEZ1pl9_g-DpN5wTvmKfAnC5xFtxNWfElg8yWuKa4WYDlH0_h5SHNxj_z0CzhTlgZrzgIct3k3_A0DO_dUWMcm3I_eznBNqVvGfaQJE4wCSWGu2KdhzjOG9bqME2Vc4sVw3N6hcW4BAqa_3dXYEgF3fE_3-mbLA4wLoNO6EmhNhrzIyWC05ScLa-ONrL-SqPP1CFPpG0gDvR34jg5dUKucyUW-w1BCtomW-V0ge5iSiyH7Mwqd_lTwo5",
  "id": "rs_0e499b92252e534a016ab4221019a487d098d5dd8f8b8095af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.22,\"left_z\":0.15,\"left_yaw\":-0.75},\"note\":\"The short dark cap lies left of center, while the long pen lies diagonally just right of center. I’ll bring the left gripper above the cap, rotated to grip across its length, and check alignment before descending.\"}",
  "call_id": "call_WiZQyTk1Ruymlmmzwi9ov61h",
  "id": "fc_0e499b92252e534a016ab4221294f487d0bda7efe2299dfc42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WiZQyTk1Ruymlmmzwi9ov61h",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4217, 1.494, 0.8471, -0.0315, 0.223, 0.1261, 0.9996, -0.0181, 0.7967, 0.6128, -0.3912, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3689 left_y=-0.2044 left_z=0.1235 left_yaw=-0.6889 left_pitch=-0.0881 left_roll=-0.0319 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0118 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.9402, 9.8393, 2.0879, 0.3053, 0.2271, -0.0171, -0.1026, -1.6615, 6.9265, 1.79, -0.0269, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c268cabf0b2e2e6541fdb7e76a7e9f1dbeacdbaeb1869ad226a19224f46a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52eedfe46c8cc3998cb5307e5fb107b089f132ce39e7ca3d38fd45762362690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7730737d18830cc90ef0d9c8b3908cf2da056ac3d50b3d919f30cc1f51417ab0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 6.379 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0158, 0.7914, 0.609, -0.3813, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1827 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.5111, 10.4957, 1.7802, -0.0366, 0.1001, -0.0513, -0.9094, -1.2923, 9.7709, 1.9316, -0.0317, -0.0513, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4217, 1.494, 0.8471, -0.0315, 0.223, 0.1261, 0.9996, -0.0181, 0.7967, 0.6128, -0.3912, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3689 left_y=-0.2044 left_z=0.1235 left_yaw=-0.6889 left_pitch=-0.0881 left_roll=-0.0319 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0118 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.9402, 9.8393, 2.0879, 0.3053, 0.2271, -0.0171, -0.1026, -1.6615, 6.9265, 1.79, -0.0269, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c268cabf0b2e2e6541fdb7e76a7e9f1dbeacdbaeb1869ad226a19224f46a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52eedfe46c8cc3998cb5307e5fb107b089f132ce39e7ca3d38fd45762362690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7730737d18830cc90ef0d9c8b3908cf2da056ac3d50b3d919f30cc1f51417ab0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e499b92252e534a016ab42216736487d086865362714f433a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIe4Qi6EHJogwB0EQMpPHoJ8KG8Ao63JfBfSOJm0h0xTiUAoNJ6TkV35AFlyLnSIppd9KLCLR3TPLGS1747Eyo-5NQezqsANRXtoSRcSiITtLq5Io6PiW-zf-Qg-0SL7dLoPMUsc5kOCt4JdLylk_ThBkJj3kRLDOtFhmsJbOdSLpeGuZBWX_BUMv5fIf3e6c1Hx6QmvB0RRRZ9tvIHRSNc9xAe1inXE0hfeYbyVjm1p6lElksK6BhUpZY0yYG6JRMTkKbYeyYHVD840zlhNMsXIsDVW5SVSR_tXIavv-d1eDsY5uWImxhaLLKMDx2_PSV1bA8PMaD1QnyU_TvMFa2cMUGpyIOL6iDBMUcrh9Pcu3h_VqLGQWnK2uTOSJQ_-Sfur6uPypUYsSJImWMIYIauWeEV2XvSqR-D0WkCBrvgEAYheNyTn7pHubXqGfItpMbSKYE-JYbjkj1trz4Of9DkXpAtYqOlZSelq89kz73xA6XsnjQWD_Kivtqs21zFniAlPTprKkOq_287q_Qg5Ih7fXN7Rq07MKqtz5Nfd_GpiK5XJXmAb0PrVxApypIvLp-paodKILLxLKyrWjVe1deUvaZkb7-RsQ12Rm0cmyuyMgI1ESw0N9p8qDxlICGDSmvpl-3sUgxceFPaHktgbowalE8g8qsfqXGPHz348p5ZPKVAJSXTTfwZiikLKXxR_566JMVC_n1jlocIC_5xWwdin5zCtydmn_QzwxkKrrkuB4N261kFA6R8SstVQKUkPk4gxB35ntrqit_J6sLrWd7afCY_981Tn7-KupwOcXV74sdB6l7cu_dBr9uYoWaL-CCUk25mH_dkCaqYj-kB0F3GOfmHnNoFqHHEJB_OrQXLisLN4ideFZ363Vhtkj6JdWz4n3nA8L5FhfgcLOEZEeL5GBX207T-g4Z2wA9r0C5m6gy3kovj_YiW57UKLi46fUw17ASwh3buDMPa1fdLcQU9S9Yr9i8QSVgof5j-9ahjD6TxR5yXsp_tzGkk8RTgqC1WskbqQsx1oGGxKgyw9-aH_XTWV3DvzZEVoQDHXvgwn2mVwfXHpL-hYGybx4LHY9lI-jjzN0CkRGi4hLUq4qwc5XYHMRT4wC40c09H5YAv_cl6qgKYWS0xW5wDQf5m-tygliCFEDNFibPpjFt6c-TcutcWXFPqwG_-8wrPjSAxVVqKZY-nHyudk9u4AMHaxE6-GePeay1WKWJSMYuqKBV0lv-z-2thoUToExW40Ro3dKWxEhgOG8uOMqlIlYS54EblGzyj5bnV8oLAAYkxf-hxbCacpUzXfXlJQOfCXo5a2QZcUkIzkWCjk6go14VQiLAcPrtZSlTB2F_IJM-yacsVAwgxyh_zZF6Gaa3_pCDV2X4qWY4H_pFRBWvf9AFXAtqLa0OntZPgad2ExGJHWYCEebSHJD1CWEF5xKl_HDDdYiA5rKDD9sB5bhpoedAqoc2YOQngnKwOCC-pmntr60Y3DhOrlVUgLwY9y5ickS9MuKAt9d_8OPL4EdHRISsmZ4ENpkUXEK_xZNsm2tni0yZeTQs-3NuFJyNIPjcI1wmyymmyL3rkq7yynuDBsTXHmN5bbGlZAekTraY8xYhKqTvCt8v2EzjUnNCFTV1B2R1MSDVqnB4xdqz_V_5u36HYfyAUDu62k7RrwYsVZQ-9puV0-L84vcU3aWMc049DtP-Y1bzurU1AkKQ5JNNLlbuCma68ZzUuEgvC38i-MQ4YVsSRWBTNfl1dhy_ZWqayyKVUexZUllKk2cIn6z7YBwSJ8fBLwdc9xSqh2Oy2DwBRRr9MJucIx3K13Y56sHldWuMC5LMcZIcgGP_BKwXJVssK0ME8IWJo4uPDHJdi4KgXyXdLBXxQG0ty1r9JRn5WQhXPmVuQG8w4UKo7SciWZllOrGE1-3IEp0LwVJT7cKqx4Cf4TEEh82rN2zxBxLV3nKyGMmtFrVMgKZGWbgy4q0qFyyLS9OfSNszxdPUJ1IEuULcWYbhzyrd7J9wvsYmpTLAcdbpeatTj7y7FOMkyW9wOtIBSVH1GJ4FGmu9U7fbALksKA_ugsVh6WD0aP4JHh_JT2ZtZIu8MMdlPC5S4JDThxNRjMPgCcof2DecSdU8Yaq0w30wy_bbRb-BBbHCUMP7XJkuGq0f0Zo3xrpyrs-E5z_-tI_AuUx9ekfY5qYhzLjCLKzjS48JOfJwKFuJ3NTb5dfd2dCg1X60B4fY9un2B4N9E5bFNQV5BU7OFPXtPLuG9RcFHR_OLNeSM64dY8JJbSnE7xHi90SQTyKs4V32xh6CbNr3MzuePydv0RW0rEHqfn4raGRnzhcoLIpfrgDvXL85Fi-O-3tP27E7vpL4buEUTcbKhg2J_cGrKzzxnrTmyRgeS8vMAHlXqICFe7kbpjRmBumxzQGs8858xCc2KjHkfQmdWGxQ92Br6kJe4GnmifIlIJc9r8xK0JpxHmyZsEHjp7I2YYPdEodXalJaq4VE3v6kvPBMclSCbJv44u3s8EnWp0ljZCzLbDsDqjFHFB6CnjEa2q0tiyJCW8_xmE9lNxm8SkixrQZQ7fPLAwHD_r48-k8bMfbV1AN_I0Vb9qxyheqziRzDcO5BrWaTBzIBQib67AH1ISXrnNLJNI1-FToyv8HPzFWr5384TrzIvXw_E2RRCqGCo8Y4Kn-AMxeAnDaQgtYS9p6lh3hkBt9AsZ1Rl44DpCgo5TEv_SZ2GkYw=",
  "id": "rs_0e499b92252e534a016ab4221b118c87d09ac4d7dccbcd56e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.185,\"left_z\":0.035},\"note\":\"The cap is low in the left wrist view and slightly left of the jaw column; the pen is farther ahead. I’ll shift the left gripper a little toward the cap and lower it carefully before closing.\"}",
  "call_id": "call_iTZWfGqnxyY8tibOhJSiEnZv",
  "id": "fc_0e499b92252e534a016ab4221e08f087d0aa4bc5fdca1f437e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iTZWfGqnxyY8tibOhJSiEnZv",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3569, 1.7081, 0.6655, 0.2726, 0.2485, 0.1455, 0.9996, -0.0181, 0.7979, 0.6128, -0.3943, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3653 left_y=-0.1787 left_z=0.0243 left_yaw=-0.6593 left_pitch=-0.1708 left_roll=-0.0592 left_gripper=0.9996 right_x=0.2942 right_y=0.0025 right_z=0.18 right_yaw=-0.0013 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -7.2957, 5.2171, 1.8291, 0.3785, 0.2662, -0.0171, -0.3214, -1.3607, 7.0085, 1.7265, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b50e1d351ed82d51e0683b9809aa8b4b862461669df333b1d20f2ec5d045cbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a141f5a88ee6b939f5adb997020d539c29b4440be077de2d32c3a91f4940ca6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887640c4a22d20fb1976b0cac460c517c8b060e3d2d09da25cd4aab498eee3f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.241 s

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

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4217, 1.494, 0.8471, -0.0315, 0.223, 0.1261, 0.9996, -0.0181, 0.7967, 0.6128, -0.3912, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3689 left_y=-0.2044 left_z=0.1235 left_yaw=-0.6889 left_pitch=-0.0881 left_roll=-0.0319 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0118 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.9402, 9.8393, 2.0879, 0.3053, 0.2271, -0.0171, -0.1026, -1.6615, 6.9265, 1.79, -0.0269, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3569, 1.7081, 0.6655, 0.2726, 0.2485, 0.1455, 0.9996, -0.0181, 0.7979, 0.6128, -0.3943, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3653 left_y=-0.1787 left_z=0.0243 left_yaw=-0.6593 left_pitch=-0.1708 left_roll=-0.0592 left_gripper=0.9996 right_x=0.2942 right_y=0.0025 right_z=0.18 right_yaw=-0.0013 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -7.2957, 5.2171, 1.8291, 0.3785, 0.2662, -0.0171, -0.3214, -1.3607, 7.0085, 1.7265, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b50e1d351ed82d51e0683b9809aa8b4b862461669df333b1d20f2ec5d045cbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a141f5a88ee6b939f5adb997020d539c29b4440be077de2d32c3a91f4940ca6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887640c4a22d20fb1976b0cac460c517c8b060e3d2d09da25cd4aab498eee3f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIlPUrmzLmEX_qLTHtKaNU1F4oD9qo_4Uh4IbBccL1COxhVeqfSD97DktIX1IqdymLQ15fIC0cbcd_NPOLf_k5JHZwANLvkDTXKmsmRm_KG8GweZstbzc4AZUV0Fghf4fybqQDmbAotPuvvPsMWEM1XQ-GrFvR8MhvVYMwvH7EMhWC0G20iRPVw1q9TFP2Ec9WVgKw1CfVOjcz7mLl4nCFqKJKr7EIyhAb0-NKqut4D36Vbd3LB5BlPIHx5rTHbY72lgiPy8L9s_RslVNnjLc_eemCBVPfwtuO81_VOCiQYm_ub_eoURljMu7G14_TRq1MWyte7U03xWh2P3egwNFDJ0I5Nz0T88k6v3081U_nrABsVXtFpyg4HH8_RqmcOJ2CrenwHFvun5mUydj02Pk7dl1p0whZoyEWu60cEgEO2H5FUaySMFYoUL2zs6gGT_fR0w_TiyDLbP20UxZtCbqPZSh7zu50rcxgVjTLy4ZoJ5jv82Q35lk25MFYw8hfX8pLjqRtVSFKG0ukZpxJBw2lyPlS1G-DuCRDhe9oLIa8Lg_VoZXQA_Y-Vdsqk3ueLlEIff8wehkD9qBmSUWoa0xLEswEFv2VGtDh6MWKQrHsJzEUWz5p4UgIC8Gd45ybesvcUu3XSu991noBbgv3CCnx8XZF6Jl9UAG2FCYeW-mQenlRepZibFfE0pJWlBSrxjvSCbWIHSUevsnmw3bHYpoD9CkOz1fpu6db9Wjn9oNDUqBJsj1U67YC5W5nOd9YfZLRSAMlcKSsZq41Uu93ZASeIH8eAYhXV1YT5ZSCCWaNXN6JOvemXsw13nCJhY7Cq37EUiBAGCjUsA7-bBSJFtRilxJ0DDM4yd6fTWqK1uqTrp_FTKwXWpSI_0ccf5nqcQfjYtspbmkSxR2HkH71b3N-NrOCDzpRVubs1qjQ8x-vRTeg6B-LVgy9E_ZDlSZ6Ub4yPKgu9tSuCJqrD6w8UV9Iy48bdBFL0bCHDs-pQC0NSU-CvwlQHygDFmSzHW1svoFpD-Huxb8jfzyreBXDHfY08h4L7lcEVboV4FDyABxwkczZo2kt3wJHoWr9qsjBqLtvqjLicPTDlpHGGy85HCor9ryDVXrm1qkJJZfdDQcAp16QrVXAlHqOrOvfM1k9yzwE4zxr5HGbIAKPlGtJLdL2iANqV8nurazEIj4wRBOTG7Vgw6FlpmcZvm_zTRjlz4fnicbzdBUoxov127BbD-KcJA0OrbOG4VepSaLJmVtlYQnWrZVPrCMs-vtwRmykGTTBIUJRfA9Nyhx9OH5rFonLFzUGys7uIKQOqC5M7Q3-V_ka-XurzgmNzDLprqZamPirdwTqFcmB0aweFq3NfDrGDBXFVhymlcfivqSPe_IxVGOHJXZJPx9JTsj1RP99XqXDYap1ktzl24oku3sxFlfY5ZKOIb8xcFcS-K6wqyWHyUvhm9n2aXHSrmeCELV7SrXwSvk9-EZwDqsiEzWOjFIlwpAYqUfPeN3I1G-XigOuW5Fo-qc2_f0G-5_ap1Qc5ckAAIjXL8SZKuvwcN1wvFwLSCMamTlHBOE0nPrnFNeWfRb4PqaYiKV44X940mvclrZL_frsCQFj941wqOIPLHIqHw3NREKakCdcyWaQYxrP9jgLNC__oonUMqLemjpYnrg2NikbC-JyFzYbMgk9UowES6j2pDevet_6OZsfsFQVMdJA_XUjNy_O3jpQFQIKmwJgsSI_bahGomT51oDOdoCnkh9XTCZ0TZI9xa18lyNqSFlk3SHsHcxZrPnmZgip1vOnSjIvTh75GegaZVbkd-ejmE6ReI-VP8lFsEV6IVoyAKbhaBnDJ9z0ZvXr_hftmK20cafTf2c6mQ0EpLsCdK_uurkDnPp8KiNJcw0eUyJVP1lOmAWx_fmGgfSnVsgM4TCn4XsmpGEWLfjOdXat-_9JP7bDkTMCJ7xhsb7yxwpV7K0Wdidl_FX_yhd_2dGyO1XEfMwrYGr12lRgep7QDskPCf4MIpaoEsR3urDPUmEMCRZ6HzCkavYJBoT-RtO6Z6y1HHRpRqBxmfE8COluzFAQzjS7qQRPSLjuEGO9AhKu02TByBa6ynqEcmJ65uKbcfByBJmgpjbknFU5hwFzlmSPAV2LZKujUBM5PgQ6mJnaDnZlNPe16_IJdzuC7uc73Fb3-437NcWDU5VOI5Ywu1ebjzUm7ElmgWZd_eQ_d9COrgBPiNEIyJ13jVY4bD2ZBsGSfM1Jlp1DiH9qY5pnmhEAPj0tp911KGFcmDGG2AMpm58kPMUxR8B7pCuyZDwPeKc_DoYo5eBD0zyhPdDDBjZyFpsDVG5Hs9Ltc-F4yQgK6uRLnEMU2LAmuRQe_qF_kNPuOpglLA7fAlEewZWWQL07VBoXq7H2nmluy7EZj8bEeiu6s38kLbERy9xMYT9KflbsTHppsVdH0hqY0tz6TiS1f-xzSXuTbYS1mouoblIvXGpdawo8BIP1jCiENL7Qiygd1gg0ZpMhaH8dSRk6rCpQnh5VGiphU7H0XIgZbuGd0rxhHfDUZtLz2W3qI91jaElQ5UpHWxWFA8QHuMlDq4OjqDTRlR3iPdq5hMGx0jzpqgP-LFVgKsEiuonMeUA0IIqrsPWNNLJ-a5foRCmSm7Uxk0IwQC17ywruFB7VJswuA5i8t41IaMKSc_EeFpM-isPvSmf3TlUY_SaWPD-8dKuBgHAU__jY3AJek1FnATSxvtHKV2zunihjJgYsOK_SW2yNhn1o5Uo9440kqcujcsaU5xHFLJgNse4puuA0emJwUTjDOlB1YleHsIOKiow0pnappHLwvthtJJktaQg478WJhgy9SBSaSonjvuusWXrKNUmB3kXiRBienbZa8szvRF4QCijMyPMbmqojfguJU7cqF-hX_Zh8ILSVTNcQVfbPg7-kqpK8P1aP2rFbsM_Oea8obxehR8ssLcF4EkFgH0-ApFvxYoE4prMhgUhxKx4dHvzKJdEJtiNZcAY7lZGYCAWPkiRdn-mXjRYX4kvKSnIS6srS8arde4cmRVMESMlwsQ1Mlgz09f4XAF1AcQkAnT6Xpx5EQ0FLPxhs_-rJIZwvr4cuf9oUAv-nOyACvZiX8b0AR8Y1PHMS3lUEWMdj8Y4vE1_yimv_IiLsue1zvH2QCZOXextkANL0ne6hNnwl3ttO1hrc4zlIb2RuelJ_e2S8z-1h7mI6vLDqAYRBbk9etzyCese0LqU7srsqzbHkMXlqBzoiTm8bcmBiuOlP1P_ohBRau8xC0YPadTqvduhUhp7igQQdCnIs8MGmpw6K-0audEl-FYEq_jhzPcjJGsqC52FDc_beGBDYh75AJKQxOjkVnzMPiyUq2dK2WD6JtlGukAEuzGtSyIV8MluIztwai4nL_35CJWnQ_uy8jkQgucg==",
  "id": "rs_0e499b92252e534a016ab42220ab9887d0ba1c23827415ea2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.16,\"left_z\":0.045},\"note\":\"The lowered wrist view shows the cap running nearly vertically, but its center is still left and ahead of the fingertip position. I’ll advance and shift slightly left while keeping the jaws above the table, then make the final descent.\"}",
  "call_id": "call_e6Le4MXEhxXpYPPb0n7dGoUJ",
  "id": "fc_0e499b92252e534a016ab422250c2487d0a18bddbd8a085afe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e6Le4MXEhxXpYPPb0n7dGoUJ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2813, 1.7252, 0.7425, 0.1883, 0.2787, 0.1749, 0.9996, -0.0181, 0.7986, 0.6128, -0.3946, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3858 left_y=-0.1584 left_z=0.0313 left_yaw=-0.6263 left_pitch=-0.1863 left_roll=-0.0657 left_gripper=0.9996 right_x=0.2942 right_y=0.0024 right_z=0.1797 right_yaw=-0.0016 right_pitch=-0.0172 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -7.8974, 8.1436, 1.4872, 0.4225, 0.149, -0.0171, -0.2803, -1.2376, 7.0085, 1.7656, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f111cff9a6482ae507400f79d8e03485f8c066266ac25311f34d2dc4d0b629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2fb99cea25470dc107bebf78334d2576144cdd2accf43d09c2267a34ca3c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4877c8efde5376752cc606eb6605023dff990cfa6da29a29b1554a65ff4757d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 4.082 s

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

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6022, -0.3801, -0.0219, -0.0246, 0.9996, -0.0158, 0.7914, 0.609, -0.3813, -0.0227, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1794 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.295 right_y=0.0029 right_z=0.1827 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.5111, 10.4957, 1.7802, -0.0366, 0.1001, -0.0513, -0.9094, -1.2923, 9.7709, 1.9316, -0.0317, -0.0513, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3569, 1.7081, 0.6655, 0.2726, 0.2485, 0.1455, 0.9996, -0.0181, 0.7979, 0.6128, -0.3943, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3653 left_y=-0.1787 left_z=0.0243 left_yaw=-0.6593 left_pitch=-0.1708 left_roll=-0.0592 left_gripper=0.9996 right_x=0.2942 right_y=0.0025 right_z=0.18 right_yaw=-0.0013 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -7.2957, 5.2171, 1.8291, 0.3785, 0.2662, -0.0171, -0.3214, -1.3607, 7.0085, 1.7265, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2813, 1.7252, 0.7425, 0.1883, 0.2787, 0.1749, 0.9996, -0.0181, 0.7986, 0.6128, -0.3946, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3858 left_y=-0.1584 left_z=0.0313 left_yaw=-0.6263 left_pitch=-0.1863 left_roll=-0.0657 left_gripper=0.9996 right_x=0.2942 right_y=0.0024 right_z=0.1797 right_yaw=-0.0016 right_pitch=-0.0172 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -7.8974, 8.1436, 1.4872, 0.4225, 0.149, -0.0171, -0.2803, -1.2376, 7.0085, 1.7656, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f111cff9a6482ae507400f79d8e03485f8c066266ac25311f34d2dc4d0b629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2fb99cea25470dc107bebf78334d2576144cdd2accf43d09c2267a34ca3c86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4877c8efde5376752cc606eb6605023dff990cfa6da29a29b1554a65ff4757d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIp9no2CrdrDbHIJxtHPhnWVHhNqft1b3ND6R0b7LMI711cdtGksTt6s1SI31AXemQBFrwri_q1rnEpHiECUpkSwTf6f29MV2-WzncDJM7QWuE1t-xIYN7BRreFeg2aJa8z_bodV8rvjz__sFinR7BFD9gCyRaAKXXPnRXB607nj68ZxvsjQGG1QrvnuaWJ2nPsWJ9RrZjaD5VkMESdYPCN8AjGj-XIB03pbADgiL8j3s1f5OxyN32lfdtloZvc5fESZDVsS9J7YVfn9B3my5pqYViaUbx3E_bTHxPgHy1SjRE0MYqCN0My0v0aa8qouSdvOdrBjrxLwERz7oy_RdzxL6TNIR7C-wcpq1BhxfS9mHfod94ulK9ao6FISA56doq8wxoHK1gJYbr5pWM1pShuuEwP7CzysAIlS552CtLRBpQPX4sKAPtTBZcgYYDR-DlaQidHPYMR5tECn9R93q-S0zqRjiXvhhw5P5EpBMxBvQdaqGTs3B6oKqaR3foKKBTSz94pnxXf6kSSTEVd-1RZnM9cVH2FZjLzEPwV8kSHRNjBBDya4GuOn6Hga52PMw7IjI4kHqyokOxK6z_7w6PgPueECdca_nLhNZbwmIEQp14XMsu5qIPUVaA2xHAGK04BCwsj3WtfzxIRMgNmS5PapmJvbMO91MGxalNEJ4CNPF49tlwqVoW2zBr0GINo67qpJq2hhgNc9JkebjUJVal5H7xLP5_wjrMfZ2QtI91xoiU2IP8WDuwlQHbkanznnccgdfKg_KQtWIu9DttiWvd92dRMvy-4cIywyjmriv4pNwEMZTG75qaWVWLOOEeDa3QrvH2y12yuG3PNSkjkLHYsDjJK3-dOBisifxP8Cih0yseQdmGrPTqn1G3PzsCkPPJaXKc9FBxIXzL9mSL5qyp0qJdUM1DkWfe3LUKGIrp6n2vXoHBGQC93a80iEUyj0maMeOk7wve1NyZ2m4lFEfDlhRSSyHLx3HKIXvSO3Jzu3iE9UeLJ_awqlM4eBIl821RTbTTpoFGQOgReU19-KLrsTIQsRchOy_dYV2p1-wGpf7qscUNXUSaACTqfPb9tM7dj13h8DZi_9ap_-I9i5M7BqBJex4gJcje5OLuFzAAUvETE3ifrNsYg8xo1ffGC26bQ5NVg82qedpsQFiMVjrI4jQxCgZnMePYlQOJXmJdMyF8Ur-nrblrHNzgdaS2nT-k6aVci0vWDIXOQlCI7e5Gn6bZHSFR1AV_S3rD2WrblFvCFOdG3HCiOfY1G389SRN91wYt3cvMinHXVJUHGAzgudGjve8tsM-cdTgOdWfFyr_yIfwyncJyqnMnTRiOdEuBlPtjWyJK9pllARE14X7fKF4VXzeCScNBS1jVT5nutvBTWf6uBS3ub69mv0kNRCn2KhAumTBkFLBqTDjxmQVjbKboCM9-jJidD_Ayqgf38qlXBnQOFkhveax4ZDNveHPIGuK2qnwxg7GmVbX-qOKkXvIaYDrJ80VwuRusD6kMyXPdE5qr38-C6362lu5bu9RZ0V6B9OfPYTVsOn0ZKPqllIYV0uOMPfK7O8PJCa2Zk71eMYKhUhFXzXvtDFvuIngfqFlXMlN5WTeBzqu6_IK-7PNW9goohNpaiN9Uikc30JqaDJ3BKrEIHyoJrEjk0ulqkyf4M4rQPHo_RSK8CqNp7-jFSS5Q-vaSNalm7sVW2PnMeqfi5mqV4wkCTY6njAPhIeRF5OaTtuuUt5g1S4_ladfPtceASyo7C54wRQ_ZdVsf4s5poH9TC4uIuEp44TxVBSH0i_ZrbnkBIW5oHXv2ANBdi8BVNc9dzqGPqqrC0CrfKRk9jFakAdKLrbuAB6QFS6GQzT2gmRzGAU4-hmrK0v87cInSU3EKvPafGkAj_R5KEKV6jA5G8KgD-2b5mIa_I2ORQNCA-GDdAOeXsG37FqA==",
  "id": "rs_0e499b92252e534a016ab42226ab3087d0adc700d0b3d34550",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.003},\"note\":\"The cap’s lower section is now on the left jaw column in the wrist view, at roughly the fingertip row. I’ll lower the open jaws to table level so they can grip the cap rather than pass above it.\"}",
  "call_id": "call_XPYlPcMLmsnw3wHsHGf4JT4Y",
  "id": "fc_0e499b92252e534a016ab422285b9087d0b4b9b98a1a93069b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XPYlPcMLmsnw3wHsHGf4JT4Y",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0025 right_z=0.1792 right_yaw=-0.0013 right_pitch=-0.0198 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.706, 7.3641, 1.3944, 0.2222, 0.1294, -0.0171, -0.3487, -1.1009, 7.1726, 1.7607, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8315c132b3afe592b5bf05219efe43b68816d63930af3e394362a85c50afc1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97bebb22d7a241f45f9267aba6324f7b428ec7b08027fdcb50ce2615e3f27471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af44a39ed553463b4fa7000fa6f796caedadeb7c83afe41f9c0018cb6502281b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.353 s

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

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4217, 1.494, 0.8471, -0.0315, 0.223, 0.1261, 0.9996, -0.0181, 0.7967, 0.6128, -0.3912, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3689 left_y=-0.2044 left_z=0.1235 left_yaw=-0.6889 left_pitch=-0.0881 left_roll=-0.0319 left_gripper=0.9996 right_x=0.2945 right_y=0.0024 right_z=0.181 right_yaw=-0.0016 right_pitch=-0.0118 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -6.9402, 9.8393, 2.0879, 0.3053, 0.2271, -0.0171, -0.1026, -1.6615, 6.9265, 1.79, -0.0269, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2813, 1.7252, 0.7425, 0.1883, 0.2787, 0.1749, 0.9996, -0.0181, 0.7986, 0.6128, -0.3946, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3858 left_y=-0.1584 left_z=0.0313 left_yaw=-0.6263 left_pitch=-0.1863 left_roll=-0.0657 left_gripper=0.9996 right_x=0.2942 right_y=0.0024 right_z=0.1797 right_yaw=-0.0016 right_pitch=-0.0172 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -7.8974, 8.1436, 1.4872, 0.4225, 0.149, -0.0171, -0.2803, -1.2376, 7.0085, 1.7656, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0025 right_z=0.1792 right_yaw=-0.0013 right_pitch=-0.0198 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.706, 7.3641, 1.3944, 0.2222, 0.1294, -0.0171, -0.3487, -1.1009, 7.1726, 1.7607, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8315c132b3afe592b5bf05219efe43b68816d63930af3e394362a85c50afc1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97bebb22d7a241f45f9267aba6324f7b428ec7b08027fdcb50ce2615e3f27471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af44a39ed553463b4fa7000fa6f796caedadeb7c83afe41f9c0018cb6502281b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e499b92252e534a016ab4222a4ccc87d0808f3007ea5c0f57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.018},\"note\":\"The first short descent did not bring the fingertips down—the position readback is still about 3.7 cm above the table. I’ll continue the controlled descent and use the actual height reading before closing.\"}",
  "call_id": "call_Wa2nUFHaFV9VYRx8uV3fwHpj",
  "id": "fc_0e499b92252e534a016ab4222c7ae887d0b0a5bb6c0386a0ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wa2nUFHaFV9VYRx8uV3fwHpj",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0024 right_z=0.1792 right_yaw=-0.0016 right_pitch=-0.0198 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.0479, 7.3368, 1.4481, 0.2466, 0.1441, -0.0073, -0.335, -1.2786, 7.0085, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551f9bba6c2d1d3696f3b1b2cf5573f59efc2362d7ab6af62add96fbaf1cfdea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294f48f25adf6e92575a9f87bfbe1c45de238410f3d4b6b11f6d14803a52ce50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e0afb267a5afc6f62bdf9f0f34c6fd2d42650da29163371ac77ce9ef5ffd1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.235 s

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

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3569, 1.7081, 0.6655, 0.2726, 0.2485, 0.1455, 0.9996, -0.0181, 0.7979, 0.6128, -0.3943, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3653 left_y=-0.1787 left_z=0.0243 left_yaw=-0.6593 left_pitch=-0.1708 left_roll=-0.0592 left_gripper=0.9996 right_x=0.2942 right_y=0.0025 right_z=0.18 right_yaw=-0.0013 right_pitch=-0.016 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -7.2957, 5.2171, 1.8291, 0.3785, 0.2662, -0.0171, -0.3214, -1.3607, 7.0085, 1.7265, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0025 right_z=0.1792 right_yaw=-0.0013 right_pitch=-0.0198 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.706, 7.3641, 1.3944, 0.2222, 0.1294, -0.0171, -0.3487, -1.1009, 7.1726, 1.7607, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0024 right_z=0.1792 right_yaw=-0.0016 right_pitch=-0.0198 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.0479, 7.3368, 1.4481, 0.2466, 0.1441, -0.0073, -0.335, -1.2786, 7.0085, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551f9bba6c2d1d3696f3b1b2cf5573f59efc2362d7ab6af62add96fbaf1cfdea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294f48f25adf6e92575a9f87bfbe1c45de238410f3d4b6b11f6d14803a52ce50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e0afb267a5afc6f62bdf9f0f34c6fd2d42650da29163371ac77ce9ef5ffd1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIw02isN33nOYdl_yphbVGbNqbdf88jlDqPNDNZCts3P0LawDx4MVSMRLdp0KeYlU4PDVEANSPGJyLAq3TuoDHuYVqWPcLWNboeMrJUOV9cw12csvYfshh6bUHExwneuGY57Zjj58SX0irPUbrrb5kDXVAauJ5bVRQNOTqXvgbFFkSm5IYR8Pjm77Mje5fs37klTfJeu25uVHmsxqb04Z3BLTfPguaimIvjDX4yI9Xldj50-KyRRU2Y8H3ZKFiOlx8xhATrMADLdzgNsJBbnc7d9tXvrJ3XN3_MoNgCUfYURI3u1VjCZgy16mPJ5pYgbxkCVRS3z8-_OhkG2QeaY4w0CbCKzcRFH3rrwOtYM4hS2rlTLQJ6HB_hDiS2TTO0lQi6Wlcz2CKiwd-FsfaRb5sqONcXzpkf4O5E0WJ--HTOnPWEa2M_Y9Xdt6r-_BAtwiAkoiLpuOVXk-cfZbTxRyBW58hOqW0DIRnVgaG03o4rizWr8EJG87M60SJa1gryYkEvwvCvzTFZYFmUO0cco5UrUtVQ7tZqeK8yTMOiQpa9138tQBc_uiMi2wdIUKlTqdVp7QOh5Y-886p_60ceCHiGtNairYgxou1T9tHB37eKxC8p_ZwEydwBAZZ0yNUNnVhmk7PL9Ir2Pjyx0zxaf9H7vzKgtYdD7iLb_1WdfYK0HI6tnFHjEfAcbnBkLw0_K4BN6FZRxMsXMf6U3xt3MTyTwQNB_1dOq9ROx6ShTpdPof8HfkSi4I_5pOYd02h_NmSM8NvGIG4MP8Ax1AZYFqfyGdfXx0J-41w291OFzqpCaQWZy9YZkMlXjDVRW5ltJp0lyWSAFOPSqvMWCuxNUTrBNL7UlNylP0uZ_4uKydyo3lqniV9OkmUryTKJ4b0y6oAfzowj5epusBpuTS-fwiZg3j-QCuK8LK2G5ZdvAGlmAaQaCYVFuC0ZzBLyzEJmHStzRMh-Nub2VRB4K-dMtTmYt4sG5WXNzHZJGgjIrlS4cmIa9OgHeocWuYeovsCzOwgh0Kukvc2LjOqecX4K3Ink85KgXBbYJ6qTD30GVH4dZr4hMRYYKJgjakCHQgsE0xyn-Hpk7GP1UGf89hlCTwd-cl6adFqKY_KXqmBAVsB9HZY5-JkFtjwdbyQe1zpfp7BuHH2nOO1NOgbDoRk_OdqCLgHmbe5G5UQ44cgrBNLUpCn8dB94CrnnHFW_iLVTQQn9GwJ13tSlijtbB_57Q-r7H5un1DzGRJDKs4pHzISKoc3L4AEZfT3AQBqjfAj9zb0gn8wf5Oo5yzA8iaKZjbHasACg0WLzlEdCGMNifcY2JA_0HzEgTaCzQplauF8XVNvDSDG3AkXw5kWibCiD4YII3wZA-PQUvqZWH1KSNhqsGA7unZxq-OuZ-QKUEyEv6mC41bHLfRRNeL6G6b0ujkuDwBZfoksXU2Zrlpt2h1tgaOP0_CrzrMRPMs9n5pZAHmN4pBqyuUXIsi5MiM25Tdie3XcWe51omIfB10MyX-rFRpa_dxI1X9-RQiI6q0Pwa-aXUrdX3Z-kCWg5k3zbzv4OqLAwV6mWPUmMCepYvj52nKx0ZhyU6E7u_mpcV1jh_rEsCw33-bsyRLNpCZMvTRGFOcPRIH6oReCMC6N__osD5nYthBckjlSPn9nFlvsO70gsNknlTi5le_Hbgpayj58jWXcGO-bwoL1kx3Wn4K_Q-I9LkGXlBhg8y1Tu6fk2ETleRHFKOvOrhGOpAtfp8jffLvJ5Mykz3xoyaN-223A-GhgOaLirXzTReeqMYj1gKzKCmwpEdG0DZcA21sz3ObcazcdZvWytUjzlSgjoF3UhI5jn_IMWRcHBUjEjWvaaRGM4kM735G8XzzKgLwAzqzO0IqaixO8P-mRuzDY8FsreJ0xQ_zpcujea4YnFnWRBcBMt4ELxChGI0qVrcekezUqbE43UDHi1kKEBwALkaKMEEXwq1D_1nLD9FHDLXbfFg-jKPxgSXgwdbFMLxKs_xEDKSnZ5lzLZoyFxKpoA1hA34pxVJYg__V5PWhPK4-H_dm02",
  "id": "rs_0e499b92252e534a016ab4222e840c87d091d9c20d4bd55451",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm has stopped lowering at about 3.7 cm even with a lower target, suggesting the angled jaws are contacting something. The cap sits between the open jaws in the wrist view, so I’ll close once and check whether it is actually held.\"}",
  "call_id": "call_n2DWIQMewiAiswKDygHzQkKk",
  "id": "fc_0e499b92252e534a016ab4223040c087d0b042eb58ae428219",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n2DWIQMewiAiswKDygHzQkKk",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7769, 0.1413, 0.292, 0.1856, 0.01, -0.0181, 0.7986, 0.6128, -0.4114, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3912 left_y=-0.154 left_z=0.0361 left_yaw=-0.6249 left_pitch=-0.1945 left_roll=-0.0714 left_gripper=0.01 right_x=0.2919 right_y=0.0025 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.4051, 5.7094, 1.5018, 0.188, 0.0611, 0.7595, -0.3624, -1.2376, 7.0085, 1.8242, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5660c76e193cb94e75ab8e2dada6169dc15b656a9c28f8cb67e861f839b72952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfad093f9ae1ed0e2c5dede39314917b77273a059c3c325d900a6e497c20673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5dc4424aeb2b1ff5bace9251491235a8e00b968aa91d116e99c5b4fdde807c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 10.76 s

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

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2813, 1.7252, 0.7425, 0.1883, 0.2787, 0.1749, 0.9996, -0.0181, 0.7986, 0.6128, -0.3946, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3858 left_y=-0.1584 left_z=0.0313 left_yaw=-0.6263 left_pitch=-0.1863 left_roll=-0.0657 left_gripper=0.9996 right_x=0.2942 right_y=0.0024 right_z=0.1797 right_yaw=-0.0016 right_pitch=-0.0172 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -7.8974, 8.1436, 1.4872, 0.4225, 0.149, -0.0171, -0.2803, -1.2376, 7.0085, 1.7656, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0024 right_z=0.1792 right_yaw=-0.0016 right_pitch=-0.0198 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.0479, 7.3368, 1.4481, 0.2466, 0.1441, -0.0073, -0.335, -1.2786, 7.0085, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7769, 0.1413, 0.292, 0.1856, 0.01, -0.0181, 0.7986, 0.6128, -0.4114, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3912 left_y=-0.154 left_z=0.0361 left_yaw=-0.6249 left_pitch=-0.1945 left_roll=-0.0714 left_gripper=0.01 right_x=0.2919 right_y=0.0025 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.4051, 5.7094, 1.5018, 0.188, 0.0611, 0.7595, -0.3624, -1.2376, 7.0085, 1.8242, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5660c76e193cb94e75ab8e2dada6169dc15b656a9c28f8cb67e861f839b72952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfad093f9ae1ed0e2c5dede39314917b77273a059c3c325d900a6e497c20673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5dc4424aeb2b1ff5bace9251491235a8e00b968aa91d116e99c5b4fdde807c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e499b92252e534a016ab42233bfec87d08ced662b3962a449",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.178,\"left_z\":0.045},\"note\":\"The closed gripper reads 0.01, so the first attempt missed the cap; it is still visible just to the right of the closed jaws. I’ll reopen, shift right by about 2 cm, and avoid dragging the jaws across the tabletop.\"}",
  "call_id": "call_FOxRHW3j8ytWO6RH6SFgTrCK",
  "id": "fc_0e499b92252e534a016ab422355afc87d092286b2721625a5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FOxRHW3j8ytWO6RH6SFgTrCK",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 1.7252, 0.7826, 0.1143, 0.2409, 0.131, 0.9953, -0.0181, 0.7986, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3808 left_y=-0.1731 left_z=0.032 left_yaw=-0.6259 left_pitch=-0.2287 left_roll=-0.0819 left_gripper=0.9953 right_x=0.2917 right_y=0.0024 right_z=0.1761 right_yaw=-0.0016 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -7.9111, 8.7316, 1.4872, 0.1001, -0.0171, -0.1099, -0.3077, -1.265, 7.2274, 1.746, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63e63fd4fb4efb60a86a5c416aafdb7da9498446844534061d047f7db9c7840",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fcaf53a407b135ca618c9bd319ef98395ae607f9afc1bd6934cea3305f77196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553ce9491ff7bf7aca4de0a5f7362e0f3eba6e39b38d53070a1904f4e54dd921",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 5.669 s

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

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0025 right_z=0.1792 right_yaw=-0.0013 right_pitch=-0.0198 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.706, 7.3641, 1.3944, 0.2222, 0.1294, -0.0171, -0.3487, -1.1009, 7.1726, 1.7607, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7769, 0.1413, 0.292, 0.1856, 0.01, -0.0181, 0.7986, 0.6128, -0.4114, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3912 left_y=-0.154 left_z=0.0361 left_yaw=-0.6249 left_pitch=-0.1945 left_roll=-0.0714 left_gripper=0.01 right_x=0.2919 right_y=0.0025 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.4051, 5.7094, 1.5018, 0.188, 0.0611, 0.7595, -0.3624, -1.2376, 7.0085, 1.8242, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.3344, 1.7252, 0.7826, 0.1143, 0.2409, 0.131, 0.9953, -0.0181, 0.7986, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3808 left_y=-0.1731 left_z=0.032 left_yaw=-0.6259 left_pitch=-0.2287 left_roll=-0.0819 left_gripper=0.9953 right_x=0.2917 right_y=0.0024 right_z=0.1761 right_yaw=-0.0016 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -7.9111, 8.7316, 1.4872, 0.1001, -0.0171, -0.1099, -0.3077, -1.265, 7.2274, 1.746, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63e63fd4fb4efb60a86a5c416aafdb7da9498446844534061d047f7db9c7840",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fcaf53a407b135ca618c9bd319ef98395ae607f9afc1bd6934cea3305f77196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553ce9491ff7bf7aca4de0a5f7362e0f3eba6e39b38d53070a1904f4e54dd921",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJB2-Q47lU3NskNqrY2Efv1geRilbeZZcRqnPsepvt-XVDZsK3Klir0BbearX_ri9pB4VocMlk8Ls8I1psQUxYtr3OFhVNWN6byJReILtFkSIuYclfpJ5i4hHoOPpwIqbyFBcKWgeXX4HlpJK5Cj2UEHZfIhT36Y02t4WNmRG9A5bBuepHvGwSY93L1-xUduPIOeB93khwTi0RGx715kWfDsRKEAtYukfvU8VjIs6zQHn5tnu0LkOcuqnfMzq91luvQbQA0ftbFmRZ11FywHbGQm_0eZN9zVfPiR_8ypkBuc90Hp1rrKvNw6ROuYB_N1hTqmmxn_0_9dKdDOD2R7zEefCKzVpdFFWXFX9EKIvv3Mnf9zfqKhkDYBjwNGoMUZlYgKsiwzafNVElQVrPwmV34u4EIBlIJn37tIGqs41fHu-ICFaEEamvKmwWUT1igSgQXgHzP5aTi7KBpO4fRsEmGgcmk1CXIM8TJrTpRPiR9siUWO2hoqb2O3VhVNMqmnc4BFRHEWUDsiUelVY7bzn5fiJ0cmo7FHfeBZGejVF_KO3ZP7OfHcJllBSX6CntYtdsNf-JpGLLSBj3VxiYm-A6L-MJGlLxbNFdRRuQVf8soSWyAanRzzHwY4yRDVBKShfizT6UjgtF_J2sifN4kaR3qupDJiarfibfkJMo-aFXyBdIauwshPoS-8yue-qOlZAAfdfnP7gHnFcE5Sn5jdMeQxtdEbu2M-0dJYyMZvD47HMGBeJ1tcSfb1WtNK-qLtthty4M1qrS3WlrH2Uoyomr_2XoHqndBD13rlEPxk64iVRQA2x-fhcDbTvS25OseMVFsQoacZ2Sd2MW9Lfvy8a1YtrrRYXt34r9JiTYqfaC6OxZwKJ7uhuIBpt_4A3dv2IWHvT6WN_so7THpsVJNkd5BgK3hEnzAEnK2dOXkAeM_-Axpz9AzPXbGJdGdnPy5PhmEKhJ6uSmeFZzexsnM8wasqAY8PSiBpUJ6CNcFIn8_PgEfNRIQZuCeEs3aa5WzeP7WsXVky_D1wX7RkA-GNIDM6i3YNjgzqr2YwZpUHcfpBF9iMbzqONcHMfx4BkwvUMKnXMGNTGLUz0KfugM0igD3Ubntr3l9LGFh75eeyRFVjWqLemK0XgQaHX7qFLmTSPEUSuozxyCI9wtQQ-gYK9fhWcI6uWqS8aYMH4W1EjBD01Wgd3GKFc_sb4TMbtDzxDZYa1A9TOdXq4Fe8TwnGEt3k-LmC46MB4jHLG7EvvKos35aPyRV7jAEaAtGgTRAD6qC32xZ1f8-yASgVTPn-t6mqohD5Kvapm4_weDYE6-Q-yL7w6AgPaG8FF1hJvdMXLneO7FiJn_XN1-w3UFPROAepBE9M-oVPx_lmiazKl1sB7OMS2iNBByEw5g5CMGvlT-StAvFsRC53hdGANLKSLLvgiiH-Y_o3TrLoUt5UJ2NqY5WJFuR6zBim4_fokMad2HOyujU45QtsLc_9R2H3vFfHaVXpyUsqFUCUBwLnfUXgp-1f6JhZoZn3XBWmB0upWM2kqTWN1G1TixgpJ023iCPc1Jorb-PR5tFADtHeYlGDDpX_yzT13-wtL-Nx1ink66nMhmKP2vsSwtOC1RFkW0eeXE2TPSo9Ny8XjYzoysexGvJPzMV9UokTdssXdcRNVedMgh63HinhGbgi4xNVopJ9Xnc38Lfrjh2Xum4ZOtau-5nGkkzTChdOeqstJuxG5Ne_2m2IQO6nZcXY5uDt0d51_ew2n9brrSHj_yvhDnO4J5qYAxmSLU6lWWvTHdJZp6x5x9EFUEQ8AdEY0hqIcYtgDj_-IhsIExZ1Kjh_PXyCAexpqzxtB_MMhrbqEY_ITBXW-aBp50vvS-yfy7Qzm4YCesSlYCJlRAK_PGMwVIISWRuICAI4dCPviWcM4q97PciasF9F9ayO52qqOEDf-5n1Oj_g2-e_exWsAR9c8yVZXAwjm830sd7xOXXcigaKQcmG1jGdrnXNUv779bnQpSFsumUz4j07BosygmQZW1q7roVuVytc5ynkGcAQeAMdUOBswO3Pq9dwnTvALF-oiXZJRqes1xS05IrlzlYKie1dw5GrzF7Q0bBp93ktP7le0RL0SbcX_6pywI7MUUfUX3EyR9KrHjjuDko86e5kIvN9VMKMfak9WV8KRw0f3oCdG7PqPDWMZC2ZUzZwl3-adGIa9uivTDhYi3Ib4lItGSsPYQerykeEfO-N2uqoxR1oPYmLuYTD3UWaV0VndPgZrwIvpYA5Kg2AYCgXQs5OyDJmpLCDTQCxY3r1KdX93dD5V8A2DH8AGqaLGmp6ByniXlvR0zi5oaVmOayMP_vu9QKn1eJ8oQCIdUWkseq1G8xpzOhGMKng4CnV9Col_6Cdbp0s-j5fOyJDEDR71g_aM0re3aR6w59SJ7sEpxGznsBzYq4nrY4psc5P9e7fABbGqKcYE3jnLV1e5CSp-WO3-uzVeCeMTpvnD-MJNZUKZR1D7r8i3BQvjZJkKEJBm7Cvcdqtw0eXvnzSOxUg2C5lnBBcpT0ig4gwGNmZO8uW4P4N2dLVTY9lyKFzOv0Gwse5bogXoTDi2SVhT4-ldzo-sS_4C7nwldUILC-uTsDax5bTNNyT-Ze8R8-zd8fQtQVBFd6SmtSVW7p3rme3r_jUdngneNu3G_Hx27fFGhtzVbVeQrS1dYTCh_uaIEZDakNXYeGzj7wUOnOdacL1BNbBc9QX_yb0LbyZn_gZcbMfACKDQXbKtPclBFLstzMhQXJ5rERGXfuXc60L6Wp3jnpxwWuPbigvgFb48EFxoecA3CRLqRranfOfUc6HvEzILOpkaqSOoXbylg3hIwEeswWMBHClSjtVfR1MTlyaHx0NO6smz-aXP6437ojlILRzdQVERhaikDu2UHHGboQEy_gKorfjMBgE10UcsEs2V_DaMnGhXgwcTESz_fYh-ZxYuEw9G-EN3XbNH3nUgaQlwBGLpLH9BrRd1PlQYEAA1146I7jrv-mKJzYEbGJwXXGlnOWsnTH9wXW_xG9Ftqd-63qwpTF2wP-PtOk5Asar6rM0uAK3Zfshd4EFHCpnJNq-HRHLbrJIf2NZeGrosrDi6b8lclcItaW_GlAzmJ-d-wkdI-XjDpCccqJYXW0r27lWEW90mAX-M5YaBAPYnvwTQmKnTGUMZdyAOmrkR5bpEBF3TqPk12i8VCfXAq6L0pczTlb3VXShkpwvbvlWgIeRWA9On2BbBVzI3hcl7Tyk_s8LAYg6sWJCjDKrcM7nwaWcxjHf7KNXty-O9TnBQIbac2M6YXhjsMMwK0F9MOzLs3cSsSnovjBxtUoINrRm_nKs2dzcUDeEprUG5UBzZ2dyH9PYCbrprLVp9QjBCQQGknyzxLHgj48BaRQS_qYaMtQUwJZpzmvkEwTT5g-jW3COcVUQQnR_DGRkQbF7W9gwA2nkjP9xBpThfZO2eTWWpg3J709JQFSUHkGZN-v1-QfHFJQGCYMLU94P_ia1UT_LVmV6oTu6AEwwA-XowCC7wElQQkJThYA-roq6KAxzktYvzcvjtxxhqWBrWnS-KOVMbEcitWPXlSjo42W2BxvIHbrkbL4Xzs25ItcDRzF_s0UdS0wFFUzeg9tj71IC2CQKCrRiIGjCd6D0s73jPlFjaAHIPXtKXKHrm9WzT8tKhL0vpStFmw_QZqYbxdP9-1Ec30c_mJb5GI-epSloBQEAjsUf4v2oaULetMtccfNP__vsaLH4EADmeVkdarwXsd4uwDy7DtYy74ueDTAuXzxkLsl7uK2Zcs6_Uc8AjsxF3s0DwGvVCpyNgz7Hf5TysN19zfFJEGmetnz57bwqsnfkWn_rnfIhGkLlHfj6f-y1_aeNUA1QVkCH1E=",
  "id": "rs_0e499b92252e534a016ab42238c2f887d09bc7c4d4378a9b07",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJBVGTvRE5EcTEaG8GVfQu_bGO2XuVi75HRNjH_15s0nyhD19rZgbbFCF_mq54RDH13vyXR1ISc2OFc4jygQ4vPTG59v1uG4EOZDWGR5Hh1-mr5HquDJBjxKW5SN6uMJ_tExCv1_17rlb1vGqLEiLKTunZTlDk6itVUT3ambvKUCBQTA1dhqsthjGd1RJzuByKaWRJ9v5Gjo3RoJZO5a-Fu5P5x7pm0rRA9sYpQkTJwZSQR6KVufdZFeKCvYedW9HUZl3-iKxmJ7LA7jMWYqUDFzR8dkgPCi2iOThSvH9LKBB9qlMxv6M2hQpaWUNpRDQfmsfKzaWbQza4mNCKcDxFXXukoxdESUX56sDSAeOpoGl3mQLLSqdJ_NiISp67gEkgB08oajhdcycs6M16cxSrmzFE85K3tIZ8fYfc7A6Ew6lzdi_raaeGjrQN2W26PGrUZKvRY1MOAMeefCQdBGpPceKBbqfGgcCb_ZFQIS-LnmZTPVQDwINxWch9jFzw1vuD1vSzFaRgOh0mixC4cBjGyDTrI4nzFdmWPYy5UEk0WtNwa9Vt8wsQ2Y-bvKMeXtkOEwoF3pokgQY7pKPiuHbMVnFK3HjvZhknGQfgw61GFHkKbtf-HXfVxQaSLVHHE16b4c_2z02G3_CtEs8KTtn3l0Wek1yz0ry9_pc93N1PIZQCkZ-zNuV5DlEJRsm_RFLvQ8_N_OOHAbjDb-W09Hovj1jtuNcIJzSgOfFW04GgZ0KziGkSb43_1dopNY1odZ8uKelgVQwHvS54e2oPf-Uz1FsBBNypyKTdc-3cqw6xQ_1Tr5w1YlVpiF3T3MvJj7aHkoSedaRfWQfPO1IXTDQ-Gxe-34qChy6gbf0HC9UywxRhG0kybxYcu2CRllPoiq5gGaaygMBePRjDn-oyJHt8mqcFYRMVZIKH0LzVQIJgd-BErYaR0c5war-b_W4EN3DZ_M8vyw6X6-ivR1GE_OfqFoF23hH4sPPfnya1vKx_v216P4XnEEBRVo-Q8bM8PDX6tzapSnWM4zB0qjXO0ZzVNAPv27qIGmNNFIOI6CPA3OVsUYIRyuTrbfdlMJJXIPK-PcEdp3boGralbLukdodHphZsC5r-EtLxG7lLTXcpYHl7Wm8yE1letFwzCwJ9CVyEdRluDUQGgMIujSsk-oG-_uJ19OCTe0o0u0GTblBqXkrCDMoykle7KkLkDS2k_WQRHDSK6EXeu2mtoOIIDhOjd3UpKKejgk_zFhHUOxjrXneD0SI3Xq8RnPt8Ij-6CIwX54kY2buaVNa97q8ggtMhTftiCIFnNpfi6axQon_l1L5lrNqNUKn-Wd47bO2QKYeSxU9MwA2XqNPg9dGbUHeau3B5jY2l25FyDFIrT7S4vJqntPE5_Tcq_7DVi_ruHHwdQ2aCPf0QYd-lKdNY77mTK7dSfcK2SHZLPredont1jVbd_5M2KCKQqOLqS6tjJCF-uwWEjekcwFCzB1S7kcm4lov-W89eQ_oaRD06CQsM70J1wbSSKui8330-qad0RHE1982SfU612NNdod4qEiwwBy73XepmMpUul_M9hpQAM31WcSstXBGrqej1we9Len0IOKdRK77PrKzebxsuVeV4NJU6Po8-Zt89ynISrqn8DxMjyToku_o4aMnwy6YxEQpgO5GVpHMJrvx4UwFeuc7L31aKtRCfIHTdMH73hwRdoXaqp6jvPKCGcqzOpBBvlG5SX-XOLDGmwBbUuS3vs85OEzccax6V0WBwODdPCU2NyYxz2SHfNryatm-eUvumXAFpYc95Tha1g03S4sYZj0ZeSYgvaTIFO8H_wjKobLavUuWl4Wt06eRWxlY_dP2KHAT-UcIa1wLQey0useNFkr7fSLw==",
  "id": "rs_0e499b92252e534a016ab4223ee86887d0a991df6d910a6579",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_pitch\":0.25,\"left_z\":0.005},\"note\":\"The cap is now centered laterally in the open jaws, but the left arm remains about 3 cm high and its shoulder has stopped moving during downward commands. I’ll tip the tool forward to change the arm geometry and try to reach the cap’s tabletop height.\"}",
  "call_id": "call_UmNTrzA9rtLVdrTknWqHXiEi",
  "id": "fc_0e499b92252e534a016ab42240a2a087d0a9b9b91bc81980d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UmNTrzA9rtLVdrTknWqHXiEi",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.1113, 0.4587, 1.277, 0.342, 0.0521, 0.9963, -0.0181, 0.799, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3822 left_y=-0.173 left_z=0.0027 left_yaw=-0.6249 left_pitch=0.217 left_roll=-0.0648 left_gripper=0.9963 right_x=0.2918 right_y=0.0024 right_z=0.176 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.7179, -7.0496, 1.894, 1.3846, 0.1636, -0.2613, 0.0904, -0.3487, -1.2786, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883419e4bb2de38c11008123ef67d654ce3646b322b894658470d952e94b6d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c44d7822c4e01d8ebd9f8af73c800159e30378b57a6501722aafc5fcd9d2a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3c6ebfca6aaaa778ab94012e3e03fd68fd0627d653c50c0b6a6d32a1ef2f6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 4.805 s

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

message 24 changed as sent

message 32 changed as sent

message 37 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7776, 0.1413, 0.2962, 0.1936, 0.9996, -0.0181, 0.7986, 0.6128, -0.3973, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1547 left_z=0.0366 left_yaw=-0.6327 left_pitch=-0.1924 left_roll=-0.0681 left_gripper=0.9996 right_x=0.2938 right_y=0.0024 right_z=0.1792 right_yaw=-0.0016 right_pitch=-0.0198 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -8.0479, 7.3368, 1.4481, 0.2466, 0.1441, -0.0073, -0.335, -1.2786, 7.0085, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.3344, 1.7252, 0.7826, 0.1143, 0.2409, 0.131, 0.9953, -0.0181, 0.7986, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3808 left_y=-0.1731 left_z=0.032 left_yaw=-0.6259 left_pitch=-0.2287 left_roll=-0.0819 left_gripper=0.9953 right_x=0.2917 right_y=0.0024 right_z=0.1761 right_yaw=-0.0016 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -7.9111, 8.7316, 1.4872, 0.1001, -0.0171, -0.1099, -0.3077, -1.265, 7.2274, 1.746, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.1113, 0.4587, 1.277, 0.342, 0.0521, 0.9963, -0.0181, 0.799, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3822 left_y=-0.173 left_z=0.0027 left_yaw=-0.6249 left_pitch=0.217 left_roll=-0.0648 left_gripper=0.9963 right_x=0.2918 right_y=0.0024 right_z=0.176 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.7179, -7.0496, 1.894, 1.3846, 0.1636, -0.2613, 0.0904, -0.3487, -1.2786, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883419e4bb2de38c11008123ef67d654ce3646b322b894658470d952e94b6d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c44d7822c4e01d8ebd9f8af73c800159e30378b57a6501722aafc5fcd9d2a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3c6ebfca6aaaa778ab94012e3e03fd68fd0627d653c50c0b6a6d32a1ef2f6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJImOTxTnAHEaugO0idStnAxubpCQwwXe1WBLqeKGXCQDVUXW_An8EVWoPOUxvBeUsQReyzXzu7SCr5WeFI51Gx4XjWwrGrAvG8hTczbg24GNlnYiwCLm8bZhhvoe_JE4w7RHTHzP0D5NzFU7rDtRKB9x1hIyr3ICX2VPm6IDjftmVXZVyA1IzmR6iO0-IkIk8q8vyF_97Pjo45LW76FqFVEfbjqqK30VyJrObDV_WcSn8TF3gXB-v8LzrHzqf18RUPFO61WDBh3-Yx3t3t57ugPtrKyqxgKebjKhyGpcj3YLYDICXi1JIqWRO8g5MQ0Iwj6Eaov4QVX4g6dfnRsgNvKNhR-dbC2sHIiV_dnWf9t7-ZftwvCXOAYldVdJ4kZ4LH2785442nV5JUSsc_kAz2zOjTFBqK1GT8y42pK7-aZl_EZtZXk6s1Xy8k1Z42UkPX1ThhXMcFQOjV6sycedLgsVE_gedae1xj3JMYH5Iuh5Ipo5jDucMioiXwMyyv6TEWUVfhqt0Pf3exaHKjzru84RkRwdtBqLZDhHc2L-SoXzlCkR5WxYiNRnLvFpgsVziwUHUcc-vrtd8YK7Z76r-Cf31HbSvxTYiT6B2oFR6QvUCRIGSQVBZEzbMY0t1gHx46PqfAjDZnbNifICT3NzzlN6eB0bhTpt9ZwsZueRUJ4zABuihho63yBZAGYPvTwiYd7j5LtdCPBcPjXAoK7AeartyWCxwJ7lso-1Ex-Z0WZh3cJyxvwasWxtlFXVEn2se9swxaxGDZddnPajpxHLLxtmD64J8zCFtwE-o97e_PTbLuEyK2HzZdSt0Q8GZrAQV-R0UyxfkLAiPEKXAcUff1iI90lqOAex8nlv6LelALmJmDkGUeKkQ3DlTdL8Z4csA6XAQNT1fq1ZQbvDtZ1dj6xFd8WVEjP8HWhMZhQYUJz62hdvpaBOV7gPU5AerpUOAa-HfaopSiAk5adtzhQ3qYvdDDiiEL-9dDUshzm3Mkxj8ImAN7VllTau7hSBOrV2S2o6bW7hq6XGchbwFoCM2nDN8tZ9IlxiBom-SEt1gw7eN8Zffk4zkRv0Ck0XFC7L05ECnJYTtUvvqa6d-B_n4fDoqRkRDNLLYILnNBztc7oTbOCnJZAE-1nWQSIWWHYWQPmZa5fakgZBhnKc5u6Hiss4NctHjxpM5QbfwODNh6VlxKKuOF-EaQv7A2NubfqKb1v7YGkvxkTApkRZ6O7omKee_yP8HFbBhDLn47FOO6iHTCDUqr9izsFUeN5nw6kXE35rQOU9qcNAWQr27F3sJuwObPQsmrnpRLm49u0M2JgZxj8yXr2QKsxrxkV3LZXEzXHtaBxq6kgEeFZAlo-29gj_EsTJVynP5-0Tyk0vN7VRFkNybGB9tTGpZADA8OXMSjIBtgIsZZNq-1NO2XpCWZN1nc15EyrasJaDi8D3JczXws0atkVNdGDFiXtrbQRFcXgk-mZFAjDng018Hya4n-j44ybo73LXeIcEfwPJXrcE2cXpvE7fb37GJMJ66cvDFtFwDWeeEU7MdZypCeUYwGXbAvhi76OzH2Sqju272P4x_dwjQdF07s08dYobHF51bcDhiqjCt4OSW5DG-soBLOUDIFDzxVUZCkebYIEBgFkFy2cqySeHHxrbSPJGP0IOBPsCoDHVJcDYz5MhxprGE1oUjkKiwpyVDnvJl3M7KmJFfMZ3o6OFNgn7VKlDmu-kSu9HSL-2Vrea3e-A9hsH70SQUvDndjyHFAstygbxs3OQxj-RjKVWC7L3zCbbncHI9AWM8QWaDpEj-ty0XurlLvwFoNKVkpl0TWtNFrtHwBvBu6BKhqPZMefjoedPfOSMLnkRRceMxWOlJCqInx4Xktd9ger4aDR5_RtJDlg_9GtOWdx2ls6SvdKF_bZubSTmRPS5SZlqxzLTKEOhKIucOl3zdsSUhrrERlTt_UOPI0xnAaLRn1DaLUigZBfdrYvTn_rzHIkyFn4RCMZbgOp9qTvhB-VyA2Cp_VFZTVWsTdQl48IN8R_RmUJNJ0BAGr9NsSnPX1rBZHjJCC0Q6Ei0FUkJW9mQqo1GlQN1_fzDILcpfxflgr68Odrd-KuMbnW9htFlm7muENiGYw8AWrq_6ylPBx_ELHzafNcZR0G89SkgFKTvuXZecwyXiafqRUC4RUdyeuzV3QAquVYuMMmEql7ELAqGJ983orTGVgk296Z_hAE1zDQxf1ULYA3g_bRxlJr_an8HWAQ6FKgdDyJqR0qhmUihHTmmQDZCiZjQkAnIBZqZpdz19frPezopIKrkM6FntvYNqdBuxDUEOo7cuf1mD3VqYIm1YWpOqv1q0Rycf-BQL3kefmfehkIPM7OqZ21xFBrwtZr2RwIpPe063wquOl7X40_onLw7pBX2sLVzij-_WI9KI6PfX5ZZRdXNM3T9elo3oC8cA8m4RsyFCysV6QiWxOLJ8zadZSMb3qdt1va5xHcLhhTDvI0nN4l2davN_Dluj8vYyYH4GnOoznTnDlmzHsgMng5ZDoQbywFBYbkwteOPkGZuvmqM2ywF1quOb2NzZd202ayjfQX9Sous2MCiLgk8mXJ24NLyMy9t059EYj9b02V4LRsfbjjfXrVk50vNhENeCwAVjnQ87bbcBIN1xj3FZuVJzhiJW7lboPUX_GAeAnHwvw-2ZYXh3RbpM7dCr6QuSPqsLL9Rm9BWcmmz4kGjZlu07PdhsSBS8HQ_iuS50LI00pvMBxBaMrwsDNCMsh0RmT43T1UJEPnUWP9zxxS6cvJ0f-NPey5qaUu5nwt0acun4iPlNzYybG4UgJbNsVNfpG0ANGIL6Y9RFB0KuPTOBCmlM_fwTsO6x7Hhg5WQYgTKo302cEecd8SYHKEh1ALCrIQd9TbxC9k0Pqm3lcCVVhS8cdV4rrgoDuLc7x1qwmFKRxwVgXGkT35vfyVWyfGI3xUHdHacEDuNKKjZqI8uAbeZngRyly2Hd8Q-NI7Pt9UySkBuwWNsGzHxj_-jXiax5Pvp2JRBDnedSQLlcQkXaEsv8nO_N_ulc=",
  "id": "rs_0e499b92252e534a016ab42244552087d0a024f996396d5692",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.183,\"left_z\":0.045},\"note\":\"Tipping the gripper forward worked: the actual grasp-point height reached nearly table level. In the wrist view the cap is now just behind and slightly right of the fingertips, so I’ll lift slightly and reposition toward its middle before the next grasp.\"}",
  "call_id": "call_0oegoApT8rQrklducaNGjoRf",
  "id": "fc_0e499b92252e534a016ab422480db887d0a26d4bc9ee52d81d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0oegoApT8rQrklducaNGjoRf",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 1.8729, 0.3702, 1.1763, 0.2996, 0.0292, 0.9964, -0.0181, 0.8024, 0.6128, -0.4129, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3598 left_y=-0.1848 left_z=0.0473 left_yaw=-0.6416 left_pitch=0.2588 left_roll=-0.0573 left_gripper=0.9964 right_x=0.2919 right_y=0.0025 right_z=0.1749 right_yaw=-0.0013 right_pitch=-0.0393 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -5.5043, 3.3846, 1.4432, -0.0904, -0.0659, -0.0073, -0.3761, -1.0735, 6.9812, 1.7558, -0.0024, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba4d1e033b6581574fb995022b067d4baf4247d9e9996677779bd0e820b34d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8327884070f39ea259448178cd3e6e9faaa5700896c767da9592c10d014f660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9341cda53a96417b0ffb9207711fb417ea1da62569c51f6cc8ac0c013f699be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.314 s

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

message 28 changed as sent

message 37 changed as sent

message 41 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2623, 1.7252, 0.7769, 0.1413, 0.292, 0.1856, 0.01, -0.0181, 0.7986, 0.6128, -0.4114, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3912 left_y=-0.154 left_z=0.0361 left_yaw=-0.6249 left_pitch=-0.1945 left_roll=-0.0714 left_gripper=0.01 right_x=0.2919 right_y=0.0025 right_z=0.1763 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -7.4051, 5.7094, 1.5018, 0.188, 0.0611, 0.7595, -0.3624, -1.2376, 7.0085, 1.8242, -0.0073, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.1113, 0.4587, 1.277, 0.342, 0.0521, 0.9963, -0.0181, 0.799, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3822 left_y=-0.173 left_z=0.0027 left_yaw=-0.6249 left_pitch=0.217 left_roll=-0.0648 left_gripper=0.9963 right_x=0.2918 right_y=0.0024 right_z=0.176 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.7179, -7.0496, 1.894, 1.3846, 0.1636, -0.2613, 0.0904, -0.3487, -1.2786, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 1.8729, 0.3702, 1.1763, 0.2996, 0.0292, 0.9964, -0.0181, 0.8024, 0.6128, -0.4129, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3598 left_y=-0.1848 left_z=0.0473 left_yaw=-0.6416 left_pitch=0.2588 left_roll=-0.0573 left_gripper=0.9964 right_x=0.2919 right_y=0.0025 right_z=0.1749 right_yaw=-0.0013 right_pitch=-0.0393 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -5.5043, 3.3846, 1.4432, -0.0904, -0.0659, -0.0073, -0.3761, -1.0735, 6.9812, 1.7558, -0.0024, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba4d1e033b6581574fb995022b067d4baf4247d9e9996677779bd0e820b34d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8327884070f39ea259448178cd3e6e9faaa5700896c767da9592c10d014f660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9341cda53a96417b0ffb9207711fb417ea1da62569c51f6cc8ac0c013f699be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJOfus6jHtMrtR-CG-oGVRrL7BxHpdfiU76b2FgfFxY5A5vBTHLQd10Se7dkF4i4vBKltoLIjnbCPdHytRSLHfUQD24SvRpDJY9b-BYfd7ed2x8iraHK1AWwTxP20bA25d0G7zC1b5e0IKPtE-t49htjMWwXQS3lcgAPq9BTbLzr3d8t7nkehhGwWPpWqeRRrMNDxne7M2u2nYAdyVLKBILL5RU3FPWcsUEu1LlJ3jtv3TYvJfT00ZUPkecgQkFppBLUnXuNHghzZNiwJDb-VfxdO3b7OskNiTxbWRC5zXRwOlYFF1BEc8s4gSLSwtQJJnfMPoXSw92r89HUqbafEJUXYn3zKUbiTwJFOaWm3HCEmfldqU7t5fTQcnq65VZ9upXfyv9cEELDY43G2qplkisCWu6PWbQWTFh9ssnwdZ5dOO6wBkctCjyoAs4yOFXBk5PbWGp6EH8LxMVAu4nRJ6SXJtxP3_DUJ6Lfa9hZV7tSIbTFbppVFcwToLvEiaxQd25T9Y08RGwCZzmNv5abvjOHq7r9fqq86wZsk8Q_Cy05Q11oRr_629XJ4REDz_SeD4mkp_oB5glmeorxZZjD9i0dXn4bdPxQl2ZDN_Z9xF13fnAb6hSAIwsnEz9y_zPGddImQZhicrh9nMD7ODsqLzmv1mmregnt1tsixy4khYvOR9rPBjidNZY14Khtdaw7IICG7V_zWixkFrOGfHby8b6RupVstoRXbrdKo_YWzWztHA_obKKShe-imZkj52gD6MYgXMTdXD1TcN3w-NgARBRbjKSO5_OAl6tmToSqT-fOGiRSigRz1yutwu09sCXGr5Cn_WGhdjog5lZtqpYZYwB6ibao5FNWkX-bMn-hqNBA0rpH-x96xwygAbVCipoq1Ow7DohdU99QTNZdRCP_h17zVoXroXpW3fWdM2wBbHryO0ZmiSJMI_reTClDLqUwLoNxaXaoivd5kzn8kjx2qBJkujs3abvsC_ngTbydbbfibEkxLE1TdALuKBfzW8FVY-ptmQ1AfdKkyehk7yD-3tCfyjHDsHZy3sIFCu8eRCx5c3Pf9kPtcpGZKC_rfD6b3x10cw9UNHq9sS2hYwO1YPdL5VeqfZcfVVs8DTeqoRxJtcJWaGi0uGItERCdNKibsFS8tqyeORR7L4XmpZKvApz68CXkbPKuJhhXKsWV6U0t-MXDP2ib_LyTo835KbLC4tBSeV4RXPasgh8XN47whtlDzg7vt_0OSbaKytAAq_khPYUj6J1ZiRO_vwoBJkR5BaGQ9EG75Hw1Oiil0AB3P7vmynL1uhZW3777p4vT7rFZ-B4kHiWjidU2xkudiBrIOSzzXvAdLSQiWWrSBDkepNNzFfJIxoHySkcwG5JVMwADZxnY0Re3HVEnfC1IA--6Hj9TbZXtBa3OM72sbCW-gTPq3t1Yv7WtGb8bWQWbZHsXyrXJzoIJI2_HNCR51T2fCnu3d6GpsUp9fVEANbGlEwtBsggsvaaMv4_d4a4MncakYnvVW1wGud5leE_78tmO4Ag0OpTYVk7lwpdvgsKJi1-Y-OTM9oYBmrLFeWRHUPzyTUlL4Y4SEdJxu39PImP7sPn7mJO6Q1kNV7m_hEJH9Arey0-jBPvU7R8VQZiXlmnG7EYxHRd1knzrc9onHebDQUijLmY6dmCDmn4yoqtAQA_aLnfNFKIL3XvcdyxAz5cSsv0Qo1ITARCeM8wBErGhSIWeYAiR0rgBccU94T2CHjRMT2uU6FFsn0c47sxzzXhkQG5L_-Kaj_qY5wq1pW7vTnijsg2IEvY67IEhwUglbk3HAZLDY2mB78TBfTKagqyW3sb8fUZ_B2NIz0ayD6l3437KCAFMV5nudWOkSOBHa7OATPlZ-UnYeVVLoV3vxkrNB1a97ZAJJREXJlPFdTHsGVivhUAIKSuQpTBQFjBwftKIf4Romv38wzrXCnWm2D27mFfC_toRR2Bv_kCkAYjv51GFHOGFfUXAKxNI2T7qblS7IRFdBsyy7wMDkcDJ902Ol3WX8xBrf5-sCB_hWv3xGgvNsTVVq-kBPRmCTM5hHJgLMMbWMrj_JxzvJV-52ZyAw-5OuegQ27eLObQR-KeO4N0o2vqgcr1jV_DUE9mMqXShaaUXKEpUs3DPcBy6gXpZVy0-gNUINlAafB059Xg-XeO1MjQfY7JfankXVwNyJu6_kXFDYbVtZuO07by2U4vtGH7qNHW98BwbT7B6d0k9w2Uam-LksrZkWKQ0eeHSRCgPftNxI9gG2IpjTV_OS0ytz6KLElLN5xwzmyDzUcaW3w0lPYx16TAnnzJovURa_e8mFa9rY_AvOdJeN2BVwbkSs3ZdQgQNnNEm61BHBpHAA3p28Gvj4VT1On85JFr0fe5F64XqlelZVuZFppYzkSXPBZW9YJ1pEwOob1M7pdOzgnJ0OgA6xy5XLJiiQJOSVr-R3q1BCxVNSxQDqNmCU7LAOU=",
  "id": "rs_0e499b92252e534a016ab4224a551087d098f77d149f367fe9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.16,\"left_z\":0.012},\"note\":\"At the higher pose, the cap’s middle appears low and left in the wrist view. I’ll move a little toward the base, shift left, and lower with the forward-tilted tool to center the jaws on the cap body.\"}",
  "call_id": "call_NUDPWgy0d6KdMz2DArVmO50p",
  "id": "fc_0e499b92252e534a016ab4224d386c87d08c6e753c397f8cd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NUDPWgy0d6KdMz2DArVmO50p",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1746 right_yaw=-0.0016 right_pitch=-0.0408 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.5436, 3.6718, 1.8828, 0.0611, -0.0269, -0.0122, -0.0752, -1.306, 7.0085, 1.7411, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66774e1ef015b2f747b78d8502012f4234fb2cfd1e3b8d07071c70b742348851",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af54fb6d4746f7e8206d1e56c56d9c70c3a542f4cbb3f2e62827572b2737de5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f86fea392707e33cf52d62574640921506c54aaa33eead9081ad57a2f318875",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.402 s

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

message 32 changed as sent

message 41 changed as sent

message 45 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]: [-0.3344, 1.7252, 0.7826, 0.1143, 0.2409, 0.131, 0.9953, -0.0181, 0.7986, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3808 left_y=-0.1731 left_z=0.032 left_yaw=-0.6259 left_pitch=-0.2287 left_roll=-0.0819 left_gripper=0.9953 right_x=0.2917 right_y=0.0024 right_z=0.1761 right_yaw=-0.0016 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -7.9111, 8.7316, 1.4872, 0.1001, -0.0171, -0.1099, -0.3077, -1.265, 7.2274, 1.746, -0.0122, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 1.8729, 0.3702, 1.1763, 0.2996, 0.0292, 0.9964, -0.0181, 0.8024, 0.6128, -0.4129, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3598 left_y=-0.1848 left_z=0.0473 left_yaw=-0.6416 left_pitch=0.2588 left_roll=-0.0573 left_gripper=0.9964 right_x=0.2919 right_y=0.0025 right_z=0.1749 right_yaw=-0.0013 right_pitch=-0.0393 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -5.5043, 3.3846, 1.4432, -0.0904, -0.0659, -0.0073, -0.3761, -1.0735, 6.9812, 1.7558, -0.0024, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1746 right_yaw=-0.0016 right_pitch=-0.0408 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.5436, 3.6718, 1.8828, 0.0611, -0.0269, -0.0122, -0.0752, -1.306, 7.0085, 1.7411, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66774e1ef015b2f747b78d8502012f4234fb2cfd1e3b8d07071c70b742348851",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af54fb6d4746f7e8206d1e56c56d9c70c3a542f4cbb3f2e62827572b2737de5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f86fea392707e33cf52d62574640921506c54aaa33eead9081ad57a2f318875",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJROR_dHjsIoc6Fvzs7bCXBvrBu3bPxtpHM1oaGjiBnVJOhcbjJERwWjC70dZd6xzPJtZSGJmjQBQ7lvE8x7LXJTE6WnJfjBcnTjF5x8gu-g00CNxUOy1y4H6tWqGoaarblsKQUHr2Nt7g8GOrSIMsXz29PuyLiLRmDrr_eU8T_xjm4gR0dhHVKlEbE8p-FHdIDBKUqiQ14NOsvztp8In1dXDVOH9djEjypDLM1-vYIVTg2_EaJGtXSY__hWBWSXAS-SFEvMrs2-nnSlMqrCUsXZbJxYMB7GdS25A6eowsESwX5db2AFCiTUUum78XaYVju8vT8d-ARsOYZJmHu4UO1jmjoRKa7s4--p9rNCFDAjKR1MT-DR8dkjxfn98qw4chmOk5FKKFL8hknUs1P0Y7qu-_aP84kHvlo1H7v11Yy6P8w64voSHACQ4Q1XeOgim5idJxiJia1PGQInuW0PWvPqBmGsQS6lbpGpyuoSDgOMhQdP0EBs2_Z7Sk9DwK9QRZ6ZWx6Afp6H8vOfR1S0V0B6Zu8Z6IRwzWnpXVCczGj_fv3xZqzIpjJn9QMOw6cFL0j0RVQok5T2EvPk7Nt05K0JOoczro2B7vmLOpqrY_Frq9qpJD-kvn4PUkBHeQHuxX7miZRNJacKBdWJiWXD9mQ4T-KxuLNxDpb_8S60jLM5dQTQhq6cnVQ9Mqj8ET6nZR1Bg3CIB168_F4JsjXeJ1OwxNUW5r8pkNNjfgE1l0w_ebNcrrURgGWe3BnE3o0_-iog80sMKAb20e8DX2hfjbKXcHzVcyfUDQwdLZzKGBgdLEMyvFR7HSv9jtWlxDwa0diO482Uf-Qu5n5Kr2JNMrqBpk9RlowZGXBA6WtmFkymH1eqYyjlosiS9VY0OU-RdCWwDRGlwgfLnSdSG7d8RAbcjmI6mBB5DuofUufGAykVVceYlYzJ_FvfaklnRrCCPuYwWRt4pZvEP3dwMiAwzMrAKydRi3xcCE8LwbL3k8V_RlAuvOAAWrtY-Kc8zjuW0C-cn5FvlKHr8A4wO6ZuMnKtGlqrTyYdyo2oUo_M2R4FGXwOxOvordFAEjO9oKhaxvCLnP7iyKIxpMUFqKdomn56jAAf0q6HvQtd6sZcCRtBGW61gT2ldGzpzqhHI_QrGVPtDDbN5hV3i-0hEoVEf5BJwISk9usF5EmfTCwVZlKC_8fVeHJZYhWdUw1n-sZlhFPQOXFuT4F_ZsA4YxiUjU6U_JBywoMXL2dfNYSlv9yQmuXdC5TnlcpJtBP--PQQE8lAnpgZatOWps2X7cKz3FA9JrzarOCycIt4IPXm0-6-Rqr1S9KLs8FpiUMff9Ikp70njrzNh8oQhfCD-I7Q3JETQwuT7ISmWmjXX7TxPcNR2P6UjYbLPufS-PK4cGP4wgKCyeBKtN74xpxbXUWeBefKKp4goKm9DIK1CGayENCXdJq7zl89ijk-6i-zjRTxzITIwHZrI539D5a78Z48_RhRvsju1nHCeQgRE9S2FXjHHLZ2od1m_G1tIP4FaI_Kvl8BCBHOp27UhlTYQd3UuvJ-cE56jfcMJRJIohQMb820KFBE-_LQcSqXDYPrXACfnSZHUFBNRKAZTAYj_boDQBo2RLBbRqwT0-algwPSf1B_4v9d97Qqm-96uSzUYVPPvApabOIQLusfQa9zxchxSaAGC16K_FiHPUToOX_UkrcHRBYTBr76zofw6L4zQVd-wJU-X2DBxXzROaH9VuRpk8un163D4aL0eR55eMZ8_IM2iWO8e3U9E-IolmWgClx6EXwSIJaQXw9yl0C0YE0gHWwoTzjPj7q33y4BwM3zRyzKCt0TxM_Ik3JjY1hf8gJFOeOr1-HsNxqClzwzENCv9YXVQ==",
  "id": "rs_0e499b92252e534a016ab4224f4fb887d0b9a4ecee93deb5f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.155,\"left_z\":0.0},\"note\":\"That short move barely changed the readback, and the cap remains below the fingertip row. I’ll continue to a slightly closer-to-base, lower pose while monitoring whether the arm actually follows the target.\"}",
  "call_id": "call_T9npcNKFLi911AFAsqaxuyYy",
  "id": "fc_0e499b92252e534a016ab42250b8e487d0812ab457bf646921",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T9npcNKFLi911AFAsqaxuyYy",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8221, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.0441 left_yaw=-0.6231 left_pitch=0.2129 left_roll=-0.0625 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.6667, 3.6034, 1.8535, 0.0513, -0.0562, -0.0122, -0.1299, -1.2923, 6.9949, 1.6972, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29284fccea0e2951457d2f64a1d90338941b18a7d462f4cf9b19a8519bdd7e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8720b0f35e4dd390ff60c241a1dd663c26410db6333369b80203b8f0e9d40d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a61d910131d6ebc94bcb42baef3add8193dec633acba9d2205ee29556e97e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 2.743 s

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

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.1113, 0.4587, 1.277, 0.342, 0.0521, 0.9963, -0.0181, 0.799, 0.6128, -0.4126, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3822 left_y=-0.173 left_z=0.0027 left_yaw=-0.6249 left_pitch=0.217 left_roll=-0.0648 left_gripper=0.9963 right_x=0.2918 right_y=0.0024 right_z=0.176 right_yaw=-0.0016 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.7179, -7.0496, 1.894, 1.3846, 0.1636, -0.2613, 0.0904, -0.3487, -1.2786, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1746 right_yaw=-0.0016 right_pitch=-0.0408 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.5436, 3.6718, 1.8828, 0.0611, -0.0269, -0.0122, -0.0752, -1.306, 7.0085, 1.7411, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8221, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.0441 left_yaw=-0.6231 left_pitch=0.2129 left_roll=-0.0625 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.6667, 3.6034, 1.8535, 0.0513, -0.0562, -0.0122, -0.1299, -1.2923, 6.9949, 1.6972, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29284fccea0e2951457d2f64a1d90338941b18a7d462f4cf9b19a8519bdd7e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8720b0f35e4dd390ff60c241a1dd663c26410db6333369b80203b8f0e9d40d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a61d910131d6ebc94bcb42baef3add8193dec633acba9d2205ee29556e97e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJVV0Jp57-O4meb3ktF2LxF9HPGkBtN9qrjAfKLJpL_-fbF7hJJIxdPE3anFU52aRTqW3eAbDUtsNwWycAj2ksPHRZfYW_1xxNPvr9PMEshZpgg6D-bK8wAgNmmP-PQ55kHVrTTTjGL6feDCC_inUIZELI46LwL6AfTewJ5_ju1FAnCXNLJj9jgvjl7eWv_PzTBMqaSEx-aE6WUrIzAbTSu_PfPxA2G6bvkKc2skA9RhgkHu6fsGQFHmEkUYxJOlyNTDAf46qIsqsj3EAR_T254O0BJrj0SNpauhryvO8mhzuB0SBRIi6xhqoqXt_25AHO-yV85VmbcdTF78RHc2dTGxBNw89UUOUAZ1cs1rWhyQX9kdwGFOh7HVCOT1nR7y0TahY3yhEuYUMXhFbIBOzUqphbXlHDG-TCFXMvz6hQJr4nDY4F4EVuCSoNwqkST3Va7TkacJghakfozByscDjvIBqXLJv-xX80bx_6sGpoBGwCSb8c2wxhmPboPckFq0B1asCcWXoVKas0C6OkoN7IEK5XXZrHWGlsWDLClZXftjNJUdvCw2CfqBeUKQL3sEzT8G03-guIFCOvZ8107a9X1OvUbbKTdBipZHk9OjvBrVWN4x4pmihh-dFM7E4WPgS6Pt68sic5BZh_xZxPgJAFG8lYgzkJAI11GvfcameZ-TqWqUDI8h8bk63Yq6uwPuE2uBD2vZF-tNmCHMHlyZflfoqwRV6jcV3nJoPbHx3fepMjx6mlUdcJMT1ctoQkhKw590GNbqhqEYhtA0nFwOr-Q6S2GGSMUBjj3hbFesYl8x2C_aSXQDlJQS0M4blzuy0WRFitW5J1L8y-hnhAZrZPiX78UQzWXUDG_BHG-cgBBIREECEJkKz-aMOz34d-SBir_Z4p_Vxqs5oN_n5SG9H4zJB7GTtAeVK57c6WFvmYdnzYLRSn6yIRS3T1-rXmr-szbfQDM-Zx93ZTGvg1bcjNlwLYuTiYtsv3W9JcpOP58g2ltn4qdkRYmrqljxWohvx3EFJbt46fFxguEUAiQFbufJQfCRz2LulPdrof4kKOXOY77eIrFCa62I7vGcwM8xSBshdv7frqC3TGKyXj-WKY4aDCTb8aTQGgu8m0aWLaTL29S-sSISYsKugx3n8x9U3NapsWTntP8i_0YWhg8guoT0kMDfChBVDPrCfM3p5zCMxzFt-gXgWqWvZt0F2lte_KNiQEckCQmXSob5hq0RVSAFI8wzqzOKVElpdDPw0uSOc1aXkN2PLLAxuXDxkFiuZamd8PhZ9PAbPKfmhAG22v1E9M_Uke-I80pHODVqA47beCFi-E_mVyVfavh-gAUDEayFT-RfjKTIMtw6-Tg0eV2rd0bXpI1w7io3kTU6i3jFU0ajPgMbuc78aZDfwa57LbD8oQJNf-H1rwZWb11-568lip_0FLwaWTvRKLeUzipZBPQz3HfZADxWp7nEmsIOYefSuRNWKRei0hyg6uR4b-SugvsQ9RvrBE7oOthky4cYF2wCssgtuKwcjgRTYrig2N4H1IPN3cqW6nsZHRoBTHQW6wHhXwhCYede8FcAyadb9Tog4_gArXq6kIqW-NKO1RXH4a7U6d68pQ9u0-C_Pzn1qAIERpDNJOKiz8fSvZIz5_KaeEyRi-beyFQKErW4McB3Ym1kn7Y_44NeV0-uyhza8lZ042waRgr3qUMclzHKgPnWvRCUvsRIErCzC2JV9gIAsHtNE-LPBYPUVHCjRLt68-jh-8xN2o-aEYE0QRkePkRHLfv5KicniTa8NT7_uihpyOTStBL8tjcFY4rmBH4uPQ3aBTdg9J1jQh4s8jckcnBk_M422KM7iWy7ZiCMmwgsL4diZIA3APlUdTjT1mqZc1VPBCJlqP4TytQNI3LB7CmeFSAVUveLyN1nhsNcV1w2ljq6DFp01k_uwVNxRkEdxQIzn9_hqAWRqmS-DLEmgCAPd6GbJfmL9PhhXq3EoxdUxDQ-_eb3yH2Gg9PjsCNMnIOMIfmK823tJhVZuUUo_e08v1rS6mBS1OCDYoWYuH4P-t-WLUB4fDcdX75GRyv05so6AEw4qyQkU2_D5MayLFbS_Ue8E5uF5D8o9GMvUhW",
  "id": "rs_0e499b92252e534a016ab422530c2887d0b4d31f9c3ef87799",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.16,\"left_z\":0.12,\"left_pitch\":0.3},\"note\":\"The arm did not follow the low lateral target, so I won’t keep pushing against a possible obstruction. I’ll lift clear of the table and reposition above the cap, then approach vertically.\"}",
  "call_id": "call_Fkk19HeonbL3oROqLke2zDWV",
  "id": "fc_0e499b92252e534a016ab422546b6487d0a0b7e91c2447498d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fkk19HeonbL3oROqLke2zDWV",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -6.4615, 3.5077, 1.8535, 0.0806, -0.0317, -0.0122, -0.1573, -1.1692, 6.9949, 1.7314, -0.0611, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa1c0ee04dc8d699927625fcd527817875a63ecee99fcbe09da975f145aa38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c047d5861d6245a4b4fe9d1f46580d6510bc5dd2018c41229cc799d623fa90f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c6757cbd0e7d12f6a57f2cfa97a66a0cdc197f11cee72d24c8dade51eaf84a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 7.504 s

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

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3542, 1.8729, 0.3702, 1.1763, 0.2996, 0.0292, 0.9964, -0.0181, 0.8024, 0.6128, -0.4129, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3598 left_y=-0.1848 left_z=0.0473 left_yaw=-0.6416 left_pitch=0.2588 left_roll=-0.0573 left_gripper=0.9964 right_x=0.2919 right_y=0.0025 right_z=0.1749 right_yaw=-0.0013 right_pitch=-0.0393 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -5.5043, 3.3846, 1.4432, -0.0904, -0.0659, -0.0073, -0.3761, -1.0735, 6.9812, 1.7558, -0.0024, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8221, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.0441 left_yaw=-0.6231 left_pitch=0.2129 left_roll=-0.0625 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.6667, 3.6034, 1.8535, 0.0513, -0.0562, -0.0122, -0.1299, -1.2923, 6.9949, 1.6972, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -6.4615, 3.5077, 1.8535, 0.0806, -0.0317, -0.0122, -0.1573, -1.1692, 6.9949, 1.7314, -0.0611, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa1c0ee04dc8d699927625fcd527817875a63ecee99fcbe09da975f145aa38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c047d5861d6245a4b4fe9d1f46580d6510bc5dd2018c41229cc799d623fa90f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c6757cbd0e7d12f6a57f2cfa97a66a0cdc197f11cee72d24c8dade51eaf84a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJYzJlLYbObgM7qQ_lXQBLS9SGdP6_UAINzJxYt-LEQReiTv7CQpprgLxYTIrqSxiPXAQPMAHhwuJIKMWipkueA1eLGhvxaXKnKyuthXbuaa7gMhtJIY8xZydLF_nfZjoKTkpEEcNsyNDiGYJL_LNA-Bxh8HJXtS5-jvuOfSIJIK4deiy6BrTvL5XaikXo93ye7mO-4YrEAX596eFyLcg4M1g9cjkNRf0uKrYF6welA8bItnTouNlfHksuwYMw92IyMk4KrIxy5jV_8j8UFc_sYS7CUG2REkJNvVQpg1Qg1I3gblJl6ayafmT9Wt2wC2zYw20IU-6y0rDCy2JcG3OgoEkIVZC6F5oTWZyjhqHT_98KVKDEARwcYuNhKfV2nA3KJDp34VOCuha5Kz5pbPduqC9ElFpK6MnUxT-Gj2PueOOAIQQEKKxFwvY01kKuxbMwdXCXOm0_MOC6Yxu35tnf4DHaRDNXQG6AjGM69xg0ZRfJzWPZzZ7g7buVlu2KfAf4-0V2gy2rEZGqYTtb3x8llgWYHZHBm1cRY0LaFjplwRQ_qc9EwZ9FTq83MO9shaHGY3luH1zD1vuvDUbZwjGR3MQkAi0f5r_JBoyzAUsyZGEjUgAkVFKvFO5fHloqvNto243B0-CNyTHhUAWWR3N-erSrAbbhqGpO021bZRJEbxplp5ciWAKl3qdkWliJwUEFUYOKXz3EeWsyB2LdZUkcJF7s3i_7UwUkRzWJrqpslOzA2TegfYxF8Tb3o4SVwuvDlG9WoLrdU22gnBTdgS9K6L6nCvbszhB6cfPGq5nO5S-T9hIzC69y1u4l6U1RhAnMipCB9H2zJyEaT1laxytdqeIeTHDO06GraouGAAk65gUXiSoxxdSTWV7FLMd7_DwrHOlEn2N1213ikpXvdjnau7_banhuFKFdMAMGK8u43zwU4I55-Np2-FklzLIyYgrtRrMAFCV5mTQKHYudoqqES3mONrKQznJG7lPFbXzBlJk3X3j49J0mjd4tVi8zRQ22YORuc0JrAypBRdw-KLVjMNHrQnwy9SKVdVLKzOE9Hpp0s9HQ32N6XjXhCBP-7sRYOU8pdGp0hKW5DnhqH7hXSEAMtYs_pfPoSxifMKhpRHn99Uzjy6FYPNXk-OJXO6bQav-bCCGhEiRe7EOQ1geFnWhfpxN7C5htUl5JZJTwrP8BC3tAD-TeO1eabH9CfIoIHs4of0cGvC0NHOoOLvAV8Vkz_yYrbrwwWfIHVsSlw8qKORUI-d-hsJhBgEOztyl9oaIyELG0Dea5IxXYTnL9_YnhrkEQBBxtCt8fMJUYnrEfplbPzXCLyioo8voT-H81WrCKc63FQ4PgeJIbeias5NaKWJSrhqyJBGVIaL6ERBei4jCwDe7LwjKbfOPMCh8nft6btsZw-vOZ_9V8seOaUSHQGUvHnVuyEeIzB8QpInb4=",
  "id": "rs_0e499b92252e534a016ab42256ff0887d0a34075a7495e4d94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.183,\"left_z\":0.16,\"left_pitch\":0.21},\"note\":\"The combined lift-and-shift was also held, with no change in the arm’s readback. I’ll try a straight vertical retreat at the current horizontal position to clear whatever is blocking motion.\"}",
  "call_id": "call_oxLix9IV6iAjrUs9woMJwkGh",
  "id": "fc_0e499b92252e534a016ab42257711887d0820f14607ded8bb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oxLix9IV6iAjrUs9woMJwkGh",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.3384, 0.524, 0.4435, 0.2649, 0.0223, 0.9964, -0.0181, 0.8093, 0.6128, -0.4141, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3537 left_y=-0.1818 left_z=0.1449 left_yaw=-0.618 left_pitch=0.2124 left_roll=-0.0644 left_gripper=0.9964 right_x=0.2922 right_y=0.0024 right_z=0.1728 right_yaw=-0.0016 right_pitch=-0.0473 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -6.0376, 9.2513, 1.9023, 0.0659, -0.0317, -0.0122, -0.1436, -1.4017, 7.1179, 1.7363, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37bc770d6173ca7306b0b5fdf4541e6fe0f2251373ff87ac492db02faea6ab0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9665f77f63bd9525fbbfe669f60446ed49e00085f76b1617888b8066ef51ce6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4eb5a2acdb748f19bbc2e6abb004e833103bc6f4c3a9571de61ff041733703",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 3.95 s

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

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1746 right_yaw=-0.0016 right_pitch=-0.0408 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.5436, 3.6718, 1.8828, 0.0611, -0.0269, -0.0122, -0.0752, -1.306, 7.0085, 1.7411, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -6.4615, 3.5077, 1.8535, 0.0806, -0.0317, -0.0122, -0.1573, -1.1692, 6.9949, 1.7314, -0.0611, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.3384, 0.524, 0.4435, 0.2649, 0.0223, 0.9964, -0.0181, 0.8093, 0.6128, -0.4141, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3537 left_y=-0.1818 left_z=0.1449 left_yaw=-0.618 left_pitch=0.2124 left_roll=-0.0644 left_gripper=0.9964 right_x=0.2922 right_y=0.0024 right_z=0.1728 right_yaw=-0.0016 right_pitch=-0.0473 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -6.0376, 9.2513, 1.9023, 0.0659, -0.0317, -0.0122, -0.1436, -1.4017, 7.1179, 1.7363, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37bc770d6173ca7306b0b5fdf4541e6fe0f2251373ff87ac492db02faea6ab0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9665f77f63bd9525fbbfe669f60446ed49e00085f76b1617888b8066ef51ce6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4eb5a2acdb748f19bbc2e6abb004e833103bc6f4c3a9571de61ff041733703",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJgfmwgwmxE6NvpAe9qU8En1Wf46MC3Lgl91zQqnZNIiH2mXEcVgA-jQMdDRyPtncXt0DtcBrfea7qGU9tzm4fa9yMYYotUmF_SxIh90w118M8s2owlj7YVI0ZY2SuWAuwxs0D2j3V9ZmU6Lp8VnMa5dTT6OqTQ4tIcF0p8vhKcLWaYHAaXbexPUES-ayl26AuP7EdaE8uPqzwkIWBl32NKJn9hWqL_zUBo2mgO-bdTRnlIwiT5yJd0F-IPuYSqvyKicPaeuIqJKynOntVnJutoENLINJGk0Xz6tdVV_lAfcXZkgB76i7ZnnNGO5GSF0jUpl6ud5ErR0y0219xJjho-z9mSvldfVhRGg54E1m--1CBKfy5DzMAfpSiM7DcnWPwIz15XF4ZtLlAengpLnYKGurj_lzFDV5rROEk7TZ8HOVLD9I96-Le1mHMnj07LjfK--17mz5NXrCQmqhcCVv-2oCqJBpnVBO_qz5acpmXnSq9yQFpw8LAaAYqaF1FAcqN9g3svZKAPfud8ZRV-ZzsPVAVkORAMBSSB-dp9d21cmVLkxO3iV2Tj8Bj3dqHv-nc3po16w4Mbu8kaYOKnxJxXRpLM4uOltYHkdbkY3le9bq2uDKnvtQ3kXquxanaSmUUkEac-zSWJH4FJOB4Gzbp99OA0J6m8c-NX-NGgZjwOQ4OsKbcWFA8nwbsFxrTbO3R6mu6pOvvg17CNvf1Mech8jluX1xQrN-uStOP9GJDXdj4JTiKlw_OI2k_SMeLaWqx2bdPX_u4tkpqbsEQ5Ulfo_dqqY4jnB4xrv-UzkRcwYSzt2fmYftls-mmNVk33-hraciVeRdaTYzTcNQz46Gnp01AUgmw8lTFqHl8yfjNTi9oI9eXQi55JYFOQLddqv_eMIueB9LfT63cyXEFbEUBWi7N4LemuVRvjjVjntKRwHV-PnL_Ek4jIp2DAoqgVCxMot6vYBi_XUsMtv0kQjy2kknOESB0i4l_59xauVIMGMZIKVKMAwCHoaJ1dJnE-dH2Xu2lnUxYaAUrvNDB8RPtvyV_BsY6slKtS0jDNY1yYtS-yqB_V7Yqc1fFtmsSiOk15sxyAkhSd1ZiwpQBw1lZvaQy2NBqXSAUab9g-49xSPrcNKkx1sXnUD1TeV8vgUBck59RKBqQuQA6nML-5VuOgsljW_DQabine8AlDSueVYR3JGCucCrHrXplP6Es5aRXRtDGr7KOeSlYa2LbWR_q6dDUyXl0XO5NHKiu6RVMhIofzC18Ris7igiDQW6OPcMpTIAoeYNqG_dsJCttVIDW4guYJcw0smKYJni9YGkOFc7KqQByvq7FjG95TD-evqcoVx1dOByzjkklch15HgVrQJ4TGi_d0Dw9ngUmxnCAidNkCWUR37hHqGQHVRXkpORLH250rozUJaw-XhFuOLOsknl7qX-4g8Ftl9pGRNan93szSoPsuxBpfIqJnUr10mdsdRHmID2LsRhEpHsu8nDzuVfimjtkrAEE-CNQX67WMY5osyeMJPK5wXx3RDlBrxTNO6SEabfTfsOVtm2t5221KKzMFG6kLewor5H7maJoxTvCcKHcyw0QPMtYa8XejCSy-LPMS1jgXsC6bFjq9krLOlm5V8p0VBAxJxEhubOi4wcpm6Re0-AkVBqD7_37PnRiEilD50ka1U8htOQSwCvC75Qs1MrWUaVfBkIbgTJaTUoamJWIHpKYXiSXOzznxcqRsnNec-Laq_wI9r32hQU38ZmpWlL6qzHrKzTAupu65AKqKFN3awDgIAHKSL7mqNnnSZk8YL9EkLjRrOyuFS1puIB4s1m8xxEw8P2VLx6Sv9Nm8iUVM2OdOo6bIF6FLqP7zH2GDl_U7jafuf5AJPTfUqxn4vkRss6CJIVo7zq9-N-dsICCGQ9PUhqbYMV6B3rdtvVgl9FRLvOV5sTEKw2D7ckgS3Y_PgQS4GPrjf4fTfn9zPOq1xMKstnk-YuYUkadx38ohON3OEFrgmrs0a7Ak0zJMM9uuMZyKMCTeJRCt1BNwtFMDc9dD2K6RnpVYCUqb_Thqo2bXw4HhVrGQaQj9Xu1AH_R_5BzKIGfcCUByAtldQfFx2skJyCd8eha5ouJg6T28vJLObW-edUyWyhsyb7zSKeCUlY_-T_Tm3_GhKbchDeHPNeKqwuH3aMxoQQo2EqTLyfYe9tHQn_HwS2nTKYy1S0iGQHN_8Fj93hNTX6MLQLn_0JA0cErDh7eCvNS5ZZajBy9ynBjK-AfvVvXTP351LoLZx9MlC02enfLEGWXTOQzp88uB0ZdsOk4XDwpdc5bVX_txUxNm-_kZwPphXiXVKatnbVr-LIW9zBtaYbcMs2pD30Y5uZbxWUEBgRYiiP9pk1NBaqcqAWsagbbbruwXXxMdMBfITQ1HzrgSyARH2_bhKD9IIEBoHF0Ep38btjrFdI5-_yWPJOsNPI4hMW--wh_lzzVeABU-Hrjg8lK7KM319HZ_fXK2SFQL0WOrRjXhY9Wx7R217RmgilOPeRO9aRjS7pxVAkKyj-cuVozCiuv7yTsbczrpvYpxF04irjYw-O10ptGq-qIfFAQ8kJHvfcLreHpMpNMW4gyWRLBjeoMBON1y_9I9Udm9hSM9YNIbnsnwdG6Bb86DmkwejzaEIjn0vpf4XKTUMKRFoYXNofJNxP3P82Cb6dZpRK_sWjX8RalIG-W9OtOTThCjQfmVOs7CK9h6KL7gtdWR_MxYFuENpGefVOxcnShuzgCCqA7xNCBqkNmSSggKSPxsrv7QSFxD-vWZSfuyfPCJQqUcczhCDdsMzfnPv7TionVnT4IbQp-C4C-2Is8t_iXLkI3_DuGkQTLo1mMmiQB0zcTNzx8inmU35MGV9-BeSL0E9Sw_FQ9OKtmRNb1zfh8tFL6yv4t8Dxg6-e1-HN5YDabW_pknLDDwWvT-zse36eHWKk7ASa1x2599OPDXDayCEUtXsAcTqM0-0_lz5OcwGRSS_nRycfesUSnFtoihkHa0TCcqE4BwhQ91cD495ggor2CN4kHDwC4z3uos9pimaJvsKS5lMTkhBv7-lIHdYCI-wXQm0izGgjA8gIK0a9Q01gem37y6fayfsWwo_fOjEhDGPOIe2kCsiMlIX2vUe1lYaYYK6i0exkhw_wIP5mfLZQWZSZJVaWZ6QM1B2Y9-iWj5k9WblAEgNDtKMVzh80kI2ewBNcoG36QBB24I42yrBDxmCKiezxIk8m1mFmYOEeSp1GogqDngO0520sKboNXcALDR4a3ZXpJve6lwTDS18zZR2gEJEBfGM0imEqPZREY=",
  "id": "rs_0e499b92252e534a016ab4225c1f9887d0bdf41d5c3b4e42e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.18,\"left_z\":0.15,\"left_pitch\":0.25},\"note\":\"The straight retreat succeeded. From above, the cap is still near the lower edge of the left wrist view, so I’ll advance the raised gripper over it and check its position before descending again.\"}",
  "call_id": "call_t4wwTL4OZFm1bHW3mlGteaMH",
  "id": "fc_0e499b92252e534a016ab4225fde0c87d0ace0e900b8a95a1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t4wwTL4OZFm1bHW3mlGteaMH",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2996, 1.5307, 0.6151, 0.4477, 0.2985, 0.0235, 0.9964, -0.0181, 0.8116, 0.6128, -0.4156, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1701 left_z=0.1105 left_yaw=-0.5753 left_pitch=0.1225 left_roll=-0.1023 left_gripper=0.9964 right_x=0.2921 right_y=0.0025 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0511 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.735, 9.894, 2.3175, 0.3736, 0.1197, -0.0122, -0.335, -1.4974, 7.0222, 1.6972, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b47576032e5b9f5851ae634e53b60afe3fbb44c7796f0a6170e0f4891e7ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686f66e7ca97abcffff6542fda04bb3394a1c1e8d59370d098fee23cc16ad591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7984249daa33e4a4a21d1442d158f0a0a5b2930fe69ce26d0d7bdb31835437",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.154 s

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

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8221, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.0441 left_yaw=-0.6231 left_pitch=0.2129 left_roll=-0.0625 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.6667, 3.6034, 1.8535, 0.0513, -0.0562, -0.0122, -0.1299, -1.2923, 6.9949, 1.6972, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.3384, 0.524, 0.4435, 0.2649, 0.0223, 0.9964, -0.0181, 0.8093, 0.6128, -0.4141, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3537 left_y=-0.1818 left_z=0.1449 left_yaw=-0.618 left_pitch=0.2124 left_roll=-0.0644 left_gripper=0.9964 right_x=0.2922 right_y=0.0024 right_z=0.1728 right_yaw=-0.0016 right_pitch=-0.0473 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -6.0376, 9.2513, 1.9023, 0.0659, -0.0317, -0.0122, -0.1436, -1.4017, 7.1179, 1.7363, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2996, 1.5307, 0.6151, 0.4477, 0.2985, 0.0235, 0.9964, -0.0181, 0.8116, 0.6128, -0.4156, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1701 left_z=0.1105 left_yaw=-0.5753 left_pitch=0.1225 left_roll=-0.1023 left_gripper=0.9964 right_x=0.2921 right_y=0.0025 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0511 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.735, 9.894, 2.3175, 0.3736, 0.1197, -0.0122, -0.335, -1.4974, 7.0222, 1.6972, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b47576032e5b9f5851ae634e53b60afe3fbb44c7796f0a6170e0f4891e7ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686f66e7ca97abcffff6542fda04bb3394a1c1e8d59370d098fee23cc16ad591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7984249daa33e4a4a21d1442d158f0a0a5b2930fe69ce26d0d7bdb31835437",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJk6ZIPqOVt6cC6UubRpc6QzVrB5xlP3sfy74dfZ84MNHweAQOZJD4PgrHG4B8l7dKuN8DAVAp3Sr7AdlCf5Oez_QuxkfBOrIPMCYowYiQADik2uwa5su7DO36v4jiPNmmX-z8pW1Wx5Kry8MX8Xr68U07c4p_6VJku1fMWbwrJA1k4mD_Y_KFVo-e-zxQuyWYF8q05fAFOIuFXuUAPAftzoSv2t_DAfY4tnoAdHb_0nLv_PjPqrsckiV70C1j9kv0MJLve3O5H5LN3lEPBzhsYIxE-KjU2pU-1-HVvxtD_SpdELus8UJoDP7gaoyaoeiY-oJ7jmJRS88BD0KvvlKrVZ8o3AQmO2VsZ71wIFdDFsvdVa13zEkk3sDDFMPTefIInGLS9clF5MtMaDsTWUZVmGmmXVGyqS7lPPuHholFkTudhxd29IWGDDZBS1bRp82HhBbh8w-wHh-kr8Kb518NiBY378rJftkxcykYzNAheCx-blfvmFi86P2gsPvyYwN4j8GK2klCYyRICrj4m6Do88gYHw5P7TVv3cbR_lhhiUh2H8EGaLX5Uoq3uEuRIzgrFuA_DsjH_-VgzUDUd4-JtwxYkzFyazvRkguHRBzbjN4k7SvnUS1C_Q5H-hI3F-bYgb8mPegDRATLORzxesn171rnfHnYVodETEuWsHFs5wzcRFFIIBGtQz5RBLLotKd3tqkabg8ke3zFiohEUriNrK3ihaxvDDBtLANxuLtX5J8i7vKBFnNZbKMKCpI0Ob6Z0QmLCJE36pyQDDIKjIyBmQJKlEaF5cIbUbYJ6Ve-qSC4ouASGZtTKZ7NtTWpo_-8H9gsZ1QjYK7qed21usJOH9AliQDyhsI2UdxVkEhNro92iF3nqhpa0vysxLwIN6EbV9-11jx4MjxWXATAdcBNIoYzkQFcwEjcYm_-1UaoPdqL_Pgx3YO5q6uxuJI1AKwkMF3nfUtO_gT1VvAReSaM6i7l-RSvZSANx5tEMJJDm0n7zgUzwPYjLy73aSLuiMQiGib70LU3-pXNF_L0aG6AGmo56BOxFXaiKfCnYjZPbKtECvdQhDb56efH5B2o-DYMc25n7MHXK9IP0wrHidJPqH2giey7UU_gKFyp6uUC60390u-1erV8mRbR-dQwrKZIunT9vtFPbn5j_T5pAtcuQX1YXwJrkwvBzXrICiR_isaRcYtMRkrPm96RNfipLxQ_Uo0MHghaw8YYRFmKGxWN9t7gzGF7dLcF01Ib5gRqDTVAHAegM4VaOffSOW3nBuntIRVIA6z14dMzq_q-MnJZ5Vp-SMFK3MLE4kr3E8y4ZN3N6hTRjh5LqiQNW0rlR9vNUZAkqnQZLWLGAltzR-g7hRzDDxKeciGdFI7hEZJie-UZqdeAvgbHJnnUE227GYVnqxXVFbAaiat_J0Ta4muhSWlybIZxNExG2ZaHJtdSSFZBRkKTvmpebw6z2LJ2plwnyKhwJdiR_hbSYFMgqGUXl_Yu1_DfT_LtMJ0ZRb-tb_Ii2uHjlEoGuuW6Pw5HJuym4NHn6GDnjOVBCd1C7-NuQ-IRoSGTmr1wSO2TsL8RAR5HlDHH73BZk-Y8ejkxu-0qrkPbOUCvLWIdPhnA_JkV9vc_urxYl9NZfH2XKxI9HRTUYS5HFEImTBbNnePQG5PyVwqcU0q5ThPZjE_mJC0986NR3VUvt5R6TPSI-_WhxERzrNOmxKjmWPFRQveua0mwLBE3lEDQVAKMJxYdrp2N7zqTUcd8H_9cmxp9FUuBL0Xz0lXQM-W8UAhLG4nA1gzI0dPflGLck4tzn2vDE9XSXu-pqY6mUGcQ4-7dV4KLfi7BUAGXLS6P_GZYA6SYQfJhga7Nyn-glLZdkt7Eb_rEllIcgX0kLBdV3nrliT3n6lZhO8Qf5k7vokeadYxpwRwqjDWLIT90B6X8QrQNLw9T3gktZRv63CuD5CQ3iMOkJSbs10OlZ-zj1jpAw8bSWTuuW",
  "id": "rs_0e499b92252e534a016ab42262549887d0817ea46c6dc981d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.18,\"left_z\":0.025,\"left_pitch\":0.3},\"note\":\"The raised left gripper is close to the cap in the overhead view, with its jaws slightly nearer the base than the cap. I’ll advance a few centimeters and descend with forward pitch, using the height readback to confirm table-level reach.\"}",
  "call_id": "call_JJ6hqTqtva72gGy0zlU9hF4b",
  "id": "fc_0e499b92252e534a016ab42263df0487d08daf6848f7be7455",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JJ6hqTqtva72gGy0zlU9hF4b",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.5478, 0.646, 0.4911, 0.3222, 0.0265, 0.9964, -0.0181, 0.8154, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3973 left_y=-0.1753 left_z=0.1263 left_yaw=-0.5944 left_pitch=0.1803 left_roll=-0.0928 left_gripper=0.9964 right_x=0.2918 right_y=0.0025 right_z=0.1701 right_yaw=-0.0013 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -7.2684, 8.3761, 2.1221, 0.1832, 0.1441, -0.0122, -0.0752, -1.306, 7.0222, 1.7509, -0.0073, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f62d77ffff2bcbf11817f2624eca88aed32db36920e19fdd681b41d0d5b6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e81160e64a58668bc827ff5a05d7e2af346d48b3354bd9a2344c28a3e62c477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923dd5f77ad0d58b71b2984c9c7bd9906378c3c66c116ac478db420c6872b711",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 7.583 s

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

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.8225, 0.3649, 1.0863, 0.2687, 0.0257, 0.9964, -0.0181, 0.8036, 0.6128, -0.4133, -0.0242, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3552 left_y=-0.183 left_z=0.044 left_yaw=-0.6231 left_pitch=0.2125 left_roll=-0.0626 left_gripper=0.9964 right_x=0.2919 right_y=0.0026 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -6.4615, 3.5077, 1.8535, 0.0806, -0.0317, -0.0122, -0.1573, -1.1692, 6.9949, 1.7314, -0.0611, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2996, 1.5307, 0.6151, 0.4477, 0.2985, 0.0235, 0.9964, -0.0181, 0.8116, 0.6128, -0.4156, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1701 left_z=0.1105 left_yaw=-0.5753 left_pitch=0.1225 left_roll=-0.1023 left_gripper=0.9964 right_x=0.2921 right_y=0.0025 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0511 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.735, 9.894, 2.3175, 0.3736, 0.1197, -0.0122, -0.335, -1.4974, 7.0222, 1.6972, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.5478, 0.646, 0.4911, 0.3222, 0.0265, 0.9964, -0.0181, 0.8154, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3973 left_y=-0.1753 left_z=0.1263 left_yaw=-0.5944 left_pitch=0.1803 left_roll=-0.0928 left_gripper=0.9964 right_x=0.2918 right_y=0.0025 right_z=0.1701 right_yaw=-0.0013 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -7.2684, 8.3761, 2.1221, 0.1832, 0.1441, -0.0122, -0.0752, -1.306, 7.0222, 1.7509, -0.0073, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f62d77ffff2bcbf11817f2624eca88aed32db36920e19fdd681b41d0d5b6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e81160e64a58668bc827ff5a05d7e2af346d48b3354bd9a2344c28a3e62c477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923dd5f77ad0d58b71b2984c9c7bd9906378c3c66c116ac478db420c6872b711",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0e499b92252e534a016ab42266f48087d0abb52333338dcba9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.175,\"left_z\":0.005,\"left_pitch\":0.3},\"note\":\"The diagonal descent tracked poorly: the gripper is still about 12.6 cm high. I’ll keep its current horizontal position and lower vertically, which worked better after the previous repositioning.\"}",
  "call_id": "call_GFKOoyx7U6kxtjiGhyPVbtOJ",
  "id": "fc_0e499b92252e534a016ab4226897e887d090b76b526ae37b4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GFKOoyx7U6kxtjiGhyPVbtOJ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.0342, 0.5186, 1.0531, 0.3309, 0.0315, 0.9964, -0.0181, 0.8211, 0.6128, -0.4206, -0.0235, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3904 left_y=-0.1736 left_z=0.0012 left_yaw=-0.5994 left_pitch=0.1322 left_roll=-0.1075 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1683 right_yaw=-0.0018 right_pitch=-0.0656 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.6632, -5.3265, 1.5521, -1.0037, 0.1636, -0.5299, -0.0171, -0.1299, -1.7709, 6.9949, 1.7216, -0.022, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9a7d922c625d3a8852d3e3feb43546049a41586d2f9b0bcf630c6243f720620",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5b80ac1ff7eef3242f84130678277742d1545abe9eb0839740fe79a10c6933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cfcdbf1887bb513d943783d90e1e43563f185292634afb6b184324c1d5037d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 2.928 s

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

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.3384, 0.524, 0.4435, 0.2649, 0.0223, 0.9964, -0.0181, 0.8093, 0.6128, -0.4141, -0.0235, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3537 left_y=-0.1818 left_z=0.1449 left_yaw=-0.618 left_pitch=0.2124 left_roll=-0.0644 left_gripper=0.9964 right_x=0.2922 right_y=0.0024 right_z=0.1728 right_yaw=-0.0016 right_pitch=-0.0473 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -6.0376, 9.2513, 1.9023, 0.0659, -0.0317, -0.0122, -0.1436, -1.4017, 7.1179, 1.7363, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.5478, 0.646, 0.4911, 0.3222, 0.0265, 0.9964, -0.0181, 0.8154, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3973 left_y=-0.1753 left_z=0.1263 left_yaw=-0.5944 left_pitch=0.1803 left_roll=-0.0928 left_gripper=0.9964 right_x=0.2918 right_y=0.0025 right_z=0.1701 right_yaw=-0.0013 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -7.2684, 8.3761, 2.1221, 0.1832, 0.1441, -0.0122, -0.0752, -1.306, 7.0222, 1.7509, -0.0073, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.0342, 0.5186, 1.0531, 0.3309, 0.0315, 0.9964, -0.0181, 0.8211, 0.6128, -0.4206, -0.0235, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3904 left_y=-0.1736 left_z=0.0012 left_yaw=-0.5994 left_pitch=0.1322 left_roll=-0.1075 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1683 right_yaw=-0.0018 right_pitch=-0.0656 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.6632, -5.3265, 1.5521, -1.0037, 0.1636, -0.5299, -0.0171, -0.1299, -1.7709, 6.9949, 1.7216, -0.022, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9a7d922c625d3a8852d3e3feb43546049a41586d2f9b0bcf630c6243f720620",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5b80ac1ff7eef3242f84130678277742d1545abe9eb0839740fe79a10c6933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cfcdbf1887bb513d943783d90e1e43563f185292634afb6b184324c1d5037d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e499b92252e534a016ab4226bfb0c87d0a6cc68248ce67c28",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJxO4_69mPNw-WjgoXQ-boRrJw4cCYctL5PWyCFjteYmKR0YJXtTvzxEM8KVevMjdpF6IWMEtACDq2fKdEmG40N5zxY6675HECZycATJyyTV-totwXTL2ijIsIrsANs7AfMP043BvwYkBFH-M7-xsn7pM4qwI2RjgpW0jTJMiLR6xU-6e0ZS5NmKc3XYDe56DWy-xLMUbGM-aaQ-icht_9G130nPDfGEqaIzIwD5978wdF0EZFH0ZR6b8DtE6G-830uiSNiwj2v-63JzRN7MtXKHWUbz64yTyUomGoyB5UTkqn3RlLjkN-_BL5_34mrmZRhvWwQaN8qjBp-V4irT8PeT8JFzf7_DX3VGYeQdC3g7lY4dvualqolX39dMcJw9JS0Xag_2SO1RKefIBYy7xymCqfmb1QPIB8iUvjyj-2I5ieEvLrpPHxGmdZZ7pgRYufN2aEzM2Obex6rJZFo7NFmS8Z-Lw97vnBJXGGgOt6g4CijDQ7O7pjkhyTBNIzSKlxmkNRAeXfKflwYwy895JcWc0AHKZFoxUkGWgHqposjm448ydcYSsmAq1lyN4gIQde8USXANEWI9w0alokMdj7oQtomnV0PBxpw-KUiURuDBJybzCscyaqeT4Lb5mAFvXsJdBl3JNzK23Zf63iJtvWnONBEWDKyaiBEmRwORVl4XXAmyXetFVpXd5vThyWcwB26bMOGRq9n1jNb1MrOHevYYz5ZAKgtOHZdTp9q3y1XGUvUwP99Lwvkri_yFWRWODXF8C9TYdFWhZKDt-yDf9VyQlQ_B7ChJdOqfamT0FSKVRXggZGTrjfgxLs9caE--B9Kmenkm3f4k9mxXS1eXQuMijZ6LcKAD-NrOPri0JjUGJUhguzRsieD97Jj6S7wUIlhgmvzQoFk22-Ioj1KLfpo8ZlWZk0dizT3U8iHXCjhh0GQB7Fbx-BkNwk2tqVhxAUTY_97gx1DcR6ImHuUf4pwEmR55Ogv8USZkrhlHZ5rszDzYC8_aI5HpVCQeLoPfwYzxPBvQHh3SuRgE4gcSKOKqMM4R0Mo6tnMmPJ8fT-PjV4X3IQZYjuI4esOHw--t21hvYQoQlAvrt6QuRZL1WMfZ3FcPma8ksRxo6-wA9yT1OOsFYiKmHSx8W183RUKNX77u_rC2ijqalcpQUW6SxUW3fUaW5bIdev7eHktfZb82c35hfLAPC1m5zIoIz_-1y0rt-USaWi9liTpZUC3xhQcaPd15schMsf6lx5Vy3Wd7UqUXBlG7vm83CC10e5bkI40Ah34Tzl_jCodhzpgZUgzuoawSKrmjaTWcSwGsTST64lC4KYO6Iftbx5umb0eUfvOAB0pDZbHHRZV2Ju-GmTaOGkplxdywFNSWHhVtn9WdfpwmxSe-n4GF6TskqwtZy4vEDJ1KFSsXtyvdTRinhW0H56D10PEGePrDBEFuIFwSOpLOTBntJzWTUQJOpVgwLEDN0_oWAO811LyBthRtM4Wsg==",
  "id": "rs_0e499b92252e534a016ab42270611c87d081cecaafb5896b54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper has reached table height, and the cap’s silver body is visible near the jaw column in the wrist view. I’ll test a close here and use the settled jaw opening—not grip effort—to tell whether the cap is held.\"}",
  "call_id": "call_mvUMSeLeBFtZ09dPklpf3p94",
  "id": "fc_0e499b92252e534a016ab42270fc5087d0bc6bac18c9666266",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mvUMSeLeBFtZ09dPklpf3p94",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 2.046, 0.5125, 1.0859, 0.3222, 0.0265, 0.1084, -0.0181, 0.8223, 0.6128, -0.4198, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1726 left_z=0.0015 left_yaw=-0.5907 left_pitch=0.145 left_roll=-0.1039 left_gripper=0.1084 right_x=0.2921 right_y=0.0025 right_z=0.1682 right_yaw=-0.0013 right_pitch=-0.066 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -9.0188, 3.7265, 1.5409, 0.1294, 0.0073, 0.6374, -0.0068, -1.5111, 6.9812, 1.6484, -0.0366, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d811f848548fe4c1817264fe8ce2b1516b65bf58e207577b3ac0e410657bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab7707c41196f0f4f47dbc8d3057c996b48b5dbd5e32d587a61756797a1372c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc15ddfdd08922c07522f3519fc797c054da911b73b0570b705d36b69191879",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 7.339 s

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

message 61 changed as sent

message 69 changed as sent

message 74 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2996, 1.5307, 0.6151, 0.4477, 0.2985, 0.0235, 0.9964, -0.0181, 0.8116, 0.6128, -0.4156, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1701 left_z=0.1105 left_yaw=-0.5753 left_pitch=0.1225 left_roll=-0.1023 left_gripper=0.9964 right_x=0.2921 right_y=0.0025 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0511 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.735, 9.894, 2.3175, 0.3736, 0.1197, -0.0122, -0.335, -1.4974, 7.0222, 1.6972, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.0342, 0.5186, 1.0531, 0.3309, 0.0315, 0.9964, -0.0181, 0.8211, 0.6128, -0.4206, -0.0235, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3904 left_y=-0.1736 left_z=0.0012 left_yaw=-0.5994 left_pitch=0.1322 left_roll=-0.1075 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1683 right_yaw=-0.0018 right_pitch=-0.0656 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.6632, -5.3265, 1.5521, -1.0037, 0.1636, -0.5299, -0.0171, -0.1299, -1.7709, 6.9949, 1.7216, -0.022, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 2.046, 0.5125, 1.0859, 0.3222, 0.0265, 0.1084, -0.0181, 0.8223, 0.6128, -0.4198, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1726 left_z=0.0015 left_yaw=-0.5907 left_pitch=0.145 left_roll=-0.1039 left_gripper=0.1084 right_x=0.2921 right_y=0.0025 right_z=0.1682 right_yaw=-0.0013 right_pitch=-0.066 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -9.0188, 3.7265, 1.5409, 0.1294, 0.0073, 0.6374, -0.0068, -1.5111, 6.9812, 1.6484, -0.0366, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d811f848548fe4c1817264fe8ce2b1516b65bf58e207577b3ac0e410657bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab7707c41196f0f4f47dbc8d3057c996b48b5dbd5e32d587a61756797a1372c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc15ddfdd08922c07522f3519fc797c054da911b73b0570b705d36b69191879",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ1SDKamacGliG5AiZf9MtyK-WHdCYANcqURJl46lyiNqpLcw52KTBdVvgJdUKJNxr25nxOYVF2xm5HE0BONazYUI8Q2Cx-IDio9sdiEShIqqMobqWZS7GYa-9p2G5kofK1-4JrirCzi1cIMzaKijWukQ-PV9DzdmEP3ZbIm6NSobEHfYo-1EDm4lsPyDcAl05UN-B1lFgKfLj4sb_MZ2LFXIio4MiDqVhDtOD38fK10PAraky938_3pz0TrhzPbEjNjHrzE0hia2V4-P86V6EzPv9dILLTo3Sy9VmDCMKryHzj8P199q3o4IsfoqSqlEmGUYHaX5qLTKx9tqWfT3jDWAlfssNuml4qqBgIOUhSoDk0Y8GbsKhO3mkTLYSTJzSzwgOVw8w6M9f9wfQKE_fbFlCG4eomZDBr0HSfoxsqcRkQUFN7DUNCpmd3uXUaw1zKfsH5aRYzjh7-VFGVe3DiH0wtcwiSt6GHehwjTVV8PkXvGk1NQrs5wSB4ueEND55wOZGZp5e-r36NlQBFc7PnuUx3FIKW3TQnRqn1ORJez4z1cG9vf04e9ZXGW5wRYa-9PEytZ5f23bRoF74uEsdr7uyxKkOqEpD48w9vsTovVGeom_dSm2pe54SDNbyawbTT46pHcx1CWIDkMNrE_Omx_5GiEzhBqhhEC8PvA9cgjAApvX08MW2vgcbqInmAoM--gXmkqpR6QnR9oa9SOPv8Kncvh7dlKR-P5BDsVJkwjeTElu_8EbtVe9Ar4aPp4ZA7VF7avyX4CArFcf-6o02ZkLD1cBtFLJq_cMq2EQO8D1sJw6AE3pO-xTcqW9d5ov6D4GtzojWNv0wFgZXGWXF_UjL-eO3Up-rE4L_RJgAUtUPy0qRgrh2rVZ7oGu4ld3JTc3_TtriuQnGE9auxmZfmdfVSBY_KUQJ_g6YD7gq8hTQ6zudC4zCc1oQGots4sLakvM7QLWgUsI9X9y5r4cbeNZzUlK1EV91cGyop2vY9n4MmtwkKqq2JoarMiOEkjgVqKgvM0PDVhAYzIbLaFFLYZ8G9StZkCT22UuJ6itBlviLo4fFZRZBfNLQE5z27gte8PgSJQb2ASu-HsccXcpZMcK-2XNCQp-IsY46se_saooOpSdmQJ73vfoywfWbKJdo3iIbsTKIuQyW6Ut-MV5I5ViCN_afX6nvsYqiaYRS63_3KWz3Db5dtdm7R-9KBM8Yr0p4j-oq1c3FiI5qW_K2Axxs-3rSvCOeK7i3iNaEzdkTHmq0pUv6_wwVDIAiX2nOaxZNac5YVXnV6YL4xZHUGNQ==",
  "id": "rs_0e499b92252e534a016ab42273c40087d08bb4e14ccfdd8b11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The jaws stopped at about 1 cm open and the cap disappeared from the wrist view, both encouraging signs of a grasp. I’ll lift it clear of the table and confirm that the cap moves with the gripper.\"}",
  "call_id": "call_eIIlGi4VhBFUn4XD2wJWz625",
  "id": "fc_0e499b92252e534a016ab42274451887d0abd5cdd3696ff926",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eIIlGi4VhBFUn4XD2wJWz625",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.6199, 0.564, 0.6048, 0.3187, 0.0231, 0.1091, -0.0181, 0.8249, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3872 left_y=-0.1709 left_z=0.0885 left_yaw=-0.5862 left_pitch=0.1411 left_roll=-0.1066 left_gripper=0.1091 right_x=0.2923 right_y=0.0025 right_z=0.1675 right_yaw=-0.0013 right_pitch=-0.0683 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.8701, 8.4718, 1.8779, 0.0757, 0.0269, 0.0611, -0.1846, -1.3333, 7.0906, 1.7363, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a982c75cdd6b69ef0ce4afed8fffb14beca7e96b5a671523cbb7f8bd7d1c841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7be5909e9671a548d074e9ae6325e9fda9dae223dd35bd290e0d10c204a12c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b468dc90014d947f8627d1b7167e0412a7317eff2cc346da241effd0654637",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 6.852 s

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

message 65 changed as sent

message 74 changed as sent

message 78 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2947, 1.5478, 0.646, 0.4911, 0.3222, 0.0265, 0.9964, -0.0181, 0.8154, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3973 left_y=-0.1753 left_z=0.1263 left_yaw=-0.5944 left_pitch=0.1803 left_roll=-0.0928 left_gripper=0.9964 right_x=0.2918 right_y=0.0025 right_z=0.1701 right_yaw=-0.0013 right_pitch=-0.0587 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -7.2684, 8.3761, 2.1221, 0.1832, 0.1441, -0.0122, -0.0752, -1.306, 7.0222, 1.7509, -0.0073, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 2.046, 0.5125, 1.0859, 0.3222, 0.0265, 0.1084, -0.0181, 0.8223, 0.6128, -0.4198, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1726 left_z=0.0015 left_yaw=-0.5907 left_pitch=0.145 left_roll=-0.1039 left_gripper=0.1084 right_x=0.2921 right_y=0.0025 right_z=0.1682 right_yaw=-0.0013 right_pitch=-0.066 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -9.0188, 3.7265, 1.5409, 0.1294, 0.0073, 0.6374, -0.0068, -1.5111, 6.9812, 1.6484, -0.0366, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.6199, 0.564, 0.6048, 0.3187, 0.0231, 0.1091, -0.0181, 0.8249, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3872 left_y=-0.1709 left_z=0.0885 left_yaw=-0.5862 left_pitch=0.1411 left_roll=-0.1066 left_gripper=0.1091 right_x=0.2923 right_y=0.0025 right_z=0.1675 right_yaw=-0.0013 right_pitch=-0.0683 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.8701, 8.4718, 1.8779, 0.0757, 0.0269, 0.0611, -0.1846, -1.3333, 7.0906, 1.7363, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a982c75cdd6b69ef0ce4afed8fffb14beca7e96b5a671523cbb7f8bd7d1c841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7be5909e9671a548d074e9ae6325e9fda9dae223dd35bd290e0d10c204a12c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b468dc90014d947f8627d1b7167e0412a7317eff2cc346da241effd0654637",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ9bfUXyH8XeFsE5JchhyBEJBS-vr_DlkVg4HPLBereWS4BmEmnaERhePSdCucRA1QnNAIVHwJkWf3hmQkiclWBqGSBblE4UMoh-8VcrZAWLQ2HDKp4dPQy9Fqioa_ro54cAYD9LcajHeBaHo-F-le4XAh1OOqah1sMz-6_hIaJGakR0yggCKK7SNnORLpc2qJaw3epuK3A4EjhaRMknoUAH7IBysoapAg16noufYpbl_1I_pFI8z5cjQ5pmF2hXKJv4qvC6i-qovHqTWqun6Zd45kEHBcWowAEJOfhXLHy3SAsYQ_DOCYOQlJljAdIn2i5w1UtjBQWqct8QZrCZjmQ-_8l44g6fi1ZpX76DWbR7iiTiWyUSHUCmlSSdhPibU8i8tFm1ZXgQxEwFVsQFvVZbaXN4KINU1cOlq8QowC7f8Ox77vetQTZe_qWvbGanxH8AHyNCxfmFX7PBkIeIj8BSdHt-370Yo2SISueDsSLojJ-4amyGNZg78KYCucAPjiiIfixb4ffPEZ14ODPEgeCGg8iH2g8QQ-hAYkve-4KtrMb0GOYehJxssxRgYMjogwkqEc6K51XgsGH_nhyaim-jxLMIwS0Y6pNQhcvfTdZInmVCB9r8T7GgI60Fqpzfe2gPSmeAfCIvxjY4i7GVeGUSuRvDHWU3CneIk8ClZ1mcz3X_TesXBsoAIJueh9zaX1iiyoaM_8kY8NoItjSpLFwJFU7LDgFLhb_6EpgWKbvaIA09xqdlavp3S8O6wsg5sYqfKmFA5DvXprDn7maBFi_CdnE4K_tIhKjw6--8MAyUzC2qYoKEIMu7eX5QjolYxjanB4qNnkTGtJ-TXJ4rw56lpIkXpggQ3NTI7fagOt5YKjIcMB4pLzXP7C9AFzdEhuvobHEizg4uAO8EffBTgfLSomWUHCMaNIOqKqyqtj9H5Xhby8Ta41DaXPfdpYNGrvDf3sl5gyiljUtft5dmM7MtSQXeCS1PVG1nKtgKJhUKu270H8a0L2HSo-x6u9-wUOsCNbFryn4lLYNYLrkkdTJbwGEpZfm9UDPuQ9Tx-Lh0EF4OFZ1LjRsUclIJIAmecEhuma4NDABuR9UPfOyz7EeljYk2rzLTuhWU7fuYTaVGgDtrdNvmvHKN_dOX02Ez3ZmAw0cV3w1CHhconiBxhgyLn-p5IU5x-ybQQuJ--hvWNs88rj1KrIvgYNm-1JFRzVcKsw3hlDGdz8fruXALLF1lzfyeCqu08YuGzRm_1CwV6ykZnKDE6fQan4cVyyT6k1vIXTw06p6zWkbsVmp5cVNcQSP5HLAcxVaFYAkXBxlAx4BaAr4d_6z9S1zJjUTXiL7IbP3GGYj8JdUj8c6C3rt6lDPGoHHsRpc9NoqZu8FtCdJaP67bcCBr7MV3mE2MWweAU7ZRIx75_VmT2pjRBXdhBY5giOD9cxAQLNL5c5pZPkM5KsuWXo4NCSYgcDsg4BkhdcVu_JsJlMNQYgX5XbQZX6n4zFQ8AXqXD8g_u7mzYxRKmqYoKm--_kkeCXwuTfUJwLTKy3CQs3hMdhMXwMNBDHUmMi2do2m_3yjNuLyMvuemPxLahSfPfpCxcnkt91KZLdRATVDCx03Wak6mb8XA7IcZ3lgVdcaaVHYzr2kjgZDj9FxYxUquhugzniccly-OXG18QSZqZHWuOJbbNIc4fmYISqn4xFSUuN4O1sZDCpP9r4hSrqb3m9ZntcyrH_AbUunsErRDCY762ffV6xdoWk6lfFgWKUbEegKv5nBGHZnNCsTTYsM--Tp221MMyqLLiV7FJn9c201DskoDnyUsCSa4PbJ5SRMXYh94EIbiL9bZx7zQ0AwBjvfO5xZqH5Ww0x7CAJTLQXxm6-wb7z3QEBZtk-VKmBNtpVdLOlOqDRsRGB90ztoQM1AmAYaFePYd5z8_nyFOEhW1HdABt2NdEQyvrnR44oFfQSPAgU89JS7aLbqFx18vLMmGwiLvTRvx_UoWpC_wGf275wbQRh-X-OKZ7c57Q3Hks0OKK3D7fYX6fHaiNyDq-MO508Kpcnpfe6O7X9ARrGej6J4ZEKkT_B5LAK4KXaqwGCqZ-zQFVZzPUeuz3AR07eZeMqPBM0gvYcU0oNaoEuVSWNSx14iPeLqHA8VUoo1vUhDavSftCkLE-8LiEFFhseOrHquM_CLZ9N_BAPDA1-fpGiCC5rRQ3mcUfs3sEziQNluX2yZ6lIH4ayMKv65KQgQu3EpFlN27fMeg986Jl2HiktWNHYmMINYdoEqzsmOu6LoF2z4hmBG4kGknnXraHOuKXFP9Mev8gVeiYIkEUsaneJJSJ8MxidyCT9TY2xB_K-yKmvPMJ3qzIiCSEW59O5lwq-Rpa6FkckLlDgKxX_r4a-xv2yVbiUxuMRqeSpCK8ymg_7yKCtZqEtFGV3GpPd5u0k8iirkSwPc63sVrXfQPT9YlHdkXyhYL4L3ZyPobhOIvTpOujV4M0L4f4KGu0h1kQwAgzOClbzw5j4H53BhECWKK38KFYcqZQ3RWfsaQfE9yv2xkPNxC03PtR4H5qCpqP9ixNN9gOruGNmWIwPKt9pJ1JDz7bMnOewp0d0IcL3kgXEgW7zHLFBgJQXvu8XTDhLEfQeO4xsUR3dJrcwrbcBru8C7ryoHLeNl_eZ7F5Yc5v6HPNbUgaBkzWOrp5fWJLTKPxLFt_7nlUp-PWznxoRq2r9fCm64azkD71-PIY-P2ZTlCatCAHnuc05QlrS2MhCArJ8B0y4l0U9W2PSzOe4l8GWZ8LHAusxRF_F-nD-wOTswtbejidjS30EXY9Ii8wtngrLFGgHJj-n-_N7BYKHOWdxSIAr22ET9-Yjo90IRNVhI-KbwPq7JpSHVLGuqikEFUQWaflBou14nczv6oG4haG1KmcXZTQHNuDzPy60cC6qZZs2Lb8jRiwoVJRO6ULWiszvFmrQFh2eCklBxXyORbOONAdaX7RMI0z6ZNhYjoxu7CPTtxbE4nX-AyKBhtDYNLhcbuSC9ZGnUaeV_kKalGkA6w5mxIzYyWdphsaP-Jc6XtdbeF-GaGtiPEXu18Hxl091z6iX4bBbEYpMIofwFN8RSQlnfcER_B3ONz8Sinw5fmmkG1qd6T4SpnAHwwDxgcG3ptU30633cyEo2FcAb0EOWNWqvcv-15yYudqZ9Y1C4Hcv_h2LiD7avdeAQ9A9GfSBl7RAu0GSHSEwrIWjnEM2SkE3El3tK971NKpAPPpUGlCQaBE9k9oZ4Uk1JQb_gH7d1RrHy6A194QQTgXwC1mEkvnI4LV3ceR4GX3HVtCdSrfuTRa8GF6E2dkbaFbi3q8Qo0ivTegLXKLnYYpRw5UVn37DczoH73tXGSTxMT7UCl--LSOJESiVdvC1bHGBtVPhwbFI-VB1FzAuCkgN6s-sjgjDRPbdVbJMfChOFlFSeuCq7fSsKjME-Bz51BImRaihh",
  "id": "rs_0e499b92252e534a016ab4227772b887d0b2f93e29cff83b68",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ9KJtmnFRmhzW7-dphzKjCoUxvUWpqSj_rzHiS8CSixkdTT2Mo2UItsrke2HZpVyv6migfdTfUXgOxDkeD1XzIc6QASTFyB2Ml1rJ5liBAnD4AkmYDy09xavAhQFxJ19cEqrLxICLlv6xzmnplamX4GGPha5HFMKdE3j75xASVo5XIoiuC5bc4NEx0OP8glyukkUlNvFDed8l4lPvDdZb9y6LimTLI-yAvmKnAolc4LV09lW-m7EGQQvI3Noui2wUdj1Wa4W5O07tna1SBWCOm_k5bDXDdmFvJAacng3HGegC9NkQsa6ElM7c6LZpqHOAsir8ubwveCGzNYci1Swbn1PhwKGeBfSXJZG7Gvxmooj8XN4X59D6BojrPNNvwe-Vzmdvt5IhcXf4V8TQ5rDE8suckc3On7MxE2m_J6Dfn9WVgJl2j2DatGlERAps5OXd2mzxmgZPlRbnK9nxyOCAnosu_N57Wj00idkCGGaI5ONuL7JTqKNtcoueRJ9Z4LC7dc6UkIvXGcs4XVxsuCaKFCsWT6FHtNn5_WJxtLMq1rmkGwUp4LoiYwsxbEs8q0eY1-kWAL5r1Pnao00fampi2htiomnP0oCKdijEHG4OSL4k6nQOVio0u1K57gHBHeR6nZKxBh803WT1SJY24Pb3dPBV4NJ4SpOxorzznMnbc3tBPE_ec4h9xV0GECVVc23yvx5hMwV-OXXqOlMVsuNKJvvHnvSVaw2sjr7bfU4vNZI0jBbg6dg4ykVF9yrDVt83JhvYNtZ9CFr2Na4w9HMZIjIl4DGPUWGwoDjLEqvwwasnuhAlAQUg3H3mZjtYtTuN9vHva0VM9Gi_0xQmly_sKf63EY1wUT24bKHFXSwxjViD9RO4O5TlIGCjZtG9ej9HYx0MEdPMzmIZ5UB__yIsHckahtFWx_VWw-ec2-vizhTplkFIZByRt2u5zl2quM83z6fVtInO1GL0zVEEjqLCTNAH5yzBATnk3Pow8wNjEOr6UHlRGJNUvsbOfq-4qA7SzjsLPIO_GGrF8V3UwhDTUypE1LEBnc0d7ovv-m9SvpiM3SZrBcigANSzYqjiFVrfYGm2BMLcs_KuoVWdIlfSmfBdO9KC0QkbW5fRTjkelINtViFEQbTmvBzy3rtnJ4_steuOOlDQCZlg1f-HxMVNeGHBmuz4ovCWudczzg9YPocjLqNKPzNMWnZnkkWKTAJc2yMB0zkX8AcOns-ySdyGK7L545Hio0tnS0OxHWqAacCTpsQuuPw6LAbiSZmW9IX_vrIATAVf0dGY7_oUojt8HamuqoM6Qgwy1adckkZPnFbFwBgukidwbva-FizKnUkyNHSR89OPFVJXx0yHEuJQCj-LEmBiBOUse5HMG0Y9ARDVjgbtIobciK0jTh395ASqAIhNkVgesF4CU2OwG7PuHcuP8jfDHJR_Eibvg2ZD_8TVoXIYHCPwGLcpNXwp7mx1iz5t83W_DELQ2_JxHoIbhHytgmJlqXOBHmaVmJW5CCcBfXYNgZ3ZKB9zJmmGTjH1smdyIoXzPLOH3N8SgVmjgKwWQPu0G-_ImQu7ibBecKE6syWb5j7Br2_nI757Ik-p4L2iMx-hTq_kmCDagaVrklQYsUnmSh7A1oQHMJprf9QZXG-vkL5iXdTN5_Eljhprpy2bW5y7oRHayLSDjvdrvYLMBJOY-tT_r0AMgrU-at6o=",
  "id": "rs_0e499b92252e534a016ab4227bae0c87d0a62e13f7167d3f08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17,\"right_x\":0.395,\"right_y\":0.28,\"right_z\":0.15,\"right_yaw\":0.75,\"right_pitch\":0.25},\"note\":\"The cap is no longer on the tabletop and the left gripper remains about 1 cm open after lifting, so it appears secured. I’ll keep that arm raised and bring the right gripper over the middle of the diagonal pen.\"}",
  "call_id": "call_NnCYNBl3c25C56T3EKG3eIXz",
  "id": "fc_0e499b92252e534a016ab4227cc6dc87d09b018e9cbb93ed27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NnCYNBl3c25C56T3EKG3eIXz",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.4265, 0.7109, 0.1913, 0.318, 0.0223, 0.1107, 0.5247, 1.6611, 0.7723, 0.4835, -0.1959, -0.0654, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1686 left_z=0.1389 left_yaw=-0.5829 left_pitch=0.0708 left_roll=-0.1281 left_gripper=0.1107 right_x=0.3866 right_y=0.2676 right_z=0.1268 right_yaw=0.7176 right_pitch=0.1657 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.1846, 10.0444, 1.8291, 0.0611, -0.0611, 0.1441, 0.4444, -7.4051, 8.5675, 2.0928, -0.1099, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a452ed51bd0777ca1e725f1c66ff3694ce87f75448ac69e03d8605e938a8316b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2394997b068783a846147904e5620041826fcd3a6c9af3b0a88d441d375884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ece361493453e49a5f862fa8313c1f19493416285985691f74fc9c70937f79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 2.383 s

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

message 69 changed as sent

message 78 changed as sent

message 83 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.292, 2.0342, 0.5186, 1.0531, 0.3309, 0.0315, 0.9964, -0.0181, 0.8211, 0.6128, -0.4206, -0.0235, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3904 left_y=-0.1736 left_z=0.0012 left_yaw=-0.5994 left_pitch=0.1322 left_roll=-0.1075 left_gripper=0.9964 right_x=0.2919 right_y=0.0024 right_z=0.1683 right_yaw=-0.0018 right_pitch=-0.0656 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [0.6632, -5.3265, 1.5521, -1.0037, 0.1636, -0.5299, -0.0171, -0.1299, -1.7709, 6.9949, 1.7216, -0.022, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.6199, 0.564, 0.6048, 0.3187, 0.0231, 0.1091, -0.0181, 0.8249, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3872 left_y=-0.1709 left_z=0.0885 left_yaw=-0.5862 left_pitch=0.1411 left_roll=-0.1066 left_gripper=0.1091 right_x=0.2923 right_y=0.0025 right_z=0.1675 right_yaw=-0.0013 right_pitch=-0.0683 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.8701, 8.4718, 1.8779, 0.0757, 0.0269, 0.0611, -0.1846, -1.3333, 7.0906, 1.7363, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2932, 1.4265, 0.7109, 0.1913, 0.318, 0.0223, 0.1107, 0.5247, 1.6611, 0.7723, 0.4835, -0.1959, -0.0654, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1686 left_z=0.1389 left_yaw=-0.5829 left_pitch=0.0708 left_roll=-0.1281 left_gripper=0.1107 right_x=0.3866 right_y=0.2676 right_z=0.1268 right_yaw=0.7176 right_pitch=0.1657 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.1846, 10.0444, 1.8291, 0.0611, -0.0611, 0.1441, 0.4444, -7.4051, 8.5675, 2.0928, -0.1099, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a452ed51bd0777ca1e725f1c66ff3694ce87f75448ac69e03d8605e938a8316b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2394997b068783a846147904e5620041826fcd3a6c9af3b0a88d441d375884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ece361493453e49a5f862fa8313c1f19493416285985691f74fc9c70937f79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKGrz2K39e3ZC9-knJm687nJMbRWFsEsY_phAQPV4s6PJCD9brSh5t1McSaWc0OBsfyuB8guELflIncU4CRZHtgUCimeKialEJznyYZY5464AgP-Qahu6ac7AJ3RDqv86odhnQThUCpRLstPY4sS0bAm_Gi86OLLc5vkoVQ1Im7qpSFotlAom8RQkPyHzMQKNNMUYXcrq7WEh2vjR_6zh1V2D2NA_PMJqOYVypGuQhZ-cyHtV0hZoLGZ_hr4oQI4Pzp-X6t5dyG_fcfIILVd3-W6oNSqNhlEj1hBdZS-LVqSY0QmwYk_qlVLJGh9tnDUmfVaSNeVeYTufbt7yveEwcEy-83VM37RXbehbOGx4HXSCbDWHn0bsTgkeqXro3IyLGTqDynx2m5na60lAzN4KK2aj01_K8VwbLnF91iRshejr5aeAHgBdVTefA1fwRo4XmeFJ3vcvkQV0X1BERYuW96cgt_ANCj10b0i0Lpm5LYqY_GYeR_orIOTfgnBqzQXQThzkSLtbwgitwhnT5Ab-lTCnxzr_mEJTQ38cyt4-_s5aRIGm-Zt2FsquKiBXNg_NvkXc8o95vFfiSUvZPc3V5g9TAn-RWCId-pxR7bL0Yp3miyipNnW4D48CdORVvMpFjmjFunsqmpgusO69HEz70VmiYigqOokQLoj3HD_95Yleid0XWw42lM3mlHRFD2ndQgRBYH0IU2XzII5qqWvAb_4UGpeqB58WQIbEqs3h4KOW61461uV03wXs9XLhkhBj-7zBeUu-HqkG0ozKeoCIBbR8Sd0yWpAWhf1CYiD5gCfKccmgDWPXxAx4A7ZpKmcl8xXm7Lk6KyI3ETO04LUtej0Zff-81lKfu-37oEYiWEOW0kmUmKXqmy6vhWRnIpEKBslHsFQC4cTaQGE1sfYFY9_e8KZ71L2VkyoSj4JmGpc6AvoJzTyt-e8wtHt6xFf3y04itTkKPUqthufZatWm0czQO7421xJOHWn07sgTjZHmIgnPoibOzNrj2ukZ6wKP9G0lQYkzbTyX1SXm40dNS1LprwGP-YzY_hDmHXM1YtrzZoGadn7e1MymK9FdiLhJy7mpS7Ugw6CYtAdFdsUnH-bzkNS17XviZRtLEnAiHx2VOeDDyRWwJ7AR_TTk7EhoJk_De8pz3J7mepuslBdDafEAtXNSMSnQGE41a46jD6IGdNoPAcdZQYURSMwaRR1NmCYJfA5d2ngOn97Ejmy5KP7X7f1YuHRN_Kww73uSCX7ih3DGHlJ6ZIu5dtsP-g-85oWlieHrr08HJr73sKeXZ5P46vID07eJP_c2xJms9OvPtN_o2Ea0zWgOoF5w4fJhodOTYUSjPIFiphjpXxhjK0Benc49FAas_FHoOkdZPHnud2pK1Orl4vHJiMai1xeedwD63UPFLhRAJtyPK-obzBLpUPiHPDXD1GXwSwq16X4ZeHC4YDSRkPRLXBn49kTCgqVhbSracLLvhnDluIy36AJ07UjSuBUtZa5BZQe96mYzAQzXSWkWlQNr9LZsh0q6SS0Ea9jKkQ67X0cmCLYwSCRt5NZJmL6uPfMCXzThlStlSHRa4c3FLYfj7NtzMvvyOIzN76w_sU08BFDr2CP9_rt28EskR4azrix-niCgF3dVVWFEyvgKG4xblCi7I74pwabFYh7KJOeJoZr1p15AxdFlP3F3WIqds2UAdJ4wzR4NR0wrYYgtPEcS2F52v7hQF_QeJXEL522Yo1rxqgvu1Nm0FAD-uhXKf2wnk9GfaozWZFGBE98erwV0Qex4-lAizqWeINk5WaZalfkBy7SX8tcBC7ECJNGS2_L1TWOY4mdskV1lQlBnA9W12ixuF7dMTRELcK-fxvbhpqlCop4uxmYYDxkiP_hysPcvYn6S4HX3PPL0KqGMHXk2FPocdKXc2l6mL_UN50js8tG4r3FudwTcFPbYCFoBTGtk2c18win_g7lATHTZg3nbyowIGB38L-IVG1XqkaPolv-pz4JsGVthaKJU2DkDd7Tc5JzEL5hwQjKyfOUfHHRVV5xv_dxfYz5Tba8XHrdCRM92lj-u8sE3SN6RH_LWjoiWjUtE4IYPU5RMSpfQIn4qTHjmdDldrKHc8B0AzUcnICdwciOwa5ZHrxRaW71owWKNPWF9jqvw4mAm5lEIROBrOT37kBe56UAvtGWJhId3BZPiBeUSC01lOuYNFviLg91YQq2En4qzXwJS9ZOC4IKYRFZagQ4GvA-x8Cx2yI4AlXMx6cezfhhd7N-bN76bOCZ11xOSl7g2p-5LDVmNDNpXwgvd33YxUl40qw-UOgGDQxFR9VEvawNwIzPSb1e_Co85pZUPurdMqvwwMjXJi9u7L0zMfI5_ZCkhVSCjw7fvOt6g8obREExfEwjU8Rg6VFVH7cP_E3Cyc-O1T4hpPCnn_JOqg2SndYWLi6flyDJcNN0cQRIVAVac0WE7VbwKgMAh47MFZkmiXxe8PfPXOQTqwr916ev8fYPjSyhb6fqwbKHzhhoaSpJZdf6aRGPdMbPl8b6me1nD3L17jXf5dCnQSHSaxWoUZHlYR0K0EXRxQcTbu_OM0MVo73sdVamzG-GGAmWwiwT1buyPLzKQm1CceyBdLxvmow4X3ZsV3MJP8OlrffQBPxBUHmM1wk4Y5A_wrIxs2m11uQB34Z15PlhLtpIDTgUYBpBUHUXffs09O_wSPB51EbaDgZkbXAiAVgHWzZpF9IVxcEkONTExTiLzuSS1jqAf7P8JRH021_a6Fn7OQ9evzvC8etZyx7EM70tNWZOgreyQzB1cTlSlfyMcm0sYfyQc7T1MqUtezlW2XCu_j5xqB_Zu8McQIMX3yk1SdZYzEHssO7LZZpqlCW_MJYihn8gYXb9VUYsO0OgtSY47jW4kE6agQ-Bn0kruoww9c7MEH0M49bKjOr7VpgKtz3e9MKauC0l3fbAX-fmeHBv4glfx-QXsTiwdb7djV_HK36IJPrnZanvyIg5dlZRAd7e5AUtCJx6hyWWH6jNJS3u1iVh-qxA689vOzuXm1E5GWvEOMTkGW-QIYooKhVhz0JKCjvLjiSruKQT1e7b-vLYcbtSbMrN48GYdtHpnNTq5_rEhFNPYYoYCY6k2VmXlNH2tXgTXXAb8xZvj8l7xq-5-_mpYByfthMWvu3xpEVKwLQd-2GNK8f_bPJxlsQlBBt0adiXvRExPxpZpWkVcoI0jTQDpcMxc_mUSO-J--K_dgyFc85J_vc-HtHDYBPSxGDM0TPUa7SK6AQYQQCoYGDtRczdGr03HEQ2MEBEaRfi2z4e7G7n1n5b3vToOtoAhuZkOnrSSPlcbOR-C6sl1SxITRWwO-ct8I5VbaSOocjf2ky2J5C77s_779rAk81TqngnSCteKGNJvLhuqK7JsIOJWVZVigW02ghYCf1UgODZXoQpHbGfqJ-MiG3GztgESKm6Ycz9l3_CzOFXybqJx0wuB4Ewa1v76em31ZDi6N3ysRlsD-UqyJ_DplCqGjUgm5gdF0Kc8V4NumJTaAv8ODtPlYz6zWl_iiwg6H3HOKyTsts_sy1B45Fr2jNVu9f5rjqBlQQ9S3LGtEaJ4m-pAcYSykrkq2ekgCfWhSGW3whq4iY1Ns6nZ_h_M65KYJ6ne-PQ-VP5npg",
  "id": "rs_0e499b92252e534a016ab4228118ac87d081686ac33f64c137",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.387,\"right_y\":0.268,\"right_z\":0.006,\"right_pitch\":0.3,\"left_z\":0.17},\"note\":\"The right wrist view shows the pen almost on the jaw column, low in the image; the held cap remains safely off to the left. I’ll descend vertically with a forward-tilted tool to reach the pen without sweeping it sideways.\"}",
  "call_id": "call_lIVpkITHsfvNzz1zN69n3zLx",
  "id": "fc_0e499b92252e534a016ab42285a27487d0942cb9bca62e6097",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lIVpkITHsfvNzz1zN69n3zLx",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3972, 0.7551, 0.0547, 0.318, 0.0227, 0.1121, 0.5232, 2.1941, 0.6361, 1.2526, -0.2123, -0.057, 0.9991]\nstate[eef_state]: left_x=0.3725 left_y=-0.1664 left_z=0.1417 left_yaw=-0.5824 left_pitch=0.0105 left_roll=-0.1457 left_gripper=0.1121 right_x=0.3859 right_y=0.2697 right_z=0.0094 right_yaw=0.73 right_pitch=0.2647 right_roll=0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.4462, 10.3316, 1.8974, 0.0513, -0.0317, 0.1343, -0.5949, -6.7897, 2.906, 1.1453, -0.0171, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0a078d18013562ab3f757abc8fd092abd4acd1d366b6936a1b41e7655f1d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bfa98555a9b92d733814362fc581c768a9d4abe935527c59bb7ea10021957e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e19f38d3e93f202fa3a5fd1fd739aab196a903304982cc2b65ba3b3cef6f7d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.774 s

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

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 2.046, 0.5125, 1.0859, 0.3222, 0.0265, 0.1084, -0.0181, 0.8223, 0.6128, -0.4198, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1726 left_z=0.0015 left_yaw=-0.5907 left_pitch=0.145 left_roll=-0.1039 left_gripper=0.1084 right_x=0.2921 right_y=0.0025 right_z=0.1682 right_yaw=-0.0013 right_pitch=-0.066 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -9.0188, 3.7265, 1.5409, 0.1294, 0.0073, 0.6374, -0.0068, -1.5111, 6.9812, 1.6484, -0.0366, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2932, 1.4265, 0.7109, 0.1913, 0.318, 0.0223, 0.1107, 0.5247, 1.6611, 0.7723, 0.4835, -0.1959, -0.0654, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1686 left_z=0.1389 left_yaw=-0.5829 left_pitch=0.0708 left_roll=-0.1281 left_gripper=0.1107 right_x=0.3866 right_y=0.2676 right_z=0.1268 right_yaw=0.7176 right_pitch=0.1657 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.1846, 10.0444, 1.8291, 0.0611, -0.0611, 0.1441, 0.4444, -7.4051, 8.5675, 2.0928, -0.1099, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2932, 1.3972, 0.7551, 0.0547, 0.318, 0.0227, 0.1121, 0.5232, 2.1941, 0.6361, 1.2526, -0.2123, -0.057, 0.9991]\nstate[eef_state]: left_x=0.3725 left_y=-0.1664 left_z=0.1417 left_yaw=-0.5824 left_pitch=0.0105 left_roll=-0.1457 left_gripper=0.1121 right_x=0.3859 right_y=0.2697 right_z=0.0094 right_yaw=0.73 right_pitch=0.2647 right_roll=0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.4462, 10.3316, 1.8974, 0.0513, -0.0317, 0.1343, -0.5949, -6.7897, 2.906, 1.1453, -0.0171, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0a078d18013562ab3f757abc8fd092abd4acd1d366b6936a1b41e7655f1d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bfa98555a9b92d733814362fc581c768a9d4abe935527c59bb7ea10021957e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e19f38d3e93f202fa3a5fd1fd739aab196a903304982cc2b65ba3b3cef6f7d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKJjYNagQs7lY-XUkPRAiEPk-S21Yr7h1i7P8wgBexW_Gx8ehpi-ghfvDZGrrf5raJnw4QFuHXEBOxNdmSRBNZawDySIoFrYxm6yEv3myNftpu4BTQBFj1tMQTyyxCCbENDWxBeohKtmOBN9WrwVY9hMszYAgp4nbDIQbVj2Zm87GmZLMWMJxwZRt4XdgSsocPa6LmZFuwceALaJOM0lHzppsa5zp8dD55ZidufYcDEOXIe3s7ICCpXXonhVtz6aJY5hF4bnlsW70ufU3Oqx69G5yRqCy8coR-7Z92bUhW0Mi2orp8TIyt9IXqm4tx36QP4st9Y3gd9Hy8FfR7WGUGQL81zk2LZ_kTV5bR6FE8xUx0zSu-o9zSt6iUkSgpmJH9zTmUckZxSJ_GPSMP43UwoGatTY4hUaNVmfbj8r_ppCZjM87_1t16iQw4du9dLfqWh7K2Yxwqegm-fMS2LzamsXn66AUB626GHfbgouW0Ug7fopJF_3HdoWtGTh06NRrVAZrnxq7XwKqY3vaJLm80dTQn5dHNrtPws06L06CV2Y0nKlW-aPcvh2S8EQcxc04vpw8gS_2FlnXzSoqyNLNdjg-E1zlclgz5GQX9uTvxGuBKfF4NFRJW8SaxPqo_XPr8fqc1GaPIAAnciSANKDHXo1CN1jwpSV6wzWzO8dxJEajtR3kMDpT2od6DuwP8A1nO8Ws3vIhbGKJIsap2Tvjmbe47nShp9dbinSAFtSnN5KkpCmiYR2DrQI3BoXdw0LFkStjVbxdH8s2JruQB-cwPOXgJ2HxzPudPtdMbV5h5b-cQFHP5QYOq579Qyu1UWXoVUOJw2fFW-uf332SkKkE-PbA30BCxn81GQIvK0911PQuAIDQA7N3GYmPtvQPxfchLbD3kSsgcoaldSSzLBX80RE8ykEBWsWWDhU1jMqtVcU6pSar9d4UF1NF5fbNPMXY1i3rnLfLB6BFnVrvQJY6nb3OUU_UjJ96FzmFKHz3WYMhxFJO8J_MDXlBG-y2ptZIj8-K9KvyzvQw9yYGQ_t-aqTAfehg3RtOcMeBrwWNN2VIPRLZ3cMpgYmYpCNZtEoDctdaWi9_TeU4PrO4rLcvN-ZKyj0QAWY4ga0m2AHRz9zjtt6WiWzAA9fyOxiMcFaG1RVCEvOxpzvHI2TkbhiOXMWwbdpx5AhO4ZxM-esxCatXIE-jscJ1Rpbd2K8rkewbcityIipgFAZqEGs7j_k6oA_Q6kyHSF3Gvh8XTnpuyNe_Mt3POs83SvuiqfH7YeBokgcc8eb-vS90hm5X1RNTK2oHQuZDiLbvGgmghwyim5Dkroe0DRF5G8fe6fWJ18CF00",
  "id": "rs_0e499b92252e534a016ab42288b3c887d08ab57d9016ab2d00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height, the pen runs along the right wrist view’s jaw column and extends past the fingertip row. I’ll close the right jaws around its barrel and check the settled opening before lifting.\"}",
  "call_id": "call_CnTBm6nPXhYnaEB5XzrQUPGA",
  "id": "fc_0e499b92252e534a016ab422893a2c87d0905899f46235e183",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CnTBm6nPXhYnaEB5XzrQUPGA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.396, 0.7563, 0.0402, 0.318, 0.0227, 0.1127, 0.5236, 2.2089, 0.6376, 1.2873, -0.215, -0.057, 0.0132]\nstate[eef_state]: left_x=0.3709 left_y=-0.1659 left_z=0.1398 left_yaw=-0.5824 left_pitch=-0.0012 left_roll=-0.1492 left_gripper=0.1127 right_x=0.3867 right_y=0.2709 right_z=0.0112 right_yaw=0.7339 right_pitch=0.2857 right_roll=0.0065 right_gripper=0.0132\nstate[joint_eff]: [-0.1162, -5.6274, 6.7624, 1.8535, 0.0855, -0.0415, 0.0513, -0.1026, -10.2769, 3.1795, 1.5946, -0.0317, -0.0464, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f07e10cf9f329601ebe92f938c0a02d16874e84346b8679bbddda577ace8083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e496584c693d56942a044aaaedf29926a30ede52a3111506b82a2a95e8bc7e77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75666290e4574125d442c46e39a08f9a08f0921a7bf000877628434016246dc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 4.15 s

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

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.6199, 0.564, 0.6048, 0.3187, 0.0231, 0.1091, -0.0181, 0.8249, 0.6128, -0.4194, -0.0238, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3872 left_y=-0.1709 left_z=0.0885 left_yaw=-0.5862 left_pitch=0.1411 left_roll=-0.1066 left_gripper=0.1091 right_x=0.2923 right_y=0.0025 right_z=0.1675 right_yaw=-0.0013 right_pitch=-0.0683 right_roll=0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -7.8701, 8.4718, 1.8779, 0.0757, 0.0269, 0.0611, -0.1846, -1.3333, 7.0906, 1.7363, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2932, 1.3972, 0.7551, 0.0547, 0.318, 0.0227, 0.1121, 0.5232, 2.1941, 0.6361, 1.2526, -0.2123, -0.057, 0.9991]\nstate[eef_state]: left_x=0.3725 left_y=-0.1664 left_z=0.1417 left_yaw=-0.5824 left_pitch=0.0105 left_roll=-0.1457 left_gripper=0.1121 right_x=0.3859 right_y=0.2697 right_z=0.0094 right_yaw=0.73 right_pitch=0.2647 right_roll=0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.4462, 10.3316, 1.8974, 0.0513, -0.0317, 0.1343, -0.5949, -6.7897, 2.906, 1.1453, -0.0171, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.2932, 1.396, 0.7563, 0.0402, 0.318, 0.0227, 0.1127, 0.5236, 2.2089, 0.6376, 1.2873, -0.215, -0.057, 0.0132]\nstate[eef_state]: left_x=0.3709 left_y=-0.1659 left_z=0.1398 left_yaw=-0.5824 left_pitch=-0.0012 left_roll=-0.1492 left_gripper=0.1127 right_x=0.3867 right_y=0.2709 right_z=0.0112 right_yaw=0.7339 right_pitch=0.2857 right_roll=0.0065 right_gripper=0.0132\nstate[joint_eff]: [-0.1162, -5.6274, 6.7624, 1.8535, 0.0855, -0.0415, 0.0513, -0.1026, -10.2769, 3.1795, 1.5946, -0.0317, -0.0464, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f07e10cf9f329601ebe92f938c0a02d16874e84346b8679bbddda577ace8083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e496584c693d56942a044aaaedf29926a30ede52a3111506b82a2a95e8bc7e77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75666290e4574125d442c46e39a08f9a08f0921a7bf000877628434016246dc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKOmilgvq97UL75I_ho7cuHYR5njO-LVcmtCxBmaGZ9gSbIRfBaszR16x-rGwMOvO4QvWYmBjhlXzt0DZ8XHYW_PLvJd38VlqNajt5gxsUUlCVt1cCaWrEHNP-dXs5Bn_fpb8_ynMnhMDwiQMk9jWFP8DZJcpKBspEA2K836RHfl1G13VM8C0CyL0bEDKUbmQbLFlWSROOX1g9MqN9XA92OtdUAw_4XjZhpkcVsV7BlsZczj0L7x4muhje1FsBqWunhOMJYXaH39Qju4oO30RKpHRkjTjLDPGNSQQlGzoCieerTVo1vAHCGWvLIqh-lvDXrddbvxzwJY9IeErBLOCINqYBgQFKSf1h86i9ZFmDW4N22L-cIC9Y-5gY8nX9OgKowB6OagK4zszja7N4dlDsxJH_JAld16qCxPdpQ_Rkk724tv6SlC4f-9MlcfJ0xldJyCA5A0H5pg6LSiNy09pOCCiHXft7ujIvORxr8mTpEYAqfFeTQMTpZkmSEIvwU59MkCIhEdwMwC8FZT556yWrJBUoZkKjHYH1aL-ZsNkJWT5WE8e7HEKIhB_FP7H_VTugIcpz2XEwQ10WGV_EovKeKqbw2lQm9qRntUZXRduoa71PrIXAsWsNFKJZV863Hx6jLPH3QtCZUQs8xv-nUEg8zE9S-B_T7u63qFhozYAghBRqzk19roUSjNpAbrdA7r4yja4To3aUBb5FhDATnAyK0uhYvihicA1tyOvvA4zUjR_aF1cf4M524Xnt9r7czIlcY-oKa5p722MSGbVGcxOKiDLDwNKC8mjtSsnqw-36TOsU3g-3FV57Yu6XHHKu4oY89pi_zhLUcRMyPuKgic7hQqccm61rKENcha3EfM66Le50BNmaOmnof3g2Lxnn4Yr_dHqH48N8K38GTZrfev8pf73INIeTkcwY5v6Pa_gtujne_fA8DTUEynqXQqb-mUSytIwxJyENPNSI2hsc3lHKK6vcN7q8gggTIHYPhHYmgNV2M_OU4GEopACmZg3Lyg4xK-wp74w73KRr_le6Aqrs3LsKpRlK9plbYL25JD0CuLAGtfinoZ7faStq6h2APIG69Istoyf7qGe1ETgRoVFJPJxhwLPikorNIddhZ89HDz0fwVDOfwYYaBLcJpN9VjK5HGVKx6_JNCR9vVo_gFd4I0efqTVwcps1L5o4eUio3PnZTeiXvUlxIz_tUV2n8BjL3LANuFDWDMkc033Ovi_qJPasKpQ0nDNO5z3l-SnMqsFSAuz7Bu8XdZkSPBLe7Y8WsRqUmo8g0t8ZS3tdr8cz_xQsO3WbcUPytyDiByiHDsCYEIAAhRYIXs3YGjXmvzoBxHae1ZJCnqIY-BuShL-bDzRwuC7LZSiq3pA2w7pdFzo9GVM7r5w-PY7JTrh11K3F3K0FWJZp3Ax0-woif5sWP1LKxA97DiR6fI04Rgu6TtlxgX9D-AhK3Jlc_JIYYyvrkt0SSAjqbXmRvYcVg6fxVlZYlJKwYcmFcfXq4G-hVmEgtGXXBXSZVuhm8vpOWvUctt7fTIYWJQIT-DWWAprdRmkpqympMPjSxHyjXf9SssbU36ETfq1dnqxLuwoMucpKQJqqdXyY8Fv9atwPT3qCnhgWhojzklAwfBPajaRxmaNzN3jXBx8tJBDTvOOvvZ4BMJQUrLgKw3edunQimCVlyBPFKNHMbm3nbjgr2ADfgaYUKxes4ou7VwwvRWA9QEwNCM7TAY5WnvEF1ietByynoV0pa8ZL_bo_-h3CbU86CC1PC1s7WZqKigrC9eZmlsAOo2XtHllx0ESZpKOduy7zkf-p5LLD71zQ8FI5kI2lasw_XljjB3YLi4qDWc3WEWyOsxJ-cf-w235IyzuE1IBnHfz7E-em2r4vTwpmur8qTRxxrANmg7aHgtBiTydY8l6XZjK14455ZkcKDgUlaYzZQZR8L2kER_HZLoNKw-uCUI71vs9ho5VJ6cqQOTpO3LlMJAEVrWNSttg0pWOcH2EfKxakmhNpVSZm4P24vf2qNHdZ69_b3-77Hx8JLOwXx2JV_3sJnD1u8IXjQ1zJl9KoTh62FIvEKPNjSvxKaFf7Nbmj1neN0iL3CCiEddMoBoorh-1AHzm_bpAVMqmkG48CPwoZsQgjFqg4GO3BDkrXdRBBASxclJhgAKO9ymq2wwCdS3wd_XYMD2lfDMdg0Nyy7X50CkUuXwvqAqKZDTlZjfMmvdL7I3XbFZhRgx9JW5HXpMHBwCa5IYnexEOpKRfNjZ7O1_tK301AhYWpmYQ1WaK5EYpDih7SasLdzqHjuSE0VgA2BkN4VYuqoWf8Ol04Yam8lCxkckwoebBbTxOve7x4kGrGBfPTA6LDCt69SiHpxpxzsUKFc96S7vK7zBNxiYQ==",
  "id": "rs_0e499b92252e534a016ab4228bdd4487d0b7d683e5a52d8d4a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.41,\"right_z\":0.065},\"note\":\"The right jaws closed almost completely, so the pen was missed; it remains visible at the fingertip edge in the wrist view. I’ll reopen, lift slightly, and advance about 2 cm along the pen before trying once more.\"}",
  "call_id": "call_tngFqeS8mw55oygCGdgHJBBt",
  "id": "fc_0e499b92252e534a016ab4228da79c87d0b4faf82fd5268559",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tngFqeS8mw55oygCGdgHJBBt",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.396, 0.7559, 0.036, 0.318, 0.0231, 0.1135, 0.495, 2.0426, 0.6937, 1.0225, -0.2451, -0.0689, 0.9949]\nstate[eef_state]: left_x=0.3703 left_y=-0.1657 left_z=0.1388 left_yaw=-0.5826 left_pitch=-0.0056 left_roll=-0.1502 left_gripper=0.1135 right_x=0.4015 right_y=0.2695 right_z=0.0442 right_yaw=0.7356 right_pitch=0.2467 right_roll=0.0137 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -5.6821, 6.7214, 1.7705, 0.0904, -0.022, 0.0708, -0.9094, -11.6308, 6.4205, 1.8242, -0.105, 0.0269, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a34c318f6f7ae817a1262f9951714ad2d2f7065c38f6098bf8406fe2e11acafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ef44f71e03190bf6462383cdd80a9854f5767949fb0b334062833ce15a5c73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b381168d9dbc7d1f1e6206b45748af27116cc1e53e80bce1d52730c5bb13f42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.41 s

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

message 83 changed as sent

message 91 changed as sent

message 95 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]: [-0.2932, 1.4265, 0.7109, 0.1913, 0.318, 0.0223, 0.1107, 0.5247, 1.6611, 0.7723, 0.4835, -0.1959, -0.0654, 0.9991]\nstate[eef_state]: left_x=0.3799 left_y=-0.1686 left_z=0.1389 left_yaw=-0.5829 left_pitch=0.0708 left_roll=-0.1281 left_gripper=0.1107 right_x=0.3866 right_y=0.2676 right_z=0.1268 right_yaw=0.7176 right_pitch=0.1657 right_roll=0.0168 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.1846, 10.0444, 1.8291, 0.0611, -0.0611, 0.1441, 0.4444, -7.4051, 8.5675, 2.0928, -0.1099, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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]: [-0.2932, 1.396, 0.7563, 0.0402, 0.318, 0.0227, 0.1127, 0.5236, 2.2089, 0.6376, 1.2873, -0.215, -0.057, 0.0132]\nstate[eef_state]: left_x=0.3709 left_y=-0.1659 left_z=0.1398 left_yaw=-0.5824 left_pitch=-0.0012 left_roll=-0.1492 left_gripper=0.1127 right_x=0.3867 right_y=0.2709 right_z=0.0112 right_yaw=0.7339 right_pitch=0.2857 right_roll=0.0065 right_gripper=0.0132\nstate[joint_eff]: [-0.1162, -5.6274, 6.7624, 1.8535, 0.0855, -0.0415, 0.0513, -0.1026, -10.2769, 3.1795, 1.5946, -0.0317, -0.0464, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.396, 0.7559, 0.036, 0.318, 0.0231, 0.1135, 0.495, 2.0426, 0.6937, 1.0225, -0.2451, -0.0689, 0.9949]\nstate[eef_state]: left_x=0.3703 left_y=-0.1657 left_z=0.1388 left_yaw=-0.5826 left_pitch=-0.0056 left_roll=-0.1502 left_gripper=0.1135 right_x=0.4015 right_y=0.2695 right_z=0.0442 right_yaw=0.7356 right_pitch=0.2467 right_roll=0.0137 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -5.6821, 6.7214, 1.7705, 0.0904, -0.022, 0.0708, -0.9094, -11.6308, 6.4205, 1.8242, -0.105, 0.0269, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a34c318f6f7ae817a1262f9951714ad2d2f7065c38f6098bf8406fe2e11acafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ef44f71e03190bf6462383cdd80a9854f5767949fb0b334062833ce15a5c73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b381168d9dbc7d1f1e6206b45748af27116cc1e53e80bce1d52730c5bb13f42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKTAC65mYlbFagibNoMSTXOySOPX0MwA9K4AvOGYYfZdkfMFxXylt3YUwZu2HCehAIcZPUFR_dZ22cvRsxmfunt-5KzkBJmah2mQTvF08Vdm6FuOEtAG5W7QX5pjDgtNP4mSy-ONU-cfF73RV8LLGtgKvnuc1V-YvJu2A9MDg6FfwR4j30AerVoUf1XbPj0SSLpxzT20ze3oCY6KndApfd59obv-PKN6dwpXAgqEkfuteeLOqeTFKX-vo8ajumAMKzoXDACBJms5SnI5Ul96dsQ3GmqTg_PN2mI2FmlIsXAW9Qgs3v3ZpxxWEbw9U7xKDbzAq8jwe7vBbYLTssf21I_oqbcQpfmbCUq_FZicokGAOkj8vY2grPa9MOuBu6kOmNm5CJcFN7y7Pb1Upr4AOI4g5_QbqqbJDD4Co3reDkOXdnt3PrP4umMgp4Z9KmGF2bPDrNWqWOvpm-g-itletO7XpryyiC96iwAdua7urhAvfOjlNBqHnhzcI5rcGPPzPBU7YgaToBQNoaWy51lTbJH_Nq9NCwCrhZStuwSZnSEG_Qpq6YuvMnTiw1KJGHr_BerP6jOG46FNhCTsfjWD7zpW95J5aTBeYHFCxXmGbQ_XfQTKSc_qT19MIuVp2lJYpfKBg1kdWHDLlXK1jT8WFxaucV5RNpYcyK3qE7gqmoLONfwFpiTiRbo6Jlcq2a3Tp230Hgos_i-qr6yxUH2JrqcRl0mSrMzKt2_baf6m7kt3WaSZn4Njoc_jzNEFRG0aY3PyCt0T9Q35LcZhS_D41FyRNocifW9BfN8tUYJIHXyymTvig5t9MMT91PcJ-MpCRZgh39KaxRQ9MeWhIJb732pBxm7E3EdPj-PzK7PPck_KeSyRe41fPtHJTF7-O9vBlPDYos6OreMowR7Zak5wpW-VHW9puppbaDwXWtmLDJzv1L3FOXK0ws36KB5pM3dijUZn-AOhCunyJHtdbMx3TtPwbwHOdgCM-X3zo_nEqvo1PbeA2bVAI9PO3prld-7IckfHQfH32kzh7YgcBzAITxv1c2ivbb6l5sOhYdHfkdm8auOBYZ6K1KCm5xaoOZhCzoYUgzt6EJ2ZFkUUTkjU6h3LgGLKJd6gv8EWpTTOprZiYFdAFivjDj3EmISAUBoV6e0RW_CpFaTAhflSmBGja_8xmc2kgktwJ0NdgSxntyWqAh3_PFKgTsdA_UGNsKVJ9xw5GswnlbjvbHvRZcHfaOQQNmXl1DTie8w27M2KskX7gpeS0gOV_6Y_15WLBC0HjFJARD8FLwwuQbL6hAGpXUrqjtrXXXQR2DqHh5wm_hvkFSZWGh6CD6cEFzJJYkY6G9CICfAYx9u98Eq6TQ4czou04WTbk7_5a8z_IHwOq5pF75F9DehKxfZN7PWJOoVO0ETEHXkbJbj8nvy-EtZx54xhVvoZT4LGb_eJZMXwVm47-RvXPM4HWaUooeZP60zvTAWnr2PusW1fXMHBmCJ1_LbjiInGcxMW33LWtDbNl-uRlzoJeCBFkF_HNO9dbwbk_6ps38tcswPPF5V_fDyBydEFxQXRaj2xWdLP3Eeeogk7Fc86E9StEoWgre-MreIOy1F8BBlqlbfBAA07f4nsbnwx8IZ2IPr0vJ-UobjNEXCUzqsI_7k0KK-yE1BjtxX8wgyaNC5nkwvP7KwIJEg2h1V-4LzBOv-XR2sgJiRqNMg_TuHnRp0eYyeN16hKnI7zR5Tf8bhYxR4AvJA-GRvl-SBp2nA1UZAg-g4JGYPR3GlN9gPDmHXD1koflpywq1z4i49GKgg4eWCFvlTi66ARtDUVNHwbLt41damQYVJF29dskkuIGsujhe5SyuOPomOXVZjLjqZRowU9Bwrjieuk6svG7w4rQX34JzQCaqvJ1mXl1Np67YfiJlUzOWUG8FIvVw7Ab1GI1z7erllnVH37mkFZjWWebBJ44Z8C4_pMuUHT7iAXSsCwKTVHk4V8q-Mn9bhsaGshcU4bLwUbWWWiZfDqm_P57dhhZjpCZIfVGXBMbT-ceWt0nNCdLdPaGdqaagxhRRIKADXCwVKAKvyJU0GXitKOmqOG8pnjqiEondg1fJZPB_YBgBItA5t_iiB6L6n4r4RrHd9ubkSNpqEJul3tB005bv7UsLGo_tyW7c5Z94VSD_18T_GFIoNGqmXT6t1oEx8o7fx3ruEGjw-ScxBDeYMAnvhdr6BWFYStJBLqz-jnHpyromW-qEjn7Jre0FO",
  "id": "rs_0e499b92252e534a016ab42290b2dc87d0b84234cb932086a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.282,\"right_z\":0.005,\"right_pitch\":0.3},\"note\":\"After advancing, the pen appears left of the right jaw column by roughly a centimeter. I’ll correct that small sideways offset and lower the open jaws to the barrel’s height.\"}",
  "call_id": "call_acL0lPB5r74Pp9sO5urBrjgT",
  "id": "fc_0e499b92252e534a016ab42292cf7887d093af5cb082ff5864",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_acL0lPB5r74Pp9sO5urBrjgT",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 1.3975, 0.7555, 0.033, 0.318, 0.0227, 0.1141, 0.5079, 2.2414, 0.7406, 1.1961, -0.2317, -0.0814, 0.9954]\nstate[eef_state]: left_x=0.3699 left_y=-0.1654 left_z=0.1375 left_yaw=-0.582 left_pitch=-0.0104 left_roll=-0.152 left_gripper=0.1141 right_x=0.4085 right_y=0.278 right_z=0.0063 right_yaw=0.7453 right_pitch=0.2669 right_roll=-0.0082 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.7641, 6.6803, 1.6532, 0.0952, -0.0464, 0.0513, 0.4718, -9.8393, 4.588, 0.1001, -0.359, 0.4713, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4dfc83a260fb857ef217fdf9efc7691efdbc0cbfd67a4880933ce69d53fbce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f5acd701d2247b869d1e67252a35198714127c111a7a58fbac798df621e742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883d078bb28759185dfa877a0e619548014cb444a194dcb5a4e517a8e5927add",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.005 s

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

message 87 changed as sent

message 95 changed as sent

message 99 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]: [-0.2932, 1.3972, 0.7551, 0.0547, 0.318, 0.0227, 0.1121, 0.5232, 2.1941, 0.6361, 1.2526, -0.2123, -0.057, 0.9991]\nstate[eef_state]: left_x=0.3725 left_y=-0.1664 left_z=0.1417 left_yaw=-0.5824 left_pitch=0.0105 left_roll=-0.1457 left_gripper=0.1121 right_x=0.3859 right_y=0.2697 right_z=0.0094 right_yaw=0.73 right_pitch=0.2647 right_roll=0.0103 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -7.4462, 10.3316, 1.8974, 0.0513, -0.0317, 0.1343, -0.5949, -6.7897, 2.906, 1.1453, -0.0171, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.396, 0.7559, 0.036, 0.318, 0.0231, 0.1135, 0.495, 2.0426, 0.6937, 1.0225, -0.2451, -0.0689, 0.9949]\nstate[eef_state]: left_x=0.3703 left_y=-0.1657 left_z=0.1388 left_yaw=-0.5826 left_pitch=-0.0056 left_roll=-0.1502 left_gripper=0.1135 right_x=0.4015 right_y=0.2695 right_z=0.0442 right_yaw=0.7356 right_pitch=0.2467 right_roll=0.0137 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -5.6821, 6.7214, 1.7705, 0.0904, -0.022, 0.0708, -0.9094, -11.6308, 6.4205, 1.8242, -0.105, 0.0269, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 1.3975, 0.7555, 0.033, 0.318, 0.0227, 0.1141, 0.5079, 2.2414, 0.7406, 1.1961, -0.2317, -0.0814, 0.9954]\nstate[eef_state]: left_x=0.3699 left_y=-0.1654 left_z=0.1375 left_yaw=-0.582 left_pitch=-0.0104 left_roll=-0.152 left_gripper=0.1141 right_x=0.4085 right_y=0.278 right_z=0.0063 right_yaw=0.7453 right_pitch=0.2669 right_roll=-0.0082 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.7641, 6.6803, 1.6532, 0.0952, -0.0464, 0.0513, 0.4718, -9.8393, 4.588, 0.1001, -0.359, 0.4713, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4dfc83a260fb857ef217fdf9efc7691efdbc0cbfd67a4880933ce69d53fbce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f5acd701d2247b869d1e67252a35198714127c111a7a58fbac798df621e742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883d078bb28759185dfa877a0e619548014cb444a194dcb5a4e517a8e5927add",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKXsiptKDqTZt1PvXLkfrLb-7c7IgC_he_lYpiMNE2qlVCvb11gvu3scXxoTgSRrLZhI4SIRbGKBWboPu5bgIcz6daQSjKKySvgrVMFfbHO2iy98zVuq80RdD5e3HxyfamPLddc5hPBmJlakdmcNJJpw7kCbuct_6xIaolpmxLju5GxoecgAHylbuqZ8gUq9w3a6k1ZjoIGWlsR6kRnQCvaFWozv5-EveFPNdH_L6z8_f2jCpXBxe9kh8Ado7r2kJOC11_-pg08BB0nW2Bn71bOTAmfE-8duI9VWQ36Bi-HVp4hFRSae06gP124M9cjS_dBrQEruEFxu61fkb7nPVYOr5ICslc7DbioBpuwV9F9nKdOSsG4AzEr3KDKmq1DwtXR5CGxfiyYVPBnBF1CdF3igYJiTdL5SXYKs25BfV-TN6b1-sID7WDEIFrcC3pDUn4na32KFzslfGjNaOLWTMwYzozUHMF6ZJsXMSfre_LIA-Ube7YZf41eKXf5LNXzqAqZi2rotdKAghGG5IallOLpzl_zsXPctiDvjfuHot60HcdMxhZ_un37pjr1-WymU1Y6hvaj3EjyW0RqWvbapuu7poKEW1-gaMTDf5PgMGpGDRcwWTADVQCX4kiSX2LTHl6bzva_DwDThF9VtyXAH4-mozIKM5ifWXFG3tgJML9B2OWdkQN43fJnED9QxdWF038T4er2NhODmNL87fps1PMNM3wqXGAAC90lW7hU0OE4nvbvCdx0yibVFnX0zWG-9Tc3Ahfz9tfWhwWoNr3Q7u1BkgiC37vIaj9-oY5gpRfw02Pgne2RE_xWh1uHqndckV58f7Pq1Hx7pB6eF1-K31LJOuXctCx8jJsysHKPkHQH82qH2Io3emefv8rwtYWaT1Sd2pNFQlPnF3r9YJVpiOghI1yqssvvAO0hFm_M-WToB2iRCXK5EHGBo7v32dXSdPRfVsZgAcN2cRHb2js_csyFYXNwpun-F2up0O3tzVz50xvnOnRaS9ypA-KPqXLoP8CJSZcCVy-w1uD3lZqCuU3crBUzeDsDzw7M7650qmCyMZHXDhtLmKkdyGuKnEsoWXO1Wpnhg3OcP41nOzRi2ZFj8-i7G4uy3t2sumjl4WWuUPKZp60WPq_PhgXyUPi3VL2noA-WxK_rxGV-hcT9rjGJctsexRSxGmLOVMsxTPN7o8WirTO3mfb5UspJgDFCXsXPiaZbrB-4o0sRAhWhlF5zTq2qZh1t81kW8ZLQgVLbXKfbtDSYugMHDnyPknbBFIK8_unNPntSuRwCO7Asu1YeUA4Rodefv4v9o7we7ImpY2aeOMvKPizAfB9Pj7hZr65oUUYAdfyqu4MOMBS7Yerfete-ReKBtAzAHFILqho9oFGaYcImG34oDIPcSsVKoM-3-Rb3d1CNSALeSiUnnUYdyV1OV2638WYlLK1gm8H8uT68mfxMe0rA3YtbR7AX1e77FsvOHaPktdwV0WasWGl7sDl9mx53s5eAz35v9Fk1amES8Ky1EMhSx4nucyJjvUh8YhgOp05A08BdsGgl_2IjGKPMG4zxtQBRGze_JWRUReFrjf3DzHKwchb31LyZQvtQUZneE7M296Yx7cLUVfHcPhqt6Z2x_XwHFUgRutR6i2h0ZMon-0rvOcY1hji1xw5K7d2LYpNHGPg5N2ErY8ZFRqYOnzlYxNKEp6AcjExfnHKCA7IeGtGTsWrwOPFa01I2xn6SOvlbbZNXsADd2EBzz4qT6nZS7yvxYwNCFW1jZ1iNBbbKVSN6YGlZMIvh_RklcW01V3s0jWDEeodZV0cO5xWPjOzdxbnzvzF3P8DWy8FWvKJMt5UnKvjWNAZsaJVP_SBX26DO_8myjFkAqATAoqU_1HMyCEvw7tpU7gcr4cNKsaohbglyuKwqMT2jgNXc",
  "id": "rs_0e499b92252e534a016ab4229516cc87d082fbb6b6d0d21be3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065,\"right_y\":0.252},\"note\":\"At table height the pen is still left of the jaw column; the small positive-y correction moved it farther left in this rotated wrist view. I’ll lift to avoid dragging it, then shift the right gripper the opposite way before descending.\"}",
  "call_id": "call_4GZvOkzemt4c2qJXXLwiV21I",
  "id": "fc_0e499b92252e534a016ab42296a55487d08601c950c86b095c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4GZvOkzemt4c2qJXXLwiV21I",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0322, 0.318, 0.0227, 0.1142, 0.5114, 2.265, 0.7494, 1.2503, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3695 left_y=-0.1655 left_z=0.1367 left_yaw=-0.5824 left_pitch=-0.0126 left_roll=-0.1526 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0103 right_yaw=0.7424 right_pitch=0.305 right_roll=-0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -5.641, 6.7077, 1.6923, 0.0659, -0.0611, -0.0073, 0.3214, -8.5128, 3.6991, 1.9951, -0.0806, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2aff9e56b5e72e07d6f97a5de40f07e0b8a05142735e0124f8e63d861f4125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdd7450238f3152930ac70fb0964b7f2c2bc691f0f045f35876a71a1cb65367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd184f4848809a490e669fff6362dcb1b84b5722b7d3eee76aa129fb5bca2f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.805 s

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

message 91 changed as sent

message 99 changed as sent

message 103 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]: [-0.2932, 1.396, 0.7563, 0.0402, 0.318, 0.0227, 0.1127, 0.5236, 2.2089, 0.6376, 1.2873, -0.215, -0.057, 0.0132]\nstate[eef_state]: left_x=0.3709 left_y=-0.1659 left_z=0.1398 left_yaw=-0.5824 left_pitch=-0.0012 left_roll=-0.1492 left_gripper=0.1127 right_x=0.3867 right_y=0.2709 right_z=0.0112 right_yaw=0.7339 right_pitch=0.2857 right_roll=0.0065 right_gripper=0.0132\nstate[joint_eff]: [-0.1162, -5.6274, 6.7624, 1.8535, 0.0855, -0.0415, 0.0513, -0.1026, -10.2769, 3.1795, 1.5946, -0.0317, -0.0464, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 1.3975, 0.7555, 0.033, 0.318, 0.0227, 0.1141, 0.5079, 2.2414, 0.7406, 1.1961, -0.2317, -0.0814, 0.9954]\nstate[eef_state]: left_x=0.3699 left_y=-0.1654 left_z=0.1375 left_yaw=-0.582 left_pitch=-0.0104 left_roll=-0.152 left_gripper=0.1141 right_x=0.4085 right_y=0.278 right_z=0.0063 right_yaw=0.7453 right_pitch=0.2669 right_roll=-0.0082 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.7641, 6.6803, 1.6532, 0.0952, -0.0464, 0.0513, 0.4718, -9.8393, 4.588, 0.1001, -0.359, 0.4713, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0322, 0.318, 0.0227, 0.1142, 0.5114, 2.265, 0.7494, 1.2503, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3695 left_y=-0.1655 left_z=0.1367 left_yaw=-0.5824 left_pitch=-0.0126 left_roll=-0.1526 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0103 right_yaw=0.7424 right_pitch=0.305 right_roll=-0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -5.641, 6.7077, 1.6923, 0.0659, -0.0611, -0.0073, 0.3214, -8.5128, 3.6991, 1.9951, -0.0806, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2aff9e56b5e72e07d6f97a5de40f07e0b8a05142735e0124f8e63d861f4125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdd7450238f3152930ac70fb0964b7f2c2bc691f0f045f35876a71a1cb65367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd184f4848809a490e669fff6362dcb1b84b5722b7d3eee76aa129fb5bca2f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKa4-MVVgyS51b2Q6nlRD6Jcl3pkFMbH7UBXtV4vC3hZKaXVHW3OdQQNylG9gVJDp-sC7v5XmQNVjNqFVL6sOI30razNWa9_7AWHyJeK4eeYQivJiW-mpMDSKxqDBUVuTVEWg-2D0uUyw93jeNfwgcJK3HCZrk5AfvKkHBzNECjfFuhpw-JQJQU75pWhc9qQDIPfRCXOTEgKeaP6HESGBqA5bWgw5-UE5u6_fpA0C9hDmXsWgPYUHS83maoUK-PZN0gUb14444T3RSjivLMPcxYYlH6lqPfGWmPN4n37gIkyj7O4pToq7DxnWhjasVhS0qgR75zACcK0dJqp6zfUE__cQxyGuul8BCN0Pv7fdvdZeBkEIcjZC08Z6d5udj3zp-FXmycUZI7xmV4kfq3Dy10H6tEA_ZO7ZswXgRbUH4VrCuP81LzHoDfQYptD8333M6BP8r9TuPQJatuIhQr8GzIxBwVb8H5QQ5EM8_od4Fn40Lk1fNBltYGluh3Y2SIveDFvo4u0Thog3kPJaSxlFhkSS_IsiYTO_oeqPyxUQuV-2m4PyIoH7EZ1dXJtQ4HGNHuKe-7oBoM4ULO4kn9IdWXpNH-5KL6D6cqwSG6uMQITeG3KSlONwzfdq5CYut51FD1AACGICznkNNqlw0pFIlbs8_yyInRvtAw4ABukHQd96ovIIO28YCQVY6VoeelMNNDUdomQaDIPisAEG07ORPI9J3LNp0gL6K2g17lW4nA5ewdmfQNQ1ybEfhf1cLPPSpJI9OQAEoVB38GmSe6c4o5dFhtGsicokWNjUhRGvLQ05hmdpp9bNG72oBz8hpEyOyKmcTdUMvs4AaMJ4taqHifcT9RqyiESS5Ef9d5pP1DB6n-beYMo1DmgKbWA7hDTwiFIXIAEqRwWQm1B-Tgckz2QwkJaB5y_MjHCozwhxIrzQUIwCyFHOWr7agkDIWB_5_DZ-MiYh2y7v49Nmq5cD3xnxw1iL9t4zPyyfrrWFd5vn95zxvqm6qKVCFbfEDkh4h100iYVLTWJuly7fyoiSaYUCsHNtW47L1LUw3Nr_Gw3odYeiWJNToZ3sQ4fnF29niValjYtNhx01bxoH33mDQwncYcGHBTRQmDxF2n9bxO_7BcE1RzW8RTiJx8B9uAF5Dk8hLKjZyP_0K9b-ZKO4RU9lIMCmfH886SIEcIxQDzT8Bu8S5USNGyTLOapTaDsexVb3ZlcKL8YpRR0E3b4H6XsVsY_Xvpc4NMLp7i7FTMpZtN11l_fcin06EvUIA_oyZ-OpbGxQcr269JZ0DYNx4k7RdJ2KPRcLMGTq3guwWP8h8D2aApamAKdiwynPXAmVQ8nulhbw7fmKpkynBQec-eIogJy9ncmF4U5V4cV9Bsq67RlhygPVHm0wEU6F6cs5ZPmEd_rj0BzGk8I_UwY97LcpaxdLufNOihUpbu7fBjE4E=",
  "id": "rs_0e499b92252e534a016ab4229917c487d0ab6f31c3aecf0dce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.281,\"right_z\":0.115},\"note\":\"The combined sideways lift barely moved the right arm, so I’ll first retreat straight upward at its current x–y position. Once clear, I can make the lateral correction without rubbing the pen.\"}",
  "call_id": "call_511zP56i2wPTCvJWGq4FyDNs",
  "id": "fc_0e499b92252e534a016ab42299b53c87d0b5702d30739e4706",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_511zP56i2wPTCvJWGq4FyDNs",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0319, 0.318, 0.0231, 0.1142, 0.5114, 2.265, 0.7494, 1.2507, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3694 left_y=-0.1655 left_z=0.1366 left_yaw=-0.5826 left_pitch=-0.0129 left_roll=-0.1524 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0104 right_yaw=0.7424 right_pitch=0.3054 right_roll=-0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -5.7094, 6.6393, 1.6923, 0.0513, -0.0317, -0.0171, 0.0205, -8.5265, 3.535, 2.0, -0.0952, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851fcaefdf172763a3e776b17569f4161dbb69b2e8cbb55451e8abff424cafdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ffe2d4acfb906680a146b5fa38fefe8b5a515681ad82e71b9861e94b5040c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb83056264d06c18c29fc6de9f7d5c22b3cb8ecd42cb5256026c6b8aa5710859",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 9.021 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.396, 0.7559, 0.036, 0.318, 0.0231, 0.1135, 0.495, 2.0426, 0.6937, 1.0225, -0.2451, -0.0689, 0.9949]\nstate[eef_state]: left_x=0.3703 left_y=-0.1657 left_z=0.1388 left_yaw=-0.5826 left_pitch=-0.0056 left_roll=-0.1502 left_gripper=0.1135 right_x=0.4015 right_y=0.2695 right_z=0.0442 right_yaw=0.7356 right_pitch=0.2467 right_roll=0.0137 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -5.6821, 6.7214, 1.7705, 0.0904, -0.022, 0.0708, -0.9094, -11.6308, 6.4205, 1.8242, -0.105, 0.0269, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0322, 0.318, 0.0227, 0.1142, 0.5114, 2.265, 0.7494, 1.2503, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3695 left_y=-0.1655 left_z=0.1367 left_yaw=-0.5824 left_pitch=-0.0126 left_roll=-0.1526 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0103 right_yaw=0.7424 right_pitch=0.305 right_roll=-0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -5.641, 6.7077, 1.6923, 0.0659, -0.0611, -0.0073, 0.3214, -8.5128, 3.6991, 1.9951, -0.0806, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0319, 0.318, 0.0231, 0.1142, 0.5114, 2.265, 0.7494, 1.2507, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3694 left_y=-0.1655 left_z=0.1366 left_yaw=-0.5826 left_pitch=-0.0129 left_roll=-0.1524 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0104 right_yaw=0.7424 right_pitch=0.3054 right_roll=-0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -5.7094, 6.6393, 1.6923, 0.0513, -0.0317, -0.0171, 0.0205, -8.5265, 3.535, 2.0, -0.0952, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851fcaefdf172763a3e776b17569f4161dbb69b2e8cbb55451e8abff424cafdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ffe2d4acfb906680a146b5fa38fefe8b5a515681ad82e71b9861e94b5040c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb83056264d06c18c29fc6de9f7d5c22b3cb8ecd42cb5256026c6b8aa5710859",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKfPagvaP5RbqC6-ud1c8qEoGdxXLFZ80DmELQMPaSknLc_wRkoRUgw2i_gHQN8_hACOcRciqPovs1J0suaWoJr26Du_PagheGSuKAT0s9NSrkBUBxbE1QZNwxMnqUJUzaFt7XSGpv0l1LugcHkpt99Ex1CcLHmtvHLNOnLY7vl8D6CiaxH20vKoPhTCOwMvXow7rEAZq7agJbjDVkb8yANQzatSH2p6z1hD3I7et_5yWhvAepqNCpFnvXXeBY1jPGiTUAuHarhUqNyH_orXWKnhOxC8BWUWLkxMhftjms7Qptvw4AYX39dXEoB2pTAFmkDBawMMaYR9eSSPDr7pHgT-GyLqK9GqjHcXHq4RSgXj_jxsK87we8OBFqruO3wHegetTx_gftvyfRTF3PnwZIbcdhiEYXVcIDU0RewEDtjnIztzZbtQCf_5j-pKxABv1gTBtMrM_LG8Hewzc-vgZ5tZ-XNLP9zmzKzemlvNp-SOowpov6mvg1H-5vQoDzv9SIS4etlHHzkmuuQ-v94jIut-KKKHL3YmEfi1ej_5FEvgckdQyPsEXHVN0sF7LCXlkgLXmAsNMNg4gfkhbdLe17lrij2uKyutHbIrp3wVl1bDhH6FYkrUFxda6xyyxdY-oBdaNB-wZiIVBln3WLiZjCHBR-NGw5GsHNE7e8N5HFx_Uw_ynCetktuLQ1dmykNz3Wjb2MfzGG2TolS1WB1KUksxdSoGQ8myuZQxXBz9hVFkVeLpyd2FYNNkzorSMREkLPwoNHm0zpcAS1EBQwoF1DSET8OqNr9OabRGGewpYCIUaU-RG-_TfPOat3r-jfCdwCWty0Z0eSos1MuK4ulLo_GEKZ51FPXJp5Fb2mRDVMSb-Hfu3Fmp49Jw4hBfzp9B6bVy3fULhtG5rv_1ieA9A71QHXG9QUuIgfEciP_w8bISUyfwZs7J8LLgRPR0F1379_QCN2rY5idMXPZUoL1ABLu8lvmOKPHx3uQ3Sn4Vdk9mw77YaeIxyZH8nSR-GajQ3Du_E26Qbp4oYME-8Vgsq6DwOVuJCTpDd58np05lsQjDbfrudZqzI017DRyVntkwIHZHAHVHtWAgv1JL7HHskZEMAxDCtoPRoZRgAvCNi9v31uOJSFFnpG9-hdx6l-Yh3IFgPn8sBGzpTUlN9XsUyH_XP3qjKBOtrLRkUrorblFEe5BD3mAGnMCwGEwJL_5l8fT0MPvjd3GQxjexYnE6b9So1SyqO61HzmbaHlQz2poIQJDSbZccgQBlS0YUoS5Pu7gAGBP7z5u93Il9DI7OdFYgapH_EWo4NLAghNX9K7Q-sFRjuFrt6o1cueYlSYnO5PcHgcrrcuorio6NxR5soNi4RutUeSCzOyeRN9jAOeERVYExaGYyIiq1rCNL97jojIa-_5Z2z6K-ANE7QuEQKgcbQuiwAlPf-k22tfPy-gmgcAECUA0V8-qhLFMZpIizk3Zx0WLcXvqHK1u17WzqGE1gA-XsY6TJrQ2bwsoNfRNFcnbEhfiU6Sp_w5C-d9TYFdUsX7-KZvb6LhVXUhhGNa32iZ9dbWgvlVMWfiN6kdA0vk0Zzsj8pd6kCZL8mFLaLYOUfSiqWhMzql6z9sArY749fAKzXmbV_3THgrK9N9VZZOKWQ-HOFpZ_BWEzNWDZx6IcwBOsPBAQBWFlqocU5CZAM4cc6FikKjuYT_a3j9nr4v8-fMYofD5_eMbdiZ1_tUYejzHOOteQdG2CIADOKhj6iNvHc7Zw1ToF8ogq__HOoDsdjq6mJv8HweSSUm_2UUHBGNlQHe542RclyBM-SUS8hq56-39xSCP62pr3NGBoy_JyDhSBEj9sVHtV2ggGq1gH6a4o0DEcyIjHDiwRJsNfskrNTr6-Z4R5--PTRq5B47gDQ7Mv54KBsJ9xQ6uv1WE4iFKF1On0qm77WyieAsvuSUcVweliXi_Qz7m0iKM5yi8_VqDvRSFaQWfq9yINYb_uWU7zWvdCyVssY695CpCLbDz2zTqPPiaho3s-1-lFlgERqMxukdJD0ALfyWDz5Y86gQFiurZkLHX2rXa2l1uawvckM6Py1tp4mjqK6YAt01_5Pz7RYkJdvWy3MgSsy70FMBLGu6vRBVkrnJ-OXIt0w==",
  "id": "rs_0e499b92252e534a016ab4229c6ef087d08e91f742294c1a55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.281,\"right_z\":0.14,\"right_pitch\":0.0},\"note\":\"The right arm is still stationary near table height despite the straight lift, so this appears to be a pose constraint rather than a pen grasp. I’ll untip the tool while requesting a higher pose to let the arm back out.\"}",
  "call_id": "call_0ewQ9iRvPQeVE0XFHHttSw7u",
  "id": "fc_0e499b92252e534a016ab4229df9ec87d0a22af0e6dc2ac586",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ewQ9iRvPQeVE0XFHHttSw7u",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7544, 0.0277, 0.318, 0.0227, 0.1142, 0.5198, 1.7721, 1.0222, 0.1795, -0.2157, -0.1356, 0.9954]\nstate[eef_state]: left_x=0.3689 left_y=-0.1653 left_z=0.1357 left_yaw=-0.5824 left_pitch=-0.0173 left_roll=-0.154 left_gripper=0.1142 right_x=0.4111 right_y=0.2829 right_z=0.1167 right_yaw=0.764 right_pitch=0.0074 right_roll=-0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -5.7778, 6.8034, 1.6923, 0.0513, -0.0611, -0.0122, 0.212, -12.1641, 9.1009, 2.0391, 0.1734, 0.1734, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a157011ac95b12e8d26fd3baf36e827034743e0bf024c73449598cc64c991a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fde9968bb043eacd0b28440d81d2753a40d9225cc9faa70197f97eb3c8153db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a514e1842214862852f82bbda6eaaa88355f307e067e25b9534f2b285ffced",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 4.307 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2928, 1.3975, 0.7555, 0.033, 0.318, 0.0227, 0.1141, 0.5079, 2.2414, 0.7406, 1.1961, -0.2317, -0.0814, 0.9954]\nstate[eef_state]: left_x=0.3699 left_y=-0.1654 left_z=0.1375 left_yaw=-0.582 left_pitch=-0.0104 left_roll=-0.152 left_gripper=0.1141 right_x=0.4085 right_y=0.278 right_z=0.0063 right_yaw=0.7453 right_pitch=0.2669 right_roll=-0.0082 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.7641, 6.6803, 1.6532, 0.0952, -0.0464, 0.0513, 0.4718, -9.8393, 4.588, 0.1001, -0.359, 0.4713, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0319, 0.318, 0.0231, 0.1142, 0.5114, 2.265, 0.7494, 1.2507, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3694 left_y=-0.1655 left_z=0.1366 left_yaw=-0.5826 left_pitch=-0.0129 left_roll=-0.1524 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0104 right_yaw=0.7424 right_pitch=0.3054 right_roll=-0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -5.7094, 6.6393, 1.6923, 0.0513, -0.0317, -0.0171, 0.0205, -8.5265, 3.535, 2.0, -0.0952, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7544, 0.0277, 0.318, 0.0227, 0.1142, 0.5198, 1.7721, 1.0222, 0.1795, -0.2157, -0.1356, 0.9954]\nstate[eef_state]: left_x=0.3689 left_y=-0.1653 left_z=0.1357 left_yaw=-0.5824 left_pitch=-0.0173 left_roll=-0.154 left_gripper=0.1142 right_x=0.4111 right_y=0.2829 right_z=0.1167 right_yaw=0.764 right_pitch=0.0074 right_roll=-0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -5.7778, 6.8034, 1.6923, 0.0513, -0.0611, -0.0122, 0.212, -12.1641, 9.1009, 2.0391, 0.1734, 0.1734, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a157011ac95b12e8d26fd3baf36e827034743e0bf024c73449598cc64c991a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fde9968bb043eacd0b28440d81d2753a40d9225cc9faa70197f97eb3c8153db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a514e1842214862852f82bbda6eaaa88355f307e067e25b9534f2b285ffced",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e499b92252e534a016ab422a1836087d0b6c01a711addb0a7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKpMN4ADddSifES27xaB6P1uAboQXcPlpPC34TpxEKMcf99La9b0uF7qJxm0lCgge43mP1pS8n2PiSmlmSn64Y5TjGT3h8nhCbrheOKxb5hPPqQUFkAXZu4YZMi2s8284uWF_Ve1wct2fopRMGqpJfUNoOBoxkQGF7X-SYl4GZ_ppMeDz-OzDWbdjw3EGZcJfPNJrqGqd-H1blvdKuIUisBqlvH_Evg7GNI7VbT40oI7xmSXqxlGM_5bpCv1_nDNrjrfDCA2iKizhQM_VJFB1Tv2wIQu6JlBh_-lEr-8oYiEQ8Ixg39Esk1ydDXn_naNmr8LFGfW-NQB6-Pm2uRKmMV_Ag658uAV331IdP80BJVMn5iSC5PpZrAnOS4a7_YZlyHg2sBd5wZs00xMCKPSYEk9508h44kUR9K8t_apOSJPrWCrSBxWUWbkW3t9d4Cx7vDY5vZaZ3h_o5WAJY7vlNFt13hGfX-shyD2izIPTFn4dIPjAinkIYGyiD0BaF-Mek82I_YcN1dkybQ8-5c-vp2F1Fi-MXTbO5JRcOOTNr-XEyY0mXpySmdZcSIquRc9C3cHwrYeloNFzcITheGhpkcQd6aF6w-03T4TlKHtn-Xb61y_Pa9ruO85Z_G30tVkgkGxUX1z1AYvG7nYvnDF67pbx8RNA0t3S6o34rNYJ8hGLVhFgp9ULR4DBf7itluiGb9ffEKLFp8igRcIpWa5BxXzLdWheM6G8PlO12-af_QjtxljVo8bkiHqFLtC4FRWbYlSQUNEz3qVZQx9xeigESSRAG51XKxS-fryEjgXECBz3ZDkXh4oxhlsIWP_f6Gikwyw1S5EqpXZsyY23dPpSq8b2mXWzWSOuuT-avG43idr7vpkx9TJfhEVz_l2uTmTRWpgB4gl5B8USB2WimwG8klu1UZ6MvaVuPRrxVv1AEPsO5Z7Cb_iiFsyRNe2IjAZ3ESLf93uJ5j3K72JhESSZ9istu_Y-6QdFfP-zXXd99NMcwVeux2FIlHckOSvKz9ZdfuYzOKZtMnQiwsfpX0CDVPO0HpcaFg5XNCmDOWotgtQnNdEg9qFVj9anMstXQlCJFZV0azsSgq4qzme0763gE98GUI0RsC9MpUgELNCMK6L-FAzmisI5s3S5Lu7-dD7WS6SD06z9KExpL1Ozx_iFpHuH6NBC5HWxJtDvEV0mH3g4suVuslHvl8rEDO67A4dU5M1xp6kzksMeJu1lS193jXJleQsh6aPXzemwuIOlLX8eRwreaEc5jNGYUxXSrR2R80sm8PSdJMvqQwKcFLJ1Md6MvvJ16NXnYmyI9xhApytUS_IIzGA0Sj72tza8PKDzIVoTh6h2P0-4Az4MQ7S3PCGy9hidPZ70y8qlKDD_O_gNqD_QK1vYNh168moZSUikK9aM1EkjP7BKHU1pMcMdZRm0eBijuyucnXSsikUxc7Kzl_8Ha0oghKenJnHkP_PEc1",
  "id": "rs_0e499b92252e534a016ab422a715a887d0a7ca3cf73448b712",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.27,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0.25},\"note\":\"The right arm is clear again, and the pen is still on the table; the first close appears to have turned it so it now runs mostly front-to-back in the overhead view. I’ll approach its rear half from above with the jaws across that new orientation.\"}",
  "call_id": "call_a3DE7ADZc2GUp4OQcXoXL4Qs",
  "id": "fc_0e499b92252e534a016ab422a7679c87d0990c1286fd6cb8b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a3DE7ADZc2GUp4OQcXoXL4Qs",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7532, 0.0265, 0.318, 0.0227, 0.1142, 0.9333, 1.6886, 0.8524, 0.313, 0.7109, 0.3168, 0.9954]\nstate[eef_state]: left_x=0.3685 left_y=-0.1652 left_z=0.1349 left_yaw=-0.5824 left_pitch=-0.0195 left_roll=-0.1547 left_gripper=0.1142 right_x=0.3496 right_y=0.2844 right_z=0.1309 right_yaw=0.1641 right_pitch=0.1747 right_roll=-0.0404 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -5.5179, 6.6803, 1.6874, 0.0562, -0.0708, -0.0122, 0.2393, -6.9265, 8.9094, 1.6288, 0.486, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a38afcaee763ef1565c13f6a8519d319455e98072db95f9ed34c898c8bb79cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d302fd57845561a5531b0d66fa66c50a0d20f5eaa03477a371895693d587e414",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f463dbd4746c65635f3bf52b1f9c390050063acd7b8fed2ee8b22f1d2cae54ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.311 s

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

message 103 changed as sent

message 111 changed as sent

message 116 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0322, 0.318, 0.0227, 0.1142, 0.5114, 2.265, 0.7494, 1.2503, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3695 left_y=-0.1655 left_z=0.1367 left_yaw=-0.5824 left_pitch=-0.0126 left_roll=-0.1526 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0103 right_yaw=0.7424 right_pitch=0.305 right_roll=-0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -5.641, 6.7077, 1.6923, 0.0659, -0.0611, -0.0073, 0.3214, -8.5128, 3.6991, 1.9951, -0.0806, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7544, 0.0277, 0.318, 0.0227, 0.1142, 0.5198, 1.7721, 1.0222, 0.1795, -0.2157, -0.1356, 0.9954]\nstate[eef_state]: left_x=0.3689 left_y=-0.1653 left_z=0.1357 left_yaw=-0.5824 left_pitch=-0.0173 left_roll=-0.154 left_gripper=0.1142 right_x=0.4111 right_y=0.2829 right_z=0.1167 right_yaw=0.764 right_pitch=0.0074 right_roll=-0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -5.7778, 6.8034, 1.6923, 0.0513, -0.0611, -0.0122, 0.212, -12.1641, 9.1009, 2.0391, 0.1734, 0.1734, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7532, 0.0265, 0.318, 0.0227, 0.1142, 0.9333, 1.6886, 0.8524, 0.313, 0.7109, 0.3168, 0.9954]\nstate[eef_state]: left_x=0.3685 left_y=-0.1652 left_z=0.1349 left_yaw=-0.5824 left_pitch=-0.0195 left_roll=-0.1547 left_gripper=0.1142 right_x=0.3496 right_y=0.2844 right_z=0.1309 right_yaw=0.1641 right_pitch=0.1747 right_roll=-0.0404 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -5.5179, 6.6803, 1.6874, 0.0562, -0.0708, -0.0122, 0.2393, -6.9265, 8.9094, 1.6288, 0.486, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a38afcaee763ef1565c13f6a8519d319455e98072db95f9ed34c898c8bb79cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d302fd57845561a5531b0d66fa66c50a0d20f5eaa03477a371895693d587e414",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f463dbd4746c65635f3bf52b1f9c390050063acd7b8fed2ee8b22f1d2cae54ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKuThJGHr2L6NDWtcQv5p7mRwIM5w705pGDSY-wVAtdBnCRTynj4KGy_qu0qPtu9ef0-D4_jNvCOpJ7GmtaZG7kLgA5z3qnE2JEOl8jTOxqjIJxE3nMJerHzyjvA9nkd7kKexQSnBWzvkJFQB2A_Xsf0-ktw0tD1o104XrptuypncqFknAa23WZkfRzjmxXhYDoqPdrrJ7zaETPui-hIdrBurDPsGy4isiWrV2c48JLLqC08gp_NAdSizNPZa7p8LJDTMtwTx0nZEBdgMaWpYdGkj1_-jun9MhijZMxs6z2RizEiylK3M3_IDWKn9Mqq5ekdf-Mh6hmaGO7pWPwW0UfHWr60GKHd7-O5oEqbkSXL_Gf_cjfdteHHBKRB8FtGgk6RzyiC1rrNP3zQdf_CyKO88ygdARkyniSDJbL8zrWrYvbfiA1JvifB1kiD7UI58k85MfT7NYRRrYnBRnKuL_fQpLbdCCcJ5rUidtrpqwpRnjouZfk2G1Cao5z0Dgqht92a3Kd8xR7la6v4Qqppf3OGOAvBDlnJ5lJ1I3J6_EZhj34Ey7--b8b6e-EXDm-qCYX2v24mnKfanGCf6Ctqk_VYVs7oLhixcH-f3NdQ4htDDajgPrisfE-2-qXC7ofEOSTelquTrRcYLBEDV6_MOaryFj9ZcKJDmCHu9Uhin79ykaHiNblHFU4oztv_CTBHfMfCj484sMAi_WzURkybBchou-O1BCPyVHweYIFfewEQOCUnKRcu4ZpiWFUuT48BZOjsehnk-yZXWIIBujsUu2StEoauwzg6P7vvjHC7LdtK838_Qk5P5CN6d9FzYsk-VaazvoCLl5TAUKTZ-Wr6MrVXnZ0osAGDEenKpguHtKdDvStRKVJoltElRIOokW-tD2az2d3W2aEqQv2bqlEzbUzvrrDQQhSMQ5nvRyZHlh6Ff-GPqB7eiPWcqN70eXuiNNfNgn2RI34z4VIg2inl66hlkImuKuDQTawWBAOls4cPSsArQ__VjuwvEyffwnuxBMRg_Umeriykaa4HTzpEKXY-SrpERjE_m7CGkPNA9njdKnFp8TOkGOVDeGWY8V4JgZ8YInXwg5qe9dOXnidXqvzACCP8Y6elpt74fjOxpke_VG7O_xHphoUr1hMXk_e3ADaE_4Oax9QK8iXcTmk51q_k9cutsjIC_g3ZSZy9IqTD5aJi90DFdyTjYPF_yKsiUE3-0jX4GBSFaCvuCdAKlj6-ifX3BqJPMjRGGN6Qfz47XsU2rDlQGPHZj2cuzHtumXzcqgng0hBy4fpuKepweKZXcJ3NPN-x50lOyKdvI5wZBAoNtFi6ikZPUXBIxtkz60fqPp4Z0cJq8FvBzdVsdMYtmnZWq2vt2XteHh-wuwcFF528UZQ2xEdjdIaqG0cSzdfnHqJmSob2z94sG3VqJ3te5Eibri26WIGGvibhxo96_tdQxUwk9QRUX4hp_EGfsHkXGQT6ImtRNjZjt3CbOpPby2tGqYCikFIXddPiOniRjWMuHO-rDXR03vutWiG_FC6dJKIvaaxg9MSVsUlQw3TKwaSYnhAGsrPDMGKlzyxsorpF3qSJJFCU5EQnHSwmQBQU0r1sjmOhphFThoD26pEFd3TBhQdrPxmCaq_KSkiendeTcORIh_ZiAEZraQHesLDb2DjmON8iV-4qMdW8Gr4JAZFf6nct3Ccd7M-wVLhwwPcpumpVvJHxLFfpWXi0Cm1oyqVX8uOOps6fLYii4teM7wQ4VvVpw7dm144r60atZW4wkxaBE2UHYo2k0hgU3kI_6IhlcoM_MvXC1fTqcPTawq57ZUd4HnOlLiz4gZVfEuOnz_tUH33PrN5aBM5lHM2-XxSh7pyd-dKmbkrC025Fp8SN7XHr-0ILg3ggQwwggd2IF9gO7Zzd9-r-8xLCdPTvlzBAquSZ-tXi-MuQxGQ0LhcfaSz9g42obq4l40w2qsy5Wb50rTsi-jWr0OSvTnL",
  "id": "rs_0e499b92252e534a016ab422ac076887d0ae09afef1dd07dd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.284,\"right_z\":0.005,\"right_pitch\":0.27,\"right_yaw\":0},\"note\":\"The pen is now clearly visible near the right jaw column at the rear-half approach point. I’ll lower straight down; the wrist image should bring the pen toward the fingertip row as the camera nears the tabletop.\"}",
  "call_id": "call_sNVjrbXX9TPn2VsBeEBGtKjN",
  "id": "fc_0e499b92252e534a016ab422ad743087d0b04f378e4d0646c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sNVjrbXX9TPn2VsBeEBGtKjN",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.3176, 0.0227, 0.1142, 0.9867, 2.183, 0.7944, 0.836, 0.9131, 0.379, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.165 left_z=0.1345 left_yaw=-0.5821 left_pitch=-0.0207 left_roll=-0.1548 left_gripper=0.1142 right_x=0.349 right_y=0.281 right_z=0.0047 right_yaw=0.0284 right_pitch=0.2357 right_roll=-0.0723 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -5.7368, 6.7761, 1.6435, 0.0708, -0.0611, -0.0122, 0.6769, -7.7607, 4.4103, 1.1941, 0.1001, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f42a6747e7ed86f528d563844e832e52ef5ba8b887269cb6dff402daeb8600",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887e05256aa2df87ca5ba11cbd1c21f2cf8948918e972f352b14088e76beedd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c80898dcfad9852b9a08483bfe61a1f908eed28362baee2ae099b15a41a2fff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 7.258 s

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

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3979, 0.7544, 0.0319, 0.318, 0.0231, 0.1142, 0.5114, 2.265, 0.7494, 1.2507, -0.2302, -0.0677, 0.9954]\nstate[eef_state]: left_x=0.3694 left_y=-0.1655 left_z=0.1366 left_yaw=-0.5826 left_pitch=-0.0129 left_roll=-0.1524 left_gripper=0.1142 right_x=0.4112 right_y=0.2811 right_z=0.0104 right_yaw=0.7424 right_pitch=0.3054 right_roll=-0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -5.7094, 6.6393, 1.6923, 0.0513, -0.0317, -0.0171, 0.0205, -8.5265, 3.535, 2.0, -0.0952, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7532, 0.0265, 0.318, 0.0227, 0.1142, 0.9333, 1.6886, 0.8524, 0.313, 0.7109, 0.3168, 0.9954]\nstate[eef_state]: left_x=0.3685 left_y=-0.1652 left_z=0.1349 left_yaw=-0.5824 left_pitch=-0.0195 left_roll=-0.1547 left_gripper=0.1142 right_x=0.3496 right_y=0.2844 right_z=0.1309 right_yaw=0.1641 right_pitch=0.1747 right_roll=-0.0404 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -5.5179, 6.6803, 1.6874, 0.0562, -0.0708, -0.0122, 0.2393, -6.9265, 8.9094, 1.6288, 0.486, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.3176, 0.0227, 0.1142, 0.9867, 2.183, 0.7944, 0.836, 0.9131, 0.379, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.165 left_z=0.1345 left_yaw=-0.5821 left_pitch=-0.0207 left_roll=-0.1548 left_gripper=0.1142 right_x=0.349 right_y=0.281 right_z=0.0047 right_yaw=0.0284 right_pitch=0.2357 right_roll=-0.0723 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -5.7368, 6.7761, 1.6435, 0.0708, -0.0611, -0.0122, 0.6769, -7.7607, 4.4103, 1.1941, 0.1001, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f42a6747e7ed86f528d563844e832e52ef5ba8b887269cb6dff402daeb8600",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887e05256aa2df87ca5ba11cbd1c21f2cf8948918e972f352b14088e76beedd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c80898dcfad9852b9a08483bfe61a1f908eed28362baee2ae099b15a41a2fff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKyt-vtaanGzluhpOsCrO8AjYzRcynOqIC5VieCIBPX0g0M7mcrMsUFh_X8QVWk8-gvcD0Jo_oIZA-VCQ_GChDFEaBy7oxLQKF_sXjDDEAydj2SlyLFPZVGP8aW3t5sJrFClHI7r6pNsSYFAwmtPzNhS3MyVzWp2qabjRfQC6GrGDvRwGi7gC2eXLOK6cWgojw1drUiyZNeCJtQjrnX2vgKwtGyrC7-xYBQikW5b3osrquFbKqNsgzg_7hPnD1A3pOE6GdQ8Yn_kLU2BxR9EBaUvqGW_6ZG3M-VM1mGv8wOYAKht6ua8eWdHd6nrgOPxdXM8eYfeP52NZtLtMQ_o8N4v0tk35hDzXni_DId8wufPFJxK_uN0_cawOmuTF9AX4mVTCLLiWvhRvnmqrRTx_LKgccWIc0VyVWxP_CCBYeJjMkuTl41TwQmOnUqmUyKZZd5OX44pl_ywUkjLX6xCv_glm3lJN0RoHOgmznWpSbWtu9EmOaJZ0tNAjl7K8T_1qAfEMZe1ye2IULd_cSPswBf9SOIaaknlBwPgBX1MhV-tzYpnpKaQ-p1GSs4XCs33jv4_iXw61miMBJi5wqCOzoC-fhjFZZ-5rElUTKZj9XIlmQiH6_FbM-hCmRcq70DfnRNzCQvthUWYJJWLnrdQJQj5bvR7RCO-W39E55aiwKczQGWk2bhX5c-IR5GbSHNaOR7Dh5xzQw9H6CNGnu1HRQ61X2BXR6YHd9Ko5cjeSPUSYHH-8OwzcjCel2kUve9BFGFJMo9Ej6kWpezr6ZWFmt3HNHsH9QAAh-_hrsLfdFJameHf4R20o7xML-_D9uPBnq4b4jMlb7Zgll-jnO5oK1ZVsehlMXYQz-I8Oihs3iooUdhc7AKB90PNhgwe9f9hitsqv0XYnoLOD-HdpFiLFvPBd4ef7SvOhv9oxiOOpuszf6V4wTe64aasWdEWJ9d7VdmgcFzb1Be5ie-mUDsKan9uBR1hRBv78rLB6qfyOwppDvwYUC68BHHOU4WXoCl9B4sSNstmfIR3HjOOaQGr6xDIULpfFOud-AO8iT3uI7JCzTjv8YDEiUahiQJiNW38TCjUlNbLof-yQ1SkLntdonS3OShModKQOW7-trOF4AgKGkr7RnnE8iqR7zLZrB05WDQ12RkGY2ZCNmIJ53dmdaUdxrH0tiHbXKJRo1Seq49UbbLOMFel8DpmJfzJ4MqWGM9cYnDusFjBvWVsiXERrgaTKkH7mA1Wwk3c4TPcsyacug8tahQMRGiCAZ_CfEAN8iZjkGjy-Lq6P7-CtvStpgRADuu9G8Ug-AvFs_fEWTztW08Im7SHmkMUHaIXnUjc4kb383ydYbaQJLDJyqYPkNTkO972JoO8wCBWV43bIBSTCK8IodfCQdL-0XZpaVyL2wcn796Kd0FOHLZFxHJnaMX_6szNwbVgRzHqT2tkOah_9pMd7OAXYpqRf0Tx8-ORdJI1odAEQKEjmjPfZopze4M4DTuxltqBohs7UH3vT-CKNSwOR9FlkV_VTZcH7LfavANTHVJwio5x56uvfazOCXLALeNCoNz-8tvWTgb2JYdSE5QcVkesJKecJHQ-hKBhOFEelIyFokuTBDZHhk-0OhR_2g_gV_L9QyXJVViAM7ivuHbXbES9VJhbbO30umrLP6voku66y9zQCbAtVVtbk8zk6b8Urv4_xXArczHiPfDHPw=",
  "id": "rs_0e499b92252e534a016ab422b031b087d09885fcd705db695a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At tabletop height the pen crosses the right jaw column near the fingertip row, with its rear extending toward the open jaws. I’ll close here and check for a nonempty jaw opening.\"}",
  "call_id": "call_eTOBfmkxNYr4BIsSasMXhGjq",
  "id": "fc_0e499b92252e534a016ab422b1300c87d09f1980dc48cd87e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eTOBfmkxNYr4BIsSasMXhGjq",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9878, 2.1944, 0.7986, 0.8722, 0.9241, 0.371, 0.0118]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3508 right_y=0.2825 right_z=0.0074 right_yaw=0.0193 right_pitch=0.2567 right_roll=-0.0589 right_gripper=0.0118\nstate[joint_eff]: [-0.1983, -5.641, 6.6803, 1.6581, 0.0317, -0.0708, -0.0122, -0.2256, -10.6872, 3.2889, 1.1941, 0.0659, 0.0708, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e286c0cf773507cf7f4f8e9553428f4d4b90664bfba8d1ca8db3fdd58fa26550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74777b517b407700d573dadb995ae3233edd5724ae3bf4d5edf802429803ed90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b51b4f08a12a48c5190e73f641e82b8692654ab7b24f418ec84a475144eb0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.604 s

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

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7544, 0.0277, 0.318, 0.0227, 0.1142, 0.5198, 1.7721, 1.0222, 0.1795, -0.2157, -0.1356, 0.9954]\nstate[eef_state]: left_x=0.3689 left_y=-0.1653 left_z=0.1357 left_yaw=-0.5824 left_pitch=-0.0173 left_roll=-0.154 left_gripper=0.1142 right_x=0.4111 right_y=0.2829 right_z=0.1167 right_yaw=0.764 right_pitch=0.0074 right_roll=-0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -5.7778, 6.8034, 1.6923, 0.0513, -0.0611, -0.0122, 0.212, -12.1641, 9.1009, 2.0391, 0.1734, 0.1734, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.3176, 0.0227, 0.1142, 0.9867, 2.183, 0.7944, 0.836, 0.9131, 0.379, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.165 left_z=0.1345 left_yaw=-0.5821 left_pitch=-0.0207 left_roll=-0.1548 left_gripper=0.1142 right_x=0.349 right_y=0.281 right_z=0.0047 right_yaw=0.0284 right_pitch=0.2357 right_roll=-0.0723 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -5.7368, 6.7761, 1.6435, 0.0708, -0.0611, -0.0122, 0.6769, -7.7607, 4.4103, 1.1941, 0.1001, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9878, 2.1944, 0.7986, 0.8722, 0.9241, 0.371, 0.0118]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3508 right_y=0.2825 right_z=0.0074 right_yaw=0.0193 right_pitch=0.2567 right_roll=-0.0589 right_gripper=0.0118\nstate[joint_eff]: [-0.1983, -5.641, 6.6803, 1.6581, 0.0317, -0.0708, -0.0122, -0.2256, -10.6872, 3.2889, 1.1941, 0.0659, 0.0708, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e286c0cf773507cf7f4f8e9553428f4d4b90664bfba8d1ca8db3fdd58fa26550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74777b517b407700d573dadb995ae3233edd5724ae3bf4d5edf802429803ed90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b51b4f08a12a48c5190e73f641e82b8692654ab7b24f418ec84a475144eb0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e499b92252e534a016ab422b470d887d087c7fab9f1344354",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The right jaws closed empty again and pushed the pen so its barrel now ends at the fingertip edge. I’ll reopen and retreat with an upright tool, then re-aim from above rather than repeat the same close.\"}",
  "call_id": "call_P63PZpEE3r0sopV8CsQVyopo",
  "id": "fc_0e499b92252e534a016ab422b8c17087d0a6c1cc4e6c37d80e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P63PZpEE3r0sopV8CsQVyopo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0231, 0.1142, 0.9554, 1.7805, 1.0962, -0.1207, 0.7681, 0.5396, 0.9946]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5826 left_pitch=-0.0206 left_roll=-0.1547 left_gripper=0.1142 right_x=0.351 right_y=0.29 right_z=0.1198 right_yaw=0.043 right_pitch=0.0171 right_roll=-0.0752 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -5.6957, 6.612, 1.663, 0.0317, -0.0171, -0.0122, -1.2513, -11.9179, 8.294, 1.5653, 0.3541, 0.3004, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a569764d038840b84714d942b1e78ba99dc54f3495745f661224951fd376533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e94ac5a13404d4ab8ab033511c3353c703ffde35b7faa85a7ebe1aefefb3ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca07bb8605d84fbcbe4eef75f374acfbfb2b0f9b7fc5100ab6d8a1a4f3455c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 6.676 s

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

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7532, 0.0265, 0.318, 0.0227, 0.1142, 0.9333, 1.6886, 0.8524, 0.313, 0.7109, 0.3168, 0.9954]\nstate[eef_state]: left_x=0.3685 left_y=-0.1652 left_z=0.1349 left_yaw=-0.5824 left_pitch=-0.0195 left_roll=-0.1547 left_gripper=0.1142 right_x=0.3496 right_y=0.2844 right_z=0.1309 right_yaw=0.1641 right_pitch=0.1747 right_roll=-0.0404 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -5.5179, 6.6803, 1.6874, 0.0562, -0.0708, -0.0122, 0.2393, -6.9265, 8.9094, 1.6288, 0.486, 0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9878, 2.1944, 0.7986, 0.8722, 0.9241, 0.371, 0.0118]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3508 right_y=0.2825 right_z=0.0074 right_yaw=0.0193 right_pitch=0.2567 right_roll=-0.0589 right_gripper=0.0118\nstate[joint_eff]: [-0.1983, -5.641, 6.6803, 1.6581, 0.0317, -0.0708, -0.0122, -0.2256, -10.6872, 3.2889, 1.1941, 0.0659, 0.0708, 1.0427]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0231, 0.1142, 0.9554, 1.7805, 1.0962, -0.1207, 0.7681, 0.5396, 0.9946]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5826 left_pitch=-0.0206 left_roll=-0.1547 left_gripper=0.1142 right_x=0.351 right_y=0.29 right_z=0.1198 right_yaw=0.043 right_pitch=0.0171 right_roll=-0.0752 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -5.6957, 6.612, 1.663, 0.0317, -0.0171, -0.0122, -1.2513, -11.9179, 8.294, 1.5653, 0.3541, 0.3004, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a569764d038840b84714d942b1e78ba99dc54f3495745f661224951fd376533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e94ac5a13404d4ab8ab033511c3353c703ffde35b7faa85a7ebe1aefefb3ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca07bb8605d84fbcbe4eef75f374acfbfb2b0f9b7fc5100ab6d8a1a4f3455c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0e499b92252e534a016ab422bce23487d0a9369fb3f5e262ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.263,\"right_z\":0.14,\"right_pitch\":0.25},\"note\":\"With the right gripper clear, the pen lies diagonally beneath it and a little left of the jaw column. I’ll make a modest raised lateral correction toward the barrel’s middle before another vertical approach.\"}",
  "call_id": "call_sRyWcLjSRMIuYGJl72M8R4GW",
  "id": "fc_0e499b92252e534a016ab422c0164c87d0830195d3c5aa7e26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sRyWcLjSRMIuYGJl72M8R4GW",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9695, 1.7023, 0.823, 0.2474, 0.8654, 0.3767, 0.9953]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3377 right_y=0.2609 right_z=0.1144 right_yaw=0.0619 right_pitch=0.167 right_roll=-0.1233 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -5.5043, 6.612, 1.663, 0.0464, -0.0464, -0.0122, 0.759, -10.2359, 6.147, 1.8535, 0.5397, -0.105, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a5f7a57f352ff4454440be7b3a9298c103dc6aa8741ea6533301a9770fe6e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61bf0bb494679db7478588885389b5fbbb3a417b78c6d919de8537af8f0c7f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5482c3c8f07fded7f3f1d5600302f12acf7f607031602c4fc10f0d2af1c536d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 6.226 s

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

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.3176, 0.0227, 0.1142, 0.9867, 2.183, 0.7944, 0.836, 0.9131, 0.379, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.165 left_z=0.1345 left_yaw=-0.5821 left_pitch=-0.0207 left_roll=-0.1548 left_gripper=0.1142 right_x=0.349 right_y=0.281 right_z=0.0047 right_yaw=0.0284 right_pitch=0.2357 right_roll=-0.0723 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -5.7368, 6.7761, 1.6435, 0.0708, -0.0611, -0.0122, 0.6769, -7.7607, 4.4103, 1.1941, 0.1001, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0231, 0.1142, 0.9554, 1.7805, 1.0962, -0.1207, 0.7681, 0.5396, 0.9946]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5826 left_pitch=-0.0206 left_roll=-0.1547 left_gripper=0.1142 right_x=0.351 right_y=0.29 right_z=0.1198 right_yaw=0.043 right_pitch=0.0171 right_roll=-0.0752 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -5.6957, 6.612, 1.663, 0.0317, -0.0171, -0.0122, -1.2513, -11.9179, 8.294, 1.5653, 0.3541, 0.3004, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9695, 1.7023, 0.823, 0.2474, 0.8654, 0.3767, 0.9953]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3377 right_y=0.2609 right_z=0.1144 right_yaw=0.0619 right_pitch=0.167 right_roll=-0.1233 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -5.5043, 6.612, 1.663, 0.0464, -0.0464, -0.0122, 0.759, -10.2359, 6.147, 1.8535, 0.5397, -0.105, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a5f7a57f352ff4454440be7b3a9298c103dc6aa8741ea6533301a9770fe6e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61bf0bb494679db7478588885389b5fbbb3a417b78c6d919de8537af8f0c7f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5482c3c8f07fded7f3f1d5600302f12acf7f607031602c4fc10f0d2af1c536d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCLIqzZ25SXFlsRfWpXeLaz6ebPbreQR_MRphnKvv1SeqNJ3UNVLy5YbLVJ8z9kvn7H--xzIqWH6Hbpwh8KwmLNX2fqFmQXSZy3qwerjFzGp9imV_AiCu3A2yOo8r6NPeUkj5pCk5muQvPqP8YO7Onlrhc8DyXUfGhHGrilj48fUMRHFmENDUXUDhsnxnllOPryHXSiMlacIVEb0zHnhoKjpk2hsAy03u4DRUwUs9WCgw0GKAESxYBsmuFHyx476yr7hxISP4hFkfS1Wi05bDPNmiaQcWJ8YpU2Zuu4Tlfp0QcLDnS0vOiPETOJEUhFs8Z2q7dBvJdQYz5oJcinCQK5WqKn39qja4GrFWFn5SglklOitirgrWs-9cxUVhYD99I7WvTPVbFXSCOm61lygwHzo4_Urk1hEqHJseV1nYByIMqdeTyj3_3BwnKTfhiQJk4X53uor0g8n5MMFIq38JtH9CqU9WokQrNoxIVESFxzRMmkPKK-U2-acBYUReI2jRCF0ldicI-0dHXAyfPw_NcfZp6eLl-6kpivyw2HXgYOavAQY4EPqXDBTSbrltKPFwvEMb-25Cpju-w-k0gKkeoTEoQOs0jAN9AqP5HrBxAQxhsi6LS-WpzbSQZHsELEmZJ7CBdZPbtLINgds7ji_QRC7cxspTVLy4BtL5MwiA_iFFTS3Os927Xp2zYoNmHW6l1sHtOJFcgrrYmGTeFLvwliDtKftXfhSEcW49bEir2yQ16_C9q3ntci4OQz95rBQLKjmmh2klUnRgYnAiSz1zGBnOAUIiV-7qgqBaF_5H_tgB5dvPETYE4St8e_-MdM9tgy6v2AskKj9SsJkN8El7iZCX5YjI_5wams6iv0TAry4aE-PQhm8M6D3dfBJJOh3qR2fkeA4fNPyDmvf6zmDmfR3uWWLN_8DjEJQT7MnY1afC-_qKY8mAhSGwLO2wF9z252Qc3ViAC2nmDnBy9txYQOkC0iKa5AdwnlD_AB-tHVktVUA_ZEJnyMh3JRey2uRqjDkjR0btgeSBxp3-BJSFAylRzE-gqGLKDAsYzNd2sFZnzu2znAYBXV4lV-V3lIhf0sLNpBTEsRr32w6h-C4X-LsKAVDv5UBdIw6KWCwR7GeJ1PyIJ2ZwJmr2GdIW5_q9y1TUi--hix-hkUyHhWeIXrfDImsmc3aNS_Ad26kdXQaoKl6AzDROXw6lZxSMy4lxeFbktDjIWdRcjW5E3FLh_PE4QtHOdo-W5c--nq0S5IB0fcC5LnIqEjzxJbQrobRYlZPIy54XSPY0DI-acrCjUVRgFSniDF-NQy-LmAGmad5fFKKSLmL4Cnskq1ekyxteLqjcxpCoHUV8pN6aVA1kY05heYPOvHLMW3vi90I5VKfzBJzv1WnYO30MfG3NzR8mZHHqHA9J3PT9WSkqsGg-Kd74Thhr2Em9EdfI9ShMtoHWV-ntNV6jhISTVVWUDZ10a0axsVIdry9AbJ65QvdPhfhLDgwBbh5-vw5dmz-TMrCRo2xDHkTM58KAc4PDicDC3Sp2r90dKvhlBLLhd8N-BiJC1CORDyljFLYBMQZtWC-MJ9EJrksnB87Ag0hHR_orryBzprfhu0tuOM5xTJrP3LvnTSjdsMCu8Wg33enFDIz4S0MYGwIEqPcGT3TIX6YSgkJPCUREBaHqrfydVqqGAP_GAXc-lNwIPutwyDB41tEiZ5Pj6cOfT0XqNwmVMGEAiIGT3lkhR2Xt0gcyKdwsyRiJSiQJNZZZgQ2LFhmgnOsS2qLsCoW3pDttzwrmVIUb0PffSO-OmPqQjYOPguVQ9DFTkFJpqhj5EW4XJetBalVnoEiuYDP0UCfg96wkWfN1K_9XORVCvWTY7ds5HigL04k_vZEqkrXFNFy0gA2gbFHsWj-ybFLSnLqXiqpWyDWMDniuieg1ZcCjzEAiuwN-sG_0yDwkyt76jACLDwnaRVYY_dA2uuO9dkP8OErG3RyUTWHDBWWjXZTIjOaBK_W9vpPnHqzM7tLkNiy6P7Mwf1ZsBCjETHjXcr41HA119hNYCYrHy88EhBEvsRxWJWVJTnt2EHW9aBUnZqCl_32PQ8HkPialuqk9gptFgdPM88FnM4o7pRKe1UnHE_spav56OjzBekQmgd6rYVUWdpeNRAfYE5XHb3tc0dGTiPz2vQhOPcjEbvxfdKoioMPsoHIuupPxAcrYY8xENyP4UaQNO3vnq3YwI0C7Jwl1cB8ENPuOgqn-FI5EW6uqA07avksCi9dHNNrYg5ofHBVPcGPL1niumOqSKPuUZLbHy5iCGtEMiRQ55erOOyEyHnCxD2et_W_-ijE0yj3SS4ReCLF5n2bMeP_lCnVrnTDgOZHQHqk55JT4JaeY3LU975dvZC8RGrHmDkV3Lvl52y_9dFXuv65BcaCL1PNsMywcj84WEmEWDZ7SAjQe9W1ezUJF-GNVc_w76YHqIY6tf5bUB7MezaifWXyW9bmkZz8FhNzOJPQeIVzSrenaMGyAZVz1e2aabuitku-5cJVwRgtf5mhy06KKh7DwHFifDNTC6awPdkYMZwPj5RvMb6CwRsgMemIci9V7n1m0RZlBgfeyWYzlCvcywynfeso30tJavf1-MBzYc9aIjw8y2e1spNoKiQPdHxWiald0W-4s0UPg5y_AXc_jg1S9rOFVwAl6L0rOjb3_t5QdjG9-XHUplKc6RFKQSbit5N23KXxGGo4wF-rs_QUep25NQYX8P8tb3gZjMUIDHhum6XVA3sOY8iL4Lkt5uY6ovykm5OOdD7z8Of6jhNl8gPRg3IoDubjG2i0eftL2abLOgO1kzYQGFFITQKNbwL3rzyGNgt5rrxdJtCUFRX0VfuaWr1JDArzZUMUdjQTtVXi",
  "id": "rs_0e499b92252e534a016ab422c4287487d0b56d91ae14731c75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.338,\"right_y\":0.315,\"right_z\":0.14,\"right_pitch\":0.25},\"note\":\"That raised correction left the pen even farther left in the right wrist view, so the change in camera angle matters here. I’ll keep the same forward reach and move the gripper toward the pen’s overhead position, then recheck the actual wrist alignment.\"}",
  "call_id": "call_fbWZgLHA4OI4m3Mb6jcdcXUP",
  "id": "fc_0e499b92252e534a016ab422c7741c87d0a0e329b24e18accc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fbWZgLHA4OI4m3Mb6jcdcXUP",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 1.0554, 1.8072, 0.9771, 0.226, 0.9371, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3353 right_y=0.3104 right_z=0.1293 right_yaw=0.0978 right_pitch=0.216 right_roll=-0.1399 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6957, 6.6393, 1.6386, 0.0757, -0.0415, -0.0171, 0.5675, -8.0479, 7.8701, 1.4969, 0.6227, 0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f32b3535e7898ba389f0d3cd0f7fb9ca3c516549f0934d1c200c68e85ab1cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d3774667def6c6e9d75f1a06890b415ea0dd2cea66736f0f0472d61aaaad53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ccdb01bc653524d60b234971588c85b154b46fb3392681477754b1db1de0e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.623 s

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

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9878, 2.1944, 0.7986, 0.8722, 0.9241, 0.371, 0.0118]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3508 right_y=0.2825 right_z=0.0074 right_yaw=0.0193 right_pitch=0.2567 right_roll=-0.0589 right_gripper=0.0118\nstate[joint_eff]: [-0.1983, -5.641, 6.6803, 1.6581, 0.0317, -0.0708, -0.0122, -0.2256, -10.6872, 3.2889, 1.1941, 0.0659, 0.0708, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9695, 1.7023, 0.823, 0.2474, 0.8654, 0.3767, 0.9953]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3377 right_y=0.2609 right_z=0.1144 right_yaw=0.0619 right_pitch=0.167 right_roll=-0.1233 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -5.5043, 6.612, 1.663, 0.0464, -0.0464, -0.0122, 0.759, -10.2359, 6.147, 1.8535, 0.5397, -0.105, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 1.0554, 1.8072, 0.9771, 0.226, 0.9371, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3353 right_y=0.3104 right_z=0.1293 right_yaw=0.0978 right_pitch=0.216 right_roll=-0.1399 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6957, 6.6393, 1.6386, 0.0757, -0.0415, -0.0171, 0.5675, -8.0479, 7.8701, 1.4969, 0.6227, 0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f32b3535e7898ba389f0d3cd0f7fb9ca3c516549f0934d1c200c68e85ab1cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d3774667def6c6e9d75f1a06890b415ea0dd2cea66736f0f0472d61aaaad53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ccdb01bc653524d60b234971588c85b154b46fb3392681477754b1db1de0e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0e499b92252e534a016ab422ca959087d0acabdc1844d3e4f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.35,\"right_z\":0.005,\"right_pitch\":0.3},\"note\":\"Moving toward the pen brought it from the far left edge to nearer the right jaw column. I’ll make one further small sideways correction while descending vertically onto the barrel, keeping the two grippers separated.\"}",
  "call_id": "call_JU3MUqP8OXbwz0D4jZQZOZfa",
  "id": "fc_0e499b92252e534a016ab422ce5b8c87d09bb05eeb3295f5bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JU3MUqP8OXbwz0D4jZQZOZfa",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7521, 0.0261, 0.318, 0.0227, 0.1142, 1.0611, 1.8191, 0.992, 0.2165, 0.9619, 0.3622, 0.9954]\nstate[eef_state]: left_x=0.3681 left_y=-0.1651 left_z=0.1344 left_yaw=-0.5824 left_pitch=-0.021 left_roll=-0.1551 left_gripper=0.1142 right_x=0.3357 right_y=0.311 right_z=0.1303 right_yaw=0.0859 right_pitch=0.224 right_roll=-0.1532 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6821, 6.7624, 1.663, 0.0855, -0.0659, -0.0122, 0.3214, -8.3897, 7.9521, 1.5067, 0.486, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ba377ce78516a8150f5afeef322b6fb16d5bc2a46151146954d39ebede3be6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bace36ed702a87406a6732f24aa29e5ee72355fd31460bedff88b8925aa6f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201f95adb1c760ea11a8ea4dfbc922e225a215181a5458e3616e81eaa522017d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 2.628 s

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

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0231, 0.1142, 0.9554, 1.7805, 1.0962, -0.1207, 0.7681, 0.5396, 0.9946]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5826 left_pitch=-0.0206 left_roll=-0.1547 left_gripper=0.1142 right_x=0.351 right_y=0.29 right_z=0.1198 right_yaw=0.043 right_pitch=0.0171 right_roll=-0.0752 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -5.6957, 6.612, 1.663, 0.0317, -0.0171, -0.0122, -1.2513, -11.9179, 8.294, 1.5653, 0.3541, 0.3004, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 1.0554, 1.8072, 0.9771, 0.226, 0.9371, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3353 right_y=0.3104 right_z=0.1293 right_yaw=0.0978 right_pitch=0.216 right_roll=-0.1399 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6957, 6.6393, 1.6386, 0.0757, -0.0415, -0.0171, 0.5675, -8.0479, 7.8701, 1.4969, 0.6227, 0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7521, 0.0261, 0.318, 0.0227, 0.1142, 1.0611, 1.8191, 0.992, 0.2165, 0.9619, 0.3622, 0.9954]\nstate[eef_state]: left_x=0.3681 left_y=-0.1651 left_z=0.1344 left_yaw=-0.5824 left_pitch=-0.021 left_roll=-0.1551 left_gripper=0.1142 right_x=0.3357 right_y=0.311 right_z=0.1303 right_yaw=0.0859 right_pitch=0.224 right_roll=-0.1532 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6821, 6.7624, 1.663, 0.0855, -0.0659, -0.0122, 0.3214, -8.3897, 7.9521, 1.5067, 0.486, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ba377ce78516a8150f5afeef322b6fb16d5bc2a46151146954d39ebede3be6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bace36ed702a87406a6732f24aa29e5ee72355fd31460bedff88b8925aa6f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201f95adb1c760ea11a8ea4dfbc922e225a215181a5458e3616e81eaa522017d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCLT3KmUKeqQKW-JNfO36Eq50tmZJ4Vpwqfo-ZjCQSdxXBJe9GYnx7k0wqUvRfv7LbmWaDnFQrgTaR-2wSwi-Y6fGPi7SO88AOAbbEEBBH9GPeVJMHKPsX6FVe-N08YWSLJfz2C6BwELJvUm5ZMnJPRd_xabqwGP4MX_V9gYJy3H-LcxKvF5p-7apQnlhIbkguiHZhquImMJceSo9RHrVu5Wuekb1Qy2ZMXmB8mUV6vC2HJTlzjSjz9ZmRVdGF04OQgHCqgzGWGSVfq16pfTFQJ_Yspy2kT3flEhRwOqfFmjVt2xWyr5ak6wKZqCfSFoND7FpNFcbxICaiObqwu1FpPtEwCTJGGoJyD3XhH5yDGiTg9YPPpd1mM9u0TQah0vCWj81BTV9YBsiso79hVRPENv0ikK2j6aeP7sS7B5uDQ9h3gAQIjcvMoUANl-xwW57AaPRSSs48LyT1_LnETaTTNoACb31vesHLCWu8XeeyQsjedpbhcvkQwNh9JnIgndVszteXWu-5t0An0j9u0ZsfW0ub5D6D96Vfe7w9kcDIefKWYOO0BLUhdB3Q7oR89urUl1Mh8flE5MH3LlhsIPI_Q-fKsl596VazPqpBQUZLZVE3wA0EgmwmXc4DX8bvhtBNpFGBsoDcQoS6aGn0frxUsfzCoEKfdBLW6wziXUjT1ptpBkwK19oSLQ2hGLJvAqctto-EMQIFLUKCOGIxS6rsg5swFUszlKeHJ4FifDUxhFLfeChzJHv42fuTRG8_8tf57Zcan8Uj89_dbFxdexAqZ79wW-OECt5gz-FGFYF89dMXyUr83DekPhyj9tRGP2d4RpcyeHjwiA4Di7VkZCZvVSDawf3mbOIvC8hbzOpMvXOqORIr6t4tNBV7dWhX4yyHye60MiwPYe2g_r83ZtOPCtSEvBb90I6Ax65tUkUM5n4ZT55IQ1cYWCBKGuJ8ppDxvjQAzLDaz5mlxcOgicHqG8EZ4gjo7CgLF70NzMw553239dAOQmmOZIoxRyTjXQ3WP6B04ZPIoupZKC84VOxjWvF_1vG8-XWvtveFiAnK2_RJ9Hhph6ro1447jj6wCPjnZ1C9rBEKoiD3S7DfJDcEGs00YBUl22o-jvO9AMr87ioZZ6sorSGGkLO9HWmzWtMDH9QUs_aa36IHAZulWpsakVmzL__3xPL8QW0-UYPXui13FOmILzG6dzb6eVIRaDSJsaP0lEW5r1YE3kixrHY8KCmWhJz1gDqnHmbpMHiEnAsMEbWrNemnSNgNm2yvupbJXk4nVKmlr7f-CcZZt38-paput-OTLB0swMIcM17_qCs36XGTy3HDLudQgi5-SlbxD0It6afVfmjskakOPLIH7hDVAq8hWCOE3bW651RPAoK9iyKh1yWjxUQ0kJQQpHkcm2_unjSqJJNzu4khU6QxTypbfgQ34zS92EhCG7vETeXZEOvS_jsYbWOvNhmpS_FtLCV9LM6kJbup_hzFE8KYYyjc75k3gRCiJAaYPQNgoTo_pXLaApAfWnShK94bLbgwYTmJMIQ3nPGpQ_G0sMtvPbNmO5yHr3Q6agfkEgRoFLC75xTdXQmxPfp3w-Cwm2JrGQLUk2JrJVKtG0nAKvJo1voad9vuvQzu1PrL9xfVT7eSZ6t29Q3dRp-Ouhl7kSLEwu1eqmMBC0Sd9WduayFS1smg==",
  "id": "rs_0e499b92252e534a016ab422d1b45087d0bc912f4a191d0998",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.04,\"left_z\":0.20},\"note\":\"The right arm did not follow that close-in descent, likely because the cap-holding left arm occupies the neighboring space. I’ll park the left gripper farther outward and higher while keeping its hold on the cap.\"}",
  "call_id": "call_GlZ3GgqXWNXp6d60Iy9fjfH9",
  "id": "fc_0e499b92252e534a016ab422d2b54887d0b89be00875cca95e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GlZ3GgqXWNXp6d60Iy9fjfH9",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2756, 0.9703, 0.7631, -0.6327, 0.691, 0.4011, 0.1143, 1.0607, 1.8519, 0.9688, 0.2165, 0.9459, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.034 left_z=0.1848 left_yaw=-0.5103 left_pitch=-0.0488 left_roll=-0.1688 left_gripper=0.1143 right_x=0.3326 right_y=0.3084 right_z=0.1073 right_yaw=0.1074 right_pitch=0.1841 right_roll=-0.1958 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -2.865, 9.7299, 1.2821, 0.5397, 0.1392, -0.0073, -0.0615, -11.6991, 7.5966, 1.4188, 0.3883, -0.0073, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7eaf18870fb7e28166af4e37401c625da7072d6a97b9a1b2f8cd9631b0156a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f052442dfc71bde0d1d89ebcdcd88bbd777a2905f563909d0e6a66a76ed6e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2959c5b93ccd8209212f871e4924bf8cf938b9742ebae45417891dcb72d6c1f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 10.05 s

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

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 0.9695, 1.7023, 0.823, 0.2474, 0.8654, 0.3767, 0.9953]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3377 right_y=0.2609 right_z=0.1144 right_yaw=0.0619 right_pitch=0.167 right_roll=-0.1233 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -5.5043, 6.612, 1.663, 0.0464, -0.0464, -0.0122, 0.759, -10.2359, 6.147, 1.8535, 0.5397, -0.105, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7521, 0.0261, 0.318, 0.0227, 0.1142, 1.0611, 1.8191, 0.992, 0.2165, 0.9619, 0.3622, 0.9954]\nstate[eef_state]: left_x=0.3681 left_y=-0.1651 left_z=0.1344 left_yaw=-0.5824 left_pitch=-0.021 left_roll=-0.1551 left_gripper=0.1142 right_x=0.3357 right_y=0.311 right_z=0.1303 right_yaw=0.0859 right_pitch=0.224 right_roll=-0.1532 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6821, 6.7624, 1.663, 0.0855, -0.0659, -0.0122, 0.3214, -8.3897, 7.9521, 1.5067, 0.486, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2756, 0.9703, 0.7631, -0.6327, 0.691, 0.4011, 0.1143, 1.0607, 1.8519, 0.9688, 0.2165, 0.9459, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.034 left_z=0.1848 left_yaw=-0.5103 left_pitch=-0.0488 left_roll=-0.1688 left_gripper=0.1143 right_x=0.3326 right_y=0.3084 right_z=0.1073 right_yaw=0.1074 right_pitch=0.1841 right_roll=-0.1958 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -2.865, 9.7299, 1.2821, 0.5397, 0.1392, -0.0073, -0.0615, -11.6991, 7.5966, 1.4188, 0.3883, -0.0073, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7eaf18870fb7e28166af4e37401c625da7072d6a97b9a1b2f8cd9631b0156a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f052442dfc71bde0d1d89ebcdcd88bbd777a2905f563909d0e6a66a76ed6e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2959c5b93ccd8209212f871e4924bf8cf938b9742ebae45417891dcb72d6c1f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCLXUYcN-maKQssu6tsTu69ipmEmN7h1hJhE_KavFHbJ2szLmlMPInXv898sDuVQzsnNcOrLu-3Ys0G6vMwS2xBjc-SDvyvLJw2ljz4zMIycJNYSa0KdneuPXX73ZSa06rPY3QVnGIdPBEohAN2giRN09pAQQb-x5m1EZ40lBZAd93KSGdfUKMmUCKb0Gi-tKHzMXKV7Q73vOubLnTdtUDaW32niZR-6iLzx7eiGAWIl76n9y0SZc1WCuaU9Gh34OqHnlFE8je3jZBu-X3Y5fb5NOwiKlb5U3w9jAbsSJhxfOZOWSOTK1GlSCbkpsVj-OJFzTfoRj-AowULFMZSTLhcvRqwE6XSM9Il1Y5GvAVBKlqp8z5VxyNtkdS0pFTN9kUVFlQzchl2azIuFLJMR1nXceJ3YZjTSNrJQY0f9DT2m3yrT1x8PY9JMyi8C0kaJtejbOSUJ47FxjKM5BIvua2KGhMhbk6NWnMAB5xBduyIOpDZbZ-OoHtiIXc3nT-HEQkBObXE67jTeH53tnh380wafW1g3lyHsFsc9Odt3mkPMaA-2CLa79SmkqJz0CpqGn4ged2xD5gN3g9LBwpzVql3l3IGClP1yJW6HGRGOSuPqPnBB2mDjV5CtcCTvbQqiwjgzkUG8EUm3w0Kn7iL6XBH_RFRvGhX4p5iwB7KOitFcttcRYYBI0aZJUbngyP2xLSTZxUt2otsm7UdG_g7t9VvgLa3dgxtkkUZyvYepHItAmPRm67m_C4jmLbRI77E32kos6iruOfejAwgqV3KaI-EYhhM9BGCnP1CYj3bEQeHSZy6X0Rc1m3M0aAOKlTFsV3j7cV41PlqoUqNUjq8_7yDXmqFdBjK7-EkeIQDczQV72sU0V7e_RWben5jMEhAxcJjMK4skdBmi6-x4CvhL6UzSp6u-LDqufMAlHT1wGeCq0BLGSEoNlIoA3ceQCp4wr1h6KMaBBANFHZzptbPvH4X1efH9MA2QyxB3Yz7zK89HIZdPQz1vhhQQvUJgSYbUEo3a2VyJmNz4XhzwGVQVSEBeO83H5nLKtC0vZcAYDAoG8x-0UN9tOQaenrPpztTA1EY-dQwA6tAjQGBCv2No8sW16mxOohOLDH1wuK-7LJmnyCDAJWFswxJOVnksZ_oj03uMfKGmAHhDdDSwjgJFA1hxGz_-ftZkv8TOafOD-2GK9EsKDyI5IxRnGLoaCcyiH5eZu2P7NNhO6yIOTLxQhXzCCODrpOzDe70U6w34BVpKTmBxUgkaN7zD_BAfC4fjhMnIduSCeCQFLkz2uBZPjWfwiMb3Xt1quzBKG6rnhuWPl63OZLhiDVKDBdFTIb22IwMSO3mVvmnBXWv8uCUymbDuxoq_4cFv4aUP42jfjNBHuT4Alcly7zl1JoFeK3muw1On6yzC_jcJZjjhPNblvNG9oi2WP-9P2L2IcwhuPy40mR0=",
  "id": "rs_0e499b92252e534a016ab422d622cc87d0a0443671f20c3b2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.345,\"right_z\":0.005,\"right_pitch\":0.3},\"note\":\"The cap-holding arm is now safely parked at the left edge, leaving room beside the pen. I’ll try the right-arm descent again with the barrel closer to the jaw column.\"}",
  "call_id": "call_mX5pr1GDkURsL6ADwLCxF2R5",
  "id": "fc_0e499b92252e534a016ab422d6b72487d09e443511ad978bee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mX5pr1GDkURsL6ADwLCxF2R5",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.976, 0.7658, -0.6621, 0.6849, 0.4011, 0.1143, 1.1023, 2.2639, 0.9958, 0.72, 1.0279, 0.3054, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=-0.034 left_z=0.1799 left_yaw=-0.5072 left_pitch=-0.075 left_roll=-0.1885 left_gripper=0.1143 right_x=0.3381 right_y=0.341 right_z=0.0152 right_yaw=0.0944 right_pitch=0.284 right_roll=-0.1754 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.6188, 6.4479, 1.619, 0.2613, -0.0806, -0.0073, 1.0598, -8.4171, 4.2051, 0.7155, 0.3101, -0.3199, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea27c47674e2fb0a2c86b1b2d57f9ef8dd15b6212361a5af3f4b263e8b285891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740c4fd6753565ec692255a95e6404a2db7e36fc11eb151f3c76becc96d26692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d89c1498ef0ad277dcc8b05fcf78f029784e81046921b2e0847b8ffdace233",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 5.184 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7525, 0.0261, 0.318, 0.0227, 0.1142, 1.0554, 1.8072, 0.9771, 0.226, 0.9371, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3682 left_y=-0.1651 left_z=0.1345 left_yaw=-0.5824 left_pitch=-0.0206 left_roll=-0.155 left_gripper=0.1142 right_x=0.3353 right_y=0.3104 right_z=0.1293 right_yaw=0.0978 right_pitch=0.216 right_roll=-0.1399 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6957, 6.6393, 1.6386, 0.0757, -0.0415, -0.0171, 0.5675, -8.0479, 7.8701, 1.4969, 0.6227, 0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2756, 0.9703, 0.7631, -0.6327, 0.691, 0.4011, 0.1143, 1.0607, 1.8519, 0.9688, 0.2165, 0.9459, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.034 left_z=0.1848 left_yaw=-0.5103 left_pitch=-0.0488 left_roll=-0.1688 left_gripper=0.1143 right_x=0.3326 right_y=0.3084 right_z=0.1073 right_yaw=0.1074 right_pitch=0.1841 right_roll=-0.1958 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -2.865, 9.7299, 1.2821, 0.5397, 0.1392, -0.0073, -0.0615, -11.6991, 7.5966, 1.4188, 0.3883, -0.0073, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.976, 0.7658, -0.6621, 0.6849, 0.4011, 0.1143, 1.1023, 2.2639, 0.9958, 0.72, 1.0279, 0.3054, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=-0.034 left_z=0.1799 left_yaw=-0.5072 left_pitch=-0.075 left_roll=-0.1885 left_gripper=0.1143 right_x=0.3381 right_y=0.341 right_z=0.0152 right_yaw=0.0944 right_pitch=0.284 right_roll=-0.1754 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.6188, 6.4479, 1.619, 0.2613, -0.0806, -0.0073, 1.0598, -8.4171, 4.2051, 0.7155, 0.3101, -0.3199, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea27c47674e2fb0a2c86b1b2d57f9ef8dd15b6212361a5af3f4b263e8b285891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740c4fd6753565ec692255a95e6404a2db7e36fc11eb151f3c76becc96d26692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d89c1498ef0ad277dcc8b05fcf78f029784e81046921b2e0847b8ffdace233",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e499b92252e534a016ab422da139c87d081be261e79aa46c8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCLiT-QSjmriwsiwyQ9HAQV7eHoyfPMbalTGiH66fmaHlYzvgxrH99vUmnYVL6tTTpnA2kgMuQBCs_zCc8yPk0Mfy6SITUEL1BoxgKtX0LNqQ9KSlHBCKZDeIpYWUCHrWD4jHy1AxYfCemaCTisyREOK74N9zkgsT6k1WrjKCQFm-6YD7nGdR6E5JOw7whxxrWsYOx17AEpw37UjhxYanoLhRvY_bUtjqRuh2-8pL9vFhpsUD6rMpi3nBNIpFElZQq_eF3f7LUyA0kuZw3uXqp8uUof2B9yolQpibc88kec5rHjE2rz8t9wJFjDhlP9u47Br_9B5RoJxYgGKeMn9U1CDi2Ae3yAF7n0BMDzrV7HbwNjOZNf0FXT4bxh4b5lfNhDQ6cqJzKwPSAjaZrS3BN_Nebh9nVE-JVR7UCvzVlhq_hchKTqMdTX2G6KYln-fH86exNGixlzsRvsPMaN3daJFNndf5mISCEIpiSvF-LxL-EOw2_hOtRt5-3rokFN685A4xi6m8cVJTmJT7Zih8NMziknyViHpt1quIBx-QYbXgg7tgpssOczLQN6-oNBthAZaargnObzDDVib9OuncU49clIznPa1JBDjG0fHdlVrsJvEzF0rOVRkBXOs8N9T7MFn8_UxLWXses1wm4geyB8uM6e_tPOEQBizBu1vmilQSgQd5dgfAjQgbWHgP5Wpq48HI280i5dimp-fZzh6vuWY6lljJ6lCmxcVo026EFUln-YueL-q_ZLpBSB9vnbss1Rx0a53yccOsymD5m3EmGMSCUYK0ZG7tU-uCmr4Nme1oAzIjvrTrKE-Z2Xec9vtR3k5_LcxX5T59NM_BYwI-1iZCB7lcf7vFiM3KSyuaVnXV2c_Xl7GGeZVP7O7pTCa-RRz8p2eS09veW9eJlmcZ1SK5wXldzNvxLDGER2MIk-nH5w1BhHQxdLvyzI335SGD_bI5yojVOT18DCucUWthwlTw0cXQ2ceZIsgIymiOzpkFjNZUX4Lg4uYTq0yM8BDiCTf7wCE1HC6SLW2tKRRxr4r2YxLWEWoTQB2PEFxpWE7Vni5-vaeCNN9Yb01T4s-asiV5TxSNOV6dAsJ9DHiAorlKD4VhNF-NZl-Wre8wvoI42W1W6v6mzUHszuYAbJ_uxahYxMFo2xP-p8iPiLwpE6MRP5MPMbUWn0ikDwY_jicKqg3xMaQJRyFgldnCGET4RMbikIuln5UQ0ANGv1C0Ld12jQdYzN5bifQF9SMwxAcE_z2b78AsPpHOsbcporuwpAU2xLwl7qybBdFotLekInFoqIVOTU9NFeJGD0iTJIPXvcs090XHO3MVSj214HoPGHj2s0utUAmnPGIwQUEo3OIP97pPFUd_hriOy3DPRm8KAaugXRK0QpwjrCeJvchSah65KwGn_XIr-WBhOx8s7u5QbJJCIUsaQpf-w9SeP6igzYgx9j-jot6trt7XrRuxwfjODXhqlNGG_Q44oeDMFws2JUYQg5DbxgWpzLLuKQC2vZrWaYwabXtxeNaatllH92r4KiWA7pmNseH7q4r9m3rEPizGFjiuawEatjclZRF07jLPoCoXVGD62QpsvxJijU4mkkC3-bI6EJqfM1HrrlPL-6qm0Vgn2KcJymWi677uAEwnQPc_qwfsZEePnYmuwGVBviXgirUsB4a2VCK-zMr3TjA35mBEiJH-00sz1qQ-tZDoFZf_yPk5Dja9F-ydXQN87_0X6Q55FejdA4-DhTvDzlxz07xiWsdaIi0EMgm0Ry8lN18vAWBPgOVDwJJY5dc1dg6zmi0DvQcSrwzC_gsIzTWsLWj4TGvGHOuF2HCHPSYWBtnTf2xHjk9AzhTAhTDz27D3iiom8M6aVlvMI7B31BIW-QgFbQEo_0SE-xBacWhRBwD_g107hm4dlxBt1G8CK-AiXjKj03wxn83oHyUrGx-OwAn_nv92FLYKY3uiJRvgJWIBdMIp8CdK40Gox2jh4z--QSvJXg1P0OGXGH1IRXm-RqUMqJDpOXselpvutEWOANTDl2ub8GEzynat06BYgyasMQmVdhP3tIKzIk_94G_nwFdi4-NRIHTxakGbUCOagjZ7wrTj3Vyszz_D-yZq-nwCm5KFUZzajz8dVT831mNRT8eXYm6gDcTuA5HTqvG-obJo-eFB4NdqBFyeLBZEYxh_BeImRXJrGp3ITk4qfuQ_V6dRzToc-JYe8S9AoX3dU0TTZ099y3Ak3NWLcxp7Gs1gkQW4UR990qIum-fqnIDnwFUt_VCA0O4QnyrzskGh6sE2TFoXVJ0_5p5hc18uGiGw9cBJoJ1GIr4tCTFgvrVkT-V6BMmaIgYAjC3fR4T7fOQtXNd6XMh1meJqXoa1ymQiVMlI98dLKmlSyAU9_9P2U9QADjoIae9t4Z9M_Q=",
  "id": "rs_0e499b92252e534a016ab422df2a8c87d08be10fc2b1dd5709",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.339,\"right_y\":0.3,\"right_z\":0.07,\"right_pitch\":0.28},\"note\":\"At table height the pen runs just to the right of the fingertip center, so closing there would likely push it again. With the other arm now clear, I’ll lift slightly and shift the right gripper rightward to center the barrel between its jaws.\"}",
  "call_id": "call_aTSwUZwRnNWYpub1o7nZeDqp",
  "id": "fc_0e499b92252e534a016ab422e0f27c87d0b96c1aa5a15b6e7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aTSwUZwRnNWYpub1o7nZeDqp",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6659, 0.6838, 0.4015, 0.1143, 1.0527, 2.0422, 0.8482, 0.6827, 0.9897, 0.2714, 0.9954]\nstate[eef_state]: left_x=0.2766 left_y=-0.0339 left_z=0.1791 left_yaw=-0.5069 left_pitch=-0.0791 left_roll=-0.1911 left_gripper=0.1143 right_x=0.3389 right_y=0.3037 right_z=0.0599 right_yaw=0.0844 right_pitch=0.2853 right_roll=-0.1665 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -2.1675, 6.6667, 1.4042, 0.2808, -0.0269, -0.0122, -0.4034, -10.0308, 4.8479, 1.3504, 0.1343, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4cdd62a9ff862fc8d3353898f34172e3011dece15187f8b56067062cb730dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66cc2701a2915e038f8b03b6350aa4ca6352ce68ec11437dde3d07000522af6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d913a33167cd8afe18d23b0302a03f0cabc964c2ce0dd374bf77c82d1b4709",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 3.532 s

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

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2932, 1.3983, 0.7521, 0.0261, 0.318, 0.0227, 0.1142, 1.0611, 1.8191, 0.992, 0.2165, 0.9619, 0.3622, 0.9954]\nstate[eef_state]: left_x=0.3681 left_y=-0.1651 left_z=0.1344 left_yaw=-0.5824 left_pitch=-0.021 left_roll=-0.1551 left_gripper=0.1142 right_x=0.3357 right_y=0.311 right_z=0.1303 right_yaw=0.0859 right_pitch=0.224 right_roll=-0.1532 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -5.6821, 6.7624, 1.663, 0.0855, -0.0659, -0.0122, 0.3214, -8.3897, 7.9521, 1.5067, 0.486, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.976, 0.7658, -0.6621, 0.6849, 0.4011, 0.1143, 1.1023, 2.2639, 0.9958, 0.72, 1.0279, 0.3054, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=-0.034 left_z=0.1799 left_yaw=-0.5072 left_pitch=-0.075 left_roll=-0.1885 left_gripper=0.1143 right_x=0.3381 right_y=0.341 right_z=0.0152 right_yaw=0.0944 right_pitch=0.284 right_roll=-0.1754 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.6188, 6.4479, 1.619, 0.2613, -0.0806, -0.0073, 1.0598, -8.4171, 4.2051, 0.7155, 0.3101, -0.3199, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6659, 0.6838, 0.4015, 0.1143, 1.0527, 2.0422, 0.8482, 0.6827, 0.9897, 0.2714, 0.9954]\nstate[eef_state]: left_x=0.2766 left_y=-0.0339 left_z=0.1791 left_yaw=-0.5069 left_pitch=-0.0791 left_roll=-0.1911 left_gripper=0.1143 right_x=0.3389 right_y=0.3037 right_z=0.0599 right_yaw=0.0844 right_pitch=0.2853 right_roll=-0.1665 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -2.1675, 6.6667, 1.4042, 0.2808, -0.0269, -0.0122, -0.4034, -10.0308, 4.8479, 1.3504, 0.1343, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4cdd62a9ff862fc8d3353898f34172e3011dece15187f8b56067062cb730dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66cc2701a2915e038f8b03b6350aa4ca6352ce68ec11437dde3d07000522af6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d913a33167cd8afe18d23b0302a03f0cabc964c2ce0dd374bf77c82d1b4709",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCLnJz_EfaiUKwrTr5dV5QqZfF8et9TiS4a9V1E2unhwZTq7VcRHXOSJGy5w4C_lg5BIR9BzAplt5mhiyGFAaEFwUVOigRQgcMFZNOgYdZWMIWx9qs42pxBNbfGZgoI9wa-J1dIXpxOke8TmJn1_-4wTM_4dDunkfpfnhV7VuxfOAPc72VVM8C-A1H-A0rZCgzEQIZgYfppa_UN06OVm7eR6llSgTAU9XEhcKwUnOvioM_hz1NGMDXtoBb2dvgVw5RSJG2a8gTw8Ctq7ionI4R_oBVz_TE2z5mAGx_2t5EEdR06Dlsvz_KgSq9DXLyOAemKP6wYMTYPrEzTv67An5IQ1b4LJj2VPbmsAAKa7urTxleWf5_5g2tJE0LyxH-X08NkgG6Ha_R8oipcLRtob2SkcPnV9YBFMjMbaUMzaiu1qDn-nbglzNRo53Zk1cJBmGZC2a4hmjtJMMRGA_4-_YCbi-F-cstJzuCw6CCPjemF3nckTICEjyl0vB4VL38th7DD7apv1VdDMb3EBZNVZ2bHLQ5iug8oIJqChyp3z7a4qI9mb1VNDkA1bXgyHOKtVvNZh5DXXZd3ODlqNSmQ2Wpe9hDVPt8lEVnOksFMDquLQUs6Ga5AXTS0u56cw3aDS-PtnlvEmm8dDu_K6Tgb35oXtwUnZhCC7q3pzeDVu-CM9jKQiMEMaA39wU3Ge6-SFY89N9vE5MlfzMTG2t4p5gZ9oGO8Wh5tOq7bDQyfyU01eBbhb3HWCQ1kG1C4rvWxiPKv7vnEMEJGLOATyfmQ4k0eD5v08i4OoonnRX6sEmW72_LOMgITc7TCGD95YN44eJyRp1PGYdv0vg2YWO-bSqNec1PX5oMctyr5QpflBPRTqokwFRUoeuDBLgo3wHlHz3e6sSkuR5uq5eGNr8WFlNeEqzA6aPBapGaAnBXFQOX1dxBcdNaX13VoNcY1ZVSU2DlC9-A_wU2ynRnso9E8eJ0T3YZGCrlmZiB8UxUzhCbNBsXNkdIoH_aRDNpm3wW2EyJef0qv6Mh3aUSvAcTFoNQqn3pSRLjUm26ue_YFhuGAYKeRdt6vv9z24wCpXIa8v5f3aTJgmH-SI6af7RgHiuu4TCDO_h8FbyKIHth04x5A1553K7Lhti-Iv4e8cvaglbCcZY5WLemu8_AeqSHVnvWFc_1RG6u8keN9ieFGW2QmoT0RmiZe4zr2t55FPDVn4ztN2qs3QtdcglGFRmgUK55tQk36jm8lUIeFwGtllQXLBHBwo5upybT__z3HJY86THVbVA63BD8yZ_E2Un_mpMlcALHuYzRuoFj4gi2eyZQwdN8siPu2EfxyFa9rVnMZh3troE0D-5IQNKW2dt84igZm6fM_g-9CKn0rVBvcECUnzw7mTZt8iLwpsipFAODpnM_UuztWqLvBstb5OfN8QddMPB1hekaJFR3DpzZSzqk9si4OiBiheXYCC4T_XCrR8gF16khH5du5pRUxIik7VhTEvzXEBx7tM1VgPFQ6SZQjBu2AN32rqE6SmHRVw5i_cjqlrhS1Cm_GAqwA034GaoQfDUh6MbHd7AEIWBMRgDQtgq8IEnZ_u0A0t8vifX42MMG5Rdl7RPJj46zTPSAYrlq3a-2O9GzEMsoDosYd2jFPaO_7Ub-ZU7UCNLmBGUyga-O4fUN5W2H9xcF-6uQ2ctqspig==",
  "id": "rs_0e499b92252e534a016ab422e596c487d082b79ba63e3701ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.339,\"right_y\":0.304,\"right_z\":0.005,\"right_pitch\":0.28},\"note\":\"The pen now crosses the jaw column in the raised right wrist view, with a better lateral alignment than before. I’ll lower straight down to barrel height for a final grasp attempt.\"}",
  "call_id": "call_PKddh6uwiBHcIOdVlRUbuvKm",
  "id": "fc_0e499b92252e534a016ab422e6a2d887d0aeab72979957d048",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PKddh6uwiBHcIOdVlRUbuvKm",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6674, 0.6804, 0.4015, 0.1143, 1.0458, 2.0083, 0.8421, 0.6575, 0.9672, 0.2565, 0.9954]\nstate[eef_state]: left_x=0.2764 left_y=-0.0335 left_z=0.1786 left_yaw=-0.5046 left_pitch=-0.082 left_roll=-0.1903 left_gripper=0.1143 right_x=0.3395 right_y=0.3031 right_z=0.0668 right_yaw=0.1029 right_pitch=0.2767 right_roll=-0.1725 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.0444, 6.694, 1.3309, 0.2711, -0.022, -0.0122, -0.0889, -10.2632, 4.4376, 1.4237, 0.2662, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f6d54dd435ccc97b3f84a07f3aac872ff41549aec7148642ec133cc82daa74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7ef5344dbcd8a1cf54c0219b89e91db572342997390b5a2de50797d93aabad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee391c6cc97dfde82a265ccb971731eb6c8a302c08f1a2d787c962ee03213ace",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 11.83 s

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

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2756, 0.9703, 0.7631, -0.6327, 0.691, 0.4011, 0.1143, 1.0607, 1.8519, 0.9688, 0.2165, 0.9459, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.034 left_z=0.1848 left_yaw=-0.5103 left_pitch=-0.0488 left_roll=-0.1688 left_gripper=0.1143 right_x=0.3326 right_y=0.3084 right_z=0.1073 right_yaw=0.1074 right_pitch=0.1841 right_roll=-0.1958 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -2.865, 9.7299, 1.2821, 0.5397, 0.1392, -0.0073, -0.0615, -11.6991, 7.5966, 1.4188, 0.3883, -0.0073, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6659, 0.6838, 0.4015, 0.1143, 1.0527, 2.0422, 0.8482, 0.6827, 0.9897, 0.2714, 0.9954]\nstate[eef_state]: left_x=0.2766 left_y=-0.0339 left_z=0.1791 left_yaw=-0.5069 left_pitch=-0.0791 left_roll=-0.1911 left_gripper=0.1143 right_x=0.3389 right_y=0.3037 right_z=0.0599 right_yaw=0.0844 right_pitch=0.2853 right_roll=-0.1665 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -2.1675, 6.6667, 1.4042, 0.2808, -0.0269, -0.0122, -0.4034, -10.0308, 4.8479, 1.3504, 0.1343, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6674, 0.6804, 0.4015, 0.1143, 1.0458, 2.0083, 0.8421, 0.6575, 0.9672, 0.2565, 0.9954]\nstate[eef_state]: left_x=0.2764 left_y=-0.0335 left_z=0.1786 left_yaw=-0.5046 left_pitch=-0.082 left_roll=-0.1903 left_gripper=0.1143 right_x=0.3395 right_y=0.3031 right_z=0.0668 right_yaw=0.1029 right_pitch=0.2767 right_roll=-0.1725 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.0444, 6.694, 1.3309, 0.2711, -0.022, -0.0122, -0.0889, -10.2632, 4.4376, 1.4237, 0.2662, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f6d54dd435ccc97b3f84a07f3aac872ff41549aec7148642ec133cc82daa74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7ef5344dbcd8a1cf54c0219b89e91db572342997390b5a2de50797d93aabad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee391c6cc97dfde82a265ccb971731eb6c8a302c08f1a2d787c962ee03213ace",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCLr3UyDp8JhUYcTrMcNaQXM55lkotVf0_ffBLh8LS8Q8jxGwsjrx0hah-fhMFxZnrNkPCd6-rS04GGcRBlKFZk1P8MsPCOn8zOLfYQmSv5v74GkoLH7I-h0zK1CF4k6e_bfAJr_l6Bv4rGaHzb7RZ1wLUKs-ZP9FLWExcPo0eLZ2QOjlZgryia18b0sK0MaXV4ED_qx6cWVEGE-Y27guwOsHUPt82m9yOGUj75CgHVRm-f-XDbZXLhqEN29HPdRRAeab4ek0YReHMCOD_-v_xUOt0a2m8jMpFM4o5Gw9BpXf_JdOkWJpCYalucSl4v_4su0Zj7YUIAG5AKlvwDJShD2WyZOFNImIzsW6yqQN3Ft1DbVhYr23itmkeBEnMO8-t291aBY22_OuaZgq_fPIoBgj2Pg6wbxBBYTG7sOgc4OIGav1NR6J4MB43FhlPPphUxyuhsqqb1LmvA06P1qtLvT-VWRhH2b1AfIQUWsY8r1o91L3aqUtxrAtmIudQlh1mBx_DImdgrTDG8t7PvHSwTj8qhXD6kZJBLD89GUQczW09caM3aizV2Zq5hOpy6gopBqVHrj0VubCi8WJLpUtkmxIeIo8IAdtQoA2svO04NUJCc_TZdFbdwSNokhDYZmL8xLEjDAFjl7cOGk4Y5e0ZY1sTwkOt7vej7KrsnJUJfnlLGSM9SXv_rNauxVliIS5rHz-kZ3lgJPvZGyxZKVRyH9_zcPERI6QXxQ8_Fia10mIKT6n5iWic_qX5iFg6kIS9AA291zG7gP2-9SA1aV1Tm-hjoFUH2lqXP6KoZwlQZk1X2YqC6-BbOVSJveUUwQSn78dPSD2UR7ceCFi5rGgBrhc3_0StBGIiKUkzv9XGcy278blWs3BDqosvisUBoERrBKJK93oc1TxkRP7Miy6ncqtATuSKmmhVe9I53Vv3vsxKChmywhbzDM5MnW6z1qoj29CJYJi_3_EAY_aOTr3TaYyhG0y529P6YN8C6Vi_uwvojsP-RmJlVYpjH-FDFRmDZ_dKDIqWAbZyq9kPs-e3qgtzlQPuoH4YlC5kuyYTOFYlMzD4BsgQJemuL2RrM-xd1itEqQ2F6XGYlw2tE-bQ5sGQ_huqCCx4yfDwGHMGhOPxzWhdexN8MdlBuWF1jWq0K9OKxqIOZBu14A2OSgabL1OsesGfQorgV4q8SThXigYByzWPyuL8G58pnLoSAoPmWXUysDF40cptlvINV9qrrGUNmxwUVnuYyantwQsp3SyAXcXWHTZ2Ss1z22hv0HjGvUjWpIE19PI0w5iECAibeiRAZCdfFgVLtj92eSJgJ5xON0Sa0_h8Zv2w4XrVVcHvzDK6-r43m2fjFa7ZKWWEjJ2p0aDSUdeI_CMWsg7mLxg6rpq286g3FgdxoFktVXtSFA1JzUzPnkuP1TmG0cmbIIu0AEInDPEdeAVPZWg2WhIbyeT8ve0NEZ5fSS_bY-ZirNELuPwhdWiZcsUNLX52yd7mzydsgJzssDlrgYc7HC3KkVIj6qCO7X-3gvDM2_5fphjUDeGln-ptLpP8B83fBBpkMaIf-FAQY8-JYbCFC_xUqtg808OZm2vxZSI-kXGlZOPCApjgIbgCvoGcYP7tcVhHK8QjlWlwDcvRvJwcjyqZfTvLRFrpe0_Bq3gc1pyg8fPABQ230prxJNkCm-c9nx3gea-G-w_TMztzKi61h_fjtkME3kEv4oF_Wg0gI3EntZwVoODp1jlI7kdASOA6MJaZ1bQLetW_M2nt697mJyLUKgBEGTIPaIgmxe9_e6rBhmXRS7urAWWedorxc-3TOuIDJt6svNVD_xRmzAJLMi_5GoOQcsnkLRFIlqneiZDFZxvLb4vCLqAfz9WseI98wF2J2lW1oZYDbrL6Xkg9VqGSfmhF_56oTuga8yIYBu3iKBK97AdrHLu4HU4bAYyJE3lQS60IYOTZwa_Y0QrDqrW9MonIxWtEdo2PmZTkvLNvreZnTpymZA-USFa0fLV322qBCxel2eua3A2DPod6TDsN09ClkQZ7jRrK6Y4ilNlzyg8RlFyuTfvrE1s6nDkzo7Z3xM7S35XzNg2YiQPcjgxZg=",
  "id": "rs_0e499b92252e534a016ab422e9cdb887d095108d6dfdde12a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.015,\"right_pitch\":0.4},\"note\":\"That short downward command did not lower the actual fingertips; the right gripper is still about 6.7 cm above the table. I’ll increase forward tilt and request a slightly lower target, then check the measured height before closing.\"}",
  "call_id": "call_8tzwSC3ZaMfnGNXVLbvsppRI",
  "id": "fc_0e499b92252e534a016ab422eaa42487d0b63abb31b186c7f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8tzwSC3ZaMfnGNXVLbvsppRI",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6693, 0.68, 0.4015, 0.1143, 1.0458, 2.0083, 0.8421, 0.6579, 0.9676, 0.2562, 0.9954]\nstate[eef_state]: left_x=0.2761 left_y=-0.0335 left_z=0.1783 left_yaw=-0.5045 left_pitch=-0.0836 left_roll=-0.1914 left_gripper=0.1143 right_x=0.3395 right_y=0.303 right_z=0.0668 right_yaw=0.1027 right_pitch=0.277 right_roll=-0.1726 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -2.1402, 6.8855, 1.3504, 0.2173, -0.0366, -0.0073, -0.0479, -10.3179, 4.5197, 1.4383, 0.2906, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0926e9cb54ad3ba4a5739e131109fc93409e275d4b5d4b8deddb69114d689d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2627f230e8d3eb8d8be23daa1812e8d8448bf9e7e3b6f4f5f3ac87e16ba5b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b306884c4c0ec2205ac6ab273e79f709752bef3b4c2797c82f97c5239ffd6f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 3.582 s

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

message 148 changed as sent

message 157 changed as sent

message 161 changed as sent

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.976, 0.7658, -0.6621, 0.6849, 0.4011, 0.1143, 1.1023, 2.2639, 0.9958, 0.72, 1.0279, 0.3054, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=-0.034 left_z=0.1799 left_yaw=-0.5072 left_pitch=-0.075 left_roll=-0.1885 left_gripper=0.1143 right_x=0.3381 right_y=0.341 right_z=0.0152 right_yaw=0.0944 right_pitch=0.284 right_roll=-0.1754 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.6188, 6.4479, 1.619, 0.2613, -0.0806, -0.0073, 1.0598, -8.4171, 4.2051, 0.7155, 0.3101, -0.3199, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 157 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6674, 0.6804, 0.4015, 0.1143, 1.0458, 2.0083, 0.8421, 0.6575, 0.9672, 0.2565, 0.9954]\nstate[eef_state]: left_x=0.2764 left_y=-0.0335 left_z=0.1786 left_yaw=-0.5046 left_pitch=-0.082 left_roll=-0.1903 left_gripper=0.1143 right_x=0.3395 right_y=0.3031 right_z=0.0668 right_yaw=0.1029 right_pitch=0.2767 right_roll=-0.1725 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.0444, 6.694, 1.3309, 0.2711, -0.022, -0.0122, -0.0889, -10.2632, 4.4376, 1.4237, 0.2662, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 161 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6693, 0.68, 0.4015, 0.1143, 1.0458, 2.0083, 0.8421, 0.6579, 0.9676, 0.2562, 0.9954]\nstate[eef_state]: left_x=0.2761 left_y=-0.0335 left_z=0.1783 left_yaw=-0.5045 left_pitch=-0.0836 left_roll=-0.1914 left_gripper=0.1143 right_x=0.3395 right_y=0.303 right_z=0.0668 right_yaw=0.1027 right_pitch=0.277 right_roll=-0.1726 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -2.1402, 6.8855, 1.3504, 0.2173, -0.0366, -0.0073, -0.0479, -10.3179, 4.5197, 1.4383, 0.2906, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0926e9cb54ad3ba4a5739e131109fc93409e275d4b5d4b8deddb69114d689d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2627f230e8d3eb8d8be23daa1812e8d8448bf9e7e3b6f4f5f3ac87e16ba5b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b306884c4c0ec2205ac6ab273e79f709752bef3b4c2797c82f97c5239ffd6f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "summary": [],
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  "id": "rs_0e499b92252e534a016ab422f2defc87d0a4fa65be1687efea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.339,\"right_y\":0.303,\"right_z\":0.0,\"right_pitch\":0,\"right_gripper\":0},\"note\":\"The right arm has stopped at about 6.7 cm despite two descent targets, so the current tilted pose cannot reach the pen. I’ll try a final upright descent and close at the measured alignment; I’ll judge it by the actual height and jaw opening.\"}",
  "call_id": "call_SDJzS0zbLifrzfUjLDeM7oHP",
  "id": "fc_0e499b92252e534a016ab422f6b09c87d0afdd9cfd4a5600b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SDJzS0zbLifrzfUjLDeM7oHP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.276, 0.9771, 0.7658, -0.6697, 0.68, 0.4011, 0.1143, 1.0096, 2.0708, 0.939, 0.3149, 0.8093, 0.4545, 0.0129]\nstate[eef_state]: left_x=0.2761 left_y=-0.0335 left_z=0.1782 left_yaw=-0.5043 left_pitch=-0.0839 left_roll=-0.192 left_gripper=0.1143 right_x=0.3375 right_y=0.3034 right_z=0.0076 right_yaw=0.1145 right_pitch=0.0283 right_roll=-0.1759 right_gripper=0.0129\nstate[joint_eff]: [-0.1846, -2.1538, 6.8581, 1.2821, 0.2418, -0.0611, -0.0073, -0.7316, -8.1709, 6.735, 1.2869, 0.2173, 0.0708, 1.1013]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4eeb02a4b9dc7f97ebbbb3171eec9a38b130a27a6d2d7b57df14ced4046d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d0c6e0ba1ce38cf09ed11cc81d993642cca6c5d2521fac72b93551e853ea77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33f7626d44b1b070f51dc300b9b3fe9b9b9b8a6206b3c0e1f4c09a08c82b80d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]