adhoc - adhoc_0d4035ee.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: 283.5 s
total steps: 381

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe cap is the short dark piece left of center, and the pen is the longer diagonal piece right of center. I’ll bring each open gripper above its piece to refine the grasp positions.

move_to

left_x0.3900left_y-0.1900left_z0.1500right_x0.3900right_y0.2500right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0219, -0.0246, 0.9993, -0.0185, 0.7918, 0.609, -0.3759, -0.02, -0.0128, 0.9991] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0017 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3487, -1.4154, 10.5778, 1.79, -0.0171, 0.0757, -0.0855, -0.7316, -1.2103, 9.8803, 1.79, -0.0024, -0.0757, -0.1148] 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":0.39,"left_y":-0.19,"left_z":0.15,"right_x":0.39,"right_y":0.25,"right_z":0.15},"note":"The cap is the short dark piece left of center, and the pen is the longer diagonal piece right of center. I’ll bring each open gripper above its piece to refine the grasp positions."})

tool

executing move_to over 21 steps (2.1s)

step 21

assistant

agent noteBoth pieces are visible in the wrist cameras but sit off the jaw columns: the cap is left of the left jaws, and the pen is right of the right jaws. I’ll shift the grippers sideways and slightly forward before lowering.

move_to

left_x0.4000left_y-0.1150right_x0.4000right_y0.1600

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6735, 1.5482, 0.9234, -0.1371, -0.5434, -0.4225, 0.9993, 0.7879, 1.6924, 1.0824, -0.1719, 0.6064, 0.4538, 0.999] state[eef_state]: left_x=0.3781 left_y=-0.1803 left_z=0.1287 left_yaw=-0.0089 left_pitch=-0.0626 left_roll=0.0371 left_gripper=0.9993 right_x=0.3792 right_y=0.2435 right_z=0.1314 right_yaw=0.0412 right_pitch=-0.0595 right_roll=-0.05 right_gripper=0.999 state[joint_eff]: [-0.294, -7.2821, 9.5248, 1.7949, -0.2662, -0.0513, -0.0171, 0.294, -8.1846, 9.0462, 1.7314, 0.5397, 0.1783, -0.0171] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.115,"right_x":0.4,"right_y":0.16},"note":"Both pieces are visible in the wrist cameras but sit off the jaw columns: the cap is left of the left jaws, and the pen is right of the right jaws. I’ll shift the grippers sideways and slightly forward before lowering."})

tool

executing move_to over 7 steps (0.7s)

step 28

assistant

agent noteThe cap now crosses the left jaw column and the pen crosses the right one. I’ll turn each gripper roughly across its object and lower to just above the tabletop for a controlled grasp.

move_to

left_yaw-0.7000right_yaw0.5500left_z0.0350right_z0.0350

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4568, 1.5124, 0.8494, -0.0849, -0.4061, -0.2955, 0.9992, 0.5625, 1.581, 0.9165, -0.0948, 0.4488, 0.2955, 0.999] state[eef_state]: left_x=0.3959 left_y=-0.1128 left_z=0.1142 left_yaw=0.0316 left_pitch=-0.1058 left_roll=0.0514 left_gripper=0.9992 right_x=0.3933 right_y=0.1616 right_z=0.1145 right_yaw=0.0218 right_pitch=-0.112 right_roll=-0.0755 right_gripper=0.999 state[joint_eff]: [0.2393, -9.0735, 6.1607, 1.9463, 0.0513, 0.1343, -0.0171, -0.4171, -9.1829, 6.4068, 1.8877, 0.188, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":-0.7,"right_yaw":0.55,"left_z":0.035,"right_z":0.035},"note":"The cap now crosses the left jaw column and the pen crosses the right one. I’ll turn each gripper roughly across its object and lower to just above the tabletop for a controlled grasp."})

tool

executing move_to over 6 steps (0.6s)

step 34

assistant

agent noteThe pen runs between the right fingertips, while the cap is slightly short of the left fingertips. I’ll advance the left gripper about 2 cm and lower both to table-level grasp height.

move_to

left_x0.4140left_z-0.0080right_z-0.0080

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1322, 1.7016, 0.6647, 0.2214, 0.2443, 0.2584, 0.9992, 0.3389, 1.7061, 0.6777, 0.2825, -0.0196, -0.1085, 0.999] state[eef_state]: left_x=0.3878 left_y=-0.091 left_z=0.0177 left_yaw=-0.4968 left_pitch=-0.2142 left_roll=0.0114 left_gripper=0.9992 right_x=0.3888 right_y=0.1445 right_z=0.0274 right_yaw=0.4091 right_pitch=-0.1885 right_roll=-0.0683 right_gripper=0.999 state[joint_eff]: [0.1983, -7.8017, 7.8154, 1.7753, 0.2418, 0.232, -0.0122, -0.335, -6.8581, 4.8342, 1.9463, -0.2857, -0.0464, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.414,"left_z":-0.008,"right_z":-0.008},"note":"The pen runs between the right fingertips, while the cap is slightly short of the left fingertips. I’ll advance the left gripper about 2 cm and lower both to table-level grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 37

assistant

agent noteBoth objects now pass between their respective fingertips at tabletop height. I’ll close the jaws and check the settled gripper openings to see whether each grasp holds.

move_to

left_gripper0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1207, 1.837, 0.72, 0.3103, 0.2951, 0.3107, 0.9992, 0.3355, 1.8118, 0.6449, 0.4286, -0.065, -0.1291, 0.9989] state[eef_state]: left_x=0.4075 left_y=-0.0976 left_z=0.0003 left_yaw=-0.5554 left_pitch=-0.1924 left_roll=0.0185 left_gripper=0.9992 right_x=0.3886 right_y=0.1514 right_z=0.001 right_yaw=0.4557 right_pitch=-0.1786 right_roll=-0.0534 right_gripper=0.9989 state[joint_eff]: [-0.3214, -6.5026, 5.3402, 1.1453, 0.0269, -0.232, -0.0171, 0.1162, -6.4752, 4.8752, 0.5348, 0.5153, -0.2808, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Both objects now pass between their respective fingertips at tabletop height. I’ll close the jaws and check the settled gripper openings to see whether each grasp holds."})

tool

executing move_to over 10 steps (1.0s)

step 47

assistant

agent noteBoth grippers stopped slightly open, consistent with holding the thin pieces, but that alone is not proof. I’ll lift them and check that the objects rise with the jaws.

move_to

left_z0.0950right_z0.0950

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1204, 1.8561, 0.7361, 0.3351, 0.2607, 0.2642, 0.0457, 0.3359, 1.821, 0.6392, 0.4706, -0.033, -0.1101, 0.0483] state[eef_state]: left_x=0.4173 left_y=-0.0927 left_z=0.0009 left_yaw=-0.4996 left_pitch=-0.1815 left_roll=0.0157 left_gripper=0.0457 right_x=0.3941 right_y=0.1476 right_z=0.003 right_yaw=0.4179 right_pitch=-0.1533 right_roll=-0.0632 right_gripper=0.0483 state[joint_eff]: [-0.1299, -6.9402, 5.3265, 1.2576, 0.0269, -0.0122, 1.0818, -0.1026, -6.0923, 4.3419, 1.4628, 0.0904, -0.0415, 1.1502] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.095,"right_z":0.095},"note":"Both grippers stopped slightly open, consistent with holding the thin pieces, but that alone is not proof. I’ll lift them and check that the objects rise with the jaws."})

tool

executing move_to over 7 steps (0.7s)

step 54

assistant

agent noteThe lifted pieces remain with their grippers: the pen projects well beyond the right jaws and the cap beyond the left. I’ll turn the cap to match the pen’s axis and bring it toward the shared central workspace, keeping the arms separated.

move_to

left_x0.4700left_y-0.3200left_z0.1700left_yaw0.4200right_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]: [-0.1204, 1.6405, 0.86, -0.0364, 0.26, 0.2623, 0.0492, 0.3351, 1.5749, 0.7673, 0.0917, -0.0315, -0.1127, 0.053] state[eef_state]: left_x=0.4115 left_y=-0.0919 left_z=0.0702 left_yaw=-0.5002 left_pitch=-0.2115 left_roll=0.0027 left_gripper=0.0492 right_x=0.3936 right_y=0.1468 right_z=0.0787 right_yaw=0.4173 right_pitch=-0.158 right_roll=-0.0658 right_gripper=0.053 state[joint_eff]: [-0.3761, -9.5111, 9.3197, 1.6288, 0.0611, -0.0024, 1.0281, -0.0615, -8.4308, 8.6906, 1.5946, -0.0269, -0.0269, 1.0281] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.47,"left_y":-0.32,"left_z":0.17,"left_yaw":0.42,"right_z":0.17},"note":"The lifted pieces remain with their grippers: the pen projects well beyond the right jaws and the cap beyond the left. I’ll turn the cap to match the pen’s axis and bring it toward the shared central workspace, keeping the arms separated."})

tool

executing move_to over 21 steps (2.1s)

step 75

assistant

agent noteThe cap is near the middle of the table and still held; its length now looks nearly parallel to the pen. I’ll bring the pen in behind it while leaving several centimetres between the pen tip and cap opening.

move_to

right_x0.3250right_y0.3000right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7925, 2.645, 2.6846, -1.2896, -0.693, -1.0416, 0.0542, 0.329, 1.4689, 0.9791, -0.3523, -0.0219, -0.1173, 0.0575] state[eef_state]: left_x=0.4756 left_y=-0.3166 left_z=0.1121 left_yaw=0.3756 left_pitch=-0.249 left_roll=0.0407 left_gripper=0.0542 right_x=0.3779 right_y=0.1369 right_z=0.1284 right_yaw=0.4076 right_pitch=-0.2845 right_roll=-0.0656 right_gripper=0.0575 state[joint_eff]: [-1.3744, -13.2171, 5.6957, -0.2515, -0.6667, -0.1099, 1.0281, 0.759, -8.7043, 10.8513, 2.884, -0.188, 0.0464, 1.033] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.30,"right_z":0.15},"note":"The cap is near the middle of the table and still held; its length now looks nearly parallel to the pen. I’ll bring the pen in behind it while leaving several centimetres between the pen tip and cap opening."})

tool

executing move_to over 14 steps (1.4s)

step 89

assistant

agent noteThe pen tip is still behind the cap and appears a little left of its opening in the overhead view. I’ll move the pen a few centimetres forward and to the right, then re-check alignment before insertion.

move_to

right_x0.3600right_y0.2500right_z0.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7246, 2.8418, 3.1035, -1.5295, -0.6735, -1.0538, 0.0584, 0.8284, 1.6279, 1.1862, -0.6067, 0.2947, 0.2653, 0.0599] state[eef_state]: left_x=0.4912 left_y=-0.2829 left_z=0.1128 left_yaw=0.4469 left_pitch=-0.2728 left_roll=0.0418 left_gripper=0.0584 right_x=0.3066 right_y=0.2636 right_z=0.118 right_yaw=0.3931 right_pitch=-0.4253 right_roll=-0.1255 right_gripper=0.0599 state[joint_eff]: [-5.7368, -13.7504, 6.5299, 0.9255, -0.6178, 0.1099, 1.0281, 2.5504, -5.1761, 12.4103, 2.3126, 0.3736, 0.1783, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.25,"right_z":0.15},"note":"The pen tip is still behind the cap and appears a little left of its opening in the overhead view. I’ll move the pen a few centimetres forward and to the right, then re-check alignment before insertion."})

tool

executing move_to over 5 steps (0.5s)

step 94

assistant

agent noteThe last pen motion barely advanced, while the cap arm sagged and its load increased, suggesting the arms are crowding each other. I’ll ease the cap arm back into a more comfortable pose before attempting a closer approach.

move_to

left_x0.4500left_y-0.3200left_z0.1700left_pitch0.0000left_yaw0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6804, 2.6991, 2.7041, -1.3094, -0.6655, -1.0573, 0.0606, 0.7635, 1.7016, 1.3254, -0.7712, 0.1646, 0.1173, 0.0614] state[eef_state]: left_x=0.5048 left_y=-0.2636 left_z=0.0847 left_yaw=0.4998 left_pitch=-0.2938 left_roll=0.0716 left_gripper=0.0606 right_x=0.3099 right_y=0.2615 right_z=0.1169 right_yaw=0.5178 right_pitch=-0.5664 right_roll=-0.1222 right_gripper=0.0614 state[joint_eff]: [-3.5624, -19.2479, 5.5043, 0.4615, -0.4615, 0.0122, 1.033, -5.7778, -7.3094, 11.5487, 2.2344, 1.0867, 0.6178, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":-0.32,"left_z":0.17,"left_pitch":0,"left_yaw":0.42},"note":"The last pen motion barely advanced, while the cap arm sagged and its load increased, suggesting the arms are crowding each other. I’ll ease the cap arm back into a more comfortable pose before attempting a closer approach."})

tool

executing move_to over 10 steps (1.0s)

step 104

assistant

agent noteThe arms are interfering mechanically: the pen pose has moved away from its target and the cap arm’s load is high. I’ll withdraw the pen arm toward its own side first, keeping both pieces gripped.

move_to

right_x0.2700right_y0.1000right_z0.2100right_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]: [-0.7113, 2.6282, 2.5542, -1.2186, -0.9127, -1.1168, 0.0606, 0.7521, 1.6749, 1.3483, -0.886, 0.1291, 0.0883, 0.0614] state[eef_state]: left_x=0.5083 left_y=-0.2488 left_z=0.1123 left_yaw=0.5805 left_pitch=-0.062 left_roll=0.0953 left_gripper=0.0606 right_x=0.294 right_y=0.2488 right_z=0.1233 right_yaw=0.5505 right_pitch=-0.6389 right_roll=-0.1151 right_gripper=0.0614 state[joint_eff]: [-14.4479, -21.9419, 7.6786, -0.0757, -0.6764, 0.0171, 1.0281, -5.2991, -4.4103, 11.0291, 2.8645, 0.9255, 0.442, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.27,"right_y":0.1,"right_z":0.21,"right_pitch":0},"note":"The arms are interfering mechanically: the pen pose has moved away from its target and the cap arm’s load is high. I’ll withdraw the pen arm toward its own side first, keeping both pieces gripped."})

tool

executing move_to over 22 steps (2.2s)

step 126

assistant

agent noteThe pen arm is safely back on its side and both pieces still appear held. The cap arm remains near an awkward extended pose, so I’ll raise it and bring it inward before planning another meeting point.

move_to

left_x0.4000left_y-0.2500left_z0.2600left_yaw0.4200left_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]: [-0.7094, 2.9147, 3.1184, -1.5085, -0.9054, -1.1393, 0.0606, 0.2108, 0.8036, 0.7162, -0.5396, -0.189, -0.2642, 0.0614] state[eef_state]: left_x=0.5117 left_y=-0.2514 left_z=0.107 left_yaw=0.5933 left_pitch=-0.0708 left_roll=0.087 left_gripper=0.0606 right_x=0.2695 right_y=0.0953 right_z=0.1977 right_yaw=0.5058 right_pitch=-0.0586 right_roll=-0.1055 right_gripper=0.0614 state[joint_eff]: [-0.1709, -15.1726, 7.2821, 0.5739, -0.5836, 0.1636, 1.0281, -0.2803, -1.6205, 7.241, 2.0635, -0.2955, -0.105, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.25,"left_z":0.26,"left_yaw":0.42,"left_pitch":0},"note":"The pen arm is safely back on its side and both pieces still appear held. The cap arm remains near an awkward extended pose, so I’ll raise it and bring it inward before planning another meeting point."})

tool

executing move_to over 10 steps (1.0s)

step 136

assistant

agent noteThe cap arm now tracks its targets again after being raised. I’ll place the cap at a reachable height near the center line, with the pen arm still well clear.

move_to

left_x0.4100left_y-0.3100left_z0.2300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8673, 2.1078, 2.228, -1.3254, -0.9543, -1.1168, 0.0606, 0.2054, 0.8093, 0.7116, -0.5457, -0.1986, -0.2775, 0.0614] state[eef_state]: left_x=0.4054 left_y=-0.2496 left_z=0.2671 left_yaw=0.4354 left_pitch=-0.0004 left_roll=0.0218 left_gripper=0.0606 right_x=0.2685 right_y=0.0952 right_z=0.1931 right_yaw=0.5159 right_pitch=-0.0733 right_roll=-0.106 right_gripper=0.0614 state[joint_eff]: [-0.7726, -10.8923, 6.2974, 0.7399, -0.6422, 0.0952, 1.0232, 0.0615, -1.2786, 7.2684, 1.7509, -0.0317, 0.1245, 1.0232] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.31,"left_z":0.23},"note":"The cap arm now tracks its targets again after being raised. I’ll place the cap at a reachable height near the center line, with the pen arm still well clear."})

tool

executing move_to over 6 steps (0.6s)

step 142

assistant

agent noteThe cap arm is not moving far enough sideways at the current high pose. I’ll bring it slightly closer to its base and lower it toward a more reachable central position.

move_to

left_x0.3600left_y-0.3400left_z0.1800

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8841, 2.1452, 2.2379, -1.3464, -0.9501, -1.1435, 0.0606, 0.2043, 0.8101, 0.7113, -0.5465, -0.1951, -0.2779, 0.0614] state[eef_state]: left_x=0.4028 left_y=-0.259 left_z=0.252 left_yaw=0.432 left_pitch=-0.0161 left_roll=0.0453 left_gripper=0.0606 right_x=0.2687 right_y=0.0943 right_z=0.1926 right_yaw=0.5121 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.0614 state[joint_eff]: [0.0479, -11.1795, 8.4034, 0.7937, -0.5739, 0.0171, 1.0281, -0.2393, -0.8821, 7.1726, 1.6874, -0.1636, -0.0366, 1.0281] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.34,"left_z":0.18},"note":"The cap arm is not moving far enough sideways at the current high pose. I’ll bring it slightly closer to its base and lower it toward a more reachable central position."})

tool

executing move_to over 8 steps (0.8s)

step 150

assistant

agent noteThe cap arm has reached a stable central pose. I’ll bring the pen arm toward it at roughly the same height, stopping short so I can inspect the tip-to-opening alignment.

move_to

right_x0.2650right_y0.2500right_z0.2200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0286, 2.3623, 2.4016, -1.4277, -0.9619, -1.338, 0.0614, 0.2028, 0.8101, 0.7109, -0.5777, -0.1864, -0.2737, 0.0613] state[eef_state]: left_x=0.3755 left_y=-0.3356 left_z=0.199 left_yaw=0.3983 left_pitch=-0.0273 left_roll=0.0181 left_gripper=0.0614 right_x=0.2648 right_y=0.0915 right_z=0.1862 right_yaw=0.5018 right_pitch=-0.1073 right_roll=-0.1001 right_gripper=0.0613 state[joint_eff]: [-1.0462, -12.4513, 6.612, -0.5495, -1.5507, 0.486, 0.6081, 0.5128, -0.6906, 7.9795, 4.2613, -0.6227, -0.1148, 0.5885] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.265,"right_y":0.25,"right_z":0.22},"note":"The cap arm has reached a stable central pose. I’ll bring the pen arm toward it at roughly the same height, stopping short so I can inspect the tip-to-opening alignment."})

tool

executing move_to over 14 steps (1.4s)

step 164

assistant

agent noteThe pen arm again stopped short and displaced the cap arm, so their arm structures are contacting before the objects meet. I’ll separate them and rotate the pen toward a more sideways approach that may keep the grippers farther apart.

move_to

right_x0.2900right_y0.0700right_z0.2600right_yaw1.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9134, 2.3512, 2.4054, -1.536, -0.9436, -1.359, 0.0639, 0.8291, 1.174, 0.96, -0.7738, 0.4774, 0.3111, 0.0613] state[eef_state]: left_x=0.3986 left_y=-0.2765 left_z=0.1999 left_yaw=0.5262 left_pitch=-0.0573 left_roll=0.0911 left_gripper=0.0639 right_x=0.2565 right_y=0.1652 right_z=0.1727 right_yaw=0.2324 right_pitch=-0.2919 right_roll=-0.2082 right_gripper=0.0613 state[joint_eff]: [-9.306, -11.7128, 5.3812, 1.6093, -0.6569, 0.1441, 0.8864, 7.0906, 0.335, 12.8068, 3.7924, -1.2186, -1.707, 1.0281] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.07,"right_z":0.26,"right_yaw":1.15},"note":"The pen arm again stopped short and displaced the cap arm, so their arm structures are contacting before the objects meet. I’ll separate them and rotate the pen toward a more sideways approach that may keep the grippers farther apart."})

tool

executing move_to over 8 steps (0.8s)

step 172

assistant

agent noteThe arms are separated again and both grasps still read nonempty. I’ll rotate the cap to face the sideways-oriented pen and restore the cap arm’s intended central pose.

move_to

left_x0.3800left_y-0.3400left_z0.2300left_yaw1.1500

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9127, 2.368, 2.4069, -1.5311, -0.9337, -1.367, 0.0644, -0.1181, 1.3231, 1.4174, -1.1595, -0.4828, -0.8715, 0.0615] state[eef_state]: left_x=0.3995 left_y=-0.2788 left_z=0.1915 left_yaw=0.531 left_pitch=-0.068 left_roll=0.0936 left_gripper=0.0644 right_x=0.3112 right_y=0.0493 right_z=0.2527 right_yaw=0.7983 right_pitch=-0.3328 right_roll=-0.1174 right_gripper=0.0615 state[joint_eff]: [-0.294, -14.2291, 5.4769, 0.3443, -0.6081, 0.0611, 0.5104, 0.9915, -4.8615, 6.2701, 0.5055, -0.6911, -0.0024, 0.9792] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.34,"left_z":0.23,"left_yaw":1.15},"note":"The arms are separated again and both grasps still read nonempty. I’ll rotate the cap to face the sideways-oriented pen and restore the cap arm’s intended central pose."})

tool

executing move_to over 6 steps (0.6s)

step 178

assistant

agent noteTurning the cap arm made its grasp point drop and drift away from the requested position, despite the pen arm being clear. I’ll raise and retract it to find a pose where this orientation is controllable.

move_to

left_x0.3100left_y-0.3200left_z0.3000left_yaw1.1000left_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]: [-0.7815, 2.3512, 1.9583, -1.5593, -0.8646, -1.8977, 0.067, -0.1165, 1.3437, 1.4162, -1.1889, -0.4843, -0.897, 0.062] state[eef_state]: left_x=0.3712 left_y=-0.1739 left_z=0.0901 left_yaw=0.9996 left_pitch=-0.083 left_roll=0.1345 left_gripper=0.067 right_x=0.3079 right_y=0.0504 right_z=0.2435 right_yaw=0.8301 right_pitch=-0.3635 right_roll=-0.0896 right_gripper=0.062 state[joint_eff]: [-0.7043, -13.9692, 5.559, -0.2759, -0.4713, -0.1001, 0.8816, -0.4444, -6.3111, 6.2838, 1.3993, -0.2808, 0.2222, 0.9597] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_y":-0.32,"left_z":0.3,"left_yaw":1.1,"left_pitch":0},"note":"Turning the cap arm made its grasp point drop and drift away from the requested position, despite the pen arm being clear. I’ll raise and retract it to find a pose where this orientation is controllable."})

tool

executing move_to over 14 steps (1.4s)

step 192

assistant

agent noteThe cap arm still will not raise in the sideways orientation, so that approach is not viable on this rig. I’ll return it to the earlier orientation that tracked properly and re-establish a safe holding pose.

move_to

left_yaw0.4000left_x0.3500left_y-0.3000left_z0.2400

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8467, 2.3692, 1.927, -1.56, -0.8333, -1.9961, 0.0703, -0.1162, 1.3437, 1.4155, -1.1961, -0.4778, -0.8978, 0.062] state[eef_state]: left_x=0.3503 left_y=-0.1934 left_z=0.0744 left_yaw=1.0045 left_pitch=-0.0917 left_roll=0.1119 left_gripper=0.0703 right_x=0.3064 right_y=0.0496 right_z=0.2421 right_yaw=0.8293 right_pitch=-0.3729 right_roll=-0.0868 right_gripper=0.062 state[joint_eff]: [-0.2256, -11.6581, 6.4205, -0.5592, -0.5836, 0.0415, 0.6325, -0.2803, -4.6701, 6.4615, 1.0818, -0.315, -0.0366, 1.0037] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0.4,"left_x":0.35,"left_y":-0.3,"left_z":0.24},"note":"The cap arm still will not raise in the sideways orientation, so that approach is not viable on this rig. I’ll return it to the earlier orientation that tracked properly and re-establish a safe holding pose."})

tool

executing move_to over 11 steps (1.1s)

step 203

assistant

agent noteThe cap arm is stable again and the cap remains in its jaws. I’ll bring the pen in above it, rather than through the same arm-height corridor that caused contact, and align their axes before lowering.

move_to

right_x0.2800right_y0.2500right_z0.3300right_yaw0.4800right_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]: [-0.9989, 2.2433, 2.2692, -1.5631, -0.881, -1.4197, 0.0706, -0.1162, 1.3457, 1.4143, -1.1965, -0.4713, -0.8982, 0.0621] state[eef_state]: left_x=0.3524 left_y=-0.289 left_z=0.2027 left_yaw=0.474 left_pitch=-0.1224 left_roll=0.091 left_gripper=0.0706 right_x=0.3065 right_y=0.0486 right_z=0.2406 right_yaw=0.8264 right_pitch=-0.3797 right_roll=-0.0878 right_gripper=0.0621 state[joint_eff]: [-0.759, -14.3932, 7.3778, 0.315, -0.6667, 0.2857, 0.8571, 0.0342, -4.8752, 6.1197, 1.0769, -0.3687, -0.0562, 0.9988] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.28,"right_y":0.25,"right_z":0.33,"right_yaw":0.48,"right_pitch":0},"note":"The cap arm is stable again and the cap remains in its jaws. I’ll bring the pen in above it, rather than through the same arm-height corridor that caused contact, and align their axes before lowering."})

tool

executing move_to over 17 steps (1.7s)

step 220

assistant

agent noteEven with the pen higher, the arm bodies meet before I can reach the cap; the right arm’s load is elevated. I’ll withdraw the pen again, then try a meeting geometry farther back from the colliding forearms.

move_to

right_x0.1700right_y0.0500right_z0.2400right_yaw0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9314, 2.215, 2.265, -1.6356, -0.8734, -1.4158, 0.0714, 0.7685, 1.2373, 1.3956, -0.9882, 0.5529, 0.1692, 0.0638] state[eef_state]: left_x=0.3606 left_y=-0.2519 left_z=0.2119 left_yaw=0.5455 left_pitch=-0.1349 left_roll=0.1418 left_gripper=0.0714 right_x=0.2884 right_y=0.1547 right_z=0.2968 right_yaw=0.2084 right_pitch=-0.1444 right_roll=-0.2752 right_gripper=0.0638 state[joint_eff]: [-5.3675, -8.8274, 5.9282, 1.0232, -0.5543, -0.105, 0.7155, 9.306, -0.0068, 9.8393, 3.7582, -2.2051, -0.7155, 0.8327] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.17,"right_y":0.05,"right_z":0.24,"right_yaw":0.42},"note":"Even with the pen higher, the arm bodies meet before I can reach the cap; the right arm’s load is elevated. I’ll withdraw the pen again, then try a meeting geometry farther back from the colliding forearms."})

tool

executing move_to over 10 steps (1.0s)

step 230

assistant

agent noteThe pen arm has cleared the cap arm. I’ll bring the cap closer to the center line and slightly back, so the pen can approach from behind while its gripper stays nearer its base.

move_to

left_x0.2900left_y-0.3500left_z0.2200left_yaw0.4300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9195, 2.1666, 2.1727, -1.5768, -0.857, -1.412, 0.0719, 0.4118, 0.5301, 0.9363, -1.0847, 0.2195, -0.1604, 0.0668] state[eef_state]: left_x=0.3592 left_y=-0.245 left_z=0.2065 left_yaw=0.5531 left_pitch=-0.1501 left_roll=0.1282 left_gripper=0.0719 right_x=0.1812 right_y=0.0411 right_z=0.2454 right_yaw=0.3037 right_pitch=-0.1227 right_roll=-0.2648 right_gripper=0.0668 state[joint_eff]: [-0.4308, -10.5368, 5.7094, 0.4078, -0.6911, 0.0855, 0.6667, 0.4718, 1.812, 6.2291, 1.8779, -0.0317, -0.1636, 0.8864] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.35,"left_z":0.22,"left_yaw":0.43},"note":"The pen arm has cleared the cap arm. I’ll bring the cap closer to the center line and slightly back, so the pen can approach from behind while its gripper stays nearer its base."})

tool

executing move_to over 10 steps (1.0s)

step 240

assistant

agent noteThe cap is now farther back, and the pen is still securely held on the opposite side. I’ll bring the pen halfway toward it at a higher clearance height and check for arm contact before going farther.

move_to

right_x0.1700right_y0.1700right_z0.2800right_yaw0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.1152, 2.1986, 2.1414, -1.578, -0.8551, -1.5002, 0.0718, 0.4065, 0.5346, 0.9272, -1.1145, 0.2066, -0.1783, 0.067] state[eef_state]: left_x=0.3037 left_y=-0.3088 left_z=0.1861 left_yaw=0.4148 left_pitch=-0.15 left_roll=0.1261 left_gripper=0.0718 right_x=0.1771 right_y=0.0407 right_z=0.2353 right_yaw=0.3181 right_pitch=-0.1692 right_roll=-0.2745 right_gripper=0.067 state[joint_eff]: [-0.3624, -10.7829, 5.8051, 0.2369, -0.486, -0.105, 0.7057, 0.3214, 1.2239, 6.3795, 1.873, 0.149, 0.1636, 0.8669] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.17,"right_y":0.17,"right_z":0.28,"right_yaw":0.42},"note":"The cap is now farther back, and the pen is still securely held on the opposite side. I’ll bring the pen halfway toward it at a higher clearance height and check for arm contact before going farther."})

tool

executing move_to over 11 steps (1.1s)

step 251

assistant

agent noteThe pen arm has moved partway inward; the cap arm is visible ahead in its wrist camera, but the pen remains noticeably higher. I’ll advance a small additional sideways step while maintaining that vertical separation.

move_to

right_x0.1700right_y0.2200right_z0.2900

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0859, 2.1906, 2.1323, -1.57, -0.8471, -1.5097, 0.0715, 1.2263, 0.984, 1.2198, -1.3674, 0.7166, 0.4885, 0.0694] state[eef_state]: left_x=0.3116 left_y=-0.2998 left_z=0.186 left_yaw=0.4487 left_pitch=-0.1571 left_roll=0.1116 left_gripper=0.0715 right_x=0.1681 right_y=0.1356 right_z=0.2636 right_yaw=0.3495 right_pitch=-0.2323 right_roll=-0.3421 right_gripper=0.0694 state[joint_eff]: [-2.2906, -10.7966, 5.5043, 0.2125, -0.5006, 0.0806, 0.735, 3.1795, 1.6479, 8.6906, 2.2491, 0.1245, -0.6178, 0.7985] approver: 1 step(s) modified (delta_clamped). 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":0.17,"right_y":0.22,"right_z":0.29},"note":"The pen arm has moved partway inward; the cap arm is visible ahead in its wrist camera, but the pen remains noticeably higher. I’ll advance a small additional sideways step while maintaining that vertical separation."})

tool

executing move_to over 8 steps (0.8s)

step 259

assistant

agent noteAs the pen moves inward, the cap arm is pushed away again, so a two-arm midair insertion is not safely tracking. I’ll clear the cap arm to its own side, then set the pen down where the cap arm can approach it alone.

move_to

left_x0.2900left_y-0.1100left_z0.2300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-1.0245, 2.1857, 2.1319, -1.5703, -0.8368, -1.5101, 0.0709, 1.3468, 1.2873, 1.496, -1.5749, 0.7284, 0.6586, 0.0724] state[eef_state]: left_x=0.3281 left_y=-0.2802 left_z=0.1865 left_yaw=0.5102 left_pitch=-0.1672 left_roll=0.1066 left_gripper=0.0709 right_x=0.1588 right_y=0.1836 right_z=0.2774 right_yaw=0.3214 right_pitch=-0.3268 right_roll=-0.4275 right_gripper=0.0724 state[joint_eff]: [-5.053, -11.1248, 5.5179, 0.1636, -0.5788, -0.0171, 0.7692, 0.3487, 0.0479, 7.5282, 1.9707, 0.6764, -0.2808, 0.6325] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.11,"left_z":0.23},"note":"As the pen moves inward, the cap arm is pushed away again, so a two-arm midair insertion is not safely tracking. I’ll clear the cap arm to its own side, then set the pen down where the cap arm can approach it alone."})

tool

executing move_to over 16 steps (1.6s)

step 275

assistant

agent noteThe cap arm is clear, and the pen is near the right gripper’s forward edge. I’ll position the pen near the center line at a low height for a supported placement, away from the cap arm.

move_to

right_x0.1800right_y0.3000right_z0.1400right_yaw0.4200

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.815, 1.5143, 1.4185, -1.3228, -0.8204, -1.2297, 0.073, 1.3479, 1.2972, 1.4914, -1.5646, 0.7059, 0.6468, 0.0721] state[eef_state]: left_x=0.291 left_y=-0.1152 left_z=0.2237 left_yaw=0.53 left_pitch=-0.1742 left_roll=0.1074 left_gripper=0.073 right_x=0.1565 right_y=0.1881 right_z=0.2721 right_yaw=0.336 right_pitch=-0.3503 right_roll=-0.4271 right_gripper=0.0721 state[joint_eff]: [0.4308, -7.2, 5.8735, 0.7009, -0.4811, 0.0562, 0.7302, -0.4855, -4.1915, 5.5453, 0.525, 0.5006, 0.0122, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.18,"right_y":0.3,"right_z":0.14,"right_yaw":0.42},"note":"The cap arm is clear, and the pen is near the right gripper’s forward edge. I’ll position the pen near the center line at a low height for a supported placement, away from the cap arm."})

tool

executing move_to over 10 steps (1.0s)

step 285

assistant

agent noteThe pen stayed at the same tabletop spot while the right gripper moved, so it is no longer held. I’ll open the right jaws and realign over the pen; moving the left arm aside should also reveal whether the cap is still with it.

move_to

left_y-0.2300left_x0.3000right_gripper1.0000right_x0.2000right_y0.1200right_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.812, 1.5143, 1.4067, -1.319, -0.8062, -1.2297, 0.0748, 1.3479, 1.5852, 1.2194, -0.9989, 0.6773, 0.5484, 0.072] state[eef_state]: left_x=0.2896 left_y=-0.1149 left_z=0.2187 left_yaw=0.5318 left_pitch=-0.1896 left_roll=0.1121 left_gripper=0.0748 right_x=0.1744 right_y=0.2849 right_z=0.1412 right_yaw=0.4003 right_pitch=-0.3927 right_roll=-0.4703 right_gripper=0.072 state[joint_eff]: [-0.5128, -6.0513, 6.7624, 0.4713, -0.5885, -0.0269, 0.7155, -0.2667, -7.0632, 5.8051, 0.7009, 0.4322, -0.0513, -0.0171] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.23,"left_x":0.3,"right_gripper":1,"right_x":0.2,"right_y":0.12,"right_z":0.13},"note":"The pen stayed at the same tabletop spot while the right gripper moved, so it is no longer held. I’ll open the right jaws and realign over the pen; moving the left arm aside should also reveal whether the cap is still with it."})

tool

executing move_to over 14 steps (1.4s)

step 299

assistant

agent noteThe pen lies diagonally just ahead of the open right fingertips. I’ll bring the jaws down around its rear half, leaving the far end free for the cap.

move_to

right_x0.2300right_y0.1400right_z-0.0080right_yaw0.5000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9966, 1.9312, 1.8568, -1.5528, -0.7986, -1.496, 0.0764, 0.9363, 0.9466, 0.7048, -0.8764, 0.5442, 0.1162, 0.9962] state[eef_state]: left_x=0.2998 left_y=-0.2238 left_z=0.2078 left_yaw=0.5327 left_pitch=-0.2063 left_roll=0.1187 left_gripper=0.0764 right_x=0.198 right_y=0.1208 right_z=0.127 right_yaw=0.367 right_pitch=-0.4024 right_roll=-0.4663 right_gripper=0.9962 state[joint_eff]: [-0.5538, -8.8684, 7.9658, 0.0171, -0.5983, -0.0562, 0.6276, -0.335, -1.8256, 6.9675, 1.243, 0.2466, -0.1245, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.23,"right_y":0.14,"right_z":-0.008,"right_yaw":0.5},"note":"The pen lies diagonally just ahead of the open right fingertips. I’ll bring the jaws down around its rear half, leaving the far end free for the cap."})

tool

executing move_to over 9 steps (0.9s)

step 308

assistant

agent noteThe pen shifted to the right of the fingertips during the tabletop descent, so closing now would miss it. I’ll lift clear and re-center the right gripper over its new position before retrying.

move_to

right_x0.2100right_y0.0600right_z0.1100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9974, 1.9385, 1.8587, -1.5532, -0.7948, -1.5021, 0.0794, 0.8082, 1.2823, 0.3412, -0.0376, 0.4435, -0.1051, 0.996] state[eef_state]: left_x=0.2997 left_y=-0.2251 left_z=0.2054 left_yaw=0.5367 left_pitch=-0.2099 left_roll=0.1199 left_gripper=0.0794 right_x=0.2359 right_y=0.1423 right_z=0.012 right_yaw=0.4601 right_pitch=-0.3673 right_roll=-0.46 right_gripper=0.996 state[joint_eff]: [0.0752, -10.1265, 5.3675, 0.1343, -0.4615, 0.0366, 0.3004, -0.7179, 0.1573, 1.8667, 0.0171, -0.1734, -0.3394, -0.0317] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.21,"right_y":0.06,"right_z":0.11},"note":"The pen shifted to the right of the fingertips during the tabletop descent, so closing now would miss it. I’ll lift clear and re-center the right gripper over its new position before retrying."})

tool

executing move_to over 7 steps (0.7s)

step 315

assistant

agent noteThe pen is visible diagonally ahead of the right jaws, with its rear portion left of the jaw column. I’ll descend slightly farther back and a little to the left to center the barrel between the fingertips without sweeping across it.

move_to

right_x0.2000right_y0.0870right_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]: [-0.9955, 1.9385, 1.8561, -1.5528, -0.7914, -1.5028, 0.0815, 0.4686, 0.6735, 0.4618, -0.6323, 0.2695, -0.3492, 0.996] state[eef_state]: left_x=0.2996 left_y=-0.2244 left_z=0.2044 left_yaw=0.5397 left_pitch=-0.2134 left_roll=0.1216 left_gripper=0.0815 right_x=0.2208 right_y=0.0631 right_z=0.1044 right_yaw=0.4099 right_pitch=-0.3193 right_roll=-0.4533 right_gripper=0.996 state[joint_eff]: [-0.1983, -9.5521, 5.7094, 0.1929, -0.5348, -0.0122, 0.2027, -0.1026, -0.3077, 8.8957, 1.4335, 0.022, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.2,"right_y":0.087,"right_z":0.012},"note":"The pen is visible diagonally ahead of the right jaws, with its rear portion left of the jaw column. I’ll descend slightly farther back and a little to the left to center the barrel between the fingertips without sweeping across it."})

tool

executing move_to over 6 steps (0.6s)

step 321

assistant

agent noteAt table height, the pen’s rear section is nearly between the fingertips. I’ll advance about a centimetre so the jaws close on the barrel rather than its very end.

move_to

right_x0.2070right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9955, 1.9385, 1.8557, -1.5528, -0.7837, -1.5024, 0.0832, 0.7311, 0.7994, 0.1635, -0.3359, 0.4049, -0.1711, 0.996] state[eef_state]: left_x=0.2987 left_y=-0.2248 left_z=0.2033 left_yaw=0.54 left_pitch=-0.221 left_roll=0.122 left_gripper=0.0832 right_x=0.1928 right_y=0.0842 right_z=0.0122 right_yaw=0.4512 right_pitch=-0.386 right_roll=-0.4686 right_gripper=0.996 state[joint_eff]: [-0.3214, -9.3607, 5.5316, 0.1343, -0.5543, -0.0513, 0.1587, 0.4991, 0.6222, 4.4376, 0.9402, 0.188, 0.0317, -0.0122] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.207,"right_z":-0.01},"note":"At table height, the pen’s rear section is nearly between the fingertips. I’ll advance about a centimetre so the jaws close on the barrel rather than its very end."})

tool

executing move_to over 2 steps (0.2s)

step 323

assistant

agent noteThe pen barrel now crosses the right fingertips close to its rear end. I’ll close on it and check whether it stays with the gripper on a short lift.

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]: [-0.9958, 1.9385, 1.8553, -1.5536, -0.7788, -1.5024, 0.0852, 0.6834, 0.9295, 0.1406, -0.1093, 0.3958, -0.1719, 0.996] state[eef_state]: left_x=0.298 left_y=-0.2251 left_z=0.2026 left_yaw=0.5402 left_pitch=-0.226 left_roll=0.123 left_gripper=0.0852 right_x=0.2133 right_y=0.0905 right_z=0.0098 right_yaw=0.4192 right_pitch=-0.3172 right_roll=-0.4405 right_gripper=0.996 state[joint_eff]: [-0.253, -9.5385, 5.6137, 0.2076, -0.4957, -0.022, 0.1978, -0.2256, 0.0889, 3.2205, -0.0708, -0.0073, -0.3492, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen barrel now crosses the right fingertips close to its rear end. I’ll close on it and check whether it stays with the gripper on a short lift."})

tool

executing move_to over 10 steps (1.0s)

step 333

assistant

agent noteThe right gripper closed nearly completely, so it missed the pen; the wrist view shows the barrel just ahead of the jaws. I’ll reopen, advance about 2 cm along the barrel, and make one more grasp attempt.

move_to

right_gripper1.0000right_x0.2360right_z-0.0120

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9955, 1.9385, 1.8542, -1.5528, -0.7761, -1.5024, 0.0866, 0.6765, 0.9356, 0.1364, -0.1043, 0.3851, -0.1787, 0.0128] state[eef_state]: left_x=0.2977 left_y=-0.2251 left_z=0.202 left_yaw=0.5408 left_pitch=-0.2287 left_roll=0.1233 left_gripper=0.0866 right_x=0.2123 right_y=0.09 right_z=0.0072 right_yaw=0.4247 right_pitch=-0.3261 right_roll=-0.4381 right_gripper=0.0128 state[joint_eff]: [-0.2803, -9.5795, 5.5863, 0.1929, -0.4664, -0.0513, 0.1294, 0.4444, -1.6342, 6.6393, 1.2723, 0.1734, 0.0366, 1.1648] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.236,"right_z":-0.012},"note":"The right gripper closed nearly completely, so it missed the pen; the wrist view shows the barrel just ahead of the jaws. I’ll reopen, advance about 2 cm along the barrel, and make one more grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 343

assistant

agent noteAfter advancing, the pen passes between the open fingers but is slightly right of center. I’ll make a small sideways correction and press lightly to table level before closing.

move_to

right_y0.0900right_z-0.0150

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7692, -1.5028, 0.0879, 0.5751, 1.1778, 0.1436, 0.2684, 0.3416, -0.2481, 0.9943] state[eef_state]: left_x=0.2969 left_y=-0.2255 left_z=0.2011 left_yaw=0.5415 left_pitch=-0.2355 left_roll=0.1232 left_gripper=0.0879 right_x=0.2537 right_y=0.0982 right_z=0.0122 right_yaw=0.4041 right_pitch=-0.2132 right_roll=-0.4251 right_gripper=0.9943 state[joint_eff]: [-0.1983, -9.5385, 5.5316, 0.1245, -0.5104, -0.0513, 0.1245, -0.4171, 0.0479, 4.2325, 0.4078, 0.0073, -0.1734, 0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.09,"right_z":-0.015},"note":"After advancing, the pen passes between the open fingers but is slightly right of center. I’ll make a small sideways correction and press lightly to table level before closing."})

tool

executing move_to over 2 steps (0.2s)

step 345

assistant

agent noteThe small correction did not center the barrel; it still lies to the right of the jaw column. I’ll shift the open jaws about 2 cm rightward relative to the pen and retreat slightly, then close only if the barrel is between them.

move_to

right_x0.2500right_y0.0700right_z-0.0100

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5539, -0.7685, -1.5024, 0.0894, 0.5442, 1.3037, 0.1196, 0.4683, 0.3199, -0.2508, 0.9944] state[eef_state]: left_x=0.2967 left_y=-0.2253 left_z=0.201 left_yaw=0.5416 left_pitch=-0.2363 left_roll=0.1246 left_gripper=0.0894 right_x=0.2646 right_y=0.0994 right_z=0.0065 right_yaw=0.3949 right_pitch=-0.1668 right_roll=-0.4042 right_gripper=0.9944 state[joint_eff]: [-0.3487, -9.4564, 5.5043, 0.1343, -0.3639, -0.0122, 0.1392, -0.3761, 0.1436, 0.5128, -0.6276, 0.0366, -0.2955, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.07,"right_z":-0.01},"note":"The small correction did not center the barrel; it still lies to the right of the jaw column. I’ll shift the open jaws about 2 cm rightward relative to the pen and retreat slightly, then close only if the barrel is between them."})

tool

executing move_to over 3 steps (0.3s)

step 348

assistant

agent noteThe pen is inside the span of the right jaws, though not perfectly centered, and the tabletop is limiting further fine positioning. I’ll make one final careful close and judge it by the settled 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]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7658, -1.5024, 0.0909, 0.5053, 1.3003, 0.0818, 0.5694, 0.297, -0.2665, 0.9944] state[eef_state]: left_x=0.2966 left_y=-0.2257 left_z=0.2007 left_yaw=0.5415 left_pitch=-0.239 left_roll=0.1233 left_gripper=0.0909 right_x=0.269 right_y=0.0938 right_z=0.0129 right_yaw=0.3847 right_pitch=-0.1058 right_roll=-0.3929 right_gripper=0.9944 state[joint_eff]: [-0.335, -9.5658, 5.6, 0.1832, -0.5201, -0.0269, 0.1441, -0.4171, -2.9197, 4.041, 1.2088, -0.0171, -0.1392, -0.0073] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pen is inside the span of the right jaws, though not perfectly centered, and the tabletop is limiting further fine positioning. I’ll make one final careful close and judge it by the settled opening."})

tool

executing move_to over 10 steps (1.0s)

step 358

assistant

agent noteThe final close is empty, so the pen is still loose and the cap cannot be fitted reliably; the arms also collided during closer approaches. I’ll lift the empty pen gripper clear and lower the cap gripper toward the table before stopping.

move_to

left_z0.0250right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9955, 1.9385, 1.8511, -1.5528, -0.7532, -1.5024, 0.0916, 0.5053, 1.2934, 0.0761, 0.5335, 0.2871, -0.2741, 0.0128] state[eef_state]: left_x=0.2949 left_y=-0.2261 left_z=0.1985 left_yaw=0.5429 left_pitch=-0.2516 left_roll=0.1256 left_gripper=0.0916 right_x=0.2627 right_y=0.0923 right_z=0.0057 right_yaw=0.3966 right_pitch=-0.1425 right_roll=-0.3968 right_gripper=0.0128 state[joint_eff]: [-0.2393, -9.5385, 5.7641, 0.1538, -0.5348, -0.0366, 0.0659, 0.0342, -2.2359, 5.2444, 1.8291, 0.1734, 0.0366, 1.1502] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.025,"right_z":0.18,"right_gripper":1},"note":"The final close is empty, so the pen is still loose and the cap cannot be fitted reliably; the arms also collided during closer approaches. I’ll lift the empty pen gripper clear and lower the cap gripper toward the table before stopping."})

tool

executing move_to over 12 steps (1.2s)

step 370

assistant

agent noteThe cap gripper is just above the tabletop. I’ll release anything it may still hold and withdraw, leaving both pieces on the table for a safer manual reset.

move_to

left_gripper1.0000left_z0.1300

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9955, 2.0396, 1.3251, -0.9581, -0.7471, -1.5024, 0.0929, 0.5053, 0.8165, 0.6346, -0.4904, 0.2832, -0.2817, 0.9955] state[eef_state]: left_x=0.2904 left_y=-0.2206 left_z=0.0339 left_yaw=0.5519 left_pitch=-0.2586 left_roll=0.159 left_gripper=0.0929 right_x=0.266 right_y=0.0948 right_z=0.1699 right_yaw=0.4038 right_pitch=-0.1329 right_roll=-0.3991 right_gripper=0.9955 state[joint_eff]: [-0.3214, -8.9641, 4.8615, 0.0659, -0.4713, -0.0513, 0.1148, -0.3624, -1.5111, 8.8274, 1.5604, 0.105, 0.0855, -0.0659] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":0.13},"note":"The cap gripper is just above the tabletop. I’ll release anything it may still hold and withdraw, leaving both pieces on the table for a safer manual reset."})

tool

executing move_to over 10 steps (1.0s)

step 380

assistant

agent noteI could not safely fit the cap. Both pieces were picked up initially, but the pen slipped free during transport; repeated re-grasp attempts missed, and the arms interfered when brought together. Both pieces have been released onto the table.

give_up

hindsightA gripper reading near 0.05–0.09 did not reliably indicate a retained pen during transport; verify that each object actually moves with the arm before attempting assembly. At central positions around left x=0.3–0.4, y=−0.3 and right x=0.17–0.3, y=0.17–0.25, the arms displaced each other well before their fingertips met, even with ~8 cm vertical separation. Left yaw near 1 rad caused severe height and lateral tracking failure; around 0.4 rad tracked better. Low tabletop pen re-grasps at right x≈0.21–0.27, y≈0.09 repeatedly closed empty despite the barrel appearing near the jaw column in the wrist camera.

Raw transcript

user

Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9955, 1.9694, 1.5333, -1.2591, -0.725, -1.5108, 0.9952, 0.5053, 0.8204, 0.6315, -0.5167, 0.2829, -0.2825, 0.996] state[eef_state]: left_x=0.2888 left_y=-0.2234 left_z=0.1057 left_yaw=0.5651 left_pitch=-0.2802 left_roll=0.1761 left_gripper=0.9952 right_x=0.2623 right_y=0.0928 right_z=0.1627 right_yaw=0.404 right_pitch=-0.1661 right_roll=-0.4029 right_gripper=0.996 state[joint_eff]: [-0.335, -12.5744, 7.7744, -0.0415, -0.6569, 0.1343, 0.0269, -0.3487, -1.5658, 7.159, 1.9072, 0.0317, -0.0708, 0.0415] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not safely fit the cap. Both pieces were picked up initially, but the pen slipped free during transport; repeated re-grasp attempts missed, and the arms interfered when brought together. Both pieces have been released onto the table.","hindsight":"A gripper reading near 0.05–0.09 did not reliably indicate a retained pen during transport; verify that each object actually moves with the arm before attempting assembly. At central positions around left x=0.3–0.4, y=−0.3 and right x=0.17–0.3, y=0.17–0.25, the arms displaced each other well before their fingertips met, even with ~8 cm vertical separation. Left yaw near 1 rad caused severe height and lateral tracking failure; around 0.4 rad tracked better. Low tabletop pen re-grasps at right x≈0.21–0.27, y≈0.09 repeatedly closed empty despite the barrel appearing near the jaw column in the wrist camera."})

tool

give_up: I could not safely fit the cap. Both pieces were picked up initially, but the pen slipped free during transport; repeated re-grasp attempts missed, and the arms interfered when brought together. Both pieces have been released onto the table.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 7.697 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]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0219, -0.0246, 0.9993, -0.0185, 0.7918, 0.609, -0.3759, -0.02, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0017 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4154, 10.5778, 1.79, -0.0171, 0.0757, -0.0855, -0.7316, -1.2103, 9.8803, 1.79, -0.0024, -0.0757, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2376c56379f844256b1617486ad030c002778a91549211a269b97c8db263286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ec02b3af7053ac2e55c7c30a10cc2b0afc011ba1452c31c710e6e4b59d7dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d391d5ec9d277c08e66b8e6488d102ea7661e4ce8e39efbd573972f71a8d08de",
      "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 · 11.55 s

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

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab4376bb10087d0b9180bf95b20282e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDdyXyHK1hRvZ824h6er954s6lP7HHSucgDpj7FEWbzUYIW5kpn7xktkocY6JLGegjzi20kO8NeEHFintKwnox38kFS8Lpv3p3uS9EoEkW8U5qia_VbXg9xE6BFx0yesfoz8W8RP16uSY9hjoUd9eO4BzYj40M1HIXZn93rd7lv2wgnGYOrFUhiXQzlRSp2PlVNMjSYbec-Y9bTg2J1AhKbMYZqqzyN0KjnbEp3WKS2tEBUDu7WlQ8pmy9Xy7C4LpI0GgMML-SQWxMB2pIflxml4bJTJ-bvlChrplLebFVRb-JR9lrpgk_-C3mQs79r3XLNIC8AvgpgwYcL2R005TbHboC8t9yHrH_DynlsZHZ32J2vqWq0ggOpbpHond5T8CipizmDdCVblJbCbkHhfkNF2DoBDR58mMc3USciXgjbpcN5Wtc7N7DSlt7jaHeqEsWrP_EpfCrYTSTz7j2SFcmL9oLu6kMWOa0vNu-vOCx6yc8Wuxw4vrwspmf3COt4vMNKX8KoifHwcDuQnsitMDk8Zcs2Wx7qjdPGW_fZ_vJPFwtyFZEk1_m1pcgZ7jDnsBjk-prPbKJ3gL9Pot4f_7A_lLwmlIkcM6ZvwLyrE5SkzNi9kTE__AXRhs8FA_TbBGAiNQiv4_y146MHHGTH8Gv6seWWZPJjEHWF5mfx-2ESenlpLlW_ug7_bL7KgOKJKbNLqmfkbHSbGGTDRMeDvcXC5QVK4yFPi8q-OvDBauTKP3SI1bJl_8Dz6Az8E7mgHCWwfmiI-p9IiiQ5dHDAX2jcO7mqO6pVzxvd-iwfj2xXGbyGO-T-oFqqKbDGwEHj4RaBYUndxX1OSn9kMm6yXOTcJzt3ugJK4Ox6Dyd_EVvHbQJNWPXJtrX3vA6PZRqoV1bqhH9WORK7JzwNnPG8BcHRFgVNMK1574okVYnkY509fbtFjdXkLaDbOAVt2o0cM0aQKRCbYlwrMrzf_Ydpvebf9x-Qbyk4XQbGK0RTvaNM_21tX7CxUInb_Zu08jkR0f4Fqq7qv1gtdRlqKmu_QLEQHU_gu0_Ygj3XDVFjDmKC-fjCNcFMd8x-q4fk7BtZ2K9bnBZqvI50kmcBGy1wJ7A4Wy5MiViy8_Ystd5L5JafY6gepwqsoIlYap7zn6MtPne2gwxuD3Abc2r7RCTB1o9SWWqqM-e03a4b7CyDJknahlUiYe5oLHnEy5CkHtpGmBZtNP-jvXD9xTPoxPerhF0VkiDFAWV5tOqOX0wSl3Y43tPwEUthfCziKNTBuTLVCSmTgIm_uDLYRjWrdK8nlFwODbHD56q3f2vyCWSp4y0MJ7QMGeNO9P8jDBMJLYJLNazwRF8BW-ibDSu4H-NdLOBhQ0RLxcrt_neJS_WQ1r7hDMYQjwai8q4j3TxS63KPauGd3ScsaYdNzYWmUeTrNRaxzr4hhXp8wVUsVQAQbMOlY6KnPN0rvJKGtVzG31KmHqr_Y9xluFrCaNj4K_zeNrTvQeJvmPyqu7yFF2QR3yvZ6iqtDYTXPSUA0Yt357APoCA-ULLpQIRLpI076XmRcDsrvkmg8z2vxxjo4fcHaHrzqM1gmSn_GD3dyCWB_5B0_6isRtSu7FZrV7ayYwdeFyCttgwj9IQpC5XHW4VOYqkQ8VQ9ZQc52iOS36Zr2VV2SXymEDo5Cbkg9hAyIyamUAlwIfX-sePkerdCbZE4u1YoH97lkEYh19zyBLzo_moGrNO8mKOvoBYVqwnW6NLZYk8NM3-N72j7twPB0mouPnO8cPkYSdajoEgbuy3KCXdxkHlGikfeOm2yVX23HPn2iBbmec4U6lg2Lzm8EYDJABJLyo5ftXLv4gx6y3j9xGMezgx7Rz6o5CECGJYa33L_xGhnS8wJdJqZgyW4YmkdplTQecuSoTcZCM_vkc5EgkJ1zo89FX-TLINz1e3Gr43TGsSJ6u7dnnBcszt432JeLbVyXpxq8r4PgpBhWeCD1PoIw96WsOAufoFFZCxt4KnpI3UQTxYA4QldUNEgbk-a1sbI7Jqg=",
  "id": "rs_025f18d313a80759016ab4376feda487d0b762ac4f3bdc63f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.19,\"left_z\":0.15,\"right_x\":0.39,\"right_y\":0.25,\"right_z\":0.15},\"note\":\"The cap is the short dark piece left of center, and the pen is the longer diagonal piece right of center. I’ll bring each open gripper above its piece to refine the grasp positions.\"}",
  "call_id": "call_lmwQt3ahrVNTO8Ncxxo0PywL",
  "id": "fc_025f18d313a80759016ab43771120487d08975f85545390cb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lmwQt3ahrVNTO8Ncxxo0PywL",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6735, 1.5482, 0.9234, -0.1371, -0.5434, -0.4225, 0.9993, 0.7879, 1.6924, 1.0824, -0.1719, 0.6064, 0.4538, 0.999]\nstate[eef_state]: left_x=0.3781 left_y=-0.1803 left_z=0.1287 left_yaw=-0.0089 left_pitch=-0.0626 left_roll=0.0371 left_gripper=0.9993 right_x=0.3792 right_y=0.2435 right_z=0.1314 right_yaw=0.0412 right_pitch=-0.0595 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.294, -7.2821, 9.5248, 1.7949, -0.2662, -0.0513, -0.0171, 0.294, -8.1846, 9.0462, 1.7314, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:399694492cb8e6a56627e53a53d2936c711f8a3bef520bca2cecf6fae0faf8c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19f055a92046c28da31a1f0ec4a38e11ad03e586d19dec2e49f3cf29c32b31a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9019b5c00c05fe65a0183e373e87288d5718bbe02a9bf30e3ebf857ddc0a8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 7.816 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]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0219, -0.0246, 0.9993, -0.0185, 0.7918, 0.609, -0.3759, -0.02, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0017 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4154, 10.5778, 1.79, -0.0171, 0.0757, -0.0855, -0.7316, -1.2103, 9.8803, 1.79, -0.0024, -0.0757, -0.1148]",
      "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]: [-0.6735, 1.5482, 0.9234, -0.1371, -0.5434, -0.4225, 0.9993, 0.7879, 1.6924, 1.0824, -0.1719, 0.6064, 0.4538, 0.999]\nstate[eef_state]: left_x=0.3781 left_y=-0.1803 left_z=0.1287 left_yaw=-0.0089 left_pitch=-0.0626 left_roll=0.0371 left_gripper=0.9993 right_x=0.3792 right_y=0.2435 right_z=0.1314 right_yaw=0.0412 right_pitch=-0.0595 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.294, -7.2821, 9.5248, 1.7949, -0.2662, -0.0513, -0.0171, 0.294, -8.1846, 9.0462, 1.7314, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:399694492cb8e6a56627e53a53d2936c711f8a3bef520bca2cecf6fae0faf8c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19f055a92046c28da31a1f0ec4a38e11ad03e586d19dec2e49f3cf29c32b31a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9019b5c00c05fe65a0183e373e87288d5718bbe02a9bf30e3ebf857ddc0a8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab437757f0c87d08fc91236cdc4a254",
  "summary": [],
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  "id": "rs_025f18d313a80759016ab437798c3887d0876b764479fa8f78",
  "summary": [],
  "type": "reasoning"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDeAh5RJ8KvB_5FrTw6j4POTGeoQ78nh2uKUI6MpSfG3ov3vdH2r84H3wh6CCaFNV3T2xROmb0x7AKH9ZpKhKiMNI6cKwV4TE2jyN9u7zZODb9QJfmzI0y0nLB9HvVAGroVHC1uoM1stA61WqlBN7ucpqWKg6Pb4jyUPGIsyVWgPe-FcVMg9hCMGDtdbUghn9z_lnV7roYHI97lDyDpxe7LxZQRz3DRtRRiA1gRwXo8F0jzaiAoUdXODfpcQxwfVJIbVlx-QyC-UCJeyN9PWgu0wDHmniFOCMW1bvN7QQ9R2gidRb64cOzpQ9Y0H0myOKqVAFosjd4MxYLflwyB9zn_rSrM9F-2D8nGHxjaYIrVSc6sSGbidsSyPRJENS3IOoxX-TKVu1HZes-ook8eqHcH5duxLLtdRBm0CLTvjvurRxksYhKKsdqDFubZb6wMVqklCsOBPBNP4h0LzLaSOgD8124oUMbb1KFecuDxAJLAd21kPmrLRg24-NL1hN_REsSz45Y_AJ1LOdvhjLoSn5AQEpfgR1D1VgWOGMpg_i7WiMZwJIj09SBBF5iNU8FmHcbgrw0oLTSgCu3B49NWyXkNnnbg2KJPMDdO_NAYEBwGy13_0x453IyZBUzqtitzPJtzDaCGhHCfPJx8PxgF2LBF44QripfBLpCModZn6o3r5OFn8IgdltC5_EQKPA22PTgn0crmuv-Z5rZzd1hgzzfdzcYb4yR35HLcnPNO5VK-vcmJJ2uE15OdXith1PyJZO4lkfY94S3wDxnnZg6Q0b7K6tqWCVatgNIh6c-tW5PDGqHYydM-Ju4qvbIH-iw30CbohtHPZ2suq2Ptsdq1KqoBrOcO-fAv9S2ZmE2pPnuk4R0oe78QFMYtyOpd5vJYilnLVoiC1GEH9uR1d6SPgJhW7-K8Li7oc-s_ytbGTK3dve9m-JIMNzkTi8qHpkfhcn_PId6Mjz1FWwhw6PXX9FtjgpI6y-1IZkl_wzFnUVye8qLFRZZ9NK_CNdq4FkTizbJ17AJV8GTz4ra8QR4eh8VzoqtneVijzZtz2CHmBbw7mYqJl8vNYzJVhRTpJdkg0zS17eOhtG4IZcYNf2pgaeosuGmG5QZvwNYoO7YKRRaNC-1CKF1GDMwOVXdfIBE6v8RMac9DM2eWvEs7QRzY5dR5-n4t5P-YOgadsAwqJ3KyEPr_V0SiOLyBh8LwKwF07uUq7sbBTD7KNnOZojE1e3lDVmobNmKrAyxB_r9RVkuHRwGERDIxLkBF8rv-Z4wTVpM3LFlJKsbizrtl7tLGAK27kf7C0JJKxmjVi6kev8M8jd5LNaAsnJ9nir97s2HjaXM7IVMsfabnMymxnd__S6P4i4OG-R5mR_Vy9iN0mRK1bCBC94w_lbTt_37THmGtHg4YEDUoLMSQXfOwmyS8pn5trULntvuyMhbPlYNo61KBX1pyerbn-sB_dlVlUwWsuFMYUFJJOxjW2RTXddTzIMcSrtceXmRy66aKq2YyZMjkyD4K_aS-CvP7g7BamXO9UybiwN-HfLKKLeS0If00UJUQi8xcNC7jU0I0HPFI_u9qfpglFde1yng33rb-6L5lk4ia3WIEshGVmKZn7-3vlM7hIePOKHFnRjLHxBOs35wAGlR0zhjXL45Ivub5cXjjC9dqw",
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{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.115,\"right_x\":0.4,\"right_y\":0.16},\"note\":\"Both pieces are visible in the wrist cameras but sit off the jaw columns: the cap is left of the left jaws, and the pen is right of the right jaws. I’ll shift the grippers sideways and slightly forward before lowering.\"}",
  "call_id": "call_MfMGRvfcxvn6mMfhCLINbh3n",
  "id": "fc_025f18d313a80759016ab4377f1f3487d0b7460d5eab3716f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MfMGRvfcxvn6mMfhCLINbh3n",
  "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]: [-0.4568, 1.5124, 0.8494, -0.0849, -0.4061, -0.2955, 0.9992, 0.5625, 1.581, 0.9165, -0.0948, 0.4488, 0.2955, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1128 left_z=0.1142 left_yaw=0.0316 left_pitch=-0.1058 left_roll=0.0514 left_gripper=0.9992 right_x=0.3933 right_y=0.1616 right_z=0.1145 right_yaw=0.0218 right_pitch=-0.112 right_roll=-0.0755 right_gripper=0.999\nstate[joint_eff]: [0.2393, -9.0735, 6.1607, 1.9463, 0.0513, 0.1343, -0.0171, -0.4171, -9.1829, 6.4068, 1.8877, 0.188, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7044b8655eec2ab4b8759d498dc1a94b1a42888f04c236ad7a5dd55e3e3cbb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a078cec0d33faa5cbe0bf112d743e376f97b7e28fbddb656a0ecdba85165b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cedd2a80d4fcbbb8222af79a0d6a0beae31267223e6b465ea2181b31ba58f68",
      "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 · 4.719 s

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

message 7 changed as sent

message 13 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]: [-0.6735, 1.5482, 0.9234, -0.1371, -0.5434, -0.4225, 0.9993, 0.7879, 1.6924, 1.0824, -0.1719, 0.6064, 0.4538, 0.999]\nstate[eef_state]: left_x=0.3781 left_y=-0.1803 left_z=0.1287 left_yaw=-0.0089 left_pitch=-0.0626 left_roll=0.0371 left_gripper=0.9993 right_x=0.3792 right_y=0.2435 right_z=0.1314 right_yaw=0.0412 right_pitch=-0.0595 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.294, -7.2821, 9.5248, 1.7949, -0.2662, -0.0513, -0.0171, 0.294, -8.1846, 9.0462, 1.7314, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4568, 1.5124, 0.8494, -0.0849, -0.4061, -0.2955, 0.9992, 0.5625, 1.581, 0.9165, -0.0948, 0.4488, 0.2955, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1128 left_z=0.1142 left_yaw=0.0316 left_pitch=-0.1058 left_roll=0.0514 left_gripper=0.9992 right_x=0.3933 right_y=0.1616 right_z=0.1145 right_yaw=0.0218 right_pitch=-0.112 right_roll=-0.0755 right_gripper=0.999\nstate[joint_eff]: [0.2393, -9.0735, 6.1607, 1.9463, 0.0513, 0.1343, -0.0171, -0.4171, -9.1829, 6.4068, 1.8877, 0.188, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7044b8655eec2ab4b8759d498dc1a94b1a42888f04c236ad7a5dd55e3e3cbb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a078cec0d33faa5cbe0bf112d743e376f97b7e28fbddb656a0ecdba85165b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cedd2a80d4fcbbb8222af79a0d6a0beae31267223e6b465ea2181b31ba58f68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeIJf2hNWJXwSi6OKAy4w4GO3W4gIlxIGYFM1rxcXTfc9eXcq5UJX7On8M_mpFDvF6OuUuYonwAn7gGzE5LLxBrDzaXkFeDU5rstPMH5KZtpJb8OozUoV00hOqMX-jkvT4LDNnEdeQV2pRQ7k9ub60yXCFe60yHvjZVmqJSzfqLVviWPJD3syJUojZzYaz13oQ1EUD_8knHh0Nd4bFZnK1icswCIF9P2FmQiLs1e01gghYapEMTh8OGEietdywjZE-bD2mUoiJjxkvzZJYXaByKYBSTIl0keBcr40LDTrH2NDQb86xUn__LOGuGka49H4h7q-OH5-SpBA6_7bB_srwRUcEmU1q1jmpvBmhV-yRb6M0VSs15Wqq2Wh26efCzJM9xk9ORJ3O-WqoQvCOKeE2Zh9NeawNPCONMVr3MG0RgNKoFVqNk17LIc_wnTUvlY9CH6GTz5YD1ZfP7maIEHBUIr5YqXaWYvFLI9v_7LVMosZE6xuQvvxx6cuU2-p09viBq79UwVCu5ZTPDuxnMDtb6uJ8R0lyENBkPpU_6Q02nyaOYYMD1CC75x-iraqMWPRW9M-sjh0FtE7Xy3VdF1P_on2OsLpgONlg8Wq9Hjyj62UdlFZYoAboOLlOG6BQYyHiYd3oQqtcPNWLMu4LMTG0cu6uABQUWOO7RSoeigtugwM_m-Odjx5Ja1yycF6ck_69wadZgaGjxqSYDR2nNdeIztj6-QtUCGeME8AnTAcRkFoczdhanUdSv-gutxPO0dvpPMJPwzJGLFifpRIEr-bGcNsS1GX2OmpNyrHZSLOurtmkWi1-58cQEC7MYa0QUKpCySCg9kQVCbOFEBsmlir-bBPobuW96RzlWKsZz_t8UvkK1aF2eqlFqfKS9NXWsw1PNdb1w3-PFqYYHOIxao6LZfmGpc4OncQCZT5QgkPKIUdYdHNLvr_6yFWg2lJxzWxGURKRuZ_BcXI84xzSDF9GqqiAxLglTp8sP7n2-c9dITqSsjlHbrtRedXcKHaKI7kFb_Wdo3qeBxOcfoK7YVb0BXymQ6rNjUKCgLiVXUUaYNm8v7UobkP7dq-7wV2M1AOtMYWohy1td6nJ6fyCKhEKqOOY2ORAYkDk8g8tDwhNXJi3zv0ka7IqGGeGH2TON8dqgdR0gmYI1U12cPC63emE2Vg0QruxIPcog7TIn2HxsmJgVth8ggqUgSPYJpqEzsULT8jFShhpWmi3PIbzMi9ZfPtaCNo99ZQbUAMees7EJ66ck80DEn99EpkJZBjoGuCZDEJpEh8x8DSqNaQGh3ptvRb520LLW4D4z_CIqzLwxMGjmyMAvBv0DVyz2AMEYONZ9cEuQ8XT6ui914Jp8-TXt7n4qWZVof8vqu1jLMMDwVOzEIZpl1wHnuYKtcRjVaVIKBoMm3qKxAjeVDO1qtKZxhMnkWEmWL9bhaADENgu_1HxGZtoikv7t2W-gLRZdkkO0N6lpQ2qSyepKcQ7OL9xDgNRDrfp6BZaqNhAr_kuZ-N0KgzdfdquhimpX9r0bptZ7oV72Lp06BsY5MyJ_AGTfnRNSxf5DjkhlJ033efuKO5LrRR1TUI5F4RK0L04fkVmyEP-qdCXrZDtbTxfH3J-PLfj_h79-lZnclB2s3WY_xeITmxnbkGNKMUZ6pTSsujXQnZLwEdAAlyFPlU1PbzHI169xFBI-uPj5fPvjssYM28Z9KpjfEyEyEhwPnOZ9WjmEtTuVE0saRl2WpWRaPHX-4asG48xWlg0GTt2RB8zo2JQHNTbAm-FPerz4GBLdcnHCwQfu8vKfIbeB8PHmlrc4PobR93y_Prlv2nJAYxm_AwrTmKBfx8Rl4QHbbzoi5n5mcPC2LFpn4BFT-PezRLWdMLzmkgEQEGmQ2em56S02In-27iNQsIvWDcURvYH3L5NWwwL9lrmczfwKpVUPCIz_HKjL0QCt31npRmwl6UpUdCmN_kvciMBIpOTnaodUhMA9gf0Hm13sHzvdmSSbsXJCyWddXix9q9PIwqA6ZYnEI2VXfORNTqp1XBgbYjV_MkuP5DpzfXletUhn23DDXhTw2NTQbmtKNxLEbj4ZmqVPy7kB0rRSUhX7hZAZeIyGCMdjp6tn6GoSuQ_IJEQOlFLKMe4eoXhfolnPUV4SiNBFiyv9WKmI8vgAs1hD72Xhl23hfXkeBj-Ezsui0JaNo_uGfF2-XpLNh_PUFwzWA00QqoLElVVJMmAtdwJPUoyK-77i-U7GiBOerRWhilzwlW_PTRlRrirkYzwW6Tyu4LiFeIT67jFCWIQQ9tfsKYNtjox0c5ZbE4-z0RkJb63_LylbzzYOM5QRTCWJFbyzzegj_ASu4dz9pY5FE3gFf4cYIVVmPP2SwZhlsUJ0WyaTHEdCYvaV9sUJfEbu85vCrFpAhbt-m0u8L-ffDJzbgQ8aNUBff-GTefurqlqRhgCtK73-VRr9GtA5NHmdsZywBWY0UD05VuNNh0U4AMBzsFsN3V-J4QTDY9DdVdx6m2vwlX2tIzCuHnrC-B1Z6zKksxc3_RxNEi_kh9pjWyOVNycTB2MXE5Yye-7vqGSISfmSFNQCoMRNar2TP23xy0anq8UHtAomvQ5FocmIkGTWp4RCuODTJV6qKGU24drYDS0NxnplLhm3_-MF2Op9SGG-XDNXlttfQox7hnh1vphQEWBXouljta84kjzX8Y9XuJL6JJ-RUYa_aor6z4ytsvm5mXFp7sKWf-4WBBF01YyIDq5j6k9_2PK7ZNm8P_P-jygaswrL2U73fq9HnL5ocWm14-VGJHYvWSDWDUvsCGfXRaNXU6jr9KUj29FYxB1T5GLi4EPCJtjy7z78eAZSuIIamK0yMeG9LL1Q5fk_mHdvH7c70kG8JGK9ne_n7joRaGfcLPvfyeCJwxOSpWGbNHuBz3bSNZWqekOsu3wmo3T2OAe7X4oL6EloXfKCrYXU8G4VkyghGKh55hzuDWhTn2Vz8RpxvBFlfUGkKgm8y2Ydiv9zo2c8H0bYy34oozSwnOTyIKnx0WS50QR4xVZhsPypGRLmcrf8U_cm6CinLRQQEw1heB2v6ActCKo-497AC3uV68OqIzKSVyVD5qTpfnb5yMm540iqvYGmIYyssK4IwE0cdOKnP3bbEBz8UfKqORAf8xWl5AxyP5dbsUnaB2RBQaFWWq-2FLdEiua8DGN6OKODo0Qk318BVjYY0143LKIWuCHNmt4brps-j7lLUWAvAppaOBDhTzVXyeb-tU7Sge6sxAOQ8h_bNjT_f9SDyro99PPmCv6N7ihrIIy7rsjgUb31GPiwsAtzzwaWEg2CY5QIyI95SQvLhu3CG9acYcRHD-k0FtA2clVRUir0GVbxAAuE0dyBWSzKXWH2I9RGjOdmob0IWBO9Mh-AK95Td4CCN5LWv3-jg2nROADBAO--zlGtO7I0ilhPp4k88IEdAcw_nHWhcN84-XyyAVzFKSxyb1uRnYO2I2VSMzTjJjL0fzHg3a6cmJ-miU_JXHRFr1rHV-wwqxmtipW1vuJs_IphP69iv0kJ4d_GRccDmpB77TqlU5-yTIcnm0KUVQ0Oqq5tc7bwaVgKza2bsV6jouLmNUkOChfRG_Q3wMnfebLGB5ddUABcT09zEKU0ZNt_xgD88-owS_o63vX-9mtpZ9ou-kj-6WqPMcrr7kLVAQLbdAhh-qac13FvFrjvATqFTp3dmx3jD0csoSVNyFVusF_fIMME7qX4suZsud_4RKOyW-qByZt9ap38CBx0zNTjwwQHf6l4_AIxUPSkOB74BpvkkzpjOhc-ogdkWu-iH3erl5U1PhUvAXZYpXhRkb6WUw56wyJZ",
  "id": "rs_025f18d313a80759016ab43781b17087d0ab85b88892646957",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeIbkj2ZIEaIhdlY_HRWHV8hcV9XmZHyi5gO4X8tB18ljYg-jM1CXCPsrSrMv7O9tpvhxjhlU6QL-MOE_0vbPBz2xmvvKa-DSGqKzxvFy6QjF1BCUpiGYM9rQPZPa_9fg8KNUjtqofilBYk74s97elwfsYcezo5hEg_QMT0sOXKtmVZIdtMgtX7pUfhgkzFqu9luSsms7dJLrd-Nnzr38FsQQC5Fie2guMnvIXM2oct6JoT8JxDSU72qEx-U5vdg9bmKUpa4JkCP8XUNBefKGHRsVzVl_tVYPXh4sfC-pYgj1XKxAa_4z_uH6fQFf5jYOdfzYTtgnPIM7ZnR5GLc8m7MH6jSCEcVCnYvkBZ7aUqK9qPPiO_oSEXb6m9eGwcd0RiSHFoNjOru047XGIrUAJ5d6X4lwWE2vLmS89vI5MqAQgBSHuRRTtPFydu3lpVoNMOavLqjwTutkVU5gtKr3l2SjLRa8Ia3rXTSnxcBFfHymPAD0fd-oJw72U7u6DA0m0NVoc2bH_jhIZpUO4tJ8y33yZdcU-39AiKtcVuA9tCKM6p9P3aBxYy3GBYvj2lLRzYl3Dc0K75g2VSEtqdXNAAS6OiEkAte_MC1zo_KEkRRO55b35QbHPcO6phfC9Mu6VdnCQ46Jh3AKLcpTUU1z2DYEGqQX2uRcnZHH0CaI2OAE9GnDY_bCwCRDSmHuXGWfGb-INPLCvJwzuxAD4-oZgeAI2KdJnym-JrosW_zA2E4FkW-fSlRNRkLsr8W81zrLo2O2-E8wgzwzLBqRvpgRU67V6A2FtyvSFNDgmXSA_dIqZl_2QE3hj5lUy_Fn-znhiJLbefyJMCTSLBy6HHLTz9KkDtIT00uuxzOCOE3VCNZ8ok9hUMpGD8Fv8jDHIf-owKp3vTloQ4mo4X1eLF6E8CXhIkMaD44ExX_lr44Y6hHt3B3X2cqgXvgF9OJHZ-wGkHvOj2Q99D1UE20RD4MK0o8vKDQEi-rQwTHCwOgf4bNn6dPENcQBUqx5e1_wxnwJm1DrVs-fjTtnBuGN470vvhmhsfEW4Jx2dyXmSTlZISHnjkBRgNE_n6zKj33R0Km0jqWjSXPNCiFBmo1_9oeGDcXM6P1WPRyEm3kjojtctWBHzR0BFqiC6ugLF3nPEYeP8USpVrs2aZMElGODrZP8L3N_hqRzCLN5NeuPbiuyfd7i5QOTn2gKMpA3-tzEu62P_VN_A82Fx_rAggINtKCxZq9E5JYtdId48wdMcmBrEqtjE_QuCyAOay4gYsCB9I8h04g5Mop3eV50Hh2S-UuwAfztplVfOLgtdYzaofHciP6wDC9Uq7IzsaYNnGcqtVU8_mZKqdo8hko_Iek88vCnStYf5dkXFhovLp2F6iWTKhetL31gs4xhWSIcqtXbnEnAqNLk5jYfzBPL15bmjjusxsxjVDhn5v0bRX9MUxM5o1dZbmu6Yziqt9eUOVYOpIASXyLRZT3Gu__F4eqhRt51h0LuNS2b_1ibvRu-zgAytka1jMCL2_X_2cCqxdpi8PIf9oAhVVYObwGitCFF9LocQm903wDn_fzSJiBZ4NL8_4GuyalFzcdzBt0OgnW0Dox5D7NEHUnTEoYfAIpoYY-Ulv49DdQkkWZX7ovjaAJEkndmpSHLOZJBK5umRIENs_Hj-cEwXnhm7J3RbUxENP9-j_Hd1AYFl1FcwKf-YyrGVPNM2bSF3tDgMs8OLRWgLHtc05oPriKD-U5_D1t_3O7p7LHQxXD_ddtEce4bW0HMZ8AvmlHBwIaIpMPfz-AMkgupUjUd5gfV324B4rT_qtBLfOY5Lu5ZICWtTTwCQPJ17mXjy0Wf1VJp8UYje7asAy8fgC4187Oq3AAL4XNKQonfrUPw==",
  "id": "rs_025f18d313a80759016ab437861fbc87d08c1a39b076ce4b36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-0.7,\"right_yaw\":0.55,\"left_z\":0.035,\"right_z\":0.035},\"note\":\"The cap now crosses the left jaw column and the pen crosses the right one. I’ll turn each gripper roughly across its object and lower to just above the tabletop for a controlled grasp.\"}",
  "call_id": "call_kJMP0GWc40sZEAHiGVcdo6Ld",
  "id": "fc_025f18d313a80759016ab437878f3887d0a5a444e26d9303f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kJMP0GWc40sZEAHiGVcdo6Ld",
  "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]: [-0.1322, 1.7016, 0.6647, 0.2214, 0.2443, 0.2584, 0.9992, 0.3389, 1.7061, 0.6777, 0.2825, -0.0196, -0.1085, 0.999]\nstate[eef_state]: left_x=0.3878 left_y=-0.091 left_z=0.0177 left_yaw=-0.4968 left_pitch=-0.2142 left_roll=0.0114 left_gripper=0.9992 right_x=0.3888 right_y=0.1445 right_z=0.0274 right_yaw=0.4091 right_pitch=-0.1885 right_roll=-0.0683 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.8017, 7.8154, 1.7753, 0.2418, 0.232, -0.0122, -0.335, -6.8581, 4.8342, 1.9463, -0.2857, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcafba8286ac7e5b651bcc50b30b33468dcc441f1d9607bd738342221b7be2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d6cdaa5d210f2dfd164db0c6ba8352981930c3f8cfb333c92fea4fa333d407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e3f3cd808657a47be4a4b7f39e1583c99abf7a986bb530abb78cb1c3a4a3a9",
      "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 · 2.14 s

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

message 2 changed as sent

message 13 changed as sent

message 18 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0219, -0.0246, 0.9993, -0.0185, 0.7918, 0.609, -0.3759, -0.02, -0.0128, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0017 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -1.4154, 10.5778, 1.79, -0.0171, 0.0757, -0.0855, -0.7316, -1.2103, 9.8803, 1.79, -0.0024, -0.0757, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4568, 1.5124, 0.8494, -0.0849, -0.4061, -0.2955, 0.9992, 0.5625, 1.581, 0.9165, -0.0948, 0.4488, 0.2955, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1128 left_z=0.1142 left_yaw=0.0316 left_pitch=-0.1058 left_roll=0.0514 left_gripper=0.9992 right_x=0.3933 right_y=0.1616 right_z=0.1145 right_yaw=0.0218 right_pitch=-0.112 right_roll=-0.0755 right_gripper=0.999\nstate[joint_eff]: [0.2393, -9.0735, 6.1607, 1.9463, 0.0513, 0.1343, -0.0171, -0.4171, -9.1829, 6.4068, 1.8877, 0.188, -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 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1322, 1.7016, 0.6647, 0.2214, 0.2443, 0.2584, 0.9992, 0.3389, 1.7061, 0.6777, 0.2825, -0.0196, -0.1085, 0.999]\nstate[eef_state]: left_x=0.3878 left_y=-0.091 left_z=0.0177 left_yaw=-0.4968 left_pitch=-0.2142 left_roll=0.0114 left_gripper=0.9992 right_x=0.3888 right_y=0.1445 right_z=0.0274 right_yaw=0.4091 right_pitch=-0.1885 right_roll=-0.0683 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.8017, 7.8154, 1.7753, 0.2418, 0.232, -0.0122, -0.335, -6.8581, 4.8342, 1.9463, -0.2857, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcafba8286ac7e5b651bcc50b30b33468dcc441f1d9607bd738342221b7be2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d6cdaa5d210f2dfd164db0c6ba8352981930c3f8cfb333c92fea4fa333d407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e3f3cd808657a47be4a4b7f39e1583c99abf7a986bb530abb78cb1c3a4a3a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeNi9ZB3sP-7tvhoGN_hr_WcrEDLKBVupsQ0oTyaH_kelAxIKJGR0FxWp7gcdsuxdYCJf6tiel_GraAGAgUP8x0uKCF84ttU0o16tdFlZRT6pCvzGQP7YlnK_t91rj10QQYv48NqNRgwuYap4XekBfoiHC9cgAaUb35QPyM6Y2t9xZqNYAVHbhec-oQl_vr0lUhFeK7BhBv7JIDMjXjyO6CaigDxHT57LlpNORm8XiUhJ-B39NjbHS_6o68RZiul0835Ydl7F-8A8z39h6i8g71BGpj3QdZQYHuRoePTraMsJT_xNDiqwXfY7KOOgzAbRhpX1hFhUHlO0C9ZtrsIuWDb_YtG-Hhf2V8ZABI61hVIR3k5fPaIpvreewyxEwN6SaF8A8LS2MfZi5GtDT_ijMybK94hzSw-wgJl_ZmDqQRbzKRNaoXFAREFMILACt2J101coFgwI7lW1GamJZxEotWuuLpym7EC2BY2gwkU5KDA4VWx9gyr9gWuFjklaHGrklAHI0XKVu3Xyqv-0FkAoEHTaho40-enib0_M2f6K3diOjvmgGGPE_UvXq_rh-BKBSXYxQwqSp7rkX9t23AQ4hO5MpFmxrrSO-3fYrr4BfkxJEsFahpmynTkA1DQJkYjCUjPx4aHyktWNtPjanBZ0aNQKX3KUwJZWfIuJV8qQhAIbNdCuZt5Df7grxg6gGrogkyOa-RRx8xul2NqsuYq1LxqjBJxvJ6uJhQRQ2-oq7NPQi0_EVXYAm1yZXP4YSmzV6NUqavGfLZCcbFnJUuRYSrjbQod7Pg2lfg4HP_iHdHWZQJ3MwztNMWzIqaBUouA1amt-twdyRkfxAPl_6EUFj7JnmVwg5ZaDFOZGgmBOBqQlwMZBuSNiDD7anpx0xgSn5CEwOH7ZSUOO3CYRRTHw2nY8zVdfm8HUpePIFk4yNWQawk5smHnLqv_gMsAJn6nsf6gcFrw_33gqtSoX-4yGqskNtDw5Do0pz-EUGnlhZOYNl6zZRBEQh5V7CUG0S-fLuwv5kVmlfXwUIb2FaN0h9r4niaioX-PVnnJJxlAscr3JEMa9uhuA19zXEBiCWB-5vcWlmDEibUDwx-8zxi40a5zjA_w9y0DL7rv2TFmh4nIaJfFA6ONM3LZ2HiZaCeF5fABusOo--kFTYNw1vgwGMemp3XaUZOMeymRns81YRghdQL3JzVbRqug3FWTChRCEwBfKmZmFfpTlL5Mwe5na5B9xzwlhI6B_Z6ey089TgxgxBd_2oV-5z-t59hdXcMgX7srMdwuxZQLsh5r4JJpPJY7qmCmCzwMoikAPtl2N1cT6u8kZ5SwuZB-l5Gsf6khdLTRHlNb1DWGWjiP8qP1JhySiEkarUvusK8b5RGb1qAUtaxe4rpJ1CjJ6USYWvyuDeSmHh-hb-ZzbYxZLbh1dO3JMJPK5vpBXnxQo3HoZgt4_Sklp-zzJ9XVwPnc3sOS9AZU8UWJg-YO-0V9M5qgj_22wV39Pln_hbFKgKsEjN6VxKlGKTtJGN0y5EbTxrm1cVw_aBVhBgpTOtXJ9Oe4djlCDaR7Ibo4UlRJaSVjsVq0usANiLTd_y9sINCK3WDa3vTCcRiuZEX14hUXWmnF87CUGc5eyvL1PA2qF-uvH1a6i-gYS14U3Tg8U0aV6S_F64I-jqQc_7JTeyKpKbiDu2le25QhgP0J6Q0B9CJ5QU6REOTIwuwrGBB36Lx-PrfwHq0gCLs_76eLSrOB21cFzhUD-HGpxJKQBux9BI9ZYppe-ouih1e_e3UbIVqwULgZ5kv55_BzYxNv3bql6uZmSFe9ptopB_p-vjgRRaRbjSTRQ2UhJJgeBuat8FSKtS0lGVTD-jHhlXCQiVe1L06_sqaQX3OkLRlquQ9sNjyzy2-7OmsOoCk8of9KOgMp7GKms7Z0bDysh-ermFvdj5WqnFDFEqAXHs937qnofkI3LOMTukzEv93askRePaobOzu9aN7G5cVBmrQqSIQmipVEg5Yy9mEttjxHS8W3cHBwOtfzpUSJ9ATF-5Uqm_EfRam2Z2dC7uiCiumwvI-rG9tweWos-TtINYzqiLG0fJNOM0zJqzh2sliicOmrBmq4lbDMTIEL-h5R8V9NmOCMrzrDXPjSqeKe2d3lwwRAQ1kME_PF0Is_qWa099WsEY1Bk0HXeYfBdTBWnjBXSr0aQLUKICK9AAMgC6yaJG-E0OGxaPiPEPz7_Ex_-WKGjxYlYYHsSe66RIKgwS-XhE5R50G54V7eEkxKSqo1QYgpR34pDRFC9RTNDNyDxxXIR-eEkTxnyEtBnCD9ICdXt8mE2meM-GJkwJCDYTX17tyvDqYBkmVSW0zpIHh4itvJ-neGmGEqn1YXSOISDBVoismAEBvbtrk6R6oF0vB2Hr5Tixj-a6YMOX44CW-WwjRP8UFt_gwaa2-fPrgnO9mmEh5pvHh4qLq-MRLtARVZId3VY3A2FwdbrnZSyRNe_mHSnax0WXrSxR68a_2tINJjFC2OI4YyOifmIgVytQ0YIZg92Iqm_za_oHpML-v74pFkO3HHegJNhStzrzK6X7PwjJv_9ZOHsCqmtmfxUjli4JdrWaTqWyqEhcCnePVSaf5pf9a62O6wZqJEVNKCorb58nsoxOEU7iGVRTHIgjFCCbPR93yeoveoQntg1s3Tr2R4m7OEGDIDV1gg5oz3PNaxcadlorI-C2u1l1_RoCM2H4d5d0Rns2T58s4WpKpw3MRe1FL_P1IqSU8",
  "id": "rs_025f18d313a80759016ab43789e49c87d0aa15cda7bf6c1e8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.414,\"left_z\":-0.008,\"right_z\":-0.008},\"note\":\"The pen runs between the right fingertips, while the cap is slightly short of the left fingertips. I’ll advance the left gripper about 2 cm and lower both to table-level grasp height.\"}",
  "call_id": "call_gpVLLtPtpj2aF3BnRc3D0lVE",
  "id": "fc_025f18d313a80759016ab4378ceaec87d0b2f25193499b2f32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gpVLLtPtpj2aF3BnRc3D0lVE",
  "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]: [-0.1207, 1.837, 0.72, 0.3103, 0.2951, 0.3107, 0.9992, 0.3355, 1.8118, 0.6449, 0.4286, -0.065, -0.1291, 0.9989]\nstate[eef_state]: left_x=0.4075 left_y=-0.0976 left_z=0.0003 left_yaw=-0.5554 left_pitch=-0.1924 left_roll=0.0185 left_gripper=0.9992 right_x=0.3886 right_y=0.1514 right_z=0.001 right_yaw=0.4557 right_pitch=-0.1786 right_roll=-0.0534 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.5026, 5.3402, 1.1453, 0.0269, -0.232, -0.0171, 0.1162, -6.4752, 4.8752, 0.5348, 0.5153, -0.2808, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ab707af4b765e1e1f00ae6b258ca53b91fbc60b264bc72a1e384f93f64668b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d08107deaace37b16df6b9f1b1cec4e57934963188b1fcf51bcb949c0757f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc71dfed1d2f5b772a22bc99cb612ce6cc7386398db81afad0f6edf693d64276",
      "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 · 2.9 s

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

message 7 changed as sent

message 18 changed as sent

message 22 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]: [-0.6735, 1.5482, 0.9234, -0.1371, -0.5434, -0.4225, 0.9993, 0.7879, 1.6924, 1.0824, -0.1719, 0.6064, 0.4538, 0.999]\nstate[eef_state]: left_x=0.3781 left_y=-0.1803 left_z=0.1287 left_yaw=-0.0089 left_pitch=-0.0626 left_roll=0.0371 left_gripper=0.9993 right_x=0.3792 right_y=0.2435 right_z=0.1314 right_yaw=0.0412 right_pitch=-0.0595 right_roll=-0.05 right_gripper=0.999\nstate[joint_eff]: [-0.294, -7.2821, 9.5248, 1.7949, -0.2662, -0.0513, -0.0171, 0.294, -8.1846, 9.0462, 1.7314, 0.5397, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1322, 1.7016, 0.6647, 0.2214, 0.2443, 0.2584, 0.9992, 0.3389, 1.7061, 0.6777, 0.2825, -0.0196, -0.1085, 0.999]\nstate[eef_state]: left_x=0.3878 left_y=-0.091 left_z=0.0177 left_yaw=-0.4968 left_pitch=-0.2142 left_roll=0.0114 left_gripper=0.9992 right_x=0.3888 right_y=0.1445 right_z=0.0274 right_yaw=0.4091 right_pitch=-0.1885 right_roll=-0.0683 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.8017, 7.8154, 1.7753, 0.2418, 0.232, -0.0122, -0.335, -6.8581, 4.8342, 1.9463, -0.2857, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1207, 1.837, 0.72, 0.3103, 0.2951, 0.3107, 0.9992, 0.3355, 1.8118, 0.6449, 0.4286, -0.065, -0.1291, 0.9989]\nstate[eef_state]: left_x=0.4075 left_y=-0.0976 left_z=0.0003 left_yaw=-0.5554 left_pitch=-0.1924 left_roll=0.0185 left_gripper=0.9992 right_x=0.3886 right_y=0.1514 right_z=0.001 right_yaw=0.4557 right_pitch=-0.1786 right_roll=-0.0534 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.5026, 5.3402, 1.1453, 0.0269, -0.232, -0.0171, 0.1162, -6.4752, 4.8752, 0.5348, 0.5153, -0.2808, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ab707af4b765e1e1f00ae6b258ca53b91fbc60b264bc72a1e384f93f64668b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d08107deaace37b16df6b9f1b1cec4e57934963188b1fcf51bcb949c0757f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc71dfed1d2f5b772a22bc99cb612ce6cc7386398db81afad0f6edf693d64276",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeQYXwoYcWkSAxPwNh3Q2AfS4a-E1juCPpxuaTR8mPSM6SpLRUZpU6wgGFiSF0jderuJZqWjR6q5nY0JAgh2cX7Wieij_bKsueG0vgPbG9guEbdRKN4lrQq6-WPBJwDA_-PlYg2CUlK9FueGrwkk2p8EpzNKyla-5XPKr5DHTO7A3UgtX3p7iQAVD4pli2kokGuPzCeWcs0wQ5HeNC2a7ju1jx1gAREHNmCb-6kg-VU3CmOYR0ieV0cyI7uoO4CeczZiDXMUH3Hzs-sLWR5OFZ0wjE_BEu8nhYHQQyl61JTD-9wSvdg8Djw3avFibZwiUjRRSGRGXf2uLTDx0y5bgRC-fd6SberMnnMsQvv_rrzk4e0gGdm52hZjgliC5lz0xuGuFZslFhFD8Cipdv2Ir99kFtfI00NJIxtg2g9SwgHseh2QMaVfUwfJwGUYI1cRiPG0khf8MK_Xtqq6DEn86iQvRu6iGECdgF-B7h7X3moShjUNcuYDIEvELu0geMDtfuZ-GYNhAbjKy5RX-PrtuGSAn_9QT4bEg26m2Yc_vEw6gAaFLzvAuqlMzOtl1dU9NGJFVQrSBw1UaMiXV1BDCsqPjeVQUcYJleKOVmKJIvHDUJR2uT3dTkbzQLr8xAgoh375RmImMR6Ms_zLxZHPUM9SFQ9Sgnt-mRht00kNTrksMO3BooE5t6wuWriwolOCYe00941UKJHQMkAMUka28n99DOHvYMz649vSENROGCnaVMQ-xFIWi2N_B5aX2Qru3N7RgMnBbcqjJIP58OIqPWv-B9RDS4W-k-FiEFhs2QsO05xHGJI6YIrY4qgVVg-dQ7B5lNiqA_abhFMAojYv5fy9JI20B5q5EGGXjCdbBqxs2Hi61TphHWm10W891K_1DZc93QNrhSYaPU6SAjCmBykXo4V9WMhxsVuhTwtrWtIHxvo63Uef2M9BmZ0LMpNI2p2QTKoXjdXogwzwb3_eRcXr2RTwBaFrzX-APZahwCpHtpKLAKYaVueBJ4V8ubfOvVXp3kAceXgA1P9jya5vAPdxey302R6zvoox97mECsg7yAZlejB1R8qyqQSB_nNOCyOlHnLiNPinLDtvECS4Ii6Som4JwrWAsB5KovN_r3MQff37NQRxCdnYHffXh79j1HJbAoL532V0i8Vh62hsk6050HRzvVontT4G3gJTovk5zSEhU0zFh_Nld-XXt6zlGeqbaFuZQhjXhnUhHpZL_1IlJrZMR1k-bqmRMlsPI3j9F99RltFktVH5JB3gldit3pyWKslIofyUGBgpJYIo5TM9dl6ORQh3cwVKmzYYnRkORi5xWrzcaY_5TnMDV3H2e8UNxaQ4hFcXmTew6Z6AXOSoAzSA867v6aXd_OlAVlKt8xXUr8Oh5EAKE1sHIMFm2SvOjWs6xzLUiInIhW5XrDWYaGwVDRLz2a1LKAgu-XuV0s=",
  "id": "rs_025f18d313a80759016ab4378ed26487d0bc7240b5a8cdf91e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both objects now pass between their respective fingertips at tabletop height. I’ll close the jaws and check the settled gripper openings to see whether each grasp holds.\"}",
  "call_id": "call_NUb5if0INt4XwIL7Q6QWPta0",
  "id": "fc_025f18d313a80759016ab4378f551887d0949c33f9bc6f9064",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NUb5if0INt4XwIL7Q6QWPta0",
  "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]: [-0.1204, 1.8561, 0.7361, 0.3351, 0.2607, 0.2642, 0.0457, 0.3359, 1.821, 0.6392, 0.4706, -0.033, -0.1101, 0.0483]\nstate[eef_state]: left_x=0.4173 left_y=-0.0927 left_z=0.0009 left_yaw=-0.4996 left_pitch=-0.1815 left_roll=0.0157 left_gripper=0.0457 right_x=0.3941 right_y=0.1476 right_z=0.003 right_yaw=0.4179 right_pitch=-0.1533 right_roll=-0.0632 right_gripper=0.0483\nstate[joint_eff]: [-0.1299, -6.9402, 5.3265, 1.2576, 0.0269, -0.0122, 1.0818, -0.1026, -6.0923, 4.3419, 1.4628, 0.0904, -0.0415, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a8f05bb168609d61bf10f87b2b3637f176a0ca886d3f7505d06a9c73b0d88f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2a632260b8ddbc97ac01fb71a332fd36cc211838185c4f50d2316ed8fa4c23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7603575597961ae219e0f540efc716dddf7dfe30a057c14f6b23d0bb0b299b72",
      "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 · 14.39 s

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

message 13 changed as sent

message 22 changed as sent

message 26 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4568, 1.5124, 0.8494, -0.0849, -0.4061, -0.2955, 0.9992, 0.5625, 1.581, 0.9165, -0.0948, 0.4488, 0.2955, 0.999]\nstate[eef_state]: left_x=0.3959 left_y=-0.1128 left_z=0.1142 left_yaw=0.0316 left_pitch=-0.1058 left_roll=0.0514 left_gripper=0.9992 right_x=0.3933 right_y=0.1616 right_z=0.1145 right_yaw=0.0218 right_pitch=-0.112 right_roll=-0.0755 right_gripper=0.999\nstate[joint_eff]: [0.2393, -9.0735, 6.1607, 1.9463, 0.0513, 0.1343, -0.0171, -0.4171, -9.1829, 6.4068, 1.8877, 0.188, -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 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1207, 1.837, 0.72, 0.3103, 0.2951, 0.3107, 0.9992, 0.3355, 1.8118, 0.6449, 0.4286, -0.065, -0.1291, 0.9989]\nstate[eef_state]: left_x=0.4075 left_y=-0.0976 left_z=0.0003 left_yaw=-0.5554 left_pitch=-0.1924 left_roll=0.0185 left_gripper=0.9992 right_x=0.3886 right_y=0.1514 right_z=0.001 right_yaw=0.4557 right_pitch=-0.1786 right_roll=-0.0534 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.5026, 5.3402, 1.1453, 0.0269, -0.232, -0.0171, 0.1162, -6.4752, 4.8752, 0.5348, 0.5153, -0.2808, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1204, 1.8561, 0.7361, 0.3351, 0.2607, 0.2642, 0.0457, 0.3359, 1.821, 0.6392, 0.4706, -0.033, -0.1101, 0.0483]\nstate[eef_state]: left_x=0.4173 left_y=-0.0927 left_z=0.0009 left_yaw=-0.4996 left_pitch=-0.1815 left_roll=0.0157 left_gripper=0.0457 right_x=0.3941 right_y=0.1476 right_z=0.003 right_yaw=0.4179 right_pitch=-0.1533 right_roll=-0.0632 right_gripper=0.0483\nstate[joint_eff]: [-0.1299, -6.9402, 5.3265, 1.2576, 0.0269, -0.0122, 1.0818, -0.1026, -6.0923, 4.3419, 1.4628, 0.0904, -0.0415, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a8f05bb168609d61bf10f87b2b3637f176a0ca886d3f7505d06a9c73b0d88f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2a632260b8ddbc97ac01fb71a332fd36cc211838185c4f50d2316ed8fa4c23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7603575597961ae219e0f540efc716dddf7dfe30a057c14f6b23d0bb0b299b72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeTfxQekSEDT4LGWzBNI8sA8kOo0im2JUaF_T1NwwgmMrhEAkjP-SBFoSRYOwYEZJFyVZ5ZgUY_FYt-7Qi4nVc4cTx3mwK5EaB6ODnbkBQ2u5bNY5InYRk5lRpjDfj9Xwghq3f4scwneShJXHt06RCeGVZXuv4Wg_BCc-c-CxTD6JPgX4TDAVk8mnt-EsQ5i2A68epnxjQ8xivWSie-WXv3rlkGcVXBcU2YmxHEk6-FisLVXbXOJmkHROkLbqPwkX8-V5ugSj_aT-GymbiObGLoyIm9XCHqTzpnc4llUVdv1lhrwK-CQXVJ2JRRqZfxqfZVuLwd0DbcMhoEyPkImxrBdps363XUPVzRILeZSjiXSpnoweFqyABvBXfsCNJ1cTc4MYazmaPFlmSup5HluTC7FwIzDGwNMX6BY-UJmn_M77TE5i43TQBxOLGjeVkCRXmr18mKpyujQPPSWE06dRGLVUzBU0IVOcNPRBVLoXzS445V2jKvHN2HK-BIy0HXh_IH5UlyKs1Wp9s1xYeXM5g19tupJGlUcd5fClPWOQVkt52mbj0nKpetvCQE2rz9F-lV1tl61tkohM5u-fFISnWC-Xm_Oz2pN_GhCoTTiFMsYKatSWGN70pNCVoIhk-H9Z8aB6lEybj0vBEEbYofA7gNhcVsyHG2S8o7ARgWFpAKdlPRq5eOaV0NFThC-cTIacfouI46skK6R3F441oyXdZkSiiLaAa8OmGvSRTFQWroSJAhQJyKtzeQDOpyc1ObKsqw1ckW4_49hrX6oCH8MTmN14N-4fCnX5FY112s98XmelvZO1AS2l7qSe-W6TqIe1VG6QsR9oV1J71SthGD0Bw5JKBs_1zgdG1eNEeP3HjPTJymsOJ5P2AmulARUBT5CK8NQwGDNliFmEgu0ES70W7OwRGkS8wqQZOXxfFkUtSObZIhWdoMO_m19zmd8No26pX2rjp3aIPFsHYKu9idPvFYcYYdzfOHIAsZcIaVCawMCOCgxCfnn6WeIUKuFM8_B2dDqNseFpgkpsHajOVPQrpkITQcOdqRb4hNULLgwU0WjF0iJg95hrTYawhDrLpHATU8ppatMnsGGa7r7Gjhfq-PKr6Zax4kMndYY9lQx7XeWOZ69y6m1_QgVEaw5hnpPS_hIkWprZ2OmwdWnK2BVX8mS02zvRA7dD6EpWmeCClz3A6vuBl5bsbfIrxRXIZz2DdPM_-X-Gs5re6OzlkGUsFpB2u2IYZfWB6QNjGh8ecJU_SmUZM7nHlngvrH52X4DVbvC8U0TsApxgX_qsIXEOIBsk9gTRtg58oqU_SCqHz4JITMhlA84vn8I6ZO4Sk9P2PH1Hyd6jJw71qj1BA16Ac1fEPmIjGbA5yvfCi2UCaZUU9uLxFkFfuSNoSv1H3acI15Q_kk1uZIZVPpHXsjv5dCVU6X4m8ZeVKwHHoYcq_c7D_scr_O789q93LZu2EZm3Dg0LxDeEZlGgbCw9yWZ64lACrS6Cb8VORBfWNxNXJjngzNlibs5etvhQaQ0cyT7rNr0lzON_pCL5o13_7OA14bBw==",
  "id": "rs_025f18d313a80759016ab43792606887d0b67f6f7c26f5bc3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"right_z\":0.095},\"note\":\"Both grippers stopped slightly open, consistent with holding the thin pieces, but that alone is not proof. I’ll lift them and check that the objects rise with the jaws.\"}",
  "call_id": "call_HHFbROUYaix4uPUbceggtDCE",
  "id": "fc_025f18d313a80759016ab43793254887d09b971845534e6cc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HHFbROUYaix4uPUbceggtDCE",
  "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]: [-0.1204, 1.6405, 0.86, -0.0364, 0.26, 0.2623, 0.0492, 0.3351, 1.5749, 0.7673, 0.0917, -0.0315, -0.1127, 0.053]\nstate[eef_state]: left_x=0.4115 left_y=-0.0919 left_z=0.0702 left_yaw=-0.5002 left_pitch=-0.2115 left_roll=0.0027 left_gripper=0.0492 right_x=0.3936 right_y=0.1468 right_z=0.0787 right_yaw=0.4173 right_pitch=-0.158 right_roll=-0.0658 right_gripper=0.053\nstate[joint_eff]: [-0.3761, -9.5111, 9.3197, 1.6288, 0.0611, -0.0024, 1.0281, -0.0615, -8.4308, 8.6906, 1.5946, -0.0269, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:100514ddd9df05897af9ffa7a4156d759af4cfae24afb8d1515aeb387072e273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e817c2810bd9a087020182c37ae57d3f5c0a70ea9bef99d780324e1eb0f3b42c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fed3f934359ae74b16095bbc07aa900e184b1cfcef7b2a04b06f1402be13de8",
      "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 · 5.107 s

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

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1322, 1.7016, 0.6647, 0.2214, 0.2443, 0.2584, 0.9992, 0.3389, 1.7061, 0.6777, 0.2825, -0.0196, -0.1085, 0.999]\nstate[eef_state]: left_x=0.3878 left_y=-0.091 left_z=0.0177 left_yaw=-0.4968 left_pitch=-0.2142 left_roll=0.0114 left_gripper=0.9992 right_x=0.3888 right_y=0.1445 right_z=0.0274 right_yaw=0.4091 right_pitch=-0.1885 right_roll=-0.0683 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.8017, 7.8154, 1.7753, 0.2418, 0.232, -0.0122, -0.335, -6.8581, 4.8342, 1.9463, -0.2857, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1204, 1.8561, 0.7361, 0.3351, 0.2607, 0.2642, 0.0457, 0.3359, 1.821, 0.6392, 0.4706, -0.033, -0.1101, 0.0483]\nstate[eef_state]: left_x=0.4173 left_y=-0.0927 left_z=0.0009 left_yaw=-0.4996 left_pitch=-0.1815 left_roll=0.0157 left_gripper=0.0457 right_x=0.3941 right_y=0.1476 right_z=0.003 right_yaw=0.4179 right_pitch=-0.1533 right_roll=-0.0632 right_gripper=0.0483\nstate[joint_eff]: [-0.1299, -6.9402, 5.3265, 1.2576, 0.0269, -0.0122, 1.0818, -0.1026, -6.0923, 4.3419, 1.4628, 0.0904, -0.0415, 1.1502]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1204, 1.6405, 0.86, -0.0364, 0.26, 0.2623, 0.0492, 0.3351, 1.5749, 0.7673, 0.0917, -0.0315, -0.1127, 0.053]\nstate[eef_state]: left_x=0.4115 left_y=-0.0919 left_z=0.0702 left_yaw=-0.5002 left_pitch=-0.2115 left_roll=0.0027 left_gripper=0.0492 right_x=0.3936 right_y=0.1468 right_z=0.0787 right_yaw=0.4173 right_pitch=-0.158 right_roll=-0.0658 right_gripper=0.053\nstate[joint_eff]: [-0.3761, -9.5111, 9.3197, 1.6288, 0.0611, -0.0024, 1.0281, -0.0615, -8.4308, 8.6906, 1.5946, -0.0269, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:100514ddd9df05897af9ffa7a4156d759af4cfae24afb8d1515aeb387072e273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e817c2810bd9a087020182c37ae57d3f5c0a70ea9bef99d780324e1eb0f3b42c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fed3f934359ae74b16095bbc07aa900e184b1cfcef7b2a04b06f1402be13de8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDei2FjpzYHvQnjjoh60JHVwimixNzirfW4sUfzKmdQxLHv8AT17LaJndiXk-V-UvShNBa1vylh5NnTIYEAMldY1hg22sxoOI9Z1KHCPAZ3i1hk4D_2rYId13ZYyXOb0OekL3oYoc7eI6J_cQClfEdVzQsMo4DxV3zYinTol43tcC1p3DZ5ZTgbPfxu9rmXtYMvX6VrWjLE5qvt6fkgdZVY_zt_X4-X7AY9AoRI2HJZWhZRh9xKSL-ydhu_PsgWXzpazVEbKWdOn3FVbefmpvIw1bns3e8jnVv6b2ZYQRRK8GjpSnoIHzzHvVIfXCyjCri9FyYYfVD-s-uR2YdIgOCkUvNOqJvJ5NI6uSkOznEX3LyYogpZxU_Ilj5oR0vpDMY2OWl1-U2cZ1OiWDCFTVw5sTWfL9Lh2jLZ6fgR4Q1O4wayIN4PziaB09I9p-C1SV7zjD4gHmebC85tHh8GUXXD7JBus_h3E1tND7wM3obcNkZxnNKfj9zU-PyC_Tz5SREdHDnGSsMFaDQU62rJHH0T82ehkQiLLLEM2-uwSyTXCbUxE3olfnAGD7Y_ZRQDfGpempKmfTEYOGOp7nzNP3BlFbr0R_JyLLnvD-mu4XPr_OCzw1x1RTIGnMXKtu8F5cy76gGKYtYV142rE1vtMaKSwlTbmEORSVxrY5NUkOGaKttQZtrm0fJrCbuqiAppDJKKG-m06BFz2UMgIXOQvsw0KT-LzGnY-qlx-a5-L1NsscGO0lD5NoUPl1Sa6RrI0llrJ4_-26hYSaf74eHJul2pWEuO1T2XDtnsZ6p1PUqV7EGtKeo4GDEIwpi6qNOPCeV6JhbHL-gY5DOHjwFzcJrRZ-oM3JwTYqDtjpQa2sfCdipNHIc2G8F0G3jTbXhoi9hgEd8wyCIG8PzAqSDVZTEIwQiX7y_jr8ZkAs1HgtxSpeSNPfQ6gJzwpo2aX04RHd7eqnFqMWwWqxx2yQLic5XKrnl4FnUs7t-wvPNksPQmcGvapr7n7OGS3GwCu2I3ehT5bz7zoJ_BQqpyuz0O9yAUrUx4oihEnEV-bQFQgiRKza4VlpOdA-6UDlf90ka21HrIPen2FWBRg2-7AV7z-m_bnj-3O68b2qKpDu-5n4TJJQ5dmT0WC7jrpzMf0wKIrccxfEjLSz9VSpKV3fkB36WB68CeC5xb9d5lMX1XJg3ad36jdHpm47kOE6ymCx01kvU4beA5c0TylyoOmya2l9RqHLHCNUopECKPdIl2LP5bMpoX6ROHPCR_xdwhaZKPxdgsou3BbQuls37DcEcOQWQIdD6L-q2PGOj6C3MU6zyoMiW2RkJi--8qbZriNn2_miUBiz0tTiFggOxkoT9NaW7gmDdMoNBEoftEgVVWKlR7gK4bXxhVv50gEWvsnZUEAyvy-qtJKkaoTMP0V95TjGgduwagxFjOf7DUgrckyYPHcG9LAYHEVmbfMEwOvfURBtu62r9_saL7k0SbeZFKXD3fvIz7YFNH06dOT75rF6rt29U9v9oFcvQ2diOJfRZ1I89oCimqiJx2BuTSAvyGj6ex5kFh04wgLz7ycMrtOhzikyY6iuNb96efI8jOf-mX-f9_ojx6WtHehymdJCUWh7D1j2tT33C0MmT50JIOYtwMSdGTjOrfD_UuO3xtZhxHqZaLKfkB1e_1GuZksd-E2TFvnAvmJi_guTU62srBm_J6Kg-y7sUom0i1fqpzqKdWCW82guHjdTfB5rnTzfmywnYvggrIcqDaNABezdfOBEiBRmF4svPQfgzcId22wz9bUAe--TQKsoH9KXPHkEx-8Z7QmZt6Du7bi0-G7ZTKrFeDLzeW4hj3GgW0bl8FCoNYYCZYgsDYyYnFE-OisNp99dOrvAEOjSMuHuERSS9hNZCDvqJNnosgZmjy2OPfEXjAEHEXCOeFBGv1cNSuzbnxA03flkKRzrHw0se0vDGMEOIXaTb-iBtgYoZAy7RGsXwK8jc5Qf0lo8CUAHLFBot9EAXCX6ETrqLmyO1HBYulxJ681hOAWpyT2zxkpy18B6WybzKFtmWzx0Q4Ggnd4uK4pMQl2ZLRzLjj8UznJGhivQtGGzOrjY3BT2sf50w8D7Wsg8niACEXldWPKGHljzhm1zok2_lX7XED2eNkXcQNULwXoeFIFPvTzE2GWP2kMOcJX7SUyPn36Chp9o-dNIexvm0n5JCTi3zqTgDWoTbv_9xGgJg4HuYiVJ1IBRhQKOXhtbFPcoJQ6HLCYfyyNtFk69sCOCpW5ojSMm_OzANjMrtcwi00xQWmB0nLnO1xBrKBNZCGcDcDVFddI7YIiB4G1TVm76DROtUGzLElGHoQYtAx72n2mDVSTEfbVKzl3LNqCPrjLnE9LStH2QZ3lkotJBmGg508tA5nr3oi_RTrDkOqOe28hzzCCa-RpMFayV6Ym3d7WwRUxWKzrxieKtS9WLUjdqr_nI1DqdXrU85yemSCFKaCQdl5rpm1CmpGCDMXvBzXXY0SdWK7XJJhiGdhDcNwyOb9lCcQiRDpEisYfJU5qVYtUHMOkEqrKUXibDEvz00eC40tImptUJypHXlJh4ts1c1e8VWuw4rfXDUeD_agDFSegkgZliwOCT9lWKLM0-BGJP3QG0hc5CJu_JTUUjN79G97UjZSfquwQbdW_DNTItr-mVv0AbRVo3GFYDNddMY_rb7N0hXfKcaMlF6YQuQ50EIijWWp6VIezIsSPFjFd_Lm532PMUTxVTTjaStdAdVHhRrQyqoVyR0gPYGLfRgGZVSfMgbroPTaNP7V25Bw6TwobCicjqtB6AQfUtCfrI0bW8-drrMcXE46fve6MW1_3RSFJIp_7-ASbVcXC1sgeNIZvjt6zETVrTzv9EumyrUu-vLWNuVkquj6f8zybtC15yurYCRErL-rE7mxqpATTaO1XP7BVajF98Hp0dbWRD3vRKERv6hHPRLsRbo_3rCX5JSSp8Js3kJADp9rv1nrfpwCLvz5-B4otlOCuYvmjGiWG5NzSTdUmmOrjIojAzNpyeemE0-15lce6bxx19frQ3EBle3guujsnwPC7Uy9P2RB_ORTApUWuhySIjjIOWF4iLLbGXfMkuCycusqsPsavam3l7FlCoJMRPROwpudfiP6kvkSQeCN3Up5nGEDIhMOL9wrlb2aPFSXpnRB0NkRwdceppT7ztaR_3JLMQ7wctW6bB49Eb4fFBbUDxqsHbiqiDZXfpcrxLHWMoHatjYV2m8mZMDLtmuFOR76nQKNTQ8tEB-UlL8E1dccfPE_bXGXQjDIVLkG7xZm4amUEmFvweOkWxGa4qD86g5-n1YjXJBTe1PmjTagCDe-84tM1JUnEwL5wi2o_CLKmBfssqG7EwY30HoHxVU8XVuilcrimsxV_QZddCesNdie6YoijRZwhN4iTZNF7o61OFsuzCwSryv4uizYwmwnyBiFIzyELi-RQ90bfKwYCyx507kLyuENvNNs_0weqtsDjDwUnI_D1PwJuV1ZVI98znIMhr_e6oGYxgVWovkOEcOLLmnqnddPlCOCzd9m2EoJGmvj-qkTeriJTJq5Z1S1uPtYoS7xSWqnTJhC6WUdSpD6n8j0y0aPPd2wr4Ly8FOFzg9oynNLBel8_yui7gviMVkm1PErKM_CEQ08DR1cdiol2ALfCZqAYiJ1r-CpDyaameIhYp-FRkUYk0-IUFPan99QriAFkhuAgCkYxQ865eM4I8tjoUWmWyei4hhgwRW7-1mGRiNkaWJKmRLpRAoB6boSf1rrAwcLznNiTirnXtFBZ37RHSdiZQQPtFn15VA7xRqwqXopRFjGcLsfZ0k09xqaBC2E8M_Ny6KrHVewiil4lckUdpGI9pQ==",
  "id": "rs_025f18d313a80759016ab43795965c87d086b9b34567edde68",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeiju_0whpxvYeT_HUJ8nvlDOHL_00asNOGuB22WGmCUQu0TggnrGQfK3NAFRSk77acip7QiPEqTfvemKk1HRoVADFj5-RDedgvQY0JL5tbvillqX87bFG637lUbnsOfV6LV6MnIxv-phga3cyjaMFNp2koHT9dGgibEvaDBTafku7_OxkbKvbwST7aZ-7eGrTYNd8f2zcITRJqAJ7SAI0QkTxB2xvFt82p77r2ZwoJuGm-OVtjUNTNRXrCn-KL3LfOo4Tqm_jtZZ4JxwRzCZLfNo5DuB7RJiPJDrOaIxbk6kiUagkmxQmyUgvzjnyMVWxV7UlaT5Hc_GaBHXuXDoIQlPAUOSqmmV7BrIBZHaE14sdkSbb8YjyLb0gcOhuPJbi2DQVmhqWKA05b9CkhXBNC1VWaNeTXcgVxHgKfjXbkK1W-F9VkVdH3ppUolCXhX1CUU57A973YcljmTi0suo0WqYe5VIJARvOnBIipxZxoES-W_ntMeVstFUY4r8iockxSDGNyhWUufevf5ZpLHRVRG3yeJdxet_KMQnyW8EXtzotIcjLOs_hjZ6IviHUwLpVXonunQcbA0lBZdQFRwlwsgZ1I2EB9X7UB5a5e-CDBb8NgnraASxYLkkoU8QvUv9mhPobPazBqzPRzKLbi0PjJEnAkmN9fqDTXX-r4q7sCH6uzMTRw47C53-1fkBcfarQ687Azatt5Ly4rof37wu-iChY6VUjJ0qx4i_9QBxOltJrriKm8vBSWQUimed3I0gv63-7U0WvdGfetH22iWcLxmFfyo8iCWqSKK6eKM_CzJZr7HE0xD2yt3lv77TG8nr9kR08tF1flCrHaJ8ZkPsvuVfzbLOm6bA03VE9IlzEB_BQ6WypU0HzQW4ohIYSwq89TRZEJIB-f2X1Kmeu35l9xUHyUOqK_yqKEb0shvk8pOdKLX2llBa2d0MbESeXrFEsqgHi-PgqZIGFf1EFNQsBf_SRBIFqlJXXNHjGU-JNOkUoglzvoUWfeS_JhHhvUclwo93zRA4Y0pl-OkF8ZgbJnd_NFHmNaa8uLAHR5r8g4G3YRzBKs06yw6QK4ix_5T23rdEkR9mFqPDIhb0gwSLvR0AfFjRrXULVv0IUHP5Xz6KI_q69AJdMeV0-IzkXt6Y2BlKGB2HnXLDvh9aRliY3g-zeO2Ca-vf8Svxzx208y9kC4yPjx9nJdw-6lvGexhhzCMbHS5xZd67gM3aT5-vbc-cKGLQCjMlv5NO1AgRiKxcvFKGcWq3u9zAHc1btTtrsIVi9moL7q5pidn1kj3HXqtJSS1_GoqSI5eovMtlIBNcJidMwdoBtwdZ8cosGrZqgPkqec0z_vRgFaQNVKLo-p5ERyoC8Dv1zfmTjFLHQQJSyuemyDsaJHbo26Vr7rrM7_agHkUgCbzNW2QCxO9nslEFVtDV41MdSTGBRNgDb3yOIfe5k_p0bUlDbW97lNzftka76NX3FmYAHg3tI99aPd7Xju6jUZkZYm84sEylgouaKRTWlnMcgCqNSBW-XoMkPtjaw0b8O1S18_Q8vmVqcWUhBH20d9BCdG_lBN3dV5Km9X2GKsJPtUEaTtKCpypsnvaaONCnclJiaUY3JtaT-nZqMN8AnnyVaUWbSfeNzTxVJPuf1_NYndzE2uUFRJJh27s_w6bpyANKNMjWkcxH0nU5AY5CWpFgGHHxgW7Pd9nnwhUshyulAXFi8lZojI6YYmplAuP68FzgGXzEXhC-AvfggrBmrUlK2bzcZktZsBjqfmSlPAFRvILBdizhA75Jw6aJgG6JJfmvPj4U4eJsj6flKz-ruxQYqdvQwpoZF8_lChN_06inqILZ7OuQJkq27ScFoQT-vaf-d1KtGpR86Tlsxnjmk8MgYO1QLhgQzUWC--DxXZQcPeBmRISIT6a1_jlM6FIO0zr7OGl5fvGG1lMh11T5_nvZaBPgAowdcOVGw_a7AZPaHZAflfVCchU8h71TQE_XnY6HP6awYGDvr_cs-X4vrNQnGAgXo_AYlAv3OZo3uMETdgCiGCAFjoSq3xC8oicVFeTBeAQc3RKLUsaoRRWbrQdYlLwQF7v075dDUnWabGbeo3AESL4SJzB98BGtEukOAGmj2mqsaDH2rAiqXc080M7W7o7Uq1iMs7-oCd2ku7zTKJvezLphDygjwxkfZ1DmBVy5n8TE7DvFgsVYdCE2szqFG-8jM2SdGWmYJDEfKWfKeSvqGJ-6TWnNqExgcXNSigkRQOMognXBpJW35MRpQVA9iIJC5VfuM2x6zhPxOZJ8nbrdwmhOdTxOl2gj6FsNigYwVCTzg14_Z8b45Tlv91yFEL86LsL15R-7R2VHwENot89JZBwKwqxluVRk7JsQe0i4KLLm6pQ0zRv8atysW7wuKiJ6k6gC_CHHCoZyY4HOWfY4mZN0_09O8mCuY4TfapNGQIO3mZCvPkomtuBKuzQFnb8awrNazoJLhKnwgrpRBL6WGMAAMMv3rxEGNc7JSbvCc2eAzhA9qkHTXVVgtVYDN8sShIzoUtHxEZPE_SSjFCoQDjMcVbUrSTR7Gte137ogQVMZ_r8zGqYplCsyhJyCMSlGVymWayE4PJpj-RW7Rqx1WzCpp9sUheVH7fsYKZaY0DJcET0oJUeXeV2GeonjXV8yruY7PaWdI-rjJEXxbrVCyg7hlaqAJISuLFxR3zX39QLO_DowYcFZosil-MiEUA7OK5WjhhS2zrIqkPCZeYxgSqfgjZBqMWAOv6ne8DuHXKU7dp7NgGvUmD5edVaIToHrgYf0yEWUav_RRJbIx4A7CYtPkCucgsLvtj_ciuYrl2szPTT-5YdcOsa12ovaBqRuts59eO9gQxICFSpQ8Fi1iZdI3_2JrXoUU_YErQmw5wdsV1Mq_dh3mbSccSSc_rNGhaOxLSiqx0NeH7TpvthNckzL7VsHbn4Es9EXW9QkydDCq0unbmU1BrVyzL0DTm0ftmKxtPejsbV-hjAPssQMCeB17tJu9Hy0Wyx8X0Tup9clyAk9b_KcHxvc4YLYRh0VsFmiTixiF98s5NYUwy5jkVxqA2UTaii733_uDWwTa7HQoZIntI4EUT5FAqqc4LI6fmoZYtcDlvTI_zu1sZmaM7SXgcIyPeUMt5X8-yicYZUYdPIb81qRXFeRRuTLhzpoDRl_SrqVDlyXvOKcAXp6tU8cZxbThFJ-D2-OWt2KodTTNmEs4Fs3xKMLWSAe4wOOOb55oYSYX9XrnFKvWF7C6iXAOBd0-DTRBbd7KCzFy-YzXukjKdFnFXm17BKmQ5eXKPvSvvYYcdeWTF19LRMHoX-7UNMxIf0wmRMoakNIFE9zJql1obYkKIycNz6uXrKClyfdsoXljkED9GOkZRQpcpYBgWGyyxeQTehfRNMHk2a80dVeal_HISAoQorO3__znDI2pbB7ub_Cblr79rq5ze50S1qojQ_ryyHvAYOvHi1GnYw872DnzUuEOgeqswyBg-mukTRx-lgY29mw3s2KIdWb6kKKve9-mwd7cPs2TBVDag96pcrpRB9D9n6-we2IrjhpxK9FYnPNc6AGXbla1IzmZ0w9KxkUxzPyvRAGwC9azwZnXGz3cXct6jbfxCGL9fnEM7l_fkgiA1w7gsu1FApKtXo7sLqWuSWFhjTUu3UpCHHJkxj6kErQFZ6nT9XK0sZ7FEkRTpTWtQGh9pTjb83m_YgGTTmtAU4zY76QkplsIgUBcQ4SCcEQn51_KqmgZIx7wtf-59XKvwM-brDK1sGOpe6QBT3hMDLw7hsF4wRSjKJt5SSBOX86hXPjzC6vrtOJC5e1LjpcnvnvTB-70dc73w1-JS46ucu_lHtcRF9Uz8Mad7X0e_8GSgIkX2JyMCOzb1qVY=",
  "id": "rs_025f18d313a80759016ab43799b0fc87d0a6b775211110db22",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeiTzAJLX5gAoAM4j9U2z_Uj3RP6-kIOuQUy5sG1uSs7n6R172hTNDDLe4Wi_xw9Vnr_UHdXuzQe6fduHRuHZOfO-EJCGtudxqtjPog08NmdhxIJvGvty5IMnMEdE_OJ83XxJT8uSly9tFRrL6p8P63nkn5X4h4Ek2i6YObua2MO5V8iJWcEi1S_yImUWI9ulvWFjnakhmUQuWX9iHIml6yfu-Ybrr4HPSGAyIJUQoVxNOpaQpLeEC3sXpjq_tz9dwg0_KNY0ZvUuOZx6S4S-RP91x4bLqwSZ8_ZMRFnmQz9pPPuMC2GIKpfa116Vkn0I84SoQQdpao5t4kYMQFR8HPKLMvE5SFCN6ONzD1XpJtnfao4yXBB4zLY6HycCrNomMoYeQIOQjisqPb_w9XkNJEGmSLBTICtAD_hAiXlDb1FoV_npCxHIEg90ODLNfs2r_IV_ivvFz9uNOuhcMI571x3TQpswLGkmyVTFnuUpalcN8Em_mIZO67hAUTJ5NVi4Dw6Ds_ZURrAjitSIou1E6hDzxny8LYMWJ5GJg70mKUx5pBO_gcPvL4-CCEmSg8gFyuNKn_Tl7B0gDA2yFuCnn1awq-SNUyFvmnRTdo8z8Fcx7gf5whCQOOecr16glUVrALKGazN2LjqLa0xBMqypAwg_XAvUbqW7f9VBFG8RvMPhB3lUkjXt_m9_RI7pKOobBOtW1V2q9EjSNSo8U6Sc2sj1mmaAUGmMn5ffvmiIWWkZkuosCwxofzmAC2I7gotmPg0YveM8yIr0Fs9zfmLxPNZKbKmU191pNAuk5D9O9VL3gEHySw8yklcK6fW1_uL6t5qiWBfvw7qXZHMm1jEZCxF5VR4d7VRRLIZxtWCrpcqeCRzOKSuPEkTKWoacypPczjmmuIT2f_koqW9SRMS8-RLy4SvMSda0kIeruEgNc5QrUaK5Ssl7haDKSWPc-5OZpp5BN7IVASsSPBMBkQmFXzycm6HF0H8mvCSvIXQzlJWvdVisUw3UgfemE6TdWY5OEaDSAtAqUQ8kb3xLOxDJ9iFSh4mxM7qc1mEruL4bhxxYOX2yIzMJ-CCD8PVgQxD_3xb-x9-ID4xvJhodX6YjjogXF-HM5l308ymXUNRrhEHh_PytHEQkhBi5DTCUf67EO7VhubSR60fnkcQscbgP3saNI3nTRNvWIYJAL0ThheOc1KXwa6bjp8G69UXQyM8_G5pnm0qQ5o3x3dvheR-grsJBZsG-C6kyH5bjF1h_pNfMYpM_YeYPh7O57gLDWXR1pRaALPcqYjZ6QQwjgzfKYv7Zh1kqYufuSKt55iKYT1tYZ3rN-cLPf5AFEYkS1sNpn8SPgyebtM7vkvaeKosHTQsvxZjUnu9fWmmz5nSrcdDYKCP9XF36CiiT9p9WXJp-gj8PyrW-vN6dkcdbzz3UsBhI4RfEPTtSJAO-ShRV2ajyJ5Kg-061AtftWIxXn0agMTgKj-HesNfl-HKD6eYpVkf3P_8-ONgH9izOb97dgRilLwkxsW9DZb-HPzkQ0vbn-QYoO-bpyypP3wczGdVpE3NbtkgDka3-9sMjClLaB5fbJy0o7kW0ycKeOcltWeJ9X7ejneNXXvNlSixAGDu3rl7PzyHosPB0zzPL1f61pMrV0pvDHsr9FGWFjNjte0Cm4eGgn9Iu2AYQ524ZFZc4DAw45GnuBDRtrmgkajojeAjUYx2hEWIj2aLLs2Kwc5ZXbqt1tXjld-5ei9LZzI2v-9xDk7Sf-HaP5noLfQqSLOMB2hvsiFQEoWVCUJ2_hNaahXoCHFo6VIF50Ch68abcwIL6CrMVC1x-OzhienZuM5x6bYh-IngLyPdYkdghY_YLNSTVYhlf7oFrvPrC1bcr3g3fEGqQTL03Mr6TWK_GCmiN5DWcXc6Hf4jtdK4nUb1-2dXikQvtwSwUYrICpfBdu87HxIhAgCwk86E3TIbYoopjfRJweZRyZVX92vy0LQTPEaBghdgnjD5yJhI7f_jZZ2Uwbj-xcyezKm4_kRsTRDfOm2-_k1NTBDK5taP2JkFbBFDqgloJKCf6txba3NDvTyihYl9SrMJaRWut5YYr61MR81z6FhhLBNvK5OKs05W1SwD0gTIu1tJ4Cgm6Miia55ixgHpuH-_0DmkloPp4pVN6O9_31x48DrUnm7UHXoiMtAJzuS29qJjC7F2ctOsuxYc8Uos64ewTzcVKdrl4XOBNCjVpx9ixK4VTGU7ekOIjIHr1BlZI6v7ArQSWrpE04xfeDKdNGtZcdkZk10VvioIcBkJaM2YMUXcBDBNLF3GKmemMiL0Qg6YpVs9DYHhZC_i5AhaxVBudrsBJQbuv2rbI7U29VA0ximCM07MCzvyF1Nur_hLNfpkAyss_ZYhC0jc_tE3lLepXe1AdDsVN6DnukwXmp3kYfHVlbE9inyxN3Zrhh-cA1YmajltGRE3Q-guD31Y2wLByd0x6-O8LI_tv_8cT-3uesV7plZiZWs086dbb5tSgWbWPXeDWqAC2zkALaUkIXV7j3575L_PAixRLr4xmnr0ojociUf5BXUMlocGuG6tQWbeWEgXmAbss-h8M5WyzuTumxOca6nMnDht0PednKqiO-8BLiJlXQomW4k5eFobYJPXSEo3j82NZcvWsXnl9W5aYcIYkbTz6OFQaLcwqCM56l8pHZ_uv1EV-akgNkWl-IKy4xC5IZHBfOkycsV6mjYg9GaUVE1Uwy0AEsGURmjsfMTucQcZ4HkO0oDi598EVu_x7B7VxPkN-xV-gEeNyHwU2NNa9pIW2-bdCz3t3ZvIXiNdO_087eMz2pLdkhyTVlhjgGFnFUmHaTILPm9msAz7Gb4YgOUq9EzEM9guSdvQtomer6nhd0K5M1v-xysekTKKMTMG3tcJDhAvPjLDRi05Y4vPZ0_EzQ4bNzVAbAwRwUEKPOY7ARNZtxXgaXdGl2wr6uATa9M-T-m0en1b-YCJCbM-3f9Nr7NuCo0A5bvzrkrS7kXLmHc4x4iPzn3HHBKQ_aKW8K6RzWYyVXGyF5OBV04kmvVSpyeJQL5WaxsTROfJl8GZgO3HdX3pPC0uXbL5z0QqCdaU55rKJs5StyCWFuztlwKqTN0j0l2sOZqzcokJvehBlUKR_TYVjGZAONIwpHHLYw5hZhfMYoGJowvz6xZzH6YIAqmC_8T4wE2SshN8OwbGOQvr-Rxn1hAUBtNDQQqJmA737I85A==",
  "id": "rs_025f18d313a80759016ab4379dc0a887d0b09a65b806e01a64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.32,\"left_z\":0.17,\"left_yaw\":0.42,\"right_z\":0.17},\"note\":\"The lifted pieces remain with their grippers: the pen projects well beyond the right jaws and the cap beyond the left. I’ll turn the cap to match the pen’s axis and bring it toward the shared central workspace, keeping the arms separated.\"}",
  "call_id": "call_ExeTQjuKA1f7KsTeEsZcmlFk",
  "id": "fc_025f18d313a80759016ab437a2004887d09d63995816a77939",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ExeTQjuKA1f7KsTeEsZcmlFk",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7925, 2.645, 2.6846, -1.2896, -0.693, -1.0416, 0.0542, 0.329, 1.4689, 0.9791, -0.3523, -0.0219, -0.1173, 0.0575]\nstate[eef_state]: left_x=0.4756 left_y=-0.3166 left_z=0.1121 left_yaw=0.3756 left_pitch=-0.249 left_roll=0.0407 left_gripper=0.0542 right_x=0.3779 right_y=0.1369 right_z=0.1284 right_yaw=0.4076 right_pitch=-0.2845 right_roll=-0.0656 right_gripper=0.0575\nstate[joint_eff]: [-1.3744, -13.2171, 5.6957, -0.2515, -0.6667, -0.1099, 1.0281, 0.759, -8.7043, 10.8513, 2.884, -0.188, 0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c86ffdd9d4f338c337b0487c6079e42b5f9d361b4c9e2b583f59d0cb9df89cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c25b0838e54b2b64bea76384cbe574e2fd895da10154d42dfd10e7ef9641f60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185dec5ddf66eb9c49be7ab17be320761a604a1f683cef4fb33eb7838cce98df",
      "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 · 10.6 s

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

message 22 changed as sent

message 30 changed as sent

message 36 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1207, 1.837, 0.72, 0.3103, 0.2951, 0.3107, 0.9992, 0.3355, 1.8118, 0.6449, 0.4286, -0.065, -0.1291, 0.9989]\nstate[eef_state]: left_x=0.4075 left_y=-0.0976 left_z=0.0003 left_yaw=-0.5554 left_pitch=-0.1924 left_roll=0.0185 left_gripper=0.9992 right_x=0.3886 right_y=0.1514 right_z=0.001 right_yaw=0.4557 right_pitch=-0.1786 right_roll=-0.0534 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.5026, 5.3402, 1.1453, 0.0269, -0.232, -0.0171, 0.1162, -6.4752, 4.8752, 0.5348, 0.5153, -0.2808, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1204, 1.6405, 0.86, -0.0364, 0.26, 0.2623, 0.0492, 0.3351, 1.5749, 0.7673, 0.0917, -0.0315, -0.1127, 0.053]\nstate[eef_state]: left_x=0.4115 left_y=-0.0919 left_z=0.0702 left_yaw=-0.5002 left_pitch=-0.2115 left_roll=0.0027 left_gripper=0.0492 right_x=0.3936 right_y=0.1468 right_z=0.0787 right_yaw=0.4173 right_pitch=-0.158 right_roll=-0.0658 right_gripper=0.053\nstate[joint_eff]: [-0.3761, -9.5111, 9.3197, 1.6288, 0.0611, -0.0024, 1.0281, -0.0615, -8.4308, 8.6906, 1.5946, -0.0269, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7925, 2.645, 2.6846, -1.2896, -0.693, -1.0416, 0.0542, 0.329, 1.4689, 0.9791, -0.3523, -0.0219, -0.1173, 0.0575]\nstate[eef_state]: left_x=0.4756 left_y=-0.3166 left_z=0.1121 left_yaw=0.3756 left_pitch=-0.249 left_roll=0.0407 left_gripper=0.0542 right_x=0.3779 right_y=0.1369 right_z=0.1284 right_yaw=0.4076 right_pitch=-0.2845 right_roll=-0.0656 right_gripper=0.0575\nstate[joint_eff]: [-1.3744, -13.2171, 5.6957, -0.2515, -0.6667, -0.1099, 1.0281, 0.759, -8.7043, 10.8513, 2.884, -0.188, 0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c86ffdd9d4f338c337b0487c6079e42b5f9d361b4c9e2b583f59d0cb9df89cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c25b0838e54b2b64bea76384cbe574e2fd895da10154d42dfd10e7ef9641f60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185dec5ddf66eb9c49be7ab17be320761a604a1f683cef4fb33eb7838cce98df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeqzTk610nnNB8833UpW92nSUYXz2MUZS7aOQe9sb_TO537mjVl0JRDrtI-kjfnM8hpHUTluxbzrEb30iP6zK1SVI3PxyMPv5owlnRR0EQOk9AMDvOdanOBuH-n4xmXRRxDYDyQATSmC7Q58qe5R2eYFOO4m3aPA-Ebt-03exQSxOrFB1WPheeMbSijFMXE_HcbZdWodn1EjwgeCiu0gHd_SxL3_808vz1QVZOBVxrRo4B_b6-hm5Q3NY-Nc84qfcZMl6Dby9TjUdufS6Nu1GAvyBw_KOOPl5wmhfCYXnc1k7e3sHtS7vdJIeBiYTkrwnp1XdqMgi5YiSjYmPrrapJicv-N9cLEhZ6eLFAcz2TeMPd8dvrCl9LNeGfRJ7pH7Q3VgBc9vb2q8mA4CYiBe1fWr4r5kP0hbfKYjrqzNL4M0JJj1k9bLJXUT5pDXdyOP-xEmnn6akRJCglqRBhFCo-Ri79E7RSPleiNsJngx5eh4ruG8P88B82Z9GzTV99fhjmD6oZSrxiEuakiK5XZxPrtaS6uFHwCxgTQk0wrDM667YyRWtC3l1xV0cdH878a0UCdAvkI3sgquYU2e-nPmEu_NWxn_rckVNLmeNQf4zLL3lRagtoYgF014oZmIoUiDZ49Mmb3wEvqlfBVT5nSaeG4RDcXxzNt489Auetd7EsTWVXbmzY4xI6ebfsmAYYRe6JA6UqkHWMw25o4XzjdaXDHwKZDfeJAAuTYhZAn_hSHglEugpI7pt1bg9V9Fmvd2w9pWWBiKQ1Ess7zVi_NBu1K_4_-kqMIlmiL6urtP27Ji4A53xOa24p2O_0ybmjUb93xlGQ7rvANo4ej-2JC7ZvGMO_D4tjj85BWr26CjdpoYboPzOtIIjObo6beSGW5H-QVScImMmszNwnD2zqXv78TQMnEfWtX4Li48quHyhwc52QdvmaudNB-hIdqu4889Hwfy1Exq21aYOzqnNcGReqWb4jEdnnLTHUaUepj1ibIUBPATbdVtl4fZATfbQV8EGxoxos59oZgvVJs2al9VtBZr2TriHKge-DDNmhkEW7NoNp1bKO8iOb_K8W6jjM-fsZGi5uL0wHHuQUfR1ZKvWqRqEEh_iJm8uRuwQSZU4DDsPnlQpoIm5946S_zNZ6Nrp_wxczaQByoiswXi-PJl2Lrai4_GYS2gmCml5M7fsKHJN7KS66oXCnlUId8PjDjNM-syPmvC25H5e7vyXnLC9OJ-kZlg8zJV_GD_tbZUxi_jUfZsI_ekHhPHMipPyQQxTgJaoDEulUREdzFHnTXMqbY8xmSRz4nsMndh9mKQkYsYqFJGjmLbKGbkw4OjKONqUslsfW1IMqEFaHX4mWbMBcaZmVF0gnwpC84bRl_ds-5MjBpbeTqGEgUhE3JvqGP8McUKWMOtgQSjcrBYWPy1QZDARKfpt9LxxC33RoSd85PPPl7Y--oYTIAfUJ9A6M1j_dT5pSHzqdnIgoSBbEGgcFnDr5DsuFoB-NwwnXnjivWLXAYkbfZ2JJR1oWKve6k1wUbuhZM4gJqG7YgGrRijnXJE5wpE1jaMPI47vHOrRdX42GmHpdwvVtYdP2-PaCBoyPAnyxQxiGFlWvE25neTJg1GY_2J9U9f9d5HP5xlIeF75G2usHTL7fjZLJx5NG9wDucckBMOLGns_kzfq37zfjfdQAG9tE53mUp1isg6mnFzFMFlu80u3g7TMawHUVP9ryBMoM862moEGcO-vqF0ZfByoO8dPSWDIBoZ9OidPNpM7WGwCxdTV5RnoGU7PpImGohgybiDKGApwuNhh6baQnkqjOKa4L9C6Si3wbxPhYcxEyaW3XhgWxO1Q-OJBLvN06WsnrJpUgXM8VJMIGJf4DWfB-AS148b20z_kq3J8wNXh4p9XYGVRmE2A65rPW3mOI5PHq7Pu-lEIaj7DWDcfooupOrXG-1Dr_l28fF_gBNIEgI3x_5qpU--T-cAmIxQA1sRYiyrsbi8c6AtkAXF4zDfB8cWf3oD-HtPr-QnoYhR-PR643SrDn4naEA5ZfX1x9fEDOlJllhjEkwB5kpkYKMLoBz68XqQQErDj8DS8PSAhNxnO9CxevUiZ0E0njhH2aIzk9xbISAB2h7ok6Lfu_xd_yeLvnKuiLTRoshqp-ioS-U8YG_uxbGsAW8KaWBrg_OaXUzrFfawshSnh5puLUeWFKRnEfSPAGP6BNtyy_S3NFZxaaYPE1sys3SUx0SwC9AkfnGXcJ41TcOo70Dhxzl1cSEXfMky_4DyXQ1DmEgFkC3hnyf7-pHxKX15thta0HH2deEhMGHUFinKL_TzRSRYoMXZDaM3hmCOji1ArXDbTokhOSBIp8Y22S1GCt9W9Bp0wiXTIMt0Ss6XaCOtVTkEpDwMEpsFWvWS5ovoOhnu_CChOTPq_y9WHpAzATqTP0VmOfdHv4CslQXvWK0kg_dSeCRRhz2hshZg1mE-WdpDU23tu9lwnByB9UB1BYQu8iO5Kpz9EuMxN8jlgaa1s1POOHnq8vt6Y8vkfc1Wb4krddCf-aMbIDmC21hrw9PwX2Pgbcd9Ty51if8UuE3Bk-a42tB42k4V-SsU5ogEVaLiTXc8ynH3vQRO2n2NC8sUu_YD6KwOZJXtNumyY3WGRQdqoCjg1DidMRQk381RMQX8pI_m3hGhXy5-L4QeSS9-iA8wNO7t2Q20R8Usgd2hNDbHHpppKrWydxmvknJ13x8x51YkokIMpKjS_1pKccJAK5qEN_BZsZ7lSc9o8TdqPx-uXPw2MsR4QC6a3MPmI_16m1DdMIwJWY-JL-wMaK39YXbsJWYi2WCL1voXMjxtlNdOhFl9t2AmuywnuCrFRRiICx7X54nXA1zs3TeYZ24tpUhIbb-5DioLZ1-7kc9vVVW--AXQm-pLsoUwMCeiXEbJhn2-cB0YJArfbzN-9HhiUKivBttmZqemfrTVTs2SVFaQErmKNFCCYcg7Aw7YMYwJh0SYlwAdjX0IZKcvorJHBi-",
  "id": "rs_025f18d313a80759016ab437a5dce887d094c22ea73543033f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.30,\"right_z\":0.15},\"note\":\"The cap is near the middle of the table and still held; its length now looks nearly parallel to the pen. I’ll bring the pen in behind it while leaving several centimetres between the pen tip and cap opening.\"}",
  "call_id": "call_loo7z8cppyVJZ4PQSEB73UwO",
  "id": "fc_025f18d313a80759016ab437a93bd487d099ea193bc938e497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_loo7z8cppyVJZ4PQSEB73UwO",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7246, 2.8418, 3.1035, -1.5295, -0.6735, -1.0538, 0.0584, 0.8284, 1.6279, 1.1862, -0.6067, 0.2947, 0.2653, 0.0599]\nstate[eef_state]: left_x=0.4912 left_y=-0.2829 left_z=0.1128 left_yaw=0.4469 left_pitch=-0.2728 left_roll=0.0418 left_gripper=0.0584 right_x=0.3066 right_y=0.2636 right_z=0.118 right_yaw=0.3931 right_pitch=-0.4253 right_roll=-0.1255 right_gripper=0.0599\nstate[joint_eff]: [-5.7368, -13.7504, 6.5299, 0.9255, -0.6178, 0.1099, 1.0281, 2.5504, -5.1761, 12.4103, 2.3126, 0.3736, 0.1783, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaeb8a84ee6481f6344f61a200aad248b20270f34ef23daf682d395e020f65d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79101df4ba5e7176da9af1f329f4dbe954f051d5239da0cbed736d2018182265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ede2538ddc1f6b18e875b6f630f90478823def92df8bf8c49f602d808ecebf",
      "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 · 5.719 s

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

message 26 changed as sent

message 36 changed as sent

message 40 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1204, 1.8561, 0.7361, 0.3351, 0.2607, 0.2642, 0.0457, 0.3359, 1.821, 0.6392, 0.4706, -0.033, -0.1101, 0.0483]\nstate[eef_state]: left_x=0.4173 left_y=-0.0927 left_z=0.0009 left_yaw=-0.4996 left_pitch=-0.1815 left_roll=0.0157 left_gripper=0.0457 right_x=0.3941 right_y=0.1476 right_z=0.003 right_yaw=0.4179 right_pitch=-0.1533 right_roll=-0.0632 right_gripper=0.0483\nstate[joint_eff]: [-0.1299, -6.9402, 5.3265, 1.2576, 0.0269, -0.0122, 1.0818, -0.1026, -6.0923, 4.3419, 1.4628, 0.0904, -0.0415, 1.1502]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7925, 2.645, 2.6846, -1.2896, -0.693, -1.0416, 0.0542, 0.329, 1.4689, 0.9791, -0.3523, -0.0219, -0.1173, 0.0575]\nstate[eef_state]: left_x=0.4756 left_y=-0.3166 left_z=0.1121 left_yaw=0.3756 left_pitch=-0.249 left_roll=0.0407 left_gripper=0.0542 right_x=0.3779 right_y=0.1369 right_z=0.1284 right_yaw=0.4076 right_pitch=-0.2845 right_roll=-0.0656 right_gripper=0.0575\nstate[joint_eff]: [-1.3744, -13.2171, 5.6957, -0.2515, -0.6667, -0.1099, 1.0281, 0.759, -8.7043, 10.8513, 2.884, -0.188, 0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7246, 2.8418, 3.1035, -1.5295, -0.6735, -1.0538, 0.0584, 0.8284, 1.6279, 1.1862, -0.6067, 0.2947, 0.2653, 0.0599]\nstate[eef_state]: left_x=0.4912 left_y=-0.2829 left_z=0.1128 left_yaw=0.4469 left_pitch=-0.2728 left_roll=0.0418 left_gripper=0.0584 right_x=0.3066 right_y=0.2636 right_z=0.118 right_yaw=0.3931 right_pitch=-0.4253 right_roll=-0.1255 right_gripper=0.0599\nstate[joint_eff]: [-5.7368, -13.7504, 6.5299, 0.9255, -0.6178, 0.1099, 1.0281, 2.5504, -5.1761, 12.4103, 2.3126, 0.3736, 0.1783, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaeb8a84ee6481f6344f61a200aad248b20270f34ef23daf682d395e020f65d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79101df4ba5e7176da9af1f329f4dbe954f051d5239da0cbed736d2018182265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ede2538ddc1f6b18e875b6f630f90478823def92df8bf8c49f602d808ecebf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_025f18d313a80759016ab437ac6d6087d0ae70dfa808ca5ed9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab437b0a68887d089db7f9129324883",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe15IBVBTuBrpnJ91flxxqazeLjPXOXpmQ94W490shqB5XCVBBuC-euucUExXPOhf970qT9RSXJdXFfaZch_-SINQWOeo45kej9blZtoL66wuC6QsgyLiJohMBaRPLsXiz7mpprSJkLKtY3vmo_up0jjD_WKQAmzDeTcPUcXLwbyLa5hiDD3oI8JZ6MpzchXMYYY7HWa_uWsEuUVlZE8ARnxNJisc4Al41p3j5s9PrvEk4Cz4jGykCi3uJtReUwnbjShDIdZ7JjXnuQZsult85wBTnrQkF4tKUHrFAZQ05CJaYBoN72LseZ2YMzubdy2SmZZH1HgAuxZVX5bKqmWf4ebPnPelZDV-7oOJ07ONSDZafFcf21aaTTOUCdnwDSjvSws-_hOVMKgApgTO23UgLi0jQKJwIj6UIIg3fi6jcFt1lL81KQn55_5eOhiUYuRtIqg8d9Wdsu5oze5uyIq_gfmiFQ9LMYxazfJ733HEJpRdBZYgo_wymwKbwsbRTE1vxCfqcnufU3xbWgPyeweIEXgt_Q1hNMk2Wjh7YdS7A0xT0GIEQqv1uPhkUwtXvfDhQho_oFeCLD78fLGzU7cP0zIfXJ1T6bE8gxHVgwDypRQ4ikHTS0EIifwGsJC52Fwbeab57sP7vOesbQGmfSoqQ7CBG8pCfZfLG1m28BNjqdNu-r1IGl1X0r1asFkpYRIu3-1cnuv1fLme3PIZckEyLz2FHjm01V1ePh8oMaZ3V_VGCS0u72E3yGf29IuYMKjaTgTGLHGu69-pMutGyqed__MJxroc647tFbZ-9NMi_DFP9mH33c31X7UutRZBniRXzZRoGT7X1Upgo_cmQ2EKvWYuNeNOEFYgfZ2kJV_8eaetMTZrX7D7B_mfpi9iTnJPB6KauqHDaVuXllGhwQf_7ld9ZeiyELaVnM-SpDTKFedaZZwl10HTw1H3Ko3g5osUxrwjI_1YkoEr0kCSq-MJSNFWdeWXHWGDuqjGuxBniQRJCV9TC0l6fj3BpYO8FxHHO1ClOEV-U_IO8BmmhEamNKgWG_8rpu85fZB496IyrHbdvtP7WnXpzFSIykMguHLF14va6QbqFW5MdZ0BFQXQMFp1MrBLgAycrv_kmLsBRBdTrFJjUmNhjvRUGArQ1MZ3qRWfR2EmT4DYc5CLlSi2TSGlV59mY4uZXQ_TMGtqRPtxYeTkKxDbJV8H4Fz09MQFGjmkp9ow7X0QsWr3XfUt0Xaxcu3yFzJGDnhK2LSedihcBmCAidUdVbiOd0DSVZHEGXmvMAG_q3YA6VaXtuTn7U5thvgDe52cOOma8D_o3ACtM1haOUdlINH3rlhPc6yPlrDwENmsX5psRSEiohYuUDrKvwUR00IjreOK5JNiWBnvploF0HB0BK1fJsbei1CiysY31oGUprKXhsMOPHXriJ5TlyEQT1-YmnaYZCupSs6Xk=",
  "id": "rs_025f18d313a80759016ab437b4aef887d085c66696ee59a56f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.25,\"right_z\":0.15},\"note\":\"The pen tip is still behind the cap and appears a little left of its opening in the overhead view. I’ll move the pen a few centimetres forward and to the right, then re-check alignment before insertion.\"}",
  "call_id": "call_orQ2ufdIB9UqcDZ7Y1JuRTxF",
  "id": "fc_025f18d313a80759016ab437b5474087d095e8e05f6096f83c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_orQ2ufdIB9UqcDZ7Y1JuRTxF",
  "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]: [-0.6804, 2.6991, 2.7041, -1.3094, -0.6655, -1.0573, 0.0606, 0.7635, 1.7016, 1.3254, -0.7712, 0.1646, 0.1173, 0.0614]\nstate[eef_state]: left_x=0.5048 left_y=-0.2636 left_z=0.0847 left_yaw=0.4998 left_pitch=-0.2938 left_roll=0.0716 left_gripper=0.0606 right_x=0.3099 right_y=0.2615 right_z=0.1169 right_yaw=0.5178 right_pitch=-0.5664 right_roll=-0.1222 right_gripper=0.0614\nstate[joint_eff]: [-3.5624, -19.2479, 5.5043, 0.4615, -0.4615, 0.0122, 1.033, -5.7778, -7.3094, 11.5487, 2.2344, 1.0867, 0.6178, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f52c658a255f1dd5a428e0ce159808a9c2dd527b012c977a4a0bc6d4d9ae5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7fb24877c82b8c826786eabf60e356f46c18336f2c2d4c325ce668ea0eaa2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7c342b0e7c5a733de7bd543a5868db5bd55a976d6e3629a468408ba4cb1736",
      "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 · 4.984 s

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

message 30 changed as sent

message 40 changed as sent

message 46 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1204, 1.6405, 0.86, -0.0364, 0.26, 0.2623, 0.0492, 0.3351, 1.5749, 0.7673, 0.0917, -0.0315, -0.1127, 0.053]\nstate[eef_state]: left_x=0.4115 left_y=-0.0919 left_z=0.0702 left_yaw=-0.5002 left_pitch=-0.2115 left_roll=0.0027 left_gripper=0.0492 right_x=0.3936 right_y=0.1468 right_z=0.0787 right_yaw=0.4173 right_pitch=-0.158 right_roll=-0.0658 right_gripper=0.053\nstate[joint_eff]: [-0.3761, -9.5111, 9.3197, 1.6288, 0.0611, -0.0024, 1.0281, -0.0615, -8.4308, 8.6906, 1.5946, -0.0269, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7246, 2.8418, 3.1035, -1.5295, -0.6735, -1.0538, 0.0584, 0.8284, 1.6279, 1.1862, -0.6067, 0.2947, 0.2653, 0.0599]\nstate[eef_state]: left_x=0.4912 left_y=-0.2829 left_z=0.1128 left_yaw=0.4469 left_pitch=-0.2728 left_roll=0.0418 left_gripper=0.0584 right_x=0.3066 right_y=0.2636 right_z=0.118 right_yaw=0.3931 right_pitch=-0.4253 right_roll=-0.1255 right_gripper=0.0599\nstate[joint_eff]: [-5.7368, -13.7504, 6.5299, 0.9255, -0.6178, 0.1099, 1.0281, 2.5504, -5.1761, 12.4103, 2.3126, 0.3736, 0.1783, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6804, 2.6991, 2.7041, -1.3094, -0.6655, -1.0573, 0.0606, 0.7635, 1.7016, 1.3254, -0.7712, 0.1646, 0.1173, 0.0614]\nstate[eef_state]: left_x=0.5048 left_y=-0.2636 left_z=0.0847 left_yaw=0.4998 left_pitch=-0.2938 left_roll=0.0716 left_gripper=0.0606 right_x=0.3099 right_y=0.2615 right_z=0.1169 right_yaw=0.5178 right_pitch=-0.5664 right_roll=-0.1222 right_gripper=0.0614\nstate[joint_eff]: [-3.5624, -19.2479, 5.5043, 0.4615, -0.4615, 0.0122, 1.033, -5.7778, -7.3094, 11.5487, 2.2344, 1.0867, 0.6178, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f52c658a255f1dd5a428e0ce159808a9c2dd527b012c977a4a0bc6d4d9ae5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7fb24877c82b8c826786eabf60e356f46c18336f2c2d4c325ce668ea0eaa2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7c342b0e7c5a733de7bd543a5868db5bd55a976d6e3629a468408ba4cb1736",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe8aczLZTdCm5cfaSk8GsEKS_ZRhZqQzk-Hg37jryC4QSjibO5i4az-F52tsNDBY98yifiANsnvc2FcFMIcngF_rItq1gApnlVIbVU7BZzs127MIJUFkyt73auv-uIfMZSWM4CpNiNeqK5J7MZG5KeA9BZEnrT_SK4W6Mkqf4rv11HNeI9Um15hkv1_Tukr7KiE4JADZKMi3iKoDxbQeT4_aWSf-xy2rm-qoUVgOaLin3mzhmxl9bVeH7ePnrw4sgv5x0ijVLrJDjwb4lXAu7FQx64UGBXaK8X3B5mOJmEMBGaHxVf4LoayVjBoEJmvQQVaJyKv9obSyznk6w6OncTC9SmTQxLsY_34PmFjPcESq_mNud0Cp3Xcr5Xt1iD_UKrDkDzSA0pKfYU_A2cg-TUtugEK6qvxMUVxjy3wplMPLkO1F9eNox_JUfyryks-j4FIn-BDhhSgRcCRPCfBENUOBAVMXwxMzVQqYf0iq4eHsn6JZYajlJwjpYlqSCDMOwWlNaZFJoW_xNJAY9MwrFAM1aPN_t3psod9KzCAko29Ub-M3Bv9snopJSVFTK5MNtFznSBQZh1rjlYtZXh0Fqcs52EdvYQQRVAgbpfTGTh31rpicuKiZnsVa2HhLmRsjrg1tKMRrGiv3FWxVe4mMdSHY1XiHZo1vTv07OpAGq5XkxkGmN4MyScLnpwcNWuqNE-aOlwnjgcvwe0qSfM6x07i3vQ7EdpXrop1ywYZPunvF83-kF-3qxuRkvfbKLa3H_gCuR5SOHTGUqO1DCSiR2fTutppOeN1EDoAcEUhk58xExS-nMfr56nt2NqF-Fa_hS1kx0fs_Zbp-g2JF6UdFJVm86VOl_FLqxXTARKLj3SHM9DSQjO4OR-ttm0qhH77jQcSYMW590DFG-rYjXT--KiXtcPfUeS1Uv2l4yHciB6rL3V9XZn149mO6n4IOyJxHyTgidVVV3uWBY3d0DR94r48hUoJAFIFLiyXsqG-XkMAmYpJ00VHBODR07QBjV6lHf2dGsqt1Zz7cigxJO57hI6wqyFZlSTX5jtZ1__x6E5R34LK8jp3RU2ctPXKPSJ71qrWSxgQepWCv81tJCSUmOkKnw8tcYoVau6MR3EHW4CSZYBdEOEUIF-MS0yPIj9AYDq1G1XzpQcwkBO7WMNPS2yj2BDZf0doBCC9z0OOMMoB3nZQz2Ips-n5T2iFAFSDQNmnbdi_ozocgPX-Ext-L2DMGN2_EBV8QH4qKE9z9p5vmNQhXr941vQqO-b1yWmn4mW6vAW1J2pyB35McWtTbuDZ3hY9P9S5NqtZbYH5SSCbgVLwuAl_7JqYXzm7DLROO5n4Cp09-pKpThAuzTQG_hdjR8zGT5Uzwwl-TqHpeBedavbrjcSStnbWSa3VScBOxMXVG30tkBoTUKLPiboDLsH24bG8-4ZKgGee_J3Jz26T-RjHyIjCvb3Jr_KmxRNEcMpA05xkEqbKAbCR1jEAXQj5dXiGlWq9ivu1X7P6LVINKG-kE--ZNAv8Cxps1i1FFDk8cQUZ2uABhdfPfUrTV6Afo3wMV7TPkfRjHZtTV5gpYFmds80A7MNWVh8060TN-UP2MZQuEWjaBPelHJJLEzi5Rw_Sc3FxFxBTLvvQZxWXmDpRHwOokDO5HR8S5SFwHudMNuFKV7JWW7NLUWO9NLv12CdcptGVBSahQGy6KdhBf6MMuUUr-5DgHZ_8V5VUQagvDexXWTMNAwrfchuXTBSKJKPeNQIByr0QLs-59nszzuVBNHprBnE11amSLg1eUwcPlHUhXqsOa0UXUZDBNekSqc7AmVQCKoEzsDXJIq8ynTTqq4uZatDcgWkMLLs4R0zYIKyRynG9PtVljdm3isF_4cmDHkQ6G68FWPOXjVtElSe6JSYSbNdlN-FtzMfIz-4ez4q9PHP6FPm3DvWLcVv7wFMWfaU9URj4sZZgUtK18LsVhII0fNGRYBa8P-GZZ8LZcVmID8y1WLE7GnP6SUHnWEao7L52afQ_rcsXt_XyBl97z_kZWwdZaaJE0dRTYvoaSdDdKtoGdeyd6b3TPa72-DAl53yMetSfk1KbWuvje5Ko7xJdW6PXFIzxeQxyHDT65lBHR_v443dSkZELYDntseWSN3crWcqM_d-ufCdPyIMjonURLflqxaBWHNrXWA0QWe98okInBlqc_F27uzHJmVFtNk7Yk55Z8Xp4O2KsBGSKAm3LwoTCLgVyRHORLQmEuHg3VF6pIdMncHv4VBYM9ppVkzhX45t-d6bt6LtaH0kzMXQafa30RCMoyfiAEq-VI1TQ6sks9B7EKTwIpkWARs1tJPdDaShcZWVimfDeeQbJbkg7f4T0T29tAAoBIjOjQSRQgCpOYK8k8Ri8T1ZIRRNu25pazO2EUg1HFOeWcFoIkk8sp6R5HVPVdoKtrPiesMmY74vu1V5miU5AppdCne6yhkqUXJPIbvtulAKvIHOVE1SZKaVxgVBnDfC45b9vsoyabrFHecuj0BEIphf-XDOwpnDrYk3row13Sm7jKtT8pmM34EW4a-RIPOO77LNHw4z7Rcu4_9jzk_ygt1Z-rhhkoYlfthnULUQERbXAqrs9lFwMEt9iThp-ebatz_uzpNy98SeQX4jdLzMF4aRpVCOSn0XbLefp2R5ZKi--lhg-t02WFW2eokRAOj5I7Ho6X1jW0boSUkOnnzGMHohpnowMh4BWHSUlLNR869J-Y_Fseb_xNlRDWw794PjoVtqsi2j4A3M-qnToID7swalZcr6OI0S-7dwRaaoHcAwUXyD_0e7KkWxe2tb94BfpVBWbgeJPQU38ws4KZsbr-92NZ9HEE5Z2pF1HFiaqe8RYyjmFQIaD0zdeSMoCJhRxVBdix9zoWQg3R1bDiw_h86As0Uu-rccTA2e2Tq32vzudxVsaU0DrBl8UvTcDppEbqwlCQXsWSUOkqtno6RihmQv3f-2JE7Rp8T-Pxsir_ZgNhvKMSDMEh4rFzmLZ17eLesH-WQIvOJOpUD-l3hc8ovqDoDYMbxCJzPmwMrrVxlpa7kKlDqOZ5EugzSNkQFCbcb2W0HfonB27ALGiebalfMYL75YBTHnHiojS0pefw3YOrW0InkzdtZrZ7OVi-qAGDxHGs7_vpovdBSiExARrWVVtg73khRyDOkrPFR33G4NdgvtE9hiCgNcKLDtDFxSCIgqWBVcFFYMfrs90SheYvshOPLdWgS71hd1ahyLuEO7hPAkF2pWoQA9Cs-fRjL_e1Tb2XzHztpShhGseCbIxkCpkvVbcfU5JUP8tJqZcF8icBQOL8_xhcs16n9ZcA-c--ubsO8kgrn2--Wh-wklH8aak1ijhjW3tTutLa27z0QyIbrntdWK4HpV1UpjTBpmOEpfe_TC3Q5Fko3zwDh8BmvO2nw==",
  "id": "rs_025f18d313a80759016ab437b75dac87d093cbceff2cfe0d8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.32,\"left_z\":0.17,\"left_pitch\":0,\"left_yaw\":0.42},\"note\":\"The last pen motion barely advanced, while the cap arm sagged and its load increased, suggesting the arms are crowding each other. I’ll ease the cap arm back into a more comfortable pose before attempting a closer approach.\"}",
  "call_id": "call_6GDZ0wP5QrSmPBc3M5MZgTRu",
  "id": "fc_025f18d313a80759016ab437bb16ec87d0afa45bda777f26d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6GDZ0wP5QrSmPBc3M5MZgTRu",
  "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]: [-0.7113, 2.6282, 2.5542, -1.2186, -0.9127, -1.1168, 0.0606, 0.7521, 1.6749, 1.3483, -0.886, 0.1291, 0.0883, 0.0614]\nstate[eef_state]: left_x=0.5083 left_y=-0.2488 left_z=0.1123 left_yaw=0.5805 left_pitch=-0.062 left_roll=0.0953 left_gripper=0.0606 right_x=0.294 right_y=0.2488 right_z=0.1233 right_yaw=0.5505 right_pitch=-0.6389 right_roll=-0.1151 right_gripper=0.0614\nstate[joint_eff]: [-14.4479, -21.9419, 7.6786, -0.0757, -0.6764, 0.0171, 1.0281, -5.2991, -4.4103, 11.0291, 2.8645, 0.9255, 0.442, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067b1a4cae21a6537e9b1e79d299647e16e4d00a76fd72efb04c258635fce05d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de86c9393d66bc1c1a3a7004596abfc5b31e3e0e295b9462c09a94c2db6a9c52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69ae71d17490c9b62cd5f2449975370a7d14ea6ef5fcaacff6b1f437de8d132",
      "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 · 3.943 s

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

message 36 changed as sent

message 46 changed as sent

message 50 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7925, 2.645, 2.6846, -1.2896, -0.693, -1.0416, 0.0542, 0.329, 1.4689, 0.9791, -0.3523, -0.0219, -0.1173, 0.0575]\nstate[eef_state]: left_x=0.4756 left_y=-0.3166 left_z=0.1121 left_yaw=0.3756 left_pitch=-0.249 left_roll=0.0407 left_gripper=0.0542 right_x=0.3779 right_y=0.1369 right_z=0.1284 right_yaw=0.4076 right_pitch=-0.2845 right_roll=-0.0656 right_gripper=0.0575\nstate[joint_eff]: [-1.3744, -13.2171, 5.6957, -0.2515, -0.6667, -0.1099, 1.0281, 0.759, -8.7043, 10.8513, 2.884, -0.188, 0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6804, 2.6991, 2.7041, -1.3094, -0.6655, -1.0573, 0.0606, 0.7635, 1.7016, 1.3254, -0.7712, 0.1646, 0.1173, 0.0614]\nstate[eef_state]: left_x=0.5048 left_y=-0.2636 left_z=0.0847 left_yaw=0.4998 left_pitch=-0.2938 left_roll=0.0716 left_gripper=0.0606 right_x=0.3099 right_y=0.2615 right_z=0.1169 right_yaw=0.5178 right_pitch=-0.5664 right_roll=-0.1222 right_gripper=0.0614\nstate[joint_eff]: [-3.5624, -19.2479, 5.5043, 0.4615, -0.4615, 0.0122, 1.033, -5.7778, -7.3094, 11.5487, 2.2344, 1.0867, 0.6178, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7113, 2.6282, 2.5542, -1.2186, -0.9127, -1.1168, 0.0606, 0.7521, 1.6749, 1.3483, -0.886, 0.1291, 0.0883, 0.0614]\nstate[eef_state]: left_x=0.5083 left_y=-0.2488 left_z=0.1123 left_yaw=0.5805 left_pitch=-0.062 left_roll=0.0953 left_gripper=0.0606 right_x=0.294 right_y=0.2488 right_z=0.1233 right_yaw=0.5505 right_pitch=-0.6389 right_roll=-0.1151 right_gripper=0.0614\nstate[joint_eff]: [-14.4479, -21.9419, 7.6786, -0.0757, -0.6764, 0.0171, 1.0281, -5.2991, -4.4103, 11.0291, 2.8645, 0.9255, 0.442, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067b1a4cae21a6537e9b1e79d299647e16e4d00a76fd72efb04c258635fce05d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de86c9393d66bc1c1a3a7004596abfc5b31e3e0e295b9462c09a94c2db6a9c52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69ae71d17490c9b62cd5f2449975370a7d14ea6ef5fcaacff6b1f437de8d132",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfB3jU5B4SOnjPzZ9UkvkjoCWbi9QSokSLx9hp4VXoeARtT4wd3PBtLOR-TJGOuWN-Ff3rVMWrEWORsD7EyE75dZ2VZ17kHXuWloyW2p_bpxj156SVSASwSCsziajGgae4eO6ApHbM3ebHvuG-F6XOsn0EAyU8R_VQaKS7WNf1_EdfkexReQiEl5z-FEBQ9ZN9X3jthVaO2v95o4PFahzFLG2-h8-YjEifNrhqv9yFUc8Oh3OGWKRrWMB3I39omg1BFaj_KpDB5OuZO0pIJek2Ur4QcmXWyIxEDkZFeMS3__llYTwBhHF80JIMVDsGd2Us017F6m2GQkpUVas8Bc09aQ0zEjzKfLKKuJk6Z4RpJLHZBMe22CWW3kp0CYLwzsRSgzoR-vGrzztJlqGEuQJX-iWzrkpAwmuyb72pL_WLD9gm38fr2xp46V0-i1PYVDxosdUXzE8l4FfzGN-kOcTHclFSXKug-8vh78jhQy-3ZxTwy9IKYnCfzi4_pFDjxc6-GmlAiDWgFtN69ZnfU-fb5NAU743uKTRnaVamVnUlhAlPL1JaDcacem6TUNY0G4NJQY6j38xikUxx6pbzsyvlB0PxizMsnFqvOmkQm8WAkhAeJVTNM_qKnBgzcDTC04njvS34q91jaKIovebBiCRXt9jHyy5RitGGz_-G8tthucYIihhTlotcK1VyoIcJ-00tALL3JuIsRPccxg5H9tU5uIbhwLp7YtLqtJlvW8COX_QMt0Sz-xAmdIlwIActPOUPU3NYm6mFZcIWtOru-hzc2MZoip9TpEzaZ_ANvUuFmj2ePclfsTgqke75DlatIgiT_ozFEAioP0kVRIkIXzVyPyP58s3qIYgvlDvyDmqb20dls0qNcg_i5ks0B0ivhQx_NKv_w4v_ZHwtrrHzBS2qnk6Vw0UZOc_HqSfzcMny2oAT-ZOEH49UXeqqYiiBH-f_9mkKqZQGC4qWu7wfA-OgUHn8GqsEWM6j6l6DDtPhcGWhVjfbm0Um8c3m-GJpqz8SlJzuZcww-zOvPOJ3lyNFjfTh_hN8d6r0CfouLvSW5BBKFh92bPXIJH9b7IFhopDD2mX3aVNJsZLP9EEqfmr7uytZYM3d6EwcVWUKdS6uHVhtZnpR3l1sJyDkbvfYjqZAL3X-hJFe7rlrZl17dfW9r6m-iHNk4YIZVTnhhffBhY0kPEtkVhiiZbTDwLLlK9pHhWFQak26AKVnFLuFTJd8UhlzX96k6koxH5wZqF_SDcfHfida3xHufUHY6ISE5iZ68CppON_FUBjMjQQdzRI6cvYWUPwlkfg8hBZLr1q3cn47SVpp1tXYFhoD4Hor_nUDSIG6aqO6J15c41McZYud64pHQOHsoyh9Szz7pP8KSlrfWEmu1XtiiUtDRzPh67SeqQ8tMgdXT3MLNYAWnTDioPQpYb6j8z8y4r9TJ_ajNcIm0WiNmoep620LtwIBkVo_PYIcF2fH7VaISe_4StIlnXY6qwVrBlgYgRghPzAKzKyDMY1JMGZd961OXmtIFGD_5M7DAuRx7YSJttBT_63jjr3biOf7zdikoPaz1V3XeXepM__FeIGfWxHfBezxqYDgtX0HCsQFIza3EZmH14osE-Nm1WPZRenX2MUNY0-f3QHJ45zGhBMLhONt-iHyx-io98Lhppqok0a11J0oAJOs-xx1DlDIsoDVIhCwZuifAGzorN72jhJygsaQA40zcFNQe7NvnWMqJ1WC40ZAcw97OddndjRGhFzHdRrKYrm1DizQ9y44J6RbZSBSKafaLDQ0M7g3qr1Gto57TLwNm-ig1K72yZ7nyFYaJb_DQk1yYG8K2RcTy72Xz1ovsBfbQLZoVDKiqH2QYWWFDmzFdrWZM0lzxBWXhsWbRIbi_tg-NlRVPUm9mlpF-LYoewjXgatITYihv1ToPy1U-7mZKkIujhTH--xsG3YVUYO0F_jb3z6iXf7z70sHwwbz9ThpNKVCsLpqFVvZdstcqr1h9USRJOGZsigWKTBt8alWYKSqxwHzajpuVcxxUVCv813LnwRIiiYLWrhIlJH4p9nZ_xG6ISZpWTkYsneOU27KfjoEK_RtOqOYHU2iT9xnSuJksqju2VlXpzsvN0Jsih26g51vhHeH6W8DDbkVrYRtDPFzTDgcxb58xJaUZxQcv5hG8geOX",
  "id": "rs_025f18d313a80759016ab437bf7be487d09e5184dc0a5b8f94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.1,\"right_z\":0.21,\"right_pitch\":0},\"note\":\"The arms are interfering mechanically: the pen pose has moved away from its target and the cap arm’s load is high. I’ll withdraw the pen arm toward its own side first, keeping both pieces gripped.\"}",
  "call_id": "call_1JK9sjxyQmZTnk8Rm2nOXOxs",
  "id": "fc_025f18d313a80759016ab437c141dc87d09ec3006e95d871e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1JK9sjxyQmZTnk8Rm2nOXOxs",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7094, 2.9147, 3.1184, -1.5085, -0.9054, -1.1393, 0.0606, 0.2108, 0.8036, 0.7162, -0.5396, -0.189, -0.2642, 0.0614]\nstate[eef_state]: left_x=0.5117 left_y=-0.2514 left_z=0.107 left_yaw=0.5933 left_pitch=-0.0708 left_roll=0.087 left_gripper=0.0606 right_x=0.2695 right_y=0.0953 right_z=0.1977 right_yaw=0.5058 right_pitch=-0.0586 right_roll=-0.1055 right_gripper=0.0614\nstate[joint_eff]: [-0.1709, -15.1726, 7.2821, 0.5739, -0.5836, 0.1636, 1.0281, -0.2803, -1.6205, 7.241, 2.0635, -0.2955, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accbed46bcc6926a56b4c256d79aacfa50d836909de1e79df83bf5381776882b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f900a082e741a81a27d3cbed1ba3800f57b87020f5d01b62829a20aad5a124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f8ceacb4242c15c293209b3a5ab65654e316018d5b650882363214c9defafe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 5.512 s

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

message 40 changed as sent

message 50 changed as sent

message 54 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7246, 2.8418, 3.1035, -1.5295, -0.6735, -1.0538, 0.0584, 0.8284, 1.6279, 1.1862, -0.6067, 0.2947, 0.2653, 0.0599]\nstate[eef_state]: left_x=0.4912 left_y=-0.2829 left_z=0.1128 left_yaw=0.4469 left_pitch=-0.2728 left_roll=0.0418 left_gripper=0.0584 right_x=0.3066 right_y=0.2636 right_z=0.118 right_yaw=0.3931 right_pitch=-0.4253 right_roll=-0.1255 right_gripper=0.0599\nstate[joint_eff]: [-5.7368, -13.7504, 6.5299, 0.9255, -0.6178, 0.1099, 1.0281, 2.5504, -5.1761, 12.4103, 2.3126, 0.3736, 0.1783, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7113, 2.6282, 2.5542, -1.2186, -0.9127, -1.1168, 0.0606, 0.7521, 1.6749, 1.3483, -0.886, 0.1291, 0.0883, 0.0614]\nstate[eef_state]: left_x=0.5083 left_y=-0.2488 left_z=0.1123 left_yaw=0.5805 left_pitch=-0.062 left_roll=0.0953 left_gripper=0.0606 right_x=0.294 right_y=0.2488 right_z=0.1233 right_yaw=0.5505 right_pitch=-0.6389 right_roll=-0.1151 right_gripper=0.0614\nstate[joint_eff]: [-14.4479, -21.9419, 7.6786, -0.0757, -0.6764, 0.0171, 1.0281, -5.2991, -4.4103, 11.0291, 2.8645, 0.9255, 0.442, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7094, 2.9147, 3.1184, -1.5085, -0.9054, -1.1393, 0.0606, 0.2108, 0.8036, 0.7162, -0.5396, -0.189, -0.2642, 0.0614]\nstate[eef_state]: left_x=0.5117 left_y=-0.2514 left_z=0.107 left_yaw=0.5933 left_pitch=-0.0708 left_roll=0.087 left_gripper=0.0606 right_x=0.2695 right_y=0.0953 right_z=0.1977 right_yaw=0.5058 right_pitch=-0.0586 right_roll=-0.1055 right_gripper=0.0614\nstate[joint_eff]: [-0.1709, -15.1726, 7.2821, 0.5739, -0.5836, 0.1636, 1.0281, -0.2803, -1.6205, 7.241, 2.0635, -0.2955, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accbed46bcc6926a56b4c256d79aacfa50d836909de1e79df83bf5381776882b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f900a082e741a81a27d3cbed1ba3800f57b87020f5d01b62829a20aad5a124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f8ceacb4242c15c293209b3a5ab65654e316018d5b650882363214c9defafe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfIFeSyMoZPjoiaFh9Ekdqgr5EKXY1l7Vl7JjvndgcLYRQp8orKstFx9N9N5qwpER9UGBXNIB9gY7ouNTEpOVbW6lxkCXhthFHtcvwXOInaFW_CFbz7UDKC-q4Uv-1Qg9mhLM0R6RaThap9B9EUiHETEZvrR8aF02B07WP4XPc7ZglsFCfBcxUd1oYBYKMjg7pZcWPh0vov7a6xALaumojI4VusM2IiVRStnJIRiJPiL5Z3x1GFruRzPSgfdQbCwglr40iIoDOx4RbgQSdeodxmKDsSVSh_oZQzWU9X53l-k8IAKy5Z_Mx2tlXFnElyCk_Qv3AhQMGyxnPAnqAFPoVITadEFBGtmf2xoXsbQTmQzmCVEqmtilVYT9w6FDQiqMCr61LN5YQ_qUkWDwVCp3HMEQlXoEufHIWbDHPp63o-fOKnmMT-PNkg-APrLl761aryZ2-SMOVggcvvqgUMc2y_3MYzKMunW42bwWcikkyv7xguFkd_juz82Kc1Fp8pMBp3imffq-pjt7YnaNDomn59GOFF6qjqIvXoJ8HXUqj-QB_aMA76UzpmXfjhbY1f1q03dzTeVF7ee4yEJ7cepFSpRa4xmroRwsdpn65UkzOfClDrq6uKv2TCs5hqs2n4V3geHIxPbV2dWKmlYp00KfqxLqJygFeRx-1ZvAs04NjRleokTxrI5GXPxzyAhfc6xyE_gCKTzbd6PLl67qdiXx66Ojb6et9U5s9wchN-KbY2Myh--4ncPi_K5DIw3nj1f5NCHh2VROsyam7hwd1dpFkcmXaTyByoJL5nKq2w5kN9LUKJQb-y0xXD3lXhtjIt28WgCt77P6WGsDS1PQdnouRMt-rM2mhTemjPIskz54W4reZW9cC-UpgpSygmu6SQ-mNXNbvYm2LV1DTmJzRw_nIkJybTdrtsZrj6PgsdNdcV8oXkI6I44_hp4HSykyZ7G-JORgsPEDinR5H-ez-SUJc5jP66JI2JK-efbmSUG-ACozWEojq270JV0e2fU4c9zDyUAhRMe2lFHc-VAz4E4JA3qorD5lYMo41HeSPOcrJKJjFS2PgvREv2eQf7KhAZnB-H90Kc93Nu8x4L_Zk4Hg8aVy2SkU6qb6afy9oIzU5DKTnjzaaj-PyBtVIKSATpeGi8dSCij8pItBOV7BY8deIceaU0RgP54G4akqP9utZY-vwoS69lj_Wb2NyQemSJsTqHYeHC1JI6Msvg0NgLAlE_YUcs4gcGujWR3YjRXIPNr3fCO6l6WcLhco8M9xPbJMUS8xTUsb_YbGQtxK75BrRobVuoiVQkD8PmWL0us8FN71ZHdzqO18SzLoxTcLFvRBcYbDvBBSRkMotaGMRA7W298elsTcNDwsGJt1GNvuS7dHwb3ksW5vgMyh54hO2OzxD4tTNh4Yxygn9IIsaOLuevcd3NFDm_pupMqYv7VCMIght-VyuakPNlqv6-r7DuFvb67AaESP5PdZVdUxHwqLVMP4dBSyRPcWXfhcrBveVetXSdmfhQafaC-zeRnTrnTNNTSbpjMVGT42x9Ig1SxQk313MEOSIGAig3VgIoYMf6OR9RcSxrC4PcyjRoBiyo7G6nQ5clQsBH6EHAd8TM0yGE7ZHn-M2yhUGlZEngP5VFNjAqUFictlkfFjqPfAGOHVxkk3Aa6ItekS1BsfnhaqO8Pi9rLiCUd83jgdTadEbAJZaW_ejnA48ixtdkUQ0jFIp5EcZJDedXx7-Gd8uord8k3D9CoUiCiJ5Of95WNrhyyR4xZD2IN_QzlTnTdif8t30Vgp9DlsXJ6jkeHEOa8ifzjn1wsFrixvCONtCvv1nT5uFQvOVcgqPTvLTuINrCz0N49p6lwlH4HakI5yZJ2Ps_2sRy6zvuNne19W1TVgRXSaxSonNA64cpXph_8Q545gJpm0GPyfTs33-umfc_ThjVcjIhRyfFGuFKVk13F_W3b_f4fHNa-i7C3XsZOx9HVPhh4nED4sXUmrGEtLBAq9L9THgTIDkczTC2rtIQOz24plgrpbIHwGoRA9d7m79sHqpFqs6dQrSU6zWInzStQ4o1WgTZCvLVu4qi5c2quZ4T5A7S8Ex1PQ8fGiy8j2Vi1Dc9",
  "id": "rs_025f18d313a80759016ab437c545f087d0a6ae9b87a498d529",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.25,\"left_z\":0.26,\"left_yaw\":0.42,\"left_pitch\":0},\"note\":\"The pen arm is safely back on its side and both pieces still appear held. The cap arm remains near an awkward extended pose, so I’ll raise it and bring it inward before planning another meeting point.\"}",
  "call_id": "call_xJHJuNBpFtV59NcRPKmpnihw",
  "id": "fc_025f18d313a80759016ab437c72af887d0bb9d77276ab98ae6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xJHJuNBpFtV59NcRPKmpnihw",
  "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]: [-0.8673, 2.1078, 2.228, -1.3254, -0.9543, -1.1168, 0.0606, 0.2054, 0.8093, 0.7116, -0.5457, -0.1986, -0.2775, 0.0614]\nstate[eef_state]: left_x=0.4054 left_y=-0.2496 left_z=0.2671 left_yaw=0.4354 left_pitch=-0.0004 left_roll=0.0218 left_gripper=0.0606 right_x=0.2685 right_y=0.0952 right_z=0.1931 right_yaw=0.5159 right_pitch=-0.0733 right_roll=-0.106 right_gripper=0.0614\nstate[joint_eff]: [-0.7726, -10.8923, 6.2974, 0.7399, -0.6422, 0.0952, 1.0232, 0.0615, -1.2786, 7.2684, 1.7509, -0.0317, 0.1245, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abae2d7e0c25e53aa493e3dae8e0ac345b017fd15eda75d489ac5c33051f5be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb2f942d90d6530a107ae14ccdf41f1c0a036f7fcf9e28a3c0ebd3a90adf8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db17563a966d9800c31686022cb68ea404f23c4faabaa2530fc36db36a7cd1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 4.462 s

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

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6804, 2.6991, 2.7041, -1.3094, -0.6655, -1.0573, 0.0606, 0.7635, 1.7016, 1.3254, -0.7712, 0.1646, 0.1173, 0.0614]\nstate[eef_state]: left_x=0.5048 left_y=-0.2636 left_z=0.0847 left_yaw=0.4998 left_pitch=-0.2938 left_roll=0.0716 left_gripper=0.0606 right_x=0.3099 right_y=0.2615 right_z=0.1169 right_yaw=0.5178 right_pitch=-0.5664 right_roll=-0.1222 right_gripper=0.0614\nstate[joint_eff]: [-3.5624, -19.2479, 5.5043, 0.4615, -0.4615, 0.0122, 1.033, -5.7778, -7.3094, 11.5487, 2.2344, 1.0867, 0.6178, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7094, 2.9147, 3.1184, -1.5085, -0.9054, -1.1393, 0.0606, 0.2108, 0.8036, 0.7162, -0.5396, -0.189, -0.2642, 0.0614]\nstate[eef_state]: left_x=0.5117 left_y=-0.2514 left_z=0.107 left_yaw=0.5933 left_pitch=-0.0708 left_roll=0.087 left_gripper=0.0606 right_x=0.2695 right_y=0.0953 right_z=0.1977 right_yaw=0.5058 right_pitch=-0.0586 right_roll=-0.1055 right_gripper=0.0614\nstate[joint_eff]: [-0.1709, -15.1726, 7.2821, 0.5739, -0.5836, 0.1636, 1.0281, -0.2803, -1.6205, 7.241, 2.0635, -0.2955, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8673, 2.1078, 2.228, -1.3254, -0.9543, -1.1168, 0.0606, 0.2054, 0.8093, 0.7116, -0.5457, -0.1986, -0.2775, 0.0614]\nstate[eef_state]: left_x=0.4054 left_y=-0.2496 left_z=0.2671 left_yaw=0.4354 left_pitch=-0.0004 left_roll=0.0218 left_gripper=0.0606 right_x=0.2685 right_y=0.0952 right_z=0.1931 right_yaw=0.5159 right_pitch=-0.0733 right_roll=-0.106 right_gripper=0.0614\nstate[joint_eff]: [-0.7726, -10.8923, 6.2974, 0.7399, -0.6422, 0.0952, 1.0232, 0.0615, -1.2786, 7.2684, 1.7509, -0.0317, 0.1245, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abae2d7e0c25e53aa493e3dae8e0ac345b017fd15eda75d489ac5c33051f5be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb2f942d90d6530a107ae14ccdf41f1c0a036f7fcf9e28a3c0ebd3a90adf8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db17563a966d9800c31686022cb68ea404f23c4faabaa2530fc36db36a7cd1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfOk85Hpw_V_ol_TNNaO0FrqmcY-Zj86smAkxt-EnySUB8qwMtesMequ6XOO8it3ToKGhOz0wMDoyVbEuL_MTBbqPB4QuIQJrE7lEdBZ1CwS6DY8p57Xt34SyYGChy8A7m-k3sVrr_Z47Wtbn9WWeXAiz-5B68lozn_tmrUZRwv-bP_qWAn__OuwkG6t3KmVczVPCud5_Tf1txhfBOn46ZpzjM25KvbxH3euvcl_s_sHdaEDhCBOS8tjbe3r4rS5HckTB075-XH5ggFsEw1kCvmDSQVuHB6P43dBleDf8YENKZcNf_ZbBr3TPJYJdfFofFxfMl-5hjl0xpKvu7QZjzKvM9wPDVzVR2CfyNGuCxqIQVH59srqn3NgH-85_IC60gAT8iUVpdXv6TeALQf-Wds6G5Hl4-BdkUWLWCoEU_orPCYio1XE7C3_BW83T0CIOnnC4iOz6ksAPRrmZP1eiBcor657ZX_85YQIWt5hnvyNFWHZxH5GG88PBVPPbWW9Js0paqGxOVU9wTLSxjAU1UwwTe06OOm5CoIhU0tf79hHEsZPKKVYciQcMEfedSSImP4p0B2T68D-dLFYfdNumCCrpLytmGH6ZqgJ6cEYJKgMMwdVdXvFf3kroNCNpttk8tLrtAa7Kn_f_5iYOxXakfFx2IKPLU-ODpt_V4BvmY31vHW4KKRMFlgQeTgTzjNqLslRE6UA3kXnuuvUwOfVWbvRO7Yei4rHVJU7PNJpXxu20fmeMMsTqa7I7hyozpkNCHzOSHNZ28UEXZ-cjm_zGqailxdniZZAplDJHlGMvJutN845yvd0AyTD2r2nrHKc39CLfNauCecsJmCL1GP2rVwiSkTX0B3LhjmzsW0_9M29dM-8eAVHuuUIAGeUKEpdcI-UkagUrh19axpN-DrgXWHcv-qVO6vmicUuGHesC_cYWOhnZTKgfthWNuGmg5X-5NjlKmUmsUWXQEPzdVzulz384bq2mYCZVk0-ShYPHDINuliMRmVIV-JdJoAaJp-5zVMPY9fD5IXxcFSrn_4eg6rBl2vO5YrHk56rX3VCSDjt7sVorRdxvMZrWYero_1UE6_tjqHikbSRjbdgZe8xRtnnQSgXC2MCOrULo3XWaquSw-NWmNCfBmNQXUVerP9YGksfXhNTA0cxSjdIEkJzuqnqjxhI53HLwvnPibEjzg_tWFnusjtjw3-YMzaCg6UErG-Ht4hW5lISAu9TsgKEbuRBK1Hx1fixw66uMnqmJgZvL0kyzQNzfJUJLZOT3NjrMRh9uX5GxAog7q71NKELvwwD7F7y32TxPRSaP3D8o2buxndmNBsK-ahVm5PR7cOoPC1rLF5-Male9vD7wICCxh7pDQZkskSSSo0JVuZVsKLR7L-YG9IPSFNyre4-QOoJ188M5AKF6i6XpgBpOzdAgpkyMtxO3pRo8x-2swaKozt1YF9W-VXbt7PEyTTf9ZJQmmAJoLsCREX2xWtg5Ug5KHix2v-2eLV2xXnr1KlEoc2-poLt-6-TjwJ6L_B1qdQWCwpaR7MietSrMYghviWaF4zHrJ8eFc9B3cQYk13DyF7vfPIYJLa3o6ryz5WsNXVkyBytlTlJcQI-KLJ8TYwUq2EOqU9xiOZcT58nlpeoG0X-cv7KsV5Voc6ZyFguiIfaylC-kkCMCe3RRhDChtfBPL39JO4s43QL3hPNb5AUx9GTxOifs-QA5sWTRR4CSgnnwAO5WdQMcOBvQTQut4_k-FCubCAqcLoo6rXhLQ9IqKVT81V-g9WXeNA5QGkwdHOewMGTwG99PUBMrYhNu1U1tV8YEXoU3LamgGVlfGHcsIepvZCK5wAiYT9DkxYUugoOvPDS7pDXlwlSJ9C2UmlvqkfvRBtv59jg-Ph1BygmYYDrY1wO5GlcJfK-e8VT_v4A_0lfz-b0d6QFdKKgTHvLRQFqNyT9mzBU20oOu_OuFcZBVr4NY4HuidBrTD6-ZZExXpNuVHikD6-JJqJjDS_W5-D4l4dlPtWdst5BEsS-EEDg8Y6T4_IV1xo_cX1czz3Ije9W4p7q-364OZIXdo7L1iq2M8PjJZ1qkXvdXufsyYB-RT8IFixxFSQ0cE6v2bn9gzZINic6nkYQ7tzVQO6Ri8JH-VvSrQNBEdDvcKFF-t1jATYvhUF6C9Vd7gKgVGI6V-RgWOwOjZQzdWrCexHl_jqfPPtBQfDESR9FPHKQHyRDKP8tycJSAejBcSi1nBWGemWpB8zHfKTUS93c8lmKtNyHBYnHZ1rQqYwv9x6D5BptEPgg7ynOlmiLFUwBgFXSNj6UaDImRYQ1tmsu_G0RuMX5ALvkVlc0MBvV-XFXzLYOwGVZoXynl51hUfHY6AQy2ZdDLehUCnUZruyTuyDydrIsy48LgHsJuwyI7G28as_4Q8X47XVS-1jr_asxFEbY7cXD2aoDd5d2920ga9ExEqmbgzXk8Jlg5LOD72f07JCCC4u0DZzbvlYes0B-goXnr1NC35_bbvZoAH-tAi53dZKO9k9QRpB6t61IjcKnbM0Oaw14PE9n524IJH3wlz5zvhemklfeGzdjXd7IrioPKnMT8GUagQXV1j6UISeHsyGgU4zR5rnK0Uikq8CwwCW9z8LgBNJlA2bvg2FC7c5Q6BTT3QT4bdaZV1ocinK7RE3qvm258cu7ZBJ9nuLf6tX5iUMn9OZ6zRlifH1ffvasXWmM3d75fmmt4LvqhlAiNl3CsfMdaG5RpyO07QSNy8NyrQg-hHlyN5wPbWxpMcJsNRCdCfqBpt4Hnrn0VVnspaKVKtU4aKqtVuTAqhC0-AqdWGS99YxgBeqhlUx8mOJA6QUKz8NofTd9OspbNBdvpqZKAVbzCsH6Z3_ruCdfI9gPmBIyJ1OlNFq0JesRSGF-_r4j-oQwdzF4wDbbEB7qyjR6XwovT87gr0CsNGgDfrEE0FhFsmpNob2wFNatdweciJGxDhxvz3mFZXm13Zhj0flr5oyUfBn4PtJQvv-FzbEZbyvGwBPp3AfmTdkkGFDC2CSbPwhiTH8rWaXAr5N3FeKCrzoRzFqQD0MHB30SYc24txQ0fS4f_WZi30VZcHRvLQJBGW46lCxykEJROUN0iXUUWO1kl3YkJz-lo3HG7ikKdXZSqhPWPEAqY4D4SwDb2cfywv9i4sEvflcAqBTuytA2YqGjgG2A9ajRJJY16b24ZoCWdPnI58BG6BiH-8lAUOBgaTXIyWv2t27eAjpBYqJEj6xqIuBwpObCYZhDHSlpG5zBzWlGkQlHgDNXH61NFAhheC_hfDKswCThpIvRV6ExIlMxgJIkq73ISMMfAK-0a8jWzvWMsChovrjwJroztuVep1llukkkqgDhSbNEM1uaBs=",
  "id": "rs_025f18d313a80759016ab437ca3f9c87d0974a01bd39030e77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.31,\"left_z\":0.23},\"note\":\"The cap arm now tracks its targets again after being raised. I’ll place the cap at a reachable height near the center line, with the pen arm still well clear.\"}",
  "call_id": "call_CppEHRU6Q9arGRojePsetj25",
  "id": "fc_025f18d313a80759016ab437cd9dec87d089adaaa41fd51570",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CppEHRU6Q9arGRojePsetj25",
  "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]: [-0.8841, 2.1452, 2.2379, -1.3464, -0.9501, -1.1435, 0.0606, 0.2043, 0.8101, 0.7113, -0.5465, -0.1951, -0.2779, 0.0614]\nstate[eef_state]: left_x=0.4028 left_y=-0.259 left_z=0.252 left_yaw=0.432 left_pitch=-0.0161 left_roll=0.0453 left_gripper=0.0606 right_x=0.2687 right_y=0.0943 right_z=0.1926 right_yaw=0.5121 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.0614\nstate[joint_eff]: [0.0479, -11.1795, 8.4034, 0.7937, -0.5739, 0.0171, 1.0281, -0.2393, -0.8821, 7.1726, 1.6874, -0.1636, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff303861cb7e28a7ce2c942857268a4296c9d4e0623a712b9bc2eb3612864b15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ad50a181fc230e5a5f0d48da7504c489ed6eda95b48eec3c1c2426def217f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dceeeef80d5875a61f20f9e6e0dc4853874fde00c75476156e988bc17e1d853",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 5.621 s

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

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7113, 2.6282, 2.5542, -1.2186, -0.9127, -1.1168, 0.0606, 0.7521, 1.6749, 1.3483, -0.886, 0.1291, 0.0883, 0.0614]\nstate[eef_state]: left_x=0.5083 left_y=-0.2488 left_z=0.1123 left_yaw=0.5805 left_pitch=-0.062 left_roll=0.0953 left_gripper=0.0606 right_x=0.294 right_y=0.2488 right_z=0.1233 right_yaw=0.5505 right_pitch=-0.6389 right_roll=-0.1151 right_gripper=0.0614\nstate[joint_eff]: [-14.4479, -21.9419, 7.6786, -0.0757, -0.6764, 0.0171, 1.0281, -5.2991, -4.4103, 11.0291, 2.8645, 0.9255, 0.442, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8673, 2.1078, 2.228, -1.3254, -0.9543, -1.1168, 0.0606, 0.2054, 0.8093, 0.7116, -0.5457, -0.1986, -0.2775, 0.0614]\nstate[eef_state]: left_x=0.4054 left_y=-0.2496 left_z=0.2671 left_yaw=0.4354 left_pitch=-0.0004 left_roll=0.0218 left_gripper=0.0606 right_x=0.2685 right_y=0.0952 right_z=0.1931 right_yaw=0.5159 right_pitch=-0.0733 right_roll=-0.106 right_gripper=0.0614\nstate[joint_eff]: [-0.7726, -10.8923, 6.2974, 0.7399, -0.6422, 0.0952, 1.0232, 0.0615, -1.2786, 7.2684, 1.7509, -0.0317, 0.1245, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.1452, 2.2379, -1.3464, -0.9501, -1.1435, 0.0606, 0.2043, 0.8101, 0.7113, -0.5465, -0.1951, -0.2779, 0.0614]\nstate[eef_state]: left_x=0.4028 left_y=-0.259 left_z=0.252 left_yaw=0.432 left_pitch=-0.0161 left_roll=0.0453 left_gripper=0.0606 right_x=0.2687 right_y=0.0943 right_z=0.1926 right_yaw=0.5121 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.0614\nstate[joint_eff]: [0.0479, -11.1795, 8.4034, 0.7937, -0.5739, 0.0171, 1.0281, -0.2393, -0.8821, 7.1726, 1.6874, -0.1636, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff303861cb7e28a7ce2c942857268a4296c9d4e0623a712b9bc2eb3612864b15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ad50a181fc230e5a5f0d48da7504c489ed6eda95b48eec3c1c2426def217f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dceeeef80d5875a61f20f9e6e0dc4853874fde00c75476156e988bc17e1d853",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfTXp38dDJ7Kze729ZgaaU6iNEMNIq6N2LZRSoy7_zc9Pojy-BALA8JQj1LH_4VHSMlg4FI-B_CgIR17y9-qoWZVfz25L0GDrM-jFjrjSjNBexiLfOP_RUB3Fr5k3L3axpEZE7TzxCjam3lFqyJBYoj7XCNUVjfgD9tB3D5P-GdSd8YLo6O2kHdJd_p0FPiXr0lsE-7SO5YAaptfe-UjND3bQPF6h5sH8RymRRSqxlNWRzb2Q1ZxZmtDfOq5bUYrRgt3RzvFWr5MT8PABosWoY8qRFVwUixqpGWpx6kMVu5fEkpJmYZybUeOmDTo6UYrXVk5_fELzbY6CYpRxQeLJQIPg0vf6DIVg3o6Dwat0yt1w_kpFlUf0V_6Ie6USdCjKcHYWVjqaxkPh2MNRwDPZCYWlIHJCxVYDoLsB7UvIj-soBo12jmfO9jW1XhKTYiawGuFvaZAWSg4OFlm3WGr4asHNZ2iTdJm5jJ7j1wILloYLKx3g1RrQ76EKcoSEeVgmMzHKUNJORk4CzRMhOUsY2Lh6ZchbV9MyhiOJGuy0YCNFeut1zZMC1cM631mAqd38gqPpSA3e8mvPLeSblRTc6aYUEVWTAr4MEzoYoPZJerEUXizf3MrZVK3aOZXqFGklOPKY8sKF6z9xSvGVxtsZ6nOBACgM4wgI2WcmedtMTwMaY_mA7roqerKAjS4OFTuTRGRx_tQqZ-9UNd5IG43JyQPb68q7yaT7OqdiW_nmHiGiaw0aYjuz9uk66s69-aKffZW6xTTgTJKHl4uYedcnNDUvQLy7cYvclwyts-LnxRXFlEW2iExkevtSBMsnfMt6ag1B3tHXpS4RHm-iEvLc5Et-Ozv7ONhdNZ4yEh2UT8qchZsvHZKY-RAL9L-ElwUw0uFyX5oRwf49oJjwOOGm8dMPaHxmkAes4stSNydauassqP617mfIJOqPzhK4b3JWmJUUptprYf93BXofJRkVCsHtg84ZaT3Qa4V81rfHjfrZIgpOOSR1tDE8m0fL0D9hrJG3B2rgug5vAmNCswUKQPM0aYB4dpcCHS_tJ7axm8xkDdvhvoffWWRru9EveFHC1W_W1DcGYZZcKrSbAonPC-knNheLzFNS7UWL_R7vsdb0k7jKgy315HzMKuJ_WXeTH9WapvsbCGOpJ0q67KqIRzbahiGjTkclv-bxRvSMYBiOm3XOOnN1ZNyrQSd2yDNt6PjvC5VovH4y07eZ46z1EFGBVzA-LaQWbIy5UkytAZrfvG7IPQIy9-FhZZnh7YiREarrF9BYkNimOLHeJc9IZYr2gU-DrB6hhFiNZPgeSEvvOWWUa8CYRmPPU5Re9ED_OLD785atRqN61rNMdP4fv2dy4ONSzNbYZdSjZSpNpFmh_Pv_Z9T-TMinfwN4t8hxwDCwHygdfV87N4OpJMZpWI_SK5naNL6Xk4THWIcpfVO4iLsUNyiITpKAP4L-U9YQQbB9uaCuLuEs2B0fa9Mu11Ye7edEC0tE_fh2qQzFb6ZFgTlO69Dz1nyO4i2Gn18jsfmHLhIR_MyofMyqXWLqL0_wME8QqBffx2XVt1-dVWyzc0pNtfycokNw5d7qNIrpkEXIe_s76BmXfKsqHwWg_P47xbmGB0Z54x09YiIArBdMfX71TCz6fybM8_cghLxIm_-CmRjlBBRgKYGDNDemSQADTYXbZalkhiY6_EFqqHl6e4orzqUoFxzyWpmjK3e6r-olTyZ3hoE5nzPXHhHry_CCNCfPbBKJQ7VT0EDnK6KwkCAzgG1_XTZo7TJAriuFswhgiRrgDyjVtW4AZo-FhNUhmqNNeYMe-MqsOG8eRINiOe3TRLn2lmjyIEDS6hLm-M4Jb7Sg_tBYnS3pczaKEMQoa1QEhw-y0HvkVJWOidy29tdUdaEkbbVJswPFJWuy0tXhjD9N5VOrszZSjNAwqdvbFh7p_kaiHmqHMLqIiOM0Cv5HpYuqbCdRRNeEEsN81LU_MkyYpgh1G8PkcSdFTwUNBcNVDVExd-DNwufGFiribcW8z_Oq-6TysMpHUQNcQR3G6L6xDaQhVI0f1Pg81iqbGAJ9CpmTMvthKt-QUWJCzNEkVt48OXeKZemMzDk4oJzytvApAQFUWfi-KXbiQAz6bGbLw8ivZqYgG1jZAXSyX7NY3u1BM3Vu-d3e00FNW3HELIwy-mT3DEUeEj0wSl6zMpXeD4t0GFRMufKU3RGahfV1xHb8zvt5up18JwGp-dMYrBGpbfvlJoP45qlLf-XQ==",
  "id": "rs_025f18d313a80759016ab437d02a3087d0b8d34e6538b1238b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.34,\"left_z\":0.18},\"note\":\"The cap arm is not moving far enough sideways at the current high pose. I’ll bring it slightly closer to its base and lower it toward a more reachable central position.\"}",
  "call_id": "call_OedI4mALpyNtHzTo2cKTaXX1",
  "id": "fc_025f18d313a80759016ab437d1d6b487d09ba6ca6aba22dd2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OedI4mALpyNtHzTo2cKTaXX1",
  "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]: [-1.0286, 2.3623, 2.4016, -1.4277, -0.9619, -1.338, 0.0614, 0.2028, 0.8101, 0.7109, -0.5777, -0.1864, -0.2737, 0.0613]\nstate[eef_state]: left_x=0.3755 left_y=-0.3356 left_z=0.199 left_yaw=0.3983 left_pitch=-0.0273 left_roll=0.0181 left_gripper=0.0614 right_x=0.2648 right_y=0.0915 right_z=0.1862 right_yaw=0.5018 right_pitch=-0.1073 right_roll=-0.1001 right_gripper=0.0613\nstate[joint_eff]: [-1.0462, -12.4513, 6.612, -0.5495, -1.5507, 0.486, 0.6081, 0.5128, -0.6906, 7.9795, 4.2613, -0.6227, -0.1148, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a961e043a605ed22b1945bf8a58a59756fdd47ef72696dc46f8affe90404c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0902c909145a4e1edde81e863e696e6bd41dced75bf9249b7143ccc151f952",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a091a94c454d558be71d6fba38a078fc65062ad97cc375734cf24b8aa4f47c",
      "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 · 9.25 s

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

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7094, 2.9147, 3.1184, -1.5085, -0.9054, -1.1393, 0.0606, 0.2108, 0.8036, 0.7162, -0.5396, -0.189, -0.2642, 0.0614]\nstate[eef_state]: left_x=0.5117 left_y=-0.2514 left_z=0.107 left_yaw=0.5933 left_pitch=-0.0708 left_roll=0.087 left_gripper=0.0606 right_x=0.2695 right_y=0.0953 right_z=0.1977 right_yaw=0.5058 right_pitch=-0.0586 right_roll=-0.1055 right_gripper=0.0614\nstate[joint_eff]: [-0.1709, -15.1726, 7.2821, 0.5739, -0.5836, 0.1636, 1.0281, -0.2803, -1.6205, 7.241, 2.0635, -0.2955, -0.105, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.1452, 2.2379, -1.3464, -0.9501, -1.1435, 0.0606, 0.2043, 0.8101, 0.7113, -0.5465, -0.1951, -0.2779, 0.0614]\nstate[eef_state]: left_x=0.4028 left_y=-0.259 left_z=0.252 left_yaw=0.432 left_pitch=-0.0161 left_roll=0.0453 left_gripper=0.0606 right_x=0.2687 right_y=0.0943 right_z=0.1926 right_yaw=0.5121 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.0614\nstate[joint_eff]: [0.0479, -11.1795, 8.4034, 0.7937, -0.5739, 0.0171, 1.0281, -0.2393, -0.8821, 7.1726, 1.6874, -0.1636, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0286, 2.3623, 2.4016, -1.4277, -0.9619, -1.338, 0.0614, 0.2028, 0.8101, 0.7109, -0.5777, -0.1864, -0.2737, 0.0613]\nstate[eef_state]: left_x=0.3755 left_y=-0.3356 left_z=0.199 left_yaw=0.3983 left_pitch=-0.0273 left_roll=0.0181 left_gripper=0.0614 right_x=0.2648 right_y=0.0915 right_z=0.1862 right_yaw=0.5018 right_pitch=-0.1073 right_roll=-0.1001 right_gripper=0.0613\nstate[joint_eff]: [-1.0462, -12.4513, 6.612, -0.5495, -1.5507, 0.486, 0.6081, 0.5128, -0.6906, 7.9795, 4.2613, -0.6227, -0.1148, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a961e043a605ed22b1945bf8a58a59756fdd47ef72696dc46f8affe90404c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0902c909145a4e1edde81e863e696e6bd41dced75bf9249b7143ccc151f952",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a091a94c454d558be71d6fba38a078fc65062ad97cc375734cf24b8aa4f47c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab437d5d52087d0ab0fa4248569b51d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.25,\"right_z\":0.22},\"note\":\"The cap arm has reached a stable central pose. I’ll bring the pen arm toward it at roughly the same height, stopping short so I can inspect the tip-to-opening alignment.\"}",
  "call_id": "call_qUiMpMrygolXr6ByjbmtkBVs",
  "id": "fc_025f18d313a80759016ab437d914b487d093bbeef9e6bbb6a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qUiMpMrygolXr6ByjbmtkBVs",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 2.3512, 2.4054, -1.536, -0.9436, -1.359, 0.0639, 0.8291, 1.174, 0.96, -0.7738, 0.4774, 0.3111, 0.0613]\nstate[eef_state]: left_x=0.3986 left_y=-0.2765 left_z=0.1999 left_yaw=0.5262 left_pitch=-0.0573 left_roll=0.0911 left_gripper=0.0639 right_x=0.2565 right_y=0.1652 right_z=0.1727 right_yaw=0.2324 right_pitch=-0.2919 right_roll=-0.2082 right_gripper=0.0613\nstate[joint_eff]: [-9.306, -11.7128, 5.3812, 1.6093, -0.6569, 0.1441, 0.8864, 7.0906, 0.335, 12.8068, 3.7924, -1.2186, -1.707, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7477c35eb1e3af6d8836710cf2ff6e2e659c20f43da12ec90907aa81dd6a04df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bd79345ef23269af4da539171d9c21315be7da635cdea425f0b33d1d4c8f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aa8c8d67f3b3c33e0ebe85444d204d0734bda5f3726088f413654de29dc8bc",
      "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 · 2.345 s

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

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8673, 2.1078, 2.228, -1.3254, -0.9543, -1.1168, 0.0606, 0.2054, 0.8093, 0.7116, -0.5457, -0.1986, -0.2775, 0.0614]\nstate[eef_state]: left_x=0.4054 left_y=-0.2496 left_z=0.2671 left_yaw=0.4354 left_pitch=-0.0004 left_roll=0.0218 left_gripper=0.0606 right_x=0.2685 right_y=0.0952 right_z=0.1931 right_yaw=0.5159 right_pitch=-0.0733 right_roll=-0.106 right_gripper=0.0614\nstate[joint_eff]: [-0.7726, -10.8923, 6.2974, 0.7399, -0.6422, 0.0952, 1.0232, 0.0615, -1.2786, 7.2684, 1.7509, -0.0317, 0.1245, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0286, 2.3623, 2.4016, -1.4277, -0.9619, -1.338, 0.0614, 0.2028, 0.8101, 0.7109, -0.5777, -0.1864, -0.2737, 0.0613]\nstate[eef_state]: left_x=0.3755 left_y=-0.3356 left_z=0.199 left_yaw=0.3983 left_pitch=-0.0273 left_roll=0.0181 left_gripper=0.0614 right_x=0.2648 right_y=0.0915 right_z=0.1862 right_yaw=0.5018 right_pitch=-0.1073 right_roll=-0.1001 right_gripper=0.0613\nstate[joint_eff]: [-1.0462, -12.4513, 6.612, -0.5495, -1.5507, 0.486, 0.6081, 0.5128, -0.6906, 7.9795, 4.2613, -0.6227, -0.1148, 0.5885]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 2.3512, 2.4054, -1.536, -0.9436, -1.359, 0.0639, 0.8291, 1.174, 0.96, -0.7738, 0.4774, 0.3111, 0.0613]\nstate[eef_state]: left_x=0.3986 left_y=-0.2765 left_z=0.1999 left_yaw=0.5262 left_pitch=-0.0573 left_roll=0.0911 left_gripper=0.0639 right_x=0.2565 right_y=0.1652 right_z=0.1727 right_yaw=0.2324 right_pitch=-0.2919 right_roll=-0.2082 right_gripper=0.0613\nstate[joint_eff]: [-9.306, -11.7128, 5.3812, 1.6093, -0.6569, 0.1441, 0.8864, 7.0906, 0.335, 12.8068, 3.7924, -1.2186, -1.707, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7477c35eb1e3af6d8836710cf2ff6e2e659c20f43da12ec90907aa81dd6a04df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bd79345ef23269af4da539171d9c21315be7da635cdea425f0b33d1d4c8f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aa8c8d67f3b3c33e0ebe85444d204d0734bda5f3726088f413654de29dc8bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab437dca51487d0a52a2c1da56626c2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfk1miLF04H78j-cNcT9uMEryCuCe8A_Gs1ROwp53Q1A-baWazsu2-vnQYnlLWZ_tWKANqjv-pf_lGsWbC3Ersl5-4uIK53N478-tQ50R5GWQw67VfamLmMOv93Dz5jpu4_KGmEqFBthK4QeyIbDLnXRuCE_4xd-eleszb1dCP__OrWBPvjpth-rHXEedDv22MjVeLZ1CShwHM-eQlYJJGIhh6A2EXdjLsWajN70gcNv-UNpQTdDZnjA4j4eF3Kl38pYiR9qXUlKQAMWXWkpy2O8fHiCobuEmSHKG2TJhyc7hwqvF3J2TvhcOFNRp-Ez1DOep3TeIEnhHXZkp52b4NQyCQkbq0dpmdSMBrzNiYEhhbnV5UYHXjuJ0OgSU7oc6qdmcFEVBZYy1LIlWnyBH-kl2ZfUqn1Uvh6ClQVcz1n4cB8GibNxNWmYtQIdh1EttS46G9unUiqmCi7uqegkRtZgPWrW8UbadZjpGDTzf0RiXWuCpgROlc8T8olIfZXH3r_3j0SGJpYOsjG8HIZYFi4ePu7kNL48DsWzPdGRrtAzorruPHTiZbuCasiQhRI25tfLeH02TVLbKFejYMPXFIsXpseMuE8knIFlHdCn1ljHXfLKu1GxJGjgL5OvexqiWP2hCYCkTpEHo1Mbd1cMPpY9IQBTBfrfXuAs3nlcRMc9nEbr9Gn3eGQHvOmAtpYRy69Oc7uL48YhSPinny5rEXrnO3c8_Fcw8OjhWcelo1ZFJ371cJwOawIRWaDAxficTQDJIh1i2-6Avkm_2M54A6al7wPFR_83yYLMHwZEc6-3V5HocPUMihn3yW7YdIKcrYJ8eWwzcFXH75EVB3r5nAjsqQfaCySRPcEyLc9Ht5aL9hWeWgzN0FdOhP71SZPenJZyxp_7UuMUX-OC6imkl12luGc57Z8kexh18c7mcDIWYQG5ggPKZComiA6ctq0kwvOhT_2E2j8dY85Z88SjRRIc3O6Fv-ynL9iNv5U4jjOrkXSHPxUDXI9dVzPVtXUYPP3qb4LR1C-5mmpDLEUMfd9OdZJPwcYao4xTPurkBUygiocmrerfRribNPqkgEMIfcPZtlp1SmiJujcFsmN1PtjR8eXP4jDBYgefwstbYsDNZ97pxhBi4Nrqz-Guvwtz2GGNcw3SpjUCqMZzrQ2C3IASmMIWN11VqdOiluAtqdMJO5Pyjjp4VtG4PYOShuOaTB-nj5IpOALECxe225E0EtvzfG5FjE_DQ_d1vMV7kHzsTPA6KA_46SVYZjJ2u1zXcOe9jixMZwKmk1TZ00FFPyP1k3-RB7xVHAD7okOL-bkifh6oISfW2dUZ1pHh_p_WNZMLi7a7vpHvr2TVGzVoAhU615NrqKqbMzcp58-xyInqqNiCT60LjqQRq92eHAMSIneAS-MJkSt_QtVfs1_FmACi6hRKVO_sf3aKSOJ0ahluVwflEMMcXNDPlI6ymxHnzsunrrMu_ZhoXR3pvPTrYefG0JybllDUrJygcRBDivs4smeYrWORRXSU1QY6aztjMd0wFSkZKplBTfDqbmgyeimY_BzF5XOhMu8NreFpgNvFm773lev6sSBLoMTxgK_dyx8X5EhDQtS4NVB0f2ohm4a9aDKeHZBns_gAWpKaBzOzvYDWbwwCIsygqmQIbeWvtYaX0C63JvC-vRa3-OCEUgDKwkOBAq0iVtutZwQ-unaD-mJz_auq8jiVx0KUhdZAEdADluP6AsxN1z6o6H4mPFgdQ53FQ_BMTRbumfgkUCjQvNcYayXTtXPg4o-t0ynB2KHwSqLpi4LWj5fMd05Dn8-CRf0O9JIAG1GVDSQa76yY-Oxaqy0NyW8a9SYvPRrreDXdSnyEg3-AaD-bvMkPqJ9_wxUY5V_9d1mxzBpF2cD6cOCz69_v9HQcqQjb1QffnlXOwXCmBzS56BeFlDFLJErhe1Adg4sqnQGx10fd1D9A3jSAt_x4gLm2jdQ-un9qUEnOrfueqTvj84sMVXGDPG6jJoxCckVgTQOXigphHSLOzYjLjko_R0Guf85CZjI5K4UAzEEfew2yUId65MzvpACgpKo50vKLQuEHsdrZ_9X7h8QXymhlPx2zv9jPFaUMNuPvDKTg10nkS0SVWu4ovGrmYyjL5vSONjqpzlhE_PqcyToie7-zT_pJZq-bGCpXfqqsQTU1BqnFuqoz-SHLGP_C9DrnulpILbfF_cB3E-w1vlSSq_QfNjqHOhcUzKzCWTWaGJemJNTDK_fYFvxxEYc5gmjmEgwfS-UzuT1hxFmEDneGKgc3BbGgdtFqvjiNinAnJAC1_D8qu0q3GrcB9kmf1XhoGahuet1elbENdRaPC8aA6BuFrTIPMokUZxH3ZmEAzSUTdAvFPsZFT9V3skwlHbfJiEjZr37_N4nNmMaOVSCBxeUHfltNzUpByVQnGJNn7QleCWvz4tRaLBZlhZIaTC1TL42ZUycfOXEjkdxVqhVbzNCQnGCp6SQD7ISEJewp1Q2t5p6TQe9eSzCMzQlUxPd83ix-RrfUVmbDnrBvSq-7sSpdhB5dmnh4jB9_hectu6MDH-x0J1k1WHXNE7BSp6F1JrKaBTOdRNK2yobypyVMQztxfNZBIrjJac7TjxOzvLc03jfUEh5W_vcevWxzQ==",
  "id": "rs_025f18d313a80759016ab437e15a3487d0846e1db3c51304c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.07,\"right_z\":0.26,\"right_yaw\":1.15},\"note\":\"The pen arm again stopped short and displaced the cap arm, so their arm structures are contacting before the objects meet. I’ll separate them and rotate the pen toward a more sideways approach that may keep the grippers farther apart.\"}",
  "call_id": "call_pPwUKUHGtKJ3jDYJQURie54x",
  "id": "fc_025f18d313a80759016ab437e376f887d08de54d412ce49ccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pPwUKUHGtKJ3jDYJQURie54x",
  "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]: [-0.9127, 2.368, 2.4069, -1.5311, -0.9337, -1.367, 0.0644, -0.1181, 1.3231, 1.4174, -1.1595, -0.4828, -0.8715, 0.0615]\nstate[eef_state]: left_x=0.3995 left_y=-0.2788 left_z=0.1915 left_yaw=0.531 left_pitch=-0.068 left_roll=0.0936 left_gripper=0.0644 right_x=0.3112 right_y=0.0493 right_z=0.2527 right_yaw=0.7983 right_pitch=-0.3328 right_roll=-0.1174 right_gripper=0.0615\nstate[joint_eff]: [-0.294, -14.2291, 5.4769, 0.3443, -0.6081, 0.0611, 0.5104, 0.9915, -4.8615, 6.2701, 0.5055, -0.6911, -0.0024, 0.9792]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775c8c08a52c5db4e508d45103883370b364257740ac369e3b2493ec589e6cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c805be1c7bb90a412dbb88652c9644bd17e1061ff376ee983a08035829e355a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9d7ce3a1fbebffaddc91bc663f66d56e1ce4d1f25a187c7b68a5c354eb1e8f",
      "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 · 3.589 s

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

message 62 changed as sent

message 70 changed as sent

message 75 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8841, 2.1452, 2.2379, -1.3464, -0.9501, -1.1435, 0.0606, 0.2043, 0.8101, 0.7113, -0.5465, -0.1951, -0.2779, 0.0614]\nstate[eef_state]: left_x=0.4028 left_y=-0.259 left_z=0.252 left_yaw=0.432 left_pitch=-0.0161 left_roll=0.0453 left_gripper=0.0606 right_x=0.2687 right_y=0.0943 right_z=0.1926 right_yaw=0.5121 right_pitch=-0.0757 right_roll=-0.1077 right_gripper=0.0614\nstate[joint_eff]: [0.0479, -11.1795, 8.4034, 0.7937, -0.5739, 0.0171, 1.0281, -0.2393, -0.8821, 7.1726, 1.6874, -0.1636, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 2.3512, 2.4054, -1.536, -0.9436, -1.359, 0.0639, 0.8291, 1.174, 0.96, -0.7738, 0.4774, 0.3111, 0.0613]\nstate[eef_state]: left_x=0.3986 left_y=-0.2765 left_z=0.1999 left_yaw=0.5262 left_pitch=-0.0573 left_roll=0.0911 left_gripper=0.0639 right_x=0.2565 right_y=0.1652 right_z=0.1727 right_yaw=0.2324 right_pitch=-0.2919 right_roll=-0.2082 right_gripper=0.0613\nstate[joint_eff]: [-9.306, -11.7128, 5.3812, 1.6093, -0.6569, 0.1441, 0.8864, 7.0906, 0.335, 12.8068, 3.7924, -1.2186, -1.707, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9127, 2.368, 2.4069, -1.5311, -0.9337, -1.367, 0.0644, -0.1181, 1.3231, 1.4174, -1.1595, -0.4828, -0.8715, 0.0615]\nstate[eef_state]: left_x=0.3995 left_y=-0.2788 left_z=0.1915 left_yaw=0.531 left_pitch=-0.068 left_roll=0.0936 left_gripper=0.0644 right_x=0.3112 right_y=0.0493 right_z=0.2527 right_yaw=0.7983 right_pitch=-0.3328 right_roll=-0.1174 right_gripper=0.0615\nstate[joint_eff]: [-0.294, -14.2291, 5.4769, 0.3443, -0.6081, 0.0611, 0.5104, 0.9915, -4.8615, 6.2701, 0.5055, -0.6911, -0.0024, 0.9792]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775c8c08a52c5db4e508d45103883370b364257740ac369e3b2493ec589e6cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c805be1c7bb90a412dbb88652c9644bd17e1061ff376ee983a08035829e355a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9d7ce3a1fbebffaddc91bc663f66d56e1ce4d1f25a187c7b68a5c354eb1e8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfnr_9cKp_pDK-tiDOO17XoSqXDm4fSBdWZK1mTjQuQITBeIyi6r4VwvpWfNtWgROEdwfUn-hZU-juxRHiJraMsAQhIONZD2xMiFGa05Ap6yn_d9NpJU2Z9JJR8LVzt5BWbccLtZHyRC2PVKmrTsNbvllu92PUZ7X_7OKhReUWWCoGxrC2-ByPJJr1IpkyS1zTa3dTV_OubShqgq55oC2jZECavlm5UboH7vHWDBcgPZJ7cIF7qZbd65cAbOWwkC1cjWpiiRX-HqrpM-A68lra1U_gPqzk4boKBJp02Yr9W-jQrmjBh5apmLpmB0NOzMyn2XSQEY-pam0LcjDm-kJYe6c-F5sP0_n_jgaFB7OcDN0Y92Y6EZG2P-gbSDK9NRVyRNN3XeCL6hQnJVBnCvGqrbz_kaBq0Uw_iB-Gs_GVujsE-dEQfKtqOkQBG-WGy_BeRGtILohUUd4t8VdIZwnZronjR8hVPTM4itZLrmO8dVBGhytg-t_xhRh0Cv-CacqfdOLODufCx_myQC60tMWJiWjjE7AMeI2bCNdkRzlL7HHSqL8jpcqL-ymy8j1hnJBPUy2vkqYUXCgG5mQEm1z-Zuz9oCtEbi2mAn12LG1gfV2q8QSUdAxsagPRhSfNqpBjW74ZR4p3iDrxwk1Uz0gRn7HT0o03sxUy8NDD3y_5cnQXDn2_0o3-Wb_Uz9S6s8be_vTg46IC_6nANTwBcwuOjVMNlNmY4MrlGdtbS-4S7q5eeApMYajSRqAhEh9pq21yJvhxSqqLKfDzVAIbpIFfl4fhPuaUFKcGIBdGjuOGcsTCH9RaSuOtJ4DwAmEv7D-YClV1Xt8BiehF-SgCAM-Yz-ZqDh6WhP8r9Xx_YDBUnAhMfNhUswYRJfML-u4n5ciIb0YbOhJEd5Fhxoqzjqlhe9AZ4N8TKzK_gIjl6ZKUKcw4yanyHakOExo7w8N9auZ9MY_L0P5F1eYc-ZMgOafJj3Ec5nipkYsbQATrawTaS5-dtP2MS9JmKlRRGNpioSD5qagohBFXqDrukRvwRQTKC1881_wXqmcUYkDFsZ_c2NGvplBN-NArRwUonAEJtTsUTumhEGr_n7evqIbofWwIaoyY_0PusPCwb36q2HEqfPjIcIVBv4rBmsaijl8W-UepouZKz7OHQ8dxSuTh9j9iPxsEBPTUq_5aXrWB5f-ROUg3M91xMcsFYTvIYJbjc2gGLq-gArqbHMjDGjuJYvEeiJ4Im2jUtiqY-Esr7EgXmg6Hq23DVjfYDjFSgqW887GHmv7KkHVZKRpDX3mVMst9ldYAwFmacaFpJ7R-mQbREmgp0Snvti6bANQlvqWLc7GX6QZxs9AsNvZOvi9vpvLrbMHV0KbSZpWtzZ9LkbxKK2uJbFluQQSlQcXrLEEMrubSL0Y8L-KBxcYh9sX-r3OThSg==",
  "id": "rs_025f18d313a80759016ab437e62ec487d0b4831ffe8904b7ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.34,\"left_z\":0.23,\"left_yaw\":1.15},\"note\":\"The arms are separated again and both grasps still read nonempty. I’ll rotate the cap to face the sideways-oriented pen and restore the cap arm’s intended central pose.\"}",
  "call_id": "call_DLQZsSrYFe7WHZFPMf2WD7HM",
  "id": "fc_025f18d313a80759016ab437e6bf8887d0b48f71f774fd362d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DLQZsSrYFe7WHZFPMf2WD7HM",
  "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]: [-0.7815, 2.3512, 1.9583, -1.5593, -0.8646, -1.8977, 0.067, -0.1165, 1.3437, 1.4162, -1.1889, -0.4843, -0.897, 0.062]\nstate[eef_state]: left_x=0.3712 left_y=-0.1739 left_z=0.0901 left_yaw=0.9996 left_pitch=-0.083 left_roll=0.1345 left_gripper=0.067 right_x=0.3079 right_y=0.0504 right_z=0.2435 right_yaw=0.8301 right_pitch=-0.3635 right_roll=-0.0896 right_gripper=0.062\nstate[joint_eff]: [-0.7043, -13.9692, 5.559, -0.2759, -0.4713, -0.1001, 0.8816, -0.4444, -6.3111, 6.2838, 1.3993, -0.2808, 0.2222, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb87d722e5b599ac72bcfe90b1121be6e0c4df5bbe72a0b4db0b8d4f52ebe4fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6bae61580a4f01fde52631672900d1f687d10ec5f1e0f40415a4586528492d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8f6615f403112db6480120c64a45c7332b517e8de0e6d97cf68ddaa1e1f150",
      "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 · 3.332 s

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

message 66 changed as sent

message 75 changed as sent

message 79 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0286, 2.3623, 2.4016, -1.4277, -0.9619, -1.338, 0.0614, 0.2028, 0.8101, 0.7109, -0.5777, -0.1864, -0.2737, 0.0613]\nstate[eef_state]: left_x=0.3755 left_y=-0.3356 left_z=0.199 left_yaw=0.3983 left_pitch=-0.0273 left_roll=0.0181 left_gripper=0.0614 right_x=0.2648 right_y=0.0915 right_z=0.1862 right_yaw=0.5018 right_pitch=-0.1073 right_roll=-0.1001 right_gripper=0.0613\nstate[joint_eff]: [-1.0462, -12.4513, 6.612, -0.5495, -1.5507, 0.486, 0.6081, 0.5128, -0.6906, 7.9795, 4.2613, -0.6227, -0.1148, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9127, 2.368, 2.4069, -1.5311, -0.9337, -1.367, 0.0644, -0.1181, 1.3231, 1.4174, -1.1595, -0.4828, -0.8715, 0.0615]\nstate[eef_state]: left_x=0.3995 left_y=-0.2788 left_z=0.1915 left_yaw=0.531 left_pitch=-0.068 left_roll=0.0936 left_gripper=0.0644 right_x=0.3112 right_y=0.0493 right_z=0.2527 right_yaw=0.7983 right_pitch=-0.3328 right_roll=-0.1174 right_gripper=0.0615\nstate[joint_eff]: [-0.294, -14.2291, 5.4769, 0.3443, -0.6081, 0.0611, 0.5104, 0.9915, -4.8615, 6.2701, 0.5055, -0.6911, -0.0024, 0.9792]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7815, 2.3512, 1.9583, -1.5593, -0.8646, -1.8977, 0.067, -0.1165, 1.3437, 1.4162, -1.1889, -0.4843, -0.897, 0.062]\nstate[eef_state]: left_x=0.3712 left_y=-0.1739 left_z=0.0901 left_yaw=0.9996 left_pitch=-0.083 left_roll=0.1345 left_gripper=0.067 right_x=0.3079 right_y=0.0504 right_z=0.2435 right_yaw=0.8301 right_pitch=-0.3635 right_roll=-0.0896 right_gripper=0.062\nstate[joint_eff]: [-0.7043, -13.9692, 5.559, -0.2759, -0.4713, -0.1001, 0.8816, -0.4444, -6.3111, 6.2838, 1.3993, -0.2808, 0.2222, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb87d722e5b599ac72bcfe90b1121be6e0c4df5bbe72a0b4db0b8d4f52ebe4fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6bae61580a4f01fde52631672900d1f687d10ec5f1e0f40415a4586528492d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8f6615f403112db6480120c64a45c7332b517e8de0e6d97cf68ddaa1e1f150",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfrX5QqlISIOWCuyceIEsqtHj862_0FCjo2yjMSsXKzarGDLAhalh92w2XbhKIiA9azYhc22iAYV-yC92Nx2eEeN_yE9VTDfWWRXDUMP1JCvOFkRdr8-DqAAVTogqMkNc7LA7_qEUQBeWxLCyTHaI25m-RNKmUvRf6S3MtgmXhjns6hVvuliMsZJLFNJAGTXug6fTcrA5OGryqromEmQXHfD17UB8lcYjdgiwCph0R4ObW3xYhbxuVHqsfyqyK_Xhj9sg22HD2YDAB1o7fitpblRySaTGy94U1y16LYq5lFiQptEIEyYCi-DWgcL1LwGPYcI1nijSR8oI_kUKBWSrcxO8_urWN3hemjB6wd05xNjJwjjUGSQB1sa5l08znv537Y_PHgkn1qWYE1yjvnagTlK7oQXm3FgqJ9-Czcy7y01mO7r0rnz-UXC3ySLaGCzTfE_8Wt37hQlbwilEhNVf7wW1m7dU2TpuLzM4WB9jPqCeNizMyiXdkZPFkImzMEcjjeFBhEy8qpRSfkWFcsc1e2LHkWqFfoyBBT3SCIM0me6Lulr5aoqml2OsGx-kKRB46ByOj-Ko4ZV_LCt6i_5Siw6xq17RhumUUGWa4sZRf_QPZJJevAN4wcTUO47Cchqa-T5QJE4RGWwvndmashlPw8sqXrG0Y1ImkuEjZ_bQAtXqCIZTXGgCbCSxVInucnj5rcesmDHbuifTolNUEoSctVYmgzWUGbgv0FACQvXx9Dw9tNB3FRYP4OaJL_p6e8krKaDPRhDWaBffgMGESC8jtSDJ6E56KuSGkFCCXOla3w--6whGnybz5Zj8wN9za3EkG6BT278d7mpmI74CAd1XG9_4fnc4vaw5eQmZJIP65PPIEfBTKA7syL5esIeQZgQoH7-6Vk4BwAJwUO1zedTlGWGX5ZUv8qGs1TwkfFk_8LiW2QQCOEe9GImODBWp1p3J3DUjLPdxPRYqXFGH9syh626dn5auqOz_Bik0njrSVUPTv4nVk7Sfp1hDPhr-QP3zBKiNuRlTkVAiqMJ438dZIwI9sRqeawMLlE_srIjPTipHegkvp376Rd7TUnBGolnBiVcT1oOXpQY_NgxUd09tGeHWUEt3WDWCodCjQs4R6Rg4T2WuzHowbv6BssigkXbmgEPNAh95d4TuLSHtNRIyrI9Youdvo9jRW0ZW5-KJC8HRElKDiQpj8HjuKNXpBTs37tbs8RO3DSKEu40GXMW_78Izs6fNvZUfmCNfNCPYo6AX2HF7h0ZnvGD8CZtDqoE0KUjbIf4bTN2eh4tKNyIQV3T6pvgJvZykqtaiJks0IDdBeD5wp6TabVVfOLvH2sDAv5aKycAUbivvKMfXWG3sqkSBDskZGXVpJAXFSM9NCgspTeB-TJ5sEt7GrYmC9FYY77nyHmZil6E1ELws80P9gjQw868Qx4BtTTCUH58Sy4iHHvXxUUvQUc7nDLa_zT0GvtgYxxmypafOG9ywkmRVl9I25UqqJCWP1p6oDVysWujXlal_COiy-V2Gws2G5qybPL8Td1eQM9qJuAGnTJugcwGNWJ443JuQf7H-cIrQNP0pF8F8kVOb2K816yzTiSkCINcWKl0AFCRWHOwzen0hayZrMYSMQFMCL660MEgAKHKGxoVTPs4VpYhQfdiPa5XeyIuaEniusT5hkarVCYv1wLv5vwNr4ySw--toFuiI6yaeCWRaEX3jQEZhxmcVRW2V5taX5uAiAgt868SgCs7aPXG52i7ycSBJZdtllYB-W716kRJ6i2gT0qUE1EioBO8Ut33XrinouqWm4ca4hlAVCqN4Rxi7i20nC7oRwvmOzGn4WMWqSuywRp-S0v36ENOSX_QCgg7lVZyu1lvtWhju2D8f70fYPuhxvxt8Gh3cxacM7VKWzETEJ94ujW60JK78xI1DYF3otRxjhdOf_j8oVoCdxR89-Lc327sYG5f3IxuswSyrg0JNq8GzxC2Vb8IJWuobuYql0Mzoic9CX1Bj3k5jBnffxaON9k032a7Ugu-VCGI2lhyRCaHPDFPXTMsRy1",
  "id": "rs_025f18d313a80759016ab437e9559c87d0929e15c5cf1b71ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.32,\"left_z\":0.3,\"left_yaw\":1.1,\"left_pitch\":0},\"note\":\"Turning the cap arm made its grasp point drop and drift away from the requested position, despite the pen arm being clear. I’ll raise and retract it to find a pose where this orientation is controllable.\"}",
  "call_id": "call_XeRetj3mgRlM35aukW5CAYRb",
  "id": "fc_025f18d313a80759016ab437eaac2087d08fd3ab506516b8b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XeRetj3mgRlM35aukW5CAYRb",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8467, 2.3692, 1.927, -1.56, -0.8333, -1.9961, 0.0703, -0.1162, 1.3437, 1.4155, -1.1961, -0.4778, -0.8978, 0.062]\nstate[eef_state]: left_x=0.3503 left_y=-0.1934 left_z=0.0744 left_yaw=1.0045 left_pitch=-0.0917 left_roll=0.1119 left_gripper=0.0703 right_x=0.3064 right_y=0.0496 right_z=0.2421 right_yaw=0.8293 right_pitch=-0.3729 right_roll=-0.0868 right_gripper=0.062\nstate[joint_eff]: [-0.2256, -11.6581, 6.4205, -0.5592, -0.5836, 0.0415, 0.6325, -0.2803, -4.6701, 6.4615, 1.0818, -0.315, -0.0366, 1.0037]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14e0cbd98e778ea938c6b114e5fff6c7ab3f8be5931660dde3863dcfe663653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047c11e6f0d9477e010016c262595edd0107a5e75e85f8f02e806858895abb62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427f3bf687dce67053836a8617d96cd13592609b6f93dd5c9fe89351625f703f",
      "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 · 8.894 s

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

message 70 changed as sent

message 79 changed as sent

message 83 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 2.3512, 2.4054, -1.536, -0.9436, -1.359, 0.0639, 0.8291, 1.174, 0.96, -0.7738, 0.4774, 0.3111, 0.0613]\nstate[eef_state]: left_x=0.3986 left_y=-0.2765 left_z=0.1999 left_yaw=0.5262 left_pitch=-0.0573 left_roll=0.0911 left_gripper=0.0639 right_x=0.2565 right_y=0.1652 right_z=0.1727 right_yaw=0.2324 right_pitch=-0.2919 right_roll=-0.2082 right_gripper=0.0613\nstate[joint_eff]: [-9.306, -11.7128, 5.3812, 1.6093, -0.6569, 0.1441, 0.8864, 7.0906, 0.335, 12.8068, 3.7924, -1.2186, -1.707, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7815, 2.3512, 1.9583, -1.5593, -0.8646, -1.8977, 0.067, -0.1165, 1.3437, 1.4162, -1.1889, -0.4843, -0.897, 0.062]\nstate[eef_state]: left_x=0.3712 left_y=-0.1739 left_z=0.0901 left_yaw=0.9996 left_pitch=-0.083 left_roll=0.1345 left_gripper=0.067 right_x=0.3079 right_y=0.0504 right_z=0.2435 right_yaw=0.8301 right_pitch=-0.3635 right_roll=-0.0896 right_gripper=0.062\nstate[joint_eff]: [-0.7043, -13.9692, 5.559, -0.2759, -0.4713, -0.1001, 0.8816, -0.4444, -6.3111, 6.2838, 1.3993, -0.2808, 0.2222, 0.9597]\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]: [-0.8467, 2.3692, 1.927, -1.56, -0.8333, -1.9961, 0.0703, -0.1162, 1.3437, 1.4155, -1.1961, -0.4778, -0.8978, 0.062]\nstate[eef_state]: left_x=0.3503 left_y=-0.1934 left_z=0.0744 left_yaw=1.0045 left_pitch=-0.0917 left_roll=0.1119 left_gripper=0.0703 right_x=0.3064 right_y=0.0496 right_z=0.2421 right_yaw=0.8293 right_pitch=-0.3729 right_roll=-0.0868 right_gripper=0.062\nstate[joint_eff]: [-0.2256, -11.6581, 6.4205, -0.5592, -0.5836, 0.0415, 0.6325, -0.2803, -4.6701, 6.4615, 1.0818, -0.315, -0.0366, 1.0037]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14e0cbd98e778ea938c6b114e5fff6c7ab3f8be5931660dde3863dcfe663653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047c11e6f0d9477e010016c262595edd0107a5e75e85f8f02e806858895abb62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427f3bf687dce67053836a8617d96cd13592609b6f93dd5c9fe89351625f703f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_025f18d313a80759016ab437ee379087d0a306f4de73e4d078",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0.4,\"left_x\":0.35,\"left_y\":-0.3,\"left_z\":0.24},\"note\":\"The cap arm still will not raise in the sideways orientation, so that approach is not viable on this rig. I’ll return it to the earlier orientation that tracked properly and re-establish a safe holding pose.\"}",
  "call_id": "call_QYY1fChHQnjB5uTsfK8WewuW",
  "id": "fc_025f18d313a80759016ab437ef8a0c87d0aeabd313a6a4551b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QYY1fChHQnjB5uTsfK8WewuW",
  "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]: [-0.9989, 2.2433, 2.2692, -1.5631, -0.881, -1.4197, 0.0706, -0.1162, 1.3457, 1.4143, -1.1965, -0.4713, -0.8982, 0.0621]\nstate[eef_state]: left_x=0.3524 left_y=-0.289 left_z=0.2027 left_yaw=0.474 left_pitch=-0.1224 left_roll=0.091 left_gripper=0.0706 right_x=0.3065 right_y=0.0486 right_z=0.2406 right_yaw=0.8264 right_pitch=-0.3797 right_roll=-0.0878 right_gripper=0.0621\nstate[joint_eff]: [-0.759, -14.3932, 7.3778, 0.315, -0.6667, 0.2857, 0.8571, 0.0342, -4.8752, 6.1197, 1.0769, -0.3687, -0.0562, 0.9988]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9172d9e5f09f945c4ebda2e39997f4caf21e600ee4d2651943078c96cf4d3876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf78b868b9a8616e3a3e73e8081401ec90277c0c05b3efcb96abd41e0c3d240",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8719a6ca71035c38f5e9e1d122f83237c8603a5b1c28072563e716661a701e",
      "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 · 13.22 s

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

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9127, 2.368, 2.4069, -1.5311, -0.9337, -1.367, 0.0644, -0.1181, 1.3231, 1.4174, -1.1595, -0.4828, -0.8715, 0.0615]\nstate[eef_state]: left_x=0.3995 left_y=-0.2788 left_z=0.1915 left_yaw=0.531 left_pitch=-0.068 left_roll=0.0936 left_gripper=0.0644 right_x=0.3112 right_y=0.0493 right_z=0.2527 right_yaw=0.7983 right_pitch=-0.3328 right_roll=-0.1174 right_gripper=0.0615\nstate[joint_eff]: [-0.294, -14.2291, 5.4769, 0.3443, -0.6081, 0.0611, 0.5104, 0.9915, -4.8615, 6.2701, 0.5055, -0.6911, -0.0024, 0.9792]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.8467, 2.3692, 1.927, -1.56, -0.8333, -1.9961, 0.0703, -0.1162, 1.3437, 1.4155, -1.1961, -0.4778, -0.8978, 0.062]\nstate[eef_state]: left_x=0.3503 left_y=-0.1934 left_z=0.0744 left_yaw=1.0045 left_pitch=-0.0917 left_roll=0.1119 left_gripper=0.0703 right_x=0.3064 right_y=0.0496 right_z=0.2421 right_yaw=0.8293 right_pitch=-0.3729 right_roll=-0.0868 right_gripper=0.062\nstate[joint_eff]: [-0.2256, -11.6581, 6.4205, -0.5592, -0.5836, 0.0415, 0.6325, -0.2803, -4.6701, 6.4615, 1.0818, -0.315, -0.0366, 1.0037]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9989, 2.2433, 2.2692, -1.5631, -0.881, -1.4197, 0.0706, -0.1162, 1.3457, 1.4143, -1.1965, -0.4713, -0.8982, 0.0621]\nstate[eef_state]: left_x=0.3524 left_y=-0.289 left_z=0.2027 left_yaw=0.474 left_pitch=-0.1224 left_roll=0.091 left_gripper=0.0706 right_x=0.3065 right_y=0.0486 right_z=0.2406 right_yaw=0.8264 right_pitch=-0.3797 right_roll=-0.0878 right_gripper=0.0621\nstate[joint_eff]: [-0.759, -14.3932, 7.3778, 0.315, -0.6667, 0.2857, 0.8571, 0.0342, -4.8752, 6.1197, 1.0769, -0.3687, -0.0562, 0.9988]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9172d9e5f09f945c4ebda2e39997f4caf21e600ee4d2651943078c96cf4d3876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf78b868b9a8616e3a3e73e8081401ec90277c0c05b3efcb96abd41e0c3d240",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8719a6ca71035c38f5e9e1d122f83237c8603a5b1c28072563e716661a701e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_025f18d313a80759016ab437f24e5487d0adc26acce518797b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab437f6c23487d0a0078a1cbfab14b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.25,\"right_z\":0.33,\"right_yaw\":0.48,\"right_pitch\":0},\"note\":\"The cap arm is stable again and the cap remains in its jaws. I’ll bring the pen in above it, rather than through the same arm-height corridor that caused contact, and align their axes before lowering.\"}",
  "call_id": "call_mEz7nzsTslu6WFnMu4uzDBom",
  "id": "fc_025f18d313a80759016ab437f93de487d0bf3ffd366e82c3a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mEz7nzsTslu6WFnMu4uzDBom",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9314, 2.215, 2.265, -1.6356, -0.8734, -1.4158, 0.0714, 0.7685, 1.2373, 1.3956, -0.9882, 0.5529, 0.1692, 0.0638]\nstate[eef_state]: left_x=0.3606 left_y=-0.2519 left_z=0.2119 left_yaw=0.5455 left_pitch=-0.1349 left_roll=0.1418 left_gripper=0.0714 right_x=0.2884 right_y=0.1547 right_z=0.2968 right_yaw=0.2084 right_pitch=-0.1444 right_roll=-0.2752 right_gripper=0.0638\nstate[joint_eff]: [-5.3675, -8.8274, 5.9282, 1.0232, -0.5543, -0.105, 0.7155, 9.306, -0.0068, 9.8393, 3.7582, -2.2051, -0.7155, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f54eb7498bf51a2863da80daf20bbd372cf042e75d816170e33831ef0b539a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5502b07b0db054e536002d9ec017ddd648ef4b43b56e710bedcf9cf3a2a96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be78d496b29b23ec66f19039ae0fea059070cba8be53c4df61fcff425f4a371f",
      "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 · 2.165 s

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

message 79 changed as sent

message 87 changed as sent

message 92 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7815, 2.3512, 1.9583, -1.5593, -0.8646, -1.8977, 0.067, -0.1165, 1.3437, 1.4162, -1.1889, -0.4843, -0.897, 0.062]\nstate[eef_state]: left_x=0.3712 left_y=-0.1739 left_z=0.0901 left_yaw=0.9996 left_pitch=-0.083 left_roll=0.1345 left_gripper=0.067 right_x=0.3079 right_y=0.0504 right_z=0.2435 right_yaw=0.8301 right_pitch=-0.3635 right_roll=-0.0896 right_gripper=0.062\nstate[joint_eff]: [-0.7043, -13.9692, 5.559, -0.2759, -0.4713, -0.1001, 0.8816, -0.4444, -6.3111, 6.2838, 1.3993, -0.2808, 0.2222, 0.9597]\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]: [-0.9989, 2.2433, 2.2692, -1.5631, -0.881, -1.4197, 0.0706, -0.1162, 1.3457, 1.4143, -1.1965, -0.4713, -0.8982, 0.0621]\nstate[eef_state]: left_x=0.3524 left_y=-0.289 left_z=0.2027 left_yaw=0.474 left_pitch=-0.1224 left_roll=0.091 left_gripper=0.0706 right_x=0.3065 right_y=0.0486 right_z=0.2406 right_yaw=0.8264 right_pitch=-0.3797 right_roll=-0.0878 right_gripper=0.0621\nstate[joint_eff]: [-0.759, -14.3932, 7.3778, 0.315, -0.6667, 0.2857, 0.8571, 0.0342, -4.8752, 6.1197, 1.0769, -0.3687, -0.0562, 0.9988]\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 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9314, 2.215, 2.265, -1.6356, -0.8734, -1.4158, 0.0714, 0.7685, 1.2373, 1.3956, -0.9882, 0.5529, 0.1692, 0.0638]\nstate[eef_state]: left_x=0.3606 left_y=-0.2519 left_z=0.2119 left_yaw=0.5455 left_pitch=-0.1349 left_roll=0.1418 left_gripper=0.0714 right_x=0.2884 right_y=0.1547 right_z=0.2968 right_yaw=0.2084 right_pitch=-0.1444 right_roll=-0.2752 right_gripper=0.0638\nstate[joint_eff]: [-5.3675, -8.8274, 5.9282, 1.0232, -0.5543, -0.105, 0.7155, 9.306, -0.0068, 9.8393, 3.7582, -2.2051, -0.7155, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f54eb7498bf51a2863da80daf20bbd372cf042e75d816170e33831ef0b539a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5502b07b0db054e536002d9ec017ddd648ef4b43b56e710bedcf9cf3a2a96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be78d496b29b23ec66f19039ae0fea059070cba8be53c4df61fcff425f4a371f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_025f18d313a80759016ab437fd4a2487d09c4dccabb8a2a7c9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab43802101087d0b34e5bafb34302dd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgJI6PcbmUq9NMowQFxyWxIGtBiBLYaobzcpo-Gzd0oSO4JbepBUknwx4-CmG9qCBONcFrirtmFsSZHcfesOlI7CY0-FjsBgek-cYSJ7ep_KsX-Ky8kke_ebdVDvr9nOkC-pD3lw5qPhiNTMK7DI6SxcPcKR7v-BtgGB15BD-lYOG-nBc2DVrK7ObDoo4ueGCn7xSNtDTln7CflLu0agSCB_xd4LMqSLpCKLpGV4_5fy-exZnINAqE9IXSh3jFUlBbkqFS3FR3zD0LRlkKKYoGNSj3D40BZqb7-bAwN4Hobn0V7LDicaiyQbB3LQfM7S8FLRQUD75IOZm3Lql6oFmHZEMW63qw3R3sf6yYeOHqsFekGAp5TlISP_6EfxPSDRDk1A2oxEMUiWzcEuUsWb2csTc1enOV_0VXSmOc5fqkO_9e4se2wsjxP8hA0uNgqIxXp4J--hpM5VasM0qi2xOJ7-NA2e3sZUkPt6vr_cM_H2-vq8FM2xAosjgHGr8qfyFbKvJR78Sr9MNHgitTne-LrcRyOVweEhLgDRbcT_1ABo2gfMSC7DfKTbMQuLmoHoEQ0NzTWCDIy_qCQK98KQ1hIdfU_l-P-VbRamFy7DJsOXnb5OYMufuGdwQf9VKXjCEEpaoEmpghow0NjM4SiQ-gFf_bexADnG0JWcyIDWxPtwSld273uAWOl_0BPgUxZ4u3gF3v1lS-b7Ilu7JKU_Nn52VBbv3bjR3pWlzCTnd5EN_hqUhPtpZ5LS-ZOly28m7nzphJlbW6TLhuwC5XQFYWq0hAhWCgij4mqlyuIfOZlLRbz_8x03eSX9zCJJfhGADmBlNnhRn_DudS9PtF7cutgc3e2J36Pz1B5CO6egpz5Ld7kxLIvQ52fZVOxyo1HuSTvFx1NFZyAtOS2UAX6DHLd37EqtbO2OMm0ipIPjVGlwx6vmyIkE4vR2NA0xFQgWOt-99-QHPGgAzHqehSbT3RfZuQfnUNa8NXzybeDdMFFUizCB1O1TSrYnO_eob88DRcJYn4i7B_iCohWN-5bpMLN9lPX4Di-a_wM716VtWUmRMaADtxFdJZnqoHMtoSUTtca1N7H4hy0mvEgQlpYepyJs-_Thi8u743lv6CNgtIRQ2JFo3krlp0KWol7-zO1ekLyBmBsZlO-DgWObP8yVygzhn9ICAbdSWDCDoZyZ2uJp03sJ3mFV659K_OfjfBhHN01qjScEVHRQsNF1LeZtxqFeyKgCPDYfxSDHVbDibvbIPqGnMxgUUlhe0xqN8zF1J6oNbxmi9ly4a2d9pHGVCw6rjKbr9Koul8OJnFQZBzIPxCu9FJK1oEHaQkOhICuakttR7ERZbrfVJndhdUmIdFeEEQ_x3NqW1uK3B__EOdTXJs57cmSQ-4IXCCFaVtsGhS__kcuiE0UaLXwSSGI_l66qFKUNAhuUkNhHb7V21kTCaYnQrP02ClpBe4LdgzcvNMrVEUK2DO5au9fgicwNtUw5YY5zBIRuvXSw0mW7WqOV7_uDTCO5HkokXW8odBHhaKs5cHINpvHFF2ki8Fgs-jqmIC-ie-3o8ILT3SZU97_Khlmej1TR0ONFUy_gxzlG65B8aFOaTmzNRC1Xok_J5cnDN_sYeWerdKYK0D-nFXMrzKqP4ZlBtYYANC62BmvAun_577PPXAFFUE34gkCq4u9Mg==",
  "id": "rs_025f18d313a80759016ab4380715f487d08c96ce9015f031d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.17,\"right_y\":0.05,\"right_z\":0.24,\"right_yaw\":0.42},\"note\":\"Even with the pen higher, the arm bodies meet before I can reach the cap; the right arm’s load is elevated. I’ll withdraw the pen again, then try a meeting geometry farther back from the colliding forearms.\"}",
  "call_id": "call_7f9qHqZD2PE4j8uW9iIqDcbv",
  "id": "fc_025f18d313a80759016ab438081b0887d09d619d9891395087",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7f9qHqZD2PE4j8uW9iIqDcbv",
  "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]: [-0.9195, 2.1666, 2.1727, -1.5768, -0.857, -1.412, 0.0719, 0.4118, 0.5301, 0.9363, -1.0847, 0.2195, -0.1604, 0.0668]\nstate[eef_state]: left_x=0.3592 left_y=-0.245 left_z=0.2065 left_yaw=0.5531 left_pitch=-0.1501 left_roll=0.1282 left_gripper=0.0719 right_x=0.1812 right_y=0.0411 right_z=0.2454 right_yaw=0.3037 right_pitch=-0.1227 right_roll=-0.2648 right_gripper=0.0668\nstate[joint_eff]: [-0.4308, -10.5368, 5.7094, 0.4078, -0.6911, 0.0855, 0.6667, 0.4718, 1.812, 6.2291, 1.8779, -0.0317, -0.1636, 0.8864]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf25c380ebae282e23086e43ea77cd7fd0e482c5b9dbeb23ccbcc32b3ba28b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f26fe0638074f7a6ae833b3e194136e726a2671175fea14c0ee745ff4f1e19e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30c25483dcbc90265b4972d3e99119a252602469ec83c29bdddca4e3de181ce",
      "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 · 3.897 s

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

message 83 changed as sent

message 92 changed as sent

message 98 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]: [-0.8467, 2.3692, 1.927, -1.56, -0.8333, -1.9961, 0.0703, -0.1162, 1.3437, 1.4155, -1.1961, -0.4778, -0.8978, 0.062]\nstate[eef_state]: left_x=0.3503 left_y=-0.1934 left_z=0.0744 left_yaw=1.0045 left_pitch=-0.0917 left_roll=0.1119 left_gripper=0.0703 right_x=0.3064 right_y=0.0496 right_z=0.2421 right_yaw=0.8293 right_pitch=-0.3729 right_roll=-0.0868 right_gripper=0.062\nstate[joint_eff]: [-0.2256, -11.6581, 6.4205, -0.5592, -0.5836, 0.0415, 0.6325, -0.2803, -4.6701, 6.4615, 1.0818, -0.315, -0.0366, 1.0037]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9314, 2.215, 2.265, -1.6356, -0.8734, -1.4158, 0.0714, 0.7685, 1.2373, 1.3956, -0.9882, 0.5529, 0.1692, 0.0638]\nstate[eef_state]: left_x=0.3606 left_y=-0.2519 left_z=0.2119 left_yaw=0.5455 left_pitch=-0.1349 left_roll=0.1418 left_gripper=0.0714 right_x=0.2884 right_y=0.1547 right_z=0.2968 right_yaw=0.2084 right_pitch=-0.1444 right_roll=-0.2752 right_gripper=0.0638\nstate[joint_eff]: [-5.3675, -8.8274, 5.9282, 1.0232, -0.5543, -0.105, 0.7155, 9.306, -0.0068, 9.8393, 3.7582, -2.2051, -0.7155, 0.8327]\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 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9195, 2.1666, 2.1727, -1.5768, -0.857, -1.412, 0.0719, 0.4118, 0.5301, 0.9363, -1.0847, 0.2195, -0.1604, 0.0668]\nstate[eef_state]: left_x=0.3592 left_y=-0.245 left_z=0.2065 left_yaw=0.5531 left_pitch=-0.1501 left_roll=0.1282 left_gripper=0.0719 right_x=0.1812 right_y=0.0411 right_z=0.2454 right_yaw=0.3037 right_pitch=-0.1227 right_roll=-0.2648 right_gripper=0.0668\nstate[joint_eff]: [-0.4308, -10.5368, 5.7094, 0.4078, -0.6911, 0.0855, 0.6667, 0.4718, 1.812, 6.2291, 1.8779, -0.0317, -0.1636, 0.8864]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf25c380ebae282e23086e43ea77cd7fd0e482c5b9dbeb23ccbcc32b3ba28b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f26fe0638074f7a6ae833b3e194136e726a2671175fea14c0ee745ff4f1e19e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30c25483dcbc90265b4972d3e99119a252602469ec83c29bdddca4e3de181ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgMdQVsUdqNFiKcmzM_q9kF2tyrFAPd_vAJhhr50chiK0xRE4xTCjdeWjm_GZxyU-JvAd76GATJ4rZjNHvg2zW8QkhPhC3R4aMR51DI8khH4Q-NFdVMU6wRz6OfmetBjJjac2qkFNnA35fjiWTXCzAwDWvyt6MsdKNbPbaU-D_x-ihKOQOrAodKiAmBiJddxlXCpOsnRCu_NpehU9EZoDgEAJxZ51Vm6WkkqdZUwbl07yNHqcN597WEUpdKWu0PXF8sCEc3lFVf9jaGsThZDJMeeuDlQ3rdxj7b5OfESW-SL9lSFZ7jMZu7wGGg-v6Ha95rlRxxTVlf417J2otgPXmvp7nvCKf5M8grDJyg6zApSei7bMQ6fB0Xlf-lJXoPywYiX_kK75eps5KBKfC9r3oiykl6nlri5Oc0u6QxGGdyG9wm9BQoIm42XnKlIzQCxE6IRcUsUFGQZTbcgnwhcgkKy82skofT1YVczwK9tKbi2qLRXB6FAC5S_X6-3MV7yc-Cy4i6DRPT8JfM-U6poiWZ7T7SmS7BRMDI3OzagLQvV4Y_rlH-MPTW-1XGbri29j76c0TN4mWUTXbZbaLLSCDMaUCDuNyNgNXfGa9YPD2YY3j1qKRuZg7BxGQm7yd84pvFv--jnkyV2pibQQen89V8cb16_xpcjG3Nl91ZZhTm_uvgdDjFg3kpG4DdVypXxL6cv5mooEKAG9sRUclBTudJBpPN_8ikI3lRzjW_ah-zbNC1een9bnPHDjFQR48rUisc3_6v6_UZmPpIoFJFzTKLhjsIS_o_gP_SXvEijbpYVUhC31KT7fHhHEPqtdayeYFUWUQUvOnET4EiNM4mSyUfIR9DM8zvVyTSvWuOkGQ8aQH0yvw9ZHjNovu6Wt2cuVQESnVl7F_RF5NZJLykBFMcK5RaGujXGuIdDWTgZYzlk94LofMyYf8VM0uf1zenmR6UMveqqH4GJPmwVA_N_5IwxFMlg4kjC5maskib5Th9AFG66j5zu7mMihpg1L9BMPbJM20Y8yrelp5nZ5GYnDWhT6S-UcQZBTT7ElArdjF_NOsXPSfvY65T4Fgdx1ID7HfupwCJmcl1oj_Wvavf7HwLIs0PdUmWRopJmUtRc8YIgpHxxfHd8fodhWuP-jGjKzBy8q17hsurnhpTYSTRx1RuJlYEPzYDqCQahB7QA3sUY3Pk8tnjrstINh09wylSc5iZR0RjTUx-Pk61iGb_CfSKxCir2mxRnLCcv4AxZ4C9Soq45m4rjeCfK9YAg3MoIjOzYyET1k9IwFTD4iUw1o_y2RBnxdHdAJWHKZJxFj7BBaFVAofJHATI0CfNvE0azx3auMK_LeMyJQIAiS22WJMAyIxt4bEzpUZg3mMzcltvTkBkfBFdddplUFawdJIEo6TmI8DXUutxwhsfID2FNpN2wu5pO10Xy6o9q1pF2u-Lsg_rTlkWDFy6iw9IgB3KXkD51oZUGFDnI4i0UJ8I3o0t2xZV-wIMp1vQm4eWzZ9LFw0=",
  "id": "rs_025f18d313a80759016ab4380afe1887d0b8737fa9be3ef8dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.35,\"left_z\":0.22,\"left_yaw\":0.43},\"note\":\"The pen arm has cleared the cap arm. I’ll bring the cap closer to the center line and slightly back, so the pen can approach from behind while its gripper stays nearer its base.\"}",
  "call_id": "call_Grj5eniKKzj4U2KDn12vYfIf",
  "id": "fc_025f18d313a80759016ab4380b7ce487d08e5e922668cd8c7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Grj5eniKKzj4U2KDn12vYfIf",
  "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]: [-1.1152, 2.1986, 2.1414, -1.578, -0.8551, -1.5002, 0.0718, 0.4065, 0.5346, 0.9272, -1.1145, 0.2066, -0.1783, 0.067]\nstate[eef_state]: left_x=0.3037 left_y=-0.3088 left_z=0.1861 left_yaw=0.4148 left_pitch=-0.15 left_roll=0.1261 left_gripper=0.0718 right_x=0.1771 right_y=0.0407 right_z=0.2353 right_yaw=0.3181 right_pitch=-0.1692 right_roll=-0.2745 right_gripper=0.067\nstate[joint_eff]: [-0.3624, -10.7829, 5.8051, 0.2369, -0.486, -0.105, 0.7057, 0.3214, 1.2239, 6.3795, 1.873, 0.149, 0.1636, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51c9a174b9996dda018ecdd82c0f3ac40b89e44d743f78dbef0e7bb49509f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e02a3b950f8cb44baae6eb5725cb714164012db9463de42101baf2eb9c3e532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f9402284ee6c79f5c4fe0b8d8bf7b0f5c8be709f6b38405e85f1d429db8dd3",
      "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 · 5.044 s

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

message 87 changed as sent

message 98 changed as sent

message 102 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]: [-0.9989, 2.2433, 2.2692, -1.5631, -0.881, -1.4197, 0.0706, -0.1162, 1.3457, 1.4143, -1.1965, -0.4713, -0.8982, 0.0621]\nstate[eef_state]: left_x=0.3524 left_y=-0.289 left_z=0.2027 left_yaw=0.474 left_pitch=-0.1224 left_roll=0.091 left_gripper=0.0706 right_x=0.3065 right_y=0.0486 right_z=0.2406 right_yaw=0.8264 right_pitch=-0.3797 right_roll=-0.0878 right_gripper=0.0621\nstate[joint_eff]: [-0.759, -14.3932, 7.3778, 0.315, -0.6667, 0.2857, 0.8571, 0.0342, -4.8752, 6.1197, 1.0769, -0.3687, -0.0562, 0.9988]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9195, 2.1666, 2.1727, -1.5768, -0.857, -1.412, 0.0719, 0.4118, 0.5301, 0.9363, -1.0847, 0.2195, -0.1604, 0.0668]\nstate[eef_state]: left_x=0.3592 left_y=-0.245 left_z=0.2065 left_yaw=0.5531 left_pitch=-0.1501 left_roll=0.1282 left_gripper=0.0719 right_x=0.1812 right_y=0.0411 right_z=0.2454 right_yaw=0.3037 right_pitch=-0.1227 right_roll=-0.2648 right_gripper=0.0668\nstate[joint_eff]: [-0.4308, -10.5368, 5.7094, 0.4078, -0.6911, 0.0855, 0.6667, 0.4718, 1.812, 6.2291, 1.8779, -0.0317, -0.1636, 0.8864]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1152, 2.1986, 2.1414, -1.578, -0.8551, -1.5002, 0.0718, 0.4065, 0.5346, 0.9272, -1.1145, 0.2066, -0.1783, 0.067]\nstate[eef_state]: left_x=0.3037 left_y=-0.3088 left_z=0.1861 left_yaw=0.4148 left_pitch=-0.15 left_roll=0.1261 left_gripper=0.0718 right_x=0.1771 right_y=0.0407 right_z=0.2353 right_yaw=0.3181 right_pitch=-0.1692 right_roll=-0.2745 right_gripper=0.067\nstate[joint_eff]: [-0.3624, -10.7829, 5.8051, 0.2369, -0.486, -0.105, 0.7057, 0.3214, 1.2239, 6.3795, 1.873, 0.149, 0.1636, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51c9a174b9996dda018ecdd82c0f3ac40b89e44d743f78dbef0e7bb49509f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e02a3b950f8cb44baae6eb5725cb714164012db9463de42101baf2eb9c3e532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f9402284ee6c79f5c4fe0b8d8bf7b0f5c8be709f6b38405e85f1d429db8dd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgQ1KGYyydDegPYJqFxhf3Z6IXQsS-Zg2oJ3G68CdYxUBKvzhslhlona_emebwoH638kkNG5sim3Fm82yeUG1DZPQo55n9Y6DzP9VbZcGQoMd-vUfPccfKXi-9Ae-WWuMJHXUFrJuXqjcdrGmelDhhhegHPxh7ZP7x7sObN1GmkYqc3b7JFpp3rMUzLpoFufEHZF5J7mUD83Ws3Oe_zBH43qEk9qAoyNodl_CeiU9NWSMuKG63F3btXk2OLwVZDyt5O7dK38ozylmTthKY61qL2WdX-zpuNhmVONywApGqHIso-xWuOgGoZS2YYMGvDZ81_Qsdg2EGj5PJgw9LsahW_H5GnB-OhwuhMW4W7KWM17zaudJIkOjeFiDw9VOq_Wn4DSbS6SAUOiB2tjGSEzDggT0_-pMFEZ525JlD2zpNZVxKYBHZztudYFFA4UdwYLv-qZUqfPxrhLlHG0deWHP-wsNA5GOeQMxFrekZndNn5myrExYg68q-3iHTvYGYJE6R5JMUXHOgFmLMagfJKls8O7ty4XoOEh4-2ODd7k2QQ85MIGdEmS8-S0ZUQjMz3UYpzpDv8K2WbUBKqVAItoscREyndHVqdtymjnZ83BgcJZOhi8QFds6T1-t4vTLJ79zto7Lki_ZdCepuKr_Krc3r2aZGWVfEzUjOup3H37kLU4CDRHavTg5qsSCQ6KkhR-4C8gXEeAm3z8GAac2qfAejkmPFQ3cpZK8dpdGuv-uFZP1uxSxILiihgSxaGvEk35uZjePszyx5aJv5vGSaGo_KQzsuccKXGEWaek0V-B8HxX_A37ylVm8SnEyYxIBta8kP6vAmhSd6RGQiEhT41Azoo8r-ke_sBFMiGgRmUOX5LAT4L2lG0bJB5v9VK7AbRzZgOFsnJK05yHKXXXU2YKINEO9KbJsOqQlI2qVVxN9uQgFhRHus6VJP_bO8UPxNdLleBDN2cv7uxlfa9YQ47cxew3c95pGbJs7Xrj5M92My0diImmyywmWEJ13r6nLYdji3EM_qnDuXOnOmFlCAzBL4a-y-YIHBbu2TBNtpc_s3CZaIvNDZQrQq5IlNWoZtGHnH4mSXuf3pQL-ilP2brO7L_gHRptz1roRNPrD-9-riJDkKkR6UCUkDlXTAg6X1ZLBAQhAWuhy7qmunNOdbWUnj57swYDHbzp5skkSYp_fq62AcLnK4uNRZ4gjNN0-GMsD8l91IDAduNfwH0SKEyhYF1VnLR9EAtG5XpkthYnrWMT6LdkUl8kS6HVp4cJPJPW6cK6GpNEoE17a6MKfR-wGzsUyACfuGeODoTu2B3eELmjAcdJe1qQDxpFW_4GR19WROsluJxipYq8sodvrNy2v9YLKe_cNZrDhz-uwwZpsES-1AbzPSgwib7_7KJmptyGGmxvKvRAT43Sv_mDfvvC1GVU53ZZAkcOuyabCs79lInxTS2LKLO-XHrFQLZsaEcZYHDF7g2f5PnlvFgR6M2jVDwikVmNu8I1xFANvtEQtHvr5qrJXW2CtEmCSnmNGKdwkqSVdjRi72YBtkgzflSMNrttXv44hH13rU-xhV46ucsq95JnMYUSQpPQptRTqsuYeX6qlXBbd38wqoWVZoLON3MtLzHhfxKTq-uUFMMwCXLcYbs2r0ECtJmmYrT8GfSIByLcrUDHaxnCDBVSs9vXMmxiMbop8wRQyzsfSI34qHB4wwXLcD_Kme3H8cXZJfU8f7wAPzC2iKSYS_UZFw1oO9jJfZpnt8b8DGq4Hr6ywwQo4ETJRmaBRu5lNV1JP0M2cKfOb9F3u4ldbVl6udimf_z2qcs74ulkZX0jgwG2rWvmyDyBkqY-zgNn56jmYoxnQO4r0Dqua9OWJ7y6jTv0pM_GJBLpgvKzIrWuvM8FteHcbm4iTkCu-SlaAqVUmZJaWx9klvbkP6AimbKJ5874bBGtQ==",
  "id": "rs_025f18d313a80759016ab4380e61a087d0ad8127b5fc67e1df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.17,\"right_y\":0.17,\"right_z\":0.28,\"right_yaw\":0.42},\"note\":\"The cap is now farther back, and the pen is still securely held on the opposite side. I’ll bring the pen halfway toward it at a higher clearance height and check for arm contact before going farther.\"}",
  "call_id": "call_84HzUxzu6I47SiP3pV5C3fdM",
  "id": "fc_025f18d313a80759016ab438100a1487d0b075edb711b43b64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_84HzUxzu6I47SiP3pV5C3fdM",
  "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]: [-1.0859, 2.1906, 2.1323, -1.57, -0.8471, -1.5097, 0.0715, 1.2263, 0.984, 1.2198, -1.3674, 0.7166, 0.4885, 0.0694]\nstate[eef_state]: left_x=0.3116 left_y=-0.2998 left_z=0.186 left_yaw=0.4487 left_pitch=-0.1571 left_roll=0.1116 left_gripper=0.0715 right_x=0.1681 right_y=0.1356 right_z=0.2636 right_yaw=0.3495 right_pitch=-0.2323 right_roll=-0.3421 right_gripper=0.0694\nstate[joint_eff]: [-2.2906, -10.7966, 5.5043, 0.2125, -0.5006, 0.0806, 0.735, 3.1795, 1.6479, 8.6906, 2.2491, 0.1245, -0.6178, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228a67e39d2a2b3f33bac0768cb04dd57878448d015a6135e80a0debb36eaf22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887c92a155c6389eb683d4eb32042a8bb108c1149416518e4e54dd5601fd21c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a06739852efa696632cae776b2ff9722b89c8034e71a1d092b8d90d33c8b3c",
      "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 · 5.918 s

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

message 92 changed as sent

message 102 changed as sent

message 106 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9314, 2.215, 2.265, -1.6356, -0.8734, -1.4158, 0.0714, 0.7685, 1.2373, 1.3956, -0.9882, 0.5529, 0.1692, 0.0638]\nstate[eef_state]: left_x=0.3606 left_y=-0.2519 left_z=0.2119 left_yaw=0.5455 left_pitch=-0.1349 left_roll=0.1418 left_gripper=0.0714 right_x=0.2884 right_y=0.1547 right_z=0.2968 right_yaw=0.2084 right_pitch=-0.1444 right_roll=-0.2752 right_gripper=0.0638\nstate[joint_eff]: [-5.3675, -8.8274, 5.9282, 1.0232, -0.5543, -0.105, 0.7155, 9.306, -0.0068, 9.8393, 3.7582, -2.2051, -0.7155, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1152, 2.1986, 2.1414, -1.578, -0.8551, -1.5002, 0.0718, 0.4065, 0.5346, 0.9272, -1.1145, 0.2066, -0.1783, 0.067]\nstate[eef_state]: left_x=0.3037 left_y=-0.3088 left_z=0.1861 left_yaw=0.4148 left_pitch=-0.15 left_roll=0.1261 left_gripper=0.0718 right_x=0.1771 right_y=0.0407 right_z=0.2353 right_yaw=0.3181 right_pitch=-0.1692 right_roll=-0.2745 right_gripper=0.067\nstate[joint_eff]: [-0.3624, -10.7829, 5.8051, 0.2369, -0.486, -0.105, 0.7057, 0.3214, 1.2239, 6.3795, 1.873, 0.149, 0.1636, 0.8669]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0859, 2.1906, 2.1323, -1.57, -0.8471, -1.5097, 0.0715, 1.2263, 0.984, 1.2198, -1.3674, 0.7166, 0.4885, 0.0694]\nstate[eef_state]: left_x=0.3116 left_y=-0.2998 left_z=0.186 left_yaw=0.4487 left_pitch=-0.1571 left_roll=0.1116 left_gripper=0.0715 right_x=0.1681 right_y=0.1356 right_z=0.2636 right_yaw=0.3495 right_pitch=-0.2323 right_roll=-0.3421 right_gripper=0.0694\nstate[joint_eff]: [-2.2906, -10.7966, 5.5043, 0.2125, -0.5006, 0.0806, 0.735, 3.1795, 1.6479, 8.6906, 2.2491, 0.1245, -0.6178, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228a67e39d2a2b3f33bac0768cb04dd57878448d015a6135e80a0debb36eaf22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:887c92a155c6389eb683d4eb32042a8bb108c1149416518e4e54dd5601fd21c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a06739852efa696632cae776b2ff9722b89c8034e71a1d092b8d90d33c8b3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_025f18d313a80759016ab43813c33887d0a98a3088f3ab5306",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.17,\"right_y\":0.22,\"right_z\":0.29},\"note\":\"The pen arm has moved partway inward; the cap arm is visible ahead in its wrist camera, but the pen remains noticeably higher. I’ll advance a small additional sideways step while maintaining that vertical separation.\"}",
  "call_id": "call_qKGYTtMZQEnajwOd6h9DFbI3",
  "id": "fc_025f18d313a80759016ab43816381087d0b9208a1100992465",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qKGYTtMZQEnajwOd6h9DFbI3",
  "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]: [-1.0245, 2.1857, 2.1319, -1.5703, -0.8368, -1.5101, 0.0709, 1.3468, 1.2873, 1.496, -1.5749, 0.7284, 0.6586, 0.0724]\nstate[eef_state]: left_x=0.3281 left_y=-0.2802 left_z=0.1865 left_yaw=0.5102 left_pitch=-0.1672 left_roll=0.1066 left_gripper=0.0709 right_x=0.1588 right_y=0.1836 right_z=0.2774 right_yaw=0.3214 right_pitch=-0.3268 right_roll=-0.4275 right_gripper=0.0724\nstate[joint_eff]: [-5.053, -11.1248, 5.5179, 0.1636, -0.5788, -0.0171, 0.7692, 0.3487, 0.0479, 7.5282, 1.9707, 0.6764, -0.2808, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a47282dfd768d363d3a82480e63d75dc478d5c2e09e9f7f8a8be72b0362910b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb6b83478233793c1bc1b55392858c0ca0029e9a4067e8a8b6421742726c72c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5372f512ce20c73ba5e828125a06511eb1bff8e7e7a5983dd9e6c51615a654f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 10.96 s

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

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9195, 2.1666, 2.1727, -1.5768, -0.857, -1.412, 0.0719, 0.4118, 0.5301, 0.9363, -1.0847, 0.2195, -0.1604, 0.0668]\nstate[eef_state]: left_x=0.3592 left_y=-0.245 left_z=0.2065 left_yaw=0.5531 left_pitch=-0.1501 left_roll=0.1282 left_gripper=0.0719 right_x=0.1812 right_y=0.0411 right_z=0.2454 right_yaw=0.3037 right_pitch=-0.1227 right_roll=-0.2648 right_gripper=0.0668\nstate[joint_eff]: [-0.4308, -10.5368, 5.7094, 0.4078, -0.6911, 0.0855, 0.6667, 0.4718, 1.812, 6.2291, 1.8779, -0.0317, -0.1636, 0.8864]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0859, 2.1906, 2.1323, -1.57, -0.8471, -1.5097, 0.0715, 1.2263, 0.984, 1.2198, -1.3674, 0.7166, 0.4885, 0.0694]\nstate[eef_state]: left_x=0.3116 left_y=-0.2998 left_z=0.186 left_yaw=0.4487 left_pitch=-0.1571 left_roll=0.1116 left_gripper=0.0715 right_x=0.1681 right_y=0.1356 right_z=0.2636 right_yaw=0.3495 right_pitch=-0.2323 right_roll=-0.3421 right_gripper=0.0694\nstate[joint_eff]: [-2.2906, -10.7966, 5.5043, 0.2125, -0.5006, 0.0806, 0.735, 3.1795, 1.6479, 8.6906, 2.2491, 0.1245, -0.6178, 0.7985]\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 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0245, 2.1857, 2.1319, -1.5703, -0.8368, -1.5101, 0.0709, 1.3468, 1.2873, 1.496, -1.5749, 0.7284, 0.6586, 0.0724]\nstate[eef_state]: left_x=0.3281 left_y=-0.2802 left_z=0.1865 left_yaw=0.5102 left_pitch=-0.1672 left_roll=0.1066 left_gripper=0.0709 right_x=0.1588 right_y=0.1836 right_z=0.2774 right_yaw=0.3214 right_pitch=-0.3268 right_roll=-0.4275 right_gripper=0.0724\nstate[joint_eff]: [-5.053, -11.1248, 5.5179, 0.1636, -0.5788, -0.0171, 0.7692, 0.3487, 0.0479, 7.5282, 1.9707, 0.6764, -0.2808, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a47282dfd768d363d3a82480e63d75dc478d5c2e09e9f7f8a8be72b0362910b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb6b83478233793c1bc1b55392858c0ca0029e9a4067e8a8b6421742726c72c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5372f512ce20c73ba5e828125a06511eb1bff8e7e7a5983dd9e6c51615a654f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_025f18d313a80759016ab43818fed487d087cf928f22ecefaf",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.11,\"left_z\":0.23},\"note\":\"As the pen moves inward, the cap arm is pushed away again, so a two-arm midair insertion is not safely tracking. I’ll clear the cap arm to its own side, then set the pen down where the cap arm can approach it alone.\"}",
  "call_id": "call_drK3vbRwc8De4Z7TYprrGqym",
  "id": "fc_025f18d313a80759016ab4381ccea087d0be9d7239423d19a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_drK3vbRwc8De4Z7TYprrGqym",
  "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]: [-0.815, 1.5143, 1.4185, -1.3228, -0.8204, -1.2297, 0.073, 1.3479, 1.2972, 1.4914, -1.5646, 0.7059, 0.6468, 0.0721]\nstate[eef_state]: left_x=0.291 left_y=-0.1152 left_z=0.2237 left_yaw=0.53 left_pitch=-0.1742 left_roll=0.1074 left_gripper=0.073 right_x=0.1565 right_y=0.1881 right_z=0.2721 right_yaw=0.336 right_pitch=-0.3503 right_roll=-0.4271 right_gripper=0.0721\nstate[joint_eff]: [0.4308, -7.2, 5.8735, 0.7009, -0.4811, 0.0562, 0.7302, -0.4855, -4.1915, 5.5453, 0.525, 0.5006, 0.0122, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bc13c59e0e3d0f7d5c99b70e9bdfa582798809ace25eabf0120cef9ec23cde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09d88d75ea7464a8e14d55a34d7165878a3e6a15e7598ef909c74083e5502cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eea4dd32a99b19c946eb0ef086289d025a30136e52c3d8687b5197861ebc41f",
      "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 · 9.018 s

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

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.1152, 2.1986, 2.1414, -1.578, -0.8551, -1.5002, 0.0718, 0.4065, 0.5346, 0.9272, -1.1145, 0.2066, -0.1783, 0.067]\nstate[eef_state]: left_x=0.3037 left_y=-0.3088 left_z=0.1861 left_yaw=0.4148 left_pitch=-0.15 left_roll=0.1261 left_gripper=0.0718 right_x=0.1771 right_y=0.0407 right_z=0.2353 right_yaw=0.3181 right_pitch=-0.1692 right_roll=-0.2745 right_gripper=0.067\nstate[joint_eff]: [-0.3624, -10.7829, 5.8051, 0.2369, -0.486, -0.105, 0.7057, 0.3214, 1.2239, 6.3795, 1.873, 0.149, 0.1636, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0245, 2.1857, 2.1319, -1.5703, -0.8368, -1.5101, 0.0709, 1.3468, 1.2873, 1.496, -1.5749, 0.7284, 0.6586, 0.0724]\nstate[eef_state]: left_x=0.3281 left_y=-0.2802 left_z=0.1865 left_yaw=0.5102 left_pitch=-0.1672 left_roll=0.1066 left_gripper=0.0709 right_x=0.1588 right_y=0.1836 right_z=0.2774 right_yaw=0.3214 right_pitch=-0.3268 right_roll=-0.4275 right_gripper=0.0724\nstate[joint_eff]: [-5.053, -11.1248, 5.5179, 0.1636, -0.5788, -0.0171, 0.7692, 0.3487, 0.0479, 7.5282, 1.9707, 0.6764, -0.2808, 0.6325]\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 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.815, 1.5143, 1.4185, -1.3228, -0.8204, -1.2297, 0.073, 1.3479, 1.2972, 1.4914, -1.5646, 0.7059, 0.6468, 0.0721]\nstate[eef_state]: left_x=0.291 left_y=-0.1152 left_z=0.2237 left_yaw=0.53 left_pitch=-0.1742 left_roll=0.1074 left_gripper=0.073 right_x=0.1565 right_y=0.1881 right_z=0.2721 right_yaw=0.336 right_pitch=-0.3503 right_roll=-0.4271 right_gripper=0.0721\nstate[joint_eff]: [0.4308, -7.2, 5.8735, 0.7009, -0.4811, 0.0562, 0.7302, -0.4855, -4.1915, 5.5453, 0.525, 0.5006, 0.0122, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bc13c59e0e3d0f7d5c99b70e9bdfa582798809ace25eabf0120cef9ec23cde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09d88d75ea7464a8e14d55a34d7165878a3e6a15e7598ef909c74083e5502cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eea4dd32a99b19c946eb0ef086289d025a30136e52c3d8687b5197861ebc41f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_025f18d313a80759016ab4382056dc87d0bab9a18e923f3afa",
  "summary": [],
  "type": "reasoning"
}

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  "encrypted_content": "gAAAAABqtDgqW9B2FokKa5hkY2EQuqJ_RkmEHPsf_ijsixNVcmW5-52IVure3Pc0BLu7__c9JjY_yhn4wbHVkGOg_GeYMxzIM6xuvPcKko-8-S9wZEtWSkcrtb0xgVJwY67O_0zIUIQdWDxomX_zv2cQPwgiGPB2JeEzIih6ApJclEwo3wp5ZXmyMNn_7Hf3Gc4JnJa6iAnyFEPqE90NzWyKEA4T7_HI18_deDhDfxkp5jNsxWj7ake6HlK9v5jdvEu-Gzqst5sGVw0HOq2TtyE1_6UJeiyzDMV4ptoI35132VRTfyn0rru5_4POb3v5xnqZlwjhnREmKTBRPf_oMcBS67nXhifl-nGqJ1sCRl3waZq7QTIin4pM2MikNcoZ_ncKv7MWij7Fs5_bR7ZV4CgVFX0GKB8McunSJLgFGktFGnmLh-mgLgk33xBj1FCwyjLR75miUXqpMKLLxpECmaUnYKCWpgKRqkP_tPLzIaBOE77NZm1gbadSu0Zl-0DfomLT_14MFS36MWx4vr1LBDGgZyOKVRuX-x2cJQ7P84XnAj7xultYaoi8aL7TAmVwv9g8SHrxg-7baulagMZ9zx_yEG1hL1ureDUKPAr0q5UYZrCHc6k6i4FCh8SHl_qs0-zpCF8jO4Qs1I8x8pd5a91FEQSxNMhfyUMBiwXFyu9Qpcam53zGqMSf-QVuxVAL3l_hrTMfYXBV7-sXnKOvjH_-nAeAEJlAyIMpnSkDlstcjbtw6XCE8HsEJ04blpgeoumO3P3ua3SqmPeyPZrFPw4tYtg2-FhYJOfHjKSEjPj1fsD0hgXUhNOrGUqb7wP6CwPYJFUevB_SyHJDSvgC64lUU5li3ezKpA87C8eU7Ewdz5oK_GGH3uPLu-aGgYrLretluGkIbQGgTHBZiBPU8W_gIQvB_IV_Bk1fu7Pm3ohBV9Cek-7Q13O482RN9uJR8kQ0MSrGobXgWXIGOAKNTJzoGo6TdBRLWECN_W-PzfqFYAEXPgqqvisb4ny5R_U_BVNLBHPy2w6TIfwbAVcG6Aj7--_mj7bBQnLEYXyURUEOTflxifcjgGO7B6Z3oi28i14kw5ek6kNSNDbvoXTx0aSkjJSS_1tDPDPJNaS8Y-HPfG8QESk63nqcpKS3p0MsZQMPEJ73qgfCGxsfgI1OGSY0xb9gFbiEaRNBaK2kqW7eoePrMl1QtSWZ4S0kXgvGDBtxONaL-MH446Nrfe61Qzsai2IwwuSSU4MVI6ErS0q9HjROWJnLctAf-PE4f3ZjTSxNtizMJYuEvjM1tCsAyjJ3j-cD6kuJDueu_hAGyiyhKgslTOvt_2FKOGrqraE1789z6r1tuQ1h41dDm8Au_0JOwT-y4Pf_2WuSEYLQjkGkh1H3DKbvB3I72UCmmfGU8wVaBtCViE5EAPqX3enPRviypjIQYaLl350Zt92ysGf7taDJG9-WZcuSa47z25ExLjbKSasLfZ3kCP9XKO1XzkTS1VSpbmhk4YbY-JHQFlPYIbRndSR3_XCdL0-pUfMg80GHTZiVwNJNohVUozPibNNPjK0X6dtL1705L1kHIvcNLISj7c8iSCN3f_m4Mw2BPrGgsDHUjhptJFpbqzDFDTsjtKPMbePENocKgHis2Pw3hlI0Pf-gN2lkFyzb5lGBA-WdfChCdKtB5Ts8xespfe6Z6tSypeVFXP4C6n3ot1JVP54uly7a3FNKWHUCZGSTyoKQqMoVtY-jSLbJwIU0meswraC-Eeu-pAd35YRvXsE3NN8ARxCRVCM1avCd_nYW2J04TzlJVOnNVWFpMm19B_un9v5Ul_614VLq6KHqHJ-P5Ybgwf7TyhPpe3izphjZCRVh0tZt4p0T1BW8UUaao5iEbqcQfAAcP9PNXsc2o7Prath2F7zKpdl2KU07Px1ilJczOgHxm4VWkkqn7nJ593LVsZqVeMVMuPp43N97PrNIvTkbRa_Qp__bpBqjCZg3nIjA1KfRcqzPIeTqAurK6pCXGix6253FidCWVCpKS_OCpZ30jUENKsVA2i77RAR0eY0OEFHVtIwe0fLLHVDJaRa60T0FFItuT9KTta8LA1OL0ot1ENIs4Wa3oYDhhxhlpYZ1y1m87Pr2uWSHj-Da1E6b-aXiBeCV_GLmNX0AfxDtzc4drJ74AocNBpI1suS_4uBhvdQn5xTl94E4kyPCxLfKbVp7wlR_oPgkyZ6HG3ypd2rD2W2evQly6BxUvngV6LaADy369EVvIij_3Kk7h5fcBoSnI-3dYrCEp5TdlM0NVtt_AIKpRjhA347zooRYpv5xfwX1Fah_PQmldnCT_IROCeyJqQ1gULJgCVRHoQ6p_HQxk4Ke5eckTlW6yD558cEAWRncSZ0-NRWeRnfLRx4Wl-2fqYUPLxcxNO1Jix6zTRhZMhO6EFFoQRdIYXquPUovYKitRgo67e4f6tVtgpYUcYcq4uORrebb0e2QrqlQTYVMSSGEL7Jx31PhS-XZNXwCUXX2bpAhcvsyBu8cqwZjZ3dMaGRF-e4YjCACh9H7IR86r1OcWzbj8ohK_VKzCz4qQ9lt3VHrilmG-YTLCHp-XDRFkduGBrNPmT68DYlwcu7-T3sEnRF3qAYviv9leTg2VgMi0uRGhU0JHtXGCc6ZnitCw1LX5cI4zMV_HNbt5-AEI4txKa2Gjhi1GjeLk3JuAO_oH-KppVGfQwySCGMiPYeyhxwx9bitFrUkhBDLIe3Z-vQzm17VZ7qNoZppsWrBTEEIGXiNNsgsIAIbzze91RYRfCOODYa67piqd5HDEY9a9heTKkt1nyzVgXRin5sCUBiTzNVxrEKTTEMGdZe64QMvSFXPRxu2gob3KXHrbTVw6RcHerJLAZLldCnfCGrqtL7VkzZk0Ie9K68RXGwUYJ2rhZvDK81irsaw1kGdRCQfTg5gXjfrBMGaN95Yd0CzGjjCFRl6ldCoFeez8RW2M9yvRpWHhBodznElFg61CyQ7tMocSk9UYaB48q74SAYAlqzm0UASHiSRIVhwI0XpvTd5OdsAput_zrBzmeM0ZGo0oohXkzWVXgKjisBqKWB4ZFlGUA_AWKa9cqkzhYMlk_1LC88cNMOWra7Syky-gtnmORkI9wd8LsDZdj41WmEW8dTc2AA-sfXXTMGI1Er1xOIdAa4QKwQctr9-nRR6DJVyCpWCNPK33Yj_S7D4chxU7Ogp206D55InD_7Xy58AC-Rg98ov8cm0_fSB8-wGm68bxcQ_ksPhfdp22pK3FXgqFT1m5GAcg5EPQEy1MyVivBYjZsldW3xpnf3RZaU8fwhkieGMwTttOyvY1MVRbyDxDt-NV6RNQx6e2IpVq4VQ9D2V9V4KLx4jpJOoA5ZfSINEFSn9cV7XfRgS-yiE7GFoTEl9tKGG0EXJFqhs8nWXzHJG3yc0AGtMWAruhHMpw7zQB-zP0AXSr9Hh69xowZP6hY7w4ee074fXIiU21EUKUCqSewMB5xOEHN0ojoHflps3cDIF2XoWcu31-ged9p0wjtymaCYKAerMfNv_g-3Q36LIOUOUdi3OJWv4eR4iL1VFjZfGTJ5HSzzfMMcRqF8rkrM7ZmYr4AMq96ko6HAUE012QdChsN6ZKhP2FkkfiZHMvc0Ee1xTJ5VQOOnMv4BOMFvfPksx1EO-vu7r_fvCfz-FhzIc17CihKsdnz07pzQU32mrGOowZm3KmLQ8im8lBeLiSOJXMKvCV2FgbLCG_lwr-FyAlw==",
  "id": "rs_025f18d313a80759016ab438244e2487d09a8607f903671201",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgqrGPsskYjJr0qMh3HX3A6-vS0IEpMR3YMAjuFCjyqWb0mY8CEeLceZMh92rF3hJRVFc5OMNdmH_kDcXERTl2gWvOeHfpzBqbv2yFjxgXBKLzFN_ZznNCJFu8cSgzmXeFDkb3c9bxVUPHe1l41w3ZsNKBr6pgnwAQwr0h3AOsqMAYSCMEuW5FbZfkVd8QAT0zuBfv8lEczB7sXSuYe5-AEVk5f1sGnzfIcYg2JZ16C8rj1G3CFvjDj9j8Q3lCIx83L_SXHSjT7ZjJWuYlWKTfmWDzgR1ol5oHiiWJCvIRjp3VbFfopkmchpi06Ltg7feQQbGvJ8JS5p725bR2dMTzEMKj95DYQ_VgFjm0ph_64ZuOBOOhYpZnYsjaNAxkGam-8CY3bQzC0Vakh2RR6-AFD55tsi3Tamm3_NtXp-X5pZjLciCF04p5X_2OrdavnWqcmfmNxXMGUP3TzUHK8vkrEa_1JUuRgunD-EhXLtCqyJWHgE6garsJnPQbe-qJ_NPeIVsOZxmFqHInBMjsI2BlJ7InYE6a0OK2nYg94mn8xjDkGscK0e7hm15s_Zh0RqU2SEMmD874Mg7xKzIjrj4xKta9XZHD1c1xeSgGr6AFTYSWoUMN_yx6iaqz15O26XLNf0jwC593sZnZYUUgoyivan2f-UuhwB8Q9r50XDOLqbYp2y4NqCchIUv3biMIFcK2L6Ftfs8ExaPM9w3BzcLbhOsnFhAX_Vs6kZfN1U2ETN5rsv1yTt9T3jdb4gpdL6uOVY7E3eK5xp1g9o4MixHG0zKkAditJE4I2UT3XSbF8Up5S7HpV-ib1fzUzuZoTNQQBYTCuqKP7iRAtSLUjbcDo4MQpihp6A_EzdDEF3FuKCo1V2IB3LjyaZZSynCI6T9gb5bRM64osrcA5-dVDA_3w2jBMjp3zrZwcXyB-zBZHemwPwi94VTZTBHx6GwCGdERKroWqVcw6dNqIOMYMlRco5bPlaoetRdi3JFlMKeg2_DmzLA5XyV-OVjCwLeI8dPxiH1N4e3gZ5BmIyfNhri8Mw-GQK8XzSiu8XB5KFmvEBhy5GsfxgH73gvuX-mEHg0iu-yJ0uZLjsYPk9w7HXmLuhRYvUKMiJo4kR1Cvul8lk9uh-nvFxhIWmnQWbLp_nGhl6OEtfxbSclY8PajmHcwmCaJBfpD9NL6cZUbXrXdlnvlrlqSJWbphLRZV1vIdmFrCpzUAMqlHnj-7NCbp_M9UDUWkgyqZ-vxQl1IaXn_IUaPFuEvYElf1gmNg5Qt3UKJejnT8vNXagZviGZDwrh1Ds921DDnSq6BIjD8ucyZJxok2XR7w-_mzENrlNz3Vf8bkBVX-h3PzVAnT83B16iw2W1d0vUlIOYfP8ULa4U1NYWQzRc8XjaVfF1GHftFsEya7iy_QSGtdual1RBxxf1N9rWXVllgcO-KkGX4C1H-SSzbzMExeRXLjjAamN2J-5bSsnn7RI23bAphRqgUdLQGEzJ3-0zLRzXWVxNk1t8PeGrjcTy_klffzamRvF3kkMfZ7meofKuWYbUKUYg9KIn2IsdgfogPrLl-IygDlZxhIozf6PhhK4EEeM4jF663BsHMUXuX4kajS2CvThc0s4zTHd_e09SVG1rxTIz6ItiGC_hrZ5WazL6gJIwpdlykfgalJZGXYBulle8tJziMCMIlJtQ==",
  "id": "rs_025f18d313a80759016ab43828ab9487d09bfb2d660c7678d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.3,\"right_z\":0.14,\"right_yaw\":0.42},\"note\":\"The cap arm is clear, and the pen is near the right gripper’s forward edge. I’ll position the pen near the center line at a low height for a supported placement, away from the cap arm.\"}",
  "call_id": "call_HRGHuWr75rbxie4xktnxfy4r",
  "id": "fc_025f18d313a80759016ab4382956c887d0bdb763b390286bc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HRGHuWr75rbxie4xktnxfy4r",
  "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]: [-0.812, 1.5143, 1.4067, -1.319, -0.8062, -1.2297, 0.0748, 1.3479, 1.5852, 1.2194, -0.9989, 0.6773, 0.5484, 0.072]\nstate[eef_state]: left_x=0.2896 left_y=-0.1149 left_z=0.2187 left_yaw=0.5318 left_pitch=-0.1896 left_roll=0.1121 left_gripper=0.0748 right_x=0.1744 right_y=0.2849 right_z=0.1412 right_yaw=0.4003 right_pitch=-0.3927 right_roll=-0.4703 right_gripper=0.072\nstate[joint_eff]: [-0.5128, -6.0513, 6.7624, 0.4713, -0.5885, -0.0269, 0.7155, -0.2667, -7.0632, 5.8051, 0.7009, 0.4322, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86868a00c0b020a37985b9b13e47e17ed02bf92584c2f5a1d265ba23ec0c7932",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cdd4338cb7593ae9ebbee4ea9bf50c5cc29bd3578ee42fa3216102f2271e41b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6324feb82aace8aef127b57ec161b41c7f2c009e4c2dca50187668dc5194c418",
      "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 · 7.898 s

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

message 106 changed as sent

message 114 changed as sent

message 120 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0859, 2.1906, 2.1323, -1.57, -0.8471, -1.5097, 0.0715, 1.2263, 0.984, 1.2198, -1.3674, 0.7166, 0.4885, 0.0694]\nstate[eef_state]: left_x=0.3116 left_y=-0.2998 left_z=0.186 left_yaw=0.4487 left_pitch=-0.1571 left_roll=0.1116 left_gripper=0.0715 right_x=0.1681 right_y=0.1356 right_z=0.2636 right_yaw=0.3495 right_pitch=-0.2323 right_roll=-0.3421 right_gripper=0.0694\nstate[joint_eff]: [-2.2906, -10.7966, 5.5043, 0.2125, -0.5006, 0.0806, 0.735, 3.1795, 1.6479, 8.6906, 2.2491, 0.1245, -0.6178, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.815, 1.5143, 1.4185, -1.3228, -0.8204, -1.2297, 0.073, 1.3479, 1.2972, 1.4914, -1.5646, 0.7059, 0.6468, 0.0721]\nstate[eef_state]: left_x=0.291 left_y=-0.1152 left_z=0.2237 left_yaw=0.53 left_pitch=-0.1742 left_roll=0.1074 left_gripper=0.073 right_x=0.1565 right_y=0.1881 right_z=0.2721 right_yaw=0.336 right_pitch=-0.3503 right_roll=-0.4271 right_gripper=0.0721\nstate[joint_eff]: [0.4308, -7.2, 5.8735, 0.7009, -0.4811, 0.0562, 0.7302, -0.4855, -4.1915, 5.5453, 0.525, 0.5006, 0.0122, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.812, 1.5143, 1.4067, -1.319, -0.8062, -1.2297, 0.0748, 1.3479, 1.5852, 1.2194, -0.9989, 0.6773, 0.5484, 0.072]\nstate[eef_state]: left_x=0.2896 left_y=-0.1149 left_z=0.2187 left_yaw=0.5318 left_pitch=-0.1896 left_roll=0.1121 left_gripper=0.0748 right_x=0.1744 right_y=0.2849 right_z=0.1412 right_yaw=0.4003 right_pitch=-0.3927 right_roll=-0.4703 right_gripper=0.072\nstate[joint_eff]: [-0.5128, -6.0513, 6.7624, 0.4713, -0.5885, -0.0269, 0.7155, -0.2667, -7.0632, 5.8051, 0.7009, 0.4322, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86868a00c0b020a37985b9b13e47e17ed02bf92584c2f5a1d265ba23ec0c7932",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cdd4338cb7593ae9ebbee4ea9bf50c5cc29bd3578ee42fa3216102f2271e41b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6324feb82aace8aef127b57ec161b41c7f2c009e4c2dca50187668dc5194c418",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg0bjOyweVvmarAPJd8-hF0Ocj3sPX_eFlcjpIZ5qmPdoTuFNfXVJ5torF5sTXNqSrgWkh7QRvqpFP-bbUM4tS0CcVtQmGgaYichcYNKc2F9exiR0eZAzTbrcjTIF7nrgsW0z2WHJqxXmtAlDQN_ZDAqWNbuS8CrIO-Jc0HD3q-53VMbCjDRnGYqKPWgi40sZI6hcPtwGRsStKvi1BN7pCl0XA-x13OumAYiJLuHTlCHtxZrffu1snS6_uWpxuEYNbqqvIEXG_KlhV-m8N2b6awZNGGWI82PpczJ0um-Hx0J2bB81RWm-JcbKQNfpafDdtqxEXHLfU1OH0fhKsXNex-ENn0VOonvbAGRbQCDeQIna_ws5JScgRrESET-qOGsogAxUgH3k9KSgzekylSRk0YYDwqnlCR0QUEYuq1PXhOG_9tNWKRErunFkcUtatNTaYV_k0kmBBBg3Iz26IjS9gL2aCjHpqCsjhgZclP3WnQaWuyjMt-u12ZyZKYjGsWZ5J585W9mpbnl6H8S4ns2x9bK-JUWr4JvPXG11eHW3CygoIGYpwHF-4X3Lf62VhQKrgMOYoIjXz7Miv4bBaOAT67yFlkb18cnOSyCoi8PLJHCDmKsivqjVGl3mG4C3WUsV7gQ2m1hXHoFhlldJyX2tp8U2TuxSKqZgf9waqsL9TBI1up_idjpXGCY3Ygl8DmGI0nOn1c_McLcH3pltIsENNKFsy3z_Fy-GFG9aWZxXSp9dlwRmic7lenI8kvhg7lhHSFd0hIMaGnnly19SVhsbGqUc1m8Pe-OE3qEiig4hEksLyyOrKVr4h4SpDmo404yATZU-8EkGOQIwVvkCjg3nJIBjGbpiIIiSdWt5haMlRKs4GDq4ICuHv4V9Zrveu0kjgJdBymXD4_K175P9C2B-uuuvh7_ofSamm_6WHJmHcYEqmbH7saPzrnZ2wihslF2PN5GuO-GIr38WjS42T5uaoXioT-_90-rYV89QU8BeR_E-scEGLevlgxinJfKfe8M64okoite2219wazpG9imTR2_E21CtF_U1_xF27uBEekvwGGLhFm_Gla8zYjL95tDM_VnSWaV1j0ZS_h-OkYotVGkhikxEau5yY4Gz4WBN6irO41fBr5GJ4IQOSXKmAUNMmxy_ICR2mL1CF9rMYfjHyNEVmNzZhMF-W7sYhGaPZqeZvBhAel3CwK3VocqNYTuBkWsneraXolW9NSNHCVD3e4DeuL9jl-hEu6X5bzapAhrvGi5akU4Gtk4ZL812yogTWKDdO7t0HFGBM0mDj_9IGLT-aPh8MeuTQhrcxJEjCJgHI2-L5k65BiYIxy8Yhg1hQKaOgWfffVA5jufIPoLTfcVqjLlPh8wtN6c6QUk3i1xqBFb_d60fp8Z1kEhjxOIoQGylsiwWWx_BxS5tHPq0Ihem82VQhBML4H2dfgTCpSY-lyrtLDUjW2Km1iehnwIsKvviJ8ivOwjnIark3q7UQXAiUdyz3Mh03RbFY4k_dwUTt9UEVYMiiHi1nrLUec_Dk1RFBTB_mLlXnyKgj2neom8uV9VQtWNN-30FjmeUFBifyfkjECb38GXYcAASBbGA9XCXygQvRc5SfwHMhziNOnmw1DrG5lPfOP9o_Zoiw-Erl7u_C0YIQnp4houH_ZyoDNcDYs4jOxRCqENZVhNvZwODbm7cmKXM31Day7-A57k6cypkWc-NynWAf6AX1BYCgJnFWCd1JhHpMDBUMGeEeQ-JvpHoj-8OPBCJqxyTby0fB_Wh4-rLHBQKzt_2lTKLoiHmfNCRHI_6R17v8shYKs6t29iFWFMlbFC35VYiZYsrkpoEjGHsOzZDwmX4P1lJR-c89Dhog-Gf4QiNGURWUYNxL_fDhNQIgfNz0UhVvYAkLbQ-4QG5SdTpUPYBd0ZuZQthFPkvvgWh7rd2n3ukS6qF8l09dM8tto2wYubs26gOwAyE40sGTfvzpAUi9MU8WStJiaqFmkxg4VBHxZwNNGPzcmqmFJOU2MO1zwK5ntAzS4j0dArULbNh_45EYRYfRGlF4vvhuxk424jRR5PSIdz22Nqk4VNut13dqJ4z40Oc9sCGCLiT-ZX0gKP2u8X_oYDrgrTlPllRb5V6gW0dF8rE5lJQswDkGhFKGfv4VHFuF9dt2p8O4dKvZnv-dWikT3JAPUTxE-kOSXTdi8G2ejFbu-tJ1YEjaJ77eA9BTgPgxruyUjkxl0-2pan5W6IguANcys10kBrpCTP_O3rZYthn0S_Nc-G_wk8lpy9ltArBVDLvO3tGQODjd86AvxRheHGl-ps3l9amgtUirtuW6xK7VNXJ2RWqyTmArvRoDMaNrd1Dw97IZVyZmqT56w_XV6MgfYXwuCNH_bNEV0e0l2rN_Am23xb5WeVmG_cl30NR1iqcV2o3dWITJZhDEgGOW1mklu0qbdi7LD1ddrzMQoWG-Q18gFZgEbtYpgAuJK5u1hisxmQTOfPtu5qIxLIJGFkOtFJJ1D8xZWLw_XE4nFprG4XgRUR6OYRQI3-JtgDImZ99e5wKQsrIIfZ4nH_VcAiji90WwFBVQdZ89azIn1sbmkZzGlFJAnqArolb8-pdklDrSgb867N4MOUZuhLbGwkPQjqMvZ34NtwHiPE8BXzee8WXs0QiGEIXhJtG4ePB1C9DX-Xs5G7dH50s6qKGNsnUT-y3YN7e-nMpLysWHBxWGpwSkXx831UNjoP8itA9FM_eMeTR5nAPpSecYmio_KF_oMehF6OpIeSk_7kw3D2jS6oYICH4M0XwvgkKW-baNDV_koEoGExXE9DZcb-MdhBWcJmxclQs_DxjX8MiWxzcx1R8fMNeMAFLFW7WdwSIX1_0EAgUf8ZYhffXc5bZLu9sQAQ5HCpwqK8KgLFELjM-8TsISVaIjbNnca2gCr7t5D7gWqzSd6uSgFYV0PB6Copnqhe0o8T7hqkKem3x5aVmUnI2zBD3TFuQgAPmURWaeex2B-76XrA9ROd9XNcx_15cUyKTROaGzesgo5zfSkTe5390WLY6ZSBuA2nlXzIf82u8y5iZOB1FKmgkhBL1uOgnGLHNxiqPoe-gNhXnnxcBeiA5Sx3fxMTq1HzK-1y5a1JJOuFlU-JNOf_kGZjSbgatk-LaeNr25K40T5k9pzdjRzsHZq3ekP_hbzog3prKY4BnDTLnX3r0mXxYsF7I8lmCNwOan5JJbWS1NMz52iU7H7cpPguko_m8CFUe37-mZTr04fI43fe2IeGhdbyK1nmiYtw54U84OTRSc6ceVpS5Sp_CWbB9lvrI0lAMmsGsKzYw3Iy8Bw7wVS3LIdp0QTnRQsp9ffVloAwNRSors6MveQ-IgrNdfWc6YHO2iY1biI0WCBMypHyKrufusQypnRh5wK1vZiT3doI7u3jnLRu0T9_6PqQCqckzQeiyIcYyxihgec24RWmU-83vZz-BRyTkm5csxutq03eIU9Qt7dZSuTS6gF9kR58IHHgtQqwg6gzNA5t1Yokf3WCcr6YnyK_ooOaoEwxvTwYvi2hMEEzhZBt-1RSWhO8AXMEp2QfBg3yyeQ2E7rP1NXpSS8y-L5iF3Q1Shz93IKCFEH-QGKtBJH4sDrxf6eQvzTJJgsjeUjckMo5SxiPmMPq9fsfiJW1Cle9y0u7QBl1jQCrKRvXw==",
  "id": "rs_025f18d313a80759016ab4382c38ec87d0839bf4c4d861094c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg0iaRGBO0qH-RVaYhqPrlUydq9uCaxNEtirh1GBxtpRjAEkoF-Tb7ddszz2vo6A1ID0ZWEH8TCcrTHrrtuUDPQekhgS4DIzrdCOqGsbuGm_adIN6nhZSssdVkXqkBAEou30t9j7GIP2OOqWL_Cak_yADTI8pXIPpWkMW19jM9Cdro4hPHbvoonK2i7gWEjoa64OEPHdE5bk2oN9Vbag7eOh9XF3YZTjI3zyQpKs-eUo68CIU0zJZ5lj0wMRSeoyQNCeCRjmB_9kTsbV1-FH3D6Dizobh-JmyIVoD4E_vOwEOA4hEUSFE_QC9E9c3EHOZYNpiLBP0lydrAp6mCsyKZNGF77uMsmsMxbnlZB8KDD2v7XL2PBUcvdFg_59sXk3f9JuMbQSebngkeN4OTykCpWLCv0hYyuxJwd71xKaL3VPoXpywCTpg4S-GXzYDuXMkRmYfLe7pV9P9oICx5FIWJ1O-u7srZNQ2zEufihuqdG0PslMFcOegJSjLWCGRO7-hOkETRTIQ3tBICcyvHcEzGn0XyTK6S2rJN6BL9bjD8XDDmDA_hdbH6WCKh2yvLZWZA0jZB4NdwPBI5UsPi0kOEM3jIH9nAlsXjH1IIVx1RqjHK8posr1shbzFZwtm5MDXaF1go7kfRNmWTDkocfca7O6i7PLq5uFTUZ7qFV0Q1KKMfwaTwbmIWJUCpgLWJan9sEfb_Y2RYzwi5D9TTdR0zI4qW9Hi7u33p674XAYeUdYMypjmGMWHmZOgC6p-jyfsBb4YGQjk2EMsauaM3NdPjUBO0eI6wB1G8BLuB2m7nbhnCaA_VSdn1xubNoSICYAKnoTiHFT6lRCcBNXxqNyD0CBIvRkcOjLpgUcCLzOiD5JPKZEwF_TkuGJaIflM2Konnpd75T4GOauWheJq08i3tabDMMiVNaDcBZk40vQZd4EFd3UobH-IXFI5Ko3gDjhd0h7cBasXqLiW4Yor_0Ppaqw2Vyema0IvcTSahxK6AfRFBqwctK3FwRx20aOwzcAOxaJwdaJ6dGeL47NDv79tZOV8AGFSS5QxadZOruqEKljRfLfpTKDp7WPHtdErNIT9czMzyXSTifXhNLfFT2HLMtoBijYeCynTON6lzWijQsOSLAuqLw_7lrvSA5y77d23IbkJkt_vHiAOKb4I2oElmcFYmz9SYhNhbAzbzntTsM92vV_njDscYCWqZQbTs87AJsSXH06v8DklcHS2AEDXgj4WCCWk4IDarmu2TTpyBrI0U-EETYNaU4CYstMICvdBWOCLbjj2S6a_3VJ_8MzlecdHRETe7ZL8_LmpPj_fsEQlifDj-gVzTQqxIPUUJ8XPp9BK8uZU1TE3AqFMn9lF2D0Rx9zKGvNKtOD8a1eRKwmhSEmzcF2h2xwbIyQ9C9L-vNNcnDx52Lq_msuqvaBANRc-VdqxwCgCjZ-nbeuG9CI9uwVVo0FDLColMl9uSOyMH6RXjW5D41ph6SeGTAcm-MkGQv_3U7D-kqpXNMtCU6dGF-ONgpZ8r6cxjk_0JrEq-xTtBg_as26MLSNe6tkAWwCUPRslSSHrolr5puuKMAmSqNPjuXUlmrcP-Vftm8V6OaCuGh1p2bydYLz8V4DoGI7jB7MjTSNosv5Qh97hZrA5K4PSvujJ3iLI7k7YoLUgArTPH5Kp5SSHCI23BvyXeKwPA-czmLf9XAyW8rrsIZipVc2tj041buueL730KQOG5t02ZpvgGrdM8H1vAVwqTurRRPu_C_kvFzeqj4VsFn4e1i1q-LsyPeF2BHa6-bux7CqzZuSZ-QYv28X77KBfiklqcYYzsgu3JV5QSVXraWqD-4N_vbXYBGaSCPmHoeSXz-DzYpFZAqMJ6iX7kXZMx1iGxztPQUUUlBKDaD-TKOuMW3u2EQZ1wIXvHc_gGT5oPKdpjN4Ag69RzI6Wl9IitF_BpnIw4JChBvrYE5HZ94vSinj3sG0gmv9CLvEflYVwBZs5P9IZS8XbvdMPn1zMBzlGxhyhL1uha8L6-GsjCljAi0wxNjRLINmtxK-_lYRq-_yj7c1T5SaWpx9wy_vAP2PnlSRK2abmLVL7DA3GuO0_0GgKLFo0YbCYInudXbQukVzj8s35o83rbUaaR_etkPmbYwxgbpzJIREGppHMPEBdj8e-w7DFRpwvunGAyJUUQjDbmJkCbvcaxOavMjWlq-tkF97JZqTJTA0L_ZY40asXAhLQEYgtOPQYW9qfTxAnLaedJDKgzQCTgNE0xnfeoG8RsBgLhjg3mBJW2D-6UippFzedPzcziNNN7wO0xhREnaZFl3z1LPbAmVehIAtmjX_hV4B8FPLV8ha5AkuhcQE5kpDxE9FGp5FLNBJ2qPn0SOYVC_beFj5hfS3-O-TIfNi363GrTq7M0acXmwrIRgCNCSXDdFGy0BZTQJJ-MdDQHe14cebPjlmeIizpnvMrfwFn2iYp5vpV0RWFjn6VKLqEFWi3lC-SiCkml_Bvx5gxNkPw4TJqJXwjU1nkAwEGKMp3_jIO4YTm0_esuoOgxdYgIhWRe6a-DjgOBPxbYNy1MSrxLrWRoSBIWDbNMFjM4IdKxQE0m_GTrggbPliAa2kYq_KFqa6KsrLiUGfhPsMCCfczOTuBJIcV6R3w7h_6-0yk8gguFmc9qtHF7lItjqIQIJnuBwoGgQe1V_k4Py_WMnF7a4HZO-2iZPqQER7kM9kc2t2BPz3D_Rn35VFusK-YHgT_ILDvz-ss9pwFlRIFuDl835llg7yjUdEMMBgvbwN4Kyh1uuEaa7fiq7zLuUMy8=",
  "id": "rs_025f18d313a80759016ab438307a0487d0b6e70758fe2586aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.23,\"left_x\":0.3,\"right_gripper\":1,\"right_x\":0.2,\"right_y\":0.12,\"right_z\":0.13},\"note\":\"The pen stayed at the same tabletop spot while the right gripper moved, so it is no longer held. I’ll open the right jaws and realign over the pen; moving the left arm aside should also reveal whether the cap is still with it.\"}",
  "call_id": "call_r6Bqy3zfBcEizl6bzmOXFV11",
  "id": "fc_025f18d313a80759016ab4383344a887d0977c9bee18baffbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r6Bqy3zfBcEizl6bzmOXFV11",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9966, 1.9312, 1.8568, -1.5528, -0.7986, -1.496, 0.0764, 0.9363, 0.9466, 0.7048, -0.8764, 0.5442, 0.1162, 0.9962]\nstate[eef_state]: left_x=0.2998 left_y=-0.2238 left_z=0.2078 left_yaw=0.5327 left_pitch=-0.2063 left_roll=0.1187 left_gripper=0.0764 right_x=0.198 right_y=0.1208 right_z=0.127 right_yaw=0.367 right_pitch=-0.4024 right_roll=-0.4663 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -8.8684, 7.9658, 0.0171, -0.5983, -0.0562, 0.6276, -0.335, -1.8256, 6.9675, 1.243, 0.2466, -0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc552799f3d9ae97c7ebadf37adfe1959dab8fd1db0994071bb8c953d1fc8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c17bd4fe6af14c0d9d6c8139ad8317cfc8833fad07f027e7fa5b12dcec0fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e2fc43c7ab34058aa87d903fe5c2eb6374cb0729b725f8adb2d9cf230eb68f",
      "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 · 5.233 s

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

message 110 changed as sent

message 120 changed as sent

message 125 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-1.0245, 2.1857, 2.1319, -1.5703, -0.8368, -1.5101, 0.0709, 1.3468, 1.2873, 1.496, -1.5749, 0.7284, 0.6586, 0.0724]\nstate[eef_state]: left_x=0.3281 left_y=-0.2802 left_z=0.1865 left_yaw=0.5102 left_pitch=-0.1672 left_roll=0.1066 left_gripper=0.0709 right_x=0.1588 right_y=0.1836 right_z=0.2774 right_yaw=0.3214 right_pitch=-0.3268 right_roll=-0.4275 right_gripper=0.0724\nstate[joint_eff]: [-5.053, -11.1248, 5.5179, 0.1636, -0.5788, -0.0171, 0.7692, 0.3487, 0.0479, 7.5282, 1.9707, 0.6764, -0.2808, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.812, 1.5143, 1.4067, -1.319, -0.8062, -1.2297, 0.0748, 1.3479, 1.5852, 1.2194, -0.9989, 0.6773, 0.5484, 0.072]\nstate[eef_state]: left_x=0.2896 left_y=-0.1149 left_z=0.2187 left_yaw=0.5318 left_pitch=-0.1896 left_roll=0.1121 left_gripper=0.0748 right_x=0.1744 right_y=0.2849 right_z=0.1412 right_yaw=0.4003 right_pitch=-0.3927 right_roll=-0.4703 right_gripper=0.072\nstate[joint_eff]: [-0.5128, -6.0513, 6.7624, 0.4713, -0.5885, -0.0269, 0.7155, -0.2667, -7.0632, 5.8051, 0.7009, 0.4322, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9966, 1.9312, 1.8568, -1.5528, -0.7986, -1.496, 0.0764, 0.9363, 0.9466, 0.7048, -0.8764, 0.5442, 0.1162, 0.9962]\nstate[eef_state]: left_x=0.2998 left_y=-0.2238 left_z=0.2078 left_yaw=0.5327 left_pitch=-0.2063 left_roll=0.1187 left_gripper=0.0764 right_x=0.198 right_y=0.1208 right_z=0.127 right_yaw=0.367 right_pitch=-0.4024 right_roll=-0.4663 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -8.8684, 7.9658, 0.0171, -0.5983, -0.0562, 0.6276, -0.335, -1.8256, 6.9675, 1.243, 0.2466, -0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc552799f3d9ae97c7ebadf37adfe1959dab8fd1db0994071bb8c953d1fc8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c17bd4fe6af14c0d9d6c8139ad8317cfc8833fad07f027e7fa5b12dcec0fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e2fc43c7ab34058aa87d903fe5c2eb6374cb0729b725f8adb2d9cf230eb68f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_025f18d313a80759016ab438368b7c87d09b82ccedc6a354c0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg9BxbBk9bBPly2RPLwvtYVwhGZV2q3zdiCE_uJg8nnQimiEMlIk3io6uF9itkZHRKPfMrYrrG6jyl5qq6pMYwt_71GxaSijoCvzjfH0sxTihI-Lnkw0CYdJoeZk5oLEH_vzGRr9CP5mUH6m4x8jsya-gGeHKrNF8PqgMkOhzyJqN_KxxFsZrttkHUveOxF38jXj6243fHX7s2wuhkv58gud_3QsdpZLVML7ZUB6RVgrY9d2-hTcPna3UW0Ftzr7e14WMm1ju0nMnDhVg3MwpiiTemaXZiCa8rKFRhDaWUzxg_sTaDwNexyGuS_a4LCmZyvu8BNheTkCa7XvAOyGNOyzuK5VywtWqam-HfyBuaHPOYQhh544_Nt6gC-kPqgmf7rJC5TxqZxyK8EZuBvRP56SxbLuR5o2EPhIFMF3yww6a9JOXPWmCa4mX7X8qBFnPUYPw2-P_5155LtzruJILOZQb9XSi-jXl5inz9xTPjULVhCkwt9q9YbmCxLSTdrO0Y4FYGryqAiUdt_OmzyNDvAMyXLvBkWVcRYkxliug7h4jtTHVDGnnKDBpzxm28fGx1C2ootP_3FdGIePoVApxVdGNtqcJRd7__adoILBj2047NsBSQR_dM_U_Y0JKNElfLtAWNBWzUDBoX8R0bpY8fh48KvLyI8Kqgo1d-1J5nBTEcI5FzEFFJHdTUmRVu8v85BJGtBinGIcFIYF8XdM-Ae2V9VNRYKiFIvd5eI77dyw8ShO6UpPKJV3z6ZvZwuOepdMCrW-3IxIubX3_m9YaHZDVAwGcvzuXwM3C4bf8Vf3_a3X1YzfT3t7kOJlvd_YbDB2lyjw3w3eiaXuY53hJszLgaVq8G3GUnzmhDVgWDtaitvLuq-z21iifz1DpaZrrzF3qPpAMMCoHhA-YJ980L8o6r2WNyQDqE4y-sho7HprG6cyM2sCy2OOGXLKxD8vh1XDBx_7BQZF3bqpasakUhc8sctMER7nJwWU0m8Xb4Nzz8B5xs-qYK0x5fyo_HukcHuvP6sf4mPtO2PureySAN1sxFEv-_64VJEwRyATTrEu-dRPtI2yBifQZ3sl4XHzz-PoppAywwBxKDLpkmoSG3vBgLzV5biu53deAW0cHdnYmc0SbEkFoD2oR6y6Wwg8gNtFwvwu8eWUj1a-ONTJWFBDhXJd4gj9LFkw69ehsD2B8n8MdMGSltsQFjXGRmoV8i1LpPtXbF0JrDeIv_4_b1ncd2hhnK2K9YbQJ0yXr9ai9E9ueKQGNH5sV7Mj3duNUbQPJBYFv6qKSpqAu-gHATkCZgpAbP0chIAvytrlnCGZ8hm0VPoFggvQ-j_kRftiAniLSAWvk3utSbnY2f6i6QobJPOTlDwSfltYRceYhLo2WfA05_Ae46r0c5CqXujwMETOaIITC5bYv4x9WOdW4LiLclYQs6xP77OYgOGjVoB5CVvRKVduTzdMgcoWGcisQX4FzJKElIZGXLcV6_n9KJPpGVHuVXmXyJISqrG4dyhLLh3plMz3QC7nCejSpOI_BYZksVOSWrikFzmQ79UGFOwUMsOZJAUtbiERXQZdq3M0uZJU5gpXeM8qg3iZJFev3bJFfhthA4S210Cfojfh2ZbYCAVSta4lQXhm7xz-RNnuPVsfNhYju6ZvZT5E_NZDmdjGGS83zSIwncFA1peN0WHuVp-EY1HQnFQjoc_mef1dw5VyqupfxFHTF5IkJ8vj98FeMrBfGX85xQQsSxS_5GU2Q==",
  "id": "rs_025f18d313a80759016ab4383b6bf887d083f8276978ade06b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.14,\"right_z\":-0.008,\"right_yaw\":0.5},\"note\":\"The pen lies diagonally just ahead of the open right fingertips. I’ll bring the jaws down around its rear half, leaving the far end free for the cap.\"}",
  "call_id": "call_RnhcNV4XHlxBygVhr8UKfhWJ",
  "id": "fc_025f18d313a80759016ab4383ca42087d08dfe04e75cd9f190",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RnhcNV4XHlxBygVhr8UKfhWJ",
  "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]: [-0.9974, 1.9385, 1.8587, -1.5532, -0.7948, -1.5021, 0.0794, 0.8082, 1.2823, 0.3412, -0.0376, 0.4435, -0.1051, 0.996]\nstate[eef_state]: left_x=0.2997 left_y=-0.2251 left_z=0.2054 left_yaw=0.5367 left_pitch=-0.2099 left_roll=0.1199 left_gripper=0.0794 right_x=0.2359 right_y=0.1423 right_z=0.012 right_yaw=0.4601 right_pitch=-0.3673 right_roll=-0.46 right_gripper=0.996\nstate[joint_eff]: [0.0752, -10.1265, 5.3675, 0.1343, -0.4615, 0.0366, 0.3004, -0.7179, 0.1573, 1.8667, 0.0171, -0.1734, -0.3394, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94f7132dd19e026588336311a2d328b614f37f73003f97b225e4c0b354c0d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95728a8a147ed076865e2b631cabce6378d6c65a2633fa8c9069407dfc2e1134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7a0184fffc3a3391f3f755410b9331c253452666a98e6db63d4846b0f7b2fd",
      "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 · 7.642 s

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

message 114 changed as sent

message 125 changed as sent

message 130 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.815, 1.5143, 1.4185, -1.3228, -0.8204, -1.2297, 0.073, 1.3479, 1.2972, 1.4914, -1.5646, 0.7059, 0.6468, 0.0721]\nstate[eef_state]: left_x=0.291 left_y=-0.1152 left_z=0.2237 left_yaw=0.53 left_pitch=-0.1742 left_roll=0.1074 left_gripper=0.073 right_x=0.1565 right_y=0.1881 right_z=0.2721 right_yaw=0.336 right_pitch=-0.3503 right_roll=-0.4271 right_gripper=0.0721\nstate[joint_eff]: [0.4308, -7.2, 5.8735, 0.7009, -0.4811, 0.0562, 0.7302, -0.4855, -4.1915, 5.5453, 0.525, 0.5006, 0.0122, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9966, 1.9312, 1.8568, -1.5528, -0.7986, -1.496, 0.0764, 0.9363, 0.9466, 0.7048, -0.8764, 0.5442, 0.1162, 0.9962]\nstate[eef_state]: left_x=0.2998 left_y=-0.2238 left_z=0.2078 left_yaw=0.5327 left_pitch=-0.2063 left_roll=0.1187 left_gripper=0.0764 right_x=0.198 right_y=0.1208 right_z=0.127 right_yaw=0.367 right_pitch=-0.4024 right_roll=-0.4663 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -8.8684, 7.9658, 0.0171, -0.5983, -0.0562, 0.6276, -0.335, -1.8256, 6.9675, 1.243, 0.2466, -0.1245, -0.1148]\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 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9974, 1.9385, 1.8587, -1.5532, -0.7948, -1.5021, 0.0794, 0.8082, 1.2823, 0.3412, -0.0376, 0.4435, -0.1051, 0.996]\nstate[eef_state]: left_x=0.2997 left_y=-0.2251 left_z=0.2054 left_yaw=0.5367 left_pitch=-0.2099 left_roll=0.1199 left_gripper=0.0794 right_x=0.2359 right_y=0.1423 right_z=0.012 right_yaw=0.4601 right_pitch=-0.3673 right_roll=-0.46 right_gripper=0.996\nstate[joint_eff]: [0.0752, -10.1265, 5.3675, 0.1343, -0.4615, 0.0366, 0.3004, -0.7179, 0.1573, 1.8667, 0.0171, -0.1734, -0.3394, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94f7132dd19e026588336311a2d328b614f37f73003f97b225e4c0b354c0d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95728a8a147ed076865e2b631cabce6378d6c65a2633fa8c9069407dfc2e1134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7a0184fffc3a3391f3f755410b9331c253452666a98e6db63d4846b0f7b2fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhD8q50zpE5rBBK1u29kk2vKoKCtSjjGxv5bGc-4gn9k3n9TcYrwIBcSWE4OWqcZLDRq87rzXMKfWxIJ9f1xIBz1ijaeery7NnLZMyd2Z9tH-LI3pdeIeafA7MP6TJFNYpURpy7O-jnuXiqt8GMuXxtVkldLEHYWZ12nLYi2cdohS0PErSMYQ3xhwuXPqi3sXdXrTwSlzp3i5-T39w1NeUXbyUOcdfZitegM6EKGRS7-pIZAq77jVWlmMlCUI-4dzkWVl9V3Rb2wf1cAIB3EAZDdRvQyzncTf7wLhhUaubN_KOPWw4MdG_CfZiZ6oDdm9-ymSgSI11q1e_SkUIF7-0fKg7n5d9KkY1YnWxFe4NpPgxOghwY1GrmLGSjOgV1khi4CliMCYmC0yDSH3LzwE1oge5Ib8YiebicM8e415UL-s5sCbCwxSKpBEJhQQQWo-4rucZ9bwyVX4PRHURKieOZfyfnS0QLrMYBhSDw5X7Qaf71AfZ3pxRDxO5qWAuyaTsTmaw-crAbM6RSBJqWvN2c11FawO-UIRIwqYFikHpXSO3sXxwmsGtOQFcd64Ge3RG-tFqbVIlzUdDhFPrpBOKCzkx_2XEfU4BdpluwMc9r5B5fCZLjpsUuVY_owW5isXxRRgfT_ZGz6KbNRLmTxEcP7K2jlj7jmfmawR1vdCEJM7a5m8T5MZBCEsgvjPkKTtx9buu9rHo06O-UKwvvbBmeHdVoSSJzJtgKwVOJLfFcTCCg8RKP_Gkonq6Wyzzv-1k4CuogejRb5Z-nA3s4LM-xr9EPTwhQoDrVwKu1P-deD1IN8f2gz6CIW5W0bPbv31zO_D6ybsa_ODHJE5lPhMFXpzRZeuo4caF3v6tm5Y7KzaBosFTqT2B-4HIkmB1krvfjsj2nYUDBrn136LqvNZ_se7ffuml1CxZc5XZhVyPgd2po2FfmTbSmpGBClJW7UJEjsnx2xU6v3kArYXf7Auc52Fsi9C17AtsDF4dMOLZfEdVeaVNmGrz5anWqIXwZ8BGKKjm-g-Sl6dIRZDY4q1ccMEHqSQNzAMMR8A8_pqlMpBjrLi0PWWzE8wuFQ_DtJGq3YjzmRxvHWKhgkJGKzC9xl5gvtJ12BCMDUAfXJpvp38snAs_P3InUnhCHst6GTYkPdYJY_wRhS1SxsWWCs1D_eqy9tN35n2rrnPfMxj4MpeMPYIi42PxIxC2SIOu6ue9InSi5bEZemzBPSbpZ3-p-v_mP9O_YkjbnXIjrA1MQg5kXEMKSjR-FsM6rjrHln_mfoevmhdv6h1N2ekX6h-WXvxz6XxtJhwcEpauip8mSWLl6rNBKqoxvsys2GDZmZB0NOJ1_pgM_6UL5TIUW3c1UYXdMv8XgC4jjJQPQzDuovCklcdjjSms-mTXgjBShagTJN8DQNB7ifokh-_YN5GVPsRoDM1yPUPwDThKfdEcHpXVPFZ_twTUk6uT6om9MfEckQHjM3-C0YsSgjBfjukm2KhIbS6GZIM-veljL_R4m_zcYVlceyPJkUhDVyT5nXMhQKDP7wKClCDwQ4LNOFueZ2nvoNd_XxFx8K8p-QkKP0e6_k-otsUtSCB8doyB6biGht7anYWTcew_i9ZaCE3iewZbjY4YtZ9TLSPfAvWBRSv6ueDBCxL93ornpZ2tCrvfckE6VM1OrYCNd-_TgSw6X_oslfX51s_nfMw8ioHNcKFVfoT5HzCk5DZSAPz5oxINj-aGWHIr_14CCdm366Qhw6dMsO5_21_0sOIP91NvILPUajQS13mWcB1eGHoyGhQmEu3K2PYXj-iuYJwwqLV8TYQ1h9lhwCkbPujqIvCUGwp_T76ud1uJpM4iS-oV0xLIhr6fJ9z9-MujYAUZep6nJc23OK-4BPpxtRaiH6l3EBBa_QRVLQk914qhGtuPz4h_woUvF7p699vsQUyS6bgqlP7Q76TaPFbmIv1x0FWIHnxWcczZCScspiN1gF4QMkrP61ROPcVGEJq-zC2sRnL_oAJM2HR9XSFSye-yVTDOLdRzndEq51gNThImYBGFasQPsro44CzhfY_laSw6tAdLCIm4KVfrR3_1PwrL6K9TTIuRa0phVrH-ffO0PrWEEy3BAvQUmK2ZYp-4Rv2flPCrjyRyDe8qRN24lbZktD9VOH3p-H0WjuORcg7TL61xyZOfn_FMp7bASDlMcAk7G0TmxkeMN5b_ooASl4DKMOpSESTWA4wJS64HKVClldD8-l6uxuls5zEFlaBU5wysDRBM5t7_73D3mzZ61iPY3eE2YHFEE9z0lgcP4FkUOOpyINfg_3QAV9658x6gXKihpM7sLZYUnZa6NPdbdUm-eRxoNIMqRq_SlfTifCHmslNP1KogmI0GWmGktTEcXSqAFUpeuOpoKaGOhhT2QXO6dCu9_kI86fFyqnBVpodG0E7e2QInghjmHQXiyZZRFjY9j6zQMFFFIB5KmpQ3KCm5rPGouPHmDaamySgblQU2klKYHgrJ7y_KYCY2IoVnhkkFkPK-5aM_KVMbGXijKD1ZQvhcb2w8MOGV5C3NW-89ZM4hTfflnHLXMTX-dWVPhcMIssjP5A0QQMePYzx_8PltjKF8wj9t391-FQa-lSRnDHvXkJ6XuqxidZjwHwwVlMdqH4XNOlXGP8YNhm408X5l7Phg0b5gwVu6axJEooLV70PVytDgH_GfyCUOzCqlrBl-CTrkxmQ==",
  "id": "rs_025f18d313a80759016ab4383fbc8c87d09e5a857954519b94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.21,\"right_y\":0.06,\"right_z\":0.11},\"note\":\"The pen shifted to the right of the fingertips during the tabletop descent, so closing now would miss it. I’ll lift clear and re-center the right gripper over its new position before retrying.\"}",
  "call_id": "call_ttKmgqfFHI0hosQNY6urdUZ0",
  "id": "fc_025f18d313a80759016ab438427f5087d09f5f215d989f6ba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ttKmgqfFHI0hosQNY6urdUZ0",
  "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]: [-0.9955, 1.9385, 1.8561, -1.5528, -0.7914, -1.5028, 0.0815, 0.4686, 0.6735, 0.4618, -0.6323, 0.2695, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2996 left_y=-0.2244 left_z=0.2044 left_yaw=0.5397 left_pitch=-0.2134 left_roll=0.1216 left_gripper=0.0815 right_x=0.2208 right_y=0.0631 right_z=0.1044 right_yaw=0.4099 right_pitch=-0.3193 right_roll=-0.4533 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -9.5521, 5.7094, 0.1929, -0.5348, -0.0122, 0.2027, -0.1026, -0.3077, 8.8957, 1.4335, 0.022, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f1e4e84bea4811a33c3b33c8d18be520debcf372fbfa8093242ba277590205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a71807843ef87217d6dc755ac21e31162c784d8eb2e2d656c9ec2aa36368cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f573a61e7fd889bd323596c2fdfef4d0785769c49bd673e71fdf4ad787a6dd5c",
      "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 · 5.087 s

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

message 120 changed as sent

message 130 changed as sent

message 134 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]: [-0.812, 1.5143, 1.4067, -1.319, -0.8062, -1.2297, 0.0748, 1.3479, 1.5852, 1.2194, -0.9989, 0.6773, 0.5484, 0.072]\nstate[eef_state]: left_x=0.2896 left_y=-0.1149 left_z=0.2187 left_yaw=0.5318 left_pitch=-0.1896 left_roll=0.1121 left_gripper=0.0748 right_x=0.1744 right_y=0.2849 right_z=0.1412 right_yaw=0.4003 right_pitch=-0.3927 right_roll=-0.4703 right_gripper=0.072\nstate[joint_eff]: [-0.5128, -6.0513, 6.7624, 0.4713, -0.5885, -0.0269, 0.7155, -0.2667, -7.0632, 5.8051, 0.7009, 0.4322, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9974, 1.9385, 1.8587, -1.5532, -0.7948, -1.5021, 0.0794, 0.8082, 1.2823, 0.3412, -0.0376, 0.4435, -0.1051, 0.996]\nstate[eef_state]: left_x=0.2997 left_y=-0.2251 left_z=0.2054 left_yaw=0.5367 left_pitch=-0.2099 left_roll=0.1199 left_gripper=0.0794 right_x=0.2359 right_y=0.1423 right_z=0.012 right_yaw=0.4601 right_pitch=-0.3673 right_roll=-0.46 right_gripper=0.996\nstate[joint_eff]: [0.0752, -10.1265, 5.3675, 0.1343, -0.4615, 0.0366, 0.3004, -0.7179, 0.1573, 1.8667, 0.0171, -0.1734, -0.3394, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8561, -1.5528, -0.7914, -1.5028, 0.0815, 0.4686, 0.6735, 0.4618, -0.6323, 0.2695, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2996 left_y=-0.2244 left_z=0.2044 left_yaw=0.5397 left_pitch=-0.2134 left_roll=0.1216 left_gripper=0.0815 right_x=0.2208 right_y=0.0631 right_z=0.1044 right_yaw=0.4099 right_pitch=-0.3193 right_roll=-0.4533 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -9.5521, 5.7094, 0.1929, -0.5348, -0.0122, 0.2027, -0.1026, -0.3077, 8.8957, 1.4335, 0.022, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f1e4e84bea4811a33c3b33c8d18be520debcf372fbfa8093242ba277590205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a71807843ef87217d6dc755ac21e31162c784d8eb2e2d656c9ec2aa36368cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f573a61e7fd889bd323596c2fdfef4d0785769c49bd673e71fdf4ad787a6dd5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_025f18d313a80759016ab438457ab087d0984b4201282f4c3d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhLaYWNoK18dzWgiDJ3ZkvjChbdkjKaVvdVdVn2O_vzO5UhWNheq_8Y0q81Lc9-cxpYtJ10IWr5FOscGrtdoWvEfhEJNTiKjzgT3cxoycs7KH65tHDfVr-_96LKpbWkgHXyBmw9fuDpZrP-gNEyidWOURZ5M52VPJVZjWs4rDu_ARFxZOZt_G6ROP3u7FNZ6ic7znv6eJUNzoQF_5iEUlAKdZK-tfb1NRDZDo27pg9EqM4VH-uoB_SWlgJtmjBGSJyxYNAmiT6UPIRvnGo6JTNIhHDMUcpDQul7tO2W45CQXUJ6x15likOPn_qUUPm9CSaOSbcvQCe_kGUUS1PhYQy_kWRm4hc1OA1BvVIWF16pvOWuOV4IK7TxthggqImRsMhgGeQwq1qnp1YKE6WUrusGPaWpRCUjR6kUYoC0SBMHPNQyhtYurw1A8EIYzxLzyEn8zsC-tLZd6xZJwW4qBTvte-IVQHAARvNzEy_l04TglsKt2penuajnUcmPEcSFFhv--jcNjqhsIYYhwGrTXe0ZtBjOt1vblAAlYAAUoFE5E6uUp2QzhZfAvWTZt-Uj-bAmf_fjNMn_yzsr5JZZx8CMhJ87NHqtt6O4QJ5Kz1USB2vShFneksngt2UTUhF3XfagIn0-8QisWYeKM5lGPHv9X9JDU5Qa4D3f7QBO6zgHGNHByhEhAF_JRlCvLEaKecB8RJ_Sw8qtJrKeh4jGtnEQzNuAnjFIK-QBUzG2V27xIDImyAZh2e7JpuU6f0YoRW291d3eoSSJJC4MA099_b9wQuaBlRQvoqOavJH7OWd64NlwhBxZwDThgxnWXQXgo6cJ-8VFJqUzksBcEtPUGs1Ayg4U2YC0r4fe25RhkyeEE1-Rm-ZKY_iWC4Ua5-lDpXtN0MJphUbi0pRZSIrMeC2AS6zSVuY3hlcq4z06vyxmDFoycon_cO8dDMVvOrMrPrUV-jh4BFScnEENFyv09g4NKaxN4Co8FLBOCPrquMdkdJPj2sASRzqFo1aKspJi5IWx3i2ecS6hEtNwR7eg9NocoNvXOoFCeYA1NwIxZPEQFfcmOqdtUB-qnxdqCOPGgH7Q26rsDcQLIh6FXYsZr1DcANKXc8lJ97B7qekyir1z0Ptjt1Dax9vHMJ12329bKqLL-IV_6fCw2k54sgY00cAG0jveGoboxSPz3Vo3vz4z9iM=",
  "id": "rs_025f18d313a80759016ab43849fefc87d09c12c9cd22269966",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.087,\"right_z\":0.012},\"note\":\"The pen is visible diagonally ahead of the right jaws, with its rear portion left of the jaw column. I’ll descend slightly farther back and a little to the left to center the barrel between the fingertips without sweeping across it.\"}",
  "call_id": "call_eCS3eCobC6IlFvJhQlwvONcn",
  "id": "fc_025f18d313a80759016ab4384a151887d0aa0537c43f94681f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eCS3eCobC6IlFvJhQlwvONcn",
  "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]: [-0.9955, 1.9385, 1.8557, -1.5528, -0.7837, -1.5024, 0.0832, 0.7311, 0.7994, 0.1635, -0.3359, 0.4049, -0.1711, 0.996]\nstate[eef_state]: left_x=0.2987 left_y=-0.2248 left_z=0.2033 left_yaw=0.54 left_pitch=-0.221 left_roll=0.122 left_gripper=0.0832 right_x=0.1928 right_y=0.0842 right_z=0.0122 right_yaw=0.4512 right_pitch=-0.386 right_roll=-0.4686 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -9.3607, 5.5316, 0.1343, -0.5543, -0.0513, 0.1587, 0.4991, 0.6222, 4.4376, 0.9402, 0.188, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7967e5ddedf105f816944a933cd509f0031680f8a302099bf696959dafb926d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c263f137270a9cce61ae5cf3bd1a334d4a91f280631a0ef3872900969dcdce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4889af3d6f06e513d048a2c44d95d29b5d356af2af3adb78cc89d9bea82e39f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.579 s

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

message 125 changed as sent

message 134 changed as sent

message 139 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9966, 1.9312, 1.8568, -1.5528, -0.7986, -1.496, 0.0764, 0.9363, 0.9466, 0.7048, -0.8764, 0.5442, 0.1162, 0.9962]\nstate[eef_state]: left_x=0.2998 left_y=-0.2238 left_z=0.2078 left_yaw=0.5327 left_pitch=-0.2063 left_roll=0.1187 left_gripper=0.0764 right_x=0.198 right_y=0.1208 right_z=0.127 right_yaw=0.367 right_pitch=-0.4024 right_roll=-0.4663 right_gripper=0.9962\nstate[joint_eff]: [-0.5538, -8.8684, 7.9658, 0.0171, -0.5983, -0.0562, 0.6276, -0.335, -1.8256, 6.9675, 1.243, 0.2466, -0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8561, -1.5528, -0.7914, -1.5028, 0.0815, 0.4686, 0.6735, 0.4618, -0.6323, 0.2695, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2996 left_y=-0.2244 left_z=0.2044 left_yaw=0.5397 left_pitch=-0.2134 left_roll=0.1216 left_gripper=0.0815 right_x=0.2208 right_y=0.0631 right_z=0.1044 right_yaw=0.4099 right_pitch=-0.3193 right_roll=-0.4533 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -9.5521, 5.7094, 0.1929, -0.5348, -0.0122, 0.2027, -0.1026, -0.3077, 8.8957, 1.4335, 0.022, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8557, -1.5528, -0.7837, -1.5024, 0.0832, 0.7311, 0.7994, 0.1635, -0.3359, 0.4049, -0.1711, 0.996]\nstate[eef_state]: left_x=0.2987 left_y=-0.2248 left_z=0.2033 left_yaw=0.54 left_pitch=-0.221 left_roll=0.122 left_gripper=0.0832 right_x=0.1928 right_y=0.0842 right_z=0.0122 right_yaw=0.4512 right_pitch=-0.386 right_roll=-0.4686 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -9.3607, 5.5316, 0.1343, -0.5543, -0.0513, 0.1587, 0.4991, 0.6222, 4.4376, 0.9402, 0.188, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7967e5ddedf105f816944a933cd509f0031680f8a302099bf696959dafb926d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c263f137270a9cce61ae5cf3bd1a334d4a91f280631a0ef3872900969dcdce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4889af3d6f06e513d048a2c44d95d29b5d356af2af3adb78cc89d9bea82e39f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhRvyx8wgvh6qCbcCR8AOeuacvCnOV77Xk1Rc_94rDRq3pn5tZRPfgoFZ8GREmOlvutl5XD_rXt9pyeIlhlAXL_vtbXLnuVvl1I1q4k-nXTqBaeDtlyo-04KSkewcE5aL7mDsjqCugiXQpdfCd6BTQtw7_nXL1WAqzhGM0TPO2xBmvICxjAVM5_y_rUbXthxVrvtS6bmpHd0OkUWR2kmhbMe7Pdo5fxc9ETlPgZmTvhHcBDEhf3-dAOlg0EMsNqCFb4ymC2UrqR3c4g0YuPdgnnhA4xlli88nX0snYurrwnYm0b7rBqWmPw-Cv7drvTzK1LNPHBlRZAdRVcbaiy9lz6VRloPuYf-qY9mqXwURYUswyHE47QeHg6an23IWvxldIk5l8waZg7zkbdBi3UI4oQ5j7osy5IR27gvv_Fx_T8JFcFCyCqGRVHQmPNIc8ytNWtgbidZSPb984XiUOlwI9nv45g811oNY8i_pH4STeHtZ3Li4Gp4hrq3Cz8KmTA8mN-Et7IZUYRt8Uzbj3EHLhRfvF-H2IA-lhEI6lYuh2Qz_HsGw_OrJFlmlpJP_nejS_RgsAlsbTzloggRNBH2BJHgWlovJZEUMLnSLnb3sFrZKxFjUPeOs0bjBWUInp0Z6OQtwJFoxir3IFyQDdvB47wvUXITqA17ealtqWEh0IhM2hCw-HOI2mCiaU65ye0n82XLrII4URrHiQMWqS2AQU7FqRjVf_bbh0ZIr183-KrRgydmeo9unkQCXsOZKx3SMrlQJ07rCMTWBzsok87C54OmRBlA_iYDNn1pS46KHOqDno595-KY72L1tk-IBh2qTNqVBxHwh944i231d8BCXlz7Q_gZJmhCq5vCvfWN6HCY8sKVm2_JemYptKslhZfU3l-fr-Ovz1pmglLlnbWu7Xa6AViZ2eFATFpupGZrNk8iirqkPuCqWFuAusNJL-qttBzG7XeAlzAG0kfIG1zf97K71wBLqDMrxL7KZr0ZEw9h9E4dV-t8e7DDnIzo3NVKAKUXa5R4k4yIcrtcNDUovo8-tTMCz6mgTJa4kbX4i6jEfDpaGnyBea2uc8IozjxY7VC9dT1E__y4U4MKyopBts-YA_Z_cuV9nsEmPOJRKHnqLaV-zFbepIhQAWWsyYnc8LC-Cv25posmOIYR8vd34rmMpFItB06VM6HnlIzF0a1oFfp7Hlqj4ia1KDSwy2a3M4R7U9YEg9U_aBhC3b3dFDscaim3-7nPhxtJdaCO6vZs4DTEEmJUSkpt13tyXRyv1e2JcIJhz8he17fWtbgMRMcZE6oETWRNI5LP3N1dyqZslT24mZurSNTRaXRq0Cnb5TX3_NSFSXmagRHwtL1i1CN6H8G-LYjBrUdoGHiZvEsCH7owUtMS1vghK9emof8ndpRiepxf-qrEWHvnedFlxdPk40E0XLbghFGXCnt6arvCUEQWvnJtTr1njozh4IYZqbySMIZIqUAdT7t2i0lvlM0UIlxuFIYQDUb1cQ2ZcxKB0DfgaaCsfwAZjuj962cMmbfD9oO1vOYaKh6EzwEv3X6_Trexk83Wbu__UcD4q4-2b6UrQAhrfV6W0avqwv7-FBQfL8FOIEzuIo9vsPn1EnwP9mzON8FsY1L8dpbJ7J1AfnRYtEM6h68O6-tbhhkXFYpv5qnmJJVEmuJiI6h3GhYoXLVpO2yewJ23Jo8GqWQSaxMUaswRzLvbbP0MnvxrPtmceXOIVPff7PXtbPlv-95GKTD5PVTTwad5C46OVEvbvXIkK_mpT6kcdAuBXCJrJFa5LZj4WOV3GkGFyPSmXetmkX7KCphtVbuxm6Jck1fwikjOmhy9tWcW0GNgG3BnNUcK2k1fv8A6hhq9__onWxlXOlJGvvhe1jbnFQah02KCzrhoJ5jB3mj_GLnjgRvfxrCIJrCogj3uX27AbrAeM57xbmDX0iEt34Dm50xEi4J4oKuf9XJfa31G5-XV0dWREE7Pb3I5Jv8qZ-Ks7gpJmZ_mL4rz85SJzdYbjN7J1H411TktXd_s8AT-nfdbYPx9tWXpfUdzZejg7tE_xrQC2Hag-MPC7ZpTqR0yg2SsgWhl5xLQbUjIlGCjQkxUUrkjCn4KRTpRpWfyPlNeTQXxZOrKSDOQIwZk_ddMM2lLQ7C_EGnhCtRyMUFQiuzvHtdJg0yLFcEDt-KGbQHO7_fwxCRsaIUqO7hx3SaEG8fdLBJ0NlxC1BGAU2W4BqFGvMVbaHC5N1Vqss4P30V_l09YC137aBpfBj_xiTo_w_f3-oYs7H2P7FPfJdqhLjrQ_HXpJFvqopKAXWbb-p1IhEFZaXMqGMZNZmKE0h8mztie26olrOZGkH5ZVeez9-Ty7wS-4yAnGIhco06zLniFRg4k7YVszXIrZUsGyYev_RTmEAzEPnvwLK2I02mirLQiHK1DR34PML7vErs-YgUy0TJ_RwHqkqJeWe32ggiFmljR9L3T3YdNWgHME8J_wtyNwi6kDZ5b1TwxI2RXKE6-hjugDamCPiEIUam3Us9lYZYTJ8ygHFIdN1DQ746s-kMc7ovKUbZFdpImJpINgv8NAhErhwSeMDoX-NKTMBj6nTL712jw1AVPC_BjU78YVVxGsTJiuIIO2qQgeH7-4-cVvnqe0y70RU-2XdRQu_paAVttYBtyH7YNAhKrEwfVBmnnyC_Azej",
  "id": "rs_025f18d313a80759016ab4384d7a8c87d080f3996ae5733f7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.207,\"right_z\":-0.01},\"note\":\"At table height, the pen’s rear section is nearly between the fingertips. I’ll advance about a centimetre so the jaws close on the barrel rather than its very end.\"}",
  "call_id": "call_CncTZchLbxONQrPGiRw7YOog",
  "id": "fc_025f18d313a80759016ab43850804087d0bcdb97573bfcffb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CncTZchLbxONQrPGiRw7YOog",
  "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]: [-0.9958, 1.9385, 1.8553, -1.5536, -0.7788, -1.5024, 0.0852, 0.6834, 0.9295, 0.1406, -0.1093, 0.3958, -0.1719, 0.996]\nstate[eef_state]: left_x=0.298 left_y=-0.2251 left_z=0.2026 left_yaw=0.5402 left_pitch=-0.226 left_roll=0.123 left_gripper=0.0852 right_x=0.2133 right_y=0.0905 right_z=0.0098 right_yaw=0.4192 right_pitch=-0.3172 right_roll=-0.4405 right_gripper=0.996\nstate[joint_eff]: [-0.253, -9.5385, 5.6137, 0.2076, -0.4957, -0.022, 0.1978, -0.2256, 0.0889, 3.2205, -0.0708, -0.0073, -0.3492, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eab5285cb2d28339cde464011f4523b744874d8838f7045350fd0482a557b20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29ba5f0624f9f632e94470f9f9de3947eda5e3d1b77fc153f24192005fdd2ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cdbfb2154b66c75812b272075befc900e12a830b50c5fa52f9fae5ba510833",
      "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 · 5.652 s

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

message 130 changed as sent

message 139 changed as sent

message 143 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9974, 1.9385, 1.8587, -1.5532, -0.7948, -1.5021, 0.0794, 0.8082, 1.2823, 0.3412, -0.0376, 0.4435, -0.1051, 0.996]\nstate[eef_state]: left_x=0.2997 left_y=-0.2251 left_z=0.2054 left_yaw=0.5367 left_pitch=-0.2099 left_roll=0.1199 left_gripper=0.0794 right_x=0.2359 right_y=0.1423 right_z=0.012 right_yaw=0.4601 right_pitch=-0.3673 right_roll=-0.46 right_gripper=0.996\nstate[joint_eff]: [0.0752, -10.1265, 5.3675, 0.1343, -0.4615, 0.0366, 0.3004, -0.7179, 0.1573, 1.8667, 0.0171, -0.1734, -0.3394, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8557, -1.5528, -0.7837, -1.5024, 0.0832, 0.7311, 0.7994, 0.1635, -0.3359, 0.4049, -0.1711, 0.996]\nstate[eef_state]: left_x=0.2987 left_y=-0.2248 left_z=0.2033 left_yaw=0.54 left_pitch=-0.221 left_roll=0.122 left_gripper=0.0832 right_x=0.1928 right_y=0.0842 right_z=0.0122 right_yaw=0.4512 right_pitch=-0.386 right_roll=-0.4686 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -9.3607, 5.5316, 0.1343, -0.5543, -0.0513, 0.1587, 0.4991, 0.6222, 4.4376, 0.9402, 0.188, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9958, 1.9385, 1.8553, -1.5536, -0.7788, -1.5024, 0.0852, 0.6834, 0.9295, 0.1406, -0.1093, 0.3958, -0.1719, 0.996]\nstate[eef_state]: left_x=0.298 left_y=-0.2251 left_z=0.2026 left_yaw=0.5402 left_pitch=-0.226 left_roll=0.123 left_gripper=0.0852 right_x=0.2133 right_y=0.0905 right_z=0.0098 right_yaw=0.4192 right_pitch=-0.3172 right_roll=-0.4405 right_gripper=0.996\nstate[joint_eff]: [-0.253, -9.5385, 5.6137, 0.2076, -0.4957, -0.022, 0.1978, -0.2256, 0.0889, 3.2205, -0.0708, -0.0073, -0.3492, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eab5285cb2d28339cde464011f4523b744874d8838f7045350fd0482a557b20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29ba5f0624f9f632e94470f9f9de3947eda5e3d1b77fc153f24192005fdd2ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cdbfb2154b66c75812b272075befc900e12a830b50c5fa52f9fae5ba510833",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhURQUJLtfwYyYP0uGC8nNI5QuzUwH1YVps0W3gP687CrXbbqsNiF8WPTsBuGYETgWKBVrpszvz32F-cBF5eOPpLHMSMgttK-2zA5ZZqMoHqOx47O4p8J3GBh8om7aP-Qw1c158jxf27sayfeB9ErZyvudWKH3seshd9daSek_Knnl3GMjqVCXts2LoSGWKJxgVL7F43EOyn0B7ZFn2aLwC_0LW9lGgO0y098oi7Tk9_lANCeyLqU33w3LER8NjIbqCffw8cf6dUPvaV-XddkY9kn3dFueo1HS0aJherThh-F1zgQfmNgRndzC1VnKz9SuYcTD90C0PSTmvuaL_2-u5oFxzom05OY8juovnPne9ydSxFWszlP1Kh9msZYLksaXBtHqzr2D69gHmjeFtWsOZksjStuD5z4oMt25TqydbGrtJVmqZoDt-hUbYJc4Uk9HnhUuoh4d6u7BgynJN1B8uNovoOu8u-btt3pcO4oXloBjXdulH15hPHNwaMcJ-AeKhRtrbHlqTtKdAxw46HkXDh3OaQFp7Gjz1NInmBWjUH90dCNUGVG_4oZiIb7Fe_1JP5iSI86Fpe9NXwtrrV4ze4ZC4c11qotvtuRdsMgJYHNvZLnA09l4yFEIFPBWzTWVLpqnLQc-KYWOB8HBlmRUh3-133FQb7g3A0OFWEYwiuLyiXk3tTouhnj4q3pbwctDv5IFZiuk8RhXTmWtYFy3bqdITJyYa13hfiNm97Q3xr0oaarhNdt6IPx4f6YbX9tCmzPFr9soYn0mVCDob0jZi5jMGjBvDRlOLYR_nbssoYRIECSqrArj9rogdcXJIwTalae0jV5qBWKoK0ymk_ogUYz2yvI2SL58zIi3xRVw2-Gmj44f-rYvC9AHym8XBmHbOSdMtKtI-CZVS9myfvEFETDBB6FWupOjXt-2AJd1WSRo-NaKt3ADui6UVzCwduAGs629pTDfjAaykcVgA7m7ek5sr_56QyMo-0mCmfeB--fUtG5BdxWtTj7Z9kKMY54oZ_pZB3FXRrilrdn465vU_9xIBiHD079LthJy9sUARuMKA1KuwL8eGAbwD1JsgY3sCzqcBrnOfyST_oNHvDUwyWXDFE7ntj-P0ZQS421k6n7KScUNrqpTLxwQrYIg9cLsolTeD1usaQDn0X58xSZmdUQVT3ZQ_KimnXX0BEeHIvG-vGhIvMXoAz3WzRkvTqMZIjChcgiJhD-U1NjF9rVLDPp-siWaHywLxxzoPw1Cw-GZqkDQowRDZlF6pAwvu_5Qe",
  "id": "rs_025f18d313a80759016ab438529a4c87d09cf66c996861599c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel now crosses the right fingertips close to its rear end. I’ll close on it and check whether it stays with the gripper on a short lift.\"}",
  "call_id": "call_Jopp7Y181kJMjOgAhjgDhxNX",
  "id": "fc_025f18d313a80759016ab43852ff6087d0ba0cfa1f75f3a242",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jopp7Y181kJMjOgAhjgDhxNX",
  "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]: [-0.9955, 1.9385, 1.8542, -1.5528, -0.7761, -1.5024, 0.0866, 0.6765, 0.9356, 0.1364, -0.1043, 0.3851, -0.1787, 0.0128]\nstate[eef_state]: left_x=0.2977 left_y=-0.2251 left_z=0.202 left_yaw=0.5408 left_pitch=-0.2287 left_roll=0.1233 left_gripper=0.0866 right_x=0.2123 right_y=0.09 right_z=0.0072 right_yaw=0.4247 right_pitch=-0.3261 right_roll=-0.4381 right_gripper=0.0128\nstate[joint_eff]: [-0.2803, -9.5795, 5.5863, 0.1929, -0.4664, -0.0513, 0.1294, 0.4444, -1.6342, 6.6393, 1.2723, 0.1734, 0.0366, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36accf6809ee59a71ca0dc3033c6f70221e60884d952a5e86529b2627299d15e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d24c6d4f968560570f3fd7f194bb879e0c8b5b669fa7688f3b8deac0aaeb41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f205a4f942025432669bded86eb83bfd1e9e99f893b65374d8e1e1a3c39260aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.464 s

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

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8561, -1.5528, -0.7914, -1.5028, 0.0815, 0.4686, 0.6735, 0.4618, -0.6323, 0.2695, -0.3492, 0.996]\nstate[eef_state]: left_x=0.2996 left_y=-0.2244 left_z=0.2044 left_yaw=0.5397 left_pitch=-0.2134 left_roll=0.1216 left_gripper=0.0815 right_x=0.2208 right_y=0.0631 right_z=0.1044 right_yaw=0.4099 right_pitch=-0.3193 right_roll=-0.4533 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -9.5521, 5.7094, 0.1929, -0.5348, -0.0122, 0.2027, -0.1026, -0.3077, 8.8957, 1.4335, 0.022, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9958, 1.9385, 1.8553, -1.5536, -0.7788, -1.5024, 0.0852, 0.6834, 0.9295, 0.1406, -0.1093, 0.3958, -0.1719, 0.996]\nstate[eef_state]: left_x=0.298 left_y=-0.2251 left_z=0.2026 left_yaw=0.5402 left_pitch=-0.226 left_roll=0.123 left_gripper=0.0852 right_x=0.2133 right_y=0.0905 right_z=0.0098 right_yaw=0.4192 right_pitch=-0.3172 right_roll=-0.4405 right_gripper=0.996\nstate[joint_eff]: [-0.253, -9.5385, 5.6137, 0.2076, -0.4957, -0.022, 0.1978, -0.2256, 0.0889, 3.2205, -0.0708, -0.0073, -0.3492, -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 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8542, -1.5528, -0.7761, -1.5024, 0.0866, 0.6765, 0.9356, 0.1364, -0.1043, 0.3851, -0.1787, 0.0128]\nstate[eef_state]: left_x=0.2977 left_y=-0.2251 left_z=0.202 left_yaw=0.5408 left_pitch=-0.2287 left_roll=0.1233 left_gripper=0.0866 right_x=0.2123 right_y=0.09 right_z=0.0072 right_yaw=0.4247 right_pitch=-0.3261 right_roll=-0.4381 right_gripper=0.0128\nstate[joint_eff]: [-0.2803, -9.5795, 5.5863, 0.1929, -0.4664, -0.0513, 0.1294, 0.4444, -1.6342, 6.6393, 1.2723, 0.1734, 0.0366, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36accf6809ee59a71ca0dc3033c6f70221e60884d952a5e86529b2627299d15e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d24c6d4f968560570f3fd7f194bb879e0c8b5b669fa7688f3b8deac0aaeb41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f205a4f942025432669bded86eb83bfd1e9e99f893b65374d8e1e1a3c39260aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_025f18d313a80759016ab43856449087d089f67a46657c53a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.236,\"right_z\":-0.012},\"note\":\"The right gripper closed nearly completely, so it missed the pen; the wrist view shows the barrel just ahead of the jaws. I’ll reopen, advance about 2 cm along the barrel, and make one more grasp attempt.\"}",
  "call_id": "call_Ch7tddDiLWqv3T8gEgC0sJ7p",
  "id": "fc_025f18d313a80759016ab43859ced087d0a114f5f1276bd47a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ch7tddDiLWqv3T8gEgC0sJ7p",
  "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]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7692, -1.5028, 0.0879, 0.5751, 1.1778, 0.1436, 0.2684, 0.3416, -0.2481, 0.9943]\nstate[eef_state]: left_x=0.2969 left_y=-0.2255 left_z=0.2011 left_yaw=0.5415 left_pitch=-0.2355 left_roll=0.1232 left_gripper=0.0879 right_x=0.2537 right_y=0.0982 right_z=0.0122 right_yaw=0.4041 right_pitch=-0.2132 right_roll=-0.4251 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -9.5385, 5.5316, 0.1245, -0.5104, -0.0513, 0.1245, -0.4171, 0.0479, 4.2325, 0.4078, 0.0073, -0.1734, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54cfef1dab9738a5a735cd1237e72020b8d680548d97e0cd218a9cb289138c56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440e8e3c727d475c1163fd4ef3dd9ab6c48a4b7793ef91459a84a89d323d78de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704e0ecf01623395f4911b06dece92ad8029e23e46ca9ce3953a3777cfc11945",
      "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 · 6.464 s

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

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8557, -1.5528, -0.7837, -1.5024, 0.0832, 0.7311, 0.7994, 0.1635, -0.3359, 0.4049, -0.1711, 0.996]\nstate[eef_state]: left_x=0.2987 left_y=-0.2248 left_z=0.2033 left_yaw=0.54 left_pitch=-0.221 left_roll=0.122 left_gripper=0.0832 right_x=0.1928 right_y=0.0842 right_z=0.0122 right_yaw=0.4512 right_pitch=-0.386 right_roll=-0.4686 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -9.3607, 5.5316, 0.1343, -0.5543, -0.0513, 0.1587, 0.4991, 0.6222, 4.4376, 0.9402, 0.188, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8542, -1.5528, -0.7761, -1.5024, 0.0866, 0.6765, 0.9356, 0.1364, -0.1043, 0.3851, -0.1787, 0.0128]\nstate[eef_state]: left_x=0.2977 left_y=-0.2251 left_z=0.202 left_yaw=0.5408 left_pitch=-0.2287 left_roll=0.1233 left_gripper=0.0866 right_x=0.2123 right_y=0.09 right_z=0.0072 right_yaw=0.4247 right_pitch=-0.3261 right_roll=-0.4381 right_gripper=0.0128\nstate[joint_eff]: [-0.2803, -9.5795, 5.5863, 0.1929, -0.4664, -0.0513, 0.1294, 0.4444, -1.6342, 6.6393, 1.2723, 0.1734, 0.0366, 1.1648]\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 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7692, -1.5028, 0.0879, 0.5751, 1.1778, 0.1436, 0.2684, 0.3416, -0.2481, 0.9943]\nstate[eef_state]: left_x=0.2969 left_y=-0.2255 left_z=0.2011 left_yaw=0.5415 left_pitch=-0.2355 left_roll=0.1232 left_gripper=0.0879 right_x=0.2537 right_y=0.0982 right_z=0.0122 right_yaw=0.4041 right_pitch=-0.2132 right_roll=-0.4251 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -9.5385, 5.5316, 0.1245, -0.5104, -0.0513, 0.1245, -0.4171, 0.0479, 4.2325, 0.4078, 0.0073, -0.1734, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54cfef1dab9738a5a735cd1237e72020b8d680548d97e0cd218a9cb289138c56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440e8e3c727d475c1163fd4ef3dd9ab6c48a4b7793ef91459a84a89d323d78de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704e0ecf01623395f4911b06dece92ad8029e23e46ca9ce3953a3777cfc11945",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhfd6LJPA2WFwQTU97FkwQT-VTyBtClG99l2oSYwGGS-xtFJ1CRSL-ZdJIAfsGEOkkj8_HQxDW-Zvg0PQJyo_3uPruCOdoQwSpMkcGYwPkqya2_HjKhbYWgDYmtl7nGQgBVZFui2aeMDn9mtu7P41ho8hPPzSfePyWVRmGRs4MtZeIZxm3jFuZHwr1PYdTRFgHx5yOGsMxLUmkqGsamT2nyYzNchnMJIKgp8waJA0Nzcqzc4-UOuIaynKLLTtYqz4V_VK9M-a4I3Lv8336zjEya1r73KWpfrg-i6wpK16f8sGk4wzN1cZOOTPcHXnRFf_7PPuvGUXajEYtf-dPhZ5lLzRGsWJ42YDip3dwP5ERRYH7Aqxpt81kSd5nSssHb4ilTYiAerBioIEtRVI313tXLkQ34dTnFIRfZ7q9EYwz-2ZdIE9GMzcAvNbICJKO9Mps5KI4uj9DVXpmQreMJZEN2VAUr0QgfoR1Er7k67BRjQly59FoNJiOG3R9ivyqrkJDz3LtO6OyUJkTx5xCPtgAYLCitLZ9n6bZxLBfLHXbRvnWy5CF25cUfpOWdh9IbAxB3kAW378xSmVX43_7QonF1WqYG0JPdfn5aa3gxXYIfdpHZ5up9ew-FObIZHntp60dnO_cHpQUM7gkncsZBz5eEakSrjI_TJO0AaASdxPWBvK-3NJP7uHW0nfGRxq_KtwT2SUOgU41uSjrADjMq0-Ng6ush_YaKoTJ3DdHNVY9K6b4IqUD4YPUbIBh_jhB564zxH7rzfVCBREg_DXuKuyCzkwo7l-aEuYMgU4KGEBXvUE3X6ZSaz3csYKJXPMC_Z70eDjWX86aLfXLyAo43UdAcsqOtyIJ2vUFlw3kXQJRIwTsKxUCKTeNCTKyJ6RB5hVaeEQkaloj2saEjWYuZHnrXbNvIiWlfGaobtpfOYLRkwcH3MqDcK0_KDVEVA_XfkrXVJouCJdi7B83OVhY9M-L0LZxwTG34uXotyO5xluqKE2hZMrvSVWIzCIpfHGMWbPdmrlOnRHPFSel7Mj_9cgeWJgmC0OtBuKTtqR4oW9tAFtvQa4U4aFutu5AJCf91HwVSorDqF8nEJyQq7LwzMETGXyBQGbrKcJYBmbc6JhcmB8jXklz94MCReAWrwIuMxwxwR4nTAsUFiXBVtWgd5ZfWcIoBoDhAFPmIfoqSOZ5QvCf5JGkfHo5KwFhrFaTYUy23Uo4vdlyi2FymS4tLpZRNvV0w3E3-xmd7cIbmHP1STBMyUNAxFsnnOX26cwVTYVCR9-rz2gRzMifWsxkbAFKXo6LfS3xDLusiFqXtErNWVHu2ZXP5IcpcstE2_P9wST1pfVizSbJZd66NAjWPU__5_WrF5PXEz874CvmCUYypzlIPf0KZVHv6sSPlQF8X0y1ypq_HlPyqOqlAgVAnHyDZ-aR-01mEFcAf4bGzWenTEo3a-cn9eXv4uoMnOGduxQQobrpJ-9_PcmWolne4dZwT5-T_oyXbLBt4swd2-e4Xwdl-HqwAGT-iGCIAiW0fwzvgX7XwjlWGo9Zq7T1CcJKn9lafXI0vp42Z6bznUShyZ8WBXcXN87tBVSQgktaacbZR0KubN88rThy-lOESxbeGvoOqkXsmdvChBxeBsxyM0IJ1tackgfVwNNf5WjUCYC-eUpZ1aStc3gfY8_kq2JypmbM2fwDTNgzARvHiRSHZkhTB99LkWd5cfkdesXgBZ2zC9iYUnQ-h1ajq7o9blKP504EWSOMl5-eQrDjQpEfey9wP2cdazY9F4eNbZxa6acdr5JUQGRP4_VWNHAjGhu_mckMHSnibPthhnI6Rtwuo_xSIFw7Y2IjVwVibOJGsa435pdyTmiUXLStqsmp_4xG4gJ6VB8giDk2doVpykhHYP2KM--3K04F-MYs9eMGtngzb5_f9QS8VExB03dnY8o2q8B7A7e7Iy7BVR7hdM6X7Wuu5L9JrJkqQC3zcaEzaYE08HoP3OHrKZbCa9W4kfFuU7PoMB9Cnc5AaLdXytlfm8a_Ppf4lkpEfLBSMrHUs8Mc2Fg0aepLW12xLHIE9o60_hg==",
  "id": "rs_025f18d313a80759016ab4385d218c87d0b63bcd15607550a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.09,\"right_z\":-0.015},\"note\":\"After advancing, the pen passes between the open fingers but is slightly right of center. I’ll make a small sideways correction and press lightly to table level before closing.\"}",
  "call_id": "call_at0NCv6VdiFGmJUfkxjC9Mb4",
  "id": "fc_025f18d313a80759016ab4385f25b487d0bf93656a753c9eb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_at0NCv6VdiFGmJUfkxjC9Mb4",
  "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]: [-0.9955, 1.9385, 1.8538, -1.5539, -0.7685, -1.5024, 0.0894, 0.5442, 1.3037, 0.1196, 0.4683, 0.3199, -0.2508, 0.9944]\nstate[eef_state]: left_x=0.2967 left_y=-0.2253 left_z=0.201 left_yaw=0.5416 left_pitch=-0.2363 left_roll=0.1246 left_gripper=0.0894 right_x=0.2646 right_y=0.0994 right_z=0.0065 right_yaw=0.3949 right_pitch=-0.1668 right_roll=-0.4042 right_gripper=0.9944\nstate[joint_eff]: [-0.3487, -9.4564, 5.5043, 0.1343, -0.3639, -0.0122, 0.1392, -0.3761, 0.1436, 0.5128, -0.6276, 0.0366, -0.2955, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e36978c8b10307f4b91a0d632018f3622ee95535178d6d830efbbc204834c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abfc6cd2d973f3d3b796a4fe0c67267bd4eb08debca0996d38537f6aaa6cce8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f996f0425690daec936123c64fd31100f39068d8aad1d04681aa9312300392",
      "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 · 6.672 s

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

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9958, 1.9385, 1.8553, -1.5536, -0.7788, -1.5024, 0.0852, 0.6834, 0.9295, 0.1406, -0.1093, 0.3958, -0.1719, 0.996]\nstate[eef_state]: left_x=0.298 left_y=-0.2251 left_z=0.2026 left_yaw=0.5402 left_pitch=-0.226 left_roll=0.123 left_gripper=0.0852 right_x=0.2133 right_y=0.0905 right_z=0.0098 right_yaw=0.4192 right_pitch=-0.3172 right_roll=-0.4405 right_gripper=0.996\nstate[joint_eff]: [-0.253, -9.5385, 5.6137, 0.2076, -0.4957, -0.022, 0.1978, -0.2256, 0.0889, 3.2205, -0.0708, -0.0073, -0.3492, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7692, -1.5028, 0.0879, 0.5751, 1.1778, 0.1436, 0.2684, 0.3416, -0.2481, 0.9943]\nstate[eef_state]: left_x=0.2969 left_y=-0.2255 left_z=0.2011 left_yaw=0.5415 left_pitch=-0.2355 left_roll=0.1232 left_gripper=0.0879 right_x=0.2537 right_y=0.0982 right_z=0.0122 right_yaw=0.4041 right_pitch=-0.2132 right_roll=-0.4251 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -9.5385, 5.5316, 0.1245, -0.5104, -0.0513, 0.1245, -0.4171, 0.0479, 4.2325, 0.4078, 0.0073, -0.1734, 0.0073]\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 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5539, -0.7685, -1.5024, 0.0894, 0.5442, 1.3037, 0.1196, 0.4683, 0.3199, -0.2508, 0.9944]\nstate[eef_state]: left_x=0.2967 left_y=-0.2253 left_z=0.201 left_yaw=0.5416 left_pitch=-0.2363 left_roll=0.1246 left_gripper=0.0894 right_x=0.2646 right_y=0.0994 right_z=0.0065 right_yaw=0.3949 right_pitch=-0.1668 right_roll=-0.4042 right_gripper=0.9944\nstate[joint_eff]: [-0.3487, -9.4564, 5.5043, 0.1343, -0.3639, -0.0122, 0.1392, -0.3761, 0.1436, 0.5128, -0.6276, 0.0366, -0.2955, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e36978c8b10307f4b91a0d632018f3622ee95535178d6d830efbbc204834c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abfc6cd2d973f3d3b796a4fe0c67267bd4eb08debca0996d38537f6aaa6cce8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f996f0425690daec936123c64fd31100f39068d8aad1d04681aa9312300392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhmwZ-dvCYUjyq9vdfLOK_Io18YCMzvIgi6yw1mE--5tTmfFlQ8XlPA_wQiVdZTBa5IL6k2airQemEL4-dxtzmOo1JVTwIGNQj91N1AzEmGztbiyrE8BhxNjKJWawLsEaWLH34a8A7Oawh-3WRg83sesqAAajExJxN7PdGPYGduBPxBd_Mzn7fJ8pz8KDs20JdDUJ712Ph22JkcSuYinQ6GTqzbcK-O25UeXB1wB1OXXmLQNQLV7AZMvA5pNEeetz8h26j62Yvy2uy3cmFR-rafJCLSKtOOCY9TUlg8DG6VFDS3IIMsWAJGSemnczBSeDEa0-uc2PY14AVhQIbO7QoKGW0uxZkI6Y7NusJxR8fbIc2s399HbEaB-fngXyUGiy7HHQGknede8KVsQ2o5fSJD7RHosaCu8ZJrkrbTO8dErxs0tU_R5Hsu349KGAWnwihLiXR-3OY09JVbyB1ILwf7fCEU9AKucmHP4v-yLG3eiPCP8dJflLFQqJqw5w5mF9jWqF3-wX_iulq-z3DG6Z4p5h4LbwW-7PU004OLI_A1m3Eih2S82ZPl9LObXcgm5JL27x_Lr0AOjb1QwCscWi_CHitSTpakTy1Dda-CPzZGcUw00cSveMB2FHWqscwM593Zypcx6xxBHpLhgjPJEpL-duN_Tokd5o2J4QVYZNe1lwKpxoAKw10ecD9bL8YEdwweWH-2_-mM_UCqfGQdwde5MyJ0vjAtfYrT0viyIHh6qeC_VOXhS_OxpmeJEMf40jMkTHU4KzLTXIdVbJU67qkikpGTGn_3gKQbkRqf2bHo6V1DW9vrZYG5eySVlpF3IUmfDlGVlkez8DGnAnxcnPEz7Yrd7xUJkwFFGxZWVSfm77fB4QhtcxHyUJNCwz--JywV5HJSce95-SPYE76x0_r64fBWkenCgSrrb-jrOGJjQzeY6DAbPyohVDVDzEZZzNysiKuVg7QdvwTf35eaqbKstkaUnxz0cvcRmE8A0flH6uDie-FKc7Y95XUrVgoj69gUfqx8dner6qmEbvSdyvBB9skjkzppSD7RnT2usrdCKZ7CjPxDO97jq83muCgBG_5gyyCDa17PQkNoSaq-tsFSLTkKANty0s2npxQ0G3beEcHZ48T73gSz1y0ZEBoNJ8zp_OdsNsWhq0BYZE5VFHTDxeljLGdA3EgNVKyYBdPWwcWPiQidP6eUztdYGlAxuIyq7ZkkRV3hZiQSFl3VyJwVf74Riam7acAsFkj7Q61eY2iCwk81rQMZgFPl3V_OoJwWyl8FMym1wxVWI12F1KMxvKlrk1_MwlRqLItWVMyeszIThfPHfAcP1-LmOlslVbX8OAn5K4RxC8KeOfy7fy5Zi4Rn-8SQwhOlmF-5OPfKgIXmf8TYH-UgBd6gJckH_B4ey63DvxctLvg9_NFnDczHxw6zROyMBICPl7agkJ7-GV-vSAq9XPOPGLA23rGx6SaDVn5FO6CsxvZ6G98dj0R7tLVZUG4AxEsk4r4eXEUtsPjKnnYU1Uq56AwwRpD6Ylo4viby4sQ7hirGhrZeDvY3Xk4lFGfBc6UuJM-XWuBtOqdjt3j02HwM5fvnfl-2Bnng8x1AyARhbV2O60Xba8H2MLqLyq8meCk08TidLBdZiYQGZV-O3uJmDKm8mDdro4k6CuPYri_mFDjhiYS_25oRPaQjUaZ_P6e97W-_dy4iBMkKkMBgkseTGJ6ZR-s-qRj5g2h-4b3-KqpMk2Grc7oG2rXsQt9TXphlTGtSQbwXqY4e2xVDoxJkSYct_lS1qU1GuxcDyVAR5WhXDjgw42bNV_2mVz2399d1sBWH6SOMWsBjv3mTemK4AnNrJD4UMs29gIrzYIYB3cdXHaeOs7aECnEBjrXgwOIXMBeCcnf3kh0xmR58bxo3NnSwjC9QzsJ9jW628ivRGqW_IykRz4vISZ7SKVz4lbYsAOqhlknRinMKPnUf77j6yntIgJU5owCeYhTRy0HxVgFjPEtBi3NkC_0KCNKTTZO4Jcv7aO7tgXuJuMzD6Fd-zCxmMMnOqAAvU6QcTeHcHDgEDE-gINEQJmErv-RPx0C7ymCTINa8CSqVtq2b-Pojr6xa64O7sAEoiyIihfM4wZOp7Yq0P5YdhF06SY1_0_ooXKRP8h7aPfG8-gEPrQ3KYFDkECS5NyIW8BAh4TZQ26slBHWuYddBw--M1AoumYmGNNTqfE2PrlcuvND47lu5_p3K92PTH85URI2KNMx0F5MjB5IV0XvTekobGItSSrU3w9sMPkn64l3mgpaisTR2YiIYnmdQWHjjBloy-qVgKOLxHrp9CDToLRnS-5rzaVJY3fFfWXiuf-BOAkYX3xSxrk7SHYj9p4kr89JGCxZHFTDkbZrxGwFvX6J-KBR7_dG4TN1WYfam9M73SFSeb8HtFIq6UN4wtawrgVC55IoRb4xeon6q2F75pyyC5juiJ3JVMRg3jzoRxLzhMjI_BvOm13JexwQyWHpkAEay4cKY8GlyJ0P_X94Njd26qYUr2tQ3djZPrC4t3NKUpkU5U4jti62TCz49EwrCfvJMOfpt4gWU5bk5xqoNtQ==",
  "id": "rs_025f18d313a80759016ab43863344c87d0a1967824f46bbd3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.07,\"right_z\":-0.01},\"note\":\"The small correction did not center the barrel; it still lies to the right of the jaw column. I’ll shift the open jaws about 2 cm rightward relative to the pen and retreat slightly, then close only if the barrel is between them.\"}",
  "call_id": "call_pP4jx7strNmyytZbyE5HQlQw",
  "id": "fc_025f18d313a80759016ab43865c94c87d0833f252a132b62a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pP4jx7strNmyytZbyE5HQlQw",
  "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]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7658, -1.5024, 0.0909, 0.5053, 1.3003, 0.0818, 0.5694, 0.297, -0.2665, 0.9944]\nstate[eef_state]: left_x=0.2966 left_y=-0.2257 left_z=0.2007 left_yaw=0.5415 left_pitch=-0.239 left_roll=0.1233 left_gripper=0.0909 right_x=0.269 right_y=0.0938 right_z=0.0129 right_yaw=0.3847 right_pitch=-0.1058 right_roll=-0.3929 right_gripper=0.9944\nstate[joint_eff]: [-0.335, -9.5658, 5.6, 0.1832, -0.5201, -0.0269, 0.1441, -0.4171, -2.9197, 4.041, 1.2088, -0.0171, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c9d5aa0bb9d4600a9db6c18dc8a8e2e8ba3a43fa4feb8476d1e063f7d909c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db14db31f0ab6e8868a867350ec61cfe074b0c9c11c5b98b4fed2e1561a0a417",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d40b8c6a7c14bfd38fd143d19202c692587b721a78c25586f5676f1b16be23",
      "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 · 6.557 s

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

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8542, -1.5528, -0.7761, -1.5024, 0.0866, 0.6765, 0.9356, 0.1364, -0.1043, 0.3851, -0.1787, 0.0128]\nstate[eef_state]: left_x=0.2977 left_y=-0.2251 left_z=0.202 left_yaw=0.5408 left_pitch=-0.2287 left_roll=0.1233 left_gripper=0.0866 right_x=0.2123 right_y=0.09 right_z=0.0072 right_yaw=0.4247 right_pitch=-0.3261 right_roll=-0.4381 right_gripper=0.0128\nstate[joint_eff]: [-0.2803, -9.5795, 5.5863, 0.1929, -0.4664, -0.0513, 0.1294, 0.4444, -1.6342, 6.6393, 1.2723, 0.1734, 0.0366, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5539, -0.7685, -1.5024, 0.0894, 0.5442, 1.3037, 0.1196, 0.4683, 0.3199, -0.2508, 0.9944]\nstate[eef_state]: left_x=0.2967 left_y=-0.2253 left_z=0.201 left_yaw=0.5416 left_pitch=-0.2363 left_roll=0.1246 left_gripper=0.0894 right_x=0.2646 right_y=0.0994 right_z=0.0065 right_yaw=0.3949 right_pitch=-0.1668 right_roll=-0.4042 right_gripper=0.9944\nstate[joint_eff]: [-0.3487, -9.4564, 5.5043, 0.1343, -0.3639, -0.0122, 0.1392, -0.3761, 0.1436, 0.5128, -0.6276, 0.0366, -0.2955, -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 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7658, -1.5024, 0.0909, 0.5053, 1.3003, 0.0818, 0.5694, 0.297, -0.2665, 0.9944]\nstate[eef_state]: left_x=0.2966 left_y=-0.2257 left_z=0.2007 left_yaw=0.5415 left_pitch=-0.239 left_roll=0.1233 left_gripper=0.0909 right_x=0.269 right_y=0.0938 right_z=0.0129 right_yaw=0.3847 right_pitch=-0.1058 right_roll=-0.3929 right_gripper=0.9944\nstate[joint_eff]: [-0.335, -9.5658, 5.6, 0.1832, -0.5201, -0.0269, 0.1441, -0.4171, -2.9197, 4.041, 1.2088, -0.0171, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c9d5aa0bb9d4600a9db6c18dc8a8e2e8ba3a43fa4feb8476d1e063f7d909c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db14db31f0ab6e8868a867350ec61cfe074b0c9c11c5b98b4fed2e1561a0a417",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d40b8c6a7c14bfd38fd143d19202c692587b721a78c25586f5676f1b16be23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDht7350ELIGQhS3y2UbljPgZKLTnx3jqInfL0MdbRTqkUTBQqXpUU3NKYUFp9r81hIe4iIz3dvZnArSIUq_HFPxAc3NnaNPjOiTLhyadRVSZ4OKZ9EOdfNs5TNqi3PhUvbzrHOGy-m0oRsKlzByIwPpEqG_YQVvpKN8jJoivhjy6b-pWoMcLKC1yDKyqb4usz4NADI3gDwSLQAv2oJILfgFSVt9QcOY-SBG9e0PXrCBczpq-mDr_U5aj20ZclcKQ8Zaej392hHO-GG588zJp-Lc014ZZQE__Y9RRHcG0P25Xk5TssIS3jiG9rIu-0Pnq30wgqC7RsbjUWEjqQXrhUEcBlV0GImXRoWzv6Xl5gmThg4Au3Nqg-dXankuga1RYEuqxcwaGi4rR-xRGGVNYqorSZShEey8O51cTzSjn26h3iX9LzkZPy_FVp_dGy7sgF0ALs-sTtX7hvyUQqZhdNZvzH9KKB4S4M_fFNU5Mifpfhiw85D3Bp0ePJ7jfIYvLnV6I1ysqB4rVjX8uMr5BX35XemNCSdH2J0TqB8wnwCOK5oeMVWzpkX3HjhoiXJEQrhmqImDLF9wAJy3PmbgLVkogIkBE-N6xJL-6dtlfOxpEKEX6_4Iy9VHsp_RNiAcX9TzSCt13yGQMEJ_PuENh0ZpvzW8MixZREfC-Mik5SeNmxj3UEe3qW3EI7dVPK7ydcOzmXMpkC17mF-14ncyhcneFSaUsRzh2fgd3fWEnO-i0nFsBYzIL1gPxULnZvlive03HW_37FMmZlzRoKe_o-df71k4sAEh-H2OzMTUva5lmeniB8JS6ItosGnh6fNL-qwz_vuggIILyQsErwrw8ksx96aifiH4ziYqguExPg0b4iDyS-92e16tr42hxtgfxl-WFTLC50A_Sg7sYBqUL3U1rZKUFt80MhkG3K00XZyy71SW4_MPrip1UGjZdiJac5FwcsDXpw3O3UtWNVlxNuSxK5Tl7CS5V3RCq5sDvdKiG9tGNv2He58k8gXq2IHBn3vYD23OCaZQUSX_fVnrpLb3rOutpu4-H6qsWLnao9mm2jS2iq_q_Qetg42ofontxT-uZBWfqFlHBtlzhxlFLQw1JDpDFNob25OQEsjXeeBBnDwEKsXZg5MiLv90lgjn_6avnaQfFo_zMjZVcOZ_RhRBobLS3RbITyltC2tI_Rp2sbi9_zhnh-HrPCe99r1g5FOEZI8JaxTxS7Rl8mj3Ijs9tkya4rypoRv1APT7LjfEIFOUXGKL2N5M4XZGkT1n5Dq1Qdmb0XQqXJWvTaR8WbocJUCigqYBhUgTEWRA4YyGYLGs_q7Ap7X9UMcdTmkyRFh-Vbi1OXP8bOyuWtQSUf5915UwDCNFYMJApwASGLx-x_QD4fPqZpwSljCC2uZ-MGH0L8hsTSJJUH-mrXwPdEo-pBfhstf4mWnoid7HcjHmrDMHVA1J8u5hQMmz_o2cUUIXo8QowT8MgKBBwJ3SydgOjX-DkZD1bZceCgFrqYlo5WUGaljVKbAZHITwnVQJ-SDys1tJIrL4tGBW8c7CCg3BmItjd_XpbaUSObYxe47fhhJbgyTJSmk1rRIR69KKA8WL3TBEjXkEW4x2ck8mmJ8IFDHhbw4HL7izEkvmxhcSnVJ3MSg1KRrffSFC8OpCDFKu5otnwNWYrT2_VH-sgSi0ZWisXiD7luOTyQH7pnrnCWuFvQT0WjLDWrNu-An35R_Hbvb8kAg_GMkdtm5t7-wXE7wbbvcoqR33pCfY_kJJJOgDqO_UZJ_argxZ8SLTrTDyOuHjEKyNncITASfBB8iMcK05scjd1miwXIDH2q_F337pMKLwSaQ0ZV2ycvgQxDKUTGqB4hNLyBK1PDS5-QqwULy5mghkkOSqtLhuDIIWIuiMJ0YFw8dWRHTXGJXMWQ0oqt3YCz_WKibNh2i9YiYGitfdbQPgGr-k0YlO7xcAHI98X5AsRsTjFswwu48MEE6YVUIW6PyspbfNK9wgLWD1ZQIaBSh369rl8b8qU8AAC24mAeIfhpY6IWXL_kkEwifZ1NjrTO4BKfOPDMhSQAMZ5XwvEYZRAk90yJHtZKA9HZDYSsfQAa_3HCffXpUGVIwYYLp54LJW2TsW_iX2FQdycY_QE77mcbMePgbKKrEPblDtwGStdcakojGTqFbVmCTfwcGj0h6iIIm12zzEcCp_7muIjJ1qF08IPVi7bULmvdQ=",
  "id": "rs_025f18d313a80759016ab4386ad90087d0b74708bbee3aa18c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is inside the span of the right jaws, though not perfectly centered, and the tabletop is limiting further fine positioning. I’ll make one final careful close and judge it by the settled opening.\"}",
  "call_id": "call_TATrac4snEmTK3GnvVtMfHR2",
  "id": "fc_025f18d313a80759016ab4386cfaa887d0a68a8c2d10f1ccc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TATrac4snEmTK3GnvVtMfHR2",
  "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]: [-0.9955, 1.9385, 1.8511, -1.5528, -0.7532, -1.5024, 0.0916, 0.5053, 1.2934, 0.0761, 0.5335, 0.2871, -0.2741, 0.0128]\nstate[eef_state]: left_x=0.2949 left_y=-0.2261 left_z=0.1985 left_yaw=0.5429 left_pitch=-0.2516 left_roll=0.1256 left_gripper=0.0916 right_x=0.2627 right_y=0.0923 right_z=0.0057 right_yaw=0.3966 right_pitch=-0.1425 right_roll=-0.3968 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -9.5385, 5.7641, 0.1538, -0.5348, -0.0366, 0.0659, 0.0342, -2.2359, 5.2444, 1.8291, 0.1734, 0.0366, 1.1502]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4487dd6013845fb695d1b11238ea08c107210ba1cf68e0411f59379edc3f015",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76803348f351ebe346d062be4c99a568c488914854993adbef8b5e4b358822a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ae82e4023720ba76a9ac1fd3ddf02c50550d13d33a4f22dfc580b02ca8314a",
      "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 · 3.214 s

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

message 151 changed as sent

message 159 changed as sent

message 163 changed as sent

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7692, -1.5028, 0.0879, 0.5751, 1.1778, 0.1436, 0.2684, 0.3416, -0.2481, 0.9943]\nstate[eef_state]: left_x=0.2969 left_y=-0.2255 left_z=0.2011 left_yaw=0.5415 left_pitch=-0.2355 left_roll=0.1232 left_gripper=0.0879 right_x=0.2537 right_y=0.0982 right_z=0.0122 right_yaw=0.4041 right_pitch=-0.2132 right_roll=-0.4251 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -9.5385, 5.5316, 0.1245, -0.5104, -0.0513, 0.1245, -0.4171, 0.0479, 4.2325, 0.4078, 0.0073, -0.1734, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5528, -0.7658, -1.5024, 0.0909, 0.5053, 1.3003, 0.0818, 0.5694, 0.297, -0.2665, 0.9944]\nstate[eef_state]: left_x=0.2966 left_y=-0.2257 left_z=0.2007 left_yaw=0.5415 left_pitch=-0.239 left_roll=0.1233 left_gripper=0.0909 right_x=0.269 right_y=0.0938 right_z=0.0129 right_yaw=0.3847 right_pitch=-0.1058 right_roll=-0.3929 right_gripper=0.9944\nstate[joint_eff]: [-0.335, -9.5658, 5.6, 0.1832, -0.5201, -0.0269, 0.1441, -0.4171, -2.9197, 4.041, 1.2088, -0.0171, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 163 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8511, -1.5528, -0.7532, -1.5024, 0.0916, 0.5053, 1.2934, 0.0761, 0.5335, 0.2871, -0.2741, 0.0128]\nstate[eef_state]: left_x=0.2949 left_y=-0.2261 left_z=0.1985 left_yaw=0.5429 left_pitch=-0.2516 left_roll=0.1256 left_gripper=0.0916 right_x=0.2627 right_y=0.0923 right_z=0.0057 right_yaw=0.3966 right_pitch=-0.1425 right_roll=-0.3968 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -9.5385, 5.7641, 0.1538, -0.5348, -0.0366, 0.0659, 0.0342, -2.2359, 5.2444, 1.8291, 0.1734, 0.0366, 1.1502]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4487dd6013845fb695d1b11238ea08c107210ba1cf68e0411f59379edc3f015",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76803348f351ebe346d062be4c99a568c488914854993adbef8b5e4b358822a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ae82e4023720ba76a9ac1fd3ddf02c50550d13d33a4f22dfc580b02ca8314a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDh07MZJw_zS3PD00hNYIpzh0YrUFtIdCPhEELb61y_XtB1f-SuIECjt2tFrhrfXx4v0v_lI5E4ymgJ98Q4h3ZHBVzt6lMp-jzZuXThugJk4ELdbaUNPd4OYA475Y6PGD684Jn9TIeJsoQMi9tkrMTVfQnYotIGUVrKuOJX6xFjaU4PPpQcgZjMqcjTPJ4n0delmxNJEqMZAt9iRhTGpD_i5C7Tww4qwC6dSkggeLQTQomHiWyqWR_3N4myym3ed22JpiryuUWD9FIx8jDzjPB-YA3UhC4aDDYXOfchHRsRH0IMWScgbftpjuatZ1rq94Gkj4Dm99tmlOQwjNuN3tYHSnHO9VsttXjiFa8zEo50Y9ZCPz99_BNcAr-UVOJFm7WtFQBhe4a5-ZIlcyHFVuFVp_DM-hJ9nJ7b3Vizgc1PCRQTOQKXF6uk-6b-HT92NC-yWqCoZo6q2-uEG4acG4Ae8Mo0m6STrZgdmZjQsxucorBu5-7byuM8hOXl6Lf2t6bwDy7hf6XT8DwcorttaOZeuOqYS-X12Cw87yMX5IEOKdG2QRyKYfvOS3ox64RdP_Y7xlW2fM-6Ydnmpppk9CRx6ZZW7H7OBfnPyRyY4MIolSNo4Ra-ddhYXViCkTvERG5h_W0TFQPy8a4RiynxxBtANPrtu-GHEhQWdCfF9Xi5FXg03Yr82TCkDHqkQGZ3uiaEOyyoCUEhtopdfWWWjkbbRHHdNEziR5Q7tsifPOV3DvpMimlKvyAyf74lNHqoJ9cnfjpbTErAtwpJgVH_BKI1HW-IXHnr_Qn0hGTIV-p7uqbEAJhmdhdF5y4vvbINHrV7DCLTQ6pmlNnmZvderAaSzOt8xxXPRG8xr5kkO_9XBqLH2vhEwY6wKWW6Xe8HKfuNiL9GSrxGhqzmuHHUu_OZN7HUFQUhqX6r9M5A_FZt9usc33pRwB5lMUNYlRBK4rPcrAPBTRFUiwEFayiiYRqTwd5d-9dOhBAgkS4yJioCoClS1yq39xUosofPx53lFZCmz5CdPDFbzXU99mrs8yNfBLlg4OSM4ImaHdv0ayfGYuM2Hgw6Vi4EfXeZFZbYKKnxIazK8Et-mk7gcUbApOao_tCRbrduV-dOgFNoZOiXMtvEV5vstsGEdcT17w26CbPCzjiQZo4qOCSgh1N2dmLVOSVJyYuAW-rCYNTu6OJ6alRf75vtK-gKOQuFXgHXOuZFVKaX0yrxzTKrfODTe9neBXE1rzqY08gxXJMmdX2KCYSTUwvg0uZDdtn9woFirdKWz2kArjP6vYloYTzztRD_4WLM1Bm7FT7gllN3kYZ10NyPiJ6GOqfdikny20r3GKS7jlNtA5fthoUiVdfDbdXexyT-OZZVYQBLqgLu1lTiaWdr53j8GwjH5XqyrzpjcWnbFmKB7mlP2KnV7epZt0WeXF6i-YIyNXasGvkOQx2E4-tVs1YcvihJZ4xsEcm_IZ129X0QgvaZUkBd1W9y9tEa4iwTQYzvPxKeePsCu0BIBz2oRQaNRq96Qo4uqaH6CUfH1c5LDGu1uXMIzY_BDJZTqWG_6ohrfHvGsOkWeC1Q_VkOKopLJorlLbz3AozK0dSMHGJ-Q5EgVnE84dMSRmlCAgp-MhLwH_q4jr3Eooq24idQppPXKKpGc4wXAsh9kehmt8oCBlfrqhNMeDrSG_lfkZfXElDZQkqRAitWhndpb1uARdUVfazIELLmrUnxY4VjIp6rAlJ7DJj-E4uohIhdBD0g73Yd26BLWJB1_pNcZBau-0fJ9h2iAgjwQfXgp2XC6-iP8QoDiSXGQcQxcGJqfG51zXXiL7OQ6BIfG1Zm24eKuuuJVqBJ0lbbdermzZp2tgAvRSDC9f0BLRf9qLpTIrUoWFyhL_PeN6vRIgWv06JEilNzxlKi3x02gr_EhMbuxpESZ672B64j4y0_45WuPFEMn7JcbLXE90HkWBOPtFyEb937VsMyp0ZZDiyaupxg7wy99kgHDZCpLKWIZjBlHho50h8v4yIOVVfYHOvjHlgRWE6zUMWwrVxR948Sj8PScciC9Q0DV4OPQFZ0WIHZXhVeQTL0vIq_SV6gOI9-Co6DU9esRZ2Qrt5uTjvkAQRxWCowxa0f3lOyDXlntWwJ9aMYvPMc4NhFIdmotXEBVWfgVyeY13pigPm18tqe0a7NthO7EynykEb9-RuDSn_OOKhMZVTJFPZtd0FIhEkFHshpnsr4KxhF_L7QYgfd9Zodtl-XEidGgCl5sa3fJ0T1Rr28mRvMBTVgVSY9ZSYOLpkiU0EQmG_DVc2QKKKRBRpeEwlscJE5zWFRROd7AEUciw2wegrirNSfR2P-Cao0zh94MRd1l3HgIQ4cdP09YLcPXLlYK-nH6EVH4ysOdfLQr3VKw-mePUbBtCcnTNfaqoeifkHanU6VEmKG3iCsx9EeD3UfJTD6-pD6HtmyeWzJy2WHBgRz7z74MzpDHnGYpIkdEwuwVYmKkO2kBDUjlb0Dx7GP-03_usf9muvcqt3V2Ps8EX5ypOieOHQ1E-U5_LJ5k87xZiBGV1RhhxWTxUj3iFo9sQUlRtN5s6Zm46eV3kOT24XMwCnjsQc7m2Szb98pJtywb0vCr0na1K1O_VlyeSl7lp5I9HhK1HsAzHVKBCnlA_CDmC0mAawClgtCrRZWA12_9G0eXJDdVjrjk4lF683VbhDJOvIbGc-ygWFzst_dAyAhXxq1RxQADzr6i48gcKSFIx3WeRcpMJ2Z4SZTlnrwM-woaGHKlMLKEoQ1TM3OmadQHXX_I0bX7BB6jtu4JVCtb8QofSktmY43ECt0ks7ULcVFhCyhCw4r8cqLGeKnQskFx5UeY3Q7pTIPYn-7B6gq1Lrkag6_TiDkuQgBD9oJ-7hF3fzlsBQL_QEg9N5rU8fIUSSure2y49Mr1f7Myf0hIrlonkhvU4YgGPE6d-W553JHJ8uGyE39CQHc80UIESPkMqGRO3z4cQBoxR2HqGBME6yr2rabiYVmijxhKLmoS5en5ajiaonCBBRfesgGm9fs_2_K_fa12-Ip7__ugqVq1C0Dxxl32GuwGJGeHIsBxXjrFu0oz-n24cMa0u9-YxBuqgyFc044nq72p5jY=",
  "id": "rs_025f18d313a80759016ab4387096b487d0982a3c9c8f933183",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The final close is empty, so the pen is still loose and the cap cannot be fitted reliably; the arms also collided during closer approaches. I’ll lift the empty pen gripper clear and lower the cap gripper toward the table before stopping.\"}",
  "call_id": "call_rg394L1U6jBNVqiqxlU4jsmX",
  "id": "fc_025f18d313a80759016ab43873e6e887d09af1c74f2f752b20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rg394L1U6jBNVqiqxlU4jsmX",
  "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]: [-0.9955, 2.0396, 1.3251, -0.9581, -0.7471, -1.5024, 0.0929, 0.5053, 0.8165, 0.6346, -0.4904, 0.2832, -0.2817, 0.9955]\nstate[eef_state]: left_x=0.2904 left_y=-0.2206 left_z=0.0339 left_yaw=0.5519 left_pitch=-0.2586 left_roll=0.159 left_gripper=0.0929 right_x=0.266 right_y=0.0948 right_z=0.1699 right_yaw=0.4038 right_pitch=-0.1329 right_roll=-0.3991 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -8.9641, 4.8615, 0.0659, -0.4713, -0.0513, 0.1148, -0.3624, -1.5111, 8.8274, 1.5604, 0.105, 0.0855, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd23119a6f8c168840fc05eedeb693583a6e4b50054a5799d628107b0f00e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8030706ff39cac1adbb559d4aea558c61fc67894cc5b6460164d871063ae753a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7937ea325e4e14ff5e0575c83e33a8a66de000adf99b5a89ad56f4259d6dd7",
      "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 · 3.881 s

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

message 155 changed as sent

message 163 changed as sent

message 167 changed as sent

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8538, -1.5539, -0.7685, -1.5024, 0.0894, 0.5442, 1.3037, 0.1196, 0.4683, 0.3199, -0.2508, 0.9944]\nstate[eef_state]: left_x=0.2967 left_y=-0.2253 left_z=0.201 left_yaw=0.5416 left_pitch=-0.2363 left_roll=0.1246 left_gripper=0.0894 right_x=0.2646 right_y=0.0994 right_z=0.0065 right_yaw=0.3949 right_pitch=-0.1668 right_roll=-0.4042 right_gripper=0.9944\nstate[joint_eff]: [-0.3487, -9.4564, 5.5043, 0.1343, -0.3639, -0.0122, 0.1392, -0.3761, 0.1436, 0.5128, -0.6276, 0.0366, -0.2955, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 163 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 1.9385, 1.8511, -1.5528, -0.7532, -1.5024, 0.0916, 0.5053, 1.2934, 0.0761, 0.5335, 0.2871, -0.2741, 0.0128]\nstate[eef_state]: left_x=0.2949 left_y=-0.2261 left_z=0.1985 left_yaw=0.5429 left_pitch=-0.2516 left_roll=0.1256 left_gripper=0.0916 right_x=0.2627 right_y=0.0923 right_z=0.0057 right_yaw=0.3966 right_pitch=-0.1425 right_roll=-0.3968 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -9.5385, 5.7641, 0.1538, -0.5348, -0.0366, 0.0659, 0.0342, -2.2359, 5.2444, 1.8291, 0.1734, 0.0366, 1.1502]\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 167 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9955, 2.0396, 1.3251, -0.9581, -0.7471, -1.5024, 0.0929, 0.5053, 0.8165, 0.6346, -0.4904, 0.2832, -0.2817, 0.9955]\nstate[eef_state]: left_x=0.2904 left_y=-0.2206 left_z=0.0339 left_yaw=0.5519 left_pitch=-0.2586 left_roll=0.159 left_gripper=0.0929 right_x=0.266 right_y=0.0948 right_z=0.1699 right_yaw=0.4038 right_pitch=-0.1329 right_roll=-0.3991 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -8.9641, 4.8615, 0.0659, -0.4713, -0.0513, 0.1148, -0.3624, -1.5111, 8.8274, 1.5604, 0.105, 0.0855, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd23119a6f8c168840fc05eedeb693583a6e4b50054a5799d628107b0f00e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8030706ff39cac1adbb559d4aea558c61fc67894cc5b6460164d871063ae753a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7937ea325e4e14ff5e0575c83e33a8a66de000adf99b5a89ad56f4259d6dd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDh53_aHQ9BG9vQY2s52Z58u3SdR_2o3Q3loyYrMGGUiPYp_bH_Uzgd0TIZ68QhmI86PcdAVUi6sNTLvyKp3kl0--HFtWzoNmaTSPQ2v1QwmqOLoHGJISa2lhyCP4rot0FroeH79ZpE5C8urJ-HJ07JoSgcZ19Dv-sIxsLTqVtPI1VRkDehsNtfzDgC0pZhmkSSRF-Jk_sh-wslbklCVg0NSRpQkpVRZinqy-P-pdYj8u5PvUduisCeX_IIUa7aWCh7vTHpWwAKJQV3s72Dr9JSG52BhbTqrS-w6uYIKWbO7OK2BQ83JXrzkHdK8c2Som4oaSv10cjLWN7m9sgMGkPxPjvlw4cuNcaPU-tFOhkzXfmRZAn_z2wT3aMAQ7t9AoIMDIob5GcRiH4vVte5ra6rU6NT1NV_fHX0Vu9ugI_uTHyXMRZJYKcQ1rSCBI4dROWw5TF8fKuGNawVbyxEVept3S7Nsk8e4IPhxZJyIM2OFrRkHeKVOWstQw0SqAubQ40GGDRsOJU6S5oJ6bUyVkQ-PCOdyXjvoj_WYEiV7xiagHJCURR9rQLMEWj01_eO8VW4gq3us3gi5YmjmJ-Vznu14sZBV8h9iLtcG6eUy2-WiDiogvBlFsXM73ZV-czOMki5J-vB-UNNHrtc3I3GgPxWrS-Sdkq7mlJRnDj5k6m0TpKl62HXDHNI5CcegGlgJgowsU2-T-HDw9j-kq7X-49iJXsiS2B3AW4VOk38fpErwBlmVUo4--4GSVTn_H9pce6KBzLALle2FfBgDY-Fg-oWmP6js-YhDWWBZ12xzkw5jEQSJ5U-bhh_qU1--B__uKMgBGetujssZPCj1Q6s8Zhlty_Cq-4wSP9RdBwa2nAJ-6ftApaEAha42_sfEtT5kd0cMzMc18ry3VmsDKJ-QwkVK7r5tfPyzf_sm1pGfRGtl-Q4SXxCz13rg-OJhBQVsp0-Hw2PKscZ_T0c_LQ1cOT1P25HMMCqeZ_3i2Mv4SfdTgaOMo1_zvlEv15c_-aGmGBeYzWK1emUlzIGlWQQp6iWSeaGuOzC8SHyujYSbaDhNoCY00Vy2Xj9U5I9ceq4kcYRmpQe9IfU5rEZkQW8JLAo_doHLm2GuFYszi-Gv8PtfzsEhT13N6bJxoUZhXiv9tzgw0pyjNlcyceykV1Yl4-Uen3KF_w-C4RbuTDoqeV1PDOPWGMTylgA-NUQFIOPXB0_FcO5VHo5YiWtlRd0LYZGATL6O9fdFHMHzqeMMCQwCkrfbBYyEfEfvn4gTmLRmodYza9vJosgVAHz1_7x5ItfwaS4EAoB006DgSUrZx00sDVIxeyKXZmtmQceIoXcI1cPJXdCHE1e8NINR94_-bmgNQOn02Mn9SM--ee22ii2pSC6BQw5Fyp0w5XUg8jKDHuJH7NYvF5xB6yNpvvJwQKI7Cz94hePoz8j_3XYoWAZKxqR8tXd2f6xXbCJgD22S_SrtYoIEqPfBIf57PEwJYgKe_FlcZMIDSOvii-qvoR8Kq0O5oXP0AJO6RyPBBL0R9jixsMJmAO5d_5jNd7-fxUCDgnK8sbI9OMlb5aKXhJwKh2aoy2F9nFZOsAlTcOUHSPQDPsBoTJq4M-qSm3vloqivCzggFjYg9gu8qpe8pKNZ9pLcqPM9sL0bgsaz8P8gQhEOaSAhzKp6pBDYzYwrlym3jWtVVg5io5gWyYqNNAJnVe6aokPFB21hDbeU6405r5Rknc0SlM06l-eUj2SdL3jEdqfbDGPI9qA--WGSvwmJlkr6bKO50bXimiU9wmqFMq44",
  "id": "rs_025f18d313a80759016ab43877827087d0b87e99e923bc6908",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.13},\"note\":\"The cap gripper is just above the tabletop. I’ll release anything it may still hold and withdraw, leaving both pieces on the table for a safer manual reset.\"}",
  "call_id": "call_fik3LQWTPVlFpuQmX2qM5oMT",
  "id": "fc_025f18d313a80759016ab43878a16487d0bfafa524e37f2f52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fik3LQWTPVlFpuQmX2qM5oMT",
  "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]: [-0.9955, 1.9694, 1.5333, -1.2591, -0.725, -1.5108, 0.9952, 0.5053, 0.8204, 0.6315, -0.5167, 0.2829, -0.2825, 0.996]\nstate[eef_state]: left_x=0.2888 left_y=-0.2234 left_z=0.1057 left_yaw=0.5651 left_pitch=-0.2802 left_roll=0.1761 left_gripper=0.9952 right_x=0.2623 right_y=0.0928 right_z=0.1627 right_yaw=0.404 right_pitch=-0.1661 right_roll=-0.4029 right_gripper=0.996\nstate[joint_eff]: [-0.335, -12.5744, 7.7744, -0.0415, -0.6569, 0.1343, 0.0269, -0.3487, -1.5658, 7.159, 1.9072, 0.0317, -0.0708, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735abc4623951676ecccd1cd48de20bb3647782276464d90d246606ddb10f098",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8892141f4d5d976ae9b7b051394e10c3c821e12d5fe23d04ad07e738091182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5b7605244c9dd017dbc9e340130ed8bd4ebce01911887bb9f8acfa4567b47f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]